Various NC/PLC interface

signals and functions A2

Axis monitoring,
protection zones A3
Continuouspath Mode,
Exact Stop, LookAhead B1

SINUMERIK Acceleration B2
840D sl/840Di sl/840D/840Di/810D
Diagnostic tools D1
Basic Functions Travel to fixed stop F1
Velocities, Setpoint/Actual-
Value Systems, Closed-Loop G2
Function Manual Control
Auxiliary Function Output
to PLC H2
Mode Group, Channel,
Program Operation, K1
Reset Response
Axis Types, Coordinate
Systems, Frames K2

Emergency Stop N2

Transverse axes P1

PLC Basic program

P3
Valid for
powerline pl
Control
SINUMERIK 840D sl/840DE sl
PLC basic program
P3
SINUMERIK 840Di sl/840DiE sl
SINUMERIK 840D powerline/840DE powerline solution line sl
SINUMERIK 840Di powerline/840DiE powerline
SINUMERIK 810D powerline/810DE powerline
Reference point approach R1
Software Version
NCU system software for 840D sl/840DE sl 1.3 Spindles S1
NCU system software for 840Di sl/DiE sl 1.0
NCU system software for 840D/840DE 7.4
NCU system software for 840Di/840DiE 3.3 Feeds V1
NCU system software for 810D/810DE 7.4

03/2006 Edition Tool compensation W1

6FC5397-0BP10-1BA0

NC/PLC interface signals Z1

Safety Guidelines
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent
damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are
graded according to the degree of danger.

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

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

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

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

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

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

Prescribed Usage
Note the following:

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

Trademarks
All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this
publication may be trademarks whose use by third parties for their own purposes could violate the rights of the
owner.

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

Siemens AG Order No.: 6FC5397-0BP10-1BA0 Copyright © Siemens AG Fehler!

Automation and Drives Edition 05/2006 Unbekannter Name für
Postfach 48 48 Dokument-Eigenschaft..
90437 NÜRNBERG Technical data subject to change
GERMANY
Foreword

SINUMERIK® Documentation
The SINUMERIK documentation is organized in 3 parts:
• General documentation
• User documentation
• Manufacturer/service documentation

A monthly updated publications overview with respective available languages can be found
in the Internet under:
http://www.siemens.com/motioncontrol
Select the menu items "Support" → "Technical Documentation" → "Overview of
Publications".
The Internet version of DOConCD (DOConWEB) is available under:
http://www.automation.siemens.com/doconweb
Information about training courses and FAQs (Frequently Asked Questions) can be found
in internet under:
http://www.siemens.com/motioncontrol under menu option "Support"

Target group
This publication is intended for:
• Project engineers
• Technologists (from machine manufacturers)
• System startup engineers (Systems/Machines)
• Programmers

Benefits
The function manual describes the functions so that the target group knows them and can
select them. It provides the target group with the information required to implement the
functions.

Basic Functions
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 iii
Foreword

Standard version
This documentation only describes the functionality of the standard version. Extensions or
changes made by the machine tool manufacturer are documented by the machine tool
manufacturer.
Other functions not described in this documentation might be executable in the control. This
does not, however, represent an obligation to supply such functions with a new control or
when servicing.
Further, for the sake of simplicity, this documentation does not contain all detailed
information about all types of the product and cannot cover every conceivable case of
installation, operation or maintenance.

Structure of the Function Manual

Structure of this Function Manual:
• Inner title (page 3) with the title of the Function Manual, the SINUMERIK controls as well
as the software and the version for which this version of the Function Manual is
applicable and the overview of the individual function descriptions.
• The description of each function is a separate book.
• Appendix with list of abbreviations and terms.
An overview of the functions described in this Function Manual is on the third page. The
functions are listed in alphanumeric order of their abbreviations (e.g. A2, A3, etc.). The
Descriptions of Functions are also contained in this order in the Function Manual.
A Description of Functions contains the following chapters:
• Brief description
• Detailed description
• Constraints
• Examples
• Data lists

Note
Detailed descriptions regarding data and alarms are provided for:
• machine and setting data:
Electronic only on DOConCD or DOConWEB
• NC/PLC interface signals:
/FB1/ NC/PLC interface signals (Z1)
/FB2/ NC/PLC interface signals (Z2)
/FB3/ NC/PLC interface signals (Z3)
• alarms:
/DA/ Diagnostics Manual

Basic Functions
iv Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Foreword

Technical information
The following notation is used in this documentation:

Signal/Data Notation Example

NC/PLC interface ... NC/PLC interface signal: When the new gear step is engaged, the following NC/PLC
signals Signal data (signal name) interface signals are set by the PLC program:
DB31, ... DBX16.0-16.2 (current gear step A to C)
DB31, ... DBX16.3 (gear is changed)
Machine data ... machine data: Master spindle is the spindle stored in the machine data:
<Type><Number> <Complete MD20090 $MC_SPIND_DEF_MASTER_SPIND (Position of
Designator> (<Meaning>) deletion of the master spindle in the channel).
Setting Data ... Setting data: The logical master spindle is contained in the setting data:
<Type><Number> <Complete SD42800 $SC_SPIND_ASSIGN_TAB[0] (Spindle number
Designator> (<Meaning>) converter).

Data types
The following elementary data types are used in the control system:

Type Meaning Value range

INT Signed integers ±(231 - 1)
REAL Figures with decimal point acc. to IEEE ±(10-300 … 10+300)
BOOL Boolean values: TRUE/FALSE TRUE ≠ 0; FALSE = 0
CHAR 1 ASCII character corresponding to the code 0 … 255
STRING Character string, number of characters in [...], maximum of Sequence of values with 0 ... 255
200 characters
AXIS Axis identifier Axis identifier for all channel axes
FRAME Geometrical parameters for translation, rotation, scaling,
and mirroring
Arrays can only be formed from similar elementary data types. Up to two-dimensional arrays are possible.

Quantity framework
Explanations concerning the NC/PLC interface are based on the absolute maximum number
of sequential components:
• Mode groups (DB11)
• Channels (DB21, etc.)
• Axes/spindles (DB31, etc.)

Basic Functions
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 v
Foreword

Technical Support
If you have any questions, please contact the following hotline:

European and African time zone

A&D Technical Support

Tel.: +49 (0) 180 / 5050 - 222
Fax: +49 (0) 180 / 5050 - 223

Internet: http://www.siemens.com/automation/support-request

Email: mailto:[email protected]

Asian and Australian time zone

A&D Technical Support

Tel.: +86 1064 719 990
Fax: +86 1064 747 474

Internet: http://www.siemens.com/automation/support-request

Email: mailto:[email protected]

American time zone

A&D Technical Support

Tel.: +1 423 262 2522
Fax: +1 423 262 2289

Internet: http://www.siemens.com/automation/support-request

Email: mailto:[email protected]

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

Basic Functions
vi Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Foreword

Questions about the Manual

If you have any queries (suggestions, corrections) in relation to this documentation, please
send a fax or e-mail to the following address:

Fax: +49 (0) 9131 / 98 - 63315

Email: mailto:[email protected]
Fax form: See the reply form at the end of this publication

SINUMERIK Internet address

http://www.siemens.com/sinumerik

EC declaration of conformity
The EC Declaration of Conformity for the EMC Directive can be found/obtained
• in the internet:
http://www.ad.siemens.de/csinfo
under product/order no. 15257461
• with the relevant branch office of the A&D MC group of Siemens AG.

Basic Functions
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 vii
Foreword

Basic Functions
viii Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 1
SINUMERIK 840D sl/840Di sl/840D/840Di/810D Various NC/PLC interface signals and functions (A2)
______________
Brief description

2
______________
Detailed description

3
SINUMERIK ______________
Supplementary conditions

840D sl/840Di sl/840D/840Di/810D

4
______________
Example

Various NC/PLC interface signals 5

and functions (A2) ______________
Data lists

Function Manual

Valid for

Control
SINUMERIK 840D sl/840DE sl
SINUMERIK 840Di sl/840DiE sl
SINUMERIK 840D powerline/840DE powerline
SINUMERIK 840Di powerline/840DiE powerline
SINUMERIK 810D powerline/810DE powerline

Software Version
NCU System Software for 840D sl/840DE sl 1.3
NCU system software for 840D sl/DiE sl 1.0
NCU system software for 840D/840DE 7.4
NCU system software for 840Di/840DiE 3.3
NCU system software for 810D/810DE 7.4

03/2006 Edition
6FC5397-0BP10-1BA0
Safety Guidelines
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent
damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are
graded according to the degree of danger.

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

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

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

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

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

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

Prescribed Usage
Note the following:

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

Trademarks
All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this
publication may be trademarks whose use by third parties for their own purposes could violate the rights of the
owner.

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

Siemens AG Order No.: 6FC5397-0BP10-1BA0 Copyright © Siemens AG 2006.

Automation and Drives Edition 05/2006 Technical data subject to change
Postfach 48 48
90437 NÜRNBERG
GERMANY
Table of contents
1 Brief description ...................................................................................................................................... 1-1
2 Detailed description ................................................................................................................................ 2-1
2.1 NC/PLC interface signals........................................................................................................... 2-1
2.1.1 General ...................................................................................................................................... 2-1
2.1.2 Ready signals to PLC ................................................................................................................ 2-3
2.1.3 Alarm signals to PLC ................................................................................................................. 2-4
2.1.4 SINUMERIK 840Di-specific interface signals ............................................................................ 2-4
2.1.5 Signals to/from panel front ......................................................................................................... 2-5
2.1.6 Signals to channel...................................................................................................................... 2-7
2.1.7 Signals to axis/spindle ............................................................................................................... 2-7
2.1.8 Signals from axis/spindle ......................................................................................................... 2-17
2.1.9 Signals to axis/spindle (digital drives)...................................................................................... 2-18
2.1.10 Signals from axis/spindle (digital drives).................................................................................. 2-20
2.2 Functions.................................................................................................................................. 2-23
2.2.1 Screen settings ........................................................................................................................ 2-23
2.2.2 Settings for involute interpolation............................................................................................. 2-25
2.2.3 Activate DEFAULT memory..................................................................................................... 2-28
2.2.4 Read/write PLC variable .......................................................................................................... 2-28
2.2.5 Access protection via password and keyswitch....................................................................... 2-32
2.2.5.1 Access protection via password and keyswitch....................................................................... 2-32
2.2.5.2 Password ................................................................................................................................. 2-34
2.2.5.3 Keyswitch settings (DB10, DBX56.4 to 7) ............................................................................... 2-35
2.2.5.4 Parameterizable protection levels............................................................................................ 2-36
3 Supplementary conditions ...................................................................................................................... 3-1
4 Example.................................................................................................................................................. 4-1
5 Data lists................................................................................................................................................. 5-1
5.1 Machine data.............................................................................................................................. 5-1
5.1.1 Drive-specific machine data....................................................................................................... 5-1
5.1.2 Memory specific machine data .................................................................................................. 5-2
5.1.3 NC-specific machine data .......................................................................................................... 5-4
5.1.4 Channelspecific machine data ................................................................................................... 5-4
5.1.5 Axis/spindlespecific machine data ............................................................................................. 5-5
5.2 System variables........................................................................................................................ 5-5
5.3 Signals ....................................................................................................................................... 5-5
5.3.1 Signals to NC ............................................................................................................................. 5-5
5.3.2 Signals from NC......................................................................................................................... 5-6
5.3.3 Signals to operator panel front................................................................................................... 5-7
5.3.4 Signals from operator panel front .............................................................................................. 5-8
5.3.5 Signals to channel...................................................................................................................... 5-8
5.3.6 Signals from channel ................................................................................................................. 5-9
5.3.7 Signals to axis/spindle ............................................................................................................... 5-9
5.3.8 Signals from axis/spindle ......................................................................................................... 5-10

Various NC/PLC interface signals and functions (A2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 iii
Table of contents

Index................................................................................................................................................ Index-1

Various NC/PLC interface signals and functions (A2)

iv Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Brief description 1
Content
The PLC/NCK interface comprises a data interface on one side and a function interface on
the other. The data interface contains status and control signals, auxiliary functions and G
functions, while the function interface is used to transfer jobs from the PLC to the NCK.
This Description describes the functionality of interface signals, which are of general
relevance but are not included in the Descriptions of Functions.
• Asynchronous events
• Status signals
• PLC variable (read and write)

Various NC/PLC interface signals and functions (A2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 1-1
Brief description

Various NC/PLC interface signals and functions (A2)

1-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Detailed description 2
2.1 2.1 NC/PLC interface signals

2.1.1 General

NC/PLC interface
The NC/PLC interface comprises the following parts:
• Data interface
• Function interface

Data interface
The data interface is used for component coordination:
• PLC user program
• NC
• HMI (operator components)
• MCP (Machine Control Panel)
Data exchange is organized by the basic PLC program.

Cyclic signal exchange

The following interface signals are transferred cyclically, i.e. in the clock grid of the OB1, by
the basic PLC program:
• NC and operator-panel-front-specific signals
• Mode groupspecific signals
• Channelspecific signals
• Axis/spindlespecific signals

Various NC/PLC interface signals and functions (A2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-1
Detailed description
2.1 NC/PLC interface signals

NC and operator-panel-front-specific signals (DB10)

PLC to NC:
• Signals for influencing the CNC inputs and outputs
• Keyswitch signals (and password)
NC to PLC:
• Actual values of CNC inputs
• Setpoints of CNC outputs
• Ready signals from NC and HMI
• NC status signals (alarm signals)

Channel-specific signals (DB21, ...)

PLC to NC:
• Control signal "Delete distancetogo"
NC to PLC:
• NC status signals (NCK alarm active)

Axis/spindle-specific signals (DB31, etc.)

PLC to NC:
• Control signals to axis/spindle (e.g. followup mode, servo enable, etc.)
• Control signals to drive (bytes 20, 21)
NC to PLC:
• Status signals from axis/spindle (e.g. position controller active, current controller active,
etc.)
• Control signals from drive (bytes 93, 94)

Function interface
The function interface is generated by function blocks (FB) and function calls (FC). Function
requests, e.g. to traverse axes, are sent from the PLC to the NC via the function interface.

Various NC/PLC interface signals and functions (A2)

2-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.1 NC/PLC interface signals

References
For detailed information about the following subject areas, please refer to:
• Description of the basic PLC program:
/FB1/ Function Manual, Basic Functions; Basic PLC Program (P3)
• Description of event-controlled signal exchange (auxiliary and G functions):
/FB1/ Function Manual, Basic Functions; Auxiliary Function Output to PLC (H2)
• Overview of all interface signals, function blocks and data blocks:
/LIS/Lists

2.1.2 Ready signals to PLC

DB10, DBX104.7 (NC CPU Ready)

The NC CPU is ready and registers itself cyclically with the PLC.

DB10,DBX108.1 (HMI CPU2 Ready)

HMI CPU2 is ready and registers itself cyclically to NC.
References:
/FB2/ Function Manual, Expansion Functions; Several Control Panels on Multiple NCUs,
Decentralized Systems (B3)

DB10, DBX108.2 (HMI CPU1 Ready, HMI to MPI)

The HMI CPU1 is ready and registers itself cyclically with the NC. Operator unit connection
via MPI interface.

DB10, DBX108.3 (HMI CPU1 Ready, HMI to OPI)

The HMI CPU1 is ready and registers itself cyclically with the NC. Operator unit connection
via OPI interface.

DB10, DBX108.6 (611D Ready)

Group signal: All available SIMODRIVE 611D drives ready.
Condition: Readiness of all machine axes
DB31,... DBX93.5 (Drive Ready) = 1
611D Ready is only output in conjunction with SIMODRIVE 611D drives.

DB10, DBX108.6 (NC Ready)

The NC is ready.

Various NC/PLC interface signals and functions (A2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-3
Detailed description
2.1 NC/PLC interface signals

2.1.3 Alarm signals to PLC

DB10, DBX103.0 (HMI alarm pending)

The HMI component signals that at least one HMI alarm is pending.

DB10, DBX109.6 (ambient temperature alarm)

The ambient temperature or fan monitoring function has responded.

DB10, DBX109.7 (NCK battery alarm)

The battery voltage has dropped below the lower limit value. The control can still be
operated. A control system shutdown or failure of the supply voltage will lead to loss of data.

DB10, DBX109.0 (NCK alarm pending)

The NC signals that at least one NC alarm is pending. The channelspecific interface can be
scanned to see which channels are involved and whether this will cause a processing stop.

DB21, ... DBX36.6 (channelspecific NCK alarm pending)

The NC sends this signal to the PLC to indicate that at least one NC alarm is pending for the
affected channel. See also: DB21, ... DBX36.6 (NCK alarm with processing stop pending)

DB21, ... DBX36.6 (NCK alarm with processing stop present)

The NC sends this signal to the PLC to indicate that at least one NCK alarm, which has
interrupted or aborted the current program run (processing stop), is pending for the affected
channel.

2.1.4 SINUMERIK 840Di-specific interface signals

For a detailed description of the SINUMERIK 840Di-specific interface signals, please refer
to:
References:
/HBI/ SINUMERIK 840Di Manual

Various NC/PLC interface signals and functions (A2)

2-4 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.1 NC/PLC interface signals

2.1.5 Signals to/from panel front

DB19, DBX0.0 (operator panel inhibit)

All inputs via operator components on the operator panel front are inhibited.

DB19, DBX0.1 (darken screen)

The operator panel screen is darkened or lightened.
If the interface signal is used to actively darken the screen:
• It is no longer possible to switch the screen bright again on the keyboard (see below).
• The first keystroke on the operator panel already triggers an operator action.

Note
In order to prevent accidental operator actions when the screen is darkened via the
interface signal, we recommend disabling the keyboard at the same time.
DB19, DBX0.1 = 1 AND DB19, DBX0.2 = 1 (key disable)

Screen darkening via keyboard/automatic screen saver

If no buttons are pressed on the operator panel front within the assigned time (default = 3
minutes):
MD9006 $MM_DISPLAY_BLACK_TIME
(time for screen darkening), the screen is automatically darkened.
The screen lights up again the first time a button is pressed following darkening. Pressing a
button to lighten the screen will not generate an operator action.
Parameterization
• DB19, DBX0.1 = 0
• MD9006 $MM_DISPLAY_BLACK_TIME > 0

DB19, DBX0.2 (key disable)

All inputs via the connected keyboard are inhibited.

DB19, DBX 0.3 / 0.4 (delete cancel alarms / delete recall alarms)
Request to delete all currently pending alarms with Cancel or Recall delete criterion. Deletion
of the alarms is acknowledged via the following interface signals.
• DB19, DBX20.3 (cancel alarm deleted)
• DB19, DBX20.4 (recall alarm deleted)

Various NC/PLC interface signals and functions (A2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-5
Detailed description
2.1 NC/PLC interface signals

DB19, DBX0.7 (actual value in WCS, 0=MCS)

Switching over of actual-value display between machine and workpiece coordinate system:
• DB19, DBX0.7 = 0: Machine coordinate system (MCS)
• DB19, DBX0.7 = 1: Workpiece coordinate system (WCS)

DB19, DBB12 (control of V24 interface) (HMI Embedded only)

Job interface to control RS-232C. The jobs relate to the user control files in the interface
signals:
DB19, DBB14 (control of V24 interface).
DB19, DBB15 (control of V24 interface).

DB19, DBB13 (control of file transfer via hard disk) (HMI Advanced only)
Job byte to control file transfer via hard disk. The jobs relate to the user control file in the
interface signals:
DB19, DBB16 (parts program handling: Number of the control file for user file names)
DB19, DBB17 (parts program handling: Index of the file from the user list to be transmitted).

DB19, DBB14 (control of V24 interface) (HMI Embedded only)

Description byte to specify the PLC index of the axis, channel or TO number for the standard
control file. The standard control file is processed in accordance with the job in the interface
signal:
DB19, DBB12.

DB19, DBB15 (control of V24 interface) (HMI Embedded only)

Description byte to specify the line in the standard/user control file in which the file to be
transferred is stored.

DB19, DBB16 (control of file transfer via hard disk) (HMI Advanced only)
Control byte for file transfer via hard disk to define the index for the control file (job list). This
file is handled according to the job in the interface signal:
DB19, DBB13.

DB19, DBB17 (control of file transfer via hard disk) (HMI Advanced only)
Control byte for file transfer via hard disk to indicate the line in the user control file in which
the control file to be transferred is stored

DB19, DBB24 (control of V24 interface) (HMI Embedded only)

Status byte for current status of data transfer for "RS-232 ON", "RS-232 OFF", "RS-232
EXTERNAL", "RS-232 STOP", etc., or if an error occurred during data transfer.

Various NC/PLC interface signals and functions (A2)

2-6 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.1 NC/PLC interface signals

DB19, DBB25 (control of V24 interface) (HMI Embedded only)

Output byte for RS-232 data transmission error values.

DB19, DBB26 (control of file transfer via hard disk) (HMI Advanced only)
Status byte for current status of data transfer for "select", "load" or "unload", or if an error
occurred during data transmission.

DB19, DBB27 (control of file transfer via hard disk) (HMI Advanced only)
Output byte for error values for data transfer via hard disk.

2.1.6 Signals to channel

DB21, ... DBX6.2 (delete distance-to-go)

The rising edge on the interface signal generates a stop on the programmed path in the
corresponding NC channel with the currently active path acceleration. The path distance-to-
go is then deleted and the block change to the next part-program block is enabled.

2.1.7 Signals to axis/spindle

DB31, ... DBX1.0 (drive-test travel enable)

If machine axes are traversed by special test functions such as "function generator", an
explicit drive-test-specific enable is requested for the movement:
DB31, ... DBX61.0 = 1 (drive test travel request)
The movement is carried out once the movement is enabled:
DB31, ... DBX1.0 == 1 (drive test travel enable)

Notice
It is the sole responsibility of the machine manufacturer/system startup engineer to take
suitable action/carry out appropriate tests to ensure that the machine axis can be traversed
during the drive test without putting personnel or machinery at risk.

Various NC/PLC interface signals and functions (A2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-7
Detailed description
2.1 NC/PLC interface signals

DB31, ... DBX1.3 (axis/spindle disable)

Axis disable when machine axis is at rest
No traversing request (manual or automatic) is carried out for a machine axis at rest and
NC/PLC interface signal:
DB31, ... DBX1.3 == 1 (Axis/spindle disable).
The traversing request is maintained. If the axis disable is canceled when a traversing
request is pending DB31, ... DBX1.3 = 0 the traversing movement is carried out.
Axis disable when machine axis in motion
When machine axis is in motion and NC/PLC interface signal DB31, ... DBX1.3 == 1 the
movement of the machine axis is decelerated to a standstill via the axis-specific brake
characteristics currently active or, if it is part of an interpolated path movement or coupling, it
is decelerated on a path or coupling-specific basis.
The movement is continued if the axis disable is canceled by another pending traversing
request: DB31, ... DBX1.3 = 0.
Spindle disable
The response is determined by the current spindle mode:
• Control mode: Speed setpoint = 0
• Positioning mode: See above "Axis disable".

DB31, ... DBX1.4 (follow-up mode)

"Follow-up mode" is only effective in conjunction with the NC/PLC interface signal:
DB31, ... DBX2.1 (servo enable)

DB31, ... DBX2.1 DB31, ... DBX1.4 Function

1 Ineffective Normal operation (machine axis in closed-loop control
mode)
0 1 Followup
0 0 Hold
Function: Follow-up
During follow-up, the setpoint position of the machine axis is continuously corrected to the
actual position (setpoint position = actual position).
The following interface signals have to be set for the follow-up function:
DB31, ... DBX2.1 = 0 (servo enable)
DB31, ... DBX1.4 = 1 (follow-up mode)
Feedback:
DB31, ... DBX61.3 = 1 (follow-up mode active)

Various NC/PLC interface signals and functions (A2)

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 Detailed description
2.1 NC/PLC interface signals

Note
When the servo enable is set from follow-up mode, if the part program is active, the last
programmed position is approached again internally in the NC (REPOSA: Approach along line
on all axes). In all other cases, all subsequent movements start at the current actual position.

During "follow-up", clamping or zero-speed monitoring are not active.

Function: Holding
The hold function does not correct the setpoint position of the machine axis to the actual
position. If the machine axis moves away from the setpoint position, a following error
(difference between setpoint and actual position) is generated. This error is corrected
"suddenly" when the servo enable is set by the position controller, without observing the
axial acceleration characteristic.
The following interface signals have to be set for the hold function:
DB31, ... DBX2.1 = 0 (servo enable)
DB31, ... DBX1.4 = 0 (follow-up mode)
Feedback:
DB31, ... DBX61.3 = 0 (follow-up mode active)
During "hold", clamping or zero-speed monitoring are active.

Notice
With the "hold" function, once the servo enable has been set, the setpoint/actual-value
difference is corrected: directly by the position controller, i.e., without following the axial
acceleration characteristic.

Application example
Positioning response of machine axis Y following clamping when "servo enable" set.
Clamping pushed the machine axis from the actual position Y1 to the clamping position Yk.

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Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-9
Detailed description
2.1 NC/PLC interface signals

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Various NC/PLC interface signals and functions (A2)

2-10 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.1 NC/PLC interface signals

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Drives with analog setpoint interface

A drive with an analog setpoint interface is capable of traversing the machine axis with an
external setpoint. If "follow-up mode" is set for the machine axis, the actual position
continues to be acquired. Once follow-up mode has been cancelled, homing is not required.
The following procedure is recommended:
1. Activate follow-up mode:
DB31, ... DBX2.1 = 0 (servo enable)
DB31, ... DBX1.4 = 1 (follow-up mode) (in the same or preceding OB1 cycle)
→ The axis/spindle is operating in followup mode
2. Deactivate external servo enable and external speed setpoint
→ Axis/spindle moves with external setpoint
→ NC continues to detect the actual position and corrects the setpoint position to the
actual position
3. Deactivate external servo enable and cancel external speed setpoint
→ Axis/spindle stops
4. Canceling followup mode
DB31, ... DBX2.1 = 1 (servo enable)
DB31, ... DBX1.4 = 0 (follow-up mode)
→ NC synchronizes to current actual position. The next traversing movement begins at
this position.

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Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-11
Detailed description
2.1 NC/PLC interface signals

Note
"Followup mode" does not have to be canceled because it only has an effect in
combination with "servo enable".

Canceling followup mode

Once follow-up mode has been canceled, the machine axis does not have to be homed
again if the maximum permissible encoder limit frequency of the active measuring system
was not exceeded during follow-up mode. If the encoder limit frequency is exceeded, the
controller will detect this:
• DB31, ... DBX60.4 / 60.5 = 0 (homed/synchronized 1 / 2)
• Alarm: "21610 Encoder frequency exceeded"

Note
If "follow-up mode" is deactivated for a machine axis, which is part of an active
transformation (e.g. TRANSMIT), this can generate movements as part of repositioning
(REPOS) other machine axes involved in the transformation.

Monitoring
If a machine axis is in follow-up mode, the following monitoring mechanisms will not act:
• Zero-speed monitoring
• Clamping monitoring
• Positioning monitoring
Effects on other interface signals:
• DB31, ... DBX60.7 = 0 (position reached with exact stop fine)
• DB31, ... DBX60.6 = 0 (position reached with exact stop coarse)

DB31, ... DBX1.5 / 1.6 (position measuring system 1 / 2)

2 measuring systems can be connected to one machine axis, e.g.,
• Indirect motor measuring system
• Direct measuring system on load
Only one measuring system can be active at any one time. All closed-loop control,
positioning operations, etc. involving the machine axis always relate to the active measuring
system.

Various NC/PLC interface signals and functions (A2)

2-12 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.1 NC/PLC interface signals

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The table below shows the functionality of the interface signals in conjunction with the "servo
enable".

DB31, ... DBX1.5 DB31, ... DBX1.6 DB31, ... DBX2.1 Function
1 0 (or 1) 1 Position measuring system 1 active
0 1 1 Position measuring system 2 active
0 0 0 "Parking" active
0 0 1 Spindle without position measuring system (speed-
controlled)
1 -> 0 0 -> 1 1 Switchover: Position measuring system 1 → 2
0 -> 1 1 -> 0 1 Switchover: Position measuring system 2 → 1

DB31, ... DBX2.1 (servo enable)

Setting the servo enable closes the machine axis position control loop. The machine axis is
in position control mode.
DB31, ... DBX2.1 == 1
Canceling the servo enable opens the machine axis position control loop and, subject to a
delay, the machine axis speed control loop:
DB31, ... DBX2.1 == 0

Various NC/PLC interface signals and functions (A2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-13
Detailed description
2.1 NC/PLC interface signals

Activation methods
The closed-loop servo enable for a machine axis is influenced by:
• PLC user program by means of the following NC/PLC interface signals:
– DB31, ... DBX2.1 (servo enable)
– DB31, ... DBX21.7 (pulse enable)
– DB31, ... DBX93.5 (drive ready)
– DB10, DBX56.1 (EMERGENCY STOP)
• NCK-internal
Alarms that trigger cancellation of the servo enable on the machine axes. Alarms, which
cancel the servo enable, are described in:
References:
/DA/ Diagnostics Manual
Canceling the servo enable when the machine axis is at standstill:
• The machine axis position control loop opens
• DB31, ... DBX61.5 = 0 (position controller active)
Canceling the servo enable when the machine axis is in motion:
If a machine axis is part of an interpolatory path movement or coupling and the servo enable
for this is canceled, all axes involved are stopped with a fast stop (speed setpoint = 0) and
an alarm is displayed:
Alarm: "21612 Servo enable reset during movement"
• The machine axis is decelerated taking into account the parameterized temporal duration
of the brake ramp for error states with a fast stop (speed setpoint = 0):
MD36610 $MA_AX_EMERGENCY_STOP_TIME
An alarm is displayed:
Alarm: "21612 Servo enable reset during movement"

Note
The servo enable is canceled at the latest when the cutout time expires:
MD36610 $MA_AX_EMERGENCY_STOP_TIME

• The machine axis position control loop opens. Interface signal:

DB31, ... DBX61.5 = 0 (position controller active).
The time for the parameterized cut-off delay of the servo enable is started by the machine
data:
MD36620 $MA_SERVO_DISABLE_DELAY_TIME.
• As soon as the actual speed has reached the zero speed range, the drive servo enable is
canceled. Interface signal:
DB31, ... DBX61.6 = 0 (speed controller active).

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2-14 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.1 NC/PLC interface signals

• The position actual value of the machine axis continues to be acquired by the control.
• At the end of the braking operation, the machine axis is switched to follow-up mode,
regardless of the corresponding NC/PLC interface signal. Zero-speed and clamping
monitoring are not effective. See the description above for the interface signal:
DB31, ... DBX1.4 (follow-up mode).
Synchronizing the actual value (homing)
Once the servo enable has been set, the actual position of the machine axis does not need
to be synchronized again (homing) if the maximum permissible limit frequency of the
measuring system was not exceeded during the time in which the machine axis was not in
position-control mode.

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Figure 2-5 Canceling the servo enable when the machine axis is in motion

Various NC/PLC interface signals and functions (A2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-15
Detailed description
2.1 NC/PLC interface signals

DB31, ... DBX2.2 (Delete distance-to-go/Spindle reset (axis-/spindle-specific))

"Delete distance-to-go" is effective in AUTOMATIC and MDA modes only in conjunction with
positioning axes. The positioning axis is decelerated to standstill following the current brake
characteristic. The distance-to-go of the axis is deleted.
Spindle reset
A detailed description of the spindle reset can be found in:
References:
/FB1/ Function Manual Basic Functions, Spindles (S1)

DB31, ... DBX9.0 / 9.1 / 9.2 (controller parameter set selection)

The PLC user program sends a binary code request via the "controller parameter set
selection" to activate the corresponding parameter set with that of the NC.

DBX9.2 DBX9.1 DBX9 Parameter-set number

0 0 0 1
0 0 1 2
0 1 0 3
0 1 1 4
1 0 0 5
1 0 1 6
1 1 0 6
1 1 1 6
Parameter-set changeover must be enabled via the machine data (not required for spindles):
MD35590 $MA_PARAMSET_CHANGE_ENABLE = 1 or 2
For detailed information about parameter-set changeover, please refer to:
References:
/FB1/ Function Manual Basic Functions, Spindles (S1)
Chapter: Spindle modes > axis mode;
Chapter: Programmable Gears > Gear Stages for Spindles and Gear Change

Various NC/PLC interface signals and functions (A2)

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 Detailed description
2.1 NC/PLC interface signals

Parameter set changeover when machine axis is in motion

The response to a parameter-set changeover depends on the consequential change in the
closed-loop control circuit gain factor Kv:
MD32200 $MA_POSCTRL_GAIN (KV factor)
• "Identical servo gain factors" or "position control not active":
The NC responds immediately to the parameter-set changeover. The parameter set is
also changed during the movement.
• "Non-identical servo gain factors" or "position control active":
In order to effect a changeover as smoothly as possible, changeover is not activated until
the axis "is stationary", i.e. once the parameterized zero speed has been reached or
undershot:
DB31, ... DBX61.4 = 1 (axis/spindle stationary)
MD36060 $MA_STANDSTILL_VELO_TOL (threshold velocity/speed 'axis/spindle
stationary')
Parameter set changeover from the parts program
For parameter-set changeover from the parts program, the user (machine manufacturer)
must define corresponding user-specific auxiliary functions and evaluate them in the PLC
user program. The PLC user program will then set the changeover request on the
corresponding parameter set.
For detailed information about auxiliary function output, please refer to:
References:
/FB1/ Function Manual Basic Functions, Auxiliary Function Output (H2)

DB31, ... DBX9.3 (disable parameter-set default setting by NC)

Parameter-set changeover request will be ignored.

2.1.8 Signals from axis/spindle

DB31, ... DBX61.0 (drive test travel request)

If machine axes are traversed by special test functions such as "function generator", an
explicit drive-test-specific enable is requested for the movement:
DB31, ... DBX61.0 == 1 (drive test travel request)
The movement is carried out once the movement is enabled:
DB31, ... DBX1.0 == 1 (drive test travel enable)

DB31, ... DBX61.3 (follow-up mode active)

The machine axis is in follow-up mode.

Various NC/PLC interface signals and functions (A2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-17
Detailed description
2.1 NC/PLC interface signals

DB31, ... DBX61.4 (axis/spindle stationary)

"Axis/spindle stationary" is set by the NC if:
• No new setpoints are to be output AND
• The actual speed of the machine axis is lower than the parameterized zero speed:
MD36060 $MA_STANDSTILL_VELO_TOL (threshold velocity axis stationary)

DB31, ... DBX61.5 (position controller active)

The machine axis position control loop is closed and position control is active.

DB31, ... DBX61.6 (speed controller active)

The machine axis speed control loop is closed and speed control is active.

DB31, ... DBX61.7 (current controller active)

The machine axis current control loop is closed and current control is active.

DB31, ...DBX69.0 / 69.1 / 69.2 (controller parameter set)

Active parameter set Coding accordingly:
DB31, ... DBX9.0 / 9.1 / 9.2 (controller parameter set selection)

DB31, ... DBX76.0 (lubrication pulse)

Following a control POWER ON/RESET, the signal status is 0 (FALSE).
The "lubrication pulse" is inverted (edge change) as soon as the machine axis completes a
distance longer than the parameterized traversing distance for lubrication.
MD33050 $MA_LUBRICATION_DIST (distance for lubrication by PLC)

2.1.9 Signals to axis/spindle (digital drives)

DB31, ... DBX20.1 (ramp-function-generator fast stop) (not on 810D)

A "fast stop" is requested for the drive. The drive is then stopped without a ramp function
(speed setpoint 0). Servo enable is maintained.

DB31, ... DBX20.2 (torque limit 2) (not on 810D)

Request for torque limit 2. The limit value is specified in the drive parameters.

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 Detailed description
2.1 NC/PLC interface signals

DB31, ... DBX20.3 (speed setpoint smoothing) (not on 810D)

Request to smooth the speed setpoint.

DB31, ... DBX21.0 / 21.1 / 21.2 (drive parameter set selection A, B, C)

Request to change over drive parameter set:

DBX 21.2 DBX 21.1 DBX21.0 Parameter-set number

0 0 0 1
0 0 1 2
0 1 0 3
0 1 1 4
1 0 0 5
1 0 1 6
1 1 0 7
1 1 1 8
The feedback signal is sent via the interface signals:
DB31, ... DBX93.0,1 / 93.2 (active drive parameter set)

DB31, ... DBX21.3 / 21.4 (motor selection A, B) (not on 810D)

Selection of motor/operating mode.

DBX 21.4 DBX 21.3 Motor number Operating mode

0 0 1 1
0 1 2 2
1 0 3 3 1)
1 1 4 4 1)

1) Can only be used on SIMODRIVE 611D Performance2 control module and SIMODRIVE
611U
Only operating modes 1 and 2 are valid on main spindle drive:
• Operating modes 1: Star
• Operating modes 2: Delta

DB31, ... DBX21.5 (motor selection made) (not on 810D)

The PLC user program sends this signal to the drive to indicate successful motor selection.
For example, in the case of star/delta switchover on the SIMODRIVE 611D or 611U, a
message or signal must be provided when the motor contactor has switched. The pulses are
then enabled by the drive.

Various NC/PLC interface signals and functions (A2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-19
Detailed description
2.1 NC/PLC interface signals

DB31, ... DBX21.6 (integrator disable n-controller) (not on 810D)

The PLC user program inhibits the integrator of the speed controller for the drive. The speed
controller is thus switched from PI to P controller.
Note
If the speed controller integrator disable is activated, compensations might take place in
certain applications (e.g., if the integrator was already holding a load while stationary).
Feedback via the interface signal:
DB31, ... DBX93.6 = 1 (integrator n-controller disabled)

DB31, ... DBX21.7 (pulse enable)

The pulse enable for the drive module is only requested if all enable signals (hardware and
software) are pending:
• Trigger equipment enable
• Servo and pulse enable (terminal 63)
• Pulse enable (safe operational stop) (terminal 663)
• Stored hardware input
• Setpoint enable (terminal 64)
• "Status ready for traverse" (terminal 72/73)
– No 611D drive alarm (DClink1 error)
– DC link connected
– Ramp-up completed
See also:
DB31, ... DBX93.7 (pulses enabled)

2.1.10 Signals from axis/spindle (digital drives)

DB31, ... DBX92.0 (setup mode active)

On the drive, "setup mode" is active.

DB31, ... DBX92.1 (ramp-function-generator fast stop active) (not on 810D)

The drive signals back to the PLC that ramp-function-generator fast stop is active. The drive
is thus brought to a standstill without the ramp function (with speed setpoint 0).

DB31, ... DBX92.2 (torque limit 2 active) (not on 810D)

The drive signals back to the PLC that torque limit 2 is active for the axis/spindle. The torque
limit value is defined with the drive parameters.

Various NC/PLC interface signals and functions (A2)

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 Detailed description
2.1 NC/PLC interface signals

DB31, ... DBX92.3 (speed-setpoint smoothing active) (not on 810D)

The PLC user program requests speed-setpoint smoothing filter for the axis/spindle. The
smoothing is activated in the drive module only under certain conditions.

DB31, ... DBX93.0, 1, 2 (active drive parameter set A, B, C)

The drive module sends this checkback to the PLC to indicate which drive parameter set is
currently active. With bit combination A, B, C, eight different drive parameter sets can be
selected by the PLC for the SIMODRIVE 611D.

DB31, ... DBX93.3, 4 (active motor A, B)

The drive module (MSD) sends this checkback to the PLC to indicate which of the 4 motor
types or motor operating modes is active.
The following selections can be made on the main spindle drive:
• Star mode (A=0, B=0)
• Delta mode (A=1, B=0)
On the 611D with Performance2 controller module and 611U, combinations A = 0, B = 1 and
A = 1, B = 1 may also be selected.

DB31, ... DBX93.5 (DRIVE ready)

Checkback signal indicating that the drive is ready. The conditions required for traversing the
axis/spindle are fulfilled.

DB31, ... DBX93.6 (integrator n-controller disabled) (not on 810D)

The speed-controller integrator is disabled. The speed controller has thus been switched
from PI to P controller.

DB31, ... DBX93.7 (pulses enabled)

The pulse enable for the drive module is available. The axis/spindle can now be traversed.

DB31, ... DBX94.0 (motor temperature prewarning)

The motor temperature has exceeded the warning threshold. If the motor temperature
remains at this level, the drive will be stopped after a defined time (drive MD) and the pulse
enable removed.

DB31, ... DBX94.1 (heat-sink temperature prewarning)

The heat-sink temperature has exceeded the warning threshold. The pulse enable will be
removed for the drive module in question after 20 seconds.

Various NC/PLC interface signals and functions (A2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-21
Detailed description
2.1 NC/PLC interface signals

DB31, ... DBX94.2 (ramp-up function completed)

This signal indicates that the actual speed value has reached the new setpoint allowing for
the tolerance band set in drive machine data:
MD1426 $MD_SPEED_DES_EQ_ACT_TOL
The acceleration procedure is thus completed. Any subsequent speed fluctuations due to
load changes will not affect the interface signal.

DB31, ... DBX94.3 (|Md| < Mdx)

This signal indicates that the current torque |Md| is lower than the parameterized threshold
torque Mdx:
MD1428 $MD_TORQUE_THRESHOLD_X.
The threshold torque is entered as a percentage of the current speeddependent torque
limitation.

DB31, ... DBX94.4 (|nact| < nmin)

This signal indicates that the actual speed |nact| is lower than the set minimum speed nmin:
MD1418 $MD_SPEED_THRESHOLD_MIN

DB31, ... DBX94.5 (|nact| < nix)

This signal indicates that the actual speed |nact| is lower than the set threshold speed nx:
MD1417 $MD_SPEED_THRESHOLD_X

DB31, ... DBX94.6 (nact = nsetp)

An indication on the the PLC states that the actual speed nact has reached the new setpoint
allowing for the tolerance band set in drive machine data:
MD1426 $MD_SPEED_DES_EQ_ACT_TOL.
and that it is within the tolerance band.

DB31, ... DBX94.7 (variable signaling function) (not 810D)

Using the variable signaling function, it is possible to monitor digitally for any axis any
variable from SIMODRIVE 611 to check if it violates a certain threshold and to signal as an
interface signal to the PLC.
The variable to be monitored is specified with 611D machine data.

DB31, ... DBX95.0 (DC link voltage < warning level)

The drive signals to the PLC that the DC link voltage UDC link has fallen below the DC link
undervoltage warning threshold:
MD1604 $MD_LINK_VOLTAGE_WARN_LIMIT

Various NC/PLC interface signals and functions (A2)

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 Detailed description
2.2 Functions

DB31, ... DBX95.7 (i2t monitoring) (not 810D)

The variable signaling function can be used to protect the power section of the SIMODRIVE
611 universal and SIMODRIVE 611 digital drives against continuous overload. The PLC is
signaled for each axis indicating whether the i2t monitoring has been initiated.
The variable to be monitored is specified with 611D machine data.

2.2 2.2 Functions

2.2.1 Screen settings

Contrast, monitor type, foreground language, and display resolution to take effect after
system startup can be set in the operator panel machine data.

Contrast
MD9000 $MM_LCD_CONTRAST (contrast)
For slimline operator panels with a monochrome LCD, the contrast to be applied following
system startup can be set.
There are 16 different contrast settings (0: dark, 15: light).

Monitor type
MD9001 $MM_DISPLAY_TYPE (monitor type)
Indicate the relevant monitor type for optimum color matching.

Foreground language
MD9003 $MM_FIRST_LANGUAGE (foreground language)
On SINUMERIK 840D/840Di/810D, 2 languages are available simultaneously. The
foreground language can be used to set the language to be displayed following control ramp-
up.
The language can be changed in the DIAGNOSTICS operating area on the HMI user
interface. Once the control has ramped up, the foreground language will be restored.

Display resolution
MD9004 $MM_DISPLAY_RESOLUTION (display resolution)
The number of places after the decimal point for the position display of the axes is defined in
the display resolution. The position display consists of max. 12 characters including sign and
decimal point. The number of digits after the decimal point can be set to between 0 and 5.
The default setting for the number of digits after the decimal point is 3, corresponding to a
display resolution of 10–3 [mm] or [degrees].

Various NC/PLC interface signals and functions (A2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-23
Detailed description
2.2 Functions

REFRESH suppression
MD10131 $MN_SUPPRESS_SCREEN_REFRESH (screen refresh in case of overload)
Default setting for screen-refresh strategy with high NC utilization:
• Value 0: Refresh of current values is suppressed in all channels.
• Value 1: Refresh of current values is suppressed in time-critical channels.
• Value 2: Refresh of current values is never suppressed.

2.2.2 Settings for involute interpolation

Introduction
The involute of the circle is a curve traced out from the end point on a "piece of string"
unwinding from the curve. Involute interpolation allows trajectories along an involute.

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Figure 2-6 Involute (unwound from base circle)

Various NC/PLC interface signals and functions (A2)

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 Detailed description
2.2 Functions

Programming
A general description of how to program involute interpolation can be found in:
References:
/PG/ Fundamentals Programming Guide
In addition to the programmed parameters, machine data are relevant in two instances of
involute interpolation; these data may need to be set by the machine manufacturer/end user.

Accuracy
If the programmed end point does not lie exactly on the involute defined by the starting point,
interpolation takes place between the two involutes defined by the starting and end points
(see illustration below).
The maximum deviation of the end point is determined by the machine data:
MD21015 $MC_INVOLUTE_RADIUS_DELTA

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5

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Figure 2-7 MD21015 specifies the max. permissible deviation

Limit angle
If AR is used to program an involute leading to the base circle with an angle of rotation that is
greater than the maximum possible value, an alarm is output and program execution
aborted.

Various NC/PLC interface signals and functions (A2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-25
Detailed description
2.2 Functions

$5PD[

$5

6WDUWSRLQW

Figure 2-8 Limited angle of rotation towards base circle

The alarm display can be suppressed using the following parameter settings:
MD21016 $MC_INVOLUTE_AUTO_ANGLE_LIMIT = TRUE
The programmed angle of rotation is then also limited automatically and the interpolated path
ends at the point at which the involute meets the base circle. This, for example, makes it
easier to program an involute, which starts at a point outside the base circle and ends
directly on it.

Tool radius compensation

2 1/2 D tool-radius compensation is the only tool-radius compensation function permitted for
involutes. If 3D tool-radius compensation is active (both circumferential and face milling),
when an involute is programmed, machining is interrupted with alarm 10782.
With 2 1/2 D tool-radius compensation, the plane of the involute must lie in the compensation
plane. or else alarm 10781 will be generated. It is however permissible to program an
additional helical component for an involute in the compensation plane.

Dynamic response
Involutes that begin or end on the base circle have an infinite curvature at this point. To
ensure that the velocity is adequately limited at this point when tool-radius compensation is
active, without reducing it too far at other points, the "Velocity limitation profile" function must
be activated:
MD28530 $MC_MM_PATH_VELO_SEGMENTS > 1
A setting of 5 is recommended. This setting need not be made if only involute sections are
used, which have radii of curvature that change over a relatively small area.

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 Detailed description
2.2 Functions

2.2.3 Activate DEFAULT memory

GUD start values

The DEF... / REDEF... NC commands can be used to assign default settings to global user
data (GUD). These default settings must be permanently stored in the system if they are to
be available after certain system states (e.g. RESET).
The memory space for this is taken from the memory area that was assigned via the
machine data:
MD18150 $MM_GUD_VALUES_MEM.
The setting for activating the stored default values is made in machine data:
MD11270 $MN_DEFAULT_VALUES_MEM_MASK.
References:
/FB1/Function Manual Basic Functions, S7: "Memory Configuration"
/PGA/ Programming Guide Advanced

2.2.4 Read/write PLC variable

High-speed data channel

For highspeed exchange of information between the PLC and NC, a memory area is
reserved in the communications buffer on these modules (dualport RAM). Variables of any
type (I/O, DB, DW, flags) may be exchanged within this memory area.
The PLC accesses this memory using 'Function Calls' (FC) while the NCK uses '$ variables'.

Organization of memory area

The user's programming engineer (NCK and PLC) is responsible for organizing (structuring)
this memory area.
Every storage position in the memory can be addressed provided that the limit is selected
according to the appropriate data format (i.e., a DWORD for a 4byte limit, a WORD for a 2-
byte limit, etc.).
The memory is accessed via the data type and the position offset within the memory area.

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Detailed description
2.2 Functions

Access from NC
To allow the NC to access PLC variables (from a part program) quickly, $ variables are
provided in the NCK. The PLC uses a function call (FC) to read and write $ variables. Data
are transferred to and from the NCK immediately.
$ variables can be accessed (by the NCK) during preprocessing and in synchronized
actions.
Data type information is determined by the $ variable data type, the position index is
specified as an array index (in bytes).
The following $ variables are available:

$A_DBB Data byte (8 bits)

$A_DBW Data word (16 bits)
$A_DBD Data double word (32 bits)
$A_DBR Real data (32 bits)

Ranges of values

$A_DBB(n) <= x <= 255

$A_DBW(n) -32768 <= x <= 3276
$A_DBD(n) -2147483648 <= x <= 2147483647

Access from PLC

The PLC uses function calls (FC) to access the memory. These FCs ensure that data are
read and written in the DPR immediately, i.e., not just at the beginning of the PLC cycle. FCs
receive data type information and the position offset as parameters.

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 Detailed description
2.2 Functions

1& 3/&


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Figure 2-9 Communications buffer (DPR) for NC/PLC communication

Supplementary conditions
• The user's programming engineer (NCK and PLC) is responsible for organizing the DPR
memory area. No checks are made for inconsistencies in the configuration.
• A total of 1024 bytes are available in the input and output directions.
• Singlebit operations are not supported and must be linked back to byte operations by the
user (programming engineer).
• Since the contents of variables are manipulated directly in the communications buffer, the
user must remember that intermediate changes in values occur as a result of multiple
access operations where a variable is evaluated several times or when variables are
linked (i.e., it may be necessary to store values temporarily in local variables or R
parameters or to set up a semaphore).
• The user's programming engineer is responsible for coordinating access operations to the
communications buffer from different channels.
• Data consistency can be guaranteed only for access operations up to 16 bits (byte and
word). The user's programming engineer is responsible for ensuring consistent
transmission of 32bit variables (double and real). A simple semaphore mechanism is
provided in the PLC for this purpose.
• The PLC stores data in 'Little Endian' format in the DPR.
• Values transferred with $A_DBR are subject to data conversion and hence to loss of
accuracy. The data format for floatingpoint numbers is DOUBLE (64 bits) on the NCK, but
only FLOAT (32 bits) on the PLC. The format used for storage in the dualport RAM is
FLOAT. Conversion takes place respectively before/after storage in the dualport RAM.
If a read/write access is made from the NCK to a variable in the dualport RAM, the
conversion is performed twice. It is impossible to prevent differences between read and
written values because the data are stored in both formats.

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Detailed description
2.2 Functions

Example
Bypassing the problem by means of comparison on "EPSILON" (minor deviation)

Block Program code

number
N10 DEF REAL DBR
N12 DEF REAL EPSILON = 0.00001
N20 $A_DBR[0]=145.145
N30 G4 F2
N40 STOPRE
N50 DBR=$A_DBR[0]
N60 IF ( ABS(DBR/145.145-1.0) < EPSILON ) GOTOF ENDE
N70 MSG ( "error" )
N80 M0
N90 END:
N99 M30

Activation
The maximum number of output variables that can be written to simultaneously can be set
with:
MD28150 $MC_MM_NUM_VDIVAR_ELEMENTS

Example
A WORD is to be transferred from the PLC to the NC.
The position offset within the NCK input (PLC output area) should be the fourth byte. The
position offset must be a whole-number multiple of the data width.
• Writing from PLC:

Program code (extract) Comment

. . .
CALL FC21 (
Enable :=M10.0, ;if TRUE, then FC21 active
Funct :=B#16#4,
S7Var :=P#M 104.0 WORD1,
IVAR1 :=04,
IVAR2 :=-1,
Error :=M10.1,
ErrCode :=MW12);
. . .
)

• Reading in part program

Program code (extract) Comment

. . .
PLCDATA = $A_DBW[4]; // Read a word
. . .

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 Detailed description
2.2 Functions

Behavior during POWER ON, block search

The DPR communications buffer is initialized during "POWER ON".
During a "block search", the PLC variable outputs are collected and transferred to the DPR
communications buffer with the approach block (analogous to writing of analog and digital
outputs).
Other status transitions have no effect in this respect.

2.2.5 Access protection via password and keyswitch

2.2.5.1 Access protection via password and keyswitch

Access authorization
Access to functions, programs and data is useroriented and controlled via 8 hierarchical
protection levels. These are subdivided into:
• Password levels for Siemens, machine manufacturer and end user
• Keyswitch positions for end user

Multi-level security concept

A multi-level security concept to regulate access rights is available in the form of password
levels and keyswitch settings.

Protection Type Users Access to (examples)

level
0 Password Siemens All functions, programs and data
1 Password Machine manufacturer: Defined functions, programs and data;
Development e.g.,: entering options
2 Password Machine manufacturer: Defined functions, programs and data;
Start-up engineer e.g.,: Bulk of machine data
3 Password End user: Assigned functions, programs and data
Servicing
4 Keyswitch position 3 End user: Programmer, Lower than protection level
machine setter 0 to 3; defined by machine manufacturer or end user
5 Keyswitch position 2 End user: Skilled operator Lower than protection level
without programming 0 to 3; defined by end user
knowledge
6 Keyswitch position 1 End user: Trained operator Example:
without programming Program selection only, tool-wear entries, and work-
knowledge offset entries
7 Keyswitch position 0 End user: Semi-skilled Example:
operator No entries and program selection possible,
only the machine control panel can be operated

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Detailed description
2.2 Functions

Access features
• Protection level 0 provides the greatest number of access rights, protection level 7 the
least.
• If certain access rights are granted to a protection level, these protection rights
automatically apply to any higher protection levels.
• Conversely, protection rights for a certain protection level can only be altered from a
higher protection level.
• Access rights for protection levels 0 to 3 are permanently assigned by Siemens and
cannot be altered (default).
• Access rights can be set by querying the current keyswitch positions and comparing the
passwords entered. When a password is entered it overwrites the access rights of the
keyswitch position.
• Options can be protected on each protection level. However, option data can only be
entered in protection levels 0 and 1.
• Access rights for protection levels 4 to 7 are only suggestions and can be altered by the
machine tool manufacturer or end user.

