0% found this document useful (0 votes)

790 views

Advanced Programming

Programming Guide 11 / 2002 edition Flexible NC Programming Subprograms, Macros File and Program Management Protection Zones. The status of each edition is shown by the code in the "Remarks" column. If factual changes have been made on the page since the last edition, this is indicated by a new edition coding in the header of that page.

Uploaded by

Vladimir Anicic

Available Formats

Download as PDF, TXT or read online on Scribd

0% found this document useful (0 votes)

790 views

Advanced Programming

Uploaded by

Vladimir Anicic

Available Formats

Download as PDF, TXT or read online on Scribd

You are on page 1/ 729

Programming Guide 11/2002 Edition

Advanced SINUMERIK 840D/840Di/810D

Flexible NC Programming Subprograms, Macros

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 A

File and Program Management

SINUMERIK 840D/840Di/810D Advanced

Protection Zones

Special Motion Commands Frames

Programming Guide Transformations

Tool Offsets

Path Traversing Behavior Motion-Synchronous Action Oscillation

Valid for Control Software Version SINUMERIK 840D 6 SINUMERIK 840DE (export version) 6 SINUMERIK 840D powerline 6 SINUMERIK 840DE powerline 6 SINUMERIK 840Di 2 SINUMERIK 840DiE (export version) 2 SINUMERIK 810D 3 SINUMERIK 810DE (export version) 3 SINUMERIK 810D powerline 6 SINUMERIK 810DE powerline 6

Punching and Nibbling

Additional Functions

User Stock Removal Programs Tables

11.02 Edition Appendix

SINUMERIK Documentation
Printing history Brief details of this edition and previous editions are listed below. The status of each edition is shown by the code in the "Remarks" column. Status code in the "Remarks" column: A .... B .... C .... New documentation. Unrevised reprint with new Order No. Revised edition with new status. If factual changes have been made on the page since the last edition, this is indicated by a new edition coding in the header of that page.

Edition Order No. Comment 02.95 6FC5298-2AB00-0BP0 A 04.95 6FC5298-2AB00-0BP1 C 12.95 6FC5298-3AB10-0BP0 C 03.96 6FC5298-3AB10-0BP1 C 08.97 6FC5298-4AB10-0BP0 C 12.97 6FC5298-4AB10-0BP1 C 12.98 6FC5298-5AB10-0BP0 C 08.99 6FC5298-5AB10-0BP1 C 04.00 6FC5298-5AB10-0BP2 C 10.00 6FC5298-6AB10-0BP0 C 09.01 6FC5298-6AB10-0BP1 C 11.02 6FC5298-6AB10-0BP2 C This manual is included in the documentation on CD-ROM (DOCONCD) Edition Order No. Comment 11.02 6FC5298-6CA00-0BG2 C
Trademarks SIMATIC, SIMATIC HMI, SIMATIC NET, SIROTEC, SINUMERIK and SIMODRIVE are registered trademarks of Siemens AG. The other designations in this publication may also be trademarks, the use of which by third parties may constitute copyright violation.
Further information is available on the Internet under: http://www.ad.siemens.de/sinumerik This publication was produced with WinWord V8.0 and Designer V7.0. The reproduction, transmission or use of this document or its contents is not permitted without express written authority. Offenders will be liable for damages. All rights, including rights created by patent grant or registration of a utility model or design, are reserved. Siemens AG, 19952001. All rights reserved 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. We have checked that the contents of this documentation correspond to the hardware and software described. Nonetheless, differences might exist and we cannot therefore guarantee that they are completely identical. The information contained in this document is, however, reviewed regularly and any necessary changes will be included in the next edition. We welcome suggestions for improvement. Subject to change without prior notice.

Order No. 6FC5298-6AB10-0BP2 Printed in Germany

Siemens Aktiengesellschaft

11.02

Contents

Contents
Preface Flexible NC Programming
1.1 1.2 1.3 1.4 1.5 1.6 1.7 1.8 1.9

0-14 1-25

Variable and arithmetic parameters ................................................................................ 1-26 Variable definition............................................................................................................ 1-29 Array definition ................................................................................................................ 1-34 Indirect programming ...................................................................................................... 1-40 Assignments.................................................................................................................... 1-45 Arithmetic operations and functions ................................................................................ 1-46 Comparison and logic operators ..................................................................................... 1-48 Priority of operators ......................................................................................................... 1-53 Possible type conversions............................................................................................... 1-54

1.10 String operations ............................................................................................................. 1-55 1.10.1 Type conversion....................................................................................................... 1-56 1.10.2 Concatenation of strings .......................................................................................... 1-58 1.10.3 Conversion to lower/upper case .............................................................................. 1-59 1.10.4 Length of the string .................................................................................................. 1-60 1.10.5 Search for character/string in a string...................................................................... 1-60 1.10.6 Selection of a substring............................................................................................ 1-62 1.10.7 Selection of a single character................................................................................. 1-63 1.11 CASE instruction ............................................................................................................. 1-65 1.12 Control structures ............................................................................................................ 1-67 1.13 Program coordination...................................................................................................... 1-72 1.14 Interrupt routine ............................................................................................................... 1-77 1.15 Axis transfer, spindle transfer.......................................................................................... 1-85 1.16 NEWCONF: Setting machine data active (SW 4.3 and higher)...................................... 1-90 1.17 WRITE: Write file (SW 4.3 and higher) ........................................................................... 1-91 1.18 DELETE: Delete file (SW 4.3 and higher) ....................................................................... 1-93 1.19 READ: Read lines in file (SW 5.2 and higher)................................................................. 1-94 1.20 ISFILE: File available in user memory NCK (SW 5.2 and higher)................................... 1-97 1.21 CHECKSUM: Creation of a checksum over an array (SW 5.2 and higher) .................... 1-98

0-5

Contents

11.02

Subprograms, Macros
2.1 2.2 2.3 2.4 2.5 2.6 2.7 2.8 2.9

2-101

Using subprograms ....................................................................................................... 2-102 Subprogram with SAVE mechanism ............................................................................. 2-104 Subprograms with parameter transfer........................................................................... 2-105 Calling subprograms: L or EXTERN.............................................................................. 2-109 Parameterizable subprogram return (SW 6.4 and higher) ............................................ 2-113 Subprogram with program repetition: P......................................................................... 2-117 Modal subprogram: MCALL........................................................................................... 2-118 Calling the subprogram indirectly: CALL ....................................................................... 2-119 Repeating program sections with indirect programming (SW 6.4 and higher).............. 2-120

2.10 Calling up a program in ISO language indirectly: ISOCALL .......................................... 2-121 2.11 Calling subprogram with path specification and parameters PCALL ............................ 2-122 2.12 Extending a search path for subprogram calls with CALLPATH (SW 6.4 and higher) 2-123 2.13 Suppress current block display: DISPLOF .................................................................... 2-125 2.14 Single block suppression: SBLOF, SBLON (SW 4.3 and higher) ................................. 2-126 2.15 Executing external subprogram: EXTCALL (SW 4.2 and higher) ................................. 2-132 2.16 Subprogram call with M/T function ............................................................................... 2-136 2.17 Cycles: Setting parameters for user cycles .................................................................. 2-138 2.18 Macros. DEFINE...AS................................................................................................... 2-142

File and Program Management

3.1 3.2 3.3 3.4 3.5 3.6

3-145

Overview........................................................................................................................ 3-146 Program memory........................................................................................................... 3-147 User memory.................................................................................................................3-153 Defining user data ......................................................................................................... 3-156 Defining protection levels for user data (GUD).............................................................. 3-160 Automatic activation of GUDs and MACs (SW 4.4 and higher) .................................... 3-162

3.7 Data-specific protection level change for machine and setting data ............................. 3-164 3.7.1 Change................................................................................................................... 3-164 3.7.2 Undoing a change .................................................................................................. 3-165 3.8 3.9 Changing attributes of NC language elements (SW 6.4 and higher) ............................ 3-165 Structuring instruction SEFORM in the Step editor (SW 6.4 and higher)...................... 3-173

0-6

11.02

Contents

Protection Zones
4.1 4.2

4-175

Defining the protection zones CPROTDEF, NPROTDEF ............................................ 4-176 Activating/deactivating protection zones: CPROT, NPROT ......................................... 4-180

Special Motion Commands

5.1 5.2 5.3 5.4 5.5 5.6 5.7 5.8 5.9

5-185

Approaching coded positions, CAC, CIC, CDC, CACP, CACN .................................... 5-186 Spline interpolation........................................................................................................ 5-187 Compressor COMPON/COMPCURV/COMPCAD (SW 6.2) ........................................ 5-196 Polynomial interpolation POLY, POLYPATH (SW 5 and higher) ............................... 5-204 Settable path reference, SPATH, UPATH (SW 4.3 and higher) ................................... 5-211 Measurements with touch trigger probe, MEAS, MEAW .............................................. 5-215 Extended measuring function MEASA, MEAWA, MEAC (SW 4 and higher, option).... 5-218 Special functions for OEM users................................................................................... 5-228 Programmable motion end criterion (SW 5.1 and higher) ............................................ 5-229

5.10 Programmable servo parameter block (SW 5.1 and higher) ........................................ 5-232

Frames
6.1 6.2 6.3 6.4 6.5 6.6 6.7 6.8

6-235

Coordinate transformation via frame variables ............................................................ 6-236 Frame variables/assigning values to frames................................................................ 6-241 Coarse/fine offset ......................................................................................................... 6-248 DRF offset .................................................................................................................... 6-249 External zero offset ...................................................................................................... 6-250 Programming PRESET offset, PRESETON ................................................................ 6-251 Deactivating frames ..................................................................................................... 6-252 Frame calculation from three measuring points in the area: MEAFRAME .................. 6-253

6.9 NCU-global frames (SW 5 and higher) ........................................................................ 6-256 6.9.1 Channel-specific frames ........................................................................................ 6-257 6.9.2 Frames active in the channel ................................................................................. 6-259

Transformations

7-265

7.1 Three, four and five axis transformation: TRAORI....................................................... 7-266 7.1.1 Programming tool orientation................................................................................ 7-269 7.1.2 Orientation axes reference ORIWCS, ORIMCS ................................................. 7-274 7.1.3 Singular positions and how to handle them ........................................................... 7-275 7.1.4 Orientation axes (SW 5.2 and higher) ................................................................... 7-276

0-7

Contents

11.02

7.1.5 7.1.6 7.2 7.3

Cartesian PTP travel (from SW 5.2) ...................................................................... 7-279 Online tool length compensation (SW 6.4 and higher) .......................................... 7-284 Milling turned parts: TRANSMIT................................................................................... 7-287 Cylinder surface transformation: TRACYL ................................................................... 7-290

7.4 Inclined axis: TRAANG................................................................................................. 7-296 7.4.1 Inclined axis programming: G05, G07 (SW 5.3 and higher) .................................. 7-300 7.5 7.6 7.7 7.8 Constraints when selecting a transformation ............................................................... 7-302 Deselect transformation: TRAFOOF ............................................................................ 7-304 Chained transformations .............................................................................................. 7-305 Switchable geometry axes, GEOAX............................................................................. 7-308

Tool Offsets
8.1 8.2 8.3 8.4 8.5 8.6

8-313

Offset memory.............................................................................................................. 8-314 Language commands for tool management................................................................. 8-316 Online tool offset PUTFTOCF, PUTFTOC, FTOCON, FTOCOF................................. 8-319 Maintain tool radius compensation at constant level, CUTCONON (SW 4 and higher) ........................................................................................................ 8-325 Activate 3D tool offsets................................................................................................. 8-328 Tool orientation............................................................................................................. 8-336

8.7 Free assignment of D numbers, cutting edge number CE (SW 5 and higher)............. 8-341 8.7.1 Check D numbers (CHKDNO) ............................................................................... 8-342 8.7.2 Renaming D numbers (GETDNO, SETDNO) ........................................................ 8-343 8.7.3 T numbers for the specified D number (GETACTTD) ........................................... 8-344 8.7.4 Set final D numbers to invalid ................................................................................ 8-345 8.8 Toolholder kinematics .................................................................................................. 8-346

Path Traversing Behavior

9.1 9.2 9.3 9.4 9.5 9.6 9.7

9-351

Tangential control TANG, TANGON, TANGOF, TANGDEL ........................................ 9-352 Coupled motion TRAILON, TRAILOF .......................................................................... 9-358 Curve tables, CTABDEF, CTABEND, CTABDEL, CTAB, CTABINV, CTABSSV, CTABSEV .................................................................................................. 9-362 Axial leading value coupling, LEADON, LEADOF ........................................................ 9-375 Feed characteristic, FNORM, FLIN, FCUB, FPO......................................................... 9-381 Program run with preprocessing memory, STARTFIFO, STOPFIFO, STOPRE ......... 9-386 Repositioning on contour, REPOSA, REPOSL, REPOSQ, REPOSH.......................... 9-388

0-8

11.02

Contents

Motion-Synchronous Action

10-393

10.1 Structure, basic information ....................................................................................... 10-395 10.1.1 Programming and command elements................................................................ 10-397 10.1.2 Validity range: Identification number ID ............................................................... 10-398 10.1.3 Vocabulary word .................................................................................................. 10-399 10.1.4 Actions ................................................................................................................. 10-402 10.1.5 Overview of synchronized actions........................................................................ 10-404 10.2 Basic modules for conditions and actions .................................................................. 10-406 10.3 Special real-time variables for synchronized actions ................................................. 10-409 10.3.1 Flags/counters $AC_MARKER[n] ........................................................................ 10-409 10.3.2 Timer variable $AC_TIMER[n], SW 4 and higher ................................................ 10-409 10.3.3 Synchronized action parameters $AC_PARAM[n]............................................... 10-410 10.3.4 Access to R parameters $Rxx ............................................................................. 10-411 10.3.5 Machine and setting data read/write (SW 4 and higher)...................................... 10-412 10.3.6 FIFO variable $AC_FIFO1[n] $AC_FIFO10[n] (SW 4 and higher).................. 10-413 10.4 Actions within synchronized actions ........................................................................... 10-415 10.4.1 Auxiliary functions output ..................................................................................... 10-415 10.4.2 Set read-in disable RDISABLE ............................................................................ 10-416 10.4.3 Cancel preprocessing stop STOPREOF ............................................................. 10-417 10.4.4 Deletion of distance-to-go .................................................................................... 10-418 10.4.5 Delete distance-to-go with preparation, DELDTG, DELDTG ("Axis 1 to x") ........ 10-418 10.4.6 Polynomial definition, FCTDEF, block-synchronized ........................................... 10-420 10.4.7 Laser power control ............................................................................................. 10-422 10.4.8 Evaluation function SYNFCT ............................................................................... 10-423 10.4.9 Adaptive control (additive).................................................................................... 10-424 10.4.10 Adaptive control (multiplicative) ........................................................................... 10-425 10.4.11 Clearance control with limited compensation....................................................... 10-426 10.4.12 Online tool offset FTOC ....................................................................................... 10-428 10.4.13 Positioning movements........................................................................................ 10-430 10.4.14 Position axis POS ................................................................................................ 10-432 10.4.15 Start/stop axis MOV ............................................................................................. 10-432 10.4.16 Axial feed FA........................................................................................................ 10-433 10.4.17 SW limit switch..................................................................................................... 10-434 10.4.18 Axis coordination.................................................................................................. 10-434 10.4.19 Set actual value.................................................................................................... 10-436 10.4.20 Spindle motions ................................................................................................... 10-437 10.4.21 Coupled-axis motion TRAILON, TRAILOF .......................................................... 10-438 10.4.22 Leading value coupling LEADON, LEADOF ........................................................ 10-439 10.4.23 Measurement ....................................................................................................... 10-441 10.4.24 Set/clear wait marks: SETM, CLEARM (SW 5.2 and higher) .............................. 10-441 10.4.25 Error responses ................................................................................................... 10-442 10.4.26 Travel to fixed stop FXS and FOCON/FOCOF.................................................... 10-442

0-9

Contents

11.02

10.5 Technology cycles ...................................................................................................... 10-445 10.5.1 Lock, unlock, reset: LOCK, UNLOCK, RESET .................................................... 10-447 10.6 Cancel synchronized action: CANCEL ....................................................................... 10-449 10.7 Supplementary conditions .......................................................................................... 10-450

Oscillation

11-455

11.1 Asynchronous oscillation ............................................................................................ 11-456 11.2 Oscillation controlled via synchronous actions ........................................................... 11-463

Punching and Nibbling

12-475

12.1 Activation, deactivation ............................................................................................... 12-476 12.1.1 Language commands........................................................................................... 12-476 12.1.2 Use of M commands ............................................................................................ 12-479 12.2 Automatic path segmentation ..................................................................................... 12-480 12.2.1 Path segmentation for path axes ......................................................................... 12-481 12.2.2 Path segmentation for single axes ....................................................................... 12-482 12.2.3 Programming examples ....................................................................................... 12-484

Additional Functions

13-487

13.1 Axis functions AXNAME, SPI, ISAXIS, AXSTRING (SW 6 and higher)..................... 13-489 13.2 Function call ISVAR ( ) (SW 6.3 and higher).............................................................. 13-491 13.3 Learn compensation characteristics: QECLRNON, QECLRNOF .............................. 13-493 13.4 Synchronized spindle.................................................................................................. 13-495 13.5 EG: Electronic gear (SW 5 and higher) ...................................................................... 13-505 13.5.1 Define electronic gear: EGDEF............................................................................ 13-505 13.5.2 Activate electronic gear ........................................................................................ 13-506 13.5.3 Deactivate electronic gear.................................................................................... 13-510 13.5.4 Delete definition of an electronic gear .................................................................. 13-511 13.5.5 Revolutional feedrate (G95)/electronic gear (SW 5.2) ......................................... 13-511 13.5.6 Response of EG at Power ON, RESET, mode change, block search ................. 13-512 13.5.7 The electronic gear's system variables ................................................................ 13-512 13.6 Extended stopping and retract (SW 5 and higher) ..................................................... 13-513 13.6.1 Drive-independent reactions ................................................................................ 13-514 13.6.2 NC-controlled reactions........................................................................................ 13-515 13.6.3 Possible trigger sources....................................................................................... 13-518 13.6.4 Logic gating functions: Source/reaction operation ............................................... 13-518 13.6.5 Activation.............................................................................................................. 13-519 13.6.6 Generator operation/DC link backup.................................................................... 13-519 13.6.7 Drive-independent stop ........................................................................................ 13-520

0-10

11.02

Contents

13.6.8 13.6.9

Drive-independent retract .................................................................................... 13-521 Example: Using the drive-independent reaction .................................................. 13-521

13.7 Link communication (SW 5.2 and higher) .................................................................. 13-522 13.8 Axis container (SW 5.2 and higher) ........................................................................... 13-526 13.9 Program execution time/Workpiece counter (SW 5.2 and higher) ............................ 13-528 13.9.1 Program runtime .................................................................................................. 13-528 13.9.2 Workpiece counter............................................................................................... 13-530 13.10 Interactive window call from parts program, command MMC (SW 4.4 and higher) ................................................................................................... 13-532 13.11 Influencing the motion control .................................................................................... 13-534 13.11.1 Percentage jerk correction: JERKLIM.................................................................. 13-534 13.11.2 Percentage velocity correction: VELOLIM ........................................................... 13-535 13.12 Master/slave grouping ................................................................................................ 13-536

User Stock Removal Programs

14-541

14.1 Supporting functions for stock removal ...................................................................... 14-542 14.2 Contour preparation: CONTPRON............................................................................. 14-543 14.3 Contour decoding: CONTDCON (SW 5.2 and higher)............................................... 14-550 14.4 Intersection of two contour elements: INTERSEC ..................................................... 14-554 14.5 Traversing a contour element from the table: EXECTAB .......................................... 14-556 14.6 Calculate circle data: CALCDAT ................................................................................ 14-557

Tables

15-559

15.1 List of instructions....................................................................................................... 15-561 15.2 List of system variables .............................................................................................. 15-591 15.2.1 R parameters ....................................................................................................... 15-591 15.2.2 Channel-specific synchronized action variables .................................................. 15-591 15.2.3 Frames 1.............................................................................................................. 15-592 15.2.4 Toolholder data .................................................................................................... 15-593 15.2.5 Channel-specific protection zones ....................................................................... 15-601 15.2.6 Tool parameters................................................................................................... 15-603 15.2.7 Cutting edge data OEM user ............................................................................... 15-609 15.2.8 Monitoring data for tool management .................................................................. 15-617 15.2.9 Monitoring data for OEM users ............................................................................ 15-618 15.2.10 Tool-related data.................................................................................................. 15-619 15.2.11 Tool-related grinding data .................................................................................... 15-621 15.2.12 Magazine location data ........................................................................................ 15-622 15.2.13 Magazine location data for OEM users................................................................ 15-623

0-11

Contents

11.02

15.2.14 15.2.15 15.2.16 15.2.17 15.2.18 15.2.19 15.2.20 15.2.21 15.2.22 15.2.23 15.2.24 15.2.25 15.2.26 15.2.27 15.2.28 15.2.29 15.2.30 15.2.31 15.2.32 15.2.33 15.2.34 15.2.35 15.2.36 15.2.37 15.2.38 15.2.39 15.2.40 15.2.41 15.2.42 15.2.43 15.2.44 15.2.45 15.2.46 15.2.47 15.2.48 15.2.49 15.2.50 15.2.51 15.2.52 15.2.53 15.2.54 15.2.55 15.2.56 15.2.57

Magazine description data for tool management ................................................. 15-624 Tool management magazine description data for OEM users............................. 15-625 Magazine module parameter ............................................................................... 15-626 Adapter data......................................................................................................... 15-626 Measuring system compensation values ............................................................. 15-626 Quadrant error compensation .............................................................................. 15-627 Interpolatory compensation .................................................................................. 15-629 NCK-specific protection zones ............................................................................. 15-630 Cycle parameterization......................................................................................... 15-631 System data ......................................................................................................... 15-636 Frames 2 .............................................................................................................. 15-636 Tool data .............................................................................................................. 15-638 Magazines ............................................................................................................ 15-643 Programmed geometry axis values...................................................................... 15-646 G groups .............................................................................................................. 15-647 Programmed values ............................................................................................. 15-647 Channel states ..................................................................................................... 15-651 Synchronized actions ........................................................................................... 15-656 I/Os....................................................................................................................... 15-657 Reading and writing PLC variables ...................................................................... 15-657 NCU link ............................................................................................................... 15-658 Direct PLC I/O ...................................................................................................... 15-658 Tool management ................................................................................................ 15-659 Timers ..................................................................................................................15-662 Path movement .................................................................................................... 15-663 Speeds/accelerations ........................................................................................... 15-665 Spindles................................................................................................................15-667 Polynomial values for synchronized actions......................................................... 15-670 Channel states ..................................................................................................... 15-672 Measurement ....................................................................................................... 15-673 Positions...............................................................................................................15-677 Indexing axes ....................................................................................................... 15-679 Encoder values..................................................................................................... 15-679 Axial measurement .............................................................................................. 15-680 Offsets.................................................................................................................. 15-681 Axial paths............................................................................................................ 15-684 Oscillation.............................................................................................................15-685 Axial velocities...................................................................................................... 15-685 Drive data ............................................................................................................. 15-687 Axis statuses ........................................................................................................ 15-688 Master/slave links................................................................................................. 15-689 Travel to fixed stop............................................................................................... 15-690 Electronic gear ..................................................................................................... 15-691 Leading value coupling......................................................................................... 15-692

0-12

11.02

Contents

15.2.58 Synchronized spindle ........................................................................................... 15-693 15.2.59 Safety Integrated.................................................................................................. 15-696

Appendix

A-701

A Index .................................................................................................................................A-702 B Commands, Identifiers......................................................................................................A-719

0-13

Preface

11.02

Structure of documentation

Preface
Overview of documentation
The SINUMERIK documentation is organized in three parts: General Documentation User Documentation Manufacturer/Service Documentation

Target group
This documentation is intended for the programmer. It provides detailed information for programming the SINUMERIK 840D/840Di/840Di/810D.

Standard scope
The Programming Guide describes the functionality included in the standard scope. Extensions or changes made by the machine tool manufacturer are documented by the machine tool manufacturer. You can obtain more detailed information on publications about SINUMERIK 840D/840Di/810D or publications that apply to all the SINUMERIK controls (e.g. universal interface, measurement cycles, etc.), from your Siemens branch. 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.

0-14

11.02

Preface

Structure of documentation

Validity
This Programming Guide is valid for the following controls: SINUMERIK 840D SW6 SINUMERIK 840DE (export version) SW6 SINUMERIK 840Di SW2 SINUMERIK 840DiE (export version) SW2 SINUMERIK 810D SW3 SINUMERIK 810DE (export version) SW3 with operator panel fronts OP 010, OP 010C, OP 010S, OP 12 or OP 15 (PCU 20 or PCU 50)

SINUMERIK 840D powerline

From 09.2001, the SINUMERIK 840D powerline and the SINUMERIK 840DE powerline will be available with improved performance. A list of the available powerline modules can be found in the Hardware Reference Manual /PHD/ in Section 1.1

SINUMERIK 810D powerline

From 12.2001, the SINUMERIK 810D powerline and the SINUMERIK 810DE powerline will be available with improved performance. A list of the available powerline modules can be found in the Hardware Reference Manual /PHC/ in Section 1.1

0-15

Preface

11.02

Structure of documentation

Hotline

Should you have any questions, please consult the following Hotline: A&D Technical Support Tel.: ++49-(0)180-5050-222 Fax: ++49-(0)180-5050-223 E-mail: [email protected] If you have any questions about the documentation (suggestions, corrections) please send a fax to the following fax address, or e-mail us: Fax: ++49-(0)0131-98-2176 E-mail: [email protected] Fax form: see the feedback page at the back of this document.

Internet address

http://www.ad.siemens.de/sinumerik

Export version
The following functions are not available in the export version: Function Machining package for 5 axes Transformation package handling (5 axes) Multiple axes interpolation (> 4 axes) Helix interpolation 2D+6 Synchronized actions stage 2 Measurement stage 2 Adaptive control Continuous dressing Use of the compile cycles (OEM) Multidimensional sag compensation 810DE O O O
1) 1)

840DE O O O O O
1) 1) 1) 1)

Function not available 1) Limited functionality

0-16

11.02

Preface

Structure of documentation

Structure of the descriptions

All cycles and programming options have been described where appropriate and possible according to the same internal structure. The organization into different information levels allows you to find the information you need quickly.

1. At a glance
If you want to look up a seldom used command or the meaning of a parameter, you can see at a glance how to program the function together with an explanation of the commands and parameters. This information is always presented at the start of the page. Note: To keep this documentation as compact as possible, it is not always possible to list all the types of representation available in the programming language for the individual commands and parameters. The commands are therefore always programmed in the context most frequently used in the workshop.

Drilling cycles and drilling patterns

03.96

2.1 Drilling cycles

2.1.2 Drilling, centering CYCLE81 Programming

CYCLE81 (RTP, RFP, SDIS, DP) RTP RFP SDIS DP DPR real real real real real Retraction plane (absolute) Reference plane (absolute) Safety clearance (enter without sign) Final drilling depth (absolute) Final drilling depth relative to reference plane (enter without sign)

Function
The tool drills at the programmed spindle speed and feedrate to the programmed final drilling depth.

Operating sequence
Position reached before the beginning of the cycle: The drilling position is the position in the two axes of the selected plane. The cycle implements the following motion sequence: Approach of the reference plane brought forward by the safety clearance with G0 Travel to the final drilling depth at the feedrate programmed in the calling program (G1) Retraction to retraction plane with G0

2-36

0-17

Preface

11.02

Structure of documentation

2. Detailed explanations
The theory part contains detailed information on the following:

03.96

Drilling cycles and drilling patterns

2.1 Drilling cycles

Explanation of parameters
RFP and RTP Generally, the reference plane (RFP) and the retraction plane (RTP) have different values. In the cycle it is assumed that the retraction plane lies in front of the reference plane. The distance between the retraction plane and the final drilling depth is therefore greater than the distance between the reference plane and the final drilling depth. SDIS The safety clearance (SDIS) refers to the reference plane. which is brought forward by the safety clearance. The direction in which the safety clearance is active is automatically determined by the cycle. DP and DPR The drilling depth can be defined either absolute (DP) or relative (DPR) to the reference plane. If it is entered as an absolute value, the value is traversed directly in the cycle.

Z G1 G0

What is the purpose of the command? What is the effect of the command? What is the sequence of command? What effect do the parameters have? What else has to be taken into account? The theory parts are suitable primarily as a guide for NC beginners. Work through the manual carefully at least once to gain an overview of the performance scope and capabilities of your SINUMERIK control.

RTP RFP+SDIS RFP

DP=RFP-DPR

Additional notes
If a value is entered both for the DP and the DPR, the final drilling depth is derived from the DPR. If the DPR deviates from the absolute depth programmed via the DP, the message "Depth: Corresponds to value for relative depth" is output in the dialog line.

2-37

3. From theory to practice

The programming example shows you how to apply the commands in the program. You will find an application example for practically all the commands after the theory part.

Drilling cycles and drilling patterns

03.96 08.97

2.1 Drilling cycles

If the values for the reference plane and the retraction plane are identical, a relative depth must not be programmed. The error message 61101 "Reference plane incorrectly defined" is output and the cycle is not executed. This error message is also output if the retraction plane lies behind the reference plane, i.e. the distance to the final drilling depth is smaller.

Programming example
Drilling_centering You can use this program to make 3 holes using the drilling cycle CYCLE81, whereby this cycle is called with different parameter settings. The drilling axis is always the Z axis.
Y A 120 Y A-B

30 0 B 40 90 X 35 Z 100 108

N10 G0 G90 F200 S300 M3 N20 D3 T3 Z110 N30 X40 Y120 N40 CYCLE81 (110, 100, 2, 35)

Specification of the technology values Traverse to retraction plane Traverse to first drilling position Cycle call with absolute final drilling depth, safety clearance and incomplete parameter list Traverse to next drilling position Cycle call without safety clearance Specification of the technology values Traverse to next position Cycle call with relative final drilling depth and safety clearance End of program

N50 Y30 N60 CYCLE81 (110, 102, , 35) N70 G0 G90 F180 S300 M03 N80 X90 N90 CYCLE81 (110, 100, 2, , 65) N100 M30

2-38

0-18

11.02

Preface

Structure of documentation

Explanation of the symbols

Sequence of operations

Explanation

Function

Parameters

Programming example

Programming

Additional notes

Cross-references to other documentation and sections

Important information and safety notices

0-19

Preface

11.02

Structure of documentation

For your information Your SINUMERIK 840D/840Di/810D is state of the art and is manufactured in accordance with recognized safety regulations, standards and specifications. Additional devices SIEMENS offers special add-on equipment, products and system configurations for the focused expansion of SIEMENS controls in your field of application. Personnel Only specially trained, authorized and experienced personnel should be allowed to work on the control. This applies at all times, even for short periods. It is necessary to clearly define the respective responsibilities of the personnel for setting up, operation and maintenance; it is necessary to supervise the compliance thereof. Actions It must be ascertained that the Instruction Manuals have been read and understood by the persons working on the control before installation and start-up of the control. In addition, operation must be conducted under constant supervision regarding the overall technical state (faults and damages visible from outside, as well as changes in operation behavior) of the control.

0-20

11.02

Preface

Structure of documentation

Service Only qualified personnel specifically trained for this purpose should be allowed to perform repairs, and only in accordance with the contents of the maintenance guides. Hereby, all established safety regulations have to be complied with. Note The following are considered not compliant with the usage to the intended purposes and are therefore excluded from all liability of the manufacturer: Every usage not complying with or going beyond the abovementioned points. If the control is not operated in a technically faultless state, if proper safety precautions are not taken, or if the instructions in the Instruction Manual are not complied with. If faults which could influence safety of operation are not remedied before installation and start-up of the control. Each change, jumpering or shut-down of devices on the control which serve for proper functioning, universal usage and active and passive safety. Unforeseen dangers may result in: personal injury and death, damage to the control, machine and other property of the company and operator.

0-21

Preface

11.02

Structure of documentation

The following notes used in the documentation have a special significance: Notes This symbol always appears in the documentation if secondary information is given and there is an important fact to be considered. In this documentation, you will find the symbol shown with reference to an ordering data option. The function described can only be run if the control includes the designated option. Warnings The following warnings, of graduated significance, are used in the publication. Danger Indicates an imminently hazardous situation which, if not avoided, will result in death or serious injury or in substantial property damage. Notice Indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury or in substantial property damage. Caution Used with the safety alert symbol indicates a potentially hazardous situation which, if not avoided, may result in minor or moderate injury or in property damage. Caution Used without safety alert symbol indicates a potentially hazardous situation which, if not avoided, may result in property damage.

0-22

11.02

Preface

Structure of documentation

Notice Used without the safety alert symbol indicates a potential situation which, if not avoided, may result in an undesirable result or state.

0-23

Preface

11.02

Structure of documentation

0-24

11.02

Flexible NC Programming

Flexible NC Programming
1.1 1.2 1.3 1.4 1.5 1.6 1.7 1.8 1.9 Variable and arithmetic parameters ................................................................................ 1-26 Variable definition............................................................................................................ 1-29 Array definition ................................................................................................................ 1-34 Indirect programming ...................................................................................................... 1-40 Assignments.................................................................................................................... 1-45 Arithmetic operations and functions ................................................................................ 1-46 Comparison and logic operators ..................................................................................... 1-48 Priority of operators ......................................................................................................... 1-53 Possible type conversions............................................................................................... 1-54

1.10 String operations ............................................................................................................. 1-55 1.10.1 Type conversion....................................................................................................... 1-56 1.10.2 Concatenation of strings .......................................................................................... 1-58 1.10.3 Conversion to lower/upper case .............................................................................. 1-59 1.10.4 Length of the string .................................................................................................. 1-60 1.10.5 Search for character/string in a string ...................................................................... 1-60 1.10.6 Selection of a substring............................................................................................ 1-62 1.10.7 Selection of a single character................................................................................. 1-63 1.11 CASE instruction ............................................................................................................ 1-65 1.12 Control structures ........................................................................................................... 1-67 1.13 Program coordination ..................................................................................................... 1-72 1.14 Interrupt routine .............................................................................................................. 1-77 1.15 Axis transfer, spindle transfer......................................................................................... 1-85 1.16 NEWCONF: Setting machine data active (SW 4.3 and higher) ..................................... 1-90 1.17 WRITE: Write file (SW 4.3 and higher) .......................................................................... 1-91 1.18 DELETE: Delete file (SW 4.3 and higher) ...................................................................... 1-93 1.19 READ: Read lines in file (SW 5.2 and higher)................................................................ 1-94 1.20 ISFILE: File available in user memory NCK (SW 5.2 and higher).................................. 1-97 1.21 CHECKSUM: Creation of a checksum over an array (SW 5.2 and higher) ................... 1-98

1-25

Flexible NC Programming

11.02

1.1

Variable and arithmetic parameters

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

1.1

Variable and arithmetic parameters Function

Machine manufacturer
See machine manufacturer's specifications. If they are defined in the main program, they will also be valid at all levels of the subprograms called. They are created with parts program start and deleted with parts program end or reset. Example: $MN_LUD_EXTENDED_SCOPE=1 PROC MAIN DEF INT VAR1 ... SUB2 ... M30 PROC SUB2 DEF INT VAR2 ... IF (VAR1==1) VAR1=VAR1+1 VAR2=1 ENDIF SUB3 ... M17 PROC SUB3 ;Main program ;PUD definition ;Subprogram call

;Subprogram SUB2 ;LUD DEFINITION ;Read PUD ;Read & write PUD ;Write LUD ;Subprogram call

;Subprogram SUB3

1-29

Flexible NC Programming

11.02

1.2

Variable definition

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

... IF (VAR1==1) VAR1=VAR1+1 VAR2=1 ENDIF ... M17

;Read PUD ;Read & write PUD ;Error: LUD from SUB2 ;not known

If machine data $MN_LUD_EXTENDED_SCOPE is set, it is not possible to define a variable with the same name in the main and subprograms. Variable names A variable name consists of up to 31 characters. The first two characters must be a letter or an underscore. The "$" sign can not be used for user-defined variables because it is used for system variables.

Programming
DEF INT name or DEF INT name=value DEF REAL name or DEF REAL name1,name2=3,name4 or DEF REAL name[array_index1,array_index2] DEF BOOL name DEF CHAR name or DEF CHAR name[array_index]=("A","B",) DEF STRING[string_length] name DEF AXIS name or DEF AXIS name[array_index] DEF FRAME name

1-30

11.02

Flexible NC Programming

1.2

Variable definition

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

If a variable is not assigned a value on definition, the system sets zero as the default. Variables must be defined at the beginning of the program before they are used. The definition must be made in a separate block; only one variable type can be defined per block.

Explanation
INT REAL BOOL CHAR STRING AXIS FRAME name Variable type integer, i.e. whole number Variable type real, i.e. factional number with decimal point Variable type Boolean, i.e. 1 or 0 (TRUE or FALSE) Variable type char, i.e. ASCII-coded character (0 to 255) Variable type string, i.e. sequence of char Variable type axis, i.e. axis addresses and spindles Variable type frame, i.e. geometric data Variable name

Programming examples
Variable type INT DEF INT NUMBER

This creates a variable of type integer with the name NUMBER. The system initializes the variable with zero. This creates a variable of type integer with the name NUMBER. The system initializes the variable with zero.

DEF INT NUMBER= 7

Variable type REAL DEF REAL DEPTH

This creates a variable of type real with the name DEPTH. System initializes with zero (0.0). This creates a variable of type real with the name DEPTH. The variable is initialized with 6.25. More than one variable can be defined in a line.

DEF REAL DEPTH=6.25

DEF REAL DEPTH=3.1,LENGTH=2,NUMBER

1-31

Flexible NC Programming

11.02

1.2

Variable definition

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Variable type BOOL DEF BOOL IF_TOO_MUCH

This creates a variable of type BOOL with the name IF_TOO_MUCH. System initializes with zero (FALSE). This creates a variable of type BOOL with the name IF_TOO_MUCH.

DEF BOOL IF_TOO_MUCH=1 or DEF BOOL IF_TOO_MUCH=TRUE or DEF BOOL WENN_ZUVIEL=FALSE Variable type CHAR DEF CHAR GUSTAV_1=65 DEF CHAR GUSTAV_1="A"

A code value for the corresponding ASCII character or the ASCII character itself can be assigned to a variable of type CHAR (code value 65 corresponds to letter "A").

Variable type STRING DEF STRING[6] MUSTER_1="BEGIN"

Variables of type string can contain a string (sequence of characters). The maximum number of characters is enclosed in square brackets after the variable type.

Variable type AXIS DEF AXIS AXIS_NAME=(X1)

Variable of type AXIS are called AXIS_NAME and contain the axis identifier of a channel here X1. (Axis names with an extended address are in parentheses.)

Variable type FRAME DEF FRAME BEVEL_1

Variables of type FRAME have names like BEVEL_1.

1-32

11.02

Flexible NC Programming

1.2

Variable definition

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Additional notes
A variable of type AXIS can contain an axis identifier and a spindle identifier of a channel. Note: Axis names with an extended address must be in parentheses.

Example of programming with programlocal variables

DEF INT COUNT LOOP: G0 X COUNT=COUNT+1 IF COUNT<50 GOTOB LOOP M30 ;Loop

Programming example Query of existing geometry axes

DEF AXIS ABSCISSA; IF ISAXIS(1) == FALSE GOTOF CONTINUE ABSCISSA = $P_AXN1 CONTINUE: ;1. geometry axis

Indirect spindle programming

DEF AXIS SPINDLE SPINDLE=(S1) OVRA[SPINDLE]=80 SPINDLE=(S3) ;Spindle override = 80%

1-33

Flexible NC Programming

11.02

1.3

Array definition

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

1.3

Array definition Programming

DEF DEF DEF DEF DEF DEF DEF CHAR NAME[n,m] INT NAME[n,m] REAL NAME[n,m] AXIS NAME[n,m] FRAME NAME[n,m] STRING[string_length] NAME[m] BOOL[n,m]

Explanation
INT NAME[n,m] REAL NAME[n,m] Variable type (CHAR, INTEGER, REAL, AXIS, FRAME, BOOL) n = array size for 1st dimension m = array size for 2nd dimension Data type STRING can only be defined for 1-dimensional arrays Variable name

DEF STRING[string_length] NAME[m] NAME The same memory size applies to type BOOL as to type CHAR. Up to SW3: The maximum size of an array is set via machine data.

Machine manufacturer
See machine manufacturer's specifications
Type BOOL CHAR INT REAL STRING FRAME AXIS Memory requirement per array element 1 byte 1 byte 4 bytes 8 bytes String length + 1 400 bytes, depending on number of axes 4 bytes

The maximum array size determines the size of the memory blocks in which the variable memory is managed. It should not be set higher than actually required. Standard: 812 bytes If not large arrays are defined, select: 256 bytes.

1-34

11.02

Flexible NC Programming

1.3

Array definition

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

SW 4 and higher: An array can be larger than a memory block. The MD value for block size should be set such that arrays are fragmented only in exceptional cases. Default: 256 bytes Memory requirement per element: see above Example:
Global user data must contain PLC machine data for switching the controller on/off (definition of BOOL arrays).

Additional notes
Arrays with up to 2 dimensions can be defined. Arrays with variables of type STRING can only be 1-dimensional. The string length is specified after the data type String.

Array index Elements of an array are accessed via the array index. The array elements can either be read or assigned values using this array index. The first array element starts with index [0,0]; for example, for array size [3,4] the maximum possible array index is [2,3].

Array index [n,m]

0.0

0.1

0.2

.....
. . . . .

0,m-1

1.0

1.1

1.2

.....

1,m-1

. . . . . n n-1.0 n-1.1 n-1.2

.. .. .. .. .

n -1,,m-1

1-35

Flexible NC Programming

11.02

1.3

Array definition

840D NCU 571

840D NCU 572 NCU 573

810D

810D

840Di

Programming example
Initialization of complete variable arrays. The current assignment is shown in the drawing. N10 DEF REAL FELD1[10,3] = SET(0, 0, 0, 10, 11, 12, 20, 20, 20, 30, 30, 30, 40, 40, 40,) N20 FELD1[0,0] = REP(100) N30 FELD1[5,0] = REP(-100) N40 FELD1[0,0] = SET(0, 1, 2, -10, -11, -12, -20, -20, -20, -30, , , , -40, -40, -50, -60, -70) N50 FELD1[8,1] = SET(8.1, 8.2, 9.0, 9.1, 9.2)

Array index
N10: Initialization with definition 0 0
1 2 3 4 5 6 7 8 9 0 1 0 2 0

2
N20/N30: Initialization with identical value 0 100
100 100 100 100 100 100 100 100 100 1 100 100 100 100 100 100 100 100 100 100 2 100 100 100 100 100 100 100 100 100 100

1.2

N40/N50: Initialization with different values

0 0 1 1 11 20 2 2 12 20

10 20
30 40 0 0 0 0 0

11
20 30 40 0 0 0 0 0

12
20 30 40 0 0 0 0 0

10
20 30

0
40 60 100 100

0
40 70 100 100

0
50 100 100 100

8.1

8.2

The array elements [5.0] to [9.2] have been initialized with the default value (0.0).

9.0 9.1 9.2 The array elements [3.1] to [4.0] have been initialized with the default value (0.0). The array elements [6.0] to [8.0] have not been changed.

1-39

Flexible NC Programming

11.02

1.4

Indirect programming

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

1.4

Indirect programming
Indirect programming permits general-purpose use of programs. The extended address (index) is substituted by a variable of suitable type. All addresses are parameterizable except: N Block number G G command L Subprogram Indirect programming is not possible for settable addresses. Example: X[1] in place of X1 is not permissible.

Programming
ADDRESS[INDEX]

Programming examples
Spindle S1=300 DEF INT SPINU=1 S[SPINU]=300 Direct programming Indirect programming: Speed 300rpm for the spindle whose number is stored in the SPINU variable (in this example 1).

Feed FA[U]=300 DEF AXIS AXVAR2=U FA[AXVAR2]=300

Direct programming Indirect programming: Feedrate for positioning axis whose address name is stored in the variable of type AXIS with the variable name AXVAR2.

Measured value $AA_MM[X] DEF AXIS AXVAR3=X $AA_MM[AXVAR3]

Direct programming Indirect programming: Measured value in machine coordinates for the axis whose name is stored in variable AXVAR3.

1-40

11.02

Flexible NC Programming

1.4

Indirect programming

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Array element DEF INT FELD1[4,5] DEFINE DIM1 AS 4 DEFINE DIM2 AS 5 DEF INT ARRAY[DIM1,DIM2] ARRAY[DIM1-1,DIM2-1]=5

Direct programming

Indirect programming: Array dimensions must be stated as constant values.

Axis assignment with axis variables X1=100 X2=200 DEF AXIS AXVAR1 AXVAR2 AXVAR1=(X1) AXVAR2=(X2) AX[AXVAR1]=100 AX[AXVAR2]=200

Direct programming Indirect programming: Definition of the variables Assignment of the axis names, traversal of axes that are stored in the variables to 100 or 200.

Interpolation parameters with axis variables G2 X100 I20 DEF AXIS AXVAR1=X G2 X100 IP[AXVAR1]=20 Indirect subprogram call CALL "L" << R10

Direct programming Indirect programming: Definition and assignment of the axis name Indirect programming of the center

Call of the program whose number is in R10

Additional notes
R parameters can also be considered 1-dimensional arrays with abbreviated notation (R10 is equivalent to R[10]).

1-41

Flexible NC Programming

11.02

1.4

Indirect programming

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Indirect G code programming from SW 5

G[<Group index>] = <integer/real variable> Indirect programming of G codes using variables for effective cycle programming

Meaning of the parameters

<Goup index> <integer/real variable> Integer constants with which the G code group is selected. Variable of the integer or real type with which the G code number is selected.

Function
Indirect G code programming (SW 5 and higher) The indirect programming of G codes using variables facilitates effective cycle programming. Two parameters G code groups integer constant variable of the integer/real type G code numbers are available for this.

Valid G code groups Only modal G code groups can be programmed indirectly. Non-modal G code groups are rejected by alarm 12470. Valid G code numbers Arithmetic functions are not legal in indirect G code programming. The G code number must be stored in a variable of the integer or real type. Invalid G code numbers are rejected by alarm 12475. If it is necessary to calculate the G code number, this must be done in a separate parts program line before the indirect G code programming.

Additional notes
All the valid G codes are shown in the PG, in the "List of G functions/preparatory functions" section in various groups. See /PG/ Fundamentals Programming Guide, "Tables"

1-42

11.02

Flexible NC Programming

1.4

Indirect programming

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Programming example
Indirect G code programming ; Settable zero offset G code group 8 N1010 DEF INT INT_VAR N1020 INT_VAR = 2 ... N1090 G[8] = INT_VAR G1 X0 Y0 N1100 INT_VAR = INT_VAR + 1 N1110 G[8] = INT_VAR G1 X0 Y0 ; Plane selection G code group 6 N2010 R10 = $P_GG[6] ... N2090 G[6] = R10 ; G17 G19 ; G54 ; G code calculation ; G55

; Read G code for current plane

1-43

Flexible NC Programming

11.02

1.4

Indirect programming

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Run string as parts program line

EXECSTRING (<string variable>) Command EXECSTRING runs a parts program line indirectly

Meaning of the parameters

<string variable> Parameter of type string is transferred with EXECSTRING

Function
EXECSTRING (from SW 6.4) Parts program command EXECSTRING transfers a string as a parameter that already contains the parts program line to run.

Additional notes
All parts program constructions that can be programmed in a parts program can be output. That excludes PROC and DEF instructions and all use of INI and DEF files.

Programming example
Indirect parts program line N100 DEF STRING[100] BLOCK N110 DEF STRING[10] MFCT1 = "M7" N200 EXECSTRING(MFCT1 << " M4711") N300 R10 = 1 N310 BLOCK = "M3" N320 IF(R10) N330 BLOCK = BLOCK << MFCT1 N340 ENDIF N350 EXECSTRING(BLOCK) Run parts program line "M3 M4711" Run parts program line "M7 M4711" String variable to be included in parts program line

1-44

11.02

Flexible NC Programming

1.5

Assignments

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

1.5

Assignments
Values of a suitable type can be assigned to the variables/arithmetic parameters in the program. Assignments to axis addresses (traversing instructions) always require a separate block to variable assignments. Assignment to axis addresses (traverse instructions) must be in a separate block from the variable assignments.

Programming example
R1=10.518 R2=4 VARI1=45 X=47.11 Y=R2 R1=R3 VARI1=R4 R4=-R5 R7=-VARI8 Assignment of a numeric value Assignment of a suitable type variable Assignment with opposite sign (only permitted for types INT and REAL)

Assignment to string variable CHARs and STRINGs distinguish between upper and lower case. If you want to include an ' or " in the string, put it in single quotes ''. Example: MSG("Viene lavorata l' ''ultima figura") displays the text 'Viene lavorata l'ultima figura' on the screen. The string can contain non-displayable characters if they are specified as binary or hexadecimal constants.

1-45

Flexible NC Programming

11.02

1.6

Arithmetic operations and functions

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

1.6

Arithmetic operations and functions

The arithmetic functions are primarily for R parameters and variables (or constants and functions) of type REAL. The types INT and CHAR are also permitted. Use of arithmetic operations requires conventional mathematical notation. Priorities for execution are indicated by parentheses. Angles are specified for trigonometry functions and their inverse functions (right angle = 90).

Operators/arithmetic functions
+ * / DIV MOD :: Sin() COS() TAN() ASIN() ACOS() ATAN2(,) SQRT() ABS() POT() TRUNC() ROUND() LN() EXP() CTRANS() CROT() Addition Subtraction Multiplication Division NOTICE: (Type INT)/(Type INT)=(Type REAL); Example: 3/4 = 0.75 Division, for variable type INT and REAL NOTICE: (Type INT)DIV(Type INT)=(Type INT); Example: 3 DIV 4 = 0 Modulo division (INT or REAL) produces remainder of INT division, e.g. 3 MOD 4=3 Chain operator (for FRAME variables) Sine Cosine Tangent Arcsine Arccosine Arctangent2 Square root Absolute number 2nd power (square) Truncate to integer Round to integer Natural logarithm Exponential function Translation Rotation

1-46

11.02

Flexible NC Programming

1.6

Arithmetic operations and functions

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

CSCALE() CMIRROR()

Scaling Mirroring

Programming examples
R1=R1+1 R1=R2+R3 R4=R5-R6 R7=R8*R9 Multiplication or division takes precedence over addition or subtraction Parentheses are calculated first Inner parentheses are resolved first R15 = square root of (R12+R22) The concatenation operator links frames to form a resulting frame or assigns values to frame components R10=R11/R12 R14=R1*R2+R3 R14=(R1+R2)*R3 R15=SQRT(POT(R1)+POT(R2)) RESFRAME= FRAME1:FRAME2 FRAME3=CTRANS():CROT() R13=SIN(25.3) New R1 = old R1 +1

Arithmetic function ATAN2( , ) The function calculates the angle of the total vector from two mutually orthogonal vectors. The result is in one of four quadrants (180 < 0 < +180). The angular reference is always based on the 2nd value in the positive direction.

R3=ATAN2(30.5,80.1) 30.5 1st vector

Angle=20.8455 2nd vector 80.1

R3=ATAN2(30,-80) 30 1st vector Angle=159.444

-80

2nd vector

1-47

Flexible NC Programming

11.02

1.7

Comparison and logic operators

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

1.7

Comparison and logic operators

Comparison operators The comparison operations are applicable to variables of type CHAR, INT, REAL, and BOOL. The code value is compared with the CHAR type. For types STRING, AXIS, and FRAME, the following are possible: == and <>. The result of comparison operations is always of type BOOL. Comparison operations can be used, for example, to formulate a jump condition. Complex expressions can also be compared.

Meaning of comparison operators

== <> > < >= <= equal to not equal to greater than less than greater than or equal to less than or equal to

Programming example
IF R10>=100 GOTOF DEST or R11=R10>=100 IF R11 GOTOF DEST The result of the R10>=100 comparison is first buffered in R11.

1-48

11.02

Flexible NC Programming

1.7

Comparison and logic operators

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Precision correction on comparison errors

TRUNC (R1*1000) The TRUNC command truncates the operand multiplied by a precision factor

Function
Settable precision for comparison commands Program data of type REAL are displayed internally with 64 bits in IEEE format. This display format can cause decimal numbers to be displayed imprecisely and lead to unexpected results when compared with the ideally calculated values. Relative equality To prevent the imprecision caused by the display format from interfering with program flow, the comparison commands do not check for absolute equality but for relative equality. SW 6.3 and lower -12 Relative equality considered 10 for Equality Inequality Less than or equal to Greater/less than (==) (<>) (<=) (><) with absolute equality

Greater than or equal to (>=)

SW 6.4 and higher -12 Relative equality considered 10 for Greater than Less than (>) (<)

Programming notes Comparisons with data of type REAL are subject to a certain imprecision for the above reasons. If deviations are unacceptable, use INTEGER calculation by multiplying the operands by a precision factor and then truncating with TRUNC.

1-49

Flexible NC Programming

11.02

1.7

Comparison and logic operators

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Synchronized actions The response described for the comparison commands also applies to synchronized actions. Compatibility For compatibility reasons, the check for relative equality with (>) and (<) can be deactivated by setting MD 10280: PROG_FUNCTION_MASK Bit0 = 1.

Programming examples
Precision issues N40 R1=61.01 R2=61.02 R3=0.01 N41 IF ABS(R2-R1) > R3 GOTOF ERROR N42 M30 N43 ERROR: SETAL(66000) R1=61.01 R2=61.02 R3=0.01 R11=TRUNC(R1*1000) R12=TRUNC(R2*1000) R13=TRUNC(R3*1000) IF ABS(R12-R11) > R13 GOTOF ERROR M30 ERROR: SETAL(66000) Calculate and evaluate quotient of both operands R1=61.01 R2=61.02 R3=0.01 IF ABS((R2-R1)/R3)-1) > 10EX-5 GOTOF ERROR M30 ERROR: SETAL(66000) Assignment of initial values Precision correction Jump not executed End of program Assignment of initial values Jump executed (SW 6.3 and lower) End of program

Assignment of initial values Jump not executed End of program

1-50

11.02

Flexible NC Programming

1.7

Comparison and logic operators

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Logic operators
Logic operators are used to link truth values. AND, OR, NOT, and XOR can only be applied to variables of type BOOL. However, they can also be applied to data types CHAR, INT, and REAL by implicit type conversion. Spaces must be left between BOOLEAN operands and operators. For the logic (Boolean) operations, the following applies to data types BOOL, CHAR, INT, and REAL: 0 means FALSE not equal to 0 means TRUE

Meaning of logic operators

AND OR NOT XOR AND OR Negation Exclusive OR

In arithmetic expressions, the execution order of all the operators can be specified by parentheses, in order to override the normal priority rules.

Programming example
IF (R10<50) AND ($AA_IM[X]>=17.5) GOTOF ZIEL IF NOT R10 GOTOB START NOT is only applied to one operand.

1-51

Flexible NC Programming

11.02

1.7

Comparison and logic operators

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Bit logic operators Logic operations can also be applied to single bits of types CHAR and INT. Type conversion is automatic.

Meaning of bit logic operators

B_AND B_OR B_NOT B_XOR Bit AND Bit OR Bit negation Bit exclusive OR

The operator B_NOT refers to one operand only, it comes after the operator.

Programming example
IF $MC_RESET_MODE_MASK B_AND 'B10000' GOTOF ACT_PLANE

1-52

11.02

Flexible NC Programming

1.8

Priority of operators

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

1.8

Priority of operators
Priority of the operators Each operator is assigned a priority. When an expression is evaluated, the operators with the highest priority are always applied first. Where operators have the same priority, the evaluation is from left to right. In arithmetic expressions, the execution order of all the operators can be specified by parentheses, in order to override the normal priority rules. Order of operators (from the highest to lowest priority) 1. 2. 3. 4. 5. 6. 7. 8. 9. 10. 11. NOT, B_NOT *, /, DIV, MOD +, B_AND B_XOR B_OR AND XOR OR << ==, <>, >, <, >=, <= Negation, bit negation Multiplication, division Addition, subtraction Bit AND Bit exclusive OR Bit OR AND Exclusive OR OR Concatenation of strings, result type STRING Comparison operators

Example of IF statement: If (otto==10) and (anna==20) gotof end The concatenation operator ":" for Frames must not be used in the same expression as other operators. A priority level is thus not required for this operator.

1-53

Flexible NC Programming

11.02

1.9

Possible type conversions

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

1.9

Possible type conversions

Type conversion on assignment The constant numeric value, the variable, or the expression assigned to a variable must be compatible with the variable type. If this is this case, the type is automatically converted when the value is assigned. Possible type conversions to REAL from REAL INT BOOL CHAR STRING AXIS FRAME yes yes yes yes yes* yes yes yes yes1) yes yes yes1) yes
4) 1)

INT

BOOL

CHAR yes* yes yes yes yes

3) 2)

STRING yes yes yes

AXIS yes

FRAME yes

* During type conversion from REAL to INT, fractional values >= 0.5 are rounded up, others rounded down (cf. ROUND function) 1) Value <> 0 corresponds to TRUE, value == 0 corresponds to FALSE 2) If the value is in the permissible range 3) If only 1 character 4) String length 0 = >FALSE, otherwise TRUE If conversion produces a value greater than the target range, an error message is output.

Additional notes
If mixed types occur in an expression, type conversion is automatic.

1-54

11.02

Flexible NC Programming

1.10 String operations

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

1.10

String operations Overview

Further string manipulations are provided in addition to the conventional operations "Assignment" and "Comparison" described in this section:

Explanation
Type conversion to STRING: STRING_ERG = <<bel._Typ1) STRING_ERG = AXSTRING (AXIS) Type conversion from STRING: BOOL_ERG = ISNUMBER (STRING) REAL_ERG = NUMBER (STRING) AXIS_ERG = AXNAME (STRING) Concatenation of strings: bel._Typ1) << bel. Typ1) Conversion to lower/upper case: STRING_ERG = TOUPPER (STRING) STRING_ERG = TOLOWER (STRING) Length of the string: INT_ERG = STRLEN (STRING) Look for character/string in the string: INT_ERG = INDEX (STRING, CHAR) INT_ERG = RINDEX (STRING, CHAR) INT_ERG = MINDEX (STRING, STRING) INT_ERG = MATCH (STRING, STRING) Selection of a substring: STRING_ERG = SUBSTR (STRING, INT) STRING_ERG = SUBSTR (STRING, INT, INT) Selection of a single character: CHAR_ERG = STRINGVAR [IDX] CHAR_ERG = STRINGFELD [IDX_FELD, IDX_CHAR]
1)

Result type: STRING Result type: STRING

Result type: BOOL Result type: REAL Result type: AXIS

Result type: STRING

Result type: STRING Result type: STRING

Result type: INT

Result type: INT Result type: INT Result type: INT Result type: INT

Result type: INT Result type: INT

Result type: CHAR Result type: CHAR

"bel._Typ" stands for variable types INT, REAL, CHAR, STRING, and BOOL.

1-55

Flexible NC Programming

11.02

1.10 String operations

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Special meaning of the 0 char The 0 char is interpreted internally end-of-string. Replacing a character by the 0 character truncates the string. Example: DEF STRING[20] STRG = "Axis . stopped" STRG[6] = "X" MSG(STRG) STRG[6] = 0 MSG(STRG)

;Returns the message "Axis X stopped"

;Returns the message "Axis"

1.10.1 Type conversion

This enables use of variables of different types in a message (MSG). Conversion to STRING Performed implicitly with use of the operator << for data types INT, REAL, CHAR, and BOOL (see "Concatenation of strings"). An INT value is converted to normal readable format. REAL values convert with up to 10 decimal places. Variables of type AXIS can be converted to STRING by the AXSTRING function. FRAME variables cannot be converted. Example: MSG("Position:"<<$AA_IM[X])

1-56

11.02

Flexible NC Programming

1.10 String operations

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Conversion from STRING The NUMBER function converts from STRING to REAL. If ISNUMBER returns the value FALSE, CALLING NUMBER with the same parameter will trigger an alarm. The AXNAME function converts a string to data type AXIS. An alarm is output if the string cannot be assigned to any configured axis identifier. Syntax BOOL_ERG = ISNUMBER (STRING) REAL_ERG = NUMBER (STRING) STRING_ERG = AXSTRING (AXIS) AXIS_ERG = AXNAME (STRING) Semantics: ISNUMBER (STRING) returns TRUE, if the string is a valid REAL by the rules of the language. It is thus possible to check whether the string can be converted to a valid number. NUMBER (STRING) returns the number represented by the string as a REAL. AXSTRING (AXIS) returns the specified axis identifier as a string. AXNAME (STRING) converts the string specified to an axis identifier. Examples DEF BOOL BOOL_ERG DEF REAL REAL_ERG DEF AXIS AXIS_ERG DEF STRING[32] STRING_ERG BOOL_ERG = ISNUMBER ("1234.9876Ex-7") BOOL_ERG = ISNUMBER ("1234XYZ") REAL_ERG = NUMBER ("1234.9876Ex-7") STRING_ERG = AXSTRING(X) AXIS_ERG = AXNAME("X") ;Now: BOOL_ERG == TRUE ;Now: BOOL_ERG == FALSE ;Now: REAL_ERG == 1234.9876Ex-7 ;Now: STRING_ERG == "X" ;Now: AXIS_ERG == X

Result type: BOOL Result type: REAL Result type: STRING Result type: AXIS

1-57

Flexible NC Programming

11.02

1.10 String operations

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

1.10.2 Concatenation of strings

This functionality puts a string together out of separate components. The chaining function is implemented via operator: <<. This operator has STRING as the target type for all combinations of basic types CHAR, BOOL, INT, REAL and STRING. Any conversion that may be required is carried out according to existing rules. Types FRAME and AXIS cannot be used with this operator. Syntax: bel._Typ << bel._Typ Semantics: The strings specified (possibly implicitly converted non-string types) are concatenated. This operator can also be used as a "unary" operator with a single operand. This can be used for explicit type conversion to STRING (not for FRAME and AXIS). Syntax: << bel._Typ Semantics: The specified type is implicitly converted to STRING type. This can be used to put together a message or a command out of text lists and insert parameters into it (e.g. a module name): MSG(STRG_TAB[LOAD_IDX]<<MODULE_NAME)

Result type: STRING

1-58

11.02

Flexible NC Programming

1.10 String operations

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

The intermediate results of string concatenation must not exceed the maximum string length.

Programming examples
DEF INT IDX = 2 DEF REAL VALUE = 9.654 DEF STRING[20]STRG = "INDEX:2" IF STRG == "Index:" <<IDX GOTOF NO_MSG MSG ("Index:" <<IDX <<"/Value:" <<VALUE) NO_MSG: ;Display: "Index: 2/value: 9.654"

1.10.3 Conversion to lower/upper case

This functionality permits conversion of all letters of a string to standard capitalization. Syntax: STRING_ERG = TOUPPER STRING_ERG = TOLOWER

(STRING) (STRING)

Result type: STRING Result type: STRING

Semantics: All lower case letters are converted to either upper or lower case letters. Example: Because user inputs can be initiated on the MMC, they can be given standard capitalization (upper or lower case): DEF STRING [29] STRG IF "LEARN.CNC" == TOUPPER (STRG) GOTOF LOAD_LEARN

1-59

Flexible NC Programming

11.02

1.10 String operations

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

1.10.4 Length of the string

This functionality sets the length of a string. Syntax: INT_ERG = STRLEN (STRING) Semantics: It returns a number of characters that are not the 0 character, counting from the beginning of the string. Example: This can be used to ascertain the end of the string, for example, in conjunction with the single character access described below: IF(STRLEN (MODULE_NAME) > 10) GOTOF ERROR

Result type: INT

1.10.5 Search for character/string in a string

This functionality searches for single characters or a string within a string. The function results specify where the character/string is positioned in the string that has been searched. INT_ERG = INDEX INT_ERG = RINDEX INT_ERG = MINDEX INT_ERG = MATCH (STRING,CHAR) (STRING,CHAR) (STRING,STRING) (STRING,STRING) Result type: INT Result type: INT Result type: INT Result type: INT

Semantics: Search functions: They return the position in the string (first parameter) where the search has been successful. If the character/string cannot be found, the value "1" is returned. In this case, the first character is in position 0.

1-60

11.02

Flexible NC Programming

1.10 String operations

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

INDEX RINDEX MINDEX MATCH

searches for the character specified as the second parameter in the string specified as the second parameter (from the beginning). searches for the character specified as the second parameter in the string specified as the second parameter (from the end). same as the INDEX function except that a list of characters is specified (as a string) and the index of the first character found is returned. searches for a string in a string.

This can be used to break up a string by certain criteria, for example, at blanks or path separators ("/").

Programming example
Example of breaking up an input string into path and module names: DEF INT PATHIDX, PROGIDX DEF STRING[26] INPUT DEF INT LISTIDX INPUT = "/_N_MPF_DIR/_N_EXECUTE_MPF" LISTIDX = MINDEX (INPUT, "M,N,O,P") + 1 The value returned in LISTIDX is 3 because "N" is the first char from the selection list in parameter INPUT, searching from the beginning. ;Therefore: PATHIDX = 1 ;Therefore: PATHIDX = 1 ;The SUBSTR function introduced in the next section can be used to break up variable INPUT into the components "Path" and "Module": VARIABLE = SUBSTR (INPUT, PATHIDX, PROGIDX-PATHIDX-1) VARIABLE = SUBSTR (INPUT, PROGIDX) returning "_N_MPF_DIR" returning "_N_EXECUTE_MPF"

PATHIDX = INDEX (INPUT, "/") +1 PROGIDX = RINDEX (INPUT, "/") +1

1-61

Flexible NC Programming

11.02

1.10 String operations

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

1.10.6 Selection of a substring

This functionality extracts a substring from a string. For this purpose, the index of the first character and the desired string length (if applicable) are specified. If no length information is specified, then the string data refers to the remaining string. STRING_ERG = SUBSTR STRING_ERG = SUBSTR (STRING,INT) (STRING,INT, INT) Result type: INT Result type: INT

Semantics: In the first case, the substring from the position specified in the first parameter to the end of the string is returned. In the second case, the result string goes up to the maximum length specified in the third parameter. If the initial position is after the end of the string, the empty string (" ") will be returned. A negative initial position or length triggers an alarm. Example: DEF STRING [29] ERG ERG = SUBSTR ("ACK: 10 to 99", 10, 2) ;Therefore: ERG == "10"

1-62

11.02

Flexible NC Programming

1.10 String operations

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

1.10.7 Selection of a single character

This functionality selects a single character from a string. This applies both to read access and write access operations. Syntax: CHAR_ERG = STRINGVAR [IDX] CHAR_ERG = STRINGARRAY [IDX_FELD, IDX_CHAR] Semantics: The character at the specified position is read/written within the string. If the position parameter is negative or greater than the string, then an alarm is output. Example messages: Insertion of an axis identifier into a prepared string. DEF STRING [50] MESSAGE = "Axis n has reached position" MESSAGE [6] = "X" MSG (MESSAGE)

Result type: CHAR Result type: CHAR

;returns message "Axis X has reached position"

1-63

Flexible NC Programming

11.02

1.10 String operations

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Single character access is possible only to userdefined variables (LUD, GUD, and PUD data). This type of access is also possible only for "call-byvalue" type parameters in subprogram calls. Examples: Single character access to a system, machine data, : DEF STRING [50] STRG DEF CHAR ACK STRG = $P_MMCA ACK = STRG [0] Single character access in call-by-reference parameter: DEF STRING [50] STRG DEF CHAR CHR1 EXTERN UP_CALL (VAR CHAR1) CHR = STRG [5] UP_CALL (CHR1) STRG [5] = CHR1 ;Call-by-reference ;Call-by-reference parameter! ;Evaluation of acknowledgment component

1-64

11.02

Flexible NC Programming

1.11 CASE instruction

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

1.11 CASE instruction Programming

CASE (expression) OF constant1 GOTOF LABEL1 DEFAULT GOTOF LABELn CASE (expression) OF constant1 GOTOB LABEL1 DEFAULT GOTOB LABELn

Explanation of the commands

CASE GOTOB GOTOF GOTO Vocabulary word for jump instruction Jump instruction with jump destination backward (towards the start of program) Jump instruction with jump destination forward (towards the end of program) Jump instruction with the jump destination first forward and then backward (the direction first to the end of the program and then to the start of the program) Suppress alarm 14080 "Jump destination not found". Jump instruction with the jump destination first forward and then backward (the direction first to the end of the program and then to the start of the program) Destination (label within the program) The name of the jump destination is followed by a colon Arithmetic expression Constant of type INT Program path if none of the previously named constants applies

GOTOC

LABEL LABEL: Expression Constant DEFAULT

Function
The CASE statement enables various branches to be executed according to a value of type INT.

Sequence
The program jumps to the point specified by the jump destination, depending on the value of the constant evaluated in the CASE statement. For more information on the GOTO commands, see Chapter 10, Arithmetic parameters and programm jumps

1-65

Flexible NC Programming

11.02

1.11 CASE instruction

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

In cases where the constant matches none of the predefined values, the DEFAULT instruction can be used to determine the jump destination. If the DEFAULT instruction is not programmed, the jump destination is the block following the CASE statement.

Programming example
Example 1 CASE(expression) OF 1 GOTOF LABEL1 2 GOTOF LABEL2 ... DEFAULT GOTOF LABELn "1" and "2" are possible constants. If the value of the expression = 1 (INT constant), jump to block with LABEL1 If the value of the expression = 2 (INT constant), jump to block with LABEL2 otherwise jump to the block with LABELn

Example 2 DEF INT VAR1 VAR2 VAR3 CASE(VAR1+VAR2-VAR3) OF 7 GOTOF LABEL1 9 GOTOF LABEL2 DEFAULT GOTOF LABEL3 LABEL1: G0 X1 Y1 LABEL2: G0 X2 Y2 LABEL3: G0 X3 Y3

1-66

11.02

Flexible NC Programming

1.12 Control structures

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

1.12

Control structures Explanation

IFELSEENDIF LOOPENDLOOP FORENDFOR WHILEENDWHILE REPEATUNTIL Selection between 2 alternatives Endless loop Count loop Loop with condition at beginning of loop Loop with condition at end of loop

Function
The control processes the NC blocks as standard in the programmed sequence. In addition to the program branches described in this Chapter, these commands can be used to define additional alternatives and program loops. These commands enable the user to produce wellstructured and easily legible programs.

Sequence
1. IFELSEENDIF An IFELSEENDIF block is used to select one of two alternatives: IF (expression) NC blocks ELSE NC blocks ENDIF If the value of the expression is TRUE, i.e. the condition is fulfilled, then the next program block is executed. If the condition is not fulfilled, then the ELSE program branch is executed. The ELSE branch can be omitted.

1-67

Flexible NC Programming

11.02

1.12 Control structures

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

2. Endless program loop LOOP Endless loops are used in endless programs. At the end of the loop, there is always a branch back to the beginning. LOOP NC blocks ENDLOOP

3. Count loop FOR The FOR loop is used if it is necessary to repeat an operation by a fixed number of runs. In this case, the count variable is incremented from the start value to the end value. The start value must be lower than the end value. The variable must be of the INT type. FOR Variable = start value TO end value NC blocks ENDFOR

4. Program loop with condition at start of the loop WHILE The WHILE program loop is executed for as long as the condition is fulfilled. WHILE expression NC blocks ENDWHILE

1-68

11.02

Flexible NC Programming

1.12 Control structures

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

5. Program loop with condition at end of loop REPEAT The REPEAT loop is executed once and repeated continuously until the condition is fulfilled. REPEAT NC blocks UNTIL (expression)

Nesting depth Check structures apply locally within programs. A nesting depth of up to 8 check structures can be set up on each subprogram level.

Main program

810D

840Di

1.13

Program coordination
Channels A channel can process its own program independently of other channels. It can control the axes and spindles temporarily assigned to it via the program. Two or more channels can be set up for the control during startup. Program coordination If several channels are involved in the machining of a workpiece it may be necessary to synchronize the programs. Special instructions (commands) are available for program coordination. Each instruction is programmed separately in a block.

Note Program coordination in the own channel is possible from SW 5.3.

1-72

11.02

Flexible NC Programming

1.13 Program coordination

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Instructions for program coordination Specification with absolute path The absolute path is programmed according to the following rules: INIT (n,"/_HUGO_DIR/_N_name_MPF" ) or INIT (n,"/_N_MPF_DIR/_N_name_MPF" ) Current directory/_N_name_MPF "current directory" stands for the selected workpiece directory or the standard directory /_N_MPF_DIR. Selects a particular program for execution in a particular channel: n: Number of the channel, value per control configuration Complete program name SW 3 and lower: At least one executable block must be programmed between an init command (without synchronization) and an NC start. INIT (2,"/_N_WCS_DIR/_N_UNDER_1_SPF") With subprogram calls "_SPF" must be added to the path. Example: INIT(2,"/_N_WKS_DIR/_ABRICHT_MPF") G01 F0.1 START Relative path specification Example: INIT(2,"DRESS") INIT(3,"UNDER_1_SPF") START (n,n) The same rules apply to relative path definition as for program calls. With subprogram calls "_SPF" must be added to the program name. Starts the selected programs in the other channels. n,n: Number of the channel: value depends on control configuration Sets the marker "Marker No." in the same channel. Terminate previous block with exact stop. Waits for the markers with the same "Marker no." in the specified channels "n" (current channel does not have to be specified). Marker is deleted after synchronization. 10 markers can be set per channel simultaneously.

WAITM (Marker No.,n,n,...)

1-73

Flexible NC Programming

11.02

1.13 Program coordination

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

WAITMC(Marker No., n, n, )

Sets the marker "Marker No." in the same channel. An exact stop is initiated only if the other channels have not yet reached the marker. Waits for the marker with the same "Marker No." in the specified channels "n" (current channel does not have to be specified). As soon as marker "Marker No." in the specified channels is reached, continue without terminating exact stop. Waits for the end of program of the specified channels (current channel not specified) Sets the markers "Marker No." in the same channel without affecting current processing. SETM() remains valid after RESET and NC START. SETM() can also be programmed independently of a synchronized action. Deletes the markers "Marker No." in the same channel without affecting current processing. All markers can be deleted with CLEARM(). CLEARM (0) deletes the marker "0". CLEARM() remains valid after RESET and NC START. CLEARM() can also be programmed independently of a synchronized action.

WAITE (n,n) SETM(Marker No., Marker No., )

CLEARM(Marker No., Marker No., )

Note All the above commands must be programmed in separate blocks. The number of markers depends on the CPU used. Channel names Channel names must be converted to numbers via variables (see Chapter 10 "Variables and Arithmetic Parameters"). Protect the number assignments so that they are not changed unintentionally.

1-74

11.02

Flexible NC Programming

1.13 Program coordination

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Example: Channel called "MACHINE" is to contain channel number 1, Channel called "LOADER" is to contain channel number 2, DEF INT MACHINE=1, LOADER=2 The variables are given the same names as the channels. The instruction START is therefore: START(MACHINE)

Example of program coordination Channel 1: %_N_MPF100_MPF N10 INIT(2,"MPF200") N11 START (2) . N80 WAITM(1,1,2) . N180 WAITM(2,1,2) . N200 WAITE(2) N201 M30 Channel 2: %_N_MPF200_MPF ;$PATH=/_N_MPF_DIR N70 WAITM(1,1,2) . N270 WAITM(2,1,2) . N400 M30 Program execution in channel 2 Wait for WAIT mark 1 in channel 1 and in channel 2 and execution continued in channel 1 Wait for WAIT mark 2 in channel 1 and in channel 2 and execution continued in channel 2 End of program in channel 2 Program execution in channel 2 Wait for WAIT mark 1 in channel 1 and in channel 2 and execution continued in channel 1 Wait for WAIT mark 2 in channel 1 and in channel 2 and execution continued in channel 1 Wait for end of program in channel 2 End of program channel 1, end all

1-75

Flexible NC Programming

11.02

1.13 Program coordination

wait

...

... N200 WAITE(2)

wait

N400 M30

N80 WAITM(1,1,2) M1

N180 WAITM(2,1,2) M2

Start

START(2)

End Time

Example of program from workpiece N10 INIT(2,"/_N_WKS_DIR/_N_SHAFT1_WPD/_N_CUT1_MPF") Example of Init command with relative path definition ;Program /_N_MPF_DIR/_N_MAIN_MPF is selected in channel 1 N10 INIT(2,"MYPROG") channel 2. Additional notes Variables which all channels can access (NCKspecific global variables) can be used for data exchange between programs. Otherwise separate programs must be written for each channel. SW 3 and lower: WAITE must not be scanned immediately after the START command or else a program end will be detected before the program is started. Remedy: Programming a dwell time. Example: N30 START (2) N31 G4 F0.01 N40 WAITE(2) ; select program /_N_MPF_DIR/_N_MYPROG_MPF in

1-76

11.02

Flexible NC Programming

1.14 Interrupt routine

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

1.14

Interrupt routine Programming

SETINT(3) PRIO=1 NAME SETINT(3) PRIO=1 LIFTFAST SETINT(3) PRIO=1 NAME LIFTFAST G X Y ALF= DISABLE(3) ENABLE(3) CLRINT(3)

840D NCU 572 NCU 573

810D

840Di

Reference plane for describing the traversing directions At the point of application of the tool to the programmed contour, the tool is clamped at a plane which is used as a reference for specifying the liftoff movement with the corresponding code number. The reference plane is derived from the longitudinal tool axis (infeed direction) and a vector positioned perpendicular to this axis and perpendicular to the tangent at the point of application of the tool.

nt ge an

Point of application

Ta ng en t

t en ng Ta

Point of application

ng en t

Code number with traversing directions, overview The code numbers and the traversing directions in relation to the reference plane are shown in the diagram on the right. ALF=0 deactivates the liftfast function.

Feed axis

1 45

View in traversing direction

7 45 6 5 6 7 8

Plan view G41 5 1 G42 2 3 4 Traversing direction

Please note: The following codes should not be used when tool radius compensation is active: Codes 2, 3, 4 with G41 Codes 6, 7, 8 with G42. In these cases, the tool would approach the contour and collide with the workpiece.

1-82

11.02

Flexible NC Programming

1.14 Interrupt routine

840D NCU 571

840D NCU 572 NCU 573

Release axis: RELEASE When enabling the axis please note: 1. The axis must not involved in a transformation. 2. All the axes involved in an axis link (tangential control) must be enabled. 3. A concurrent positioning axis cannot be replaced in this situation. 4. All the following axes of a gantry master axis are transferred with the master. 5. With coupled axes (coupled motion, leading value coupling, electronic gear) only the leading axis of the group can be enabled. Transfer axis: GET The actual axis transfer is performed with this command. The channel for which the command is programmed takes full responsibility for the axis. Effects of GET: Axis transfer with synchronization: An axis always has to be synchronized if it has been assigned to another channel or the PLC in the meantime and has not been resynchronized with "WAITP", G74 or delete distance-to-go before GET. A preprocess stop follows (as for STOPRE) Execution is interrupted until the transfer has been completed.

1-86

11.02

Flexible NC Programming

1.15 Axis transfer, spindle transfer

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Axis transfer without synchronization: If the axis does not have to be synchronized no preprocess stop is generated by GET. Example: N01 G0 X0 N02 RELEASE(AX5) N03 G64 X10 N04 X20 N05 GET(AX5) N06 G01 F5000 N07 X20 N08 X30 N09 Automatic "GET" If an axis is in principle available in a channel but is not currently defined as a "channel axis", GET is executed automatically. If the axis/axes is/are already synchronized no preprocess stop is generated. An axis accepted with GET remains assigned to this axis even after a key or program reset. When a program is started the transferred axes or spindles must be reassigned in the program if the axis is required in its original channel. It is assigned to the channel defined in the machine data on power ON. Direct axis transfer: GETD An axis is taken directly from another channel with GETD (GET Directly). This means that no matching RELEASE has to be programmed in another channel for this GETD. It also means that other channel communication has to be established (e.g. wait markers).

If synchronization not necessary, this is not an executable block. Not an executable block. Not an executable block because X position as for N04. First executable block after N05.

1-87

Flexible NC Programming

11.02

1.15 Axis transfer, spindle transfer

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Programming example Of the 6 axes, the following are used for machining in channel 1: 1st, 2nd, 3rd and 4th. The 5th and 6th axes in channel 2 are used for the workpiece change. Axis 2 is to be transferred between the 2 channels and then assigned to channel 1 after power ON. Program "MAIN" in channel 1 %_N_MAIN_MPF INIT (2,"TRANSFER2") N START (2) N GET (AX2) N RELEASE (AX2) N WAITM (1,1,2) N N M30

Select program TRANSFER2 in channel 2 Start program in channel 2 Accept axis AX2

Enable axis AX2 Wait for wait marker in channel 1 and 2 for synchronizing both channels Rest of program after axis transfer

Program "Replace2" in channel 2 %_N_TRANSFER2_MPF N RELEASE (AX2) N160 WAITM (1,1,2) N150 GET (AX2) N NM30 Wait for wait marker in channel 1 and 2 for synchronizing both channels Accept axis AX2 Rest of program after axis transfer

1-88

11.02

Flexible NC Programming

1.15 Axis transfer, spindle transfer

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Set up variable axis transfer response The release time of the axes can be set up using MD 10722: AXCHANGE_MASK as follows: Automatic axis transfer between two channels then also takes place when the axis has been brought to a neutral state by WAITP (response as before) From SW 5.3, it will only be possible to transfer all the axes fetched to the axis container by GET or GETD after an axis container rotation. From SW 6.4, when an intermediate block is inserted in the main run, a check will be made to determine whether or not reorganisation is required. Reorganisation is only necessary if the axis states of this block do not match the current axis states.

Programming example Activating an axis transfer without a preprocessing stop N010 M4 S100 N011 G4 F2 N020 M5 N021 SPOS=0 N022 POS[B]=1 N023 WAITP[B] N030 X1 F10 N031 X100 F500 N032 X200 N040 M3 S500 N041 G4 F2 N050 M5 N099 M30 Traverses the spindle (axis B) immediately after block N023 as the PLC axis e.g. 180 degrees and back 1 degree and back to the neutral axis. So block N040 triggers neither a preprocessing stop nor a reorganization. Axis B becomes the neutral axis

1-89

Flexible NC Programming

11.02

1.16 NEWCONF: Setting machine data active (SW 4.3 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

1.16

NEWCONF: Setting machine data active (SW 4.3 and higher) Function
All machine data of the effectiveness level "NEW_CONFIG" are set active by means of the NEWCONF language command. The function corresponds to activating the soft key "Set MD active". When the NEWCONF function is executed there is an implicit preprocessing stop, that is, the path movement is interrupted.

Explanation
NEWCONF
All machine data of the "NEW_CONFIG" effectiveness level are set active

Programming example
Milling operation: Machining drilling position with different technologies

N10 $MA_CONTOUR_TOL[AX]=1.0 N20 NEWCONF

; Change machine data ; Set machine data active

1-90

11.02

Flexible NC Programming

1.17 WRITE: Write file (SW 4.3 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

1.17

WRITE: Write file (SW 4.3 and higher) Programming

WRITE(var int error, char[160] filename, char[200] string) The WRITE command appends a block to the end of the specified file.

Explanation of the parameters

error Error variable for return 0 No error 1 Path not allowed 2 Path not found 3 File not found 4 Incorrect file type 10 File is full 11 File is being used 12 No free resources 13 No access rights 20 Other error Name of file in which the string is to be written. The file name can be specified with path and file identifier. Path names must be absolute, that is, starting with "/". If the file name does not contain a domain identifier (_N_), it is added accordingly. If there is not identifier (_MPF or _SPF), the file name is automatically completed with _MPF. If there is no path specified, the file is saved in the current directory (= directory of selected program). The file name length can be up to 32 bytes, the path length up to 128 bytes. Example: PROTFILE _N_PROTFILE _N_PROTFILE_MPF /_N_MPF_DIR_/_N_PROTFILE_MPF/ Text to be written. Internally LF is then added; this means that the text is lengthened by one character.

filename

string

1-91

Flexible NC Programming

11.02

1.17 WRITE: Write file (SW 4.3 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Function
Using the WRITE command, data (e.g. measurement results for measuring cycles) can be appended to the end of the specified file. The maximum length in KB of the log files is set via MD 11420 LEN_PROTOCOL_FILE. This length is applicable for all files created using the WRITE command.

Once the file reaches the specified length, an error message is output and the string is not saved. If there is sufficient free memory, a new file can be created. The created files can be read, edited and deleted by all users, written in the parts program that is currently being executed. The blocks are inserted at the end of the file, after M30.

Programming example
N10 DEF INT ERROR N20 WRITE(ERROR,"TEST1","LOG FROM 7.2.97") N30 IF ERROR N40 MSG ("Error with WRITE command:" <<ERROR) N50 M0 N60 ENDIF ... WRITE(ERROR, "/_N_WCS_DIR/_N_PROT_WPD/_N_PROT_MPF", "LOG FROM 7.2.97")
; Absolute path ; ; Write text from LOG FROM 7.2.97 in the file TEST1 ; ; ; ;

Additional notes
If no such file exists in the NC, it is newly created and can be written to by means of the WRITE command.

1-92

11.02

Flexible NC Programming

1.18 DELETE: Delete file (SW 4.3 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

If a file with the same name exists on the hard disk, it is overwritten after the file is closed (in the NC). Remedy: Change the name in the NC under the Services operating area using the "Properties" soft key.

Machine manufacturer
Blocks from the parts program can be stored in a file by means of the WRITE command. The file size for log files (KB) is specified in the machine data.

1.18

DELETE: Delete file (SW 4.3 and higher) Programming

DELETE(var int error, char[160] filename) The DELETE command deletes the specified file.

Explanation of the parameters

error Error variable for return 0 No error 1 Path not allowed 2 Path not found 3 File not found 4 Incorrect file type 11 File is being used 12 No free resources 20 Other error Name of the file to be deleted The file name can be specified with path and file identifier. Path names must be absolute, that is, starting with "/". If the file name does not contain a domain identifier (_N_), it is added accordingly. The file identifier ("-" plus 3 characters), e.g. _SPF) is optional. If there is no identifier, the file name is automatically added _MPF. If there is no path specified, the file is saved in the current directory (= directory of selected program). The file name length can be up to 32 bytes, the path length up to 128 bytes.

filename

1-93

Flexible NC Programming

11.02

1.19 READ: Read lines in file (SW 5.2 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Example:

PROTFILE _N_PROTFILE _N_PROTFILE_MPF /_N_MPF_DIR/_N_PROTFILE_MPF/

Function
All files can be deleted by means of the DELETE command, irrespective of whether they were created using the WRITE command or not. Files that were created using a higher access authorization can also be deleted with DELETE.

Programming example
N10 DEF INT ERROR N15 STOPRE N20 DELETE (ERROR, "/_N_SPF_DIR/_N_TEST1_SPF") N30 IF ERROR N40 MSG ("Error with DELETE command:" <<ERROR) N50 M0 N60 ENDIF ...
; ; preprocessing stop ; deletes file TEST1 in the ; subroutine branch ; ; ; ;

1.19

READ: Read lines in file (SW 5.2 and higher) Programming

READ(var int error, string[160] file, int line, int number, var string[255] result[]) The READ command reads one or several lines in the file specified and stores the information read in an array of type STRING. In this array, each read line occupies an array element.

1-94

11.02

Flexible NC Programming

1.19 READ: Read lines in file (SW 5.2 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Explanation of the parameters

error Error variable for return (call-by-reference parameter, type INT) 0 No error 1 Path not allowed 2 Path not found 3 File not found 4 Incorrect file type 13 Insufficient access rights 21 Line not available (parameter "line" or "number" larger than number of lines in file) 22 Array length of "result" variable too small 23 Line range too large (parameter "number" has been selected so large, that reading goes beyond the end of the file) Name/path of the file to be read (call-by-value parameter of type STRING with a max. length of 160 bytes). The file must be stored in the user memory of the NCK (passive file system). The file name can be preceded by the domain identifier _N_. If the domain identifier is missing, it is added correspondingly. The file identifier ("_" plus three characters, e.g. _SPF) is optional. If there is no identifier, the file name is automatically added _MPF. If there is no path specified in "file", the file is searched for in the current directory (=directory of selected program). If a path is specified in "file", it must start with a slash "/" (absolute path indication). Position indication of the line range to be read (call-by-value parameter of type INT). 0 The number of lines before the end of the file which is specified by the parameter "number" is read. 1 to n Number of the first line to be read. Number of lines to be read (call-by-value parameter of type INT). Array of type STRING, where the read text is stored (call-by-reference parameter with a length of 255).

file

line

number result

1-95

Flexible NC Programming

11.02

1.19 READ: Read lines in file (SW 5.2 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Function
One or several lines can be read from a file with the READ command. The lines read are stored in one array element of an array. The information is available as STRING.

Additional notes
Binary files cannot be read in. The error message error=4:Wrong type of file is output. The following types of file are not readable: _BIN, _EXE, _OBJ, _LIB, _BOT, _TRC, _ACC, _CYC, _NCK. The currently set protection level must be equal to or greater than the READ right of the file. If this is not the case, access is denied with error=13. If the number of lines specified in the parameter "number" is smaller than the array length of "result", the other array elements are not altered. Termination of a line by means of the control characters "LF" (Line Feed) or "CR LF" (Carriage Return Line Feed) is not stored in the target variable "result". Read line are cut off, if the line is longer than the string length of the target variable "result". An error message is not output.

Programming example
N10 DEF INT ERROR N20 STRING[255] RESULT[5] ... N30 READ(ERROR, "TESTFILE", 1, 5, RESULT) ... N30 READ (ERROR, "TESTFILE_MPF", 1, 5, RESULT) ... N30 READ(ERROR,"_N_TESTFILE_MPF",1,5, RESULT)
; file name without domain and file identifier ; error variable ; result variable

; file name without domain and with file identifier

; file name with domain and file identifier

1-96

11.02

Flexible NC Programming

1.20 ISFILE: File available in user memory NCK (SW 5.2 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

... N30 READ(ERROR,"/_N_CST_DIR/N_TESTFILE _MPF", 1, 5 RESULT) ^... N40 IF ERROR <>0 N50 N60 ... M0
; file name with domain and file identifier and path specification ; error evaluation

MSG("ERROR"<<ERROR<<" WITH READ COMMAND")

N70 ENDIF

1.20

ISFILE: File available in user memory NCK (SW 5.2 and higher) Programming
result=isfile(string[160]file) With the ISFILE command you check whether a file exists in the user memory of the NCK (passive file system). As a result either TRUE (file exists) or False (file does not exist) is returned.

Explanation of the parameters

file Name/path of the file to be read (call-by-value parameter of type STRING with a max. length of 160 bytes). The file must be stored in the user memory of the NCK (passive file system). The file name can be preceded by the domain identifier _N_. If the domain identifier is missing, it is added correspondingly. The file identifier ("_" plus three characters, e.g. _SPF) is optional. If there is no identifier, the file name is automatically added _MPF. If there is no path specified in "file", the file is searched for in the current directory (=directory of selected program). If a path is specified in "file", it must start with a slash "/" (absolute path indication). Variable for storage of the result of type BOOL (TRUE or FALSE)

result

1-97

Flexible NC Programming

11.02

1.21 CHECKSUM: Creation of a checksum over an array

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Programming example
N10 DEF BOOL RESULT N20 RESULT=ISFILE("TESTFILE") N30 IF(RESULT==FALSE) N40 MSG("FILE DOES NOT EXIST") N50 M0 N60 ENDIF ... or: N30 IF(NOT ISFILE("TESTFILE")) N40 MSG("FILE DOES NOT EXIST") N50 M0 N60 ENDIF ...

1.21

CHECKSUM: Creation of a checksum over an array (SW 5.2 and higher) Programming
error=CHECKSUM(var string[16] chksum,string[32]array, int first, int last) The CHECKSUM function forms the checksum over an array.

Explanation of the parameters

error Error variable for return 0 No error 1 Symbol not found 2 No array 3 Index 1 too large 4 Index 2 too large 5 Invalid type of file 10 Checksum overflow Representation

chksum

Checksum over the array as a string (call-by-reference parameter of type String, with a defined length of 16). The checksum is indicated as a character string of 16 hexadecimal numbers. However, no format characters are indicated. Example: in MY_CHECKSUM

1-98

11.02

Flexible NC Programming

1.21 CHECKSUM: Creation of a checksum over an array

810D

840Di

Example: N10 DEF REAL LENGTH,WIDTH N20 LENGTH=12 WIDTH=10 N30 BORDER(LENGTH,WIDTH) The values assigned in N20 in the main program are passed in N30 when the subprogram is called. Parameters are passed in the sequence stated. The parameter names do not have to be identical in the main programs and subprogram.

Main program

Value assignment LENGTH=12 WIDTH=10

Subprogram
LENGTH, WIDTH New value assignment LENGTH=20 WIDTH=15

New values apply

Old values apply

Two ways of parameter transfer Values are only passed (call-by-value) If the parameters passed are changed as the subprogram runs this does not have any effect on the main program. The parameters remain unchanged in it (see Fig.) Parameter transfer with data exchange (call-by-reference) Any change to the parameters in the subprogram also causes the parameter to change in the main program (see Fig.).