2.2.5.2 Password

Set password
The password for a protection level (0 – 3) is entered via the HMI user interface.
Example: HMI Advanced
DIAGNOSTICS operation area, softkey: SET PASSWORD
References:
/BAD/ Operator's Guide HMI Advanced

Delete password
Access rights assigned by means of setting a password remain effective until they are
explicitly revoked by deleting the password.
Example: HMI Advanced
DIAGNOSTICS operation area, softkey: DELETE PASSWORD
References:
/BAD/ Operator's Guide HMI Advanced
Note
Access rights and password status (set/deleted) are not affected by POWER OFF/ON!

Maximum number of characters

A password may contain up to eight characters. We recommend that you confine yourself to
the characters available on the operator panel when defining the password. Where a
password consists of less than eight characters, the additional characters are interpreted as
blanks.

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 Detailed description
2.2 Functions

Defaults
The following default passwords are defined for protection levels 1 to 3:
• Protection level 1: SUNRISE
• Protection level 2: EVENING
• Protection level 3: CUSTOMER

Note
Following NC-CPU ramp-up in commissioning mode (NCK commissioning switch:
position 1) the passwords for protection levels 1 – 3 are reset to the default settings. For
reasons of data protection, we strongly recommend that you change the default settings.

2.2.5.3 Keyswitch settings (DB10, DBX56.4 to 7)

Key switch
The keyswitch has four positions, to which protection levels 4 to 7 are assigned. The
keyswitch comprises a number of keys in a variety of colors, which can be set to different
switch positions.

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Figure 2-10 Switch positions 0 to 3

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Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-33
Detailed description
2.2 Functions

Switch positions
Switch position 0 has the most restricted access rights. Switch position 3 has the least
restricted access rights.
DB10, DBX56.4 / .5 / .6 / .7 (switch positions 0 / 1 / 2 / 3)
Machine-specific enables for access to programs, data and functions can be assigned to the
switch positions. For detailed information, please refer to:
References:
/IAM/ Installation & Startup Guide HMI/MMC; Access Protection

Default settings via the PLC user program

The keyswitch switch positions are transferred to the NC/PLC interface via the basic PLC
program. The corresponding interface signals can be modified via the PLC user program. In
this context, from the point of view of the NC, only one switch position should ever be active,
i.e,. the corresponding interface signal set to 1. If, from the point of view of the NC, a number
of switch positions are active at the same time, switch position 3, i.e., the keyswitch position
with the least restricted access rights, will be activated internally by the NC.

2.2.5.4 Parameterizable protection levels

Parameterizable protection level

The parameter level can be freely parameterized for a variety of functions and data areas.
The protection level is set via operator-panel machine data, designated as follows:
$MM_USER_CLASS_<Function_DataArea>
Examples:

$MM_USER_CLASS_READ_TOA Read tool offsets

$MM_USER_CLASS_WRITE_TOA Write tool offsets
$MM_USER_CLASS_READ_PROGRAM Read part programs
$MM_USER_CLASS_WRITE_PROGRAM Write/edit part programs

Default values
On delivery or following standard commissioning, with very few exceptions, the default value
for the protection level will be set to 7, i.e., the lowest protection level.

Various NC/PLC interface signals and functions (A2)

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Supplementary conditions
There are no supplementary conditions to note.
3

Various NC/PLC interface signals and functions (A2)

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Supplementary conditions

Various NC/PLC interface signals and functions (A2)

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Example 4
Parameter set changeover
A parameter-set changeover is performed to change the position-control gain (servo gain
factor) for machine axis X1 from v = 4.0 to Kv = 0.5.

Prerequisites
Parameter-set changeover must be enabled:
MD35590 $MA_PARAMSET_CHANGE_ENABLE [AX1] = 1 or 2
The 1st parameter set for machine axis X1 is set, in accordance with machine data with
index "0" NC/PLC interface:
DB31, DBB9.0 – DBB9.2 = 0

Various NC/PLC interface signals and functions (A2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 4-1
Example

Parameter-set-dependent machine data

Parameter-set-dependent machine data are set as follows:

Machine data Remarks

MD32200 $MA_POSCTRL_GAIN [0, AX1] = 4.0 Servo gain setting for parameter set 1
MD32200 $MA_POSCTRL_GAIN [1, AX1] = 2.0 Servo gain setting for parameter set 2
MD32200 $MA_POSCTRL_GAIN [2, AX1] = 1.0 Servo gain setting for parameter set 3
MD32200 $MA_POSCTRL_GAIN [3, AX1] = 0.5 Servo gain setting for parameter set 4
MD32200 $MA_POSCTRL_GAIN [4, AX1] = 0.25 Servo gain setting for parameter set 5
MD32200 $MA_POSCTRL_GAIN [5, AX1] = 0.125 Servo gain setting for parameter set 6
MD31050 $MA_DRIVE_AX_RATIO_DENOM [0, AX1] = 3 Denominator load gearbox for parameter set 1
MD31050 $MA_DRIVE_AX_RATIO_DENOM [1, AX1] = 3 Denominator load gearbox for parameter set 2
MD31050 $MA_DRIVE_AX_RATIO_DENOM [2, AX1] = 3 Denominator load gearbox for parameter set 3
MD31050 $MA_DRIVE_AX_RATIO_DENOM [3, AX1] = 3 Denominator load gearbox for parameter set 4
MD31050 $MA_DRIVE_AX_RATIO_DENOM [4, AX1] = 3 Denominator load gearbox for parameter set 5
MD31050 $MA_DRIVE_AX_RATIO_DENOM [5, AX1] = 3 Denominator load gearbox for parameter set 6
MD31060 $MA_DRIVE_AX_RATIO_NUMERA [0, AX1] = 5 Counter load gearbox for parameter set 1
MD31060 $MA_DRIVE_AX_RATIO_NUMERA [1, AX1] = 5 Counter load gearbox for parameter set 2
MD31060 $MA_DRIVE_AX_RATIO_NUMERA [2, AX1] = 5 Counter load gearbox for parameter set 3
MD31060 $MA_DRIVE_AX_RATIO_NUMERA [3, AX1] = 5 Counter load gearbox for parameter set 4
MD31060 $MA_DRIVE_AX_RATIO_NUMERA [4, AX1] = 5 Counter load gearbox for parameter set 5
MD31060 $MA_DRIVE_AX_RATIO_NUMERA [5, AX1] = 5 Counter load gearbox for parameter set 6
MD35130 $MA_AX_VELO_LIMIT [0...5, AX1] Setting for each parameter set*)
MD32800 $MA_EQUIV_CURRCTRL_TIME [0..5, AX1] Setting for each parameter set*)
MD32810 $MA_EQUIV_SPEEDCTRL_TIME [0..5, AX1] Setting for each parameter set*)
MD32910 $MA_DYN_MATCH_TIME [0...5, AX1] Setting for each parameter set*)
*) The appropriate line must be specified separately for each parameter set according to the applicable syntax rules.

Changeover
In order to switch over the position-control gain, the PLC user program selects the 4th
parameter set for machine axis X1.
• Requirement by PLC user program:
DB31, DBB9.0 – DBB9.2 = 3
– A request to change over to the 4th parameter set is sent for machine axis AX1.
– The parameter set is changed over once a delay has elapsed.
– Parameter set 4 is now active, in accordance with machine data with index "3"
• Feedback by NC:
DB31, DBB69.0 – DBB69.2 = 3
– The NC confirms/acknowledges the parameter-set changeover.

Various NC/PLC interface signals and functions (A2)

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Data lists 5
5.1 5.1 Machine data

5.1.1 Drive-specific machine data

Number Identifier: $MD_ Description

1403 PULSE_SUPPRESSION_SPEED Shutoff speed for pulse suppression
1404 PULSE_SUPPRESSION_DELAY Time for pulse suppression
1417 SPEED_THRESHOLD_X nx for nact < nsetp signal
1418 SPEED_THRESHOLD_MIN nmin for nact < nsetp signal
1426 SPEED_DES_EQ_ACT_TOL Tolerance band for nset = nact signal
1427 SPEED_DES_EQ_ACT_DELAY Delay time nset = nact signal
1428 TORQUE_THRESHOLD_X Threshold torque
1429 TORQUE_THRESHOLD_X_DELAY Delay time nd < ndx signal
1602 MOTOR_TEMP_WARN_LIMIT Maximum motor temperature
1603 MOTOR_TEMP_ALARM_TIME Time for motor temperature alarm
1604 LINK_VOLTAGE_WARN_LIMIT DC link under voltage warning threshold

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Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 5-1
Data lists
5.1 Machine data

5.1.2 Memory specific machine data

Number Identifier: $MM_ Description

HMI HMI
Advanced Embedded
9000 9000 LCD_CONTRAST Contrast
9001 9001 DISPLAY_TYPE Monitor type
9002 DISPLAY_MODE external monitor (1: black and white, 2: color)
9003 FIRST_LANGUAGE Foreground language
9004 9004 DISPLAY_RESOLUTION Display resolution
9005 PRG_DEFAULT_DIR Basic setting Program directory
9006 DISPLAY_BLACK_TIME Time setting for screen saver
9007 TABULATOR_SIZE Tabulator length
9008 9008 KEYBOARD_TYPE Keyboard type (0: OP, 1: MFII/QWERTY)
9009 9009 KEYBOARD_STATE Shift behavior of keyboard during booting
9010 SPIND_DISPLAY_RESOLUTION Display resolution for spindle values
9011 9011 DISPLAY_RESOLUTION_INCH Display resolution for INCH_system of units
9012 9012 ACTION_LOG_MODE Set action mode for action log
9013 SYS_CLOCK_SYNC_TIME System clock synchronizing time
9020 9020 TECHNOLOGY Basic configuration for simulation and free
contour programming
9030 EXPONENT_LIMIT Number of places to be displayed without
exponent
9031 EXPONENT_SCIENCE Technical exponent representation in three
steps
9180 USER_CLASS_READ_TCARR Protection level read tool carrier offsets
general
9181 USER_CLASS_WRITE_TCARR Protection level write tool carrier offsets
general
9200 9200 USER_CLASS_READ_TOA Protection level read tool offsets general
9201 9201 USER_CLASS_WRITE_TOA_GEO Protection level write tool geometry
9202 9202 USER_CLASS_WRITE_TOA_WEAR Protection level write tool wear data
9203 9203 USER_CLASS_WRITE_FINE Protection level write fine
9204 USER_CLASS_WRITE_TOA_SC Protection level change total tool offsets
9205 USER_CLASS_WRITE_TOA_EC Protection level change tool setup offsets
9206 USER_CLASS_WRITE_TOA_SUPVIS Protection level change tool-monitoring limit
values
9207 USER_CLASS_WRITE_TOA_ASSDNO Change D No. assigned to a tool edge
9208 USER_CLASS_WRITE_MAG_WGROUP change wear group magazine location/mag.
9209 9209 USER_CLASS_WRITE_TOA_ADAPT Protection level write tool adapter data
9210 9210 USER_CLASS_WRITE_ZOA Protection level write settable zero offset
9211 9211 USER_CLASS_READ_GUD_LUD Protection level read user variables

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 Data lists
5.1 Machine data

Number Identifier: $MM_ Description

9212 9212 USER_CLASS_WRITE_GUD_LUD Protection level write user variables
9213 9213 USER_CLASS_OVERSTORE_HIGH Protection level extended overstore
9214 9214 USER_CLASS_WRITE_PRG_CONDIT Protection level program control
9215 9215 USER_CLASS_WRITE_SEA Protection level write setting data
9216 USER_CLASS_READ_PROGRAM Protection level read part program
9217 USER_CLASS_WRITE_PROGRAM Protection level enter part program
9218 9218 USER_CLASS_SELECT_PROGRAM Protection level part program selection
9219 9219 USER_CLASS_TEACH_IN Protection level TEACH IN
9220 9220 USER_CLASS_PRESET Protection level PRESET
9221 9221 USER_CLASS_CLEAR_RPA Protection level delete R parameters
9222 9222 USER_CLASS_WRITE_RPA Protection level write R parameters
9223 USER_CLASS_SET_V24 Protection level for RS232C interface
parameterization
9224 USER_CLASS_READ_IN Protection level for import data
9225 USER_CLASS_READ_CST Protection level standard cycles
9226 USER_CLASS_READ_CUS Protection level user cycles
9227 USER_CLASS_SHOW_SBL2 Skip single block2 (SBL2)
9228 USER_CLASS_READ_SYF Access level select directory SYF
9229 USER_CLASS_READ_DEF Access level select directory DEF
9230 USER_CLASS_READ_BD Access level select directory BD
9231 USER_CLASS_WRITE_RPA_1 Write protection for first RPA area
9232 USER_BEGIN_WRITE_RPA_1 Start of the first RPA area
9233 USER_END_WRITE_RPA_1 End of the first RPA area
9234 USER_CLASS_WRITE_RPA_2 Write protection for second RPA area
9235 USER_BEGIN_WRITE_RPA_2 Start of the second RPA area
9236 USER_END_WRITE_RPA_2 End of the second RPA area
9237 USER_CLASS_WRITE_RPA_3 Write protection for third RPA area
9238 USER_BEGIN_WRITE_RPA_3 Start of the third RPA area
9239 USER_END_WRITE_RPA_3 End of the third RPA area
9240 USER_CLASS_WRITE_TOA_NAME Change tool designation and duplo
9241 USER_CLASS_WRITE_TOA_Type Change tool type
9460 PROGRAMM_SETTINGS Resetproof data storage for settings in the
PROGRAM operating area
9461 CONTOUR_END_TEXT String to be added to end of contour on
completion of input
9478 TO_OPTION_MASK Variants of tool offsets
9500 NC_PROPERTIES NC_properties: Bit 0: Digital drives,
Bit 1: Software startup switch
9510 USER_CLASS_DIRECTORY1_P Protection level for network drive 1 for
PROGRAM operating area
9511 USER_CLASS_DIRECTORY2_P Protection level for network drive 2 for
PROGRAM operating area
9512 USER_CLASS_DIRECTORY3_P Protection level for network drive 3 for
PROGRAM operating area

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Data lists
5.1 Machine data

Number Identifier: $MM_ Description

9513 USER_CLASS_DIRECTORY4_P Protection level for network drive 4 for
PROGRAM operating area
9516 USER_CLASS_DIRECTORY1_M Protection level for network drive 1 for
MACHINE operating area
9517 USER_CLASS_DIRECTORY2_M Protection level for network drive 2 for
MACHINE operating area
9518 USER_CLASS_DIRECTORY3_M Protection level for network drive 3 for
MACHINE operating area
9519 USER_CLASS_DIRECTORY4_M Protection level for network drive 4 for
MACHINE operating area

5.1.3 NC-specific machine data

Number Identifier: $MN_ Description

10350 FASTIO_DIG_NUM_INPUTS Number of active digital NCK input bytes
10360 FASTIO_DIG_NUM_OUTPUTS Number of active digital NCK output bytes
10361 FASTIO_DIG_SHORT_CIRCUIT Short-circuit digital inputs and outputs
11120 LUD_EXTENDED_SCOPE Activate programglobal variables (PUD)
11270 DEFAULT_VALUES_MEM_MSK Activ.
Function: Save DEFAULT values of GUD.
18150 MM_GUD_VALUES_MEM Reserve memory space for GUD

5.1.4 Channelspecific machine data

Number Identifier: $MC_ Description

21015 INVOLUTE_RADIUS_DELTA NC start disable without reference point
21016 INVOLUTE_AUTO_ANGLE_LIMIT Automatic angle limitation for involute interpolation
27800 TECHNOLOGY_MODE Technology in channel
28150 MM_NUM_VDIVAR_ELEMENTS Number of write elements for PLC variables
28530 MM_PATH_VELO_SEGMENTS Number of storage elements for limiting path velocity
in block

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 Data lists
5.2 System variables

5.1.5 Axis/spindlespecific machine data

Number Identifier: $MA_ Description

30350 SIMU_AX_VDI_OUTPUT Output of axis signals for simulation axes
33050 LUBRICATION_DIST Lubrication pulse distance
35590 PARAMSET_CHANGE_ENABLE Parameter set definition possible from PLC
36060 STANDSTILL_VELO_TOL Maximum velocity/speed when axis/spindle stationary
36610 AX_EMERGENCY_STOP_TIME Length of the braking ramp for error states
36620 SERVO_DISABLE_DELAY_TIME Cutout delay servo enable

5.2 5.2 System variables

Names Description
$P_FUMB Unassigned part program memory (Free User Memory Buffer)
$A_DBB[n] Data on PLC (data type BYTE)
$A_DBW[n] Data on PLC (WORD type data)
$A_DBD[n] Data on PLC (DWORD type data)
$A_DBR[n] Data on PLC (REAL type data)

5.3 5.3 Signals

5.3.1 Signals to NC

DB number Byte.Bit Description

10 56.7 Keyswitch setting 0 to 3

Various NC/PLC interface signals and functions (A2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 5-5
Data lists
5.3 Signals

5.3.2 Signals from NC

DB number Byte.Bit Description

10 103.0 Remote diagnostics (MMC alarm is active)
10 103.5 AT box ready
10 103.6 MMC temperature limit
10 103.7 MMC battery alarm
10 104.7 NCK CPU Ready
10 108.1 MMCCPU2Ready (MMC to OPI or MPI)
10 108.2 MMC CPU1 Ready (MMC to MPI)
10 108.3 MMC CPU1 Ready (MMC to OPI, standard link)
10 108.6 Drive Ready
10 108.7 NC Ready
10 109.0 NCK alarm is active
10 109.5 NCU573 heat-sink temperature alarm
10 109.6 Air temperature alarm
10 109.7 NCK battery alarm

Various NC/PLC interface signals and functions (A2)

5-6 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Data lists
5.3 Signals

5.3.3 Signals to operator panel front

DB number Byte.Bit Description

19 0.0 Screen bright
19 0.1 Darken screen
19 0.2 Key disable
19 0.3 Delete Cancel alarms (HMI Advanced only)
19 0.4 Delete Recall alarms (HMI Advanced only)
19 0.7 Actual value in WCS
19 10.0 Programming area selection
19 10.1 Alarm area selection
19 10.2 Tool offset selection
19 10.7 ShopMill control signal
19 12.2 COM2 active (job byte of PLC)
19 12.3 COM1 active (job byte of PLC)
19 12.4 RS232 stop (job byte of PLC)
19 12.5 RS232 external (job byte of PLC)
19 12.6 RS232 OFF (job byte of PLC)
19 12.7 RS232 ON (job byte of PLC)
19 13.5 Unload part program
19 13.6 Load part program
19 13.7 Part program selection
19 14.7 File system active/passive (for HMI Embedded, always active)
19 16.7 File system active/passive (for HMI Advanced, always passive)
19 44.0 Mode change disable

Various NC/PLC interface signals and functions (A2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 5-7
Data lists
5.3 Signals

5.3.4 Signals from operator panel front

DB number Byte.Bit Description

19 20.1 Screen is dark
19 20.7 Switch over MCS/WCS
19 24.0 Error (Acknowledgment byte for current RS232 status)
19 24.1 O.K. (Acknowledgment byte for current RS232 status)
19 24.2 COM2 active (Acknowledgment byte for current RS232 status)
19 24.3 COM1 active (Acknowledgment byte for current RS232 status)
19 24.4 RS232 stop (Acknowledgment byte for current RS232 status)
19 24.5 RS232 External (Acknowledgment byte for current RS232C status)
19 24.6 RS232 OFF (Acknowledgment byte for current RS232 status)
19 24.7 RS232 ON (Acknowledgment byte for current RS232 status)
19 26.0 Error (Part program handling status)
19 26.1 O.K. (Part program handling status)
19 26.3 Active (Part program handling status)
19 26.5 Unload (Part program handling status)
19 26.6 Load (Part program handling status)
19 26.7 Select (Part program handling status)
19 42.0 FC9: Measure in JOG mode
19 45.0 FC9 Out: Active
19 45.1 FC9 Out: Done
19 45.2 FC9 Out: Error
19 45.3 FC9 Out: StartErr

5.3.5 Signals to channel

DB number Byte.Bit Description

21, ... 6.2 Delete distancetogo (channelspecific)

5.3.6 Signals from channel

DB number Byte.Bit Description

21, ... 36.6 Channelspecific NCK alarm is active
21, ... 36.7 NCK alarm with processing stop present
21, ... 318.7 Overstore active

Various NC/PLC interface signals and functions (A2)

5-8 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Data lists
5.3 Signals

5.3.7 Signals to axis/spindle

DB number Byte.Bit Description

31, ... 1.3 Axis/spindle disable
31, ... 1.4 Follow-up mode
31, ... 1.5 Position measuring system 1
31, ... 1.6 Position measuring system 2
31, ... 2.1 Controller enable
31, ... 2.2 Delete distancetogo (axisspecific)/Spindle reset
31, ... 1, 2 Parameter set switchover (request)
31, ... 20.0 Rampup times
31, ... 20.1 Rampfunction-generator fast stop
31, ... 20.2 Torque limit 2
31, ... 20.3 Speed setpoint smoothing
31, ... 21.2 Drive parameter set selection A, B, C
31, ... 21.4 Motor selection A, B
31, ... 21.5 Motor selection to follow
31, ... 21.6 Speed controller integrator disable
31, ... 21.7 Pulse enable

Various NC/PLC interface signals and functions (A2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 5-9
Data lists
5.3 Signals

5.3.8 Signals from axis/spindle

DB number Byte.Bit Description

31, ... 60.4 / 60.5 Referenced, synchronized 1 / Referenced, synchronized 2
31, ... 61.3 Followup mode active
31, ... 64.6 / 64.7 Traverse command minus / plus
31, ... 61.3 Followup mode active
31, ... 61.4 Axis/spindle stops
31, ... 61.5 Position controller active
31, ... 61.6 Speed control loop active
31, ... 61.7 Current controller active
31, ... 1, 2 Parameter set switchover (feedback)
31, ... 76.0 Lubrication pulse
31, ... 92.0 Setup mode active
31, ... 92.1 Rampfunction-generator fast stop active
31, ... 92.2 Torque limit 2 active
31, ... 92.3 Speed setpoint smoothing active
31, ... 93.2 Active drive parameter set A, B, C
31, ... 93.4 Active motor A, B
31, ... 93.5 Drive Ready
31, ... 93.6 Speed controller integrator disabled
31, ... 93.7 Pulses enabled
31, ... 94.0 Motor temperature prewarning
31, ... 94.1 Heat-sink temperature prewarning
31, ... 94.2 Ramp-up function completed
31, ... 94.3 |Md| < Mdx
31, ... 94.4 |nact| < nmin
31, ... 94.5 |nact| < nx
31, ... 94.6 nact = nset
31, ... 94.7 Variable signaling function
31, ... 95.0 UDC link<warning threshold

Various NC/PLC interface signals and functions (A2)

5-10 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Index
DBX56.5, 2-36
DBX56.6, 2-36
6 DBX56.7, 2-36
DB19
611D Ready, 2-3
DBB12, 2-6
DBB13, 2-6
DBB14, 2-6
A DBB15, 2-6
Access authorization, 2-32 DBB16, 2-6
Access features, 2-33 DBB17, 2-6
Access security, 2-32 DBB24, 2-7
Actual value synchronization, 2-15 DBB25, 2-7
Actual value in workpiece coordinate system, 2-6 DBB26, 2-7
Air temperature alarm, 2-4 DBB27, 2-7
Axis disable, 2-8 DBX 0.3, 2-5
Axis/spindle stops, 2-18 DBX 0.4, 2-5
DBX0.0, 2-5
DBX0.1, 2-5
C DBX0.2, 2-5
DBX0.7, 2-6
Cancel alarms, 2-5
DBX20.3, 2-5
Channelspecific NCK alarm is active, 2-4
DBX20.4, 2-6
Contrast, 2-23
DB21, ...
Controller parameter set switchover, 4-1
DBX36.6, 2-4
Current controller active, 2-18
DBX36.7, 2-4
Cyclic signal exchange, 2-1
DBX6.2, 2-7
DB31
DBB69.0, 4-2
D DBB69.1, 4-2
Darken screen, 2-5 DBB69.2, 4-2
Data channel DBB9.0, 4-1, 4-2
high-speed, 2-28 DBB9.1, 4-1, 4-2
DB10 DBB9.2, 4-1, 4-2
DBX103.0, 2-4 DB31, ...
DBX104.7, 2-3 DBX1.0, 2-7, 2-17
DBX108.1, 2-3 DBX1.3, 2-8
DBX108.2, 2-3 DBX1.4, 2-8, 2-9, 2-11, 2-15
DBX108.3, 2-3 DBX1.5, 2-12
DBX108.6, 2-3 DBX1.6, 2-12
DBX108.7, 2-3 DBX2.1, 2-8, 2-9, 2-11, 2-13, 2-14
DBX109.0, 2-4 DBX2.2, 2-16
DBX109.6, 2-4 DBX20.1, 2-18
DBX109.7, 2-4 DBX20.2, 2-18
DBX56.1, 2-14 DBX20.3, 2-19
DBX56.4, 2-36 DBX21.0, 2-19

Various NC/PLC interface signals and functions (A2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 Index-1
Index

DBX21.1, 2-19 Delete distance-to-go, 2-7

DBX21.2, 2-19 Display resolution, 2-24
DBX21.3, 2-19 Drive-test travel enable, 2-7
DBX21.4, 2-19 Drive-test travel request, 2-17
DBX21.5, 2-19
DBX21.6, 2-20
DBX21.7, 2-14, 2-20 F
DBX60.4, 2-12
Followup mode active, 2-17
DBX60.6, 2-12
Foreground language, 2-23
DBX60.7, 2-12
DBX61.0, 2-7, 2-17
DBX61.3, 2-8, 2-9, 2-17
DBX61.4, 2-17, 2-18
H
DBX61.5, 2-14, 2-18 High-speed data channel, 2-28
DBX61.6, 2-14, 2-18 HMI alarms, 2-4
DBX61.7, 2-18 HMI CPU1 Ready, 2-3
DBX69.0, 2-18 HMI CPU2 Ready, 2-3
DBX76.0, 2-18
DBX9.0, 2-16, 2-18
DBX9.1, 2-16, 2-18 I
DBX9.2, 2-16, 2-18
Interface signals
DBX9.3, 2-17
for operator panel, 2-5
DBX92.0, 2-20
Interface signals (A2), 1-1
DBX92.1, 2-20
Interface signals from and to channel, 2-7
DBX92.2, 2-20
Interface signals|Spindle reset, 2-16
DBX92.3, 2-21
Interpolatory axis grouping, 2-14
DBX93.0, 2-19, 2-21
DBX93.1, 2-19, 2-21
DBX93.2, 2-19, 2-21
DBX93.3, 2-21
K
DBX93.4, 2-21 Key disable, 2-5
DBX93.5, 2-14, 2-21 Key switch, 2-35
DBX93.6, 2-20, 2-21
DBX93.7, 2-20, 2-21
DBX94.0, 2-21 L
DBX94.1, 2-21
Lockable data areas, 2-36
DBX94.2, 2-22
Lubrication pulse, 2-18
DBX94.3, 2-22
DBX94.4, 2-22
DBX94.5, 2-22
DBX94.6, 2-22
M
DBX94.7, 2-22 Machine coordinate system, 2-6
DBX95.0, 2-23 MCS, 2-6
DBX95.7, 2-23 Md
DB31, ... |Md| < Mdx, 2-22
DBX69.1, 2-18 MD10131, 2-24
DB31, ... DBX60.5, 2-12 MD11270, 2-28
DB31, ... DBX69.2, 2-18 MD1417, 2-22
DB31,... MD1418, 2-22
DBX93.5, 2-3 MD1426, 2-22
DC link undervoltage warning threshold, 2-23 MD1428, 2-22
DC link voltage, 2-23 MD1604, 2-23
DClink, 2-23 MD18150, 2-28
Default passwords, 2-35 MD21015, 2-26

Various NC/PLC interface signals and functions (A2)

Index-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Index

MD21016, 2-27 resetting, 2-34

MD28150, 2-31 setting, 2-34
MD28530, 2-27 PLC/NCK interface, 2-1
MD31050 $MA_DRIVE_AX_RATIO_DENOM, 4-1 Position controller active, 2-18
MD31060 $MA_DRIVE_AX_RATIO_NUMERA, 4-1 Position measuring system, 2-12
MD32200, 2-17 Protection levels, 2-36
MD32200 $MA_POSCTRL_GAIN, 4-1
MD32800 $MA_EQUIV_CURRCTRL_TIME, 4-1
MD32810 $MA_EQUIV_SPEEDCTRL_TIME, 4-2 R
MD32910 $MA_DYN_MATCH_TIME, 4-2
Ramp-up function completed, 2-22
MD33050, 2-18
Read/write PLC variable, 2-28
MD35130 $MA_AX_VELO_LIMIT, 4-1
Recall alarms, 2-5
MD35590, 2-16
MD35590 $MA_PARAMSET_CHANGE_ENABLE, 4-1
MD36060, 2-17, 2-18
MD36610, 2-14
S
MD36620, 2-14 Servo enable, 2-13
MD9000, 2-23 Signals
MD9001, 2-23 Alarm signals, 2-4
MD9003, 2-23 Axis/spindle-specific (DB31, ...), 2-2
MD9004, 2-24 Channel-specific (DB21, ...), 2-2
MD9006, 2-5 Ready signals, 2-3
Monitor type, 2-23 Speed control loop active, 2-18
Spindle disable, 2-8
Spindle reset, 2-16
N
nact
|nact| < nmin, 2-22
U
|nact| < nx, 2-22 Undervoltage threshold, 2-23
nact = nsetp, 2-22
NCK alarm is active, 2-4
NCK alarm with processing stop, 2-4 V
NCK battery alarm, 2-4
Variable signaling function, 2-22
NCK CPU Ready, 2-3

W
P
WCS, 2-6
Password, 2-34
Workpiece coordinate system, 2-6

Various NC/PLC interface signals and functions (A2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 Index-3
Various NC/PLC interface signals and functions (A2)
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 Index-4
 1
SINUMERIK 840D sl/840Di sl/840D/840Di/810D Axis monitoring, protection zones (A3) ______________
Brief Description

2
______________
Detailed description

3
SINUMERIK ______________
Supplementary conditions

840D sl/840Di sl/840D/840Di/810D

4
______________
Examples

Axis monitoring, protection zones 5

(A3) ______________
Data lists

Function Manual

Valid for

Control
SINUMERIK 840D sl/840DE sl
SINUMERIK 840Di sl/840DiE sl
SINUMERIK 840D powerline/840DE powerline
SINUMERIK 840Di powerline/840DiE powerline
SINUMERIK 810D powerline/810DE powerline

Software Version
NCU System Software for 840D sl/840DE sl 1.3
NCU system software for 840Di sl/DiE sl 1.0
NCU system software for 840D/840DE 7.4
NCU system software for 840Di/840DiE 3.3
NCU system software for 810D/810DE 7.4

03/2006 Edition
6FC5397-0BP10-1BA0
Safety Guidelines
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent
damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are
graded according to the degree of danger.

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

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

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

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

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

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

Prescribed Usage
Note the following:

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

Trademarks
All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this
publication may be trademarks whose use by third parties for their own purposes could violate the rights of the
owner.

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

Siemens AG Order No.: 6FC5397-0BP10-1BA0 Copyright © Siemens AG 2006.

Automation and Drives Edition 05/2006 Technical data subject to change
Postfach 48 48
90437 NÜRNBERG
GERMANY
Table of contents
1 Brief Description ..................................................................................................................................... 1-1
1.1 Axis monitoring functions ........................................................................................................... 1-1
1.2 Protection zones ........................................................................................................................ 1-2
2 Detailed description ................................................................................................................................ 2-1
2.1 Motion monitoring functions ....................................................................................................... 2-1
2.1.1 Contour monitoring .................................................................................................................... 2-1
2.1.1.1 Contour error.............................................................................................................................. 2-1
2.1.1.2 Following Error Monitoring ......................................................................................................... 2-2
2.1.2 Positioning, zero speed and clamping monitoring ..................................................................... 2-4
2.1.2.1 Correlation between positioning, zero-speed and clamping monitoring .................................... 2-4
2.1.2.2 Positioning monitoring................................................................................................................ 2-5
2.1.2.3 Zero speed monitoring ............................................................................................................... 2-6
2.1.2.4 Exact stop and standstill tolerance dependent on the parameter set........................................ 2-7
2.1.2.5 Clamping monitoring .................................................................................................................. 2-7
2.1.3 Speed-setpoint monitoring ....................................................................................................... 2-14
2.1.4 Actual velocity monitoring ........................................................................................................ 2-16
2.2 Measuring-system monitoring (systems with SIMODRIVE 611D)........................................... 2-17
2.2.1 Encoder-limit-frequency monitoring ......................................................................................... 2-17
2.2.2 Zero-mark monitoring............................................................................................................... 2-19
2.2.2.1 General .................................................................................................................................... 2-19
2.2.2.2 Zero-mark monitoring for incremental encoders...................................................................... 2-20
2.2.2.3 Zero-mark monitoring for absolute encoders........................................................................... 2-21
2.2.2.4 Customized error reactions...................................................................................................... 2-23
2.2.3 Monitoring hardware faults....................................................................................................... 2-25
2.3 Measuring-system monitoring (systems with PROFIBUS drives) ........................................... 2-25
2.4 Monitoring of static limits.......................................................................................................... 2-26
2.4.1 Overview of the limit switch monitoring.................................................................................... 2-26
2.4.2 Hardware limit switches ........................................................................................................... 2-27
2.4.3 Software limit switch ................................................................................................................ 2-28
2.4.4 Working area limitation ............................................................................................................ 2-30
2.5 Protection zones ...................................................................................................................... 2-33
2.5.1 General .................................................................................................................................... 2-33
2.5.2 Types of protection zone.......................................................................................................... 2-34
2.5.3 Definition via part program instruction ..................................................................................... 2-37
2.5.4 Definition via system variable .................................................................................................. 2-41
2.5.5 Activation and deactivation of protection zones....................................................................... 2-43
2.5.6 Protection-zone violation and temporary enabling of individual protection zones................... 2-47
2.5.7 Restrictions in protection zones ............................................................................................... 2-53
3 Supplementary conditions ...................................................................................................................... 3-1
3.1 Axis monitoring functions ........................................................................................................... 3-1

Axis monitoring, protection zones (A3)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 iii
Table of contents

4 Examples................................................................................................................................................ 4-1
4.1 Definition and activation of protection zones ............................................................................. 4-1
5 Data lists................................................................................................................................................. 5-1
5.1 Machine data.............................................................................................................................. 5-1
5.1.1 NC-specific machine data .......................................................................................................... 5-1
5.1.2 Channelspecific machine data ................................................................................................... 5-1
5.1.3 Axis/spindlespecific machine data ............................................................................................. 5-2
5.2 Setting data ................................................................................................................................ 5-3
5.2.1 Axis/spindlespecific setting data ................................................................................................ 5-3
5.3 Signals........................................................................................................................................ 5-4
5.3.1 Signals to channel...................................................................................................................... 5-4
5.3.2 Signals from channel.................................................................................................................. 5-4
5.3.3 Signals to axis/spindle................................................................................................................ 5-5
Index................................................................................................................................................ Index-1

Axis monitoring, protection zones (A3)

iv Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Brief Description 1
1.1 1.1 Axis monitoring functions

Function
Comprehensive monitoring functions are present in the control for protection of people and
machines:
• Motion monitoring functions
– Contour monitoring
– Position monitoring
– Zero-speed monitoring
– Clamping monitoring
– Speed-setpoint monitoring
– Actual-velocity monitoring
– Encoder Monitoring
• Monitoring of static limits
– Limit-switch monitoring
– Working-area limitation

Axis monitoring, protection zones (A3)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 1-1
Brief Description
1.2 Protection zones

1.2 1.2 Protection zones

Function
With the help of protection zones, elements of the machine (e.g. spindle chuck, tool changer,
tool holder, tailstock, movable probe, etc.) and the workpiece can be protected against
collisions.
During automatic execution of part programs in the AUTOMATIC or MDI mode, the NC
checks at the start of every part-program block whether a collision between protection zones
can occur upon moving along the programmed path.
After manual deactivation of an active protection zone, the zone can be entered. After
leaving the protection zone, the protection zone automatically becomes active again.
The definition, activation and deactivation of protection zones takes place via part program
instructions.

Axis monitoring, protection zones (A3)

1-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Detailed description 2
2.1 2.1 Motion monitoring functions

2.1.1 Contour monitoring

2.1.1.1 Contour error

Contour errors are caused by signal distortions in the position control loop.
Signal distortions can be linear or nonlinear.

Linear signal distortions

Linear signal distortions are caused by:
• Speed and position controller not being set optimally
• Different servo gain factors of the feed axes involved in creating the path
With the same servo gain factor for two linear-interpolated axes, the actual position
follows the set position along the same path but with a time delay. With different servo
gain factors, a parallel offset arises between the set and actual path.
• Unequal dynamic response of the feed drives
Unequal drive dynamic responses lead to path deviations especially on contour changes.
Circles are distorted into ellipses by unequal dynamic responses of the two feed drives.

Axis monitoring, protection zones (A3)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-1
Detailed description
2.1 Motion monitoring functions

Nonlinear signal distortions

Nonlinear signal distortions are caused by:
• Activation of the current limitation within the machining area
• Activation of the limitation of the set speed
• Backlash within and/or outside the position control loop
When traversing a circular path, contour errors occur primarily due to the reversal error
and friction.
During movement along straight lines, a contour error arises due to a reversal error
outside the position control loop, e.g., due to a tilting milling spindle. This causes a
parallel offset between the actual and the set contour. The shallower the gradient of the
straight line, the larger the offset.
• Nonlinear friction behavior of slide guides

2.1.1.2 Following Error Monitoring

Function
In control engineering terms, traversing along a machine axis always produces a certain
following error, i.e., a difference between the set and actual position.
The following error that arises depends on:
• Position control loop gain
MD32200 $MA_POSCTRL_GAIN (servo gain factor)
• Maximum acceleration
MD32300 $MA_MAX_AX_ACCEL (Maximum axis acceleration)
• Maximum velocity
MD32000 $MA_MAX_AX_VELO (maximum axis velocity)
• With activated feedforward control: Precision of the path model and the parameters:
MD32610 $MA_VELO_FFW_WEIGHT (factor for the velocity feedforward control)
MD32800 $MA_EQUIV_CURRCTRL_TIME (Equivalent time constant current control loop
for feedforward control)
MD32810 $MA_EQUIV_SPEEDCTRL_TIME (equivalent time constant speed control loop
for feedforward control)
In the acceleration phase, the following error initially increases when traversing along a
machine axis. After a time depending on the parameterization of the position control loop,
the following error then remains constant in the ideal case. Due to external influences, more
or less large fluctuations in the following error always arise during a machining process. To
prevent these fluctuations in the following error from triggering an alarm, a tolerance range
within which the following error may change must be defined for the following-error
monitoring:
MD36400 $MA_CONTOUR_TOL (Contour monitoring tolerance range)

Axis monitoring, protection zones (A3)

2-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.1 Motion monitoring functions

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Figure 2-1 Following-Error Monitoring

Effectivity
The following-error monitoring only operates with active position control and the following
axis types:
• Linear axes with and without feedforward control
• Rotary axes with and without feedforward control
• Position-controlled spindles

Fault
If the configured tolerance limit is exceeded, the following alarm appears:
25050 "Axis <Axis identifier> Contour monitoring"
The affected axis/spindle is stopped via the configured braking ramp in follow-up mode:
MD36610 $MA_AX_EMERGENCY_STOP_TIME
(Maximum time for braking ramp when an error occurs)

Axis monitoring, protection zones (A3)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-3
Detailed description
2.1 Motion monitoring functions

2.1.2 Positioning, zero speed and clamping monitoring

2.1.2.1 Correlation between positioning, zero-speed and clamping monitoring

Overview
The following overview shows the correlation between the positioning, zero speed and
clamping monitoring functions:

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Axis monitoring, protection zones (A3)

2-4 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.1 Motion monitoring functions

2.1.2.2 Positioning monitoring

Function
At the end of a positioning operation:
• Set velocity = 0 AND
• DB31, ... DBX64.6/64.7 (motion command minus/plus) = 0
checks the position monitoring to ensure that the following error of every participating
machine axis is smaller than the exact-stop fine tolerance during the delay time.
MD36010 $MA_STOP_LIMIT_FINE (exact stop fine)
MD36020 $MA_POSITIONING_TIME (delay time exact stop fine)
After reaching "Exact stop fine", the position monitoring is deactivated.

Note
The smaller the exact stop fine tolerance is, the longer the positioning operation takes and
the longer the time until block change.

Rules for MD setting

MD36010 $MA_STOP_LIMIT_FINE MD36020 $MA_POSITIONING_TIME

large can be selected relatively short
small must be selected relatively long

MD32200 $MA_POSCTRL_GAIN MD36020 $MA_POSITIONING_TIME

(servo gain factor)
small must be selected relatively long
large can be selected relatively short

Effectivity
The position monitoring only operates with active position control and the following axis
types:
• Linear axes
• Rotary axes
• Position-controlled spindles

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Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-5
Detailed description
2.1 Motion monitoring functions

Fault
If the configured position-monitoring time is exceeded, the following alarm appears:
25080 "Axis <Axis identifier> Position monitoring"
The affected axis is stopped via the configured braking ramp in follow-up mode:
MD36610 $MA_AX_EMERGENCY_STOP_TIME
(Maximum time for braking ramp when an error occurs)

2.1.2.3 Zero speed monitoring

Function
At the end of a positioning operation:
• Set velocity = 0 AND
• DB31, ... DBX64.6/64.7 (motion command minus/plus) = 0
checks the zero-speed monitoring to ensure that the following error of every participating
machine axis is smaller than the standstill tolerance during the delay time.
MD36040 $MA_STANDSTILL_DELAY_TIME (Zero-speed monitoring delay time)
MD36030 $MA_STANDSTILL_POS_TOL (standstill tolerance)
After reaching the required exact-stop state, the positioning operation is completed:
DB31, ... DBX60.6/60.7 (position reached with exact stop coarse/fine) = 1
The position-monitoring function is deactivated and is replaced by the zero-speed
monitoring.
Zero-speed monitoring monitors the adherence to the standstill tolerance. If no new travel
request is received, the machine axis must not depart from the standstill tolerance.

Effectivity
The zero-speed monitoring only operates with active position control and the following axis
types:
• Linear axes
• Rotary axes
• Position-controlled spindles

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2-6 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.1 Motion monitoring functions

Fault
If the delay time and/or the standstill tolerance is exceeded, the following alarm appears:
25040 "Axis <Axis identifier> Zero-speed monitoring"
The affected axis is stopped via the configured braking ramp in follow-up mode:
MD36610 $MA_AX_EMERGENCY_STOP_TIME
(Maximum time for braking ramp when an error occurs)

2.1.2.4 Exact stop and standstill tolerance dependent on the parameter set

Common factor for position tolerances

For adaptation to different machining situations and/or axis dynamics, e.g.,:
• Operating state A: High precision, long machining time
• Operating state B: Lower precision, shorter machining time
• Changing of the mass relationships after gear change
the positioning tolerances:
• MD36000 $MA_STOP_LIMIT_COARSE (exact stop coarse)
• MD36010 $MA_STOP_LIMIT_FINE (exact stop fine)
• MD36030 $MA_STANDSTILL_POS_TOL (standstill tolerance)
can be weighted with a common factor depending on the parameter set:
MD36012 $MA_STOP_LIMIT_FACTOR (exact stop coarse/fine and standstill factor)
Because the factor applies in common for all three position tolerances, the relationship
between the values remains constant.

2.1.2.5 Clamping monitoring

Clamping monitoring
For machine axes that are mechanically clamped upon completion of a positioning operation,
larger motions can result from the clamping process (> standstill tolerance). As a result,
zero-speed monitoring is replaced by clamping monitoring during the clamping process.
Clamping monitoring monitors the adherence to the configured clamping tolerance:
MD36050 $MA_CLAMP_POS_TOL (Clamping tolerance)

Activation
The clamping monitoring is activated by the following interface signal:
DB31, ... DBX2.3 (clamping in progress)

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Detailed description
2.1 Motion monitoring functions

Note
The clamping monitoring is not active in "follow-up mode" (DB31, ... DBX1.4 = 1).

Fault
If the clamping tolerance is exceeded, the following alarm appears:
26000 "Clamping monitoring"
The affected axis is stopped via the configured braking ramp in follow-up mode:
MD36610 $MA_AX_EMERGENCY_STOP_TIME
(Maximum time for braking ramp when an error occurs)

Automatic stopping for removal of the clamp

If a clamped axis must be traversed again in continuous-path mode, the NC stops the path
motion for Look Ahead at the start of the motion block of the clamped axis until the clamped
axis can once again be traversed. If the clamping is released before stopping, the path
motion is not stopped.
Parameterization:
MD36052 $MA_STOP_ON_CLAMPING = 'H01' (Special function for clamped axis)

Note
The NC detects whether an axis is clamped based on the "servo enable" state of the axis:
DB31, ... DBX2.2 = 0: no servo enable ⇒ axis is clamped
DB31, ... DBX2.2 = 1: servo enable ⇒ axis is not clamped

Prerequisites for the PLC user program

• The axis is always removed from the clamp when a travel command is pending.
• The following is always valid for the axis:
DB31, ... DBX2.2 (servo enable) = 0: Axis is clamped.
DB31, ... DBX2.2 (servo enable) = 1: Axis is not clamped.
The following image shows an example of the interface signals and states upon releasing of
the axis clamp:

Axis monitoring, protection zones (A3)

2-8 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.1 Motion monitoring functions

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Figure 2-2 Release axis clamp if MD36052 $MA_STOP_ON_CLAMPING = 'H01'

The part-program blocks N310 and N410 refer to the following programming example:

N100 G0 X0 Y0 Z0 A0 G90 G54 F500

N101 G641 ADIS=.1 ADISPOS=5
N210 G1 X10 ; Edit
N220 G1 X5 Y20
N310 G0 Z50 ; Retract
N410 G0 A90 ; Turn rotary table
N510 G0 X100 ; Approach
N520 G0 Z2
N610 G1 Z-4 ; Edit
N620 G1 X0 Y-20

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Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-9
Detailed description
2.1 Motion monitoring functions

Optimized releasing of the axis clamp via travel command

If a clamped axis is to be traversed in continuous-path mode, a travel command is issued for
the clamped axis in the rapid traverse blocks (G0) immediately before the traversing block of
the clamped axis. This way, the PLC user program can release the axis clamp again in time.
(The travel command is set a maximum of two rapid travers blocks prior (including
intermediate blocks) to retain the reference to the initiating part program block).
Parameterization:
MD36052 $MA_STOP_ON_CLAMPING = 'H03' (Special function for clamped axis)
Prerequisites for the PLC user program
• The axis is removed from the clamp as soon as a travel command is pending.
• The axis may be removed from the clamp even if only during positioning (G0).
The following image shows an example of the interface signals and states upon releasing of
the axis clamp:

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Figure 2-3 Release axis clamp if MD36052 $MA_STOP_ON_CLAMPING = 'H03'

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 Detailed description
2.1 Motion monitoring functions

Automatic stopping for setting of the clamp

If an axis is to be clamped in continuous-path mode, the NC stops the path motion before the
next "Non-rapid traverse block" if the axis has not been clamped by then, i.e., the PLC has
set the feedrate override value to zero.
Parameterization:
MD36052 $MA_STOP_ON_CLAMPING = 'H04' (Special function for clamped axis)
Prerequisites for the PLC user program
• The axis is always clamped when no travel command is pending.
• The axis does not have to be clamped during positioning of the other axes.
It can be seen whether the axes are being positioned depending on whether rapid
traverse (G0) is programmed.
The stop command is therefore not set immediately at the beginning of the block
containing the axis, but at the beginning of the next machining block (traversing block,
that is not traversed with rapid traverse).
• The axis is clamped if the feed rate override of a machining block is not equal to 0.
If the axis is clamped before the next machining block, i.e., the feedrate override is other
than 0 again, no stop is generated.
The following image shows an example of the interface signals and states upon setting of
the axis clamp. The part program blocks N410, N510, N520 and N610 refer to the schematic
example under certain boundary conditions.

Axis monitoring, protection zones (A3)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-11
Detailed description
2.1 Motion monitoring functions

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Figure 2-4 Set axis clamp if MD36052 $MA_STOP_ON_CLAMPING = 'H04'

Constraints
Continuous-path mode
For the above-mentioned functions:
• Automatic stopping for removal of the clamp
• Optimized releasing of the axis clamp via travel command
• Automatic stopping for setting of the clamp
the "Look Ahead" function must be active.
Part-program blocks without path motion (e.g., M82/M83) interrupt continuouspath mode and
thus also the "Look Ahead" function.

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 Detailed description
2.1 Motion monitoring functions

Example:
The part-program blocks N320 and N420 are inserted in the programming example used.

N100 G0 X0 Y0 Z0 A0 G90 G54 F500

N101 G641 ADIS=.1 ADISPOS=5
N210 G1 X10 ; Edit
N220 G1 X5 Y20
N310 G0 Z50 ; Retraction
N320 M82 ; no path motion
N410 G0 A90 ; Turn rotary table
N420 M83 ; no path motion
N510 G0 X100 ; Approach
N520 G0 Z2
N610 G1 Z-4 ; Edit
N620 G1 X0 Y-20

The function behaves as follows:

• MD36052 $MA_STOP_ON_CLAMPING = 'H03'
No longer has an effect.
The travel command is set in Look Ahead mode only for blocks with active continuous-
path mode. M82 generates a stop and thus interrupts the continuouspath mode. The Look
Ahead stopping on N410 would not be necessary because stopping occurs anyway.
• MD36052 $MA_STOP_ON_CLAMPING = 'H04'
Generates a stop irrespective of M83, which is executed as a function of "feedrate
override 0%". The axis is thus stopped before the first machining block.

Note
MD36052 $MA_STOP_ON_CLAMPING = 'H01' or 'H04'
Both functions can be used irrespective of the clamping of axes:
• MD36052 $MA_STOP_ON_CLAMPING = 'H01'
Generates a Look Ahead stop for the path motion if no servo enable signal is active
for the relevant axis.
• MD36052 $MA_STOP_ON_CLAMPING = 'H04'
Generates a Look Ahead stop for the path motion if the feed rate overrate = 0% at the
transition from the part-program blocks with rapid traverse to part-program blocks
without rapid traverse.
Both functions ensure that the path motion in continuous-path mode is already stopped
before the start of the relevant part-program block and not just within the part-program
block.

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Detailed description
2.1 Motion monitoring functions

Block-change criterion: Clamping tolerance

After activation of clamp monitoring:(DB31, ... DBX2.3 = 1) the block-change criterion for
traversing blocks, in which the axis stops at the end of the block, no longer acts as the
corresponding exact-stop condition but the configured clamping tolerance:
MD36050 $MA_CLAMP_POS_TOL (clamping tolerance with interface signal "Clamping
active")

Behavior upon releasing of the clamp

If the axis was moved by the clamping process, it is returned by the NC to the position
setpoint after releasing of the clamp and setting of the servo enable state. Repositioning
depends on whether "Follow-up mode" was activated for the axis:

Without follow-up mode: Repositioning by position controller

With follow-up mode: Repositioning by interpolator

See also interface signal:

DB31, ... DBX1.4 (follow-up mode)

Note
The following interface signals can be evaluated by the PLC user program as the criterion for
activation of the "Follow-up mode":
DB31, ... DBX60.6 / 60.7 (position reached with exact stop coarse / fine)

2.1.3 Speed-setpoint monitoring

Function
The speed setpoint comprises:
• Speed setpoint of the position controller
• Speed setpoint portion of the feedforward control (with active feedforward control only)
• Dift compensation (only for drives with analog setpoint interface)

Axis monitoring, protection zones (A3)

2-14 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.1 Motion monitoring functions

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The speed-setpoint monitoring ensures by limiting the control or output signal (10V for
analog setpoint interface or rated speed for digital drives) that the physical limitations of the
drives are not exceeded:
MD36210 $MA_CTRLOUT_LIMIT (Maximum speed setpoint)

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Speed-setpoint monitoring delay

To prevent an error reaction from occurring in every speed-limitation instance, a delay time
can be configured:
MD36220 $MA_CTRLOUT_LIMIT_TIME (Speed-setpoint monitoring delay)
Only if the speed limitation is required for longer than the configured time does the
corresponding error reaction occur.

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Detailed description
2.1 Motion monitoring functions

Effectivity
The speed-setpoint monitoring is only active for closed-loop position-controlled axes and
cannot be deactivated.

Fault
If the configured delay time is exceeded, the following alarm appears:
25060 "Axis <Axis identifier> Speed-setpoint monitoring"
The affected axis is stopped via the configured braking ramp in follow-up mode:
MD36610 $MA_AX_EMERGENCY_STOP_TIME
(Maximum time for braking ramp when an error occurs)

Note
Upon reaching the speed-setpoint monitoring, the position feedback loop of the axis
becomes non-linear due to the limitation. Contour errors result if the axis is involved in
generating the contour.

2.1.4 Actual velocity monitoring

Function
The actual-velocity monitoring checks that the current actual velocity of a machine
axis/spindle does not exceed the configured threshold:
MD36200 $MA_AX_VELO_LIMIT (velocity-monitoring threshold)
The threshold should be 10-15% above the configured maximum velocity.
• For axes:
MD32000 $MA_MAX_AX_VELO (maximum axis velocity)
• For spindles:
MD35110 $MA_GEAR_STEP_MAX_VELO_LIMIT[n] (maximum speed of gear stage)
If you use this setting the speed will not normally exceed the velocity-monitoring threshold
(exception: drive error).

Activation
The actual-velocity monitoring is activated as soon as the active measuring system returns
valid actual values (encoder limit frequency not exceeded):
DB31, ... DBX1.5/1.6 (position measuring system 1/2)

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2.2 Measuring-system monitoring (systems with SIMODRIVE 611D)

Effectivity
The actual-velocity monitoring only operates with active position control and the following
axis types:
• Linear axes
• Rotary axes
• Open loop controlled and position controlled spindles.

Fault
If the threshold is exceeded, the following alarm appears:
25030 "Axis <Axis identifier> Actual-velocity alarm limit"
The affected axis is stopped via the configured braking ramp in follow-up mode:
MD36610 $MA_AX_EMERGENCY_STOP_TIME
(Maximum time for braking ramp when an error occurs)

2.2 2.2 Measuring-system monitoring (systems with SIMODRIVE 611D)

2.2.1 Encoder-limit-frequency monitoring

Function
The encoder-limit-frequency monitoring checks that the encoder frequency does not exceed
the configured encoder limit frequency.
MD36300 $MA_ENC_FREQ_LIMIT (encoder limit frequency)
Encoder-limit-frequency monitoring always refers to the active measuring system selected in
the NC/PLC interface:
DB31, ... DBX1.5/1.6 (position measuring system 1/2)

Effectivity
The encoder limit frequency is operative for:
• Linear axes
• Rotary axes
• Open loop controlled and position controlled spindles.