Main progam

Value assignment LENGTH=12 WIDTH=10

Subprogram
LENGTH, WIDTH New value assignment LENGTH=20 WIDTH=15

New values apply

LENGTH, WIDTH

New values apply

2-106

11.02

Subprograms, Macros

2.3 Subprograms with parameter transfer

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Programming
The parameters relevant for parameter transfer must be listed at the beginning of the subprogram with their type and name. Parameter transfer call-by-value PROC PROGRAM_NAME(VARIABLE_TYPE1 VARIABLE1,VARIABLE_TYPE2 VARIABLE2,...) Example: PROC CONTOUR(REAL LENGTH, REAL WIDTH) Parameter transfer call-by-reference, identification with vocabulary word VAR PROC PROGRAM_NAME(VARIABLE_TYPE1 VARIABLE1,VARIABLE_TYPE2 VARIABLE2, ...) Example: PROC CONTOUR(VAR REAL LENGTH, VAR REAL WIDTH) Array transfer with call-by-reference, identification with vocabulary word VAR PROC PROGRAM_NAME(VAR VARIABLE_TYPE1 ARRAY_NAME1[array size], VAR VARIABLE_TYPE2 ARRAY_NAME2[array size], VAR VARIABLE_TYPE3 ARRAY_NAME3[array size1, array size2], VAR VARIABLE_TYPE4 ARRAY_NAME4[ ], VAR VARIABLE_TYPE5 ARRAY_NAME5 [,array size]) Example: PROC PALLET (VAR INT ARRAY[,10])

Additional notes
The definition statement with PROC must be programmed in a separate NC block. A maximum of 127 parameters can be declared for parameter transfer.

2-107

Subprograms, Macros

11.02

2.3 Subprograms with parameter transfer

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Array definition The following applies to the definition of the formal parameters: With two-dimensional arrays the number of fields in the first dimension does not need to be specified, but the comma must be written. Example: VAR REAL ARRAY[,5] With certain array dimensions it is possible to process subprograms with arrays of variable length. However, when defining the variables you must define how many elements it is to contain. See the Programming Guide "Advanced" for an explanation of array definition.

Programming example Programming with variable array dimensions %_N_DRILLING_PLATE_MPF DEF REAL TABLE[100,2] EXTERN DRILLING_PATTERN (VAR REAL[,2],INT) TABLE[0.0]=-17.5 TABLE[99.1]=45 DRILLING_PATTERN(TABLE,100) M30 Creating a drilling pattern using the position table of variable dimension passed %_N_DRILLING_PATTERN_SPF Subprogram PROC DRILLING_PATTERN(VAR REAL ARRAY[,2],-> Parameters passed -> INT NUMBER) DEF INT COUNT STEP: G1 X=ARRAY[COUNT,0]-> -> Y=ARRAY[COUNT,1] F100 Z=IC(-5) Z=IC(5) COUNT=COUNT+1 IF COUNT<NUMBER GOTOB STEP RET End of subprogram Machining sequence Subprogram call

Main program Define position table

Define positions

2-108

11.02

Subprograms, Macros

2.4 Calling subprograms: L or EXTERN

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

2.4

Calling subprograms: L or EXTERN

Subprogram callwithout parameter transfer In the main program you call the subprogram either with address L and the subprogram number or by specifying the program name. Example: N10 L47 or N10 SPIGOT_2
Main program

N10 L47 or N10 journal_2

Subprogram

Subprogram with parameter transfer declaration with EXTERN Subprograms with parameter transfer must be listed with EXTERN in the main program before they are called, e.g. at the beginning of the program. The name of the subprogram and the variable types are declared in the sequence in which they are transferred. You only have to specify EXTERN if the subprogram is in the workpiece or in the global subprogram directory. You do not have to declare cycles as EXTERN. EXTERN statement EXTERN NAME(TYP1, TYP2, TYP3, ) or EXTERN NAME(VAR TYP1, VAR TYP2, ) Example: N10 EXTERN BORDER(REAL, REAL, REAL) N40 BORDER(15.3,20.2,5) N10 Declaration of the subprogram, N40 Subprogram call with parameter transfer.

Main program

Further main program

N10... . . . N50 M30

A subprogram can also be started as a main program.

2-112

11.02

Subprograms, Macros

2.5 Parameterizable subprogram return (SW 6.4 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

2.5

Parameterizable subprogram return (SW 6.4 and higher) Programming

Parameterizable subprogram return with the relevant parameters RET (<block number/label>, <block after block with block number/label>, <number of return levels>), <return to beginning of program>) RET (<block number/label>, < >, < >) RET (, , <number of return levels>, <return to beginning of program>) Subprogram return over two or more levels (jump back the specified number of levels).

Explanation
<block number/label> 1st parameter: Block number or label as STRING (constant or variable) of the block at which to resume execution. Execution is resumed in the calling program at the block with the "Block number/label". 2nd parameter of type INTEGER If the value is greater than 0, execution is resumed at "Block number/label". If the value is equal to 0, the subprogram return goes to the block with <block number/label>. 3rd parameter of type INTEGER with the permissible values 1 to 11. Value = 1: The program is resumed in the current program level 1 (like RET without parameters). Value = 2: The program is resumed in the current program level 2, skipping one level, etc. 4th parameter of type BOOL Value 1 or 0. Value = 1 If the return goes to the main program and ISO dialect mode is active there, execution will be resumed at the beginning of the program.

<block after block with block number/label>,

<number of return levels>,

<return to beginning of program>,

2-113

Subprograms, Macros

11.02

2.5 Parameterizable subprogram return (SW 6.4 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Function
Usually, a RET or M17 end of subprogram returns to the calling program and execution of the parts program continues with the lines following the subprogram call. However, some applications may require program resumption at another position: Continuation of execution after call-up of the cutting cycles in ISO dialect mode, after the contour definition. Return to main program from any subprogram level (even after ASUB) for error handling. Return over two or more program levels for special applications in compile cycles and in ISO dialect mode. The parameterizable command RET can fulfill these requirements with 4 parameters: 1. <block number/label> 2. <block after block with block number/label> 3. <number of return levels> 4. <return to beginning of program>

1. <block number/label> Execution is resumed in the calling program (main program) at the block with the <block number/label>.

Main program

N100 SUB1 N110 G0 ...

Subprogram

PROC SUB1 N10... . . . N30 RET("N200,0)

N200 ...

2-114

11.02

Subprograms, Macros

2.5 Parameterizable subprogram return (SW 6.4 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

2. <block after block with block number/label> The subprogram return goes back to the block with <block number/label>.

Main program

N100 SUB2 N110 G0 ...

Subprogram

N200 ... N210 ... N220 ...

PROC SUB2 N10... . . . N30 RET(N210,1)

3. <number of return levels> The program is resumed in the current program level minus <number of return levels>.

Main progr. Subprogr. Subprogr.

Program levels max.11

Subprogr.
RET("N220", ,2)

N220 ...

Return

2-115

Subprograms, Macros

11.02

2.5 Parameterizable subprogram return (SW 6.4 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Impermissible return levels Programming a number of return levels with a negative value or a value greater than the currently active program level 1 (max. 11), will output Alarm 14091 with parameter 5. Return with SAVE instructions On return over two or more program levels, the SAVE instructions of each program level are evaluated. Modal subprogram active on return If a modal subprogram is active on a return over two or more program levels and if the deselection command MCALL is programmed for the modal subprogram in one of the skipped subprograms, the modal subprogram will remain active. The user must always make sure that execution continues with the correct modal settings on return over two or more program levels. This is done, for example, by programming an appropriate main block.

Programming example 1
Error handling: Resumption in main program after ASUB execution N10010 CALL "UP1" N11000 PROC UP1 N11010 CALL "UP2" N12000 PROC UP2 N19000 PROC ASUB ... RET("N10900", , ... N19100 RET(N10900, ,$P_STACK) N10900 N10910 MCALL N10920 G0 G60 G40 M5 ; Program level 2 ; Program level 2 (ASUB execution) ; Program level 3 ; Subprogram return ; Resumption in main program ; Deactivate modal subprogram ; Correct further modal settings

; Program level 0 main program ; Program level 1

Subprograms, Macros

11.02

2.9 Repeating program sections with indirect programming

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

2.9

Repeating program sections with indirect programming (SW 6.4 and higher) Programming
CALL <progname> BLOCK <startlabel> TO <endlabel> CALL BLOCK <startlabel> TO <endlabel>

Explanation
CALL <progname> (optional) Vocabulary word for indirect subprogram call Variable or constant of type string, name of the program containing the program section to run. If no <progname> is programmed, the program section with <startlabel> <endlabel> in the current program is searched for and run. Vocabulary word for indirect program section repetition Variable or constant of type string Refers to the beginning or end of the program section to run

BLOCK ... TO ... <startlabel> <endlabel>

Function
CALL is used to call up subprogram indirectly in which the program section repetitions defined with BLOCK are run according to the start label and end label.

Programming example
DEF STRING[20] STARTLABEL, ENDLABEL STARTLABEL = "LABEL_1" ENDLABEL = "LABEL_2" ... CALL "CONTUR_1" BLOCK STARTLABEL TO ENDLABEL ... M17 PROC CONTUR_1 ... LABEL_1 N1000 G1 ... LABEL_2 ; End of program section repetition ; Beginning of program section repetition

2-120

11.02

Subprograms, Macros

2.10 Calling up a program in ISO language indirectly: ISOCALL

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

2.10

Calling up a program in ISO language indirectly: ISOCALL Programming

ISOCALL <progname>

Explanation
ISOCALL <progname> Subprogram call with which the ISO mode set in the machine data is activated Variable or constant of type string Name of the program in ISO language.

Function
The indirect program call ISOCALL is used to call up a program in ISO language. The ISO mode set in the machine data is activated At the end of the program, the original mode is reactivated. If no ISO mode is set in the machine data, the subprogram is called in Siemens mode. For more information about ISO mode, see /FBFA/, "Description of Functions ISO Dialects" Example: Calling up a contour from ISO mode with cycle programming: %_N_0122_SPF N1010 G1 X10 Z20 N1020 X30 R5 N1030 Z50 C10 N1040 X50 N1050 M99 N0010 ... N2000 N2010 N2020 N2300 N2400 DEF STRING[5] PROGNAME = "0122" R11 = $AA_IW[X] ISOCALL PROGNAME R10 = R10+1 ... M30

Contour description in ISO mode

Siemens parts program (cycle)

Run program 0122.spf in ISO mode

2-121

Subprograms, Macros

11.02

2.11 Calling subprogram with path specification and param. PCALL

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

2.11

Calling subprogram with path specification and parameters PCALL Programming

Subprogram call with the absolute path and parameter transfer PCALL <path/progname>(parameter 1, , parameter n)

Explanation
PCALL Vocabulary word for subprogram call with absolute path name Absolute path name beginning"/", including subprogram names If no absolute path name is specified, PCALL behaves like a standard subprogram call with a program identifier. The program identifier is written without the leading _N_ and without an extension If you want the program name to be programmed with the leading _N_ and the extension, you must declare it explicitly with the leading _N_ and the extension as Extern. Current parameters in accordance with the PROC statement of the subprogram

Parameters 1 to n

Function
With PCALL you can call subprograms with the absolute path and parameter transfer. Example: PCALL/_N_WCS_DIR/_N_SHAFT_WPD/SHAFT(parameter1, parameter2, )

2-122

11.02

Subprograms, Macros

2.12 Extending a search path for subprogram calls with CALLPATH

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

2.12

Extending a search path for subprogram calls with CALLPATH (SW 6.4 and higher) Programming
Adding subprograms stored outside the existing NCK file system to the existing NCK file system. CALLPATH <path name>

Explanation
CALLPATH Vocabulary word for programmable search path extension. The CALLPATH command is programmed in a separate parts program line. Constant or variable of type string contains the absolute path of a directory beginning with "/" to extend the search path. The path must be specified complete with prefixes and suffixes. (e.g.: /_N_WKS_DIR/_N_WST_WPD) If <path name> contains the empty string or if CALLPATH is called without parameters, the search path instruction will be reset. The maximum path length is 128 bytes.

Function
The CALLPATH command is used to extend the search path for subprogram calls. That allows you to call subprograms from a non-selected workpiece directory without specifying the complete absolute path name of the subprogram. Search path extension comes before the user cycle entry. (_N_CUS-DIR).

2-123

Subprograms, Macros

11.02

2.12 Extending a search path for subprogram calls with CALLPATH

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Example: CALLPATH ("/_N_WKS_DIR/_N_MYWPD_WPD") That sets this search path (position 5 is new): 1. current directory/ subprogram identifier 2. current directory/ subprogram identifier_SPF 3. current directory/ subprogram identifier_MPF 4. /_N_SPF_DIR/ subprogram identifier_SPF 5. /_N_WKS_DIR/_N_MYWPD/ subprogram identifier_SPF 6. N_CUS_DIR/_N_MYWPD/ subprogram identifier_SPF 7. /_N_CMA_DIR/ subprogram identifier_SPF 8. /_N_CST_DIR/ subprogram identifier_SPF Deselection of the search path extension The search path extension is deselected by the following results: CALLPATH with empty string CALLPATH without parameters End of parts program RESET

Additional notes
CALLPATH check whether the programmed path name really exists. An error aborts program execution with correction block alarm 14009. CALLPATH call also be programmed in INI files. Then it applies for the duration of execution of the INI file (WPD INI file or initialization program for NC active data, e.g. Frames in the 1st channel _N_CH1_UFR_INI). The initialization program is then reset again.

2-124

11.02

Subprograms, Macros

2.13 Suppress current block display: DISPLOF

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

2.13

Suppress current block display: DISPLOF Programming

PROC DISPLOF

Function
With DISPLOF the current block display is suppressed for a subprogram. DISPLOF is placed at the end of the PROC statement. Instead of the current block, the call of the cycle or the subprogram is displayed. By default the block display is activated. Deactivation of block display with DISPLOF applies until the return from the subprogram or end of program. If further subprograms are called from the subprogram with the DISPLOF attribute, the current block display is suppressed in these as well. If a subprogram with suppressed block display is interrupted by an asynchronized subprogram, the blocks of the current subprogram are displayed.

Programming example
Suppress current block display in the cycle %_N_CYCLE_SPF ;$PATH=/_N_CUS_DIR PROC CYCLE (AXIS TOMOV, REAL POSITION) SAVE DISPLOF ;Suppress current block display ;Now the cycle call is displayed as the current block ;E.g.: CYCLE(X, 100.0) DEF REAL DIFF G01 RET ;Subprogram return, the following block of the calling program is displayed again ;Cycle contents ;

2-125

Subprograms, Macros

11.02

2.14 Single block suppression: SBLOF, SBLON (SW 4.3 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

2.14

Single block suppression: SBLOF, SBLON (SW 4.3 and higher) Programming
PROC ... SBLOF SBLON ; The command can be programmed in a PROC block or in a separate block ; The command must be programmed in a separate block

Explanation
SBLOF SBLON Deactivate single block Reactivate single block

Function
Program-specific single block suppression With all single block types the programs marked with SBLOF are executed in their entirety like one block. SBLOF is written in the PROC line and is valid until the end of the subprogram or until it is aborted. SBLOF is also valid in the called subprograms. Example: PROC EXAMPLE SBLOF G1 X10 RET Single block suppression in the program SBLOF can be alone in a block. From this block onwards, the single block mode is deactivated until the next SBLON or until the end of the active subprogram level. Example: N10 G1 X100 F1000 N20 SBLOF N30 Y20 N40 M100 N50 R10=90 N60 SBLON N70 M110 N80 ... The range between N20 and N60 is executed in single block mode as one step.

Deactivate single block

Reactivate single block

2-126

11.02

Subprograms, Macros

2.14 Single block suppression: SBLOF, SBLON (SW 4.3 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Single block disable for asynchronized subprograms To run an ASUB in single block mode in one step, the ASUB must contain a PROC instruction with SBLOF. This also applies to the function "editable system ASUB" in MD 11610: ASUB_EDITABLE. Example of "editable system ASUB": N10 PROC ASUB1 SBLOF DISPLOF N20 IF $AC_ASUB=='H200' N30 RET N40 ELSE N50 REPOSA N60 ENDIF Program control in single block mode The single block function allows the user to run a parts program block by block. The single block function has the following settings: SBL1: IPO single block with stop after each machine function block. SBL2: Single block with stop after each block. SBL3: Hold in the cycle Single block suppression for program nesting If "single block off" (SBLOF) is active in a subprogram, execution halts at the M17 instruction. That prevents the next block in the calling program from already running. If single block suppression is deactivated in a subprogram with SBLON/SBLOF (independently of the attribute SBLOF), execution stops after the next block of the calling program. If that is not wanted, SBLON must be programmed in the subprogram before the return (M17). Execution does not stop on a return to a higher-level program with RET.

No REPOS with mode change REPOS in all other cases

2-127

Subprograms, Macros

11.02

2.14 Single block suppression: SBLOF, SBLON (SW 4.3 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Supplementary conditions Display of the current block can be suppressed in cycles by means of DISPLOF. If DISPLOF is programmed together with SBLOF, then the cycle call is still displayed in single block stops within a cycle. If MD 10702: IGNORE_SINGLEBLOCK_MASK suppressed the single block stop in the system ASUB or user ASUB with Bit0 = 1 or. Bit1 = 1, you can reactivate the single block stop by programming SBLON in ASUB. MD 20117: IGNORE_SINGLEBLOCK_ASUB suppresses the single block stop in the user ASUB and cannot be reactivated any more by programming SBLON. By selecting SBL3 you can suppress the SBLOF command. SW 6.4 and higher Ignore single block stop in single block type 2. Single block type 2 (SBL2) does not stop in the SBLON block, if Bit12 = 1 is set in MD 10702: IGNORE_SINGLEBLOCK_MASK. For more information about block display with/without single block suppression, see /FB/, K1 BAG, Channel, Program control "single block"

2-128

11.02

Subprograms, Macros

2.14 Single block suppression: SBLOF, SBLON (SW 4.3 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Programming example 1
Cycle is to act as a command for programmer Main program N10 G1 X10 G90 F200 N20 X-4 Y6 N30 CYCLE1 N40 G1 X0 N50 M30 Program cycle1 N100 PROC CYCLE1 DISPLOF SBLOF N110 R10=3*SIN(R20)+5 N120 IF (R11 <= 0) N130 SETAL(61000) N140 ENDIF N150 G1 G91 Z=R10 F=R11 N160 RET The cycle CYCLE1 is executed as one step when single block is active.

; Suppress single block

2.15

Executing external subprogram: EXTCALL (SW 4.2 and higher) Programming

EXTCALL (<path/program name>)

Explanation
EXTCALL <path/program name>
Keyword for subprogram call Constant/variable of type STRING. An absolute path name or program name can be specified. The program name is written with/without the leading_N_ and without an extension. An extension can be appended to the program name using the <"> character.

Example: EXTCALL (/_N_WKS_DIR/_N_SHAFT_WPD/_N_SHAFT_SPF) or EXTCALL (SHAFT)

Function
EXTCALL can be used to reload a program from the HMI in "Processing from external source" mode. All programs that can be accessed via the directory structure of HMI can be reloaded and run. External program path SD 42700: EXT_PROG_PATH permits flexible setting of the call path. SD 42700 contains a path definition that builds the absolute path name of the program to be called in conjunction with the programmed subprogram identifier. Call of an external subprogram An external subprogram is called up with parts program command EXTCALL. The subprogram names programmed with EXTCALL and setting data SD 42700: EXT_PROG_PATH

2-132

11.02

Subprograms, Macros

2.15 Executing external subprogram: EXTCALL (SW 4.2 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

result in the program path for the external subprogram call by character concatenation of the content of SD 42700: EXT_PROG_PATH (e.g. /_N_WKS_DIR/_N_WKST1_WPD) the character "/" as the separator (if a path was specified with SD 42700: EXT_PROG_PATH) the subprogram path or subprogram identifier specified with EXTCALL. SD 42700: EXT_PROG_PATH has a blank as its default. If the external subprogram is called without an absolute path name, the same search path is executed on the HMI Advanced as for calling a subprogram from NCK memory. 1. current directory/ subprogram identifier 2. current directory/subprogram identifier_SPF 3. current directory/subprogram identifier_MPF 4. /_N_SPF_DIR/subprogram identifier_SPF 5. /_N_CUS_DIR/subprogram identifier_SPF 6. /_N_CMA_DIR/subprogram identifier_SPF 7. /_N_CST_DIR/subprogram identifier_SPF "current directory": stands for the directory in which the main program was selected. "subprogram identifier": stands for the subprogram name programmed with EXTCALL. Adjustable load memory (FIFO buffer) A load memory is required in the NCK in order to process a program in "Execution from external" mode (main program or subprogram). The default setting for the size of the load memory is 30 Kbytes. MD 18360: MM_EXT_PROG_BUFFER_SIZE sets the size of the reload buffer. MD 18362: MM_EXT_PROG_BUFFER_NUM sets the number of reload buffers. One reload buffer must be set for each program (main program or subprogram) to run concurrently in "Processing from external source" mode.

2-133

Subprograms, Macros

11.02

2.15 Executing external subprogram: EXTCALL (SW 4.2 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Programming examples
1. The program to be reloaded is located on the local hard disk of HMI Advanced:
Setting data SD 42700: EXT_PROG_PATH contains the following path: "/_N_WKS_DIR/_N_WST1". The main program _N_MAIN_MPF is in the user memory and selected.

N10 PROC MAIN N20 ... N30 EXTCALL "ROUGHING" N40 ... N50 M30
Subprogram "ROUGHING" (located in the HMI Advanced directory structure under workpieces ->WST1): ; Call of external subprogram ; ROUGHING

N10 PROC ROUGHING N20 G1 F1000 N30 X=... Y=... Z=... N40 ... N90 M17 2. The program to be reloaded is located on the network drive or ATA card of HMI
EXTCALL Windows path Call for network drive (HMI Embedded or Advanced) EXTCALL \\R4711\workpieces\contour1.spf Call for ATA card (HMI Embedded), e.g. EXTCALL C:\workpieces\contour2.spf

For HMI Embedded, an absolute path must always be specified. For more information about operation, see /BEM/ HMI Embedded /BAD/ HMI Advanced

2-134

11.02

Subprograms, Macros

2.15 Executing external subprogram: EXTCALL (SW 4.2 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Additional notes
External subprograms are not permitted to include jump commands such as GOTOF, GOTOB, CASE, FOR, LOOP, WHILE or REPEAT. Subprogram calls even nested EXTCALL calls are possible. SW 6.3 and higher IF-ELSE-ENDIF constructions are possible. POWER ON, RESET Reset and power ON cause external subprogram calls to be interrupted and the associated load memory to be erased. For more information about "Processing from external source", see: /FB/ K1, BAG, Channel, Program control

2-135

Subprograms, Macros

11.02

2.16 Subprogram call with M/T function

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

2.16

Subprogram call with M/T function Function

The T/M function can be replaced with a subprogram call by making the appropriate setting in the machine data, for example, for calling the tool change routine. At block search subprogram calls with M/T functions behave like standard subprogram calls. For more information about "Subprogram call with M/T functions", see: /FB/ K1, BAG, Channel, Program control

Example 1:

Tool change with M6 M function M6 is replaced by tool change routine TC_UP_M6 N10 PROC ROUGHING3 N20 G1 F1000 N30 X=... Y=... Z=... N40 T1234 M6 ; M30 Associated subprogram TC_UP_M6: N110 PROC TC_UP_M6 ... N130 G53 D0 G0 X=... Y=... Z=... N140 ... N190 M17 M6 ; ; ; Approach tool change point ; Execute tool change ; Call TC_UP_M6

Example 2:

Tool change with T function programming T function is replaced by tool change routine TC_UP_T N10 PROC ROUGHING4 N20 G1 F1000 N30 X=... Y=... Z=... N40 T1234 ; M30 ; Call TC_UP_T

2-136

11.02

Subprograms, Macros

2.16 Subprogram call with M/T function

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Associated subprogram TC_UP_T: N310 PROC TC_UP_T ... N330 IF $C_T_PROG == 1 N340 G53 D0 G0 X=... Y=... Z=... N350 T=$C_T N360 ENDIF ... N390 M17 ; ; Approach tool change point Execute tool change

Extension of T function substitution

As from SW 6.4, T function substitution is extended to permit setting in machine data whether with programming of both: D numbers or DL numbers and T numbers in one block, D or DL will be passed as parameters to the T substitution cycle as predefined (default) or run before the T substitution cycle call. MD 10719: T_NO_FCT_CYCLE_MODE sets parameterization of the T function substitution as follows Value 0: the D or DL number is passed to the cycle, as previously, (default). Value 1: the D or DL number is calculated directly in the block. This function is only active if the tool change was configured with an M function (MD 22550: TOOL_CHANGE_MODE = 1), otherwise the D or DL values are always passed.

2-137

Subprograms, Macros

11.02

2.17 Cycles: Setting parameters for user cycles

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

2.17

Cycles: Setting parameters for user cycles Files and paths Explanation
cov.com uc.com Overview of cycles Cycle call description

Function
Customized cycles can be parameterized with these files.

Sequence
The cov.com file is included with the standard cycles at delivery and is to be expanded accordingly. The uc.com file is to be created by the user. Both files are to be loaded in the passive file system in the "User cycles" directory (or must be given the appropriate path specification in the program: ;$PATH=/_N_CUS_DIR

Adaptation of cov.com Overview of cycles

The cov.com file supplied with the standard cycles has the following structure: %_N_COV_COM ;$PATH=/_N_CST_DIR) ;Vxxx 11.12.95 Sca cycle overview C1(CYCLE81) drilling, centering C2(CYCLE82) Boring, counterboring ... C24(CYCLE98) Chaining of threads M17 Call for last cycle End of file

File name Path specification Comment line Call for 1st cycle Call for 2nd cycle

2-138

11.02

Subprograms, Macros

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Display example for both cycles Display screen for cycle MY_CYCLE_1

Parameter 2 of the cycle Integer value Character parameter Subprograms

100 1

Display screen for cycle SPECIAL CYCLE

Total length Type of machining

100 1

2.18

Macros. DEFINE...AS
What is a macro? A macro is a sequence of individual instructions which have together been assigned a name of their own. G, M and H functions or L subprogram names can also be used as macros. When a macro is called during a program run, the instructions programmed under the program name are executed one after the other. Use of macros Sequences of instructions that recur are only programmed once as a macro in a separate macro module and once at the beginning of the program. The macro can then be called in any main program or subprogram and executed.

2-142

11.02

Subprograms, Macros

2.18 Macros. DEFINE...AS

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Programming Macros are identified with the vocabulary word DEFINE...AS. The macro definition is as follows: DEFINE NAME AS <Instruction> Example: Macro definition: DEFINE LINE AS G1 G94 F300 Call in the NC program: N20 LINE X10 Y20 Activate macro SW 4 and lower Macros are active after control power ON. SW 5 and higher The macro is active when it is loaded into the NC ("Load" soft key). Three-digit M/G function (SW 5 and higher) SW 4 and lower After a three-digit M function is programmed, alarm 12530 is issued. SW 5 and higher Supports programming of three-digit M and G functions. Example: N20 DEFINE M100 AS M6 N80 DEFINE M999 AS M6

Additional notes
Nesting of macros is not possible. Two-digit H and L functions can be programmed.

2-143

Subprograms, Macros

11.02

2.18 Macros. DEFINE...AS

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Programming example
Example of macro definitions. DEFINE M6 AS L6 A subroutine is called at tool change to handle the necessary data transfer. The actual M function is output in the subprogram (e.g. M106). Emulation of the DIN G function During thread cutting synchronization is requested with the PLC. The original G function G33 was renamed to G333 by machine data so that the programming is identical for the user.

DEFINE G81 AS DRILL(81) DEFINE G33 AS M333 G333

Example of a global macro file: After reading the macro file into the control, activate the macros (see above). The macros can now be used in the parts program. %_N_UMAC_DEF ;$PATH=/_N_DEF_DIR; customer-specific macros DEFINE PI AS 3.14 DEFINE TC1 AS M3 S1000 DEFINE M13 AS M3 M7 DEFINE M14 AS M4 M7 DEFINE M15 AS M5 M9 DEFINE M6 AS L6 DEFINE G80 AS MCALL M30 ;Spindle right, coolant on ;Spindle left, coolant on ;Spindle stop, coolant off ;Call tool change program ;Deselect drilling cycle ;

Vocabulary words and reserved names must not be redefined with macros. Use of macros can significantly alter the control's programming language! Therefore, exercise caution when using macros. Macros can also be declared in the NC program. Only identifiers are permissible as macro names. G function macros can only be defined in the macro module globally for the entire control. With macros you can define any identifiers, G, M, H functions and L program names. Macro identifiers with 1 letter and 1 digit are permissible (FM-NC only). n

2-144

11.02

File and Program Management

3.1 3.2 3.3 3.4 3.5 3.6 Overview ....................................................................................................................... 3-146 Program memory .......................................................................................................... 3-147 User memory................................................................................................................. 3-153 Defining user data ......................................................................................................... 3-156 Defining protection levels for user data (GUD) ............................................................. 3-160 Automatic activation of GUDs and MACs (SW 4.4 and higher) .................................... 3-162

3-145

File and Program Management

11.02

3.1 Overview

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

3.1

Overview
Memory structure The memory structure available to the user is organized in two areas.

1. User memory The user memory contains the current system and user data with which the control operates (active file system). Example: Active machine data, tool offset data, zero offsets.

2. Program memory The files and programs are stored in the program memory and are thus permanently stored (passive file system). Example: Main programs and subprograms, macro definitions.

3-146

11.02

File and Program Management

3.2 Program memory

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

3.2

Program memory
Overview Main programs and subprograms are stored in the main memory. A number of file types are also stored here temporarily and these can be transferred to the working memory as required (e.g. for initialization purposes on machining of a specific workpiece).

Main memory

_N_DEF_DIR

_N_CST_DIR _N_CMA_DIR

_N_CUS_DIR _N_SPF_DIR

_N_MPF_DIR _N_WKS_DIR

_N_COM_DIR

_N_SMAC_DEF _N_MMAC_DEF _N_UMAC_DEF _N_SGUD_DEF _N_MGUD_DEF _N_UGUD_DEF _N_GUD4_DEF ... _N_GUD9_DEF _N_POCKET1_SPF _N_..._SPF

_N_L199_SPF _N_..._SPF

_N_GLOB_SPF _N_..._SPF

_N_MPF1_MPF _N_MOV_MPF _N_..._MPF _N_...

_N_WELLE_WPD

_N_MPF123_WPD

...

Names in bold Names not in bold:

Permanent Assigned by user

_N_WELLE_MPF _N_PART2_MPF _N_PART1_SPF _N_PART2_SPF _N_WELLE_INI _N_WELLE_SEA _N_PART2_INI _N_PART2_UFR _N_PART2_COM _N_WELLE

_N_MPF123_MPF _N_L1_SPF _N_..._...

3-147

File and Program Management

11.02

3.2 Program memory

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Directories The following directories exist by default: 1. _N_DEF_DIR 2. _N_CST_DIR 3. _N_CMA_DIR 4. _N_CUS_DIR 5. _N_WKS_DIR 6. _N_SPF_DIR 7. _N_MPF_DIR 8. _N_COM_DIR Data modules and macro modules Standard cycles Manufacturer cycles User cycles Workpieces Global subprograms Standard directory for main programs Standard directory for comments

File types The following file types can be stored in the main memory: name_MPF name_SPF name_TEA name_SEA name_TOA name_UFR name_INI name_GUD name_RPA name_COM name_DEF Main program Subprogram Machine data Setting data Tool offsets Zero offsets/frames Initialization file Global user data R parameters Comments Definitions for global user data and macros

3-148

11.02

File and Program Management

3.2 Program memory

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Workpiece directory, _N_WCS_DIR The workpiece directory exists in the standard setup of the program directory under the name _N_WCS_DIR. The workpiece directory contains all the workpiece directories for the workpieces that you have programmed.

Workpiece directories, Identifier WPD To make data and program handling more flexible certain data and programs can be grouped together or stored in individual workpiece directories. A workpiece directory contains all files required for machining a workpiece. These can be main programs, subprograms, any initialization programs and comment files. Example: Workpiece directory _N_SHAFT_WPD, created for workpiece SHAFT contains the following files: _N_SHAFT_MPF _N_PART2_MPF _N_PART1_SPF _N_PART2_SPF _N_SHAFT_INI _N_SHAFT_SEA _N_PART2_INI _N_PART2_UFR _N_SHAFT_COM Main program Main program Subprogram Subprogram General initialization program for the data of the workpiece Setting data initialization program General initialization program for the data for the Part 2 program Initialization program for the frame data for the Part 2 program Comment file

3-149

File and Program Management

11.02

3.2 Program memory

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Creating workpiece directories on an external PC The steps described below are performed on an external data station. Please refer to your Operators Guide for file and program management (from PC to control system) directly on the control. ;$PATH instruction The destination path $PATH=... is specified within the second line of the file. Example: ;$PATH=/_N_WCS_DIR/_N_SHAFT_WPD The file is stored at the specified path.

Important
If the path is missing, files of file type SPF are stored in /_N_SPF_DIR, files with extension _INI in the working memory and all other files in /_N_MPF_DIR. Example with path for the previous example SHAFT: _/N_SHAFT_MPF is stored in /_N_WKS_DIR/_N_SHAFT_WPD %_N_SHAFT_MPF ;$PATH=/_N_WCS_DIR/_N_SHAFT_WPD N10 G0 X Z M2 SHAFT: _/N_SHAFT_SPF is stored in /_N_SPF_DIR

%_N_SHAFT_SPF
M17

3-150

11.02

File and Program Management

3.2 Program memory

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Select workpiece for machining A workpiece directory can be selected for execution in a channel. If a main program with the same name or only a single main program (MPF) is stored in this directory, this is automatically selected for execution. Example: The workpiece directory /_N_WCS_DIR/_N_SHAFT_WPD contains the files _N_SHAFT_SPF and _N_SHAFT_MPF. SW 5 and higher (MMC 102/103 only): See "Operator's Guide" /BA/ Section on Job list and Selecting program for execution. Search path with subprogram call If the search path is not specified explicitly in the parts program when a subprogram (or initialization file) is called, the calling program searches in a fixed search path. Example of subprogram call with absolute path specification: CALL"/_N_CST_DIR/_N_CYCLE1_SPF" Programs are usually called without specifying a path: Example: CYCLE1 Search path sequence 1. Current directory / name 2. Current directory / name_SPF 3. Current directory / name_MPF 4. /_N_SPF_DIR / name_SPF 5. /_N_CUS_DIR / name_SPF 6. /_N_CMA_DIR / name_SPF 7. /_N_CST_DIR / name_SPF Workpiece directory or standard directory _N_MPF_DIR

Global subprograms User cycles Manufacturer cycles Standard cycles

3-151

File and Program Management

11.02

3.2 Program memory

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Programming search paths for subprogram call (as from SW 6.4) CALLPATH command The search path can be extended with the parts program command CALLPATH. Example: CALLPATH("/_N_WKS_DIR/_N_MYWPD_WPD") The search path is stored in front of position 5 (user cycle) as programmed. For further information about the programmable search path for subprogram calls with CALLPATH, see Section 2.12

3-152

11.02

File and Program Management

3.3 User memory

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

3.3

User memory
Initialization programs These are programs with which the working memory data are initialized. The following file types can be used for this: name_TEA name_SEA name_TOA name_UFR name_INI name_GUD name_RPA Machine data Setting data Tool offsets Zero offsets/frames Initialization files Global user data R parameters

Data areas The data can be organized in different areas in which they are to apply. For example, a control can use several channels (not 810D CCU1, 840D NCU 571) and can usually use several axes. The following areas are available: Identifier NCK CHn AXn TO COMPLETE Data areas NCK-specific data Channel-specific data (n specifies the channel number) Axis-specific data (n specifies the number of the machine axis) Tool data All data

3-153

File and Program Management

11.02

3.3 User memory

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Generating an initialization program on an external PC The data area identifier and the data type identifier can be used to determine the areas which are to be treated as a unit when the data are saved. Example: _N_AX5_TEA_INI _N_CH2_UFR_INI _N_COMPLETE_TEA_INI

Machine data for axis 5 Frames of channel 2 All machine data

When the control is started up initially, a set of data is automatically loaded to ensure proper operation of the control.

Saving initialization programs The files in the working memory can be saved on an external PC and read in again from there. The files are saved with COMPLETE. An INI file: INITIAL can be created across all areas with _N_INITIAL_INI.

Loading initialization programs INI programs can also be selected and called as parts programs if they only use the data of a single channel. It is thus also possible to initialize programcontrolled data.

Information on file types is given in the Operators Guide.

3-154

11.02

File and Program Management

3.3 User memory

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Procedure for multi-channel controls CHANDATA (channel number) for several channels is only permitted in the file N_INITIAL_INI. N_INITIAL_INI is the installation file with which all data of the control is initialized. Example: %_N_INITIAL_INI CHANDATA(1) ;Machine axis assignment channel 1 $MC_AXCONF_MACHAX_USED[0]=1 $MC_AXCONF_MACHAX_USED[1]=2 $MC_AXCONF_MACHAX_USED[2]=3 CHANDATA(2) ;Machine axis assignment channel 2 $MC_AXCONF_MACHAX_USED[0]=4 $MC_AXCONF_MACHAX_USED[1]=5 CHANDATA(1) ;axial machine data ;Exact stop window coarse: $MA_STOP_LIMIT_COARSE[AX1]=0.2 ;Axis 1 $MA_STOP_LIMIT_COARSE[AX2]=0.2 ;Axis 2 ;Exact stop window fine: $MA_STOP_LIMIT_COARSE[AX1]=0.01 ;Axis 1 $MA_STOP_LIMIT_COARSE[AX1]=0.01 ;Axis 2

In the parts program, the CHANDATA instruction may only be used for the channel on which the NC program is running, i.e. the instruction can be used to protect NC programs from being executed accidentally on a different channel. Program processing is aborted if an error occurs. Note INI files in job lists do not contain any CHANDATA instructions.

3-155

File and Program Management

11.02

3.4 Defining user data

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

3.4

Defining user data

Function Definition of user data (GUD) implemented during start-up procedure. The necessary machine data should be initialized accordingly. The user memory must be configured. All relevant machine data have as a component of their name GUD. SW 5 and higher (01.99): The user data (GUD) can be defined in the Services operating area. This means that lengthy reimporting of data backup (%_N_INITIAL_INI) is not necessary. The following applies: Definition files that are on the hard disk are not active. Definition files that are on the NC are always active. Reserved module names The following modules can be stored in the directory /_N_DEF_DIR: _N_SMAC_DEF _N_MMAC_DEF _N_UMAC_DEF _N_SGUD_DEF _N_MGUD_DEF _N_UGUD_DEF _N_GUD4_DEF _N_GUD5_DEF _N_GUD6_DEF _N_GUD7_DEF _N_GUD8_DEF _N_GUD9_DEF Contains macro definitions (Siemens, protection level 0) Contains macro definitions (machine manufacturer, protection level 2) Contains macro definitions (user, protection level 3) Contains definitions for global data (Siemens, protection level 0) Contains definitions for global data (machine manufacturer, protection level 2) Contains definitions for global data (user, protection level 3) Freely definable Contains definitions for measuring cycles (Siemens, protection level 0) Contains definitions for measuring cycles (Siemens, protection level 0) Contains definitions for standard cycles (Siemens, protection level 0) or freely definable without standard cycles Freely definable Freely definable

3-156

11.02

File and Program Management

3.4 Defining user data

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Defining user data (GUD) 1. Save module _N_INITIAL_INI. 2. Creating a definition file for user data on an external PC (SW 4 and lower) in the Services operating area (SW 5 and higher) Predefined file names are provided (see previous page): _N_SGUD_DEF _N_MGUD_DEF _N_UGUD_DEF _N_GUD4_DEF _N_GUD9_DEF Files with these names can contain definitions for GUD variables.

Programming
The GUD variables are programmed with the DEF command: DEF scope preproc. stop type name[.., ...]=value

Explanation
Scope Range identifies the variable as a GUD variable and defines its validity scope: NCK Throughout NCK CHAN Throughout channel Optional attribute preprocessing stop: SYNR Preprocessing stop while reading SYNW Preprocessing stop while writing SYNRW Preprocessing stop while reading/writing Data type BOOL REAL INT AXIS FRAME STRING CHAR

Preproc. stop

Type

3-157

File and Program Management

11.02

3.4 Defining user data

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Name [.., ...] Value

Variable name Optional run limits for array variables Optional preset value, two or more values for arrays, separated by commas REP (w1) , SET(w1, W2, ...), (w1, w2, ...) Initialization values are not possible for type Frame

3. Load the definition file in the program memory of the control. The control always creates a default directory _N_DEF_DIR. This name is entered as the path in the header of the GUD definition file and evaluated when read in via the RS-232 interface.

Programming example
Example of a definition file, global data (Siemens): %_N_SGUD_DEF ;$PATH=/_N_DEF_DIR DEF NCK REAL RTP DEF CHAN INT SDIS M30 ;Retraction plane ;Safety clearance

3-158

11.02

File and Program Management

3.4 Defining user data

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

4. Activating definition files SW 4 and lower Before read-in of the _N_INITIAL_INI, save all programs, frames, and machine data because the static memory will be formatted The definition file is only reactivated on read-in of the _N_INITIAL_INI file. SW 5 and higher When the GUD definition file is loaded into the NC ("Load" soft key), it becomes active. See "Automatic activation ..."

5. Data storage When the file _N_COMPLETE_GUD is archived from the working memory, only the data contained in the file are saved. The definition files created for the global user variables must be archived separately. The variable assignments to global user data are also stored in _N_INITIAL_INI, the names must be identical with the names in the definition files. Example of a definition file for global data (machine manufacturer): %_N_MGUD_DEF ;$PATH=/_N_DEF_DIR ;Global data definitions of the machine manufacturer DEF NCK SYNRW INT QUANTITY ;Implicit preprocessing stop during read/write ;Spec. data available in the control ;Access from all channels ;Tool table for channel-spec. image ;of the tool number at magazine locations ;Separate table created for each channel

DEF CHAN INT TOOLTABLE[100] M30

3-159

File and Program Management

11.02

3.5 Defining protection levels for user data (GUD)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

3.5

Defining protection levels for user data (GUD) Programming

Protection levels for the whole module are specified in the headers %_N_MGUD_DEF ;$PATH=/_N_DEF_DIR APR n APW n ; Module type ; Path ; Protection levels on a separate line

Explanation
APW n APR n n Write access protection Read access protection Protection level n from 0 or 10 (highest level) to 7 or 17 (lowest level) SIEMENS OEM_HIGH OEM_LOW Final user Key switch 3 ... Keyswitch 0 These values are permissible in GUD modules and in protection levels for individual variables in the REDEF instruction. This values are only permissible for module-specific GUD protection level.

Meaning of the protection levels: 0 or 10 1 or 11 2 or 12 3 or 13 4 or 14 ... 7 or 17 APW 0-7, APR 0-7 The module variables cannot be written/read via the NC program or in MDA mode.

APW 10-17, APR 10-17: The module variables can be written/read via the NC program or in MDA mode.

Note
To protect a complete file, the commands must be placed before the first definitions in the file. In other cases, they go into the REDEF instruction of the relevant data.

3-160

11.02

File and Program Management

3.5 Defining protection levels for user data (GUD)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Function
Access criteria can be defined for GUD modules to protect them against manipulation. In cycles GUD variables can be queried that are protected in this way from change via the HMI or from the program. The access protection applies to all variables defined in this module. When an attempt is made to access protected data, the control outputs an appropriate alarm. When a GUD definition file is first activated any defined access authorization contained therein is evaluated and automatically re-transferred to the read/write access of the GUD definition file. Note Access authorization entries in the GUD definition file can restrict but not extend the required access authorization for the GUD definition file. Example The definition file _N_GUD7_DEF contains: APW2 a) The file _N_GUD7_DEF has value 3 as write protection. The value 3 is then overwritten with value 2. b) The file _N_GUD7_DEF has value 0 as write protection. There is no change to it. With the APW instruction a retrospective change is made to the file's write access. With the APR instruction a retrospective change is made to the file's read access. Note If you erroneously enter in the GUD definition file a higher access level than your authorization allows, the archive file must be reimported.

3-161

File and Program Management

11.02

3.6 Automatic activation of GUDs and MACs (SW 4.4 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Sequence
The access protection level is programmed with the desired protection level in the relevant module before any variable is defined. Vocabulary words must be programmed in a separate block. Example of a definition file with access protection write (machine manufacturer), read (keyswitch 2):

Programming example
%_N_GUD6_DEF ;$PATH=/_N_DEF_DIR APR 15 APW 12 DEF CHAN REAL_CORRVAL DEF NCK INT MYCOUNT M30 ; ; Protection levels for all following variables

3.6

Automatic activation of GUDs and MACs (SW 4.4 and higher) Function
The definition files for GUD and macro definitions are edited in the Services operating area for the MMC 102/103. If a definition file is edited in the NC, when exiting the Editor you are prompted whether the definitions are to be set active.

3-162

11.02

File and Program Management

3.6 Automatic activation of GUDs and MACs (SW 4.4 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Example: "Do you want to activate the definitions from file GUD7.DEF?" "OK" A request is displayed asking you whether you want to restore the currently active data. "Do you want to save the previous data in the definitions?" "OK" The GUD blocks of the definition file to be processed are saved while the new definitions are activated and the restored data are loaded again. "Abort" The new definitions are activated while the old data are lost. "Abort" The changes made in the definition file are canceled and the associated data block is not changed. Unload If a definition file is unloaded, the associated data block is deleted after a query is displayed. Load If a definition file is loaded, a prompt is displayed asking whether to activate the file or retain the data. If you do not activate, the file is not loaded. If the cursor is positioned on a loaded definition file, the soft key labeling changes from "Load" to "Activate" to activate the definitions. If you select "Activate", another prompt is displayed asking whether you want to retain the data. Data is only saved for variable definition files, not for macros.

3-163

File and Program Management

11.02

3.7 Data-specific protection level change for machine and setting data

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Additional notes (MMC 103)

If there is not enough memory capacity for activating the definition file, once the memory size has been changed, the file must be transferred from the NC to the MMC and back into the NC again to activate it.

3.7

Data-specific protection level change for machine and setting data

3.7.1 Change Programming

REDEF Machine data/setting data protection level

Explanation
Protection level: APW n APR n n Write access protection Read access protection Protection level n from 0 (highest level) to 7 (lowest level)

Function
The user change the protection levels. Only lower priority protection levels can be assigned in the machine data, and higher priority protection levels in the setting data. The passwords are required for redefinition by the user.

3-164

11.02

File and Program Management

3.8 Changing attributes of NC language elements (SW 6.4 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Programming example

Changing rights in individual MDs

%_N_SGUD_DEF ;$PATH=/_N_DEF_DIR REDEF $MA_CTRLOUT_SEGMENT_NR APR 2 APW 2 REDEF $MA_ENC_SEGMENT_NR APR 2 APW 2 REDEF $SN_JOG_CONT_MODE_LEVELTRIGGRD APR 2 APW 2 M30

3.7.2 Undoing a change

To undo a change to the protection levels, the original protection levels must be written back again.

Programming example

Resetting rights in individual MDs to the original values

%_N_SGUD_DEF ;$PATH=/_N_DEF_DIR REDEF $MA_CTRLOUT_SEGMENT_NR APR 7 APW 2 REDEF $MA_ENC_SEGMENT_NR APR 0 APW 0 REDEF $SN_JOG_CONT_MODE_LEVELTRIGGRD APR 7 APW 7 M30

3.8

Changing attributes of NC language elements (SW 6.4 and higher)

The REDEF instruction available as from SW 6.4 makes the functions described in the previous subsections for defining data objects and protection levels into a general interface for setting attributes and values.

3-165

File and Program Management

11.02

3.8 Changing attributes of NC language elements (SW 6.4 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Programming
REDEF NC language element attribute value

Explanation

NC language element

This includes: GUD R parameters Machine data/setting data Synchronized variables ($AC_PARAM, $AC_MARKER, $AC_TIMER) System variables that can be written from part progs. (see Appendix) User frames (G500, etc.) Magazine/tool configurations GCode, predefined functions, macros Permissible for: GUD, R parameters, synchronized variables " " " " " " Setting data GUD " " Machine and setting data " " "

Attribute INIPO INIRE INICF PRLOC SYNR SYNW SYNRW APW APR

3-166

11.02

File and Program Management

3.8 Changing attributes of NC language elements (SW 6.4 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Value

Optional parameters for attributes INIPO, INIRE, INICF, PRLOC: Subsequent start values Forms: Single values Value list

e.g. 5 e.g. (0, 1, 2, 3, 4, 5, 6, 7, 8, 9) for variable with 10 elements REP (w1) with w1: value list to be repeated for variable with two or more elements, e.g. REP(12) SET(w1, w2, w3, ...) or (w1, w2, w3, ...) value list Required parameter protection level for attributes for APR or APW For GUD, the definition can contain a start value (DEF NCK INT _MYGUD=5). If this start value is not stated (e.g. in DEF NCK INT _MYINT), the start value can be defined subsequently in the REDEF instruction. Cannot be used for R parameters and system parameters. Only constants can be assigned. Expressions are not permitted values. n

3-167

File and Program Management

11.02

3.8 Changing attributes of NC language elements (SW 6.4 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Meanings of the attributes INIPO

INIt for Power ON The data are overwritten with the default(s) on battery-back restart of the NC. INIt for operator panel front reset or TP end At the end of a main program, for example, with M2, M30, etc. or on cancellation with the operator panel front reset, the data are overwritten with the defaults. INIRE also applies for INIPO. INIt on NewConf request or TP command NEWCONF On NewConf request or TP command NEWCONF, the data are overwritten with the default values. INICF also applies to INIRE and INIPO.

INIRE

INICF

The user is responsible for synchronization of the events triggering initialization. For example, if an end of parts program is executed in two different channels, the variables are initialized in each. That affects global and axial data!

3-168

11.02

File and Program Management

3.8 Changing attributes of NC language elements (SW 6.4 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

PRLOC

Only program-local change If the data is changed in a parts program, subprogram, cycle, or ASUB, it will be restored to its original value at the end of the main program (end with, for example, M2, M30, etc. or on cancellation by operator panel front reset). This attribute is only permissible for programmable setting data. Only possible for GUD: Preprocess stop while reading Preprocess stop during write Preprocess stop during read and write Access right during write Access right during read For machine and setting data you can overwrite the preset access authorization subsequently. The permissible values range from '0' (Siemens password) to '7' (keyswitch position 0)

SYNR SYNW SYNRW APW APR

Supplementary conditions The change to the attributes of NC objects can only be made after definition of the object. In particular, it is necessary to pay attention to the DEF.../ REDEF sequence for GUD. (Setting data/system variables are implicitly created before the definition files are processed). The symbol must always be defined first (implicitly by the system or by the DEF instruction) and only then can the REDEF be changed. If two or more concurrent attribute changes are programmed, the last change is always active. Attributes of arrays cannot be set for individual elements but only ever for the entire array:

3-169

File and Program Management

11.02

3.8 Changing attributes of NC language elements (SW 6.4 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

DEF NCK INT _MYGUS[10,10] REDEF _MYGUD INIRE REDEF _MYGUD[1,1] INIRE Initialization of GUD arrays themselves is not affected. DEF NCK INT _MYGUD[10] =(0, 1, 2, 3, 4, 5, 6, 7, 8, 9) DEF NCK INT _MYGUD[100,100] = REP (12) DEF NCK INT _MYGUD[100,100] ; // ok // not possible, alarm output // (array value)

Make sure that a sufficiently large memory for init values (MD 18150: MM_GUD_VAL_MEM) is available when setting INI attributes for these variables. In MD 11270: DEFAULT_VALUES_MEM_MASK, Bit1 = 1 must be set (memory for initialization values active). For R and system parameters it is not possible to specify a default that deviates from the compiled value. However, resetting to the compiled value is possible with INIPO, INIRE, or INICF. For data type FRAME of GUD it is not possible to specify a default deviating from the compiled value either (like for definition of the data item).

3-170

11.02

File and Program Management

3.8 Changing attributes of NC language elements (SW 6.4 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Programming example 1
Reset behavior with GUD /_N_DEF_DIR/_N_SGUD_DEF DEF NCK INT _MYGUD1 DEF NCK INT _MYGUD2 = 2 DEF NCK INT _MYGUD3 = 3 Initialization on operator panel front reset/end of parts program: REDEF _MYGUD2 INIRE M17 This sets "_MYGUD2" back to "2" on operator panel front reset / end of parts program whereas "_MYGUD1" and "_MYGUD3" retain their value. Programming example 2 Modal speed limitation in the parts program (setting data) /_N_DEF_DIR/_N_SGUD_DEF REDEF $SA_SPIND_MAX_VELO_LIMS PRLOC M17 /_N_MPF_DIR/_N_MY_MPF N10 SETMS (3) N20 G96 S100 LIMS=2500 ... M30 Let the limit speed defined in setting data ($SA_SPIND_MAX_VELO_LIMS) speed limitation be 1200rpm. Because a higher speed can be permitted in a set-up and completely tested parts program, LIMS=2500 is programmed here. After the end of the program, the value configured in the setting data takes effect here again. ; Initialization

; Definitions

; Setting data for limit speed

3-171

File and Program Management

11.02

3.8 Changing attributes of NC language elements (SW 6.4 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Programmable setting data The following SD can be initialized with the REDEF instruction: Number 42000 42010 42400 42800 43210 43220 43230 43300 43420 43430 43510 43520 43700 43710 43720 43730 43740 43750 43760 43770 43780 Identifier $SC_THREAD_START_ANGLE $SC_THREAD_RAMP_DISP $SC_PUNCH_DWELLTIME $SC_SPIND_ASSIGN_TAB $SA_SPIND_MIN_VELO_G25 $SA_SPIND_MAX_VELO_G26 $SA_SPIND_MAX_VELO_LIMS $SA_ASSIGN_FEED_PER_REV_SOURCE $SA_WORKAREA_LIMIT_PLUS $SA_WORKAREA_LIMIT_MINUS $SA_FIXED_STOP_TORQUE $SA_FIXED_STOP_WINDOW $SA_OSCILL_REVERSE_POS1 $SA_OSCILL_REVERSE_POS2 $SA_OSCILL_DWELL_TIME1 $SA_OSCILL_DWELL_TIME2 $SA_OSCILL_VELO $SA_OSCILL_NUM_SPARK_CYCLES $SA_OSCILL_END_POS $SA_OSCILL_CTRL_MASK $SA_OSCILL_IS_ACTIVE GCODE SF DITS/DITE PDELAYON SETMS G25 G26 LIMS FPRAON G26 G25 FXST FXSW OSP1 OSP2 OST1 OST2 FA OSNSC OSE OSCTRL OS

System variables that can be written from the parts program: Section 15.2 of this description lists the system variables. All system variables that are marked W (write) or WS (write with preprocess stop) in column parts program can be initialized with the RESET instruction.

3-172

11.02

File and Program Management

3.9 Structuring instruction SEFORM in the Step editor

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

3.9

Structuring instruction SEFORM in the Step editor (SW 6.4 and higher) Programming
SEFORM(STRING[128] section_name, INT level, STRING[128] icon)

Explanation of the parameters

SEFORM Function call of structuring instruction with parameters: section_name, level, and icon Identifier of the operation Index for the main or sublevel. =0 means main level =1, ... means sublevel 1 to n Name of the icon displayed for this section.

section_name level

icon

Function
The SEFORM instruction is evaluated in the Step editor to generate the step view for HMI Advanced The step view is available as from SW 6.3 on HMI Advanced and makes for better readability of the NC subprogram. The SEFORM structuring instruction supports Step editor (editor-based program support) over the three specified parameters.

3-173

File and Program Management

11.02

3.9 Structuring instruction SEFORM in the Step editor

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Additional notes
The SEFORM instructions are generated in the Step editor. The string passed with the <section_name> parameter is stored main-run-synchronously in the OPI variable in a similar way to the MSG instruction. The information remains until overwritten by the next SEFORM instruction. Reset and end of parts program clear the content. The level and icon parameters are checked by the parts program processing of the NCK but not further processed.

For more information about editor-based programming support, see: /BAD/ Operator's Guide HMI Advanced n

3-174

11.02

Protection Zones

Protection Zones
4.1 4.2 Defining the protection zones CPROTDEF, NPROTDEF ............................................. 4-176 Activating/deactivating protection zones: CPROT, NPROT .......................................... 4-180

4-175

Protection Zones

11.02

4.1 Defining the protection zones CPROTDEF, NPROTDEF

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

4.1

Defining the protection zones CPROTDEF, NPROTDEF Programming

DEF INT NOT_USED CPROTDEF(n,t,applim,applus,appminus) NPROTDEF(n,t,applim,applus,appminus) EXECUTE (NOT_USED)

Explanation of the commands

DEF INT NOT_USED CPROTDEF NPROTDEF EXECUTE Define local variable, data type integer (see Chapter 10) Channel-specific protection zones (for NCU 572/573 only) Machine-specific protection zones End definition

Explanation of the parameters

n t applim Number of defined protection zone TRUE = Tool-oriented protection zone FALSE = Workpiece-oriented protection zone Type of limit in the 3rd dimension 0 = No limit 1 = Limit in positive direction 2 = Limit in negative direction 3 = Limit in positive and negative direction Value of the limit in the positive direction in the 3rd dimension Value of the limit in the negative direction in the 3rd dimension Error variable has no effect in protection zones with EXECUTE

applus appminus NOT_USED

4-176

11.02

Protection Zones

4.1 Defining the protection zones CPROTDEF, NPROTDEF

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Function
You can use protection zones to protect various elements on the machine, their components and the workpiece against incorrect movements. Tool-oriented protection zones: For parts which belong to the tool (e.g. tool, tool carrier). Workpiece-oriented protection zones: For parts which belong to the workpiece (e.g. parts of the workpiece, clamping table, clamp, spindle chuck, tailstock).

Tool-oriented protection zone

-B

+Z +X
Workpiece-oriented protection zone

Sequence
Defining protection zones Definition of the protection zones includes the following: CPROTDEF for channel-specific protection zones NPROTDEF for machine-specific protection zones Contour description for protection zone Termination of the definition with EXECUTE You can specify a relative offset for the reference point of the protection zone when the protection zone is activated in the NC parts program.

4-177

Protection Zones

11.02

4.1 Defining the protection zones CPROTDEF, NPROTDEF

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Reference point for contour description The workpiece-oriented protection zones are defined in the basic coordinate system. The tool-oriented protection zones are defined with reference to the tool carrier reference point F. Contour definition of protection zones The contour of the protection zones is specified with up to 11 traversing movements in the selected plane. The first traversing movement is the movement to the contour. The area to the left of the contour qualifies as the protection zone. The travel motions programmed between CPROTDEF or NPROTDEF and EXECUTE are not executed, but merely define the protection zone. Working plane The required plane is selected before CPROTDEF and NPROTDEF with G17, G18, G19 and must not be altered before EXECUTE. The applicate must not be programmed between CPROTDEF or NPROTDEF and EXECUTE. Contour elements The following are permitted: G0, G1 for straight contour elements G2 for clockwise circle segments (only for tooloriented protection zones) G3 for counterclockwise circle segments A maximum of four contour elements are available for defining one protection zone (max. of four protection zones) with the SINUMERIK FM-NC. With the 810D, a maximum of 4 contour elements are available for defining one protection zone (max. of four channel-specific and 4 NCK-specific protection zones).

4-178

11.02

Protection Zones

4.1 Defining the protection zones CPROTDEF, NPROTDEF

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

If a full circle describes the protection zone, it must be divided into two half circles. The order G2, G3 or G3, G2 is not permitted. A short G1 block must be inserted, if necessary. The last point in the contour description must coincide with the first. External protection zones (only possible for workpiece-oriented protection zones) should be defined in the clockwise direction. For dynamically balanced protection zones (e.g. spindle chucks) you must describe the complete contour (and not only up to the center of rotation!).

Tool-oriented protection zones must always be convex. If a concave protected zone is desired, this should be subdivided into several convex protection zones. The following must not be active while the protection zones are defined: Cutter radius or tool nose radius compensation, Transformation, Frame. Nor must reference point approach (G74), fixed point approach (G75), block search stop or program end be programmed.

Convex protection zones

Concave protection zones (not permitted)

4-179

Protection Zones

11.02

4.2 Activating/deactivating protection zones: CPROT, NPROT

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

4.2

Activating/deactivating protection zones: CPROT, NPROT Programming

CPROT (n,state,xMov,yMov,zMov) NPROT (n,state,xMov,yMov,zMov)

Explanation of the commands and parameters

CPROT NPROT n state Call channel-specific protection zone (for NCU 572/573 only) Call machine-specific protection zone Number of protection zone Status parameter 0 = Deactivate protection zone 1 = Preactivate protection zone 2 = Activate protection zone Move defined protection zone on the geometry axes

xMov,yMov,zMov

Function
Activating and preactivating previously defined protection zones for collision monitoring and deactivating protection zones. The maximum number of protection zones which can be active simultaneously on the same channel is defined in machine data. If no tool-oriented protection zone is active, the tool path is checked against the workpiece-oriented protection zones. If no workpiece-oriented protection zone is active, protection zone monitoring does not take place.

4-180

11.02

Protection Zones

4.2 Activating/deactivating protection zones: CPROT, NPROT

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Sequence
Activation status A protection zone is generally activated in the parts program with status = 2. The status is always channel-specific even for machine-oriented protection zones. If a PLC user program provides for a protection zone to be effectively set by a PLC user program, the required preactivation is implemented with status = 1. The protection zones are deactivated and therefore disabled with Status = 0. No offset is necessary. Offset of protection zones on (pre)activation The offset can take place in 1, 2, or 3 dimensions. The offset refers to: the machine zero in workpiece-specific protection zones, the tool carrier reference point F in tool-specific protection zones.

Additional notes
Protection zones can be activated straight after booting and subsequent reference point approach. The system variable $SN_PA_ACTIV_IMMED [n] or $SN_PA_ACTIV_IMMED[n] = TRUE must be set for this. They are always activated with Status = 2 and have no offset.

4-181

Protection Zones

11.02

4.2 Activating/deactivating protection zones: CPROT, NPROT

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Multiple activation of protection zones A protection zone can be active simultaneously in several channels (e.g. tailstock where there are two opposite sides). The protection zones are only monitored if all geometry axes have been referenced. The following rules apply: The protection zone cannot be activated simultaneously with different offsets in a single channel. Machine-oriented protection zones must have the same orientation on both channels.

Programming example
Possible collision of a milling cutter with the measuring probe is to be monitored on a milling machine. The position of the measuring probe is to be defined by an offset when the function is activated. The following protection zones are defined for this: A machine-specific and a workpiece-oriented protection zone for both the measuring probe holder (n-SB1) and the measuring probe itself (n-SB2). A channel-specific and a tool-oriented protection zone for the milling cutter holder (c-SB1), the cutter shank (c-SB2) and the milling cutter itself (c-SB3). The orientation of all protection zones is in the Z direction. The position of the reference point of the measuring probe on activation of the function must be X = 120, Y = 60 and Z = 80.

Reference point for protection zone of measuring probe

n-SB2 10

C-SB1

40 Z

55 Y

4-182

C-SB3

C-SB2

100

n-SB1

11.02

Protection Zones

4.2 Activating/deactivating protection zones: CPROT, NPROT

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

DEF INT PROTECTB Definition of protection zones G17 NPROTDEF(1,FALSE,3,10,10) G01 X0 Y10 X40 Y10 X0 Y10 EXECUTE(PROTECTB) NPROTDEF(2,FALSE,3,5,5) G01 X40 Y5 X70 Y5 X40 Y5 EXECUTE(PROTECTB) CPROTDEF(1,TRUE,3,0,100) G01 X20 Y20 X20 Y20 X20 Y20 EXECUTE(PROTECTB) CPROTDEF(2,TRUE,3,100,150) G01 X0 Y10 G03 X0 Y10 J10 X0 Y10 J10 EXECUTE(PROTECTB) CPROTDEF(3,TRUE,3,150,170) G01 X0 Y27,5 G03 X0 Y27,5 J27,5 X0 Y27,5 J27,5 EXECUTE(PROTECTB) Activation of protection zones: NPROT(1,2,120,60,80) NPROT(2,2,120,60,80) CPROT(1,2,0,0,0) CPROT(2,2,0,0,0) CPROT(3,2,0,0,0)

Definition of an auxiliary variable Set orientation Protection zone nSB1

Protection zone nSB2

Protection zone cSB1

Protection zone cSB2

Protection zone cSB3

Activate protection zone nSB1 with offset Activate protection zone nSB2 with offset Activate protection zone cSB1 with offset Activate protection zone cSB2 with offset Activate protection zone cSB3 with offset

4-183

Protection Zones

11.02

4.2 Activating/deactivating protection zones: CPROT, NPROT

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Notes

4-184

11.02

Special Motion Commands

5.1 5.2 5.3 5.4 5.5 5.6 5.7 5.8 5.9 Approaching coded positions, CAC, CIC, CDC, CACP, CACN ................................... 5-186 Spline interpolation ....................................................................................................... 5-187 Compressor COMPON/COMPCURV/COMPCAD (SW 6.2) ....................................... 5-196 Polynomial interpolation POLY, POLYPATH (SW 5 and higher) .............................. 5-204 Settable path reference, SPATH, UPATH (SW 4.3 and higher) .................................. 5-211 Measurements with touch trigger probe, MEAS, MEAW ............................................. 5-215 Extended measuring function MEASA, MEAWA, MEAC (SW 4 and higher, option)... 5-218 Special functions for OEM users.................................................................................. 5-228 Programmable motion end criterion (SW 5.1 and higher)............................................ 5-229

5.10 Programmable servo parameter block (SW 5.1 and higher) ....................................... 5-232

5-185

Special Motion Commands

11.02

5.1 Approaching coded positions, CAC, CIC, CDC, CACP, CACN

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

5.1

Approaching coded positions, CAC, CIC, CDC, CACP, CACN Explanation of the commands
CAC(n) CIC(n) CDC(n) CACP(n) CACN(n) (n) Approach coded positions absolutely Approach coded position incrementally by n spaces in plus direction (+) or in minus direction () Approach coded position via shortest possible route (rotary axes only) Approach coded position absolutely in positive direction (rotary axes only) Approach coded position absolutely in negative direction (rotary axes only) Position numbers 1, 2, ... max. 60 positions for each axis
0 1 2 3 4

Sequence
You can enter a maximum of 60 (0 to 59) positions in special position tables for two axes in machine data. For an example of a typical position table see diagram.

Table 1 (linear axis) Position number: Position value: 0 0 1 2 27.3 40.7 3 112 0 1 112 mm

Indexing axis: 7

Further details
If an axis is situated between two positions, it does not traverse in response to an incremental position command with CIC (...). It is always advisable to program the first travel command with an absolute position value.
Table 1 (rotary axis) Position number: 0 Position value: 0

5 1 45 2 90 4 ... ...

3 7 315 deg.

Programming example
N10 FA[B]= 300 N20 POS[B]= N30 POS[B]= CAC CIC (10) (-4) Feed for positioning axis B Approach coded position 10 (absolutely) Travel 4 spaces back from the current position

5-186

11.02

Special Motion Commands

5.2 Spline interpolation

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

5.2

Spline interpolation Introduction

The spline interpolation function can be used to link series of points along smooth curves. Splines can be applied, for example, to create curves using a sequence of digitized points. There are several types of spline with different characteristics, each producing different interpolation effects. In addition to selecting the spline type, the user can also manipulate a range of different parameters. Several attempts are normally required to obtain the desired pattern.

P2 P1

P3 P4 P6

P1 to P6: Predefined coordinates

Programming
ASPLINEX Y Z A B C or BSPLINE X Y Z A B C or CSPLINE X Y Z A B C

Function
In programming a spline, you link a series of points along a curve. You can select one of three spline types: A spline (akima spline) B spline (non-uniform, rational basis spline, NURBS) C spline (cubic spline)

5-187

Special Motion Commands

11.02

5.2 Spline interpolation

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Additional notes
A, B and C splines are modally active and belong to the group of motion commands. The tool radius offset may be used. Collision monitoring is carried out in the projection in the plane. Axes that are to interpolate in the spline grouping are selected with command SPLINEPATH (further details on the following pages).

Sequence
A SPLINE The A spline (Akima spline) passes exactly through the intermediate points. While it produces virtually no undesirable oscillations, it does not create a continuous curve in the interpolation points. The akima spline is local, i.e. a change to an interpolation point affects only up to six adjacent points. The primary application for this spline type is therefore the interpolation of digitized points. Supplementary conditions can be programmed for akima splines (see below for more information). A polynomial of third degree is used for interpolation.
A spline (Akima spline)

P6 P4 P3 P2 P1 P5

P1 to P7: Predefined coordinates

5-188

11.02

Special Motion Commands

5.2 Spline interpolation

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

B SPLINE With a B spline, the programmed positions are not intermediate points, but merely check points of the spline, i.e. the curve is "drawn towards" the points, but does not pass directly through them. The lines linking the points form the check polygon of the spline. B splines are the optimum means for defining tool paths on sculptured surfaces. Their primary purpose is to act as the interface to CAD systems. A third degree B spline does not produce any oscillations in spite of its continuously curved transitions. Programmed supplementary conditions (please see below for more information) have no effect on B splines. The B spline is always tangential to the check polygon at its start and end points. Point weight: A weight can be programmed for every interpolation point. Programming: PW = n Value range: 0 <= n <= 3; in steps of 0.0001 Effect: n > 1 The check point exerts more "force" on the curve n < 1 The check point exerts less "force" on the curve Spline degree: A third degree polygon is used as standard, but a second degree polygon is also possible. Programming: SD = 2

B spline

Check polygon

P6 P4 P5

P3 P2 P1

P1 to P7: predefined coordinates

5-189

Special Motion Commands

11.02

5.2 Spline interpolation

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Distance between nodes: Node distances are appropriately calculated internally in the control, but the system is also capable of processing user-programmed node distances. Programming: PL = Value range as for path dimension

Y
Check polygon All weights 1 Different weigths

50 40 30 20 10

X
10 20 30 40 50 60

Example of B spline: All weights 1 N10 G1 X0 Y0 F300 G64 N20 BSPLINE N30 X10 Y20 N40 X20 Y40 N50 X30 Y30 N60 X40 Y45 N70 X50 Y0 Different weights N10 G1 X0 Y0 F300 G64 N20 BSPLINE N30 X10 Y20 PW=2 N40 X20 Y40 N50 X30 Y30 PW=0.5 N60 X40 Y45 N70 X50 Y0 Check polygon N10 G1 X0 Y0 F300 G64 N20 ;omitted N30 X10 Y20 N40 X20 Y40 N50 X30 Y30 N60 X40 Y45 N70 X50 Y0

C SPLINE In contrast to the akima spine, the cubic spline is continuously curved in the intermediate points. It tends to have unexpected fluctuations however. It can be used in cases where the interpolation points lie along an analytically calculated curve. C splines use third degree polynomials. The spline is not local, i.e. changes to an interpolation point can influence a large number of blocks (with gradually decreasing effect).

C spline (cubic spline)

P4 P3 P2 P1

P1 to P7: Predefined coordinates

5-190

11.02

Special Motion Commands

5.2 Spline interpolation

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Supplementary conditions
The following supplementary conditions apply only to akima and cubic splines (A and C splines). The transitional response (start and end) of these spline curves can be set via two groups of instructions consisting of three commands each.

Explanation of the commands

Start of spline curve: BAUTO BNAT BTAN

No command input; start is determined by the position of the first point Zero curvature Tangential transition to preceding block (initial setting)

End of spline curve: EAUTO ENAT ETAN

No command input; end is determined by the position of the last point Zero curvature Tangential transition to next block (initial setting)

BAUTO EAUTO No command input BNAT ENAT Zero curvature

Transition tangential

BTAN

ETAN

5-191

Special Motion Commands

11.02

5.2 Spline interpolation

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Example
C spline, zero curvature at start and end
Y 50 40 30 20 10 10 20 30 40 50 60 70 80 X 90

N10 G1 X0 Y0 F300 N15 X10 N20 BNAT ENAT N30 CSPLINE X20 Y10 N40 X30 N50 X40 Y5 N60 X50 Y15 N70 X55 Y7 N80 X60 Y20 N90 X65 Y20 N100 X70 Y0 N110 X80 Y10 N120 X90 Y0 N130 M30 C spline, at start and end Zero curvature

5-192

11.02

Special Motion Commands

5.2 Spline interpolation

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

What does which spline do?

Comparison of three spline types with identical interpolation points: A spline (akima spline) B spline (Bezier spline) C spline (cubic spline)
P1

P4 P3 P5

A spline B spline C spline

Spline grouping
Up to eight path axes can be involved in a spline interpolation grouping. The SPLINEPATH instruction defines which axes are to be involved in the spline. The instruction is programmed in a separate block. If SPLINEPATH is not explicitly programmed, then the first three axes in the channel are traversed as the spline grouping.

5-193

Special Motion Commands

11.02

5.2 Spline interpolation

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Programming
SPLINEPATH(n,X,Y,Z,)

Explanation
SPLINEPATH(n,X,Y,Z,) n = 1, fixed value X,Y,Z,... path axis names

Example
Spline grouping with three path axes
Z SPLINEPATH (1,X,Y,Z)

N10 G1 X10 Y20 Z30 A40 B50 F350 N11 SPLINEPATH(1,X,Y,Z) N14 X30 Y40 Z50 A60 B70 N100 G1 X Y Spline grouping Interpolation points Deselection of spline interpolation N13 CSPLINE BAUTO EAUTO X20 Y30 Z40 A50 B60 C spline

5-194

11.02

Special Motion Commands

5.2 Spline interpolation

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Settings for splines

The G codes ASPLINE, BSPLINE and CSPLINE link block endpoints with splines. For this purpose, a series of blocks (endpoints) must be simultaneously calculated. The buffer size for calculations is ten blocks as standard. Not all block information is a spline endpoint. However, the control requires a certain number of spline endpoint blocks from ten blocks. They are as follows for: A spline: B spline: C spline: At least 4 blocks out of every 10 must be spline blocks. These do not include comment blocks and parameter calculations. At least 6 blocks out of every 10 must be spline blocks. These do not include comment blocks and parameter calculations. From each 10 blocks at least the contents of machine data $MC_CUBIC_SPLINE_BLOCKS+1 must be spline blocks (also in standard case 9) The number of points must be entered in machine data $MC_CUBIC_SPLINE_BLOCKS (standard value 8) which are used for calculating the spline segment.

An alarm is output if the tolerated value is exceeded and likewise when one of the axes involved in the spline is programmed as a positioning axis.

5-195

Special Motion Commands

11.02

5.3 Compressor COMPON/COMPCURV/COMPCAD (SW 6.2)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

5.3

Compressor COMPON/COMPCURV/COMPCAD (SW 6.2)

Programming
COMPON/COMPCURV/COMPCAD COMPOF

Explanation
COMPON/COMPCURV/COMPCAD COMPOF Compressor ON Compressor OFF

Function
With G code COMPON block transitions are only constant in speed, while acceleration of the participating axes can be in jumps at block transitions. This can increase oscillation on the machine. SW 4.4 and higher: With G code COMPCURV, the block transitions are with constant acceleration. This ensures both smooth velocity and acceleration of all axes at block transitions. SW 6.2 and higher: Another compression can be selected with the G code COMPCAD. Its surface finish and speed can be optimized, and the interpolation precision can be determined via machine data. COMPCAD is computation- and memory-intensive and should only be used if it was not possible to improve the surface by means of the CAD/CAM program. Properties: COMPCAD generates polynomial blocks that merge into one another with constant acceleration. With adjacent paths, deviations head in the same direction. A limit angle can be defined with setting data $SC_CRIT_SPLINE_ANGLE; COMPCAD will leave the corners from this angle.

5-196

11.02

Special Motion Commands

5.3 Compressor COMPON/COMPCURV/COMPCAD (SW 6.2)

840 D NCU 571

840 D NCU 572 NCU 573

810D

840Di

The number of blocks to be compressed is not limited to 10. COMPCAD eliminates poor surface transitions. In doing so, however, the tolerances are largely adhered to but the corner limit angle is ignored. The rounding function G642 can also be used. SW 6.2 and higher: The compressors COMPON, COMPCURV and COMPCAD are extended in a way that even NC programs for which orientation was programmed via directional vectors, can be compressed respecting a specifiable tolerance. The function "Compressor for orientations" is only available if the orientation transformation option is available. The restrictions mentioned above under "Conditions of usage" have been relieved to allow position values via parameter settings now also. NC block structure in general: N10 G1 X=<...> Y=<...> Z=<...> A=<...> B=<...> F=<...> ; comment Active orientation transformation (TRAORI) being active, the following kinematics-independent programming options for the tool direction of 5-axis machines are possible. 1. Program the direction vector via: A3=< ...> B3=< ... > C3=< ... > 2. Program the Euler angle or RPY angle: A2=< ...> B2=< ... > C2=< ... > The orientation motion is only compressed when the large circle interpolation is active, i.e. the tool orientation is changed in the plane which is determined by start and end orientation.

Axis positions as parameter printouts with < ... > parameter printout such as X=R1*(R2+R3)

5-197

Special Motion Commands

11.02

5.3 Compressor COMPON/COMPCURV/COMPCAD (SW 6.2)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

A large circle interpolation is performed under the following conditions: 1. For MD 21104: ORI_IPO_WITH_G_CODE = FALSE, if ORIWKS is active and orientation is programmed as vector (with A3, B3, C3 or A2, B2, C2). 2. For MD 21104: ORI_IPO_WITH_G_CODE = TRUE, if ORIVECT or ORIPLANE are active. Tool orientation can be programmed either as direction vector or with rotary axis positions. If one of the Gcodes ORICONxx or ORICURVE is active or if polynomials are programmed for the orientation angle (PO[PHI] and PO[PSI]) a large circle interpolation is not performed, i.e., blocks of this type are not compressed. For 6-axis machines you can program the tool rotation in addition to the tool orientation. You can program the angle of rotation with the identifier THETA (THETA=<...>). NC blocks in which additional rotation is programmed, can only be compressed if the angle of rotation changes linear, meaning that you must not program a polynomial with PO[THT]=(...) for the angle of rotation. NC block structure in general: N... X=<...> Y=<...> Z=<...> A3=<...> B3=<...> C3=<...> THETA=<...> F=<...> or N... X=<...> Y=<...> Z=<...> A2=<...> B2=<...> C2=<...> THETA=<...> F=<...> If tool orientation is specified via rotary axis positions, e.g. as: N... X=<...> Y=<...> Z=<...> A=<...> B=<...> THETA=<...> F=<...> the compression will be performed in two different ways, depending on whether a large circle interpolation is performed or not. If large circle interpolation is not performed, the compressed orientation change is represented by axial polynomials for the rotary axes.

5-198

11.02

Special Motion Commands

5.3 Compressor COMPON/COMPCURV/COMPCAD (SW 6.2)

840 D NCU 571

840 D NCU 572 NCU 573

810D

840Di

Accuracy You can compress NC blocks only if you allow the contour to deviate from the programmed contour. You can set the maximal deviation as a compressor tolerance in the setting data. The higher these allowed tolerances are set, the more blocks can be compressed. Axis precision For each axis, the compressor creates a spline curve which deviates from the programmed end points of each axis by max. the tolerance set with the axial MD. Contour precision It controls the max. geometrical contour deviations (geometry axes) and the tool orientation. It is done via the setting data for: 1. Max. tolerance for the contour 2. Max. angular displacement for tool orientation 3. Max. angular displacement for the angle of tool rotation (only available for 6axis machines) With the channel-specific MD 20482 COMPRESSOR_MODE, you can set tolerance specifications: 0: axis precision: axial tolerances for all axes (geometry axes and orientation axes). 1: Contour precision: Specification of the contour tolerance (1.), the tolerance for orientation via axial tolerances (a.). 2: Specification of the max. angular displacement for tool orientation (2.), tolerance for the contour via axial tolerances (a.). 3: Specification of the contour tolerance with (1.) and specification of the max. angular displacement for tool orientation with (2.). You can specify the angular displacement of the tool orientation only if an orientation transformation (TRAORI) is active.

5-199

Special Motion Commands

11.02

5.3 Compressor COMPON/COMPCURV/COMPCAD (SW 6.2)

840 D NCU 571

840 D NCU 572 NCU 573

810D

840Di

Example "Compressor for orientations"

The following program example shows how to compress a circle which is approached by a polygon definition. A synchronous tool orientation moves on the outside of a taper at the same time. Although the programmed orientation changes are executed one after the other, but in an unsteady way, the compressor generates a smooth motion of the orientation.

DEF DEF DEF DEF N10

INT NUMBER= 60 REAL RADIUS = 20 INT COUNTER REAL ANGLE G1 X0 Y0 F5000 G64 max. contour deviation 0.05mm max. deviation of the orientation 5 degrees

$SC_COMPRESS_CONTOUR_TOL = 0.05 $SC_COMPRESS_ORI_TOL = 5 TRAORI COMPCURV N100 X0 Y0 A3=0 B3=1 C3=1 N110 FOR COUNTER = 0 TO NUMBER N120 ANGLE= 360 * COUNTER /NUMBER N130 X=RADIUS*COS(WINKEL)Y=RADIUS* SIN(ANGLE) A3=SIN(ANGLE) B3=COS(ANGLE) C3=1 N140 ENDFOR ...

A polygon-generated circle is traversed, while the orientation moves on a taper around the Z axis at an arc angle of 45 degrees.

5-203

Special Motion Commands

11.02

5.4 Polynomial interpolation POLY, POLYPATH (SW 5 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

5.4

Polynomial interpolation POLY, POLYPATH (SW 5 and higher)

The control system is capable of traversing curves (paths) in which every selected path axis is operating as a function of up to SW 5 (polynomial, max. third degree), from SW 6 (polynomial, max. fifth degree). The equation used to express the polynomial function is generally as follows: 2 3 f(p)= a0 + a1p + a2p + a3p (SW 5 and lower) or 2 3 4 5 f(p)= a0 + a1p + a2p + a3p + a4p + a5p (SW 6 and higher) The letters have the following meaning: an: Constant coefficients p: Parameters By assigning concrete values to these coefficients, it is possible to generate a wide variety of curve shapes such as line, parabola and power functions. By setting the coefficients as a2 = a3 = 0 (SW 5 and lower) or a2 = a3 = a4 = a5 = 0 (SW 6 and higher) it is possible to create, e.g. a straight line with f(p) = a0 + a1p Meanings: a0 = Axis position at end of preceding block a1 = Difference between axis position at end of the definition range (PL) and start position Definition Polynomial interpolation (POLY) is not one of the real types of spline interpolation. Its main purpose is to act as an interface for programming externally generated spline curves where the spline sections can be programmed directly. This mode of interpolation relieves the NC of the task of calculating polynomial coefficients. It can be applied optimally in cases where the coefficients are supplied directly by a CAD system or postprocessor.
4 3 2 1 1 0 3 2 1 2 3 4 X Y

Result in XY plane

4 (P L)

5-204

11.02

Special Motion Commands

5.4 Polynomial interpolation POLY, POLYPATH (SW 5 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Polynomial interpolation belongs to the first G group along with G0, G1, G2, G3, A spline, B spline and C spline. If it is active, there is no need to program the polynomial syntax: Axes that are programmed with their name and end point only are traversed linearly to their end point. If all axes are programmed in this manner, the control system responds as if G1 were programmed. Polynomial interpolation is deactivated by another command in the G group (e.g. G0, G1). SW 5 and higher Subprogram call POLYPATH: With POLYPATH the polynomial interpolation can be specified selectively for the following axis groups: POLYPATH ("AXES") All path axes and special axes. POLYPATH ("VECT") orientation axes (with orientation transformation). As standard, the programmed polynomials are interpreted as polynomial for both axis groups. Examples: POLYPATH ("VECT") Only the orientation axes are selected for the polynomial interpolation; all other axes are traversed linearly. POLPATH ( ) Deactivates the polynomial interpolation for all axes

Polynomial coefficient The PO value (PO[]=) or ...=PO(...)specifies all polynomial coefficients for an axis. Several values, separated by commas, are specified according to the degree of the polynomial. Different polynomial degrees can be programmed for different axes within one block.

5-205

Special Motion Commands

11.02

5.4 Polynomial interpolation POLY, POLYPATH (SW 5 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Supplementary conditions SW 5 and lower Polynomials for geometry axes/special path axes can only be programmed if either G0/G1 or POLY is active. Therefore, with circular interpolation it is not possible to traverse additional axes via polynomials. As standard, polynomials can only be programmed with PO[...] if the G code POLY is active. SW 5 and higher It is possible to program polynomials without the G code POLY being active. In this case, however, the programmed polynomials are not interpolated; instead the respective programmed endpoint of each axis is approached linearly (G1). The polynomial interpolation is then activated by programming POLY. Also, if G code POLY is active, with the predefined subprogram POLYPATH (...), you can select which axes are to be interpolated with polynomial. SW 6 and higher Coefficients a4 and a5 are only supported by SW 6 and higher. New polynomial syntax with PO The syntax used hitherto also remains valid

Example of applicable polynomial syntax with PO

Polynomial syntax used hitherto remains valid PO[axis identifier]=(.. , ..) PO[PHI]=(.. , ..) PO[PSI]=(.. , ..) PO[THT]=(.. , ..) PO[]=(.. , ..) PO[variable]=IC(.. , ..) New polynomial syntax (SW 6 and higher) Axis identifier=PO(.. , ..) PHI=PO(.. , ..) PSI=PO(.. , ..) THT=PO(.. , ..) PO(.. , ..) variable=PO IC(.. , ..)

5-206

11.02

Special Motion Commands

5.4 Polynomial interpolation POLY, POLYPATH (SW 5 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Programming
POLY PO[X]=(xe,a2,a3) PO[Y]=(ye,b2,b3) PO[Z]=(ze,c2,c3) PL=n (SW 5 and lower) POLYPATH ("AXES", "VECT")(SW 5 and higher) Expansion to polynomials of the 5th degree and new polynomial syntax (SW 6 and higher) POLY X=PO(xe,a2,a3,a4,a5) Y=PO(ye,b2,b3,b4,b5) Z=PO(ze,c2,c3,c4,c5) PL=n

Explanation
POLY POLYPATH PO[axis identifier/variable]=(,,) X, Y, Z xe, ye, ze a2, a3, a4, a5 Activation of polynomial interpolation with a block containing POLY. Polynomial interpolation can be selected for both the AXIS or VECT axis groups End points and polynomial coefficients Axis name Specification of end position for relevant axis; value range as for path dimension Coefficients a2, a3, a4, and a5 are written with their value; range of values as for path dimension. The last coefficient in each case can be omitted if it equals zero. Length of parameter interval over which the polynomials are defined (definition range of function f(p)). The interval always starts at 0. p can be set to values between 0 and PL. Theoretical value range for PL: 0.0001 ... 99 999.9999. The PL values applies to the block in which it is programmed. PL=1 is applied if no PL value is programmed.

Example
N10 G1 X Y Z F600 N11 POLY PO[X]=(1,2.5,0.7) -> Polynomial interpolation ON -> PO[Y]=(0.3,1,3.2) PL=1.5 N12 PO[X]=(0,2.5,1.7) PO[Y]=(2.3,1.7) PL=3 N20 M8 H126 N25 X70 PO[Y]=(9.3,1,7.67) PL=5 Mixed settings for axes N27 PO[X]=(10.2.5) PO[Y]=(2.3) No PL value programmed; PL=1 applies N30 G1 X Y Z. Polynomial interpolation OFF

5-207

Special Motion Commands

11.02

5.4 Polynomial interpolation POLY, POLYPATH (SW 5 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Example of a curve in the X/Y plane

2 1

Y
End point 2

p X
4 3 2 1 Example: N9 X0 Y0 G90 N10 POLY PO[Y]= (2) PO[X] (4.0.25) PL=4 0 1 2 3 4 (PL) End point 4

N9 X0 Y0 G90 F100 N10 POLY PO[Y]=(2) PO[X]=(4,0.25) PL=4

Result in XY plane 4 3 2 1 1 0 3 2 1 2 3 4 X 4 (P L)

5-208

11.02

Special Motion Commands

5.4 Polynomial interpolation POLY, POLYPATH (SW 5 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Special case denominator polynomial

Therefore, for the axes not contained in FGROUP there are two ways to follow the path: 1. Either they travel synchronized with path S (SPATH) 2. or synchronized with curve parameter U of the FGROUP axes (UPATH). Both types of path interpolation are used in different applications and can be switched via G codes SPATH and UPATH. UPATH and SPATH also determine the relationship of the F word polynomial (FPOLY, FCUB, FLIN) with the path movement.

Example
The example below shows a square with 20mm side lengths and corners rounded with G643. The maximum deviations from the exact contour are defined for each axis by the machine data MD 33100: COMPRESS_POS_TOL[...]. N10 G1 X Y Z F500 N20 G643 Y0 Y0 Y20 Y20 Y0 20mm edge length for axes Block-internal corner rounding with G643 N30 XO N40 X20 N50 X20 N60 X0 N70 X0 N100 M30

Supplementary conditions
The path reference set is of no importance with linear and circular interpolation, in thread blocks and if all path axes are contained in FGROUP.

5-212

11.02

Special Motion Commands

5.5 Settable path reference, SPATH, UPATH (SW 4.3 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Activation
The path reference for the axes that are not contained in FGROUP is set via the two language commands SPATH and UPATH contained in the 45th G code group. The commands are modal. If SPATH is active, the axes are traversed synchronized with the path; if UPATH is active, traversal is synchronized with the curve parameter.

Programming example
The following program example shows the difference between both types of motion control. Both times the default setting FGROUP(X,Y,Z) is active.
A 10 SPATH: A(X)=X A 10 UPATH: A(X)=SQRT(X)

10 X

Different geometry relationships between axes with SPATH and UPATH

N10 G1 X0 A0 F1000 SPATH N20 POLY PO[X]=(10, 10) A10 or N10 G1 X0 F1000 UPATH N20 POLY PO[X]=(10, 10) A10 In block N20, path S of the FGROUP axes is dependent on the square of curve parameter U. Therefore, different positions arise for synchronized axis A along the path of X, according to whether SPATH or UPATH is active:

5-213

Special Motion Commands

11.02

5.5 Settable path reference, SPATH, UPATH (SW 4.3 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Control response at power ON, mode change, Reset, block search, REPOS
After Reset the G code defined via MD 20150: GCODE_RESET_VALUES [44] is active (45th G code group). The basic setting value for the type of rounding is set in MD 20150: GCODE_RESET_VALUES [9] (10th G code group).

Machine/option data
The G code group value active after Reset is determined via machine data MD 20150: GCODE_RESET_VALUES [44]. In order to maintain compatibility with existing installations, SPATH is set as default value. The basic setting value for the type of rounding is set in MD 20150: GCODE_RESET_VALUES [9] (10th G code group). Axial machine data MD 33100: COMPRESS_POS_TOL has been expanded in SW 4.3 and higher: It contains the tolerances for the compressor function and for rounding with G642.

5-214

11.02

Special Motion Commands

5.6 Measurements with touch trigger probe, MEAS, MEAW

840D NCU 571

840D NCU 572 NCU 573

810D CCU 2

840Di

5.6

Measurements with touch trigger probe, MEAS, MEAW Programming

MEAS=1 MEAS=2 MEAW=1 MEAW=2 G X Y Z G X Y Z (+1/+2 measurement with deletion of distance-to-go and rising edge) (1/2 measurement with deletion of distance-to-go and falling edge) (+1/+2 measurement without deletion of distance-to-go and rising edge) (1/2 measurement without deletion of distance-to-go and falling edge)

G X Y Z G X Y Z

Explanation of the commands

MEAS=1 MEAS=2* MEAW=1 MEAW=2* Measurement with probe 1 at measuring input 1 Measurement with probe 2 at measuring input 2 Measurement with probe 1 at measuring input 1 Measurement with probe 2 at measuring input 2

*Max. of two inputs depending on configuration level

Sequence
The positions coinciding with the switching edge of the probe are acquired for all axes programmed in the NC block and written for each specific axis to the appropriate memory cell. A maximum of 2 probes can be installed. Measurement result The measurement result is available under the following variables for these axes: Under $AA_MM[axis] in the machine coordinate system Under $AA_MW[axis] in the workpiece coordinate system No internal preprocessing stop is generated when these variables are read. A preprocessing stop must be programmed with STOPRE at the appropriate position in the program. The system will otherwise read false values.
X

5-215

Special Motion Commands

11.02

5.6 Measurements with touch trigger probe, MEAS, MEAW

840D NCU 571

840D NCU 572 NCU 573

810D CCU 2

840Di

Measuring job status Status variable $AC_MEA[n] (n= number of probe) can be scanned if the switching state of the touch trigger probe needs to be evaluated in the program: 0 Measuring job not performed 1 Measuring job successfully completed (probe has switched state) If the probe is deflected during program execution, this variable is set to 1. At the beginning of a measurement block, the variable is automatically set to correspond to the starting state of the probe. Programming measuring blocks, MEAS, MEAW When command MEAS is programmed in conjunction with an interpolation mode, actual positions on the workpiece are approached and measured values recorded simultaneously. The distance-to-go between the actual and setpoint positions is deleted. The MEAW function is employed in the case of special measuring tasks where a programmed position must always be approached. MEAS and MEAW are programmed in a block with motion commands. The feeds and interpolation types (G0, G1, ...) must be selected to suit the measuring task in hand; this also applies to the number of axes. Example: N10 MEAS=1 G1 F1000 X100 Y730 Z40 Measurement block with probe at first measuring input and linear interpolation. A preprocessing stop is automatically generated.

5-216

11.02

Special Motion Commands

5.6 Measurements with touch trigger probe, MEAS, MEAW

840D NCU 571

840D NCU 572 NCU 573

810D CCU 2

840Di

Measured value recording The positions of all path and positioning axes (maximum number of axes depends on control configuration) in the block that have moved are recorded. In the case of MEAS, the motion is braked in a defined manner after the probe has switched. Comment If a GEO axis is programmed in a measurement block, the measured values for all current GEO axes are recorded. If an axis that participates in a transformation is programmed in a measurement block, the measured values for all axes that participate in this transformation are recorded.

Additional notes
The MEAS and MEAW functions are active non-modally.