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2.2 Measuring-system monitoring (systems with SIMODRIVE 611D)

Fault
Upon exceeding of the encoder limit frequency, the following occurs:
• Message to the PLC:
DB31, ... DBX60.2 or 60.3 = 1 (encoder limit frequency exceeded 1 or 2)
• Spindles
Spindles are not stopped but continue to turn with speed control.
If the spindle speed is reduced so much that the encoder frequency passes below the
encoder limit frequency, the actual value system of the spindle is automatically
resynchronized.
• Axes
The following alarm is displayed:
21610 "Channel <Channel number> Axis <Axis identifier> Encoder <Encoder number >
Frequency exceeded"
The affected axis is stopped via the configured braking ramp in follow-up mode:
MD36610 $MA_AX_EMERGENCY_STOP_TIME
(Maximum time for braking ramp when an error occurs)

Note
If the encoder limit frequency is exceeded, the position-controlled machine axis must be
re-referenced.
References:
/FB1/Function Manual, Basic Functions; Reference Point Approach (R1)

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2.2 Measuring-system monitoring (systems with SIMODRIVE 611D)

2.2.2 Zero-mark monitoring

2.2.2.1 General

Function
Zero-mark monitoring serves as a plausibility check for the actual values of the relevant
machine axis.

Note
The zero-mark monitoring is only active beneath the configured encoder limit frequency:
MD36302 $MA_ENC_FREQ_LIMIT_LOW (encoder limit frequency for encoder
resynchronization)

The type of zero-mark monitoring depends on the type of encoder used:

MD30240 $MA_ENC_TYPE (encoder type of actual-value acquisition)

Encoder Meaning
type
0 Simulation
1 Raw signal generators (voltage, current, EXE etc.) → High resolution
2 Rectangular signal encoder (standard, no. of PPRs quadrupled)
3 Reserved
4 Absolute encoder with EnDat interface
5 Absolute encoder with SSI interface

Activation/Deactivation
The function is activated/deactivated with machine data:
MD36310 $MA_ENC_ZERO_MONITORING (Zero-mark monitoring)

MD36310 Meaning
0 No zero-mark monitoring.
>0 Zero-mark monitoring active.
100 No zero-mark monitoring and all encoder alarms concealed.

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2.2 Measuring-system monitoring (systems with SIMODRIVE 611D)

2.2.2.2 Zero-mark monitoring for incremental encoders

Function
Incremental encoders with one or more zero marks use the zero-mark signals to check the
plausibility of the actual values.
Monitoring starts with the first zero-mark signal once the encoder has been switched on
(fault counter = 0). The function checks whether the number of incremental signals is
plausible after each zero mark (if equidistant zero marks) or after every second zero mark (if
distance-coded zero marks). This is the case, for example, if the number of incremental
signals from straight-line axis motions matches the value required for the distance between
two relevant zero marks. In the event of a non-plausible deviation, the fault counter
increases by 1. The zero-mark monitoring is tripped (alarm) if several non-plausible
deviations occur in direct sequence and the fault counter exceeds the configured permissible
number of deviations:
MD36310 $MA_ENC_ZERO_MONITORING (Zero-mark monitoring)
If a plausible value is recorded before this threshold is reached, the fault counter is reset to
0. This ensures that the non-plausible deviations only trigger an alarm if they occur in direct
sequence and in a non-tolerable number.

Note
If using external zero marks (BERO) instead of encoder zero marks, you must deactivate
zero-mark monitoring:
MD36310 $MA_ENC_ZERO_MONITORING = 0

Fault
Alarm 25020
If zero-mark monitoring is tripped in the active measuring system, alarm 25020 appears:
"Axis <Axis identifier> Zero-mark monitoring of active encoder"
The affected axis is stopped via the configured braking ramp in follow-up mode:
MD36610 $MA_AX_EMERGENCY_STOP_TIME
(Maximum time for braking ramp when an error occurs)
Alarm 25021
If zero-mark monitoring is tripped in the passive measuring system alarm 25021 appears:
"Axis <Axis identifier> Zero-mark monitoring of passive encoder"
There is no further alarm response.

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2.2 Measuring-system monitoring (systems with SIMODRIVE 611D)

2.2.2.3 Zero-mark monitoring for absolute encoders

Function
Absolute encoders use the absolute values supplied by the measuring system to check the
plausibility of the actual value.
During the check, the NC compares the cyclic position value held in the position control cycle
clock based on the incremental information from the encoder with a new position value
generated directly from the absolute and incremental information and checks that the
calculated position difference does not exceed the configured permissible deviation.
MD36310 $MA_ENC_ZERO_MONITORING
The permissible deviation is indicated in 1/2 rough lines. It is generally sufficient to enter a
1/2 rough line.

Note
The "zero-mark monitoring" of absolute encoders specifically detects all deviations caused
by dirt on the absolute track or by faults when transferring the absolute value. However,
small errors in the incremental track (burst interference, impulse errors) are not detected. In
such instances the zero-mark monitoring only responds to deviations in the millimeter range.
This form of monitoring should therefore serve as additional monitoring to assist the
diagnosis of absolute-position faults.

Fault
Alarm 25020
If zero-mark monitoring is tripped in the active measuring system, alarm 25020 appears:
"Axis <Axis identifier> Zero-mark monitoring of active encoder"
The affected axis is stopped via the configured braking ramp in follow-up mode:
MD36610 $MA_AX_EMERGENCY_STOP_TIME
(Maximum time for braking ramp when an error occurs)
Alarm 25021
If zero-mark monitoring is tripped in the passive measuring system alarm 25021 appears:
"Axis <Axis identifier> Zero-mark monitoring of passive encoder"
There is no further alarm response.
Alarm 25022
If the absolute value transfer is interrupted, alarm 25022 appears:
"Axis <Axis identifier> Encoder <Encoder number> Warning <Error fine identification>
There is no further alarm response.

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Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-21
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2.2 Measuring-system monitoring (systems with SIMODRIVE 611D)

Note
In the event of a fault, the adjustment of the absolute encoder is lost and the axis is no
longer referenced. The absolute encoder must be readjusted.
References:
/FB1/Function Manual, Basic Functions; Reference Point Approach (R1);
Chapter: Referencing with absolute encoders

Notice
Errors in the incremental track that cannot be detected with amplitude monitoring can cause
position deviations in the millimeter range. The deviation depends on the lattice pitch/line
count and the traversing velocity of the axis when the error occurs.
Complete position monitoring is only possible through redundancy, i.e., through comparison
with an independent second measuring system.

2.2.2.4 Customized error reactions

Customized zero-mark monitoring

You can customize the default alarm and reaction behavior of zero-mark monitoring using
system variables. This allows you to perform your own monitoring using a synchronized
action or OEM application and to use all of the reaction options available in this application,
e.g.:
• Transmit alarm
• Use cycles (e.g., approach tool-change position)
• ...

Example:
Users can adjust the alarm and reaction behavior so that when machining an expensive
workpiece, which could be damaged if the axis is stopped as a result of an alarm, machining
stops before the machining quality of the workpiece is assessed using appropriate
synchronized action commands.

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2.2 Measuring-system monitoring (systems with SIMODRIVE 611D)

Effectivity
Customized monitoring can be activated in parallel to or as an alternative to standard zero-
mark monitoring, depending on the setting in machine data:
MD36310 $MA_ENC_ZERO_MONITORING (Zero-mark monitoring)

MD36310 Meaning
0 Customized monitoring is active, standard zero-mark monitoring is deactivated.
>0 Customized monitoring and standard zero-mark monitoring operate in parallel.
100 All encoder monitoring functions are deactivated.

If both monitoring functions are active (MD36310 > 0), you can perform cascaded
monitoring.
Example:
If a value falls below the threshold specified in MD36310, customized monitoring triggers a
prewarning; standard zero-marking monitoring will only detect a fault if the threshold is
exceeded and will then deactivate automatically.

System variables
You can implement customized error reactions using the following system variables:

Measuring systems with incremental encoders

System variable Meaning

$VA_ENC_ZERO_MON_ERR_CNT[n,ax] Contains the current number of detected zero-mark
errors.
Power on and the selection/deselection of parking
positions triggers a zero reset; reset does not reset
the counter.

n: Encoder number
ax: Machine axis

Measuring systems with absolute encoders

System variable Meaning

$VA_ENC_ZERO_MON_ERR_CNT[n,ax] Contains the current position difference between the
cyclic position value held in the position control cycle
clock based on the incremental information from the
encoder and a new position value generated from the
encoder's absolute and incremental information.
Power on and the selection/deselection of parking

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Detailed description
2.2 Measuring-system monitoring (systems with SIMODRIVE 611D)

System variable Meaning

positions triggers a zero reset; reset does not reset
the counter.
$VA_ABSOLUTE_ENC_ERR_CNT[n,ax] Contains the current number of errors detected when
transferring the absolute values. Monitors the
reliability of the absolute value transfer process.
Power on and the selection/deselection of parking
positions triggers a zero reset; reset does not reset
the counter.
$VA_ABSOLUTE_ENC_STATE[n,ax] Determines the last error status of the absolute-
encoder interface.

n: Encoder number
ax: Machine axis

2.2.3 Monitoring hardware faults

Function
This monitoring function monitors the measuring systems of a machine axis for hardware
faults (e.g., measuring system failure, open circuit).

Fault
Alarm 25000
If a hardware fault is detected in the active measuring system, alarm 25000 appears:
"Axis <Axis identifier> Hardware fault active encoder"
The affected axis is stopped via the configured braking ramp in follow-up mode:
MD36610 $MA_AX_EMERGENCY_STOP_TIME
(Maximum time for braking ramp when an error occurs)
Alarm 25001
If a hardware fault is detected in the passive measuring system alarm, 25001 appears:
"Axis <Axis identifier> Hardware fault passive encoder"
There is no further alarm response.

Notice
For hardware faults, the referencing status of the machine axis is reset:
DB31, ... DBX60.4 / 60.5 = 0 (referenced/synchronized 1 / 2)

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2.3 Measuring-system monitoring (systems with PROFIBUS drives)

2.3 2.3 Measuring-system monitoring (systems with PROFIBUS drives)

The NC has no direct access to the measuring-system hardware for systems with
PROFIBUS drives and therefore measuring-system monitoring is mainly performed by the
drive software.
References:
Drive Functions SINAMICS S120
/FBU/SIMODRIVE 611 universal Function Manual

Encoder-limit-frequency monitoring
In the case of systems with PROFIBUS drives, encoder-limit-frequency monitoring is also
performed in the NCK.

Zero-mark monitoring
PROFIBUS drives with incremental encoders
Zero-mark monitoring is performed by the drive software.
PROFIBUS drives with absolute encoders
The drive software performs the monitoring function, while the plausibility check is carried
out in the NCK (as for SIMODRIVE 611D systems).

2.4 2.4 Monitoring of static limits

2.4.1 Overview of the limit switch monitoring

Overview of possible limit switch monitoring functions:

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Detailed description
2.4 Monitoring of static limits

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2.4.2 Hardware limit switches

Function
A hardware limit switch is normally installed at the end of the traversing range of a machine
axis. It serves to protect against accidental overtravelling of the maximum traversing range of
the machine axis while the machine axis is not yet referenced.
If the hardware limit switch is triggered, the PLC user program created by the machine
manufacturer sets the corresponding interface signal:
DB31, ... DBX12.0 / 12.1 = 1 (hardware limit switch minus / plus)

Braking behavior
The braking behavior of the machine axis upon reaching the hardware limit switch is
configurable via:
MD36600 $MA_BRAKE_MODE_CHOICE = (Braking behavior)
Braking behavior:
• 0: Braking with the configured axial acceleration
• 1: Rapid stop (set velocity = 0)

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2.4 Monitoring of static limits

Effectivity
The hardware limit-switch monitoring is active after the control has ramped up in all modes.

Effect
Upon reaching the hardware limit switch, the following occurs:
• Alarm: "21614 Channel <Channel number> Axis <Axis identifier> Hardware limit switch
<Direction>"
• The machine axis is braked according to the configured braking behavior.
• If the axis/spindle is involved in interpolation with other axes/spindles, these are also
braked according to their configured braking behavior.
• The traversing keys of the affected machine axis are blocked based on the direction.

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2.4 Monitoring of static limits

2.4.3 Software limit switch

Function
Software limit switches serve to limit the traversing range of a machine axis. Per machine
axis and per traversing direction, two (1st and 2nd) software limit switches are available:
• MD36110 POS_LIMIT_PLUS (1st software limit switch plus)
• MD36110 POS_LIMIT_MINUS (1st software limit switch minus)
• MD36130 POS_LIMIT_PLUS (2nd software limit switch plus)
• MD36120 POS_LIMIT_MINUS (2nd software limit switch minus)
By default, the 1st software limit switch is active. The 2nd software limit switch can be
activated for a specific direction with the PLC user program.
DB31, ... DBX12.2 / 12.3 (2nd software limit switch minus / plus)

Effectivity
• Immediately after the successful referencing of the machine axis.
• In all operating modes.

Constraints
• The software limit switches refer to the machine coordinate system.
• The software limit switches must be inside the range of the hardware limit switches.
• The machine axis can be moved to the position of the active software limit switch.
• PRESET
After use of the function PRESET, the software limit-switch monitoring is no longer active.
The machine must first be re-referenced.
• Endlessly rotating rotary axes
No software limit-switch monitoring takes place for endlessly rotating rotary axes:
MD30310 $MA_ROT_IS_MODULO == 1 (Modulo conversion for rotary axis and spindle).

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2.4 Monitoring of static limits

Effect
Automatic operating modes (AUTOMATIC, MDI)
1. Without transformation, without overlaid movement, unchanged software limit switch:
A part program block with a programmed traversing motion that would lead to
overrunning of the software limit switch is not started.
2. With transformation:
Different reactions occur depending on the transformation type.
– Behavior as under 1.
or
– The part program block with a programmed traversing motion that would lead to
overrunning of the software limit switch is started. The affected machine axis stops at
the active software limit switch. The other machine axes participating in the traversing
motion are braked. The programmed contour is left during this process.
3. With overlaid motion
The part program block with a programmed traversing motion that would lead to
overrunning of the software limit switch is started. Machine axes that are traveling with
overlaid motion or have traveled with overlaid motion stop at the active software limit
switch in question. The other machine axes participating in the traversing motion are
braked. The programmed contour is left during this process.
Manual operating modes
1. JOG without transformation
The machine axis stops at the software limit switch position.
2. JOG with transformation
The machine axis stops at the software limit switch position. Other machine axes
participating in the traversing motion are braked. The preset path is left during this
process.
General
• Changing of the software limit switch (1st ↔ 2nd software limit switch)
If the actual position of the machine axis after changing lies behind the software limit
switch, it is stopped with the maximum permissible acceleration.
• Overrunning the software limit switch in JOG mode
If the position of the software limit switch is reached and renewed pressing of the
traversing button should cause further travel in this direction, an alarm is displayed and
the axis is not traversed farther:
Alarm: "10621 Channel <Channel number> Axis <Axis identifier> is at the software limit
switch <Direction>"

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2.4 Monitoring of static limits

2.4.4 Working area limitation

Function
Working-area limitation via setting data
The working-area limitation serves to limit the traversing range of a geometry or special axis
with respect to the basic coordinate system.
The dimensions of the working-area limitation are configured via immediately effective
setting data:
SD43420 $SA_WORKAREA_LIMIT_PLUS (Working-area limitation plus)
SD43430 $SA_WORKAREA_LIMIT_MINUS (Working-area limitation minus)
Programmable working-area limitation
The working-area limitation is programmable via the part program instructions G25 / G26
(lower / upper working-area limitation). The programmed working-area limitation has priority
over the working-area limitation set in the settings data. It overwrites the value entered in the
setting date and is retained even after NC-RESET and program end.
Working-area limitation and tool data
For traversing motions with an active tool, not only the position of the axis but also the
position of the tool tip P is monitored.
Consideration of the tool radius must be activated separately:
MD21020 $MC_WORKAREA_WITH_TOOL_RADIUS (Consideration of the tool radius in the
working-area limitation)

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 Detailed description
2.4 Monitoring of static limits

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References:
/PG/Programming Manual Fundamentals

Effectivity
• Immediately after the successful referencing of the machine axis.
• In all operating modes.

Activation
Working-area limitation via setting data
The activation/deactivation of the working-area limitation takes place direction-specifically via
the immediately effective setting data:
• SD43400 $SA_WORKAREA_PLUS_ENABLE (Working-area limitation active in the
positive direction)
• SD43410 $SA_WORKAREA_MINUS_ENABLE (Working-area limitation active in the
negative direction)

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2.4 Monitoring of static limits

Programmable working-area limitation

The activation/deactivation of the programmable working-area limitation takes place via the
part program instructions:
• WALIMON (Working-area limitation ON)
• WALIMOF (Working-area limitation OFF)

Changing the working-area limitation

• Working-area limitation via setting data
HMI user interface: Operating area "Parameter"
– Automatic modes: Changes are possible only in the RESET state; effectivity:
immediately
– Manual operating modes: Changes are always possible, effectivity: at the start of the
next traversing motion.
• Programmable working-area limitation
Reprogramming the working-area limitation using G25/G26 <Axis identifier><Value>
Changes are immediately effective.

Constraints
• The working-area limitation refers to the basic coordinate system.
• The working-area limitation must lie within the range of the software limit switch.
• PRESET
After use of the function PRESET, the software limit-switch monitoring is no longer active.
The machine must first be re-referenced.
• The RESET position with regard to WALIMON / WALIMOF is configurable via:
MD20150 $MC_GCODE_RESET_VALUES (RESET position of G groups)
• Endlessly rotating rotary axes
No software limit-switch monitoring takes place for endlessly rotating rotary axes:
MD30310 $MA_ROT_IS_MODULO == 1 (Modulo conversion for rotary axis and spindle)

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2.4 Monitoring of static limits

Effect
Automatic operating modes
1. With / without transformation
The part program block with a programmed traversing motion that would lead to
overrunning of the working-area limitation is not started.
2. With overlaid motion
The part program block with a programmed traversing motion that would lead to
overrunning of the working-area limitation is started. Axes that are traversed with overlaid
motion stop at the working-area limitation.
Manual operating modes
1. JOG with / without transformation
The axis is positioned at the working-area limitation and then stopped. Other machine
axes participating in the traversing motion are braked. The preset path is left during this
process.

General
• Activation of the working-area limitation
If the actual position of an axis after activation is located outside of the working-area
limitation, it is stopped with the maximum permissible acceleration.
• Overrunning of the working-area limitation in JOG mode
If the position of the working-area limitation is reached and renewed pressing of the
traversing button should cause further travel in this direction, an alarm is displayed and
the axis is not moved farther:
Alarm: "10631 Channel <Channel number> Axis <Axis identifier> is at the working-area
limitation <Direction>"

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Detailed description
2.5 Protection zones

2.5 2.5 Protection zones

2.5.1 General

Function
Protection zones are static or moveable in 2- or 3-dimensional ranges within a machine to
protect machine elements against collisions.
The following elements can be protected:
• Permanent parts of the machine and attachments (e.g. toolholding magazine, swiveling
probe). Only the elements that can be reached by possible axis constellations are
relevant.
• Moving parts belonging to the tool (e.g. tool, toolholder)
• Moving parts belonging to the workpiece (e.g. parts of the workpiece, clamping table,
clamping shoe, spindle chuck, tailstock).
Protection zones are defined via part program instructions or system variables so that they
completely surround the element to be protected. The activation and deactivation of
protection zones also takes place via part program instructions.
Protection-zone monitoring by the NC is channelspecific, i.e. all the active protection zones
of a channel monitor one another for collisions.

Definition of a protection zone

It is possible to define 2dimensional or 3dimensional protection zones as polygons with a
maximum of ten corner points. The protection zones can also contain arc contour elements.
Polygons are defined in a previously defined plane.
Expansion in the third dimension can be limited between -1 and +1.
The following four cases are possible:
• Dimension of the protection zone from -1 to +1
• Dimension of the protection zone from -1 to upper limit
• Dimension of the protection zone from lower limit to +1
• Dimension of protection zone from lower limit to upper limit.

Coordinate system
The definition of a protection zone takes place with reference to the geometric axis of a
channel in the basic coordinate system.

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2.5 Protection zones

Referenc
• Tool-related protection zones
Coordinates for toolrelated protection zones must be given as absolute values referred to
the tool carrier reference point F.
• Workpiece-related protection zones
Coordinates for workpiecerelated protection zones must be given as absolute values
referred to the zero point of the basic coordinate system.

Orientation
The orientation of the protection zones is determined by the plane definition
(abscissa/ordinate), in which the contour is described, and the axis perpendicular to the
contour (vertical axis).
The orientation of the protection zones must be the same for the tool and workpiecerelated
protection zones.

Note
During machining in operating modes JOG, MDI and AUTOMATIC, the control checks
whether the tool (or its protection zones) violate the protection zones of the workpiece.

2.5.2 Types of protection zone

Protection zones relating to machine or channel

• Machine-related protection zone
A machine-related protection zone is taken into account by all channels of the NC.
• Channel-related protection zones
A channel-related protection zone is taken into account within one channel only.

Example: Doubleslide turning machine

• The toolrelated protection zones are assigned to channel 1 or 2.
• The workpiecerelated protection zones are assigned to the machine.
• The coordinate system must be identical for both channels.

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Detailed description
2.5 Protection zones

Maximum number of protection areas

The maximum definable number of machine- and channel-related protection zones is set via:
MD18190 $MM_NUM_PROTECT_AREA_NCK (Number of files for machine-related
protection zones)
MD28200 $MM_NUM_PROTECT_AREA_CHAN (Number of files for channel-specific
protection zones)

Absolute and relative protection zones

The coordinates of a protection zone must always be programmed as absolute values with
respect to the reference point of the protection zone. When the protection zone is activated
via the part program it is possible to apply a relative offset to the reference point of the
protection zone.

Examples
Below are a few examples of protection zones
• Toolrelated protection zone
• Workpiece-related protection zone
• 3-dimensional protection zone
• Relative protection zone

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2-36 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.5 Protection zones

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Figure 2-11 Example of a turning machine with relative protection zone for tailstock

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Detailed description
2.5 Protection zones

2.5.3 Definition via part program instruction

General
A protection-zone definition must contain the following information:
• Protection zone type (workpiece- or tool-related)
• Orientation of protection zone
• Type of limitation in the third dimension
• Upper and lower limit of the protection zone in the third dimension
• Activation type ("Protection zone immediately active": only possible via system variable)
• Contour elements

Definition of protection zones

The following systematics must be maintained in the definition of channel-specific protection
zones:
• Definition of the working plane: G17, G18 or G19
• Definition beginning
– Channel-specific protection zones: CPROTDEF(...)
– Machine or NC-specific protection zone: NPROTDEF(...)
• Contour description for protection zone
• End of definition: EXECUTE(...)

Definition of the working plane

The desired working plane to which the contour description of the protection zone refers
must be selected with G17, G18, G19 before start of the definition. It may not be changed
before the end of the definition. Programming of the applicate is not permitted between start
and end of the definition.

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2.5 Protection zones

Definition beginning
The definition start is defined by the corresponding subroutine:
• CPROTDEF(n, t, applim, appplus, appminus)
• NPROTDEF(n, t, applim, appplus, appminus)

Parameters Type Description

n INT Number of the defined protection zone
t BOOL Tool-related protection zone
TRUE: Tool-oriented protection zone
FALSE: Workpiece-related protection zone
applim INT Type of limitation in the third dimension
0: No limitation
1: Limit in plus direction
2: Limit in minus direction
3: Limit in positive and negative direction
appminus REAL Value of the limit in the negative direction in the 3rd dimension 1)
appplus REAL Value of the limit in the negative direction in the 3rd dimension 1)
1) The following must be true: appplus > appminus

Contour description for protection zone

The contour of a protection zone is described with traversing motions. These are not
executed and have no connection to previous or subsequent geometry descriptions. They
only define the protection zone.
The contour of a protection zones is specified with up to eleven traversing movements in the
selected working plane. The first traversing movement is the movement to the contour. The
last point in the contour description must always coincide with the first point of the contour
description. In the case of rotationsymmetrical contours (e.g. spindle chuck), the whole
contour must be described (not merely the contour to the turning center).
The valid protection zone is the zone left of the contour.
• Internal protection zone
The contour of an internal protection zone must described in the counterclockwise
direction.
• External protection zones (permitted only for workpiece-related protection zones)
The contour of an external protection zone must be described in the clockwise direction.

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Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-39
Detailed description
2.5 Protection zones

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Figure 2-12 Examples: External and internal protection zone

Toolrelated protection zones must be convex. If a concave protection zone is required, the
protection zone must be divided up into several convex protection zones.

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Figure 2-13 Examples: convex and concave tool-related protection zones

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 Detailed description
2.5 Protection zones

Contour elements
The following contour elements are permissible:
• G0, G1 for straight contour elements
• G2 for circle segments in the clockwise direction
Permissible only for workpiece-related protection zones.
Not permissible for tool-related protection zones because they must be convex.
• G3 for circular segments in the counterclockwise direction
A protection zone cannot be described by a complete circle. A complete circle must be
divided into two half circles.
The sequence G2, G3 or G3, G2 is not permitted. A short G1 block must be inserted
between the two circular blocks.

Constraints
During the definition of a protection zone, the following functions must not be active or used:
• Tool radius compensation (cutter radius compensation, tool nose radius compensation)
• Transformation,
• Reference point approach (G74)
• Fixed point approach (G75)
• Dwell time (G4)
• Block search stop (STOPRE)
• End of program (M17, M30)
• M functions: M0, M1, M2
Programmable frames (TRANS, ROT, SCALE, MIRROR) and configurable frames (G54 to G57)
are ineffective.
Inch/metric switchovers with G70/G71 or G700/G710 are effective.

End of definition
The end of definition is defined by the following subroutine:
EXECUTE(NOT_USED)

Parameters Type Description

NOT_USED INT Error variable has no effect in protection zones with EXECUTE.

The definition of a machine or channel-related protection zone is completed with the

subroutine EXECUTE(n).

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Detailed description
2.5 Protection zones

2.5.4 Definition via system variable

General
If the protection zones are defined with part program instructions (see Chapter: Definition by
means of part program instructions), the protection zone data are stored in system variables.
The system variables can also be written directly so that the definition of protection areas
can also be performed directly in the system variables.
The same supplementary conditions apply for the definition of the contour of a protection
zone as for a protection-zone definition via part program instructions.

System variable
The protection-zone definitions include the following system variables:

System variable Type Meaning

$SN_PA_ACTIV_IMMED[n] BOOL Activation type
$SC_PA_ACTIV_IMMED[n] The protection zone is active immediately after power up of
the control and referencing of the axes.
FALSE: not immediately active
TRUE: immediately active
$SN_PA_T_W[n] INT Protection zone type
$SC_PA_T_W[n] 0: Workpiece-related protection zone
1: Reserved
2: Reserved
3: Tool-related protection zone
$SN_PA_ORI[n] INT Orientation of the protection zone, i.e. polygon definition in
$SC_PA_ORI[n] the plane of:
0: 1. and 2nd geometry axis
1: 3. and 1st geometry axis
2: 2. and 3ard geometry axis
$SN_PA_LIM_3DIM[n] INT Type of limitation in the third dimension
$SC_PA_LIM_3DIM[n] 0: No limit
1: Limit in positive direction
2: Limit in negative direction
3: Limit in positive and negative direction
$SN_PA_PLUS_LIM[n] REAL Value of the limit in the positive direction in the 3rd
$SC_PA_PLUS_LIM[n] dimension
$SN_PA_MINUS_LIM[n] REAL Value of the limit in the negative direction in the 3rd
$SC_PA_MINUS_LIM[n] dimension
$SN_PA_CONT_NUM[n] INT Number of valid contour elements
$SC_PA_CONT_NUM[n]
$SN_PA_CONT_TYP[n, i] INT Contour type[i], contour type (G1, G2, G3) of the nth contour
$SC_PA_CONT_TYP[n, i] element
$SN_PA_CONT_ABS[n, i] REAL End point of the contour[i], abscissa value
$SC_PA_CONT_ABS[n, i]
$SN_PA_CONT_ORD[n, i] REAL End point of the contour[i], ordinate value
$SC_PA_CONT_ORD[n, i]
$SN_PA_CENT_ABS[n, i] REAL Center point of the circular contour[i], absolute abscissa
$SC_PA_CENT_ABS[n, i] value

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2.5 Protection zones

System variable Type Meaning

$SN_PA_CENT_ORD[n, i] REAL Center point of the circular contour[i], absolute ordinate
$SC_PA_CENT_ORD[n, i] value
$SN_... are system variables for NC and machine-specific protection zones.
$SC_... are system variables for channel-specific protection zones.
The index "n" corresponds to the number of the protection zone: 0 = 1. Protection zone
The index "i" corresponds to the number of the contour element: 0 = 1. Contour element
The contour elements must be defined in ascending order.

Note
The system variables of the protection-zone definitions are not restored with REORG.

Data of the protection-zone definitions

data storage
The protection-zone definitions are stored in the following files:

File Blocks
_N_NCK_PRO Data block for NCspecific protection zones
_N_CHAN1_PRO Data block for channelspecific protection zones in channel 1
_N_CHAN2_PRO Data block for channelspecific protection zones in channel 2
Data backup
The protection-zone definitions are saved in the following files:

File Blocks
_N_INITIAL_INI All data blocks of the protection zones
_N_COMPLETE_PRO All data blocks of the protection zones
_N_CHAN_PRO All data blocks of the channelspecific protection zones

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2.5 Protection zones

2.5.5 Activation and deactivation of protection zones

General
The activation status of a protection zone is:
• Preactivated
• Preactivated with conditional stop
• Enabled
• Disabled
A protection zone is monitored for violation only when it is activated.
Activation
The activation of a protection zone can take place through:
• Part program instruction
• Automatically after the control powers up
• PLC user program
For activation through the PLC user program, the protection zone must be first
preactivated via a part program.
The preactivation, deactivation and activation of all protection zones always takes place
channel-specifically. A protection zone can also be active in multiple channels
simultaneously (application example: Double-slide single-spindle machine with one quill and
two machining slides. Machine-related protection zones are automatically activated in all
channels after the control powers up.
An activated protection zone is only taken into account after the successful referencing of all
participating geometry axes.
Preactivation
Only preactivated protection zones can be activated from the PLC user program.

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Figure 2-14 Example: Turning machine with preactivated protection zone for a sensor.

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 Detailed description
2.5 Protection zones

Deactivation
A protection zone can be deactivated from a part program only.
RESET response
The activation status of a protection zone is retained even after NC-RESET and program end.

Memory requirements
The memory requirements with regard to protection zones are defined with the following
parameters:
• Maximum number of protection zones that can be simultaneously activated in the
channel:
MD28210 $MC_MM_NUM_PROTECT_AREA_ACTIVE
• Maximum number of contour elements that can be defined per protection zone:
MD28212 $MC_MM_NUM_PROTECT_AREA_CONTUR

Deactivation, preactivation, activation via part program

The activation status of a channel- or machine-specific protection zone is defined by the
corresponding subroutine:
• Channel-specific protection zone:
CPROT (n, state, xMov, yMov, zMov)
• Machine or NC-specific protection zone:
NPROT (n, state, xMov, yMov, zMov)

Parameters Type Description

n INT Number of the protection zone
state INT Activation status
0: deactivated
1: Preactivated
2: Enabled
xMov, REAL Offset values of the previously defined protection zone in the geometry axes
yMov, zMov

Offsets
During preactivation or activation of the protection zone, an offset can be entered in 0 to 3
dimensions. The offset refers to:
• Workpiece-specific protection zones: Machine zero
• Tool-specific protection zones: Tool holder reference point F

Note
A protection zone cannot be activated in a single channel with different offsets
simultaneously.

Axis monitoring, protection zones (A3)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-45
Detailed description
2.5 Protection zones

Activation via PLC user program

A protection zone preactivated in the part program can be activated in the PLC user
program.
Preactivated protection zones
The NC indicates the preactivated protection zones:
DB21, ... DBX272.0 to 273.1 (machine-related protection zone 1 - 10 preactivated)
DB21, ... DBX274.0 to 275.1 (channel-specific protection zone 1 - 10 preactivated)
Protection-zone violation
Activated and preactivated protection zones that are or would be violated by the
programmed traversing motions of the current part-program block if the PLC user program
would activate the preactivated protection zone:
DB21, ... DBX276.0 to DBX277.1 (machine-related protection zone 1 - 10 violated).
DB21, ... DBX278.0 to DBX279.1 (channel-specific protection zone 1 - 10 violated).
Activate
The preactivated protection zones can be activated from the PLC user program:
DB21, ... DBX8.0 to DBX9.1 (activate machine-related protection zone 1 - 10).
DB21, ... DBX10.0 to DBX11.1 (activate channel-specific protection range 1 - 10).
Deactivation
Protection zones activated from the part program cannot be deactivated by the PLC user
program.

Note
It follows from the rules listed above that protection zones that should be activated via the
PLC user program are intended specially for this. Preactivation in the part program is only
useful for these protection zones.
For protection zones that are known only in the part program and not in the PLC user
program, only activation in the part program makes sense.

Axis monitoring, protection zones (A3)

2-46 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.5 Protection zones

Automatic activation after the control powers up

The configuration for automatic activation of a protection zone after the control powers up is
performed via the following system variable:
• Channel-specific protection zone:
$SC_PA_ACTIV_IMMED[ n ]
• Machine or NC-specific protection zone:
$SN_PA_ACTIV_IMMED[ n ]
With automatic activation, no relative offset of the protection zone is possible.

Note
If no toolrelated protection zone is active, the tool path is checked against the workpiece-
related protection zones.
If no workpiece-oriented protection zone is active, protection-zone monitoring does not take
place.

Block search with calculation

For block search with calculation, the last programmed activation state of a protection zone
is always taken into account.

Program test
In automatic modes, activated and preactivated protection zones are monitored even during
program control: PROGRAM TEST.

Axis monitoring, protection zones (A3)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-47
Detailed description
2.5 Protection zones

2.5.6 Protection-zone violation and temporary enabling of individual protection zones

Function
Workpiece and toolrelated protection zones that are activated or deactivated are monitored
for collision. If a protection-zone violation is detected, behavior in the individual operating
modes is as follows.
Terminating temporary enabling
Temporary enabling of a protection zone is terminated after the following events:
• after NC RESET
• Operating modes AUTOMATIC or MDA End of block is outside the protection zone
• Manual operating modes: End of movement is outside the protection zone
• Activating a protection zone
On NC RESET all the enabled protection zones become active again. If the part program or
jog mode is started again, the protection zones must be reenabled. If the current position lies
within a protection zone that becomes active again after NC RESET, this protection zone
must be enabled again on the first path movement.
Preactivated protection zones
Protection zones can be preactivated with part programs. To make them fully operative, they
must also be set to the "operative" state by the PLC.
In contrast to AUTOMATIC mode, a change in the NC/PLC interface signals "Make
preactivated protection zones operative" only has an effect on stationary axes in the
geometry system. This means: If an inoperative protection zone is made "operative" once a
motion has been started, it is not evaluated until the axes have stopped, possibly resulting in
the output of an alarm.
If a preactivated protection zone is made "operative" during traversing, the alarm 10704
"Protection-zone monitoring is not guaranteed" and the PLC interface signal are set:
DB31, ... DBX39.0 (protection-zone monitoring not guaranteed).
Deactivation of toolrelated protection zones
Toolrelated protection zones can be deactivated only in the part program or, if they have
been preactivated, by being rendered "inoperative" by the PLC.

Axis monitoring, protection zones (A3)

2-48 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.5 Protection zones

Geo-axis replacement
Machine data can be used to configure protection zones and working-area limitations for
geo-axis replacement:
• Protection zones can be activated with:
MD10618 PROTAREA_GEOAX_CHANGE_MODE, Bit 1 = 1 (Protection zone for
switchover of geo axes).
• Working-area limitations can be activated with:
MD10604 WALIM_GEOAX_CHANGE_MODE, Bit 0 = 1 (Working-area limitations for
switchover of geo axes).
If functions such as protection zone or working-area limitation are deactivated during
geometry axis replacement, the bits should be set to zero.
For information about frames for switchover of geo axes, see:
References:
/FB1/Function Manual Basic Functions; Axes, Coordinate Systems, Frames (K2)
Transformation changeover
Protection zones can also be activated during transformation changeover using machine
data:
MD10618 PROTAREA_GEOAX_CHANGE_MODE, Bit 0 = 1 (Protection zone for switchover
of geo axes).
Bit 0 = 0 deactivates this function.
Monitoring of overlaid motion
Axes that have been assigned to another channel are not taken into account. The last
position to be approached is taken to be the end position. It is not taken into account whether
the axis has traversed after changing channels.

Behavior in the AUTOMATIC and MDI operating modes

Protection zones are not overrun in Automatic modes:
• If the movement in a block is from outside into the protection zone (N30), deceleration is
executed toward the end of the previous block (N20) and the movement is stopped.
– If the protection zone is preactivated but not activated by the PLC, machining is
continued (case 1).
– If the protection zone is activated or preactivated and activated by the PLC, machining
is stopped (case 2).
• If the starting point of the block is inside the protection zone, the movement is not started.
If a protection zone is violated, alarm 10700 "NCK protection zone violated in v or MDI" or
10701 "Channel-specific protection zone violated in AUTOMATIC or MDI" is signaled for the
workpiece-related protection zone.

Axis monitoring, protection zones (A3)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-49
Detailed description
2.5 Protection zones

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Figure 2-15 Behavior of the path velocity when entering a protection zone

Overlaying several axis motions

Overlaid motions of external ZO (zero offsets) or DRF are taken into account if they are
executed at a sufficiently early point in time.
If an overlaid motion occurs while a protection zone is active or operative, an alarm is output
as a warning. This alarm has no effect on the machining operation and resets itself if the
transferred motion has been fully taken into account. The PLC interface signal is set at the
same time as alarm 10704:
DB31, ... DBX39.0 (protection-zone monitoring not guaranteed).
Enabling of workpiece-related protection zones
When a workpiece-related protection zone has been violated, the operator can enable it
temporarily with NC start in the AUTOMATIC and JOG modes so that it can be traversed.
This clears the alarm and travels into the protection zone in the AUTOMATIC and MDI
operating modes.
Only workpiecerelated protection zones can be enabled temporarily with NC start and
traversed by all toolrelated protection zones including the programmed path.
If on NC-START the preactivated tool or workpiecerelated protection zone is deactivated by
the PLC after the alarm, machining is continued without the protection zone being enabled
temporarily.
If a fully operative, preactivated protection zone causes a machining interruption and the
output of an alarm owing to protection-zone violation, machining can be resumed on NC start
if the PLC makes the zone inoperative again.
If enabling of a protection zone is to be safeguarded better than with a simple NC start, NC
start must be disabled or made dependent on other conditions in the PLC user program
when this alarm is triggered.
If the user does not want to permit overrunning the protection zone, he can terminate the
traversing movement with NC RESET.
If several protection zones are violated at the same time by the movement, acknowledgment
is required for each of these protection zones. With NC start the individual protection zones
can then be enabled one after the other.

Axis monitoring, protection zones (A3)

2-50 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.5 Protection zones

Application for temporary enabling:

Drilling a turned part: The drill is allowed to enter the protection zone of the spindle chuck.
Monitoring of overlaid motion
On preparation of the NC blocks, part of the offsets of geometry axes resulting from the
overlaid motions are taken into account.
If further offsets occur that could not be taken into account on preparation of the blocks, the
channelspecific PLC interface signal is set.
DB31, ... DBX39.0 (protection-zone monitoring not guaranteed).
This signal is set while offsets are active that cannot be taken into account. The signal can
be set and reset within a block.
Simultaneously with the PLC interface signal, a selfcanceling alarm 10704 "Protection-zone
monitoring is not guaranteed" is output.
The following overlaid motions of geometry axes are taken into account in the preparation of
blocks:
1. DRF offsets
2. Work offsets external
3. Fine tool offsets
4. Rapid retraction
5. Offsets generated by compile cycles
6. Oscillation
7. Concurrent positioning axes
8. Positioning axes
The alarm is canceled or the PLC interface signal reset when the offsets from the overlaid
motions are taken into account again or when the offsets are reduced to zero again.

Note
The end position for positioning axes is taken to be a position in the whole block. This means
that the alarm 10704 "Protection zones not guaranteed" is output when the positioning axis
starts to move. The overlaid motions themselves are not limited, nor is there any intervention
in processing of the program.

Axis monitoring, protection zones (A3)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-51
Detailed description
2.5 Protection zones

Behavior in JOG mode

Overlaying several axis motions
In JOG mode traversing can be performed simultaneously in several geometry axes even
when protection zones are active. However, safe monitoring of protection zones can then no
longer be guaranteed. This is indicated as follows:
• Alarm: " 10704 Protection-zone monitoring is not guaranteed"
• DB31, ... DBX39.0 = 1 (protection-zone monitoring not guaranteed)
The traversing range of the geometry axes is limited in all directions by the protection zones
with the same effect as they had at the start point.

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Figure 2-16 Motion boundaries of axes

When the geometry axes have completed their movements (end of interpolation), the alarm
is automatically reset and the final position checked to see whether it is within one or several
protection zones.
There are three possible situations in this case:
1. If the position is outside all active protection zones, the next traversing motion can be
started normally. The appropriate PLC interface signals "Machinespecific or channel-
specific protection zone violated" are set for the protection zones that are enabled or just
preactivated, but not yet operative.
2. If the position is within an active protection zone, the alarm "Protection zone violated in
JOG" is generated, thereby disabling any traversing motions. The appropriate PLC
interface signals "Machinespecific or channelspecific protection zone violated" are also
set.
The alarm is reset by:
– Temporary enabling of the affected protection zones
– Deactivation of the relevant protection zones if they are preactivated
– Deactivation of the protection zone in MDI
3. If the position is on the protection zone limitation (position is still valid), no alarm is
generated.

Axis monitoring, protection zones (A3)

2-52 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.5 Protection zones

Note
While any one axis in the geometry system is still oscillating, the status "Motions of axes
in geometry system completed" cannot be reached.
The warning remains active, the other axes in the geometry system can continue to
traverse.
The alarm "Protection zone reached in JOG" is not output if the motion of the first axis to
be started is terminated by the limitation determined prior to the motion.

Monitoring (pre)activated protection zones

(Pre)activated protection zones are also monitored in manual modes (JOG, INC,
handwheel).
Limitation of traversing motion of an axis
Axis motions are limited in JOG mode by means of software limit switches or the working-
area limitation. The protection zones are an additional limiting element on the traversing
motion of the geometry axes.
If the traversing motion of an axis is limited because it has reached a protection zone, then a
selfresetting alarm "Protection zone reached in JOG" is generated. The alarm text specifies
the violated protection zone and the relevant axis. It is assured that no protection zone will
be violated when one axis is traversing in JOG. (This response is analogous to approaching
software limit switches or a working-area limitation).
The alarm is reset:
• when an axis is traversed along a path that does not lead into the protection zone
• when the protection zone is enabled
• on NC RESET.
If an axis starts to move towards a protection zone when it is at a protection zone limit, then
a selfresetting alarm "Protection zone reached in JOG" is output and the motion is not
started.
Enabling of workpiece-related protection zones
When a workpiecerelated protection zone has been violated, the operator can also enable it
temporarily in JOG mode so that it can be traversed. This resets the alarm and the motion is
started in the manual operating modes after a new travel command.

Axis monitoring, protection zones (A3)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-53
Detailed description
2.5 Protection zones

Temporary enabling of protection zones

Protection zones can be enabled in JOG mode when:
1. the current position is within a protection zone (alarm active)
2. a motion is to be started on the protection zone limit (alarm active)
A protection zone is enabled when:
• a positive signal edge arrives at the PLC interface "Temporary enabling of protection
zones" (this enable resets the active alarm).
• if the axis then starts to move again into the same protection zone.
Start of the motion causes:
• the protection zone to be enabled
• the appropriate PLC interface signals "Machinespecific or channelspecific protection zone
violated" to be set.
• the axis to start moving.
The enabling signal is canceled if a motion is started that does not lead into the enabled
protection zone.
If the current position is located in other active protection zones or the limit for other
protection zones must be crossed with the motion that has been started, then alarms 10702,
10703 or 10706, 10707 are output. The PLC interface signal "Temporary enabling of
protection zones" can be set again to enable the protection zone for which an alarm is
output.
The enabling signals for the individual protection zones are still valid on switchover to
operating modes AUTOMATIC or MDA, and vice versa, the enabling signals of protection
zones that were output in AUTOMATIC and MDA remain valid.
If the end position is located outside the relevant protection zone the next time the axes in
the geometry system stop:
• the enabling signals of the individual protection zones are canceled
• the appropriate PLC interface signal "Machinespecific or channelspecific protection zone
violated" is reset.

2.5.7 Restrictions in protection zones

Restrictions in protection-zone monitoring

No protection-zone monitoring is possible under the following conditions:
• Orientation axes
• Protection-zone monitoring for fixed machine-related protection zones with transmit or
peripheral surface transformation.
Exception: Protection zones defined with rotation symmetry around the spindle axis.
Here, no DRF offset must be active.
• Mutual monitoring of tool-related protection zones

Axis monitoring, protection zones (A3)

2-54 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.5 Protection zones

Positioning axes
For positioning axes, only the programmed block end point is monitored.
An alarm is displayed during the traversing motion of the positioning axes:
Alarm: "10704 Protection-zone monitoring is not guaranteed".

Axis exchange
If an axis is not active in a channel because of an axis replacement, the position of the axis
last approached in the channel is taken as the current position. If this axis has not yet been
traversed in the channel, zero is taken as the position.

Machine-related protection zones

A machine-related protection zone or its contour is defined using the geometry axis, i.e. with
reference to the basic coordinate system (BCS) of a channel. In order that correct protection-
zone monitoring can take place in all channels in which the machine-related protection zone
is active, the basic coordinate system (BCS) of all affected channels must be identical
(position of the coordinate point of origin with respect to the machine zero point and
orientation of the coordinate axes).

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Detailed description
2.5 Protection zones

Axis monitoring, protection zones (A3)

2-56 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Supplementary conditions 3
3.1 3.1 Axis monitoring functions

Settings
For correct operation of the monitoring, the following settings must be made or checked, in
addition to the machine data mentioned:
General
• MD31030 $MA_LEADSCREW_PITCH (Leadscrew pitch)
• MD31050 $MA_DRIVE_AX_RATIO_DENOM (Denominator load gearbox)
• MD31060 $MA_DRIVE_AX_RATIO_NUMERA (Numerator load gearbox)
• MD31070 $MA_DRIVE_ENC_RATIO_DENOM (Denominator measuring gearbox)
• MD31080 $MA_DRIVE_ENC_RATIO_NUMERA (Numerator measuring gearbox)
• MD32810 $MA_EQUIV_SPEEDCTRL_TIME (equivalent time constant speed control loop
for feedforward control)
• Encoder resolution
The corresponding machine data is described in:
References:
/FB1/ Function Manual, Basic Functions; Velocities, Setpoint/Actual Value Systems,
Closed-Loop Control (G2)
Only drives with analog speed setpoint interface
• MD32260 $MA_RATED_VELO (Nominal motor speed)
• MD32250 $MA_RATED_OUTVAL (Nominal output voltage)

Axis monitoring, protection zones (A3)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 3-1
Supplementary conditions
3.1 Axis monitoring functions

Axis monitoring, protection zones (A3)

3-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Examples 4
4.1 4.1 Definition and activation of protection zones

Requirement
The following internal protection zones are to be defined for a turning machine:
• One machine- and workpiecerelated protection zone for the spindle chuck, without
limitation in the third dimension
• One channelspecific protection zone for the workpiece, without limitation in the third
dimension
• One channelspecific, toolrelated protection zone for the toolholder, without limitation in
the third dimension
The workpiece zero is placed on the machine zero to define the protection zone for the
workpiece.
When activated, the protection zone is then offset by 100mm in the Z axis in the positive
direction.