5-217

Special Motion Commands

11.02

5.7 Extended measuring function MEASA, MEAWA, MEAC

840D NCU 571

840D NCU 572 NCU 573

810D CCU 2

840Di

5.7

Extended measuring function MEASA, MEAWA, MEAC (SW 4 and higher, option) Programming
MEASA[axis]=(mode, TE1,, TE 4) Measurement with delete distance-to-go Measurement without delete distance-to-go Continuous measurement without deletion of distance-to-go

MEAWA[Achse]=(Modus, TE 1,, TE 4)

MEAC[axis]=(mode, measurement memory, TE 1,...TE4)

Explanation
Axis Mode Name of channel axis used for measurement Two-digit setting for operating mode consisting of Measuring mode (ones decade) and 0 Cancel measurement task 1 Mode 1: Up to 4 trigger events that can be activated simultaneously 2 Mode 2: Up to 4 trigger events that can be activated sequentially 3 Mode 3: Up to 4 trigger events that can be activated sequentially However, no monitoring of trigger event 1 On START (alarms 21700/21703 are suppressed) Note: Mode 3 not possible with MEAC Measuring system (tens' decade) 0 or no setting: Active measuring system 1 Measuring system 1 2 Measuring system 2 3 Both measuring systems TE 14 Trigger event 1 Rising edge, probe 1 -1 Falling edge, probe 1 2 Rising edge, probe 2 -2 Falling edge, probe 2 Number of FIFO (circulating storage)

Measurement memory

5-218

11.02

Special Motion Commands

5.7 Extended measuring function MEASA, MEAWA, MEAC

840D NCU 571

840D NCU 572 NCU 573

810D CCU 2

840Di

Function
Axial measurement is available from SW 4. With this system, measurements can be taken axially with several probes and several measuring systems. When MEASA, MEAWA is programmed, up to four measured values are acquired for the programmed axis in each measuring run and stored in system variables in accordance with the trigger event. MEASA and MEAWA are non-modal commands. Continuous measuring operations can be executed with MEAC. In this case, the measurement results are stored in FIFO variables. The maximum number of measured values per measuring run is also 4 with MEAC.

Sequence
The measurements can be programmed in the parts program or from a synchronized action (Chapter 10). Please note that only one measuring job can be active at any given time for each axis.

Additional notes
The feed must be adjusted to suit the measuring task in hand. In the case of MEASA and MEAWA, the correctness of results can be guaranteed only at feedrates with which no more than one trigger event of the same type and no more than 4 trigger events occur in each position controller cycle. In the case of continuous measurement with MEAC, the ratio between the interpolation cycle and position control cycle must not exceed 8:1.

5-219

Special Motion Commands

11.02

5.7 Extended measuring function MEASA, MEAWA, MEAC

840D NCU 571

840D NCU 572 NCU 573

810D CCU 2

840Di

Trigger events
A trigger event comprises the number of the probe and the trigger criterion (rising or falling edge) of the measuring signal. Up to 4 trigger events of the addressed probe can be processed for each measurement, i.e. up to two probes with two measuring signal edges each. The processing sequence and the maximum number of trigger events depends on the selected mode. The same trigger event is only permitted to be programmed once in a measuring job (only applies to mode 1)!

Operating mode
The first digit in the mode setting selects the desired measuring system. If only one measuring system is installed, but a second programmed, the installed system is automatically selected. With the second digit, i.e. the measurement mode, measuring process is adapted to the capabilities of the connected control system: Mode 1: Trigger events are evaluated in the chronological sequence in which they occur. When this mode is selected, only one trigger event can be programmed for six-axis modules. If more than one trigger event is specified, the mode selection is switched automatically to mode 2 (without message). Mode 2: Trigger events are evaluated in the programmed sequence. Mode 3: Trigger events are evaluated in the programmed sequence, however no monitoring of trigger event 1 at START.

Additional notes
No more than 2 trigger events can be programmed if 2 measuring systems are in use.

5-220

11.02

Special Motion Commands

5.7 Extended measuring function MEASA, MEAWA, MEAC

840D NCU 571

840D NCU 572 NCU 573

810D CCU 2

840Di

Measurement with and without delete distance-to-go

When command MEASA is programmed, the distance-to-go is not deleted until all required measured values have been recorded. The MEAWA function is employed in the case of special measuring tasks where a programmed position must always be approached. MEASA and MEAWA can be programmed in the same block. If MEASA/MEAWA is programmed with MEAS/MEAW in the same block, an error message is output.
TE1 TE2 TE3 TE4 t

Distance to go Programmed path

MEASA cannot be programmed in synchronized actions. As an alternative, MEAWA plus the deletion of distance-to-go can be programmed as a synchronized action. If the measuring job with MEAWA is started from the synchronized actions, the measured values will only be available in machine coordinates.

Measurement results for MEASA, MEAWA

The results of measurements are available under the following system variables: In machine coordinate system: $AA_MM1[axis] Measured value of programmed measuring system on trigger event 1 $AA_MM4[axis] ... Measured value of programmed measuring system on trigger event 4

In workpiece coordinate system: $AA_WM1[axis] Measured value of programmed measuring system on trigger event 1 $AA_WM4[axis] ... Measured value of programmed measuring system on trigger event 4

5-221

Special Motion Commands

11.02

5.7 Extended measuring function MEASA, MEAWA, MEAC

840D NCU 571

840D NCU 572 NCU 573

810D CCU 2

840Di

Additional notes
No internal preprocessing stop is generated when these variables are read. A preprocessing stop must be programmed with STOPRE (Section 15.1) at the appropriate position. False values will otherwise be read in. If axial measurement is to be started for a geometry axis, the same measuring job must be programmed explicitly for all remaining geometry axes. The same applies to axes involved in a transformation.
Example: N10 MEASA[Z]=(1,1) MEASA[Y]=(1,1) MEASA[X]=(1,1) G0 Z100; or N10 MEASA[Z]=(1,1) POS[Z]=100

Measuring job with two measuring systems If a measuring job is executed by two measuring systems, each of the two possible trigger events of both measuring systems of the relevant axis is acquired. The assignment of the reserved variables is therefore preset: $AA_MM1[axis] $AA_MM2[axis] $AA_MM3[axis] $AA_MM4[axis] or or or or $AA_MW1[axis] $AA_MW2[axis] $AA_MW3[axis] $AA_MW4[axis] Measured value of measuring system 1 on trigger event 1 Measured value of measuring system 2 on trigger event 1 Measured value of measuring system 2 on trigger event 1 Measured value of measuring system 2 on trigger event

Measuring probe status can be read via $A_PROBE[n] n=Probe 1==Probe deflected 0==Probe not deflected

5-222

11.02

Special Motion Commands

5.7 Extended measuring function MEASA, MEAWA, MEAC

840D NCU 571

840D NCU 572 NCU 573

810D CCU 2

840Di

Measuring job status for MEASA, MEAWA If the probe switching state needs to be evaluated in the program, then the measuring job status can be interrogated via $AC_MEA[n], with n = number of probe. Once all the trigger events of probe "n" that are programmed in a block have occurred, this variable switches to the "1" stage. Its value is otherwise 0. If measuring is started from synchronized actions, $AC_MEA is not updated. In this case, new PLC status signals DB(31-48) DBB62 bit 3 or the equivalent variable $AA_MEAACT[Axis] must be interrogated. Meaning: $AA_MEAACT==1: Measuring active $AA_MEAACT==0: Measuring not active References: /FB/ M5, Measurement

Continuous measurement MEAC

The measured values for MEAC are available in the machine coordinate system and stored in the programmed FIFO[n] memory (circulating memory). If two probes are configured for the measurement, the measured values of the second probe are stored separately in the FIFO[n+1] memory configured especially for this purpose (defined in machine data). The FIFO memory is a circulating memory in which measured values are written to $AC_FIFO variables according to the circulation principle. References: /PGA/ Chapter 10, Synchronized Actions

Additional notes
FIFO contents can be read only once from the circulating storage. If these measured data are to be used multiply, they must be buffered in user data. If the number of measured values for the FIFO memory exceeds the maximum value defined in machine data, the measurement is automatically terminated. An endless measuring process can be implemented by reading out measured values cyclically. In this case, data must be read out at the same frequency as new measured values are read in.

5-223

Special Motion Commands

11.02

5.7 Extended measuring function MEASA, MEAWA, MEAC

840D NCU 571

840D NCU 572 NCU 573

810D CCU 2

840Di

Programming example
Measurement with delete distance-to-go in mode 1 (evaluation in chronological sequence) a) with one measuring system ... N100 MEASA[X] = (1,1,-1) G01 X100 F100

Measurement in mode 1 with active measuring system. Wait for measuring signal with rising/falling edge from probe 1 on travel path to X = 100. Preprocessing stop Check success of measurement. Store measured value acquired on first programmed trigger event (rising edge) Store measured value acquired on second programmed trigger event (falling edge)

N110 STOPRE N120 IF $AC_MEA[1] == FALSE gotof END N130 R10 = $AA_MM1[X] N140 R11 = $AA_MM2[X]

N150 END:

Programming example
b) with two measuring systems ... N200 MEASA[X] = (31,1-1) G01 X100 F100 Measurement in mode 1 with both measuring systems. Wait for measuring signal with rising/falling edge from probe 1 on travel path to X = 100. Preprocessing stop Check success of measurement. Store measured value of measuring system 1 on rising edge Store measured value of measuring system 2 on rising edge Store measured value of measuring system 1 on falling edge

N210 STOPRE N220 IF $AC_MEA[1] == FALSE gotof END N230 R10 = $AA_MM1[X] N240 R11 = $AA_MM2[X] N250 R12 = $AA_MM3[X]

5-224

11.02

Special Motion Commands

5.7 Extended measuring function MEASA, MEAWA, MEAC

840D NCU 571

840D NCU 572 NCU 573

810D CCU 2

840Di

N260 R13 = $AA_MM4[X] N270 END: Measurement with delete distance-to-go in mode 2 (evaluation in programmed sequence) ... N100 MEASA[X] = (2,1,-1,2,-2) G01 X100 F100

Store measured value of measuring system 2 on falling edge

Measurement in mode 2 with active measuring system. Wait for measuring signal in the following order: Rising edge of probe 1, falling edge of probe 1, rising edge of probe 2, falling edge of probe 2, on travel path to X = 100. Preprocessing stop Check success of measurement with probe 1 Store measured value acquired on first programmed trigger event (rising edge probe 1) Store measured value acquired on second programmed trigger event (rising edge probe 1) Check success of measurement with probe 2 Store measured value acquired on third programmed trigger event (rising edge probe 2) Store measured value acquired on fourth programmed trigger event (rising edge probe 2)

N110 STOPRE N120 IF $AC_MEA[1] == FALSE gotof PROBE2 N130 R10 = $AA_MM1[X]

N140 R11 = $AA_MM2[X]

N150 PROBE2: N160 IF $AC_MEA[2] == FALSE gotof END N170 R12 = $AA_MM3[X]

N180 R13 = $AA_MM4[X]

N190 END:

5-225

Special Motion Commands

11.02

5.7 Extended measuring function MEASA, MEAWA, MEAC

840D NCU 571

840D NCU 572 NCU 573

810D CCU 2

840Di

Programming example
Continuous measurement in mode 1 (evaluation in chronological sequence) Measurement of up to 100 measured values ... N110 DEF REAL MEASVALUE[100] N120 DEF INT loop = 0 N130 MEAC[X] = (1,1,-1) G01 X1000 F100 Measure in mode 1 with active measuring system, store measured values under $AC_FIFO1, wait for measuring signal with falling edge from probe 1 on travel path to X = 1000. Terminate measurement when axis position is reached. Store number of accumulated measured values in parameter R1. Read measured values from $AC_FIFO1 and store.

N135 STOPRE N140 MEAC[X] = (0) N150 R1 = $AC_FIFO1[4] N160 FOR loop = 0 TO R1-1 N170 MEASVALUE[loop] = $AC_FIFO1[0] N180 ENDFOR Measurement with delete distance-to-go after ten measured values ... (x) N20 MEAC[x]=(1,1,1,-1) G01 X100 F500 N30 MEAC[X]=(0) N40 R1 = $AC_FIFO1[4] ... Number of measured values Delete distance-to-go

5-226

11.02

Special Motion Commands

5.7 Extended measuring function MEASA, MEAWA, MEAC

840D NCU 571

840D NCU 572 NCU 573

810D CCU 2

840Di

The following programming errors are detected and indicated appropriately: MEASA/MEAWA is programmed with MEAS/MEAW in the same block Example:
N01 MEAS=1 MEASA[X]=(1,1) G01 F100 POS[X]=100

MEASA/MEAWA with number of parameters <2 or >5 Example:

N01 MEAWA[X]=(1) G01 F100 POS[X]=100

MEASA/MEAWA with trigger event not equal to 1/ -1/ 2/ -2 Example:

N01 MEASA[B]=(1,1,3) B100

MEASA/MEAWA with invalid mode Example:

N01 MEAWA[B]=(4,1) B100

MEASA/MEAWA with trigger event programmed twice Example:

N01 MEASA[B]=(1,1,-1,2,-1) B100

MEASA/MEAWA and missing GEO axis Example:

N01 MEASA[X]=(1,1) MEASA[Y]=(1,1) G01 X50 Y50 Z50 F100 GEO axis X/Y/Z

Inconsistent measuring job with GEO axes Example:

N01 MEASA[X]=(1,1) MEASA[Y]=(1,1) MEASA[Z]=(1,1,2) G01 X50 Y50 Z50 F100

5-227

Special Motion Commands

11.02

5.8 Special functions for OEM users

840D NCU 572 NCU 573

840Di

5.8

Special functions for OEM users

OEM addresses The meaning of OEM addresses is determined by the OEM user. Their functionality is incorporated by means of compile cycles. Five OEM addresses are reserved. The address identifiers are settable. OEM addresses can be programmed in any block. OEM interpol The OEM user can define two additional interpolations. Their functionality is incorporated by means of compile cycles. The names of G functions (OEMIPO1, OEMIPO2) are set by the OEM user. OEM addresses (see above) can be used specifically for OEM interpolations. Reserved G groups G800819 Two G groups with ten OEM G functions each are reserved for OEM users. These allow the functions incorporated by an OEM user to be accessed for external applications. Functions and subprograms OEM users can also set up predefined functions and subprograms with parameter transfer.

5-228

11.02

Special Motion Commands

5.9 Programmable motion end criterion (SW 5.1 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D CCU 2

840Di

5.9

Programmable motion end criterion (SW 5.1 and higher) Programming

FINEA[<axis>] COARSEA[<axis>] IPOENDA[<axis>] IPOBRKA(<axis>[, [<value as percentage>]]) Multiple specifications are possible ADISPOSA(<axis>, [<int>][,[<real>]]) Multiple specifications are possible

Explanation of the commands

FINEA COARSEA IPOENDA IPOBRKA ADISPOSA Axis Value as percentage Int Motion end when "Exact stop FINE" reached Motion end when "Exact stop COARSE" reached Motion end when "Interpolator-Stop" reached Block change in braking ramp possible (SW 6.2 and higher) Size of tolerance window for end of motion criterion (SW 6.4 and higher) Channel axis name (X, Y, ....) When relative to the braking ramp of the block change should be as % Mode 0: tolerance window not active 1: tolerance window relative to setpoint position 2: tolerance window relative to actual position

Real

Size of tolerance window. This value is entered in setting data 43610: ADISPOSA_VALUE synchronized with the main run

Function
Similar to the block change criterion for continuouspath interpolation (G601, G602 and G603), the end of motion criterion can be programmed in a parts program for single axis interpolation or in synchronized action for the command/PLC axes. Depending on the end of motion criterion set, parts program blocks or technology cycle blocks with single axis motion take different times to complete. The same applies for PLC positioning statements via FC15/ 16/ 18.

5-229

Special Motion Commands

11.02

5.9 Programmable motion end criterion (SW 5.1 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D CCU 2

840Di

System variable $AA_MOTEND The default motion end characteristic can be requested via system variable $AA_MOTEND[<axis>].

$AA_MOTEND[<axis>] $AA_MOTEND[<axis>] $AA_MOTEND[<axis>] $AA_MOTEND[<axis>] higher)

= = = =

1 2 3 4 (SW 6.2 and

Motion end with "Exact stop fine" Motion end with "Exact stop coarse" End of motion with "IPO-Stop". Block change criterion braking ramp of axis motion Block change in braking ramp with tolerance window relative to "setpoint position". Block change in braking ramp with tolerance window relative to "actual position".

$AA_MOTEND[<axis>] = 5 (SW 6.4 and higher) $AA_MOTEND[<axis>] = 6 (SW 6.4 and higher)

Additional notes
The last programmed value is retained after RESET. References: /FB1/, V1 Feedrates SW 6.2 and higher Block change criterion in braking ramp The percentage value is entered in SD 43600: IPOBRAKE_BLOCK_EXCHANGE synchronized with the main run. If no value is specified, the current value of this setting data is effective. The range is adjustable from 0% to 100%. Additional tolerance window for IPOBRKA SW 6.4 and higher, an additional block change criterion tolerance window can be selected as well as the existing block change criterion in the braking ramp. Release only occurs when the axis as before, reaches the preset %-value of its braking ramp and SW 6.4 and higher, its current actual or setpoint position is no further than a tolerance from the end of the axis in the block. For more information on the block change criterion of the positioning axes, please refer to: References: /FB2/, P2 positioning axes /PG/, Feed rate control and spindle motion

5-230

11.02

Special Motion Commands

5.9 Programmable motion end criterion (SW 5.1 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D CCU 2

840Di

Programming examples
... N110 G01 POS[X]=100 FA[X]=1000 ACC[X]=90 IPOENDA[X] Traversing to position X100 with a path velocity of 1000rpm, an acceleration value of 90% and end of motion on reaching the interpolator stop ... N120 EVERY $A_IN[1] DO POS[X]=50 FA[X]=2000 ACC[X]=140 IPOENDA[X] Traversing to position X50 when input 1 is active, with a path velocity of 2000rpm, an acceleration value of 140% and end of motion on reaching the interpolator stop ... Block change criterion braking ramp ; default setting active N40 POS[X]=100 ; block change occurs when X-axis reaches position 100 and fine exact stop N20 IPOBRKA(X,100) ; activate block change criterion braking ramp N30 POS[X]=200 N40 POS[X]=250 ; the x-axis does not brake at position 200 but continues to position 250, ; as soon as the X-axis starts to brake, the block change occurs N50 POS[X]=0 ; the X-axis brakes and moves back to position 0 ; the block change occurs at position 0 and fine exact stop N60 X10F100 N70 M30 ... Block change criterion braking ramp Within the technology cycle: FINEA POS[X]=100 IPOBRKA(X,100) POS[X]=100 POS[X]=250 within synchronized actions ; block change occurs as soon as X-axis starts to brake in the parts program

; end of motion criterion fine exact stop ; technology cycle block change occurs when X-axis ; has reached position 100 and fine exact stop ; activate block change criterion braking ramp ; POS[X]=100; technology cycle block change occurs, ; as soon as the X-axis starts to brake ; the X-axis does not brake at position 200 but continues ; to position 250, as soon as the X-axis starts to brake ; the block change in the technology cycle occurs ; the X-axis brakes and moves back to position 0 ; the block change occurs at position 0 and fine exact stop

POS[X]=250 M17

5-231

Special Motion Commands

11.02

5.10 Programmable servo parameter block (SW 5.1 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D CCU 2

840Di

5.10

Programmable servo parameter block (SW 5.1 and higher) Programming

SCPARA[<Axis>]= <Value>

Explanation of the commands

SCPARA Axis Value Define parameter block Channel axis name (X, Y, ...) Desired parameter block (1<= value <=6)

Function
Using SCPARA, it is possible to program the parameter block (consisting of MDs) in the parts program and in synchronized actions (previously only via PLC). DB3n DBB9 Bit3 To prevent conflicts between the PLCuser request and NCuser request, a further bit is defined on the PLC>NCK interface: DB3n DBB9 Bit3 "Parameter block definition locked through SCPARA". In the case of a locked parameter block for SCPARA, an error message is produced if programmed. The current parameter block can be polled using the system variables $AA_SCPAR[<Axis>].

5-232

11.02

Special Motion Commands

5.10 Programmable servo parameter block (SW 5.1 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D CCU 2

840Di

Additional notes
Up to SW 5.1, the servo-parameter block can be specified only by the PLC (DB3n DBB9 Bit02). For G33, G331 and G332, the most suitable parameter block is selected by the control. If the servo parameter block is to be changed both in a parts program and in a synchronized action and the PLC, the PLC application program must be extended. References: /FB1/V1 Feedrates

Programming example
... N110 SCPARA[X]= 3 ... The 3rd parameter block is selected for axis X

5-233

Special Motion Commands

11.02

5.10 Programmable servo parameter block (SW 5.1 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D CCU 2

840Di

5-234

11.02

Frames

Frames
6.1 6.2 6.3 6.4 6.5 6.6 6.7 6.8 Coordinate transformation via frame variables ............................................................. 6-236 Frame variables/assigning values to frames................................................................. 6-241 Coarse/fine offset .......................................................................................................... 6-248 DRF offset ..................................................................................................................... 6-249 External zero offset ....................................................................................................... 6-250 Programming PRESET offset, PRESETON ................................................................. 6-251 Deactivating frames ...................................................................................................... 6-252 Frame calculation from 3 measuring points in the area: MEAFRAME.......................... 6-253

6.9 NCU-global frames (SW 5 and higher) ......................................................................... 6-256 6.9.1 Channel-specific frames ........................................................................................ 6-257 6.9.2 Frames active in the channel ................................................................................. 6-259

6-235

Frames

11.02

6.1 Coordinate transformation via frame variables

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

6.1

Coordinate transformation via frame variables Definition of coordinate transformation with frame variables
In addition to the programming options already described in the Programming Guide "Fundamentals", you can also define coordinate systems with predefined frame variables.

Coordinate systems The following coordinate systems are defined: MCS: Machine coordinate system BCS: Basic coordinate system BOS: Basic origin system SZS: Settable zero system WCS: Workpiece coordinate system

What is a predefined frame variable? Predefined frame variables are vocabulary words whose use and effect are already defined in the control language and which can be processed in the NC program. Possible frame variable: Base frame (basic offset) Settable frames Programmable frame

6-236

11.02

Frames

6.1 Coordinate transformation via frame variables

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Frame variable/frame relationship A coordinate transformation can be activated by assigning the value of a frame to a frame variable. Example: $P_PFRAME=CTRANS(X,10) Frame variable: $P_PFRAME means: current programmable frame. Frame: CTRANS(X,10)means: programmable zero offset of X axis by 10 mm.

YBCS YBOS Y SZS

YWCS

X $P_PFRAME $P_IFRAME, $P_UIFR[..] $P_BFRAME, $P_UBFR

WCS

X SZS X X BOS BCS

Reading out actual values The current actual values of the coordinate system can be read out via predefined variables in the parts program: $AA_IM[axis] Read actual value in MCS $AA_IB[axis] Read actual value in BCS $AA_IBN[axis] Read actual value in BOS $AA_IEN[axis] Read actual value in SZS $AA_IW[axis] Read actual value in WCS

Overview of predefined variables

$P_BFRAME Current base frame variable that establishes the reference between the basic coordinate system (BCS) and the basic origin system (BOS). For the base frame described via $P_UBFR to be immediately active in the program, either you have to program a G500, G54...G599, or you have to describe $P_BFRAME with $P_UBFR,
$P_BFRAME, $P_UBFR

ZBCS

ZBOS

X BOS X BCS

6-237

Frames

11.02

6.1 Coordinate transformation via frame variables

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

$P_IFRAME Current, settable frame variable that establishes the reference between the basic origin system (BOS) and the settable zero system (SZS). $P_IFRAME corresponds to P_UIFR[$P_IFRNUM] After G54 is programmed, for example, $P_IFRAME contains the translation, rotation, scaling and mirroring defined by G54.

Z SZS Z BOS

SZS

YBOS

SZS

X BOS

$P_PFRAME Current, programmable frame variable that establishes the reference between the settable zero system (SZS) and the workpiece coordinate system (WCS). $P_PFRAME contains the frame resulting from the programming of TRANS/ATRANS, ROT/AROT, SCALE/ASCALE, MIRROR/AMIRROR or the assignment of CTRANS, CROT, CMIRROR, CSCALE to the programmable FRAME.

Z SZS Z BOS

WCS

SZS

Y BOS Y

WCS

X WCS X SZS

X BOS

$P_ACTFRAME Current total frame resulting from chaining of the current base frame variable $P_BFRAME, the current settable frame variable $P_IFRAME and the current programmable frame variable $P_PFRAME. $P_ACTFRAME describes the currently valid workpiece zero. If $P_IFRAME, $P_BFRAME or $P_PFRAME are changed, $P_ACTFRAME is recalculated. $P_ACTFRAME corresponds to $P_BFRAME:$P_IFRAME:$P_PFRAME

Z BCS Z BOS

Z WCS

SZS

YSZS

Y BOS YWCS

X WCS X SZS

X BOS X BCS

6-238

11.02

Frames

6.1 Coordinate transformation via frame variables

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Entered via program, e.g. $P_UBFR=CTRANS(X,10) Entered via MMC

Entered via program, e.g. $P_UIFR[n]=CTRANS(X,10) Entered via MMC

$P_UBFR

$P_UIFR[n]

Activated via G500, G54...G599

Base frame and settable frame are effective after Reset if MD 20110 RESET_MODE_MASK is set as follows: Bit0=1, bit14=1 --> $P_UBFR (base frame) effective Bit0=1, bit5=1 --> $P_UIFR [$P_UIFRNUM] (settable frame) effective

$P_ACTFRAME = $P_BFRAME : $P_IFRAME : $P_PFRAME

Entered via program, e.g. $P_BFRAME=CTRANS(X,10)

Entered via program, e.g. $P_PFRAME=CTRANS(X,10) or TRANS X10 Entered via program, e.g. $P_IFRAME=CTRANS(X,10)

Predefined settable frames $P_UBFR The base frame is programmed with $P_UBFR, but it is not simultaneously active in the parts program. The base frame programmed with $P_UBFR is included in the calculation if Reset was activated and bits 0 and 14 are set in MD RESET_MODE_MASK and instructions G500, G54...G599 were executed. Predefined settable frames $P_UIFR[n] The predefined frame variable $P_UIFR[n] can be used to read or write the settable zero offsets G54 to G599 from the parts program. These variables produce a one-dimensional array of type FRAME called $P_UIFR[n]. Assignment to G commands Five predefined settable frames are set as standard $P_UIFR[0]...$P_UIFR[4] or 5 G commands with the same meaning G500 and G54 to G57 at whose addresses values can be stored.

6-239

Frames

11.02

6.1 Coordinate transformation via frame variables

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

$P_IFRAME=$P_UIFR[0] corresponds to G500 $P_IFRAME=$P_UIFR[1] corresponds to G54 $P_IFRAME=$P_UIFR[2] corresponds to G55 $P_IFRAME=$P_UIFR[3] corresponds to G56 $P_IFRAME=$P_UIFR[4] corresponds to G57 You can change the number of frames with machine data: $P_IFRAME=$P_UIFR[5] corresponds to G505 $P_IFRAME=$P_UIFR[99] corresponds to G599 This allows you to generate up to 100 coordinate systems which can be called up globally in different programs, for example, as zero point for various fixtures. Frame variables must be programmed in a separate NC block in the NC program. Exception: programming of a settable frame with G54, G55, ...

6-240

11.02

Frames

6.2 Frame variables/assigning values to frames

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

6.2

Frame variables/assigning values to frames

Values can be assigned directly, frames can be chained or frames can be assigned to other frames in the NC program.

Direct value assignment Programming

$P_PFRAME=CTRANS (X, axis value, Y, axis value, Z, axis value, ) $P_PFRAME=CROT (X, angle, Y, angle, Z, angle, ) $P_PFRAME=CSCALE (X, scale, Y, scale, Z, scale, ) $P_PFRAME=CMIRROR (X, Y, Z) Programming $P_BFRAME is carried out analog to $P_PFRAME.

Explanation of the commands

CTRANS CROT CSCALE CMIRROR Translation of specified axes Rotation around specified axes Scale change on specified axes Direction reversal on specified axis

Function
You can use these functions to assign frames or frame variables directly in the NC program.

Sequence
You can program several arithmetic rules in succession. Example: $P_PFRAME=CTRANS():CROT():CSCALE Please note that the commands must be connected by the colon chain operator: ():(). This causes the commands firstly to be linked and secondly to be executed additively in the programmed sequence.
C TR A NS

CROT

6-241

Frames

11.02

6.2 Frame variables/assigning values to frames

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Additional notes
The values programmed with the above commands are assigned to the frames and stored. The values are not activated until they are assigned to the frame of an active frame variable $P_BFRAME or $P_PFRAME.

Programming example
Translation, rotation and mirroring are activated by value assignment to the current programmable frame.
Y

1 Y

X 1 C TR A N S 2 CROT 3 C M IR R O R

N10 $P_PFRAME=CTRANS(X,10,Y,20,Z,5):CROT(Z,45):CMIRROR(Y)

6-242

11.02

Frames

6.2 Frame variables/assigning values to frames

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Reading and changing frame components

Programming (examples) R10=$P_UIFR[$P_UIFRNUM, X, RT] Assign the angle of rotation RT around the X axis from currently valid settable zero offset $P_UIFRNUM to the variable R10. Assign the offset value TR in Z from the data record of set frame no. 25 to the variable R12. Assign the offset value TR in Y of the current programmable frame to the variable R15. Modify the offset value TR in X of the current programmable frame. X25 applies immediately.

R12=$P_UIFR[25, Z, TR]

R15=$P_PFRAME[Y, TR]

$P_PFRAME[X, TR]=25

Explanation of the commands $P_UIFRNUM P_UIFR[n, , ] TR FI RT SC MI This command automatically establishes the reference to the currently valid settable zero offset. Specify the frame number n to access the settable frame no. n. Specify the component to be read or modified: TR translation, FI translation fine, RT rotation, SC scale change, MI mirroring. The corresponding axis is also specified (see examples).

6-243

Frames

11.02

6.2 Frame variables/assigning values to frames

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Function
This feature allows you to access individual data of a frame, e.g. a specific offset value or angle of rotation. You can modify these values or assign them to another variable.

Sequence
Calling frame By specifying the system variable $P_UIFRNUM you can access the current zero offset set with $P_UIFR or G54, G55, ... ($P_UIFRNUM contains the number of the currently set frame). All other stored settable $P_UIFR frames are called up by specifying the appropriate number $P_UIFR[n]. For predefined frame variables and user-defined frames, specify the name, e.g. $P_IFRAME. Calling data The axis name and the frame component of the value you want to access or modify are written in square brackets, e.g. [X, RT] or [Z, MI].

6-244

11.02

Frames

6.2 Frame variables/assigning values to frames

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Linking complete frames

A complete frame can be assigned to another frame.

Programming (examples)
DEF FRAME SETTING1 SETTING1=CTRANS(X,10) $P_PFRAME=SETTING1 DEF FRAME SETTING4 SETTING4=$P_PFRAME $P_PFRAME=SETTING4 Assign the values of the user frame SETTING1 to the current programmable frame. The current programmable frame is stored temporarily and can be recalled.

Additional notes
Value range for RT rotation Rotation around 1st geometry axis: 180 to +180 Rotation around 2nd geometry axis: 89.999 to +90 Rotation around 3rd geometry axis: 180 to +180

Frame chaining Programming (examples)

$P_IFRAME=$P_UIFR[15]:$P_UIFR[16] $P_UIFR[15] contains, for example, data for zero offsets. The data of $P_UIFR[16], e.g. data for rotations, are subsequently processed additively. The settable frame 3 is created by chaining the settable frames 4 and 5.

$P_UIFR[3]=$P_UIFR[4]:$P_UIFR[5]

6-245

Frames

11.02

6.2 Frame variables/assigning values to frames

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Function
Frame chaining is suitable for the description of several workpieces, arranged on a pallet, which are to be machined in the same process.
G54

Sequence
The frames are chained in the programmed sequence. The frame components (translations, rotations, etc.) are executed additively in succession. The frame components can only contain intermediate values for the description of pallet tasks. These are chained to generate various workpiece zeroes. Please note that the frames must be linked to one another by the colon chain operator : .

6-246

11.02

Frames

6.2 Frame variables/assigning values to frames

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Definition of new frames Programming

DEF FRAME PALLET1 PALETT1=CTRANS():CROT()

Function
In addition to the predefined settable frames described above, you also have the option of creating new frames. This is achieved by creating variables of type FRAME to which you can assign a name of your choice.

Sequence
You can use the functions CTRANS, CROT, CSCALE and CMIRROR to assign values to your frames in the NC program. You will find more information on this subject on the previous pages.

Frame rotation definition Function

Frame rotations can be used to define applicationspecific orientations in the area: ROT: Individual rotations for all geometry axes ROTS, AROTS, CROTS: Rotation by specifying a solid angle (max. 2); see description in /FB1/ K2: coordinate systems. TOFRAME: Rotation by frame "TOFRAME", with Z axis pointing in the tool direction. TOROT: Rotation by frame "TOROT", which only overwrites the rotation component of frames that have already been programmed.

6-247

Frames

11.02

6.3 Coarse/fine offset

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

6.3

Coarse/fine offset Function

Fine offset A fine offset of the base frames and of all other settable frames can be programmed with command CFINE(X, ..,Y, ...). Coarse offset The coarse offset is defined with CTRANS(...). Coarse and fine offset add up to the total offset.
Frame structure with fine offset

Mirroring

Scaling Rotation Fine offset Coarse offset

Programming
$P_UBFR=CTRANS(x, 10) : CFINE(x, 0.1) : CROT(x, 45) ;chaining offset, fine offset and rotation $P_UIFR[1]=CFINE(x, 0.5, y, 1.0, z, 0.1) ;the total frame is overwritten with CFINE, incl. coarse offset.

Access to the individual components of the fine offset is achieved through component specification FI.

Programming
DEF REAL FINEX FINEX=$P_UIFR[$P_UIFRNUM, x, FI] FINEX=$P_UIFR[3, X, FI] Fine offset can only take place if MD 18600: MM_FRAME_FINE_TRANS=1. A fine offset changed via operator input is only active after the corresponding frame is activated, i.e. activation is conducted via G500, G54...G599. An activated fine offset of a frame is active for as long as the frame is active. ;Definition of variable FINEX ;Readout the fine offset via variable FINEX ;Readout the fine offset of X axis in the 3rd frame via
variable FINEX

6-248

11.02

Frames

6.4 DRF offset

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

The programmable frame has no fine offset. If the programmable frame is assigned a frame with fine offset, then the total offset is established by adding the coarse and the fine offset. When reading the programmable frame the fine offset is always zero.

Machine manufacturer
SW 5 and higher The fine offset can be configured by means of MD 18600 MM_FRAME_FINE_TRANS in the following variants: 0: Fine offset cannot be entered or programmed. G58 and G59 are not possible. 1: Fine offset for settable frames, base frames, programmable frames, G58 and G59 can be entered/programmed

6.4

DRF offset
Offset using handwheel, DRF In addition to all the translations described in this section, you can also define zero offsets with the handwheel (DRF offset). The DRF offset acts on the basic coordinate system. See the diagram for the relationships. You will find more information in the Operators Guide.
Base frame

Z BOS Z BCS YBOS Y BCS

XBOS
DRF, external ZO

X BCS

Clear DRF offset, DRFOF DRFOF clears the handwheel offset for all axes assigned to the channel. DRFOF is programmed in a separate NC block.

6-249

Frames

11.02

6.5 External zero offset

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

6.5

External zero offset

External zero offset This is another way of moving the zero point between the basic and workpiece coordinate system. Only linear translations can be programmed with the external zero offset. Programming offset values, $AA_ETRANS The offset values are programmed by assigning the axis-specific system variables.
Preset offset YMCS YMCS YBCS Y BOS YSZS

X SZS G54...G599 X BOS Basic frame External zero offset DRF offset Kinematic transformation X BCS X MCS

Assigning offset value $AA_ETRANS[axis]=RI RI is the arithmetic variable of type REAL which contains the new value. The external offset is generally set by the PLC and not specified in the parts program. The value entered in the parts program only becomes active when the corresponding signal is enabled at the VDI interface (NCU-PLC interface).

6-250

11.02

Frames

6.6 Programming PRESET offset, PRESETON

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

6.6

Programming PRESET offset, PRESETON Programming

PRESETON(AXIS,VALUE,)

Explanation of the commands

PRESETON Axis Value Set actual value Machine axis parameter New actual value to apply to the specified axis

Function
In special applications, it can be necessary to assign a new programmed actual value to one or more axes at the current position (stationary). Note: Preset mode with synchronized actions should only be implemented the vocabulary word "WHEN" or "EVEREY".

YMCS

MEAFRAME IDEAL_POINT MEAS_POINT FIT_QUALITY Frame calculation of three measured points in space 2-dim. array of real data containing the three coordinates of the ideal points 2-dim. array of real data containing the three coordinates of the measured points Variable of type real returning the following information: -1: The ideal points are located approximately on a straight line: The frame could not be calculated. The frame variable returned contains a neutral frame. -2: The measured points are located approximately on a straight line: The frame could not be calculated. The frame variable returned contains a neutral frame. -4: The calculation of the rotation matrix failed for a different reason Positive value: Sum of the distortions (distances between the points) needed to reshape the measured triangle into one that is congruent to the ideal triangle.

Application example
; Parts program 1 ; DEF FRAME CORR_FRAME ; ; Setting measured points DEF REAL IDEAL_POINT[3,3] = SET(10.0,0.0,0.0, 0.0,10.0,0.0, 0.0,0.0,10.0) DEF REAL MEAS_POINT[3,3] = SET(10.1,0.2,-0.2, -0.2,10.2,0.1, -0.2,0.2, 9.8); for test DEF REAL FIT_QUALITY = 0 ; o DEF REAL ROT_FRAME_LIMIT = 5; allows max. 5 rotation of the part position DEF REAL FIT_QUALITY_LIMIT = 3; allows max. 3 mm distortion between the ideal; and the measured triangle DEF REAL SHOW_MCS_POS1[3] DEF REAL SHOW_MCS_POS2[3] DEF REAL SHOW_MCS_POS3[3] ; ======================================================= ;

6-254

11.02

Frames

6.8 Frame calculation from 3 measuring points in the area: MEAFRAME

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

N100 G01 G90 F5000 N110 X0 Y0 Z0 ; N200 CORR_FRAME=MEAFRAME(IDEAL_POINT,MEAS_POINT,FIT_QUALITY) ; N230 IF FIT_QUALITY < 0 SETAL(65000) GOTOF NO_FRAME ENDIF , N240 IF FIT_QUALITY > FIT_QUALITY_LIMIT SETAL(65010) GOTOF NO_FRAME ENDIF ; N250 IF CORR_FRAME[X,RT] > ROT_FRAME_LIMIT; limiting the 1st RPY angle SETAL(65020) GOTOF NO_FRAME ENDIF ; N260 IF CORR_FRAME[Y,RT] > ROT_FRAME_LIMIT; limiting the 2nd RPY angle SETAL(65021) GOTOF NO_FRAME ENDIF ; N270 IF CORR_FRAME[Z,RT] > ROT_FRAME_LIMIT; limiting the 3rd RPY angle SETAL(65022) GOTOF NO_FRAME ENDIF ; N300 $P_IFRAME=CORR_FRAME; activate the probe frame via a settable frame ; ; check the frame by positioning the geometry axes at the ideal points ; N400 X=IDEAL_POINT[0,0] Y=IDEAL_POINT[0,1] Z=IDEAL_POINT[0,2] N410 SHOW_MCS_POS1[0]=$AA_IM[X] N420 SHOW_MCS_POS1[1]=$AA_IM[Y] N430 SHOW_MCS_POS1[2]=$AA_IM[Z] ; N500 X=IDEAL_POINT[1,0] Y=IDEAL_POINT[1,1] Z=IDEAL_POINT[1,2] N510 SHOW_MCS_POS2[0]=$AA_IM[X] N520 SHOW_MCS_POS2[1]=$AA_IM[Y] N530 SHOW_MCS_POS2[2]=$AA_IM[Z] ; N600 X=IDEAL_POINT[2,0] Y=IDEAL_POINT[2,1] Z=IDEAL_POINT[2,2] N610 SHOW_MCS_POS3[0]=$AA_IM[X] N620 SHOW_MCS_POS3[1]=$AA_IM[Y] N630 SHOW_MCS_POS3[2]=$AA_IM[Z] ;

6-255

Frames

11.02

6.9 NCU-global frames (SW 5 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

N700 G500; ; NO_FRAME: M0 M30

Deactivate settable frame, as preset with zero frame (no value set)

6.9

NCU-global frames (SW 5 and higher) Function

NCU-global frames are only available once for all channels of each NCU. NCU-global frames can be written and read from all channels. The NCU-global frames are activated in the respective channel. Channel axes and machine axes with offsets can be scaled and mirrored by means of global frames. With global frames there is no geometrical relationship between the axes. Therefore, it is not possible to perform rotations or program geometry axis identifiers. It is not possible to use global frames for rotations. Programming a rotation is refused and alarm: "18310 channel %1 block %2 frame: rotation not allowed" is displayed. Chaining of global frames and channel-specific frames is possible. The resulting frame contains all frame elements including rotations for all axes. If a frame with rotation elements is assigned to a global frame, it is rejected and alarm "Frame: rotation not allowed" is displayed. NCU-global base frames: $P_NCBFR[n] You can configure up to 8 NCU-global basic frames.

6-256

11.02

Frames

6.9 NCU-global frames (SW 5 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Machine manufacturer
The number of global base frames is configured via machine data. (See /FB/ K2, Axes, Coordinate Systems, Frames) Channel-specific base frames can be present at the same time. Global frames can be written and read from all channels of an NCU. When writing global frames, the user must pay attention to channel coordination, for example, by using Wait marks (WAITMC). NCU-global settable frames: $P_UIFR[n] All settable frames G500, G54...G599 can be configured either NCU-global or channel-specific.

Machine manufacturer
All settable frames can be reconfigured as global frames via MD 18601 MM_NUM_GLOBAL_USER_FRAMES. See /FB/ K2, Axes, Coordinate Systems, Frames. Channel axis identifiers and machine axis identifiers can be used as axis identifiers for the frame program commands. Programming of geometry identifiers is rejected with an alarm.

6.9.1 Channel-specific frames Function

The number of base frames can be configured in the channel via MD 28081 MM_NUM_BASE_FRAMES. The standard configuration provides at least one base frame per channel. A maximum of eight base frames are supported per channel. In addition to the eight base frames, there can also be eight NCU-global base frames in the channel.

6-257

Frames

11.02

6.9 NCU-global frames (SW 5 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Settable frames/base frames can be written and read from the control and the PLC via the parts program and via the OPI. Fine offset is also possible for global frames. Suppression of global frames also takes place, as is the case with channel-specific frames, via G53, G153, SUPA and G500. $P_CHBFR[n] The base frames can be read and written via system variable $P_CHBFR[n]. When writing a base frame, the chained total base frame is not activated; it is only activated when the G500, G54..G599 instruction is executed. The variable mainly serves as memory for writing processes to the MMC and PLC base frame. These frame variables are saved by data backup. First basic frame in the channel Writing to a predefined variable $P_UBFR will not activate the basic frame with array index 0 simultaneously, but it will be activated only after a G500, G54..G599 command is executed. The variable can also be written and read in the program. $P_UBFR $P_UBFR is identical to $P_CHBFR[0]. As standard, there is always a base frame in the channel making the system variable compatible with older versions. If there is no channel-specific base frame, an alarm is issued at read/write: "Frame: instruction not permissible".

6-258

11.02

Frames

6.9 NCU-global frames (SW 5 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

6.9.2 Frames active in the channel Function

SW 6.1 and higher Current system frames for $P_PARTFRAME TCARR and PAROT $P_SETFRAME preset actual value memory and scratching, $P_EXTFRAME zero offset external, You can read and write the current system frame in the parts program via these system variables. $P_NCBFRAME[n] Current NCU-global basic frames You can read and write the current global basic frame field elements via system variable $P_NCBFRAME[n]. The resulting total base frame is calculated by means of the write process in the channel. The modified frame is only active in the channel in which the frame was programmed. If the frame is to be changed for all channels of an NCU, both [n] and $P_NCBFRAME[n] have to be programmed. The other channels must then still activate the frame with, for example, G54. When writing a base frame, the total base frame is calculated again. $P_CHBFRAME[n] Current channel basic frames You can read and write the current channel basic frame field elements via system variable $P_CHBFRAME[n]. The resulting total base frame is calculated by means of the write process in the channel. When writing a base frame, the total base frame is calculated again.

6-259

Frames

11.02

6.9 NCU-global frames (SW 5 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

$P_BFRAME Current first basic frame in the channel You can read and write the current basic frame with array index 0, which applies for the channel, in the parts program via the predefined frame variable $P_BFRAME. The written basic frame is immediately included in the calculation. $P_BFRAME is identical to $P_CHBFRAME[0]. The default is for the system variable to always have a valid value. If there is no channel-specific base frame, an alarm is issued at read/write: "Frame: instruction not permissible". $P_ACTBFRAME Total basic frame Variable $P_ACTBFRAME determines the chained total basic frame. The variable can only be read. $P_ACTBFRAME corresponds to $P_NCBFRAME[0] : ... : $P_NCBFRAME[n] : $P_CHBFRAME[0] : ... : $P_CHBFRAME[n].
Y
BCS

Y BOS

$P_ACTBFRAME
BOS X
BOS

$P_CHBFRAME[n], n programmable via $MC_MM_NUM_BASE_FRAMES

$P_CHBFRAME[0] = $P_BFRAME $P_NCBFRAME[n], n programmable via $MN_MM_NUM_GLOBAL_BASE_FRAMES X $P_NCBFRAME[0] BCS

BCS

BOS = Basic origin system BCS = Basic coordinate system

$P-ACTBFRAME = $P_NCBFRAME[0] : $P_NCBFRAME[n] : $P_CHBFRAME[0] : $P_CHBFRAME[n]

$P_CHBFRMASK and $P_NCBFRMASK Total basic frame Via system variables $P_CHBFRMASK and $P_NCBFRMASK, the user can select the basic frames to be included in the calculation of the "total" basic frame. The variables can only be programmed in the program and read via OPI. The value of the variable is interpreted as bit mask and determines which base frame field element of $P_ACTBFAME is included in the calculation.

6-260

11.02

Frames

6.9 NCU-global frames (SW 5 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

You can specify with $P_CHBFRMASK which channelspecific base frames, and with $P_NCBFRMASK which NCU-global base frames, are to be included in the calculation. By programming the variables the total base frame and the total frame are calculated again. After a Reset is performed, the basic setting value is $P_CHBFRMASK = $MC_CHBFRAME_RESET_MASK and $P_NCBFRMASK = $MN_NCBFRAME_RESET_MASK. e.g. $P_NCBFRMASK = 'H81' $P_CHBFRMASK = 'H11' ; $P_NCBFRAME[0] : $P_NCBFRAME[7] ; $P_CHBFRAME[0] : $P_CHBFRAME[4]

$P_IFRAME Current settable frame You can read and write the current settable frame, which applies in the channel, in the parts program via the predefined frame variable $P_IFRAME. The written settable frame is immediately included in the calculation. With NCU-global settable frames, the modified frame is only active in the channel in which the frame was programmed. If the frame is to be changed for all channels of an NCU, both $P_UIFR[n] and $P_IFRAME have to be programmed. The other channels must then still activate the respective frame with, for example, G54. SW 6.1 and higher Current system frames for $P_TOOLFRAME TOROT and TOFRAME SW 6.3 and higher $P_WPFRAME Workpiece reference points You can read and write the current system frame in the parts program via these system variables.

6-261

Frames

11.02

6.9 NCU-global frames (SW 5 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

$P_PFRAME Current programmable frame $P_PFRAME is the programmable frame which results from programming TRANS/ATRANS, G58/G59, ROT/AROT, SCALE/ASCALE, MIRROR/AMIRROR or from assigning CTRANS, CROT, CMIRROR, CSCALE to the programmable frame. Current, programmable frame variable that establishes the reference between the settable zero system (SZS) and the workpiece coordinate system (WCS). SW 6.3 and higher Current system frame for $P_CYCFRAME Cycles You can read and write the current system frame in the parts program via this system variable. $P_ACTFRAME Current total frame The current resulting total frame $P_ACTFRAME now results from chaining all basic frames, the current settable frame and the programmable frame. The current frame is always updated if a frame element is modified. SW 6.3 and higher, $P_ACTFRAME corresponds to $P_SETFRAME : $P_EXTFRAME : $P_PARTFRAME : $P_ACTBFRAME : $P_IFRAME : $P_TOOLFRAME : $P_WPFRAME : $P_PFRAME : $P_CYCFRAME SW 6.4 and higher, $P_ACTFRAME corresponds to $P_PARTFRAME : $P_SETFRAME : $P_EXTFRAME: $P_ACTBFRAME : $P_IFRAME : $P_TOOLFRAME : $P_WPFRAME : $P_PFRAME : $P_CYCFRAME

6-262

11.02

Frames

6.9 NCU-global frames (SW 5 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Data management frames

Input via program, e.g. $P_CHBFR=CTRANS(Z,10) $P_NCBFR=CTRANS(X,10) Input via MMC

Input via program, e.g. $P_UIFR[n]=CTRANS(X,10) Input via MMC

Channel-specific system frames

$P_CYCTFR $P_WPFR $P_TOOLFR

$P_PARTFR $P_EXTFR $P_SETFR $P_CHBFR[n] Channel-specific NCU basic frames $P_NCBFR[n] NCU-global frames $P_UIFR[n]

:
Activated via G500, G54...G599

Activated via G500, G54...G599 Active total frame $P_ACTFRAME =

$P_PARTFRAM

$P_SETFRAME

: :

$P_EXTFRAME

$P_ACTRAME

Input via program, e.g. $P_NCBFRAME[1]=CTRANS(X,10)

$P_IFRAME Input via program, e.g.

: $P_TOOLFRAME

: : : $P_WPFRAME

$P_PFRAME

: $P_CYCFRAME

Input via program, e.g. $P_IFRAME=CTRANS(X,10) bzw. TRANS X10

$P_PFRAME=CTRANS(X,10)

Frame chaining The current frame consists of the total basic frame, the settable frame, the system frame and the programmable frame according to the current total frame mentioned above.

Frame chain

WCS
Frame for cycles, programmable frame

SZS
System frame for TOROT (TOFRAME), workpieces G54 ... G599 settable frame, channel-specific or NCU-global

BZS
Chained filed of basic frames, channel-specific of NCU-global Chained system frames for actual value setting, scratching, external zero offset, PAROT Handwheel (DRF) offset, override motion, [external zero offset]

BCS
Kinematic transformation

MCS

Reference point offset

MCS = Machine Coordniate System BZS = Basic Zero System BCS = Basic Coordinate System SZS = Settable Zero System WCS = Workpiece Coordinate System

6-263

Frames

11.02

6.9 NCU-global frames (SW 5 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

6-264

11.02

Transformations

Transformations
7.1 Three, four and five axis transformation: TRAORI........................................................ 7-266 7.1.1 Programming tool orientation ................................................................................. 7-269 7.1.2 Orientation axes reference ORIWCS, ORIMCS .................................................. 7-274 7.1.3 Singular positions and how to handle them ............................................................ 7-275 7.1.4 Orientation axes (SW 5.2 and higher)..................................................................... 7-276 7.1.5 Cartesian PTP travel (from SW 5.2) ....................................................................... 7-279 7.1.6 Online tool length compensation (SW 6.4 and higher) ........................................... 7-284 7.2 7.3 Milling turned parts: TRANSMIT ................................................................................... 7-287 Cylinder surface transformation: TRACYL .................................................................... 7-290

7.4 Inclined axis: TRAANG ................................................................................................. 7-296 7.4.1 Inclined axis programming: G05, G07 (SW 5.3 and higher) ................................... 7-300 7.5 7.6 7.7 7.8 Constraints when selecting a transformation ................................................................ 7-302 Deselect transformation: TRAFOOF............................................................................. 7-304 Chained transformations ............................................................................................... 7-305 Switchable geometry axes, GEOAX.............................................................................. 7-308

7-265

Transformations

11.02

7.1 Three, four and five axis transformation: TRAORI

840D NCU 572 NCU 573

840Di

7.1

Three, four and five axis transformation: TRAORI

To obtain optimum cutting conditions when machining surfaces with a three-dimensional curve, it must be possible to vary the setting angle of the tool. The machine design to achieve this is stored in the axis data.
Tool axis

Cardanic tool head Three linear axes (X, Y, Z) and two orientation axes define the setting angle and the operating point of the tool here. One of the two orientation axes is created as an inclined axis, in our example A' - in many cases, placed at 45. The axis sequence of the orientation axes and the orientation direction of the tool are set up via the machine data subject to the machine kinematics. In the examples shown here, you can see the arrangements in the CA machine kinematics example!
, A
Z Y

C
X

Cardanic tool head, version 1

7-266

11.02

Transformations

7.1 Three, four and five axis transformation: TRAORI

840D NCU 572 NCU 573

840Di

There are the following possible relationships: A' is below angle to the X axis B' is below angle to the Y axis C' is below angle to the Z axis Angle can be configured in the range 0 to +89 via machine data. Depending on the orientation direction selected for the tool, the active working plane (G17, G18, G19) must be set in the NC program in such a way that tool length compensation works in the direction of tool orientation.
, A C

Cardanic tool head, version 2

Transformation with a swiveling linear axis This is an arrangement with a moving workpiece and a moving tool. The kinematics consists of three linear axes (X, Y, Z) and two orthogonally arranged rotary axes. The first rotary axis is moved, for example, over a compound slide of two linear axes, the tool standing parallel to the third linear axis. The second rotary axis turns the workpiece. The third linear axis (swivel axis) lies in the compound slide plane. The axis sequence of the rotary axes and the orientation direction of the tool are set up via the machine data subject to the machine kinematics. There are the following possible relationships: Axes: 1st rotary axis 2nd rotary axis Swiveled linear axis

Machine data can be used to switch between Euler and RPY angles. Programming in Euler angles The values programmed during orientation programming with A2, B2, C2 are interpreted as Euler angles (in degrees). The orientation vector results from turning a vector in the Z direction firstly with A2 around the Z axis, then with B2 around the new X axis and lastly with C2 around the new Z axis. In this case the value of C2 (rotation around the new Z axis) is meaningless and does not have to be programmed.

Z Z Y Y

Z Z X

Y With A2 = 90 rotating around the Z axis

Basic setting Y

X Z B2 Y Z X

With B2 = 45 rotating around rotating X axis Y

7-270

11.02

Transformations

7.1 Three, four and five axis transformation: TRAORI

840D NCU 572 NCU 573

840Di

Programming in RPY angles The values programmed during orientation programming with A2, B2, C2 are interpreted as RPY angles (in degrees).
X

Z Z

Y X

Y Y

B2 C2

The orientation vector results from turning a vector in the Z direction firstly with C2 around the Z axis, then with B2 around the new Y axis and lastly with A2 around the new X axis. In contrast to Euler angle programming, all three values here have an effect on the orientation vector

X Basic setting Z Z

X Y X With C2 = 90 rotating around the Z axis with B2 = +45 rotating around rotating Y axis

A2
With A2 = 30 rotating around the rotating X axis X

Programming the direction vector The components of the direction vector are programmed with A3, B3, C3. The vector points towards the toolholder; the length of the vector is meaningless. Vector components that have not been programmed are set equal to zero.
X

Direction vector C3 =...

Y
B3 =... A3 =...

7-271

Transformations

11.02

7.1 Three, four and five axis transformation: TRAORI

840D NCU 572 NCU 573

840Di

Face milling Face milling is used to machine curved surfaces of any kind. For this type of 3D milling, you require line-by-line definition of 3D paths on the workpiece surface. The tool shape and dimensions are taken into account in the calculations that are normally performed in CAM. The fully calculated NC blocks are then read into the control via postprocessors. Surface description The path curvature is described by surface normal vectors with the following components: A4, B4, C4 start vector at block start A5, B5, C5 end vector at block end If a block only contains the start vector, the surface normal vector will remain constant throughout the block. If a block only contains the end vector, interpolation will run from the end value of the previous block via large circle interpolation to the programmed end value. If both start and end vectors are programmed, interpolation runs between the two directions, also via large circle interpolation. This allows continuously smooth paths to be be created. In the initial setting, surface normal vectors whatever the active G17 to G19 level point in the Z direction. The length of a vector is meaningless. Vector components that have not been programmed are set to zero.
A4 B4 C4 A5 B5 C5

7-272

11.02

Transformations

7.1 Three, four and five axis transformation: TRAORI

840D NCU 572 NCU 573

840Di

With active ORIWCS (see following pages), the surface normal vectors relate to the active frame and also turn when the frame is turned. The surface normal vector must be perpendicular to the path tangent, within a limit value set via machine data, otherwise an alarm will be output. Programming the tool orientation with LEAD and TILT The resultant tool orientation is determined from: the path tangent, the surface normal vector the lead angle LEAD the tilt angle TILT at end of block.
LEAD TILT

Explanation of the commands LEAD TILT Angle relative to the surface normal vector in the plane put up by the path tangent and the surface normal vector Angle in the plane, perpendicular to the path tangent relative to the surface normal vector

Behavior at inside corners (for 3D-tool compensation) If the block at an inside corner is shortened, the resultant tool orientation is also achieved at end of block.

7-273

Transformations

11.02

7.1 Three, four and five axis transformation: TRAORI

840D NCU 572 NCU 573

840Di

7.1.2 Orientation axes reference ORIWCS, ORIMCS Programming

N.. ORIMCS or N.. ORIWCS Explanation of the commands ORIMCS ORIWCS Rotation in the machine coordinate system Rotation in the workpiece coordinate system

Function
With orientation programming in the workpiece coordinate system via Euler or RPY angles or the orientation vector, ORIMCS/ORIWCS can be used to adjust the course of the rotary motion.

Sequence
With ORIMCS, the movement executed by the tool is dependent on the machine kinematics. With an orientation change with a fixed tool tip, interpolation between the rotary axis positions is linear. With ORIWCS, the tool movement is not dependent on the machine kinematics. With an orientation change with a fixed tool tip, the tool moves in the plane set up by the start and end vectors.

Plane created from starting and end vectors

Vector at beginning of block Vector at end of block

7-274

11.02

Transformations

7.1 Three, four and five axis transformation: TRAORI

840D NCU 572 NCU 573

840Di

Additional notes
ORIWCS is the basic setting. If it is not immediately obvious with a 5-axis program which machine it should run on, always choose ORIWCS. Which movements the machine actually executes depend on the machine kinematics. With ORIMCS, you can program actual machine movements, for example, to avoid collisions with devices, etc. Machine data $MC_ORI_IPO_WITH_G_CODE specifies the active interpolation mode: ORIMCS/ORIWCS or ORIMACHAX/ORIVIRTAX (see Subsection 7.1.4).

7.1.3 Singular positions and how to handle them

Notes on ORIWCS: Orientation movements in the singular setting area of the 5-axis machine require vast movements of the machine axes. (For example, with a rotary swivel head with C as the rotary axis and A as the swivel axis, all positions with A = 0 are singular.) To avoid overloading the machine axes, the velocity control vastly reduces the tool path velocity near the singular positions. With machine data $MC_TRAFO5_NON_POLE_LIMIT $MC_TRAFO5_POLE_LIMIT the transformation can be parameterized in such a way that orientation movements close to the pole are put through the pole and rapid machining is possible. Note on SW 5.2: As from SW5.2, singular positions will only be handled by MD $MC_TRAFO5_POLE_LIMIT (see Description of Functions Part 3, Subsection 2.8.4).

7-275

Transformations

11.02

7.1 Three, four and five axis transformation: TRAORI

840D NCU 572 NCU 573

840Di

840D NCU 572 NCU 573

840Di

7.1.5 Cartesian PTP travel (from SW 5.2) Programming

N.. TRAORI N.. STAT=`B10` TU=`B100` PTP N.. CP

Explanation of the commands

PTP Point to Point (point to point movement) The movement is executed as a synchronized axis movement; the slowest axis involved in the movement is the dominating axis for the velocity. Continuous path (path motion) The movement is executed as cartesian path motion Position of the articulated joints; this value is dependent on the transformation. TURN information This makes it possible to clearly approach axis angles between -360 degrees and +360 degrees.

CP STAT= TU=

Function
This function can be used to program a position in a cartesian coordinate system, however, the movement of the machine occurs in the machine coordinates. The function can be used, for example, when changing the position of the articulated joint, if the movement runs through a singularity. Note: The function is only useful in conjunction with an active transformation. Furthermore, "PTP travel" is only permissible in conjunction with G0 and G1.

840D NCU 572 NCU 573

840Di

Programming example
Y 1

Elbow up
A1 Z1

Elbow down
X 1

N10 N20 N30 N40

G0 X0 Y-30 Z60 A-30 F10000 TRAORI(1) X1000 Y0 Z400 A0 X1000 Z500 A0 STAT=B10 TU=B100 PTP

Starting position Elbow up Transformation ON Reorientation without transformation Elbow down Transformation active again

N50 N60 N70

X1200 Z400 CP X1000 Z500 A20 M30

7-283

Transformations

11.02

7.1 Three, four and five axis transformation: TRAORI

840D NCU 572 NCU 573

840Di

7.1.6

Online tool length compensation (SW 6.4 and higher) Programming

N.. TRAORI N.. TOFFON(X,25) N.. WHEN TRUE DO $AA_TOFF[X]

Explanation of the commands

TOFFON Tool Offset ON (activate online tool length compensation) When activating, an offset value can be specified for the relevant direction of compensation and this is immediately recovered. Tool Offset OF (reset online tool length compensation) The relevant compensation values are reset and a preprocessing stop is initiated. Direction of compensation for the specified offset value

TOFFOF X, Y, Z,

Function
Use the system variable $AA_TOFF[ ] to overlay the effective tool lengths in accordance with the three tool directions three-dimensionally in real time. The three geometry axis identifiers are used as the index. This defines the number of active directions of compensation by the geometry axes active at the same time. All the overrides can be active simultaneously. Application The online tool length compensation function can be used for: orientation transformation TRAORI orientable toolholder TCARR Note: Online tool length compensation is an option, that first has to be enabled. This function is only useful in conjunction with an active orientation transformation or an active orientable toolholder.

7-284

11.02

Transformations

7.1 Three, four and five axis transformation: TRAORI

840D NCU 572 NCU 573

840Di

Additional notes
Block preparation During block preparation in preprocessing, the current tool length offset active in the main run is also taken into consideration. To allow extensive use to be made of the maximum permissible axis velocity, it is necessary to stop block preparation with a STOPRE preprocessing stop while a tool offset is set up. The tool offset is then always known at the time of preprocessing if tool length compensations can no longer be changed after program startup, or if, following a change to the tool length compensations, more blocks were executed than the IPO buffer between preprocessing and main run can accept. Variable $AA_TOFF_PREP_DIFF The size of the difference between the current compensation active in the interpolator and the compensation active at the time the block was prepared, can be queried in the $AA_TOFF_PREP_DIFF[ ] variable. Adjusting machine data and setting data The following machine data is available for online tool length compensation: MD 20610: ADD_MOVE_ACCEL_RESERVE Reserve for velocity planning MD 21190: TOFF_MODE The content of the system variable $AA_TOFF[ ] is recovered or integrated as an absolute value. MD 21194: TOFF_VELO Velocity of the online tool length compensation

MD 21196: TOFF_ACCEL Acceleration of the online tool length compensation Setting data for presetting limit values SD 42970: TOFF_LIMIT Upper limit of the tool length compensation value

7-285

Transformations

11.02

7.1 Three, four and five axis transformation: TRAORI

840D NCU 572 NCU 573

840Di

Programming example
Tool length compensation selection MD 21190: TOFF_MODE MD 21194: TOFF_VELO[0] MD 21196: TOFF_VELO[1] MD 21194: TOFF_VELO[2] MD 21196: TOFF_ACCEL[0] MD 21196: TOFF_ACCEL[1] MD 21196: TOFF_ACCEL[2] N5 N10 N20 N30 ... N40 N50 TOFFON(X) ID=1 DO $AA_TOFF[X] = $AA_IW[X2] G4 F5 ; Activation of online tool length offset ; for the X tool direction ; For the X tool direction, an offset is ; executed subject to the position of axis ; X2 ; Assign current offset in X direction ; For the X tool direction, the tool length ; offset will be returned to 0 again DEF REAL XOFFSET TRAORI(1) TOFFON(Z) WHEN TRUE DO $AA_TOFF[Z] = 10 G4 F5 ; Transformation ON ; Activation of online tool length offset ; for the Z tool direction ; For the Z tool direction, a tool length ; offset of 10 is interpolated

=1 =1000 =1000 =1000 =1 =1 =1

; Absolute values are approached

... N100 N120 XOFFSET = $AA_TOFF_VAL[X] TOFFON(X, -XOFFSET) G4 F5

Tool length compensation deselection N10 TRAORI(1) N20 N30 ... N80 TOFFOF(X) TOFFON(X) WHEN TRUE DO $AA_TOFF[X] = 10 G4 F5

; Transformation ON ; Activating the Z tool direction ; For the X tool direction, a tool length ; offset of 10 is interpolated ; Positional offset of the X tool direction ; is deleted: ...$AA_TOFF[X] = 0 ; No axis is traversed ; To the current position in WCS, the ; positional offset is added in accordance ; with the current orientation

References
/FB/ F2, 3-axis to 5-axis transformations

7-286

11.02

Transformations

7.2 Milling turned parts: TRANSMIT

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

7.2

Milling turned parts: TRANSMIT Programming

TRANSMIT or TRANSMIT(n) TRAFOOF

Explanation of the commands TRANSMIT TRANSMIT(n) TRAFOOF Activates the first specified Transmit function Activates the n-th specified Transmit function; the maximum for n is 2 (TRANSMIT(1) corresponds to TRANSMIT). Disables an active transformation

An active TRANSMIT transformation is also disabled if one of the remaining transformations is activated in the particular channel (e.g. TRACYL, TRAANG, TRAORI).

The TRANSMIT function facilitates the following performance: Machining the end face of turned parts clamped for turning (holes, contours). A cartesian coordinate system can be used to program this machining. The control transforms the programmed traversing movements of the cartesian coordinate system to the traversing movements of the real machine axes (default situation): Rotary axis Infeed axis perpendicular to the rotary axis Longitudinal axis parallel to the rotary axis The linear axes are positioned perpendicular to one another. Tool center offset relative to the turning center is permissible. The velocity control considers the limitations defined for rotary motion.

7-287

Transformations

11.02

7.2 Milling turned parts: TRANSMIT

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Rotary axis The rotary axis cannot be programmed, as it is assigned by a geometry axis and is thus not directly programmable as a channel axis. Pole SW 3.x and lower Traversing through the pole (the origin of the cartesian coordinate system) is prevented. A movement that runs through the pole stops at the pole and an alarm is output. With milling center offset, movement correspondingly stays at the edge of the area not to be approached. SW 4 and higher There are two options for traversing through the pole: 1. Traverse only the linear axis 2. Traverse to the pole, rotate the rotary axis at the pole and traveling away from the pole Make the selection using MD 24911 and 24951.

References
/FB/ M1 Kinematic transformations

7-288

11.02

Transformations

7.2 Milling turned parts: TRANSMIT

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Programming example
Y

N10 T1 D1 G54 G17 G90 F5000 G94 N20 G0 X20 Z10 SPOS=45 N30 TRANSMIT N40 ROT RPL=45 N50 ATRANS X2 Y10 N60 G1 X10 Y10 G41 OFFN=1 N70 X10 N80 Y10 N90 X10 N100 Y10 N110 G0 Z20 G40 OFFN=0 N120 T2 D1 X15 Y15 N130 Z10 G41 N140 G1 X10 Y10 N150 X10 N160 Y10 N170 X10 N180 Y10 N190 Z20 G40 N200 TRANS N210 TRAFOOF N220 G0 X20 Z10 SPOS=45 N230 M30

Tool selection Approach initial position Activate the Transmit function Adjust the frame Square roughing; allowance 1mm

Tool change

Square finishing

Deselect frame

Approach initial position

7-289

X
Z

Transformations

11.02

7.3 Cylinder surface transformation: TRACYL

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

7.3

Cylinder surface transformation: TRACYL Programming

TRACYL(d) or TRACYL(d,t) TRAFOOF Explanation of the commands TRACYL(d) TRACYL(d,n) d TRAFOOF OFFN Activates the first TRACYL function specified in the channel machine data. d is the parameter for the working diameter. Activates the n-th TRACYL function specified in the channel machine data. The maximum for n is 2, TRACYL(d,1) corresponds to TRACYL(d). Value for the working diameter. The working diameter is double the distance between the tool tip and the turning center. Transformation OFF (BCS and MCS are once again identical). Offset contour normal: Distance of the groove side from the programmed reference contour

An active TRACYL transformation is also disabled if one of the remaining transformations is activated in the particular channel (e.g. TRANSMIT, TRAANG, TRAORI).

Function
Cylinder peripheral curve transformation TRACYL The TRACYL cylinder peripheral curve transformation facilitates the following performance: Machining longitudinal grooves on cylindrical structures, transverse grooves on cylindrical structures, grooves in any direction on cylindrical structures. The progression of the grooves is programmed in relation to the handled, even, peripheral surface of the cylinder.
Z Y

Workpiece coordinate system

7-290

11.02

Transformations

7.3 Cylinder surface transformation: TRACYL

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

There are two instances of cylinder surface coordinate transformation: without groove side offset (TRAFO_TYPE_n=512) with groove side offset (TRAFO_TYPE_n=513)
Y or CM ASM Z or ZM XM

Without groove side offset: The control transforms the programmed traversing movements of the cylinder coordinate system to the traversing movements of the real machine axes: Rotary axis Infeed axis perpendicular to the rotary axis Longitudinal axis parallel to the rotary axis. The linear axes are positioned perpendicular to one another. The infeed axis cuts the rotary axis.

Machine coordinate system With groove side offset: Kinematics as above, but in addition longitudinal axis parallel to the peripheral direction. The linear axes are positioned perpendicular to one another. The velocity control considers the limitations defined for rotary motion.

Y or CM

YM ASM X M

Z or ZM

Machine coordinate system

7-291

Transformations

11.02

7.3 Cylinder surface transformation: TRACYL

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Groove cross section In axis configuration 1, grooves alongside the rotary axis are only limited in parallel if the groove width corresponds exactly to the tool radius. Grooves parallel to the circumference (transverse grooves) are not parallel at the start and at the end.

840D NCU 572 NCU 573

810D

810D

840Di

The following settings are defined in machine data: the angle between a machine axis and the oblique axis the position of the zero point of the tool relative to the origin of the coordinate system specified by the "inclined axis" function the velocity reserve held ready on the parallel axis for the compensating movement. the axis acceleration reserve held ready on the parallel axis for the compensating movement.

Axis configuration To be able to program in the cartesian coordinate system, the control must be told the relationship between this coordinate system and the actually existing machine axes (MU, MZ): Geometry axes designation Assignment of geometry axes to channel axes general situation (inclined axis not active) inclined axis active Assignment of channel axes to machine axis numbers Spindle identification Machine axis name assignment. Apart from "inclined axis active", the procedure corresponds to the procedure for normal axis configuration.

7-298

11.02

Transformations

7.4 Inclined axis: TRAANG

840D NCU 572 NCU 573

810D

840Di

Programming example

MU X

Grinding wheel

Z Workpiece

N10 G0 G90 Z0 MU=10 G54 F5000 -> -> G18 G64 T1 D1 N20 TRAANG(45) N30 G0 Z10 X5 N40 WAITP(Z) N50 OSP[Z]=10 OSP2[Z]=5 OST1[Z]=2 -> -> OST2[Z]=2 FA[Z]=5000 N60 OS[Z]=1 N70 POS[X]=4.5 FA[X]=50 N80 OS[Z]=0 N90 WAITP(Z) N100 TRAFOOF N110 G0 Z10 MU=10 N120 M30 -> program in a single block

Tool selection, clamping compensation Plane selection Enable inclined axis transformation Approach initial position Enable axis for reciprocation Reciprocation, until dimension reached (for reciprocation, see chapter 9)

Enable reciprocating axes as positioning axes Switch off transformation Retraction

7-299

Transformations

11.02

7.4 Inclined axis: TRAANG

840 D NCU 572 NCU 573

810D

840Di

7.4.1 Inclined axis programming: G05, G07 (SW 5.3 and higher) Programming
G07 G05 Explanation of the commands G07 G05 The commands G07/G05 are used to make it easier to program the inclined axes. Positions can be programmed and displayed in the cartesian coordinate system. Tool compensation and zero offset are included in cartesian coordinates. After the angle for the inclined axis is programmed in the NCprogram, the starting position can be approached (G07) and then the oblique plunge-cutting (G05) performed. In Jog-mode, the movement of the grinding wheel can either be cartesian or in the direction of the inclined axis (the display stays cartesian). All that moves is the real U-axis, the Z-axis display is updated. In jog-mode, repos-offsets must be returned using cartesian coordinates. In jog-mode with active "PTP-travel", the cartesian operating range limit is monitored for overtravel and the relevant axis is braked beforehand. If "PTP-travel" is not active, the axis can be traversed right up to the operating range limit. References: /FB2/ F2: 3-5-axis transformation, Chapter 2 "Cartesian PTP-travel". Approach starting position Activates oblique plunge-cutting

7-300

11.02

Transformations

7.4 Inclined axis: TRAANG

840D NCU 572 NCU 573

810D

840Di

Programming example

U X N50 N60 Grinding wheel

Z Workpiece

N.. N20 G07 X70 Z40 F4000 N30 G05 X70 F100 N40 ...

Program angle for inclined axis Approach starting position Oblique plunge-cutting

7-301

Transformations

11.02

7.5 Constraints when selecting a transformation

840 D NCU 572 NCU 573

810D

840Di

7.5

Constraints when selecting a transformation

Transformations can be selected via a parts program or MDA. Please note the following No intermediate movement block is inserted (chamfer/radii). Spline block sequences must be excluded; if not, a message is displayed. Fine tool compensation must be deselected (FTOCOF); if not a message is displayed. Tool radius compensation must be deselected (G40); if not a message is displayed. The control adopts an activated tool length compensation into the transformation. The control deselects the current frame active before the transformation. The control deselects an active operating range limit for axes affected by the transformation (corresponds to WALIMOF). Protection zone monitoring is deselected. Continuous-path mode and smoothing are interrupted. DRF offsets in the axes involved in the transformation must not change between processing in preprocessing and in main run (SW 3 and earlier). All the axes specified in the machine data must be synchronized relative to a block. Axes that are exchanged are exchanged back; if not, a message is displayed. A message is output for dependent axes. Tool change A tool change is only permissible if tool radius compensation is deselected. A change of tool length compensation and a tool radius compensation selection/deselection must not be programmed in the same block.

7-302

11.02

Transformations

7.5 Constraints when selecting a transformation

840D NCU 572 NCU 573

810D

840Di

Frame change All instructions that only relate to the basic coordinate system are legal (frame, tool radius compensation). However, a frame change with G91 (incremental dimension) unlike with an inactive transformation is not handled separately. The increment to be traveled is evaluated in the workpiece coordinate system of the new frame regardless of which frame was effective in the previous block. Exclusions Axes affected by the transformation cannot be used as the preset axis (alarm) for approaching a checkpoint (alarm) for referencing (alarm).

7-303

Transformations

11.02

7.6 Deselect transformation: TRAFOOF

840 D NCU 572 NCU 573

810D

840Di

7.6

Deselect transformation: TRAFOOF Programming

TRAFOOF

Explanation of the commands TRAFOOF Disables all the active transformations/frames

Function
The TRAFOOF command disables all the active transformations and frames. Frames required after this must be activated by renewed programming. Please note the following: The same restrictions as for selection are applicable to deselecting the transformation (see previous section "Constraints when selecting a transformation").

7-304

11.02

Transformations

7.7 Chained transformations

840D NCU 572 NCU 573

810D

840Di

7.7

Chained transformations
As from SW 5, two transformations can always be enabled in succession (chained), so that the motion components for the axes from the first transformation are the input data for the chained second transformation. The motion components from the second transformation act on the machine axes. In SW 5, the chain can consist of two transformations. The second transformation must be "inclined axis" (TRAANG). Possible first transformations include: - orientation transformations (TRAORI), incl. universal milling head

- TRANSMIT - TRACYL - TRAANG.

Applications

- Grinding contours that have been programmed as

the surface line of a cylinder development (TRACYL) with an obliquely positioned grinding wheel, e.g. tool grinding.

- Finishing a contour generated with TRANSMIT that

is not round with an obliquely positioned grinding wheel.

It is a condition of using the activate command for a chained transformation that the individual transformations to be chained and the chained transformation to be activated are defined by the machine data. The constraints and special cases specified in the individual descriptions for the transformations must also be observed when they are used within a chain.

7-305

Transformations

11.02

7.7 Chained transformations

840 D NCU 572 NCU 573

810D

840Di

Additional notes Information on configuring the machine data of the transformations can be found in the descriptions of the functions: M1 and F2.

Machine manufacturer (MH7.1)

Take note of information provided by the machine manufacturer on any transformations predefined by the machine data. Transformations and chained transformations are options. The current catalog always provides information about the availability of specific transformations in the chain in specific controls. The commands available for chained transformations are: TRACON to activate and TRAFOOF to deactivate. Activate

Programming
TRACON(trf, par) This activates a chained transformation.

Explanation of the parameters

trf The number of the chained transformation: 0 or 1 for the first/only chained transformation. If nothing is programmed in this position, this means the same as specifying the value 0 or 1, i.e. the first/only transformation is activated. 2 for the second chained transformation. (values not equal to 02 generate an error alarm).

7-306

11.02

Transformations

7.7 Chained transformations

840D NCU 572 NCU 573

810D

840Di

par

one or more parameters separated by a comma for the transformations in the chain expecting parameters. For example, the angle of the inclined axis. If parameters are not set, the defaults or the parameters last used take effect. Commas must be used to ensure that the specified parameters are evaluated in the sequence in which they are expected, if defaults are to act for previous parameters. It is particularly important when specifying at least one parameter that this is preceded by a comma, even if it is not necessary to specify trf, thus for example TRACON( , 3.7).

Function
This activates the chained transformation. A previously activated other transformation is implicitly disabled by TRACON(). A tool is always assigned to the first transformation of a chain. The subsequent transformation then behaves as if the active tool length were zero. Only the base lengths of a tool (_BASE_TOOL_) set via machine data are active for the first transformation of the chain. Deactivate

Programming
TRAFOOF

Function
The command deactivates the last active (chained) transformation.

7-307

Transformations

11.02

7.8 Switchable geometry axes, GEOAX

840 D NCU 572 NCU 573

810D

840Di

7.8

Switchable geometry axes, GEOAX Programming

GEOAX(n,channel axis,n,channel axis,) GEOAX()

Explanation of the parameters

GEOAX(n,channel axis,n,channel axis,) GEOAX() n Switch the geometry axes. Call the basic configuration of the geometry axes Number of the geometry axis (n=1, 2 or 3) to be assigned to another channel axis. n=0: remove the specified channel axis from the geometry axis grouping without replacement. Name of the channel axis to be accepted into the geometry axis grouping.

Channel axis

Function
The "switchable geometry axes" function allows the geometry axis grouping configured via machine data to be modified from the parts program. A channel axis defined as a synchronized special axis can replace any geometry axis. Example: A tool carriage can be traversed over channel axes X1, Y1, Z1, Z2. In the parts program, axes Z1 and Z2 should be used alternately as geometry axis Z. GEOAX is used in the parts program to switch between the axes. After activation, the connection X1, Y1, Z1 is effective (adjustable via MD). N100 GEOAX (3,Z2) N110 G1 ..... N120 GEOAX (3,Z1)

Y Z

Channel axis Z2 functions as the Z axis Channel axis Z1 functions as the Z axis

7-308

11.02

Transformations

7.8 Switchable geometry axes, GEOAX

840D NCU 572 NCU 573

810D

840Di

Sequence
Geometry axis number In the command GEOAX(n,channel axis...) the number n designates the geometry axis to which the subsequently specified channel axis is to be assigned. Geometry axis numbers 1 to 3 (X, Y, Z axis) are permissible for loading a channel axis. n = 0 removes an assigned channel axis from the geometry axis grouping without reassigning the geometry axis. After the transition, an axis replaced by switching in the geometry axis grouping is programmable as a special axis via its channel name. Switching over the geometry axes deletes all the frames, protection zones and operating range limits. Polar coordinates: As with a change of plane (G17G19), replacing geometry axes with GEOAX sets the modal polar coordinates to the value 0. DRF, ZO: Any existing handwheel offset (DRF) or an external zero offset, will stay active after the switchover. Exchange axis positions It is also possible to change positions within the geometry axis grouping by reassigning the axis numbers to already assigned channel axes. N... GEOAX (1, XX, 2, YY, 3, ZZ) N... GEOAX (1, U, 2, V, 3, W) Channel axis XX is the first, YY the second and ZZ the third geometry axis, Channel axis U is the first, V the second and W the third geometry axis.

7-309

Transformations

11.02

7.8 Switchable geometry axes, GEOAX

840 D NCU 572 NCU 573

810D

840Di

Prerequisites and restrictions 1. It is not possible to switch the geometry axes over during: - an active transformation, - an active spline interpolation, - an active tool radius compensation, - an active fine tool compensation 2. If the geometry axis and the channel axis have the same name, it is not possible to change the particular geometry axis. 3. None of the axes involved in the switchover can be involved in an action that might persist beyond the block limits, as is the case, for example, with positioning axes of type A or with following axes. 4. The GEOAX command can only be used to replace geometry axes that already existed at power ON (i.e. no newly defined ones). 5. Using GEOAX for axis replacement while preparing the contour table (CONTPRON, CONTDCON) produces an alarm. Deactivating switchover The command GEOAX() calls the basic configuration of the geometry axis grouping. After POWER ON and when switching over to reference point approach mode, the basic configuration is reset automatically.

(Programming Guide Fundamentals: Chapter 8) (Programming Guide Fundamentals: Chapter 8)

Additional notes
Transition and tool length compensation An active tool length compensation is also effective after the transition. However, for the newly adopted or repositioned geometry axes, it counts as not retracted. So accordingly, at the first motion command for these geometry axes, the resultant travel path comprises the sum of the tool length compensation and the programmed travel path.

7-310

11.02

Transformations

7.8 Switchable geometry axes, GEOAX

840D NCU 572 NCU 573

810D

840Di

Geometry axes that retain their position in the axis grouping during a switchover, also keep their status with regard to tool length compensation. Geometry axis configuration and transformation change The geometry axis configuration applicable in an active transformation (defined via the machine data) cannot be modified by using the "switchable geometry axes" function. If it is necessary to change the geometry axis configuration in connection with transformations, this is only possible via an additional transformation. A geometry axis configuration modified via GEOAX is deleted by activating a transformation. If the machine data settings for the transformation and for switching over the geometry axes contradict one another, the settings in the transformation take precedence. Example: A transformation is active. According to the machine data, the transformation should be retained during a RESET, however, at the same time, a RESET should produce the basic configuration of the geometry axes. In this case, the geometry axis configuration is retained as specified by the transformation.

7-311

Transformations

11.02

7.8 Switchable geometry axes, GEOAX

840 D NCU 572 NCU 573

810D

840Di

Programming example
A machine has six channel axes called XX, YY, ZZ, U, V ,W. The basic setting of the geometry axis configuration via the machine data is: Channel axis XX = 1st geometry axis (X axis) Channel axis YY = 2nd geometry axis (Y axis) Channel axis ZZ = 3rd geometry axis (Z axis)
N10 N20 N30 N40 GEOAX() G0 X0 Y0 Z0 U0 V0 W0 GEOAX(1,U,2,V,3,W) GEOAX(1,XX,3,ZZ)

The basic configuration of the geometry axes is effective. All the axes in rapid traverse to position 0. Channel axis U becomes the first (X), V the second (Y), W the third geometry axis (Z). Channel axis XX becomes the first (X), ZZ the third geometry axis (Z). Channel axis V stays as the second geometry axis (Y). Full circle in the X, Y plane. Channel axes XX and V traverse Channel axis W becomes the second geometry axis (Y). Full circle in the X, Y plane. Channel axes XX and W traverse. Reset to initial state Channel axis U becomes the first (X), V the second (Y), W the third geometry axis (Z). Channel axes U, V, W each traverse to position 10, XX as the special axis traverses to position 25. V is removed from the geometry axis grouping. U and W are still the first (X) and third geometry axis (Z). The second geometry axis (Y) remains unassigned. Channel axis U stays the first (X), V becomes the second (Y), W stays the third geometry axis (Z). V becomes the third geometry axis (Z), which overwrites W and thus removes it from the geometry axis grouping. The second geometry axis (Y) is still unassigned. n

N50 N60 N80 N90 N100 N110 N120

G17 G2 X20 I10 F1000 GEOAX(2,W) G17 G2 X20 I10 F1000 GEOAX() GEOAX(1,U,2,V,3,W) G1 X10 Y10 Z10 XX=25 GEOAX(0,V)

N130 N140

GEOAX(1,U,2,V,3,W) GEOAX(3,V)

7-312

11.02

Tool Offsets

Tool Offsets
8.1 8.2 8.3 8.4 8.5 8.6 Offset memory............................................................................................................... 8-314 Language commands for tool management ................................................................. 8-316 Online tool offset PUTFTOCF, PUTFTOC, FTOCON, FTOCOF ................................. 8-319 Maintain tool radius compensation at constant level, CUTCONON (SW 4 and higher) ......................................................................................................... 8-325 Activate 3D tool offsets ................................................................................................. 8-328 Tool orientation.............................................................................................................. 8-336

8.7 Free assignment of D numbers, cutting edge number CE (SW 5 and higher) ............. 8-341 8.7.1 Check D numbers (CHKDNO) ............................................................................... 8-342 8.7.2 Renaming D numbers (GETDNO, SETDNO) ........................................................ 8-343 8.7.3 T numbers for the specified D number (GETACTTD) ........................................... 8-344 8.7.4 Set final D numbers to invalid ................................................................................ 8-345 8.8 Toolholder kinematics ................................................................................................... 8-346

8-313

Tool Offsets

11.02

8.1 Offset memory

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

8.1

Offset memory
Structure of the offset memory Every data field can be invoked with a T and D number (except "Flat D No."); in addition to the geometrical data for the tool, it contains other information such as the tool type. SW 4 and higher The "Flat D No. structure" is used if tool management takes place outside the NCK. In this case, the D numbers are generated with the associated tool offset blocks without being assigned to tools. You can still program in the parts program using T. However, this T does not relate to the programmed D number. Several entries exist for the geometric variables (e.g. length 1 or radius). These are added together to produce a value (e.g. total length 1, total radius) which is then used for the calculations. Offset values not required must be assigned the value zero. The individual values of the offset memories P1 to P25 can be read from and written to the program via system variable.

8-314

11.02

Tool Offsets

8.1 Offset memory

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Tool parameters Number (DP) $TC_DP 1 $TC_DP 2 Geometry $TC_DP 3 $TC_DP 4 $TC_DP 5 Geometry $TC_DP 6 $TC_DP 7 $TC_DP 8 $TC_DP 11 Wear $TC_DP 12 $TC_DP 13 $TC_DP 14 $TC_DP 15 $TC_DP 16 $TC_DP 17 $TC_DP 20 Base dimensions/ adapter $TC_DP 21 $TC_DP 22 $TC_DP 23 Technology $TC_DP 24

Meaning Tool type Tool point direction Tool length compensation Length 1 Length 2 Length 3 Radius Radius Slot width b for slotting saw, rounding radius for milling tools Overhang k Angle for cone milling tools Tool length and radius compensation Length 1 Length 2 Length 3 Radius Slot width b for slotting saw, rounding radius for milling tools Overhang k Angle for cone milling tools Tool length compensation Length 1 Length 2 Length 3 Clearance angle

Comment For overview see list For turning tools only Calculation depending on type and plane

For slotting saw only

For turning tools

Additional notes
All other parameters are reserved.

Machine manufacturer
User cutting edge data can be configured via MD.

8-315

Tool Offsets

11.02

8.2 Language commands for tool management

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

8.2

Language commands for tool management Explanation of the commands

8.3

Online tool offset PUTFTOCF, PUTFTOC, FTOCON, FTOCOF Programming:

FCTDEF(Polynomial no., LLimit, ULimit,a0,a1,a2,a3) PUTFTOCF(Polynomial No., Ref_value, Length1_2_3, Channel, Spindle) PUTFTOC(Value, Length1_2_3, Channel, Spindle) FTOCON FTOCOF

Explanation of the commands

PUTFTOCF FCTDEF PUTFTOC FTOCON FTOCOF Write online tool offsets continuously Define parameters for PUTFTOCF function Write online tool offsets discretely Activate online tool offsets Deactivate online tool offsets

Explanation of the parameters

Polynomial_No. Ref_value Length1_2_3 Channel Spindle LLimit ULimit a0,a1,a2,a3 Value Values 1-3: A maximum of three polynomials can be programmed at the same time; polynomials up to 3rd degree Reference value from which the offset is derived Wear parameter into which the tool offset value is added Number of channel in which the tool offset is activated; specified only if the channel is different to the present one Number of the spindle on which the online tool offset acts; only needs to be specified for inactive grinding wheels Lower limit Upper limit Coefficients of polynomial function Value added in the wear parameter

8-319

Tool Offsets

11.02

8.3 Online tool offset PUTFTOCF, PUTFTOC, FTOCON, FTOCOF

Programming example
Task On a surface grinding machine with the following parameters, the grinding wheel is to be dressed by the amount 0.05 after the start of the grinding movement at X100. The dressing amount is to be active with write online offset continuously. Y: Infeed axis for the grinding wheel V: Infeed axis for the dresser roll

Dressing roll

0.05

Grinding wheel

Workpiece

Machine: Channel 1 with axes X, Z, Y Dress: Channel 2 with axis V Machining program in channel 1: %_N_MACH_MPF N110 G1 G18 F10 G90 N120 T1 D1 N130 S100 M3 X100 N140 INIT (2, "DRESS", "S") N150 START (2) N160 X200 N170 FTOCON N G1 X100 NM30 Dressing program in channel 2: %_N_DRESS_MPF Basic position Select current tool

X 100

Spindle on, travel to starting position Select dressing program on channel 2 Start dressing program on channel 2 Travel to destination position Activate online offset Continue machining

N40 FCTDEF (1, 1000, 1000, $AA_IW[V], 1) Define function: Straight line N50 PUTFTOCF (1, $AA_IW[V], 3, 1) Write online offset continuously: Length 3 of the current grinding wheel is derived from the movement of the V axis and corrected in channel 1. N60 V0.05 G1 F0.01 G91 N M30 Infeed movement for dressing, PUTFTOCF is only effective in this block

8-323

Tool Offsets

11.02

8.3 Online tool offset PUTFTOCF, PUTFTOC, FTOCON, FTOCOF

840D NCU 572 NCU 573

840Di

Dressing program, modal: %_N_DRESS_MPF FCTDEF(1,-1000,1000,-$AA_IW[V],1) ID=1 DO FTOC(1,$AA_IW[V],3,1) Define function: Select online tool offset: Actual value of the V axis is the input value for polynomial 1; the result is added length 3 of the active grinding wheel in channel 1 as the offset value. Synchronization with machining channel Infeed movement for dressing

WAITM(1,1,2) G1 V-0.05 F0.01, G91 G1 V-0.05 F0.02 ... CANCEL(1) ...

Deselect online offset

8-324

11.02

Tool Offsets

8.4 Maintain tool radius compensation at constant level, CUTCONON

840D NCU 572 NCU 573

840Di

8.4

Maintain tool radius compensation at constant level, CUTCONON (SW 4 and higher) Programming:
CUTCONON CUTCONOF

Explanation
CUTCONON CUTCONOF Activate the tool radius compensation constant function Deactivate the constant function (default setting)

Function
The "tool radius compensation constant" function is used to suppress the tool radius compensation for a number of blocks while retaining the difference between the programmed and actual path of the tool center point accumulated in previous blocks as an offset. This can be practical, for example, if several motion blocks are required at the reversal points during lineby-line milling but the contours (bypass strategies) generated by the tool radius compensation are not desirable. It can be used according to the type of tool radius 1 compensation (2 /2D, 3D face milling, 3D circumferential milling).

Sequence
Tool radius compensation is normally active before the compensation suppression and is still active when the compensation suppression is deactivated again. The offset point at the end of block position is approached in the last motion block before CUTCONON. All following blocks in which the compensation suppression is active are executed without compensation.

8-325

Tool Offsets

11.02

8.4 Maintain tool radius compensation at constant level, CUTCONON

840D NCU 572 NCU 573

840Di

They are displaced, however, by the vector from the end point of the last compensation block to its offset point. The interpolation type of these blocks (linear, circular, polynomial) is arbitrary. The deactivation block of the compensation suppression, i.e. the block containing CUTCONOF, is usually corrected; it begins at the offset point of the start point. A linear block is inserted between this point and the end point of the previous block, i.e. the last programmed motion block with active CUTCONON. Circle blocks in which the circle plane is perpendicular to the compensation plane (vertical circles) are treated as if CUTCONON had been programmed in the blocks. This implicit activation of compensation suppression is automatically canceled in the first motion block which is not a circle of this type but which contains a traversing movement in the compensation plane. Vertical circles of this type can only occur with circumferential milling.

Example
N10 ; ; ;

Definition of tool d1 Type Radius

N20 $TC_DP1[1,1]= 110 N30 $TC_DP6[1,1]= 10. N40

N50 X0 Y0 Z0 G1 G17 T1 D1 F10000 N60 N70 X20 G42 NORM N80 X30 N90 Y20 N100 X10 CUTCONON; N110 Y30 CONT ;

Activate compensation suppression Insert bypass circle if necessary on deactivation of contour suppression No bypass circle on deactivation of TRC

N120 X-10 CUTCONOF N130 Y20 NORM N140 X0 Y0 G40 N150 M30 ;

8-326

11.02

Tool Offsets

8.4 Maintain tool radius compensation at constant level, CUTCONON

840D NCU 572 NCU 573

840Di

Y Contour without TRC

N120 N110 Contour with TRC N130 N100

N90 N140

N70 -10

N80

Additional notes
1. CUTCONON has no effect if tool radius compensation is not active (G40). An alarm is output. The G code remains active, however. This is significant if tool radius compensation is to be activated in a subsequent block with G41 or G42. 2. It is possible to change the G code in the 7th G code group (tool radius compensation; G40 / G41 / G42) when CUTCONON is active. A change to G40 is effective immediately. The offset with which the previous blocks were traversed is applied. 3. If CUTCONON or CUTCONOF is programmed in a block without a traversing movement in the active compensation plane, the change does not become effective until the next block with such a traversing movement. Further information: /FB/, W1 Tool Offset

8-327

Tool Offsets

11.02

8.5 Activate 3D tool offsets

840D NCU 572 NCU 573

840Di

8.5

Activate 3D tool offsets Explanation

CUT3DC CUT3DFS CUT3DFF Activation of 3D radius offset for circumferential milling 3D tool offset for face milling with constant orientation. The tool orientation is determined by G17-G19 and is not influenced by Frames. 3D tool offset for face milling with constant orientation. The tool orientation is the direction determined by G17-G19 and possibly turned by a Frame. 3D tool offset for face milling with orientation change (only with active 5-axes transformation). To deactivate: Linear block G0/G1 with geometry axes Insertion depth

CUT3DF G40 X Y Z ISD=Value

The commands are modal and are in the same group as CUT2D and CUT2DF. The command is not deselected until the next movement in the current plane is performed. This always applies to G40 and is independent of the CUT command.

Function
Tool orientation change is taken into account in tool radius compensation for cylindrical tools. The same programming commands apply to 3D tool radius compensation as to 2D tool radius compensation. With G41/G42, the left/right-hand compensation is specified in the direction of movement. The approach method is always NORM.

8-328

11.02

Tool Offsets

8.5 Activate 3D tool offsets

840D NCU 572 NCU 573

840Di

Example
N10 A0 B0 X0 Y0 Z0 F5000 N20 T1 D1 N30 TRAORI(1) N40 CUT3DC N50 G42 X10 Y10 N60 X60 N70 Tool call, call tool offset values Transformation selection 3D tool radius compensation selection Tool radius compensation selection

Additional notes
Intermediate blocks are permitted with 3D tool radius compensation. The rules for 2 D tool radius compensation apply. 3D tool radius compensation is only active when five-axis transformation is selected. A circle block is always inserted at outside corners. G450/G451 have no effect. The DISC command is ignored.

8-329

Tool Offsets

11.02

8.5 Activate 3D tool offsets

840D NCU 572 NCU 573

840Di

Difference between 2 D and 3D tool radius compensation In 3D tool radius compensation tool orientation can be changed. 2 D tool radius compensation assumes the use of a tool with constant orientation.

Workpiece contour

Path of tool center point equidistant from contour

3D tool radius compensation is also called 5D tool radius compensation, because in this case 5 degrees of freedom are available for the orientation of the tool in space.

Circumferential milling The type of milling used here is implemented by defining a path (guide line) and the corresponding orientation. In this type of machining, the shape of the tool on the path is not relevant. The only deciding factor is the radius at the tool insertion point. The 3D TRC function is limited to cylindrical tools.

ISD

Circumferential milling A B

8-330

11.02

Tool Offsets

8.5 Activate 3D tool offsets

840D NCU 572 NCU 573

840Di

Face milling For this type of 3D milling, you require line-by-line definition of 3D paths on the workpiece surface. The tool shape and dimensions are taken into account in the calculations that are normally performed in CAM. In addition to the NC blocks, the postprocessor writes the tool orientations (when five-axis transformation is active) and the G code for the desired 3D tool offset into the parts program. This feature offers the machine operator the option of using slightly smaller tools than that used to calculate the NC paths. Example: NC blocks have been calculated with a 10mm mill. In this case, the workpiece could also be machined with a mill diameter of 9.9mm, although this would result in a different surface profile.

8-331

Tool Offsets

11.02

8.5 Activate 3D tool offsets

840D NCU 572 NCU 573

840Di

Mill shapes, tool data The table below gives an overview of the tool shapes which may be used in face milling operations as well as tool data limit values. The shape of the tool shaft is not taken into consideration the tools 120 and 155 are identical in their effect. If a different type number is used in the NC program than the one listed in the table, the system automatically uses tool type 110 die-sinking cutter. An alarm is output if the tool data limit values are violated.

Cylindr. die-sinking cutter (type 110)

r
Ball end mill (type 111)

a R

R
r
End mill (type 120, 130)

R
Truncated cone mill (type 155)

End mill with corner round. (type 121, 131)

Milling tool type Cylindrical miller Ball end mill End mill, angle head cutter End mill, angle head cutter with corner rounding Truncated cone mill X=is not evaluated

Type No. 110 111 120, 130 121, 131 155

R >0 >0 >0 >r >0

r X >R X >0 X

a X X X X >0

Tool length compensation The tool tip is the reference point for length compensation (intersection longitudinal axis/surface).

8-332

11.02

Tool Offsets

8.5 Activate 3D tool offsets

840D NCU 572 NCU 573

840Di

3D tool offset, tool change A new tool with changed dimensions (R, r, a) or a different shape may be specified only through programming G41 or G42 (transition G40 to G41 or G42, reprogramming of G41 of G42). This rule does not apply to any other tool data, e.g. tool lengths, so that tools to which such data apply can be fitted without reprogramming G41 or G42. Correction of the path With respect to face milling, it is advisable to examine what happens when the contact point "jumps" on the tool surface as shown in the example on the right where a convex surface is being machined with a vertically positioned tool. As a general rule, it is advisable to select a tool shape and tool orientation that are suitable for producing the required surface profile. The application shown in the example should therefore be regarded as a borderline case. This borderline case is monitored by the control that detects abrupt changes in the machining point on the basis of angular approach motions between the tool and normal surface vectors. The control inserts linear blocks at these positions so that the motion can be executed. These linear blocks are calculated on the basis of permissible angular ranges for the side angle stored in the machine data. The system outputs an alarm if the limit values stored in the machine data are violated.

Single point

8-333

Tool Offsets

11.02

8.5 Activate 3D tool offsets

840D NCU 572 NCU 573

840Di

Path curvature Path curvature is not monitored. In such cases, it is also advisable to use only tools of a type that do not violate the contour. Insertion depth (ISD) Program command ISD (insertion depth) is used to program the tool insertion depth for peripheral milling operations. This makes it possible to change the position of the machining point on the outer surface of the tool. ISD specifies the distance between the cutter tip (FS) and the cutter reference point (FH). The point FH is produced by projecting the programmed machining point along the tool axis. ISD is only evaluated when 3D tool radius compensation is active.
FH

Inside corners/outside corners Inside and outside corners are handled separately. The term inside or outside corner depends on the tool orientation. When changes occur in the orientation at a corner, the corner type can change during machining. If this happens, machining stops and an error message is generated.

Direction of machining

8-334

ISD

11.02

Tool Offsets

8.5 Activate 3D tool offsets

840D NCU 572 NCU 573

840Di

Intersection procedure for 3D compensation (SW 5 and higher) With 3D circumferential milling, G code G450/G451 is now evaluated at the outside corners; this means that the intersection of the offset curves can be approached. With SW 4 a circle was always inserted at the outside corners. The new functionality is particularly advantageous for typical CAD-generated 3D programs. They often consist of short straight blocks (to approximate smooth curves), where the transitions are almost tangential between adjacent blocks. Up to now, with tool radius compensation on the outside of the contour, circles were generally inserted to circumnavigate the outside corners. These blocks can be very short with almost tangential transitions, resulting in undesired drops in velocity. In these cases, as with 2 D radius compensation, both of the curves involved are lengthened and the intersection of both lengthened curves is approached. The intersection is determined by extending the offset curves of both blocks and defining their intersection a the corner in the plane perpendicular to the tool orientation. If there is no such intersection, the corner is handled as previously, that is, a circle is inserted. For more information about intersection procedure, see /FB/ W5, 3D Tool Radius Compensation

8-335

Tool Offsets

11.02

8.6 Tool orientation

840D NCU 572 NCU 573

840Di

8.6

Tool orientation
Tool orientation is the term given to the geometrical alignment of the tool in space. On a 5-axis machine tool, the tool orientation can be controlled with program commands.
Direction vector Z

X Y

Programming tool orientation A change in tool orientation can be programmed by: Direct programming of the rotary axes Euler or RPY angle Direction vector LEAD/TILT (face milling) The reference coordinate system is either the machine coordinate system (ORIMCS) or the current workpiece coordinate system (ORIWCS). A change in orientation can be controlled by the following: ORIC ORID OSOF OSC OSS OSSE ORIS Orientation and path movement in parallel Orientation and path movement consecutively No orientation smoothing Orientation constantly Orientation smoothing only at beginning of block Orientation smoothing at beginning and end of block Speed of orientation change with active orientation smoothing in degrees per mm; valid for OSS and OSSE
Change in orientation

8-336

11.02

Tool Offsets

8.6 Tool orientation

840D NCU 572 NCU 573

840Di

Behavior at outside corners A circle block with the radius of the cutter is always inserted at an outside corner. The program commands ORIC and ORID can be used to define whether changes in orientation programmed between blocks N1 and N2 are executed before the beginning of the inserted circle block or at the same time.

A circle block is inserted between block N1 and N2

If an orientation change is required at outside corners, this can be performed either at the same time as interpolation or separately together with the path movement. With ORID, the inserted blocks are executed initially without a path movement. The circle block generating the corner is inserted immediately before the second of the two traversing blocks. If several orientation blocks are inserted at an external corner and ORIC is selected, the circular movement is divided among the individual inserted blocks according to the values of the orientation changes.

8-337

Tool Offsets

11.02

8.6 Tool orientation

840D NCU 572 NCU 573

840Di

Programming example for ORIC

If two or more blocks with orientation changes (e.g. A2= B2= C2=) are programmed between traversing blocks N10 and N20 and ORIC is active, the inserted circle block is divided among these intermediate blocks according to the values of the angle changes.
N14 N12 N20

N10

ORIC N8 A2= B2= C2= N10 X Y Z N12 C2= B2= N14 C2= B2= The circle block inserted at the external corner is divided among N12 and N14 in accordance with the change in orientation. The circular movement and the orientation change are executed in parallel.

N20 X =Y= Z= G1 F200

8-338

11.02

Tool Offsets

8.6 Tool orientation

840D NCU 572 NCU 573

840Di

Programming example for ORID

If ORID is active, all the blocks between the two traversing blocks are executed at the end of the first traversing block. The circle block with constant orientation is executed immediately before the second traversing block.
Execute N12 and N14 N20

N10

ORID N8 A2= B2= C2= N10 X Y Z N12 A2= B2= C2= Blocks N12 and N14 are executed at the end of N10. The circle block with the current orientation is subsequently traversed. Auxiliary functions, etc.

N14 M20 N20 X Y Z The program command which is active in the first traversing block of an external corner determines the type of orientation change.

8-339

Tool Offsets

11.02

8.6 Tool orientation

840D NCU 572 NCU 573

840Di

Without orientation change If the orientation is not changed at the block boundary, the cross-section of the tool is a circle which touches both of the contours.

Programming example
Change the orientation at an internal corner

N12 N10 TRC

N15

ORIC N10 X Y Z G1 F500 N12 X Y Z A2= B2=, C2= N15 X Y Z A2 B2 C2

8-340

11.02

Tool Offsets

8.7 Free assignment of D numbers, cutting edge number CE

840D NCU 572 NCU 573

840Di

8.7

Free assignment of D numbers, cutting edge number CE (SW 5 and higher)

As of SW 5, you can use the D numbers as contour numbers. You can also address the number of the cutting edge via the address CE. You can use the system parameter $TC_DPCE to describe the cutting edge number. Preset: Offset No. == Cutting edge No. References: FB, W1 (Tool Offset)

Machine manufacturer (MH 8.12)

The maximum number of D numbers (cutting edge numbers) and maximum number of cutting edges per tool are defined via the machine data. The following commands only make sense when the maximum number of cutting edges (MD 18105) is greater than the number of cutting edges per tool (MD 18106). Please refer to the data of the machine tool manufacturer.

Additional notes
Besides the relative D number, you can also assign D numbers al 'flat' or 'absolute' D numbers (132000) without assigning a reference to a T number (inside the function 'flat D number structure').

8-341

Tool Offsets

11.02

8.7 Free assignment of D numbers, cutting edge number CE

840D NCU 572 NCU 573

840Di

8.7.1 Check D numbers (CHKDNO) Programming:

state=CHKDNO(Tno1,Tno2,Dno)

Explanation of the parameters

state TRUE: FALSE: The D numbers are assigned uniquely to the checked areas. There was a D number collision or the parameters are invalid. Tno1, Tno2 and Dno return the parameters that caused the collision. These data can now be evaluated in the parts program.

CHKDNO(Tno1,Tno2) CHKDNO(Tno1) CHKDNO

All D numbers of the part specified are checked. All D numbers of Tno1 are checked against all other tools. All D numbers of all tools are checked against all other tools.

Function
CKKDNO checks whether the available D numbers assigned are unique. The D numbers of all tools defined in a TO unit must only be present once. Replacement tools are not considered.

8-342

11.02

Tool Offsets

8.7 Free assignment of D numbers, cutting edge number CE

840D NCU 572 NCU 573

840Di

8.7.2 Renaming D numbers (GETDNO, SETDNO) Programming:

d = GETDNO(t,ce) state = SETDNO(t,ce,d)

Explanation of the parameters

d t ce state D number of the cutting edge of the tool T number of the tool Cutting edge number (CE number) of the tool Indicates whether the command could be executed (TRUE or FALSE).

Function
GETDNO This command returns the D number of a particular cutting edge (ce) of a tool with tool number t. If there is no D number for the specified parameters, d is set to 0. If the D number is invalid, a value greater than 32000 is returned. SETDNO This commands assigns the value d of the D number to a cutting edge ce of tool t. The result of this statement is returned via state (TRUE or FALSE) If there is no data block for the specified parameter, the value FALSE is returned. Syntax errors produce an alarm. The D number cannot be set to 0 explicitly. Example: (renaming a D number) $TC_DP2[1,2] = 120 $TC_DP3[1,2] = 5.5 $TC_DPCE[1,2] = 3; cutting edge number CE ... N10 def int DNoOld, DNoNew = 17 N20 DNoOld = GETDNO(1,3) N30 SETDNO(1,3,DNoNew)

8-343

Tool Offsets

11.02

8.7 Free assignment of D numbers, cutting edge number CE

840D NCU 572 NCU 573

840Di

This assigns cutting edge CE=3 the new D value 17. Now, these data for the cutting edge are addressed via D-number 17; both via the system parameters and in the programming with the NC address.

Additional notes
You must assign unique D numbers. Two different cutting edges of a tool must not have the same D number.

8.7.3 T numbers for the specified D number (GETACTTD) Programming:

status = GETACTTD(Tno, Dno)

Explanation of the parameters

Dno Tno status D number to be looked for for the T number. T number found 0: The T number was found. Tno contains the value of the T number. -1: The specified D number does not have a T number; Tno=0. -2: The D number is not absolute. Tno contains the value of the first tool found that contains the D number with the value Dno. -5: Unable to perform the function for another reason.

Function
For an absolute D number, GETACTTD determines the associated T number. There is not check for uniqueness. If there are several identical D numbers within a TO unit, the T number of the first tool found is returned. If 'flat' D numbers are used, it does not make sense to use the command because the value 1 is always returned (no T number in database).

8-344

11.02

Tool Offsets

8.7 Free assignment of D numbers, cutting edge number CE

840D NCU 572 NCU 573

840Di

8.7.4 Set final D numbers to invalid Programming:

DZERO

Explanation
DZERO Marks all D number of the TO unit as invalid

Function
The command is used for support during upgrading. Offset block marked in this way are no longer checked by the language command CHKDNO. To regain access, you must set the D number to SETDNO again

8-345

Tool Offsets

11.02

8.8 Toolholder kinematics

840D NCU 572 NCU 573

840Di

8.8

Toolholder kinematics
The toolholder kinematics with up to two rotary axes is programmed by means of 17 system variables $TC_CARR1[m] to $TC_CARR17[m]. The description of the toolholder consists of: The vectorial distance between the first rotary axis and the toolholder reference point l1, the vectorial distance between the first and the second rotary axis l2, the vectorial distance between the second rotary axis and the tool reference point l3. The reference vectors of both rotary axes v1, v2. The rotation angles 1, 2 around both axes. The rotation angles are counted in viewing direction of the rotary axis vectors, positive, in clockwise direction of rotation. Resolved kinematics as of SW 5.3 For machines with resolved kinematics (both the tool and the part can rotate), the system variables have been extended to include the entries $TC_CARR18[m] to $TC_CARR23[m] are described as follows: The rotatable tool table consisting of: The vector distance between the second rotary axis v2 and the reference point of a rotatable tool table l4 of the third rotary axis. The rotary axes consisting of: The two channel identifiers for the reference to the rotary axes v1 and v2. These positions are accessed as required to determine the orientation of the orientable toolholder. The type of kinematics with one of the values T, P or M: Type of kinematics T: Only tool can rotate. Type of kinematics P: Only part can rotate. Type of kinematics M: Tool and part can rotate.
V2 2 l3 V1 1 l2

8-346

11.02

Tool Offsets

8.8 Toolholder kinematics

840D NCU 572 NCU 573

840Di

Function of the system parameter for orientable toolholders

Designation l1 offset vector l2 offset vector v1 rotary axis v2 rotary axis 1 rotation angle 2 rotation angle l3 offset vector l4 offset vector Axis identifier for rotary axis v1 for rotary axis v2 Type of kinematics Default T Offset for rotary axis v1 rotary axis v2 Angle offset for rotary axis v1 rotary axis v2 Angle increment v1 rotary axis v2 rotary axis x components $TC_CARR1[m] $TC_CARR4[m] $TC_CARR7[m] $TC_CARR10[m] $TC_CARR13[m] $TC_CARR14[m] $TC_CARR15[m] $TC_CARR18[m] $TC_CARR16[m] $TC_CARR19[m] $TC_CARR17[m] $TC_CARR20[m] y components $TC_CARR2[m] $TC_CARR5[m] $TC_CARR8[m] $TC_CARR11[m] z components $TC_CARR3[m] $TC_CARR6[m] $TC_CARR9[m] $TC_CARR12[m]

Axis identifier for rotary axes v1 and v2 (default is zero) $TC_CARR21[m] $TC_CARR22[m] $TC_CARR23[m] Type of kinematics T Only the Tool can be rotated Type of kinematics P Only the Part can be rotated Type of Kinematics M Part and tool Mixed mode can be rotated

Angle in degrees of rotary axes v1 and v2 when assuming the initial setting $TC_CARR24[m] $TC_CARR25[m] Offset of Hirth tooth system in degrees for rotary axes v1 and v2 $TC_CARR26[m] $TC_CARR27[m] Increment of Hirth tooth system in degrees for rotary axes v1 and v2 $TC_CARR28[m] $TC_CARR29[m]

Minimum position Software limit for minimum position for rotary axes v1 and v2 rotary axis v1 $TC_CARR30[m] $TC_CARR31[m] rotary axis v2 Maximum position rotary axis v1 rotary axis v2 Software limits for maximum position for rotary axes v1 and v2 $TC_CARR32[m] $TC_CARR33[m]

8-347

Tool Offsets

11.02

8.8 Toolholder kinematics

840D NCU 572 NCU 573

840Di

Parameters of the rotary axes from SW 6.1 The system variables are extended by the entries $TC_CARR24[m] to $TC_CARR33[m] and described as follows: The offset of the rotary axes Changing the position of rotary axis v1 or v2 during initial setting of the orientable toolholder. The angle offset/angle increment of the rotary axes Offset or angle increment of Hirth tooth system of rotary axes v1 and v2. Programmed or calculated angle is rounded up to the next value that results from phi = s + n * d when n is an integer. The minimum position/maximum position of the rotary axis Limit angle (software limit) for rotary axis v1 and v2.

Additional notes
The number of the respective toolholder to be programmed is specified with "m. The start/endpoints of the distance vectors on the axes can be freely selected. The rotation angles 1, 2 around the two axes are defined in the initial state of the toolholder by 0. In this way, the kinematics of a toolholder can be programmed for any number of possibilities. Toolholders with only one or no rotary axis at all can be described by setting the direction vectors of one or both rotary axes to zero. With a toolholder without rotary axis the distance vectors act as additional tool offsets whose components cannot be affected by a change of machining plane (G17 to G19).

8-348

11.02

Tool Offsets

8.8 Toolholder kinematics

840D NCU 572 NCU 573

840Di

Clearing the toolholder data The data of all toolholder data sets is cleared via $TC_CARR1[0] = 0. SW 5.3 and higher The type of kinematics $TC_CARR23[T] = T must be assigned one of the three permissible uppercase or lowercase letter (T,P,M) and should not be deleted. Changing the toolholder data Each of the described values can be modified by assigning a new value in the parts program. Any character other than T, P or M causes an alarm when you attempt to activate the orientable toolholder. Reading the toolholder data Each of the described values can be read by assigning it to a variable in the parts program. Supplementary conditions A toolholder can only orientate a tool in every possible direction in space if - two rotary axes v1 and v2 are available. - the rotary axes are positioned perpendicular to one another. - the tool length axis is perpendicular to the second rotary axis v2. SW 5.3 and higher In addition, the following requirement is applicable to machines for which all possible orientations have to be settable: - Tool orientation must be perpendicular to the first rotary axis v1.

8-349

Tool Offsets

11.02

8.8 Toolholder kinematics

840D NCU 572 NCU 573

840Di

Programming example
The toolholder used in the following example can be fully described by a rotation around the Y axis.
z z Y Z X Y X X X Z Y

N10 $TC_CARR8[1]=1 N20 $TC_DP1[1,1]=120 N30 $TC_DP3[1,1]=20 N40 $TC_DP6[1,1]=5 N50 ROT Y37 N60 X0 Y0 Z0 F10000 N70 G42 CUT2DF TCOFR TCARR=1 T1 D1 X10

Definition of the Y components of the first rotary axis of toolholder 1 Definition of an end mill with length 20mm and with radius 5mm Frame definition with 37 rotation around the Y axis Approach initial position Set radius compensation, tool length compensation in rotated frame, select toolholder 1, tool 1 Execute machining under a 37 rotation

N80 X40 N90 Y40 N100 X0 N110 Y0 N120 M30

8-350

11.02

Path Traversing Behavior

9.1 9.2 9.3 9.4 9.5 9.6 9.7 Tangential control TANG, TANGON, TANGOF, TANGDEL ......................................... 9-352 Coupled motion TRAILON, TRAILOF ........................................................................... 9-358 Curve tables, CTABDEF, CTABEND, CTABDEL, CTAB, CTABINV, CTABSSV, CTABSEV...................................................................................................................... 9-362 Axial leading value coupling, LEADON, LEADOF......................................................... 9-375 Feed characteristic, FNORM, FLIN, FCUB, FPO.......................................................... 9-381 Program run with preprocessing memory, STARTFIFO, STOPFIFO, STOPRE .......... 9-386 Repositioning on contour, REPOSA, REPOSL, REPOSQ, REPOSH .......................... 9-388

9-351

Path Traversing Behavior

11.02

9.1 Tangential control TANG, TANGON, TANGOF, TANGDEL

840D NCU 572 NCU 573

810D

840Di

9.1

Tangential control TANG, TANGON, TANGOF, TANGDEL

Programming
TANG (FAxisF,LAxis1,LAxis2,Coupling,CS) TANGON (FAxis,Angle) TANGOF (FAxis) TLIFT (FAxis) TANGDEL (FAxis)

Explanation of the commands

TANG TANGON TANGOF TLIFT TANGDEL Preparatory instruction for the definition of a tangential follow-up Activate tangential control specifying following axis and offset angle Deactivate tangential control specifying following axis Insert intermediate block at contour corners Delete definition of a tangential follow-up

Explanation of the parameters

FAxis LAxis1, LAxis2 Coupling Following axis: additional tangential following rotary axis Leading axes: path axes which determine the tangent for the following axis Coupling factor: relationship between the angle change of the tangent and the following axis. Parameter optional; default: 1 Identifier for coordinate system "B" = basic coordinate system; data optional; default ["W" = workpiece coordinate system] Angle Offset angle of following axis

9-352

11.02

Path Traversing Behavior

9.1 Tangential control TANG, TANGON, TANGOF, TANGDEL

840D NCU 572 NCU 573

810D

840Di

Function
A rotary axis (= following axis) follows the programmed path of two leading axes. The following axis is located at a defined offset angle to the path tangent. Applications Tangential control can be used in applications such as: Tangential positioning of a rotatable tool during nibbling Follow-up of the tool orientation on a band saw Positioning of a dresser tool on a grinding wheel (see diagram) Positioning of a cutting wheel for glass or paper working Tangential infeed of a wire in five-axis welding
Band saw X Workpiece

Sequence
Defining following axis and leading axis TANG is used to define the following and leading axes. A coupling factor specifies the relationship between an angle change on the tangent and the following axis. Its value is generally 1 (default). The follow-up can be performed in the basic coordinate system "B" (default) or the workpiece coordinate system "W". Example: TANG(C,X,Y,1,"B") Meaning: Rotary axis C follows geometry axes X and Y.

9-353

Path Traversing Behavior

11.02

9.1 Tangential control TANG, TANGON, TANGOF, TANGDEL

840D NCU 572 NCU 573

810D

840Di

Activating/deactivating tangential control: TANGON, TANGOF Tangential control is called with TANGON specifying the following axis and the desired offset angle of the following axis: TANGON(C,90) Meaning: C axis is the following axis. On every movement of the path axes, it is rotated into a position at 90 to the path tangent. The following axis is specified in order to deactivate the tangential control: TANGOF(C)
X Y

Angle limit through working area limitation For path movements which oscillate back and forth, the tangent jumps through 180 at the turning point on the path and the orientation of the following axis changes accordingly. This behavior is generally inappropriate: the return movement should be traversed at the same negative offset angle as the approach movement. This can be achieved by limiting the working area of the following axis (G25, G26). The working area limitation must be active at the instant of path reversal (WALIMON). If the offset angle lies outside the working area limit, an attempt is made to return to the permissible working area with the negative offset angle.

Y -

Unsuitable return movement X

Ideal return movement X

9-354

11.02

Path Traversing Behavior

9.1 Tangential control TANG, TANGON, TANGOF, TANGDEL

840D NCU 572 NCU 573

810D

840Di

Insert intermediate block at contour corners, TLIFT At one corner of the contour the tangent changes and thus the setpoint position of the following axis. The axis normally tries to compensate this step change at its maximum possible velocity. However, this causes a deviation from the desired tangential position over a certain distance on the contour after the corner. If such a deviation is unacceptable for technological reasons, the instruction TILIFT can be used to force the control to stop at the corner and to turn the following axis to the new tangent direction in an automatically generated intermediate block. The axis is rotated at its maximum possible velocity. The TLIFT(...) instruction must be programmed immediately after the axis assignment with TANG(...). Example: TANG(C,X,Y) TLIFT(C) Deactivate TLIFT To deactivate TLIFT, repeat the axis assignment TANG(...) without inserting TLIFT(...) afterwards. The angular change limit at which an intermediate block is automatically inserted is defined via machine data $MA_EPS_TLIFT_TANG_STEP. Delete definition of a tangential follow-up An existing user-defined tangential follow-up must be deleted if a new tangential follow-up with the same following axis is defined in the preparation call TANG.

9-355

Path Traversing Behavior

11.02

9.1 Tangential control TANG, TANGON, TANGOF, TANGDEL

840D NCU 572 NCU 573

810D

840Di

TANGDEL (FAxis) Deletion is only possible if the coupling with TANGOF(Faxis) is deactivated.

Delete tangential follow-up

Programming example
Example of plane change N10 TANG(A, X, Y,1) N20 TANGON(A) N30 X10 Y20 ... N80 TANGOF(A) N90 TANGDEL(A) ... TANG(A, X, Z) TANGON(A) ... N200 M30 1st definition of the tang. follow-up Activation of the coupling

Deactivate 1st coupling Delete 1st definition 2nd definition of the tang. follow-up Activation of the new coupling

Programming example
With geometry axis switchover and TANGDEL N10 GEOAX(2,Y1) N20 TANG(A, X, Y) N30 TANGON(A, 90) N40 G2 F8000 X0 Y0 I0 J50 N50 TANGOF(A) N60 TANGDEL(A) N70 GEOAX(2, Y2) N80 TANG(A, X, Y) N90 TANGON(A, 90) ... An alarm is output. Y1 is geo axis 2

Deactivation of follow-up with Y1 Delete 1st definition Y2 is the new geo axis 2 2nd definition of the tang. follow-up Activation of the follow-up with 2nd def.

9-356

11.02

Path Traversing Behavior

9.1 Tangential control TANG, TANGON, TANGOF, TANGDEL

840D NCU 572 NCU 573

810D

840Di

Additional notes
Influence on transformations The position of the following rotary axis can be an input value for a transformation. Explicit positioning of the following axis If an axis which is following your lead axes is positioned explicitly the position is added to the programmed offset angle. All path definitions are possible: Path and positioning axis movements. Coupling status You can query the status of the coupling in the NC program with the following system variable: $AA_COUP_ACT[Axis] 0 1,2,3 No coupling active Tangential follow-up active

9-357

Path Traversing Behavior

11.02

9.2 Coupled motion TRAILON, TRAILOF

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

9.2

Coupled motion TRAILON, TRAILOF Programming

TRAILON(FAxis,LAxis,Coupling) TRAILOF(FAxis,LAxis,Axis2)

Explanation of the commands and parameters

TRAILON TRAILOF FAxis LAxis Coupling Activate and define coupled axes; modal Deactivate coupled axes Axis name of trailing axis Axis name of trailing axis Coupling factor = Path of coupled-motion axis/path of trailing axis Default = 1

Function
When a defined leading axis is moved, the trailing axes (= following axes) assigned to it traverse through the distances described by the leading axis, allowing for a coupling factor. Together, the leading axis and following axis represent coupled axes. Applications Traversing of an axis by a simulated axis. The leading axis is a simulated axis and the trailing axis is a real axis. The real axis can thus be traversed with allowance for the coupling factor. Two-sided machining with 2 combined axis pairs: 1st leading axis Y, trailing axis V 2nd leading axis Z, trailing axis W
Axis Y Axis Z Axis V Axis W

Axis X

9-358

11.02

Path Traversing Behavior

9.2 Coupled motion TRAILON, TRAILOF

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Sequence
Defining coupled-axis combinations, TRAILON The coupled axes are defined and activated simultaneously with the modal language command TRAILON. TRAILON(V,Y) V = trailing axis, Y = leading axis The number of coupled axes that can be activated simultaneously is restricted only by the possible combinations of axes on the machine. Coupled motion always takes place in the basic coordinate system (BCS). Coupled axis types A coupled-axis group can consist of any combination of linear and rotary axes. A simulated axis can also be defined as a leading axis. Coupled-motion axes Up to two leading axes can be assigned simultaneously to a trailing axis. The assignment is made in different combinations of coupled axes. A trailing axis can be programmed with all the available motion commands (G0, G1, G2, G3, ...). In addition to paths defined independently, the trailing axis also traverses the distances derived from its leading axes, allowing for the coupling factors. A trailing axis can also act as a leading axis for other trailing axes. Various combinations of coupled axes can be set up in this way.

9-359

Path Traversing Behavior

11.02

9.2 Coupled motion TRAILON, TRAILOF

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

General form: CTABUNLOCK(n, m, memType)

Cancel a lock against deletion or overwriting. CTABUNLOCK enables the tables disabled with CTABLOCK. Tables that function in an active coupling remain disabled, i.e. they still cannot be deleted. But the CTABLOCK lock is canceled, i.e, as soon as locking via the active coupling is canceled by deactivating the coupling, this table can be deleted. It is not necessary to call CTABUNLOCK again. Applications in the forms: Curve table with number n Curve tables in number range n to m All curve tables irrespective of memory type All curve tables in the specified memory type

CTABUNLOCK(n) CTABUNLOCK(n, m) CTABUNLOCK() CTABUNLOCK(, , memType)

9-363

Path Traversing Behavior

11.02

9.3 Curve tables, CTABDEF, CTABEND, CTABDEL, CTAB, CTABINV,

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

For further information about leading and following values, see Section "Axial leading value coupling" and "Path leading value coupling" in this section. Additional functions exist for diagnostics and optimization of resource use. These are described in the M3 Description of Functions.

Explanation
FAxis LAxis n, m Following axis: Axis that is programmed via the curve table. Leading axis Axis that is programmed with the leading value. Number of the curve table; n < m in CTABDEL(n, m) The number of the curve table is unique and not dependent on the memory type. Tables with the same number can be in the SRAM and DRAM. Entry location (in memory range memType) Identifier for table periodicity: 0 Table is not periodic 1 Table is periodic with regard to the leading axis 2 Table is periodic with regard to leading axis and following axis Leading value Positional value of the leading axis for which a following value is to be calculated. Parameter name for gradient parameter Following value Positional value of the following axis for which a leading value is to be calculated. Approximation solution for leading value if no specific leading value can be determined for a following value. Optional specification of the following and/or leading axis Optional specification of memory type of the NC: "DRAM" / "SRAM" If no value is programmed for this parameter, the default memory type set in MD 20905: CTAB_DEFAULT_MEMORY_TYPE is used.

p applim

degrees FW

aproxLW FAxis,LAxis memType

9-364

11.02

Path Traversing Behavior

9.3 Curve tables, CTABDEF, CTABEND, CTABDEL, CTAB, CTABINV,

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Function
You can use curve tables to program position and velocity relationships between 2 axes. Example of substitution of mechanical cam: The curve table forms the basis for the axial leading value coupling by creating the functional relationship between the leading and the following value: With appropriate programming, the control calculates a polynomial that corresponds to the cam plate from the relative positions of the leading and following axes.

Y
x y 5 a0+a1+a2x2... 7 a0+a1x... 12 ......

Additional notes
To create curve tables the memory space must be reserved by setting the machine data.

Definition of a curve table CTABDEF, CTABEND

A curve table represents a parts program or a section of a parts program which is enclosed by CTABDEF at the beginning and CTABEND at the end. Within this parts program section, unique following axis positions are assigned to individual positions of the leading axis by traverse statements and used as intermediate positions in calculating the curve definition in the form of a polynomial up the 3rd order. As from SW 6, intermediate points for curve definitions can be calculated in the form of an up to 5th order polynomial.

Following value

= Intermediate positions

Curve definition

Definition range Starting value

Leading value End value

9-365

Path Traversing Behavior

11.02

9.3 Curve tables, CTABDEF, CTABEND, CTABDEL, CTAB, CTABINV,

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Starting and end value of the curve table: The starting value for the beginning of the definition range of the curve table are the first associated axis positions specified (the first traverse statement) within the curve table definition. The end value of the definition range of the curve table is determined in accordance with the last traverse command. Within the definition of the curve table, you have use of the entire NC language.

Additional notes
The following are not permissible: Preprocess stop Jumps in the leading axis movement (e.g. on changing transformations) Traverse statement for the following axis only Reversal of the leading axis, i.e. position of the leading axis must always be unique CTABDEF and CTABEND statement on various program levels.

SW 6.3
Depending on MD 20900 CTAB_ENABLE_NO_LEADMOTION, jumps of the following axis can be tolerated if leading axis motion is missing. The other restrictions give in the notice still apply. Specification of the NC memory type can be used in table creation and deletion. All modal statements that are made within the curve table definition are invalid when the table definition is completed. The parts program in which the table definition is made is therefore located in front of and after the table definition in the same state. R parameter assignments are reset.

9-366

11.02

Path Traversing Behavior

9.3 Curve tables, CTABDEF, CTABEND, CTABDEL, CTAB, CTABINV,

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Example: ... R10=5 R11=20 ... CTABDEF G1 X=10 Y=20 F1000 R10=R11+5 ;R10=25 X=R10 CTABEND ... ;R10=5 Repeated use of curve tables The function relation between the leading axis and the following axis calculated through the curve table is retained under the table number beyond the end of the parts program and during power-off. The curve table created can be applied to any axis combinations of leading and following axes whatever axes were used to create the curve table.

9-367

Path Traversing Behavior

11.02

9.3 Curve tables, CTABDEF, CTABEND, CTABDEL, CTAB, CTABINV,

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Behavior at the edges of the curve table Non-periodic curve table If the leading value is outside the definition range, the following value output is the upper or lower limit.
Following value

Definition range

Leading value

Periodic curve table If the leading value is outside the definition range, the leading value is evaluated modulo of the definition range and the corresponding following value is output.

Following value

L
Definition range

Leading value

9-368

11.02

Path Traversing Behavior

9.3 Curve tables, CTABDEF, CTABEND, CTABDEL, CTAB, CTABINV,

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Reading table positions, CTAB, CTABINV

With CTAB you can read the following value for a leading value directly from the parts program or from synchronized actions (Chapter 10). With CTABINV, you can read the leading value for a following value. This assignment does not always have to be unique. CTABINV therefore requires an approximate value (aproxLW) for the expected leading value. CTABINV returns the leading value that is closest to the approximate value. The approximate value can be the leading value from the previous interpolation cycle. Both functions also output the gradient of the table function at the correct position to the gradient parameter (degrees). In this way, the you can calculate the speed of the leading or following axis at the corresponding position.
Following value Following value

degrees

Leading value
approx.

Leading value

Reading segment positions, CTABSSV, CTABSEV

CTABSSV can be used to read the starting value of the curve segment belonging to the specified leading value directly from the parts program or from synchronous actions (Chapter 10). CTABSEV can be used to read the end value of the curve segment belonging to the specified leading value directly from the parts program or from synchronous actions (Chapter 10).

Additional notes
Optional specification of the leading or following axis for CTAB/CTABINV/CTABSSV/CTABSEV is important if the leading and following axes are configured in different length units.

9-369

Path Traversing Behavior

11.02

9.3 Curve tables, CTABDEF, CTABEND, CTABDEL, CTAB, CTABINV,

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Programming example Use of CTABSSV and CTABSEV

N10 DEF REAL STARTPOS N20 DEF REAL ENDPOS N30 DEF REAL GRADIENT ... N100 N110 N120 N130 N140 N150 N160 ... N200 CTABDEF(Y,X,1,0) X0 Y0 X20 Y10 X40 Y40 X60 Y10 X80 Y0 CTABEND STARTPOS = CTABSSV(30.0, 1, GRADIENT) Beginning of table definition Starting position 1st table segment End position 1st table segment = start position 2nd table segment ...

End of table definition Start position Y in segment 2 = 10 End position Y in segment 2 = 40 Segment 2 belongs to LV X = 30.0.

... N210 ENDPOS = CTABSEV(30.0, 1, GRADIENT)

Deleting curve tables, CTABDEL With CTABDEL you can delete the curve tables. Curve tables that are active in a coupling cannot be deleted. If at least one curve table is active out of a multiple delete command CTABDEL() or CTABDEL(n, m) in a coupling, none of the addressed curve tables will be deleted. As from SW 6.3, curve tables of a certain memory type can be deleted by optional memory type specification.

9-370

11.02

Path Traversing Behavior

9.3 Curve tables, CTABDEF, CTABEND, CTABDEL, CTAB, CTABINV,

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Overwriting curve tables A curve table is overwritten as soon as is number is used in another table definition. Active tables cannot be overwritten.

Additional notes
No warning is output when you overwrite curve tables!

Additional notes
With the system variable $P_CTABDEF it is possible to query from inside a parts program whether a curve table definition is active. The parts program section can be used as a curve table definition after excluding the statements and therefore as a real parts program again.

Programming example
A program section is to be used unchanged for defining a curve table. The command for preprocess stop STOPRE can remain and is active again immediately as soon as the program section is not used for table definition and CTABDEF and CTABEND have been removed: CTABDEF(Y,X,1,1) IF NOT ($P_CTABDEF) STOPRE ENDIF CTABEND

9-371

Path Traversing Behavior

11.02

9.3 Curve tables, CTABDEF, CTABEND, CTABDEL, CTAB, CTABINV,

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Curve tables and various operating states During active block search, calculation of curve tables is not possible. If the target block is within the definition of a curve table, an alarm is output when CTABEND is reached.

Programming example 1
Definition of a curve table

6 5 4 3 2 1 5 20 100 150 180

N100 CTABDEF(Y,X,3,0)

Beginning of the definition of a non-periodic curve table with number 3 1. Traverse statement defines starting values and 1st intermediate point: Leading value: 5; Following value: 0 2. Intermediate point: Leading value: 0...20; Following value: Starting value...0 3. Intermediate point: Leading value: 20...100; Following value: 06 4. Intermediate point: Leading value: 100...150; Following value: 66 5. Intermediate point: Leading value: 150...180; Following value: 60 End of the definition; The curve table is generated in its internal representation as a polynomial up to the 3rd order;

N110 X0 Y0

N120 X20 Y0

N130 X100 Y6

N140 X150 Y6

N150 X180 Y0

N200 CTABEND

9-372

11.02

Path Traversing Behavior

9.3 Curve tables, CTABDEF, CTABEND, CTABDEL, CTAB, CTABINV,

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

The calculation of the curve definition depends on the modally selected interpolation type (circle, linear, spline interpolation); The parts program state before the beginning of the definition is restored.

Programming example 2
Definition of a periodic curve table with number 2, leading value range 0 to 360, following axis motion from 0 to 45 and back to 0: N10 DEF REAL DEPPOS; N20 DEF REAL GRADIENT; N30 CTABDEF(Y,X,2,1) N40 G1 X=0 Y=0 N50 POLY N60 PO[X]=(45.0) N70 PO[X]=(90.0) PO[Y]=(45.0,135.0,90) N80 PO[X]=(270.0) N90 PO[X]=(315.0) PO[Y]=(0.0,135.0,90) N100 PO[X]=(360.0) N110 CTABEND Test of the curve by coupling Y to X:
N120 G1 F1000 X0 N130 LEADON(Y,X,2) N140 X360 N150 X0 N160 LEADOF(Y,X)

Beginning of definition

End of definition

Read the table function for leading value 75.0:

N170 DEPPOS=CTAB(75.0,2,GRADIENT)

Positioning of the leading and the following axis:

N180 G0 X75 Y=DEPPOS

9-373

Path Traversing Behavior

11.02

9.3 Curve tables, CTABDEF, CTABEND, CTABDEL, CTAB, CTABINV,

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

After activating the coupling no synchronization of the following axis is required:

N190 LEADON(Y,X,2) N200 G1 X110 F1000 N210 LEADOF(Y,X) N220 M30

9-374

11.02

Path Traversing Behavior

9.4 Axial leading value coupling, LEADON, LEADOF

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

9.4

Axial leading value coupling, LEADON, LEADOF Programming

LEADON(FAxis,LAxis,n) LEADOF(FAxis,LAxis,n)

Explanation
LEADON LEADOF FAxis LAxis n Activate leading value coupling Deactivate leading value coupling Following axis Leading axis Curve table number

Function
With the axial leading value coupling, a leading and a following axis are moved in synchronism. It is possible to assign the position of the following axis via a curve table or the resulting polynomial uniquely to a position of the leading axis simulated if necessary. Leading axis is the axis which supplies the input values for the curve table. Following axis is the axis which takes the positions calculated by means of the curve table.

The leading value coupling can be activated and deactivated both from the parts program and during the movement from synchronized actions (Chapter 10). The leading value coupling always applies in the basic coordinate system. For information about creating curve table, see Chapter "Curve tables" in this chapter. For information about leading value coupling, see /FB/, M3, Coupled Motion and Leading Value Coupling.

9-375

Path Traversing Behavior

11.02

9.4 Axial leading value coupling, LEADON, LEADOF

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Sequence
Leading value coupling requires synchronization of the leading and the following axes. This synchronization can only be achieved if the following axis is inside the tolerance range of the curve definition calculated from the curve table when the leading value coupling is activated. The tolerance range for the position of the following axis is defined via machine data 37200 COUPLE_POS_TOL_COARSE. If the following axis is not yet at the correct position when the leading value coupling is activated, the synchronization run is automatically initiated as soon as the position setpoint value calculated for the following axis is approximately the real following axis position. During the synchronization procedure the following axis is traversed in the direction that is defined by the setpoint speed of the following axis (calculated from master spindle and CTAB).

Following axis position

is g ax rdin ing cco w a le llo Fo sition e tab o urv p c to

Additional notes
If the following axis position calculated moves away from the current following axis position when the leading value coupling is activated, it is not possible to establish synchronization. Actual value and setpoint coupling The following can be used as the leading value, i.e. as the output values for position calculation of the following axis: Actual values of the leading axis position: Actual value coupling Setpoints of the leading axis position: Setpoint coupling

9-376

11.02

Path Traversing Behavior

9.4 Axial leading value coupling, LEADON, LEADOF

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Additional notes
Setpoint coupling provides better synchronization of the leading and following axis than actual value coupling and is therefore set by default. Setpoint coupling is only possible if the leading and following axis are interpolated by the same NCU. With an external leading axis, the following axis can only be coupled to the leading axis via the actual values.

NCU
Setpoint coupling

Ax1

Actual value coupling

Ax2

NCU 1

NCU 2

Ax1

Actual value coupling

Ax2

Switchover between actual and setpoint coupling A switchover can be programmed via setting data $SA_LEAD_TYPE You must always switch between the actual-value and setpoint coupling when the following axis stops. It is only possible to resynchronize after switchover when the axis is motionless. Application example: You cannot read the actual values without error during large machine vibrations. If you use leading value coupling in press transfer, it might be necessary to switchover from actual-value coupling to setpoint coupling in the work steps with the greatest vibrations.

9-377

Path Traversing Behavior

11.02

9.4 Axial leading value coupling, LEADON, LEADOF

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Leading value simulation with setpoint simulation Via machine data, you can disconnect the interpolator for the leading axis from the servo. In this way you can generate setpoints for setpoint coupling without actually moving the leading axis. Leading values generated from a setpoint link can be read from the following variables so that they can be used, for example, in synchronized actions: - $AA_LEAD_P - $AA_LEAD_V

Leading value position Leading value velocity

Additional notes
As an option, leading values can be generated with other self-programmed methods. The leading values generated in this way are written into the variables - $AA_LEAD_SP - $AA_LEAD_SV and read from them. Before you use these variables, setting data $SA_LEAD_TYPE = 2 must be set. Status of coupling You can query the status of the coupling in the NC program with the following system variable: $AA_COUP_ACT[axis] 0 No coupling active 16 Leading value coupling active Deactivate leading value coupling, LEADOF When you deactivate the leading value coupling, the following axis becomes a normal command axis again! Axial leading value coupling and different operating states Depending on the setting in the machine data, the leading value couplings are deactivated with RESET.

Leading value position Leading value velocity

9-378

11.02

Path Traversing Behavior

9.4 Axial leading value coupling, LEADON, LEADOF

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Programming example
In a pressing plant, an ordinary mechanical coupling between a leading axis (stanchion shaft) and axis of a transfer system comprising transfer axes and auxiliary axes is to be replaced by an electronic coupling system. It demonstrates how a mechanical transfer system is replaced by an electronic transfer system. The coupling and decoupling events are implemented as static synchronized actions. From the leading axis LW (stanchion shaft), transfer axes and auxiliary axes are controlled as following axes that are defined via curve tables. Following axes

X YL ZL U V W

Feed or longitudinal axis Closing or lateral axis Stroke axis Roller feed, auxiliary axis Guiding head, auxiliary axis Greasing, auxiliary axis

Status management Switching and coupling events are managed via realtime variables: $AC_MARKER[i]=n i Marker number with: n Status value Actions The actions that occur include, for example, the following synchronized actions: Activate coupling, LEADON(following axis, leading axis, curve table number) Deactivate coupling, LEADOF(following axis, leading axis) Set actual value, PRESETON(axis, value) Set marker, $AC_MARKER[i]=value Coupling type: real/virtual leading value Approaching axis positions, POS[axis]=value Conditions Fast digital inputs, real-time variables $AC_MARKER and position comparisons are linked using the Boolean operator AND for evaluation as conditions. Note In the following example, line change, indentation and bold type are used for the sole purpose of improving readability of the program. To the controller, everything that follows a line number constitutes a single line.

9-379

Path Traversing Behavior

11.02

9.4 Axial leading value coupling, LEADON, LEADOF

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Comment
; Defines all static synchronized actions. ; **** Reset marker

$AC_MARKER[0]=0 $AC_MARKER[2]=0 $AC_MARKER[4]=0 $AC_MARKER[6]=0

$AC_MARKER[1]=0 $AC_MARKER[3]=0 $AC_MARKER[5]=0 $AC_MARKER[7]=0 ; **** E1 0=>1 Coupling transfer ON

N10 IDS=1 EVERY ($A_IN[1]==1) AND ($A_IN[16]==1) AND ($AC_MARKER[0]==0) DO LEADON(X,LW,1) LEADON(YL,LW,2) LEADON(ZL,LW,3) $AC_MARKER[0]=1 ;**** E1 0=>1 Coupling roller feed ON N20 IDS=11 EVERY ($A_IN[1]==1) AND ($A_IN[5]==0) AND ($AC_MARKER[5]==0) DO LEADON(U,LW,4) PRESETON(U,0) $AC_MARKER[5]=1 ; **** E1 0->1 Coupling guide head ON N21 IDS=12 EVERY ($A_IN[1]==1) AND ($A_IN[5]==0) AND ($AC_MARKER[6]==0) DO LEADON(V,LW,4) PRESETON(V,0) $AC_MARKER[6]=1 ; **** E1 0->1 Coupling greasing ON N22 IDS=13 EVERY ($A_IN[1]==1) AND ($A_IN[5]==0) AND ($AC_MARKER[7]==0) DO LEADON(W,LW,4) PRESETON(W,0) $AC_MARKER[7]=1 ; **** E2 0=>1 Coupling OFF N30 DO IDS=3 EVERY ($A_IN[2]==1) LEADOF(X,LW) LEADOF(YL,LW) LEADOF(ZL,LW) LEADOF(U,LW) LEADOF(V,LW) LEADOF(W,LW) $AC_MARKER[0]=0 $AC_MARKER[1]=0 $AC_MARKER[3]=0 $AC_MARKER[4]=0 $AC_MARKER[5]=0 $AC_MARKER[6]=0 $AC_MARKER[7]=0 .... N110 G04 F01

N120 M30

9-380

11.02

Path Traversing Behavior

9.5 Feed characteristic, FNORM, FLIN, FCUB, FPO

840D NCU 571

840D NCU 572 NCU 573

840Di

9.5

Feed characteristic, FNORM, FLIN, FCUB, FPO Programming

F FNORM F FLIN F FCUB F=FPO(,,)

Explanation
FNORM FLIN Basic setting. The feed value is specified as a function of the traverse path of the block and is then valid as a modal value. Path velocity profile linear: The feed value is approached linearly via the traverse path from the current value at the block beginning to the block end and is then valid as a modal value. Path velocity profile cubic: The non-modally programmed F values are connected by means of a spline referred to the block end point. The spline begins and ends tangentially with the previous and the following feedrate specification. If the F address is missing from a block, the last F value to be programmed is used. Polynomial path velocity profile: The F address defines the feed characteristic via a polynomial from the current value to the block end. The end value is valid thereafter as a modal value.

FCUB

F=FPO

Function
To permit flexible definition of the feed characteristic, the feed programming according to DIN 66205 has been extended by linear and cubic characteristics. The cubic characteristics can be programmed either directly or as interpolating splines. These additional characteristics make it possible to program continuously smooth velocity characteristics depending on the curvature of the workpiece to be machined. These additional characteristics make it possible to program continuously smooth velocity characteristics depending on the curvature of the workpiece to be machined.

9-381

Path Traversing Behavior

11.02

9.5 Feed characteristic, FNORM, FLIN, FCUB, FPO

840D NCU 571

840D NCU 572 NCU 573

840Di

Sequence
FNORM The feed address F defines the path feed as a constant value according to DIN 66025. Please refer to Programming Guide "Fundamentals" for more detailed information on this subject.

Feedrate

Path

FLIN The feed characteristic is approached linearly from the current feed value to the programmed F value until the end of the block. Example: N30 F1400 FLIN X50

Feedrate

Path

9-382

11.02

Path Traversing Behavior

9.5 Feed characteristic, FNORM, FLIN, FCUB, FPO

840D NCU 571

840D NCU 572 NCU 573

840Di

FCUB The feed is approached according to a cubic characteristic from the current feed value to the programmed F value until the end of the block. The control uses splines to connect all the feed values programmed non-modally that have an active FCUB. The feed values act here as interpolation points for calculation of the spline interpolation. Example: N50 F1400 FCUB X50 N60 F2000 X47 N70 F3800 X52

Feedrate

Path

F=FPO(,,) The feed characteristic is programmed directly via a polynomial. The polynomial coefficients are specified according to the same method used for polynomial interpolation. Example: F=FPO(endfeed, quadf, cubf) endfeed, quadf and cubf are previously defined variables.

Feedrate

Path

endfeed: quadf: cubf:

Feed at block end Quadratic polynomial coefficient Cubic polynomial coefficient

With an active FCUB, the spline is linked tangentially to the characteristic defined via FPO at the block beginning and block end. Supplementary conditions The functions for programming the path traversing characteristics apply regardless of the programmed feed characteristic.

9-383

Path Traversing Behavior

11.02

9.5 Feed characteristic, FNORM, FLIN, FCUB, FPO

840D NCU 571

840D NCU 572 NCU 573

840Di

The programmed feed characteristic is always absolute regardless of G90 or G91.

Additional notes
Compressor With an active compressor COMPON the following applies when several blocks are joined to form a spline segment: FNORM: The F word of the last block in the group applies to the spline segment. FLIN: The F word of the last block in the group applies to the spline segment. The programmed F value applies until the end of the segment and is then approached linearly. FCUB: The generated feed spline deviates from the programmed end points by an amount not exceeding the value set in machine data $MC_COMPESS_VELO_TOL F=FPO(,,) These blocks are not compressed. Feed optimization on curved path sections Feed polynomial F-FPO and feed spline FCUB should always be traversed at constant cutting rate CFC, thereby allowing a jerk-free setpoint feed profile to be generated. This enables creation of a continuous acceleration setpoint feed profile.

9-384

11.02

Path Traversing Behavior

9.5 Feed characteristic, FNORM, FLIN, FCUB, FPO

840D NCU 571

840D NCU 572 NCU 573

840Di

Programming example
This example shows you the programming and graphic representation of various feed profiles.
Feedrate

5000 4000 3000 2000 1000 Path N 1 N 2 N 3 N 4 N 5 N 6 N N 7 8 N 9 N 10 N 11 N N N N 12 13 14 15

N1 F1000 FNORM G1 X8 G91 G64 N2 F2000 X7 N3 F=FPO(4000, 6000, -4000) N4 X6 N5 F3000 FLIN X5 N6 F2000 X8 N7 X5 N8 F1000 FNORM X5 N9 F1400 FCUB X8 N10 F2200 X6 N11 F3900 X7 N12 F4600 X7 N13 F4900 X5 N14 FNORM X5 N15 X20

Constant feed profile, incremental dimensioning Step change in setpoint velocity Feed profile via polynomial with feed 4000 at block end Polynomial feed 4000 applies as modal value Linear feed profile Linear feed profile Linear feed applies as modal value Constant feed profile with abrupt change in acceleration rate All subsequent, non-modally programmed F values are connected via splines

Deactivate spline profile

9-385

Path Traversing Behavior

11.02

9.6 Program run with preprocessing memory, STARTFIFO, STOPFIFO,

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

9.6

Program run with preprocessing memory, STARTFIFO, STOPFIFO, STOPRE Explanation of the commands
STOPFIFO Stop high-speed processing section, fill preprocessing memory, until STARTFIFO, "Preprocessing memory full" or "End of program" is detected. Start of high-speed processing section, in parallel to filling the preprocessing memory Preprocessing stop

STARTFIFO STOPRE

Function
Depending on its expansion level, the control system has a certain quantity of so-called preprocessing memory in which prepared blocks are stored prior to program execution and then output as high-speed block sequences while machining is in progress. These sequences allow short paths to be traversed at a high velocity. Provided that there is sufficient residual control time available, the preprocessing memory is always filled. STARTFIFO stops the machining process until the preprocessing memory is full or until STOPFIFO or STOPRE is detected.

NC program

Preprocessing memory

Machining in process (blocks output in fast succession)

Sequence
Mark processing section The high-speed processing section to be buffered in the preprocessing memory is marked at the beginning and end with STARTFIFO and STOPFIFO respectively. Example: N10 STOPFIFO N20 N100 N110 STARTFIFO Execution of these blocks does not begin until the preprocessing memory is full or command STARTFIFO is detected.

9-386

11.02

Path Traversing Behavior

9.6 Program run with preprocessing memory, STARTFIFO, STOPFIFO,

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Restrictions The preprocessing memory is not filled or the filling process interrupted if the processing section contains commands that require unbuffered operation (reference point approach, measuring functions, ...). Stop preprocessing When STOPRE is programmed, the following block is not processed until all previously prepared and stored blocks have been fully executed. The previous block is halted with exact stop (as for G9). Example: N10 N30 MEAW=1 G1 F1000 X100 Y100 Z50 N40 STOPRE The control system initiates an internal preprocessing stop while status data of the machine ($A...) are accessed. Example: R10 = $AA_IM[X]

;Read actual value of X axis

Note When a tool offset or spline interpolations are active, you should not program the STOPRE command as this will lead to interruption in contiguous block sequences.

9-387

Path Traversing Behavior

11.02

9.7 Repositioning on contour, REPOSA, REPOSL, REPOSQ, REPOSH

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

9.7

Repositioning on contour, REPOSA, REPOSL, REPOSQ, REPOSH Programming

REPOSA RMI DISPR= or REPOSA RMB or REPOSA RME REPOSL RMI DISPR= or REPOSL RMB or REPOSL RME REPOSQ RMI DISPR= DISR= or REPOSQ RMB DISR= or REPOSQ RME DISR= or REPOSQA DISR= REPOSH RMI DISPR= DISR= or REPOSH RMB DISR= or REPOSH RME DISR= or REPOSHA DISR=

Explanation of the commands

Approach path REPOSA REPOSL REPOSQ DISR= REPOSQA DISR= REPOSH DISR= REPOSHA DISR= Approach along line on all axes Approach along line Approach along quadrant with radius DISR Approach on all axes along quadrant with radius DISR Approach along semi-circle with diameter DISR Approach on all axes along semi-circle with diameter DISR

Repositioning point RMI RMI DISPR= RMB RME DISPR= A0 B0 C0 Approach interruption point Entry point at distance DISPR in mm/inch in front of interruption point Approach block start point Approach block end point at distance DISPR in front of end point Axes in which approach is to be made

9-388

11.02

Path Traversing Behavior

9.7 Repositioning on contour, REPOSA, REPOSL, REPOSQ, REPOSH

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Function
If you interrupt the program run and retract the tool during the machining operation because, for example, the tool has broken or you wish to check a measurement, you can reposition at any selected point on the contour under control by the program.
REPOS

The REPOS command acts in the same way as a subprogram return jump (e.g. via M17). Blocks programmed after the command in the interrupt routine are not executed. For information about interrupting program runs, see also Section "Interrupt routine" in Programming Guide "Advanced".

Sequence
Defining repositioning point With reference to the NC block in which the program run has been interrupted, it is possible to select one of three different repositioning points: RMI, interruption point RMB, block start point or last end point RME, block end point RMI DISPR= or RME DISPR= allows you to select a repositioning point which sits before the interruption point or the block end point. DISPR=... allows you to describe the contour distance in mm/inch between the repositioning point and the interruption before the end point. Even for high values, this point cannot be further away than the block start point. If no DISPR= command is programmed, then DISPR=0 applies and with it the interruption point (with RMI) or the block end point (with RME). SW 5.2 and higher: The sign before DISPR is evaluated. In the case of a plus sign, the behavior is as previously.
Y Block end point RME RMI RMB Interruption point Block start point

9-389

Path Traversing Behavior

11.02

9.7 Repositioning on contour, REPOSA, REPOSL, REPOSQ, REPOSH

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

In the case of a minus sign, approach is behind the interruption point or, with RMB, behind the block start point. The distance between interruption point and approach point depends on the value of DISPR. Even for higher values, this point can lie in the block end point at the maximum. Application example: A sensor will recognize the approach to a clamp. An ASUB is initiated to bypass the clamp. Afterwards, a negative DISPR is repositioned on one point behind the clamp and the program is continued.

Approach with new tool The following applies if you have stopped the program run due to tool breakage: When the new D number is programmed, the machining program is continued with modified tool offset values at the repositioning point.

Where tool offset values have been modified, it may not be possible to reapproach the interruption point. In such cases, the point closest to the interruption point on the new contour is approached (possibly modified by DISPR). Approach contour The motion with which the tool is repositioned on the contour can be programmed. Enter zero for the addresses of the axes to be traversed. Commands REPOSA, REPOSQA and REPOSHA automatically reposition all axes. Individual axis names need not be specified.

9-390

11.02

Path Traversing Behavior

9.7 Repositioning on contour, REPOSA, REPOSL, REPOSQ, REPOSH

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

When commands REPOSL, REPOSQ and REPOSH are programmed, all geometry axes are traversed automatically, i.e. they need not be named in the command. All other axes to be repositioned must be specified in the commands.

Approach along a straight line, REPOSA, REPOSL The tool approaches the repositioning point along a straight line. All axes are automatically traversed with command REPOSA. With REPOSL you can specify which axes are to be moved. Example: REPOSL RMI DISPR=6 F400 or REPOSA RMI DISPR=6 F400

Interruption point

D P IS R
Repositioning point REPOSL X

Approach along quadrant, REPOSQ, REPOSQA The tool approaches the repositioning point along a quadrant with a radius of DISR=.... The control system automatically calculates the intermediate point between the start and repositioning points. Example: REPOSQ RMI DISR=10 F400

Intermediate point

REPOS Q Repositioning point Start point

D R IS

9-391

Path Traversing Behavior

11.02

9.7 Repositioning on contour, REPOSA, REPOSL, REPOSQ, REPOSH

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Approach along semi-circle, REPOSH, REPOSHA The tool approaches the repositioning point along a semi-circle with a diameter of DISR=.... The control system automatically calculates the intermediate point between the start and repositioning points. Example: REPOSH RMI DISR=20 F400

Y
D IS R

Intermediate point

Start point

Repositioning point

The following applies to circular motions REPOSH and REPOSQ: The circle is traversed in the specified working planes G17 to G19. If you specify the third geometry axis (infeed direction) in the approach block, the repositioning point is approached along a helix in case the tool position and programmed position in the infeed direction do not coincide. In the following cases, the control automatically switches over to linear approach REPOSL: You have not specified a value for DISR. No defined approach direction is available (program interruption in a block without travel information). With an approach direction that is perpendicular to the current working plane.

9-392

11.02

Motion-Synchronous Action

Motion-Synchronous Action
10.1 Structure, basic information ........................................................................................ 10-395 10.1.1 Programming and command elements................................................................ 10-397 10.1.2 Validity range: Identification number ID ............................................................... 10-398 10.1.3 Vocabulary word .................................................................................................. 10-399 10.1.4 Actions ................................................................................................................. 10-402 10.1.5 Overview of synchronized actions........................................................................ 10-404 10.2 Basic modules for conditions and actions ................................................................... 10-406 10.3 Special real-time variables for synchronized actions .................................................. 10-409 10.3.1 Flags/counters $AC_MARKER[n] ........................................................................ 10-409 10.3.2 Timer variable $AC_TIMER[n], SW 4 and higher ................................................ 10-409 10.3.3 Synchronized action parameters $AC_PARAM[n]............................................... 10-410 10.3.4 Access to R parameters $Rxx ............................................................................. 10-411 10.3.5 Machine and setting data read/write (SW 4 and higher)...................................... 10-412 10.3.6 FIFO variable $AC_FIFO1[n] $AC_FIFO10[n] (SW 4 and higher).................. 10-413 10.4 Actions within synchronized actions ............................................................................ 10-415 10.4.1 Auxiliary functions output ..................................................................................... 10-415 10.4.2 Set read-in disable RDISABLE ............................................................................ 10-416 10.4.3 Cancel preprocessing stop STOPREOF ............................................................. 10-417 10.4.4 Deletion of distance-to-go .................................................................................... 10-418 10.4.5 Delete distance-to-go with preparation, DELDTG, DELDTG ("Axis 1 to x") ........ 10-418 10.4.6 Polynomial definition, FCTDEF, block-synchronized ........................................... 10-420 10.4.7 Laser power control ............................................................................................. 10-422 10.4.8 Evaluation function SYNFCT ............................................................................... 10-423 10.4.9 Adaptive control (additive).................................................................................... 10-424 10.4.10 Adaptive control (multiplicative) ........................................................................... 10-425 10.4.11 Clearance control with limited compensation....................................................... 10-426 10.4.12 Online tool offset FTOC ....................................................................................... 10-428 10.4.13 Positioning movements........................................................................................ 10-430 10.4.14 Position axis POS ................................................................................................ 10-432 10.4.15 Start/stop axis MOV ............................................................................................. 10-432 10.4.16 Axial feed FA........................................................................................................ 10-433 10.4.17 SW limit switch..................................................................................................... 10-434 10.4.18 Axis coordination.................................................................................................. 10-434 10.4.19 Set actual value.................................................................................................... 10-436 10.4.20 Spindle motions ................................................................................................... 10-437 10.4.21 Coupled-axis motion TRAILON, TRAILOF .......................................................... 10-438 10.4.22 Leading value coupling LEADON, LEADOF ........................................................ 10-439 10.4.23 Measurement ....................................................................................................... 10-441 10.4.24 Set/clear wait marks: SETM, CLEARM (SW 5.2 and higher) .............................. 10-441

10-393

Motion-Synchronous Action

11.02

10.4.25 Error responses.................................................................................................... 10-442 10.4.26 Travel to fixed stop FXS and FOCON/FOCOF .................................................... 10-442 10.5 Technology cycles ....................................................................................................... 10-445 10.5.1 Lock, unlock, reset: LOCK, UNLOCK, RESET .................................................... 10-447 10.6 Cancel synchronized action: CANCEL ........................................................................ 10-449 10.7 Supplementary conditions ........................................................................................... 10-450

10-394

11.02

Motion-Synchronous Action

10.1 Structure, basic information

840D NCU 571

840D NCU 572 NCU 573

810D CCU2

840Di

10.1

Structure, basic information Function

Synchronized actions allow you to start different actions from the current parts program and to execute them synchronously. The starting point of these actions can be defined with conditions evaluated in real time (in interpolation cycles). The actions are therefore responses to realtime events, execution of them is not limited by block boundaries. A synchronized action also contains information about the effectiveness of the actions and about the frequency with which the programmed real-time variables are scanned and therefore about the frequency with which the actions are started. In this way, an action can be triggered just once or cyclically in interpolation cycles.

Part program

Block preparation

Prepared blocks Conditions NCK inputs Setpoints Actual values Polynomial coefficients Parameters Flags Servo values Realtime processing Synchronous actions Logic operations Actions NCK outputs Positions Velocities NC functions Measuring Switch on link M/H function output Change polynom. coefficients

Programming
DO Action1 Action2 VOCABULARY_WORD condition DO action1 action2 ... ID=n VOCABULARY_WORD condition DO action1 action2 ... IDS=n VOCABULARY_WORD condition DO action1 action2 ...

Explanation
Identification number ID/IDS ID=n IDS=n Without ID/IDS
Vocabulary word

Modal synchronized actions in automatic mode, local to program; n = 1... 255 Modal synchronized actions in each mode, static; n = 1... 255 Non-modal synchronized actions in automatic mode Execution of the action is not subject to any condition. The action is executed cyclically in any interpolation cycles.

No vocabulary word

10-395

Motion-Synchronous Action

11.02

10.1 Structure, basic information

840 D NCU 571

840 D NCU 572 NCU 573

810 D

840Di

WHEN WHENEVER FROM EVERY

Condition

DO Action

The condition is tested until it is fulfilled once, the associated action is executed once. The condition is tested cyclically. The associated action is executed cyclically while the condition is fulfilled. After the condition has been fulfilled once, the action is executed cyclically while the synchronized action is active. The action is initiated once when the condition is fulfilled and is executed again when the condition changes from the FALSE state to the TRUE state. The condition is tested cyclically. Every time the condition is fulfilled, the associated action is executed. Gating logic for real-time variables, the conditions are checked in the interpolation cycle. In SW 5 and higher, the G codes can be programmed in synchronized actions for condition evaluation. Triggers the action if the condition is fulfilled. Action started if the condition is fulfilled, e.g. assign variable, activate axis coupling, set NCK outputs, output M and H functions, ... In SW 5 and higher, the G codes can be programmed in synchronized actions for actions/technology cycles.

Coordination of synchronized actions/technology cycles CANCEL[n] Cancel synchronized action LOCK[n] UNLOCK[n] RESET
Inhibit technology cycle Enable technology cycle Reset technology cycle

Programming example
WHEN $AA_IW[Q1]>5 DO M172 H510 ;If the actual value of axis Q1 exceeds 5 mm, auxiliary functions M172 and H510 are output to the PLC interface.

If real-time variables occur in a parts program (e.g. actual value, position of a digital input or output etc.), preprocessing is stopped until the previous block has been executed and the values of the real-time variables obtained. The real-time variables used are evaluated in interpolation cycles. Advantages with synchronized actions: Preprocessing is not stopped.

10-396

11.02

Motion-Synchronous Action

10.1 Structure, basic information

840D NCU 571

840D NCU 572 NCU 573

810D CCU2

840Di

Possible applications: Optimization of runtime-critical applications (e.g. tool changing) Fast response to an external event Programming AC controls Setting up safety functions ....

10.1.1 Programming and command elements Function

A synchronized action is programmed on its own in a separate block and triggers a machine function in the next executable block (e.g. traversing movement with G0, G1, G2, G3; block with auxiliary function output). Synchronized actions consist of up to five command elements each with a different task:

ID n u m b e r: S c o p e o f v a lid it y

810 D

840Di

10.1.4 Actions Function

In each synchronized action, you can program one or more actions. All actions programmed in a block are started in the same interpolation cycle. In SW 5 and higher, actions can be used with a G code for the action/technology cycle. This G code specifies another G code from the one set for the condition for all actions in the block and technology cycles if necessary. If there are technology cycles in the action part, then after completion of the technology cycle the G code continues to apply modally for all subsequent actions until the next G code. Only a G code from the G code group (G70, G71, G700, G710) may be programmed. Possible actions: Assign variables Write setting data Set control parameters DELDTG: Delete fast distance-to-go RDISABLE: Set read-in disable Output M, S and H auxiliary functions STOPREOF: Cancel preprocessing stop FTOC: Online tool offset Definition of evaluation functions (polynomials) SYNFCT: Activate evaluation functions: AC control Switchover between several feedrates in a programmed block depending on binary and analog signals Feedrate overrides Start/position/stop positioning axes (POS) and spindles (SPOS)

PRESETON: Set actual value

10-402

11.02

Motion-Synchronous Action

10.1 Structure, basic information

840D NCU 571

840D NCU 572 NCU 573

810D CCU2

840Di

Activate or deactivate coupled-axis motion/leading value coupling Measurement Set up additional safety functions Output of digital and analog signals ...

Programming example
Synchronized action with two actions WHEN $AA_IM[Y] >= 35.7 DO M135 $AC_PARAM=50
If the condition is fulfilled, M135 is output to the PLC and the override is set to 50%.

As the action, you can also specify a program (single-axis program, technology cycle). This must only comprise those actions that can also be programmed individually in synchronized actions. The individual actions of such a program are executed sequentially in interpolation cycles. Note Actions can be executed whatever mode is selected. The following actions are only active in automatic mode when the program is active STOPREOF, DELDTG.

10-403

Motion-Synchronous Action

11.02

10.1 Structure, basic information

840 D NCU 571

840 D NCU 572 NCU 573

810 D

840Di

10.1.5 Overview of synchronized actions

SW 3.x and lower Programming of sequences in the interpolation cycle at the user level (parts program) Response to events/statuses in the interpolation cycle Gating logic in real time Access to I/Os, control status and machine status Programming of cyclic sequences that are executed in the interpolation cycle Triggering of specific NC functions (read-in disable, axially overlaid motion, ... ) Execution of technology functions in parallel with path motion Triggering of technology functions regardless of block boundaries SW 4 and higher Diagnosis possible for synchronized actions Expansion of the main run variable used in synchronized actions Complex conditions in synchronized actions Expansion of expressions in synchronized actions: Combination of real-time variables with basic arithmetic operations and functions in the interpolation cycle, indirect addressing of main run variables via index can be changed online Setting data from synchronized actions can be modified and evaluated online Configuration possibilities: Number of simultaneously active synchronized actions can be set via machine data. Start positioning axis motion and spindles from synchronized actions (command axes) Preset from synchronized actions Activation, deactivation, parameterization of axis coupling: Leading value coupling, coupled-axis motion Activation/deactivation of axial measuring function Software cams

10-404

11.02

Motion-Synchronous Action

10.1 Structure, basic information

840D NCU 571

840D NCU 572 NCU 573

810D CCU2

840Di

Delete distance-to-go without stopping preprocessing Single-axis programs, technology cycles Synchronized actions active in JOG mode beyond the boundaries of the program Synchronized actions that can be influenced from the PLC Protected synchronized actions Expansion for overlaid motion / clearance control SW 5.x and higher Travel to fixed stop FXS: Synchronized actions, triggered with FXS, FXST and FXSW Travel with limited moment/force FOC: Synchronized action is activated either modally or non-modally with FOCON and deactivated with FOCOF.

10-405

Motion-Synchronous Action

11.02

10.2 Basic modules for conditions and actions

840 D NCU 571

840 D NCU 572 NCU 573

810 D

840Di

10.2

Basic modules for conditions and actions

Real-time variables Real-time variables are evaluated and written in the interpolation cycle. The real-time variables are $A , main run variable, $V... , servo variable. To identify them specially, these variables can be programmed with $$: $AA_IM[X] is equivalent to $$AA_IM[X]. Setting and machine data must be identified with $$ when evaluation/assignment takes place in the interpolation cycle. A list of variables is given in the Appendix.

Calculations in real time Calculations in real time are restricted to the data types INT, REAL and BOOL. Real-time expressions are calculations that can be executed in interpolation cycles that can be used in the condition and the action for assignment to NC addresses and variables. Comparisons In conditions, variables or partial expressions of the same data type can be compared. The result is always of data type BOOL. All the usual comparison operators are permissible (==, <>, <, >, <=, >=). Boolean operators Variables, constants and comparisons can be gated using the usual Boolean operators (NOT, AND, OR, XOR)

10-406

11.02

Motion-Synchronous Action

10.2 Basic modules for conditions and actions

840D NCU 571

840D NCU 572 NCU 573

810D CCU2

840Di

Bit operators The bit operators B_NOT, B_AND, B_OR, B_XOR can be used. Operands are variables or constants of the INTEGER type. Basic arithmetic operations Real-time variables of types INTEGER and REAL can be subjected to the basic arithmetic operations, with each other or with a constant (+, , *, /, DIV, MOD). Mathematical functions Mathematical functions cannot be applied to realtime variables of data type REAL (SIN, COS, TAN, ASIN, ACOS, ABS, TRUNC, ROUND, LN, EXP, ATAN2, ATAN, POT, SQRT, CTAB, CTABINV). Example:
DO $AC_PARAM[3] = COS($AC_PARAM[1])

10-407

Motion-Synchronous Action

11.02

10.2 Basic modules for conditions and actions

840 D NCU 571

840 D NCU 572 NCU 573

810 D

840Di

Notes Only variables of the same data type can be gated. Multiplication and division are performed before addition and subtraction and bracketing of expressions is permissible. The operators DIV and MOD are permissible for the data type REAL (SW 4 and higher). Example:
DO $AC_PARAM[3] = $A_INA[1]-$AA_IM[Z1] WHENEVER $AA_IM[x2] < $AA_IM[x1]-1.9

Correct: Incorrect:

$R10=$AC_PARAM[1] $R10=$AC_MARKER[1]

;Subtraction of two real-time variables DO $A_OUT[5] = 1

;Subtraction of a constant from real-time variable DO $AC_PARAM[3] = $INA[1]-4*SIN(45.7 $P_EP[Y])*R4 ;Constant expression, calculated during preprocessing

Indexation Real-time variables can be indexed with real-time variables. Notes Variables that are not formed in real time must not be indexed with real-time variables. Example:
WHENDO $AC_PARAM[$AC_MARKER[1]] = 3

Illegal: $AC_PARAM[1] = $P_EP[$AC_MARKER]

Programming example Example of real-time expressions

ID=1 WHENEVER ($AA_IM[Y]>30) AND ($AA_IM[Y]<40) DO $AA_OVR[S1]=80 ID=67 DO $A_OUT[1]=$A_IN[2] XOR $AN_MARKER[1] ID=89 DO $A_OUT[4]=$A_IN[1] OR ($AA_IM[Y]>10) Selection of a position window Evaluate 2 Boolean signals Output of the result of a comparison

10-408

11.02

Motion-Synchronous Action

10.3 Special real-time variables for synchronized actions

840D NCU 571

840D NCU 572 NCU 573

810D CCU2

840Di

10.3

Special real-time variables for synchronized actions

The real-time variables listed below can be used in synchronized actions:

10.3.1 Flags/counters $AC_MARKER[n] Function

Flag variablescan be read and written in synchronized actions. Channel-specific flags/counters $AC_MARKER[n] Data type: INTEGER A channel-specific flag variable exists under the same name once in each channel. Example:
WHEN ... DO $AC_MARKER[0] = 2 WHEN ... DO $AC_MARKER[0] = 3 WHEN $AC_MARKER == 3 DO $AC_OVR=50

10.3.2 Timer variable $AC_TIMER[n], SW 4 and higher Function (not 840D NCU 571, FM-NC)
The system variable $AC_TIMER[n] allows actions to be started following defined waiting times. Data type: REAL Units: s n: Number of the timer variable Set timer A timer variable is incremented via value assignment $AC_TIMER[n]=value

10-409

Motion-Synchronous Action

11.02

10.3 Special real-time variables for synchronized actions

840 D NCU 572 NCU 573

810 D CCU2

840Di

n: Number of the timer variable value: Starting value (usually 0) Halt timer Incrementation of a timer variable is halted by assigning a negative value $AC_TIMER[n]=-1 Read timer The current time value can be read when the timer is running or when it has stopped. When the timer is stopped by assigning the value -1, the most up-to-date timer value is retained and can be read. Example:
Output of an actual value via analog output 500 ms after detection of a digital input WHEN $A_IN[1] == 1 DO $AC_TIMER[1]=0 ; Reset and start timer WHEN $AC_TIMER[1]>=0.5 DO $A_OUTA[3]=$AA_IM[X] $AC_TIMER[1]=-1

10.3.3 Synchronized action parameters $AC_PARAM[n] Function

10-413

Motion-Synchronous Action

11.02

10.3 Special real-time variable for synchronized actions

840 D NCU 572 NCU 573

810 D CCU2

840Di

Programming example
Circulating memory During a production run, a conveyor belt is used to transport products of different lengths (a, b, c, d). The conveyor belt of transport length "I" therefore carries a varying number of products depending on the lengths of individual products involved in the process. With a constant speed of transport, the function for removing the products from the belt must be adapted to the variable arrival times of the products.

a l

DEF REAL INTV=2.5 DEF REAL TOTAL=270 EVERY $A_IN[1]==1 DO $AC_FIFO1[4]=0 EVERY $A_IN[2]==1 DO $AC_TIMER[0]=0

Constant distance between products placed on the belt. Distance between length measurement and removal position. Reset FIFO at beginning of process. If a product interrupts the light barrier, start timing.

EVERY $A_IN[2]==0 DO $AC_FIFO1[0]=$AC_TIMER[0]*$AA_VACTM[B]

;If the light barrier is free, calculate and store in the FIFO the product length from the time measured and the velocity of transport.

EVERY $AC_FIFO1[3]+$AC_FIFO1[4]*BETW>=TOTAL DO POS[Y]=-30 $R1=$AC_FIFO1[0]

;As soon as the sum of all product lengths and intervals between products is greater than or equal to the length between the placement and the removal position, remove the product from the conveyor belt at the removal position, read the product length out of the FIFO.

10-414

11.02

Motion-Synchronous Action

10.4 Actions within synchronized actions

840 D NCU 571

840D NCU 572 NCU 573

810D CCU2

840Di

10.4

840 D NCU 571

840 D NCU 572 NCU 573

810 D CCU2

840Di

10.4.4 Deletion of distance-to-go

Delete distance-to-go can be triggered for a path and for specified axes depending on a condition. The possibilities are: Fast, prepared delete distance-to-go Delete distance-to-go without preparation (SW 4.3 and higher)

10.4.5 Delete distance-to-go with preparation, DELDTG, DELDTG ("Axis 1 to x") Notes
The axis designation contained in brackets behind DELDTG is only valid for one positioning axis.

Function
Prepared delete distance-to-go with DELDTG permits a fast response to the triggering event and is therefore used for time-critical applications, e.g., if the time between delete distance-to-go and the start of the next block must be very short. the condition for delete distance-to-go will very probably be fulfilled.

Sequence
At the end of a traversing block in which a prepared delete distance-to-go was triggered, preprocess stop is activated implicitly. Continuous path mode or positioning axis movements are therefore interrupted or stopped at the end of the block with fast delete distance-to-go.

10-418

11.02

Motion-Synchronous Action

10.4 Actions within synchronized actions

840 D NCU 571

840D NCU 572 NCU 573

810D CCU2

840Di

Programming example
Rapid delete distance-to-go path WHEN $A_IN[1]==1 DO DELDTG N100 G01 X100 Y100 F1000 N110 G01 X IF $AA_DELT>50
;When the input is set, the movement is canceled

Programming example
Rapid axial delete distance-to-go Stopping a programmed positioning movement: ID=1 WHEN $A_IN[1]==1 DO MOV[V]=3 FA[V]=700 WHEN $A_IN[2]==1 DO DELDTG(V)

Start axis

Delete distance-to-go, the axis is stopped using MOV=0

Delete distance-to-go depending on the input voltage: WHEN $A_INA[5]>8000 DO DELDTG(X1)

;As soon as voltage on input 5 exceeds 8V, delete distance-to-go for axis X1. Path motion continues.

POS[X1]=100 FA[X1]=10 G1 Z100 F1000

Restriction
Prepared delete distance-to-go cannot be used with active tool radius correction. the action must only be programmed in non modal synchronized actions (without ID number).

10-419

Motion-Synchronous Action

11.02

10.4 Actions within synchronized actions

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

10.4.6

Polynomial definition, FCTDEF, block-synchronized Programming

FCTDEF(Polynomial_No.,LLIMIT,ULIMIT,a0,a1,a2,a3)

Explanation
Polynomial_No. LLIMIT ULIMIT a0,a1,a2,a3 Number of the 3rd degree polynomial Lower limit for function value Upper limit for function value Polynomial coefficient

Function
FCTDEF allows 3rd degree polynomials to be 2 3 defined as y=a0+a1x+a2x +a3x . These polynomials are used by the online tool offset FTOC and the evaluation function SYNFCT to calculate function values from the main run variables (real-time variables). The polynomials are defined either blocksynchronized with the function FCTDEF or via system variables: $AC_FCTLL[n] $AC_FCTUL[n] $AC_FCT0[n] $AC_FCT1[n] $AC_FCT2[n] $AC_FCT3[n] n

Lower limit for function value Upper limit for function value a0 a1 a2 a3 Number of the polynomial

10-420

11.02

Motion-Synchronous Action

10.4 Actions within synchronized actions

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Notes The system variables can be written from the parts program or from a synchronized action. When writing from parts programs, program STOPRE to ensure that writing is block synchronized. SW 4 and higher: The system variables $AC_FCTLL[n], $AC_FCTUL[n], $AC_FCT0[n] to $AC_FCTn[n] can be modified from within synchronized actions (not SINUMERIK FM-NC, not SINUMERIK 840D with NCU 571).

When writing form synchronized actions, the polynomial coefficients and function value limits are active immediately.

Programming example Polynomial for straight section: With upper limit 1000, lower limit -1000, ordinate section a0=$AA_IM[X] and linear gradient 1 the polynomial is:

f (X) Upper limit 1000

a Lower limit -1000 1

FCTDEF(1, -1000,1000,$AA_IM[X],1)

10-421

Motion-Synchronous Action

11.02

10.4 Actions within synchronized actions

840D NCU 572 NCU 573

840Di

10.4.7

Laser power control

Programming example

Polynomial definition using variables One of the possible applications of polynomial definition is the laser output control. Laser output control means: Influencing the analog output in dependence on, for example, the path velocity.

$AC_FCTUL 1 [ ] 0.5 $AC_FCTUO 1[ ] 0.35 1.5EX-5

Block end
1 $AC_FCT1 1[ 1 ]

Block start
$AC_FCTLL 1 [ ] 0.2

$AC_FCTLL[1]=0.2 $AC_FCTUL[1]=0.5 $AC_FCT0[1]=0.35 $AC_FCT1[1]=1.5EX-5 STOPRE ID=1 DO $AC_FCTUL[1]=$A_INA[2]*0.1 +0.35 ID=2 DO SYNFCT(1,$A_OUTA[1],$AC_VACTW)

Definition of the polynomial coefficient

Changing the upper limit online.

;In dependence on the path velocity (stored in $AC_VACTW) the laser output control is controlled via analog output 1

Note The polynomial defined above is used with SYNFCT.

10-422

11.02

Motion-Synchronous Action

10.4 Actions within synchronized actions

840D NCU 572 NCU 573

840Di

10.4.8

Evaluation function SYNFCT Programming

SYNFCT(Polynomial_No., realtime variable output, real-time variable input)

Explanation
Polynomial_No. Real-time variable output Real-time variable input With polynomial defined with FCTDEF (see Subsection "Polynomial definition"). Write real-time variable Read real-time variable

Function
SYNFCT reads real-time variables in synchronism with execution (e.g. analog input, actual value, ...) and uses them to calculate function values up to the 3rd degree (e.g. override, velocity, axis position, ...) using an evaluation polynomial (FCTDEF). The result is output in to real-time variables and subjected to upper and lower limits with FCTDEF (see Subsection 10.4.7). As real-time variables, variables can be selected and directly included in the processing operation with additive influencing with multiplicative influencing as position offset directly.

Application
The evaluation function is used in AC control (Adaptive Control) in laser output control with position feedforward

10-423

Motion-Synchronous Action

11.02

10.4 Actions within synchronized actions

840D NCU 572 NCU 573

840Di

10.4.9

Adaptive control (additive)

Programming example

Additive influence on the programmed feedrate A programmed feedrate is to be controlled by adding using the current of the X axis (infeed axis): The feedrate should only vary by +/ 100 mm/min and the current fluctuates by +/1A around the working point of 5A.

F [mm/min]

Upper limit 100

4 5 Lower limit -100

[A]

1. Polynomial definition Determination of the coefficients 2 3 y = f(x) = a0 + a1x + a2x + a3x a1 = -100mm/1 min A a0 = -(-100)*5 =500 a2 = a3 = 0 (not quadratic or cubic element) Upper limit = 100 Lower limit = -100 Therefore: FCTDEF(1,-100,100,500,-100,0,0) 2. Activate AC control ID=1 DO SYNFCT(1,$AC_VC,$AA_LOAD[x])
;Read the current axis load (% of the max. drive current) via $AA_LOAD[x], calculate the path feedrate override with the polynomial defined above.

10-424

11.02

Motion-Synchronous Action

10.4 Actions within synchronized actions

840D NCU 572 NCU 573

840Di

10.4.10 Adaptive control (multiplicative)

Programming example

Influence the programmed feedrate by multiplication The aim is to influence the programmed feedrate by multiplication. The feedrate must not exceed certain limits depending on the load on the drive: The feedrate is to be stopped at a drive load of 80%: Override = 0. At a drive load of 30% it is possible to traverse at programmed feedrate: Override = 100%. The feedrate can be exceeded by 20%: Max. override = 120%.
Lower limit Upper limit

OVR [ %] 160 120 100

Load [%]

1. Polynomial definition Determination of the coefficients 2 3 y = f(x) = a0 + a1x + a2x + a3x a1 = -100%/(80-30)% = -2 a0 = 100 + (2*30) = 160 a2 = a3 = 0 (not quadratic or cubic element) Upper limit = 120 Lower limit = 0 Therefore: FCTDEF(2,0,120,160,-2,0,0) 2. Activate AC control ID=1 DO SYNFCT(2,$AC_OVR,$AA_LOAD[x])
;Read the current axis load (% of the max. drive current) via $AA_LOAD[x], calculate the feedrate override with the polynomial defined above.

10-425

Motion-Synchronous Action

11.02

10.4 Actions within synchronized actions

840D NCU 572 NCU 573

810D

840Di

10.4.11 Clearance control with limited compensation

Programming example Integrating calculation of the distance values with boundary check $AA_OFF_MODE = 1 Important: The loop gain of the overlying control loop depends on the setting for the interpolation cycle. Remedy: Read MD for interpolation cycle and take it into account. Note: Restriction of the velocity of the overlying interpolator with MD 32020: JOG_VELO with an interpolation cycle of 12 ms: Velocity:

Single-dim ension distance control

Distance sensor 0.2...0.5m m

e.g. Metal sheet

Overlaid velocity

U pper limit 0.6 m /m in -10V 1V +10V

0.120mm m / mV = 0.6 /V 0.6ms min

Subroutine: Clearance control ON
%_N_AON_SPF PROC AON $AA_OFF_LIMIT[Z]=1 FCTDEF(1, -10, +10, 0, 0.6, 0.12) ID=1 DO SYNFCT(1,$AA_OFF[Z],$A_INA[3]) ID=2 WHENEVER $AA_OFF_LIMIT[Z]<>0 DO $AA_OVR[X] = 0 RET ENDPROC

Low er limit

Subroutine for clearance control ON Determine limiting value Polynomial definition Clearance control active Disable axis X when limit value is overshot

Subroutine: Clearance control OFF

%_N_AOFF_SPF PROC AOFF CANCEL(1) CANCEL(2) RET ENDPROC Subroutine for clearance control OFF Cancel clearance control synchronized action Cancel off limits check

10-426

11.02

Motion-Synchronous Action

10.4 Actions within synchronized actions

840D NCU 572 NCU 573

810D

840Di

Main program:
%_N_MAIN_MPF AON ... G1 X100 F1000 AOFF M30 Clearance control ON

Clearance control OFF

Notes Position offset in the basic coordinate system With the system variable $AA_OFF[axis] on overlaid movement of each axis in the channel is possible. It acts as a position offset in the basic coordinate system. The position offset programmed in this way is overlaid immediately in the axis concerned, whether the axis is being moved by the program or not. From SW 4 upwards, it is possible to limit the absolute value to be corrected (real-time variable output) to the variable in setting data SD 43350: AA_OFF_LIMIT. The manner of overlaying the distance is defined in machine data MD 36750: AA_OFF_MODE: 0 Proportional valuation 1 Integrating valuation With system variable $AA_OFF_LIMIT[axis] a directional scan to see whether the offset value is within the limits is possible. These system variables can be scanned from synchronized actions and, when a limit value is reached, it is possible to stop the axis or set an alarm. 0 Offset value not within limits 1 Limit of offset value reached in the positive direction -1 Limit of the offset value reached in the negative direction

10-427

Motion-Synchronous Action

11.02

10.4 Actions within synchronized actions

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

10.4.12 Online tool offset FTOC Programming

FTOC(Polynomial_No., RV, Length1_2_3 or Radius4, channel, spindle)

Explanation
Polynomial_No. RV Length1_2_3 Radius4 Channel For polynomial defined with FCTDEF, see Subsection "Polynomial definition" in this Section. Real-time variable for which a function value for the specified polynomial is to be calculated. Length compensation ($TC_DP1 to 3) or radius compensation to which the calculated function value is added. Number of the channel in which the offset is active. No specification is made here for an offset in the active channel. FTOCON must be activated in the target channel. Only specified if it is not the active spindle which is to be compensated.

Spindle

Function
FTOC permits overlaid movement for a geometry axis after a polynomial programmed with FCTDEF depending on a reference value that might, for example, be the actual value of an axis. This means that you can also program modal, Online tool compensations or clearance controls as synchronized actions. Application Machining of a workpiece and dressing of a grinding wheel in the same channel or in different channels (machining and dressing channel). The supplementary conditions and specifications for dressing grinding wheels apply to FTOC in the same way that they apply to tool offsets using PUTFTOCF. For further information, please refer to Chapter 5 "Tool Offsets".

10-428

11.02

Motion-Synchronous Action

10.4 Actions within synchronized actions

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Programming example
In this example, we want to compensate for the length of the active grinding wheel.

Dressing roll Dressing amount

Grinding wheel Length to be compensated

Workpiece

%_N_DRESS_MPF FCTDEF(1,-1000,1000,-$AA_IW[V],1) ID=1 DO FTOC(1,$AA_IW[V],3,1) Define function Select online tool compensation: Actual value of the V axis is the input value for polynomial 1; the result is added length 3 of the active grinding wheel in channel 1 as the offset value. Synchronization with machining channel Infeed movement for dressing

WAITM(1,1,2) G1 V-0.05 F0.01 G91 G1 V-0.05 F0.02 ... CANCEL(1) ...

Deselect online offset

10-429

Motion-Synchronous Action

11.02

10.4 Actions within synchronized actions

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

10.4.13 Positioning movements Function

Axes can be positioned completely unsynchonized with respect to the parts program from synchronized actions. The programming of positioning axes from synchronized actions is advisable for cyclic sequences or operations that are strongly dependent on events. Axes programmed from synchronized actions are called command axes. In SW 5 and higher, G codes G70/G71/G700/G710 can be programmed in synchronized actions. They can be used for defining the measuring system for positioning tasks in synchronized actions. References: /PG/ Chapter 3 "Specifying paths /FBSY/ "Starting Command Axes"

The measuring system is defined using G70/G71/ G700/G710. By programming the G functions in the synchronized action, the INCH/METRIC evaluation for the synchronized action can be defined independently of the parts program context. Example 1 The program environment affects the positioning travel of the positioning axis (no G function in the action part of the synchronized action)

N100 R1=0 N110 G0 X0 Z0 N120 WAITP(X) N130 ID=1 WHENEVER $R==1 DO POS[X]=10 N140 R1=1 N150 G71 Z10 F10 N160 G70 Z10 F10 N170 G71 Z10 F10 N180 M30
Z=10mm Z=254mm Z=10mm X=10mm X=254mm X=10mm

10-430

11.02

Motion-Synchronous Action

10.4 Actions within synchronized actions

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Example 2

G71 in the action part of the synchronized action clearly determines the positioning travel of the positioning axis (metric), whatever the program environment.