Axis monitoring, protection zones (A3)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 4-1
Examples
4.1 Definition and activation of protection zones


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Figure 4-1 Example of protection zones on a lathe

Axis monitoring, protection zones (A3)

4-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Examples
4.1 Definition and activation of protection zones

Protection-zone definition in the part program

Table 4-1 Part program excerpt for protection-zone definition:

DEF INT AB
G18 ; Definition of the working plane
NPROTDEF(0,FALSE,0,0,0)
NPROTDEF(1,FALSE,0,0,0) ; Definition beginning: Protection zone
for spindle chuck
G01 X100 Z0 ; Contour description: 1. Contour
element
G01 X-100 Z0 ; Contour description: 2. Contour
element
G01 X-100 Z110 ; Contour description: 3. Contour
element
G01 X100 Z110 ; Contour description: 4. Contour
element
G01 X100 Z0 ; Contour description: 5. Contour
element
EXECUTE(AB) ; End of definition: Protection zone for
spindle chuck
CPROTDEF(1,FALSE,0,0,0) ; Definition beginning: Protection zone
for workpiece
G01 X80 Z0 ; Contour description: 1. Contour
element
G01 X-80 Z0 ; Contour description: 2. Contour
element
G01 X-80 Z40 ; Contour description: 3. Contour
element
G01 X80 Z40 ; Contour description: 4. Contour
element
G01 X80 Z0 ; Contour description: 5. Contour
element
EXECUTE(AB) ; End of definition: Protection zone for
workpiece
CPROTDEF(2,TRUE,0,0,0) ; Definition beginning: Protection zone
for tool holder
G01 X0 Z-50 ; Contour description: 1. Contour
element
G01 X-190 Z-50 ; Contour description: 2. Contour
element
G03 X-210 Z-30 I-20 ; Contour description: 3. Contour
element
G01 X-210 Z20 ; Contour description: 4. Contour
element
G01 X0 Z50 ; Contour description: 5. Contour
element
G01 X0 Z-50 ; Contour description: 6. Contour
element
EXECUTE(AB) ; End of definition: Protection zone for
tool holder

Axis monitoring, protection zones (A3)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 4-3
Examples
4.1 Definition and activation of protection zones

Protection-zone definition with system variables

Table 4-2 Protection zone: Spindle chuck

System variable Valu Comment

e
$SN_PA_ACTIV_IMMED[0] 0 ; Protection zone for spindle chuck not immediately active
$SN_PA_T_W[0] "" ; Machine-related protection zone for spindle chuck
$SN_PA_ORI[0] 1 ; Orientation of the protection zone: 1= 3. and 1st geometry
axis
$SN_PA_LIM_3DIM[0] 0 ; Type of limitation in the third dimension: 0 = No limit
$SN_PA_PLUS_LIM[0] 0 ; Value of the limit in the positive direction in the 3rd
dimension
$SN_PA_MINUS_LIM[0] 0 ; Value of the limitation in the negative direction in the 3rd
dimension
$SN_PA_CONT_NUM[0] 4 ; Number of valid contour elements
$SN_PA_CONT_TYP[0,0] 1 ; Contour type[i] : 1 = G1 for even,
; Protection zone for spindle chuck, contour element 0
$SN_PA_CONT_TYP[0,1] 1 ; Contour type[i] : 1 = G1 for even,
; Protection zone for spindle chuck, contour element 1
$SN_PA_CONT_TYP[0,2] 1 ; Contour type[i] : 1 = G1 for even,
; Protection zone for spindle chuck, contour element 2
$SN_PA_CONT_TYP[0,3] 1 ; Contour type[i] : 1 = G1 for even,
; Protection zone for spindle chuck, contour element 3
$SN_PA_CONT_TYP[0,4] 0 ; Contour type[i] : 0 = not defined,
; Protection zone for spindle chuck, contour element 4
$SN_PA_CONT_TYP[0,5] 0 ; Contour type[i] : 0 = not defined,
; Protection zone for spindle chuck, contour element 5
$SN_PA_CONT_TYP[0,6] 0 ; Contour type[i] : 0 = not defined,
; Protection zone for spindle chuck, contour element 6
$SN_PA_CONT_TYP[0,7] 0 ; Contour type[i] : 0 = not defined,
; Protection zone for spindle chuck, contour element 7
$SN_PA_CONT_TYP[0,8] 0 ; Contour type[i] : 0 = not defined,
; Protection zone for spindle chuck, contour element 8
$SN_PA_CONT_TYP[0,9] 0 ; Contour type[i] : 0 = not defined,
; Protection zone for spindle chuck, contour element 9
$SN_PA_CONT_ORD[0,0] -100 ; Endpoint of contour[i], ordinate value
; Protection zone for spindle chuck, contour element 0
$SN_PA_CONT_ORD[0,1] -100 ; Endpoint of contour[i], ordinate value
; Protection zone for spindle chuck, contour element 1
$SN_PA_CONT_ORD[0,2] 100 ; Endpoint of contour[i], ordinate value
; Protection zone for spindle chuck, contour element 2
$SN_PA_CONT_ORD[0,3] 100 ; Endpoint of contour[i], ordinate value
; Protection zone for spindle chuck, contour element 3
$SN_PA_CONT_ORD[0,4] 0 ; Endpoint of contour[i], ordinate value
; Protection zone for spindle chuck, contour element 4
$SN_PA_CONT_ORD[0,5] 0 ; Endpoint of contour[i], ordinate value
; Protection zone for spindle chuck, contour element 5
$SN_PA_CONT_ORD[0,6] 0 ; Endpoint of contour[i], ordinate value

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4-4 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Examples
4.1 Definition and activation of protection zones

; Protection zone for spindle chuck, contour element 6

$SN_PA_CONT_ORD[0,7] 0 ; Endpoint of contour[i], ordinate value
; Protection zone for spindle chuck, contour element 7
$SN_PA_CONT_ORD[0,8] 0 ; Endpoint of contour[i], ordinate value
; Protection zone for spindle chuck, contour element 8
$SN_PA_CONT_ORD[0,9] 0 ; Endpoint of contour[i], ordinate value
; Protection zone for spindle chuck, contour element 9
$SN_PA_CONT_ABS[0,0] 0 ; Endpoint of contour[i], abscissa value
; Protection zone for spindle chuck, contour element 0
$SN_PA_CONT_ABS[0,1] 110 ; Endpoint of contour[i], abscissa value
; Protection zone for spindle chuck, contour element 1
$SN_PA_CONT_ABS[0,2] 110 ; Endpoint of contour[i], abscissa value
; Protection zone for spindle chuck, contour element 2
$SN_PA_CONT_ABS[0,3] 0 ; Endpoint of contour[i], abscissa value
; Protection zone for spindle chuck, contour element 3
$SN_PA_CONT_ABS[0,4] 0 ; Endpoint of contour[i], abscissa value
; Protection zone for spindle chuck, contour element 4
$SN_PA_CONT_ABS[0,5] 0 ; Endpoint of contour[i], abscissa value
; Protection zone for spindle chuck, contour element 5
$SN_PA_CONT_ABS[0,6] 0 ; Endpoint of contour[i], abscissa value
; Protection zone for spindle chuck, contour element 6
$SN_PA_CONT_ABS[0,7] 0 ; Endpoint of contour[i], abscissa value
; Protection zone for spindle chuck, contour element 7
$SN_PA_CONT_ABS[0,8] 0 ; Endpoint of contour[i], abscissa value
; Protection zone for spindle chuck, contour element 8
$SN_PA_CONT_ABS[0,9] 0 ; Endpoint of contour[i], abscissa value
; Protection zone for spindle chuck, contour element 9
$SN_PA_CENT_ORD[0,0] 0 ; Midpoint of contour[i], ordinate value
; Protection zone for spindle chuck, contour element 0
$SN_PA_CENT_ORD[0.1] 0 ; Midpoint of contour[i], ordinate value
; Protection zone for spindle chuck, contour element 1
$SN_PA_CENT_ORD[0,2] 0 ; Midpoint of contour[i], ordinate value
; Protection zone for spindle chuck, contour element 2
$SN_PA_CENT_ORD[0,3] 0 ; Midpoint of contour[i], ordinate value
; Protection zone for spindle chuck, contour element 3
$SN_PA_CENT_ORD[0,4] 0 ; Midpoint of contour[i], ordinate value
; Protection zone for spindle chuck, contour element 4
$SN_PA_CENT_ORD[0,5] 0 ; Midpoint of contour[i], ordinate value
; Protection zone for spindle chuck, contour element 5
$SN_PA_CENT_ORD[0,6] 0 ; Midpoint of contour[i], ordinate value
; Protection zone for spindle chuck, contour element 6
$SN_PA_CENT_ORD[0,7] 0 ; Midpoint of contour[i], ordinate value
; Protection zone for spindle chuck, contour element 7
$SN_PA_CENT_ORD[0,8] 0 ; Midpoint of contour[i], ordinate value
; Protection zone for spindle chuck, contour element 8
$SN_PA_CENT_ORD[0,9] 0 ; Midpoint of contour[i], ordinate value
; Protection zone for spindle chuck, contour element 9
$SN_PA_CENT_ABS[0,0] 0 ; Midpoint of contour[i], abscissa value
; Protection zone for spindle chuck, contour element 0

Axis monitoring, protection zones (A3)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 4-5
Examples
4.1 Definition and activation of protection zones

$SN_PA_CENT_ABS[0.1] 0 ; Midpoint of contour[i], abscissa value

; Protection zone for spindle chuck, contour element 1
$SN_PA_CENT_ABS[0,2] 0 ; Midpoint of contour[i], abscissa value
; Protection zone for spindle chuck, contour element 2
$SN_PA_CENT_ABS[0,3] 0 ; Midpoint of contour[i], abscissa value
; Protection zone for spindle chuck, contour element 3
$SN_PA_CENT_ABS[0,4] 0 ; Midpoint of contour[i], abscissa value
; Protection zone for spindle chuck, contour element 4
$SN_PA_CENT_ABS[0,5] 0 ; Midpoint of contour[i], abscissa value
; Protection zone for spindle chuck, contour element 5
$SN_PA_CENT_ABS[0,6] 0 ; Midpoint of contour[i], abscissa value
; Protection zone for spindle chuck, contour element 6
$SN_PA_CENT_ABS[0,7] 0 ; Midpoint of contour[i], abscissa value
; Protection zone for spindle chuck, contour element 7
$SN_PA_CENT_ABS[0,8] 0 ; Midpoint of contour[i], abscissa value
; Protection zone for spindle chuck, contour element 8
$SN_PA_CENT_ABS[0,9] 0 ; Midpoint of contour[i], abscissa value
; Protection zone for spindle chuck, contour element 9

Table 4-3 Protection zone: Workpiece and tool holder

System variable Valu Comment

e
$SN_PA_ACTIV_IMMED[0] 0 ; Protection zone for workpiece not immediately active
$SN_PA_ACTIV_IMMED[1] 0 ; Protection zone for tool holder not immediately active
$SC_PA_TW[0] "" ; Protection zone for workpiece, channel-specific
$SC_PA_TW[1] 'H01' ; Protection zone for toolholder, channel-specific
$SC_PA_ORI[0] 1 ; Orientation of the protection zone: 1= 3. and first geometry
axis
; Protection zone for workpiece
$SC_PA_ORI[1] 1 ; Orientation of the protection zone: 1= 3. and first geometry
axis
; Protection zone for tool holder
$SC_PA_LIM_3DIM[0] 0 ; Type of limitation in the third dimension: 0 = no limitation
; Protection zone for workpiece tool holder 0
$SC_PA_LIM_3DIM[1] 0 ; Type of limitation in the third dimension: 0 = no limitation
; Protection zone for tool holder
$SC_PA_PLUS_LIM[0] 0 ; Value of limitation in positive direction in the third dimension
; Protection zone for workpiece
$SC_PA_PLUS_LIM[1] 0 ; Value of limitation in positive direction in the third dimension
; Protection zone for tool holder
$SC_PA_MINUS_LIM[0] 0 ; Value of limitation in negative direction in the third dimension
; Protection zone for workpiece
$SC_PA_MINUS_LIM[1] 0 ; Value of limitation in negative direction in the third dimension
; Protection zone for tool holder
$SC_PA_CONT_NUM[0] 4 ; Number of valid contour elements,
; Protection zone for workpiece
$SC_PA_CONT_NUM[1] 5 ; Number of valid contour elements,
; Protection zone for tool holder 1

Axis monitoring, protection zones (A3)

4-6 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Examples
4.1 Definition and activation of protection zones

$SN_PA_CONT_TYP[0,0] 1 ; Contour type[i] : 1 = G1 for even,

; Protection zone for workpiece, contour element 0
$SN_PA_CONT_TYP[0,1] 1 ; Contour type[i] : 1 = G1 for even,
; Protection zone for workpiece, contour element 1
$SN_PA_CONT_TYP[0,2] 1 ; Contour type[i] : 1 = G1 for even,
; Protection zone for workpiece, contour element 2
$SN_PA_CONT_TYP[0,3] 1 ; Contour type[i] : 1 = G1 for even,
; Protection zone for workpiece, contour element 3
$SN_PA_CONT_TYP[0,4] 1 ; Contour type[i] : 1 = G1 for even,
; Protection zone for workpiece, contour element 4
$SN_PA_CONT_TYP[0,5] 0 ; Contour type[i] : 0 = not defined,
; Protection zone for workpiece, contour element 5
$SN_PA_CONT_TYP[0,6] 0 ; Contour type[i] : 0 = not defined,
; Protection zone for workpiece, contour element 6
$SN_PA_CONT_TYP[0,7] 0 ; Contour type[i] : 0 = not defined,
; Protection zone for workpiece, contour element 7
$SN_PA_CONT_TYP[0,8] 0 ; Contour type[i] : 0 = not defined,
; Protection zone for workpiece, contour element 8
$SN_PA_CONT_TYP[0,9] 0 ; Contour type[i] : 0 = not defined,
; Protection zone for workpiece, contour element 9
$SN_PA_CONT_TYP[1,0] 1 ; Contour type[i] : 1 = G1 for even,
; Protection zone for tool holder, contour element 0
$SN_PA_CONT_TYP[1,1] 3 ; Contour type[i] : 3 = G3 f. Circuit element, counter-clockwise,
; Protection zone for tool holder, contour element 1
$SN_PA_CONT_TYP[1,2] 1 ; Contour type[i] : 1 = G1 for even,
; Protection zone for tool holder, contour element 2
$SN_PA_CONT_TYP[1,3] 1 ; Contour type[i] : 1 = G1 for even,
; Protection zone for tool holder, contour element 3
$SN_PA_CONT_TYP[1,4] 1 ; Contour type[i] : 1 = G1 for even,
; Protection zone for tool holder, contour element 4
$SN_PA_CONT_TYP[1,5] 0 ; Contour type[i] : 0 = not defined,
; Protection zone for tool holder, contour element 5
$SN_PA_CONT_TYP[1,6] 0 ; Contour type[i] : 0 = not defined,
; Protection zone for tool holder, contour element 6
$SN_PA_CONT_TYP[1,7] 0 ; Contour type[i] : 0 = not defined,
; Protection zone for tool holder, contour element 7
$SN_PA_CONT_TYP[1,8] 0 ; Contour type[i] : 0 = not defined,
; Protection zone for tool holder, contour element 8
$SN_PA_CONT_TYP[1,9] 0 ; Contour type[i] : 0 = not defined,
; Protection zone for tool holder, contour element 9
$SN_PA_CONT_ORD[0,0] -80 ; Endpoint of contour[i], ordinate value
; Protection zone for workpiece, contour element 0
$SN_PA_CONT_ORD[0,1] -80 ; Endpoint of contour[i], ordinate value
; Protection zone for workpiece, contour element 1
$SN_PA_CONT_ORD[0,2] 80 ; Endpoint of contour[i], ordinate value
; Protection zone for workpiece, contour element 2
$SN_PA_CONT_ORD[0,3] 80 ; Endpoint of contour[i], ordinate value
; Protection zone for workpiece, contour element 3
$SN_PA_CONT_ORD[0,4] 0 ; Endpoint of contour[i], ordinate value

Axis monitoring, protection zones (A3)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 4-7
Examples
4.1 Definition and activation of protection zones

; Protection zone for workpiece, contour element 4

$SN_PA_CONT_ORD[0,5] 0 ; Endpoint of contour[i], ordinate value
; Protection zone for workpiece, contour element 5
$SN_PA_CONT_ORD[0,6] 0 ; Endpoint of contour[i], ordinate value
; Protection zone for workpiece, contour element 6
$SN_PA_CONT_ORD[0,7] 0 ; Endpoint of contour[i], ordinate value
; Protection zone for workpiece, contour element 7
$SN_PA_CONT_ORD[0,8] 0 ; Endpoint of contour[i], ordinate value
; Protection zone for workpiece, contour element 8
$SN_PA_CONT_ORD[0,9] 0 ; Endpoint of contour[i], ordinate value
; Protection zone for workpiece, contour element 9
$SN_PA_CONT_ORD[1,0] -190 ; Endpoint of contour[i], ordinate value
; Protection zone for tool holder, contour element 0
$SN_PA_CONT_ORD[1,1] -210 ; Endpoint of contour[i], ordinate value
; Protection zone for tool holder, contour element 1
$SN_PA_CONT_ORD[1,2] -210 ; Endpoint of contour[i], ordinate value
; Protection zone for tool holder, contour element 2
$SN_PA_CONT_ORD[1,3] 0 ; Endpoint of contour[i], ordinate value
; Protection zone for tool holder, contour element 3
$SN_PA_CONT_ORD[1,4] 0 ; Endpoint of contour[i], ordinate value
; Protection zone for tool holder, contour element 4
$SN_PA_CONT_ORD[1,5] 0 ; Endpoint of contour[i], ordinate value
; Protection zone for tool holder, contour element 5
$SN_PA_CONT_ORD[1,6] 0 ; Endpoint of contour[i], ordinate value
; Protection zone for tool holder, contour element 6
$SN_PA_CONT_ORD[1,7] 0 ; Endpoint of contour[i], ordinate value
; Protection zone for tool holder, contour element 7
$SN_PA_CONT_ORD[1,8] 0 ; Endpoint of contour[i], ordinate value
; Protection zone for tool holder, contour element 8
$SN_PA_CONT_ORD[1,9] 0 ; Endpoint of contour[i], ordinate value
; Protection zone for tool holder, contour element 9
$SN_PA_CONT_ABS[0,0] 0 ; Endpoint of contour[i], abscissa value
; Protection zone for workpiece, contour element 0
$SN_PA_CONT_ABS[0,1] 40 ; Endpoint of contour[i], abscissa value
; Protection zone for workpiece, contour element 1
$SN_PA_CONT_ABS[0,2] 40 ; Endpoint of contour[i], abscissa value
; Protection zone for workpiece, contour element 2
$SN_PA_CONT_ABS[0,3] 0 ; Endpoint of contour[i], abscissa value
; Protection zone for workpiece, contour element 3
$SN_PA_CONT_ABS[0,4] -50 ; Endpoint of contour[i], abscissa value
; Protection zone for workpiece, contour element 4
$SN_PA_CONT_ABS[0,5] 0 ; Endpoint of contour[i], abscissa value
; Protection zone for workpiece, contour element 5
$SN_PA_CONT_ABS[0,6] 0 ; Endpoint of contour[i], abscissa value
; Protection zone for workpiece, contour element 6
$SN_PA_CONT_ABS[0,7] 0 ; Endpoint of contour[i], abscissa value
; Protection zone for workpiece, contour element 7
$SN_PA_CONT_ABS[0,8] 0 ; Endpoint of contour[i], abscissa value
; Protection zone for workpiece, contour element 8

Axis monitoring, protection zones (A3)

4-8 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Examples
4.1 Definition and activation of protection zones

$SN_PA_CONT_ABS[0,9] 0 ; Endpoint of contour[i], abscissa value

; Protection zone for workpiece, contour element 9
$SN_PA_CONT_ABS[1,0] -50 ; Endpoint of contour[i], abscissa value
; Protection zone for tool holder, contour element 0
$SN_PA_CONT_ABS[1,1] -30 ; Endpoint of contour[i], abscissa value
; Protection zone for tool holder, contour element 1
$SN_PA_CONT_ABS[1,2] 20 ; Endpoint of contour[i], abscissa value
; Protection zone for tool holder, contour element 2
$SN_PA_CONT_ABS[1,3] 50 ; Endpoint of contour[i], abscissa value
; Protection zone for tool holder, contour element 3
$SN_PA_CONT_ABS[1,4] -50 ; Endpoint of contour[i], abscissa value
; Protection zone for tool holder, contour element 4
$SN_PA_CONT_ABS[1,5] 0 ; Endpoint of contour[i], abscissa value
; Protection zone for tool holder, contour element 5
$SN_PA_CONT_ABS[1,6] 0 ; Endpoint of contour[i], abscissa value
; Protection zone for tool holder, contour element 6
$SN_PA_CONT_ABS[1,7] 0 ; Endpoint of contour[i], abscissa value
; Protection zone for tool holder, contour element 7
$SN_PA_CONT_ABS[1,8] 0 ; Endpoint of contour[i], abscissa value
; Protection zone for tool holder, contour element 8
$SN_PA_CONT_ABS[1,9] 0 ; Endpoint of contour[i], abscissa value
; Protection zone for tool holder, contour element 9
$SN_PA_CENT_ORD[0,0] 0 ; Midpoint of contour[i], ordinate value
; Protection zone for workpiece, contour element 0
$SN_PA_CENT_ORD[0.1] -190 ; Midpoint of contour[i], ordinate value
; Protection zone for workpiece, contour element 1
$SN_PA_CENT_ORD[0,2] 0 ; Midpoint of contour[i], ordinate value
; Protection zone for workpiece, contour element 2
$SN_PA_CENT_ORD[0,3] 0 ; Midpoint of contour[i], ordinate value
; Protection zone for workpiece, contour element 3
$SN_PA_CENT_ORD[0,4] 0 ; Midpoint of contour[i], ordinate value
; Protection zone for workpiece, contour element 4
$SN_PA_CENT_ORD[0,5] 0 ; Midpoint of contour[i], ordinate value
; Protection zone for workpiece, contour element 5
$SN_PA_CENT_ORD[0,6] 0 ; Midpoint of contour[i], ordinate value
; Protection zone for workpiece, contour element 6
$SN_PA_CENT_ORD[0,7] 0 ; Midpoint of contour[i], ordinate value
; Protection zone for workpiece, contour element 7
$SN_PA_CENT_ORD[0,8] 0 ; Midpoint of contour[i], ordinate value
; Protection zone for workpiece, contour element 8
$SN_PA_CENT_ORD[0,9] 0 ; Midpoint of contour[i], ordinate value
; Protection zone for tool holder, contour element 9
$SN_PA_CENT_ORD[1.0] 0 ; Midpoint of contour[i], ordinate value
; Protection zone for tool holder, contour element 0
$SN_PA_CENT_ORD[1.1] -190 ; Midpoint of contour[i], ordinate value
; Protection zone for tool holder, contour element 1
$SN_PA_CENT_ORD[1.2] 0 ; Midpoint of contour[i], ordinate value
; Protection zone for tool holder, contour element 2
$SN_PA_CENT_ORD[1.3] 0 ; Midpoint of contour[i], ordinate value

Axis monitoring, protection zones (A3)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 4-9
Examples
4.1 Definition and activation of protection zones

; Protection zone for tool holder, contour element 3

$SN_PA_CENT_ORD[1.4] 0 ; Midpoint of contour[i], ordinate value
; Protection zone for tool holder, contour element 4
$SN_PA_CENT_ORD[1.5] 0 ; Midpoint of contour[i], ordinate value
; Protection zone for tool holder, contour element 5
$SN_PA_CENT_ORD[1.6] 0 ; Midpoint of contour[i], ordinate value
; Protection zone for tool holder, contour element 6
$SN_PA_CENT_ORD[1.7] 0 ; Midpoint of contour[i], ordinate value
; Protection zone for tool holder, contour element 7
$SN_PA_CENT_ORD[1.8] 0 ; Midpoint of contour[i], ordinate value
; Protection zone for tool holder, contour element 8
$SN_PA_CENT_ORD[1.9] 0 ; Midpoint of contour[i], ordinate value
; Protection zone for tool holder, contour element 9
$SN_PA_CENT_ABS[0,0] 0 ; Midpoint of contour[i], abscissa value
; Protection zone for workpiece, contour element 0
$SN_PA_CENT_ABS[0.1] -30 ; Midpoint of contour[i], abscissa value
; Protection zone for workpiece, contour element 1
$SN_PA_CENT_ABS[0,2] 0 ; Midpoint of contour[i], abscissa value
; Protection zone for workpiece, contour element 2
$SN_PA_CENT_ABS[0,3] 0 ; Midpoint of contour[i], abscissa value
; Protection zone for workpiece, contour element 3
$SN_PA_CENT_ABS[0,4] 0 ; Midpoint of contour[i], abscissa value
; Protection zone for workpiece, contour element 4
$SN_PA_CENT_ABS[0,5] 0 ; Midpoint of contour[i], abscissa value
; Protection zone for workpiece, contour element 5
$SN_PA_CENT_ABS[0,6] 0 ; Midpoint of contour[i], abscissa value
; Protection zone for workpiece, contour element 6
$SN_PA_CENT_ABS[0,7] 0 ; Midpoint of contour[i], abscissa value
; Protection zone for workpiece, contour element 7
$SN_PA_CENT_ABS[0,8] 0 ; Midpoint of contour[i], abscissa value
; Protection zone for workpiece, contour element 8
$SN_PA_CENT_ABS[0,9] 0 ; Midpoint of contour[i], abscissa value
; Protection zone for workpiece, contour element 9
$SN_PA_CENT_ABS[1.0] 0 ; Midpoint of contour[i], abscissa value
; Protection zone for tool holder, contour element 0
$SN_PA_CENT_ABS[1.1] -30 ; Midpoint of contour[i], abscissa value
; Protection zone for tool holder, contour element 1
$SN_PA_CENT_ABS[1.2] 0 ; Midpoint of contour[i], abscissa value
; Protection zone for tool holder, contour element 2
$SN_PA_CENT_ABS[1.3] 0 ; Midpoint of contour[i], abscissa value
; Protection zone for tool holder, contour element 3
$SN_PA_CENT_ABS[1.4] 0 ; Midpoint of contour[i], abscissa value
; Protection zone for tool holder, contour element 4
$SN_PA_CENT_ABS[1.5] 0 ; Midpoint of contour[i], abscissa value
; Protection zone for tool holder, contour element 5
$SN_PA_CENT_ABS[1.6] 0 ; Midpoint of contour[i], abscissa value
; Protection zone for tool holder, contour element 6
$SN_PA_CENT_ABS[1.7] 0 ; Midpoint of contour[i], abscissa value
; Protection zone for tool holder, contour element 7

Axis monitoring, protection zones (A3)

4-10 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Examples
4.1 Definition and activation of protection zones

$SN_PA_CENT_ABS[1.8] 0 ; Midpoint of contour[i], abscissa value

; Protection zone for tool holder, contour element 8
$SN_PA_CENT_ABS[1.9] 0 ; Midpoint of contour[i], abscissa value
; Protection zone for tool holder, contour element 9

Activation

Table 4-4 Part program excerpt for activating the three protection zones for spindle chuck,
workpiece, and toolholder:

NPROT(1, 2, 0, 0, 0) ; Protection zone: Spindle chuck

CPROT(1, 2, 0, 0, 100) ; Protection zone: Workpiece with 100mm offset in the Z
axis.
CPROT(2, 2, 0, 0, 0) ; Protection zone: Toolholder

Axis monitoring, protection zones (A3)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 4-11
Examples
4.1 Definition and activation of protection zones

Axis monitoring, protection zones (A3)

4-12 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Data lists 5
5.1 5.1 Machine data

5.1.1 NC-specific machine data

Axis monitoring functions

None

Protection zones

Number Identifier: $MN_ Description

10604 WALIM_GEOAX_CHANGE_MODE Working-area limitation during switchover of geometry
axes
10618 PROTAREA_GEOAX_CHANGE_MODE Protection zone for switchover of geo axes
18190 MM_NUM_PROTECT_AREA_NCK Number of files for machinerelated protection zones

5.1.2 Channelspecific machine data

Axis monitoring functions

Number Identifier: $MC_ Description

20150 GCODE_RESET_VALUES[n] Reset G groups
21020 WORKAREA_WITH_TOOL_RADIUS Allowance for tool radius with working-area limitation

Axis monitoring, protection zones (A3)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 5-1
Data lists
5.1 Machine data

Protection zones

Number Identifier: $MC_ Description

28200 MM_NUM_PROTECT_AREA_CHAN Number of files for channelspecific protection zones
28210 MM_NUM_PROTECT_AREA_ACTIVE Number of simultaneously active protection zones in
one channel
28212 MM_NUM_PROTECT_AREA_CONTUR Elements for active protection zones (DRAM)

5.1.3 Axis/spindlespecific machine data

Axis monitoring functions

Number Identifier: $MA_ Description

30310 ROT_IS_MODULO Modulo conversion for rotary axis and spindle
32200 POSCTRL_GAIN [n] Servo gain factor
32250 RATED_OUTVAL Rated output voltage
32260 RATED_VELO Rated motor speed
32300 MAX_AX_ACCEL Axis acceleration
32800 EQUIV_CURRCTRL_TIME Equivalent time constant current control loop for feedforward control
32810 EQUIV_SPEEDCTRL_TIME Equivalent time constant speed control loop for feedforward control
32910 DYN_MATCH_TIME [n] Time constant for dynamic matching
35160 SPIND_EXTERN_VELO_LIMIT Spindle speed limitation via PLCC
36000 STOP_LIMIT_COARSE Exact stop coarse
36010 STOP_LIMIT_FINE Exact stop fine
36020 POSITIONING_TIME Time delay exact stop fine
36030 STANDSTILL_POS_TOL Zero speed tolerance
36040 STANDSTILL_DELAY_TIME Delay time zero-speed monitoring
36050 CLAMP_POS_TOL Clamping tolerance with IS "Clamping active"
36052 STOP_ON_CLAMPING Special functions for clamped axis
36060 STANDSTILL_VELO_TOL Maximum velocity/speed "Axis/spindle stationary"
36100 POS_LIMIT_MINUS software limit switch minus
36110 POS_LIMIT_PLUS Software limit switch plus
36120 POS_LIMIT_MINUS2 software limit switch minus
36130 POS_LIMIT_PLUS2 Software limit switch plus
36610 AX_EMERGENCY_STOP_TIME Length of the braking ramp for error states
36200 AX_VELO_LIMIT Threshold value for velocity monitoring
36210 CTRLOUT_LIMIT Maximum speed setpoint
36220 CTRLOUT_LIMIT_TIME Delay time for speed-setpoint monitoring
36300 ENC_FREQ_LIMIT Encoder limit frequency

Axis monitoring, protection zones (A3)

5-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Data lists
5.2 Setting data

Number Identifier: $MA_ Description

36302 ENC_FREQ_LIMIT_LOW Encoder limit frequency resynchronization
36310 ENC_ZERO_MONITORING Zero-mark monitoring
36400 CONTOUR_TOL Tolerance band contour monitoring
36500 ENC_CHANGE_TOL Maximum tolerance for position actual value switchover
36510 ENC_DIFF_TOL Measuring system synchronism tolerance
36600 BRAKE_MODE_CHOICE Deceleration behavior on hardware limit switch
36620 SERVO_DISABLE_DELAY_TIME Cutout delay servo enable

Protection zones

Number Identifier: $MA_ Description

30800 WORK_AREA_CHECK_TYPE Type of checking of working area limits

5.2 5.2 Setting data

5.2.1 Axis/spindlespecific setting data

Axis monitoring functions

Number Identifier: $SA_ Description

43400 WORKAREA_PLUS_ENABLE Working-area limitation active in positive direction
43410 WORKAREA_MINUS_ENABLE Working-area limitation active in negative direction
43420 WORKAREA_LIMIT_PLUS Working-area limitation plus
43430 WORKAREA_LIMIT_MINUS Working-area limitation minus

Protection zones
None

Axis monitoring, protection zones (A3)

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Data lists
5.3 Signals

5.3 5.3 Signals

5.3.1 Signals to channel

Axis monitoring functions

None

Protection zones

DB number Byte.Bit Description

21, ... 1.1 Enable protection zones
21, ... 4.7 Feed override
21, ... 6.0 Feed disable
21, ... 8.0 Activate machinerelated protection zone 1
: :
21, ... 8.7 Activate machinerelated protection zone 8
21, ... 9.0 Activate machinerelated protection zone 9
21, ... 9.1 Activate machinerelated protection zone 10
21, ... 10.0 Activate channelspecific protection zone 1
: :
21, ... 10.7 Activate channelspecific protection zone 8
21, ... 11.0 Activate channelspecific protection zone 9
21, ... 11.1 Activate channelspecific protection zone 10

5.3.2 Signals from channel

Axis monitoring functions

None

Protection zones

DB number Byte.Bit Description

21, ... 272.0 Machinerelated protection zone 1 preactivated
: :
21, ... 272.7 Machinerelated protection zone 8 preactivated
21, ... 273.0 Machinerelated protection zone 9 preactivated
21, ... 273.1 Machinerelated protection zone 10 preactivated

Axis monitoring, protection zones (A3)

5-4 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Data lists
5.3 Signals

DB number Byte.Bit Description

21, ... 274.0 Channelspecific protection zone 1 preactivated
: :
21, ... 274.7 Channelspecific protection zone 8 preactivated
21, ... 275.0 Channelspecific protection zone 9 preactivated
21, ... 275.1 Channelspecific protection zone 10 preactivated
21, ... 276.0 Machinerelated protection zone 1 violated
: :
21, ... 276.7 Machinerelated protection zone 8 violated
21, ... 277.0 Machinerelated protection zone 9 violated
21, ... 277.1 Machinerelated protection zone 10 violated
21, ... 278.0 Channelspecific protection zone 1 violated
: :
21, ... 278.7 Channelspecific protection zone 8 violated
21, ... 279.0 Channelspecific protection zone 9 violated
21, ... 279.1 Channelspecific protection zone 10 violated

5.3.3 Signals to axis/spindle

Axis monitoring functions

DB number Byte.Bit Description

31, ... 1.4 Follow up operation
31, ... 1.5 / 1.6 Position measuring system 1 / 2
31, ... 2.1 Servo enable
31, ... 2.3 Clamping in progress
31, ... 3.6 Velocity/spindle speed limitation
31, ... 4.3 Feed stop
31, ... 12.0 / 12.1 Hardware limit switch minus/Hardware limit switch plus
31, ... 12.2 / 12.3 Software limit switch minus / 2nd software limit switch plus
31, ... 60.2 / 60.3 Encoder limit frequency exceeded 1 / 2
31, ... 60.4 / 60.5 Referenced/synchronized 1 / 2
31, ... 64.6 / 64.7 Traverse command minus / plus

Protection zones
None

Axis monitoring, protection zones (A3)

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Data lists
5.3 Signals

Axis monitoring, protection zones (A3)

5-6 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Index
DBX10.0 to DBX11.1, 2-45
DBX272.0 to 273.1, 2-45
A DBX274.0 to 275.1, 2-45
DBX276.0 to DBX277.1, 2-45
Activation of protection zones
DBX278.0 to DBX279.1, 2-45
Example, 4-11
DBX8.0 to DBX9.1, 2-45
Axis clamping
Dirt deposits, 2-25
Operations, optimized, 2-7
Axis monitoring functions, 1-1
Actual velocity, 2-16
Axis/spindlespecific machine data, 5-2
E
Axis/spindlespecific setting data, 5-3 Encoder monitoring functions, 2-17
Channelspecific machine data, 5-1 Encoder frequency, 2-17
Constraints, 3-1 Encoder type, 2-19
Following error, 2-2 Zero marks, 2-19, 2-20
Speed setpoint, 2-14
Zero speed, 2-6
H
Hardware faults, 2-25
C Hardware limit switches, 2-27
Contour error, 2-1
Coordinate system, 2-33
I
Interface signals|Table, 5-4
D
DB 31, ...
DBX1.4, 2-8, 2-14 L
DBX1.5, 2-16, 2-17
Limit switch monitoring, 2-26
DBX1.6, 2-16, 2-17
Linear signal distortions, 2-1
DBX12.0, 2-27
DBX12.1, 2-27
DBX12.2, 2-28
DBX12.3, 2-28
M
DBX2.2, 2-8 MD10604, 2-48
DBX2.3, 2-8, 2-14 MD10618, 2-48
DBX39.0, 2-47, 2-49, 2-50, 2-51 MD18190, 2-35
DBX60.2, 2-18 MD20150, 2-32
DBX60.3, 2-18 MD21020, 2-30
DBX60.4, 2-25 MD28200, 2-35
DBX60.5, 2-25 MD28210, 2-44
DBX60.6, 2-6, 2-14 MD28212, 2-44
DBX60.7, 2-6, 2-14 MD30240, 2-19
DBX64.6, 2-6 MD30310, 2-28, 2-32
DBX64.7, 2-6 MD31030, 3-1
DB21, ... MD31050, 3-1

Axis monitoring, protection zones (A3)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 Index-1
Index

MD31060, 3-1 O
MD31070, 3-1
Orientation, 2-34
MD31080, 3-1
MD32000, 2-2
MD32200, 2-2
MD32200, 2-5
P
MD32250, 3-1 Protection zone
MD32260, 3-1 Activate, 2-43
MD32300, 2-2 Deactivation, 2-43
MD32610, 2-2 Definition, 2-37, 2-41
MD32800, 2-2 Enable, 2-47
MD32810, 2-2, 3-1 Restrictions, 2-53
MD36000, 2-7 Protection zones, 1-2, 2-33
MD36010, 2-5, 2-7 Channelspecific machine data, 5-2
MD36012, 2-7 data storage, 2-42
MD36020, 2-5 General machine data, 5-1
MD36030, 2-6, 2-7 Protection-zone definition
MD36040, 2-6 Example, 4-1
MD36050, 2-7, 2-14 Protection-zone definition with system variables, 2-41
MD36052, 2-8, 2-10, 2-11, 2-13 Protection-zone violation, 2-47
MD36100, 2-28
MD36110, 2-28
MD36120, 2-28 S
MD36130, 2-28
SD43400, 2-31
MD36200, 2-16
SD43410, 2-31
MD36210, 2-15
SD43420, 2-30
MD36220, 2-15
SD43430, 2-30
MD36300, 2-17
Servo gain factor, 2-1
MD36302, 2-19
Signal distortions, 2-1
MD36310, 2-19, 2-20, 2-21
Software limit switch, 2-28
MD36400, 2-2
Spindle speed
MD36600, 2-27
Control, 2-18
MD36610, 2-3, 2-6, 2-7, 2-8, 2-16, 2-17, 2-18, 2-20,
2-22, 2-25
Monitoring of static limits, 2-26
W
Working-area limitation, 2-30
N
Nonlinear signal distortions, 2-2

Axis monitoring, protection zones (A3)

Index-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 1
SINUMERIK 840D sl/840Di sl/840D/840Di/810D Continuouspath Mode, Exact Stop, LookAhead (B1)
______________
Brief Description

2
______________
Detailed description

3
SINUMERIK ______________
Supplementary conditions

840D sl/840Di sl/840D/840Di/810D

4
______________
Examples

Continuouspath Mode, Exact Stop, 5

LookAhead (B1) ______________
Data lists

Function Manual

Valid for

Control
SINUMERIK 840D sl/840DE sl
SINUMERIK 840Di sl/840DiE sl
SINUMERIK 840D powerline/840DE powerline
SINUMERIK 840Di powerline/840DiE powerline
SINUMERIK 810D powerline/810DE powerline

Software Version
NCU System Software for 840D sl/840DE sl 1.3
NCU system software for 840D sl/DiE sl 1.0
NCU system software for 840D/840DE 7.4
NCU system software for 840Di/840DiE 3.3
NCU system software for 810D/810DE 7.4

03/2006 Edition
6FC5397-0BP10-1BA0
Safety Guidelines
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent
damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are
graded according to the degree of danger.

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

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

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

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

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

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

Prescribed Usage
Note the following:

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

Trademarks
All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this
publication may be trademarks whose use by third parties for their own purposes could violate the rights of the
owner.

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

Siemens AG Order No.: 6FC5397-0BP10-1BA0 Copyright © Siemens AG 2006.

Automation and Drives Edition 05/2006 Technical data subject to change
Postfach 48 48
90437 NÜRNBERG
GERMANY
Table of contents
1 Brief Description ..................................................................................................................................... 1-1
2 Detailed description ................................................................................................................................ 2-1
2.1 General ...................................................................................................................................... 2-1
2.1.1 Parameterization of the reset response..................................................................................... 2-1
2.1.2 Block change and positioning axes ........................................................................................... 2-1
2.1.3 Block change delay.................................................................................................................... 2-1
2.2 Exact stop .................................................................................................................................. 2-2
2.3 Continuous-path mode............................................................................................................... 2-6
2.3.1 General ...................................................................................................................................... 2-6
2.3.2 Velocity reduction according to overload factor ......................................................................... 2-9
2.3.3 Rounding according to path criterion ....................................................................................... 2-11
2.3.4 Rounding with maximum possible dynamic response on each axis........................................ 2-19
2.3.5 Smoothing the path velocity..................................................................................................... 2-21
2.3.6 Dynamic response adaptation ................................................................................................. 2-25
2.3.7 Technology G group ................................................................................................................ 2-34
2.4 LookAhead ............................................................................................................................... 2-37
2.5 NC block compressor COMPON, COMPCURV, -CAD ........................................................... 2-43
3 Supplementary conditions ...................................................................................................................... 3-1
3.1 Rounding and repositioning (REPOS) ....................................................................................... 3-1
3.2 Smoothing the path velocity....................................................................................................... 3-2
4 Examples................................................................................................................................................ 4-1
4.1 Example of jerk limitation on the path........................................................................................ 4-1
5 Data lists................................................................................................................................................. 5-1
5.1 Machine data.............................................................................................................................. 5-1
5.1.1 General machine data................................................................................................................ 5-1
5.1.2 Channelspecific machine data ................................................................................................... 5-1
5.1.3 Axis/spindlespecific machine data ............................................................................................. 5-2
5.2 Setting data ................................................................................................................................ 5-3
5.2.1 Channelspecific setting data ...................................................................................................... 5-3
5.3 Signals ....................................................................................................................................... 5-3
5.3.1 Signals from channel ................................................................................................................. 5-3
5.3.2 Signals to axis/spindle ............................................................................................................... 5-3
Index................................................................................................................................................ Index-1

Continuouspath Mode, Exact Stop, LookAhead (B1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 iii
Table of contents

Continuouspath Mode, Exact Stop, LookAhead (B1)

iv Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Brief Description 1
Continuous-path mode
In continuous-path mode, the NC attempts to keep the programmed path velocity as
constant as possible. In particular, deceleration of the path axes at the block limits of the part
program is to be avoided.

Exact stop mode

In exact stop traversing mode, all axes involved in the traversing motion (except axes of
modal traversing modes) are decelerated at the end of each block until they come to a
standstill. The transition to the next block occurs only when all axes involved in the traversing
motion have reached their programmed target position in accordance with the selected exact
stop criterion.
Exact stop
Exact stop is a state of a machine axis that refers to the position difference relative to its
setpoint position at the end of the traversing motion. The machine axis reaches the "exact
stop" state as soon as its following error is less than the specified position difference (exact
stop limit).

Look ahead
"Look ahead" is a function for optimizing continuous path mode.
Smooth machining of workpieces is necessary to ensure a high-quality surface finish. For
this reason, path velocity variations should be avoided during machining whenever possible.
Without "Look Ahead", the NC only takes into consideration the block immediately following
the current block to determine the possible path velocity. If the following block contains only
a short path, the NC must reduce the path velocity (decelerate in the current block) to be
able to stop in time at the end of the next block, if necessary.
When the NC "looks ahead" over an parameterizable number of blocks following the current
block, a much higher path velocity can be attained under certain circumstances because the
NC now has more blocks and more path available for calculation.
This results in the following advantages:
• Machining with higher path velocities on average
• Improved surface quality by avoiding deceleration and acceleration processes

Continuouspath Mode, Exact Stop, LookAhead (B1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 1-1
Brief Description

Smoothing the path velocity

"Smoothing the path velocity" is a function especially for applications (such as high speed
milling in mold and die production) that require an extremely steady path velocity.
Deceleration and acceleration processes that would cause high-frequency excitations of
machine resonances are avoided with the "Smoothing the path velocity" function.
This results in the following advantages:
• Improved surface quality and machining time by avoiding excitation of machine
resonances.
• Constant profile of path velocity and cutting rates by avoiding "unnecessary" acceleration
processes, i.e., acceleration processes that do not greatly improve the program run time.

Dynamic response adaptation

In addition to the "Smoothing the path velocity" function, "Dynamic response adaptation" is
another function for avoiding high-frequency excitations of machine resonances while
optimizing the dynamic path response. To this end, highly frequent changes in path velocity
are automatically executed with lower jerk or acceleration values than the dynamic response
limit value parameters assigned in the machine data.
Thus, with low-frequency changes in path velocity, the full dynamic response limit values
apply, whereas with high-frequency changes, only the reduced dynamic response limit
values act due to the automatic dynamic response adaptation.

NC block compressor
When a workpiece design is completed with a CAD/CAM system, the CAD/CAM system
generally also compiles the corresponding part program to create the workpiece surface. To
do so, most CAD/CAM systems use linear blocks to describe even curved sections of the
workpiece surface. Many interpolation points are generally necessary to maintain the
required contour accuracy. This results in many linear blocks, typically with very short paths.
The "NC block compressor" function uses polynomial blocks to perform a subsequent
approximation of the contour specified by the linear blocks. During this process, an
assignable number of linear blocks is replaced by a polynomial block. Furthermore, the
number of linear blocks that can be replaced by a polynomial block also depends on the
specified maximum permissible contour deviation and the contour profile.
Use of polynomial blocks provides the following advantages:
• Fewer part program blocks to describe the workpiece contour
• Higher maximum path velocities

Continuouspath Mode, Exact Stop, LookAhead (B1)

1-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Detailed description 2
2.1 2.1 General

2.1.1 Parameterization of the reset response

The channel-specific basic position is activated via a reset:
MD20150 $MC_GCODE_RESET_VALUES (RESET position of G groups)
The initial setting can be specified for exact stop and continuous path modes and exact stop
criterion.
Detailed information on basic settings can be found in:
References:
/FB1/Function Manual, Basic Functions; Mode Group, Channel, Program Operation, Reset
Response (K1)

2.1.2 Block change and positioning axes

If path axes are traversed in continuous path mode in a part program, traversing positioning
axes can also simultaneously affect both the response of the path axes and the block
change. For a detailed description of positioning axes, refer to:
References:
/FB2/ Function Manual, Extended Functions; Positioning Axes (P2)

2.1.3 Block change delay

Even if all path axes and special axes traversing in the part program block have satisfied
their specific block transition criteria, the block change can still be delayed due to other
unsatisfied conditions and/or active functions:
• Missing auxiliary function acknowledgement by the PLC
• Non-existent following blocks
• Active function: "Empty buffer"

Continuouspath Mode, Exact Stop, LookAhead (B1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-1
Detailed description
2.2 Exact stop

Effects
If a block change cannot be executed in continuous path mode, all axes programmed in this
part program block (except cross-block traversing special axes) are stopped. In this case,
contour errors do not occur. The stopping of the path axes during machining can cause
undercuts on the workpiece surface.

2.2 2.2 Exact stop

Exact stop or exact stop mode

In contrast to continuous path mode, in exact stop or exact stop mode, all path axes and
non-modal special axes involved in the traversing motion are decelerated until they reach a
standstill at the end of each block. The transition to the next block occurs only when all axes
involved in the traversing motion have reached their programmed target position with subject
to the selected exact stop criterion.
This results in the following response:
• All path axes and non-modal special axes involved in the traversing motion are
decelerated at the end of the block until they reach a standstill.
• By decelerating the axes and via the waiting period until the state is reached: "exact stop"
for all the machine axes involved, the program run time becomes considerably longer
compared to the continuous-path mode.
• In exact stop mode, undercuts can occur on the workpiece surface during machining.

Use
Exact stop mode should always be used when the programmed contour must be executed
exactly.

Activation of exact stop mode

Exact stop mode is activated in the part program by programming the following G-functions:
• G60 - Exact stop on, modal
• G09 - Exact stop on, non-modal

Exact stop criteria: "Exact stop coarse" and "Exact stop fine"
The two exact stop criteria "Exact stop coarse" and "Exact stop fine" are used to specify the
applicable tolerance window for reaching the state: "exact stop" of a machine axis.
Machine axis state
The state of a machine axis that refers to the position difference relative its setpoint position
at the end of a traversing motion is also designated as an exact stop. The machine axis
reaches the "exact stop" state as soon as its following error is less than the specified position
difference (exact stop criterion).

Continuouspath Mode, Exact Stop, LookAhead (B1)

2-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.2 Exact stop

Parameterization
The tolerance windows of the exact stop criteria are specified with the following machine
data:
• MD36010 STOP_LIMIT_FINE (exact stop fine)
• MD36000 STOP_LIMIT_COARSE (exact stop coarse)

Note
Tolerance window
The tolerance windows of the exact stop criteria "Exact stop coarse" and "Exact stop fine"
should be assigned such that the following applies: "Exact stop coarse" > "Exact stop
fine"

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QBQHJDWLYH RVLWLYH
([DFWBVWRSBF
RDUVH
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Figure 2-1 Tolerance windows of exact stop criteria

Exact stop criterion: "Interpolator end"

With exact stop criterion "Interpolator end", the block change to the next block takes place as
soon as all path axes and non-modal special axes involved in the traversing motion have
reached the position programmed in the block in terms of the setpoint value. That is, the
interpolator has executed the block.
The actual position or the following error of the machine axes involved, for exact stop criteria,
are: "Interpolator end" not considered. Depending on the dynamics of the machine axes, this
can lead to greater smoothing of the contour at the block transitions in comparison to the
exact stop criteria: "exact stop coarse" and "exact stop fine."

Continuouspath Mode, Exact Stop, LookAhead (B1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-3
Detailed description
2.2 Exact stop

Block change depending on exact-stop criteria

The figure below illustrates the block change timing in terms of the selected exact stop
criterion.

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$FWXDO ZLWK*
YDOXH ZLWK*
ZLWK*

6HWSRLQW

Figure 2-2 Block change accordance to selected exact stop criterion

Activation of an exact stop criterion

An exact stop criterion is activated in the part program by programming the following G-
functions:
• G601 - Exact stop fine
• G602 - Exact stop coarse
• G603 - Interpolator end

Evaluation factor for exact stop criteria

A parameter set-dependent evaluation of the exact stop criteria can be specified via the
following axis-specific machine data:
MD36012 $MA_STOP_LIMIT_FACTOR (exact stop coarse/fine and standstill factor)
Applications
• Adaptation of the positioning response to different mass ratios, such as after a gearshift
• Reduction in positioning time, depending on various machining states, such as roughing
and finishing

Continuouspath Mode, Exact Stop, LookAhead (B1)

2-4 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.2 Exact stop

Assignable specification of the active exact stop criterion

The active exact stop criterion can be permanently specified for the part program commands
of the first G-group irrespective of the exact stop criterion programmed in the part program.
This specification can be made independently for each of the following part program
commands:
• Rapid traverse: G0
• Machining commands: G1, G2, G3, CIP, ASPLINE, BSPLINE, CSPLINE,
POLY, G33, G34, G35, G331, G332, OEMIPO01, OEMIPO02, CT
The setting is done in a channel-specific manner via the following machine data:
MD20550 $MC_EXACT_POS_MODE (exact stop conditions for G00 and G01)
Coding
Each exact stop criterion is location-coded:
• Ones position E: Rapid traverse
• Tens position Z: all other part program commands in the first G-group
MD20550 $MC_EXACT_POS_MODE = < ZE >

Z or E Active exact stop criterion

0 Programmed exact stop criterion
1 G601 (Exact stop window fine)
2 G602 (Exact stop window coarse)
3 G603 (Interpolator end)
Example
MD20550 $MC_EXACT_POS_MODE = 02
Ones position = 2:
With rapid traverse, exact stop criterion G602 (exact stop window coarse) is always active,
irrespective of any programming in the part program.
Tens digit = 0:
For traversing with all other part program commands of the first G-group, the exact stop
criterion programmed in the part program is active.

Continuouspath Mode, Exact Stop, LookAhead (B1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-5
Detailed description
2.3 Continuous-path mode

Assignable exact stop criterion for rapid traverse transitions in continuous path mode
The behavior at the block transition of part program blocks before and after rapid traverse
blocks can be parameterized via the following channel-specific machine data:
MD20552 $MC_EXACT_POS_MODE_G0_TO_G1 = < value > (exact stop condition for G00-
G01 transition)

Value Meaning
0 No additional stop at the block change
1 Stop at block change: response, as appropriate Behavior according to G601 (Exact stop
window fine)
2 Stop at block transition: Same behavior as G602 (positioning window coarse).
3 Stop at block transition: Same behavior as G603 (interpolator end).
4 Like 0; in addition, the override of the next non-G00 block is taken into account with Look
ahead in the G00 block during the transition from G00 to non-G00.
5 Like 0; in addition, the override of the next block is taken into account with Look ahead
during the transition from G00 to non-G00 and non-G00 to G00.

2.3 2.3 Continuous-path mode

2.3.1 General

Continuous-path mode
In continuouspath mode, the path velocity is not decelerated for the block change in order to
permit the fulfillment of an exact-stop criterion.
The objective of this mode is to avoid rapid deceleration of the path axes at the block-change
point so that the axis velocity remains as constant as possible when the program moves to
the next block.
To achieve this objective, the "LookAhead" function is also activated when continuouspath
mode is selected.
Continuouspath mode causes the smoothing and tangential shaping of angular block
transitions by local changes in the programmed contour. The extent of the change relative to
the programmed contour can be limited by specifying the overload factor or rounding criteria.
Continuouspath operation causes:
• Contour rounding
• Shorter machining times through elimination of braking and acceleration processes that
are required to comply with the exact-stop criterion
• Improved cutting conditions because of the more constant velocity

Continuouspath Mode, Exact Stop, LookAhead (B1)

2-6 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.3 Continuous-path mode

Continuouspath mode is suitable if:

• A contour must be traversed as quickly as possible (e.g., with rapid traverse).
• The exact contour may deviate from the programmed contour within a specific tolerance
for the purpose of obtaining a continuous contour.
Continuous-path mode is suitable if:
• A contour is to be traversed precisely.
• An absolutely constant velocity is required.

Implicit exact stop

In some cases, an exact stop needs to be generated in continuouspath mode to allow the
execution of subsequent actions. In such situations, the path velocity is reduced to zero.
• If auxiliary functions are output before the traverse motion, the previous block is only
terminated when the selected exact-stop criterion is fulfilled.
• If auxiliary functions are to be output after the traverse motion, they are output after the
interpolator end of the block.
• If an executable block (e.g., starting a positioning axis) contains no travel information for
the path axes, the previous block is terminated on reaching the selected exact-stop
criterion.
• If a positioning axis is declared to be the geometry axis, the previous block is terminated
at the interpolator end when the geometry axis is programmed.
• If a synchronized axis is programmed that was last programmed as a positioning axis or
spindle (initial setting of the special axis is positioning axis), the previous block is ended
at the interpolator end.
• If the transformation is changed, the block previously processed is terminated with the
active exact-stop criterion.
• A block is terminated on interpolator end if the following block contains the switchover of
the acceleration profile BRISK/SOFT.
Additional information on BRISK and SOFT:
References:
/FB1/ Function Manual, Basic Function; Acceleration (B2)
• If the "empty buffer" function is programmed, the previous block is terminated when the
selected exact-stop criterion is reached.

Velocity = 0 in continuouspath mode

Regardless of the implicit exact-stop response, the path motion is braked down to zero
velocity at the end of the block in cases where:
• Positioning axes have been programmed with syntax POS and have a travel time that
exceeds that of the path axes. Block change occurs when the "exact stop fine" of the
positioning axes is reached.
• The time taken to position a spindle programmed with syntax SPOS is longer than the
travel time of the path axes. The block change is carried out when the "exact stop fine" of
the positioning spindle is reached.

Continuouspath Mode, Exact Stop, LookAhead (B1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-7
Detailed description
2.3 Continuous-path mode

• The current block contains traversing commands for geometry axes and the following
block traversing commands for synchronized axes or, alternatively, the current block
contains traversing commands for synchronized axes and the subsequent block
traversing commands for geometry axes.
• Synchronization is required

Auxiliary function output during traversal

In continuous-path mode with auxiliary-function output during motion and short traversing
blocks, the path velocity is decelerated prior to PLC acknowledgment of the auxiliary
functions.
The axes are decelerated to standstill respecting the acceleration limits at the end of the
block. At the end of the block acknowledgment is awaited before motion can continue.
Acknowledgment during deceleration
Acknowledgment during deceleration accelerates the velocity back to the programmed path
velocity.
In order to prevent this happening in continuous-path mode, the following machine data can
be used to set a time for the CNC during which the PLC will safely acknowledge the auxiliary
functions for the CNC:
MD10110 PLC_CYCLE_TIME_AVERAGE (average PLC acknowledgement time)
Acknowledgment outside of travel time
The path velocity for the block ahead is reduced to the point that the block duration
corresponds to the specified time if the traversing time is less than the time specified in the
machine data MD10110 based on the programmed path length and velocity of the block with
auxiliary function output.
If acknowledgment is not received within the time, the following prepared block cannot be
processed and the axes are braked to standstill with setpoint = 0 without considering the
acceleration limits.
Acknowledgment not received by end of block
If the acknowledgment is not received by the end of the block in long blocks in which the
velocity has not needed to be reduced on account of the PLC acknowledgment time, the
velocity is maintained until the end of the block and then reduced as described above.
Acknowledgment during braking
If the acknowledgment arrives while the axis is decelerating, the axis is not accelerated back
up to the requested velocity.

MD10110
The machine data is not evaluated:
MD10110 PLC_CYCLE_TIME_AVERAGE (average PLC acknowledgement time)

Continuouspath Mode, Exact Stop, LookAhead (B1)

2-8 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.3 Continuous-path mode

2.3.2 Velocity reduction according to overload factor

Velocity reduction according to overload factor

The function lowers the path velocity in continuouspath mode until the nontangential block
transition can be traversed in one interpolation cycle while respecting the deceleration limit
and taking and overload factor into account.
With the reduced velocity, axial jumps in velocity are produced with a nontangential contour
at the block transition. These jumps in velocity are also performed by the coupled motion
synchronized axes. The jump in velocity prevents the path velocity dropping to zero.
This jump is performed if the axial velocity was reduced with the axial acceleration to a
velocity from which the new setpoint can be reached with the jump. The magnitude of the
setpoint jump can be limited using an overload factor. Because the magnitude of the jump is
axial, the minimum jump of the path axes which are active during the block change is
considered during block transition. With a practically tangential block transition, the path
velocity is not reduced if the permissible axial accelerations are not exceeded. In this way,
very small angular changes in the contour can be overtraveled directly.

Overload factor
The overload factor restricts step changes in the machine axis velocity at block ends. So that
the velocity jump does not exceed the maximum load on the axis, the jump is derived from
the acceleration of the axis.
The overload factor indicates the extent by which the acceleration of the machine axis, which
is set in machine data, may be exceeded for an IPO cycle:
MD32300 MAX_AX_ACCEL (axis acceleration).
The velocity jump is the product of the axial acceleration * (overload factor -1) * interpolator
cycle.
The factor is stored in the machine data:
MD32210 MAX_ACCEL_OVL_FACTOR (overload factor for axial jumps in velocity).
Factor 1.0 means that only tangential transitions with finite velocity can be traversed. For all
other transitions, the velocity is reduced to zero by changing the setpoint. This behavior is
equivalent to the function "Exact stop with interpolator end". This is undesirable for
continuouspath mode, so the factor must be set to greater than 1.0.
For startup and installation, please note that the factor must be reduced if the machine is
likely to be subject to vibrations during angular block transitions and rounding is not to be
used.
The block transitions are always rounded irrespective of the set overload factor by setting the
machine data:
MD20490 IGNORE_OVL_FACTOR_FOR_ADIS (G641/G642 irrespective of the overload
factor).

Continuouspath Mode, Exact Stop, LookAhead (B1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-9
Detailed description
2.3 Continuous-path mode

Selection and deselection of velocity reduction

Continuouspath mode with velocity reduction according to overload factor can be selected
modally in every NC part program block by means of program code G64.
Continuouspath mode G64 can be
• Interrupted non-modally by selecting exact stop G09
• Deselected by selecting exact stop G60
• Deselected by selecting rounding G641

Implicit continuouspath mode

If it is not possible to insert approximate positioning blocks due to the very short block path
lengths (e.g., zeroclocked blocks) in continuouspath mode with rounding G641, the mode is
switched over to continuouspath mode G64.
The figure below shows how the function velocity drops according to an overload factor.

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Figure 2-3 Axial velocity change on block transition

Continuouspath Mode, Exact Stop, LookAhead (B1)

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 Detailed description
2.3 Continuous-path mode

2.3.3 Rounding according to path criterion

Blending
Rounding means that an angular block transition is changed to a tangential block transition
by a local change to the programmed feedrate.
Rounding replaces the area in the vicinity of the original angular block transition (including
transitions between blocks inserted by the CNC) by a continuous contour. In this case, it is
not only the geometry axes that are taken into account, but all machine axes, which are
traversing synchronously. The rounding function therefore smoothes the traversing path of
orientation axes as well as general velocity step changes in synchronized axes.

Note
Rounding cannot and should not replace the functions for defined smoothing: RND, RNDM,
ASPLINE, BSPLINE, CSPLINE.
If a rounding movement initiated by G641, G642, G643, G644 is interrupted, the corner point
of the original contour will be used for subsequent repositioning, rather than the interruption
point.

Rounding is initiated by shortening discontinuously adjoining blocks and inserting one or two
intermediate blocks at this point. The original block boundary is removed and can no longer
be used for synchronization conditions (e.g., auxiliary function output parallel to motion, stop
at end of block).
With rounding, all synchronization conditions are best referred to the end of the shortened
first block and not to the end of the intermediate rounding block. The following block is thus
not started and with a stop at end of block, the contour of the following block can still be
changed.
Rounding is only performed if the block transition is to be traveled with finite velocity. The
maximum path speed is influenced by the curvature. The maximum acceleration values of
the axes are not exceeded. A block without traverse information for the path axes requires
velocity "zero" and therefore no rounding.
Rounding is also used if the traversal of the block transition requires a velocity that lies below
the permissible velocity at the end of the block according to G64 (see overload factor). This
means that very small knees in the contour (e.g., 0.5 degrees) can be overtraveled directly.

Continuouspath Mode, Exact Stop, LookAhead (B1)

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Detailed description
2.3 Continuous-path mode

No intermediate rounding blocks

An intermediate rounding block is not inserted in the following situations:

1 The axis stops between the two blocks. This occurs when ...
1 The auxiliary function output is programmed before the movement in the following block.
2 The following block does not contain a path movement.
3 An axis, which was previously a positioning axis traverses as a path axis for the first time
in the following block.
4 An axis, which was previously a path axis traverses as a positioning axis for the first time
in the following block.
5 The previous block moves geometry axes and the following block does not.
6 The following block moves geometry axes and the previous block does not.
7 Prior to thread cutting: The following block uses G33 as a preparatory function and the
previous block does not.
8 A change is made between BRISK and SOFT.
9 Axes involved in the transformation are not completely assigned to the path motion (e.g.,
for oscillation, positioning axes)
2 The rounding block would slow down part program execution. This occurs when ...
1 A rounding block is inserted between very short blocks. Since each block requires at
least one interpolation cycle, the added intermediate block would double the machining
time.
2 A block transition G64 (continuous-path mode without rounding) can be traversed
without speed reduction. Rounding would increase the machining time.
3 Rounding is not parameterized. This occurs when ...
1 ADISPOS == 0 in G0 blocks. (default!)
2 ADIS == 0 in non-G0 blocks. (default!)
3 On transition from G0 to non-G0 or non-G0 to G0 respectively, the smaller value from
ADISPOS and ADIS applies.

Continuouspath Mode, Exact Stop, LookAhead (B1)

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 Detailed description
2.3 Continuous-path mode

Synchronized axes
If a number of paths need to be synchronized (e.g., contour, special axis), then every path
must always have its own rounding area.
There are no practical means of achieving this exactly. Therefore, on the basis of the specific
meaning of the contour (geometry axis), the following procedure is applied:

Rounding behavior with synchronized paths

Original path for Result for
Geometry axes Orientation axis/ rounding path
synchronized axis
Smooth Smooth Defined path is traversed exactly
Smooth Angular path Intermediate blocks,the geometry axes follow the
path exactly, all orientation/synchronized axis paths
are smoothed
Angular path Smooth Intermediate block,the geometry axes perform
rounding, all orientation/synchronized axis paths are
smoothed
Angular path Angular path intermediate block,the geometry axes perform
rounding, all orientation/synchronized axis paths are
smoothed

Path criterion
The size of the rounding area can be controlled by path criteria ADIS and ADISPOS. These
are the precoincidences for the block change. ADIS and ADISPOS describe the distance,
which the rounding block may begin, at the earliest, before the end of the block or the
distance after the end of block within which the rounding block must be terminated.

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Figure 2-4 Example for rounding an angular block transition

Acute angles produce rounding curves with a large degree of curvature and therefore cause
a corresponding reduction in velocity.

Continuouspath Mode, Exact Stop, LookAhead (B1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-13
Detailed description
2.3 Continuous-path mode

Parameterization of the path criterion

• ADISPOS is programmed in the same way as ADIS, but must be used specifically for
movements in rapid traverse mode (G00).
• ADIS and ADISPOS are preset in the part program.
For example, ADIS = 0.3 indicates a path criterion with a rounding distance of 0.3 mm
(ADISPOS is the same).

Scope of the path criterion

• ADIS or ADISPOS must be programmed. If the default is "zero", G641 behaves like G64.
• If only one of the blocks involved is rapid traverse G00, the smaller rounding distance
applies.
• If a very small value is used for ADIS, the control must make sure that every interpolated
block, even an intermediate rounding block, contains at least one interpolation point. The
maximum path velocity is thereby limited to ADIS/interpolation cycle.
• Irrespective of ADIS and ADISPOS, the rounding area is limited by the block length.

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Figure 2-5 Path with limitation of ADIS

Continuouspath Mode, Exact Stop, LookAhead (B1)

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 Detailed description
2.3 Continuous-path mode

Programming example

N1 G641Y50 F10 ADIS = 0.5

N2 X50
N3 X50.7
N4 Y50.7
N5 Y51.4
N6 Y51.0
N7 X52.1

In blocks with short distances (distance < 4*ADIS and < 4 * ADISPOS respectively), the
rounding distance is reduced so that a traversable part of the original block is retained. The
remaining length depends on the axis path and is approximately 60% of the distance still to
be traversed in the block.
ADIS or ADISPOS is therefore reduced to the remaining 40% of the distance to be traversed.
This algorithm prevents a rounding block being inserted for a very small change in contour.
In this case, switchover to continuouspath mode G64 is automatic until rounding blocks can
be inserted again.

Selection and deselection of rounding blocks

Program code G641 can be inserted in any NC part program block to modally select
rounding according to a path criterion. Before or on selection, the path criteria
ADIS/ADISPOS must be specified.
Continuouspath mode G641 can be
• Interrupted non-modally by selecting exact stop G09
• Deselected by selecting exact stop G60
• Deselected by selecting velocity drop G64

Rounding with axial tolerances

In addition to rounding using the command G641, rounding with axial tolerances enabled
modally using G642 is possible.
In this case, instead of rounding being performed within a defined ADIS range, the axial
tolerances defined with the following machine data are used.
MD33100 COMPRESS_POS_TOL (maximum tolerance with compression).
The mode of operation is otherwise identical to G641.
References:
/PG/Programming Manual Fundamentals

Continuouspath Mode, Exact Stop, LookAhead (B1)

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Detailed description
2.3 Continuous-path mode

Extensions
G643 is not used to generate a separate rounding block, but axisspecific blockinternal
rounding movements are inserted.
The expansions described below refine the response with G642 and G643 and "rounding
with contour tolerance" is introduced.
When rounding with G642 and G643, the maximum permissible deviations of each axis are
normally specified.
Rounding with G642 and G643 can be configured with the following machine data such that
instead of the axis-specific tolerances, a contour tolerance and an orientation tolerance can
be specified.
MD20480 SMOOTHING_MODE (rounding behavior with G64x)
In this case, the tolerance of the contour and of the orientation is set using two independent
setting data, which can be programmed in the NC program. This means that different setting
data can be specified for each block transition.

Contour tolerance
A contour tolerance is specified using the setting data:
SD42465 SMOOTH_CONTUR_TOL (maximum contour tolerance when rounding)
This setting data defines the maximum rounding tolerance for the contour.

Orientation tolerance
To specify an orientation tolerance, the setting data:
SD42466 SMOOTH_ORI_TOL (max. tolerance of the tool orientation for rounding)
This setting data defines the maximum rounding tolerance for the tool orientation The data
determines the maximum permissible angular deviation of the orientation of the tool. This
data is only effective if an orientation transformation is active.

Continuouspath Mode, Exact Stop, LookAhead (B1)

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 Detailed description
2.3 Continuous-path mode

Possible combinations
The following table indicates for G642 and G643 the effect of axis tolerances in the following
machine data:
MD33100 COMPRESS_POS_TOL (maximum tolerance with compression).
It also applies to the setting data given above.

MD20480 SMOOTHING_MODE must be loaded with two decimal places as follows:

Value G642 G643
Setting the value in the tens digit of the (Setting the value in the ones digit of the
machine data: machine data:
MD20480 SMOOTHING_MODE (rounding MD20480 SMOOTHING_MODE (rounding
behavior with G64x) behavior with G64x)
0 Axis-specific tolerances are used for G642. Axis-specific tolerances are used for G643.
These are set using the axis-specific These are set using the axis-specific
machine data: MD33100 (default value). machine data: MD33100 (default value).
1 When rounding geometry axes with G642, When rounding geometry axes with G643,
the following contour tolerance is used: the following contour tolerance is used:
SD42465 SMOOTH_CONTUR_TOL SD42465 SMOOTH_CONTUR_TOL
(maximum contour tolerance when (maximum contour tolerance when
rounding) rounding).
The remaining axes are rounded using the The remaining axes are rounded using the
axisspecific tolerances in the machine data: axisspecific tolerances in the machine data:
MD33100. MD33100.
2 The orientation movement with G642 is The orientation movement with G463 is
rounded using the angle tolerance: rounded using the angle tolerance:
SD42466 SMOOTH_ORI_TOL (max. SD42466 SMOOTH_ORI_TOL (max.
tolerance of the tool orientation for tolerance of the tool orientation for rounding)
rounding). All the other axes use the axis-specific
All the other axes use the axis-specific tolerances in the machine data: MD33100.
tolerances in the machine data: MD33100.
3 Combination of the two options 1x and 2x. Combination of the two options 1x and 2x.
i.e., the following tolerances are used for i.e., the following tolerances are used for
G642: SD42465 and SD42466. G643: SD42465 and SD42466.
Further axes are rounded using the axis- Further axes are rounded using the axis-
specific tolerance. specific tolerance.
4 The rounding length programmed with The rounding length programmed with
ADIS= or ADISPOS= is used for G642. ADIS= or ADISPOS= is used for G643.
Any axis-specific tolerance or contour and Any axis-specific tolerance or contour and
orientation tolerance specifications are orientation tolerance specifications are
ignored. ignored.

Continuouspath Mode, Exact Stop, LookAhead (B1)

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Detailed description
2.3 Continuous-path mode

Differences between G642 - G643

With regard to their rounding behavior, commands G642 ad G643 differ as follows:

G642 G643
With G642, the rounding travel is determined In the case of G643, the rounding travel of each
based on the shortest rounding travel of all axes. axis can be different. The rounding travels are
This value is taken into account when generating taken into account axisspecifically and block-
a rounding block. internally.
With G642, the rounding area results from the Very different specifications for the contour
smallest tolerance setting. tolerance and the tolerance of the tool orientation
can only have effect with G643.

Constraints
Expansion to include contour tolerance and orientation tolerance exists only in systems with
options for polynomial interpolation. The orientation-transformation option is also required for
rounding orientations with angular tolerance specification.
Restriction for protection zones with active radius compensation and tool orientation:
Although tool radius compensation is applied for a tool orientation, which is not perpendicular
to one of the three datum planes of the basic coordinate system, the protection zones are
not rotated onto the corresponding plane.
For G643 the following must apply in the machine data:
MD28530 MM_PATH_VELO_SEGMENTS > 0 (Number of memory elements for limiting the
path velocity)
If this condition is met, the following machine data must apply to all the axes:
MD35240 ACCEL_TYPE_DRIVE = FALSE (acceleration characteristic line DRIVE for axes
ON/OFF)

Expansion
Rounding with G642 and G643 has been extended so that the length of the rounding
distance can be specified directly instead of entering the maximum tolerances.
As with G641, the language commands ADIS = ... for G01 and ADISPOS = ... for G00 are
used respectively for this purpose.
Whether or not G642, G643 are specified with the maximum tolerances or the rounding
length, is set with the machine data:
MD20480 SMOOTHING_MODE (rounding behavior with G64x)
The following applies:

SMOOTHING_MODE = x4 G643 with ADIS or ADISPOS

SMOOTHING_MODE = 4x G642 with ADIS or ADISPOS

Continuouspath Mode, Exact Stop, LookAhead (B1)

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 Detailed description
2.3 Continuous-path mode

Profile for limit velocity

The use of a velocity profile can be controlled during rounding using the hundreds digit in the
machine data:
MD20480 SMOOTHING_MODE (rounding behavior with G64x)

Hundred's place:
< 100: A profile of the limit velocity is calculated within the rounding area, based on the
defined maximum values for acceleration and jerk on the participating axes or
path.
This can lead to an increase in the path velocity in the rounding area and
therefore to the acceleration of the participating axes.
≥100: A profile of the limit velocity is not calculated for rounding blocks with
G641/G642. A constant velocity limit is specified instead.
This prevents the participating axes being accelerated into the rounding area
during rounding with G641/G642. However, in certain cases, this setting can
cause the rounding blocks to be traversed too slowly, especially in large
rounding areas.
1xx: No velocity profile for G641
2xx: No velocity profile for G642

Note
See also:
MD28530 MM_PATH_VELO_SEGMENTS (number of memory elements for limiting the path
velocity)

2.3.4 Rounding with maximum possible dynamic response on each axis

How this type of rounding differs from existing types

Unlike existing rounding types, which are activated with G codes G641, G642 and G643, in
this case, the maximum possible dynamic response on each axis takes priority.

Activation
This type of rounding is activated by G code G644. Further information needs to be
programmed and/or entered in the machine data, depending on the setting.

Note
G644 is not available with an active kinematic transformation. The system switches internally
to G642.

Continuouspath Mode, Exact Stop, LookAhead (B1)

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Detailed description
2.3 Continuous-path mode

Configuration
The rounding is configured with G644 using the following machine data:
MD20480 SMOOTHING_MODE (comparison of the rounding with G64x)
The following options are available (the values should be entered in the thousand's place of
the machine data):

Thousand's place:
0xxx: When rounding with G644, the maximum deviations of each axis specified with
the following machine data are used:
MD33100 COMPRESS_POS_TOL (maximum tolerance with compression).
1xxx: Input the maximum rounding path by programming ADIS=... or ADISPOS=...(as
for G641)
2xxx: Input the maximum possible frequencies of each axis in the rounding area using
the machine data:
MD32440 LOOKAH_FREQUENCY (smoothing frequency for Look Ahead)
The rounding area is defined so that no frequencies in excess of the specified
maximum can occur while the rounding motion is in progress.
3xxx: Any axis that has a velocity jump at a corner traverses around the corner with the
maximum possible dynamic response (maximum acceleration and maximum
jerk).
SOFT: The jerk is limited.
BRISK: When BRISK is active, only the acceleration is limited to its maximum
value.
With this setting, neither the maximum deviations nor the rounding distance are
checked.
The resulting deviations or rounding distances are determined exclusively by the
dynamic limits of the respective axis and the current path velocity.
While, with 3xxx, the rounding distance results exclusively from the dynamic response data
of the respective axis, in the other cases the distance to the corner at which the rounding
motion begins is checked. In the first two cases, the possible rounding distance is limited to a
maximum value, which results either from the defined maximum deviation or a direct
programming command.
In contrast, in the case of 2xxx, the rounding distance is limited to a minimum value, which
results from the maximum permissible excitation frequency and the current path velocity.

Additional limitation
Any further limitations are also effective in addition to this rounding distance limitation. The
rounding distance cannot exceed half the length of the original participating blocks.
The smoothing of the velocity jump on each axis and thus the shape of the rounding path
depends on whether an interpolation is performed with or without jerk limitation.
Consequently, a different velocity characteristic is produced for each axis, depending on
whether BRISK or SOFT is active.

Continuouspath Mode, Exact Stop, LookAhead (B1)

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 Detailed description
2.3 Continuous-path mode

BRISK
With BRISK, no jerk limitation is active; the acceleration of each axis reaches its maximum
value in the entire rounding area.

SOFT
With SOFT, the jerk of each axis is limited to its maximum value within the rounding area.
The rounding motion thus generally consists of 3 phases:
• Phase 1
During phase 1, each axis builds up its maximum acceleration. The jerk is constant and
equal to the maximum possible jerk on the respective axis.
• Phase 2
During phase 2, the maximum permissible acceleration is applied.
• Phase 3
During phase 3, which is the last phase, the acceleration of each axis is reduced back to
zero with the maximum permissible jerk (see figure below).

2.3.5 Smoothing the path velocity

Application
In some applications in mold making, especially in the case of high speed cutting, it is
desirable to achieve a constant path velocity.

Response without smoothing

The velocity control function utilizes the specified axial dynamic response. If the programmed
feedrate cannot be achieved, the path velocity is brought to the parameterized axial limit
values and the limit values of the path (velocity, acceleration, jerk). This can lead to repeated
braking and acceleration on the path.
If a short acceleration takes place during a machining function with high path velocity, and is
thus followed almost immediately by braking, the reduction in the machining time is only
minimal. Acceleration of this kind can, however, have undesirable effects if, for example, it
results in machine resonance.

Solution: Smoothing
In some cases, it can therefore be reasonable to sacrifice transient acceleration processes in
favor of a smoother tool path velocity. The following sections describe the conditions and
possible settings to avoid less effective accelerations/decelerations.

Continuouspath Mode, Exact Stop, LookAhead (B1)

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Detailed description
2.3 Continuous-path mode

Advantages
The following improvements are possible:
• Avoidance of excitations of possible machine resonance due to continuous, transient
braking and acceleration processes (in the area of less IPO cycles).
• Avoiding of constantly varying cutting rates due to acceleration which brings no significant
shortening of the program running time.

Smoother path movement

If the velocity is controlled smoother and not every acceleration process is carried out, both
advantages can be achieved without any undesired extended machining time.

Decision-making criteria
The control system makes a decision based on:
• Smoothing frequency for the tool path velocity (MD)
• Tolerable loss in productivity when suppressing accelerations/decelerations (MD).

Setting parameters for path smoothing

The user can define the following parameters to set the path smoothing:
• Extending the processing time by means of machine data:
MD20460 LOOKAH_SMOOTH_FACTOR (smoothing factor for Look Ahead)
If the velocity is not accelerated, it will take longer to process this part program (see
example).
• Use of the machine data to input the resonance frequencies of the participating axes:
MD32440 LOOKAH_FREQUENCY (smoothing frequency for Look Ahead)
Only accelerations in velocity, which clearly excite machine resonances, should be
removed.
• Use of machine data to take into account the programmed feedrate for smoothing:
MD20462 LOOKAH_SMOOTH_WITH_FEED (path smoothing with programmed feedrate)

MD20460
A percentage value corresponding to the permissible extension must be specified in machine
data:
MD20460 LOOKAH_SMOOTH_FACTOR (smoothing factor for Look Ahead)
The percentage value defines how much longer a machining step without accelerations may
be than the corresponding step when performing the accelerations/decelerations.
This would be a "worst-case" value, if all accelerations within the part program, except the
initial approach motion, were smoothed.

Continuouspath Mode, Exact Stop, LookAhead (B1)

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 Detailed description
2.3 Continuous-path mode

The actual extension will always be smaller, and may even be 0, if the criterion is not met by
any of the accelerations.
Values between 50 and 100% may also be entered without significantly increasing the
machining time.

MD20462
Whether the programmed feedrate should also be taken into consideration during the
smoothing is determined by the machine data:
MD20462 LOOKAH_SMOOTH_WITH_FEED (path smoothing with programmed feedrate)
If the MD is set to 1 (default), the smoothing factor is observed with particular precision if the
override is set to 100%.

MD32440
The following machine data contains a smoothing frequency for LookAhead:
MD32440 LOOKAH_FREQUENCY (smoothing frequency for Look Ahead)
Acceleration and braking processes running at a frequency higher than parameterized in this
MD are smoothed or reduced in their dynamic response depending on their parameterization
in the machine data:
MD20460 LOOKAH_SMOOTH_FACTOR (smoothing factor for Look Ahead)
MD20465 ADAPT_PATH_DYNAMIC (adaptation of the path dynamics)
The minimum value for all axes involved in the path is always calculated.
If vibration is excited in the mechanical system of this axis and if the corresponding
frequency is known, this MD should be set to a value smaller than this frequency.
The required resonance frequencies, for example, can be calculated using the built-in
measuring functions.
The minimum value for this MD32440 is calculated as fPath on the basis of the axis involved
in the path.
For the smoothing, only those acceleration processes in which the start and end velocity of
this motion are reached within the time below are taken into consideration:
t = t2-t1 = 2/fPath

Note
The smoothing of the path velocity does not lead to contour errors. Variations in axis velocity
due to curvatures in the contour at constant path velocity may continue to occur and are not
reduced at this point.
Variations in path velocity due to the input of a new feedrate are not changed either. This
remains the responsibility of the programmer of the subprogram.

Continuouspath Mode, Exact Stop, LookAhead (B1)

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Detailed description
2.3 Continuous-path mode

Activation
The smoothing of the path velocity is activated with machine data, which is active with
NewConfig:
MD20460 LOOKAH_SMOOTH_FACTOR
With the default value 0, the function is deactivated.

Example
The following parameters are assumed:
MD20460 LOOKAH_SMOOTH_FACTOR = 10% (smoothing factor for Look Ahead)
MD32440 LOOKAH_FREQUENCY[AX1] = 20Hz (smoothing frequency for Look Ahead)
MD32440 LOOKAH_FREQUENCY[AX2] = 20Hz
MD32440 LOOKAH_FREQUENCY[AX3] = 10Hz
The path involves the 3 axes X = AX1, Y = AX2, Z = AX3.
The minimum value of MD32440 for these 3 axes is thus 10 Hz. This means that any
acceleration, which is completed within a period of t2-t1 = 2/10Hz = 200 ms, is examined.
The time t2 is the time after which, following acceleration from velocity v1, the velocity
returns to this velocity v1. The extending of the execution time is also only considered within
this range.
A time t2-t1 in excess of 200 ms or additional program processing time t3-t2 greater than
10% (= MD20460) of t2-t1, produces the following time characteristic:

Y
Y

W W W

Figure 2-6 Characteristic of time-optimum path velocity (without smoothing)

However, a time t2-t1 below 200 ms and additional program processing time t3-t2 no greater
than 10% of t2-t1 produces this time characteristic:

Continuouspath Mode, Exact Stop, LookAhead (B1)

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 Detailed description
2.3 Continuous-path mode

Y
Y

W

W W W

Figure 2-7 Characteristic of the smoothed path velocity

2.3.6 Dynamic response adaptation

Key statement
Highly dynamic acceleration and deceleration processes during machining can cause
excitation of mechanical vibrations of machine elements and consequently a reduction of the
surface quality of the workpiece. The function: "Dynamic response adaptation" therefore
provides the option of adapting the dynamic response of acceleration and deceleration
processes to the machine conditions by means of the following parameters:
• Adaptation factor of the dynamic path response
Via the adaptation factor of the dynamic path response, temporary changes in the path
velocity are executed with smaller dynamic response limit values. This adaptation factor
can be set for each channel for traversing motions with acceleration without (BRISK) and
with (SOFT) jerk limiting:
– Traversing motions with acceleration without jerk limiting:
MD20465 $MC_ADAPT_PATH_DYNAMIC[ 0 ] (adaptation of the dynamic path
response)
The adaptation factor acts on the acceleration.
– Traversing motions with acceleration with jerk limiting:
MD20465 $MC_ADAPT_PATH_DYNAMIC[ 1 ]
The adaptation factor acts on the jerk.
• Excitation frequency
The dynamic response limiting should only be active during deceleration and acceleration
processes that trigger mechanical vibrations larger than a specific limiting frequency, thus
causing excitation of machine resonances. This excitation frequency, after which the
dynamic response limiting activates, can be axis-specifically specified via the machine
data:
MD32440 $MA_LOOKAH_FREQUENCY (smoothing frequency for Look Ahead)
During the processing, the NC cyclically determines, for all the axes in the path, the
minimum value of their excitation frequencies as the limiting frequency for the adaptation
of the dynamic response.

Continuouspath Mode, Exact Stop, LookAhead (B1)

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Detailed description
2.3 Continuous-path mode

Constraints
The dynamic response adaptation considers only the resulting path and not the deceleration
and acceleration processes of the individual axes involved in the path. For this reason,
critical deceleration and acceleration processes of the axes with respect to the excitation of
mechanical vibrations can occur due to discontinuous contour profiles or kinematic
transformations, even with a constant path velocity profile.

Activation
The dynamic response adaptation is only active during path motions:
• Continuous-path mode (G64, G64x)
In continuous-path mode, the optimal effect of the dynamic response adaptation is
attained with an active 100% override. Considerable deviations from this value or
functions that cause the path axes to decelerate (e.g. auxiliary function outputs to the
PLC) greatly reduce the desired action.
• Exact stop (G60)
In addition, the dynamic response adaptation is not active under the following boundary
conditions:
• Programmed rapid traverse (G0)
• Changes in the override value
• Stop requests during motion, e.g NC-STOP, NC-RESET
• Active function: "Velocity-related path acceleration" (DRIVE)

Activation
The dynamic response adaptation is activated by an adaptation factor greater than 1:
MD20465 $MC_ADAPT_PATH_DYNAMIC > 1 (adaptation of the dynamic path response)
Automatic activation of the "Smoothing the path velocity" function
When the dynamic response adaptation is activated in continuous path mode, the
"Smoothing the path velocity" function is always activated as well. For a parameterized
smoothing factor of 0% (presetting: deactivated), a smoothing factor of 100% is used. For a
smoothing factor other than 0%, the parameterized value is used:
MD20460 $MC_LOOKAH_SMOOTH_FACTOR (smoothing factor for Look Ahead)

Continuouspath Mode, Exact Stop, LookAhead (B1)

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 Detailed description
2.3 Continuous-path mode

Adaptations
In order to clarify the adaptation processes sketched below, please note the following basic
principles:
The size of the time window is tadapt = 1 / f.
1. The time needed to change the velocity is less than tadapt:
The acceleration rates are reduced by a factor greater than 1 and less than the value
written in machine data:
MD20465 ADAPT_PATH_DYNAMIC (adaptation of the path dynamics)
The reduction in acceleration rate increases the time taken to change the velocity.
The following cases are different:
– The acceleration rate is reduced with a value less than MD20465 so that the process
lasts for tadapt [s]. The permitted reduction does not need to be fully utilized.
– The acceleration time is reduced with the value written in MD20465. The process lasts
less than tadapt despite the reduced acceleration. The permitted reduction was fully
utilized.
2. The time needed to change the velocity is greater than tadapt:
No dynamic response adaptation is required.

Example 1: Effect of dynamic response adaptation; acceleration mode: BRISK

Parameter assignment
Machine data

$MC_ADAPT_PATH_DYNAMIC[0] = 1.5
$MC_LOOKAH_SMOOTH_FACTOR = 1.0 See note
$MA_LOOKAH_FREQUENCY[AX1] = 20 Hz TAX1 = 1/20 Hz = 50 ms
$MA_LOOKAH_FREQUENCY[AX2] = 10 Hz TAX2 = 1/10 Hz = 100 ms
$MA_LOOKAH_FREQUENCY[AX3] = 20 Hz TAX3 = 1/20 Hz = 50 ms
Note
A smoothing factor other than 0% prevents the default value of 100% from being used to
smooth the path velocity. To illustrate this effect, in contrast to Example 2 the smoothing of
the path velocity is practically deactivated.

AX2
For path motions in which axis AX2 is involved, all deceleration and acceleration processes
that would last less than TAX2 are adapted.
AX1, AX3
If only axes AX1 and/or AX3 are involved in path motions, all deceleration and acceleration
processes that would last less than TAX1 = TAX3 are adapted. This time is designated tadaptxy in
the following diagrams:

Continuouspath Mode, Exact Stop, LookAhead (B1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-27
Detailed description
2.3 Continuous-path mode

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Figure 2-8 Path velocity profile optimized for time without smoothing or dynamic adaptation
response

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Figure 2-9 Path velocity profile with adaptation of dynamic response

• Interval: t0 - t1 and t2 - t3
The acceleration process between t0 - t1 and the deceleration process between t2 - t3
are lengthened in time due to an adaptation of the acceleration to time tadapt01 or tadapt23.
• Interval: t4 - t5
The acceleration process between t4 - t5 is executed with an acceleration reduced by the
maximum adaptation factor of 1.5. However, the acceleration process is completed
before time tadapt45.
• Interval: t6 - t7
The deceleration process between t6 - t7 remains unchanged, as it lasts longer than
tadapt67.

Continuouspath Mode, Exact Stop, LookAhead (B1)

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 Detailed description
2.3 Continuous-path mode

Example 2: Effect of smoothing the path velocity and dynamic response adaptation: acceleration
mode: BRISK
Parameter assignment
Machine data

$MC_ADAPT_PATH_DYNAMIC[0] = 3
$MC_LOOKAH_SMOOTH_FACTOR = 80%
$MA_LOOKAH_FREQUENCY[AX1] = 20 Hz TAX1 = 1/20 Hz = 50 ms
$MA_LOOKAH_FREQUENCY[AX2] = 20 Hz TAX2 = 1/20 Hz = 50 ms
$MA_LOOKAH_FREQUENCY[AX3] = 20 Hz TAX3 = 1/20 Hz = 50 ms

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Figure 2-10 Path velocity profile optimized for time without smoothing or dynamic adaptation
response

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Figure 2-11 Path velocity profile with path smoothing and adaptation of dynamic response

Continuouspath Mode, Exact Stop, LookAhead (B1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-29
Detailed description
2.3 Continuous-path mode

Effects of path smoothing

• Interval: t1 - t2
The acceleration and deceleration process between t1 - t2 does not take place because
the lengthening of the machining time without the acceleration process to v12 is less than
the resulting time if a smoothing factor of 80% is applied.
• Interval: t3 - t5
The acceleration and braking profile between t3 and t5 does not fulfill this condition or
takes longer the parameterized smoothing time: TAXn = 2/20 Hz = 100 ms.
Effects of the dynamic response adaptation
• Interval: t3 - t4
The acceleration process between t3 - t4 is shorter than MIN(TAXn) =1/20 Hz = 50 ms and
is therefore executed with an acceleration reduced by an adaptation factor of 3.
• Interval: up to t1
The acceleration up to t1 left over after path smoothing is stretched to the time period up
to t1' by the dynamic response adaptation.
Conclusion
This example shows the interaction of path smoothing and dynamic response adaptation in
continuous-path mode. Only those acceleration or deceleration processes that were not
eliminated by the path smoothing are subsequently optimized by the dynamic response
adaptation. For this reason, both functions should always be activated, if possible.

Continuouspath Mode, Exact Stop, LookAhead (B1)

2-30 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.3 Continuous-path mode

Example 3: Effect of adaptation and smoothing the path velocity; acceleration mode: BRISK
Parameter assignment

$MC_ADAPT_PATH_DYNAMIC[1] = 4
$MC_LOOKAH_SMOOTH_FACTOR = 100%
$MA_LOOKAH_FREQUENCY[AX1] = 10 Hz TAX1 = 1/10 Hz = 100 ms
$MA_LOOKAH_FREQUENCY[AX2] = 10 Hz TAX2 = 1/10 Hz = 100 ms
$MA_LOOKAH_FREQUENCY[AX3] = 20 Hz TAX3 = 1/20 Hz = 50 ms

Without path dynamic response adaptation or path smoothing

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The path-velocity characteristic has been obtained through deselection of path dynamic
response adaptation and path smoothing.
This corresponds to the following parameter settings:

$MC_ADAPT_PATH_DYNAMIC[1] = 1
$MC_LOOKAH_SMOOTH_FACTOR = 0%

Continuouspath Mode, Exact Stop, LookAhead (B1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-31
Detailed description
2.3 Continuous-path mode

With path dynamic response adaptation, without path smoothing

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The path-velocity characteristic has been obtained through selection of path dynamic
response adaptation with minimum, and thus virtually inactive, path smoothing.
The following parameter settings were made:

$MC_ADAPT_PATH_DYNAMIC[1] = 4
$MC_LOOKAH_SMOOTH_FACTOR = 1%

With path dynamic response adaptation and path smoothing

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The path-velocity characteristic has been obtained through selection of path dynamic
response adaptation and path smoothing.
The standard path rounding parameter settings for deselected path smoothing and active
path dynamic response adaptation were selected:

Continuouspath Mode, Exact Stop, LookAhead (B1)

2-32 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.3 Continuous-path mode

$MC_ADAPT_PATH_DYNAMIC[1] = 4
$MC_LOOKAH_SMOOTH_FACTOR = 0%
(same meaning as $MC_LOOKAH_SMOOTH_FACTOR = 100%)

Installation and startup

The basic prerequisites for starting up the path dynamic response adaptation function are as
follows:
• Determination of the natural frequency of the path axes for parameter assignment of
dynamic response adaptation:
MD32440 $MA_LOOKAH_FREQUENCY (smoothing frequency for Look Ahead)
• Determination of the dynamic response limiting values: Velocity, acceleration, and jerk
Determination of the dynamic response limiting values
The determination of the dynamic response limiting values for the traversing of path axes by
means of acceleration with jerk limiting (SOFT) is described below. This procedure can be
transferred analogously to the case of acceleration without jerk limiting (BRISK).
1. Deactivate the dynamic response adaptation:
MD20465 $MC_ADAPT_PATH_DYNAMIC[1] = 1 (adaptation of the path dynamic
response)
2. Observe the positioning behavior of each path axis at different traversing velocities.
When doing so, set the jerk such that the desired positioning tolerance is maintained.
Note
The higher the traversing velocity from which the positioning process is started, the
higher in general the jerk can be set.
3. Use the maximum permissible jerk determined for the least critical traversing velocity:
MD32431 $MA_MAX_AX_JERK (maximum jerk)
4. Determine the FAPD factor for all of the path axes using:
FAPD = (largest determined jerk) / (smallest determined jerk)
Note
The smallest determined jerk is the value for the jerk during the most critical traversing
velocity.
5. Enter the largest FAPD factor that was determined via all the path axes as the value for the
dynamic response adaptation:
MD20465 $MC_ADAPT_PATH_DYNAMIC[ 1 ] = FAPD

Continuouspath Mode, Exact Stop, LookAhead (B1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-33
Detailed description
2.3 Continuous-path mode

2.3.7 Technology G group

Dynamic response settings for technology G groups

Different settings can be stored and programmed for five different machining sections, e.g.
tapping, roughing, smoothing, and smooth-finishing. So, for example, roughing can be
performed optimized for time and smoothing, optimized for surface.
With machine data:
MD20150: GCODE_RESET_VALUES
, the basic setting Technology G group after RESET can be set.
Only the dynamic response of the path axes is determined when the technology group G
code is activated. This has no effect on:
• Positioning axes
• PLC axes
• Command axes
• Movements based on axis coupling
• Overlaid movements with handwheel
• JOG movements
• Reference point approach (G74)
• Fixed point travel (G75)
• Rapid traverse movements (G0)
The dynamic response for these axis movements is still derived from the machine data of the
DYNNORM default setting.

Technology G group
Five dynamic response settings are available in G code group 59 technology:
• DYNORM for standard dynamic response
• DYNPOS for positioning mode, tapping
• DYNROUGH for roughing
• DYNSEMIFIN for finishing
• DYNFINISH for smooth-finishing
For further information about programming, please refer to
References:
/PG/ Programming Guide Fundamentals, Path traversing behavior.

Continuouspath Mode, Exact Stop, LookAhead (B1)

2-34 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.3 Continuous-path mode

Enabling selected dynamics groups only

Some G codes can be deactivated by the machine manufacturer. If deactivated G codes are
programmed alarm 14011 is output. G codes DYNPOS for positioning mode and
DYNSEMIFIN for finishing, for example, can be deactivated with the following setting.
MD10712: NC_USER_CODE_CONF_NAME_TAB[0]="DYNPOS"
MD10712: NC_USER_CODE_CONF_NAME_TAB[1]=" "
MD10712: NC_USER_CODE_CONF_NAME_TAB[2]="DYNSEMIFIN"
MD10712: NC_USER_CODE_CONF_NAME_TAB[3]=" "

Configuring the dynamic response values.

The values for each technology group are stored in the following machine data:
• Axis
MD32300: MAX_AX_ACCEL[n]
MD32431: MAX_AX_JERK[n]
MD20600: MAX_PATH_JERK[n]
MD32432: PATH_TRANS_JERK_LIM[n]
MD32310: MAX_ACCEL_OVL_FACTOR[n]
MD32433: SOFT_ACCEL_FACTOR[n]
• Path
MD20602: CURV_EFFECT_ON_PATH_ACCEL[n]
MD20603: CURV_EFFECT_ON_PATH_JERK[n]
Value frange for index n = 0 to 4
Example of programming with index:
MD32300: MAX_AX_ACCEL[3, AX1]=1
R1=MD20602: CURV_EFECT_ON_PATH_ACCEL[4]

Notice
Writing the machine data without an index places the same value in all field elements of the
machine data in question.
Reading the machine data without an index always supplies the value of the field with index
0.
These constellations can occur:
1. Write from part program MD32300: MAX_AX_ACCEL[AX1]=1 sets all five field elements to
value 1 (unit of measurement metric or inch depending on axis type and reference system).
2. Read in archive files from software versions earlier than SW 7.2.

Continuouspath Mode, Exact Stop, LookAhead (B1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-35
Detailed description
2.3 Continuous-path mode

Activate parameter sets for dynamic response

By programming G codes, the machine data affecting dynamics are activated and assigned
as follows:

Active parameter set G CODE of group 59 technology:

Index 0: Value for: DYNNORM
Index 1: Value for: DYNPOS
Index 2: Value for: DYNROUGH
Index 3: Value for: DYNSEMIFIN
Index 4: Value for: DYNFINISH

Note
We recommend suppressingG codes that are not used
with MD10712: NC_USER_CODE_CONF_NAME_TAB[n]. This will prevent these G codes
from being programmed accidentally and activating unconfigured machine data.

Continuouspath Mode, Exact Stop, LookAhead (B1)

2-36 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.4 LookAhead

2.4 2.4 LookAhead

Function
LookAhead is a procedure in continuouspath mode (G64, G641) that achieves velocity
control with LookAhead over several NC part program blocks beyond the current block.
If the program blocks only contain very small paths, a velocity per block is achieved that
permits deceleration of the axes at the block end point without violating acceleration limits.
This means that the programmed velocity was not actually reached although a sufficient
number of prepared blocks with virtually tangential path transitions was available.
With the LookAhead function it is possible to plan the acceleration and deceleration phase
with approximately tangential path transitions in order to achieve a higher feedrate with
shorter distances. Deceleration to velocity limits is possible with LookAhead such that
violation of the acceleration and velocity limit is prevented.

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Figure 2-12 Comparison of velocity response with exact stop G60 and continuouspath mode G64
with LookAhead with short traversing paths.

LookAhead takes plannable velocity limits into consideration such as:

• Exact stop at block end
• Velocity limit in the block
• Acceleration limit in the block
• Velocity limit on block transition
• Synchronization with block change at block transition.

Continuouspath Mode, Exact Stop, LookAhead (B1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-37
Detailed description
2.4 LookAhead

Scope
The LookAhead function is only available for path axes and not for spindles and positioning
axes.
LookAhead carries out a block-specific analysis of velocity limits and specifies the required
brake ramp profile based on this information. LookAhead is adapted automatically to block
length, braking capacity and permissible path velocity.
For safety reasons, the velocity at the end of the last prepared block must initially be
assumed to be zero because the next block might be very small or be an exact-stop block
and the axes must have been stopped by the end of the block.
With a series of blocks with high set velocity and very short paths, the speed can be
increased in each block depending on the velocity value currently calculated by the
LookAhead function in order to achieve the required set velocity. After this it can be reduced
so that the velocity at the end of the last block considered by the LookAhead function can be
zero.
This results in a serrated velocity profile (see the following fig.) which can be avoided by
reducing the set velocity or increasing the number of blocks considered by the LookAhead
function.

Number of blocks
To achieve reliable axis traversal in continuouspath mode, the feedrate must be adapted
over several blocks. The number of blocks considered by the LookAhead function is
calculated automatically and can, if required, be limited by a machine data. The standard
setting is 1, which means that LookAhead only considers the following block for velocity
control.
Because LookAhead is especially important for short blocks (relative to the deceleration
path), the number of blocks required is of interest for LookAhead braking (see fig. below). It
is enough to consider the path length to be equal to the deceleration path that is required to
brake from maximum velocity to standstill.
For a machine with a low axial acceleration of a = 1m/s2 and a high feedrate of vpath = 10
m/min, the following number of blocks for the control is obtained with an attainable block
cycle time of the control of TB = 10 ms.
nLookAhead= Deceleration path/Block length = ( vpath2 / (2a)) / (vpath * TB) = 9
Considering these aspects, it is advisable to adapt the feedrate over 10 blocks. The number
of blocks entered for the LookAhead function forecast does not change the LookAhead
algorithm and memory requirement.
As, in a program, the machining velocity is very often set to a lower value than the maximum
velocity, more blocks than are required would be predicted, overloading the processor
unnecessarily. The number of blocks required is therefore derived from the velocity, which is
calculated by multiplying the programmed speed by the value of machine data:
MD12100 OVR_FACTOR_LIMIT_BIN
(limit of binary-coded override switch)
or by the 31st override value of machine data:
MD12030 OVR_FACTOR_FEEDRATE
(analysis of path feedrate override switch).

Continuouspath Mode, Exact Stop, LookAhead (B1)

2-38 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.4 LookAhead

The 31st override value must tally with the override factor most frequently used.
The number of blocks considered by the LookAhead function is limited by the possible
number of NC blocks in the IPO buffer.

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Figure 2-13 Example for modal velocity control (number of blocks considered by the LookAhead
function = 2)

Velocity profiles
In addition to the fixed, plannable velocity limitations, LookAhead can also take account of
the programmed velocity. This makes it possible to achieve a lower velocity by applying
LookAhead beyond the current block.

Following block velocity

One possible velocity profile contains the determination of the following block velocity. Using
information from the current and the following NC block, a velocity profile is calculated from
which, in turn, the required velocity reduction for the current override is derived.
The calculated maximum value of the velocity profile is limited by the maximum path velocity.
With this function it is possible to initiate a speed reduction in the current block taking
override into account such that the lower velocity of the following block can be achieved. If
the reduction in velocity takes longer than the travel time of the current block, the velocity is
further reduced in the following block. Velocity control is only ever considered for the
following block.
This function is activated using machine data:
MD20400 LOOKAH_USE_VELO_NEXT_BLOCK
(LookAhead for following block velocity).

Continuouspath Mode, Exact Stop, LookAhead (B1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-39
Detailed description
2.4 LookAhead

Override points
If the velocity profile of the following block velocity is not sufficient because, for example,
very high override values, e.g., 200%, or constant cutting rate G96/G961 are being used,
with the result that the velocity must be further reduced in the following block, LookAhead
provides a way of reducing the programmed velocity over several NC blocks.
By defining override points, LookAhead then calculates a limiting velocity profile for each
value. The required velocity reductions for the current override are derived from these
profiles.
The calculated maximum value of the velocity profile is limited by the maximum path velocity.
The higher value must take account of the velocity range reached by the maximum value of
machine data:
MD12030 OVR_FACTOR_FEEDRATE
(analysis of path feedrate override switch)
or the value of machine data:
MD12100 OVR_FACTOR_LIMIT_BIN
(limit of binary-coded override switch)
respectively.
In this way, a reduction of the velocity continuing into the block in which it is programmed
can be avoided. If velocity reductions across block boundaries are required already at 100%
override, a point must be set in the lower override range as well.
The number of override points used for each channel is specified in machine data:
MD20430 LOOKAH_NUM_OVR_POINTS
(number of override switch points for LookAhead).

The corresponding points are written to machine data:

MD20440 LOOKAH_OVR_POINTS
(override switch points for LookAhead).

A combination of both procedures can be used to calculate the velocity profile and is
generally recommended, because the preset machine data for these functions already takes
the widest range of override-specific velocity limits into account.
Plannable velocity limits restrict override-specific velocity limits.
If neither of the two procedures has been activated, the setpoint velocity is always applied in
the current block.

Continuouspath Mode, Exact Stop, LookAhead (B1)

2-40 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.4 LookAhead

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Figure 2-14 Example for limiting velocity characteristics with number of LookAhead blocks = 4

... and the following settings:

MD20430 LOOKAH_NUM_OVR_POINTS = 2
MD20440 LOOKAH_OVR_POINTS = 1.5, 0.5
MD20400 LOOKAH_USE_VELO_NEXT_BLOCK = 1

Block cycle problem

Block cycle problems are encountered in cases where the traversing distances of the NC
blocks to be processed are so short that the LookAhead function has to reduce the machine
velocity to provide enough time for block processing. In this situation, constant braking and
acceleration of path motion may occur.
Machine data:
MD20450 LOOKAH_RELIEVE_BLOCK_CYCLE
(relief factor for the block cycle time)
can be set to smooth such velocity fluctuations.

Selection and deselection of LookAhead

The LookAhead function is selected and deselected with continuouspath mode (G64 or G641
respectively).

Continuouspath Mode, Exact Stop, LookAhead (B1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-41
Detailed description
2.4 LookAhead

Special cases of LookAhead

Axis-specific feed stop and axis-specific axis disable are ignored by LookAhead.
If an axis is to be interpolated that should on the other hand be made stationary by axis-
specific feed stop or axis disable, LookAhead does not stop path movement before the block
in question but decelerates in the block itself.
If this response is not wanted, an axis-specific feed stop can be transferred to a channel via
the PLC to stop the path immediately.
See also: /FB1/, A3, Axis clamping.

Continuouspath Mode, Exact Stop, LookAhead (B1)

2-42 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.5 NC block compressor COMPON, COMPCURV, -CAD

2.5 2.5 NC block compressor COMPON, COMPCURV, -CAD

COMPON, COMPCURV
The modal G code COMPON or COMPCURV can be used to activate an "NC block
compressor".
This function collects a series of linear blocks during linear interpolation (the number is
limited to 10) and approximates them within a tolerance specified in machine data via a 3rd
degree (COMPON) or 5th degree (COMPCURV) polynomial.
One larger traversing block is processed by the NC instead of a large number of small
blocks.

COMPCAD
The COMPCAD G code can be used to select a further compression, which optimizes the
surface quality and velocity. The interpolation accuracy can again be specified in machine
data.
COMPCAD is processor and memoryintensive. It should only be used if surface quality
enhancement measures cannot be incorporated in the CAD/CAM program.
The programming procedure is described in:
References:
/PGA/ Programming Guide, Advanced.
The compressor for orientation transformation is described in:
References:
/FB3/ Description of Functions, Special Functions; 3 to 5-axis transformation (F2).
The following three machine data are available for the compressor function:

MD20170 COMPRESS_BLOCK_PATH_LIMIT This MD specifies the maximum path length for

block compression. Longer blocks are not
compressed.
MD33100 COMPRESS_POS_TOL A tolerance can be specified for each axis.
This value specifies the maximum deviation of
the generated spline curve from the
programmed end points.
The higher the values, the more blocks can be
compressed.
MD20172 COMPRESS_VELO_TOL The maximum permissible deviation of the path
feedrate while the compressor is active in
conjunction with FLIN and FCUB can be
specified here (does not apply to the COMPCAD
command).

Continuouspath Mode, Exact Stop, LookAhead (B1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-43
Detailed description
2.5 NC block compressor COMPON, COMPCURV, -CAD

Recommendation for MD settings

The following machine data affect the compressor function and should contain the following
values (specified in mm):

Machine data Recommended value

MD18360 MM_EXT_PROG_BUFFER_SIZE 100
MD28520 MM_MAX_AXISPOLY_PER_BLOCK 3
MD28530 MM_PATH_VELO_SEGMENTS 5
MD28540 MM_ARCLENGTH_SEGMENTS 10
MD28070 MM_NUM_BLOCKS_IN_PREP 60
MD28060 MM_IPO_BUFFER_SIZE 100
SD42470 CRIT_SPLINE_ANGLE 36
MD20170 COMPRESS_BLOCK_PATH_LIMIT 20
MD20172 COMPRESS_VELO_TOL 100
MD32310 MAX_ACCEL_OVL_FACTOR[AX1] <Value for G64 operation>
MD32310 MAX_ACCEL_OVL_FACTOR[AX2] Value for G64 operation
MD32310 MAX_ACCEL_OVL_FACTOR[AX3] <Value for G64 operation>
MD20490 IGNORE_OVL_FACTOR_FOR_ADIS 1
A tolerance can be specified for each axis: This value specifies the maximum deviation of
the generated spline curve from the programmed end points. The higher the values, the
more blocks can be compressed.
Experience has shown that a value of 0.01 is suitable for most applications:

MD33100 COMPRESS_POS_TOL[AX1] = 0.01

MD33100 COMPRESS_POS_TOL[AX2] = 0.01
MD33100 COMPRESS_POS_TOL[AX3] = 0.01

If not, the value can be increased to 0.02, for example:

MD33100 COMPRESS_POS_TOL[AX1] = 0.02

MD33100 COMPRESS_POS_TOL[AX2] = 0.02
MD33100 COMPRESS_POS_TOL[AX3] = 0.02
NewConfig

Continuouspath Mode, Exact Stop, LookAhead (B1)

2-44 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.5 NC block compressor COMPON, COMPCURV, -CAD

Activating the MD values

The new values are activated after the NewConfig command.
The rounding function G642 and jerk limitation SOFT can be used to achieve further
improvements in surface quality. These commands must be entered at the start of the
program:
COMPCAD SOFT G642
COMPOF terminates the compressor function.
All blocks are compressed for which a simple syntax is sufficient:
N... G1X... Y... Z... F...
where "..." is a number and X, Y, Z are axis names.
Blocks with e.g., extended addresses such as C=100 or A=AC(100) or blocks with auxiliary
functions are also compressed.

Continuouspath Mode, Exact Stop, LookAhead (B1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-45
Detailed description
2.5 NC block compressor COMPON, COMPCURV, -CAD

Continuouspath Mode, Exact Stop, LookAhead (B1)

2-46 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Supplementary conditions 3
3.1 3.1 Rounding and repositioning (REPOS)

Repositioning within the rounding area

If the traversing motion of the path axes within the corner rounding area is interrupted for
traversing blocks with programmed rounding (part program command G641, G642, G643 or
G644), repositioning occurs as follows in the event of a subsequent REPOS operation,
depending on the current REPOS mode:

REPOS mode
RMB Block start of interrupted traversing block
RMI Block end of interrupted traversing block
RME Block end of interrupted traversing block
RMN Block end of interrupted traversing block

Example
Two traversing blocks N10 and N20 with programmed rounding G641. In the rounding area,
the traversing motion is interrupted and the axes are subsequently traversed, e.g., manually
to the REPOS starting point. Repositioning on the contour takes place differently, depending
on the active REPOS mode.

Continuouspath Mode, Exact Stop, LookAhead (B1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 3-1
Supplementary conditions
3.2 Smoothing the path velocity

5(326VWDUWLQJSRLQW

5(326PRGH50% 5(326PRGH
50,50(501
,QWHUUXSWLRQSRLQW

1

< 3URJUDPPHG
WUDYHUVLQJGLUHFWLRQ
5RXQGLQJDUHD 1

Figure 3-1 Example of Rounding and REPOS

3.2 3.2 Smoothing the path velocity

Several blocks with SOFT and BRISK

Smoothing of the path velocity is only effective in continuouspath mode with LookAhead over
several blocks with SOFT and BRISK, but not with G0.
The cycle times of the control must be parameterized such that the preprocessing is
provided with enough blocks to be able to analyze an acceleration process.

Continuouspath Mode, Exact Stop, LookAhead (B1)

3-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Examples 4
4.1 4.1 Example of jerk limitation on the path

...
N1000 G64 SOFT ; Continuous-path mode with SOFT acceleration
characteristics
N1004 G0 X-20 Y10
N1005 G1 X-20 Y0 ; Straight
N1010 G3 X-10 Y-10 I10 ; Block transition with jump in path curvature
(straight - circular)
N1011 G3 X0 Y0 J10 ; Block transition with continuous path curvature
N1020 G2 X5 Y5 I5 ; Block transition with jump in path curvature
(circular - circular)
N1021 G2 X10 Y0 J-5
...