N100 R1=0 N110 G0 X0 Z0 N120 WAITP(X) N130 ID=1 WHENEVER $R==1 DO G71 POS[X]=10 N140 R1=1 N150 G71 Z10 F10 N160 G70 Z10 F10 N170 G71 Z10 F10 N180 M30 Programming example Disabling a programmed axis motion If you do not want the axis motion to start at the beginning of the block, the override for the axis can be held at 0 until the appropriate time from a synchronized action. WHENEVER $A_IN[1]==0 DO $AA_OVR[W]=0 G01 X10 Y25 F750 POS[W]=1500 FA=1000
;The positioning axis is halted as long as digital input 1 =0 Z=10mm Z=254mm Z=10mm X=10mm X=10mm (X is always positioned to 10mm) X=10mm

10-431

Motion-Synchronous Action

11.02

10.4 Actions within synchronized actions

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

10.4.14 Position axis POS Function

POS[axis]=value

Unlike programming from the parts program, the positioning axis movement has no effect on execution of the parts program.

Explanation
Axis: Value:
Name of the axis to be traversed The value to traverse by (depending on traverse mode)

Programming example
ID=1 EVERY $AA_IM[B]>75 DO POS[U]=100 Axis U is moved incrementally from the control zero by 100 (inch/mm) or to position 100 (inch/mm) independently of the traversing mode. ID=1 EVERY $AA_IM[B]>75 DO POS[U]=$AA_MW[V]-$AA_IM[W]+13.5 ;Axis U moved by a path calculated from real-time variables.

10.4.15 Start/stop axis MOV Programming

MOV [Axis]=value

Explanation
Axis: Value:
Name of the axis to be started Start command for traverse/stop motion. The sign determines the direction of motion. The data type for the value is INTEGER. Positive direction Negative direction Stop axis movement

Value>0

(usually +1):

Value <0 (usually -1): Value ==0:

10-432

11.02

Motion-Synchronous Action

10.4 Actions within synchronized actions

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Function
With MOV[axis]=value it is possible to start a command axis without specifying an end position. The axis is moved in the programmed direction until another movement is set by another motion or positioning command or until the axis is stopped with a stop command. Programming example
... DO MOV[U]=0 Axis U is stopped

Note If an indexing axis is stopped with MOV[Axis]=0, the axis is halted at the next indexing position.

10.4.16 Axial feed FA

Programming example FA[axis]=feedrate ID=1 EVERY $AA_IM[B]>75 DO POS[U]=100 FA[U]=990
;Define fixed feedrate value

ID=1 EVERY $AA_IM[B]>75 DO POS[U]=100 FA[U]=$AA_VACTM[W]+100

;Calculate feedrate value from real-time variables

10-433

Motion-Synchronous Action

11.02

10.4 Actions within synchronized actions

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

10.4.17 SW limit switch Function

The working area limitation programmed with G25/G26 is taken into account for the command axes depending on the setting data SA_WORKAREA_PLUS_ENABLE. Switching the working area limitation on and off with G functions WALIMON/WALIMOF in the parts program has no effect on the command axes.

10.4.18 Axis coordination Function

Typically, an axis is either moved from the parts program in the motion block or as a positioning axis from a synchronized action. If the same axis is to be traversed alternately from the parts program as a path or positioning axis and from synchronized actions, however, a coordinated transfer takes place between both axis movements. If a command axis is subsequently traversed from the parts program, preprocessing must be reorganized. This, in turn, causes an interruption in the parts program processing comparable to a preprocessing stop.

10-434

11.02

Motion-Synchronous Action

10.4 Actions within synchronized actions

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Programming example Move the X axis from either the parts program or the synchronized actions: N10 G01 X100 Y200 F1000 N20 ID=1 WHEN $A_IN[1]==1 DO POS[X]=150 FA[X]=200 CANCEL(1) N100 G01 X240 Y200 F1000
;X becomes the path axis; before motion, delay occurs because of axis transfer if digital input was 1 and X was positioned from the synchronized action. X axis programmed in the parts program Starting positioning from the synchronized action if a digital input is set Deselect synchronized action

Programming example Change traverse command for the same axis: ID=1 EVERY $A_IN[1]>=1 DO POS[V]=100 FA[V]=560
;Start positioning from the synchronized action if a digital input >= 1

ID=2 EVERY $A_IN[2]>=1 DO POS[V]=$AA_IM[V] FA[V]=790

Axis follows, 2nd input is set, i.e. end position and feed for axis V are continuously followed during a movement when two synchronized actions are simultaneously active.

10-435

Motion-Synchronous Action

11.02

10.4 Actions within synchronized actions

840D NCU 572 NCU 573

810D CCU2

840Di

10.4.19 Set actual value Function

When PRESETON (axis, value) is executed, the current axis position is not changed but a new value is assigned to it. Notes PRESETON can be executed from within a synchronized action in the following cases: Modulo rotary axes that have been started from the parts program All command axes that have been started from the synchronized action Restriction: PRESETON is not possible for axes that participate in a transformation. Programming example

WHEN $AA_IM[a] >= 89.5 DO PRESETON(a4,10.5)

;Offset control zero of axis a by 10.5 length units (inch or mm) in the positive axis direction.

Restriction
One and the same axis can by moved from the parts program and from a synchronized action, only at different times. For this reason, delays can occur in the programming of an axis from the parts program if the same axis has been program in a synchronized action first. If the same axis is used alternately, transfer between the two axis movements is coordinated. Parts program execution must be interrupted for that.

10-436

11.02

Motion-Synchronous Action

10.4 Actions within synchronized actions

840D NCU 572 NCU 573

810D CCU2

840Di

10.4.20

Spindle motions

Function
Spindles can be positioned completely unsynchronized with respect to the parts program from synchronized actions. This type of programming is advisable for cyclic sequences or operations that are strongly dependent on events. Programming example Start/stop/position spindles ID=1 EVERY $A_IN[1]==1 DO M3 S1000 ID=2 EVERY $A_IN[2]==1 DO SPOS=270
Set direction and speed of rotation Position spindle

Sequence of execution
If conflicting commands are issued for a spindle via simultaneously active synchronized actions, the most recent spindle command takes priority. Programming example Set direction and speed of rotation/position spindle ID=1 EVERY $A_IN[1]==1 DO M3 S300 ID=2 EVERY $A_IN[2]==1 DO M4 S500 ID=3 EVERY $A_IN[3]==1 DO S1000 ID=4 EVERY ($A_IN[4]==1) AND ($A_IN[1]==0) DO SPOS=0
Set direction and speed of rotation Specify new direction and new speed of rotation Specify new speed Position spindle

10-437

Motion-Synchronous Action

11.02

10.4 Actions within synchronized actions

840D NCU 572 NCU 573

810D CCU2

840Di

10.4.21 Coupled-axis motion TRAILON, TRAILOF Function

DO TRAILON(following axis, leading axis, coupling factor) DO TRAILOF(following axis, leading axis, leading axis 2) When the coupling is activated from the synchronized action, the leading axis can be in motion. In this case the following axis is accelerated up to the set velocity. The position of the leading axis at the time of synchronization of the velocity is the starting position for coupled-axis motion. The functionality of coupled-axis motion is described in the Section "Path traversing behavior". Activate asynchronized coupled motion: ... DO TRAILON(FA, LA, CF) Activate coupled-axis motion Deactivate coupled-axis motion

Where: FA: LA: CF: Where: FA: LA: LA2:

Following axis Leading axis Coupling factor Following axis Leading axis Leading axis 2, optional

Deactivate asynchronized coupled motion: ... DO TRAILOF(FA, LA, LA2)

Programming example
$A_IN[1]==0 DO TRAILON(Y,V,1) $A_IN[2]==0 DO TRAILON(Z,W,-1)
G0 Z10 G0 Y20 ... G1 Y22 V25 ... TRAILOF(Y,V) TRAILOF(Z,W) Deactivate 1st coupled axis Deactivate 2nd coupled axis Superimpose dependent and independent movement of coupled-motion axis "V" Activate 1st combined axis pair when digital input is 1 Activate 2nd combined axis pair Infeed of Z and W axes in opposite axis directions Infeed of Y and V axes in same axis directions

10-438

11.02

Motion-Synchronous Action

10.4 Actions within synchronized actions

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

10.4.22 Leading value coupling LEADON, LEADOF Function

The axial leading value coupling can be programmed in synchronized actions without restriction. Activate axial leading value coupling: ...DO LEADON(FA,LA,NR)

Where: FA: LA: NR:

Following axis Leading axis Number of stored curve table Following axis Leading axis

Deactivate axial leading value coupling: ...DO LEADOF(FA,LA)

Where: FA: LA: The axis to be coupled is released for synchronized action access by invoking the RELEASE function for the axis. Example: RELEASE (XKAN) ID=1 every SR1==1 to LEADON(CACH,XKAN,1)

Programming example
On-the-fly parting A continuous material that runs continuously through the work area of parting device is to be separated into pieces of equal length. X axis: Axis in which the continuous material runs. WCS X1 axis: Machine axis of the continuous material, MCS Y axis: Axis in which the parting device "travels" with the continuous material It is assumed that the positioning and control of the parting tool is controlled by the PLC. The signals of the PLC interface can be evaluated for the purpose of determining the degree of synchronism between the continuous material and the parting tool. Actions Activate coupling, LEADON Deactivate coupling, LEADOF Set actual value, PRESETON

10-439

Motion-Synchronous Action

11.02

10.4 Actions within synchronized actions

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

%_N_SHEARS1_MPF ;$PATH=/_N_WCS_DIR/_N_DEMOFBE_WPD N100 R3=1500 N200 R2=100000 R13=R2/300 N300 R4=100000 N400 R6=30 N500 R1=1 N600 LEADOF(Y,X) N700 CTABDEF(Y,X,1,0) N800 X=30 Y=30 N900 X=R13 Y=R13 N1000 X=2*R13 Y=30 N1100 CTABEND N1200 PRESETON(X1,0) N1300 Y=R6 G0 N1400 ID=1 WHENEVER $AA_IW[X]>$R3 N1500 RELEASE(Y) N1800 ID=6 EVERY $AA_IM[X]<10 N1900 ID=10 EVERY

;Length of a section to be parted

;Start position Y axis ;Start condition for conveyor axis ;Delete any existing coupling ;Table definition ;Value pair

;End of table definition ;PRESET to begin ;Start pos. Y axis, axis is linear

DO PESETON(X1,0)

;PRESET after length R3, new start following parting

DO LEADON(Y,X,1)
;Couple Y to X via table 1, for X < 10

$AA_IM[X]>$R3-30

DO EADOF(Y,X)
;> 30 before traversed parting distance, deactivate coupling

N2000 WAITP(X) N2100 ID=7 WHEN $R1==1 FA[X]=$R4 N2200 M30 DO MOV[X]=1
;Place material axis in continuous motion

10-440

11.02

Motion-Synchronous Action

10.4 Actions within synchronized actions

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

10.4.23 Measurement
Compared with use in traverse blocks of the parts program, the measuring function can be activated and deactivated as required. Axial measurement without deletion of distanceto-go:
MEAWA[axis]=(mode, trigger event_1, ..._4

Continuous measurement without deletion of distance-to-go:

MEAC[axis]=(mode, measurement memory, trigger event_1, ..._4

For further information on measuring: See Chapter 5, "Extended Measuring Function"

10.4.24 Set/clear wait marks: SETM, CLEARM (SW 5.2 and higher) Function
SETM(MarkerNumber) CLEARM(MarkerNumber) In synchronized actions, wait markers can be set or deleted for the purpose of coordinating channels, for example. SETM The SETM command can be written in the parts program and in the action part of a synchronized action. It sets the marker MarkerNumber for the channel in which the command executes. CLEARM The CLEARM command can be written in the parts program and in the action part of a synchronized action. It resets the flag MarkerNumber for the channel in which the command executes. Set wait marker for channel Clear wait marker for channel

10-441

Motion-Synchronous Action

11.02

10.4 Actions within synchronized actions

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

10.4.25 Error responses Function

Incorrect responses can be programmed with synchronized actions by scanning status variables and triggering the appropriate actions. Some possible responses to error conditions are: Stop axis: Override=0 Set alarm: With SETAL it is possible to set cyclic alarms from synchronized actions. Set output All actions possible in synchronized actions

Programming example
ID=67 WHENEVER ($AA_IM[X1]-$AA_IM[X2])<4.567 DO $AA_OVR[X2]=0
;If the safety distance between axes X1 and X2 is to small, stop axis X2.

ID=67 WHENEVER ($AA_IM[X1]-$AA_IM[X2])<4.567 DO SETAL(61000)

;If the safety distance between axes X1 and X2 is to small, set an alarm.

10.4.26 Travel to fixed stop FXS and FOCON/FOCOF Explanation

FXS[axis] FXST[axis] FXSW[axis] FOCON[axis] FOCOF[axis] FOCON/FOCOF FXS and FOC in synchronized actions Selection only in systems with digital drives (FDD, MSD, HLA) Modification of clamping torque FXST Change of monitoring window FXSW Activation of the modal torque/force limitation Deactivation of the torque/force limitation The axis is programmed in square brackets. The following are permitted: Geometry axis identifier Channel axis identifier Machine axis identifier

10-442

11.02

Motion-Synchronous Action

10.4 Actions within synchronized actions

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Function
The commands for travel to fixed stop are programmed in synchronized actions/technology cycles with the parts program commands FXS, FXST and FXSW. Activation can take place without movement; the torque is immediately limited. As soon as the axis moves in relation to the setpoint, fixed stop is monitored. Travel with limited torque/force (FOC): This function allows torque/force to be changed at any time via synchronized actions and can be activated modally or non-modally.

Notes
Multiple activation The function must only be activated once. If incorrect programming activates the function again although it has already been activated (FXS[axis]=1), alarm 20092 "Travel to fixed stop still active" is output. Programming code that scans $AA_FXS[] or a separate flag (here R1) in the condition will ensure that the function is not activated more than once. Parts program extract: N10 R1=0 N20 IDS=1 WHENEVER ($R1==0 AND $AA_IW[AX3] > 7) DO R1=1 FXST[AX1]=12 Block-related synchronized actions: Travel to fixed stop can be activated during an approach motion by programming a block-related synchronized action. Programming example: N10 G0 G90 X0 Y0 N20 WHEN $AA_IW[X] > 17 DO FXS[X]=1 N30 G1 F200 X100 Y110 Static and block-related synchronized actions: The same commands FXS, FXST and FXSW can be used in static and block-related synchronized actions as in normal parts program execution. The values that are assigned can be generated by calculation.
;If X reaches a position greater than 17mm ;FXS is activated

10-443

Motion-Synchronous Action

11.02

10.4 Actions within synchronized actions

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Programming example
Travel to fixed stop (FXS) Triggered by a synchronized action
Y axis: ; Activate static synchronized actions: ; By setting $R1=1, FXS is activated for ; axis Y, the effective torque is reduced to ; 10% and a traverse motion is initiated ; in the direction of the fixed stop. ; As soon as the fixed stop is detected ; ($AA_FXS[Y]==4), torque is increased ; to 30% ; After the fixed stop is reached, torque ; is controlled by R0 ; Deselection according to ; R3 and ; return ; Normal program run: axis Y for ; Enable motion in synchronized action ; Movement of another axis ; ; Put axis Y back in the path group

N10 IDS=1 WHENEVER (($R1==1) AND ($AA_FXS[y]==0)) DO $R1=0 FXS[Y]=1 FXST[Y]=10 FA[Y]=200 POS[Y]=150 N11 IDS=2 WHENEVER ($AA_FXS[Y]==4) DO FXST[Y]=30 N12 IDS=3 WHENEVER ($AA_FXS[Y]==1) DO FXST[Y]=$R0 N13 IDS=4 WHENEVER (($R3==1) AND ($AA_FXS[Y]==1)) DO FXS[Y]=0 FA[Y]=1000 POS[Y]=0 N20 FXS[Y]=0 G0 G90 X0 Y0 N30 RELEASE(Y) N40 G1 F1000 X100 N50 ...... N60 GET(Y)

Programming example
Activate torque/force limitation (FOC) N10 FOCON[X] N20 X100 Y200 FXST[X]=15 N30 FXST[X]=75 X20 N40 FOCOF[X]
; Modal activation of limitation ; X travels with reduced torque (15%) ; Change the torque to 75%, X travels with ; this limited torque ; Deactivation of the torque limitation

10-444

11.02

Motion-Synchronous Action

10.5 Technology cycles

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

10.5

Technology cycles Function

As an action in synchronized actions, you can invoke programs. These must consist only of functions that are permissible as actions in synchronized actions. Programs structured in this way are called technology cycles. Technology cycles are stored in the control as subroutines. As far as the user is concerned, they are called up like subroutines. Parameter transfer is not possible. It is possible to process several technology cycles or actions in parallel in one channel. The program end is programmed with M02/M17/M30/RET. A maximum of one axis movement per block can be programmed.

Application
Technology cycles as axis programs: Each technology cycle controls only one axis. In this way, different axis motions can be started in the same interpolation cycle under event control. The parts program is now only used for the management of synchronized actions in extreme cases.

10-445

Motion-Synchronous Action

11.02

10.5 Technology cycles

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Programming example
Axis programs are started by setting digital inputs.
IPO cycle IPO cycle ID = 1 Bedienung Condition ID = 2 Bedienung Condition ID = 3 Bedienung Condition ID = 4 Bedienung Condition

$AA_OVR [Y] = 0

POS [Y] = 10

$AA_OVR [Y] = 0

$AA_OVR [X] = 0

IPO cycle

M100

POS [Z] = 90

IPO cycle

POS [X] = 100

POS [Y] = 10

IPO cycle

POS [Z] = -90

IPO cycle

M17

Main program: ID=1 EVERY $A_IN[1]==1 DO AXIS_X ID=2 EVERY $A_IN[2]==1 DO AXIS_Y ID=3 EVERY $A_IN[3]==1 DO $AA_OVR[Y]=0 ID=4 EVERY $A_IN[4]==1 DO AXIS_Z M30 Technology cycle AXIS_X: $AA_OVR[Y]=0 M100 POS[X]=100 FA[X]=300 M17 Technology cycle AXIS_Y: POS[Y]=10 FA[Y]=200 POS[Y]=-10 M17 Technology cycle AXIS_Z: $AA_OVR[X]=0 POS[Z]=90 FA[Z]=250 POS[Z]=-90 M17

If input 1 is at 1, axis program X starts If input 2 is at 1, axis program Y starts If input 3 is at 1, the override for axis Y is at 0 If input 4 is at 1, axis program Z starts

10-446

11.02

Motion-Synchronous Action

10.5 Technology cycles

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Technology cycles are started as soon as their conditions are fulfilled. With positioning axes, several IPO cycles are required for execution. Other functions (OVR) are executed in one cycle. In the technology cycle, blocks are executed in sequence. Notes If actions are called in the same interpolation cycle that are mutually exclusive, the action is started that is called from the synchronized action with the higher ID number.

10.5.1

Lock, unlock, reset: LOCK, UNLOCK, RESET Programming

LOCK (n, n, ...) UNLOCK (n, n, ...) RESET (n, n, ...) n Lock technology cycle, the active action is interrupted Unlock technology cycle Reset technology cycle, the active action is interrupted Identification number of the synchronized action

Function
Execution of a technology cycle can be locked, unlocked or reset from within a synchronized action or from a technology cycle.

Lock technology cycle, LOCK

Technology cycles can be locked using LOCK from another synchronized action or from a technology cycle. Example:
N100 ID=1 WHENEVER $A_IN[1]==1 DO M130 ... N200 ID=2 WHENEVER $A_IN[2]==1 DO LOCK(1)

10-447

Motion-Synchronous Action

11.02

10.5 Technology cycles

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Unlock technology cycle, UNLOCK

Locked technology cycles can be unlocked again from another synchronized action/technology cycle with UNLOCK. With UNLOCK, this is continued at the current position, this also applies to an interrupted positioning procedure. Example:
N100 ID=1 WHENEVER $A_IN[1]==1 DO M130 ... N200 ID=2 WHENEVER $A_IN[2]==1 DO LOCK(1) ... N250 ID=3 WHENEVER $A_IN[3]==1 DO UNLOCK(1)

Reset technology cycle, RESET

Technology cycles can be reset using RESET from another synchronized action or from a technology cycle. Example:
N100 ID=1 WHENEVER $A_IN[1]==1 DO M130 ... N200 ID=2 WHENEVER $A_IN[2]==1 DO RESET(1)

Locking on the PLC side

Modal synchronized actions can be interlocked from the PLC with the ID numbers n=1 ... 64. The associated condition is no longer evaluated and execution of the associated function is locked in the NCK. All synchronized actions can be locked indiscriminately with one signal in the PLC interface. Notes A programmed synchronized action is active as standard and can be protected against overwriting/locking by a machine data setting. Application: It should not be possible for end customers to modify synchronized actions defined by the machine manufacturer.

10-448

11.02

Motion-Synchronous Action

10.6 Cancel synchronized action: CANCEL

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

10.6

Cancel synchronized action: CANCEL Programming

CANCEL(n,n,...) n Cancel synchronized action Identification number of the synchronized action

Explanation
Modal synchronized actions with the identifier ID(S)=n can only be canceled directly from the parts program with CANCEL. Example:
N100 ID=2 WHENEVER $A_IN[1]==1 DO M130 ... N200 CANCEL(2) Cancel synchronized action No. 2

Notes Incomplete movements originating from a canceled synchronized action are completed as programmed.

10-449

Motion-Synchronous Action

11.02

10.7 Supplementary conditions

840D NCU 571

840D NCU 572 NCU 573

Repositioning On repositioning REPOS, the synchronized actions that were active in the interrupted block are reactivated. Modal synchronized actions changed from the asynchronized subroutine are not active after REPOS when the rest of the block is executed. Polynomial coefficients programmed with FCTDEF are not affected by asynchronized subroutines and REPOS. No matter where they were programmed, they can be used at any time in the asynchronized subroutine and in the main program after execution of REPOS. Deselection with CANCEL If an active synchronized action is deselected with CANCEL, this does not affect the active action. Positioning movements are terminated in accordance with programming. The CANCEL command is used to interrupt a modally or statically active synchronized action. If a synchronized action is canceled while the positioning axis movement that was activated from it is still active, the positioning axis movement is interrupted. If this is not required, the axis movement can be decelerated before the CANCEL command with axial deletion of distance-to-go: Example:
ID=17 EVERY $A_IN[3]==1 DO ... WHEN ... DO DELDTG(X) CANCEL(1) ;End positioning axis movement POS[X]=15 FA[X]=1500 ;Start positioning axis movement

10-453

Motion-Synchronous Action

11.02

10.7 Supplementary conditions

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

10-454

11.02

Oscillation

Oscillation
11.1 Asynchronous oscillation............................................................................................. 11-456 11.2 Oscillation controlled via synchronous actions............................................................ 11-463

11-455

Oscillation

11.02

11.1 Asynchronous oscillation

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

11.1

810D

840Di

Notes on individual functions

The following addresses allow asynchronized oscillation to be activated and controlled from the parts program. The programmed values are entered in the corresponding setting data with block synchronization during the main run and remain active until changed again. Activate, deactivate oscillation: OS OS[axis] = 1: Activate OS[axis] = 0: Deactivate WAITP (axis): If oscillation is to be performed with a geometry axis, you must enable this axis for oscillation with WAITP. When oscillation has finished, this command is used to enter the oscillating axis as a positioning axis again for normal use. Stopping times at reversal points: OST1, OST2 Hold time -2 -1 0 >0 Movement in exact stop area at reversal point Interpolation is continued without waiting for exact stop Wait for exact stop coarse Wait for exact stop fine Wait for exact stop fine and then wait for stopping time

The unit for the stopping time is identical to the stopping time programmed with G4.

Note
Oscillation with motion-synchronous action and stopping times "OST1/OST2. When the stopping times have elapsed, the internal block change takes place during oscillation (visible at the new residual paths of the axes). When block change has been completed, the deactivation function is checked. During checking, the deactivation function is defined according to the control setting for the "OSCTRL" sequence of motions.

11-459

Oscillation

11.02

11.1 Asynchronous oscillation

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

This timing is affected by the feedrate override. Under certain circumstances, an oscillating stroke is performed before the spark out strokes are started or the end position approached. The impression created is that the deactivation response changes. However, this is not the case.

Setting feed FA The feedrate is the defined feedrate of the positioning axis. If no feedrate is defined, the value stored in the machine data applies. Defining the sequence of motions: OSCTRL The control settings for the movement are set with enable and reset options. Reset options These options are deactivated (only if they have previously been activated as setting options). Set options These options are switched over. When OSE (end position) is programmed, option 4 is implicitly activated.

11-460

11.02

Oscillation

11.1 Asynchronous oscillation

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Option value 0 1 2 3 4 8 16 32 64 128 256

Meaning When the oscillation is deactivated, stop at the next reversal point (default) only possible by resetting values 1 and 2 When the oscillation is deactivated, stop at reversal point 1 When the oscillation is deactivated, stop at reversal point 2 When the oscillation is deactivated, do not approach reversal point if no spark-out strokes are programmed Approach end position after spark-out If the oscillation movement is canceled by deletion of the distance-to-go: then execute spark-out strokes and approach end position if appropriate If the oscillation movement is canceled by deletion of the distance-to-go: reversal position is approached as with deactivation New feed is only active after the next reversal point FA = 0: Path overlay is active FA 0: Speed overlay is active For rotary axis DC (shortest path) 0=The sparking out stroke is a dual stroke.(default) 1=single stroke.

Several options are appended with plus characters. Example: OSCTRL[Z] = (1+4,16+32+64)

11-461

Oscillation

11.02

11.1 Asynchronous oscillation

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Programming example
Oscillating axis Z is to oscillate between 10 and 100. Approach reversal point 1 with exact stop fine, reversal point 2 with exact stop coarse. Machining takes place with feedrate 250 for the oscillating axis. At the end of the machining operation, 3 spark-out strokes must be executed and end position 200 approached with the oscillating axis. The feed for the infeed axis is 1, the end of the infeed in the X direction is at 15. WAITP(X,Y,Z) G0 X100 Y100 Z100 N40 WAITP(X,Z) N50 OSP1[Z]=10 OSP2[Z]=100 -> -> OSE[Z]=200 -> -> OST1[Z]=0 OST2[Z]=1 -> -> FA[Z]=250 FA[X]=1 -> -> OSCTRL[Z]=(4,0) -> -> OSNSC[Z]=3 -> N60 OS[Z]=1 N70 WHEN $A_IN[3]==TRUE -> -> DO DELDTG(X) N80 POS[X]=15 N90 POS[X]=50 N100 OS[Z]=0 M30 -> can be programmed in a single block. Stop oscillation Reversal point 1, reversal point 2 End position Stopping time at U1: exact stop fine Stopping time at U2: exact stop coarse Feed for oscillating axis, infeed axis Setting options Three spark-out strokes Start oscillation Deletion of distance-to-go Starting position X axis Starting position Switch over in positioning axis operation

11-462

11.02

Oscillation

11.2 Oscillation controlled via synchronous actions

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

11.2

Oscillation controlled via synchronous actions Programming:

1. Define parameters for oscillation 2. Define motion-synchronous actions 3. Assign axes, define infeed Parameters for oscillation OSP1[oscillating axis]= OSP2[oscillating axis]= OST1[oscillating axis]= OST2[oscillating axis]= FA[OscillationAxis]= OSCTRL[OscillationAxis]= OSNSC[oscillating axis]= OSE[OscillationAxis]= WAITP(OscillationAxis) Axis assignment, infeed OSCILL[OscillationAxis] = (InfeedAxis1, InfeedAxis2, InfeedAxis3) POSP[InfeedAxis] = (Endpos, Partial length, Mode) OSCILL POSP Endpos Partial length Mode Assign infeed axis or axes for oscillating axis Define complete and partial infeeds (see Chapter 3) End position for the infeed axis after all partial infeeds have been traversed. Length of the partial infeed at reversal point/reversal area Division of the complete infeed into partial infeeds 0 = Two residual steps of equal size (default); 1 = All partial infeeds of equal size

Position of reversal point 1 Position of reversal point 2 Stopping time at reversal point 1 in seconds Stopping time at reversal point 2 in seconds Feed for oscillating axis Set or reset options Number of spark-out strokes End position Enable axis for oscillation

Motion-synchronized actions WHEN DO WHENEVER DO when ... , do ... whenever ... , do ...

11-463

Oscillation

11.02

11.2 Oscillation controlled via synchronous actions

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Control oscillation via synchronized actions

The following instructions are used subject to the above assumptions: Reversal point 1: WHENEVER $SA_IM[Z]==$SA_OSCILL_REVERSE_POS1[Z]DO $AA_OVR[Z]=0 -> -> $AA_OVR[X] = 100 Whenever equal to then and the current position of oscillating axis in the MCS is the position of reversal point 1 set the axial override of the oscillating axis to 0% set the axial override of the infeed axis to 100%.

Reversal point 2: WHENEVER $SA_IM[Z] ==$SA_OSCILL_REVERSE_POS2[Z]DO $AA_OVR[Z]= 0 -> -> $AA_OVR[X]=100 Whenever equal to then and the current position of oscillating axis in the MCS is the position of reversal point 2 set the axial override of the oscillating axis to 0% set the axial override of the infeed axis to 100%.

11-469

Oscillation

11.02

11.2 Oscillation controlled via synchronous actions

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Online evaluation of reversal point If there is a main run variable coded with $$ on the right of the comparison, then the two variables are evaluated and compared with one another continuously in the IPO cycle. Please refer to Section "Motion-synchronized actions" for more information.

Restart oscillation movement

This synchronized action is used to continue the oscillating movement when the partial infeed movement is complete.

The following instructions are used subject to the above assumptions: WHENEVER $AA_DTEPW[X]==0 DO $AA_OVR[Z]= 100 Whenever equal to then the distance-to-go for the partial infeed on infeed axis X in the WCS is zero set the axial override of the oscillating axis to 100%.

11-470

11.02

Oscillation

11.2 Oscillation controlled via synchronous actions

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Next partial infeed

When infeed is complete, a premature start of the next partial infeed must be inhibited. A channel-specific marker ($AC_MARKER[Index]) is used for this purpose. It is enabled at the end of the partial infeed (partial distance-to-go 0) and deleted when the axis leaves the reversal area. A synchronized action is then used to inhibit the next infeed movement.

On the basis of the given assumptions, the following instructions apply for reversal point 1:

1. Set marker WHENEVER $AA_DTEPW[X] == 0 DO $AC_MARKER[1]=1 Whenever equal to then the distance-to-go for the partial infeed on infeed axis X in the WCS is zero set the marker with index 1 to 1.

2. Clear marker WHENEVER $AA_IM[Z]<>$SA_OSCILL_REVERSE_POS1[Z] D0 $AC_MARKER[1]=0 Whenever greater or less than then the current position of oscillating axis Z in the MCS is the position of reversal point 1 set marker 1 to 0.

3. Inhibit infeed WHENEVER $AC_MARKER[1]==1 DO $AA_OVR[X]=0 Whenever equal to then marker 1 is 1, set the axial override of the infeed axis to 0%.

11-471

Oscillation

11.02

11.2 Oscillation controlled via synchronous actions

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Programming example
No infeed is to take place at reversal point 1. At reversal point 2, the infeed is to start at a distance of ii2 before reversal point 2 and the oscillating axis is not to wait at the reversal point for the end of the partial infeed. Axis Z is the oscillating axis and axis X the infeed axis.
0 10 20 30 40 50 60 70 Z 1.0 2.0 3.0 4.0 5.0 Approach reversal point 1 and 3 sparking-out strokes X Approach end position

Program extract
1. Define parameters for oscillation DEF INT ii2 OSP1[Z]=10 OSP2[Z]=60 OST1[Z]=0 OST2[Z]=0 FA[Z]=150 FA[X]=0.5 OSCTRL[Z]=(2+8+16,1) Define variable for reversal area 2 Define reversal points 1 and 2 Reversal point 1: exact stop fine Reversal point 2: exact stop fine Oscillating axis Z feedrate, infeed axis X feedrate Deactivate oscillating motion at reversal point 2; after delete DTG spark-out and approach end position; after delete DTG approach reversal position 3 spark-out strokes End position = 70 Set reversal area Enable oscillation for Z axis

OSNC[Z]=3 OSE[Z]=70 ii2=2 WAITP(Z)

11-472

11.02

Oscillation

11.2 Oscillation controlled via synchronous actions

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

2. Motion-synchronized actions WHENEVER $AA_IM[Z]<$SA_OSCILL_REVERSE_POS2[Z]ii2 DO -> -> $AA_OVR[X]=0 $AC_MARKER[0]=0 the current position of oscillating axis Z in the MCS is Whenever the start of reversal area 2 less than set the axial override of infeed axis X to 0% then set the marker with index 0 to value 0. and WHENEVER $AA_IM[Z]>=$SA_OSCILL_REVERSE_POS2[Z] DO $AA_OVR[Z]=0 the current position of oscillating axis Z in the MCS is Whenever the position of reversal point 2 greater or equal to set the axial override of oscillating axis Z to 0%. then WHENEVER $AA_DTEPW[X]==0 DO $AC_MARKER[0]=1 the distance-to-go of the partial infeed is Whenever 0, equal to set the marker with index 0 to value 1. then WHENEVER $AC_MARKER[0]==1 DO $AA_OVR[X]=0 $AA_OVR[Z]=100 Whenever equal to then the marker with index 0 is 1, set the axial override of infeed axis X to 0% in order to inhibit premature infeed (oscillating axis Z has not yet left reversal area 2 but infeed axis X is ready for a new infeed) set the axial override of oscillating axis Z to 100% (this cancels the 2nd synchronized action).

-> must be programmed in a separate block 3. Start oscillation OSCILL[Z]=(X) POSP[X]=(5,1,1)

Start axes Assign axis X as the infeed axis for oscillating axis Z. Axis X is to travel to end position 5 in steps of 1. End of program n

M30

11-473

Oscillation

11.02

11.2 Oscillation controlled via synchronous actions

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Notes

11-474

11.02

Punching and Nibbling

12.1 Activation, deactivation................................................................................................ 12-476 12.1.1 Language commands .......................................................................................... 12-476 12.1.2 Use of M commands............................................................................................ 12-479 12.2 Automatic path segmentation...................................................................................... 12-480 12.2.1 Path segmentation for path axes ......................................................................... 12-481 12.2.2 Path segmentation for single axes....................................................................... 12-482 12.2.3 Programming examples....................................................................................... 12-484

12-475

Punching and Nibbling

11.02

12.1 Activation, deactivation

840 D NCU 572 NCU 573

840Di

12.1

Activation, deactivation

12.1.1 Language commands Programming

PDELAYON PON G... X... Y... Z... PONS G... X... Y... Z... PDELAYOF SON G... X... Y... Z... SONS G... X... Y... Z... SPOF PUNCHACC(Smin, Amin, Smax, Amax)

Explanation of the parameters

PON PONS SON SONS SPOF PDELAYON PDELAYOF PUNCHACC "Smin" "Smax" "Amin" "Amax" Punching on Punching with leader on Nibbling on Nibbling with leader on Punching, nibbling Off Punching with delay On Punching with delay Off Travel dependent acceleration PUNCHACC (Smin, Amin, Smax, Amax) Minimum hole spacing Maximum hole spacing The initial acceleration Amin can be greater than Amax The end acceleration Amin can be less than Amax

Function
Punching and Nibbling, activate/deactivate, PON/SON The punching and nibbling functions are activated with PON and SON respectively. SPOF terminates all functions specific to punching and nibbling operations. Modal commands PON and SON are mutually exclusive, i.e. PON deactivates SON and vice versa.

12-476

11.02

Punching and Nibbling

12.1 Activation, deactivation

840 D NCU 572 NCU 573

840Di

Punching and nibbling with leader, PONS/SONS The SONS and PONS commands also activate the punching or nibbling functions. In contrast to SON/PON - stroke control on interpolation level - PONS and SONS control stroke initiation on the basis of signals on servo level. This means that you can work with higher stroke frequencies and thus with an increased punching capacity. While signals are evaluated in the leader, all functions that cause the nibbling or punching axes to change position are inhibited. Example: Handwheel mode, changes to frames via PLC, measuring functions. Otherwise PONS and SONS work in exactly the same way as PON and SON. Punching with delay PDELAYON effects a delay in the output of the punching stroke. The command is modal and has a preparatory function. It is thus generally programmed before PON. Punching continues normally after PDELAYOF. Travel-dependent acceleration PUNCHACC The NC command PUNCHACC(Smin, Amin, Smax, Amax) specifies an acceleration characteristic that defines different accelerations (A), depending on the hole spacing (S). Example for PUNCHACC(2, 50, 10, 100) Hole spacing less than 2mm: Traversal acceleration is 50% of maximum acceleration. Hole spacing from 2mm to 10mm: Acceleration is increased to 100%, proportional to the spacing. Hole spacing greater than 10mm: Traverse at an acceleration of 100%.

12-477

Punching and Nibbling

11.02

12.1 Activation, deactivation

840 D NCU 572 NCU 573

840Di

Initiation of stroke
Initiation of the first stroke The instant at which the first stroke is initiated after activation of the function differs depending on whether nibbling or punching is selected: PON/PONS: All strokes even the one in the first block after activation are executed at the block end.

Y PON

SON
SON/SONS: The first stroke after activation of the nibbling function is executed at the start of the block. Each of the following strokes is initiated at the block end.
Positioning Positioning and stroke initiation

Punching and nibbling on the spot A stroke is initiated only if the block contains traversing information for the punching or nibbling axes (axes in active plane). However, if you wish to initiate a stroke at the same position, you can program one of the punching/nibbling axes with a traversing path of 0.

Additional notes
Machining with rotatable tools Use the tangential control function if you wish to position rotatable tools at a tangent to the programmed path.

12-478

11.02

Punching and Nibbling

12.1 Activation, deactivation

840 D NCU 572 NCU 573

840Di

12.1.2 Use of M commands

By using macro technology, you can also use M commands instead of language commands:

DEFINE M22 AS SON DEFINE M122 AS SONS DEFINE M25 AS PON DEFINE M125 AS PONS DEFINE M26 AS PDELAYON DEFINE M20 AS SPOF DEFINE M23 AS SPOF

Nibbling on Nibbling with leader on Punching on Punching with leader on Punching on with delay Punching, nibbling off Punching, nibbling off

12-479

Punching and Nibbling

11.02

12.2 Automatic path segmentation

840 D NCU 572 NCU 573

840Di

12.2

Automatic path segmentation Programming

SPP= SPN=

Explanation
SPP SPN Size of path section (maximum distance between strokes); modal Number of path sections per block; non-modal

Function
Path segmentation When punching or nibbling is active, SPP and SPN cause the total traversing distance programmed for the path axes to be divided into a number of path sections of equal length (equidistant path segmentation). Each path segment corresponds internally to a block.

Number of strokes When punching is active, the first stroke is executed at the end of the first path segment. In contrast, the first nibbling stroke is executed at the start of the first path segment. The number of punching/nibbling strokes over the total traversing path is thus as follows: Punching: Number of strokes = number of path segments Nibbling: Number of strokes = number of path segments +1

Auxiliary functions Auxiliary functions are executed in the first of the generated blocks.

12-480

11.02

Punching and Nibbling

12.2 Automatic path segmentation

840 D NCU 572 NCU 573

840Di

12.2.1 Path segmentation for path axes Sequence

Length of SPP path segment With the SPP command, you specify the maximum distance between strokes and thus the maximum length of the path segments into which the total traversing distance is to be divided. The command is deactivated with SPOF or SPP=0. Example: N10 G1 SON X0 Y0 N20 SPP=2 X10 In this example, the total traversing distance of 10mm is divided into 5 path segments of 2mm (SPP=2) each. The path segments effected by SPP are always equidistant, i.e. all segments are equal in length. In other words, the programmed path segment size (SPP setting) is valid only if the quotient of the total traversing distance and the SPP value is an integer. If this is not the case, the size of the path segment is reduced internally such as to produce an integer quotient. Example: N10 G1 G91 SON X10 Y10 N20 SPP=3.5 X15 Y15

Y2 E1 E1 X2 X

X2/Y2 Programmed path (nibbling or punching block) E1 Programmed path segment E1' Automatically rounded path segment length

When the total traversing distance is 15mm and the path segment length 3.5mm, the quotient is not an integer value (4.28). In this case, the SPP value is reduced down to the next possible integer quotient. The result in this example would be a path segment length of 3mm.

12-481

Punching and Nibbling

11.02

12.2 Automatic path segmentation

840 D NCU 572 NCU 573

840Di

Number of SPN path segments SPN defines the number of path segments to be generated from the total traversing distance. The length of the segments is calculated automatically. Since SPN is non-modal, punching or nibbling must be activated beforehand with PON or SON respectively.

Y1 X1 X

SPP and SPN in the same block If you program both the path segment length (SPP) and the number of path segments (SPN) in the same block, then SPN applies to this block and SPP to all the following blocks. If SPP was activated before SPN, then it takes effect again after the block with SPN.

X2/Y2 Programmed traversing distance X1 Automatically calculated segment in X Y1 Automatically calculated segment in Y

Additional notes
Provided that punching/nibbling functions are available in the control, then it is possible to program the automatic path segmentation function with SPN or SPP even when the punching/nibbling functions are not in use.

12.2.2 Path segmentation for single axes

If single axes are defined as punching/nibbling axes in addition to path axes, then the automatic path segmentation function can be activated for them.

Response of single axis to SPP The programmed path segment length (SPP) basically refers to the path axes. For this reason, the SPP value is ignored in blocks which contain a single axis motion and an SPP value, but not a programmed path axis.

12-482

11.02

Punching and Nibbling

12.2 Automatic path segmentation

840 D NCU 572 NCU 573

840Di

If both a single axis and a path axis are programmed in the block, then the single axis responds according to the setting of the appropriate machine data. 1. Default setting The path traversed by the single axis is distributed evenly among the intermediate blocks generated by SPP.
100 80

Example: N10 G1 SON X10 A0 N20 SPP=3 X25 A100 As a result of the programmed distance between strokes of 3mm, five blocks are generated for the total traversing distance of the X axis (path axis) of 15mm. The A axis thus rotates through 20 in every block. 2. Single axis without path segmentation The single axis traverses the total distance in the first of the generated blocks. 3. With/without path segmentation The response of the single axis depends on the interpolation of the path axes: Circular interpolation: Linear interpolation: With path segmentation Without path segmentation

60 40 20

100

Response to SPN The programmed number of path segments is applicable even if a path axis is not programmed in the same block. Precondition: The single axis is defined as a punching/nibbling axis.

12-483

Punching and Nibbling

11.02

12.2 Automatic path segmentation

840 D NCU 572 NCU 573

840Di

12.2.3 Programming examples Programming example 1

The programmed nibbling paths must be divided automatically into equidistant path segments.
4
62.5 <=3 75 62.5 210

X
75 <=4 125

<=3 525 365

250 130

Program extract N100 G90 X130 Y75 F60 SPOF N110 G91 Y125 SPP=4 SON Position at starting point 1 Nibbling on, maximum path segment length for automatic path segmentation: 4mm Nibbling off, position at starting point 2 Nibbling on, maximum path segment length for automatic path segmentation: 4mm Nibbling off, position at starting point 3 Nibbling on, maximum path segment length for automatic path segmentation: 3mm Nibbling off, position at starting point 4 Nibbling on, maximum path segment length for automatic path segmentation: 3mm Nibbling off

N120 G90 Y250 SPOF N130 X365 SON

N140 X525 SPOF N150 X210 Y75 SPP=3 SON

N140 X525 SPOF N170 G02 X-62.5 Y62.5 I J62.5 SPP=3 SON N180 G00 G90 Y300 SPOF

12-484

11.02

Punching and Nibbling

12.2 Automatic path segmentation

840 D NCU 572 NCU 573

840Di

Programming example 2
Automatic path segmentation is to be used to create the individual rows of holes. The maximum path segment length (SPP value) is specified in each case for segmentation purposes.
3 1
150

X Y

160

37 .7 9

275

25 125

375

45 150

Program extract N100 G90 X75 Y75 F60 PON N110 G91 Y125 SPP=25 N120 G90 X150 SPOF N130 X375 SPP=45 PON Position at starting point 1; punching on; punch one hole Maximum path segmentation length for automatic segmentation: 25mm Punching off, position at starting point 2 Punching on, maximum path segment length for automatic path segmentation: 45mm Punching off, position at starting point 3 Punching on, the calculated path segment length of 37.79mm is used instead of the 40mm programmed as the path segment length. Punching off, position

N140 X275 Y160 SPOF N150 X150 Y75 SPP=40 PON

N160 G00 Y300 SPOF

12-485

Punching and Nibbling

11.02

12.2 Automatic path segmentation

840 D NCU 572 NCU 573

840Di

Notes

12-486

11.02

Additional Functions

Additional Functions
13.1 13.2 13.3 13.4 13.5 13.5.1 13.5.2 13.5.3 13.5.4 13.5.5 13.5.6 13.5.7 13.6 13.6.1 13.6.2 13.6.3 13.6.4 13.6.5 13.6.6 13.6.7 13.6.8 13.6.9 13.7 13.8 13.9 13.9.1 13.9.2 13.10 Axis functions AXNAME, SPI, ISAXIS, AXSTRING (SW 6 and higher) ............... 13-489 Function call ISVAR ( ) (SW 6.3 and higher) ........................................................ 13-491 Learn compensation characteristics: QECLRNON, QECLRNOF......................... 13-493 Synchronized spindle ............................................................................................ 13-495 EG: Electronic gear (SW 5 and higher)................................................................. 13-505 Define electronic gear: EGDEF........................................................................ 13-505 Activate electronic gear.................................................................................... 13-506 Deactivate electronic gear................................................................................ 13-510 Delete definition of an electronic gear.............................................................. 13-511 Revolutional feedrate (G95)/electronic gear (SW 5.2)..................................... 13-511 Response of EG at Power ON, RESET, mode change, block search............. 13-512 The electronic gear's system variables ............................................................ 13-512 Extended stopping and retract (SW 5 and higher)................................................ 13-513 Drive-independent reactions ............................................................................ 13-514 NC-controlled reactions ................................................................................... 13-515 Possible trigger sources................................................................................... 13-518 Logic gating functions: Source/reaction operation ........................................... 13-518 Activation.......................................................................................................... 13-519 Generator operation/DC link backup................................................................ 13-519 Drive-independent stop .................................................................................... 13-520 Drive-independent retract................................................................................. 13-521 Example: Using the drive-independent reaction .............................................. 13-521 Link communication (SW 5.2 and higher)............................................................. 13-522 Axis container (SW 5.2 and higher) ...................................................................... 13-526 Program execution time/Workpiece counter (SW 5.2 and higher) ....................... 13-528 Program runtime .............................................................................................. 13-528 Workpiece counter........................................................................................... 13-530 Interactive window call from parts program, command MMC (SW 4.4 and higher) .............................................................................................. 13-532

13.11 Influencing the motion control ............................................................................... 13-534 13.11.1 Percentage jerk correction: JERKLIM.............................................................. 13-534 13.11.2 Percentage velocity correction: VELOLIM ....................................................... 13-535 13.12 Master/slave grouping........................................................................................... 13-536

13-487

Additional Functions

11.02

13-488

11.02

Additional Functions

13.1 Axis functions AXNAME, SPI, ISAXIS, AXSTRING

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

13.1

Axis functions AXNAME, SPI, ISAXIS, AXSTRING (SW 6 and higher) Programming
AXNAME("TRANSVERSE AXIS") AX[AXNAME("string")] AXSTRING ( (SPI(n) ) SPI(n)(spindle number) ISAXIS(geometry axis number)

Explanation of the commands

AXNAME SPI n AXSTRING Converts an input string to an axis identifier. The input string must contain valid axis names. Converts a spindle number to an axis identifier. The parameter transferred must contain a valid spindle number. Spindle number Up until SW 5, the axis index of the axis which was assigned to the spindle was output as spindle number. From SW 6 the string is output with the associated spindle number. Variable axis identifier Checks whether the specified geometry axis exists.

AX ISAXIS

Function
AXNAME is used, for example, to create generally applicable cycles when the name of the axes are not known (see also Section 13.10. "String functions"). SPI is used, for example, when axis functions are used for a spindle, e.g. the synchronized spindle. ISAXIS is used in universal cycles in order to ensure that a specific geometry axis exists and thus that any following $P_AXNX call is not aborted with an error message. (SW 6 and higher) Extensions SPI(n): The axis function SPI(n) can now also be used for reading and writing frame components, for example, for writing frames with syntax $S_PFRAME[SPI](1),TR]=2.22.

13-489

Additional Functions

11.02

13.1 Axis functions AXNAME, SPI, ISAXIS, AXSTRING

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Additional programming of the axis position via address AX[SPI(1)] = <axis position> allows an axis to be traversed. Troubleshooting for AXSTRING( SPI(n) ) When programming AXSTRING( SPI(n) ) up to SW 5 the axis index of the axis which was assigned to the spindle was output as spindle number. Example: Spindle 1 is assigned to the 5th axis. ($MA_SPIND_ASSIGN_TO_MACHAX[AX5]=1), AXSTRING( SPI(1) ) returns the incorrect string "S4" With SW 6 and higher, AXSTRING[ SPI(n) ]will output the string "Sn". Example: AXSTRING( SPI(2) ) returns string "S2"

Programming example
Move the axis defined as a facing axis. OVRA[AXNAME("Transverse axis")]=10 AX[AXNAME("Transverse axis")]=50.2 OVRA[SPI(1)]=70 IF ISAXIS(1) == FALSE GOTOF CONTINUE AX[$P_AXN1]=100 CONTINUE: Transverse axis Final position for transverse axis Override for spindle 1 Does abscissa exist? Move abscissa

13-490

11.02

Additional Functions

13.2 Function call ISVAR ( ) (SW 6.3 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

13.2

Function call ISVAR ( ) (SW 6.3 and higher) Programming

ISVAR ("variable identifier") ISVAR (identifier, [value, value])

Explanation of the commands

Variable identifiers Identifier Value Transfer parameter of type string can be undimensioned, 1-dimensional, or 2-dimensional Identifier with a known variable with or without an array index as machine data, setting data, system variable, or general variable Function value of type BOOL

Structure The transfer parameter can have the following structure: 1. Undimensioned variable: identifier 2. 1-dimensional variable without array index: identifier[ ] 3. 1-dimensional variable with array index: identifier[value] 4. 2-dimensional variable without array index: identifier[ , ] 5. 2-dimensional variable with array index: identifier[value, value]

Function
The ISVAR command is a function as defined in the NC language with a: Function value of type BOOL Transfer parameter of type STRING The ISVAR command returns TRUE, if the transfer parameter contains a variable known in the NC (machine data, setting data, system variable, general variables such as GUD's).

13-491

Additional Functions

11.02

13.2 Function call ISVAR ( ) (SW 6.3 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Checks The following checks are make in accordance with the transfer parameter: Does the identifier exist Is it a 1- or 2-dimensional array Is an array index permitted Only if all this checks have a positive result will TRUE be returned. If a check has a negative result or if a syntax error has occurred, it will return FALSE. Axial variables are accepted as an index for the axis names but not checked.

Examples: DEF INT VAR1 DEF BOOL IS_VAR=FALSE N10 IS_VAR=ISVAR("VAR1") DEF REAL VARARRAY[10,10] DEF BOOL IS_VAR=FALSE N20 IS_VAR=ISVAR("VARARRAY[,]") N30 IS_VAR=ISVAR("VARARRAY") N40 IS_VAR=ISVAR ("VARARRAY[8,11]") N50 IS_VAR=ISVAR("VARARRAY[8,8") N60 IS_VAR=ISVAR("VARARRAY[,8]") N70 IS_VAR=ISVAR("VARARRAY[8,]") DEF BOOL IS_VAR=FALSE N100 IS_VAR=ISVAR ("$MC_GCODE_RESET_VALUES[ 1]" DEF BOOL IS_VAR=FALSE N10 IS_VAR=ISVAR("$P_EP") N10 IS_VAR=ISVAR("$P_EP[X]")

; Transfer parameter is a general variable ; IS_VAR is TRUE in this case ; Different syntax variations ; IS_VAR is TRUE with a 2-dimensional array ; IS_VAR is TRUE, variable exists ; IS_VAR is FALSE, array index is not allowed

; IS_VAR is FALSE, syntax error for missing "]" ; IS_VAR is TRUE, array index is allowed ; IS_VAR is TRUE

; Transfer parameter is a machine data ; IS_VAR is TRUE

; Transfer parameter is a system variable ; IS_VAR is TRUE in this case ; IS_VAR is TRUE in this case

13-492

11.02

Additional Functions

13.3 Learn compensation characteristics: QECLRNON, QECLRNOF

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

13.3

Learn compensation characteristics: QECLRNON, QECLRNOF Explanation of the commands

QECLRNON (axis.1,4) QECLRNOF Activate "Learn quadrant error compensation" function Deactivate "Learn quadrant error compensation" function
x/m II 10 I

Function
Quadrant error compensation (QEC) reduces contour errors that occur on reversal of the traversing direction due to mechanical non-linearities (e.g. friction, backlash) or torsion. On the basis of a neural network, the optimum compensation data can be adapted by the control during a learning phase in order to determine the compensation characteristics automatically.
III

10 x/ m

Learning can take place simultaneously for up to four axes.

Sequence
The traversing movements of the axes required for the learning process are generated with the aid of an NC program. The learning movements are stored in the program in the form of a learning cycle. First teach-in Sample NC programs contained on the disk of the standard PLC program are used to teach the movements and assign the QEC system variables in the initial learning phase during startup of the control:

13-493

Additional Functions

11.02

13.3 Learn compensation characteristics: QECLRNON, QECLRNOF

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

QECLRN.SPF QECDAT.MPF QECTEST.MPF

Learning cycle Sample NC program for assigning system variables and the parameters for the learning cycle Sample NC program for circle shape test

Subsequent learning The learnt characteristics can be optimized with subsequent learning. The data stored in the user memory are used as the basis for optimization. Optimization is performed by adapting the sample NC programs to your needs. The parameters of the learning cycle (e.g. QECLRN.SPF) can also be changed for optimization Set "Learn mode" = 1 Reduce "Number of learn passes" if required Activate "Modular learning" if required and define area limits. Activate learning process: QECLRNON The actual learning process is activated in the NC program with the command QECLRNON and specification of the axes: QECLRNON (X1, Y1, Z1, Q) Only if this command is active are the quadrants changed. Deactivate learning process: QECLRNOF When the learning movements for the desired axes are complete, the learning process is deactivated simultaneously for all axes with QECLRNOF.

13-494

11.02

Additional Functions

13.4 Synchronized spindle

840D NCU 571

840D NCU 572 NCU 573

840Di

13.4

Synchronized spindle Programming

COUPDEF (FS,LS,SRFS,SRLS, block change beh., coupling) COUPDEL (FS,LS) COUPRES (FS,LS) COUPON (FS,LS,PSFS) COUPOF (FS,LS,POSFS,POSLS) WAITC (FS,block ratio,LS,block ratio.)

Explanation of the commands

COUPDEF COUPON COUPOF COUPRES COUPDEL WAITC Define/change user coupling Activate coupling Deactivate coupling Reset coupling parameters Delete user-defined coupling Wait for synchronism condition

Explanation of the parameters

FS, LS FS, LS Block change behavior: "NOC" "FINE" "COARSE" "IPOSTOP" Coupling "DV" "AV" PSFS POSFS, POSLS Name of following and leading spindle; specified with spindle number: e.g. S2 Speed ratio parameter for following spindle and leading spindle Default setting = 1.0; specification of denominator optional Block change method; Block change is implemented by: immediate (default) in response to "Synchronization run fine" in response to "Synchronization run coarse" in response to IPOSTOP (i.e. after setpoint synchronization run) Coupling type: Coupling between FS and LS Setpoint coupling (default) Actual-value coupling Angle offset between leading and following spindles Deactivation positions of following and leading spindles

13-495

Additional Functions

11.02

13.4 Synchronized spindle

840D NCU 571

840D NCU 572 NCU 573

840Di

Function
In synchronized mode, there is a leading spindle (LS) and a following spindle (FS). They are referred to as the synchronous spindle pair. The following spindle follows the movements of the leading spindle when the coupling is active (synchronized mode) in accordance with the functional relationship specified in the parameters. This function enables turning machines to perform workpiece transfer from spindle 1 to spindle 2 onthe-fly, e.g. for final machining. This avoids downtime caused, for example, by rechucking. The transfer of the workpiece can be performed with: Speed synchronism (nFS = n LS) Position synchronism (FS = LS) Position synchronism with angular offset (FS = LS+ )
n1 Spindle 1 Spindle 1

Chuck

n1 Spindle 1

840D NCU 572 NCU 573

840Di

Examples: N200 WAITC Wait for synchronism conditions for all active slave spindles without specification of these conditions. N300 WAITC(S2,"FINE",S4,"COARSE") Wait for the specified "Coarse" synchronism conditions for slave spindles S2 and S4. Speed ratio k The speed ratio is defined with parameters for FS (numerator) and LS (denominator). Options: The following and leading spindles rotate at the same speed (nFS = nLS ; SRT positive) Rotation in the same or opposite direction (SRT negative) between LS and FS The following and leading spindles rotate at different speeds (nFS = k nLS ; k 1) Application: Multi-sided turning Example: N COUPDEF(S2, S1, 1.0, 4.0) Meaning: Following spindle S2 and leading spindle S1 rotate at a speed ratio of 0.25.
Spindle 1: Leading spindle

840Di

Programming example
Working with master and slave spindles. ;Leading spindle = master spindle = spindle 1 ;Slave spindle = spindle 2 N05 M3 S3000 M2=4 S2=500 N10 COUPDEF (S2, S1, 1, 1, "NOC", "Dv") N70 SPCON N75 SPCON(2) N80 COUPON (S2, S1, 45) N200 FA [S2] = 100 N205 SPOS[2] = IC(-90) N210 WAITC(S2, "Fine") N212 G1 X Y F N215 SPOS[2] = IC(180) N220 G4 S50 N225 FA [S2] = 0 N230 SPOS[2]=IC(-7200) N350 COUPOF (S2, S1) N355 SPOSA[2] = 0 N360 G0 X0 Y0 N365 WAITS(2) N370 M5 N375 M30 ;Wait for spindle 2 ;Stop slave spindle ;Decouple on-the-fly, S=S2=3000 ;Stop slave spindle at zero degrees ;Traverse with 180 overlay in positive direction ;Dwell time = 50 revolutions of master spindle ;Activate configured speed (MD) ;20 rev. with configured speed in negative direction ;Positioning speed = 100 degrees/min ;Traverse with 90 overlay in negative direction ;Wait for "fine" synchronism ;Machining ;Master spindle rotates at 3000rpm, slave spindle at 500rpm ;Def. of coupling, can also be configured

;Include master spindle in position control (setpoint coup.) ;Include slave spindle in position control ;On-the-fly coupling to offset position = 45 degrees

13-504

11.02

Additional Functions

13.5 EG: Electronic gear (SW 5 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

13.5

EG: Electronic gear (SW 5 and higher) Introduction

The "Electronic gear" function allows you to control the movement of a following axis according to linear traversing block as a function of up to five leading axes. The relationship between the leading axis and the following axis are defined by the coupling factor for each leading axis. The following axis motion part is calculated by an addition of the individual leading axis motion parts multiplied by their respective coupling factors. When activating an EG axis grouping, the following axis can be synchronized according to a defined position. A gear group can be defined, activated, deactivated, and deleted from the parts program. The following axis movement can be optionally derived from Setpoints of the leading axes, as well as Actual values of the leading axes. As an expansion, with SW 6 and higher nonlinear relations between the leading axes and the following axis can also be achieved via curve tables (see Chapter 9). Electronic gears can be cascaded, i.e. the following axis of an electronic gear can be the leading axis for another electronic gear.

13.5.1 Define electronic gear: EGDEF Function

An EG axis grouping is defined by specifying the following axis and a minimum of one and a maximum of five leading axes with the respective coupling type: EGDEF (following axis, leading axis 1, coupling type 1, leading axis 2, coupling type 2, ...)

13-505

Additional Functions

11.02

13.5 EG: Electronic gear (SW 5 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

810D

840Di

Variation 3 only effects modulo following axes coupled to modulo leading axes. Time optimization takes account of velocity limits of the following axis. The tooth distance (deg.) is calculated like this: 360 * Zi/Ni. If the following axis is stopped at the time of calling, path optimization returns responds identically to time optimization. If the following axis is already in motion, NTGP will synchronize at the next tooth gap irrespective of the current velocity of the following axis. If the following axis is already in motion, NTGT will synchronize at the next tooth gap depending on the current velocity of the following axis. The axis is also decelerated, if necessary.

SW 6
If a curve table is used for one of the leading axes, then you must set:

LAi

the denominator for the coupling factor for linear couplings must be set to 0. (Denominator 0 is illegal for linear couplings.) To the control, denominator zero means that is to be interpreted as the number of the curve table to be used. The curve table with the specified number must already be defined when the control is switched on. Specification of the leading axis corresponds to the leading axis specification with coupling via coupling factor (linear coupling).

For more information about using curve tables and cascading and synchronizing electronic gears, please refer to: /FB/ M 3, Coupled Motion and Leading Value Coupling

It is only permissible to program leading axes that have previously been specified with EGDEF.

13-509

Additional Functions

11.02

13.5 EG: Electronic gear (SW 5 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Via the programmed "synchronized positions" for the following axis (SynPosFA) and for the leading axes (SynPosLA), positions are defined in which the coupling group is valid as synchronized. If the electronic gear is not in synchronized state when it is activated, the following axis will traverse to its defined synchronized position. If modulo axes are contained in the coupling group, their position values are modulus-reduced. This ensures that the next possible synchronized position is approached (so-called relative synchronization: e.g. the next tooth gap). The synchronized position is only approached if "Enable following axis override" interface signal DB(30 + axis number), DBX 26 bit 4 is issued for the following axis. If it is not issued, the program stops at the EGONSYN block and selfclearing alarm 16771 is output until the above mentioned signal is set.

13.5.3 Deactivate electronic gear

There are three different ways to deactivate an active EG axis grouping. Variant 1: EGOFS(following axis)

The electronic gear is deactivated. The following axis is decelerated until it is motionless. The call triggers preprocessing stop. This command parameter setting make it possible to selectively remove the control the individual leading axes have over the following axis' motion.

Variant 2: EGOFS(following axis, leading axis 1, ... leading axis 5)

At least one leading axis must be specified. The influence of the specified leading axes on the following axis is selectively disabled. The call triggers preprocessing stop. If leading axes are still active, the following axis will continue to operate under their control. If all leading axis influences have been disabled in this manner, the following axis is decelerated until it reaches a standstill.

13-510

11.02

Additional Functions

13.5 EG: Electronic gear (SW 5 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Variant 3: EGOFC(following spindle)

The electronic gear is deactivated. The following spindle continues to operate with the current speed that was valid at the time of deactivation. The call triggers preprocessing stop.

Note
This functions is only allowed for spindles.

13.5.4 Delete definition of an electronic gear

An EG axis grouping must be deactivated as described in the preceding section before you can delete its definition. EGDEL(following axis)

The coupling definition of the axis grouping is deleted. Additional axis groupings can be defined by means of EGDEF until the maximum number of simultaneously activated axis groupings is reached. The call triggers preprocessing stop.

13.5.5 Revolutional feedrate (G95)/electronic gear (SW 5.2)

In SW 5 and higher, using the FPR() command, it is also possible to define the following axis of an electronic gear as the axis determining the revolutional feedrate. The following applies in this case: The feed is dependent on the setpoint speed of the following axis of the electronic gear. The setpoint speed is calculated from the speed of the leading spindles and modulo leading axes (that are not path axes) and their assigned coupling factors. Speed parts of linear or non-modulo leading axes and overlaid movement of the following axis are not taken into account.

13-511

Additional Functions

11.02

13.5 EG: Electronic gear (SW 5 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

13.5.6 Response of EG at Power ON, RESET, mode change, block search

After Power ON there are no active couplings. Active couplings are retained after reset and mode change. With block search, commands for switching, deleting and defining the electronic gear are not executed or retained, instead they are skipped.

13.5.7 The electronic gear's system variables

By means of the electronic gear's system variables, the parts program can determine the current states of an EG axis grouping and react to them if required.

Additional notes
The system variables for the electronic gear are listed in the Annex. They are characterized by names beginning with: $AA_EG_ ... or $VA_EG_ ...

13-512

11.02

Additional Functions

13.6 Extended stopping and retract (SW 5 and higher)

13.6 Extended stopping and retract (SW 5 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

After this time has lapsed, rapid deceleration is initiated for the retracting axis too, with subsequent correction. The frame that was active when fast retraction was activated is used. Important: Frames with rotation also influence the lifting direction via POLF. The NC-controlled retraction is configured: via MD 37500: 21 as well as 2 time specification via MD (see above); enabled ($AA_ESR_ENABLE) and triggered: System variable $AC_ESR_TRIGGER

Programming
POLF[geo |mach]= value Target position of retracting axis

Explanation of the commands

POLF geo | mach value Command, modal Geometry axis or Channel/machine axis that retracts Retract position, WCS is valid for geometry axis, otherwise MCS. When using the same identifiers for geometry axis and channel/machine axis, the workpiece coordinate system is used for retraction. Incremental programming is permissible.

Programming
POLFMASK(axisname1, axisname2, ...) Axis selection for the retraction

Explanation of the commands

POLFMASK Command POLFMASK() without axis specification deactivates rapid lift for all axes. Names of the axes that are to travel to positions defined with POLF in case of LIFTFAST. All the axes specified must be in the same coordinate system. Before rapid lift to a defined position can be enabled via POLFMASK, you need to program a position via POLF for the selected axes.

axisnamei

13-516

11.02

Additional Functions

13.6 Extended stopping and retract (SW 5 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

There are no machine data with default settings for POLF values. When interpreting POLFMASK, alarm 16016 is issued if POLF has not yet been programmed. Notice The positions programmed with POLF and the activation via POLFMASK are deleted at parts program start. This means that the user must program the values for POLF and the selected axes (POLFMASK) in each parts program.

Function
Stop The sequence for extended stop (NC-controlled) is specified in the following machine data: MD 21380: ESR_DELAY_TIME1 and MD 21381: ESR_DELAY_TIME2. The axis continues interpolating as programmed for the time duration specified in MD 21380. After the time delay specified in MD 21380 has lapsed, controlled braking is initiated by interpolation. The maximum time available for the interpolatory controlled braking is specified in MD 21381; after this time has lapsed, rapid deceleration with subsequent correction is initiated. The NC-controlled stop is configured: via MD 37500: 22 as well as 2 time specification via MD (see above); enabled ($AA_ESR_ENABLE) and triggered: System variable $AC_ESR_TRIGGER

13-517

Additional Functions

11.02

13.6 Extended stopping and retract (SW 5 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

13.6.3 Possible trigger sources Function

The following error sources for starting "Extended stop and retract" are possible: General sources (NC-external/global or mode group/channel-specific): Digital inputs (e.g. on NCU modules or terminal blocks) or mapping the digital outputs within the control ($A_IN, $A_OUT) Channel status ($AC_STAT) VDI signals ($A_DBB) Group messages from a number of alarms ($AC_ALARM_STAT) Axial sources: Emergency retraction threshold of the following axis (synchronization of electronic coupling, $VA_EG_SYNCDIFF[following axis]) Drive: DC link warning threshold (pending undervoltage), $AA_ESR_STAT[axis] Drive: Generator minimum velocity threshold (no more regenerative rotation energy available), $AA_ESR_STAT[axis].

13.6.4 Logic gating functions: Source/reaction operation Function

The static synchronized actions' flexible gating possibilities are used to trigger specific reactions according to the sources. The operator has several options for gating all relevant sources by means of static synchronized actions. Users can evaluate the source system variable as a whole or also selectively by means of bit masks and gate their desired reactions to them. The static synchronized actions are effective in all operating modes.

13-518

11.02

Additional Functions

13.6 Extended stopping and retract (SW 5 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

For a more detailed description on how to use synchronized actions, please refer to References: /FBSY/ Description of Functions Synchronized Actions

13.6.5 Activation
Enabling functions: $AA_ESR_ENABLE The generator operation, stop and retract functions are enabled by setting the associated control signal ($AA_ESR_ENABLE). This control signal can be modified by the synchronized actions. Triggering functions (general triggering of all released axes) $AN_ESR_TRIGGER Generator operation is "automatically" active in the drive when a pending DC link undervoltage is detected. Drive-independent stop and/or retract are active when a communications failure (between the NC and drive) is detected, as well as when a DC link undervoltage is detected in the drive (providing it is configured and enabled). Drive-independent stop and/or retract can also be triggered from the NC side by setting the corresponding control signal $AN_ESR_TRIGGER (broadcast command to all drives).

13.6.6 Generator operation/DC link backup Function

By configuring drive MD and carrying out the required programming via static synchronized actions ($AA_ESR_ENABLE), temporary DC link voltage drops can be compensated. The time that can be bridged depends on how much energy the generator that is used as DC link backup has stored, as well as how much energy is required to maintain the active movements (DC link backup and monitoring for generator speed limit).

13-519

Additional Functions

11.02

13.6 Extended stopping and retract (SW 5 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

When the value falls below the DC link voltage lower limit, the axis/spindle concerned switches from position or speed-controlled operation to generator operation. Drive deceleration (default speed setpoint = 0) causes regeneration of energy in the DC link. For more information see /FB/ M 3, Coupled Motion and Leading Value Coupling

13.6.7 Drive-independent stop Function

The drives of a previously coupled grouping can be stopped by time-controlled cutout delay keeping the difference between them to a minimum, if the control is unable to achieve this. Drive-independent stop is configured and enabled via MD (delay time T1 in MD) and is enabled by system variable $AA_ESR_ENABLE and started with $AN_ESR_TRIGGER. Reactions For time T1 the speed setpoint that was active when the error occurred is still output. This is an attempt to maintain the movement that was active before the failure until the physical contact is annulled or the retraction movement initiated simultaneously in other drives is completed. This can be necessary for all leading/following drives or for drives that are coupled or in a grouping. After time T1, all axes with speed setpoint feedforward zero are stopped at the current limit, and the pulses are deleted when zero speed is reached or when the time has expired (+drive MD).

13-520

11.02

Additional Functions

13.6 Extended stopping and retract (SW 5 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

13.6.8 Drive-independent retract Function

Axes with digital 611D drives can (if configured and released) also execute a retraction movement independently at control failure (sign-of-life detection) if the DC link voltage falls below a warning threshold if triggered by the system variable $AN_ESR_TRIGGER. The retraction movement is performed independently by drive 611D. Once the retraction phase is initiated, the drive independently maintains its enables at the values that were previously valid. For more information see /FB/ M 3, Coupled Motion and Leading Value Coupling

13.6.9 Example: Using the drive-independent reaction

Example configuration Axis A is to operate as generator drive, axis X is to retract by 10 mm at maximum speed in event of an error and axes Y and Z are to stop with a time delay of 100 ms, such that the retraction axis has time to cancel the mechanical coupling.

Sequence
1. Activate options "Ext. Stop and retract" and "Mode-independent actions" (includes "Static synchronized actions IDS ...)". 2. Function assignment: $MA_ESR_REACTION[X]=11, $MA_ESR_REACTION[Y]=12, $MA_ESR_REACTION[Z]=12, $MA_ESR_REACTION[A]=10;

13-521

Additional Functions

11.02

13.7 Link communication (SW 5.2 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

3. Drive configuration: MD 1639 RETRACT_SPEED[X]

=400000H in pos. direction (max. speed), =FFC00000H in neg. direction, MD 1638 RETRACT_TIME[X] =10ms (retract time), MD 1637 GEN_STOP_DELAY[Y] =100ms, MD 1637 GEN_STOP_DELAY[Z] =100ms, MD 1635 GEN_AXIS_MIN_SPEED[A] =Generator min. speed (rpm). 4. Function enable (from parts program or synchronized actions): $AA_ESR_ENABLE[X]=1, $AA_ESR_ENABLE[Y]=1, $AA_ESR_ENABLE[Z]=1, $AA_ESR_ENABLE[A]=1 5. Get the generator operation to "momentum" speed (e.g. in spindle operation M03 S1000) 6. Formulate trigger condition as static synchronized action(s), e.g.: dependent on intervention of the generator axis: IDS=01 WHENEVER $AA_ESR_STAT[A]>0 DO $AN_ESR_TRIGGER=1 and/or dependent on alarms that trigger follow-up mode (bit13=2000H): IDS=02 WHENEVER ($AC_ALARM_STAT B_AND 'H2000')>0 DO $AN_ESR_TRIGGER=1 and also dependent on EU synchronized operation (if, for example, Y is defined as EU following axis and if the max. allowed deviation of synchronized operation shall be 100 ml): IDS=03 WHENEVER ABS($VA_EG_SYNCDIFF[Y])>0.1 DO $AN_ESR_TRIGGER=1

13.7 Link communication (SW 5.2 and higher)

Function
The NCU link, which connects several NCU units from an installation, is used in configurations with a distributed system design. When there is a high demand for axes and channels, e.g. with revolving machines and multi-spindle machines, computing capacity, configuration options and memory areas can reach their limits when only one NCU is used.

13-522

11.02

Additional Functions

13.7 Link communication (SW 5.2 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Several networked NCUs connected by means of an NCU link module represent an open, scalable solution that meets all the requirements of this type of machine tool. The NCU link module (hardware) provides high-speed NCU-to-NCU communication. Options providing this functionality can be ordered separately.

Function
Several NCUs linked via link modules can have read and write access to a global NCU memory area via the system variables described in the following. Each NCU linked via a link module can use global link variables. These link variables are addressed in the same way by all connected NCUs. Link variables can be programmed as system variables. As a rule, the machine manufacturer defines and documents the meaning of these variables. Applications for link variables: - Global machine states - Workpiece clamping open/closed - Etc. Relatively small data volume Very high transfer speed, therefore: Use is intended for time-critical information. These system variables can be accessed from the parts program and from synchronized actions. The size of the memory area for global NCU system variables configurable. When a value is written in a global system variable, it can be read by all the NCUs connected after one interpolation cycle.

13-523

Additional Functions

11.02

13.7 Link communication (SW 5.2 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Link variables are global system data that can be addressed by the connected NCUs as system variables. The - contents of these variables, - their data type, - use, and - position (access index) in the link memory are defined by the user (in this case generally the machine manufacturer). Link variables are stored in the link memory. After power-up, the link memory is initialized with 0. The following link variables can be addressed within the link memory: INT $A_DLB[i] INT $A_DLW[i] INT $A_DLD[i] ; data byte (8 bits) ; data word (16 bits) ; double data word (32 bits)

REAL $A_DLR[i] ; real data (64 bits) According to the type in question, 1, 2, 4 or 8 bytes are addressed when the link variables are written/read.

Index i defines the start of the respective variable in relation to the start of the configured link memory. The index is counted from 0 up. Value ranges The different data types have the following value ranges: BYTE: 0 to 255 WORD: 32768 to 32767 DWORD: 2147483648 to 2147483647 REAL: 4.19e-308 to 4.19e-307 The various NCU applications sharing access to the link memory at the same time must use the link memory in a uniform manner. When the process is completely separate in time, the link memory can be occupied differently.

13-524

11.02

Additional Functions

13.7 Link communication (SW 5.2 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Warning
A link variable write process is only then completed when the written information is also available to all the other NCUs. Approximately two interpolation cycles are necessary for this process. Local writing to the link memory is delayed by the same time for purposes of consistency. For more information, please refer to the Description of Functions B3 (SW 5)

Programming example
$A_DLB[5]=21 The 5th byte in the shared link memory is assigned value 21.

13-525

Additional Functions

11.02

13.8 Axis container (SW 5.2 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

13.8

Axis container (SW 5.2 and higher) Function

With revolving machines/multi-spindle machines the axes holding the workpiece move from one machining station to the next. As the machining stations are controlled by different NCU channels, atstation/position change the axes holding the workpiece must be dynamically reassigned to the appropriate NCU channel. The axis container is provided for this purpose. Only one workpiece clamping axis/spindle can be active at any one time at the local machining station. The axis container compiles the possible connections with all clamping axes/spindles, of which only exactly one is always activated for the machining station. The following can be assigned via axis containers: Local axes and/or Link axes (see Fundamentals) The available axes that are defined in the axis container can be changed by switching the entries in the axis container. This switching function can be triggered from the parts program. The axis containers with link axes are a tool that is valid across NCUs (NCU global) and is coordinated by the control. It is also possible to have axis containers in which only local axes are managed. Detailed information on configuring axis containers can be found in /FB/, B3 (SW 5.2) The entries in the axis container can be switched by increment n via the commands:

Programming
AXCTSWE (CTi) AXCTSWED(CTi) AXIS CONTAINER SWITCH ENABLE AXIS CONTAINER SWITCH ENABLE DIRECT

13-526

11.02

Additional Functions

13.8 Axis container (SW 5.2 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Explanation
CTi or e.g. A_CONT1 Number of the axis container whose contents are to be switched or individual name of axis container set via MD.

Function
AXCTSWE () Each channel whose axes are contained in the specified container issues an enable for a container rotation, if it has finished machining the position/station. Once the control receives the enables from all channels for the axes in the container, the container is rotated with the increment specified in the SD.
Channel axis name X Y Z S1 1 2 6 7 Logical machine axis image

AX2 AX3 CT1_SL1

1 Local machine axis 2 2 Local machine axis 3 Axis container 1 entry 1 (slot 1)

No. in the logical machine axis image

Axis container 1 NC1_AX1 NC2_AX2 NC2_AX1 ... ... ... NC1_AX5 AXCTSWE(CT1)

Axis container 1 NC1_AX5 NC1_AX1 NC2_AX2 NC2_AX1 ... ... ... Axis container entries displaced by increments of 1

In the preceding example, after axis container rotation by 1, axis AX5 on NCU1 is assigned to channel axis Z instead of axis AX1 on NCU1. The command variant AXCTSWED(CTi) can be used to simplify startup. Under the sole effect of the active channel, the axis container rotates around the increment stored in the SD.

13-527

Additional Functions

11.02

13.9 Program execution time/Workpiece counter (SW 5.2 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

This call may only be used if the other channels, which have axes in the container are in the RESET state. After an axis container rotation, all NCUs whose channels refer to the rotated axis container via the logical machine axis image are affected by the new axis assignment.

13.9

Program execution time/Workpiece counter (SW 5.2 and higher) Function

Information on the program execution time and on the workpiece count are provided to support the person working at the machine tool. This information is specified in the respective machine data and can be edited as a system variable in the NC and/or PLC program. This information is also available to the MMC at the operator panel front interface.

13.9.1 Program runtime Function

Under this function, timers are provided as system variables, which can be used to monitor technological processes. These timers can only be read. They can be accessed at any time by the MMC in read mode.

Explanation
The following two timers are defined as NCKspecific system variables and always active. $AN_SETUP_TIME

Time in minutes since the last setup; is reset with SETUP

13-528

11.02

Additional Functions

13.9 Program execution time/Workpiece counter (SW 5.2 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

$AN_POWERON_TIME The following three timers are defined as channel-specific system variables and can be activated via machine data. $AC_OPERATING_TIME $AC_CYCLE_TIME $AC_CUTTING_TIME $MC_RUNTIMER_MODE

Time in minutes since the last PowerOn; is reset with POWERON

Total execution time in seconds of NC programs in the automatic mode Execution time in seconds of the selected NC program Tool operation time in seconds Tool operation time in seconds

All timers are reset with default values when the control is powered up, and can be read independent of their activation.

Programming example
1. Activate runtime measurement for the active NC program; no measurement with active dry run feedrate and program testing: $MC_PROCESSTIMER_MODE = 'H2' 2. Activate measurement for the tool operating time; measurement also with active dry run feedrate and program testing: $MC_PROCESSTIMER_MODE= 'H34' 3. Activate measurement for the total runtime and tool operating time; measurement also during program testing: $MC_PROCESSTIMER_MODE= 'H25'

13-529

Additional Functions

11.02

13.9 Program execution time/Workpiece counter (SW 5.2 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

13.9.2 Workpiece counter Function

The "Workpiece counter" function can be used to prepare counters, e.g. for internal counting of workpieces on the control. These counters exist as channel-specific system variables with read and write access within a value range from 0 to 999 999 999. Machine data can be used to control counter activation, counter reset timing and the counting algorithm.

Explanation
The following counters are provided: $AC_REQUIRED_PARTS Number of workpieces required In this counter you can define the number of workpieces at which the actual workpiece counter $AC_ACTUAL_PARTS is reset to zero. Machine data can be used to configure the generation of the display alarm "Required number of workpieces reached" and the channel VDI signal "Required number of workpieces reached". $AC_TOTAL_PARTS Total number of workpieces actually produced (total actual) The counter indicates the total number of workpieces produced since the starting time. The counter is automatically reset with default values only when the control is powered up. Number of actual workpieces. This counter records the number of all workpieces produced since the starting time. The counter is automatically reset to zero (on condition that $AC_REQUIRED_PARTS is not equal to 0) when the required number of workpieces ($AC_REQUIRED_PARTS) has been reached. Number of workpieces specified by the user This counter allows user-defined workpiece counting. Alarm output can be defined for the case of identity with $AC_REQUIRED_PARTS (workpiece target). The user must reset the counter

$AC_ACTUAL_PARTS

$AC_SPECIAL_PARTS

The "Workpiece counter" function operates independently of the tool management functions. All counters can be read and written from the MMC. All counters are reset with default values when the control is powered up, and can be read/written independent of their activation.

13-530

11.02

Additional Functions

13.9 Program execution time/Workpiece counter (SW 5.2 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Programming example
1. Activate workpiece counter $AC_REQUIRED_PARTS: $MC_PART_COUNTER='H3' $AC_REQUIRED_PARTS is active, display
alarm on $AC_REQUIRED_PARTS == $AC_SPECIAL_PARTS

2. Activate workpiece counter $AC_TOTAL_PARTS: $MC_PART_COUNTER='H10' $MC_PART_COUNTER_MCODE[0]=80

$AC_TOTAL_PARTS is active, the counter is incremented by 1 on each M02, $MC_PART_COUNTER_MCODE[0] is irrelevant

3. Activate workpiece counter $AC_ACTUAL_PARTS: $MC_PART_COUNTER='H300' $AC_TOTAL_PARTS is active, the counter is incremented by 1 on each M17 $MC_PART_COUNTER_MCODE[1]=17 4. Activate workpiece counter $AC_SPECIAL_PARTS: $MC_PART_COUNTER='H3000' $AC_SPECIAL_PARTS is active, the counter is incremented by 1 on each M77 $MC_PART_COUNTER_MCODE[2]=77 5. Deactivate workpiece counter $AC_ACTUAL_PARTS: $MC_PART_COUNTER='H200' $AC_TOTAL_PARTS is not active, rest irrelevant $MC_PART_COUNTER_MCODE[1]=50 6. Activate all counters, examples 1-4: $MC_PART_COUNTER $MC_PART_COUNTER_MCODE[0] $MC_PART_COUNTER_MCODE[1] $MC_PART_COUNTER_MCODE[2] ='H3313' =80 =17 =77
$AC_REQUIRED_PARTS is active Display alarm on $AC_REQUIRED_PARTS == $AC_SPECIAL_PARTS $AC_TOTAL_PARTS is active, the counter is incremented by 1 on each M02 $MC_PART_COUNTER_MCODE[0] is irrelevant $AC_ACTUAL_PARTS is active, the counter is incremented by 1 on each M17 $AC_SPECIAL_PARTS is active, the counter is incremented by 1 on each M77

13-531

Additional Functions

11.02

13.10 Interactive window call from parts program, command MMC

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

13.10 Interactive window call from parts program, command MMC (SW 4.4 and higher) Programming
MMC ("CYCLES, PICTURE_ON, T_SK.COM, PICTURE, MGUD.DEF, PICTURE_3.AWB, TEST_1, A1","S")

Explanation
CYCLES PICTURE_ON or PICTURE_OFF T_SK.COM Operating area in which the configured user dialog boxes are implemented. Command: display selection or display deselection Com file: Name of the dialog display file (user cycles). The dialog display design is defined here. The dialog displays can show user variables and/or comments. Name of dialog display: The individual displays are selected via the names of the dialog displays. User data definition file, which is addressed while reading/writing variables. Graphics file Display time or acknowledgement variable Text variables...", Acknowledgement mode: synchronous, acknowledgement via "OK" soft key

DISPLAY

MGUD.DEF

PICTURE_3.AWB TEST_1 A1 "S"

Function
With the MMC command, user-defined dialog windows (dialog displays) can be displayed on the MMC/HMI from the parts program. The dialog window design is defined in pure text configuration (COM file in cycles directory), while the MMC/HMI system software remains unchanged. User-defined dialog windows cannot be called simultaneously in different channels.

13-532

11.02

Additional Functions

13.10 Interactive window call from parts program, command MMC

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Please see the detailed notes on how to program the MMC command (incl. programming examples) in /IAM/ in the manuals IM1 through IM4 depending on the MMC/HMI software used.

13-533

Additional Functions

11.02

13.11 Influencing the motion control

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

13.11 Influencing the motion control 13.11.1 Percentage jerk correction: JERKLIM Programming
JERKLIM[axis]= ...

Explanation of the command

Percentage change for the greatest permissible jerk relative to the value set in the machine data for the axis Machine axis whose jerk limit has to adapted

JERKLIM Axis

Function
In critical program sections, it may be necessary to limit the jerk to below maximum value, for example, to reduce mechanical stress. The acceleration mode SOFT must be active. The function only effects path axes.

Sequence
In the AUTOMATIC modes, the jerk limit is limited to the percentage of the jerk limit stored in the machine data. Example: N60 JERKLIM[X]=75 Meaning: The axis carriage in the X direction must be accelerated/decelerated with only 75% of the jerk permissible for the axis. Value range: 1 ... 200 100 corresponds to: no effect on jerk. 100 is applied after RESET and parts program start.

13-534

11.02

Additional Functions

13.11 Influencing the motion control

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Additional notes
A further example will follow at the end of the next subsection.

13.11.2 Percentage velocity correction: VELOLIM Programming

VELOLIM[axis]= ...

Explanation of the command

Percentage change for the greatest permissible velocity relative to the value set in the machine data for the axis Machine axis whose velocity limit has to adapted

VELOLIM Axis

Function
In critical program sections, it may be necessary to limit the velocity to below maximum values, for example, to reduce mechanical stress or enhance finish. The function only effects path and positioning axes.

Sequence
In the AUTOMATIC modes, the velocity limit is limited to the percentage of the velocity limit stored in the machine data. Example: N70 VELOLIM[X]=80 Meaning: The axis carriage in the X direction must travel at only 80% of the velocity permissible for the axis.

13-535

Additional Functions

11.02

13.12 Master/slave grouping

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Value range: 1 ... 100 100 corresponds to: no effect on velocity. 100 is applied after RESET and parts program start.

Programming example
N1000 G0 X0 Y0 F10000 SOFT G64 N1100 G1 X20 RNDM=5 ACC[X]=20 ACC[Y]=30 N1200 G1 Y20 VELOLIM[X]=5 JERKLIM[Y]=200 N1300 G1 X0 JERKLIM[X]=2 N1400 G1 Y0 M30

13.12 Master/slave grouping Programming:

MASLDEF(Slv1, Slv2, ..., master axis) MASLDEL(Slv1, Slv2, ..., ) MASLON(Slv1, Slv2, ..., ) MASLOF(Slv1, Slv2, ..., ) MASLOFS(Slv1, Slv2, ..., ) For dynamic configuration (SW 6.4 and higher) For dynamic configuration (SW 6.4 and higher)

(SW 6.4 and higher)

Explanation of the parameters

Slv1, Slv2, ... Master axis Slave axes led by a master axis Axis leading slave axes defined in a master/slave grouping

13-536

11.02

Additional Functions

13.12 Master/slave grouping

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Function
The master/slave coupling in SW 6.4 and lower permitted coupling of the slave axes to their master axis only while the axes involved are stopped. Extension of SW 6.4 permits coupling and uncoupling of rotating, speed-controlled spindles and dynamic configuration. Dynamic configuration MASLDEF

(SW 6.4 and higher) Definition of a master/slave grouping from the parts program. In SW 6.4 and lower, definition as in the machine data only. (SW 6.4 and higher) The instruction cancels assignment of the slave axes to the master axis and simultaneously uncouples the current coupling, like MASLOF. The master/slave definitions declared in the machine data are retained. Enable a temporary coupling This instruction uncouples an active coupling. (SW 6.4 and higher) For spindles in speed control mode, this instruction is executed immediately. The slave spindles rotating at this time retain their speeds until next speed programming.

MASLDEL

General MASLON MASLOF

13-537

Additional Functions

11.02

13.12 Master/slave grouping

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

MASLOFS

(SW 6.4 and higher) The MASLOFS instruction can be used to decelerate slave spindles automatically on uncoupling. For axes and spindles in positioning mode, uncoupling is only possible while stopped.

More information (SW 6.4 and higher)

For MASLOF/MASLOFS, the implicit preprocessing stop is not required. Because of the missing preprocessing stop, the $P system variables for the slave axes do not provide updated values until next programming.

Programming example
Dynamic configuration of a master/slave coupling from the parts program: The axis relevant after axis container rotation must become the master axis.
MASLDEF(AUX,S3) MASLON(AUX) M3=3 S3=4000 MASLDEL(AUX) AXCTSWE(CT1)

; S3 master for AUX ; Coupling ON for AUX ; Clockwise rotation ; Clear configuration and ; uncoupling ; Container rotation

13-538

11.02

Additional Functions

13.12 Master/slave grouping

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

To enable coupling with another spindle after container rotation, the previous coupling must be uncoupled, the configuration cleared, and a new coupling configured. Example of a coupling sequence Position 3 / Container CT1 Original situation

See /FB/, B3 Section 2.6 Axis container

After rotation by one slot

13-539

Additional Functions

11.02

13.12 Master/slave grouping

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

13-540

11.02

User Stock Removal Programs

14-541

User Stock Removal Programs

11.02

14.1 Supporting functions for stock removal

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

14.1

Supporting functions for stock removal

User stock removal programs Preprogrammed stock removal programs are provided for stock removal. You can also use the following functions to develop your own stock removal programs. CONTPRON CONTDCON INTERSEC EXECTAB CALCDAT Activate tabular contour preparation (11 columns) Activate tabular contour decoding (6 columns) Calculate intersection of two contour elements. (Only for tables created by CONTPRON). Block-by-block execution of contour elements of a table (Only for tables created by CONTPRON). Calculate radii and center points

You can use these functions universally, not just for stock removal.

14-542

11.02

User Stock Removal Programs

14.2 Contour preparation: CONTPRON

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

14.2

Contour preparation: CONTPRON Programming

CONTPRON (TABNAME, MACH, NN, MODE) EXECUTE (ERROR)

Explanation of the parameters

CONTPRON TABNAME MACH Activate contour preparation Name of contour table Parameters for type of machining: "G": Longitudinal turning: Inside machining "L": Longitudinal turning: External machining "N": Face turning: Inside machining "P": Face turning: External machining Number of relief cuts in result variable of type INT Direction of machining, type INT 0 = Contour preparation forward (SW 4.3 and lower, default value) 1 = Contour preparation in both directions Terminate contour preparation Variable for error checkback, type INT 1 = error; 0 = no error

NN MODE (SW 4.4 and higher) EXECUTE ERROR

Function
The blocks executed after CONTPRON describe the contour to be prepared. The blocks are not processed but are filed in the contour table. Each contour element corresponds to one row in the two-dimensional array of the contour table. The number of relief cuts is returned. EXECUTE deactivates the contour preparation and switches back to the normal execution mode. Example: N30 CONTPRON() N40 G1 X Z N50 N100 EXECUTE()

14-543

User Stock Removal Programs

11.02

14.2 Contour preparation: CONTPRON

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Additional notes
Preconditions for the call Before CONTPRON is called a starting point must be approached which permits collision-free machining, tool edge radius compensation with G40 must be deactivated. Permitted traversing commands, coordinate system Only G commands G0 to G3 are permitted for contour programming in addition to rounding and chamfer. SW 4.4 and higher supports circular-path programming via CIP and CT. The functions Spline, Polynomial, thread produce errors. It is not permitted to change the coordinate system by activating a frame between CONTPRON and EXECUTE. The same applies to a change between G70 and G71/ G700 and G710. Changing the geometry axes with GEOAX while preparing the contour table produced an alarm. Terminate contour preparation When you call the predefined subroutine EXECUTE (variable), contour preparation is terminated and the system switches back to normal execution when the contour has been described. The variable then indicates: 1 = error 0 = no error (the contour is error free). Relief cut elements The contour description for the individual relief cut elements can be performed either in a subroutine or in individual blocks. Stock removal irrespective of the programmed contour direction (SW 4.4 and higher) In SW 4.4 and higher, contour preparation has been expanded. Now when CONTPRON is called, the contour table is available irrespective of the programmed direction.