Continuouspath Mode, Exact Stop, LookAhead (B1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 4-1
Examples
4.1 Example of jerk limitation on the path

Continuouspath Mode, Exact Stop, LookAhead (B1)

4-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Data lists 5
5.1 5.1 Machine data

5.1.1 General machine data

Number Identifier: $MN_ Description

10110 PLC_CYCLE_TIME_AVERAGE Maximum PLC acknowledgment time
18360 MM_EXT_PROG_BUFFER_SIZE FIFO buffer size for processing from external

5.1.2 Channelspecific machine data

Number Identifier: $MC_ Description

20170 COMPRESS_BLOCK_PATH_LIMIT Maximum traversing length of NC block for
compression
20400 LOOKAH_USE_VELO_NEXT_BLOCK Look Ahead for constant acceleration velocity control
20430 LOOKAH_NUM_OVR_POINTS Number of override switch points for Look Ahead
20440 LOOKAH_OVR_POINTS Override switch points for LookAhead
20450 LOOKAH_RELIEVE_BLOCK_CYCLE Relief factor for the block cycle time
20460 LOOKAH_SMOOTH_FACTOR Smoothing factor for LookAhead
20462 LOOKAH_SMOOTH_WITH_FEED Smoothing takes feedrate into account
20465 ADAPT_PATH_DYNAMIC Adaptation of path dynamic response
20480 SMOOTHING_MODE Rounding behavior with G642, G643, G644
20490 IGNORE_OVL_FACTOR_FOR_ADIS G641/G642 irrespective of overload factor
20550 EXACT_POS_MODE Exact-stop conditions with G0/G1
20602 CURV_EFFECT_ON_PATH_ACCEL Influence of path curvature on path dynamic response
20603 CURV_EFFECT_ON_PATH_JERK Influence of path curvature on path jerk
28060 MM_IPO_BUFFER_SIZE Number of NC blocks in IPO buffer (DRAM)
28070 MM_NUM_BLOCKS_IN_PREP Number of NC blocks for block preparation (DRAM)
28520 MM_MAX_AXISPOLY_PER_BLOCK Maximum number of axis polynomials per block

Continuouspath Mode, Exact Stop, LookAhead (B1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 5-1
Data lists
5.1 Machine data

Number Identifier: $MC_ Description

28530 MM_PATH_VELO_SEGMENTS Number of storage elements for limiting path velocity
in block
28540 MM_ARCLENGTH_SEGMENTS Number of storage elements for arc length function
representation per block

5.1.3 Axis/spindlespecific machine data

Number Identifier: $MA_ Description

32310 MAX_ACCEL_OVL_FACTOR Overload factor for velocity jump
32431 MAX_AX_JERK Maximum axis jerk for path motion
32432 PATH_TRANS_JERK_LIM Maximum axial jerk of a geometry axis at block
boundary
32433 SOFT_ACCEL_FACTOR Scaling of acceleration limitation for SOFT
32434 G00_ACCEL_FACTOR Scaling of acceleration limitation for G00
32435 G00_JERK_FACTOR Scaling of axial jerk limitation for G00
32440 LOOKAH_FREQUENCY Smoothing limit frequency for LookAhead
33100 COMPRESS_POS_TOL Maximum deviation with compensation
36000 STOP_LIMIT_COARSE Exact stop coarse
36010 STOP_LIMIT_FINE Exact stop fine
36012 STOP_LIMIT_FACTOR Exact stop coarse/fine factor and zero speed
monitoring
36020 POSITIONING_TIME Delay time exact stop fine

Continuouspath Mode, Exact Stop, LookAhead (B1)

5-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Data lists
5.2 Setting data

5.2 5.2 Setting data

5.2.1 Channelspecific setting data

Number Identifier: $SC_ Description

42465 SMOOTH_CONTUR_TOL Max. contour deviation on rounding
42466 SMOOTH_ORI_TOL Max. deviation of the tool orientation on rounding
42470 CRIT_SPLINE_ANGLE Limit angle for spline and polynomial interpolation and
compressor

5.3 5.3 Signals

5.3.1 Signals from channel

DB number Byte.Bit Description

21, ... 36.3 All axes stationary

5.3.2 Signals to axis/spindle

DB number Byte.Bit Description

31, ... 60.6 Position reached with exact stop coarse
31, ... 60.7 Position reached with exact stop fine

Continuouspath Mode, Exact Stop, LookAhead (B1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 5-3
Data lists
5.3 Signals

Continuouspath Mode, Exact Stop, LookAhead (B1)

5-4 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Index
Following block velocity, 2-39
Number of blocks, 2-38
A Override, 2-40
Selection and deselection, 2-41
Adaptation
Velocity profiles, 2-39
Dynamic Response, 1-2
Auxiliary function output, 2-8
M
B MD settings
NC block compressor, 2-44
Blending, 2-11
MD10110, 2-8
Block-change point, 2-6
MD12030, 2-39, 2-40
MD12100, 2-39, 2-40
MD18360, 2-44
C MD20150, 2-1, 2-34
COMPCAD, 2-43 MD20170, 2-43, 2-44
COMPCURV, 2-43 MD20172, 2-43, 2-44
COMPON, 2-43 MD20400, 2-39
Compressor for orientation transformation, 2-43 MD20430, 2-40
Continuous-path mode, 2-6 MD20440, 2-40
MD20450, 2-41
MD20460, 2-22, 2-23, 2-24, 2-26
E MD20462, 2-22, 2-23
MD20465, 2-23, 2-25, 2-26, 2-27, 2-33
Exact stop criteria, 2-2, 2-3, 2-4
MD20480, 2-16, 2-17, 2-18, 2-19, 2-20
Exact-stop criteria
MD20490, 2-9, 2-44
Exact stop coarse, 2-4
MD20550, 2-5
Exact stop fine, 2-4
MD20552, 2-5
Exact-stop criterion, 2-6
MD28060, 2-44
MD28070, 2-44
MD28520, 2-44
G MD28530, 2-18, 2-19, 2-44
Geometry axes, 2-7, 2-11 MD28540, 2-44
MD32210, 2-9
MD32300, 2-9
I MD32310, 2-44
MD32431, 2-33
Implicit continuouspath mode, 2-10
MD32440, 2-20, 2-22, 2-23, 2-24, 2-25, 2-33
Implicit exact stop, 2-7
MD33100, 2-15, 2-17, 2-20, 2-43, 2-44
Interpolator end, 2-4
MD35240, 2-18
MD36000, 2-3
MD36010, 2-3
L MD36012, 2-4
LookAhead, 2-6, 2-37
Block cycle problem, 2-41

Continuouspath Mode, Exact Stop, LookAhead (B1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 Index-1
Index

N R
NC block compressor Rounding with contour tolerance, 2-16
COMPON, COMPCURV, COMCAD, 2-43

S
O SD42465, 2-16, 2-17
Orientation axes, 2-11 SD42466, 2-16, 2-17
Overload factor, 2-9 SD42470, 2-44
SPOS, 2-7
Synchronized axes, 2-7, 2-13
P
Path criterion, 2-13
POS, 2-7
V
Velocity reduction according to overload factor, 2-9

Continuouspath Mode, Exact Stop, LookAhead (B1)

Index-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 1
SINUMERIK 840D sl/840Di sl/840D/840Di/810D Acceleration (B2)
______________
Brief description

2
______________
Functions

3
SINUMERIK ______________
Supplementary conditions

840D sl/840Di sl/840D/840Di/810D

4
______________
Examples

Acceleration (B2) 5
______________
Data lists

Function Manual

Valid for

Control
SINUMERIK 840D sl/840DE sl
SINUMERIK 840Di sl/840DiE sl
SINUMERIK 840D powerline/840DE powerline
SINUMERIK 840Di powerline/840DiE powerline
SINUMERIK 810D powerline/810DE powerline

Software Version
NCU System Software for 840D sl/840DE sl 1.3
NCU system software for 840Di sl/DiE sl 1.0
NCU system software for 840D/840DE 7.4
NCU system software for 840Di/840DiE 3.3
NCU system software for 810D/810DE 7.4

03/2006 Edition
6FC5397-0BP10-1BA0
Safety Guidelines
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent
damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are
graded according to the degree of danger.

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

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

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

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

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

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

Prescribed Usage
Note the following:

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

Trademarks
All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this
publication may be trademarks whose use by third parties for their own purposes could violate the rights of the
owner.

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

Siemens AG Order No.: 6FC5397-0BP10-1BA0 Copyright © Siemens AG 2006.

Automation and Drives Edition 05/2006 Technical data subject to change
Postfach 48 48
90437 NÜRNBERG
GERMANY
Table of contents
1 Brief description ...................................................................................................................................... 1-1
1.1 Customer benefit........................................................................................................................ 1-1
1.2 Features ..................................................................................................................................... 1-1
1.3 Requirements............................................................................................................................. 1-2
2 Functions ................................................................................................................................................ 2-1
2.1 Acceleration without jerk limitation (BRISK/BRISKA) (channel-/axis-specific) .......................... 2-1
2.1.1 Detailed Description................................................................................................................... 2-1
2.1.1.1 General Information ................................................................................................................... 2-1
2.1.1.2 Programmable maximum value (axis-specific) .......................................................................... 2-3
2.1.2 Activation.................................................................................................................................... 2-3
2.1.2.1 Parameterization ........................................................................................................................ 2-3
2.1.3 Programming.............................................................................................................................. 2-3
2.1.3.1 Path acceleration without jerk limitation (BRISK) ...................................................................... 2-3
2.1.3.2 Single-axis acceleration without jerk limitation (BRISKA).......................................................... 2-4
2.2 Constant travel time (channel-specific)...................................................................................... 2-5
2.2.1 Detailed Description................................................................................................................... 2-5
2.2.1.1 General Information ................................................................................................................... 2-5
2.2.2 Activation.................................................................................................................................... 2-6
2.2.2.1 Parameterization ........................................................................................................................ 2-6
2.2.3 Programming.............................................................................................................................. 2-6
2.3 Acceleration matching (ACC) (axis-specific) ............................................................................. 2-7
2.3.1 Detailed Description................................................................................................................... 2-7
2.3.1.1 General Information ................................................................................................................... 2-7
2.3.2 Activation.................................................................................................................................... 2-7
2.3.3 Programming.............................................................................................................................. 2-7
2.4 Acceleration margin (channel-specific)...................................................................................... 2-8
2.4.1 Detailed Description................................................................................................................... 2-8
2.4.1.1 General Information ................................................................................................................... 2-8
2.4.2 Activation.................................................................................................................................... 2-9
2.4.2.1 Parameterization ........................................................................................................................ 2-9
2.4.3 Programming.............................................................................................................................. 2-9
2.5 Path-acceleration limitation (channel-specific) .......................................................................... 2-9
2.5.1 Detailed Description................................................................................................................... 2-9
2.5.1.1 General Information ................................................................................................................... 2-9
2.5.2 Activation.................................................................................................................................. 2-10
2.5.2.1 Parameterization ...................................................................................................................... 2-10
2.5.3 Programming............................................................................................................................ 2-10
2.5.3.1 Limit value ................................................................................................................................ 2-10
2.5.3.2 Switch ON/OFF ........................................................................................................................ 2-10
2.6 Path acceleration for real-time events (channel-specific)........................................................ 2-11
2.6.1 Detailed Description................................................................................................................. 2-11
2.6.1.1 General Information ................................................................................................................. 2-11

Acceleration (B2)
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 iii
Table of contents

2.6.2 Activation.................................................................................................................................. 2-12

2.6.3 Programming............................................................................................................................ 2-12
2.7 Acceleration with programmed rapid traverse (G00) (axis-specific) ........................................ 2-13
2.7.1 Detailed Description ................................................................................................................. 2-13
2.7.1.1 General Information ................................................................................................................. 2-13
2.7.2 Activation.................................................................................................................................. 2-14
2.7.2.1 Parameterization ...................................................................................................................... 2-14
2.7.3 Programming............................................................................................................................ 2-14
2.8 Acceleration with active jerk limitation (SOFT/SOFTA) (axis-specific) .................................... 2-14
2.8.1 Detailed Description ................................................................................................................. 2-14
2.8.1.1 General Information ................................................................................................................. 2-14
2.8.2 Activation.................................................................................................................................. 2-15
2.8.2.1 Parameterization ...................................................................................................................... 2-15
2.8.3 Programming............................................................................................................................ 2-15
2.9 Excessive acceleration for non-tangential block transitions (axis-specific) ............................. 2-16
2.9.1 Detailed Description ................................................................................................................. 2-16
2.9.1.1 General Information ................................................................................................................. 2-16
2.9.2 Activation.................................................................................................................................. 2-16
2.9.2.1 Parameterization ...................................................................................................................... 2-16
2.9.3 Programming............................................................................................................................ 2-17
2.10 Acceleration margin for radial acceleration (channel-specific) ................................................ 2-17
2.10.1 Detailed Description ................................................................................................................. 2-17
2.10.1.1 General Information ................................................................................................................. 2-17
2.10.2 Activation.................................................................................................................................. 2-19
2.10.3 Programming............................................................................................................................ 2-19
2.11 Jerk limitation with path interpolation (SOFT) (channel-specific)............................................. 2-19
2.11.1 Detailed Description ................................................................................................................. 2-19
2.11.1.1 General Information ................................................................................................................. 2-19
2.11.1.2 Maximum jerk value (axis-specific) .......................................................................................... 2-21
2.11.1.3 Maximum jerk value (channel-specific).................................................................................... 2-21
2.11.2 Activation.................................................................................................................................. 2-21
2.11.2.1 Parameterization ...................................................................................................................... 2-21
2.11.3 Programming............................................................................................................................ 2-22
2.12 Jerk limitation with single-axis interpolation (SOFTA) (axis-specific) ...................................... 2-22
2.12.1 Detailed Description ................................................................................................................. 2-22
2.12.1.1 General Information ................................................................................................................. 2-22
2.12.2 Activation.................................................................................................................................. 2-23
2.12.2.1 Parameterization ...................................................................................................................... 2-23
2.12.3 Programming............................................................................................................................ 2-23
2.13 Path-jerk limitation (channel-specific) ...................................................................................... 2-24
2.13.1 Detailed Description ................................................................................................................. 2-24
2.13.1.1 General Information ................................................................................................................. 2-24
2.13.2 Activation.................................................................................................................................. 2-24
2.13.2.1 Parameterization ...................................................................................................................... 2-24
2.13.3 Programming............................................................................................................................ 2-25
2.13.3.1 Maximum path jerk................................................................................................................... 2-25
2.13.3.2 Switch ON/OFF ........................................................................................................................ 2-25
2.14 Path jerk for real-time events (channel-specific)...................................................................... 2-26
2.14.1 Detailed Description ................................................................................................................. 2-26
2.14.1.1 General Information ................................................................................................................. 2-26
2.14.2 Activation.................................................................................................................................. 2-27
2.14.3 Programming............................................................................................................................ 2-27

Acceleration (B2)
iv Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Table of contents

2.15 Jerk with programmed rapid traverse (G00) (axis-specific)..................................................... 2-28

2.15.1 Detailed Description................................................................................................................. 2-28
2.15.1.1 General Information ................................................................................................................. 2-28
2.15.2 Activation.................................................................................................................................. 2-28
2.15.2.1 Parameterization ...................................................................................................................... 2-28
2.15.3 Programming............................................................................................................................ 2-29
2.16 Excessive jerk for block transitions without constant curvature (axis-specific) ....................... 2-29
2.16.1 Detailed Description................................................................................................................. 2-29
2.16.1.1 General Information ................................................................................................................. 2-29
2.16.2 Activation.................................................................................................................................. 2-29
2.16.2.1 Parameterization ...................................................................................................................... 2-29
2.16.3 Programming............................................................................................................................ 2-30
2.17 Jerk filter (axis-specific) ........................................................................................................... 2-30
2.17.1 Detailed Description................................................................................................................. 2-30
2.17.1.1 General Information ................................................................................................................. 2-30
2.17.2 Activation.................................................................................................................................. 2-33
2.17.2.1 Parameterization ...................................................................................................................... 2-33
2.17.3 Programming............................................................................................................................ 2-34
2.18 Kneeshaped acceleration characteristic curve ........................................................................ 2-34
2.18.1 Detailed Description................................................................................................................. 2-34
2.18.1.1 Adaptation to the motor characteristic curve ........................................................................... 2-34
2.18.1.2 Effects on path acceleration..................................................................................................... 2-36
2.18.1.3 Substitute characteristic curve ................................................................................................. 2-37
2.18.2 Activation.................................................................................................................................. 2-39
2.18.2.1 Parameterization ...................................................................................................................... 2-39
2.18.2.2 Commissioning......................................................................................................................... 2-40
2.18.3 Programming............................................................................................................................ 2-40
2.18.3.1 Channel-specific activation (DRIVE)........................................................................................ 2-40
2.18.3.2 Axis-specific activation (DRIVEA) ............................................................................................ 2-41
3 Supplementary conditions ...................................................................................................................... 3-1
3.1 Acceleration and jerk ................................................................................................................. 3-1
3.2 Kneeshaped acceleration characteristic curve .......................................................................... 3-1
3.2.1 Active kinematic transformation ................................................................................................. 3-1
4 Examples................................................................................................................................................ 4-1
4.1 Acceleration ............................................................................................................................... 4-1
4.1.1 Path velocity characteristic ........................................................................................................ 4-1
4.2 Jerk ............................................................................................................................................ 4-2
4.2.1 Path velocity characteristic ........................................................................................................ 4-2
4.3 Acceleration and jerk ................................................................................................................. 4-4
4.4 Kneeshaped acceleration characteristic curve .......................................................................... 4-5
4.4.1 Activation.................................................................................................................................... 4-5
5 Data lists................................................................................................................................................. 5-1
5.1 Machine data.............................................................................................................................. 5-1
5.1.1 Channelspecific machine data ................................................................................................... 5-1
5.1.2 Axis/spindlespecific machine data ............................................................................................. 5-1
5.2 Setting data ................................................................................................................................ 5-2
5.2.1 Channelspecific setting data ...................................................................................................... 5-2
5.3 System variables........................................................................................................................ 5-2
Index................................................................................................................................................ Index-1

Acceleration (B2)
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 v
Table of contents

Acceleration (B2)
vi Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Brief description 1
1.1 1.1 Customer benefit

Scope of functions
The Description of Functions covers the following sub-functions:
• Acceleration
• Jerk
• Kneeshaped acceleration characteristic
Acceleration and jerk
The effective acceleration and jerk can be optimally matched to the machine and machining
situation concerned using axis- and channel-specific programmable maximum values,
programmable acceleration profiles in part programs and synchronized actions, and dynamic
adaptations and limitations.
Kneeshaped acceleration characteristic
The knee-shaped acceleration characteristic means that, in the case of machine axes
featuring a motor (in particular stepper motors) with a torque characteristic that is highly
dependent upon speed, acceleration can be set at the level required to ensure optimum
utilization of the motor whilst at the same time protecting it against overload.

1.2 1.2 Features

Acceleration
Axis-specific functions:
• Programmable maximum acceleration value
• Acceleration profile that can be selected via part-program instruction:
Acceleration without jerk limitation (BRISKA)
• Setting of maximum value using part-program instruction (ACC)
• Specific maximum value for programmed rapid traverse (G00).
• Specific maximum value for traverse with active jerk limitation
• Excessive acceleration for non-tangential block transitions

Acceleration (B2)
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 1-1
Brief description
1.3 Requirements

Channel-specific functions:
• Acceleration profile that can be selected via part-program instruction:
Acceleration without jerk limitation (BRISK)
• Programmable constant travel time for the purpose of avoiding extreme sudden
acceleration
• Programmable acceleration margin for overlaid traversing
• Adjustable acceleration limitation
• Adjustable acceleration for specific real-time events
• Programmable acceleration margin for radial acceleration

Jerk
Axis-specific functions:
• Acceleration profile that can be selected via part-program instruction:
Acceleration with jerk limitation (SOFTA)
• Programmable maximum jerk value for single-axis interpolation
• Programmable maximum jerk value for path interpolation
Channel-specific functions:
• Acceleration profile that can be selected via part-program instruction:
Acceleration with jerk limitation (SOFT)
• Adjustable jerk limitation
• Adjustable path jerk for specific real-time events
• Specific maximum value for programmed rapid traverse (G00)
• Excessive jerk for block transitions without constant curvature

Kneeshaped acceleration characteristic

A knee-shaped acceleration characteristic is parameterized using the following characteristic
data:
• Maximum velocity vmax
• Maximum acceleration amax
• Creep velocity vred
• Creep acceleration ared
• Nature of the acceleration reduction (constant, hyperbolic, linear)

1.3 1.3 Requirements

There are no specific requirements to be met.

Acceleration (B2)
1-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Functions 2
2.1 2.1 Acceleration without jerk limitation (BRISK/BRISKA) (channel-/axis-
specific)

2.1.1 Detailed Description

2.1.1.1 General Information

General Information
In the case of acceleration without jerk limitation (jerk = infinite) the maximum value is
applied for acceleration immediately. As regards acceleration with jerk limitation, it differs in
the following respects:
• Advantages
Shorter processing times with the same maximum values for velocity and acceleration.
• Disadvantages
Increased load on the machine's mechanical components and risk of inducing high-
frequency and difficult-to-control mechanical vibrations.

Acceleration (B2)
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-1
Functions
2.1 Acceleration without jerk limitation (BRISK/BRISKA) (channel-/axis-specific)

Acceleration profile

D
DPD[

DPD[

YPD[

W W W W

Figure 2-1 Velocity and acceleration schematic for stepped acceleration profile

amax: Maximum acceleration value

vmax: Maximum velocity value
t: Time
The following features of the acceleration profile can be identified from the figure above:
• Time: t0
Sudden acceleration from 0 to +amax
• Interval: t0 - t1
Constant acceleration with +amax; linear increase in velocity
• Time: t1
Sudden acceleration from 2 * amax with immediate switchover from acceleration to braking

Note
The sudden acceleration can normally be avoided by specifying a constant velocity time
(see Section: "Sudden acceleration with constant velocity phase").

• Interval: t1 - t2
Constant acceleration with -amax; linear decrease in velocity

Acceleration (B2)
2-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Functions
2.1 Acceleration without jerk limitation (BRISK/BRISKA) (channel-/axis-specific)

2.1.1.2 Programmable maximum value (axis-specific)

Function
The maximum acceleration value can be set for each specific machine axis:
MD32300 $MA_MAX_AX_ACCEL (maximum axis acceleration)
The path parameters are calculated by the path planning component during preprocessing
so that the programmed maximum values of the machine axes that are of relevance for the
path are not exceeded.

Exceeding of maximum value

It is possible for the maximum value to be exceeded in connection with specific machining
situations (see Section: Acceleration matching (ACC) and System variable
($AC_PATHACC)).

2.1.2 Activation

2.1.2.1 Parameterization

Programming
The maximum values are parameterized for specific axes using machine data:
MD32300 $MA_MAX_AX_ACCEL (maximum axis acceleration)

2.1.3 Programming

2.1.3.1 Path acceleration without jerk limitation (BRISK)

Syntax
BRISK

Functionality
The BRISK part-program instruction is used to select the "without jerk limitation" acceleration
profile for the purpose of path acceleration.
G group: 21
Effective: Modal

Acceleration (B2)
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2.1 Acceleration without jerk limitation (BRISK/BRISKA) (channel-/axis-specific)

Reset response
The channel-specific initial setting is activated via a reset:
MD20150 $MC_GCODE_RESET_VALUES[20]

Supplementary conditions
If the acceleration profile is changed in a part program during machining (BRISK/SOFT) an
exact stop is performed at the end of the block.

2.1.3.2 Single-axis acceleration without jerk limitation (BRISKA)

Syntax
BRISKA (axis{,axis})

Function
The BRISKA part-program instruction is used to select the "without jerk limitation"
acceleration profile for single-axis movements (JOG, JOG/INC, positioning axis,
reciprocating axis, etc.).
G group: -
Effective: Modal
Axis:
• Value range: Axis identifier for channel axes

Axis-specific initial setting

Acceleration without jerk limitation can be set as the axis-specific initial setting for single-axis
movements:
MD32420 $MA_JOG_AND_POS_JERK_ENABLE = FALSE

Reset response
The axis-specific initial setting is activated via a reset:
MD32420 $MA_JOG_AND_POS_ENABLE

Acceleration (B2)
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2.2 Constant travel time (channel-specific)

2.2 2.2 Constant travel time (channel-specific)

2.2.1 Detailed Description

2.2.1.1 General Information

Overview
In the case of acceleration without jerk limitation, sudden acceleration of 2 * amax occurs on
switchover between acceleration and braking. In order to avoid this sudden acceleration, a
channel-specific constant travel time can be programmed. The constant travel time defines
the time taken to traverse between the acceleration and braking phases at constant velocity:
MD20500 $MC_CONST_VELO_MIN_TIME (minimum time with constant velocity)

Note
The constant travel time is ineffective:
• Active function: Look Ahead
• In traversing blocks with a travel time that is less or equal to the interpolation cycle time.

D

DPD[


DPD[

Y
YPD[

W W W W W W W

Figure 2-2 Schematic for abrupt acceleration

Acceleration (B2)
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Functions
2.2 Constant travel time (channel-specific)

1: Characteristic with constant travel time

2: Characteristic without constant travel time
amax: Maximum acceleration value
vmax: Maximum velocity value
t: Time
The effect of the constant travel time can be seen from the figure above:
• Time: t1
End of acceleration phase with sudden acceleration 1 * amax
• Interval: t1 - t2
Acceleration 0; constant velocity using the parameterized constant travel time
• Time: t2
Start of braking phase with sudden acceleration 1 * amax
The times t0, t1' and t2' indicate the characteristic that would have been produced had no
constant travel time been defined.

2.2.2 Activation

2.2.2.1 Parameterization

Function
The constant travel time is parameterized for specific channels using machine data:
MD20500 $MC_CONST_VELO_MIN_TIME
(minimum time with constant velocity)

2.2.3 Programming

Key statement
The function is not programmable.

Acceleration (B2)
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2.3 Acceleration matching (ACC) (axis-specific)

2.3 2.3 Acceleration matching (ACC) (axis-specific)

2.3.1 Detailed Description

2.3.1.1 General Information

Function
A part-program instruction (ACC) can be used to match the acceleration of specific axes to
the current machining situation. The range used for this purpose is anywhere between
greater than 0% and less than or equal to 200% of the maximum value programmed in the
machine data.

Effective

Effective Acceleration matching is effective for all types of interpolation in AUTOMATIC and
MDA operating modes as well as with dry-run feed.
Ineffective Acceleration matching is ineffective in JOG and JOG/REF (reference point
approach) operating modes.
Acceleration matching is also ineffective if the machine axes have been brought to a
standstill via a quick stop due to the detection of a fault (setpoint = 0).

2.3.2 Activation

Function
The function does not need to be activated.

2.3.3 Programming

Syntax
ACC[axis] = adjustment factor

Acceleration (B2)
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Functions
2.4 Acceleration margin (channel-specific)

Functionality
The ACC part-program instruction is used to adjust the maximum acceleration value of a
machine axis.
Axis:
• Value range: Axis identifier for the channel's machine axes
Adjustment factor:
• Value range: 0 < adjustment factor ≤ 200
• Unit: Per cent
Deactivate: ACC[axis] = 100
Effective: Modal

Reset response
The behavior during channel RESET or M30 can be controlled via MD 32320
DYN_LIMIT_RESET_MASK:
Bit 0: 0 The programmed ACC value is reset to 100% with channel RESET/M30.
Bit 0: 1 The programmed ACC value is retained beyond channel RESET/M30.

2.4 2.4 Acceleration margin (channel-specific)

2.4.1 Detailed Description

2.4.1.1 General Information

General information
Under normal circumstances, preprocessing makes maximum use of the parameterized
maximum values of the machine axes for the purpose of path acceleration. In order that an
acceleration margin may be set aside for overlaid movements, e.g., within the context of the
"Rapid lift away from the contour" function, path acceleration can be reduced by a
programmable factor. When, for example, a factor of 0.2 is applied, preprocessing will only
use 80% of the maximum possible path acceleration. 20% is set aside as an acceleration
margin for overlaid movements.

Acceleration (B2)
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2.5 Path-acceleration limitation (channel-specific)

2.4.2 Activation

2.4.2.1 Parameterization

Parameterization
Parameters for the acceleration margin are assigned for each channel by means of machine
datum:
MD20610 $MC_ADD_MOVE_ACCEL_RESERVE
(acceleration margin for overlaid motions)

2.4.3 Programming

The function is not programmable.

2.5 2.5 Path-acceleration limitation (channel-specific)

2.5.1 Detailed Description

2.5.1.1 General Information

General Information
To enable a flexible response to the machining situations concerned, setting data can be
used to limit the path acceleration calculated during preprocessing for specific channels:
SD42500 $SC_SD_MAX_PATH_ACCEL (maximum path acceleration)
The value specified in the setting data is only taken into account if it is smaller than the path
acceleration calculated during preprocessing.
The limitation must be activated for specific channels using setting data:
SD42502 $SC_IS_SD_MAX_PATH_ACCEL = TRUE

Acceleration (B2)
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2.5 Path-acceleration limitation (channel-specific)

2.5.2 Activation

2.5.2.1 Parameterization

Parameterization
Parameterization is carried out for specific channels using setting data:
SD42500 $SC_SD_MAX_PATH_ACCEL (maximum path acceleration)
SD42502 $SC_IS_SD_MAX_PATH_ACCEL (activation of path-acceleration limitation)

2.5.3 Programming

2.5.3.1 Limit value

Syntax
$SC_SD_MAX_PATH_ACCEL = limit value

Functionality
The path-acceleration limitation can be adjusted for the situation by programming the setting
data.
Limit value:
• Value range: ≥ 0
• Unit: m/s2
Application:
• Part program
• Static synchronized action

2.5.3.2 Switch ON/OFF

Syntax
$SC_IS_SD_MAX_PATH_ACCEL = value

Acceleration (B2)
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 Functions
2.6 Path acceleration for real-time events (channel-specific)

Functionality
The path-acceleration limitation can be activated/deactivated by programming the setting
data.
Parameter: Value
• Value range: TRUE, FALSE
Application:
• Part program
• Static synchronized action

2.6 2.6 Path acceleration for real-time events (channel-specific)

2.6.1 Detailed Description

2.6.1.1 General Information

General Information
So that no compromise has to be made between machining-optimized acceleration on the
one hand and time-optimized acceleration in connection with the following real-time events
on the other:
• NC-STOP/NC-START
• Feedrate override modifications
• Modification of the velocity default for "safely reduced velocity" within the context of the
"Safely Integrated" function
the path acceleration can be set for the real-time events specified above using a channel-
specific system variable:
$AC_PATHACC = path acceleration
Real-time event acceleration will only be active for the duration of the change in velocity in
respect of one of the real-time events specified above.

Limitation
If the specified path acceleration exceeds the capabilities of the machine axes that are of
relevance for the path, a limit will be imposed on the path acceleration within the control so
that the resulting axial acceleration (ares) is restricted to less than 2x the parameterized
maximum axial value (amax).
ares = 2 * amax, mit amax = MD32300 $MA_MAX_AX_ACCEL

Acceleration (B2)
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Functions
2.6 Path acceleration for real-time events (channel-specific)

Note
Real-time-event path acceleration is enabled, irrespective of the radial acceleration.

Effective

Effective Real-time event acceleration is only enabled in AUTOMATIC and MDA operating
modes in conjunction with the following real-time events:
• NC-STOP/NC-START
• Override modifications
• Modification of the velocity default for "safely reduced velocity" within the context
of the "Safely Integrated" function
Ineffective Path acceleration for real-time events is ineffective for changes in path velocity that
are attributable to path planning during preprocessing for the channel, such as
contour curvatures, corners, kinematic transformation limitations, etc.
Real-time-event path acceleration is ineffective if the programmed value is smaller
than the path acceleration calculated during preprocessing for the path section
concerned.

Programming
For information about programming system variables in the part program or synchronized
actions, see Chapter: Programming.

2.6.2 Activation

Start-up (commissioning)
The function does not need to be activated.

2.6.3 Programming

Syntax
$AC_PATHACC = path acceleration

Acceleration (B2)
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2.7 Acceleration with programmed rapid traverse (G00) (axis-specific)

Functionality
Real-time-event path acceleration is set via the channel-specific system variables.
Parameter: Path acceleration
• Value range: Path acceleration ≥ 0
• Unit: m/s2
Deactivation: $AC_PATHACC = 0
Application:
• Part program
• Static synchronized action

Reset response
Real-time-event path acceleration is deactivated on reset.

Supplementary conditions
Programming $AC_PATHACC in the part program automatically triggers a preprocessing
stop with REORG (STOPRE).

2.7 2.7 Acceleration with programmed rapid traverse (G00) (axis-specific)

2.7.1 Detailed Description

2.7.1.1 General Information

Frequently, the acceleration for the machine axes involved in the machining process must be
set lower than the machine's performance capability officially allows because of the
supplementary conditions associated with the specific process concerned.
For time-optimized traversing of the machine axes with programmed rapid traverse (part-
program instruction G00), a specific maximum value can be programmed for the axis-specific
acceleration.

JOG setup mode

This function does not affect acceleration in respect of a rapid traverse override in JOG
setup mode.

Acceleration (B2)
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Functions
2.8 Acceleration with active jerk limitation (SOFT/SOFTA) (axis-specific)

2.7.2 Activation

2.7.2.1 Parameterization

The maximum value for axis-specific acceleration with programmed rapid traverse is
parameterized (G00) using the axis-specific machine data:
MD32434 $MA_G00_ACCEL_FACTOR
(scaling of the acceleration limitation with G00)
This is used to generate the maximum value for axis-specific acceleration with programmed
rapid traverse (G00) that is taken into account by the path planning component during
preprocessing:

Acceleration[axis] =
MD32300 $MA_MAX_AX_ACCEL * MD32434 $MA_G00_ACCEL_FACTOR

2.7.3 Programming

The function is not programmable.

2.8 2.8 Acceleration with active jerk limitation (SOFT/SOFTA) (axis-specific)

2.8.1 Detailed Description

2.8.1.1 General Information

Function
Compared with acceleration without jerk limitation, acceleration with jerk limitation results in
a certain degree of time loss, even when the same maximum acceleration value is used. To
compensate for this time loss, a specific maximum value can be programmed for the axis-
specific acceleration as far as traversing of the machine axes with active jerk limitation
(SOFT/SOFTA) is concerned.

Acceleration (B2)
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2.8 Acceleration with active jerk limitation (SOFT/SOFTA) (axis-specific)

The maximum value for acceleration with active jerk limitation is parameterized using a
factor calculated in relation to the axis-specific maximum value. This is used to generate the
maximum value for axis-specific acceleration with active jerk limitation that is taken into
account by the path planning component during preprocessing:

Acceleration[axis] =
MD32300 $MA_MAX_AX_ACCEL * MD32433 $MA_SOFT_ACCEL_FACTOR

2.8.2 Activation

2.8.2.1 Parameterization

Function
The maximum value for acceleration with active jerk limitation (SOFT/SOFTA) is
parameterized using the axis-specific machine data:
MD32434 $MA_SOFT_ACCEL_FACTOR
(scaling of the acceleration limitation with SOFT)

2.8.3 Programming

The function is not programmable.

Acceleration (B2)
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2.9 Excessive acceleration for non-tangential block transitions (axis-specific)

2.9 2.9 Excessive acceleration for non-tangential block transitions (axis-

specific)

2.9.1 Detailed Description

2.9.1.1 General Information

Function
In the case of non-tangential block transitions (corners), the programmable controller may
have to decelerate the geometry axes significantly in order to ensure compliance with the
parameterized axis dynamics. For the purpose of reducing/avoiding deceleration in
connection with non-tangential block transitions, a higher level of axis-specific acceleration
can be enabled.
Excessive acceleration is parameterized using a factor calculated in relation to the axis-
specific maximum value. This is used to generate the maximum value for axis-specific
acceleration with non-tangential block transitions that is taken into account by the path
planning component during preprocessing:

Acceleration[axis] =
MD32300 $MA_MAX_AX_ACCEL * MD32310 $MA_MAX_ACCEL_OVL_FACTOR

2.9.2 Activation

2.9.2.1 Parameterization

Function
Excessive acceleration for non-tangential block transitions is parameterized using the axis-
specific machine data:
MD32310 $MA_MAX_ACCEL_OVL_FACTOR
(overload factor for velocity jumps)

Acceleration (B2)
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2.10 Acceleration margin for radial acceleration (channel-specific)

2.9.3 Programming

Programmability
The function is not programmable.

2.10 2.10 Acceleration margin for radial acceleration (channel-specific)

2.10.1 Detailed Description

2.10.1.1 General Information

Overview
In addition to the path acceleration (tangential acceleration), radial acceleration also has an
effect on curved contours. If this is not taken into account during parameterization of the path
parameters, the effective axial acceleration during acceleration and deceleration on the
curved contour can, for a short time, reach 2x the maximum value.

Effective axial acceleration =

Path acceleration + radial acceleration =
2 * ( MD32300 $MA_MAX_AX_ACCEL )

1
1

DSDWK

DUDGLDO

1

Figure 2-3 Radial and path acceleration on curved contours

The channel-specific machine data:

MD20602 $MC_CURV_EFFECT_ON_PATH_ACCEL
(influence of path curvature on dynamic path response)
can be used to set the proportion of the axis-specific acceleration that is to be taken into
account for radial acceleration.

Acceleration (B2)
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2.10 Acceleration margin for radial acceleration (channel-specific)

When, for example, a value of 0.75 is applied, 75% of the axis-specific acceleration will be
made available for radial acceleration and 25% for path acceleration.
The corresponding maximum values are generally calculated as follows:

Radial acceleration =
MD20602 $MC_CURV_EFFECT_ON_PATH_ACCEL * MD32300 $MA_MAX_AX_ACCEL

Path acceleration =
(1 - MD20602 $MC_CURV_EFFECT_ON_PATH_ACCEL) * MD32300
$MA_MAX_AX_ACCEL

Example
The following machine parameters apply:
• MD32300 $MA_MAX_AX_ACCEL for all geometry axes: 3 m/s
• Maximum path velocity with a path radius of 10 mm due to mechanical constraints of the
machine: 5 m/min.
The radial acceleration is calculated as follows:

Y SDWK >PPLQ@ 
D UDGLDO  PV
U>PP@ >PV @  

The acceleration margin is set as follows:

0'0&B&859B())(&7B21B3$7+B$&&(/ 

D UDGLDO >PV @ 

ป 
0'0$B0$;B$;B$&&(/ >PV  @ 

Linear motions
The acceleration margin referred to above is ineffective in the case of linear motions (linear
interpolation) without active kinematic transformation.

Acceleration (B2)
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2.11 Jerk limitation with path interpolation (SOFT) (channel-specific)

2.10.2 Activation

2.10.3 Programming

Programmability
The function is not programmable.

2.11 2.11 Jerk limitation with path interpolation (SOFT) (channel-specific)

2.11.1 Detailed Description

2.11.1.1 General Information

Overview
As far as the functionality described in the rest of this document is concerned, constant
acceleration, i.e., acceleration with jerk limitation (jerk = infinite value), is the assumed
acceleration profile. In the case of acceleration with jerk limitation, linear interpolation is
applied in respect of acceleration from 0 to the maximum value.

Advantages
Minimal load on the machine's mechanical components and low risk of high-frequency and
difficult-to-control mechanical vibrations thanks to constant excessive acceleration.

Disadvantages
Longer machining times compared with stepped acceleration profile when the same
maximum velocity and acceleration values are used.

Acceleration (B2)
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2.11 Jerk limitation with path interpolation (SOFT) (channel-specific)

Acceleration profile

U
UPD[

UPD[

D
DPD[

DPD[
Y
YPD[

W W W W W W W W

Figure 2-4 Jerk, acceleration and velocity schematic with jerk limitation acceleration profile

rmax: Maximum jerk value

amax: Maximum acceleration value
vmax: Maximum velocity value
t: Time

The following features of the acceleration profile can be identified from the figure above:
• Interval: t0 - t1
Constant jerk with +rmax; linear increase in acceleration; quadratic increase in velocity
• Interval: t1 - t2
Constant acceleration with +amax; linear increase in velocity
• Interval: t2 - t3
Constant jerk with -rmax; linear decrease in acceleration; quadratic decrease in excessive
velocity until maximum value +vmax is reached
• Interval: t3 - t4
Constant jerk with +rmax; linear increase in braking acceleration; quadratic decrease in
velocity

Acceleration (B2)
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2.11 Jerk limitation with path interpolation (SOFT) (channel-specific)

• Interval: t4 - t5
Constant braking acceleration with -amax; linear decrease in velocity
• Interval: t5 - t6
Constant jerk with -rmax; linear decrease in braking acceleration; quadratic decrease in
velocity reduction until zero velocity is reached v = 0

2.11.1.2 Maximum jerk value (axis-specific)

Function
The maximum jerk value can be set for each specific machine axis using the following
machine data:
MD32431 $MA_MAX_AX_JERK (maximum axis jerk)
The path parameters are calculated by the path planning component during preprocessing
so that the programmed maximum values of the machine axes that are of relevance for the
path are not exceeded.

Exceeding of maximum value

It is possible for the maximum value to be exceeded in connection with specific machining
situations (see following Section: System variable ($AC_PATHJERK)).

2.11.1.3 Maximum jerk value (channel-specific)

Function
As well as it being possible to set the maximum jerk value for specific axes, it can also be
assigned as a channel-specific path parameter using the following machine data:
MD20600 $MC_MAX_PATH_JERK (path-related maximum jerk)
To prevent the axis and channel-specific maximum jerk values interfering with one another,
the channel-specific value must be set to a value greater then the maximum axial values.

2.11.2 Activation

2.11.2.1 Parameterization

Function
The axis- and channel-specific maximum values are parameterized using the following
machine data:
MD32431 $MA_MAX_AX_JERK (maximum axis jerk)
MD20600 $MC_MAX_PATH_JERK (path-related maximum jerk)

Acceleration (B2)
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Functions
2.12 Jerk limitation with single-axis interpolation (SOFTA) (axis-specific)

2.11.3 Programming

Syntax
SOFT

Functionality
The SOFT part-program instruction is used to select the acceleration profile with jerk
limitation for the traversing operations of geometry axes in the channel.
G group: 21
Effective: Modal

Reset response
The channel-specific initial setting is activated via a reset:
MD20150 $MC_GCODE_RESET_VALUES[20]

Supplementary conditions
If the acceleration mode is changed in a part program during machining (BRISK ↔ SOFT), a
block change is performed at the point of transition with an exact stop at the end of the block,
even in continuous-path mode.

2.12 2.12 Jerk limitation with single-axis interpolation (SOFTA) (axis-specific)

2.12.1 Detailed Description

2.12.1.1 General Information

Overview
The maximum jerk value can be set for each specific machine axis for single-axis
movements (setup modes e.g. JOG, JOG/INC, positioning axis, reciprocating axis, etc.):
MD32430 $MA_JOG_AND_POS_MAX_JERK (maximum axis jerk)

Initial setting
Acceleration with jerk limitation can be set as the axial initial setting:
MD32420 $MA_JOG_AND_POS_JERK_ENABLE
(initial setting of axial jerk limitation)

Acceleration (B2)
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2.12 Jerk limitation with single-axis interpolation (SOFTA) (axis-specific)

2.12.2 Activation

2.12.2.1 Parameterization

Function
The function's initial setting and the maximum values are parameterized for specific axes
using machine data:
MD32420 $MA_JOG_AND_POS_JERK_ENABLE
(initial setting of axial jerk limitation)
MD32430 $MA_JOG_AND_POS_MAX_JERK (maximum axis jerk)

2.12.3 Programming

Syntax
SOFTA (axis{,axis})

Functionality
The SOFTA part-program instruction is used to select acceleration with jerk limitation for
single-axis movements (positioning axis, reciprocating axis, etc.)
G group: -
Effective: Modal
Axis:
• Value range: Axis identifier for channel axes

Axis-specific initial setting

Acceleration with jerk limitation can be set as the axis-specific initial setting for single-axis
movements:
MD32420 $MA_JOG_AND_POS_JERK_ENABLE = TRUE

Reset response
The axis-specific initial setting is activated via a reset:
MD32420 $MA_JOG_AND_POS_ENABLE

Acceleration (B2)
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2.13 Path-jerk limitation (channel-specific)

2.13 2.13 Path-jerk limitation (channel-specific)

2.13.1 Detailed Description

2.13.1.1 General Information

Overview
To enable a flexible response to the machining situations concerned, setting data can be
used to limit the path jerk calculated during preprocessing for specific channels:
SD42510 $SC_SD_MAX_PATH_JERK (maximum path jerk)
The value specified in the setting data is only taken into account in the channel if it is smaller
than the path jerk calculated during preprocessing.
The limitation must be activated for specific channels using setting data:
SD42512 $SC_IS_SD_MAX_PATH_JERK = TRUE

2.13.2 Activation

2.13.2.1 Parameterization

Function
Parameterization is carried out for specific channels using setting data:
SD42510 $SC_SD_MAX_PATH_JERK (maximum path jerk)
SD42512 $SC_IS_SD_MAX_PATH_JERK
(activation of path-jerk limitation)

Acceleration (B2)
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2.13 Path-jerk limitation (channel-specific)

2.13.3 Programming

2.13.3.1 Maximum path jerk

Syntax
$SC_SD_MAX_PATH_JERK = jerk value

Functionality
The path-jerk limitation can be adjusted for the situation by programming the setting data.
Jerk value:
• Value range: ≥ 0
• Unit: m/s3
Application:
• Part program
• Static synchronized action

2.13.3.2 Switch ON/OFF

Syntax
$SC_IS_SD_MAX_PATH_JERK = value

Functionality
The path-jerk limitation can be activated/deactivated by programming the setting data.
Parameter: Value
• Value range: TRUE, FALSE
Application:
• Part program
• Static synchronized action

Acceleration (B2)
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2.14 Path jerk for real-time events (channel-specific)

2.14 2.14 Path jerk for real-time events (channel-specific)

2.14.1 Detailed Description

2.14.1.1 General Information

Overview
So that no compromise has to be made between machining-optimized jerk on the one hand
and time-optimized jerk in connection with the following real-time events on the other:
• NC-STOP/NC-START
• Feedrate override modifications
• Modification of the velocity default for "safely reduced velocity" within the context of the
"Safely Integrated" function
the path jerk can be set for the real-time events specified above using a channel-specific
system variable:
$AC_PATHJERK = path jerk
Path jerk for real-time events will only be active for the duration of the change in velocity in
respect of one of the real-time events specified above.

Limitation
As the jerk is not a physical variable of any relevance to the drive, no limit is imposed on the
jerk set.

Effective

Effective Path jerk for real-time events is only enabled in AUTOMATIC and MDA operating
modes in conjunction with the following real-time events:
• NC-STOP/NC-START
• Override modifications
• Modification of the velocity default for "safely reduced velocity" within the context
of the "Safely Integrated" function
Ineffective Path jerk for real-time events is ineffective for changes in the path velocity that are
attributable to path planning during preprocessing for the channel, such as contour
curvatures, corners, kinematic transformation limitations, etc.
Path jerk for real-time events is ineffective if the programmed value is smaller than
the path jerk calculated during preprocessing for the path section concerned.

Acceleration (B2)
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2.14 Path jerk for real-time events (channel-specific)

Programming
For the purpose of setting the jerk for real-time events in accordance with the acceleration,
the system variables can be set as follows:
$AC_PATHJERK = $AC_PATHACC/smoothing time
• $AC_PATHACC: Path acceleration [m/s2]
Smoothing time: Freely selectable, e.g., 0.02 s
For information about programming system variables in the part program or synchronized
actions, see Chapter: Programming.

2.14.2 Activation

Function
The function does not need to be activated.

2.14.3 Programming

Syntax
$AC_PATHJERK = path jerk

Functionality
The path jerk for real-time events is set via the channel-specific system variables.
Jerk value:
• Value range: Path jerk ≥ 0
• Unit: m/s3
Application:
• Part program
• Static synchronized action

Reset response
The function is deactivated on reset.

Supplementary conditions
Programming $AC_PATHJERK in the part program automatically triggers a preprocessing
stop with REORG (STOPRE).

Acceleration (B2)
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-27
Functions
2.15 Jerk with programmed rapid traverse (G00) (axis-specific)

2.15 2.15 Jerk with programmed rapid traverse (G00) (axis-specific)

2.15.1 Detailed Description

2.15.1.1 General Information

Overview
Frequently, the maximum jerk for the machine axes involved in the machining process must
be set lower than the machine's performance capability officially allows because of the
supplementary conditions associated with the specific process concerned.
For time-optimized traversing of the machine axes with programmed rapid traverse (part-
program instruction G00), a specific maximum value can be programmed for the axis-
specific jerk.

JOG setup mode

This function does not affect jerk in respect of a rapid traverse override in JOG setup mode.

2.15.2 Activation

2.15.2.1 Parameterization

Function
The maximum value for axis-specific jerk with programmed rapid traverse is parameterized
(G00) using the axis-specific machine data:
MD32434 $MA_G00_ACCEL_FACTOR
(scaling of the acceleration limitation with G00)
This is used to generate the maximum value for axis-specific jerk with programmed rapid
traverse (G00) that is taken into account by the path planning component during
preprocessing:
Jerk[axis] =
MD32431 $MA_MAX_AX_JERK * MD32435 $MA_G00_JERK_FACTOR

Acceleration (B2)
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 Functions
2.16 Excessive jerk for block transitions without constant curvature (axis-specific)

2.15.3 Programming

Programmability
The function is not programmable.

2.16 2.16 Excessive jerk for block transitions without constant curvature (axis-
specific)

2.16.1 Detailed Description

2.16.1.1 General Information

Overview
In the case of block transitions without constant curvature (e.g. straight line > circle), the
programmable controller has to decelerate movement of the geometry axes significantly in
order to ensure compliance with the parameterized axis dynamics. For the purpose of
reducing/avoiding deceleration in connection with block transitions without constant
curvature, a higher level of axis-specific jerk can be enabled.
The excessive jerk is parameterized using a dedicated axis-specific maximum value.

2.16.2 Activation

2.16.2.1 Parameterization

Function
The excessive jerk for block transitions without constant curvature is parameterized using
the axis-specific machine data:
MD32432 $MA_PATH_TRANS_JERK_LIM
(excessive jerk for block transitions without constant curvature)

Acceleration (B2)
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-29
Functions
2.17 Jerk filter (axis-specific)

2.16.3 Programming

Programmability
The function is not programmable.

2.17 2.17 Jerk filter (axis-specific)

2.17.1 Detailed Description

2.17.1.1 General Information

Overview
In certain application scenarios, e.g.,when milling free-form surfaces, it may be beneficial to
smooth the position setpoint characteristics of the machine axes. This enables surface
quality to be improved by reducing the mechanical vibrations generated in the machine.
For the purpose of smoothing the position setpoint characteristic of a machine axis, a jerk
filter can be activated at position controller level, independently of the channel- and axis-
specific jerk limitations taken into account at interpolator level.
The effect of the jerk filter must be as strong as possible without having an unacceptable
impact on contour accuracy. The filter should also have as "balanced" a smoothing effect as
possible, i.e., if the same contour is traversed forwards and backwards, the contour
smoothed by the filter should be as similar as possible in both directions.
To enable the jerk filter to be optimally matched to the machine conditions, various filter
modes are available:
• 2nd-order filter (PT2)
• Sliding mean value generation
• Bandstop filter

Mode: 2nd-order filter

Owing to the fact that it is a simple low-pass filter, "2nd-order filter" mode can only meet the
requirements specified above where relatively small filter time constants (around 10 ms) are
concerned. When used in conjunction with larger time constants, impermissible contour
deviations are soon manifest. The effect of the filter is relatively limited.
This filter mode offers advantages if very large filter time constants are needed and contour
accuracy is only of secondary importance (e.g. positioning axes).
For historical reasons, this filter mode is set as the default.

Acceleration (B2)
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 Functions
2.17 Jerk filter (axis-specific)

Mode: Sliding mean value generation

Where minimal contour deviations are required, filter time constants within the range of 20-
40 ms can be set using the "sliding mean value generation" filter mode. The smoothing effect
is largely symmetrical.
The display of the calculated servo gain factor (KV factor), e.g. in the HMI Advanced "Axis"
service screen, shows smaller values than would normally be expected for the filter. The
contour accuracy is in fact higher than the displayed KV filter appears to suggest.
When changing from "2nd-order filter" to "sliding mean value generation" filter mode, the
displayed KV factor may, therefore, drop (with identical filter time constant), even though
there is an improvement in contour accuracy.

Mode: Bandstop filter

The bandstop filter is a 2nd-order filter in terms of numerator and denominator:

V  V ' =

 ˭ I=   ˭ I= 
+V
V  V ' 1

 ˭ I1   ˭ I1

where:

fZ: Numerator natural freq.

fN: Denominator natural freq.
DZ: Numerator damping
DN: Denominator damping
Since a vibration-capable filter setting is not expected to yield useful results in any case, as
with the jerk filter's "2nd-order filter" (PT2) low-pass filter (PT2) mode there is no setting
option for the denominator damping DN. The denominator damping DN is permanently set to
1.
The bandstop filter can be parameterized in 2 different ways:
• Real bandstop filter
• Bandstop filter with additional amplitude response increase/decrease at high frequencies
Real bandstop filter
The real bandstop filter is applied when identical numerator and denominator natural
frequencies are selected:
• fZ = fN = fblock (blocking frequency)
If numerator damping setting = 0 is selected, the blocking frequency is equivalent to
complete attenuation. In this case the 3 dB bandwidth is calculated as follows:
• f3 dB bandwidth = 2 * fblock
If instead of complete attenuation, a reduction by a factor of k is all that is required, then
numerator damping should be selected in accordance with k. In this case the above formula
for calculating the 3 dB bandwidth no longer applies.

Acceleration (B2)
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Functions
2.17 Jerk filter (axis-specific)

Bandstop filter with additional amplitude response increase/decrease at high frequencies

In this case, the numerator and denominator natural frequencies are set to different values.
The numerator natural frequency determines the blocking frequency.
By selecting a lower/higher denominator natural frequency than the numerator natural
frequency, you can increase/decrease the amplitude response at high frequencies. An
amplitude response increase at high frequencies can be justified in most cases, as the
controlled system generally possesses a lowpass characteristic itself, i.e., the amplitude
response drops at high frequencies anyway.
Supplementary conditions
If too high a numerator natural frequency is selected, the filter is disabled. In this case the
limiting frequency fZmax depends on the position-control cycle:

 
I =PD[  6KDQQRQ7KHRUHP
 ˭ 7
=PLQ  ˭ 7
3RVLWLRQFRQWUROF\FOH

The limitation is enabled for specific axes using machine data:

MD32400 $MA_AX_JERK_ENABLE (axial jerk limitation)

and set with time specifications for the smoothing filter using machine data:
MD32410 $MA_AX_JERK_TIME (time constants for the axial return filter)
.
With SW 5.1 and higher, it is also possible to control the jerk limitation in the position
controller with a new filter based on a smoothing method that incurs few contour errors:

MD32402 AX_JERK_MODE = 1 ; 2nd-order filter (default)

corresponds to SW 1 to SW 4.4
MD32402 AX_JERK_MODE = 2 ; Sliding mean value generation
(New jerk filter with SW 5.1 and higher).
MD32402 AX_JERK_MODE = 3 ; Bandstop filter with SW 6.3 and higher

Modus 2 requires a bit more computation time, but with the same smoothing effect, it results
in lower contour errors or, with the same accuracy, in a smoother contour with smoother
movements. Mode 2 is recommended. Mode 1 is the default mode in SW 1 to SW 4.4 for
compatibility reasons.
For more information about how the jerk filter available with SW 5.1 and higher works
(balancing filter for improving the position setpoints of the position controller), please refer to:
References:
/FB1/ Manual of Functions, Basic Functions; Velocities, Setpoint/Actual-Value Systems,
Regulatory Control (G2), Chapter: "Control Optimization"

Acceleration (B2)
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 Functions
2.17 Jerk filter (axis-specific)

Mode 3
There are 2 parameterization options for the bandstop filter:
• "Real bandstop filter":
When identical numerator and denominator natural frequencies are selected (=blocking
frequency). If you select (numerator) damping setting zero, the blocking frequency is
equivalent to complete attenuation.
In this case the 3 dB bandwidth is determined on the following basis:
fbandwidth = 2 * fblock.
If instead of complete attenuation, a reduction by a factor of k is all that is required, then
the numerator damping should be selected in accordance with k.
• "Bandstop filter with additional amplitude response increase/decrease at high
frequencies":
In this case, the numerator and denominator natural frequencies are set to different
values. The numerator natural frequency determines the blocking frequency. By selecting
a lower (higher) denominator natural frequency than the numerator natural frequency,
you can increase (decrease) the amplitude response at high frequencies. An amplitude
response increase at high frequencies can be justified in most cases, as the controlled
system generally possesses a lowpass characteristic itself, i.e., the amplitude response
drops at high frequencies anyway.

2.17.2 Activation

2.17.2.1 Parameterization

Activation
The jerk filter is activated using the machine data:
MD32400 $MA_AX_JERK_ENABLE = TRUE
The jerk filter is active in all operating modes and with all types of interpolation.

Filter mode
The mode is selected using the machine data:
MD32402 $MA_AX_JERK_MODE = mode

Mode = 1 (2nd-order filter)

Mode = 2 (Sliding mean value generation)
Mode = 3 (Bandstop filter)

Acceleration (B2)
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-33
Functions
2.18 Kneeshaped acceleration characteristic curve

2.17.3 Programming

Programmability
The function is not programmable.

2.18 2.18 Kneeshaped acceleration characteristic curve

2.18.1 Detailed Description

2.18.1.1 Adaptation to the motor characteristic curve

Function
Various types of motor, particularly stepper motors, have a torque characteristic that is highly
dependent upon speed and shows a steep decrease in torque in the upper speed range. To
ensure optimum utilization of the motor characteristic curve, it is necessary to reduce the
acceleration once a certain speed is reached.

0>1P@

0PD[


0UHG

       Q>@
QUHG QPD[

Figure 2-5 Torque characteristic curve of a motor with torque characteristic that is highly dependent
upon speed

1: Torque decrease zone

nred: Speed above which reduced torque has to be assumed
nmax: Maximum speed
Mmax: Max. torque
Mred: Torque at nmax (corresponds to creep acceleration)

Acceleration (B2)
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 Functions
2.18 Kneeshaped acceleration characteristic curve

Simulation of torque characteristic

For the purpose of simulating the torque characteristic of the motor characteristic curve, the
machine data:
MD35242 $MA_ACCEL_REDUCTION_TYPE = characteristic
can be used to select various types of characteristic curve:

0 = Constant characteristic
1 = Hyperbolic characteristic
2 = Linear characteristic

The following figures show typical velocity and acceleration characteristic curves for the
respective types of characteristic:
Constant characteristic

D Y
YPD[
DPD[

DUHG YUHG

YUHG YPD[ Y W

Figure 2-6 Acceleration and velocity characteristic with acceleration reduction: 0 = constant

Hyperbolic characteristic

D Y
YPD[
DPD[

YUHG
DUHG

YUHG YPD[ Y W

Figure 2-7 Acceleration and velocity characteristic with acceleration reduction: 1 = hyperbolic

Acceleration (B2)
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-35
Functions
2.18 Kneeshaped acceleration characteristic curve

Linear characteristic

D Y

YPD[
DPD[

YUHG
DUHG

YUHG YPD[ Y W

Figure 2-8 Acceleration and velocity characteristic with acceleration reduction: 2 = linear

The key data for the characteristic curves equate to:

vmax = $MA_MAX_AX_VELO
vred = $MA_ACCEL_REDUCTION_SPEED_POINT * $MA_MAX_AX_VELO
amax = $MA_MAX_AX_ACCEL
ared = (1 - $MA_ACCEL_REDUCTION_FACTOR) * $MA_MAX_AX_ACCEL

2.18.1.2 Effects on path acceleration

Function
The path acceleration characteristic curve is generated on the basis of the types of
characteristic for the axes that are of relevance for the path. If axes with different types of
characteristic curve are interpolated together, the acceleration profile for the path
acceleration will be determined on the basis of the reduction type that is most restrictive.
The following order of priorities applies, whereby 1 = top priority:
1. Acceleration reduction: 0 = constant characteristic
2. Acceleration reduction: 1 = hyperbolic characteristic
3. Acceleration reduction: 2 = linear characteristic
4. No acceleration reduction effective
A situation, whereby no acceleration reduction is active, arises for example when:
MD35220 $MA_ACCEL_REDUCTION_SPEED_POINT = 1
and/or
MD35230 $MA_ACCEL_REDUCTION_FACTOR = 0

Acceleration (B2)
2-36 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Functions
2.18 Kneeshaped acceleration characteristic curve

Note
Machine axes featuring stepper motor and DC drive can be interpolated together.

2.18.1.3 Substitute characteristic curve

Function
If the programmed path cannot be traversed using the parameterized acceleration
characteristic curve (e.g., active kinematic transformation), a substitute characteristic curve
is generated by reducing the dynamic limit values. The dynamic limit values are calculated to
ensure that the substitute characteristic curve provides the best possible compromise
between maximum velocity and constant acceleration.

Substitute characteristic curve with linear path sections

Limitation to this value is applied if the programmed path velocity is greater than that at
which 15% of the maximum acceleration capacity is still available (v15%a). Consequently,
15% of the maximum acceleration capacity/motor torque always remains available, whatever
the machining situation.

D
DPD[

DHUV

D

/RFNHG]RQH
DUHG

YUHG YSURJ YD YPD[ Y

Figure 2-9 Substitute path characteristic curve: Linear path

aers: Substitute characteristic curve constant acceleration

a15%: Minimal constant acceleration
a15% = 0.15 @ (amax - ared) + ared
vers: Substitute characteristic curve velocity
vprog: Programmed velocity
v15%a: Velocity at a15%

Acceleration (B2)
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-37
Functions
2.18 Kneeshaped acceleration characteristic curve

Substitute characteristic curve with curved path sections

In the case of curved path sections, normal and tangential acceleration are considered
together. The path velocity is reduced so that only up to 25% of the speed-dependent
acceleration capacity of the axes is required for normal acceleration. The remaining 75% of
the acceleration capacity is set aside for the tangential acceleration, i.e.,
deceleration/acceleration on the path.

D
DPD[

Y
D1
U

DHUV
$[LDOFKDUDFWHULVWLFD Y

DUHG

YUHG YHUV YPD[ Y

Figure 2-10 Substitute path characteristic curve: Curved path

aN: Normal acceleration

aers: Substitute characteristic curve constant acceleration
vers: Substitute characteristic curve velocity
r: Path radius

Block transitions with continuous-path mode

If continuous-path mode is active, non-tangential block transitions result in axial velocity
jumps when the programmed path velocity is used for traversing.
As a result, the path velocity is controlled in such a way that prevents any axial velocity
proportion from exceeding the creep velocity vred at the time of the block transition.

Deceleration ramp with continuous-path mode and LookAhead

In the case of consecutive part program blocks with short paths, an acceleration or
deceleration operation may be spread over several part program blocks.
In such a situation LookAhead also takes into account the parameterized speed-dependent
acceleration characteristic.

Acceleration (B2)
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 Functions
2.18 Kneeshaped acceleration characteristic curve

Y   
YPD[

YUHG

1 1 1 1 1 1 W

Figure 2-11 Deceleration with LookAhead

1: Brake application point

2: Torque decrease zone
3: Maximum torque zone
vred: Creep velocity
vmax: Maximum velocity
Nxy: Part program block with block number Nxy

2.18.2 Activation

2.18.2.1 Parameterization

Function
The knee-shaped acceleration characteristic curve is parameterized for specific axes using
the following machine data:
MD32000 $MA_MAX_AX_VELO (maximum axis velocity)
MD35220 $MA_ACCEL_REDUCTION_SPEED_POINT
(speed for reduced acceleration)
MD35230 $MA_ACCEL_REDUCTION_FACTOR (reduced acceleration)
MD32300 $MA_MAX_AX_ACCEL (Maximum axis acceleration)
MD35242 $MA_ACCEL_REDUCTION_TYPE
(type of acceleration reduction: 0 = constant, 1 = hyperbolic, 2 = linear)

Acceleration (B2)
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-39
Functions
2.18 Kneeshaped acceleration characteristic curve

2.18.2.2 Commissioning

Function
The knee-shaped acceleration characteristic curve is activated for a specific machine axis
using the machine data:
MD35240 $MA_ACCEL_TYPE_DRIVE = TRUE

Single-axis interpolation
As soon as the knee-shaped acceleration characteristic curve is activated, in the case of
single-axis interpolations (positioning axis, reciprocating axis, manual travel, etc.), traversing
is performed exclusively in DRIVEA mode.
Switching of the acceleration profile via the part-program instructions:
• Abrupt acceleration changes (BRISKA)
• Acceleration with jerk limitation (SOFTA)
is not possible.

Path interpolation
If the knee-shaped acceleration characteristic curve is parameterized for a machine axis that
is of relevance for a programmed path, but the DRIVE part-program instruction has not
been activated, then a substitute characteristic curve with lower dynamic limit values is
generated for the path.

2.18.3 Programming

2.18.3.1 Channel-specific activation (DRIVE)

Syntax
DRIVE

Functionality
The knee-shaped characteristic curve is activated for path acceleration using the DRIVE
part-program instruction.
G group: 21
Effective: Modal

Reset response
The channel-specific default setting is activated via a reset:
MD20150 $MC_GCODE_RESET_VALUES[20]

Acceleration (B2)
2-40 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Functions
2.18 Kneeshaped acceleration characteristic curve

Dependencies
If the knee-shaped acceleration characteristic curve is parameterized for a machine axis,
then this becomes the default acceleration profile for all traversing operations.
If the effective acceleration profile is changed for a specific path section using the SOFT or
BRISK part-program instructions, then an appropriate substitute characteristic curve with
lower dynamic limit values is used in place of the knee-shaped acceleration characteristic
curve.
The knee-shaped acceleration characteristic curve can be reactivated by reprogramming
DRIVE.

2.18.3.2 Axis-specific activation (DRIVEA)

Syntax
DRIVEA (axis{,axis})

Functionality
The knee-shaped characteristic curve is activated for all single-axis interpolations
(positioning axis, reciprocating axis, etc.) for specific axes using the part-program instruction.
G group: -
Effective: Modal
Axis:
• Value range: Axis identifier for the channel axes

Reset response
The channel-specific default setting is activated via a reset:
MD20150 $MC_GCODE_RESET_VALUES[20]

Dependencies
If the knee-shaped acceleration characteristic curve is parameterized for a machine axis,
then this becomes the default acceleration profile for all traversing operations.
If the effective acceleration profile is changed for a specific axis using the SOFTA or BRISKA
part-program instructions, then an appropriate substitute characteristic curve is used in place
of the knee-shaped acceleration characteristic curve.
It is possible to switch back to the knee-shaped acceleration characteristic curve for a
specific axis by programming DRIVEA.

Acceleration (B2)
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-41
Functions
2.18 Kneeshaped acceleration characteristic curve

Acceleration (B2)
2-42 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Supplementary conditions 3
3.1 3.1 Acceleration and jerk

There are no other supplementary conditions to note.

3.2 3.2 Kneeshaped acceleration characteristic curve

3.2.1 Active kinematic transformation

Key statement
The knee-shaped acceleration characteristic curve is not taken into account in connection
with an active kinematic transformation. The control switches to acceleration without jerk
limitation (BRISK) and a substitute characteristic curve is adopted for path acceleration.

Acceleration (B2)
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 3-1
Supplementary conditions
3.2 Kneeshaped acceleration characteristic curve

Acceleration (B2)
3-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Examples 4
4.1 4.1 Acceleration

4.1.1 Path velocity characteristic

Key statement
An excerpt from a part program is provided below, together with the associated acceleration
characteristic, by way of an example. These are used to illustrate how the path velocity can
be adapted to take account of various events and the resulting change in acceleration.

Part program (excerpt, schematic)

; Acceleration selection in accordance with fast input 1 ($A_IN[1]):

N53 ID=1 WHEN $A_IN[1] == 1 DO $AC_PATHACC = 2.*$MA_MAX_AX_ACCEL[X]

; Test override profile (simulates external intervention):

N54 ID=2 WHENEVER ($AC_TIMEC > 16) DO $AC_OVR=10
N55 ID=3 WHENEVER ($AC_TIMEC > 30) DO $AC_OVR=100

;Approach
N1000 G0 X0 Y0 BRISK
N1100 TRANS Y=-50
N1200 AROT Z=30 G642

; Contour
N2100 X0 Y0
N2200 X = 70 G1 F10000 RNDM=10 ACC[X]=30 ACC[Y]=30
N2300 Y = 70
N2400 X0
N2500 Y0
M30

Acceleration (B2)
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 4-1
Examples
4.2 Jerk

Y>PV@        

$&B295 

$&B295 

W>PV@

1 1


Figure 4-1 Switching between path acceleration specified during preprocessing and real-time acceleration

Acceleration profile: BRISK

1: Accelerate to 100% of path velocity (F10000) in accordance with acceleration default: ACC (N2200...)
2: Brake to 10% of path velocity as a result of override modification ($AC_OVR) in accordance with real-time
acceleration $AC_PATHACC (N53/N54...)
3: Accelerate to 100% of path velocity as a result of override modification ($AC_OVR) in accordance with real-time
acceleration $AC_PATHACC (N53/N55...)
4: Brake to block end velocity for intermediate smoothing block in accordance with acceleration default: ACC
(N2200...)
5: Speed limitation as a result of smoothing (see 9)
6: Accelerate to 100% of path velocity ($AC_OVR) in accordance with acceleration default: ACC (N2300...)
7: Decelerate as a result of override modification at a rate of acceleration that is in accordance with real-time
acceleration $AC_PATHACC (N53/N54...)
8: Accelerate to 100% of path velocity as a result of override modification ($AC_OVR) in accordance with real-time
acceleration $AC_PATHACC (N53/N55...)
9: Intermediate block inserted within the control as a result of the programmed smoothing (RNDM) (N2200...)

4.2 4.2 Jerk

4.2.1 Path velocity characteristic

Key statement
An excerpt from a part program is provided below, together with the associated acceleration
characteristic, by way of an example. These are used to illustrate how the path velocity can
be adapted to take account of various events and the resulting change in jerk.

Acceleration (B2)
4-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Examples
4.2 Jerk

Part program (excerpt, schematic)

; Setting of path acceleration and path jerk in the event of external intervention:
N0100 $AC_PATHACC = 0.
N0200 $AC_PATHJERK = 4. * ($MA_MAX_AX_JERK[X] + $MA_MAX_AX_JERK[Y]) / 2.

; Synchronized actions for the purpose of varying the override (simulates external
intervention):
N53 ID=1 WHENEVER ($AC_TIMEC > 16) DO $AC_OVR=10
N54 ID=2 WHENEVER ($AC_TIMEC > 30) DO $AC_OVR=100

;Approach
N1000 G0 X0 Y0 SOFT
N1100 TRANS Y=-50
N1200 AROT Z=30 G642

; Contour
N2100 X0 Y0
N2200 X = 70 G1 F10000 RNDM=10
N2300 Y = 70
N2400 X0
N2500 Y0
M30

Y>PV@     

295 

295  295 

W>PV@
1 1

51'0  51'0

Figure 4-2 Switching between path jerk specified during preprocessing and $AC_PATHJERK

Acceleration profile: SOFT

1: Jerk according to $MA_MAX_AX_JERK[..]
2: Jerk according to $AC_PATHJERK
3: Jerk according to $MA_MAX_AX_JERK[..] (approach block end velocity)
4: Velocity limit due to arc
5: Jerk according to $AC_PATHJERK

Acceleration (B2)
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 4-3
Examples
4.3 Acceleration and jerk

4.3 4.3 Acceleration and jerk

Key statement
In the following example a short part program is used to illustrate the velocity and
acceleration characteristic for the X-axis. It also shows the connection between specific
velocity and acceleration-related machine data and the contour sections they influence.

Part program

N90 F5000 SOFT G64 ; Continuous-path mode, acceleration with jerk

limitation
N100 G0 X0 Y0 Z0 ; Rapid traverse
N110 G1 X10 ;Straight line
N120 G3 CR=5 X15 Y5 ; Circular arc, radius 5 mm, block transition:
tangential
N130 G3 CR=10 X5 Y15 ; Circular arc, radius 10 mm, block transition:
tangential
N140 G1 X-5 Y17.679 ; straight, 15o bend
N200 M30

1



 1


1
1

    [

Figure 4-3 Part program contour

Acceleration (B2)
4-4 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Examples
4.4 Kneeshaped acceleration characteristic curve

0$;B$;B$&&(/>;@ 62)7B$&&(/B)$&725>;@

0'0$;B$&&(/B29/B)$&725>;@

0'0$;B$;B-(5.>;@

1 1 1 1

$[LVDFFHOHUDWLRQ

$[LVYHORFLW\ 0'3$7+B75$16B-(5.B/,0>;@

Figure 4-4 X axis: Velocity and acceleration characteristic

4.4 4.4 Kneeshaped acceleration characteristic curve

4.4.1 Activation

Key statement
The example given illustrates how the knee-shaped acceleration characteristic curve is
activated on the basis of:
• Machine data
• Part program instruction

Acceleration (B2)
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 4-5
Examples
4.4 Kneeshaped acceleration characteristic curve

Machine data
• Parameterizing the characteristic curve (example only)

X axis
MD35220 $MA_ACCEL_REDUCTION_SPEED_POINT[X] = 0.4
MD35230 $MA_ACCEL_REDUCTION_FACTOR[X] = 0.85
MD35242 $MA_ACCEL_REDUCTION_TYPE[X] = 2
MD35240 $MA_ACCEL_TYPE_DRIVE[X] = TRUE

Y axis
MD35220 $MA_ACCEL_REDUCTION_SPEED_POINT[Y] = 0.0
MD35230 $MA_ACCEL_REDUCTION_FACTOR[Y] = 0.6
MD35242 $MA_ACCEL_REDUCTION_TYPE[Y] = 1
MD35240 $MA_ACCEL_TYPE_DRIVE[Y] = TRUE

Z axis
MD35220 $MA_ACCEL_REDUCTION_SPEED_POINT[Z] = 0.6
MD35230 $MA_ACCEL_REDUCTION_FACTOR[Z] = 0.4
MD35242 $MA_ACCEL_REDUCTION_TYPE[Z] = 0
MD35240 $MA_ACCEL_TYPE_DRIVE[Z] = FALSE

• Activation by setting as the channel-specific default setting

MC_GCODE_RESET_VALUE[20] = 3 (DRIVE)

Part program (excerpt)

N10 G1 X100 Y50 Z50 F700 Path motion (X,Y, Z) with DRIVE
N15 Z20 Path motion (Z) with DRIVE
N20 BRISK Switchover to BRISK
N25 G1 X120 Y70 Path motion (Y, Z) with substitute
characteristic curve
N30 Z100 Path motion (Z) with BRISK
N35 POS[X] = 200 FA[X] = 500 Positioning motion (X) with DRIVEA
N40 BRISKA(Z) Activate BRISKA for Z
N40 POS[Z] = 50 FA[Z] = 200 Positioning motion (Z) with BRISKA
N45 DRIVEA(Z) Activate DRIVEA for Z
N50 POS[Z] = 100 Positioning motion (Z) with DRIVE
N55 BRISKA(X) results in error message
...

Acceleration (B2)
4-6 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Data lists 5
5.1 5.1 Machine data

5.1.1 Channelspecific machine data

Number Identifier: $MC_ Description

20150 GCODE_RESET_VALUES Initial setting of G groups
20500 CONST_VELO_MIN_TIME Minimum time with constant velocity
20600 MAX_PATH_JERK Pathrelated maximum jerk
20602 CURV_EFFECT_ON_PATH_ACCEL Influence of path curvature on dynamic path response
20610 ADD_MOVE_ACCEL_RESERVE Acceleration reserve for overlaid movements

5.1.2 Axis/spindlespecific machine data

Number Identifier: $MA_ Description

32000 MAX_AX_VELO Maximum axis velocity
32300 MAX_AX_ACCEL Maximum axis acceleration
32310 MAX_ACCEL_OVL_FACTOR Overload factor for velocity jump
32320 DYN_LIMIT_RESET_MASK Reset behavior of dynamic limits
32400 AX_JERK_ENABLE Axial jerk limitation
32402 AX_JERK_MODE Filter type for axial jerk limitation
32410 AX_JERK_TIME Time constant for axial jerk filter
32420 JOG_AND_POS_JERK_ENABLE Enabling axial jerk limitation
32430 JOG_AND_POS_MAX_JERK Max. axial jerk for JOG and POS
32431 MAX_AX_JERK Maximum axis jerk for path motion
32432 PATH_TRANS_JERK_LIM Max. axial jerk of a geometry axis at block boundary
32433 SOFT_ACCEL_FACTOR Scaling of acceleration limitation for SOFT
32434 G00_ACCEL_FACTOR Scaling of acceleration limitation for G00
32435 G00_JERK_FACTOR Scaling of axial jerk limitation for G00
35220 ACCEL_REDUCTION_SPEED_POINT Speed for reduced acceleration

Acceleration (B2)
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 5-1
Data lists
5.2 Setting data

Number Identifier: $MA_ Description

35230 ACCEL_REDUCTION_FACTOR Acceleration reduction factor
35240 ACCEL_TYPE_DRIVE "DRIVE" acceleration characteristic curve: ON/OFF
35242 ACCEL_REDUCTION_TYPE Type of acceleration reduction

5.2 5.2 Setting data

5.2.1 Channelspecific setting data

Number Identifier: $SC_ Description

42500 SD_MAX_PATH_ACCEL Max. path acceleration
42502 IS_SD_MAX_PATH_ACCEL Analysis of SD 42500: ON/OFF
42510 SD_MAX_PATH_JERK Max. path-related jerk
42512 IS_SD_MAX_PATH_JERK Analysis of SD 42510: ON/OFF

5.3 5.3 System variables

Identifier Description
$AC_PATHACC Path acceleration for real-time events
$AC_PATHJERK Path jerk for real-time events

Acceleration (B2)
5-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Index

$ M
$AC_PATHACC, 2-12, 2-27 MD20150, 2-4, 2-22, 2-40, 2-41
$AC_PATHJERK, 2-26, 2-27 MD20500, 2-5, 2-6
$SC_IS_SD_MAX_PATH_ACCEL, 2-10 MD20600, 2-21
$SC_IS_SD_MAX_PATH_JERK, 2-25 MD20602, 2-17, 2-18
$SC_SD_MAX_PATH_ACCEL, 2-10 MD20610, 2-9
$SC_SD_MAX_PATH_JERK, 2-25 MD32000, 2-39
MD32300, 2-3, 2-14, 2-15, 2-16, 2-17, 2-18, 2-39
MD32310, 2-16
A MD32400, 2-32, 2-33
MD32402, 2-33
ACC[axis], 2-7
MD32410, 2-32
MD32420, 2-4, 2-22, 2-23
MD32430, 2-22, 2-23
B MD32431, 2-21, 2-28
BRISK, 2-3 MD32432, 2-29
BRISKA, 2-4 MD32433, 2-15
MD32434, 2-14, 2-15, 2-28
MD32435, 2-28
D MD35220, 2-36, 2-39
MD35230, 2-36, 2-39
DRIVE, 2-40
MD35240, 2-40
DRIVEA, 2-41
MD35242, 2-35, 2-39

J S
Jerk limiting
SD42500, 2-9, 2-10
Smoothing method, 2-32
SD42502, 2-9, 2-10
SD42510, 2-24
SD42512, 2-24
SOFT, 2-22
SOFTA, 2-23

Acceleration (B2)
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 Index-1
Index

Acceleration (B2)
Index-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 1
SINUMERIK 840D sl/840Di sl/840D/840Di/810D Diagnostic tools (D1)
______________
Brief description

2
______________
Detailed description

3
SINUMERIK ______________
Constraints

840D sl/840Di sl/840D/840Di/810D

4
______________
Examples

Diagnostic tools (D1) 5

______________
Data lists

Function Manual

Valid for

Control
SINUMERIK 840D sl/840DE sl
SINUMERIK 840Di sl/840DiE sl
SINUMERIK 840D powerline/840DE powerline
SINUMERIK 840Di powerline/840DiE powerline
SINUMERIK 810D powerline/810DE powerline

Software Version
NCU System Software for 840D sl/840DE sl 1.3
NCU system software for 840D sl/DiE sl 1.0
NCU system software for 840D/840DE 7.4
NCU system software for 840Di/840DiE 3.3
NCU system software for 810D/810DE 7.4

03/2006 Edition
6FC5397-0BP10-1BA0
Safety Guidelines
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent
damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are
graded according to the degree of danger.

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

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

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

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

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

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

Prescribed Usage
Note the following:

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

Trademarks
All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this
publication may be trademarks whose use by third parties for their own purposes could violate the rights of the
owner.

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

Siemens AG Order No.: 6FC5397-0BP10-1BA0 Copyright © Siemens AG 2006.

Automation and Drives Edition 05/2006 Technical data subject to change
Postfach 48 48
90437 NÜRNBERG
GERMANY
Table of contents
1 Brief description ...................................................................................................................................... 1-1
2 Detailed description ................................................................................................................................ 2-1
2.1 Description of diagnostic tools ................................................................................................... 2-1
2.2 Service displays ......................................................................................................................... 2-4
2.3 Axis/spindle service display ....................................................................................................... 2-5
2.4 Drive service display (for digital drives only)............................................................................ 2-15
2.5 Service display PROFIBUS DP 840Di..................................................................................... 2-26
2.6 Communication log .................................................................................................................. 2-29
2.7 PLC status................................................................................................................................ 2-30
2.8 Other diagnostics tools ............................................................................................................ 2-31
2.9 Identifying defective drive modules.......................................................................................... 2-32
3 Constraints ............................................................................................................................................. 3-1
4 Examples................................................................................................................................................ 4-1
5 Data lists................................................................................................................................................. 5-1
5.1 Machine data.............................................................................................................................. 5-1
5.1.1 Drive-specific machine data....................................................................................................... 5-1
5.1.2 NC-specific machine data .......................................................................................................... 5-2
5.1.3 Axis/spindlespecific machine data ............................................................................................. 5-2
5.2 Setting data ................................................................................................................................ 5-3
5.2.1 Axis/spindle-specific setting data ............................................................................................... 5-3
5.3 Signals ....................................................................................................................................... 5-3
5.3.1 Signals to axis/spindle ............................................................................................................... 5-3
5.3.2 Signals from axis/spindle ........................................................................................................... 5-4
Index................................................................................................................................................ Index-1

Diagnostic tools (D1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 iii
Table of contents

Diagnostic tools (D1)

iv Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Brief description 1
Diagnostic tools
Integrated and external diagnostic tools are available for operating the SINUMERIK control.
In addition, the NC assists with error delimitation for drive problems by providing the option
of simulating the drive interface of machine axes.

Integrated diagnostic tools

The following information is displayed via the HMI user interface:
• Display of alarms and messages from the control system or drives in plaintext
• Status displays for:
– Interface signals from NC, HMI, PLC and I/O modules
– Data blocks
– PLC flags, timers and counters
– Inputs and outputs of the PLC.
• Service displays
– Nominal values, actual values and status data for axes/spindles
– Communication error log for NC, PLC and HMI
– Logbook
– Display showing version of system software installed

Diagnostic tools (D1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 1-1
Brief description

External diagnostic tools

The 611D commissioning software (to be installed on an external computer) is used to
configure and set parameters for SIMODRIVE 611-D drives.
The 611D commissioning software provides the following functions:
• First commissioning through direct input of drive parameters
• Commissioning by transferring standard data records that are derived from motor/power
section combinations
• Automatic controller setting (self-optimization)
• Measurement functions for evaluating speed and position control loops and regulating
torque in the time and frequency range without external measurement equipment.
• Fast Fourier Transformation (FFT) for analysis of the control loop setting and machine
kinematics
• Circularity test
• Archiving drive and control data
By means of the DAC configuration, the 611D drive modules enable the output of all
important control loop variables of the position, speed and torque levels to external
measurement devices (e.g. oscilloscope, signal plotter) via measuring sockets.

References
A detailed description of the 611D commissioning software can be found in:
/FBA/ Function Manual, Drive Functions, Speed Control Loop (DD2)
A detailed description of the circularity test can be found in:
/FB2/ Function Manual, Extended Functions, Compensations (K3)

Diagnostic tools (D1)

1-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Detailed description 2
2.1 2.1 Description of diagnostic tools

Scope
The Function Manual deals with displays of the user interface, system functions, procedures
for determining system statuses and, if necessary, measures for avoiding undesirable
conditions for the NC control, PLC and drives.

General

Alarm and signal status displays

The currently active or not yet acknowledged alarms and messages are displayed in the
Diagnostics operating area.

Alarm log
The alarm log contains the alarms that have occurred and the time. Detailed information on
the individual alarms can be found in:
References: /DA/ Diagnostics Manual, or in the case of systems with HMI Advanced see
Online Help.

Note
The corresponding explanations for alarms and messages which the machine tool
manufacturer issues (range of values ......),
can be found in the machine tool manufacturer's documentation.

Diagnostic tools (D1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-1
Detailed description
2.1 Description of diagnostic tools

Alarm handler

Application
The alarm handler provides an infrastructure for activating and managing alarms on the
NCK.

Functions
• Buffering of a maximum of 16 alarms that have been activated since system powerup and
which have not yet been reset.
• Alarm reactions can be programmed as channelspecific, modegroupspecific or NCK-
specific reactions.
• The "NoReady" alarm reaction can also be programmed as a channelspecific reaction.

Activation
The alarm handler is activated when an error status is detected in the NCK, causing an
alarm to be output.
It is possible to trigger an alarm in a part program using the SETAL command.
Reference: /PGA/Programming Manual Advanced

Note
The currently active alarms in the NCK are read via the operator panel interface.
It is not possible to set alarms externally in the NCK.

Alarms with an alarm ID in the 60000 to 60999 range can be activated in a part program.

Data backup
On Power ON , the alarm-handler data are reinitialized completely, since they are not
stored in the buffered SRAM.

Diagnostic tools (D1)

2-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.1 Description of diagnostic tools

Compatibility
As of SW 4
As of SW 4.1 and later, it is possible to set the channelspecific signal CHANNEL_NOREADY
in the VDI interface in response to alarms.
Up to SW 3.x
Machine data:
MD11412 $MN_ALARM_REACTION_CHAN_NOREADY
controls whether the channel-specific signal CHANNEL_NOREADY function is used. This
ensures that earlier PLC versions remain compatible.
Default setting: CHANNEL_NOREADY signal is not used.
Alarms that have specified a channelspecific NOREADY signal are reconfigured to the
modegroupspecific NOREADY signal.

Clearing criterion
For each alarm, you must specify how the alarm can be cleared again. The following clearing
criteria are possible:
• POWERONCLEAR
The alarm is cleared by switching the control off and then on again.
• RESETCLEAR
When the Reset key is pressed, the alarm is cleared in the channel in which it occurred.
• CANCELCLEAR
The alarm is cleared in any channel when the Cancel key is pressed. The alarm can also
be cleared by means of an NC start or Reset.
• NCSTARTCLEAR
The alarm is cleared in the channel in which the alarm occurred by starting a program.
The alarm can also be cleared by means of a Reset.
• CLEARHIMSELF
The alarm is not cleared by an operator input or action, but explicitly by a "clearAlarm"
programmed in the NCK source code.
• BAGRESETCLEAR
The alarm is cleared by a "BAGRESETCLEAR" command or by executing a Reset in
every channel of this mode group.
• NCKRESETCLEAR
The alarm is cleared by an "NCKRESETCLEAR" command or by executing a Reset in
every channel.

Alarm display control

The scope of the alarm outputs can be modified using machine data.
• MD11410 $MN_SUPPRESS_ALARM_MASK (mask for suppressing special alarm
outputs)
• MD11411 $MN_ENABLE_ALARM_MASK (mask for enabling special alarm outputs)
For details of this machine data, please refer to chapter 4.

Diagnostic tools (D1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-3
Detailed description
2.2 Service displays

2.2 2.2 Service displays

Conditions of use
Conditions for the use of service displays are specified. Service displays are differentiated
between in terms of axis/spindle, drive and profibus DP

Operation
For how to operate the service displays see:
References:
/BAD/ "HMI Advanced Operator's Guide"
/BEM/ "HMI Embedded Operator's Guide"

Note
On HMI Advanced, it is possible to switch between the displays using the vertical soft key for
Part view/Overall view. The data in the partial view are updated at significantly shorter
intervals.

General
In principle, the following service displays are available:
• Axis/spindle service displays
• Drive service displays
• Profibus-DP service displays

Note
System dependencies
The availability of individual service displays depends on the particular system, e.g.:
• Drive service displays: for digital drives only
• Profibus-DP service displays: for SINUMERIK 840Di only

Diagnostic tools (D1)

2-4 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.3 Axis/spindle service display

2.3 2.3 Axis/spindle service display

Values and statuses

Displays showing values and statuses on the control's user interface allow the operating
status of the axes and spindles to be evaluated.

Accessing the diagnostic options

For the purposes of commissioning and diagnosing

• axes and
• spindles,
the information shown in the following figure can be called up for each axis/spindle in the
"Diagnostics" operating area via the operator panel.
This information is used for
• checking the setpoint branch
(e.g. position setpoint, speed setpoint, spindle speed setpoint prog.)
• checking the actual value branch
(e.g. actual position value measuring system 1/2, actual speed value)
• optimizing the position control loop
(e.g. following error, control deviation, servo gain factor)
• checking the whole control loop of the axis
(e.g. by comparing the position setpoint and the actual position value, speed setpoint and
the actual speed value)
• checking hardware errors
(e.g. by checking the encoder: If the axis is physically moved, a change in the actual
position value must result)
• setting and checking axis monitoring functions.
Descriptions on how to select and operate the "Diagnostics" area can be found in:
References:
/BAD/ "HMI Advanced Operator's Guide"
/BEM/ "HMI Embedded Operator's Guide"

Diagnostic tools (D1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-5
Detailed description
2.3 Axis/spindle service display

Figure 2-1 Example for service axis/spindle HMI Advanced

Following error
The difference between the position setpoint and the actual position value of active
measuring system 1 or 2.
Unit: mm, inch or degrees

Error signal
The difference between the position setpoint at the position controller input and the actual
position value of active measuring system 1 or 2.
Unit: mm, inch or degrees

Contour deviation
The current contour deviation is displayed with this value (variations of the following error
caused by settling operations on the speed controller due to load changes).
The contour deviation results from the difference between an actual position pre-calculated
from the position setpoint and the actual position value of active measuring system 1 or 2.
Unit: mm, inch or degrees

Diagnostic tools (D1)

2-6 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.3 Axis/spindle service display

Servo gain factor (calculated)

The servo gain factor in the display is calculated by the NC according to the following
equation:

6SHHGVHWSRLQW
6HUYRJDLQIDFWRU 
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Velocity setpoint = setpoint currently being output to the axis/spindle.

References:
/FB1/ Function Manual, Basic Functions; Velocities, Setpoint/Actual Value Systems, Control
Loop Control (G2)

Active meas. system

This line indicates whether measuring system 1 or 2 is active.

Position actual value measuring system 1/2

The actual position of the axis as measured via measuring system 1/2. The position is
displayed in the machine coordinate system (no work offsets or tool offsets included).
Unit: mm, inches or degrees

Position reference value

Specified position transferred from the interpolator to the position control.
Unit: mm, inches or degrees

compensation value meas. system 1 or 2

Display of absolute compensation value for measuring system 1 or 2.
The compensation value consists of the sum of backlash and leadscrew error compensation
for the actual axis position
Unit: mm, inches or degrees

Sag and temperature compensation

Display of the compensation value calculated for the current axis position based on the total
of the sag and temperature compensations.
Unit: mm, inches or degrees

Diagnostic tools (D1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-7
Detailed description
2.3 Axis/spindle service display

Velocity actual value of active encoder (only 840Di)

Display of velocity actual value of the currently active encoder.

Velocity setpoint of drive (only 840Di)

Display of velocity setpoint of drive.

Speed actual value

The pulses supplied by the encoder are evaluated by the NC and displayed.
Unit: %
100% means maximum speed (corresponds to 10 V for analog interface; maximum speed
for SIMODRIVE 611 digital, specified by machine data:
MD1401 $MD_MOTOR_MAX_SPEED (speed for maximum useful motor speed).

Speed setpoint
Speed setpoint transferred to the drive (= speed setpoint from position controller and feed
forward control).
Unit: %
100% corresponds to the maximum speed setpoint (10 V for an analog interface, maximum
speed for SIMODRIVE 611 digital).

Spindle speed setpoint prog.

Speed setpoint programmed by the user.
Unit: rpm
e.g.: Input: S1000; display: 1000 rpm
Display applies to spindles only.

Spindle speed setpoint current

Current active speed setpoint with correct sign, including calculated compensation value and
any operative speed limitation (programmed by means of setting or machine data).
Unit: rpm
Display applies to spindles only.

Override
The effective correction factor of the feed or spindle correction switch is displayed.
Unit: %

Diagnostic tools (D1)

2-8 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.3 Axis/spindle service display

Position offset for master axis/spindle actual value

The currently applicable position offset value is displayed here (relative to the actual value) if
such a position offset (angular offset between master and slave axes) has been programmed
for the "Synchronous spindle" function.
Unit: mm, inches, degrees
References:
/FB2/ Function Manual, Extended Functions; Synchronous Spindle (S3)

Position offset for master axis/spindle setpoint value

The currently applicable position offset value is displayed here (relative to the setpoint) if
such a position offset (angular offset between master and slave axes) has been programmed
for the "Synchronous spindle" function.
Unit: mm, inches, degrees
References:
/FB2/Function Manual, Extended Functions; Synchronous Spindle (S3)

Current gear stage

The current actual gear stage is displayed here.
With axes, this is only displayed if a spindle is assigned to the axis. This display corresponds
to IS DB31, ... DBX16.0 to 16.2 ("Actual gear stage").
References
/FB1/ Function Manual, Basic Functions; Spindles (S1)
Displays which of the 6 parameter sets of the position controller is active. A parameter set
changeover takes place, for example, with a gear shift.
References:
/FB1/ Function Manual, Basic Functions; Velocities, Setpoint/Actual-Value Systems, Closed-
Loop Control (G2)

Controller mode
Displays the current controller modes.

0: Position Control
1: Speed Control
2: Stopping
3: Parking
4: Followup
5: Braking
For a more detailed description of controller modes, refer to:
References:
/FB1/ Function Manual, Basic Functions; Various Interface Signals (A2)

Diagnostic tools (D1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-9
Detailed description
2.3 Axis/spindle service display

"Referenced" status display

Status display for reference point approach (axis).

Bit0=Status 0: The machine axis is not cross-referenced using position measurement

system 1 or 2.
Bit0=Status 1: The machine axis has reached the reference point (incremental
measuring system) and/or target point (length measuring system with
distance coded reference marks) during reference point approach.
Bit1=Status 0: No obligation to cross-reference (NC start possible without cross-
referencing this axis)
Bit1=Status 1: There is no obligation to cross-reference for the NC start.
Depending on machine data:
MD34110 $MA_REFP_CYCLE_NR
and
MD20700 $MC_REFP_NC_START_LOCK
Display corresponds to
IS DB31, ... DBX60.4 and 60.5 ("Referenced/synchronized 1 or 2").
References:
/FB1/ Function Manual, Basic Functions; Reference Point Approach (R1)

QEC learning active

Indicates whether or not the learning process for quadrant error compensation for the axis is
active.

Fixed stop reached

Indicates whether or not the axis has fulfilled the conditions for "Fixed stop reached" when
the "Travel to fixed stop" function is active (IS DB31..., DBX62.5).
References:
/FB1/ Function Manual, Basic Functions; Travel to Fixed Stop (F1)

Torque limitation value

Indicates the value programmed by means of
FXST[x] or
SD43510 $SA_FIXED_STOP_TORQUE
or the value defined with machine datum:
MD37010 $MA_FIXED_STOP_TORQUE_DEF
for the clamping torque for "Travel to fixed stop".
Unit: % of maximum torque
References:
/FB1/ Function Manual, Basic Functions; Travel to Fixed Stop (F1)

Diagnostic tools (D1)

2-10 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.3 Axis/spindle service display

Safe actual position of the axis

Displays the current actual axis position that has been measured via the NC. This actual
position should correspond in value to "Safe actual position of drive".
References:
/FBSI/ Description of Functions, Safety Integrated

Safe actual position of drive

Displays the current actual axis position that has been measured via the drive. This actual
position should correspond in value to "Safe actual position of axis".
References:
/FBSI/ Description of Functions, Safety Integrated

Safe input signals of the axis

Displays the safe input signals of the PLC defined for the "Safety Integrated" function. The
status of these input signals should correspond to the "Safe input signals of drive" status.
References:
/FBSI/ Description of Functions, Safety Integrated

Safe input signals of the drive

Displays the safe input signals of the drive (DMP on drive bus) defined for the "Safety
Integrated" function. The status of these input signals should correspond to the "Safe input
signals of axis" status.
References:
/FBSI/ Description of Functions, Safety Integrated

Safe output signals of the axis

Displays the safe output signals of the PLC defined for the "Safety Integrated" function. The
status of these output signals should correspond to the "Safe output signals of drive" status.
References:
/FBSI/ Description of Functions, Safety Integrated

Safe output signals of the drive

Displays the safe output signals of the drive (DMP on drive bus) defined for the "Safety
Integrated" function. The status of these output signals should correspond to the "Safe
output signals of axis" status.
References:
/FBSI/ Description of Functions, Safety Integrated
The following description contains more information on problems and questions that may
arise.

Diagnostic tools (D1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-11
Detailed description
2.3 Axis/spindle service display

Control technology concept

The figure below shows at which points in the controlloop the axis and spindle information is
read off.

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Figure 2-2 Overview diagram of axis and spindle information

Diagnostic tools (D1)

2-12 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.3 Axis/spindle service display

Checks

Check of the position controller setting

The position controller settings can be easily managed via the service axis display.
The number 1 (corresponds to servo gain = 1) should be entered in machine data:
MD32200 $MA_POSCTRL_GAIN [n] (servo gain factor).
The change takes effect immediately.
Because the servo gain factor is defined as

6SHHGVHWSRLQW >PPLQ@
6HUYRJDLQIDFWRU   'HIDXOW
)ROORZLQJHUURU >PP@

a following error of 1 mm must be measured (with KV = 1 and constant velocity) at a

feedrate of 1 m/min.
If the desired servo gain (KV) factor does not correspond to the actual factor, the possible
causes and remedial optimization options are as follows:
• Speed or torque feedforward control is activated. A higher servo gain factor is displayed
than was set with machine data:
MD32200 $MA_POSCTRL_GAIN [n] (servo gain factor)
.
• Filter for jerk limitation or dynamic response adaptation is activated. A lower servo gain
factor is displayed than was set with machine data:
MD32200 $MA_POSCTRL_GAIN [n] (servo gain factor)
.

Diagnostics for alarms

This information is also provided as a diagnostic tool for diagnosing the causes of alarms
such as:
• "Standstill monitoring"
⇒ following error >
MD36030 $MA_STANDSTILL_POS_TOL (standstill tolerance)
• "Contour monitoring"
⇒ contour deviation >
MD36400 $MA_CONTOUR_TOL (tolerance band for contour monitoring)
• "Speed setpoint limiting"
⇒ Speed setpoint >
MD36210 $MA_CTRLOUT_LIMIT
(maximum speed setpoint)

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Detailed description
2.3 Axis/spindle service display

• "Positioning monitoring"
⇒ following error >
MD36010 $MA_STOP_LIMIT_FINE
(exact stop fine)
• "Measuring system changeover not available
⇒ difference between actual position value measuring system 1 and 2 >
MD36500 $MA_ENC_CHANGE_TOL
(maximum tolerance for actual position value measurement)
• "Clamping monitoring"
⇒ following error >
MD36050 $MA_CLAMP_POS_TOL
(clamping tolerance for "Clamping active" interface signal)
For details on the behavior of the NC control in response to individual alarms, and remedial
action, please refer to:
References:
/DA/ Diagnostics Manual

Diagnostics of operational state errors

The following information is also provided to assist in the analysis of operational state errors
such as:
• Despite an active motion command, the axis does not move.
⇒ Check whether controller is enabled. In controller mode, position control or speed
control (with spindle control) must be activated.
• Occurrence of feed fluctuations.
⇒ Detection via following error or actual speed value.
• Incorrect positioning.
⇒ Compare position setpoint with actual position value of measuring system 1/2 and
absolute compensation value of measuring system 1 or 2.
• The cam is not detected by the PLC during referencing.
⇒ Check status display "referenced"
• An incorrect reference point value was displayed.
⇒ The wrong measuring system may have been used for referencing.
• Large fluctuations in the actual speed value are occurring in the main spindle drive.
⇒ The selected actual speed range for encoders is too high or the machine datum:
MD36300 $MA_ENC_FREQ_LIMIT [n] (encoder limiting frequency)
is set higher than specified in the encoder data sheet.
Incorrect spindle positioning occurs.
⇒ The wrong measuring system may be selected or synchronization may have been
performed with the wrong zero mark.

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 Detailed description
2.4 Drive service display (for digital drives only)

2.4 2.4 Drive service display (for digital drives only)

Displays
Displays on the control's user interface that show values and statuses allow for evaluation of
the operating statuses of the digital drives.

Access
Accessing diagnostic options:
For the purposes of commissioning and diagnosing
• feed drives (FDD) and
• main spindle drives (MSD)
the information shown in the following figure can be called up for each axis/spindle in the
"Diagnostics" operating area via the operator panel.

Note
The parameters in the "Drive" service display are not necessary for connecting drives via the
PROFIBUS DP. For SINUMERIK 840Di, the drives are defined as PROFIBUS nodes. The
appropriate service data is displayed in 840DiStartup in the menu Diagnostics -->
PROFIBUS.

Application
The diagnostic options are used for:
• checking the status of enabling and control signals
(e.g. pulse enable, drive enable, motor selection, setpoint parameter set)
• checking the status of FDD/MSD operating modes
(e.g. setup mode, parking axis)
• displaying temperature warnings
• checking the current setpoint/actual value display
(e.g. actual position value measuring system 1/2, speed setpoint, actual speed value)
• checking the drive status (drive ready)
• displaying the current ramp-up phase
• displaying the group error message (message status class 1)
• displaying the drive status messages
(e.g. threshold torque not reached, minimum speed not reached, actual speed = set
speed)

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Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-15
Detailed description
2.4 Drive service display (for digital drives only)

Service HMI Advanced Drive

Descriptions on how to select and operate the "Diagnostics" area can be found in:
References:
/BAD/ Operator's Guide HMI Advanced
/BEM/ Operator's Guide HMI Embedded

Note
The individual status displays, warnings, messages, etc., are explained in the following
sections. For HMI SW 6 and higher, the status is shown in plain text as "yes" or "no" instead
of "0" and "1".
For additional information, refer to:
References:
/IAD/Installation Guide

Explanations/Terms

Drive enable (terminal 64/63)

The display corresponds to the status of terminal 64/63 on the SIMODRIVE611 digital
infeed/regenerative feedback unit.
State 1: Central drive enable
State 0 : Central drive disable
Display corresponds to machine datum:
MD1700 $MD_TERMINAL_STATE
(status of binary inputs).

Pulse enable (terminal 63/48)

The display corresponds to the status of terminal 63/48 on the SIMODRIVE611 digital
infeed/regenerative feedback unit.
State 1: Central pulse enable
State 0 : Central pulse disable
Display corresponds to machine datum:
MD1700 $MD_TERMINAL_STATE
(status of binary inputs).

Pulse enable (terminal 663)

The display corresponds to the status of terminal 663 (relay: safe operational stop) on the
drive module.
State 1: Module-specific pulse enable
State 0 : module-specific pulse disable
Display corresponds to machine datum:
MD1700 $MD_TERMINAL_STATE
(status of binary inputs).

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2.4 Drive service display (for digital drives only)

Setup mode (terminal 112) HMI SW 6.3 and later

The display corresponds to the status of terminal 112 on the SIMODRIVE 611 digital
infeed/regenerative feedback unit.
State 1: Central drive disable for setup mode
State 0 : Central drive enable, no setup mode
Display corresponds to machine datum:
MD1700 $MD_TERMINAL_STATE
(status of binary inputs).

PLC pulse enable

Indicates whether the pulse enable from the PLC is available for the drive.
State 1: The pulses for the drive module have been disabled by the PLC.
State 0: Pulse enable for this drive is activated by the PLC.
Display corresponds to IS DB31, ... DBX21.7 ("Pulse enable")
References:
/FB1/Function Manual, Basic Functions; Various Interface Signals (A2)

Speed controller enable NC

This display indicates whether the speed controller for the drive has been enabled by the
NC.
State 1: Speed controller enable = OFF
State 0: Speed controller enable = ON

Rampup function generator quick stop

Status display for rampup function generator quick stop.

State 1: Ramp-up function generator quick stop is not active for the drive.
State 0: Ramp-up function generator quick stop is active. The drive is stopped without
a ramp function with speed setpoint = 0 and without pulse suppression.
Display corresponds to IS DB31, ... DBX92.1 ("Rampfunction generator rapid stop").
References:
/FB1/Function Manual, Basic Functions; Various Interface Signals (A2)

DC link state (on/off)

The display contains the following drive warning:
State 0: DC link voltage = ON
State 1: DC link voltage is below warning threshold.
The warning threshold corresponds to machine datum:
MD1604 $MD_LINK_VOLTAGE_WARN_LIMIT (DC link undervoltage warning threshold).

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2.4 Drive service display (for digital drives only)

Enable pulses
Message indicating whether the drive pulses have been enabled.

State 0: The drive module pulses are suppressed. The axis/spindle can therefore not
be traversed.
State 1: The drive module pulses are enabled. The axis/spindle can now be traversed.
Display corresponds to IS DB31, ... DBX93.7 ("Enable pulses").
References:
/FB1/ Function Manual, Basic Functions; Various Interface Signals (A2).

Drive ready
Display of the current status of the selected drive.
State 0: The drive is not ready.
State 1: The drive is ready.
Display corresponds to IS DB31, ... DBX93.5 ("Drive Ready").
References:
/FB1/ Function Manual, Basic Functions; Various Interface Signals (A2)
Display indicating the current rampup phase of the selected drive.
Meaning:

CRC error
Display of communications errors detected in hardware between NC and drive.

Note
If the display shows a value other than "0", please contact your SIEMENS Regional Office!

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 Detailed description
2.4 Drive service display (for digital drives only)

ZK1 Messages
Display indicates whether messages of status class 1 are active.
State 0: No status class 1 message is active.
State 1: One or several status class 1 messages are active.
Status class 1 messages are alarms with the following characteristics:
• They cause internal responses
(e.g. regenerative braking, immediate pulse suppression)
• They are modal.

DC link voltage
Indicates the current DC link voltage level within the drive grouping.
Unit: Volts

Speed setpoint
The displayed speed setpoint represents the unfiltered total setpoint value. It is made up of
the position controller output component and the speed feed forward branch.
Unit: rpm
Display corresponds to machine datum:
MD1706 $MD_DESIRED_SPEED (desired speed).

Speed actual value

The actual value displayed represents the unfiltered actual speed value.
Unit: rpm
Display corresponds to machine datum:
MD1707 $MD_ACTUAL_SPEED (actual speed value).

Smoothed actual current value

Display of the smoothed actual current value. The torquegenerating actual current value is
smoothed by a PT1 element with parameterizable time constant.
Unit: %
100 % corresponds to the maximum current of the power section.
Display corresponds to machine datum:
MD1708 $MD_ACTUAL_CURRENT (smoothed actual current value).

Motor temperature
Display of motor temperature measured via temperature sensors.
Unit: Degrees Celsius
Display corresponds to machine datum:
MD1702 $MD_MOTOR_TEMPERATURE (motor temperature).

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Detailed description
2.4 Drive service display (for digital drives only)

Speed setpoint filter 1

Status display of speed setpoint smoothing function.

State 0: No speed setpoint smoothing is active.

State 1: Smoothing of the speed setpoint as requested by the PLC using IS DB31, ...
DBX20.3
("Speed setpoint smoothing") takes effect because speed setpoint filter 1 is
configured as the low pass.
Display corresponds to IS DB31, ... DBX92.3 ("Speed setpoint smoothing active") and is
shown in an updated form as of software version 6.3 and later.
References:
/FB1/ Function Manual, Basic Functions; Various Interface Signals (A2)

2. Torque Limit
Display of active torque limit
State 0: Torque limit 1 is active.
State 1: Torque limit 2 is active.
Display corresponds to IS DB31, ... DBX92.2
("Torque limit 2 active").
References:
/FB1/ Function Manual, Basic Functions; Various Interface Signals (A2)

Integrator disabling
This display indicates whether the speed controller integrator is active.

State 0: The integrator of the speed controller is enabled. The speed controller
functions as a PI controller.
State 1: Deactivation of the speed-controller integrator as requested by the PLC using
IS DB 31, ... DBX 21.6
("Integrator disable speed controller") is active for the drive module. The
speed controller has therefore switched from a PI to a P controller.
Display corresponds to IS DB31, ... DBX93.6 ("Speed-controller integrator disabled").
References:
/FB1/ Function Manual, Basic Functions; Various Interface Signals (A2)

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 Detailed description
2.4 Drive service display (for digital drives only)

Setup mode
Mode display of the SIMODRIVE 611 digital.
State 0: Normal mode is active for the drive.
State 1: Setup mode is active for the drive.
Display corresponds to IS DB31, ... DBX92.0
("Setup mode active").
References:
/FB1/ Function Manual, Basic Functions; Various Interface Signals (A2)

Parking axis
Mode display of the SIMODRIVE 611 digital.

State 0: Axis/spindle in normal mode

State 1: Axis/spindle in parking position, i.e. all encoder-specific monitoring and
evaluating functions are disabled. This allows the encoder to be withdrawn
without initiating an alarm.

Setpoint parameter set (drive)

Indicates which of the 8 drive parameter sets of the SIMODRIVE 611 digital are to be
activated by the PLC.
Display corresponds to IS DB31, ... DBX21.0 to 21.2 ("Parameter set selection A,B,C").
References:
/FB1/ Function Manual, Basic Functions; Various Interface Signals (A2)

Actual parameter set (drive)

Display indicating which of the 8 drive parameter sets of the SIMODRIVE 611 digital is
currently active.
Display corresponds to IS DB31, ... DBX93.0 to 93.2
("Active parameter set A,B,C").
References:
/FB1/ Function Manual, Basic Functions; Various Interface Signals

Operating mode
Display indicating whether the motor is operating as a feed drive or main spindle drive.