14-544

11.02

User Stock Removal Programs

14.2 Contour preparation: CONTPRON

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Programming example 1
Create a contour table with name KTAB, up to 30 contour elements (circles, straight lines), a variable for the number of relief cut elements, a variable for error messages
100 150

X (20,150)

(30,110)

(30,65) 50 (45,50) (70,50) (85,40) (90,30)

(90,0) 50 100 150

NC parts program N10 DEF REAL KTAB[30,11] Contour table named KTAB and, for example, a maximum of 30 contour elements Parameter value 11 is a fixed size Variable for number of relief cut elements with name ANZHINT Variable for acknowledgment 0 = no error, 1 = error Contour preparation call N60 to N120 contour description

N20 DEF INT ANZHINT N30 DEF INT ERROR N40 G18 N50 CONTPRON (KTAB,"G",ANZHINT) N60 G1 X150 Z20 N70 X110 Z30 N80 X50 RND=15 N90 Z70 N100 X40 Z85 N110 X30 Z90 N120 X0 N130 EXECUTE(ERROR) N140

Terminate filling of contour table, switch to normal program execution Continue processing table

14-545

User Stock Removal Programs

11.02

14.2 Contour preparation: CONTPRON

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Table KTAB
(0) 7 0 1 2 3 4 5 6 0 0 (1) 7 2 3 4 5 6 7 0 0 0 (2) 11 11 11 13 11 11 11 11 0 0 (3) 0 20 30 30 45 70 85 90 0 0 (4) 0 150 110 65 50 50 40 30 0 0 (5) 20 30 30 45 70 85 90 90 0 0 (6) 150 110 65 50 50 40 30 0 0 0 (7) 0 1111 0 0 0 0 0 0 0 0 (8) 82.40535663 104.0362435 90 180 0 146.3099325 116.5650512 90 0 0 (9) 0 0 0 45 0 0 0 0 0 0 (10) 0 0 0 65 0 0 0 0 0 0

Explanation of column contents (0) Pointer to next contour element (to the row number of that column) (1) Pointer to previous contour element (2) Coding of contour mode for the movement Possible values for X = abc a = 102 G90 = 0 G91 = 1 b = 101 G70 = 0 G71 = 1 0 c = 10 G0 = 0 G1 = 1 G2 = 2 G3 = 3 (3), (4) Starting point of contour elements (3) = abscissa, (4) = ordinate in current plane (5), (6) Starting point of contour elements (5) = abscissa, (6) = ordinate in current plane (7) Max/min indicator: Identifies local maximum and minimum values on the contour (8) Maximum value between contour element and abscissa (for longitudinal machining) or ordinate (for transverse machining). The angle depends on the type of machining programmed. (9), (10) Center point coordinates of contour element, if it is a circle block. (9) = abscissa, (10) = ordinate

14-546

11.02

User Stock Removal Programs

14.2 Contour preparation: CONTPRON

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Programming example 2
Create a contour table with name KTAB, up to 92 contour elements (circles, straight lines), mode: Longitudinal turning, external machining preparation forwards and backwards.
(-40,80) 100 (-30,80) 150

(100,100)

50 (0,45) (-30,30) (-15,30)

(20,45)

(20,20) -50 50 100 Z

NC parts program N10 DEF REAL KTAB[92,11] Contour table named KTAB and, for example, a maximum of 92 contour elements Parameter value 11 is a fixed size Mode for CONTPRON: Longitudinal turning, external machining Number of relief cut elements=0 Preparation forwards and backwards Error checkback message

N20 CHAR BT="L" N30 DEF INT HE=0 N40 DEF INT MODE=1 N50 DEF INT ERR=0 ... N100 G18 X100 Z100 F1000 N105 CONTPRON (KTAB, BT, HE, MODE) N110 N120 N130 N140 N150 N160 N170 N180 ... G1 G90 Z20 X20 X45 Z0 G2 Z-15 X30 K=AC(-15) I=AC(45) G1 Z-30 X80 Z-40 EXECUTE(ERR)

Contour preparation call

Terminate filling of contour table, switch to normal program execution

14-547

User Stock Removal Programs

11.02

14.2 Contour preparation: CONTPRON

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Table KTAB
After contour preparation is finished, the contour is available in both directions. Row (0) 0 1 2 3 4 5 6 7 8 83 84 85 86 87 88 89 90 91 6 0
1) 3)

Column (1) 7
2)

(2) 11 11 11 12 11 11 11 11 0 11 11 11 11 11 13 11 11 11

(3) 100 20 20 0 15 30 30 30 0 20 20 40 30 30 15 0 20 20

(4) 100 20 45 45 30 30 80 45 0 45 20 80 80 30 30 45 45 20

(5) 20 20 0 15 30 30 40 30 0 20 20 30 30 15 0 20 20 100

(6) 20 45 45 30 30 45 80 80 0 80 45 80 30 30 45 45 20 100

(7) 0 3 0 5 0 1111 0 0 0 0 1111 0 88 0 90 0 84 0

(8) 45 90 0 90 0 90 0 90 0 90 90 0 90 0 90 0 90 45

(9) 0 0 0 15 0 0 0 0 0 0 0 0 0 0 15 0 0 0

(10) 0 0 0 45 0 0 0 0 0 0 0 0 0 0 45 0 0 0

2 3 4 5 7 0
4)

1 2 3 4 7 5 1
5)

6 2 0
6)

... 84 90 0
8) 7)

83 86 87 88 89 90 84 85
10)

85 86 87 88 89 83
9)

Explanation of column contents (0) Pointer to next contour element (to the row number of that column) (1) Pointer to previous contour element (2) Coding of contour mode for the movement Possible values for X = abc a = 102 G90 = 0 G91 = 1 b = 101 G70 = 0 G71 = 1 0 c = 10 G0 = 0 G1 = 1 G2 = 2 G3 = 3 (3), (4) Starting point of contour elements (3) = abscissa, (4) = ordinate in current plane (5), (6) Starting point of contour elements (5) = abscissa, (6) = ordinate in current plane (7) Max/min indicator: Identifies local maximum and minimum values on the contour (8) Maximum value between contour element and abscissa (for longitudinal machining) or ordinate (for transverse machining) The angle depends on the type of machining programmed.

14-548

11.02

User Stock Removal Programs

14.2 Contour preparation: CONTPRON

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

(9), (10) Center point coordinates of contour element, if it is a circle block. (9) = abscissa, (10) = ordinate Explanation of comment in columns Always in table line 0: 1) Previous: Line n contains the contour end forwards 2) Following: Line n is the contour table end forwards Once each within the contour elements forwards: 3) Previous: Contour start (forwards) 4) Following: Contour end (forwards) Always in line contour table end (forwards) +1: 5) Previous: Number of relief cuts forwards 6) Following: Number of relief cuts backwards Once each within the contour elements backwards: 7) Following: Contour end (backwards) 8) Previous: Contour start (backwards) Always in last line of table: 9) Previous: Line n is the contour table start (backwards) 10) Following: Line n contains the contour start (backwards)

14-549

User Stock Removal Programs

11.02

14.3 Contour decoding: CONTDCON (SW 5.2 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

14.3

Contour decoding: CONTDCON (SW 5.2 and higher) Programming

CONTDCON (TABNAME,MODE) EXECUTE (ERROR)

Explanation of the parameters

CONTDCON TABNAME MODE EXECUTE ERROR Activate contour preparation Name of contour table Direction of machining, type INT 0 = Contour preparation (default) according to the contour block sequence Terminate contour preparation Variable for error checkback, type INT 1 = error; 0 = no error

Function
The blocks executed after CONTPRON describe the contour to be decoded. The blocks are not processed but stored, memoryoptimized, in a 6-column contour table. Each contour element corresponds to one row in the contour table. When familiar with the coding rules specified below, you can combine DIN code programs from the tables to produce applications (e.g. cycles). The data for the starting point are stored in the table cell with the number 0. The G codes permitted for CONTDCON in the program section to be included in the table are more comprehensive than for the CONTPRON function. In addition, feedrates and feed type are also stored for each contour section. EXECUTE deactivates the contour preparation and switches back to the normal execution mode. Example: N30 CONTDCON() N40 G1 X Z N50 N100 EXECUTE()

14-550

11.02

User Stock Removal Programs

14.3 Contour decoding: CONTDCON (SW 5.2 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Additional notes
Preconditions for the call Before CONTDCON is called a starting point must be approached which permits collision-free machining, tool edge radius compensation with G40 must be deactivated. Permitted traversing commands, coordinate system The following G groups and specified commands are permissible for contour programming: G group 1: G0, G1, G2, G3 G group 10: G9 G group 11: G60, G44, G641, G642 G group 13: G70, G71, G700, G710 G group 14: G90, G91 G group 15: G93, G94, G95, G96 also corner and chamfer. Circular-path programming is possible via CIP and CT. The functions Spline, Polynomial, thread produce errors. It is not permitted to change the coordinate system by activating a frame between CONDCRON and EXECUTE. The same applies to a change between G70 and G71/ G700 and G710. Changing the geometry axes with GEOAX while preparing the contour table produced an alarm.

14-551

User Stock Removal Programs

11.02

14.3 Contour decoding: CONTDCON (SW 5.2 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Terminate contour preparation When you call the predefined subroutine EXECUTE (ERROR), contour preparation is terminated and the system switches back to normal execution when the contour has been described. The associated variable ERROR gives the return value: 0 = no error (contour produced no errors) 1 = error Impermissible commands, incorrect initial conditions, CONTDCON call repeated without EXECUTE( ), too few contour blocks or table definitions too small produce additional alarms. Stock removal in the programmed contour direction The contour table produced using CONTDCON is used for stock removal in the programmed direction of the contour.

Programming example
Create a contour table with name KTAB, contour elements (circles, straight lines), mode: Turning preparation forward
(-40,80) 100 (-30,80) 150

(100,100)

50 (0,45) (-30,30) (-15,30)

(20,45)

(20,20) -50 50 100 Z

14-552

11.02

User Stock Removal Programs

14.3 Contour decoding: CONTDCON (SW 5.2 and higher)

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

NC parts program N10 DEF REAL KTAB[9,6]

Contour table with name KTAB and 9 table cells. These allow 8 contour sets. Parameter value 6 (column number in table) is fixed. Default value 0: Only in programmed contour direction. Value 1 is not permitted. Error checkback message

N20 DEF INT MODE = 0 N30 DEF INT ERROR = 0 ... N100 G18 G64 G90 G94 G710 N101 G1 Z100 X100 F1000 N105 CONTDCON (KTAB, MODE) N110 N120 N130 N140 N150 N160 N170 N180 ... Column index Line index 0 1 2 3 4 5 6 7 8 0 Contour mode 30 11031 111031 11031 11032 11031 11031 11031 0 1 End point abscissa 100 20 20 0 15 30 30 40 0 2 End point ordinate 100 20 45 45 30 30 80 80 0 G1 G9 Z0 G2 Z20 X20 F200 X45 F300 F400 Z-15 X30 K=AC(-15) I=AC(45)F100

Call contour decoding MODE may be omitted (see above) Contour description

G64 Z-30 F600 X80 F700 Z-40 F800 EXECUTE(ERROR)

Terminate filling of contour table, switch to normal program execution

3 4 Center point Center point Abscissa ordinate 0 0 0 0 15 0 0 0 0 0 0 0 0 45 0 0 0 0

5 Feed 7 200 300 400 100 600 700 800 0

14-553

User Stock Removal Programs

11.02

14.4 Intersection of two contour elements: INTERSEC

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Explanation of column contents Line 0: Coding for starting point: Column 0: 0 10 (ones): G0 = 0 1 10 (tens): G70 = 0, G71 = 1, G700 = 2, G710 = 3 Column 1: starting point of abscissa Column 2: starting point of ordinate Column 3-4: 0 Column 5 Line index of last contour piece in the table Lines 1-n: Entries for contour pieces: Column 0: 0 10 (ones): G0 = 0, G1 = 1, G2 = 2, G3 = 3 1 10 (tens): G70 = 0, G71 = 1, G700 = 2, G710 = 3 2 10 (hundreds): G90 = 0, G91 = 1 3 10 (thousands): G93 = 0, G94 = 1, G95 = 2, G96 = 3 4 10 (ten thousands): G60 = 0, G44 = 1, G641 = 2, G642 = 3 5 10 (hundred thousands): G9 = 1 Column 1: End point abscissa Column 2: End point ordinate Column 3: Center point Abscissa for circular interpolation Column 4: Center point ordinate for circular interpolation Column 5: Feedrate

14.4

Intersection of two contour elements: INTERSEC Programming

VARIB=INTERSEC (TABNAME1[n1], TABNAME2[n2], TABNAME3)

Explanation of the parameters

VARIB TABNAME1[n1] TABNAME2[n2] TABNAME3 Variable for status TRUE: Intersection found FALSE: No intersection found Table name and n1st contour element of the first table Table name and n2nd contour element of the second table Table name for the intersection coordinates in the active plane G17G19

14-554

11.02

User Stock Removal Programs

14.4 Intersection of two contour elements: INTERSEC

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Function
INTERSEC calculates the intersection of two normalized contour elements from the contour table generated with CONTPRON. The indicated status specifies whether or not an intersection exists (TRUE = intersection, FALSE = no intersection).

Additional notes
Please note that variables must be defined before they are used.

Programming example
Calculate the intersection of contour element 3 in table KTAB1 and contour element 7 in table KTAB2. The intersection coordinates in the active plane are stored in CUT (1st element = abscissa, 2nd element = ordinate). If no intersection exists, the program jumps to NOCUT (no intersection found).
DEF DEF DEF DEF N10 REAL REAL REAL BOOL KTAB1 [12, 11] KTAB2 [10, 11] CUT [2] ISPOINT Contour table 1 Contour table 2 Intersection table Variable for status

ISPOINT=INTERSEC (KTAB1[3],KTAB2[7],CUT) Call intersection of contour elements Jump to NOCUT

N20 IF ISPOINT==FALSE GOTOF NOCUT

14-555

User Stock Removal Programs

11.02

14.5 Traversing a contour element from the table: EXECTAB

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

14.5

Traversing a contour element from the table: EXECTAB Programming

EXECTAB (TABNAME[n])

Explanation of the parameter

TABNAME[n] Name of table with number n of the element

Function
You can use command EXECTAB to traverse contour elements block by block in a table generated, for example, with the CONTPRON command.

Programming example
The contour elements stored in Table KTAB are traversed non-modally by means of subroutine EXECTAB. Elements 0 to 2 are passed in consecutive calls.

N10 EXECTAB (KTAB[0]) N20 EXECTAB (KTAB[1]) N30 EXECTAB (KTAB[2])

Traverse element 0 of table KTAB Traverse element 1 of table KTAB Traverse element 2 of table KTAB

14-556

11.02

User Stock Removal Programs

14.6 Calculate circle data: CALCDAT

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

14.6

Calculate circle data: CALCDAT Programming

VARIB = CALCDAT(PT[n,2],NO,RES)

Explanation of the parameters

VARIB PT[n,2] NO. RES[3] Variable for status TRUE = circle, FALSE = no circle Points for calculation n = number of points (3 or 4); 2 = point coordinates Number of points used for calculation: 3 or 4 Variable for result: specification of circle center point coordinates and radius; 0 = abscissa, 1 = ordinate of circle center point; 2 = radius

Function
Calculation of radius and circle center point coordinates from three or four known circle points. The specified points must be different. Where 4 points do not lie directly on the circle an average value is taken for the circle center point and the radius.

14-557

User Stock Removal Programs

11.02

14.6 Calculate circle data: CALCDAT

840D NCU 571

840D NCU 572 NCU 573

810D

840Di

Programming example
Y

The program determines whether the three points lie along the arc of a circle.

60 50 40
ER

(20,50) (50,40)
G[2 ]

30 20 ERG [1] 10

(65,20)

X
10 20 30 ERG [0] 40 50 60 70

N10 DEF REAL PT[3,2]=(20,50,50,40,65,20) N20 DEF REAL RES[3] N30 DEF BOOL STATUS N40 STATUS = CALCDAT(PT,3,RES) N50 IF STATUS == FALSE GOTOF ERROR

Point definition Result Variable for status Call calculated circle data Jump to error
s

14-558

11.02

Tables

Tables
15.1 List of instructions ....................................................................................................... 15-561 15.2 List of system variables ............................................................................................... 15-591 15.2.1 R parameters ....................................................................................................... 15-591 15.2.2 Channel-specific synchronized action variables .................................................. 15-591 15.2.3 Frames 1.............................................................................................................. 15-592 15.2.4 Toolholder data .................................................................................................... 15-593 15.2.5 Channel-specific protection zones ....................................................................... 15-601 15.2.6 Tool parameters................................................................................................... 15-603 15.2.7 Cutting edge data OEM user ............................................................................... 15-609 15.2.8 Monitoring data for tool management .................................................................. 15-617 15.2.9 Monitoring data for OEM users ............................................................................ 15-618 15.2.10 Tool-related data.................................................................................................. 15-619 15.2.11 Tool-related grinding data .................................................................................... 15-621 15.2.12 Magazine location data ........................................................................................ 15-622 15.2.13 Magazine location data for OEM users................................................................ 15-623 15.2.14 Magazine description data for tool management ................................................. 15-624 15.2.15 Tool management magazine description data for OEM users ............................ 15-625 15.2.16 Magazine module parameter ............................................................................... 15-626 15.2.17 Adapter data ........................................................................................................ 15-626 15.2.18 Measuring system compensation values ............................................................. 15-626 15.2.19 Quadrant error compensation.............................................................................. 15-627 15.2.20 Interpolatory compensation.................................................................................. 15-629 15.2.21 NCK-specific protection zones............................................................................. 15-630 15.2.22 Cycle parameterization ........................................................................................ 15-631 15.2.23 System data ......................................................................................................... 15-636 15.2.24 Frames 2.............................................................................................................. 15-636 15.2.25 Tool data .............................................................................................................. 15-638 15.2.26 Magazines............................................................................................................ 15-643 15.2.27 Programmed geometry axis values ..................................................................... 15-646 15.2.28 G groups .............................................................................................................. 15-647 15.2.29 Programmed values............................................................................................. 15-647 15.2.30 Channel states ..................................................................................................... 15-651 15.2.31 Synchronized actions ........................................................................................... 15-656 15.2.32 I/Os ...................................................................................................................... 15-657 15.2.33 Reading and writing PLC variables ...................................................................... 15-657 15.2.34 NCU link ............................................................................................................... 15-658 15.2.35 Direct PLC I/O...................................................................................................... 15-658 15.2.36 Tool management................................................................................................ 15-659 15.2.37 Timers .................................................................................................................. 15-662 15.2.38 Path movement.................................................................................................... 15-663 15.2.39 Speeds/accelerations........................................................................................... 15-665

15-559

Tables

11.02

15.2.40 15.2.41 15.2.42 15.2.43 15.2.44 15.2.45 15.2.46 15.2.47 15.2.48 15.2.49 15.2.50 15.2.51 15.2.52 15.2.53 15.2.54 15.2.55 15.2.56 15.2.57 15.2.58 15.2.59

Spindles................................................................................................................15-667 Polynomial values for synchronized actions......................................................... 15-670 Channel states ..................................................................................................... 15-672 Measurement ....................................................................................................... 15-673 Positions...............................................................................................................15-677 Indexing axes ....................................................................................................... 15-679 Encoder values..................................................................................................... 15-679 Axial measurement .............................................................................................. 15-680 Offsets.................................................................................................................. 15-681 Axial paths............................................................................................................ 15-684 Oscillation.............................................................................................................15-685 Axial velocities...................................................................................................... 15-685 Drive data ............................................................................................................. 15-687 Axis statuses ........................................................................................................ 15-688 Master/slave links................................................................................................. 15-689 Travel to fixed stop............................................................................................... 15-690 Electronic gear ..................................................................................................... 15-691 Leading value coupling......................................................................................... 15-692 Synchronized spindle ........................................................................................... 15-693 Safety Integrated .................................................................................................. 15-696

15-560

11.02

Tables

15.1 List of instructions

15.1
Legend:
1 2

List of instructions

Default setting at start of program (in delivery state of control system provided that another setting is not programmed). The group numbers correspond to the table List of G functions/Preparatory functions in /PG/, Programming Guide Fundamentals, Section 12.3 Absolute end points: Modal; incremental end points: Non-modal; otherwise modal/non-modal depending on syntax of G function IPO parameters act incrementally as arc centers. They can be programmed in absolute mode with AC. When they have other meanings (e.g. pitch), the address modification is ignored. Vocabulary word does not apply to SINUMERIK FM-NC/810D Vocabulary word does not apply to SINUMERIK FM-NC/810D/NCU571 Vocabulary word does not apply to SINUMERIK 810D The OEM user can incorporate two extra interpolation types and modify their names. Vocabulary word applies only to SINUMERIK FM-NC The extended address block format may not be used for these functions.

5 6 7 8 9

Name

Meaning

Value Description, assignment comment 0 ... 9999 9999 integer values only, no sign

Syntax

2 Modal/ Group nonmodal

Block number - main block (see N)

Special code for e.g. :20 blocks - instead of N... ; this block should contain all instructions for a following complete machining section m,s3 s s s s

A A2 5 A3
5

Axis Tool orientation: Tool orientation: Euler angle Direction vector component

Real Real Real Real Real Real 0, ..., 359.9999 Real, without sign A=ACN(...) B=ACN(...) C=ACN(...) X=AC(100)

A4 5 A5
5

Tool orientation for block beginning Tool orientation for block end; Normal vector component Absolute value Dimension input, absolute Axial acceleration Absolute dimension setting for rotary axes, approach position in negative direction

ABS AC ACC 5 ACN

s m s

15-561

Tables

11.02

15.1 List of instructions

ACP ACOS ADIS ADISPOS

Absolute dimension setting for rotary axes, approach position in positive direction Arc cosine (trigon. function) Resurfacing distance for path functions G1, G2, G3, ... Resurfacing distance for rapid traverse G0 Real Real, without sign Real, without sign Integer, real, Integer, without sign

A=ACP(...) B=ACP(...) C=ACP(...)

m m ADISPOSA=.. or
ADISPOSA(<axis>[,REAL])

ADISPOSA Size of the tolerance window for IPOBRKA

m m

ALF

Angle lift fast

AMIRROR Programmable mirroring (additive mirror) AND ANG AP APR APW AR AROT Logical AND Contour definition angle Polar angle (Angle Polar) Read/display access protection (access protection read) Write access protection (access protection write) Aperture angle (angle circular) Programmable rotation (additive rotation) Real 0, ..., 360 Integer, without sign Integer, without sign 0, ..., 360 Rotation around 1st geom. axis: -180o .. 180 2nd geom. axis: -89.999 .. 90 3rd geo. axis: -180 .. 180 AROTS programmable frame rotations with solid angles (additive rotation)

AMIRROR X0 Y0 Z0 ; separate block

m,s3

m,s3 AROT X... Y... Z... ;separate AROT RPL= block s 3

AROT X... Y... AROT Z... X... AROT Y... Z... AROT RPL=

s ;own block

AS ASCALE ASIN ASPLINE ATAN2 ATRANS AX

Macro definition Programmable scaling (additive scale) Arc sine (trigon. function) Akima spline Arc tangent 2 Additive programmable offset (additive translation) Integer without sign

String ASCALE X... Y... Z... ; separate block Real m Real ATRANS X... Y... Z... ; separate block Real s m,s3 3 1 s 3

15-562

11.02

Tables

15.1 List of instructions

AXCSWAP Switch container axis AXIS AXNAME Data type: Axis name Converts the input string to an axis name (get axname) String Name of file can be added An alarm is generated if the input string does not contain a valid axis name

AXCSWAP(CTn,CTn+1,...)

AXSTRING Up to SW 5, axis identifier is converted to string (get axis as string) With SW 6 and higher, the spindle number converts the string (get string) B B_AND B_NOT B_OR B_XOR B2
5

Up to SW 5 Name of file can be added AXIS from SW 6 string Real

AXSTRING( SPI(n) ) From SW 6 AXSTRING[ SPI(n) ] m,s3

Axis Bit AND Bit negation Bit OR Bit exclusive OR Tool orientation: Euler angle Tool orientation: Direction vector component Tool orientation for block beginning Tool orientation for block end; Normal vector component

Real Real Real Real

s s s s m 19

B3 5 B4 5 B5
5

BAUTO BLSYNC BNAT 1 BOOL BRISK

Definition of first spline segment by means of following 3 points (begin not a knot) Processing of interrupt routine is only to start with the next block change Natural transition to first spline block (begin natural) Data type: Boolean value TRUE / FALSE or 0 / 1 Brisk path acceleration Activate brisk axis acceleration for the programmed axes B spline Tangential transition to first spline block (begin tangential) Axis Tool orientation: Euler angle Tool orientation: Direction vector component Tool orientation for block beginning Real Real Real Real

BRISKA BSPLINE BTAN C C2 5 C3

m m m,s3 s s s

1 19

C4 5

15-563

Tables

11.02

15.1 List of instructions

C5 5 CAC

Tool orientation for block end; Normal vector component Absolute approach of position (coded position: absolute coordinate)

Real Coded value is table index; table value is approached

CACN

Absolute approach in negative direction of value stored in Permissible for programming rotary table. axes as positioning (coded position absolute negative) axes Absolute approach in positive direction of value stored in table. (coded position absolute positive) VAR Real [3] The points must be different. CALL PROGVAR A path can be programmed to the existing NCK file system with CALLPATH. Cancel with specified ID. Without parameter: All modal synchronized actions are deselected. CALLPATH(/_N_WKS _DIR/ _N_MYWPD/subprogram _ID_SPF)

CACP

CALCDAT Calculate radius and center point or circle from 3 or 4 points (calculate circle data) CALL
CALLPATH

Indirect subroutine call Programmable search path for subprogram calls

CANCEL

Cancel modal synchronized action

INT

CASE CDC CDOF 1 CDON CDOF2 CFC

Conditional program branch Direct approach of position (coded position: direct coordinate) Collision detection OFF Collision detection ON Collision detection OFF Constant feed on contour Constant feed at internal radius only, not at external radius Constant feed at tool center point (center-point path) (constant feed in tool-center-point) Specify validity range for data once per channel For CUT3DC only See CAC m m m m m 23 23 23 16 16

CFIN

CFTCP CHAN

15-564

11.02

Tables

15.1 List of instructions

CHANDATA Set channel number for channel data

INT

access CHAR CHF Data type: ASCII character Chamfer; value = length of chamfer in direction of movement (chamfer) 0, ..., 255 Real, without sign

Only permissible in the initialization module

SW 3.5 and higher Chamfer; value = length of chamfer CHR CHKDNO CIC CIP CLEARM D number check

Incremental approach of position (coded position: incremental coordinate) Circular interpolation through intermediate points Reset one/several markers for channel coordination INT, 1-n

See CAC CIP X... Y... Z... I1=... J1=... K1=... Does not influence machining in own channel m 1

CLGOF CLGON CLRINT

Const. workpiece speed for centerless grinding OFF Const. workpiece speed for centerless grinding ON Deselect interrupt: INT FRAME COARSEA=.. or COARSEA[n]=.. m m m m m m 30 30 30 30 49 Parameter: Interrupt number

CMIRROR Mirror on a coordinate axis

COARSEA Motion end when "Exact stop coarse" reached

COMPOF COMPON
1,6 6

Compressor OFF Compressor ON

COMPCURV Compressor ON constant curve polynomials COMPCAD

Compressor ON optimized surface finish

CONTPRON Activate contour preparation (contour preparation ON)

COS

Cosine (trigon. function)

Real String Block change (software) response: NOC: no software control, FINE/COARSE: software on Synchronization fine / coarse, IPOSTOP: software on setpoint-dependent termination of overlaid movement

COUPDEF Definition ELG group / synchronous spindle group (couple definition)

COUPDEL Delete ELG group (couple delete) COUPOF COUPON ELG group / synchronous spindle pair OFF (couple OFF) ELG group / synchronous spindle pair ON (couple ON)

15-565

Tables

11.02

15.1 List of instructions

COUPRE S

Reset ELG group (couple reset)

Programmed values invalid; machine data values valid m m m 49 39 39

CP
1,6

Path movement (continuous path)

CPRECOF Programmable contour precision OFF

CPRECON
6

Programmable contour precision ON Channel-specific protection zone ON/OFF

CPROT

CPROTDEF Channel specific protection area definition

CR CROT CROTS

Circle radius Rotation of the current coordinate system.

Real, without sign FRAME Maximum number of parameters: 6 CROT X... Y... CROT Z... X... CROT Y... Z... CROT RPL= Maximum number of parameters: 2 * axis numbermax

programmable frame rotations with solid angles (rotations in the indicated axes)

s ;own block

CSCALE

Scale factor for multiple axes.

FRAME

CSPLINE CTAB

Cubic spline Define following axis position according to leading axis position from curve table Real If parameter 4/5 not programmed: Standard scaling

CTABDEF Table definition ON CTABDEL Clear curve table CTABEND Table definition OFF CTABINV CT CTRANS CUT2D
1

Define leading axis position according to following axis position from curve table Circle with tangential transition Zero offset for multiple axes 2 D tool offset (cutter compensation type 2-dimensional)

Real

See CTAB CT X... Y.... Z... m 1

FRAME

Max. of 8 axes m m 22 22

CUT2DF

2 D tool offset (cutter compensation type 2-dimensional frame); The tool offset acts in relation to the current frame (inclined plane)

CUT3DC 5 3D cutter compensation type 3-dimensional circumference milling

CUT3DCC
5

m m

22 22

Cutter compensation type 3-dimensional circumference milling with limit surfaces

15-566

11.02

Tables

15.1 List of instructions

CUT3DCCD Cutter compensation type 3-dimensional circumference

m m m

22 22 22

milling with limit surfaces with differential tool

CUT3DF 5 3D tool offset face milling (cutter compensation type 3-dimensional face)
CUT3DFF
5

3D tool offset face milling with constant tool orientation as a function of active frame (cutter compensation type 3-dimensional face frame) 3D tool offset face milling with constant tool orientation irrespective of active frame (cutter compensation type 3-dimensional face frame)

CUT3DFS

CUTCONO1 Constant radius compensation OFF CUTCONON Constant radius compensation ON

m m 1, ..., 9 D... includes compensation data SW 3.5 and for a certain tool higher T... ; D0 1, ... 32 000 compensation values for a tool

40 40

Tool offset number

Absolute dimension setting for rotary axes, approach position directly

A=DC(...) B=DC(...) C=DC(...) SPOS=DC(...)

DEF

Variable definition

Integer, without sign Jump to if expression does not fulfill any of the specified values

DEFAULT Branch in CASE branch

DEFINE DELDTG DELT

DIAMCYOF

Define macro Delete distance-to-go Delete tool Radius programming for G90/91: ON. The G-code of this group that was last active remains active for display Diametral programming: OFF Duplo number can be omitted Radius programming last active G-code Radius programming for G90/G91 Diameter progr. for G90/G91 m 29

DIAMOF1

DIAMON DIAM90 DILF DISABLE

Diametral programming: ON Diameter program for G90, radius progr. for G91 Rapid lift length Interrupt OFF

m m m

29 29

15-567

Tables

11.02

15.1 List of instructions

DISC DISPLOF DISPR DISR DITE DITS DIV DL DRFOF DRIVE

Transition circle overshoot in tool radius compensation Suppress current block display (display OFF) Distance path for repositioning Distance for repositioning Thread run-out path Thread run-in path Integer division Tool sum compensation Deactivate the handwheel offsets (DRF) Velocity-dependent path acceleration

0, ..., 100

Real, without sign Real, without sign Real Real

s s m m

INT

m m m 21

DRIVEA DZERO EAUTO EGDEF

Switch on bent acceleration characteristic curve for the programmed axes Set D number of all tools of the TO unit assigned to the channel invalid Definition of last spline segment by last 3 points (end not a knot) Definition of an electronic gear (Electronic gear define) Delete coupling definition for the following axis (Electronic gear delete) Switch off electronic gear continuous (Electronic gear OFF continuous) Switch off electronic gear selectively (Electronic gear OFF selective) Switch on electronic gear (electronic gear ON) without synchronization with synchronization with synchronization for 1 following axis with up to 5 leading axes Triggers preprocessing stop m 20

EGDEL EGOFC EGOFS EGON

EGONSYN Switch on electronic gear (electronic gear ON synchronized) EGONSYN Switch on electronic gearing, stating approach mode E (electronic gear ON synchronized) ELSE ENABLE ENAT
1,7

Program branch, if IF condition not fulfilled Interrupt ON Natural curve transition to next traversing block (end natural) End line of FOR counter loop End line of IF branch m 20

ENDFOR ENDIF

ENDLOOP End line of endless program loop LOOP

15-568

11.02

Tables

15.1 List of instructions

ENDPROC End line of program with start line PROC

ENDWHILE End line of WHILE loop

ETAN EVERY

Tangential curve transition to next traversing block at beginning of spline (end tangential) Execute synchronized action if condition changes from FALSE to TRUE EXECSTRING(MFCT1 << M4711)

EXECSTR Transfer of a string variable with the parts program line to Indirect parts ING run program line EXECTAB Execute an element from a motion table (execute table) EXECUTE Program execution ON Switch back to normal program execution from reference point edit mode or after creating a protection zone Real Reload program from HMI in "Processing from external source" mode

EXP EXTCALL

Exponent function ex Run external subprogram

EXTERN F

Broadcast a subroutine with parameter passing Feed value (dwell time is also programmed under F in conjunction with G4) F=100 G1 ... 0.001, ..., Tool/workpiece 99 999.999 path velocity; Dimension in mm/min or mm/revolution as a function of G94 or G95 0.001, ..., 999999.999 mm/min, degree/min; 0.001, ..., 39999.9999 inch/min Real, without sign BOOL Can be replaced with integer constant 0 FA[X]=100 m

Axial feed (feed axial)

FAD

Infeed feedrate for smooth approach and retraction (Feed approach / depart) Logical constant: False

FALSE

15-569

Tables

11.02

15.1 List of instructions

FCTDEF

Define polynomial function

Is evaluated in SYFCT or PUTFTOCF. m Real, without sign Real, without sign s s m m m m F applies to all axes programmed under FGROUP FGROUP (Axis1, [Axis2], ...) m 4 57 24 24 37

FCUB

Feed variable according to cubic spline (feed cubic) Path feed for handwheel override (feed DRF) Axial feed for handwheel override (feed DRF axial)

FD FDA

FENDNORM Corner deceleration OFF

FFWOF FFWON FGREF

Feedforward control OFF (feed forward OFF) Feedforward control ON (feed forward ON) Reference radius Define axis(axes) with path feed

FGROUP

FIFOCTRL

Control of the preprocessing memory Programmable preprocessing depth Motion end when "Exact stop fine" reached Limit velocity for synchronous axes (feed limit) FINEA=... or FINEA[n]=.. FL [Axis] =... Real, The unit set with without sign G93, G94, G95 applies (max. rapid traverse)

FIFOLEN FINEA FL

m m

FLIN

Linearly variable feed (feed linear) Feed multiple axial

1,6

m Real, without sign m m

FMA
FNORM

Normal feed acc. to DIN66025 (feed normal) Counter loop with fixed number of passes Feed for swiveling the orientation vector on the large circle Feed for the overlaid rotation around the swiveled orientation vector Fixed point: numb. of fixed points to be approached Feed characteristic programmed via a polynomial (feed polynomial) Rotary axis identification Deactivate revolutional feedrate Activate revolutional feedrate Integer, without sign Real Quadratic, cubic polynomial coefficient FPR (rotary axis) G75 FP=1

FOR FORI1 FORI2 FP FPO

m m s

FPR FPRAOF FPRAON

0.001 ... 999999.999

15-570

11.02

Tables

15.1 List of instructions

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 FRCM FTOC

Feed for radius and chamfer Feed for radius and chamfer modal Change fine tool offset As a function of a 3rd degree polynomial defined with FCTDEF

s m

FTOCOF

1,6

Online fine tool offset OFF (fine tool offset OFF) Online fine tool offset ON (fine tool offset ON) Travel to fixed stop ON (fixed stop) Torque limit for travel to fixed stop (fixed stop torque) Monitoring window for travel to fixed stop (fixed stop window) Integer, 1 = select, without sign 0 = deselect % Optional setting

m m m m

33 33

FTOCON

FXS FXST FXSW

mm, inch or Optional setting degree

15-571

Tables

11.02

15.1 List of instructions

G functions G G function (preparatory function) G functions are divided into G groups. Only one of the G functions in a group may be programmed in a block. A G function can be modally active (until it is canceled by another function in the same group) or it is active only in the block in which it is programmed (nonmodal). G0 G11 G2 Integer, preset values only G...

Linear interpolation with rapid traverse (rapid traverse motion) Linear interpolation with feed (linear interpolation) Circular interpolation clockwise

Motion commands

G0 X... Z... G1 X... Z... F... G2 X... Z... I... K... F... ; center and end points G2 X... Z... CR=... F... ; radius and end points G2 AR=... I... K... F... ; aperture angle and center point G2 AR=... X... Z... F... ; aperture angle and end point G3 ... G2 ; otherwise as for

m m m

1 1 1

G3 G4

Circular interpolation counterclockwise Predefined dwell time Special motion

m s

1 2

G4 F... ; dwell time in s or G4 S... ; dwell time in spindle rotations ; separate block

G9 G17 G18 G19 G25 G26

Exact stop deceleration Selection of working plane X/Y Selection of working plane Z/X Selection of working plane Y/Z Lower working area limitation Upper working area limitation Infeed direction Z Infeed direction Y Infeed direction X Value assignment in channel axes G25 X.. Y.. Z.. ; separate block G26 X.. Y.. Z..; separate block

s m m m s s

11 6 6 6 3 3

15-572

11.02

Tables

15.1 List of instructions

G33

Thread interpolation with constant pitch

0.001, ..., 2000.00 mm/rev

Motion command

G33 Z... K... SF=... ; cylinder thread 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 Z... K... FZU=... G35 Z... K... FAB=...

G34 G35 G40 G41 G42 G53 G54 G55 G56 G57 G58 G59 G60 1 G62
1

Increase in thread pitch (progressive change) Decrease in thread pitch (degressive change) Tool radius compensation OFF Tool radius compensation to left of contour Tool radius compensation to right of contour Suppression of current zero offset (non-modal) 1st settable zero offset 2nd settable zero offset 3rd settable zero offset 4th settable zero offset Programmable offset Programmable offset Exact stop deceleration Corner deceleration at inside corners with active tool radius compensation (G41, G42) Tapping with compensating chuck Exact stop - contouring mode Dimension in inches (lengths)
1

Motion command Motion command

m m m m m

1 1 7 7 7 9 8 8 8 8 3 3 10 57

incl. Programmed offsets

s m m m m

replacing axially replacing additive axially

s s m

Together with continuous-path mode only

G62 Z... G1

G63 G64 G70 G71 G74 G75 G90 1

G63 Z... G1

s m m m

2 10 13 13 2 2 14

Metric dimension (lengths) Reference point approach Fixed point approach Dimension setting, absolute Machine axes G74 X... Z...; separate block G75 FP=.. X1=... Z1=...; separate block G90 X... Y... Z...(...) Y=AC(...) or X=AC Z=AC(...) G91 X... Y... Z... or X=IC(...) Y=IC(...) Z=IC(...)

s s m s m s

G91

Incremental dimension setting

15-573

Tables

11.02

15.1 List of instructions

G93 G94 1 G95 G96 G97 G110 G111 G112 G140 G141 G142 G143 G147 G148 G153 G247 G248 G331 G332 G340 1
1

Inverse-time feedrate rpm Linear feed F in mm/min or inch/min and /min Revolutional feedrate F in mm/rev or inch/rev Constant cutting speed ON Constant cutting speed OFF Polar programming relative to last programmed set position Pole programming relative to zero point of current workpiece coordinate system Polar programming relative to last valid pole Direction of approach WAB defined by G41/G42 Direction of approach WAB left of contour Direction of approach WAB right of contour Direction of approach WAB dependent on tangent Smooth approach with straight line Smooth retraction with straight line Suppression of current frame incl. base frame Smooth approach with quadrant Smooth retraction with quadrant Tapping Retraction (tapping) Approach block spatial (depth and in plane at same time (helix) 0.001, ..., 2000.00 mm/rev

Execution of a block: Time

G93 G01 X... F...

m m m

15 15 15 15 15 3 3 3 43 43 43 43 2 2 9 2 2 1 1 44

G96 S... LIMS=... F...

m m

G110 X.. Y.. Z.. G110 X.. Y.. Z.. G110 X.. Y.. Z..

s s s m m m m s s s s s

Motion commands

m m m

for smooth approach and retract

G341

Approach in the perpendicular axis (z), then approach in for smooth plane approach and retract Smooth approach with semicircle Smooth retract with semi-circle
1

G347 G348 G450 G451 G460 G461 G462 G500

1 1

s s Tool compensation response at corners m m m m m m m

2 2 18 18 48 48 48 8 8

Transition circle Intersection of equidistant paths Approach/retraction behavior with TRC Approach/retraction behavior with TRC Approach/retraction behavior with TRC Deactivation of all settable frames, if no value in G500 5. ... 99. Settable zero offset

G505 .... G599

15-574

11.02

Tables

15.1 List of instructions

G601 1 G602 G603 G641 G642 G643 G644 G621

Block change in response to exact stop fine Block change in response to exact stop coarse Block change in response to IPO end of block Exact stop - contouring mode Rounding with axial precision Block-internal corner rounding Smoothing with axis dynamics default Corner deceleration at all corners

Effective only in conjunction with active G60 or G9 with programmable G641 ADIS=... transition rounding

m m m m m m m

12 12 12 10 10 10 10 57

Together with continuous-path mode only

G621 ADIS=...

G700 G7101

Dimension in inches and inch/min (lengths + velocities + system variable) Metric dimension in mm and mm/min (lengths + velocities + system variable)

m m

13 13 31 32

G8101, ..., G group reserved for OEM users G819 G8201, ..., G group reserved for OEM users G829 G931 G942 G952 G961 G962 G971 G972 GEOAX Feedrate specified by travel time Freeze linear feedrate and constant cutting rate or spindle speed Freeze revolutional feedrate and constant cutting rate or spindle speed Constant cutting speed ON Linear or revolutional feedrate and constant cutting rate Constant cutting speed OFF Freeze linear or revolutional feedrate and constant spindle speed Assign new channel axes to geometry axes 1 - 3 Without parameter: MD settings effective Axis must be released in the other channel with RELEASE See GET without additional spindle rotation G961 S... LIMS=... F... Travel time m m m m m m m

15 15 15 15 15 15 15

GET

Assign machine axis/axes

GETD

Assign machine axis/axes directly

GETACTT Get active tool from a group of tools with the same name GETSELT Get selected T number GETT GOTOF GOTOB Get T number for tool name Jump instruction forwards (towards the end of program) Jump instruction back (towards start of program)

15-575

Tables

11.02

15.1 List of instructions

GOTO GOTOC

Jump instruction first forward then backward (direction initially to end of program and then to start of program Alarm 14080 Suppress jump destination not found. see GOTO GWPSOF (T No.) GWPSON (T No.) Settable via MD (machine manufacturer) H100 or H2=100 s s

GWPSOF Deselect constant grinding wheel peripheral speed (GWPS) GWPSON Select constant grinding wheel peripheral speed (GWPS) H... Auxiliary function output to PLC Real/INT

I4 I1 IC IDS IF INDEX INIT INT

Interpolation parameter Intermediate point coordinate Incremental dimension setting Identification of static synchronized actions Introduce conditional jump Define index of character in input string Select module for execution in a channel Data type: Integer with leading sign

Real Real 0, ..., 99999.999 X=IC(10)

s s s

Structure: IF - ELSE - ENDIF 0, ..., INT String: Param. 1, character: Param. 2

- (231-1), ..., 231-1 VAR REAL [2] Real Braking ramp with 100% to 0% IPOBRKA=.. or IPOBRKA(<axis>[,REAL]) IPOENDA=.. or IPOENDA[n].. BOOL Real BOOL BOOL Convert input string to number Machine data, setting data and variables as GUDs s s m m m Error status BOOL

INTERSEC Calculate intersection between two contour elements IP IPOBRKA Variable interpolation parameter

Motion criterion from braking ramp activation

IPOENDA Motion end when "IPO stop" reached ISAXIS ISD

ISNUMBER

Check if geometry axis 1 3 specified as parameter exist Insertion depth Check whether the input string can be converted to a number Check whether the transfer parameter contains a variable known in the NC Interpolation parameter Intermediate point coordinate

ISVAR

J4 J1 JERKA K4 K1

Real Real

Activate acceleration response set via machine data for programmed axes Interpolation parameter Intermediate point coordinate Real Real s s

15-576

11.02

Tables

15.1 List of instructions

KONT L LEAD 5 LEADOF LEADON LFOF LFON LFTXT LFWP

1 1

Traverse around contour for tool compensation Subprogram number Lead angle Leading value coupling OFF (lead off) Leading value coupling ON (lead on) Interruption of thread cutting OFF Interruption of thread cutting ON Tool direction tangential at lift Tool direction not tangential at lift Integer, up to 7 places Real L10

m s m

m m m m

41 41 46 46

LIFTFAST Rapid lift before interrupt routine call LIMS LN LOCK LOG LOOP M... Spindle speed limitation (limit spindle speed) with G96 Natural logarithm 0.001 ... 99 999.999 Real m

Disable synchronized action with ID (stop technology cycle) (Common) logarithm Introduction of an endless loop Switching operations 0, ..., 9999 9999 Real Structure: LOOP ENDLOOP Max. of 5 free special functions to be defined by machine manufacturer

M0 10 M1 M2 M3 M4 M5 M6 M17 M19 M30 M40

10 10 10 10

Programmed stop Optional stop Program end, main program with reset to program start Clockwise spindle rotation for master spindle Counterclockwise spindle rotation for master spindle Spindle stop for master spindle Tool change End of subprogram Spindle positions Program end, as for M2 Automatic gear change

M41... M45 Gear stage 1, ..., 5 M70 Transition to axis operation

MASLDEF Define master/slave axis grouping MASLDEL Uncouple master/slave axis grouping and clear grouping definition MASLOF Disable a temporary coupling

15-577

Tables

11.02

15.1 List of instructions

MASLOFS Deactivate a temporary coupling with automatic slave axis stop MASLON MCALL MEAC Enable a temporary coupling Modal subprogram call Continuous measurement without deletion of distance-to-go Integer, without sign FRAME Integer, without sign s s s Without subprogram name: Deselection s

MEAFRAME Frame calculation from measuring points

MEAS MEASA MEAW

Measurement with touch trigger probe (measure) Measurement with deletion of distance-to-go

Integer, Measurement with touch trigger probe without sign without deletion of distance-to-go (measure without deleting distance-to-go) Measurement without deletion of distance-to-go Access to frame data: Mirroring Define index of character in input string 0, ..., INT String: Parameter 1, character: Parameter 2 MIRROR X0 Y0 Z0 ; separate block STRING

MEAWA MI MINDEX

MIRROR MMC MOD MOV MSG N

Programmable mirror Calling the dialog window interactively from the parts program on the MMC/HMI Modulo division Start positioning axis (start moving positioning axis) Programmable messages Subblock number 0, ..., 9999 9999 integer values only, no sign Can be used to identify blocks with a number; position at beginning of block Real

MSG("message") E.g. N20

NCK

Specify validity range for data

once per NCK

NEWCONF Accept modified machine data NEWT NORM 1 NOT NPROT Create new tool Normal setting at start and end points for tool offset Logical NOT (negation) Machine-specific protection zone ON/OFF Duplo number can be omitted m 17

15-578

11.02

Tables

15.1 List of instructions

NPROTDEF Machine-specific protection area definition

(NCK-specific protection area definition) NUMBER

OEMIPO1 OEMIPO2
6,8 6,8

Convert input string to number OEM interpolation 1 OEM interpolation 2 Vocabulary word in CASE branch Allowance for programmed contour

Real m m 1 1

OF OFFN OMA1 OMA2 OMA3 OMA4 OMA5 OFFN OR

ORIC
1,6 6 6 6 6 6

OFFN=5 Real Real Real Real Real Real m m m m m m

OEM address 1 OEM address 2 OEM address 3 OEM address 4 OEM address 5 Offset compensation - normal Logical OR

Changes in orientation at outer corners are overlaid on the circular block to be inserted (orientation change continuously) Changes in orientation are performed before the circular block (orientation change discontinuously) Orientation angle via virtual orientation axes with rotary axis positions Orientation angles using Euler angles Linear interpolation of machine axes or orientation axes Final orientation: Vector Interpolation on a circular peripheral surface in CW A3, B2, C2 direction Additional inputs: Interpolation on a circular peripheral surface in CCW Rotational vectors direction A6, B6, C6 Interpolation on a circular peripheral surface with Arc angle of taper intermediate orientation setting in degrees: Interpolation on circular peripheral surface in tangential 0<SLOT<180 deg. transition (final orientation) Intermediate vectors: A7, B7, C7 Interpolation of orientation with specification of motion of two contact points of tool 2nd contact point of Interpolation in a plane (corresponds to ORIVECT) Tool orientation trajectory referred to path tool: XH, YH, ZH Transformation package handling, see /FB/, TE4 Parameter settings as follows: Direction vectors normalized A6=0, B6=0, C6=0 Arc angle implemented as travel angle with SLOT=... SLOT=+... at 180 degrees SLOT= -... at 180 degrees Intermediate orientation normalized A7=0, B7=0, C7=1

ORID

m m m m m m m m m m m

27 50 50 51 51 51 51 51 51 51 51

ORIAXPOS

ORIEULER

ORIAXES ORICONC W ORICONC CW

ORICONIO

ORICONTO

ORICURVE

ORIPLANE ORIPATH

ORIRPY ORIS
5

Orientation angles using RPY angles Change in orientation (orientation smoothing factor) Real Referred to path

m m m

ORIVECT

Large-radius circular interpol. (identical to ORIPLANE)

15-579

Tables

11.02

15.1 List of instructions

ORIVIRT1 Orientation angles using virtual orientation axes (def. 1) ORIVIRT2 Orientation angles using virtual orientation axes (definition 1) ORIMCS 6 Tool orientation in machine coordinate system
ORIWKS
1,6

m m m m

50 50 25 25

Tool orientation in workpiece coordinate system

OS OSC 6 OSCILL OSCTRL OSE OSNSC OSOF 1,6 OSP1 OSP2 OSS 6 OSSE OST1 OST2 OVR OVRA P
6

Oscillation ON / OFF Constant smoothing for tool orientation Axis assignment for oscillation activate oscillation Oscillation control options Oscillation: End point Oscillation: Number of sparkout cycles number spark out cycles)

Integer, without sign m Axis: 13 infeed axes Integer, without sign m m m m m m m m m m m m m E.g. L781 P... ; separate block No absolute path response like CALL m m s Feed per minute 36 36 34 34 34 34

Constant smoothing for tool orientation OFF Oscillation: Left-hand reversal point (oscillating: position 1) Oscillation: Right-hand reversal point (oscillating: position 2) Tool orientation smoothing at end of block Tool orientation smoothing at beginning and end of block Oscillation: Stop in left-hand reversal point Oscillation: Stop in right-hand rev. point Spindle override Axial spindle override Number of subprogram passes Real Real 1, ..., 200% 1, ..., 200% 1 ... 9999, integer without sign Real Real

PCALL

PCALL calls subprograms with the absolute path and parameter transfer

PDELAYOF Delay for punching OFF (punch with delay OFF)

PDELAYON Delay for punching ON (punch with delay ON)

1,6

PL PM

Parameter interval length per minute

Real, without sign

15-580

11.02

Tables

15.1 List of instructions

PO POLF POLY 5
5

Polynomial Position LIFTFAST Polynomial interpolation

Real, without sign Real, without sign POLF[Y]=10

s m m POLYPATH ("AXES") POLYPATH ("VECT") m m POS[X]=20 POSA[Y]=20 35 35 m 1 1

POLYPATH Polynomial interpolation can be selected for the AXIS or

VECT axis groups

6 6

PON

Punching ON (punch ON) Punching ON in IPO cycle (punch ON slow) Position axis Position axis across block boundaries Positioning in part sections (oscillation) (Position axis in parts) Real: End position, part length; Integer: option

PONS POS POSA POSP

POT PR

Square (arithmetic function) Per revolution

Real Revolutional feedrate An axis name is programmed with the corresponding value in the next parameter. Up to 8 axes possible PRESETON(X,10,Y,4.5)

PRESETON Set actual value for programmed axes

PRIO PROC PTP

Vocabulary word for setting the priority for interrupt processing First instruction in a program Point to point movement Block number - PROC identifier m 49

PUTFTOC Tool offset fine for parallel dressing (continuous dressing)

PUTFTOCF Put fine tool correction function dependent:

Fine tool offset dependent on a function for continuous dressing defined with FCtDEF PW Point weight Real, without sign s

QECLRNOF Quadrant error compensation learning OFF

QECLRNON Quadrant error compensation learning ON

Fast additional (auxiliary) function output

15-581

Tables

11.02

15.1 List of instructions

R...

Arithmetic parameters SW 5 and higher: also as settable address identifier and with numerical extension

0.0000001, R parameter number can be set ..., 9999 9999 via MD

R10=3 ;R parameter assignment X=R10 ;Axis value R[R10]=6 ;indirect programming

RDISABLE Read-in disable READAL Read alarm Alarms are searched according to ascending numbers Correspond s to the 64bit floating point format of the processor

REAL

Data type: floating point variable with leading sign (real numbers)

REDEF

Setting for machine data, which user groups they are displayed for Multiple axes can be programmed

RELEASE Release machine axes REP REPEAT Vocabulary word for initialization of all elements of an array with the same value Repeat a program loop

until (UNTIL) a condition is fulfilled nnn times s s s s s s 2 2 2 2 2 2

REPEATB Repeat a program line REPOSA REPOSH Reposition all axes linearly Reposition along semi-circle

REPOSHA Reposition all axes along semi-circle: Reposition all axes, geometry axes along quadrant REPOSL REPOSQ Reposition linearly Reposition along quadrant

REPOSQA Reposition all axes along quadrant Reposition all axes linearly, geometry axes along quadrant RESET RET Reset technology cycle End of subprogram One or several IDs can be programmed Use in place of M17 RET without function output to PLC

15-582

11.02

Tables

15.1 List of instructions

RINDEX

Define index of character in input string

0, ..., INT

String: Parameter 1, character: Parameter 2 m m m m 26 26 26 26

RMB RME RMI 1 RMN RND RNDM

Reposition at beginning of block (Repos mode begin of block) Reposition at end of block (Repos mode end of block) Reposition at interruption point (Repos mode interrupt) Reapproach to nearest path point (Repos mode end of nearest orbital block) Round contour corner Modal rounding Real, without sign Real, without sign Rotation around 1st geom. axis: -180 .. 180 2nd G axis: -89.999, ..., 90 3rd G axis: -180 .. 180 RND=... RNDM=... RNDM=0: disable modal rounding ROT X... Y... Z... ROT RPL= ; separate block

s m

ROT

Programmable rotation

ROTS

programmable frame rotations with solid angles (rotation)

ROT X... Y... ROT Z... X... ROT Y... Z... ROT RPL=

s ;own block

ROUND RP RPL RT s

Round decimal places Polar radius (radius polar) Rotation in plane (rotation plane)

Real Real Real, without sign m,s3 s

Parameter for access to frame data: Rotation Spindle speed or (with G4, G96) another meaning S...: 0.1 ... Spindle speed in 99999999.9 rev/min S1...: G4: Dwell time in spindle rotations G96: Cutting rate in m/min The following are saved: All modal G functions and the current frame Spindle speed for master spindle Spindle speed for spindle 1 m,s

SAVE

Attribute for saving information at subroutine calls

15-583

Tables

11.02

15.1 List of instructions

SBLOF

Suppress single block (single block OFF)

The following blocks are executed in single block like a block.

SBLON SC SCALE SD SEFORM SET SETAL SETDNO SETINT SETM

Clear single block suppression (single block ON) Parameter for access to frame data: Scaling (scale) Programmable scaling (scale) Spline degree Integer, without sign Evaluated in Step editor. SEFORM(<section_name>, <level>, <icon> ) SCALE X... Y... Z... ; separate block s s 3

Structuring instruction in Step editor to generate the step view for HMI Advanced Vocabulary word for initialization of all elements of an array with listed values Set alarm Set D number of tool (T) and its cutting edge to new Define which interrupt routine is to be activated when an NCK input is present Set one/several markers for channel coordination

Edge 0 1 is analyzed Machining in the local channel is not influenced by this.

SETMS

Switch back to master spindle programmed in machine data

SETMS(n) Spindle n must act as master spindle SETPIECE Set piece number for all tools assigned to the spindle. Without spindle number: Valid for master spindle m

SF SIN SOFT SOFTA SON 6 SONS

Start point offset for thread cutting (spline 0.0000, ..., offset) 359.999 Sine (trigon. function) Soft axis acceleration Switch on soft axis acceleration for the programmed axes Nibbling ON (stroke ON) Nibbling ON in IPO cycle (stroke ON slow) Path reference for FGROUP axes is length of arc Switch master spindle or spindle (n) from speed control over to position control Switch master spindle or spindle (n) from position control over to speed control SPCON SPCON (n) SPCON SPCON (n) Real

m m m

35 35 45

SPATH 1 SPCOF SPCON

15-584

11.02

Tables

15.1 List of instructions

SPIF1 1,6

High-speed NCK inputs/outputs for punching/nibbling byte 1 (stroke/punch interface 1) High-speed NCK inputs/outputs for punching/nibbling byte 2 (stroke/punch interface 2) Define spline grouping Stroke OFF, punching, nibbling OFF (stroke/punch OFF) Number of path sections per block (stroke/punch number) Length of a path section (stroke/punch path) Spindle position Spindle position across block boundaries Square root; arithmetic function Sparking-out retraction path for synchronized action Sparking-out retraction path with input axial for synchronized action Sparking-out time for synchronized action Real, without sign Sparking out time axial for synchronized action Start selected programs simultaneously in several channels from current program Position of articulated joints
1

see /FB/, N4: Punching and Nibbling see /FB/, N4: Punching and Nibbling Max. of 8 axes

SPIF2 6

SPLINEPATH SPOF 1,6 SPN 6 SPP 6 SPOS SPOSA SQRT SR SRA ST STA START STAT

m s m SPOS=10 or SPOS[n]=10 SPOSA=5 or SPOSA[n]=5 m m

Integer Integer

Real Real, without sign SRA[Y]=0.2 s m s m ineffective for the local channel s m m 4 4

Integer

STARTFIFO Execute; fill preprocessing buffer in parallel

STOPFIFO Stop processing; fill preprocessing buffer until STARTFIFO, preprocessing buffer "full" or end of program is detected STOPRE Stop preprocessing until all prepared blocks are executed in main run.

STOPREOF Stop preprocessing OFF

STRING STRLEN SUBSTR

Data type: String Define string length Define index of character in input string

Max. 200 characters INT Real String: Parameter 1, character: Parameter 2

15-585

Tables

11.02

15.1 List of instructions

SUPA

Suppression of current zero offset

incl. programm. offsets, handwheel offsets (DRF), external zero offsets and PRESET offset VAR REAL

SYNFCT

Evaluation of a polynomial as a function of a condition in the motion-synchronous action The variable is read synchronously, i.e. at execution time (synchronous read) The variable is read and written synchronously, i.e. at execution time (synchronous read-write) The variable is written synchronously, i.e. at execution time (synchronous write) Call tool (change only if so defined in machine data; otherwise M6 command required) Tangent (trigon. function)

SYNR SYNRW

SYNW T

1 ... 32 000

Call via T No.: or via tool name:

E.g. T3 or T=3 E.g. T="DRILL"

TAN TANG TANGOF TANGON TCARR

Real

Determine tangent for the follow-up from both specified leading axes Tangent follow-up mode OFF Tangent follow-up mode ON Request toolholder (number "m") Integer m=0: Deselect active toolholder Required after resetting machine, e.g. by manual setting TCARR=1 m 42

TCOABS 1 Determine tool length components from current tool orientation TCOFR TCOFRX TCOFRY TCOFRZ TILT 5 TMOF Determine tool length components from orientation of active frame

m m m m m

42 42 42 42

Determine tool orientation of an active frame during tool Tool perpendicular selection, tool points in X direction to sloping surface Determine tool orientation of an active frame during tool Tool perpendicular selection, tool points in Y direction to sloping surface Determine tool orientation of an active frame during tool Tool perpendicular selection, tool points in Z direction to sloping surface Side angle Deselect tool monitoring function Real T number required only if tool with this number is not active. TMOF (T No.)

15-586

11.02

Tables

15.1 List of instructions

TMON

Select tool monitoring function

TMON (T No.) T No. = 0: Deactivate monitoring function for all tools

TO TOFFOF TOFFON

Defines the end value in a FOR counter loop Deactivate on-line tool offset Activate online tool length compensation (Tool Offset ON) 3-dimensional offset direction Frame rotations in tool direction TOFFON (Z, 25) with offset direction Z offset value 25 m m m m m Frame rotations ON Rotation component of programmed frame m m m m 53 53 53 53 53 53 53 53 53

TOFRAME Set current programmable frame to tool coordinate system

TOFRAMEX X axis parallel to tool direction, secondary axis Y, Z TOFRAMEY Y axis parallel to tool direction, secondary axis Z, X TOFRAMEZ Z axis parallel to tool direction, secondary axis X, Y

TOFROF TOFROT

Frame rotations in tool direction OFF Z axis parallel to tool orientation

TOFROTX X axis parallel to tool orientation TOFROTY Y axis parallel to tool orientation TOFROTZ Z axis parallel to tool orientation TOLOWER Convert letters of the string into lowercase TOWSTD TOWBCS TOWKCS Initial setting value for corrections in tool length Wear values in basic coordinate system BCS Wear values in the coordinate system of the tool head for kinetic transformation (differs from MCS by tool rotation)

Including tool wear

m m m

56 56 56

TOWMCS Wear values in machine coordinate system (MCS). TOWTCS Wear values in the tool coordinate system (tool carrier ref. point T at the tool holder)

m m m

56 56 56

TOWWCS Wear values in workpiece coordinate system WCS TOUPPER Convert letters of the string into uppercase TR TRAANG Parameter for access to frame data: Translation Transformation inclined axis Several transformations settable per channel

TRACEOF Circularity test: Transfer of values OFF TRACEON Circularity test: Transfer of values ON TRACON TRACYL Transformation concatenated Cylinder: Peripheral surface transformation see TRAANG

15-587

Tables

11.02

15.1 List of instructions

TRAFOOF Switch off transformation TRAILOF TRAILON TRANS Synchronous coupled motion of axes OFF (trailing OFF) Synchronous coupled motion of axes ON (trailing ON) Programmable offset (translation) see TRAANG see TRAANG BOOL Can be replaced with integer constant 1

TRAFOOF( )

TRANS X. Y. Z.;separate block

TRANSMIT Polar transformation TRAORI TRUE 4-axis, 5-axis transformation (transformation oriented) Logical constant: True

TRUNC TU TURN UNLOCK UNTIL UPATH VAR

Truncate decimal places Axis angle No. of turns for helix

Real Integer 0, ..., 999 TU=2 s s

Enable synchronized action with ID (continue technology cycle) Condition for end of REPEAT loop Curve parameter is path reference for FGROUP axes Vocabulary word: Type of parameter passing Wait until coupling block change criterion for axes / spindles is fulfilled (wait for couple condition) Wait for marker in specified channel; terminate previous block with exact stop. Wait for marker in specified channel; exact stop only if other channels have not yet reached the marker Wait for end of travel Wait until spindle position is reached With VAR: Call by reference Up to 2 axes/spindles can be programmed. WAITC(1,1,2) m 45

WAITC WAITM WAITMC WAITP WAITS

WAITM(1,1,2) WAITMC(1,1,2) WAITP(X) ; separate block WAITS (main spindle) WAITS (n,n,n) ; separate block ; separate block End: ENDWHILE m m 28 28

WALIMOF Working area limitation OFF WALIMON Working area limitation ON

WHILE WRITE
1

Start of WHILE program loop Write block in file system Axis Logical exclusive OR Axis Axis Real Real Real

X XOR Y Z

m,s3

m,s3 m,s3

15-588

11.02

Tables

15.1 List of instructions

Legend:
1 2 3 4

Default setting at start of program (in delivery state of control system provided that another setting is not programmed). The group numbering corresponds to the numbering in table "Overview of instructions" in Section 11.3 Absolute end points: Modal; incremental end points: Non-modal; otherwise modal/non-modal depending on syntax of G function IPO parameters act incrementally as arc centers. They can be programmed in absolute mode with AC. When they have other meanings (e.g. pitch), the address modification is ignored. Vocabulary word does not apply to SINUMERIK FM-NC/810D Vocabulary word does not apply to SINUMERIK FM-NC/810D/NCU571 Vocabulary word does not apply to SINUMERIK 810D The OEM user can incorporate two extra interpolation types and modify their names. Vocabulary word applies only to SINUMERIK FM-NC The extended address block format may not be used for these functions.

5 6 7 8 9

15-589

Tables

11.02

15.1 List of instructions

15-590

11.02

Tables

15.2 List of system variables

15.2

List of system variables

Legend: Parts pr. Syn O S R W RS WS + Parts program Synchronized action The index can be calculated online in synchronized actions. (+) Software version Read access possible Write access possible A preprocessor stop takes place implicitly on read access A preprocessor stop takes place implicitly on write access In column O: The index can be calculated online in synchronized actions.

15.2.1 R parameters
Identifier R $R Type REAL Description: System variable/value range/index Rn or R[n] The max. number of R parameters is defined in machine data Parts pr. R W R W Syn O S 1 4

15.2.2 Channel-specific synchronized action variables

$AC_PARAM REAL $AC_PARAM[n] Arithmetic variable for motion-synchronized actions The dimension is fixed by the machine data $MC_MM_NUM_AC_PARAM. $AC_SYSTEM_PARAM[n] Arithmetic variable for motion-synchronized actions Reserved for SIEMENS applications The dimension is fixed by the machine data $MC_MM_NUM_AC_SYSTEM_PARAM. $AC_MARKER[n] Marker variable for motion-synchronized actions The dimension is fixed by the machine data $MC_MM_NUM_AC_MARKER. R S W S R W + 3

$AC_SYSTEM_ PARAM

REAL

R S

W S

W +

6 . 3

$AC_MARKER

INT

R S

W S

W +

15-591

Tables

11.02

15.2 List of system variables

Identifier $AC_SYSTEM_ MARKER

Type INT

Description: System variable/value range/index $AC_SYSTEM_MARKER[n] Marker variable for motion-synchronized actions Reserved for SIEMENS applications The dimension is fixed by the machine data $MC_MM_NUM_AC_SYSTEM_MARKER.

Parts pr. R S W S

Syn R

O S 6 . 3

W +

15.2.3 Frames 1
$P_UIFR FRAME $P_UIFR[n] Settable frames, can be activated via G500, G54 .. G599. 5 to 100 settable frames with MD $MC_MM_NUM_USER_FRAMES $P_CHBFR[n] Channel base frames, can be activated via G500, G54 .. G599. 0 to 8 channel base frames via MD $MC_MM_NUM_BASE_FRAMES. $P_SETFR Axes: (geometry axis, channel axis, machine axis) $P_EXTFR Axes: (geometry axis, channel axis, machine axis) $P_PARTFR Axes: (geometry axis, channel axis, machine axis) $P_TOOLFR Axes: (geometry axis, channel axis, machine axis) $P_WPFR Axes: (geometry axis, channel axis, machine axis) $P_CYCFR Axes: (geometry axis, channel axis, machine axis) R W 2

$P_CHBFR

FRAME

$P_SETFR

FRAME

$P_EXTFR

FRAME

$P_PARTFR

FRAME

$P_TOOLFR

FRAME

$P_WPFR

FRAME

$P_CYCFR

FRAME

6 . 1 6 . 1 6 . 1 6 . 1 6 . 3 6 . 3

15-592

11.02

Tables

15.2 List of system variables

Identifier $P_TRAFR

Type FRAME

Description: System variable/value range/index $P_TRAFR Axes: (geometry axis, channel axis, machine axis) $P_NCBFR[n] NCU base frames, can be activated via G500, G54 .. G599. 0 to 8 NCU base frames via MD $MN_MM_NUM_GLOBAL_BASE_FRAMES.

Parts pr. R W

Syn

O S 6 . 4 5

$P_NCBFR

FRAME

15.2.4 Toolholder data

Identifier $TC_CARR1 Type REAL Description: System variable/value range/index $TC_CARR1[n] x component of offset vector l1 Notice! All system parameters with the '$TC_' prefix are contained in the TOA area. The special property of this area is that it is possible, conditional on machine data 28085 = MM_LINK_TOA_UNIT, for various NCK channels to access these parameters. If an NCK parameterization of this type has been selected, then it must be clearly understood that when this data is changed, the changes can may also have an adverse effect on another channel; or there must be evidence that the change only has a local effect on the channel that is changed. The max. number of toolholders can be set via machine data. Default setting is = 0; i.e. NCK has no such data. $TC_CARR2[n] y component of offset vector l1 The max. number of toolholders can be set via machine data. Default setting is = 0; i.e. NCK has no such data. Parts pr. R W Syn O S 4

$TC_CARR2

REAL

15-593

Tables

11.02

15.2 List of system variables

Identifier $TC_CARR3

Type REAL

Description: System variable/value range/index $TC_CARR3[n] z component of offset vector l1 The max. number of toolholders can be set via machine data. Default setting is = 0; i.e. NCK has no such data. $TC_CARR4[n] x component of offset vector l2 The max. number of toolholders can be set via machine data. Default setting is = 0; i.e. NCK has no such data. $TC_CARR5[n] y component of offset vector l2 The max. number of toolholders can be set via machine data. Default setting is = 0; i.e. NCK has no such data. $TC_CARR6[n] z component of offset vector l2 The max. number of toolholders can be set via machine data. Default setting is = 0; i.e. NCK has no such data. $TC_CARR7[n] x component of axis of rotation v1 The max. number of toolholders can be set via machine data. Default setting is = 0; i.e. NCK has no such data. $TC_CARR8[n] y component of axis of rotation v1 The max. number of toolholders can be set via machine data. Default setting is = 0; i.e. NCK has no such data. $TC_CARR9[n] z component of axis of rotation v1 The max. number of toolholders can be set via machine data. Default setting is = 0; i.e. NCK has no such data. $TC_CARR10[n] x component of axis of rotation v2 The max. number of toolholders can be set via machine data. Default setting is = 0; i.e. NCK has no such data. $TC_CARR11[n] y component of axis of rotation v2 The maximum number of toolholders can be set via machine data. Default setting is = 0; i.e. NCK has no such data.

Parts pr. R W

Syn

O S 4

$TC_CARR4

REAL

$TC_CARR5

REAL

$TC_CARR6

REAL

$TC_CARR7

REAL

$TC_CARR8

REAL

$TC_CARR9

REAL

$TC_CARR10

REAL

$TC_CARR11

REAL

15-594

11.02

Tables

15.2 List of system variables

Identifier $TC_CARR12

Type REAL

Description: System variable/value range/index $TC_CARR12[n] z component of axis of rotation v2 The max. number of toolholders can be set via machine data. Default setting is = 0; i.e. NCK has no such data. $TC_CARR13[n] Angle of rotation alpha1 (in degrees) The max. number of toolholders can be set via machine data. Default setting is = 0; i.e. NCK has no such data. $TC_CARR14[n] Angle of rotation alpha2 (in degrees) The max. number of toolholders can be set via machine data. Default setting is = 0; i.e. NCK has no such data. $TC_CARR15[n] x component of offset vector l3 The max. number of toolholders can be set via machine data. Default setting is = 0; i.e. NCK has no such data. $TC_CARR16[n] y component of offset vector l3 The max. number of toolholders can be set via machine data. Default setting is = 0; i.e. NCK has no such data. $TC_CARR17[n] z component of offset vector l3 The max. number of toolholders can be set via machine data. Default setting is = 0; i.e. NCK has no such data. $TC_CARR18[n] x component of offset vector l4 The max. number of toolholders can be set via machine data. Default setting is = 0; i.e. NCK has no such data. $TC_CARR19[n] y component of offset vector l4 The max. number of toolholders can be set via machine data. Default setting is = 0; i.e. NCK has no such data. $TC_CARR20[n] z component of offset vector l4 The max. number of toolholders can be set via machine data. Default setting is = 0; i.e. NCK has no such data.

Parts pr. R W

Syn

O S 4

$TC_CARR13

REAL

$TC_CARR14

REAL

$TC_CARR15

REAL

$TC_CARR16

REAL

$TC_CARR17

REAL

$TC_CARR18

REAL

6 . 1 6 . 1 6 . 1

$TC_CARR19

REAL

$TC_CARR20

REAL

15-595

Tables

11.02

15.2 List of system variables

Identifier $TC_CARR21

Type AXIS

Description: System variable/value range/index $TC_CARR21[n] Axis identifier for the 1st axis of rotation The max. number of toolholders can be set via machine data. Default setting is = 0; i.e. NCK has no such data. $TC_CARR22[n] Axis identifier for the 2nd axis of rotation The max. number of toolholders can be set via machine data. Default setting is = 0; i.e. NCK has no such data. $TC_CARR23[n] Kinematics type: P: rotatable workpiece (Part) M: rotatable tool and rotatable part (Mixed) T or any other character apart from P and M: rotatable tool The max. number of toolholders can be set via machine data. Default setting is = T; i.e. toolholder with orientable tool. $TC_CARR24[n] Offset of the 1st rotary axis in degrees Indicates the angle in degrees of the 1st rotary axis at which the axis takes up its initial setting. The max. number of toolholders can be set via machine data. Default setting is = 0; i.e. NCK has no such data. $TC_CARR25[n] Offset of the 2nd rotary axis in degrees Indicates the angle in degrees of the 2nd rotary axis, at which the axis takes up its initial setting. The max. number of toolholders can be set via machine data. Default setting is = 0; i.e. NCK has no such data. $TC_CARR26[n] Indicates the offset of the 1st rotary axis if its position cannot be changed continuously (Hirth tooth system). It will only be analyzed if $TC_CARR28 does not equal zero. For detailed explanation see the description of $TC_CARR28 The maximum number of toolholders can be set via machine data. Default setting is = 0; i.e. NCK has no such data.

Parts pr. R W

Syn

O S 6 . 1 6 . 1 6 . 1

$TC_CARR22

AXIS

$TC_CARR23

CHAR

$TC_CARR24

REAL

6 . 1

$TC_CARR25

REAL

6 . 1

$TC_CARR26

REAL

6 . 1

15-596

11.02

Tables

15.2 List of system variables

Identifier $TC_CARR27

Type REAL

Description: System variable/value range/index $TC_CARR27[n] Indicates the offset of the 1st rotary axis if its position cannot be changed continuously (Hirth tooth system). It will only be analyzed if $TC_CARR29 does not equal zero. For detailed explanation see the description of $TC_CARR29 The max. number of toolholders can be set via machine data. Default setting is = 0; i.e. NCK has no such data. $TC_CARR28[n] Specifies the size of the minimum increment step (in degrees), by which the first rotary axis can be changed (e.g. for Hirth tooth systems). A programmed or calculated angle is rounded to the nearest value that arises with integer n from phi = s + n * d while s = $TC_CARR28 d = $TC_CARR26 If $TC_CARR28 equals zero, $TC_CARR26 and $TC_CARR28 are not used. Instead, machine data $MC_TOCARR_ROT_ANGLE_INCR[i] and $MC_TOCARR_ROT_ANGLE_OFFSET[i] are accessed. The max. number of toolholders can be set via machine data. Default setting is = 0; i.e. NCK has no such data.

Parts pr. R W

Syn

O S 6 . 1

$TC_CARR28

REAL

6 . 1

15-597

Tables

11.02

15.2 List of system variables

Identifier $TC_CARR29

Type REAL

Description: System variable/value range/index $TC_CARR29[n] Specifies the size of the minimum increment step (in degrees), by which the second rotary axis can be changed (e.g. for Hirth tooth systems). A programmed or calculated angle is rounded to the nearest value that arises with integer n from phi = s + n * d while s = $TC_CARR29 d = $TC_CARR27 If $TC_CARR29 equals zero, $TC_CARR28 and $TC_CARR29 are not used. Instead, machine data $MC_TOCARR_ROT_ANGLE_INCR[i] and $MC_TOCARR_ROT_ANGLE_OFFSET[i] are accessed. The max. number of toolholders can be set via machine data. Default setting is = 0; i.e. NCK has no such data. $TC_CARR30[n] Indicates the minimum position of the 1st rotary axis. For a detailed description, see $TC_CARR32 The maximum number of toolholders can be set via machine data. Default setting is = 0; i.e. NCK has no such data. $TC_CARR31[n] Indicates the minimum position of the 2nd rotary axis. For a detailed description, see $TC_CARR33 The max. number of toolholders can be set via machine data. Default setting is = 0; i.e. NCK has no such data.

Parts pr. R W

Syn

O S 6 . 1

$TC_CARR30

REAL

6 . 1

$TC_CARR31

REAL

6 . 1

15-598

11.02

Tables

15.2 List of system variables

Identifier $TC_CARR32

Type REAL

Description: System variable/value range/index $TC_CARR32[n] Indicates the maximum position of the 1st rotary axis. When calculating the angle of the 1st rotary axis of an orientable toolholder during alignment to a frame (TCOFR), only those solutions that fall within the range $TC_CARR30 to $TC_CARR32 are accepted as valid. The same applies for an angle of rotation programmed as absolute (TCOABS). If both $TC_CARR30 and $TC_CARR32 equal zero, the limitations will not be analyzed. The maximum number of toolholders can be set via machine data. Default setting is = 0; i.e. NCK has no such data. $TC_CARR33[n] Indicates the maximum position of the 2nd rotary axis. When calculating the angle of the 2nd rotary axis of an orientable toolholder during alignment to a frame (TCOFR), only those solutions that fall within the range $TC_CARR31 to $TC_CARR33 are accepted as valid. The same applies for an angle of rotation programmed as absolute (TCOABS). If both $TC_CARR31 and $TC_CARR33 equal zero, the limitations will not be analyzed. The maximum number of toolholders can be set via machine data. Default setting is = 0; i.e. NCK has no such data.

Parts pr. R W

Syn

O S 6 . 1

$TC_CARR33

REAL

6 . 1

15-599

Tables

11.02

15.2 List of system variables

Identifier $TC_CARR34

Type STRING

Description: System variable/value range/index $TC_CARR34[n] Contains a user-definable string. This is intended to be a free identifier for the orientable toolholder. However, within the NCK it is currently totally meaningless and is not evaluated either. The identifier should not be used for other purposes, as in a later expansion, the activation of an orientable toolholder should also be possible via names instead of numbers. The max. number of toolholders can be set via machine data. Default setting is = 0; i.e. NCK has no such data. 2nd dimension for TYPE_STRING is automatically MAXSTRINGLEN $TC_CARR35[n] Contains a user-definable string. This is intended to be a free identifier for the first rotary axis. However, within the NCK it is totally meaningless and is not evaluated either. It can therefore also be used for any other purposes. The max. number of toolholders can be set via machine data. Default setting is = 0; i.e. NCK has no such data. 2nd dimension for TYPE_STRING is automatically MAXSTRINGLEN $TC_CARR36[n] Contains a user-definable string. This is intended to be a free identifier for the second rotary axis. However, within the NCK it is totally meaningless and is not evaluated either. It can therefore also be used for any other purposes. The max. number of toolholders can be set via machine data. Default setting is = 0; i.e. NCK has no such data. 2nd dimension for TYPE_STRING is automatically MAXSTRINGLEN

Parts pr. R W

Syn

O S 6 . 4

$TC_CARR35

STRING

6 . 4

$TC_CARR36

STRING

6 . 4

15-600

11.02

Tables

15.2 List of system variables

Identifier $TC_CARR37

Type INT

Description: System variable/value range/index $TC_CARR37[n] Contains an integer to identify the toolholder. However, within the NCK it is totally meaningless and is not evaluated either. The max. number of toolholders can be set via machine data. Default setting is = 0; i.e. NCK has no such data. $TC_CARR38[n] Contains a position (X component of the retraction position) However, within the NCK it is totally meaningless and is not evaluated either. The max. number of toolholders can be set via machine data. Default setting is = 0; i.e. NCK has no such data. $TC_CARR39[n] Contains a position (Y component of the retraction position) However, within the NCK it is totally meaningless and is not evaluated either. The max. number of toolholders can be set via machine data. Default setting is = 0; i.e. NCK has no such data. $TC_CARR40[n] Contains a position (X component of the retraction position) However, within the NCK it is totally meaningless and is not evaluated either. The max. number of toolholders can be set via machine data. Default setting is = 0; i.e. NCK has no such data.

Parts pr. R W

Syn

O S 6 . 4

$TC_CARR38

REAL

6 . 4

$TC_CARR39

REAL

6 . 4

$TC_CARR40

REAL

6 . 4

15.2.5 Channel-specific protection zones

Identifier $SC_PA_ACTIV _IMMED Type BOOL Description: System variable/value range/index $SC_PA_ACTIV_IMMED[n] Protection zone active immediately? TRUE: The protection zone is active immediately once the control is powered up and the axes are referenced FALSE: The protection zone is not active immediately n: Number of protection zone 0 - (maximum value settable via MD) $SC_PA_T_W[n] Part/tool related protection zone 0: Part-related protection zone 3: Tool-related protection zone n: Number of protection zone 0 - (maximum value settable via MD) Parts pr. R W Syn O S 2

$SC_PA_T_W

CHAR

15-601

Tables

11.02

15.2 List of system variables

Identifier $SC_PA_ORI

Type INT

Description: System variable/value range/index $SC_PA_ORI[n] Orientation of protection zone 0: Polygon in plane from 1st and 2nd geo axis 1: Polygon in plane from 3rd and 1st geo axis 2: Polygon in plane from 2nd and 3rd geo axis n: Number of protection zone 0 - (maximum value settable via MD) $SC_PA_LIM_3DIM[n] Code for restricting the protection zone in the axis that lies perpendicular to the polygon definition 0: = No limit 1: = Limit in positive direction 2: = Limit in negative direction 3: = Limit in both directions n: Number of protection zone 0 - (maximum value settable via MD) $SC_PA_PLUS_LIM[n] Positive limit of the protection zones in the axis that lies perpendicular to the polygon definition n: Number of protection zone 0 - (maximum value settable via MD) $SC_PA_MINUS_LIM[n] Negative limitation of protection zones in the negative direction in the axis that lies perpendicular to the polygon definition n: Number of protection zone 0 - (maximum value settable via MD) $SC_PA_CONT_NUM[n] Number of valid contour elements n: Number of protection zone 0 - (maximum value settable via MD) $SC_PA_CONT_TYP [n,m] Contour element type (G1, G2, G3) n: Number of protection zone 0 - (maximum value settable via MD) m: Number of contour element 010 (MAXNUM_CONTOURNO_PROTECTAREA) $SC_PA_CONT_ORD[n,m] End point of contour element (ordinate) n: Number of protection zone 0 - (maximum value settable via MD) m: Number of contour element 010 (MAXNUM_CONTOURNO_PROTECTAREA)

Parts pr. R W

Syn

O S 2

$SC_PA_LIM_3 DIM

INT

$SC_PA_PLUS_ LIM

REAL

$SC_PA_MINUS _LIM

REAL

$SC_PA_CONT _NUM

Type REAL

Description: System variable/value range/index $TC_DP4[t,d] Geometry - Length 2 With active 'Flat D number management' function, the syntax is as follows: $TC_DP4[d] t: Tool number 132000 d: Cutting edge number/D number 132000 $TC_DP5[t,d] Geometry - Length 3 With active 'Flat D number management' function, the syntax is as follows: $TC_DP5[d] t: Tool number 132000 d: Cutting edge number/D number 132000 $TC_DP6[t,d] Geometry - Radius With active 'Flat D number management' function, the syntax is as follows: $TC_DP6[d] t: Tool number 132000 d: Cutting edge number/D number 132000 $TC_DP7[t,d] Slotting saw: Corner radius With active 'Flat D number management' function, the syntax is as follows: $TC_DP7[d] t: Tool number 132000 d: Cutting edge number/D number 132000 $TC_DP8[t,d] Slotting saw: Length With active 'Flat D number management' function, the syntax is as follows: $TC_DP8[d] t: Tool number 132000 d: Cutting edge number/D number 132000 $TC_DP9[t,d] Reserved With active 'Flat D number management' function, the syntax is as follows: $TC_DP9[d] t: Tool number 132000 d: Cutting edge number/D number 132000 $TC_DP10[t,d] Angle between face of tool and torus surface With active 'Flat D number management' function, the syntax is as follows: $TC_DP10[d] t: Tool number 132000 d: Cutting edge number/D number 132000

Parts pr. R W

Syn

O S 2

$TC_DP5

REAL

$TC_DP6

REAL

$TC_DP7

REAL

$TC_DP8

REAL

$TC_DP9

REAL

$TC_DP10

REAL

15-604

11.02

Tables

15.2 List of system variables

Identifier $TC_DP11

Type REAL

Description: System variable/value range/index $TC_DP11[t,d] Angle between tool longitudinal axis and upper end of torus surface With active 'Flat D number management' function, the syntax is as follows: $TC_DP11[d] t: Tool number 132000 d: Cutting edge number/D number 132000 $TC_DP12[t,d] Wear - Length 1 - $TC_DP3 With active 'Flat D number management' function, the syntax is as follows: $TC_DP12[d] t: Tool number 132000 d: Cutting edge number/D number 132000 $TC_DP13[t,d] Wear - Length 2 - $TC_DP4 With active 'Flat D number management' function, the syntax is as follows: $TC_DP13[d] t: Tool number 132000 d: Cutting edge number/D number 132000 $TC_DP14[t,d] Wear - Length 3 - $TC_DP5 With active 'Flat D number management' function, the syntax is as follows: $TC_DP14[d] t: Tool number 132000 d: Cutting edge number/D number 132000 $TC_DP15[t,d] Wear - Radius - $TC_DP6 With active 'Flat D number management' function, the syntax is as follows: $TC_DP15[d] t: Tool number 132000 d: Cutting edge number/D number 132000 $TC_DP16[t,d] Slotting saw: Wear, corner radius - $TC_DP7 With active 'Flat D number management' function, the syntax is as follows: $TC_DP16[d] t: Tool number 132000 d: Cutting edge number/D number 132000

Parts pr. R W

Syn

O S 2

$TC_DP12

REAL

$TC_DP13

REAL

$TC_DP14

REAL

$TC_DP15

REAL

$TC_DP16

REAL

15-605

Tables

11.02

15.2 List of system variables

Identifier $TC_DP17

Type REAL

Description: System variable/value range/index $TC_DP17[t,d] Slotting saw: Wear - Length - $TC_DP8 With active 'Flat D number management' function, the syntax is as follows: $TC_DP17[d] t: Tool number 132000 d: Cutting edge number/D number 132000 $TC_DP18[t,d] Wear - Reserved - $TC_DP9 With active 'Flat D number management' function, the syntax is as follows: $TC_DP18[d] t: Tool number 132000 d: Cutting edge number/D number 132000 $TC_DP19[t,d] Wear - Angle between face of tool and torus surface $TC_DP10 With active 'Flat D number management' function, the syntax is as follows: $TC_DP19[d] t: Tool number 132000 d: Cutting edge number/D number 132000 $TC_DP20[t,d] Wear angle between tool longitudinal axis and upper end of torus surface - $TC_DP11 With active 'Flat D number management' function, the syntax is as follows: $TC_DP20[d] t: Tool number 132000 d: Cutting edge number/D number 132000 $TC_DP21[t,d] Base - Length 1 With active 'Flat D number management' function, the syntax is as follows: $TC_DP21[d] t: Tool number 132000 d: Cutting edge number/D number 132000 $TC_DP22[t,d] Base - Length 2 With active 'Flat D number management' function, the syntax is as follows: $TC_DP22[d] t: Tool number 132000 d: Cutting edge number/D number 132000

Parts pr. R W

Syn

O S 2

$TC_DP18

REAL

$TC_DP19

REAL

$TC_DP20

REAL

$TC_DP21

REAL

$TC_DP22

REAL

15-606

11.02

Tables

15.2 List of system variables

Identifier $TC_DP23

Type REAL

Description: System variable/value range/index $TC_DP23[t,d] Base - Length 3 With active 'Flat D number management' function, the syntax is as follows: $TC_DP23[d] t: Tool number 132000 d: Cutting edge number/D number 132000 $TC_DP24[t,d] Clearance angle With active 'Flat D number management' function, the syntax is as follows: $TC_DP24[d] t: Tool number 132000 d: Cutting edge number/D number 132000 $TC_DP25[t,d] Reserved With active 'Flat D number management' function, the syntax is as follows: $TC_DP25[d] t: Tool number 132000 d: Cutting edge number/D number 132000 $TC_DPCE[t,d] = 'Cutting edge number' of offset data block t,d With active 'Flat D number management' function, the syntax is as follows: $TC_DPCE[d] CE stands for <C>utting<E>dge Range of values of legal 'cutting edge numbers': 1 to the value of machine data $MN_MM_MAX_CUTTING_EDGE_PERTOOL. t: Tool number 132000 d: Cutting edge number/D number 132000 $TC_DPH[t,d] = 'H cutting edge number' of offset data block t,d for Fanuc0 M With active 'Flat D number management' function, the syntax is as follows: $TC_DPH[d] t: Tool number 132000 d: Cutting edge number/D number 132000 $TC_DPV[t,d] = tool cutting edge orientation With active 'Flat D number management' function, the syntax is as follows: $TC_DPV[d] t: Tool number 132000 d: Cutting edge number/D number 132000

Parts pr. R W

Syn

O S 2

$TC_DP24

REAL

$TC_DP25

REAL

$TC_DPCE

INT

$TC_DPH

INT

5 . 1

$TC_DPV

INT

6 . 1

15-607

Tables

11.02

15.2 List of system variables

Identifier $TC_DPV3

Type REAL

Description: System variable/value range/index $TC_DPV3[t,d] = X-component of tool cutting edge orientation With active 'Flat D number management' function, the syntax is as follows: $TC_DPV3[d] t: Tool number 132000 d: Cutting edge number/D number 132000 $TC_DPV4[t,d] = Y-component of tool cutting edge orientation With active 'Flat D number management' function, the syntax is as follows: $TC_DPV4[d] t: Tool number 132000 d: Cutting edge number/D number 132000 $TC_DPV5[t,d] = Z-component of tool cutting edge orientation With active 'Flat D number management' function, the syntax is as follows: $TC_DPV5[d] t: Tool number 132000 d: Cutting edge number/D number 132000

Parts pr. R W

Syn

O S 6 . 1

$TC_DPV4

REAL

6 . 1

$TC_DPV5

REAL

6 . 1

15-608

11.02

Tables

15.2 List of system variables

15.2.7 Cutting edge data OEM user

Identifier $TC_DPC1 Type REAL Description: System variable/value range/index The type can be defined in the machine data. The default is DOUBLE $TC_DPC1[t,d] With active 'Flat D number management' function, the syntax is as follows: $TC_DPC1[d] t: Tool number 132000 d: Cutting edge number/D number 132000 The type can be defined in the machine data. The default is DOUBLE $TC_DPC2[t,d] With active 'Flat D number management' function, the syntax is as follows: $TC_DPC2[d] t: Tool number 132000 d: Cutting edge number/D number 132000 The type can be defined in the machine data. The default is DOUBLE $TC_DPCi[t,d] With active 'Flat D number management' function, the syntax is as follows: $TC_DPCi[d] t: Tool number 132000 d: Cutting edge number/D number 132000 The type can be defined in the machine data. The default is DOUBLE $TC_DPC10[t,d] With active 'Flat D number management' function, the syntax is as follows: $TC_DPC10[d] t: Tool number 132000 d: Cutting edge number/D number 132000 Parts pr. R W Syn O S 2

$TC_DPC2

REAL

$TC_DPCi ...

REAL

... $TC_DPC10 REAL R W 2

15-609

Tables

11.02

15.2 List of system variables

Identifier $TC_DPCS1

Type REAL

Description: System variable/value range/index The type can be defined in the machine data. The default is DOUBLE $TC_DPCS1[t,d] With active 'Flat D number management' function, the syntax is as follows: $TC_DPCS1[d] t: Tool number 132000 d: Cutting edge number/D number 132000 The type can be defined in the machine data. The default is DOUBLE $TC_DPCS2[t,d] With active 'Flat D number management' function, the syntax is as follows: $TC_DPCS2[d] t: Tool number 132000 d: Cutting edge number/D number 132000 The type can be defined in the machine data. The default is DOUBLE $TC_DPCSi[t,d] With active 'Flat D number management' function, the syntax is as follows: $TC_DPCSi[d] t: Tool number 132000 d: Cutting edge number/D number 132000 The type can be defined in the machine data. The default is DOUBLE $TC_DPCS10[t,d] With active 'Flat D number management' function, the syntax is as follows: $TC_DPCS10[d] t: Tool number 132000 d: Cutting edge number/D number 132000

Parts pr. R W

Syn

O S 6 . 1

$TC_DPCS2

REAL

15.2.8 Monitoring data for tool management

Identifier $TC_MOP1 Type REAL Description: System variable/value range/index $TC_MOP1[t,d] Prewarning limit for tool life t: Tool number 132000 d: Cutting edge number/D number 132000 $TC_MOP2[t,d] Remaining tool life t: Tool number 132000 d: Cutting edge number/D number 132000 $TC_MOP3[t,d] Prewarning limit for number of workpieces t: Tool number 132000 d: Cutting edge number/D number 132000 $TC_MOP4[t,d] Remaining number of workpieces t: Tool number 132000 d: Cutting edge number/D number 132000 $TC_MOP5[t,d] Prewarning limit wear t: Tool number 132000 d: Cutting edge number/D number 132000 $TC_MOP6[t,d] Remaining wear t: Tool number 132000 d: Cutting edge number/D number 132000 $TC_MOP11[t,d] Service life setpoint t: Tool number 132000 d: Cutting edge number/D number 132000 $TC_MOP13[t,d] Workpiece count setpoint t: Tool number 132000 d: Cutting edge number/D number 132000 $TC_MOP15[t,d] Wear setpoint t: Tool number 132000 d: Cutting edge number/D number 132000 Parts pr. R W Syn O S 2

$TC_MOP2

REAL

$TC_MOP3

INT

$TC_MOP4

INT

$TC_MOP5

REAL

$TC_MOP6

REAL

$TC_MOP11

REAL

$TC_MOP13

INT

$TC_MOP15

REAL

15-617

Tables

11.02

15.2 List of system variables

15.2.9 Monitoring data for OEM users

Identifier $TC_MOPC1 Type INT Description: System variable/value range/index The type can be defined in the machine data. The default is INT $TC_MOPC1[t,d] t: Tool number 132000 d: Cutting edge number/D number 132000 The type can be defined in the machine data. The default is INT $TC_MOPC2[t,d] t: Tool number 132000 d: Cutting edge number/D number 132000 The type can be defined in the machine data. The default is INT $TC_MOPC10[t,d] t: Tool number 132000 d: Cutting edge number/D number 132000 The type can be defined in the machine data. The default is INT $TC_MOPCS1[t,d] t: Tool number 132000 d: Cutting edge number/D number 132000 The type can be defined in the machine data. The default is INT $TC_MOPCS2[t,d] t: Tool number 132000 d: Cutting edge number/D number 132000 The type can be defined in the machine data. The default is INT $TC_MOPCS10[t,d] t: Tool number 132000 d: Cutting edge number/D number 132000 Parts pr. R W Syn O S 2

$TC_MOPC2

INT

... $TC_MOPC10 INT R W 2

$TC_MOPCS1

INT

6 . 1

$TC_MOPCS2

INT

6 . 1

... $TC_MOPCS10 INT R W 6 . 1

15-618

11.02

Tables

15.2 List of system variables

15.2.10
Identifier $TC_TP1

Tool-related data
Type INT Description: System variable/value range/index $TC_TP1[t] Duplo number t: Tool number 132000 $TC_TP2[t] Tool name t: Tool number 132000 2nd dimension for TYPE_STRING is automatically MAXSTRINGLEN $TC_TP3[t] Size to left t: Tool number 132000 $TC_TP4[t] Size to right t: Tool number 132000 $TC_TP5[t] Size toward top t: Tool number 132000 $TC_TP6[t] Size toward bottom t: Tool number 132000 $TC_TP7[t] Magazine location type t: Tool number 132000 $TC_TP8[t] Status t: Tool number 132000 $TC_TP9[t] Type of tool monitoring t: Tool number 132000 $TC_TP10[t] Tool info t: Tool number 132000 $TC_TP11[t] Replacement strategy t: Tool number 132000 The type can be defined in the machine data. The default is INT $TC_TPC1[t] t: Tool number 132000 Parts pr. R W Syn O S 2

$TC_TP2

STRING

$TC_TP3

INT

$TC_TP4

INT

$TC_TP5

INT

$TC_TP6

INT

$TC_TP7

INT

$TC_TP8

INT

$TC_TP9

INT

$TC_TP10

INT

$TC_TP11

INT

$TC_TPC1

REAL

15-619

Tables

11.02

15.2 List of system variables

Identifier $TC_TPC2

Type REAL

Description: System variable/value range/index The type can be defined in the machine data. The default is INT $TC_TPC2[t] t: Tool number 132000 The type can be defined in the machine data. The default is INT $TC_TPC10[t] t: Tool number 132000

Parts pr. R W

Syn

O S 2

... $TC_TPC10 REAL R W 2

$TC_TPCS1

REAL

The type can be defined in the machine data. The default is INT $TC_TPCS1[t] t: Tool number 132000 The type can be defined in the machine data. The default is INT $TC_TPCS2[t] t: Tool number 132000

6 . 1

$TC_TPCS2

REAL

6 . 1

... $TC_TPCS10 REAL The type can be defined in the machine data. The default is INT $TC_TPCS10[t] t: Tool number 132000 R W 6 . 1

15-620

11.02

Tables

15.2 List of system variables

15.2.11
Identifier $TC_TPG1

Tool-related grinding data

Type INT Description: System variable/value range/index $TC_TPG1[t] Spindle number t: Tool number 132000 $TC_TPG2[t] Chaining rule t: Tool number 132000 $TC_TPG3[t] Minimum grinding wheel radius t: Tool number 132000 $TC_TPG4[t] Minimum grinding wheel width t: Tool number 132000 $TC_TPG5[t] Current grinding wheel width t: Tool number 132000 $TC_TPG6[t] Maximum rotation speed t: Tool number 132000 $TC_TPG7[t] Maximum surface speed t: Tool number 132000 $TC_TPG8[t] Inclination angle for oblique grinding wheel t: Tool number 132000 $TC_TPG9[t] Parameter number for radius calculation t: Tool number 132000 Parts pr. R W Syn O S 2

$TC_TPG2

INT

$TC_TPG3

REAL

$TC_TPG4

REAL

$TC_TPG5

REAL

$TC_TPG6

REAL

$TC_TPG7

REAL

$TC_TPG8

REAL

$TC_TPG9

INT

15-621

Tables

11.02

15.2 List of system variables

15.2.12
Identifier $TC_MPP1

Magazine location data

Type INT Description: System variable/value range/index $TC_MPP1[n,m] Location class n: Physical magazine number: m: Physical location number $TC_MPP2[n,m] Location type n: Physical magazine number: m: Physical location number $TC_MPP3[n,m] Adjacent location consideration on/off n: Physical magazine number: m: Physical location number $TC_MPP4[n,m] Location status n: Physical magazine number: m: Physical location number $TC_MPP5[n,m] Buffer magazine: Location class index Real magazines: Wear group number n: Physical magazine number: m: Physical location number $TC_MPP6[n,m] T-no. of the tool at this location n: Physical magazine number: m: Physical location number $TC_MPP7[n,m] Adapter number of tool adapter at this location n: Physical magazine number: m: Physical location number $TC_MPP66[n,m] T-no. of the tool in the buffer, for which the location specified by n,m is reserved. A write operation only makes sense when loading a backup file to the NCK. Name assignment follows the $TC_MPP6 - tool no. of the tool at the magazine location. n: Physical magazine number: m: Physical location number Parts pr. R W Syn O S 2

$TC_MPP2

INT

$TC_MPP3

BOOL

$TC_MPP4

INT

$TC_MPP5

INT

$TC_MPP6

INT

$TC_MPP7

INT

$TC_MPP66

INT

6 . 1

15-622

11.02

Tables

15.2 List of system variables

15.2.13
Identifier $TC_MPPC1

Magazine location data for OEM users

Type INT Description: System variable/value range/index The type can be defined in the machine data. The default is INT $TC_MPPC1[n,m] n: Physical magazine number: m: Physical location number The type can be defined in the machine data. The default is INT $TC_MPPC2[n,m] n: Physical magazine number: m: Physical location number The type can be defined in the machine data. The default is INT $TC_MPPC10[n,m] n: Physical magazine number: m: Physical location number The type can be defined in the machine data. The default is INT $TC_MPPCS1[n,m] n: Physical magazine number: m: Physical location number The type can be defined in the machine data. The default is INT $TC_MPPCS2[n,m] n: Physical magazine number: m: Physical location number The type can be defined in the machine data. The default is INT $TC_MPPCS10[n,m] n: Physical magazine number: m: Physical location number $TC_MDP1[n,m] Distance between change position of magazine n and location m of the 1st internal magazine internal mag. 1 distance parameter n: Physical magazine number: m: Physical location number $TC_MDP2[n,m] Distance between change position of magazine n and location m of the 2nd internal magazine internal mag. 2 distance parameter n: Physical magazine number: m: Physical location number Parts pr. R W Syn O S 2

$TC_MPPC2

INT

... $TC_MPPC10 INT R W 2

$TC_MPPCS1

INT

6 . 1

$TC_MPPCS2

INT

6 . 1

... $TC_MPPCS10 INT R W 6 . 1

$TC_MDP1

INT

$TC_MDP2

INT

15-623

Tables

11.02

15.2 List of system variables

Identifier $TC_MLSR

Type INT

Description: System variable/value range/index $TC_MLSR[n,m]=0 Assignment between buffer location n and buffer location m m must identify a location of type 'spindle'. n must identify a location not of type 'spindle'. This can be used to define, for example, which grippers,... are assigned to which spindles. The value for parameter value is defined as fix = 0. The write process defines a relation, the read process checks whether a particular relation applies. If not, an alarm is produced during a read operation. define links of grippers,... to spindles. n: Physical magazine location number of location class not equal to SPINDLE m: Physical magazine location number of location class equal to SPINDLE $TC_MPTH[n,m] Magazine location type hierarchy mag. location (place)types hierarchy parameter n: Hierarchy 0 - 8-1 m: Location type 0 - 8 - 1

Parts pr. R W

Syn

O S 3

$TC_MPTH

INT

15.2.14
$TC_MAP1

Magazine description data for tool management

INT $TC_MAP1[n] Type of magazine n: Magazine number 1 to ... $TC_MAP2[n] Identifier of the magazine n: Magazine number 1 to ... 2nd dimension for TYPE_STRING is automatically MAXSTRINGLEN $TC_MAP3[n] State of magazine n: Magazine number 1 to ... $TC_MAP4[n] Chaining with following magazine n: Magazine number 1 to ... $TC_MAP5[n] Chaining with previous magazine n: Magazine number 1 to ... $TC_MAP6[n] Number of rows n: Magazine number 1 to ... R W 2

$TC_MAP2

STRING

$TC_MAP3

INT

$TC_MAP4

INT

$TC_MAP5

INT

$TC_MAP6

INT

15-624

11.02

Tables

15.2 List of system variables

Identifier $TC_MAP7

Type INT

Description: System variable/value range/index $TC_MAP7[n] Number of columns n: Magazine number 1 to ... $TC_MAP8[n] Current magazine position with reference to the change position n: Magazine number 1 to ... $TC_MAP9[n] Current wear group number n: Magazine number 1 to ... $TC_MAP10[n] Current magazine search strategies. - tool search strategy - empty location search strategy The default entered by the NCK is the value $TC_MAMP2. n: Magazine number 1 to ...

Parts pr. R W

Syn

O S 2

$TC_MAP8

INT

$TC_MAP9

INT

$TC_MAP10

INT

6 . 1

15.2.15
$TC_MAPC1

Tool management magazine description data for OEM users

INT The type can be defined in the machine data. The default is INT $TC_MAPC1[n] n: Magazine number 1 to ... The type can be defined in the machine data. The default is INT $TC_MAPC2[n] n: Magazine number 1 to ... The type can be defined in the machine data. The default is INT $TC_MAPC10[n] n: Magazine number 1 to ... The type can be defined in the machine data. The default is INT $TC_MAPCS1[n] n: Magazine number 1 to ... The type can be defined in the machine data. The default is INT $TC_MAPCS2[n] n: Magazine number 1 to ... The type can be defined in the machine data. The default is INT $TC_MAPCS10[n] n: Magazine number 1 to ... R W 2

$TC_MAPC2

INT

... $TC_MAPC10 INT R W 2

$TC_MAPCS1

INT

6 . 1 6 . 1

$TC_MAPCS2

INT

... $TC_MAPCS10 INT R W 6 . 1

15-625

Tables

11.02

15.2 List of system variables

15.2.16
Identifier $TC_MAMP1

Magazine module parameter

Type STRING Description: System variable/value range/index $TC_MAMP1 Identifier of the magazine module Scalar variable 2nd dimension for TYPE_STRING is automatically MAXSTRINGLEN $TC_MAMP2 Type of tool search Scalar variable $TC_MAMP3 Handling of tools with wear groups Scalar variable Parts pr. R W Syn O S 2

$TC_MAMP2

INT

$TC_MAMP3

INT

15.2.17
$TC_ADPTT

Adapter data
INT $TC_ADPTT[a] Adapter transformation number a: Adapter number 132000 $TC_ADPT1[a] Adapter geometry: Length 1 a: Adapter number 132000 $TC_ADPT2[a] Adapter geometry: Length 2 a: Adapter number 132000 $TC_ADPT3[a] Adapter geometry: Length 3 a: Adapter number 132000 R W 5

$TC_ADPT1

REAL

$TC_ADPT2

REAL

$TC_ADPT3

REAL

15.2.18
$AA_ENC_COM P

Measuring system compensation values

REAL $AA_ENC_COMP[n,m,a] Compensation values a: Machine axis n: Encoder no. 01 m: Point no. 0<MD value> Axes: Machine axis $AA_ENC_COMP_STEP[n,a] Step width a: Machine axis n: Encoder no. 01 Axes: Machine axis R W 2

$AA_ENC_COM P_STEP

REAL

15-626

11.02

Tables

15.2 List of system variables

Identifier $AA_ENC_COM P_MIN

Type REAL

Description: System variable/value range/index $AA_ENC_COMP_MIN[n,a] Compensation start position a: Machine axis n: Encoder no. 01 Axes: Machine axis $AA_ENC_COMP_MAX[n,a] Compensation end position a: Machine axis n: Encoder no. 01 Axes: Machine axis $AA_ENC_COMP_IS_MODULO[n,a] Compensation is modulo a: Machine axis n: Encoder no. 01 Axes: Machine axis

Parts pr. R W

Syn

O S 2

$AA_ENC_COM P_MAX

REAL

$AA_ENC_COM P_IS_MODULO

BOOL

15.2.19
$AA_QEC

Quadrant error compensation

REAL $AA_QEC[n,m,a] Result of learning process a: Machine axis n: 0 m: No. of point: 0 - $MN_MM_QEC_MAX_POINTS Axes: Machine axis $AA_QEC_COARSE_STEPS[n,a] Compensation value: Coarse quantization of the characteristic a: Machine axis n: 0 Axes: Machine axis $AA_QEC_FINE_STEPS[n,a] Fine quantization of characteristic a: Machine axis n: 0 Axes: Machine axis $AA_QEC_ACCEL_1[n,a] Acceleration in 1st knee-point according to definition [mm/s2 o. inch/s2 o. degrees/s2] a: Machine axis n: 0 Axes: Machine axis R W 2

$AA_QEC_COA RSE_STEPS

INT

$AA_QEC_FINE _STEPS

INT

$AA_QEC_ACC EL_1

REAL

15-627

Tables

11.02

15.2 List of system variables

Identifier $AA_QEC_ACC EL_2

Type REAL

Description: System variable/value range/index $AA_QEC_ACCEL_2[n,a] Acceleration in 2nd knee-point according to definition [mm/s2 o. inch/s2 o. degrees/s2] a: Machine axis n: 0 Axes: Machine axis $AA_QEC_ACCEL_3[n,a] Acceleration in 3rd knee-point according to definition [mm/s2 o. inch/s2 o. degrees/s2] a: Machine axis n: 0 Axes: Machine axis $AA_QEC_MEAS_TIME_1[n,a] Measuring time for the range $AA_QEC_ACCEL_1 a: Machine axis n: 0 Axes: Machine axis $AA_QEC_MEAS_TIME_2[n,a] Measuring time for the range $AA_QEC_ACCEL_2 a: Machine axis n: 0 Axes: Machine axis $AA_QEC_MEAS_TIME_3[n,a] Measuring time for the range $AA_QEC_ACCEL_3 a: Machine axis n: 0 Axes: Machine axis $AA_QEC_TIME_1[n,a] 1st filter time for feedforward element a: Machine axis n: 0 Axes: Machine axis $AA_QEC_TIME_2[n,a] 2nd filter time for feedforward element a: Machine axis n: 0 Axes: Machine axis $AA_QEC_LEARNING_RATE[n,a] Learning rate for network a: Machine axis n: 0 Axes: Machine axis $AA_QEC_DIRECTIONAL[n,a] TRUE: Compensation is directional FALSE: Compensation is not directional a: Machine axis n: 0 Axes: Machine axis

Parts pr. R W

Syn

O S 2

$AA_QEC_ACC EL_3

REAL

$AA_QEC_MEA S_TIME_1

REAL

$AA_QEC_MEA S_TIME_2

REAL

$AA_QEC_MEA S_TIME_3

REAL

$AA_QEC_TIME _1

REAL

$AA_QEC_TIME _2

REAL

$AA_QEC_LEA RNING_RATE

REAL

$AA_QEC_DIRE CTIONAL

BOOL

15-628

11.02

Tables

15.2 List of system variables

15.2.20
Identifier $AN_CEC

Interpolatory compensation
Type REAL Description: System variable/value range/index $AN_CEC[n,m] Compensation value n: No. of compensation table 0 - (maximum value settable via MD) m: No. of interpolation point 0 - (maximum value settable via MD) $AN_CEC_INPUT_AXIS[n]: Name of axis whose setpoint is to act as the compensation table input n: No. of compensation table 0 - (maximum value settable via MD) $AN_CEC_OUTPUT_AXIS[n]: Name of axis which is influenced by the compensation table output n: No. of compensation table 0 - (maximum value settable via MD) $AN_CEC_STEP[n] Distance between compensation values n: No. of compensation table 0 - (maximum value settable via MD) AN_CEC_MIN[n] Start position of compensation table n: No. of compensation table 0 - (maximum value settable via MD) AN_CEC_MAX[n] End position of compensation table n: No. of compensation table 0 - (maximum value settable via MD) $AN_CEC_DIRECTION[n] Activates directional action of compensation table n: No. of compensation table 0 - (maximum value settable via MD) $AN_CEC_MULT_BY_TABLE[n] Number of table for which the initial value is to be multiplied by the initial value of the compensation table 0: Both traversing directions of basic axis 1: Positive traversing direction of basic axis -1: Negative traversing direction of basic axis n: No. of compensation table 0 - (maximum value settable via MD) $AN_CEC_IS_MODULO[n] TRUE: Cyclic repetition of compensation table FALSE: No cyclic repetition of compensation table n: No. of compensation table 0 - (maximum value settable via MD) Parts pr. R W Syn O S 2

$AN_CEC_INPU T_AXIS

AXIS

$AN_CEC_OUT PUT_AXIS

AXIS

v$AN_CEC_STE P

REAL

$AN_CEC_MIN

REAL

$AN_CEC_MAX

REAL

$AN_CEC_DIRE CTION

INT

$AN_CEC_MUL T_BY_TABLE

INT

$AN_CEC_IS_M ODULO

BOOL

15-629

Tables

11.02

15.2 List of system variables

15.2.21
Identifier $SN_PA_ACTIV _IMMED

NCK-specific protection zones

Type BOOL Description: System variable/value range/index $SN_PA_ACTIV_IMMED[n] Protection zone active immediately? TRUE: The protection zone is active immediately once the control is powered up and the axes are referenced FALSE: The protection zone is not active immediately n: Number of protection zone 0 - (maximum value settable via MD) $SN_PA_T_W[n] Part/tool related protection zone 0: Part-related protection zone 3: Tool-related protection zone n: Number of protection zone 0 - (maximum value settable via MD) $SN_PA_ORI[n] Orientation of protection zone 0: Polygon in plane from 1st and 2nd geo axis 1: Polygon in plane from 3rd and 1st geo axis 2: Polygon in plane from 2nd and 3rd geo axis n: Number of protection zone 0 - (maximum value settable via MD) $SN_PA_LIM_3DIM[n] Code for restricting the protection zone in the axis that lies perpendicular to the polygon definition 0: = No limit 1: = Limit in positive direction 2: = Limit in negative direction 3: = Limit in both directions n: Number of protection zone 0 - (maximum value settable via MD) $SN_PA_PLUS_LIM[n] Positive limit of the protection zones in the axis that lies perpendicular to the polygon definition n: Number of protection zone 0 - (maximum value settable via MD) $SN_PA_MINUS_LIM[n] Negative limitation of protection zone in the negative direction in the axis that lies perpendicular to the polygon definition n: Number of protection zone 0 - (maximum value settable via MD) $SN_PA_CONT_NUM[n] Number of valid contour elements n: Number of protection zone 0 - (maximum value settable via MD) Parts pr. R W Syn O S 2

$SN_PA_T_W

CHAR

$SN_PA_ORI

INT

$SN_PA_LIM_3 DIM

INT

$SN_PA_PLUS_ LIM

REAL

$SN_PA_MINUS _LIM

REAL

$SN_PA_CONT _NUM

INT

15-630

11.02

Tables

15.2 List of system variables

Identifier $SN_PA_CONT _TYP

Type INT

Description: System variable/value range/index $SN_PA_CONT_TYP[n,m] Contour element type (G1, G2, G3) n: Number of protection zone 0 - (maximum MD) m: Number of contour element 010 $SN_PA_CONT_ORD[n,m] End point of contour element (ordinate) n: Number of protection zone 0 - (maximum MD) m: Number of contour element 010 $SN_PA_CONT_ABS[n,m] End point of contour element (abscissa) n: Number of protection zone 0 - (maximum MD) m: Number of contour element 010 $SN_PA_CENT_ORD[n,m] Center point of contour element (ordinate) n: Number of protection zone 0 - (maximum MD) m: Number of contour element 010 $SC_PA_CENT_ABS[n,m] Center point of contour element (abscissa) n: Number of protection zone 0 - (maximum MD) m: Number of contour element 010

Parts pr. R W

REAL

... $C_H REAL R W

15-631

Tables

11.02

15.2 List of system variables

Identifier $C_I

Type REAL

Description: System variable/value range/index $C_I[] Value of programmed address I in Fanuc mode for cycle parameterization and macro technique with G65/G66. For macro programming with G65/G66, up to 10 entries are possible in the block with address I. The values are in the programmed sequence in the array. $C_J[] Value of programmed address J in Fanuc mode for cycle parameterization and macro technique with G65/G66. For macro programming with G65/G66, up to 10 entries are possible in the block with address J. The values are in the programmed sequence in the array. $C_K[] Value of programmed address K in Fanuc mode for cycle parameterization and macro technique with G65/G66. For macro programming with G65/G66, up to 10 entries are possible in the block with address K. The values are in the programmed sequence in the array. $C_L Value of programmed address L in Fanuc mode for cycle parameterization $C_M Value of programmed address M in Fanuc mode for cycle parameterization $C_Z Value of programmed address Z in Fanuc mode for cycle parameterization Value of programmed address DL (additive tool offset) for A subroutine call by M/T function replacement

Parts pr. R W

Syn

O S 5 . 1

$C_J

REAL

5 . 1

$C_K

REAL

5 . 1

$C_L

REAL

$C_M

REAL

5 . 1 5 . 1 5 . 1 6 . 1 6 . 1

... $C_Z REAL R W

$C_DL

REAL

$C_TS

STRING

$C_TS String of the tool identifier programmed under address T for tool function replacement (during active tool monitoring only)

15-632

11.02

Tables

15.2 List of system variables

Identifier $C_A_PROG

Type INT

Description: System variable/value range/index $C_A_PROG Address A is programmed to a block with cycle call 0 = not programmed 1 = programmed 3 = programmed as incremental Bit 0 / value 1 is set when the address is programmed as absolute or incremental. To distinguish between absolute and incremental, bit 1 / value 3 is also set. The bit 2 =0 value is programmed as INT the =1 value is programmed as REAL $C_B_PROG Address B is programmed to a block with cycle call 0 = not programmed 1 = programmed 3 = programmed as incremental Bit 0 / value 1 is set when the address is programmed as absolute or incremental. To distinguish between absolute and incremental, bit 1 / value 3 is also set. The bit 2 =0 value is programmed as INT the =1 value is programmed as REAL $C_Z_PROG Address Z is programmed to a block with cycle call 0 = not programmed 1 = programmed 3 = programmed as incremental Bit 0 / value 1 is set when the address is programmed as absolute or incremental. To distinguish between absolute and incremental, bit 1 / value 3 is also set. The bit 2 =0 value is programmed as INT the =1 value is programmed as REAL Queries whether during a subroutine call by M/T function replacement the address DL (additive tool offset) has been programmed. 0 = not programmed 1 = An additive tool offset has been programmed under the address DL.

Parts pr. R W

Syn

O S 5 . 1

$C_B_PROG

INT

5 . 1

... $C_Z_PROG INT R W 5 . 1

$C_DL_PROG

INT

6 . 1

15-633

Tables

11.02

15.2 List of system variables

Identifier $C_TS_PROG

Type INT

Description: System variable/value range/index Queries whether, in the case of a subroutine call by T function replacement a tool identifier has been programmed under address T. (with active tool monitoring only) 0 = not programmed 1 = programmed $C_ALL_PROG Bit pattern of all the programmed addresses in a block with cycle call bit0 = address "A" .... bit25 = address "Z" bit = 1 -> address programmed bit = 0 -> address not programmed $C_INC_PROG Bit pattern of all the addresses programmed as incremental in a block with cycle call bit0 = address "A" .... bit25 = address "Z" bit = 1 -> address programmed as incremental bit = 0 -> address programmed as absolute $C_TYP_PROG Bit pattern of all the programmed addresses with the value INT or REAL bit0 = address "A" .... bit25 = address "Z" Bit = 1 -> address programmed with real value Bit = 0 -> address programmed with int value $C_I_NUM $C_I_NUM contains the number of I addresses programmed in the block. For cycle programming, this value is always 1 whenever bit 0 in $C_I_PROG is set. In the case of macro programming with G65/G66, this contains the number of "I" addresses programmed in the block, (max. 10). $C_J_NUM $C_J_NUM contains the number of "J" addresses programmed in the block. For cycle programming, this value is always 1 whenever bit 0 in $C_J_PROG is set. In the case of macro programming with G65/G66, this contains the number of "J" addresses programmed in the block, (max. 10). $C_K_NUM $C_K_NUM contains the number of I addresses programmed in the block. For cycle programming, this value is always 1 whenever bit 0 in $C_K_PROG is set. In the case of macro programming with G65/G66, this contains the number of "K" addresses programmed in the block, (max. 10).

Parts pr. R W

Syn

O S 6 . 1

$C_ALL_PROG

INT

5 . 1

$C_INC_PROG

INT

6 . 1

$C_TYP_PROG

INT

6 . 4

$C_I_NUM

INT

6 . 1

$C_J_NUM

INT

6 . 1

$C_K_NUM

INT

6 . 1

15-634

11.02

Tables

15.2 List of system variables

Identifier $C_I_ORDER

Type INT

Description: System variable/value range/index $C_I_ORDER[] Number of the IJK block, in which I has been programmed For macro programming with G65/G66, up to 10 entries are possible in the block with address I. These can be used to evaluate the IJK sequence. A note is always made of which IJK go together. $C_J_ORDER[] Number of the IJK block, in which J has been programmed For macro programming with G65/G66, up to 10 entries are possible in the block with address J. These can be used to evaluate the IJK sequence. from the parts program. A note is always made of which IJK go together. $C_K_ORDER[] Number of the IJK block, in which K has been programmed For macro programming with G65/G66, up to 10 entries are possible in the block with address K. These can be used to evaluate the IJK sequence from the parts program. A note is always made of which IJK go together. $C_ME Address extension for address M in the case of a subroutine call by M function $C_TE Address extension for address T in the case of a subroutine call by T function $MAC_PAR[n] Macro variable in ISO2/3 mode programmed in the original program with #<Number> The max. number of ISO macro parameters is 33

Parts pr. R W

Syn

O S 6 . 4

$C_J_ORDER

INT

6 . 4

$C_K_ORDER

INT

6 . 4

$C_ME

INT

$C_TE

INT

$C_MACPAR

REAL

6 . 1 6 . 1 6 . 3

15-635

Tables

11.02

15.2 List of system variables

15.2.23
Identifier $AN_SETUP_ TIME

System data
Type REAL Description: System variable/value range/index IF $AN_SETUP_TIME > 60000 GOTOF MARK01 Time since last power up of control with default values (in minutes) IF $AN_POWERON_TIME == 480 GOTOF MARK02 Time since last power-on of control (in minutes) NCK version: NCK version: only the part of the floating-point number prior to the decimal point is evaluated, the part after the decimal point can contain identification for intermediate states within development. The part prior to the decimal point contains the official software version identifier of the NCK: For example, if 20.00.00 is for the NCK version, the value of the variable is 200000.0 compare OPI N/Y nckVersion Parts pr. RS WS Syn R W O S 6 . 1 6 . 1 6 . 1

$AN_POWERON_ REAL TIME $AN_NCK_VER SION REAL

15.2.24
$P_UBFR

Frames 2
FRAME $P_UBFR 1st base frame in channel activated after G500, G54..G599. Corresponds to $P_CHBFR[0]. Axes: (geometry axis, channel axis, machine axis) $P_SETFRAME Current system frame for preset actual value memory and scratching. Axes: (geometry axis, channel axis, machine axis) $P_EXTFRAME Current system frame for zero offset external. Axes: (geometry axis, channel axis, machine axis) $P_PARTFRAME Current system frame for TCARR and PAROT. Axes: (geometry axis, channel axis, machine axis) $P_TOOLFRAME Current system frame for TOROT and TOFRAME. Axes: (geometry axis, channel axis, machine axis) $P_WPFRAME Current system frame for part reference points. Axes: (geometry axis, channel axis, machine axis) $P_CYCFRAME Current system frame for cycles. Axes: (geometry axis, channel axis, machine axis) R W 4

$P_SETFRAME

FRAME

6 . 1 6 . 1 6 . 1 6 . 1 6 . 3 6 . 3

$P_EXTFRAME

FRAME

$P_PARTFRAME

FRAME

$P_TOOLFRAME

FRAME

$P_WPFRAME

FRAME

$P_CYCFRAME

FRAME

15-636

11.02

Tables

15.2 List of system variables

Identifier $P_CHBFRAME

Type FRAME

Description: System variable/value range/index $P_CHBFRAME[n] Current base frames in the channel. Configurable via MD $MC_MM_NUM_BASE_FRAMES. The dimension is checked on variable access. Axes: (geometry axis, channel axis, machine axis) $P_NCBFRAME[n] Current NCU base frames. Configurable via MD $MN_MM_NUM_GLOBAL_BASE_FRAMES. The dimension is checked on variable access. Axes: (geometry axis, channel axis, machine axis) $P_ACTBFRAME Current chained total basic frame Axes: (geometry axis, channel axis, machine axis) $P_BFRAME Current 1st base frame in the channel. Corresponds to $P_CHBFRAME[0]. Axes: (geometry axis, channel axis, machine axis) $P_IFRAME Current settable frame Axes: (geometry axis, channel axis, machine axis) $P_PFRAME Current programmable frame Axes: (geometry axis, channel axis, machine axis) $P_ACTFRAME Current total frame Axes: (geometry axis, channel axis, machine axis) $P_UIFRNUM Number of the active $P_UIFR $P_NCBFRMASK Bit screenform is used for definition of the NCU global base frames that are included in the calculation of the total base frame. $P_CHBFRMASK Bit screenform is used for definition of channel-specific base frames that are included in the calculation of the total base frame.

Parts pr. R W

Syn

O S 5

$P_NCBFRAME

FRAME

$P_ACTBFRAME

FRAME

$P_BFRAME

FRAME

$P_IFRAME

FRAME

$P_PFRAME

FRAME

$P_ACTFRAME

FRAME

$P_UIFRNUM $P_NCBFRMASK

INT INT

R R W

2 5

$P_CHBFRMASK

INT

15-637

Tables

11.02

15.2 List of system variables

15.2.25
Identifier $P_AD

Tool data
Type REAL Description: System variable/value range/index $P_AD[n] Active tool offsets n: Parameter number 131 n = 1-25 $TC_DP1 to $TC_DP25 n = 26 $TC_DPCE n = 27 $TC_DPH n = 28 $TC_DPV n = 29 $TC_DPV3 n = 30 $TC_DPV4 n = 31 $TC_DPV5 $P_ADT[n] With an active tool adapter, the transformed compensation values of the tool adapter transformation are returned when reading the values tool compensations are transformed n: Parameter number 131 n = 1-25 $TC_DP1 to $TC_DP25 n = 26 $TC_DPCE n = 27 $TC_DPH n = 28 $TC_DPV n = 29 $TC_DPV3 n = 30 $TC_DPV4 n = 31 $TC_DPV5 $P_DLNO Active cumulative compensation number DL=0 - DL='max.'; 'max'= value of $MN_MM_MAX_SUMCORR_PER_CUTTEDGE $P_TOOL Active tool cutting edge D0 - D'max.'; 'max'= value of $MN_MM_MAX_CUTTING_EDGE_NO Parts pr. R W Syn O S 2

$P_ADT

REAL

6 . 1

$P_DLNO

INT

6 . 1 2

$P_TOOL

INT

15-638

11.02

Tables

15.2 List of system variables

Identifier $P_TOOLNO

Type INT

Description: System variable/value range/index $P_TOOLNO Active tool number T0 - T32000; with active function 'flat D number' T can have 8 digits The command should generally not be used when magazine management is active. When magazine management is active, GETEXET should be used instead. (The programming is only ever reliable in a situation where $MC_CUTTING_EDGE_DEFAULT=-1, > 0 applies. The wrong tool number can be determined for $MC_CUTTING_EDGE_DEFAULT=0, or =-2. If programming takes place after programming D > 0, it is also always reliable. NOTICE: Especially for $MC_CUTTING_EDGE_DEFAULT=2, $P_TOOLNO (the tool no. of the active tool with which the currently effective D offset was being calculated) and GETEXET (the changed tool) can return different tool numbers. ->also see $P_MTHSDC and documentation on the topic of more than one tool holder/spindle. $P_TOOLP Last programmed tool number T0 - T32000 (for operation without magazine management). The command cannot be used when magazine management is active. When magazine management is active, GETSELT must be used instead. $P_TOOLL[n] Active total tool length n: Length 13 $P_TOOLO[n] Active tool orientation. n: Component 13 $AC_TOOLO_ACT[n] Active setpoint orientation. n: Component 13 $AC_TOOLO_END[n] End orientation of the active block n: Component 13 $AC_TOOLO_DIFF Residual angle of tool orientation in the active block $VC_TOOLO[n] Actual orientation n: Component 13

Parts pr. R

Syn

O S 2

$P_TOOLP

INT

6 . 1

$P_TOOLL

REAL

$P_TOOLO

REAL

$AC_TOOLO_A CT $AC_TOOLO_E ND $AC_TOOLO_DI FF $VC_TOOLO

REAL

6 . 1 6 . 4 6 . 4 6 . 4 6 . 4

15-639

Tables

11.02

15.2 List of system variables

Identifier $VC_TOOLO_DI FF $VC_TOOLO_S TAT $P_TC

Type REAL

Description: System variable/value range/index $VC_TOOLO_DIFF Angle between setpoint orientation and actual orientation $VC_TOOLO_STAT Status of the calculation of actual orientation $P_TC Active tool carrier $AC_TC Active tool carrier $P_TCANG[n] Active angle of toolholder axis n: Angle 12 $P_TCDIFF[n] The difference between the calculated and the used angle of a toolholder axis when incrementing (Hirth tooth system) the angle n: Angle 12 $P_TCSOL Number of solutions when specifying the axis of rotation angle of an orientable toolholder from a frame With 0 to 2 solutions, the corresponding value is returned. With an infinite number of solutions, the return value is 3. If the angles are specified (TCOABS), the number of solutions is always 1. $P_TCSTAT Specifies the status of an orientable toolholder. The variable is bit-coded with the following significance: 0x1 The first rotary axis is available 0x2 The second rotary axis is available 0x4 The angles used for the calculation come from an orientation in the frame direction 0x8 The angles used for the calculation have been specified as absolute 0x10 The pole axis angle is indeterminate for orientation in the frame direction 0x1000 Only the tool can be rotated (kinematics type T) 0x2000 Only the workpiece can be rotated (kinematics type P) 0x4000 Tool and workpiece can be rotated (kinematics type M) Bits not designated here are currently unassigned. $P_TOOLR Active tool radius (total)

Parts pr. RS

Syn R

O S 6 . 4 6 . 4 6 . 1 6 . 4 5

INT

$AC_TC

INT

$P_TCANG

REAL

$P_TCDIFF

REAL

6 . 1

$P_TCSOL

INT

6 . 1

$P_TCSTAT

INT

6 . 4

$P_TOOLR

REAL

15-640

11.02

Tables

15.2 List of system variables

Identifier $P_TOOLND

Type INT

Description: System variable/value range/index $P_TOOLND[t] Number of cutting edges of tool t t: Tool number 132000 $P_TOOLEXIST[t] Tool with T No. t exists t: Tool number 132000 $P_D Current D number in ISO_2-language mode

Parts pr. R

Syn

O S 4

$P_TOOLEXIST

BOOL

$P_D

INT

6 . 1 6 . 1 R 4

$P_H

INT

$P_H Current H number in ISO_2-language mode

$A_TOOLMN

INT

$A_TOOLMN[t] Magazine number of tool t t: Tool number 132000 $A_TOOLMLN[t] Magazine location number of tool t t: Tool number 132000 $A_MYMN[t] Owner magazine number of the tool with T number t. Result value = 0 = tool is not loaded (if $A_TOOLMN > 0, then manual tool). Result value = -1 = tool management is not active Result value = -2 = tool with T number t does not exist. t: Tool number 132000 $A_MYMLN[t] Owner magazine location number of the tool with T number t. Result value = 0 = tool is not loaded (if $A_TOOLMLN > 0, then manual tool). Result value = -1 = tool management is not active Result value = -2 = tool with T number t does not exist. t: Tool number 132000 $A_MONIFACT Factor for tool length monitoring R WS

$A_TOOLMLN

INT

$A_MYMN

INT

6 . 1

$A_MYMLN

INT

6 . 1

$A_MONIFACT

REAL

15-641

Tables

11.02

15.2 List of system variables

Identifier $P_TOOLNG

Type INT

Description: System variable/value range/index $P_TOOLNG Number of defined tool groups assigned to the channel OPI module type = TM

Parts pr. R

Syn

O S 6 . 1

$P_TOOLNT

INT

$P_TOOLNT Number of defined tools assigned to the channel OPI module type = TV

6 . 1

$P_TOOLT

INT

$P_TOOLT[i] i-th tool number T OPI module type = TV i= 1,..., $P_TOOLNT $P_TOOLD[t,i] i-th D-no of the tool with T number t; i=1,2... if t is the value of a non-defined tool, -2 is returned If i is a value outside the permitted range, 0 is returned. OPI module type = TO t = 1, ...., 32000 i = 1,......., $P_TOOLND $P_USEKT (= USE Kind of Tool) Is a bit-coded value All the tools whose parameter $TC_TP11 has set one of the bits of $P_USEKT, are available to the following tool changes. The value zero has the same content as 'all bits set' OPI module = C/S

6 . 1

$P_TOOLD

INT

6 . 1

$P_USEKT

INT

6 . 1

$P_TOOLNDL

INT

$P_TOOLNDL[t,d] Number of DL offsets of the D offset given by T number t and D number d >0 Number of DL offsets 0 no DL offset for this D offset -1 sum offset function not active -2 t is the value of a non-defined tool -3 d is the value of a non-defined D offset OPI module type = TO memory; TO unit t = 1, ...., 32000 d = 1,......., 32000

6 . 1

15-642

11.02

Tables

15.2 List of system variables

15.2.26
Identifier $P_MAGN

Magazines
Type INT Description: System variable/value range/index $P_MAGN Number of defined magazines assigned to the channel > 0 successful read access 0 no magazines defined -1 TMMG not active OPI module = TM $P_MAG[ i ] i-th magazine number > 0 successful read access 0 i is outside the permitted range -1 TMMG not active OPI module = TM i= 1,..., $P_MAGN P_MAGNDIS[ n, m ] Number of magazines interconnected with location m of the internal magazine n. > 0 successful read access 0 no magazine interconnected with the buffer location -1 TMMG not active -2 n is not the number of an internal magazine -3 m is not the number of an internal magazine location OPI module = TPM n= must be the number of the buffer magazine or of the loading magazine m= 1,..., max. number of a location in the internal magazine mentioned P_MAGDISS[ l, i ] Number of the i-th magazine interconnected with location l of the buffer magazine. > 0 successful read access 0 i is outside the permitted range -1 TMMG not active -2 m is not the number of a buffer location -3 no buffer magazine defined OPI module = TPM l= 1,..., max. number of a location in the buffer magazine i= 1,..., $P_MAGNDIS[ no. of the buffer magazine, refLoc ] Parts pr. R Syn O S 6 . 1

$P_MAG

INT

6 . 1

$P_MAGNDIS

INT

6 . 1

$P_MAGDISS

INT

6 . 1

15-643

Tables

11.02

15.2 List of system variables

Identifier $P_MAGDISL

Type INT

Description: System variable/value range/index P_MAGDISL[ l, i ] Number of the i-th magazine interconnected with location l of the loading magazine. > 0 successful read access 0 i is outside the permitted range -1 TMMG not active -2 m is not the number of a loading magazine location -3 no loading magazine defined OPI module = TPM l= 1,..., max. number of a location in the loading magazine i= 1,..., $P_MAGNDIS[ no. of the loading magazine, refLoc ] $P_MAGNS Number of spindle locations / toolholder locations in the buffer assigned to the channel. > 0 successful read access 0 no spindle locations defined -1 TMMG not active -3 no buffer magazine defined $P_MAGS[ n ] nth number of the spindle / of the toolholder in the buffer > 0 successful read access 0 n is outside the permitted range -1 TMMG not active -3 no buffer magazine defined n= 1,..., max. toolholder number $P_MAGNREL[ n ] Number of the buffer assigned to the spindle number / toolholder number n > 0 successful read access 0 spindle location has no buffer location assigned -1 TMMG not active -2 n is not the number of a spindle location -3 no buffer magazine defined n= 1,..., max. toolholder number P_MAGREL[ n, m ] m-th buffer number of the n-th spindle number / toolholder number > 0 successful read access 0 m is outside the permitted range -1 TMMG not active -2 n is not the number of a spindle location -3 no buffer magazine defined n= 1,..., max. toolholder number m= 1,..., $P_MAGNREL

Parts pr. R

Syn

O S 6 . 1

$P_MAGNS

INT

6 . 1

$P_MAGS

INT

6 . 1

$P_MAGNREL

INT

6 . 1

$P_MAGREL

INT

6 . 1

15-644

11.02

Tables

15.2 List of system variables

Identifier $P_MAGNH

Type INT

Description: System variable/value range/index $P_MAGNH Number of defined magazine location type hierarchies assigned to the channel. > 0 successful read access 0 no location type hierarchies are defined -1 TMMG not active OPI module = TT $P_MAGNHLT[ n ] Number of defined location types in the nth defined hierarchy > 0 successful read access 0 n is outside the defined range -1 TMMG not active OPI module = TT n= 1,..., $P_MAGNH P_MAGHLT[ n, m ] m-th location type of hierarchy n; n= 1,..., $P_MAGNH; m= 1,..., $P_MAGNHLT > 0 successful read access 0 m is outside the defined range -1 TMMG not active -2 hierarchy n has no defined location types OPI module = TT n= 1,..., $P_MAGNH m= 1,..., $P_MAGNHLT $P_MAGNA Number of defined adapters assigned to the channel > 0 successful read access 0 no adapters defined -1 TMMG or 'Adapter' function not active OPI module = AD $P_MAGA[ i ] i-th adapter number > 0 successful read access 0 i is outside the permitted range -1 TMMG or 'Adapter' function not active OPI module = AD i= 1,..., $P_MAGNA $P_MTHSDC Master toolholder no. or master spindle no. relative to that of the active tool for which the next D offset selection is specified. > 0 successful read access 0 No master toolholder or master spindle available. The next D offset works with T0. -1 TMMG not available

Parts pr. R

Syn

O S 6 . 1

$P_MAGNHLT

INT

6 . 1

$P_MAGHLT

INT

6 . 1

$P_MAGNA

INT

6 . 1

$P_MAGA

INT

6 . 1

$P_MTHSDC

INT

6 . 4

15-645

Tables

11.02

15.2 List of system variables

Identifier $AC_MONMIN

Type REAL

Description: System variable/value range/index $AC_MONMIN Ratio between tool monitoring actual value and setpoint. Threshold for tool search strategy "load only tools with actual value greater than threshold" $P_VDITCP[n] Available parameters for magazine management on VDI interface n: Index 13 $A_DNO[i] Read a D number defined by the PLC via VDI interface i: Index 19 for table location in D number table $P_ATPG[n] Current tool-related grinding data n: Parameter number 19 $P_TOOLENV[i] Returns the name of the tool environment stored under (internal) index i. If i refers to a non-defined data block, the zero string is returned. If index i is invalid, in other words, if i is less than 1 or more than the maximum number of data blocks for tool environments ($MN_MM_NUM_TOOLENV), an alarm is output. A maximum number of tool environments is configurable via MD $MN_MM_NUM_TOOLENV. 2nd dimension for TYPE_STRING is automatically MAXSTRINGLEN $P_TOOLENVN Indicates the number of defined data blocks for describing tool environments. $P_AP Programmed angle for polar coordinates

Parts pr. R WS

Syn R W

O S 6 . 1 2

$P_VDITCP

INT

$A_DNO

INT

$P_ATPG

REAL

$P_TOOLENV

STRING

6 . 3

$P_TOOLENVN

INT

$P_AP

REAL

6 . 3 6 . 1

15.2.27
$P_AXN1

Programmed geometry axis values

AXIS $P_AXN1 Current address of the geometry axis - abscissa R 3

$P_AXN2

AXIS

$P_AXN2 Current address of the geometry axis - ordinate

15-646

11.02

Tables

15.2 List of system variables

Identifier $P_AXN3

Type AXIS

Description: System variable/value range/index $P_AXN3 Current address of the geometry axis - applicate

Parts pr. R

Syn

O S 3

$P_ACTGEOAX

AXIS

$P_ACTGEOAX[1] Current geometry axis assignment, dependent on plane Returns the current geometry axis assignment programmed with geometry axis(1,X,2,Y,3,Z) Array index 13 for 1st to 3rd geometry axis n: Number of input 1 - ...

15.2.28
$P_GG

G groups
INT $P_GG[n] Current G function of a G group (index as PLC interface) n: Number of the G group $P_EXTGG[n] Can only be used in Siemens mode: Current G function of a G group with external NC languages (index as PLC interface) n: Number of the G group $A_GG[n] Read current G function of a G group from SA (index like PLC interface) n: Number of the G group R 2

$P_EXTGG

INT

$A_GG

INT

15.2.29
$P_SEARCH

Programmed values
BOOL $P_SEARCH Block search is active if TRUE (1) R 2

$P_SEARCH1

BOOL

$P_SEARCH1 Block search with calculation is active if TRUE (1)

$P_SEARCH2

BOOL

$P_SEARCH2 The last selected search type was block search without calculation, if TRUE (1)

15-647

Tables

11.02

15.2 List of system variables

Identifier $P_SEARCHL

Type INT

Description: System variable/value range/index R1 = $P_SEARCHL Returns the last selected search type: (coding analogous to PI service _N_FINDBL) 0 : No block search 1 : Block search without calculation 2 : Block search with calculation on contour 3 : Reserved 4 : Block search with calculation at end of block position 5 : Block search in extended program test $P_SUBPAR[n] Query whether during subroutine call with parameter transfer parameter n was actually programmed (TRUE) or whether the system has set a default parameter (FALSE). n: Parameter number 1 to n corresponding to the definition in the PROC instruction $P_CTABDEF Definition of curve tables is active if TRUE (1) $P_MC Status of modal subprogram call FALSE (0) -> Subprogram call not modal TRUE (1) -> Subprogram call modal $P_REPINF Status info for repositioning with REPOS command (0) -> Repositioning with REPOS not possible for following reasons - Call is not executed in an ASUB - Call is executed in an ASUB, which was started in the reset state JOG mode - Call is executed in an ASUB, which was started in JOG mode (1) -> Repositioning with REPOS possible $P_SIM Simulation runs if TRUE (1)

Parts pr. R

Syn

O S 5

$P_SUBPAR

BOOL

$P_CTABDEF $P_MC

BOOL INT

R R

4 2

$P_REPINF

INT

$P_SIM

BOOL

15-648

11.02

Tables

15.2 List of system variables

Identifier $P_DRYRUN $P_OFFN

Type BOOL REAL

Description: System variable/value range/index $P_DRYRUN Dry run on if TRUE, else FALSE $P_OFFN Programmed offset contour normal $PI Circle constant PI = 3.1415927 The system variable $P_PROG_EVENT can be used to query whether the program was implicitly activated by an event configured by $MC_PROG_EVENT_MASK or by $MN_SEARCH_RUN_MODE. $P_PROG_EVENT returns an integer value between 0 and 5 with the following significance: 0 : explicit activation via NC Start or ASUB Start over the VDI or ASUB interface 1 : Implicit activation via event "Parts program start 2 : Implicit activation via event "Parts program end" 3 : Implicit activation via event "Operator panel front reset" 4 : Implicit activation via event "Booting" 5 : Implicit activation subsequent to last action block display after block search PCALL ($P_PROGPATH << _N_MYSUB_SPF) Call a subprogram from the current directory Example: The current directory is /_N_WKS_DIR/_N_SHAFT_DIR/. The above call starts the subprogram /_N_WKS_DIR/_N_SHAFT%_DIR/_N_MYSUB_SPF. 2nd dimension for TYPE_STRING is automatically MAXSTRINGLEN $P_PROG[0] Returns the program name of the program in program level 0 = main program name, in string variable NAME Defines the program level from which the program name is to be read. 2nd dimension for TYPE_STRING is automatically MAXSTRINGLEN $P_STACK Returns the program level in which a parts program is active. progLevel = $P_STACK , writes in the integer variable the number of the current program level 802S/C: Range of values = [0,5]

Parts pr. R R

Syn

O S 2 5 . 1 2 6 . 1

$PI $P_PROG_EVE NT

REAL INT

R R

$P_PROGPATH

STRING

$P_PROG

STRING

5 . 1

$P_STACK

INT

5 . 1

15-649

Tables

11.02

15.2 List of system variables

Identifier $P_PATH

Type STRING

Description: System variable/value range/index Application Reading the path name of the calling program. $P_PATH[0] returns the directory of the current main program, for example, "/_N_WKS_DIR/_N_WELLE_WPD" The variable is used, for example, to store a parts program generated with WRITE in the same directory as the calling program: PROC MYPRINTSUB DEF INT ERROR WRITE (ERROR, $P_PATH[$P_STACK - 1] << "_N_LIST_MPF", "X10 Y20") If the subroutine was called from the shaft (WELLE) workpiece directory, a new file is generated in /_N_WKS_DIR/_N_WELLE_WPD/_N_LIST_MPF. Defines the program level from which the program path is to be read 2nd dimension for TYPE_STRING is automatically MAXSTRINGLEN $P_ACTID[n] Modal synchronized action with ID n active if TRUE n: 116

Parts pr. R

Syn

O S 5 . 1

$P_ACTID

BOOL

15-650

11.02

Tables

15.2 List of system variables

15.2.30
Identifier $AC_STAT

Channel states
Type INT Description: System variable/value range/index $AC_STAT -1: Invalid 0: Channel in reset mode 1: Channel interrupted 2: Channel active $AC_PROG -1: Invalid 0: Program in reset mode 1: Program stopped 2: Program active 3: Program waiting 4: Program interrupted $AC_SYNA_MEM Free memory for motion-synchronized actions indicates how many elements of the memory assigned with $MC_MM_NUM_SYNC_ELEMENTS are still unassigned, readable from the parts program and the motion-synchronized actions $AC_IPO_BUF IPO buffer level, readable from the parts program and the motion-synchronized actions The status is read from the parts program without feedforward stop while interpreting the block $AC_BLOCKTYPE Type of the current main run block. 0: Block is a programmed block (main block). 1: Block was not generated by the system as an intermediate block. $AC_TANEB Tangent ANgle at End of Block The angle between the path tangent at the end point of the current block and the path tangent at the starting point of the following block. $AC_IW_STAT Position information of the articulated joints (transformationspecific) for cartesian PTP travel $AC_IW_TU Position information of the axes (MCS) for cartesian PTP travel $AC_TRANS_SYS Reference system for translation during the manual cartesian travel 0: axis-spec. manual travel active 1: cartesian manual travel in BCS 2: cartesian manual travel in WCS 3: cartesian manual travel in TCS Parts pr. Syn R O S 4

$AC_PROG

INT

$AC_SYNA_MEM

INT

$AC_IPO_BUF

INT

$AC_BLOCKTY PE

INT

6 . 4

$AC_TANEB

REAL

6 . 4

$AC_IW_STAT

INT

$AC_IW_TU

INT

$AC_TRANS_S YS

INT

6 . 1 6 . 1 6 . 3

15-651

Tables

11.02

15.2 List of system variables

Identifier $AC_JOG_COO RD

Type INT

Description: System variable/value range/index $AC_JOG_COORD Setting the coordinate system for manual travel 0: manual travel in WCS 1: manual travel in SZS $AC_ROT_SYS Reference system for orientation during the manual cartesian travel 0: axis-spec. manual travel active 1: cartesian manual travel in BCS 2: cartesian manual travel in PCS 3: cartesian manual travel in TCS $A_PROBE[1]: Status of first probe $A_PROBE[2]: Status of second probe 0 => not deflected 1 => deflected n: Number of probe $AC_MEA[n] Probe has been triggered if TRUE (1) n: Number of probe 1 - MAXNUM_PROBE $AC_TRAFO Code number of the active transformation corresponding to machine data $MC_TRAFO_TYPE_n $P_TRAFO Code number of the programmed transformation corresponding to machine data $MC_TRAFO_TYPE_n $AC_TRAFO_PAR[n] Parameter of the active transformation n: Number of the parameter $P_TRAFO_PAR[n] Parameter of the programmed transformation n: Number of the parameter $AC_TRAFO_PARSET Number of the active transformation record Variable is '0' if no transformer active $P_TRAFO_PARSET Number of the programmed transformation record Variable is '0' if no transformer active $AC_LIFTFAST Information about execution of liftfast. 0: Initial state. 1: Liftfast has been executed. At the start of the liftfast operation, the NC sets the value of the variable internally to "1". The evaluating program (if available) must reset the variable to its initial setting ($AC_LIFTFAST=0) to enable a subsequent liftfast to be detected.

Parts pr. R W

Syn

O S 6 . 4

$AC_ROT_SYS

INT

6 . 3

$A_PROBE

INT

$AC_MEA

INT

$AC_TRAFO

INT

$P_TRAFO

INT

$AC_TRAFO_P AR $P_TRAFO_PAR

REAL

$AC_TRAFO_P ARSET $P_TRAFO_PA RSET $AC_LIFTFAST

INT

6 . 1 6 . 1 6 . 1 6 . 3 6 . 3 4

15-652

11.02

Tables

15.2 List of system variables

Identifier $P_LIFTFAST

Type INT

Description: System variable/value range/index $P_LIFTFAST Information about execution of liftfast. 0: Initial state. 1: Liftfast has been executed. At the start of the liftfast operation, the NC sets the value of the variable internally to "1". The evaluating program (if available) must reset the variable to its initial setting to enable a subsequent liftfast to be detected. The reset is initiated by writing $AC_LIFTFAST! $AC_ASUB Code number for the cause of the ASUB activation. The reasons are bit-coded and have the following significance: BIT0: Activation due to: User interrupt "ASUB with Blsync" Activation by: VDI signal, digital/analog interface Continuation by: user-selectable Reorg or Ret BIT1: Activation due to: User interrupt "ASUB" For program continuation with Repos, the position, after which the stop occurred is stored. Activation by: VDI signal, digital/analog interface Continuation by: user-selectable BIT2: Activation due to: User interrupt "ASUB from Ready channel status" Activation by: VDI signal, digital/analog interface Continuation by: user-selectable BIT3: Activation due to: User interrupt "ASUB not READY in a manual mode and channel status" Activation by: VDI signal, digital/analog interface Continuation by: user-selectable BIT4: Activation due to: Activation due to: User interrupt "ASUB" For program continuation with Repos, the actual position when the interrupt occurred is stored. Activation by: VDI signal, digital/analog interface Continuation by: user-selectable

Parts pr. R

Syn

O S 6 . 3

$AC_ASUB

INT

15-653

Tables

11.02

15.2 List of system variables

Identifier $AC_ASUB (continuation)

Type INT

Description: System variable/value range/index BIT5: Activation due to: Cancelation of subprogram repetition Activation by: VDI signal Continuation by: using system ASUB REPOS BIT6: Activation due to: Activation of decoding single block Activation by: VDI signal (+OPI) Continuation by: using system ASUB REPOS BIT7: Activation due to: Activation of delete distance to go Activation by: VDI signal Continuation by: using system ASUB Ret BIT8: Activation due to: Activation of axis synchronization Activation by: VDI signal Continuation by: using system ASUB REPOS BIT9: Activation due to: Mode change Activation by: VDI signal Continuation by: using system ASUB REPOS or RET (see MD.) BIT10: Activation due to: Program continuation with teach-in or after teach-in deactivation Activation by: VDI signal Continuation by: using system ASUB Ret BIT11: Activation due to: Overstore selection Activation by: Pi selection Continuation by: using system ASUB REPOS BIT12: Activation due to: Alarm with reaction of compensation block with Repos (COMPBLOCKWITHREORG) Activation by: Internal Continuation by: using system ASUB REPOS BIT13: Activation due to: Retraction movement on G33 and Stop Activation by: Internal Continuation by: using system ASUB Ret BIT14: Activation due to: Activation of dry run feedrate Activation by: VDI Continuation by: using system ASUB REPOS BIT15: Activation due to: Deactivation of dry run feedrate Activation by: VDI Continuation by: using system ASUB REPOS

Parts pr. RS

Syn R

O S 4

15-654

11.02

Tables

15.2 List of system variables

Identifier ASUB (continuation)

Type

Description: System variable/value range/index BIT16: Activation due to: Activation of block suppression Activation by: VDI Continuation by: using system ASUB REPOS BIT17: Activation due to: Deactivation of block suppression Activation by: VDI Continuation by: using system ASUB REPOS BIT18: Activation due to: Set machine data active Activation by: Pi Continuation by: using system ASUB REPOS BIT19: Activation due to: Set tool offset active Activation by: Pi "_N_SETUDT" Continuation by: using system ASUB REPOS BIT20: Activation due to: System ASUB after search type SERUPRO has reached the search target. Activation by: Pi "_N_FINDBL" Parameter == 5 Continuation by: using system ASUB REPOS $P_ISTEST Check test mode in parts program TRUE = Program test active FALSE = Program test not active $P_MMCA MMC task acknowledgment 2nd dimension for TYPE_STRING is automatically MAXSTRINGLEN $A_PROTO Activate / disable Logging function for the first user $A_PROTOC Activate / disable Logging function for a user 09, USER

Parts pr. RS

Syn R

O S 4

$P_ISTEST

BOOL

$P_MMCA

STRING

$A_PROTO $A_PROTOC

BOOL BOOL

RS RS

WS WS

R R

W W

4 6 . 1

15-655

Tables

11.02

15.2 List of system variables

15.2.31
Identifier $AC_FIFO1

Synchronized actions
Type REAL Description: System variable/value range/index $AC_FIFO1[n] FIFO for motion-synchronized actions and cyclic measurements n: Parameter number 0 - max. FIFO element Special meaning: n=0: On write accesses with index 0, a new value is stored in the FIFO, On read accesses with index 0, the oldest element is read and deleted from the FIFO n=1: Read access to oldest element n=2: Read access to latest element n=3: Sum of all the elements located in the FIFO when in MD $MC_MM_MODE_FIFO, bit0 is set n=4: Read access to current number of FIFO elements n=5-m: Read access to individual FIFO elements 5 is the oldest element 6 is the second-oldest, etc. $AC_FIFO2[n] FIFO for motion-synchronized actions and cyclic measurements n: Parameter number 0 - max. FIFO element Special meaning: n=0: On write accesses with index 0, a new value is stored in the FIFO, On read accesses with index 0, the oldest element is read and deleted from the FIFO n=1: Read access to oldest element n=2: Read access to latest element n=3: Sum of all the elements located in the FIFO when in MD $MC_MM_MODE_FIFO, bit0 is set n=4: Read access to current number of FIFO elements n=5-m: Read access to individual FIFO elements 5 is the oldest element 6 is the second-oldest, etc. Parts pr. RS W Syn R O S 4

W +

$AC_FIFO2

REAL

W +

... $AC_FIFO10 REAL $AC_FIFO10[n] as $AC_FIFO01 ... RS W R W + 4

15-656

11.02

Tables

15.2 List of system variables

15.2.32
Identifier $A_IN

I/Os
Type BOOL Description: System variable/value range/index $A_IN[n] Digital input NC n: Number of input 1 - ... The max. input number results from MD $MN_FASTIO_DIG_NUM_INPUTS $A_OUT[n] Digital output NC n: Number of output 1 - ... The max. input number results from MD $MN_FASTIO_DIG_NUM_OUTPUTS $A_INA[n] Analog input NC n: Number of input 1 - ... The max. input number results from MD $MN_FASTIO_ANA_NUM_INPUTS $A_OUTA[n] Analog output NC When writing, the value does not become active until the next IPO cycle at which point it is read back. n: Number of output 1 - ... The max. input number results from MD $MN_FASTIO_ANA_NUM_OUTPUTS $A_INCO[n] Comparator input n: Number of output 1 - ... The max. input number results from the MD Parts pr. RS Syn R O S 2

$A_OUT

BOOL

$A_INA

REAL

$A_OUTA

REAL

$A_INCO

BOOL

15.2.33
$A_DBB

Reading and writing PLC variables

INT $A_DBB[n] Read/write data byte (8 bits) from/to PLC n: Position offset within I/O area 0 - ... $A_DBW[n] Read/write data word (16 bits) from/to PLC n: Position offset within I/O area 0 - ... $A_DBD[n] Read/write double data word (32 bits) from/to PLC n: Position offset within I/O area 0 - ... $A_DBR[n] Read/write Real data (32 bits) from/to PLC n: Position offset within I/O area 0 - ... RS W R W + 4

$A_DBW

INT

W +

$A_DBD

INT

W +

$A_DBR

REAL

W +

15-657

Tables

11.02

15.2 List of system variables

15.2.34
Identifier $A_DLB

NCU link
Type INT Description: System variable/value range/index $A_DLB[n] Read/write data byte (8 bits) from/to NCU link n: Position offset within the link memory area 0 - ... $A_DLW[n] Read/write data word (16 bits) from/to NCU link n: Position offset within the link memory area 0 - ... synchronized with main run $A_DLD[n] Read/write data double word (32 bits) from/to NCU link n: Position offset within the link memory area 0 - ... synchronized with main run $A_DLR[n] Read/write Real data (32 bits) from/to NCU link n: Position offset within the link memory area 0 - ... synchronized with main run $A_LINK_TRANS_RATE Number of bytes that can still be transferred via NCU link Communication in the current IPO cycle. Parts pr. RS W Syn R O S 5

W +

$A_DLW

INT

W +

$A_DLD

INT

W +

$A_DLR

REAL

W +

$A_LINK_TRAN S_RATE

INT

15.2.35
$A_PBB_IN

Direct PLC I/O

INT $A_PBB_IN[n] Read data byte (8 bits) directly from PLC I/O n: Position offset within PLC input area 0 - ... $A_PBW_IN[n] Read data word (16 bits) directly from PLC I/O n: Position offset within PLC input area 0 - ... $A_PBD_IN[n] Read data double word (32 bits) directly from PLC I/O n: Position offset within PLC input area 0 - ... $A_PBR_IN[n] Read Real data (32 bits) directly from PLC I/O n: Position offset within PLC input area 0 - ... RS R 5

$A_PBW_IN

INT

$A_PBD_IN

INT

$A_PBR_IN

REAL

6 . 1

15-658

11.02

Tables

15.2 List of system variables

Identifier $A_PBB_OUT

Type INT

Description: System variable/value range/index $A_PBB_OUT[n] Write data byte (8 bits) directly to PLC I/O n: Position offset within PLC output area 0 - ... synchronized with main run $A_PBW_OUT[n] Write data word (16 bits) directly to PLC I/O n: Position offset within PLC output area 0 - ... synchronized with main run $A_PBD_OUT[n] Write data double word (32 bits) directly to PLC I/O n: Position offset within PLC output area 0 - ... synchronized with main run $A_PBR_OUT[n] Write Real data (32 bits) directly to PLC I/O n: Position offset within PLC output area 0 - ... synchronized with main run $C_IN[n] Signal from PLC to Cycle reserved for SIEMENS applications n: Number of input 1 - ... $C_OUT[n] Signal from Cycle to PLC reserved for SIEMENS applications n: Number of output 1 - ...

Parts pr. RS W

Syn R W

O S 5

$A_PBW_OUT

INT

$A_PBD_OUT

INT

$A_PBR_OUT

REAL

$C_IN

BOOL

6 . 1

$C_OUT

BOOL

6 . 1

15.2.36

Tool management

These system variables have value 1 if no tool management command is active at time of reading.
$AC_TC_CMDT INT $AC_TC_CMDT Trigger variable: $AC_TC_CMDT (CoMmandTrigger) then always takes on the value 1 for an interpolation cycle when a new magazine management command is output to the PLC. $AC_TC_ACKT Trigger variable: $AC_TC_ACKT (ACKnowledgeTrigger) then always takes on a value of 1 for an interpolation cycle when the PLC acknowledges a tool management command. RS R 6 . 1 6 . 1

$AC_TC_ACKT

INT

15-659

Tables

11.02

15.2 List of system variables

Identifier $AC_TC_CMDC

Type INT

Description: System variable/value range/index $AC_TC_CMDC Counter variable: $AC_TC_CMDC (CoMmandCounter) is incremented by 1 for each tool management command output to the PLC. synchronized with main run $AC_TC_ACKC Counter variable: $AC_TC_CMDC (ACKnowledgeCounter) on acknowledging a tool management command is incremented by 1 via the PLC. synchronized with main run $AC_TC_FCT Command number. Specifies which action is desired. -1: No tool management command is active at the time of reading. $AC_TC_STATUS Status enjoyed by the command to read via $AC_TC_FCT. -1: No tool management command is active at the time of reading. $AC_TC_THNO Number of the toolholder (spec. the spindle no.) where the new tool is to be changed. -1: No tool management command is active at the time of reading. $AC_TC_TNO NCK-internal T number of new tool (to be changed). 0: There is no new tool. -1: No tool management command is active at the time of reading. $AC_TC_MMYN Owner magazine number of old tool (to be changed). 0: There is no new tool, or the new tool (if $AC_TC_TNO > 0) is not loaded (manual tool). -1: No tool management command is active at the time of reading. $AC_TC_LMYN Owner location number of old tool (to be changed). 0: There is no new tool, or the new tool (if $AC_TC_TNO > 0) is not loaded (manual tool). -1: No tool management command is active at the time of reading. $AC_TC_MFN Source magazine number of new tool. 0: There is no new tool. -1: No tool management command is active at the time of reading. $AC_TC_LFN Source location number of new tool. 0: There is no new tool. -1: No tool management command is active at the time of reading.

Parts pr. RS WS

Syn R W

O S 6 . 1

$AC_TC_ACKC

INT

6 . 1

$AC_TC_FCT

INT

$AC_TC_STATUS INT

$AC_TC_THNO

INT

$AC_TC_TNO

INT

$AC_TC_MMYN

INT

6 . 4

$AC_TC_LMYN

INT

6 . 4

$AC_TC_MFN

INT

$AC_TC_LFN

INT

15-660

11.02

Tables

15.2 List of system variables

Identifier $AC_TC_MTN

Type INT

Description: System variable/value range/index $AC_TC_MTN Target magazine number of new tool. 0: There is no new tool. -1: No tool management command is active at the time of reading. $AC_TC_LTN Target location number of new tool. 0: There is no new tool. -1: No tool management command is active at the time of reading. $AC_TC_MFO Source magazine number of old tool (to be changed). 0: There is no old tool. -1: No tool management command is active at the time of reading. $AC_TC_LFO Source location number of old tool (to be changed). 0: There is no old tool. -1: No tool management command is active at the time of reading. $AC_TC_MTO Target magazine number of old tool (to be changed). 0: There is no old tool. -1: No tool management command is active at the time of reading. $AC_TC_LTO Target location number of old tool (to be changed). 0: There is no old tool. -1: No tool management command is active at the time of reading.

Parts pr. RS

Syn R

O S 5

$AC_TC_LTN

INT

$AC_TC_MFO

INT

$AC_TC_LFO

INT

$AC_TC_MTO

INT

$AC_TC_LTO

INT

15-661

Tables

11.02

15.2 List of system variables

15.2.37
Identifier $A_YEAR $A_MONTH $A_DAY $A_HOUR $A_MINUTE $A_SECOND $A_MSECOND

Timers
Type INT INT INT INT INT INT INT Description: System variable/value range/index $A_YEAR System time, year $A_MONTH System time, month $A_DAY System time, day $A_HOUR System time, hour $A_MINUTE System time, minute $A_SECOND System time, second $A_MSECOND System time, millisecond Parts pr. RS RS RS RS RS RS RS Syn R R R R R R R O S 3 3 3 3 3 3 3

$AC_TIME

REAL

$AC_TIMEC

REAL

$AC_TIMER

REAL

RS $AC_TIME Time from the beginning of block in seconds This variable can only be accessed from synchronized actions RS $AC_TIMEC Time from the beginning of block in IPO clock cycles This variable can only be accessed from synchronized actions RS $AC_TIMER[n] Timer - unit in seconds Time is counted internally in multiples of the interpolation cycle; Counting for the time variable is started by assigning the value $AC_TIMER[n]=<starting value> To stop the counter variable, assign a negative value: $AC_TIMER[n]=-1 The current time can be read while the counter is active or stopped. Stopping the time variable, by assigning - 1 stops the last current time value which can then be read The dimension is defined in MD $MC_MM_NUM_AC_TIMER.

W +

15-662

11.02

Tables

15.2 List of system variables

Identifier $AC_PRTIME_M $AC_PRTIME_A

Type REAL REAL

Description: System variable/value range/index $AC_PRTIME_M "ProgramRunTIME-Main" Set (initialize) the accumulated program runtime (main time) $AC_PRTIME_A "ProgramRunTIME-Auxiliary" Set (initialize) the accumulated program runtime (auxiliary time) $AC_PRTIME_M_INC "ProgramRunTIME-MainINCrement" Increment the accumulated program runtime (main time) $AC_PRTIME_A_INC "ProgramRunTIME-AuxiliaryINCrement" Increment the accumulated program runtime (auxiliary time)

Parts pr. W W

Syn

O S 4 4

$AC_PRTIME_M _INC $AC_PRTIME_A _INC

REAL

15.2.38
Identifier

Path movement
Type Description: System variable/value range/index Parts pr. Sync O S

$AC_PATHN

REAL

$AC_DTBW

REAL

$AC_PATHN Normalized path parameter value between 0=start of block and 1=end of block This variable can only be accessed from synchronized actions $AC_DTBW Geometric distance from start of block in workpiece coordinate system The programmed position is decisive for computing the distance; if the axis is a coupling axis, the position part that results from axis coupling is not considered here. This variable can only be accessed from synchronized actions

15-663

Tables

11.02

15.2 List of system variables

Identifier $AC_REPOS_P ATH_MODE

Type INT

Description: System variable/value range/index $AC_REPOS_PATH_MODE REPOS mode type 0 not defined. 1 == RMB Repositioning approach to start of interrupted block 2 == RMI Repositioning approach to interruption point of interrupted block 3 == RME Repositioning approach to end of interrupted block 4 == RMN Repositioning approach to geometrically nearest point of interrupted block The variable is defined just as REPOS is being executed, or if a a new REPOS mode has been specified via VDI. $AC_DTBB Geometric distance from start of block in basic coordinate system The programmed position is decisive for computing the distance; if the axis is a coupling axis, the position part that results from axis coupling is not considered here. This variable can only be accessed from synchronized actions $AC_DTEW Geometric distance from end of block in workpiece coordinate system The programmed position is decisive for computing the distance; if the axis is a coupling axis, the position part that results from axis coupling is not considered here. This variable can only be accessed from synchronized actions $AC_DTEB Geometric distance from end of block in basic coordinate system The programmed position is decisive for computing the distance; if the axis is a coupling axis, the position part that results from axis coupling is not considered here. This variable can only be accessed from synchronized actions $AC_PLTBB Path distance from start of block in basic coordinate system This variable can only be accessed from synchronized actions $AC_PLTEB Path distance from end of block in basic coordinate system This variable can only be accessed from synchronized actions

Parts pr. RS

Sync R

S 6 . 4

$AC_DTBB

REAL

$AC_DTEW

REAL

$AC_DTEB

REAL

$AC_PLTBB

REAL

$AC_PLTEB

REAL

15-664

11.02

Tables

15.2 List of system variables

Identifier $AC_DELT

Type REAL

Description: System variable/value range/index $AC_DELT Stored distance-to-go path in the workpiece coordinate system subsequent to deletion of the residual distance during synchronized motion actions $P_APDV Returns True if the position values readable with $P_APR[X] and $P_AEP[X] (approach and depart starting point and contour point when smoothing) are valid.

Parts pr.

Sync R

S 3

$P_APDV

BOOL

15.2.39
Identifier $P_F $AC_F

Speeds/accelerations
Type REAL REAL Description: System variable/value range/index $P_F Path feed F last programmed $AC_F Programmed path feed F $AC_OVR: Path override for synchronized actions Multiplicative override component, works in addition to operation OV, programmed OV and transformation OV. However, the overall factor remains limited to the maximum value defined by machine data $MN_OVR_FACTOR_LIMIT_BIN and $MN_OVR_FACTOR_FEEDRATE[31]. If a value of < 0.0 is entered, 0 is assumed and alarm 14756 reported. Must be rewritten in every interpolator cycle, otherwise the value is 100%. This variable can only be accessed from synchronized actions Parts pr. R R Sync O S 2 6 . 3 2

$AC_OVR

REAL

15-665

Tables

11.02

15.2 List of system variables

Identifier $AC_VC

Type REAL

Description: System variable/value range/index $AC_VC Additive path feed compensation for synchronized actions The compensation value does not work with G0, G33, G331, G332 and G63. It must be rewritten in every interpolator cycle, otherwise the value is 0. With an override of 0, the compensation value has no effect, otherwise the override has no impact on the compensation value. The compensation value cannot make the total feedrate negative. The upper value is limited such that the maximum axis velocities and accelerations are not exceeded. The computation with different feedrate components is not affected by $AC_VC. The override defined by machine data $MN_OVR_FACTOR_LIMIT_BIN, $MN_OVR_FACTOR_FEEDRATE[30], $MN_OVR_FACTOR_AX_SPEED[30] and $MN_OVR_FACTOR_SPIND_SPEED Override values cannot be exceeded. The additive feedrate override is limited such that the resulting feedrate does not exceed the maximum override value of the programmed feedrate. This variable can only be accessed from synchronized actions $AC_PATHACC Specification of an increased path acceleration for override changes and Stop/Start events. $AC_PATHACC is only considered when the value is greater than the prepared acceleration limitation. The value 0 deselects the function. Values that lead to machine axis accelerations that are twice as high as that parameterized in $MA_MAX_AX_ACCEL[..], are accordingly restricted internally. $AC_PATHJERK Specification of an increased path jerk for override changes and Stop/Start events. $AC_PATHJERK is only considered when the value is greater than the prepared jerk limitation. The value 0 deselects the function. $AC_VACTB Path velocity in the base coordinate system This variable can only be accessed from synchronized actions $AC_VACTW Path velocity in workpiece coordinate system This variable can only be accessed from synchronized actions

Parts pr.

Sync R W

S 2

$AC_PATHACC

REAL

6 . 3

$AC_PATHJERK

REAL

6 . 3

$AC_VACTB

REAL

$AC_VACTW

REAL

15-666

11.02

Tables

15.2 List of system variables

15.2.40
Identifier $P_S

Spindles
Type REAL Description: System variable/value range/index $P_S[n] Last programmed spindle speed n: Spindle number 0 ... max. spindle number $AA_S[n] Spindle actual speed. The sign corresponds to the direction of rotation. n: Spindle number 0 ... max. spindle number $P_CONSTCUT_S[n] Last programmed constant cutting speed. n: Spindle number 0 ... max. spindle number $AC_CONSTCUT_S[n] Current constant cutting speed. n: Spindle number 0 ... max. spindle number $P_SEARCH_S[n] The last programmed spindle speed or cutting rate picked up during search mode n: Spindle number 0 ... max. spindle number $P_SDIR[n] Last direction of spindle rotation to be programmed. 3: Clockwise spindle rotation, 4: Counterclockwise spindle rotation, 5: Spindle stop n: Spindle number 0 ... max. spindle number $AC_SDIR[n] Current direction of spindle rotation 3: Clockwise spindle rotation, 4: Counterclockwise spindle rotation, 5: Spindle stop n: Spindle number 0 ... max. spindle number $P_SEARCH_SDIR[n] The last programmed spindle programming picked up during search mode: 3: M3 Clockwise spindle rotation 4: M4 Counterclockwise spindle rotation 5: M5 Spindle stop -19: M19, SPOS, SPOSA spindle positioning, position and approach mode are read from SEARCH variables 70: M70 Switch over to axis mode -5: No direction of spindle rotation programmed, no output. n: Spindle number 0 ... max. spindle number Parts pr. R Sync O S 2

$AA_S

REAL

$P_CONSTCUT _S

REAL

6 . 1 R 6 . 1 6 . 1

$AC_CONSTCU T_S

REAL

$P_SEARCH_S

REAL

$P_SDIR

INT

$AC_SDIR

INT

$P_SEARCH_S DIR

INT

6 . 1

15-667

Tables

11.02

15.2 List of system variables

Identifier $P_SMODE

Type INT

Description: System variable/value range/index $P_SMODE[n] Last programmed spindle mode: 0: No spindle in the channel or spindle is active in another channel or is being used by the PLC (FC18) or by synchronized actions. 1: Speed control mode 2: Positioning mode 3: synchronized mode 4: Axis mode n: Spindle number 0 ... max. spindle number $AC_SMODE[n] Spindle mode currently active 0: No spindle in the channel 1: Speed control mode 2: Positioning mode 3: synchronized mode 4: Axis mode n: Spindle number 0 ... max. spindle number $P_SGEAR[n] Spindle gear stage last programmed or requested during M40 by S programming 1: 1st gear stage requested .... 5: 5th gear stage requested n: Spindle number 0 ... max. spindle number $AC_SGEAR[n] Active spindle gear stage 1: 1st gear stage is active .... 5: 5th gear stage is active n: Spindle number 0 ... max. spindle number $P_SAUTOGEAR[n] Automatic gear stage change (M40) is programmed. 0: Gear stages are requested by M41..M45 1: The gear stage is calculated and requested (M40 Automatic gear stage change is active) to fit the programmed speed (S) n: Spindle number 0 ... max. spindle number

Parts pr. R

Sync

S 3

$AC_SMODE

INT

$P_SGEAR

INT

6 . 1

$AC_SGEAR

INT

6 . 1

$P_SAUTOGEAR

INT

6 . 1

15-668

11.02

Tables

15.2 List of system variables

Identifier $P_SEARCH_S GEAR

Type INT

Description: System variable/value range/index $P_SEARCH_SGEAR[n] The last programmed gear stages M function picked up during search mode. 40: M40 Automatic gear stage change 41: M41 1st gear stage requested ... 45: M45 5th gear stage requested n: Spindle number 0 ... max. spindle number $P_SEARCH_SPOS[n] The last spindle position or travel path programmed by M19, SPOS or SPOSA picked up during search mode. Position: 0...359.999, when the value in MD 30330 MODULO_RANGE is 360.0 degrees Path: -100000000 ... 100000000 degrees. The sign indicates the traversing direction. n: Spindle number 0 ... max. spindle number $P_SEARCH_SPOSMODE[n] The last position approach mode programmed by M19, SPOS or SPOSA picked up during search mode. 0: DC 1: AC 2: IC 3: DC 4: ACP 5: ACN n: Spindle number 0 ... max. spindle number $P_NUM_SPINDLES Calculates the maximum number of spindles in the channel 0: No spindle in the channel. 1..n: Number of spindles in the channel $P_MSNUM Returns the number of the master spindle. 0: No spindle in the channel 1..n: Number of the master spindle $AC_MSNUM Returns the number of the current master spindle. 0: No spindle exists 1..n: Number of the master spindle $P_MTHNUM - only useful with active magazine management Returns the number of the master tool carrier: 0: No master tool carrier 1..n: Number of master tool carrier

Parts pr. R

Sync

S 6 . 1

$P_SEARCH_S POS

REAL

6 . 1

$P_SEARCH_S POSMODE

INT

6 . 1

$P_NUM_SPIND LES

INT

6 . 1 6 . 1 R 3

$P_MSNUM

INT

$AC_MSNUM

INT

$P_MTHNUM

INT

6 . 1

15-669

Tables

11.02

15.2 List of system variables

Identifier $AC_MTHNUM

Type INT

Description: System variable/value range/index $AC_MTHNUM - only useful with active magazine management Returns the number of the current master tool carrier: 0: No master tool carrier 1..n: Number of master tool carrier $P_GWPS[n] Constant grinding wheel surface speed on if TRUE n: Spindle number

Parts pr. RS

Sync R

S 6 . 1

$P_GWPS

BOOL

15.2.41
$AC_FCT1LL $AC_FCT2LL $AC_FCT3LL $AC_FCT1UL $AC_FCT2UL $AC_FCT3UL $AC_FCT1C

Polynomial values for synchronized actions

REAL REAL REAL REAL REAL REAL REAL $AC_FCT1LL Lower limit value for evaluation function FCTDEF 1 $AC_FCT2LL Lower limit value for evaluation function FCTDEF 2 $AC_FCT3LL Lower limit value for evaluation function FCTDEF 3 $AC_FCT1UL Upper limit value for evaluation function FCTDEF 1 $AC_FCT2UL Upper limit value for evaluation function FCTDEF 2 $AC_FCT3UL Upper limit value for evaluation function FCTDEF 3 $AC_FCT1C[n] Polynomial coefficient a0a3 for evaluation function FCTDEF 1 n: Degree of coefficient 03 $AC_FCT2C[n] Polynomial coefficient a0a3 for evaluation function FCTDEF 2 n: Degree of coefficient 03 $AC_FCT3C[n] Polynomial coefficient a0a3 for evaluation function FCTDEF 3 n: Degree of coefficient 03 $AC_FCTLL[n] Lower limit of polynomial for synchronized actions (SYNFCT) n: Number of polynomial, limited by machine data $AC_FCTUL[n] Upper limit of polynomial for synchronized actions (SYNFCT) n: Number of polynomial, limited by machine data RS RS RS RS RS RS RS WS WS WS WS WS WS WS R R R R R R R W + W + W + W + W + W + W + 2 2 2 2 2 2 2

$AC_FCT2C

REAL

W +

$AC_FCT3C

REAL

W +

$AC_FCTLL

REAL

W +

$AC_FCTUL

REAL

W +

15-670

11.02

Tables

15.2 List of system variables

Identifier $AC_FCT0

Type REAL

Description: System variable/value range/index $AC_FCT0[n] a0 coefficient of polynomial for synchronized actions (SYNFCT) n: Number of polynomial, limited by machine data $AC_FCT1[n] a1 coefficient of polynomial for synchronized actions (SYNFCT) n: Number of polynomial, limited by machine data $AC_FCT2[n] a2 coefficient of polynomial for synchronized actions (SYNFCT) n: Number of polynomial, limited by machine data $AC_FCT3[n] a3 coefficient of polynomial for synchronized actions (SYNFCT) n: Number of polynomial, limited by machine data

Parts pr. RS WS

Sync R

S 4

W +

$AC_FCT1

REAL

W +

$AC_FCT2

REAL

W +

$AC_FCT3

REAL

W +

15-671

Tables

11.02

15.2 List of system variables

15.2.42
Identifier $AC_ALARM_S TAT $AN_ESR_TRIG GER $AN_BUS_FAIL _TRIGGER $AC_ESR_TRIG GER $AC_OPERATIN G_TIME

Channel states
Type INT Description: System variable/value range/index $AC_ALARM_STAT (Selected) alarm reactions for synchronized actions (SYNFCT) $AN_ESR_TRIGGER = 1 Trigger "Extended stop and retract" $AN_BUS_FAIL_TRIGGER = 1 Simulation of a drive bus failure for test purposes $AC_ESR_TRIGGER = 1 Triggering "NC controlled ESR" IF $AC_OPERATING_TIME < 12000 GOTOB STARTMARK Total execution time ( in seconds ) of NC programs in automatic mode IF $AC_CYCLE_TIME > 2400 GOTOF ALARM01 Execution time of the selected NC program ( in seconds ) IF $AC_CUTTING_TIME > 6000 GOTOF ACT_M06 Tool operation time ( in seconds ) $AC_REQUIRED_PARTS = ACTUAL_LOS Definition of number of parts required, e.g. for definition of a batch size, daily production target, etc. IF $AC_TOTAL_PARTS > SERVICE_COUNT GOTOF MARK_END Total number of all parts produced IF $AC_ACTUAL_PARTS == 0 GOTOF NEW_RUN Actual number of parts produced For $AC_ACTUAL_PARTS == $AC_REQUIRED_PARTS, $AC_ACTUAL_PARTS = 0 automatically. $AC_SPECIAL_PARTS = R20 Number of parts counted according to a user strategy. without internal impact. RS WS Parts pr. RS Sync R O S 5

BOOL BOOL

R R

W W

5 6 . 4 6 . 1 6 . 1 6 . 1 6 . 1 6 . 1 6 . 1 6 . 1

BOOL

REAL

$AC_CYCLE_TI ME $AC_CUTTING_ TIME $AC_REQUIRE D_PARTS

REAL

$AC_TOTAL_PA RTS $AC_ACTUAL_ PARTS

REAL

$AC_SPECIAL_ PARTS

REAL

6 . 1

15-672

11.02

Tables

15.2 List of system variables

Identifier $AC_G0MODE

Type INT

Description: System variable/value range/index $AC_G0MODE 0: G0 not active 1: G0 and linear interpolation active 2: G0 and nonlinear interpolation active The response of the path axes at G0 is dependent on machine data $MC_G0_LINEAR_MODE (Siemens mode) or $MC_EXTERN_G0_LINEAR_MODE (ISO mode): with linearer interpolation, the path axes traverse together, with non-linear interpolation, the path axes traverse as positioning axes.

Parts pr.

Sync R

S 6 . 1

15.2.43
Identifier $AC_MEAS_SE MA $AC_MEAS_LA TCH

Measurement
Type INT Description: System variable/value range/index $AC_MEAS_SEMA = 1 Assigning the measuring interface. $AC_MEAS_LATCH[0] = 1 Writing the actual axis values to the 1st measuring point. 0: 1st measuring point, .. , 3: 4th measuring point $AC_MEAS_P1_COORD = 0: WCS 1: BCS 2: MCS Coordinate system of the 1st measuring point. $AC_MEAS_P2_COORD = 0: WCS 1: BCS 2: MCS Coordinate system of the 2nd measuring point. $AC_MEAS_P3_COORD = 0: WCS 1: BCS 2: MCS Coordinate system of the 3rd measuring point. $AC_MEAS_P4_COORD = 0: WCS 1: BCS 2: MCS Coordinate system of the 4th measuring point. $AC_MEAS_SET_COORD = 0: WCS 1: BCS 2: MCS Coordinate system of the setpoint. Parts pr. R W Sync O S 6 . 1 6 . 1

INT

$AC_MEAS_P1_ COORD

INT

6 . 4

$AC_MEAS_P2_ COORD

INT

6 . 4

$AC_MEAS_P3_ COORD

INT

6 . 4

$AC_MEAS_P4_ COORD

INT

6 . 4

$AC_MEAS_SE T_COORD

INT

6 . 4

15-673

Tables

11.02

15.2 List of system variables

Identifier $AC_MEAS_WP _SETANGLE $AC_MEAS_CO RNER_SETANG LE $AC_MEAS_DIR _APPROACH

Type REAL

Description: System variable/value range/index $AC_MEAS_WP_SETANGLE = 0.0 Setpoint angle of the part position for part gauging. $AC_MEAS_CORNER_SETANGLE = 90.0 Setpoint cutting angle of the corner for part gauging. $AC_MEAS_DIR_APPROACH = 0: +x 1: -x 2: +y 3: -y 4: +z 5: -z Direction of approach to the part. $AC_MEAS_ACT_PLANE = 0: G17 1: G18 2: G19 Setting the plane for calculation and measuring. $AC_MEAS_FINE_TRANS = 0: Offset in Trans 1: Offset in Fine Trans Setting the fine offset for calculation and measuring. $AC_MEAS_FRAME_SELECT = 0: $P_SETFRAME 10..25: $P_CHBFRAME[0..15] 50..65: $P_NCBFRAME[0..15] 100..199: $P_IFRAME 1010..1025: $P_CHBFRAME[0..15], with active G500 1050..1065: $P_NCBFRAME[0..15], with active G500 2000: $P_SETFR 2010..2025: $P_CHBFR[0..15] 2050..2065: $P_NCBFR[0..15] 2100..2199: $P_UIFR[0..99] 3010..3025: $P_CHBFR[0..15], with active G500 3050..3065: $P_NCBFR[0..15], with active G500 Selecting the frames for part gauging. $AC_MEAS_CHSFR = 'B1001' System frame bit mask in accordance with $MC_MM_SYSTEM_FRAME_MASK $AC_MEAS_NCBFR = 'B1' Global basic frame mask to set up the new frame. $AC_MEAS_CHBFR = 'B1' Channel basic frame mask to set up the new frame. $AC_MEAS_UIFR = 1 Adjustable data management frame to set up the new frame.

Parts pr. R W

Sync

S 6 . 1 6 . 1 6 . 1

REAL

INT

$AC_MEAS_AC T_PLANE

INT

6 . 1

$AC_MEAS_FIN E_TRANS

INT

6 . 3 6 . 1

$AC_MEAS_FR AME_SELECT

INT

$AC_MEAS_CH SFR $AC_MEAS_NC BFR $AC_MEAS_CH BFR $AC_MEAS_UIFR

INT

6 . 4 6 . 4 6 . 4 6 . 4

15-674

11.02

Tables

15.2 List of system variables

Identifier $AC_MEAS_PF RAME $AC_MEAS_T_ NUMBER $AC_MEAS_TO OL_MASK $AC_MEAS_D_ NUMBER $AC_MEAS_TY PE

Type INT

Description: System variable/value range/index $AC_MEAS_PFRAME = 1 Programmable frame not included. $AC_MEAS_T_NUMBER = 1 Selecting the tool for calculation and measuring. $AC_MEAS_TOOL_MASK = 'B1' Setting the tool for calculation and measuring. $AC_MEAS_D_NUMBER = 1 Selecting the cutting edge for calculation and measuring. $AC_MEAS_TYPE = 0: default 1: x edge 2: y edge 3: z edge 4: corner 1 5: corner 2 6: corner 3 7: corner 4 8: bore hole 9: shaft 10: tool length 11: tool diameter 12: groove 13: bar 14: preset actual value memory for geometry and special axes 15: preset actual value memory for special axes only 16: oblique edge 17: Plane_Angles (2 solid angles of a plane) 18: Plane_Normal (3 solid angles of a plane with setpoint input) 19: Dimension_1 (1-dimensional setpoint input) 20: Dimension_2 (2-dimensional setpoint input) 21: Dimension_3 (3-dimensional setpoint input) 22: ToolMagnifier (ShopTurn: Measuring tool lengths with a zoom-in function) 23: ToolMarkedPos (ShopTurn: Measuring a tool length with a marked position) 24: coordinate transformation of a position 25: rectangle Specification of the measuring type.

Parts pr. R W

Sync

S 6 . 4 6 . 1 6 . 4 6 . 1 6 . 1

INT

15-675

Tables

11.02

15.2 List of system variables

Identifier $AC_MEAS_VA LID

Type INT

Description: System variable/value range/index $AC_MEAS_VALID = 0 Validity bits of the measuring variables. The value should be set to 0 prior to all measuring processes. The individual bits are set implicitly when writing to the corresponding variables. Bit 0: $AA_MEAS_POINT1[axis] Bit 1: $AA_MEAS_POINT2[axis] Bit 2: $AA_MEAS_POINT3[axis] Bit 3: $AA_MEAS_POINT4[axis] Bit 4: $AA_MEAS_SETPOINT[axis] Bit 5: $AC_MEAS_WP_SETANGLE Bit 6: $AC_MEAS_CORNER_SETANGLE Bit 7: $AC_MEAS_T_NUMBER Bit 8: $AC_MEAS_D_NUMBER Bit 9: $AC_MEAS_DIR_APPROACH Bit 10 :$AC_MEAS_ACT_PLANE Bit 11: $AC_MEAS_FRAME_SELECT Bit 12: $AC_MEAS_TYPE Bit 13: $AC_MEAS_FINE_TRANS Bit 14: $AA_MEAS_SETANGLE[axis] Bit 15: $AC_MEAS_SCALEUNIT Bit 16: $AC_MEAS_TOOL_MASK Bit 17: $AC_MEAS_P1_COORD Bit 18: $AC_MEAS_P2_COORD Bit 19: $AC_MEAS_P3_COORD Bit 20: $AC_MEAS_P4_COORD Bit 21: $AC_MEAS_SET_COORD Bit 22: $AC_MEAS_CHSFR Bit 23: $AC_MEAS_NCBFR Bit 24: $AC_MEAS_CHBFR Bit 25: $AC_MEAS_UIFR Bit 26: $AC_MEAS_PFRAME $AC_MEAS_FRAME Result frame for part gauging. $AC_MEAS_WP_ANGLE Calculated part position angle for part gauging. $AC_MEAS_CORNER_ANGLE Calculated cutting angle of the corner for part gauging. $AC_MEAS_DIAMETER Calculated diameter for part and tool gauging. $AC_MEAS_TOOL_LENGTH Calculated tool length for tool gauging.

Parts pr. R W

Sync

Type REAL

Description: System variable/value range/index $P_EPM[X] Current MCS position in the interpreter (also see $P_EP). Axes: channel axis $P_APR[X] Position of axis in the workpiece coordinate system at the start of the approach motion for soft approach to the contour. Axes: channel axis $P_AEP[X] Approach point: first contour point in the workpiece coordinate system for soft approach to contour. Axes: channel axis $P_POLF[X] X: Axis returns the programmed return position of the axis Axes: geometry axis, channel axis, machine axis $P_POLF_VALID[X] X: Axis 0: no axis return programmed 1: return programmed in abs. position 2: return programmed as distance Axes: geometry axis, channel axis, machine axis $AA_IW[X] Actual value in workpiece coordinate system (WCS) Axes: channel axis $AA_REPOS_DELAY[X] TRUE: For this axis REPOS suppression is just active. FALSE: otherwise Axes: channel axis $AA_IEN[X] Actual value in the settable origin system (SOS). Axes: channel axis $AA_IBN[X] Actual value in the basic origin system (BOS). Axes: channel axis $AA_IB[X] Actual value in basic coordinate system (BCS) Axes: channel axis $AA_IM[X] Actual value in machine coordinate system (MCS). Axes: geometry axis, channel axis, machine axis

Parts pr. R

Sync

S 6 . 1 4

$P_APR

REAL

$P_AEP

REAL

$P_POLF

REAL

6 . 4 6 . 4

$P_POLF_VALID

INT

$AA_IW

REAL

$AA_REPOS_D ELAY

BOOL

6 . 4 5

$AA_IEN

REAL

$AA_IBN

REAL

$AA_IB

REAL

$AA_IM

REAL

15-678

11.02

Tables

15.2 List of system variables

15.2.45
Identifier $AA_ACT_INDE X_AX_POS_NO

Indexing axes
Type INT Description: System variable/value range/index $AA_ACT_INDEX_AX_POS_NO[X] 0: No indexing axis, therefore no indexing position available. > 0: Number of indexing position last reached or crossed Parts pr. RS Sync R O S 5

$AA_PROG_INDE INT X_AX_POS_NO

Axes: geometry axis, channel axis, machine axis $AA_PROG_INDEX_AX_POS_NO[X] 0: No indexing axis, thus no indexing position available or indexing axis currently not approaching an indexing position > 0: Number of programmed indexing position Axes: geometry axis, channel axis, machine axis

15.2.46
$AA_ENC_ACTI VE

Encoder values
BOOL $AA_ENC_ACTIVE[X] Active measuring system is operating below encoder limit frequency Axes: geometry axis, channel axis, machine axis $AA_ENC1_ACTIVE[X] Encoder 1 is operating below encoder limit frequency Axes: geometry axis, channel axis, machine axis $AA_ENC2_ACTIVE[X] Encoder 2 is operating below encoder limit frequency Axes: geometry axis, channel axis, machine axis $VA_IM[X] Encoder actual value in machine coordinate system (measured on active measuring system), actual value compensations are corrected (leadscrew error compensation, backlash compensation, quadrant error compensation) With active spindle/axis disable, the default return is the current setpoint. If the actual value is then returned, BIT3 must be set in $MA_MISC_FUNCTION_MASK. RS R 4

$AA_ENC1_ACT IVE $AA_ENC2_ACT IVE $VA_IM

BOOL

REAL

15-679

Tables

11.02

15.2 List of system variables

Identifier $VA_IM1

Type REAL

Description: System variable/value range/index $VA_IM1[X] Actual value in the machine coordinate system (measured Encoder 1), compensations are corrected With active spindle/axis disable the default return is the current setpoint. If the actual value is then returned, BIT3 must be set in $MA_MISC_FUNCTION_MASK. $VA_IM2[X] Actual value in the machine coordinate system (measured Encoder 2), compensations are corrected With active spindle/axis disable the default return is the current setpoint. If the actual value is then returned, BIT3 must be set in $MA_MISC_FUNCTION_MASK. $AA_MW[X] Measured value in workpiece coordinate system Axes: channel axis $AA_MM[X] Measured value in machine coordinate system $AA_MW1[X] Measurement result of axial measurement Trigger event 1 in WCS Axes: channel axis $AA_MW2[X] Measurement result of axial measurement Trigger event 2 in WCS Axes: channel axis $AA_MW3[X] Measurement result of axial measurement Trigger event 3 in WCS Axes: channel axis $AA_MW4[X] Measurement result of axial measurement Trigger event 4 in WCS Axes: channel axis

Parts pr. RS

Sync R

S 4

$VA_IM2

REAL

$AA_MW

REAL

$AA_MM $AA_MW1

REAL REAL

R R

WS WS

R R

W W

2 4

$AA_MW2

REAL

$AA_MW3

REAL

$AA_MW4

REAL

15.2.47
Identifier $AA_MM1

Axial measurement
Type REAL Description: System variable/value range/index $AA_MM1[X] Measurement result of axial measurement Trigger event 1 in MCS $AA_MM2[X] Measurement result of axial measurement Trigger event 2 in MCS $AA_MM3[X] Measurement result of axial measurement Trigger event 3 in MCS Parts pr. R WS Sync R W O S 4

$AA_MM2

REAL

$AA_MM3

REAL

15-680

11.02

Tables

15.2 List of system variables

Identifier $AA_MM4

Type REAL

Description: System variable/value range/index $AA_MM4[X] Measurement result of axial measurement Trigger event 4 in MCS $AA_MEAACT[X] Value is TRUE if axial measurement is active for X Axes: geometry axis, channel axis, machine axis

Parts pr. R WS

Sync R W

S 4

$AA_MEAACT

BOOL

15.2.48
Identifier $AC_DRF

Offsets
Type REAL Description: System variable/value range/index $AC_DRF[X] DRF offset Axes: channel axis $AC_PRESET[X] Last given PRESET value Axes: channel axis $AA_ETRANS[X] External zero offset Axes: channel axis $AA_MEAS_P1_VALID[X] = 1 Writing the actual axis value to the 1st measuring point. Axes: geometry axis, channel axis, machine axis $AA_MEAS_P2_VALID[X] = 1 Writing the actual axis value to the 2nd measuring point. Axes: geometry axis, channel axis, machine axis $AA_MEAS_P3_VALID[X] = 1 Writing the actual axis value to the 3rd measuring point. Axes: geometry axis, channel axis, machine axis $AA_MEAS_P4_VALID[X] = 1 Writing the actual axis value to the 4th measuring point. Axes: geometry axis, channel axis, machine axis $AA_MEAS_POINT1[x] = $AA_IW[x] $AA_MEAS_POINT1[y] = $AA_IW[y] $AA_MEAS_POINT1[z] = $AA_IW[z] First measuring point for part and tool gauging. Axes: geometry axis, channel axis, machine axis $AA_MEAS_POINT2[x] = $AA_IW[x] $AA_MEAS_POINT2[y] = $AA_IW[y] $AA_MEAS_POINT2[z] = $AA_IW[z] Second measuring point for part and tool gauging. Axes: geometry axis, channel axis, machine axis Parts pr. RS Sync R O S 2

$AC_PRESET

REAL

$AA_ETRANS

REAL

$AA_MEAS_P1_ VALID $AA_MEAS_P2_ VALID $AA_MEAS_P3_ VALID $AA_MEAS_P4_ VALID $AA_MEAS_POI NT1

INT

REAL

6 . 1 6 . 1 6 . 1 6 . 1 6 . 1

$AA_MEAS_POI NT2

REAL

6 . 1

15-681

Tables

11.02

15.2 List of system variables

Identifier $AA_MEAS_POI NT3

Type REAL

Description: System variable/value range/index $AA_MEAS_POINT3[x] = $AA_IW[x] $AA_MEAS_POINT3[y] = $AA_IW[y] $AA_MEAS_POINT3[z] = $AA_IW[z] Third measuring point for part and tool gauging. Axes: geometry axis, channel axis, machine axis $AA_MEAS_POINT4[x] = $AA_IW[x] $AA_MEAS_POINT4[y] = $AA_IW[y] $AA_MEAS_POINT4[z] = $AA_IW[z] Fourth measuring point for part and tool gauging. Axes: geometry axis, channel axis, machine axis $AA_MEAS_SP_VALID[X] = 0 Invalidating the x-axis setpoint for part and tool gauging. Axes: geometry axis, channel axis, machine axis $AA_MEAS_SETPOINT[X] = 0.0 $AA_MEAS_SETPOINT[y] = 0.0 $AA_MEAS_SETPOINT[z] = 0.0 Setpoint position for part and tool gauging. Axes: geometry axis, channel axis, machine axis $AA_MEAS_SETANGLE[x] = 0.0 $AA_MEAS_SETANGLE[y] = 0.0 $AA_MEAS_SETANGLE[z] = 0.0 Setpoint angle for part and tool gauging. Axes: geometry axis, channel axis, machine axis $AA_OFF[X] Overlaid motion for programmed axis Axes: geometry axis, channel axis, machine axis $AA_OFF_LIMIT[axis] Limit value for axial offset $AA_OFF[axis] 0: Limit value not reached 1: Limit value reached in positive axis direction -1: Limit value reached in negative axis direction Axes: geometry axis, channel axis, machine axis $AA_OFF_VAL[axis] Integrated value of the overlaid movement for one axis. An overlaid movement can be undone by using the negative value of these variables. For example $AA_OFF[axis] = -$AA_OFF_VAL[axis] Axes: geometry axis, channel axis, machine axis

Parts pr. R W

Sync

S 6 . 1

$AA_MEAS_POI NT4

REAL

6 . 1

$AA_MEAS_SP _VALID $AA_MEAS_SE TPOINT

INT

REAL

6 . 1 6 . 1

$AA_MEAS_SE TANGLE

REAL

6 . 4

$AA_OFF

REAL

$AA_OFF_LIMIT

INT

$AA_OFF_VAL

REAL

6 . 1

15-682

11.02

Tables

15.2 List of system variables

Identifier $AC_RETPOINT

Type REAL

Description: System variable/value range/index $AC_RETPOINT[X] $AC_RETPOINT[] returns the WCS position of an axis at which an ASUB was started. Then repositioning to this position can take place in the ASUB. If an ASUB is started up directly after a block search with calculation, $AC_RETPOINT returns the search run position that has been picked up. Axes: channel axis $AA_TOFF[geometry axis] Overlaid value in the tool coordinate system. Axes: geometry axis $AA_TOFF_VAL[geometry axis] Overlaid value in the tool coordinate system (integrated). Axes: geometry axis $AA_TOFF_LIMIT[geo axis] Limit value for axial offset $AA_TOFF[geo axis] 0: Limit value not reached 1: Limit value reached in positive axis direction -1: Limit value reached in negative axis direction Axes: geometry axis $AA_TOFF_PREP_DIFF[geometry axis] Difference value of the override in the tool coordinate system between the main run and preprocessing. Axes: geometry axis $AA_SOFTENDP[X] Software end position, positive direction Axes: geometry axis, channel axis, machine axis $AA_SOFTENDN[X] Software end position, negative direction Axes: geometry axis, channel axis, machine axis

Parts pr. RS

Sync R

S 2

$AA_TOFF

REAL

$AA_TOFF_VAL

REAL

$AA_TOFF_LIMIT

INT

6 . 4 6 . 4 6 . 4

$AA_TOFF_PRE P_DIFF

REAL

6 . 4 2

$AA_SOFTENDP

REAL

$AA_SOFTENDN

REAL

15-683

Tables

11.02

15.2 List of system variables

15.2.49
Identifier

Axial paths
Type Description: System variable/value range/index Parts pr. Sync O S

$AA_DTBW

REAL

$AA_DTBB

REAL

$AA_DTEW

REAL

$AA_DTEB

REAL

$AA_DTBW[X] axial path from start of block in the workpiece coordinate system for positioning and synchronized axes for motion synchronized action The programmed position is decisive for computing the path; if the axis is a coupling axis, the position part that results from axis coupling is not considered here. This variable can only be accessed from synchronized actions Axes: channel axis $AA_DTBB[X] Axial distance from start of block in basic coordinate system for positioning and synchronized axes with motionsynchronized actions The programmed position is decisive for computing the path; if the axis is a coupling axis, the position part that results from axis coupling is not considered here. This variable can only be accessed from synchronized actions Axes: channel axis $AA_DTEW[X] Axial distance to end of block in workpiece coordinate system for positioning and synchronized axes with motionsynchronized actions The programmed position is decisive for computing the path; if the axis is a coupling axis, the position part that results from axis coupling is not considered here. This variable can only be accessed from synchronized actions Axes: channel axis $AA_DTEB[X] Axial distance to end of block in basic coordinate system for positioning and synchronized axes with motionsynchronized actions The programmed position is decisive for computing the path; if the axis is a coupling axis, the position part that results from axis coupling is not considered here. This variable can only be accessed from synchronized actions Axes: channel axis

15-684

11.02

Tables

15.2 List of system variables

15.2.50
Identifier $AA_DTEPW

Oscillation
Type REAL Description: System variable/value range/index $AA_DTEPW[X] Axial distance-to-go for infeed oscillation in workpiece coordinate system This variable can only be accessed from synchronized actions Axes: channel axis $AA_DTEPB[X] Axial distance-to-go for infeed oscillation in basic coordinate system This variable can only be accessed from synchronized actions Axes: channel axis $AA_OSCILL_REVERSE_POS1[X] Current reversal position 1 for oscillation In synchronized actions, the setting data value $SA_OSCILL_REVERSE_POS1 is evaluated online This variable can only be accessed from synchronized actions Axes: channel axis $AA_OSCILL_REVERSE_POS2[X] Current reversal position 2 for oscillation In synchronized actions, the setting data value $SA_OSCILL_REVERSE_POS2 is evaluated online This variable can only be accessed from synchronized actions Axes: channel axis $AA_DELT[X] Stored axial distance-to-go path in the workpiece coordinate system subsequent to deletion of the residual distance during synchronized motion actions Axes: geometry axis, channel axis, machine axis Parts pr. RS Sync R O S 2

$AA_DTEPB

REAL

$AA_OSCILL_R EVERSE_POS1

REAL

$AA_OSCILL_R EVERSE_POS2

REAL

$AA_DELT

REAL

15.2.51
$P_FA

Axial velocities
REAL $P_FA[X] Last programmed axial feedrate Axes: channel axis R 2

15-685

Tables

11.02

15.2 List of system variables

Identifier $AA_OVR

Type REAL

Description: System variable/value range/index $AA_OVR[X] Axial override for motion-synchronized actions Multiplicative override component acting in addition to the user OV, programmed OV and transformation OV. The value is limited to max. 200%. If a value < 0.0 is entered, 0 is assumed and alarm 14756 reported. Must be rewritten in every interpolator cycle, otherwise the value is 100%. The spindle override is changed with $AA_OVR[S1]. This variable can only be accessed from motionsynchronized actions Axes: channel axis $AA_VC[X] Additive axial feed compensation for motion-synchronized actions It must be rewritten in every interpolator cycle, otherwise the value is 0. With an override of 0, the compensation value has no effect, otherwise the override has no impact on the compensation value. The compensation value cannot make the total feedrate negative. The upper value is limited such that the maximum axis velocities and accelerations are not exceeded. The computation of the other feedrate components is not affected by $AA_VC. The override defined by machine data $MN_OVR_FACTOR_LIMIT_BIN, $MN_OVR_FACTOR_FEEDRATE[30], $MN_OVR_FACTOR_AX_SPEED[30] and $MN_OVR_FACTOR_SPIND_SPEED Override values cannot be exceeded. The additive feedrate override is limited such that the resulting feedrate does not exceed the maximum override value of the programmed feedrate. This variable can only be accessed from synchronized actions Axes: channel axis $AA_VACTB[X] Axis velocity in the base coordinate system This variable can only be accessed from synchronized actions Axes: channel axis $AA_VACTW[X] Axis velocity in workpiece coordinate system This variable can only be accessed from synchronized actions Axes: channel axis

Parts pr.

Sync R W

S 2

$AA_VC

REAL

$AA_VACTB

REAL

$AA_VACTW

REAL

15-686

11.02

Tables

15.2 List of system variables

Identifier $AA_VACTM

Type REAL

Description: System variable/value range/index $AA_VACTM[X] Axis velocity, setpoint-related in machine coordinate system Can also be read for replacement and PLC axes This variable can only be accessed from synchronized actions

Parts pr. RS

Sync R

S 4

$VA_VACTM

REAL

Axes: channel axis $VA_VACTM[X] Axis velocity, actual value-related in machine coordinate system The variable returns an undefined value if the encoder limit frequency is exceeded This variable can only be accessed from synchronized actions

Axes: channel axis

15.2.52
Identifier $AA_LOAD

Drive data
Type REAL Description: System variable/value range/index $AA_LOAD[X] Drive capacity utilization as % (for 611D or PROFIBUS only) Axes: channel axis, machine axis $VA_LOAD[X] Drive capacity utilization as % (for 611D or PROFIBUS only) Axes: channel axis, machine axis $AA_TORQUE[X] Drive torque setpoint in Nm (for 611D only) Force actual value in N (611D-HLA only) Axes: channel axis, machine axis $VA_TORQUE[X] Drive torque setpoint in Nm (for 611D only) Force actual value in N (611D-HLA only) Axes: channel axis, machine axis $AA_POWER[x] Drive active power in W (for 611D only) Axes: channel axis, machine axis $VA_POWER[x] Drive active power in W (for 611D only) Axes: channel axis, machine axis $AA_CURR[X] Actual current value of axis or spindle in A (for 611D only) Axes: channel axis, machine axis Parts pr. RS Sync R O S 2

$VA_LOAD

REAL

5 . 1 2

$AA_TORQUE

REAL

$VA_TORQUE

REAL

5 . 1 2

AA_POWER

REAL

$VA_POWER

REAL

$AA_CURR

REAL

5 . 1 2

15-687

Tables

11.02

15.2 List of system variables

Identifier $VA_CURR

Type REAL

Description: System variable/value range/index $VA_CURR[X] Actual current value of axis or spindle in A (for 611D only) Axes: channel axis, machine axis $VA_DIST_TORQUE[X] Disturbing torque/max. motor torque (output of disturbance torque observer) Axes: channel axis, machine axis $VA_VALVELIFT[X] Actual valve stroke in mm (for 611D hydraulics only) Axes: channel axis, machine axis $VA_PRESSURE_A[X] Pressure on A side of cylinder in bar (for 611D hydraulics only) Axes: channel axis, machine axis $VA_PRESSURE_B[X] Pressure on B side of cylinder in bar (for 611D hydraulics only) Axes: channel axis, machine axis $VA_DP_ACT_TEL[b,a] b: Word index (16-bit access) in PROFIBUS frame a: Machine axis b: Word index in PROFIBUS actual value frame Axes: geometry axis, channel axis, machine axis

Parts pr. RS

Sync R

S 5 . 1 6 . 3 5 . 1 5 . 1 5 . 1

$VA_DIST_TOR QUE

REAL

$VA_VALVELIFT

REAL

$VA_PRESSUR E_A

REAL

$VA_PRESSUR E_B

REAL

$VA_DP_ACT_T EL

INT

6 . 4

15.2.53
Identifier $AA_STAT

Axis statuses
Type INT Description: System variable/value range/index $AA_STAT[X] Axis status: 0: No axis status available 1: Traversing motion in progress 2: Axis has reached IPO end applies only to axes in the channel 3: Axis in position (exact stop coarse)for all axes 4: Axis in position (exact stop fine)for all axes Axes: geometry axis, channel axis, machine axis Parts pr. RS Sync R O S 4

15-688

11.02

Tables

15.2 List of system variables

Identifier $AA_SNGLAX_ STAT

Type INT

Description: System variable/value range/index $AA_SNGLAX_STAT[X] Axis status: 0: Axis is not a single axis 1: Single axis in reset 2: Single axis is ended 3: Single axis is interrupted 4: Single axis is active 5: Single axis alarm pending Axes: geometry axis, channel axis, machine axis $AA_REF[X] Axis status: 0: Axis is not referenced 1: Axis is referenced Axes: geometry axis, channel axis, machine axis $AA_TYP[X] Axis type: 0: Axis on other channel 1: Channel axis of local channel 2: Neutral axis 3: PLC axis 4: Oscillating axis 5: Neutral axis currently traversing in JOG mode 6: Master value linked following axis 7: Coupled motion following axis 8: Command axis 9: Compile cycle axis 10: Linked slave axis (master/slave function) Axes: geometry axis, channel axis

Parts pr. RS

Sync R

S 6 . 4

$AA_REF

INT

$AA_TYP

INT

15.2.54
$AA_MASL_ST AT

Master/slave links
INT The current status of a master/slave link. Value 0: Axis is no slave axis, or no active link. Value > 0: Active link; the associated machine axis number of the master axis is returned. $AA_MASL_STAT[X] RS R 6 . 1

$P_SEARCH_M ASLC

INT

Axes: geometry axis, channel axis, machine axis $P_SEARCH_MASLC[axis identifier] The current status of a master/slave link was changed in search mode.

6 . 1

Axes: geometry axis, channel axis, machine axis

15-689

Tables

11.02

15.2 List of system variables

Type INT

Description: System variable/value range/index $AA_FOC[X] Setpoint status state "ForceControl" 0: ForceControl not active 1: ForceControl modal active 2: Block-related ForceControl active Axes: geometry axis, channel axis, machine axis $VA_FOC[X] Actual status state "ForceControl" 0: ForceControl not active 1: ForceControl modal active 2: Block-related ForceControl active Axes: geometry axis, channel axis, machine axis $AA_COUP_ACT[SPI(2)] Current coupling status of following spindle/following axis: 0: Axis/spindle is not coupled to a leading spindle/leading axis 3: Tangential follow-up of axis 4: synchronized spindle coupling 8: Axis is trailing 16: Following axis of master value coupling The respective values apply to one coupling. If several couplings are active for a following axis, this is represented by the sum of the relevant numerical values. Axes: geometry axis, channel axis, machine axis

Parts pr. RS WS

Sync R W

S 6 . 1

$VA_FOC

INT

6 . 3

$AA_COUP_ACT

INT

15.2.56
AA_EG_SYNFA

Electronic gear
REAL $AA_EG_SYNFA[a] a: Following axis Synchronized position of the following axis Axes: geometry axis, channel axis, machine axis $P_EG_BC[a] Block change condition for EGONSYN, EGON, WAITC. 2nd dimension for TYPE_STRING is automatically MAXSTRINGLEN $AA_EG_NUM_LA[a] a: Following axis Number of leading axes specified with EGDEF Axes: geometry axis, channel axis $VA_EG_SYNCDIFF[a] a: Following axis Synchronized run difference Axes: geometry axis, channel axis, machine axis RS R 5

$P_EG_BC

STRING

6 . 1 R 5

$AA_EG_NUM_ LA

INT

$VA_EG_SYNC DIFF

REAL

15-691

Tables

11.02

15.2 List of system variables

Identifier $VA_EG_SYNC DIFF_S

Type REAL

Description: System variable/value range/index $VA_EG_SYNCDIFF_S[a] a: Following axis Synchronized run difference with sign Axes: geometry axis, channel axis, machine axis $AA_EG_AX[n,a] n: Index for leading axis a: Following axis Identifier for nth leading axis n: Index for leading axis (nth leading axis) Axes: geometry axis, channel axis, machine axis

Parts pr. RS

Sync R

S 6 . 4 6 . 1

$AA_EG_AX

AXIS

15.2.57
Identifier $AA_LEAD_SP $AA_LEAD_SV $AA_LEAD_P_T URN

Leading value coupling

Type REAL REAL REAL Description: System variable/value range/index $AA_LEAD_SP[LW] Simulated master value - position $AA_LEAD_SV[LW] Simulated master value - velocity $AA_LEAD_P_TURN[LW] current leading value position parts lost through modulo reduction. The actual master value position (which the control uses for internal calculation) is $AA_LEAD_P[LW] + $AA_LEAD_P_TURN[LW] If MV is a modulo axis, $AA_LEAD_P_TURN is an integral multiple of $MA_MODULO_RANGE. If MV is not a modulo axis, $AA_LEAD_P_TURN is always 0. Example_1: $MA_MODULO_RANGE[LW]=360 $AA_LEAD_P[LW] =290 $AA_LEAD_P_TURN[LW] =720 The actual master value position (used internally by the control in calculations) is 1010. Example_2: $MA_MODULO_RANGE[LW]=360 $AA_LEAD_P[LW] =290 $AA_LEAD_P_TURN[LW] =-360 The actual master value position (used internally by the control in calculations) is -70. $AA_LEAD_P[LW] Current master value - position (modulo-reduced) If MV is a modulo axis, the following always applies: 0 <= $AA_LEAD_P[LW] <= $MA_MODULO_RANGE[LW] Parts pr. RS RS RS WS WS Sync R R R W W O S 4 4 4

$AA_LEAD_P

REAL

15-692

11.02

Tables

15.2 List of system variables

Identifier $AA_LEAD_V $AA_SYNC

Type REAL INT

Description: System variable/value range/index $AA_LEAD_V[LW] Current master value - velocity $AA_SYNC [FA] Coupling status of following axis in master value coupling 0 => No synchronism 1 => Coarse synchronism 2 => Fine synchronism 3 => Synchronized run coarse and fine Axes: geometry axis, channel axis, machine axis $AA_IN_SYNC[FA] Synchronization status of the following axis for master value coupling and ELG 1 => Synchronization in progress, i.e. following axis is synchronized out Axes: geometry axis, channel axis, machine axis

Parts pr. RS RS

Sync R R

S 4 4

$AA_IN_SYNC

INT

6 . 4

15.2.58
Identifier $P_COUP_OFFS

Synchronized spindle
Type REAL Description: System variable/value range/index $P_COUP_OFFS[S2] Programmed positional offset for the synchronous spindle (following spindle) $AA_COUP_OFFS[S2] Positional offset for synchronous spindle (following spindle) setpoint value viewpoint $VA_COUP_OFFS[SPI(2)] Positional offset for synchronous spindle (following spindle) actual value viewpoint $AA_SCTRACE[X] = 1 Write: Initiate IPO trigger for servo trace 0: No action !0: Initiate trigger Read: Always 0, as the trigger cannot be read back Axes: geometry axis, channel axis, machine axis $VA_DPE[X1] Status of power enable of a machine axis Axes: Machine axis $AA_ACC Current acceleration value of axis with 1-axis interpolation. $AA_ACC = $MA_MAX_AX_ACCEL * progr. acceleration correction Parts pr. R Sync O S 6 . 3 2

$AA_COUP_OF FS $VA_COUP_OF FS

REAL

$AA_SCTRACE

BOOL

$VA_DPE

BOOL

$AA_ACC

REAL

15-693

Tables

11.02

15.2 List of system variables

Identifier $PA_ACCLIMA

Type INT

Description: System variable/value range/index $PA_ACCLIMA Acceleration override set in preprocessing with ACCLIMA Axes: geometry axis, channel axis, machine axis $PA_VELOLIMA Velocity override set in preprocessing with VELOLIMA Axes: geometry axis, channel axis, machine axis $PA_JERKLIMA Jerk override set in preprocessing with JERKLIMA Axes: geometry axis, channel axis, machine axis $AA_ACCLIMA Acceleration override set in main run with ACCLIMA Axes: geometry axis, channel axis, machine axis $AA_VELOLIMA Velocity override set in main run with VELOLIMA Axes: geometry axis, channel axis, machine axis $AA_JERKLIMA Jerk override set in main run with JERKLIMA Axes: geometry axis, channel axis, machine axis $AA_MOTEND Current motion end criterion at 1-axis interpolation 1 = Motion end at exact stop FINE 2 = Motion end at exact stop COARSE 3 = Motion end at exact stop, IPO stop 4 = Block change in braking ramp of axis motion 5 = Block change in braking ramp of axis motion with tolerance window with regard to setpoint 6 = Block change in braking ramp of axis motion with tolerance window with regard to actual value Axes: geometry axis, channel axis, machine axis $AA_SCPAR Read current servo parameter set Axes: geometry axis, channel axis, machine axis $AA_ESR_STAT[X] Status of "Extended stop and retract", bit-coded: BIT0: Generator operation triggered BIT1: Retraction triggered BIT2: Ext. stop triggered BIT3: DC link undervoltage BIT4: Generator minimum speed Axes: geometry axis, channel axis, machine axis $AA_ESR_ENABLE[X] = 1 Enable "Extended stop and retract" Axes: geometry axis, channel axis, machine axis

Parts pr.

Sync R

S 6 . 4 6 . 4 6 . 4 6 . 4 6 . 4 6 . 4 5

$PA_VELOLIMA

INT

$PA_JERKLIMA

INT

$AA_ACCLIMA

INT

$AA_VELOLIMA

INT

$AA_JERKLIMA

INT

$AA_MOTEND

INT

$AA_SCPAR

INT

$AA_ESR_STAT

INT

$AA_ESR_ENA BLE

BOOL

15-694

11.02

Tables

15.2 List of system variables

Identifier $AA_ESR_TRIG GER $AA_POLFA

Type BOOL

Description: System variable/value range/index $AA_ESR_TRIGGER = 1 Trigger "NC-driven ESR" for PLC controlled axis Axes: channel axis $AA_POLFA[X] X: Single axis returns the programmed return position of the single axis Axes: geometry axis, channel axis, machine axis $AA_POLFA_VALID[X] X: Retraction programmed for this single axis, returns 0: Single axis retraction not programmed 1: Retraction programmed as position 2: Retraction programmed as distance Axes: geometry axis, channel axis, machine axis $AA_ALARM_STAT (Selected) alarm reactions for synchronized actions (SYNFCT) Axes: channel axis EVERY $AN_AXCTSWA[n] == TRUE DO M99 Read: TRUE: an axis container rotation is currently being executed on the container with the axis container name n FALSE: No active axis container rotation is active Read: Axis container rotation current rotation: The number of slots the axis container has currently been advanced is indicated for the axis container with axis container name n. The value range is from 0 to the maximum number of assigned slots in axis container -1 IF $AC_AXCTSWA[n] == TRUE GOTOB MARK1 Read: TRUE: The channel has enabled axis container rotation for the axis container name n and the rotation has not yet been completed. FALSE: The axis container rotation is terminated. $AA_EG_TYPE[a,b] a: Following axis b: Leading axis Type of coupling for leading axis b 0: Actual-value coupling 1: Setpoint linkage Axes: geometry axis, channel axis, machine axis $AA_EG_NUMERA[a,b] a: Following axis b: Leading axis Numerator of coupling factor for leading axis b Axes: geometry axis, channel axis, machine axis

Parts pr.

Sync R W

S 6 . 4 6 . 4 6 . 4

REAL

$AA_POLFA_VA LID

INT

$AA_ALARM_S TAT

INT

6 . 4 5

$AN_AXCTSWA

BOOL

$AN_AXCTAS

INT

$AC_AXCTSWA

BOOL

$AA_EG_TYPE

INT

6 . 1

$AA_EG_NUME RA

REAL

6 . 1

15-695

Tables

11.02

15.2 List of system variables

Identifier $AA_EG_DENOM

Type REAL

Description: System variable/value range/index $AA_EG_DENOM[a,b] a: Following axis b: Leading axis Denominator of coupling factor for leading axis b Axes: geometry axis, channel axis, machine axis $AA_EG_SYN[a,b] a: Following axis b: Leading axis Synchronized position of leading axis b Axes: geometry axis, channel axis, machine axis $AA_EG_ACTIVE[a,b] a: Following axis b: Leading axis Coupling for leading axis b is active, i.e. switched on Axes: geometry axis, channel axis, machine axis

Parts pr. RS

Sync R

S 6 . 1

$AA_EG_SYN

REAL

6 . 1

$AA_EG_ACTIVE

BOOL

6 . 1

15.2.59
Identifier $A_STOPESI

Safety Integrated
Type INT Description: System variable/value range/index Current Safety Integrated Stop E for any axis: Value 0: no Stop E Value not equal to 0: There is currently a Stop E at one of the axes $A_INSE[n] Image of a Safety input signal (ext. NCK interface) n: Number of input 1 - ... $A_INSED[n] Image of Safety input signals (ext. NCK interface) n: Number of input word 1 - ... $A_INSEP[n] Image of a Safety input signal (ext. PLC interface) n: Number of input 1 - ... $A_INSEPD[n] Image of Safety input signals (ext. PLC interface) n: Number of input word 0 - ... $A_OUTSE[n] Image of a Safety output signal (ext. NCK interface) n: Number of output 1 - ... $A_OUTSED[n] Image of Safety output signals (ext. NCK interface) n: Number of output word 1 - ... $A_OUTSEP[n] Image of a Safety output signal (ext. PLC interface) n: Number of output 1 - ... Parts pr. RS Sync R O S 6 . 4 6 . 3 6 . 3 6 . 4 6 . 3 6 . 4 6 . 3 6 . 3

$A_INSE

BOOL

$A_INSED

INT

$A_INSEP

BOOL

$A_INSEPD

INT

$A_OUTSE

BOOL

$A_OUTSED

INT

$A_OUTSEP

BOOL

15-696

11.02

Tables

15.2 List of system variables

Identifier $A_OUTSEPD

Type INT

Description: System variable/value range/index $A_OUTSEPD[n] Image of Safety output signals (ext. PLC interface) n: Number of output word 0 - ... $A_INSI[n] Image of a Safety input signal (int. NCK interface) n: Number of input 1 - ... $A_INSID[n] Image of Safety input signals (int. NCK interface) n: Number of input word 1 - ... $A_INSIP[n] Image of a Safety input signal (int. PLC interface) n: Number of input word 1 - ... $A_INSIPD[n] Image of Safety input signals (int. PLC interface) n: Number of input word 1 - ... $A_OUTSI[n] Image of a Safety output signal (int. NCK interface) n: Number of output 1 - ... $A_OUTSID[n] Image of Safety output signals (int. NCK interface) n: Number of output word 1 - ... $A_OUTSIP[n] Image of a Safety output signal (int. PLC interface) n: Number of output 1 - ... $A_OUTSIPD[n] Image of Safety output signals (int. PLC interface) n: Number of output word 1 - ... $A_MARKERSI[n] Markers for Safety programming n: Number of marker 1 - ... $A_MARKERSID[n] Marker word (32 bits) for Safety programming n: Number of marker word 1 - ... $A_MARKERSIP[n] Image of PLC Safety markers n: Number of marker 1 - ... $A_MARKERSIPD[n] Image of PLC Safety marker words n: Number of marker word 1 - ...

Parts pr. RS

Sync R

S 6 . 4 6 . 3 6 . 4 6 . 4 6 . 4 6 . 4 6 . 3 6 . 3 6 . 3 6 . 3 6 . 3 6 . 3 6 . 3

$A_INSI

BOOL

$A_INSID

INT

$A_INSIP

BOOL

$A_INSIPD

INT

$A_OUTSI

BOOL

$A_OUTSID

INT

$A_OUTSIP

BOOL

$A_OUTSIPD

INT

$A_MARKERSI

BOOL

W +

$A_MARKERSID

INT

W +

$A_MARKERSIP

BOOL

$A_MARKERSI PD

INT

15-697

Tables

11.02

15.2 List of system variables

Identifier $A_TIMERSI

Type REAL

Description: System variable/value range/index $A_TIMERSI[n] Safety timer - unit in seconds Time is counted internally in multiples of the interpolation cycle; Counting for the time variable is started by assigning the value $A_TIMERSI[n]=<start value> To stop the counter variable, assign a negative value: $A_TIMERSI[n]=-1 The current time can be read while the counter is active or stopped. Stopping the counter variable, by assigning -1 stops the last current time value which can then be read n: Number of timer 1 - ... $A_STATSID Safety: Status of cross-checking between NCK and PLC. If value is not equal to zero, there is a cross-checking error $A_CMDSI[n] Safety: Control word for cross-checking between NCK and PLC. Array index n = 1: Increase timer for signal change monitoring to 10s n: Number of control signal for cross-checking NCK - PLC $A_LEVELSID Safety: Display of signal change monitoring level. Indicates the current number of signals marked for cross-checking. Information on Safety Integrated Stop F for an axis: Bit 0 is set: During crosschecking between NCK and 611D, an actual value error has been discovered on an axis. Bit 1 is set: During crosschecking between NCK and 611D, an error has been discovered on an axis and the wait time before Stop B is triggered is running or has expired ($MA_SAFE_STOP_SWITCH_TIME_F). $A_PLCSIIN[n] Communication from PLC-SPL to NCK-SPL n: Number of signal 1 - ... from the PLC $A_PLCSIOUT[n] Communication from NCK-SPL to PLCSPL n: Number of signal 1 - ... to the PLC

Parts pr. RS WS

Sync R

S 6 . 3

W +

$A_STATSID

INT

$A_CMDSI

BOOL

W +

6 . 3 6 . 3

$A_LEVELSID

INT

$A_XFAULTSI

INT

6 . 3 6 . 4

$A_PLCSIIN

BOOL

$A_PLCSIOUT

BOOL

W +

6 . 4 6 . 4

15-698

11.02

Tables

15.2 List of system variables

Identifier $VA_IS

Type REAL

Description: System variable/value range/index $VA_IS[X] Reliable actual position (SISITEC) Axes: geometry axis, channel axis, machine axis $VA_STOPSI[X] Current Safety Integrated Stop for the particular axis Value Meaning -1 No stop 0 Stop A 1 Stop B 2 Stop C 3 Stop D 4 Stop E 5 Stop F 10 Test stop NC 11 Test ext. pulse suppression Axes: geometry axis, channel axis, machine axis Information on Safety Integrated Stop F for this axis: Bit 0 is set: During crosschecking between NCK and 611D, an actual value error has been discovered. Bit 1 is set: During crosschecking between NCK and 611D, an error has been discovered and the wait time before Stop B ($MA_SAFE_STOP_SWITCH_TIME_F) is triggered is running or has expired Axes: geometry axis, channel axis, machine axis

Parts pr. RS

Sync R

S 6 . 4 6 . 4

$VA_STOPSI

INT

$VA_XFAULTSI

INT

6 . 4

15-699

Tables

11.02

15.2 List of system variables

15-700

11.02

Appendix

Appendix
A B Index ..............................................................................................................................A-702 Commands, Identifiers....................................................................................................A-719

A-701

Appendix

11.02

Index

Index
$A_OUTA 15-657 $A_OUTSE 15-696 $A_OUTSED 15-696 $A_OUTSEP 15-696 $A_OUTSEPD 15-697 $A_OUTSI 15-697 $A_OUTSID 15-697 $A_OUTSIP 15-697 $A_OUTSIPD 15-697 $A_PBB_IN 15-658 $A_PBB_OUT 15-659 $A_PBD_IN 15-658 $A_PBD_OUT 15-659 $A_PBR_IN 15-658 $A_PBR_OUT 15-659 $A_PBW_IN 15-658 $A_PBW_OUT 15-659 $A_PLCSIIN 15-698 $A_PLCSIOUT 15-698 $A_PROBE 15-652 $A_PROTO 15-655 $A_PROTOC 15-655 $A_SECOND 15-662 $A_STATSID 15-698 $A_STOPESI 15-696 $A_TIMERSI 15-698 $A_TOOLMLN 15-641 $A_TOOLMN 15-641 $A_XFAULTSI 15-698 $A_YEAR 15-662 $AA_ACC 15-693 $AA_ACCLIMA 15-694 $AA_ACT_INDEX_AX_POS_NO 15-679 $AA_ALARM_STAT 15-695 $AA_COUP_ACT 9-361, 9-378, 13-503, 15-691 $AA_COUP_OFFS 13-503, 15-693 $AA_CURR 15-687 $AA_DELT 15-685 $AA_DTBB 15-684 $AA_DTBW 15-684

$ $A_CMDSI 15-698 $A_DAY 15-662 $A_DBB 15-657 $A_DBD 15-657 $A_DBR 15-657 $A_DBW 15-657 $A_DLB 15-658 $A_DLD 15-658 $A_DLR 15-658 $A_DLW 15-658 $A_DNO 15-646 $A_GG 15-647 $A_HOUR 15-662 $A_IN 15-657 $A_INA 15-657 $A_INCO 15-657 $A_INSE 15-696 $A_INSED 15-696 $A_INSEP 15-696 $A_INSEPD 15-696 $A_INSI 15-697 $A_INSID 15-697 $A_INSIP 15-697 $A_INSIPD 15-697 $A_LEVELSID 15-698 $A_LINK_TRANS_RATE 15-658 $A_MARKERSI 15-697 $A_MARKERSID 15-697 $A_MARKERSIP 15-697 $A_MARKERSIPD 15-697 $A_MINUTE 15-662 $A_MONIFACT 15-641 $A_MONTH 15-662 $A_MSECOND 15-662 $A_MYMLN 15-641 $A_MYMN 15-641 $A_OUT 15-657

A-702

11.02

Appendix

Index

$AA_DTEB 15-684 $AA_DTEPB 15-685 $AA_DTEPW 15-685 $AA_DTEW 15-684 $AA_EG_ACTIVE 15-696 $AA_EG_AX 15-692 $AA_EG_DENOM 15-696 $AA_EG_NUM_LA 15-691 $AA_EG_NUMERA 15-695 $AA_EG_SYN 15-696 $AA_EG_SYNFA 15-691 $AA_EG_TYPE 15-695 $AA_ENC_ACTIVE 15-679 $AA_ENC_COMP 15-626 $AA_ENC_COMP_IS_MODULO 15-627 $AA_ENC_COMP_MAX 15-627 $AA_ENC_COMP_MIN 15-627 $AA_ENC_COMP_STEP 15-626 $AA_ENC1_ACTIVE 15-679 $AA_ENC2_ACTIVE 15-679 $AA_ESR_ENABLE 15-694 $AA_ESR_STAT 15-694 $AA_ESR_TRIGGER 15-695 $AA_ETRANS 15-681 $AA_FOC 15-691 $AA_FXS 15-690 $AA_IB 15-678 $AA_IBN 15-678 $AA_IEN 15-678 $AA_IM 15-678 $AA_IN_SYNC 15-693 $AA_IW 15-678 $AA_JERKLIMA 15-694 $AA_LEAD_P 15-692 $AA_LEAD_P_TURN 15-692 $AA_LEAD_SP 9-378, 15-692 $AA_LEAD_SV 9-378, 15-692 $AA_LEAD_V 15-693 $AA_LOAD 15-687 $AA_MASL_STAT 15-689 $AA_MEAACT 15-681 $AA_MEAS_P1_VALID 15-681 $AA_MEAS_P2_VALID 15-681 $AA_MEAS_P3_VALID 15-681

$AA_MEAS_P4_VALID 15-681 $AA_MEAS_POINT1 15-681 $AA_MEAS_POINT2 15-681 $AA_MEAS_POINT3 15-682 $AA_MEAS_POINT4 15-682 $AA_MEAS_SETANGLE 15-682 $AA_MEAS_SETPOINT 15-682 $AA_MEAS_SP_VALID 15-682 $AA_MM 15-680 $AA_MM1 15-680 $AA_MM2 15-680 $AA_MM3 15-680 $AA_MM4 15-681 $AA_MOTEND 5-230, 15-694 $AA_MW 15-680 $AA_MW1 15-680 $AA_MW2 15-680 $AA_MW3 15-680 $AA_MW4 15-680 $AA_OFF 15-682 $AA_OFF_LIMIT 15-682 $AA_OFF_VAL 15-682 $AA_OSCILL_REVERSE_POS1 15-685 $AA_OSCILL_REVERSE_POS2 15-685 $AA_OVR 15-686 $AA_POLFA 15-695 $AA_POLFA_VALID 15-695 $AA_POWER 15-687 $AA_PROG_INDEX_AX_POS_NO 15-679 $AA_QEC 15-627 $AA_QEC_ACCEL_1 15-627 $AA_QEC_ACCEL_2 15-628 $AA_QEC_ACCEL_3 15-628 $AA_QEC_COARSE_STEPS 15-627 $AA_QEC_DIRECTIONAL 15-628 $AA_QEC_FINE_STEPS 15-627 $AA_QEC_LEARNING_RATE 15-628 $AA_QEC_MEAS_TIME_1 15-628 $AA_QEC_MEAS_TIME_2 15-628 $AA_QEC_MEAS_TIME_3 15-628 $AA_QEC_TIME_1 15-628 $AA_QEC_TIME_2 15-628 $AA_REF 15-689 $AA_REPOS_DELAY 15-678

A-703

Appendix

11.02

Index

$AA_S 15-667 $AA_SCPAR 5-232, 15-694 $AA_SCTRACE 15-693 $AA_SNGLAX_STAT 15-689 $AA_SOFTENDN 15-683 $AA_SOFTENDP 15-683 $AA_STAT 15-688 $AA_SYNC 15-693 $AA_TOFF 15-683 $AA_TOFF_LIMIT 15-683 $AA_TOFF_PREP_DIFF 15-683 $AA_TOFF_VAL 15-683 $AA_TORQUE 15-687 $AA_TYP 15-689 $AA_VACTB 15-686 $AA_VACTM 15-687 $AA_VACTW 15-686 $AA_VC 15-686 $AA_VELOLIMA 15-694 $AC_ACTUAL_PARTS 15-672 $AC_ALARM_STAT 15-672 $AC_ASUB 15-654 $AC_AXCTSWA 15-695 $AC_BLOCKTYPE 15-651 $AC_CONSTCUT_S 15-667 $AC_CUTTING_TIME 15-672 $AC_CYCLE_TIME 15-672 $AC_DELT 15-665 $AC_DRF 15-681 $AC_DTBB 15-664 $AC_DTBW 15-663 $AC_DTEB 15-664 $AC_DTEW 15-664 $AC_ESR_TRIGGER 15-672 $AC_F 15-665 $AC_FCT0 15-671 $AC_FCT1 15-671 $AC_FCT1C 15-670 $AC_FCT1LL 15-670 $AC_FCT1UL 15-670 $AC_FCT2 15-671 $AC_FCT2C 15-670 $AC_FCT2LL 15-670 $AC_FCT2UL 15-670

$AC_FCT3 15-671 $AC_FCT3C 15-670 $AC_FCT3LL 15-670 $AC_FCT3UL 15-670 $AC_FCTLL 15-670 $AC_FCTUL 15-670 $AC_FIFO1 15-656 $AC_FIFO2 15-656 $AC_FIFO3 15-656 $AC_G0MODE 15-673 $AC_IPO_BUF 15-651 $AC_IW_STAT 15-651 $AC_IW_TU 15-651 $AC_JOG_COORD 15-652 $AC_LIFTFAST 15-652 $AC_MARKER 15-591 $AC_MEA 15-652 $AC_MEAS_ACT_PLANE 15-674 $AC_MEAS_CHBFR 15-674 $AC_MEAS_CHSFR 15-674 $AC_MEAS_CORNER_ANGLE 15-676 $AC_MEAS_CORNER_SETANGLE 15-674 $AC_MEAS_D_NUMBER 15-675 $AC_MEAS_DIAMETER 15-676 $AC_MEAS_DIR_APPROACH 15-674 $AC_MEAS_FINE_TRANS 15-674 $AC_MEAS_FRAME 15-676 $AC_MEAS_FRAME_SELECT 15-674 $AC_MEAS_LATCH 15-673 $AC_MEAS_NCBFR 15-674 $AC_MEAS_P1_COORD 15-673 $AC_MEAS_P2_COORD 15-673 $AC_MEAS_P3_COORD 15-673 $AC_MEAS_P4_COORD 15-673 $AC_MEAS_PFRAME 15-675 $AC_MEAS_RESULTS 15-677 $AC_MEAS_SCALEUNIT 15-677 $AC_MEAS_SEMA 15-673 $AC_MEAS_SET_COORD 15-673 $AC_MEAS_T_NUMBER 15-675 $AC_MEAS_TOOL_LENGTH 15-676 $AC_MEAS_TOOL_MASK 15-675 $AC_MEAS_TYPE 15-675 $AC_MEAS_UIFR 15-674

A-704

11.02

Appendix

Index

$AC_MEAS_VALID 15-676 $AC_MEAS_WP_ANGLE 15-676 $AC_MEAS_WP_SETANGLE 15-674 $AC_MONMIN 15-646 $AC_MSNUM 15-669 $AC_MTHNUM 15-670 $AC_OPERATING_TIME 15-672 $AC_OVR 15-665 $AC_PARAM 15-591 $AC_PATHACC 15-666 $AC_PATHJERK 15-666 $AC_PATHN 15-663 $AC_PLTBB 15-664 $AC_PLTEB 15-664 $AC_PRESET 15-681 $AC_PROG 15-651 $AC_PRTIME_A 15-663 $AC_PRTIME_A_INC 15-663 $AC_PRTIME_M 15-663 $AC_PRTIME_M_INC 15-663 $AC_REPOS_PATH_MODE 15-664 $AC_REQUIRED_PARTS 15-672 $AC_RETPOINT 15-683 $AC_ROT_SYS 15-652 $AC_SDIR 15-667 $AC_SERUPRO 15-677 $AC_SGEAR 15-668 $AC_SMODE 15-668 $AC_SPECIAL_PARTS 15-672 $AC_STAT 15-651 $AC_SYNA_MEM 15-651 $AC_SYSTEM_MARKER 15-592 $AC_SYSTEM_PARAM 15-591 $AC_TANEB 15-651 $AC_TC 15-640 $AC_TC_ACKC 15-660 $AC_TC_ACKT 15-659 $AC_TC_CMDC 15-660 $AC_TC_CMDT 15-659 $AC_TC_FCT 15-660 $AC_TC_LFN 15-660 $AC_TC_LFO 15-661 $AC_TC_LMYN 15-660 $AC_TC_LTN 15-661

$AC_TC_LTO 15-661 $AC_TC_MFN 15-660 $AC_TC_MFO 15-661 $AC_TC_MMYN 15-660 $AC_TC_MTN 15-661 $AC_TC_MTO 15-661 $AC_TC_STATUS 15-660 $AC_TC_THNO 15-660 $AC_TC_TNO 15-660 $AC_TIME 15-662 $AC_TIMEC 15-662 $AC_TIMER 15-662 $AC_TOOLO_ACT 15-639 $AC_TOOLO_DIFF 15-639 $AC_TOOLO_END 15-639 $AC_TOTAL_PARTS 15-672 $AC_TRAFO 15-652 $AC_TRAFO_PAR 15-652 $AC_TRAFO_PARSET 15-652 $AC_TRANS_SYS 15-651 $AC_VACTB 15-666 $AC_VACTW 15-666 $AC_VC 15-666 $AN_AXCTAS 15-695 $AN_AXCTSWA 15-695 $AN_BUS_FAIL_TRIGGER 15-672 $AN_CEC 15-629 $AN_CEC_DIRECTION 15-629 $AN_CEC_INPUT_AXIS 15-629 $AN_CEC_IS_MODULO 15-629 $AN_CEC_MAX 15-629 $AN_CEC_MIN 15-629 $AN_CEC_MULT_BY_TABLE 15-629 $AN_CEC_OUTPUT_AXIS 15-629 $AN_CEC_STEP 15-629 $AN_ESR_TRIGGER 15-672 $AN_NCK_VERSION 15-636 $AN_POWERON_TIME 15-636 $AN_SETUP_TIME 15-636 $C_A 15-631 $C_A_PROG 15-633 $C_ALL_PROG 15-634 $C_B 15-631 $C_B_PROG 15-633

A-705

Appendix

11.02

Index

$C_DL 15-632 $C_DL_PROG 15-633 $C_H 15-631 $C_I 15-632 $C_I_NUM 15-634 $C_I_ORDER 15-635 $C_IN 15-659 $C_INC_PROG 15-634 $C_J 15-632 $C_J_NUM 15-634 $C_J_ORDER 15-635 $C_K 15-632 $C_K_NUM 15-634 $C_K_ORDER 15-635 $C_L 15-632 $C_M 15-632 $C_MACPAR 15-635 $C_ME 15-635 $C_OUT 15-659 $C_TE 15-635 $C_TS 15-632 $C_TS_PROG 15-634 $C_TYP_PROG 15-634 $C_Z 15-632 $C_Z_PROG 15-633 $MC_COMPESS_VELO_TOL. 9-384 $P_ACTBFRAME 15-637 $P_ACTFRAME 15-637 $P_ACTGEOAX 15-647 $P_ACTID 15-650 $P_AD 15-638 $P_ADT 15-638 $P_AEP 15-678 $P_AP 15-646 $P_APDV 15-665 $P_APR 15-678 $P_ATPG 15-646 $P_AXN1 15-646 $P_AXN2 15-646 $P_AXN3 15-647 $P_BFRAME 15-637 $P_CHANNO 15-677 $P_CHBFR 15-592 $P_CHBFRAME 15-637

$P_CHBFRMASK 15-637 $P_CONSTCUT_S 15-667 $P_COUP_OFFS 15-693 $P_CTABDEF 15-648 $P_CYCFR 15-592 $P_CYCFRAME 15-636 $P_D 15-641 $P_DLNO 15-638 $P_DRYRUN 15-649 $P_EG_BC 15-691 $P_EP 15-677 $P_EPM 15-678 $P_EXTFR 15-592 $P_EXTFRAME 15-636 $P_EXTGG 15-647 $P_F 15-665 $P_FA 15-685 $P_GG 15-647 $P_GWPS 15-670 $P_H 15-641 $P_IFRAME 15-637 $P_ISTEST 15-655 $P_LIFTFAST 15-653 $P_MAG 15-643 $P_MAGA 15-645 $P_MAGDISL 15-644 $P_MAGDISS 15-643 $P_MAGHLT 15-645 $P_MAGN 15-643 $P_MAGNA 15-645 $P_MAGNDIS 15-643 $P_MAGNH 15-645 $P_MAGNHLT 15-645 $P_MAGNREL 15-644 $P_MAGNS 15-644 $P_MAGREL 15-644 $P_MAGS 15-644 $P_MC 15-648 $P_MMCA 15-655 $P_MSNUM 15-669 $P_MTHNUM 15-669 $P_MTHSDC 15-645 $P_NCBFR 15-593 $P_NCBFRAME 15-637

A-706

11.02

Appendix

Index

$P_NCBFRMASK 15-637 $P_NUM_SPINDLES 15-669 $P_OFFN 15-649 $P_PARTFR 15-592 $P_PARTFRAME 15-636 $P_PFRAME 15-637 $P_POLF 15-678 $P_POLF_VALID 15-678 $P_PROG 15-649 $P_PROG_EVENT 15-649 $P_PROGPATH 15-649 $P_REPINF 15-648 $P_S 15-667 $P_SAUTOGEAR 15-668 $P_SDIR 15-667 $P_SEARCH 15-647 $P_SEARCH_MASLC 15-689 $P_SEARCH_MASLD 15-690 $P_SEARCH_S 15-667 $P_SEARCH_SDIR 15-667 $P_SEARCH_SGEAR 15-669 $P_SEARCH_SPOS 15-669 $P_SEARCH_SPOSMODE 15-669 $P_SEARCH1 15-647 $P_SEARCH2 15-647 $P_SEARCHL 15-648 $P_SETFR 15-592 $P_SETFRAME 15-636 $P_SGEAR 15-668 $P_SIM 15-648 $P_SMODE 15-668 $P_STACK 15-649 $P_SUBPAR 15-648 $P_TC 15-640 $P_TCANG 15-640 $P_TCDIFF 15-640 $P_TCSOL 15-640 $P_TCSTAT 15-640 $P_TOOL 15-638 $P_TOOLD 15-642 $P_TOOLENV 15-646 $P_TOOLENVN 15-646 $P_TOOLEXIST 15-641 $P_TOOLFR 15-592

$P_TOOLFRAME 15-636 $P_TOOLL 15-639 $P_TOOLND 15-641 $P_TOOLNDL 15-642 $P_TOOLNG 15-642 $P_TOOLNO 15-639 $P_TOOLNT 15-642 $P_TOOLO 15-639 $P_TOOLP 15-639 $P_TOOLR 15-640 $P_TOOLT 15-642 $P_TRAFO 15-652 $P_TRAFO_PAR 15-652 $P_TRAFO_PARSET 15-652 $P_TRAFR 15-593 $P_UBFR 15-636 $P_UIFR 15-592 $P_UIFRNUM 15-637 $P_USEKT 15-642 $P_VDITCP 15-646 $P_WPFR 15-592 $P_WPFRAME 15-636 $PA_ACCLIMA 15-694 $PA_JERKLIMA 15-694 $PA_VELOLIMA 15-694 $PI 15-649 $SA_LEAD_TYPE 9-377, 9-378 $SC_PA_ACTIV_IMMED 15-601 $SC_PA_CENT_ABS 15-603 $SC_PA_CENT_ORD 15-603 $SC_PA_CONT_ABS 15-603 $SC_PA_CONT_NUM 15-602 $SC_PA_CONT_ORD 15-602 $SC_PA_CONT_TYP 15-602 $SC_PA_LIM_3DIM 15-602 $SC_PA_MINUS_LIM 15-602 $SC_PA_ORI 15-602 $SC_PA_PLUS_LIM 15-602 $SC_PA_T_W 15-601 $SN_PA_ACTIV_IMMED 15-630 $SN_PA_CENT_ABS 15-631 $SN_PA_CENT_ORD 15-631 $SN_PA_CONT_ABS 15-631 $SN_PA_CONT_NUM 15-630

A-707

Appendix

11.02

Index

$SN_PA_CONT_ORD 15-631 $SN_PA_CONT_TYP 15-631 $SN_PA_LIM_3DIM 15-630 $SN_PA_MINUS_LIM 15-630 $SN_PA_ORI 15-630 $SN_PA_PLUS_LIM 15-630 $SN_PA_T_W 15-630 $TC_ADPT1 15-626 $TC_ADPT2 15-626 $TC_ADPT3 15-626 $TC_ADPTT 15-626 $TC_CARR1 15-593 $TC_CARR1...14 8-346 $TC_CARR10 15-594 $TC_CARR11 15-594 $TC_CARR12 15-595 $TC_CARR13 15-595 $TC_CARR14 15-595 $TC_CARR15 15-595 $TC_CARR16 15-595 $TC_CARR17 15-595 $TC_CARR18 15-595 $TC_CARR18[m] 8-346 $TC_CARR19 15-595 $TC_CARR2 15-593 $TC_CARR20 15-595 $TC_CARR21 15-596 $TC_CARR22 15-596 $TC_CARR23 15-596 $TC_CARR24 15-596 $TC_CARR24[m] 8-348 $TC_CARR25 15-596 $TC_CARR26 15-596 $TC_CARR27 15-597 $TC_CARR28 15-597 $TC_CARR29 15-598 $TC_CARR3 15-594 $TC_CARR30 15-598 $TC_CARR31 15-598 $TC_CARR32 15-599 $TC_CARR33 15-599 $TC_CARR34 15-600 $TC_CARR35 15-600 $TC_CARR36 15-600

$TC_CARR37 15-601 $TC_CARR38 15-601 $TC_CARR39 15-601 $TC_CARR4 15-594 $TC_CARR40 15-601 $TC_CARR5 15-594 $TC_CARR6 15-594 $TC_CARR7 15-594 $TC_CARR8 15-594 $TC_CARR9 15-594 $TC_DP1 15-603 $TC_DP10 15-604 $TC_DP11 15-605 $TC_DP12 15-605 $TC_DP13 15-605 $TC_DP14 15-605 $TC_DP15 15-605 $TC_DP16 15-605 $TC_DP17 15-606 $TC_DP18 15-606 $TC_DP19 15-606 $TC_DP2 15-603 $TC_DP20 15-606 $TC_DP21 15-606 $TC_DP22 15-606 $TC_DP23 15-607 $TC_DP24 15-607 $TC_DP25 15-607 $TC_DP3 15-603 $TC_DP4 15-604 $TC_DP5 15-604 $TC_DP6 15-604 $TC_DP7 15-604 $TC_DP8 15-604 $TC_DP9 15-604 $TC_DPC1 15-609 $TC_DPC10 15-609 $TC_DPC2 15-609 $TC_DPC3 15-609 $TC_DPCE 15-607 $TC_DPCS1 15-610 $TC_DPCS10 15-610 $TC_DPCS2 15-610 $TC_DPCS3 15-610

A-708

11.02

Appendix

Index

$TC_DPH 15-607 $TC_DPV 15-607 $TC_DPV3 15-608 $TC_DPV4 15-608 $TC_DPV5 15-608 $TC_ECP13 15-614 $TC_ECP14 15-614 $TC_ECP21 15-614 $TC_ECP23 15-614 $TC_ECP24 15-614 $TC_ECP31 15-614 $TC_ECP33 15-615 $TC_ECP34 15-615 $TC_ECP41 15-615 $TC_ECP43 15-615 $TC_ECP44 15-615 $TC_ECP51 15-615 $TC_ECP53 15-616 $TC_ECP54 15-616 $TC_ECP61 15-616 $TC_ECP63 15-616 $TC_ECP64 15-616 $TC_ECP71 15-616 $TC_MAMP1 15-626 $TC_MAMP2 15-626 $TC_MAMP3 15-626 $TC_MAP1 15-624 $TC_MAP10 15-625 $TC_MAP2 15-624 $TC_MAP3 15-624 $TC_MAP4 15-624 $TC_MAP5 15-624 $TC_MAP6 15-624 $TC_MAP7 15-625 $TC_MAP8 15-625 $TC_MAP9 15-625 $TC_MAPC1 15-625 $TC_MAPC10 15-625 $TC_MAPC2 15-625 $TC_MAPCS1 15-625 $TC_MAPCS10 15-625 $TC_MAPCS2 15-625 $TC_MDP1 15-623 $TC_MDP2 15-623

$TC_MLSR 15-624 $TC_MOP1 15-617 $TC_MOP11 15-617 $TC_MOP13 15-617 $TC_MOP15 15-617 $TC_MOP2 15-617 $TC_MOP3 15-617 $TC_MOP4 15-617 $TC_MOP5 15-617 $TC_MOP6 15-617 $TC_MOPC1 15-618 $TC_MOPC10 15-618 $TC_MOPC2 15-618 $TC_MOPCS1 15-618 $TC_MOPCS10 15-618 $TC_MOPCS2 15-618 $TC_MPP1 15-622 $TC_MPP2 15-622 $TC_MPP3 15-622 $TC_MPP4 15-622 $TC_MPP5 15-622 $TC_MPP6 15-622 $TC_MPP66 15-622 $TC_MPP7 15-622 $TC_MPPC1 15-623 $TC_MPPC10 15-623 $TC_MPPC2 15-623 $TC_MPPCS1 15-623 $TC_MPPCS10 15-623 $TC_MPPCS2 15-623 $TC_MPTH 15-624 $TC_SCP13 15-611 $TC_SCP14 15-611 $TC_SCP21 15-611 $TC_SCP23 15-611 $TC_SCP24 15-611 $TC_SCP31 15-611 $TC_SCP33 15-612 $TC_SCP34 15-612 $TC_SCP41 15-612 $TC_SCP43 15-612 $TC_SCP44 15-612 $TC_SCP51 15-612 $TC_SCP53 15-613

A-709

Appendix

11.02

Index

$TC_SCP54 15-613 $TC_SCP61 15-613 $TC_SCP63 15-613 $TC_SCP64 15-613 $TC_SCP71 15-613 $TC_TP1 15-619 $TC_TP10 15-619 $TC_TP11 15-619 $TC_TP2 15-619 $TC_TP3 15-619 $TC_TP4 15-619 $TC_TP5 15-619 $TC_TP6 15-619 $TC_TP7 15-619 $TC_TP8 15-619 $TC_TP9 15-619 $TC_TPC1 15-619 $TC_TPC10 15-620 $TC_TPC2 15-620 $TC_TPCS1 15-620 $TC_TPCS10 15-620 $TC_TPCS2 15-620 $TC_TPG1 15-621 $TC_TPG2 15-621 $TC_TPG3 15-621 $TC_TPG4 15-621 $TC_TPG5 15-621 $TC_TPG6 15-621 $TC_TPG7 15-621 $TC_TPG8 15-621 $TC_TPG9 15-621 $VA_COUP_OFFS 15-693 $VA_CURR 15-688 $VA_DIST_TORQUE 15-688 $VA_DP_ACT_TEL 15-688 $VA_DPE 15-693 $VA_EG_SYNCDIFF 15-691 $VA_EG_SYNCDIFF_S 15-692 $VA_FOC 15-691 $VA_FXS 15-690 $VA_FXS_INFO 15-690 $VA_IM 15-679 $VA_IM1 15-680 $VA_IM2 15-680

$VA_IS 15-699 $VA_LOAD 15-687 $VA_POWER 15-687 $VA_PRESSURE_A 15-688 $VA_PRESSURE_B 15-688 $VA_STOPSI 15-699 $VA_TORQUE 15-687 $VA_TORQUE_AT_LIMIT 15-690 $VA_VACTM 15-687 $VA_VALVELIFT 15-688 $VA_XFAULTSI 15-699 $VC_TOOLO 15-639 $VC_TOOLO_DIFF 15-640 $VC_TOOLO_STAT 15-640

A-710

11.02

Appendix

Index

B A Actual value and setpoint coupling 9-376 Actual-value coupling 13-495 Adaptive control, additive 10-424 Adaptive control, multiplicative 10-425 Angle of rotation 1, 2 8-346 Angle offset/angle increment of the rotary axes 8-348 Angle reference 13-501 Approaching coded positions 5-186 Arithmetic functions 1-46 Arithmetic operations/functions 1-46 Arithmetic parameter 1-26 Array definition 1-34 Array definition, value lists 1-36 Array index 1-35 Assign and start interrupt routine 1-79 Assignments 1-45 ASUB 10-452 Asynchronized oscillation 11-456 Automatic "GET" 1-87 Automatic path segmentation 12-480 Auxiliary functions 10-415 Auxiliary functions 12-480 Axial feed 10-433 Axial leading value coupling 9-375 Axis Container 13-526 Local 13-526 Axis container 13-526, 13-528 Axis coordination 10-434 Axis functions 13-489 Axis transfer Release axis 1-86 Axis transfer GET 1-85 Get axis 1-86 RELEASE 1-85 Backlash 13-493 Block display 2-121, 2-125 Block search 10-452 C Calculate circle data 14-557 Calculate intersection of two contour elements 14-542 Calling frame 6-244 Calling up a program in ISO language indirectly with ISOCALL 2-121 CANCEL 10-453 Cancel synchronized action 10-449 CASE instruction 1-65 Channel-specific frames 6-257 CHECKSUM 1-98 Circular interpolation 5-212 Circumferential milling 8-328 Clamping axis/spindle 13-526 Clearance control 10-426 Coarse offset 6-248 Command axes 10-430 Command elements 10-397 Comparison and logic operators 1-48 Priority of operators 1-53 Compressor 5-196, 5-211 Compressor for orientations COMPON, COMPCURV 5-197 Computing capacity 13-522 Concatenation of strings 1-58 Constraints for transformations 7-302 Contour element 14-546, 14-548 Contour elements, intersection 14-554 Contour preparation Relief cut elements 14-544 Contour preparation 14-543, 14-550 Contour table 14-543, 14-550 Control structures 1-67 Coupled motion 9-358 Coupled-motion axes 9-359 Coupling factor 9-360 Coupled-axis combinations 9-359

A-711

Appendix

11.02

Index

Coupled-axis motion 10-438 Coupling 9-352, 9-358 Coupling 13-495 Cov.com, user cycles 2-138 Create interrupt routine as subprogram 1-78 CS 9-352 CTAB 9-369 CTABDEF 9-365 CTABEND 9-365 CTABINV 9-369 Current Angular offset 13-503 Coupling status following spindle 13-503 Current block display 2-125 Current channel basic frames 6-259 Current first basic frame in the channel 6-260 Current NCU-global basic frames 6-259 Current programmable frame 6-262 Current settable frame 6-261 Current system frames 6-259, 6-261, 6-262 Current total frame 6-262 Curve parameter 5-211 Curve tables 9-362 CUT 14-555 Cutter Reference point (FH) 8-334 Tip (FS) 8-334 Cutting edge number 8-341 Cycles Setting parameters for user cycles 2-136, 2-138 Cylinder peripheral curve transformation 7-290, 7-294 Offset contour normal OFFN 7-292 D D numbers Check 8-342 Determine T number 8-344 Free assignment 8-341 Rename 8-343 DC link backup 13-519 Deactivate/reactivate interrupt routine 1-79

Deactivating frames 6-252 Deactivation position 13-501 Defining user data 3-156 Degrees 9-364 DELETE 1-93 Delete couplings 13-502 Delete distance-to-go 5-221 Delete distance-to-go with preparation 10-418 Deletion of distance-to-go 10-418, 11-462 Denominator polynomial 5-209 Deselect transformation: TRAFOOF 7-304 Direct axis transfer: GETD 1-87 Displaying the block number programmed last 2-121 DRF offset 6-249 Drive-independent reactions 13-514 Drive-independent retract 13-521 Drive-independent stop 13-520 Dwell time 1-76 E EG Electronic gear 13-505 EGONSYNE 13-508 Electronic gear 13-505 End of program 10-451 Endless program 1-70 Error checkback 14-543, 14-550 Error responses 10-442 Euler angle 8-336 Evaluation function 10-423 EXECTAB 14-542 EXECUTE 4-176 Executing external subprogram 2-132 EXTCALL 2-132 Extended measuring function 5-218, 7-279 Extended stopping and retract 13-513 External zero offset 6-250

A-712

11.02

Appendix

Index

F F word polynomial 5-212 Face milling 7-272 Face turning External machining 14-543 Internal machining 14-543 FAxis 9-352, 9-358, 9-364, 9-375 Feed Axial 10-433 FGROUP Axes 5-211 FIFO variable 10-413 Fine offset 6-248 First basic frame in the channel 6-258 Flag variables 10-409 Following axis 9-375 FOR 1-68 Frame calculation 6-253 Frame chaining 6-245, 6-263 Frame rotation definition 6-247 Frame variable Coordinate transformation call 6-236 Frame variables 6-236 Assigning values 6-241 Definition of new frames 6-247 Predefined frame variables 6-237 Reading or changing frame components 6-243 Friction 13-493 G G code 5-211 Group 5-213 G643 5-212 Generator operation 13-519 GUD Automatic activation 3-162 H Hold time 11-459

I Identification number 10-398 Inclined axis programming G05, G07 7-300 Inclined axis transformation 7-296 Inclined axis, TRAANG 7-276, 7-297 Indirect G code programming 1-42 Indirect programming 1-40 Indirect subprogram call 1-41 Infeed Axis 11-472 Motion 11-467, 11-469 Suppress 11-464 Initialization program 3-153 Generating an initialization program 3-154 Loading initialization program 3-154 Saving initialization program 3-154 User data definition 3-156 Initiation of stroke 12-478 Interpolation cycle 13-523 Interrupt routine 1-77 Define the priority 1-79 Programmable traverse direction 1-77 Rapid lift from contour 1-80 Save interrupt position 1-78 Intersection procedure for 3D compensation 8-335 IPO cycle 11-470 ISD (Insertion Depth) 8-328 ISFILE 1-97 J Jump instruction CASE instruction 1-65 L Laser power control 10-422 LAxis 9-352, 9-358, 9-364, 9-375 Lead angle 7-270 Leading axis 9-375 Leading value coupling 10-439 Leading value simulation 9-378

A-713

Appendix

11.02

Index

Learn compensation characteristics 13-493 Linear interpolation 5-211, 5-212 Link axis 13-526 Link communication 13-522 Link module 13-523 Link variable Global 13-523 Logic operators 1-51 Longitudinal turning External machining 14-543 Internal machining 14-543 Lower/upper case 1-59 M M commands 12-479 M function Three-digit 2-143 M6 Subprogram call 2-136 MAC Automatic activation 3-162 MACH 14-543 Machine State, global 13-523 Machine and setting data 10-412 Macro technology 12-479 Macros 2-142 Max/min indicator 14-546, 14-548 MEAFRAME 6-253, 6-256 Measured value recording 5-217 Measurement 10-441 Measurement results 5-221 Measurements with touch trigger probe Programming measuring blocks 5-216 Status variable 5-216 Measuring probe status 5-222 Memory Memory structure 3-146 Program memory 3-146 User memory 3-146 Minimum position/maximum position of the rotary axis 8-348 Mode 11-463

Mode change 10-450 Motion control 13-534 Motion-synchronized actions Actions 10-402 Overview 10-404 Motion-synchronous actions Programming 10-395 N N 9-364 NC Stop 10-451 NCU Link 13-523 NCU-global basic frames 6-256 NCU-global settable frames 6-257 NCU-to-NCU communication 13-523 Nesting depth 1-69 Networked NCUs 13-523 NEWCONF 1-90 Nibbling 12-476 Nibbling on 12-476 O OEM addresses 5-228 OEM functions 5-228 OEM interpolations 5-228 Offset contour normal OFFN 7-292 Offset of the rotary axes 8-348 Online tool length compensation 7-284 Online tool offset 10-428 Operating mode 5-220 Orientation axes 7-269, 7-274, 7-276 Oscillating axis 11-457 Oscillation Activate, deactivate oscillation 11-459 Asynchronized oscillation 11-456, 11-458 Control via synchronized action 11-464 Defining the sequence of motions 11-460 Synchronized oscillation 11-463 Oscillation reversal points 11-457 Override 11-470

A-714

11.02

Appendix

Index

P Parameterizable subprogram return 2-113 Parameters of the rotary axes 8-348 Parts program 13-523, 13-526 Partial infeed 11-464 Partial length 11-463 Path Absolute 1-73 Relative 1-73 Path axes 5-211 Path feed 5-211 Path section 12-480 Path segmentation 12-482 Path segmentation for path axes 12-481 Path segmentation for single axes 12-482 Polynomial Interpolation 5-211 Polynomial coefficient 5-205 Polynomial definition 10-420 Polynomial interpolation 5-204 Denominator polynomial 5-209 Position axis 10-432 Position synchronism 13-496 Positioning movements 10-430 Power On 10-450 Preprocessing memory 9-386 Preprocessing stop 10-417 Preset offset 6-251 Program coordination 1-72 Example 1-75 Instructions for program coordination 1-73 Program end 1-76 Program memory 3-146 Creating workpiece directories 3-150 Directories 3-148 File types 3-148 Overview 3-147 Programming a search path for a subprogram call 3-152 Search path with subprogram call 3-151 Selecting workpiece 3-151 Workpiece directory 3-149 Program repetition 2-117

Program run with preprocessing memory 9-386 Program runtime 13-528 Programmable motion end criterion 5-229 Programmable search path for subprogram calls 2-123 Programming search paths for subprogram call 3-152 Protection levels for user data 3-160 Protection zones 4-175 Activating/deactivating protection zones 4-180 Contour definition of protection zones 4-178 Define channel-specific protection zones 4-176 Define machine-specific protection zones 4-176 Defining protection zones 4-177 Punching 12-476, 12-480 Punching on 12-476 Punching with delay Off 12-476 Punching with delay On 12-476 Punching, nibbling Off 12-476 Q Quadrant error compensation Activate learning process 13-494 Deactivate learning process 13-494 Subsequent learning 13-494 Quantity of parts, fixed 1-71 R R 15-591 R parameters 10-411 READ 1-94 Read-in disable 10-416 Real-time variables 10-406 Relief cut 14-543 Relief cut elements 14-544 REPEAT 1-69 Repeating program sections with indirect Programming CALL 2-120 Repositioning 10-453 Repositioning on contour 9-388 Approach along a straight line 9-391 Approach along quadrant 9-391

A-715

Appendix

11.02

Index

Approach along semi-circle 9-392 Approach with new tool 9-390 Repositioning point 9-389 Reset 10-450 Resolved kinematics 8-346 Reversal Area 11-464 Point 11-464 Rotary axes Distance vectors l1, l2 8-346 Rotary axis Direction vectors V1, V2 8-346 RPY angle 8-336 Run string as parts program line 1-44 Runtime response 1-69 S SBLON 2-126 Search for character 1-60 Selecting a substring 1-62 Selection of a single character 1-63 Servo parameter block programmable 5-232 Set actual value 10-436 Set up variable axis transfer response 1-89 Setpoint coupling 13-495 Settable path reference 5-211 Setting data 11-458 Single axis motion 12-482 Single block suppression 2-126 Singular positions 7-275 Sparking-out stroke 11-462 Speed ratio 13-499 Spindle motions 10-437 Spindle transfer GET 1-85 RELEASE 1-85 Spline grouping 5-193 Spline interpolation 5-187, 5-211 A spline 5-188 B spline 5-189 C spline 5-190 Compressor 5-193 Start/stop axis 10-432

Station/position change 13-526 Status of coupling 9-378 Stock removal 14-542 Stopping and retract Extended 13-513 String length 1-60 String operations 1-55 Structuring instruction for the Step editor 3-173 Subprogram call Indirect 1-41 Subprogram call with M/T function 2-136 Subprogram call, search path 3-151 Subprogram with path specification and parameters 2-122 Subprogram, external 2-132 Subprograms 2-102 Indirect subprogram call 2-119 Modal subprogram call 2-118 Nesting 2-103 Program repetition 2-117 SAVE mechanism 2-104 Subprogram call 2-109 Subprogram with parameter transfer 2-109 Subprograms with parameter transfer Array definition 2-108 Parameter transfer between main program and subprogram 2-105 Supplementary conditions 1-70, 5-212, 10-450 SW limit switch 10-434 Switchable geometry axes 7-308 Synchronization run Coarse 13-495 Fine 13-495 Setpoint synchronization 13-495 Synchronized action parameters 10-410 Synchronized actions 13-523 Static 9-379 Synchronized oscillation Assignment of oscillating and infeed axes 11-465 Definition of infeed 11-465 Infeed in reversal area 11-467 Stop at reversal point 11-469 Synchronized action 11-466

A-716

11.02

Appendix

Index

Synchronized spindle 13-495 Activate synchronized mode 13-501 Block change behavior 13-500 Coupling type 13-500 Deactivate synchronized mode 13-501 Define pair 13-497 Delete coupling 13-502 Pair 13-496 Speed ratio 13-499 Synchronized spindle System variable 1-27 System variables 1-26, 13-523 Global 13-523 T TANG 9-353 Tangential control Angle limit through working area limitation 9-354 Defining following axis and leading axis 9-353 Tangential control, activation, TANGON 9-354 Tangential control, deactivation 9-354 Technology cycles 10-445 Thread blocks 5-212 Three-digit M/G function 2-143 Tilt angle 7-270 Timer variable 10-409 Tool management 8-316 Tool monitoring, grinding-specific 8-321 Tool offset 3D face milling 8-331 Offset memory 8-314 Online 8-319 Tool offsets Face milling 8-328 Tool orientation 7-269, 8-336 with LEAD and TILT 7-273 Tool radius compensation, 3D 8-328 Behavior at outside corners 8-337 Circumferential milling 8-330, 8-331 Insertion depth (ISD) 8-334 Inside corners/outside corners 8-334 Programming tool orientation 8-336

Tool orientation 8-336 Toolholder 8-348 Clear/edit/read data 8-349 Kinematics 8-346 Torsion 13-493 Total basic frame 6-260 TRACYL transformation 7-290 TRAFOOF 7-304 Transformation TRAORI 7-268 Transformation with a swiveling linear axis 7-267 Transformation, 3/4-axis 7-268 Transformation, 5-axis Programming in Euler angles 7-270 Programming in RPY angles 7-271 Programming the direction vector 7-271 Tool orientation 7-269 Transformation, 5-axis, face milling 7-272 Transformation, 5-xis, programming via LEADITILT 7-269 TRANSMIT transformation 7-287 TRAORI 7-266 Travel to fixed stop FXS and FOCON/FOCOF 10-442 Travel-dependent acceleration PUNCHACC 12-476, 12-477 Traversing a contour element 14-556 Trigger events 5-220 Type conversion 1-56 Type of kinematics 8-349 Type of kinematics M 8-346 Type of kinematics P 8-346 Type of kinematics T 8-346 U Uc.com, user cycles 2-139 User memory 3-153 Data areas 3-153 Initialization programs 3-153 Reserved module names 3-156

A-717

Appendix

11.02

Index

V Variable 1-26 Arithmetic variable 1-27 Array definition 1-34 Assignments 1-45 Indirect programming 1-40 System variable 1-27 Type conversion 1-54 User-defined 1-26 User-defined variable 1-29 Variable classes 1-26 Variable types 1-27 Variable definition 1-29 Variable type 1-31 Variables NCK-specific global variables 1-76 Vocabulary word 10-399

W Wait marks 10-441 WCS 3-149 WHEN-DO 11-466 WHILE 1-68 Workpiece clamping 13-523 Workpiece counter 13-530 Workpiece directory 3-149 WPD 3-149 WRITE 1-91 Z Zero frame 6-252 Zero offset Deactivating transformations 6-252 External zero offset 6-250 Offset using handwheel 6-249 PRESETON 6-251

A-718

11.02

Appendix

Commands, Identifiers

- 1-41 * * 1-41 / / 1-41 : : 1-41 + + 1-41 < < 1-43 << 1-43 <= 1-43 <> 1-43 = == 1-43 > > 1-43 >= 1-43 A A 7-259 A1, A2 8-310, 8-312 A2 7-236 A3 7-236 A4 7-236

A5 7-236 ABS 1-41 ACC 13-453 ACOS 1-41 ACTFRAME 6-204 ALF 1-70 Amax 12-434 Amin 12-434 AND 1-44 ANZHINT 14-493, 14-495 applim 9-325 aproxLW 9-325 APW 3-139 AROTS 6-213 AS 2-122 ASIN 1-41 ASPLINE 5-155 ATAN2 1-41 AV 13-455 AX 13-446 AXCTSWE 13-480 AXIS 1-29 AXNAME 1-50, 13-446 AXSTRING 1-50, 13-446 B B_AND 1-45 B_NOT 1-45 B_OR 1-45 B_XOR 1-45 B2 7-236 B3 7-236 B4 7-236 B5 7-236 BAUTO 5-159 BFRAME 6-203 BNAT 5-159 BOOL 1-29 BRISK 11-415 BSPLINE 5-155 BTAN 5-159

A-719

Appendix

11.02

Commands, Identifiers

C C2 7-236 C3 7-236 C4 7-236 C5 7-236 CAC 5-154 CACN 5-154 CACP 5-154 CALCDAT 14-490, 14-505 CALL 2-107 CANCEL 10-354 CASE 1-58 CDC 5-154 CFINE 6-214 CHANDATA 3-134 CHAR 1-29 CHKDNO 8-306 CIC 5-154 CLEARM 1-67 CLRINT 1-70 CMIRROR 6-207 COARSE 13-450, 13-454, 13-455 COARSEA 5-197 COMPLETE 3-132, 3-133 COMPOF 5-169, 5-179 COMPON 5-179, 9-342 CONTDCON 14-498 CONTPRON 14-490, 14-491, 14-503, 14-504 COS 1-41 COUPDEF 13-450, 13-452, 13-454 COUPDEL 13-450, 13-452, 13-457 COUPOF 13-450, 13-456, 13-457 COUPON 13-450, 13-456, 13-457 COUPRES 13-450, 13-457 CP 7-245 CPROT 4-148 CPROTDEF 4-144, 4-146 CROT 6-207 CROTS 6-213 CSCALE 6-207 CSPLINE 5-155 CTAB 9-325 CTABDEF 9-325

CTABDEL 9-325 CTABEND 9-325 CTABINV 9-325 CTRANS 6-207 CUT3DC 8-292 CUT3DF 8-292 CUT3DFF 8-292 CUT3DFS 8-292 CUTCONOF 8-289 CUTCONON 8-289 D DEF 1-29 DEFAULT 1-58 DEFINE 2-122 DELDTG 5-194 DELT 8-280 DISABLE 1-70 DISPLOF 2-109 DISPR 9-346 DIV 1-41 DO 10-354, 11-421 DRFOF 6-218 DUPLO_NR 8-280 DV 13-455 DZERO 8-309 E EAUTO 5-159 ELSE 1-60 ENABLE 1-70 ENAT 5-159 ENDFOR 1-60 ENDIF 1-60 ENDLOOP 1-60 ENDPOS 11-421 ENDPROC 10-384 ENDWHILE 1-60 ERG 14-505 ERROR 14-491, 14-498 ETAN 5-159 EVERY 10-354

A-720

11.02

Appendix

Commands, Identifiers

EXECTAB 14-504 EXECUTE 4-144, 4-146, 14-491, 14-498 EXP 1-41 EXTCALL 2-113 EXTERN 2-101 F FA 11-418, 13-453 FALSE 1-25 FCTDEF 8-283 FCUB 9-339 FINE 13-450, 13-455 FINEA 5-197 FLIN 9-339 FMA 15-517 FNORM 9-339 FOR 1-60 FPO 9-339 FRAME 1-29 FRC 15-518 FRCM 15-518 FROM 10-354 FS 13-450 FTOC 8-283 FTOCOF 8-283 FTOCON 8-283 FW 9-325 G G05 7-263 G07 7-263 G1 11-415 G153 6-218 G25,G26 9-318 G4 11-417 GEOAX 7-271 GET 1-78 GETACTTD 8-308 GETD 1-78 GETDNO 8-307 GETSELT 8-280 GETT 8-280

GOTOB 1-58 GOTOF 1-58 GUD 3-128, 3-132, 3-137, 3-139 I I1,I2 8-310 ID 10-353 IDS 10-353 IF 1-60 IF-ELSE-ENDIF 1-60 IFRAME 6-204 II1,II2 11-422 INDEX 1-53 INIT 1-66 INITIAL 3-133 INT 1-29 INTERSEC 14-490, 14-503 IPOENDA 5-197 IPOSTOP 13-450, 13-453, 13-455 ISAXIS 13-446 ISD 8-292, 8-298 ISNUMBER 1-50 K KTAB 14-493, 14-495, 14-501, 14-504 L LEAD 7-236, 8-300 LEADOF 9-333 LEADON 9-333 LIFTFAST 1-70 LOCK 10-354 LOOP 1-60 LOOP-ENDLOOP 1-61 LS 13-450 LW 9-325 M M 8-312 M17 2-97 MATCH 1-53

A-721

Appendix

11.02

Commands, Identifiers

MCALL 2-106 MEAC 5-186, 5-194 MEAFRAME 6-220 MEAS 5-183 MEASA 5-186 MEAW 5-183 MEAWA 5-186 MI 6-209 MIRROR 6-204 MMC 13-486 MOD 1-41 MOV 10-390 MPF 3-128 MU 7-261 MZ 7-261 N NEWT 8-280 Nibbling 12-438 NN 14-491 NO. 14-505 NOC 13-455 NOT 1-44 NPROT 4-148 NPROTDEF 4-144, 4-146 NUMBER 1-50 O OEMIPO1/2 5-196 OF 1-59 OFFN 7-252, 7-253 OR 1-44 ORIC 8-300 ORID 8-300 ORIMCS 8-300 ORIMKS 7-240, 7-242 ORIS 8-300 ORIWCS 8-300 ORIWKS 7-240, 7-242 OS 11-414, 11-417 OSC 8-300 OSCILL 11-421, 11-423

OSCTRL 11-414, 11-418 OSE 11-414, 11-418 OSNSC 11-414, 11-421 OSO2 11-414 OSOF 8-300 OSP 11-415 OSP1 11-414, 11-421 OSP2 11-421 OSS 8-300 OSSE 8-300 OST 11-417 OST1 11-414, 11-421 OST2 11-414, 11-421 OVRA 13-453 P PDELAYOF 12-434 PDELAYON 12-434 PFRAME 6-204 PKT 14-505 PL 5-158, 5-175 PO 5-175 POLY 5-175 POLYNOMIAL 14-492, 14-499 POLYPATH 5-175 PON 12-434, 12-440 PONS 12-434 POS 13-456 POSP 11-421 POT 1-41 PRESETON 6-217, 6-220 PRIO 1-70 PROC 2-97 PUNCHACC 12-434 PUTFTOC 8-283 PUTFTOCF 8-283 PW 5-157 Q QEC 13-448 QECDAT.MPF 13-449 QECLRN.SPF 13-449

A-722

11.02

Appendix

Commands, Identifiers

QECLRNOF 13-448 QECLRNON 13-448 QECTEST.MPF 13-449 R RDISABLE 10-374 REAL 1-29 RELEASE 1-78 REP 1-36 REPEAT 1-60 REPOS 1-70, 1-77 REPOSA 9-346 REPOSH 9-346 REPOSHA 9-346 REPOSL 1-77, 9-346 REPOSQ 9-346 REPOSQA 9-346 RET 2-97 RINDEX 1-53 RMB 9-346 RME 9-346 RMI 9-346 ROTS 6-213 ROUND 1-41 RPY 8-300 RT 6-209 S S1,S2 13-452, 13-457 SAVE 1-71, 2-96 SBLOF 2-110 SBLON 2-110 SC 6-209 SCPARA 5-198 SD 5-157 SET 1-34 SETDNO 8-307 SETINT 1-70 SETM 1-67 SETPIECE 8-280 SIN 1-41 Smax 12-434

Smin 12-434 SOFT 11-415 SON 12-434, 12-439, 12-440 SONS 12-434 SPI 13-446, 13-453 SPIF1 15-530 SPIF2 15-530 SPLINE 14-492, 14-499 SPLINEPATH 5-161 SPN 12-438 SPOF 12-434 SPOS 13-453 SPP 12-438 SQRT 1-41 SR 15-531 SRA 15-531 ST 15-531 STA 15-531 START 1-66 STARTFIFO 9-344 STOPFIFO 9-344 STOPRE 5-183, 5-190, 5-192, 9-344, 11-416 STOPREOF 10-375 STRING 1-29 STRINGFELD 1-48 STRINGVAR 1-48 STRLEN 1-53 SUBSTR 1-55 SUPA 6-218 SYNFCT 10-381 SYNR 3-137 SYNRW 3-137 T TABNAME 14-491, 14-498, 14-502, 14-504 TAN 1-41 TANG 9-316 TANGOF 9-316 TANGON 9-316 TE 5-186 THREAD 14-492, 14-499 TILT 7-236, 8-300 TLIFT 9-316

A-723

Appendix

11.02

Commands, Identifiers

TOLOWER 1-52 TOUPPER 1-52 TR 6-209 TRAANG 7-253, 7-259 TRACYL 7-250, 7-253 TRAFOOF 7-232, 7-250, 7-253, 7-259, 7-267 TRAILOF 9-321 TRAILON 9-321 TRANSMIT 7-250 TRAORI 7-234 TRUE 1-25 TRUNC 1-41 U U1,U2 11-422 UNLOCK 10-354 UNTIL 1-60, 1-62 V V1,V2 8-310 VAR 2-99 VARIB 14-502, 14-505 W WAIT 1-67 WAITC 13-450, 13-453 WAITE 1-67 WAITM 1-66 WAITMC 1-67 WAITP 11-417 WALIMON 9-318 WCS 11-428 WHEN 10-354 WHEN-DO 11-421 WHENEVER 10-354 WHENEVER-DO 11-421, 11-424 WHILE 1-60 WZ 8-280

X x 8-280 XOR 1-44

A-724

To SIEMENS AG A&D MC BMS P.O. Box 3180 D-91050 Erlangen, Germany

Phone: ++49-(0)180-5050-222 [Hotline] Fax: ++49-(0)9131-98-2176 [Documentation] Email: [email protected]

Suggestions Corrections For publication/manual: SINUMERIK 840D/840Di/810D Programming Guide Advanced User Documentation

From Name Company/Dept. Address: Zip code: Phone: Fax: / /

Order No.: Edition:

6FC5298-6AB10-0BP2 11.02

Should you come across any printing errors when reading this publication, please notify us on this sheet. Suggestions for improvement are also welcome.

Suggestions and/or corrections

Overview of SINUMERIK 840D/840Di/810D Documentation (11.2002)

General Documentation
SINUMERIK SIROTEC SIMODRIVE Accessories

User Documentation

SINUMERIK 840D/810D

SINUMERIK 840D/840Di/ 810D/

SINUMERIK 840D/810D/ FM-NC

SINUMERIK 840D/840Di/ 810D

Brochure

Catalog Ordering Info. NC 60 *)

Catalog Accessories NC-Z

AutoTurn Short Guide Programming/ Setup

Operators Guide HT 6

Diagnostics Guide *)

Operators Guide *) Short Guide HMI Embedded HMI Advanced

User Documentation

Manufacturer/Service Documentation

SINUMERIK 840D/840Di/ 810D

SINUMERIK 840D/810D

SINUMERIK 840Di

SINUMERIK

SINUMERIK 840D/840Di/ 810D

SINUMERIK 840D/810D

SINUMERIK 840D/840Di/ 810D

Program. Guide Short Guide Fundamentals *) Advanced *) Cycles Measuring Cycles ISO Turning/Milling

Operators Guide System Overview ManualTurn Short Guide ManualTurn ShopMill Short Guide ShopMill ShopTurn Short Guide ShopTurn

Configuring (HW) *) 810D 840D

Operator Components (HW) *)

Description of Functions ManualTurn ShopMill ShopTurn

Description of Functions Synchronized Actions

Manufacturer/Service Documentation
SINUMERIK SIMODRIVE 611D 840D/810D

SINUMERIK 840D/840Di/ 810D

SINUMERIK 840D/810D

Description of Description of Functions Functions Drive Functions *) Basic Machine *) Extended Functions Special Functions

Description of Functions Tool Management

Configuring Kit HMI Embedded

Description of Functions Operator Interface OP 030

IT Solutions Computer Link Tool Data Information System NC Data Management NC Data Transfer Tool Data Communication

Manufacturer/Service Documentation
SINUMERIK SIMODRIVE SIROTEC

SINUMERIK SIMODRIVE

SINUMERIK 840D

SINUMERIK SIMODRIVE

SINUMERIK SIMODRIVE 840D/840Di 810D 611D

SINUMERIK SIMODRIVE 840D 611D

Description of Functions SINUMERIK Safety Integrated

Description of Functions Digitizing

Installation & Start-Up Guide *) 810D 840D/611D HMI

Lists *)

Description of Functions Linear Motor

Description of Functions EMC Hydraulics Module Guidelines Analog Module

Manufacturer/Service Documentation

Electronic Documentation
SINUMERIK SIMODRIVE 840D/840Di/ 810D 611, Motors

SINUMERIK 840D/840Di/ 810D

SINUMERIK 840Di

SINUMERIK 840D/810D

SINUMERIK 840D/840Di/ 810D

DOC ON CD *) The SINUMERIK System

Description of Functions ISO Dialects for SINUMERIK

Manual (HW + Installation and Start-Up)

Manual Description of @ Event Functions Remote Diagnosis

*) These documents are a minimum requirement

Siemens AG Automation & Drives Motion Control Systems P.O. Box 3180, D-91050 Erlangen Germany www.ad.siemens.de Siemens AG, 2002 Subject to change without prior notice Order No.: 6FC5298-6AB10-0BP2 Printed in Germany