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Detailed description
2.4 Drive service display (for digital drives only)

Motor selection (star/delta)

Display indicating which motor data set is to be activated by the PLC. At the moment the
motor data record is used for the star/delta switchover on main spindle drives.
The following assignment applies:

Motor selection Application Coding

Motor 1 MSD: Star mode 0 0
Motor 2 MSD: Delta mode 0 1
Motor 3 Reserved 1 0
Motor 4 Reserved 1 1

The display applies only to MSD drives.

The display corresponds to IS DB31, ... DBX21.3 to 21.4
("Motor selection A,B").
References:
/FB1/ Function Manual, Basic Functions; Various Interface Signals (A2)

Actual motor (star/delta)

Display indicating which of the motor data sets is currently active. At the moment the motor
data record is used for the star/delta switchover on main spindle drives.
The following assignment applies:

Motor selection Application Coding

Motor 1 MSD: Star mode 0 0
Motor 2 MSD: Delta mode 0 1
Motor 3 Reserved 1 0
Motor 4 Reserved 1 1

The display applies only to MSD drives.

The display corresponds to IS DB31, ... DBX93.3 to 93.4
("Active motor A,B").
References:
/FB1/ Function Manual, Basic Functions; Various Interface Signals (A2)

Position actual value measuring system 1/2

The actual position of the axis as measured via measuring system 1/2. The position is
displayed in the machine coordinate system (no work offsets or tool offsets included).
Unit: mm, inches or degrees

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 Detailed description
2.4 Drive service display (for digital drives only)

Power section in i²t limitation HMI SW 6.3 and later

Limitation for protecting the power section against continuous overloading of the
SIMODRIVE 611 drives.
State 1: i2t power section limitation has responded
State 0 : i2t power section limitation has not responded
The display applies to SIMODRIVE universal and SIMODRIVE digital drives.
The display corresponds to IS DB31, ... DBX95.7
("i2t monitoring).
References:
/FB1/ Function Manual, Basic Functions; Various Interface Signals (A2)

Heatsink temperature warning

Warning signal output by drive:
State 0: The heatsink temperature monitoring has not responded.
State 1: The heatsink temperature monitoring has responded.
Display corresponds to IS DB31, ... DBX94.1
("Heatsink temperature prewarning").
References:
/FB1/Function Manual, Basic Functions; Various Interface Signals (A2)

Motor temperature warning

Warning signal output by drive:
State 0: The motor temperature is below the warning threshold.
State 1: The motor temperature has exceeded the defined warning threshold.
The warning threshold corresponds to machine datum:
MD1602 $MD_MOTOR_TEMP_WARN_LIMIT (maximum motor temperature).
Display corresponds to IS DB31, ... DBX94.0
("Motor temperature prewarning").
References:
/FB1/ Function Manual, Basic Functions; Various Interface Signals (A2)

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Detailed description
2.4 Drive service display (for digital drives only)

Ramp-up function completed

Status display of drive.

State 0: The ramp-up function has not yet been completed after a new speed setpoint
was defined.
State 1: The actual speed value has reached the speed tolerance band after a new
speed setpoint was defined.
The speed tolerance band corresponds to machine datum:
MD1426 $MD_SPEED_DES_EQ_ACT_TOL (tolerance band for 'ndesired-nactual' message).
Display corresponds to IS DB31, ... DBX94.2
("Ramp-up function completed").
References:
/FB1/ Function Manual, Basic Functions; Various Interface Signals (A2)

Torque lower than threshold setting

Status display of drive.

State 0: In the stationary condition (i.e. ramp-up procedure completed), the torque
setpoint is greater than the threshold torque.
State 1: In the stationary condition, the torque setpoint has not reached the threshold
torque.
The threshold torque corresponds to machine datum:
MD1428 $MD_TORQUE_THRESHOLD_X (threshold torque).
Display corresponds to IS DB31, ... DBX94.3 ("Md< Mdx").
References:
/FB1/ Function Manual, Basic Functions; Various Interface Signals (A2)

Speed lower than minimum setting

Status display of drive.
State 0: The actual speed value is greater than the minimum speed.
Status 1: The actual speed value is smaller than the minimum speed.
The minimum speed corresponds to machine datum:
MD1418 $MD_SPEED_THRESHOLD_MIN (nmin for 'nactual < nmin' message).
Display corresponds to IS DB31, ... DBX94.4
"|nactual|< nmin").

References:
/FB1/ Function Manual, Basic Functions; Various Interface Signals (A2)

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 Detailed description
2.4 Drive service display (for digital drives only)

Speed lower than threshold setting

Status display of drive.
State 0: The actual speed value is greater than the threshold speed.
Status 1: The actual speed value is smaller than the threshold speed.
The threshold speed corresponds to machine datum:
MD1417 $MD_SPEED_THRESHOLD_X
(nx for 'nactual < nx' message).
Display corresponds to IS DB31, ... DBX94.5
"|nactual|< nx").
References:
/FB1/ Function Manual, Basic Functions; Various Interface Signals (A2)

Actual speed = set speed

Status display of drive.

State 0: The actual speed value is outside the speed tolerance band after a
new speed setpoint was defined.
State 1: The actual speed value has reached the speed tolerance band after a new
speed setpoint was defined.

The speed tolerance band corresponds to machine datum:

MD1426 $MD_SPEED_DES_EQ_ACT_TOL (tolerance band for 'nset-nactual' message).
Display corresponds to IS DB31, ... DBX94.6
("|nactual|= nset").
References:
/FB1/ Function Manual, Basic Functions; Various Interface Signals (A2)

Variable signal 1
Status display of 611D variable signaling function.
With the variable signaling function, any memory location can be monitored to see whether a
definable threshold is exceeded. In addition to the threshold, a tolerance band can be
defined which is also taken into account when scanning for violation of the threshold value.
The signal can be combined with an ON delay or OFF delay time.
State 0: Threshold value not reached
State 1: Threshold value exceeded
Parameters for the variable signal function are set using the following 611D machine data:

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Detailed description
2.4 Drive service display (for digital drives only)

MD1620 $MD_PROG_SIGNAL_FLAGS (Bits variable signal function)

MD1621 $MD_PROG_SIGNAL_NR (Signal number variable signal function)
MD1622 $MD_PROG_SIGNAL_ADDRESS (Address variable signal function)
MD1623 $MD_PROG_SIGNAL_THRESHOLD (Threshold variable signal function)
MD1624 $MD_PROG_SIGNAL_HYSTERESIS (Hysteresis variable signal function)
MD1625 $MD_PROG_SIGNAL_ON_DELAY (ON Delay variable signal function)
MD1626 $MD_PROG_SIGNAL_OFF_DELAY (OFF Delay variable signal function)

Diagnostics for alarms

This information is also provided as a diagnostic tool for diagnosing the causes of alarms
such as:
• "Ramp-up error"
⇒ Check the ramp-up phase to see which ramp-up phase the drive has reached.
• "Drive malfunction"
⇒ Message ZK1 is set.
⇒ check specified parameter set, motor selection, DC link status.
Check following alarms 300500 to 300515.
• "Zero speed monitoring",
25050 "Contour monitoring",
25060 "Speed setpoint limitation"
25080 "Positioning monitoring"
⇒ The enabling for the drive may have been omitted (e.g. pulse enable, drive enable,
pulse enable for PLC not available); this leads to display pulses enabled = off.
• "Motor temperature exceeded"
⇒ Check the current motor temperature.

For details on the behavior of the NC control in response to individual alarms, and remedial
action, please refer to:
References:
/DA/ Diagnostics Manual

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 Detailed description
2.5 Service display PROFIBUS DP 840Di

2.5 2.5 Service display PROFIBUS DP 840Di

The user interface 840Di StartUp provides diagnostic screen forms for PROFIBUS DP and
its nodes. . These diagnostic screens are only intended for information. You cannot modify
them.
The following detailed information is displayed:
• PROFIBUS configuration
• Information on the slaves regarding their assignment to PLC/NC
• Detailed information on the slaves and the corresponding slots
• Information on the axes.
To obtain a quick overview, the current states of certain functions are represented by
colored lamps. The following general conventions are used for the meaning of the individual
colors:
• Green: Function is OK.
• Red: Failure or no communication at the moment
• Gray: Function is not available for the present communication.
Diagnostic screen PROFIBUS DP Configuration
The diagnostic screen PROFIBUS Configuration provides general information on PROFIBUS
DP.
The following parameters are displayed:

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Detailed description
2.5 Service display PROFIBUS DP 840Di

Table 2-1 Diagnostic screen PROFIBUS Configuration

Function/subfunction Explanation/meaning
Bus configuration
Baud rate in MBd Data transfer rate
Cycle time in msec Configured bus cycle time; also defines the position controller cycle
Synchronous portion Configured time for cyclic data exchange within a PROFIBUS DP cycle
(TDX) in msec
Status
Configuration OK. Status of configuration
• Green lamp: DP master has powered up.
• Red lamp: Failure or no communication.
Bus status Current bus status is displayed in this field. Each bus status is explained in the screen form in
brief. Possible states are:
• POWER_ON
• OFFLINE
• CLEAR
• OPERATE
• ERROR
Diagnostic screen of the DP slaves
These diagnostic screen forms provide an overview of the DP slaves configured and
detected on the bus.
The following information is provided:

Table 2-2 Diagnostic screen Information on the slaves

Function/subfunction Explanation/meaning
Slave No. [DP address] Configured DP address of DP slave
Assignment It is displayed whether the DP slave is assigned to the NC or to the PLC.
• NC: e.g. one or several drives controlled by the NC.
• PLC: e.g. I/O modules or an axis controlled by the PLC.
Active on the bus Displays whether the DP slave has been detected on the bus
• Green lamp: DP slave has been detected on PROFIBUS DP and the data exchange with the
assigned component (NC or PLC) operates.
• Red lamp: Failure or no communication.
Sync. with NC Displays whether DP slave operates on the bus synchronously to the NC.
• Green lamp: DP slave operates on PROFIBUS DP synchronously to the NC, i.e. the
equidistant data exchange takes place.
• Gray lamp: DP slave is not assigned to the NC, but to the PLC.
• Red lamp: Failure or no communication.
Number of slots Number of configured slots within DP slave
Details Pressing this button will open another diagnostic screen that provides detailed information on
the corresponding DP slave.

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 Detailed description
2.5 Service display PROFIBUS DP 840Di

Detailed information of the slots within a slave

The Details button opens the diagnostics dialog box Detailed information on the slave. This
screen form provides detailed information on the slots assigned to the DP slave.
In addition, the Slave dialog box displays important information on the DP slave currently
selected.
The following information is displayed for the slots:

Table 2-3 Diagnostic screen Detailed information on the slave

Function/subfunction Explanation/meaning
Slaves
Slave No. [DP address] Configured DP address of DP slave
Assignment Displays whether the DP slave is assigned to the NC or to the PLC.
• NC: e.g. one or several drives controlled by the NC.
• PLC: e.g. I/O modules or an axis controlled by the PLC.
Active on the bus Displays whether the DP slave has been detected on the bus
• Green lamp: DP slave has been detected on PROFIBUS DP and the data exchange with the
assigned component (NC or PLC) operates.
• Red lamp: Failure or no communication.
Synchr. Displays whether DP slave operates on the bus synchronously to the NC.
• Green lamp: DP slave operates on PROFIBUS DP synchronously to the NC, i.e. the
equidistant data exchange takes place.
• Gray lamp: DP slave is not assigned to the NC, but to the PLC.
• Red lamp: Failure or no communication.
Slots
No. Slot number within DP slave
I/O address I/O address in the I/O address space of the PLC assigned to this slot. For NC axes, setpoint and
actual value must always be configured using the same I/O address.
Logical drive no. Drive number assigned for the appropriate axis in the NC machine data.
Length [bytes] Length of the I/O area in the STEP7 I/O address space, which is reserved for the slot
Type Specification whether the slot is an input, output or diagnostic slot. If the slot is assigned to an
NC axis, an output is always designated as a setpoint and an input always as an actual value.
Machine axes Display of the name defined for this slot in the machine data. If the slot is not assigned to any
NC axis, "No NC axis" is displayed.
Message frame type Message frame type configured in the NC machine data. If the slot is not assigned to any NC
axis, the message frame type will not be occupied (-).
Status Current slot status is only displayed for NC axes
• Green: Slot is used by the NC; communication active
• Gray: No NC axis
• Red: Slot is used by the NC; communication currently not active
Diagnostic screen for the axes
The diagnostic screen AxisInfo displays axisspecific detailed information. The diagnostic
screen provides an NCoriented view of the axis information.
The following information is displayed for the axes:

Diagnostic tools (D1)

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Detailed description
2.6 Communication log

Table 2-4 Diagnostic screen AxisInfo

Function/subfunction Explanation/meaning
Machine axes Name of the axis defined in the NC machine data
Output
Slave/slot Configured assignment
Status Current slot status
Green lamp: Cyclic communication
Red lamp: No cyclic communication (as yet).
Message frame failures The display shows the number of message frame failures since the NC was booted.
This value indicates the quality (fault susceptibility) of the PROFIBUS DP line.
Encoder 1
Slave/slot Configurable assignment
Status Current slot status
Green lamp: Cyclic communication
Red lamp: No cyclic communication (as yet).
Message frame failures The display shows the number of message frame failures since the NC was booted.
This value indicates the quality (fault susceptibility) of the PROFIBUS DP line.
Type Display of encoder type configured in the NC machine data
ABS: Absolute encoder
INC: Incrementalvalue encoder
Encoder 2 (If configured, the same display as for encoder 1)

2.6 2.6 Communication log

Log assistance
In event of a fault and when developing OEM applications, control logs may assist with the
analysis.

Logs and version

Communication log
The communication errors which have occurred between the HMI and NC are displayed in
chronological order via the soft key Comm. log in the "Diagnostics" operating area This error
list assists developers of OEM applications in localizing sporadic errors. The list has no
relevance for normal operation.

Diagnostic tools (D1)

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 Detailed description
2.7 PLC status

Logbook
The logbook display selected by means of soft key Logbook in the "Diagnostics" operating
area automatically lists details of all alterations to the control that are relevant for the system
(e.g., changes in access level).
For SINUMERIK 840Di, the logbook is displayed in 840Di StartUp.

Version
The version of the MMC or NC software installed can be read from this display
("Diagnostics" operating area via soft key Version) by service personnel.
The software version of each software module is also displayed in a list.

2.7 2.7 PLC status

PLC status signals can be checked and altered via the operator panel in the "Diagnostics"
operating area.

Application
The end customer or service personnel can use this function on site without a programming
device to do the following:
• Check the input and output signals of the PLC I/Os.
• Carry out limited troubleshooting
• Check the interface signals for diagnostic purposes.

Operation
For information about status display operation and changing PLC signals, refer to the
Operator's Guide for the relevant HMI software.

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Detailed description
2.8 Other diagnostics tools

Status display
The status of the following data can be displayed on the operator panel.
• Interface signals from the machine control panel
• Interface signals to the machine control panel
• Interface signals between the NCK and PLC
• Interface signals between the HMI and PLC
• Data blocks (DB 0-127)
• Flags (FB 0-255)
• Timers (T 0-127)
• Counters (C 0-63)
• Inputs (IB 0-127)
• Outputs (QB 0-127)
For a breakdown of the interface signals (DBx, DBBy), refer to:
References:
/LIS2/ Lists (Manual 2)

Change in status
The status of the above signals can be changed for test purposes. Signal combinations are
also possible. A maximum of ten operands can be altered at any one time.

2.8 2.8 Other diagnostics tools

611D commissioning tool

Using the 611D commissioning tool and archiving software, the control can be evaluated and
the control status can be saved.

611D commissioning tool

One of the functions of this program is to provide a tool
• for evaluating the most important values for the position, speed and current control
• for archiving drive and control data, and
• for analyzing the stated physical properties.
For handling and complete range of functions see:
References:
/IAD/ Installation Guide

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 Detailed description
2.9 Identifying defective drive modules

Archiving of data
The PCIN software package can be used to archive machine data, setting data, part
programs, etc.
A description of how to use this can be found in the associated documentation:
References:
/PI/ PCIN 4.3

840Di StartUp
For diagnosing the SINUMERIK 840Di, the WINDOWS program 840Di StartUp can be used.
This provides information, e.g. on the current operating mode and the nodes of PROFIBUS
DP.

2.9 2.9 Identifying defective drive modules

Deactivate drives
Drives can be removed from the NC configuration using a piece of machine data.
Troubleshooting may involve a situation where a drive module (SIMODRIVE 611 digital)
displayed in an alarm text needs to be removed from the bus in order to determine whether
this module has caused the displayed error.
With machine datum:
MD13030 $MN_DRIVE_MODULE_TYPE
individual modules can be removed from the NC-side drive bus configuration (the affected
axes are switched to simulation).

Note
You must remove the desired module from the drive bus configuration (SIMODRIVE 611
digital) before you activate the function. To do this, connect the drive so as to exclude the
module.
Since this internal modification to the machine configuration can result in damage to the
machine if implemented incorrectly, the axes are prevented from moving.
If Safety Integrated has been activated for the modules concerned, you must disable it
manually (safety, logged, EMERGENCY STOP scheme).

Diagnostic tools (D1)

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Detailed description
2.9 Identifying defective drive modules

Remove drive module at NC end

A drive module (SIMODRIVE 611 digital) specified in an alarm text must be removed from
the bus:
1. Remove the module from the drive bus network
2. Set entries of the drive module in machine datum:
MD13030 $MN_DRIVE_MODULE_TYPE
to zero (zero-axis module).
3. Perform an NC RESET.
The axes which were controlled by the removed drive modules are now replaced by
simulated axes. The 611D bus with its drive modules is now in a state in which it could
normally move axes, but axis traversal has been disabled internally.
Alarm 300020 "Drive %1 removed for diagnostics" is displayed to indicate this status to the
operator.

Restoring the initial configuration

After completing the diagnostics, the initial configuration on the drive bus must be restored:
1. Replace or re-install the removed drive module.
2. Change entries of the drive module in machine datum:
MD13030 $MN_DRIVE_MODULE_TYPE
back to the original values.
3. Perform an NC RESET.

Example
The 2axis module with drive numbers "1" and "2" must be removed from a drive grouping.

Note
Before activating the function, the module in question must be removed from the drive bus
configuration
(SIMODRIVE 611 digital). To do this, connect the drive bus so as to exclude the module.
If Safety Integrated has been activated for the modules concerned, you must disable it
manually (safety, logged, EMERGENCY STOP scheme).

Diagnostic tools (D1)

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 Detailed description
2.9 Identifying defective drive modules

Table 2-5 Bus configuration example

Module Drive no. Active Type Module type Power section code
1 10 1 ARM/MSD Axis 6
Left 1 1 SRM/FDD Axis 14
Right 2 1 SRM/FDD Axis 14
Left 4 1 HLA Axis
Right 5 1 ANA Axis
4 12 1 SLM Axis 11
5 11 1 PER DMPC
Module "2" must now be removed:
• Machine datum:
MD13030 $MN_DRIVE_MODULE_TYPE
is to be selected on the "General MD" MD screen.
• DRIVE_MODULE_TYPE[0] = 1
DRIVE_MODULE_TYPE[1] = 2 <- set this entry to zero
DRIVE_MODULE_TYPE[2] = 2 <- set this entry to zero
DRIVE_MODULE_TYPE[3] = 2
DRIVE_MODULE_TYPE[4] = 2
DRIVE_MODULE_TYPE[5] = 1
DRIVE_MODULE_TYPE[6] = 9
• After the changes, the table looks like this:
DRIVE_MODULE_TYPE[0] = 1
DRIVE_MODULE_TYPE[1] = 0
DRIVE_MODULE_TYPE[2] = 0
DRIVE_MODULE_TYPE[3] = 2
DRIVE_MODULE_TYPE[4] = 2
DRIVE_MODULE_TYPE[5] = 1
DRIVE_MODULE_TYPE[6] = 9
• Alarms 300020 "Drive 1 removed for diagnostics" and 300020 "Drive 2 removed for
diagnostics" are displayed.
Internally simulated drives are used for all axes which had settings on the removed drive
numbers. If the controller is engaged for the drives that are still installed, these drives
operate in the normal way. Interpolative traversal of all axes is disabled.

Note
If alarm 300003 "Axis xx drive yy incorrect module type zz" appears, then you have removed
only one part of a 2axis module. In this case, you should check the module type in the drive
configuration display. "NO" axis type is shown for removed modules.

Diagnostic tools (D1)

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Detailed description
2.9 Identifying defective drive modules

Diagnostic tools (D1)

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Constraints
No supplementary conditions apply.
3

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Constraints

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3-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Examples
No examples are available.
4

Diagnostic tools (D1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 4-1
Examples

Diagnostic tools (D1)

4-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Data lists 5
5.1 5.1 Machine data

5.1.1 Drive-specific machine data

Number Identifier: $MD_ Description

1401 MOTOR_MAX_SPEED Speed for max. useful motor speed
1417 SPEED_THRESHOLD_X nx for 'nact < nx' signal
1418 SPEED_THRESHOLD_MIN nmin for 'nact < nmin' signal
1426 SPEED_DES_EQ_ACT_TOL Tolerance band for 'nset-nact' signal
1428 TORQUE_THRESHOLD_X Threshold torque
1602 MOTOR_TEMP_WARN_LIMIT Maximum motor temperature
1604 LINK_VOLTAGE_WARN_LIMIT DC link under voltage warning threshold
1620 PROG_SIGNAL_FLAGS Bits variable signal function
1621 PROG_SIGNAL_NR Signal number variable signal function
1622 PROG_SIGNAL_ADDRESS Address variable signal function
1623 PROG_SIGNAL_THRESHOLD Threshold variable signal function
1624 PROG_SIGNAL_HYSTERESIS Hysteresis variable signal function
1625 PROG_SIGNAL_ON_DELAY ON Delay variable signal function
1626 PROG_SIGNAL_OFF_DELAY OFF Delay variable signal function
1700 TERMINAL_STATE Status of binary inputs
1702 MOTOR_TEMPERATURE Motor temperature
1706 DESIRED_SPEED Speed setpoint
1707 ACTUAL_SPEED Speed actual value
1708 ACTUAL_CURRENT Smoothed current actual value

Diagnostic tools (D1)

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Data lists
5.2 Setting data

5.1.2 NC-specific machine data

Number Identifier: $MN_ Description

11410 SUPPRESS_ALARM_MASK Mask for suppressing special alarms
11411 ENABLE_ALARM_MASK Activation of special alarms
11412 ALARM_REACTION_CHAN_NOREADY Alarm reaction CHAN_NOREADY permitted
11413 ALARM_PAR_DISPLAY_TEXT Texts as alarm parameters (Siemens Rights)
11420 LEN_PROTOCOL_FILEX File size for protocol files (KB)
13030 DRIVE_MODULE_TYPE Module identifier (SIMODRIVE 611 digital)

5.1.3 Axis/spindlespecific machine data

Number Identifier: $MA_ Description

32200 POSCTRL_GAIN [n] Servo gain factor
32250 RATED_OUTVAL Rated output voltage
32260 RATED_VELO Rated motor speed
36010 STOP_LIMIT_FINE Exact stop fine
36030 STANDSTILL_POS_TOL Zero speed tolerance
36050 CLAMP_POS_TOL Clamping tolerance
36210 CTRLOUT_LIMIT Maximum speed setpoint
36300 ENC_FREQ_LIMIT[n] Encoder limit frequency
36400 CONTOUR_TOL Tolerance band contour monitoring
36500 ENC_CHANGE_TOL Max. tolerance for actual position value acquisition
37010 FIXED_STOP_TORQUE_DEF Clamping torque
43510 FIXED_STOP_TORQUE Fixed stop clamping torque

5.2 5.2 Setting data

5.2.1 Axis/spindle-specific setting data

Number Identifier: $SA_ Description

43510 FIXED_STOP_TORQUE Fixed stop clamping torque

Diagnostic tools (D1)

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 Data lists
5.3 Signals

5.3 5.3 Signals

5.3.1 Signals to axis/spindle

DB number Byte.Bit Description

31, ... 16.0 - 16.2 Actual gear stages A, B, C
31, ... 21.0 - 21.2 Parameter set selection A, B, C
31, ... 21.3 - 21.4 Motor selection A, B
31, ... 21.7 Pulse enable

5.3.2 Signals from axis/spindle

DB number Byte.Bit Description

31, ... 60.4 Referenced/synchronized 1
31, ... 60.5 Referenced/synchronized 2
31, ... 62.5 Fixed stop reached
31, ... 92.0 Setup mode active
31, ... 92.1 Rampup function generator quick stop
31, ... 92.2 Torque limit 2 active
31, ... 92.3 Speed setpoint smoothing active
31, ... 93.0 - 93.2 Active parameter set A, B, C
31, ... 93.3 - 93.4 Active motor A, B
31, ... 93.5 Drive Ready
31, ... 93.6 Speed controller integrator disabled
31, ... 93.7 Pulses enabled
31, ... 94.0 Motor temperature prewarning
31, ... 94.1 Heat-sink temperature prewarning
31, ... 94.2 Ramp-up function completed
31, ... 94.3 _'Md_'< Mdx
31, ... 94.4 _'nact_'< nmin
31, ... 94.5 _'nact_'< nx
31, ... 94.6 _'nact_'= nset

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Data lists
5.3 Signals

Diagnostic tools (D1)

5-4 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Index
DBX94.2, 2-23
DBX94.3, 2-24
6 DBX94.4, 2-24
DBX94.5, 2-24
611D commissioning tool, 2-31
DBX95.7, 2-23
DB31, ... DBX94.6, 2-25
Diagnostic tools (D1), 1-1
A Interrupts, 2-1
Axis/spindle service display, 2-5 Diagnostics, 2-5
Drive service display, 2-15

C
L
Communication log, 2-29
Logbook, 2-30

D
M
DB31, ...
DBX16.0, 2-9 MD11412, 2-3
DBX16.1, 2-9 MD13030, 2-32, 2-33, 2-34
DBX16.2, 2-9 MD1401, 2-8
DBX20.3, 2-20 MD1417 $MD_SPEED_THRESHOLD_X, 2-24
DBX21.0, 2-21 MD1418 $MD_SPEED_THRESHOLD_MIN, 2-24
DBX21.1, 2-21 MD1426 $MD_SPEED_DES_EQ_ACT_TOL, 2-23, 2-
DBX21.2, 2-21 25
DBX21.3, 2-22 MD1428 $MD_TORQUE_THRESHOLD_X, 2-24
DBX21.4, 2-22 MD1604, 2-18
DBX21.7, 2-17 MD1620 $MD_PROG_SIGNAL_FLAGS, 2-25
DBX60.4, 2-10 MD1621 $MD_PROG_SIGNAL_NR, 2-25
DBX60.5, 2-10 MD1622 $MD_PROG_SIGNAL_ADDRESS, 2-25
DBX62.5, 2-10 MD1623 $MD_PROG_SIGNAL_THRESHOLD, 2-25
DBX92.0, 2-21 MD1624 $MD_PROG_SIGNAL_HYSTERESIS, 2-25
DBX92.1, 2-17 MD1625 $MD_PROG_SIGNAL_ON_DELAY, 2-25
DBX92.2, 2-20 MD1626 $MD_PROG_SIGNAL_OFF_DELAY, 2-25
DBX92.3, 2-20 MD1700, 2-16, 2-17
DBX93.0, 2-21 MD1702 $MD_MOTOR_TEMPERATURE, 2-19
DBX93.1, 2-21 MD1706, 2-19
DBX93.2, 2-21 MD1707, 2-19
DBX93.3, 2-22 MD1708, 2-19
DBX93.4, 2-22 MD20700, 2-10
DBX93.5, 2-18 MD32200, 2-13
DBX93.6, 2-20 MD34110, 2-10
DBX93.7, 2-18 MD36010 $MA_STOP_LIMIT_FINE, 2-14
DBX94.0, 2-23 MD36030 $MA_STANDSTILL_POS_TOL, 2-13
DBX94.1, 2-23 MD36050 $MA_CLAMP_POS_TOL, 2-14

Diagnostic tools (D1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 Index-1
Index

MD36210 $MA_CTRLOUT_LIMIT, 2-13 R

MD36300 $MA_ENC_FREQ_LIMIT, 2-14
Ramp-up phase, 2-25
MD36400 $MA_CONTOUR_TOL, 2-13
MD36500 $MA_ENC_CHANGE_TOL, 2-14
MD37010 $MA_FIXED_STOP_TORQUE_DEF, 2-10
S
Service display PROFIBUS DP, 2-26
N Servo gain factor (Kv), 2-13
NCK alarm handler, 2-2
V
O Version, 2-30
of defective drive modules
Identification, 2-32
Z
ZK1 Messages, 2-25
P
PCIN, 2-32
PLC status, 2-30

Diagnostic tools (D1)

Index-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 1
SINUMERIK 840D sl/840Di sl/840D/840Di/810D Travel to fixed stop (F1)
______________
Brief Description

2
______________
Detailed Description

3
SINUMERIK ______________
Supplementary conditions

840D sl/840Di sl/840D/840Di/810D

4
______________
Examples

Travel to fixed stop (F1) 5

______________
Data lists

Function Manual

Valid for

Control
SINUMERIK 840D sl/840DE sl
SINUMERIK 840Di sl/840DiE sl
SINUMERIK 840D powerline/840DE powerline
SINUMERIK 840Di powerline/840DiE powerline
SINUMERIK 810D powerline/810DE powerline

Software Version
NCU System Software for 840D sl/840DE sl 1.3
NCU system software for 840Di sl/DiE sl 1.0
NCU system software for 840D/840DE 7.4
NCU system software for 840Di/840DiE 3.3
NCU system software for 810D/810DE 7.4

03/2006 Edition
6FC5397-0BP10-1BA0
Safety Guidelines
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent
damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are
graded according to the degree of danger.

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

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

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

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

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

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

Prescribed Usage
Note the following:

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

Trademarks
All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this
publication may be trademarks whose use by third parties for their own purposes could violate the rights of the
owner.

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

Siemens AG Order No.: 6FC5397-0BP10-1BA0 Copyright © Siemens AG 2006.

Automation and Drives Edition 05/2006 Technical data subject to change
Postfach 48 48
90437 NÜRNBERG
GERMANY
Table of contents
1 Brief Description ..................................................................................................................................... 1-1
2 Detailed Description................................................................................................................................ 2-1
2.1 General functionality .................................................................................................................. 2-1
2.1.1 Functional sequence, programming, parameterization ............................................................. 2-1
2.1.2 Response to RESET and function abort.................................................................................... 2-8
2.1.3 Block search response............................................................................................................... 2-9
2.1.4 Miscellaneous .......................................................................................................................... 2-14
2.1.5 Supplementary conditions for expansions ............................................................................... 2-17
2.1.6 Travel with limited moment/force FOC: ................................................................................... 2-19
2.2 Travel to fixed stop with analog drives..................................................................................... 2-22
2.2.1 SIMODRIVE 611 digital (VSA/HSA) ........................................................................................ 2-22
2.2.2 Travel to fixed stop with hydraulic drives SIMODRIVE 611 digital (HLA module)................... 2-26
2.3 Travel to fixed stop with analog drives..................................................................................... 2-26
2.3.1 SIMODRIVE 611 analog (FDD) ............................................................................................... 2-26
2.3.2 SIMODRIVE 611 analog (FDD) ............................................................................................... 2-29
2.3.3 Diagrams for travel to fixed stop with analog drives ................................................................ 2-32
3 Supplementary conditions ...................................................................................................................... 3-1
4 Examples................................................................................................................................................ 4-1
5 Data lists................................................................................................................................................. 5-1
5.1 Machine data.............................................................................................................................. 5-1
5.1.1 Axis/spindlespecific machine data ............................................................................................. 5-1
5.2 Setting data ................................................................................................................................ 5-2
5.2.1 Axis/spindle-specific setting data ............................................................................................... 5-2
5.3 Signals ....................................................................................................................................... 5-2
5.3.1 Signals to axis/spindle ............................................................................................................... 5-2
5.3.2 Signals from axis/spindle ........................................................................................................... 5-3
Index................................................................................................................................................ Index-1

Travel to fixed stop (F1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 iii
Table of contents

Travel to fixed stop (F1)

iv Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Brief Description 1
Customer benefit
The "Travel to fixed stop" function can be used for operations such as traversing tailstocks or
sleeves to an end limit position in order to clamp workpieces.

Features
• The clamping torque and a fixed stop monitoring window can be programmed in the parts
program and can also be altered via setting data once the fixed stop has been reached.
• The "travel to fixed stop" function can be implemented for axes as well as for spindles
with axistraversing capability.
• The function can be implemented for several axes simultaneously and parallel to the
motion of other axes.
• Torques or the power can be adjusted to a specific setting.
• Travel with limited torque/power (Force Control, FOC) can be activated.
• The "travel to fixed stop" functions can be enabled from synchronized actions.
• Block search with calculation, multichannel (SERUPRO).
Move axes with FXS and FOC in simulation mode.
• Vertical axes can also be moved with FXS to a fixed stop.
• With SW 6.4 and higher, VDI signals can be used to set a REPOS offset for each axis and
display the FXS status currently active on the machine after the search target has been
located.

Travel to fixed stop (F1)

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Brief Description

Travel to fixed stop (F1)

1-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Detailed Description 2
2.1 2.1 General functionality

2.1.1 Functional sequence, programming, parameterization

Programming
Travel to fixed stop is selected or deselected with the following commands:
FXS[Machine axis identifier]=1 (selected)
FXS[Machine axis identifier]=0 (deselected)
The commands are modal.
The clamp torque is set with the command:
FXST[Machine axis identifier] = <torque>
.
It is entered in % of the static torque for feed spindle drives:
(MD1118 MOTOR_STANDSTILL_CURRENT)
or in % of motor torque for main spindle drives:
(MD1103 MOTOR_NOMINAL_POWER)
.
The command is used for setting the width of the fixed stop monitoring window.
FXSW[machine axis identifier] = monitoring window
The unit is dependent on the default setting: mm, inch or degrees.

Channel axis identifier

Instead of the machine axis identifiers, it is also possible to use channel axis identifiers if the
channel axis identifiers are assigned exactly to one machine axis.
Restrictions:
Channel identifiers may not be used (option disabled) for machine axes which have an active
transformation or frame.
If the machine axis is a coupled axis (e.g. following axis), programming is prevented and
alarm 14092 "Incorrect axis type" is displayed.
The movement to the destination point can be described as a path or positioning axis
movement. With positioning axes, the function FXS can be performed across block
boundaries. The function may also be selected for several machine axes simultaneously.

Travel to fixed stop (F1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-1
Detailed Description
2.1 General functionality

The FXST and FXSW commands are optional.

The travel path and the command which activates that function must be programmed in one
block (exception: Synchronized actions).

Examples

With machine axis identifiers:

X250 Y100 F100 FXS[X1]=1

X250 Y100 F100 FXS[X1]=1 FXST[X1]=12.3
X250 Y100 F100 FXS[X1]=1 FXST[X1]=12.3 FXSW[X1]=2 ; mm
X250 Y100 F100 FXS[X1]=1 FXSW[X1]=2 ; mm

References:
/PG/ "Programming Guide: Fundamentals"

Channel axis identifier with unambiguous machine axis assignment:

For the purpose of illustrating the differences in programming, chanel axis X is programmed
as the image of machine axis AX1 [or X1 (Name in machine parameter:
MD10000 $MN_AXCONF_MACHAX_NAME_TAB)]
.

Programming with machine axis identifiers

FXS[X1] = 1 ; Selecting X1
FXST[X1] = 10 ; New torque for X1
FXSW[X1] = 5 ; New window for X1

Programming with channel axis identifiers

FXS[X] = 1 ; Selecting X1 ->X1
FXST[X] = 10 ; New torque X1 ->X1
FXSW[X] = 5 ; New window for X -> X1

All four of the following programming lines have the same effect when the channel axis X is
imaged on the machine axis AX1, X1:

Z250 F100 FXS[AX1]=1 FXST[AX1]=12.3 FXSW[AX1]=2000

Z250 F100 FXS[X1]=1 FXST[X1]=12.3 FXSW[X1]=2000
Z250 F100 FXS[X]=1 FXST[X]=12.3 FXSW[X]=2000
Z250 F100 FXS[X]=1 FXST[X1]=12.3 FXSW[AX1]=2000

Travel to fixed stop (F1)

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 Detailed Description
2.1 General functionality

Functional sequence
The function is explained by the example below (sleeve is pressed onto workpiece).

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Figure 2-1 Example of travel to fixed stop

Selection
The NC recognizes the "Travel to fixed stop" function selection using command FXS[x]=1
and reports to the PLC using IS DB31, ... DBX62.4 ("Activate travel to fixed stop") to indicate
that the function has been selected.
If the machine data:
MD37060 FIXED_STOP_ACKN_MASK
(observation of PLC acknowledgements for travel to fixed stop)
is set accordingly, PLC acknowledgement via IS DB31, ... DBX3.1 ("Enable travel to fixed
stop") is waited for.
The programmed target position is then approached from the start position at the
programmed velocity. The fixed stop must be located between the start and target positions
of the axis/spindle. A programmed torque limit is effective from the start of the block, i.e. the
fixed stop is also approached with reduced torque. Allowance for this limitation is made in
the NC through an automatic reduction in the acceleration rate.
If no torque has been programmed in the block or has not been programmed since the start
of the program, the value entered in the axis-specific machine data:
MD37010 $MA_FIXED_STOP_TORQUE_DEF
(presetting for terminal torque)
applies.

Travel to fixed stop (F1)

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Detailed Description
2.1 General functionality

Fixed stop reached

As soon as the axis comes into contact with the mechanical fixed stop (workpiece), the
closedloop control in the drive raises the torque so that the axis can move on. The torque
rises up to the programmed limit value and then remains constant.
The "Fixed point reached" status can be calculated as follows depending on the machine
data:
MD37040 $MA_FIXED_STOP_BY_SENSOR (fixed stop recognition by sensor)
:
• FIXED_STOP_BY_SENSOR = 0
The "Fixed point reached" status is present when the axial contour variance (= difference
between actual and expected following error) has exceeded the machine data value:
MD37030 $MA_FIXED_STOP_THRESHOLD (threshold for fixed stop recognition)
.
• FIXED_STOP_BY_SENSOR = 1
External sensor provides NC via the PLC, using IS DB31, ... DBX1.2 ("Sensor fixed
stop"), with the status "Fixed stop reached".
• FIXED_STOP_BY_SENSOR = 2
The "Fixed stop reached" status is active either when the status has been detected by the
contour monitoring function or when the external sensor signals this status by a signal
change from 0 " 1 to (DB31,...DBX 1.2).
The axial contour variance is explained in:
References:
/FB1/ Function Manual, Basic Function; Diagnostics Tools (D1)

Internal processes
Once the NC has detected the "Fixed stop reached" status, it deletes the distancetogo and
the position setpoint is made to follow. The controller enabling command remains active.
The PLC is then informed using IS DB31, ... DBX62.5 ("Fixed stop reached").
If the machine data:
MD37060 $MA_FIXED_STOP_ACKN_MASK
is set accordingly, PLC acknowledgement using IS DB31, ... DBX1.1 ("Acknowledge fixed
stop reached") is waited for.
The NC then executes a block change or considers the positioning motion to be completed,
but still leaves a setpoint applied to the drive actuator to allow the clamping torque to take
effect.
The fixed stop monitoring function is activated as soon as the stop position is reached.

Travel to fixed stop (F1)

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 Detailed Description
2.1 General functionality

Monitoring window
If a fixed stop monitoring window has not been programmed in the block or has not been
programmed since the start of the program, the value entered in the machine data:
MD37020 $MA_FIXED_STOP_WINDOW_DEF
(presetting for fixed stop monitoring window)
applies.
If the axis leaves the position it was in when the fixed stop was detected, then alarm 20093
"Fixed stop monitoring has responded" is displayed and the "Travel to fixed stop" function
deselected.
The window must be selected by the user such that the alarm is activated only when the axis
leaves the fixed stop position.

Enabling the fixed stop alarms

Definitions for enabling the fixed stop alarms can be set as follows using machine data:
MD37050 $MA_FIXED_STOP_ALARM_MASK
:

MD 37050 = 0 Fixed stop not reached (suppress Alarm 20091)

MD 37050 = 2 Fixed stop not reached (suppress alarm 20091) and fixed stop aborted
(suppress alarm 20094)
MD 37050 = 3 Fixed stop aborted (suppress alarm 20094)
All other permissible values of 7 or less do not suppress any alarms.
Using the parts program command NEWCONF a new setting can be activated.

Fixed stop is not reached

If the programmed limit position is reached without the "Fixed point reached" status having
been recognized, alarm 20091 "Fixed point not reached" is output depending on the status of
machine data:
MD37050 $MA_FIXED_STOP_ALARM_MASK (enable fixed stop alarms)

Function abort
If the "Travel to fixed stop" function is aborted due to the occurence of a pulse disable,
cancelation of PLC acknowledgements or a reset in the starting block, alarm 20094 can be
controlled (display or suppression) using machine data:
MD37050m $MA_FIXED_STOP_ALARM_MASK

Travel to fixed stop (F1)

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Detailed Description
2.1 General functionality

Abort without alarm

Travel to fixed stop can be aborted by the PLC in the starting block without triggering an
alarm (for example, when the operator presses a button) if alarm 20094 is suppressed in
machine data:
MD37050 $MA_FIXED_STOP_ALARM_MASK
.
The Travel to fixed stop function is deselected in response to both "Fixed stop not reached"
and "Fixed stop aborted".

Interrupts
If the fixed stop position is not reached when the function is active, alarm 20091 "Fixed stop
not reached" is output and a block change executed.
If a travel request (e.g. from the part program, the PLC, from compile cycles or from the
operator panel) is provided for an axis after the fixed stop has been reached, the alarm
20092 "Travel to fixed stop still active" is output and the axis is not moved.
If after reaching the fixed stop an axis is pushed out of position more than the indicated value
in
SD FIXED_STOP_WINDOW (fixed stop monitoring window)
, the alarm 20093 "fixed stop monitoring has responded" is output; the "travel to fixed stop"
function is then deselected for this axis and system variable $AA_FXS[x] is set to 2.

No termination during alarm

"Travel to fixed stop" remains active during alarms
if the bit values in machine data:
MD37052 $MA_FIXED_STOP_ALARM_REACTION
have been set.
IS "Mode group ready" (DB11, ... DBX6.3) remains active.

Alarm suppression after new programming

Travel to fixed stop can be used for simple measuring processes.
For example, it is possible to carry out a check for tool breakage by measuring the tool
length by traversing onto a defined obstacle. To do so, the fixed stop alarm must be
suppressed. When the function for clamping workpieces is then used "normally," the alarm
can be activated using parts program commands.

Sequence in case of a fault or abnormal termination

IS DB31, ... DBX62.4 ("Activate travel to fixed stop") is reset.
Depending on machine data:
MD37060 $MA_FIXED_STOP_ACKN_MASK
, PLC acknowledgement is expected by resetting the IS
DB31, ... DBX3.1 ("Enable travel to fixed stop") is waited for.
The torque limitation is then canceled and a block change executed.

Travel to fixed stop (F1)

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 Detailed Description
2.1 General functionality

Deselection
The NC recognizes the function deselection via programming of the command FXS[x]=0.
Then an advance stop (STOPRE) is internally released, since it can't be forseen where the
axis will be after deselection.
The torque limitation and the monitoring of the fixed stop monitoring window is cancelled.
The IS DB31, ... DBX62.4 ("Activate travel to fixed stop") and DB31, ... DBX62.5 ("Fixed stop
reached") are reset.
Depending on machine data:
MD37060 $MA_FIXED_STOP_ACKN_MASK
, PLC acknowledgement is waited for by resetting the IS
DB31, ... DBX3.1 ("Enable travel to fixed stop") and/or
DB31, ... DBX1.1 ("Acknowledge fixed stop reached").
The axis will then change to position control. The followup mode of the position setpoints is
ended and a synchronization to the new actual position is carried out.
A programmed traverse motion can then be executed. This motion must lead away from the
fixed stop or else the stop or even the machine may sustain damage.
A block change is executed after the target position has been reached.

Multiple selection
A selection may only be carried out once. If the function is called once more due to faulty
programming (FXS[Axis]=1) the alarm 20092 "Travel to fixed stop still active" is initiated.

Blockrelated synchronized actions

By programming a blockrelated synchronized action, travel to fixed stop can be connected
during an approach motion.
Programming example:

N10 G0 G90 X0 Y0
N20 WHEN $AA_IW[X]>17 DO FXS[X]=1 ; If X reaches a position greater
N30 G1 F200 X100 Y110 ; 17mm FXS is activated

Changing the clamping torque and fixed stop monitoring window

The clamping torque and the monitoring window can be changed with the commands
FXST[x] and FXSW[x]. The changes take effect before traversing movements in the same
block.
Programming of a new fixed stop monitoring window causes a change not only in the
window width but also in the reference point for the center of the window if the axis has
moved prior to reprogramming. The actual position of the machine axis when the window is
changed is the new window center point.

Travel to fixed stop (F1)

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Detailed Description
2.1 General functionality

Terminal 663 with MD37002 controllable

With the machine data:
MD37002 $MA_FIXED_STOP_CONTROL
the response to pulse disabling on the stop is controllable.
Deleting the pulses via terminal 663 or the ("Pulse enable") IS DBX31, ...DBX21.7 will not
abort the function. As a result, the drive will press against the fixed stop again without any
further operating action when the machine is restarted.
The rise time of the torque corresponds to the time needed by the current controller of the
drive to reach the limitation again.
If the pulses are deleted when a deselection is active (waiting for PLC acknowledgments),
the torque limit will be reduced to zero. If the pulses are reactivated during this phase, torque
is no longer built up. Once the deselection has been completed, you can continue traversing
as normally.

FXS commands programmable in synchronized actions

The parts program commands FXS, FXST and FXSW can be programmed in synchronized
actions/technology cycles.
The function FXS[x]=1 can also be activated without movement; the torque is limited
immediately. As soon as the axis is moved via a setpoint, the limit stop monitor is activated.
In static and blockrelated synchronized actions, the same commands FXS, FXST, FXSW can
be used as in the normal parts program run. The values assigned can result from a
calculation.

Ramp for torque limitation with MD37012

A ramp has been implemented so that the setting of a torque limit is not to jerky.
For this purpose, the amount
of time required to reach the new torque limit is specified in the machine data:
MD37012 $MA_FIXED_STOP_TORQUE_RAMP_TIME.

2.1.2 Response to RESET and function abort

Response to RESET
During selection (fixed stop not yet reached) the function FXS can be aborted with RESET.
The termination is carried out such that an "almost achieved" fixed stop (setpoint already
beyond the fixed stop, but still within the threshold for the fixed stop detection) will not result
in damage.
This is achieved by synchronizing the position setpoint to the new actual position. As soon
as the fixed stop is reached, the function remains operative even after RESET.

Travel to fixed stop (F1)

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 Detailed Description
2.1 General functionality

Function abort
A function abort can be triggered by the following events:
• EMERGENCY STOP:
– With an 840D control, the NC and drive are disconnected from the supply after
EMERGENCY STOP, i.e. the PLC must react.
– With an 840Di control, the NC and drive are disconnected from the supply after
EMERGENCY STOP, i.e. the PLC must react.

Caution
Make sure that after canceling the function
"travel to fixed stop" by "EMERGENCY STOP," no dangerous machine situation
(MD37002 $MA_FIXED_STOP_CONTROL e.g. canceling pulse disable) can arise.

• The fixed stop monitoring function responds in the case of:

– Exit from fixed stop position by axis
– Tool breakage
– Pulse disable

2.1.3 Block search response

Block search with calculation

The response is as follows:
• If the target block is located in a program section in which the axis must stop at a fixed
limit, then the fixed stop is approached if it has not yet been reached.
• If the target block is located in the program section in which the axis must not stop at a
fixed limit, then the axis leaves the fixed stop if it is still positioned there.
• If the desired fixed stop status is reached, alarm message 10208 "press NC Start to
continue the program" is output. The program can be continued after pressing NC Start to
acknowledge.
• At the start of the target block, FXST[x] and FXSW[x] are set to the same value as they
would have during normal program processing.

Travel to fixed stop (F1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-9
Detailed Description
2.1 General functionality

Block search without calculation

The commands FXS, FXST and FXSW are ignored.

FOC
FOCON/FOCOF is activated modally. It is already active in the approach block.

SERUPRO

Block search with calculation, multichannel

The block search in program test mode is designated SERUPRO and is derived from the
"Search-Run by Program test." This search mode allows the user a multichannel block
search with calculation of all required status data from the previous history.
The PLC interface is updated in this block search and matching processes, which cover the
interaction of several channels executed within the framework of this block search correctly.

Search process with FXS and FOC

The user selects FXS or FOC in a program area of the searched target block in order to
acquire all states and functions of this machining last valid. The NC will start the selected
program in Program test mode automatically. After the target block has been found, the NC
stops at the beginning of the target block, deselects Program test internally again and
displays the Stop condition "Search target found" in its block display.
If FXS "travel to fixed stop" is located between the beginning of the program and the search
target, the instruction is not really executed by the NC. The motion is only simulated up to
the programmed end point.

Caution
SERUPRO approach does not really take the statementFXS into account. The approach to
the programmed end position of the FXS block is only simulated without torque limitation.

The user can log the turning on and turning off of FXS in the parts program. If necessary, the
user can start an ASUB in order to activate or deactivate FXS in this SERUPRO-ASUP.

Travel to fixed stop (F1)

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 Detailed Description
2.1 General functionality

$AA_FXS and $VA_FXS

In SW 6.2 and higher, the meaning of system variable $AA_FXS is redefined for SERUPRO
only and completely replaced by variable $VA_FXS. Variables $AA_FXS and $VA_FXS have
the same values continuously outside the SERUPRO function.

Description NCK Variables

Axis not at fixed stop $AA_FXS = 0 and $VA_FXS = 0
Fixed stop successfully approached $AA_FXS = 1 and $VA_FXS = 1
Approach to fixed stop failed $AA_FXS = 2 and $VA_FXS = 2
Travel to fixed stop selection active $AA_FXS = 3 and $VA_FXS = 3
Fixed stop detected $AA_FXS = 4 and $VA_FXS = 4
Travel to fixed stop deselection active $AA_FXS = 5 and $VA_FXS = 5

Course of values
Course of values of system variables $VA_FXS[ ] with values 1 to 5

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Figure 2-2 Diagram for FXS with a digital drive (611 digital)

Travel to fixed stop (F1)

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Detailed Description
2.1 General functionality

$AA_FXS Simulate axis traversal

System variable $AA_FXS displays the current status of program simulation "program-
sensitive system variable."

Example:
If in the SERUPRO process axis Y traversal is simulated with FXS[Y]=1, then $AA_FXS has
a value of 3.
If in the SERUPRO process axis Y traversal is simulated with FXS[Y]=0, then $AA_FXS has
a value of 0.
During simulation with SERUPRO, $AA_FXS cannot have the values 1, 2, 4, 5, since the
actual status of $VA_FXS "travel to fixed stop" can never be detected.

Note
The state $AA_FXS = 1 is never reached during the SERUPRO operation. This means that
other program branches can be processed which will produce different results due to the
simulation.

If after the SERUPRO process axis Y is traversed again, then variables $AA_FXS and
$VA_FXS are assigned the same values again.

$VA_FXS Real machine status

Variable $VA_FXS always describes the real machine status.
In this way, the actual existing machine status of the corresponding axis with $VA_FXS is
displayed.

Setpoint/actual status comparison

The two system variables $AA_FXS and $VA_FXS can be used to compare the setpoint and
actual states in the parts program. The SERUPRO ASUB routine is then as follows:
SERUPRO ASUP
Asup fxsSeruproAsup.mpf
The setpoint and actual states are compared for the
;REPOSA block FXS to correspondingly activate or deactivate.

N1000 WHEN ($AA_FXS[X]==3) AND ($VA_FXS[X]==0) DO FXS[X]=1

N2000 WHEN ($AA_FXS[X]==0) AND ($VA_FXS[X]==1) DO FXS[X]=0
N1020 REPOSA

Travel to fixed stop (F1)

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 Detailed Description
2.1 General functionality

REPOS display Offset

Once the search target has been found, the FXS status active on the machine is displayed
for each axis via the axial VDI signals:
IS DB31, ... DBX62.4 ("Activate travel to fixed stop")
and
IS DB31, ... DBX62.5 ("Fixed stop reached")
.

Example:
If the machine is at the fixed stop and the block search has reached a block after deselection
of FXS , the new target position is displayed via IS DB31, ... DBX62.5 ("Fixed stop reached")
as the REPOS offset.

FXS fully automatically in REPOS

With REPOS the functionality of FXS is repeated automatically and designated FXS-REPOS
below. This sequence is comparable to the program "fxsSeruproAsup.mpf." Every axis is
taken into account and the torque last programmed before the search target is applied.
The user can treat FXS separately in a SERUPRO-ASUP.
The following then applies:
Every FXS action in SERUPRO-ASUP automatically ensures
$AA_FXS[X] == $VA_FXS[X].
This deactivates FXS-REPOS for axis X.

Deactivate FXS REPOS

FXS-REPOS is deactivated by:
• an FXS synchronous action which refers to REPOSA
Or
• $AA_FXS[X] == $VA_FXS[X] in SERUPRO_ASUP.

Note
A SERUPRO-ASUP without FXS handling or no SERUPRO-ASUP results in fully
automatic FXS-REPOS.

Travel to fixed stop (F1)

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Detailed Description
2.1 General functionality

Caution
FXS-REPOS moves all path axes in a path grouping to the target position. Axes with and
without FXS treatment thus traverse together with the G code and feedrate valid at the
time the target block is processed. As a result, the fixed stop may be approached in rapid
traverse(G0) or higher velocity.

FOC fully automatically in REPOS

The FOC-REPOS function behaves analogously to the FXS-REPOS function.

Note
A continuously changing torque characteristic cannot be implemented with FOC-REPOS.

Example:
A program moves axis X from 0 to 100 and activates FOC every 20 millimeters for 10
millimeters at a time. This torque characteristic is generated with nonmodal FOC and
therefore cannot be traced by FOC-REPOS. FOC-REPOS will traverse axis X from 0 to 100
with or without FOC.
For programming examples of FXS "travel to fixed stop," please see:
References:
/FB1/ Function Manual Basic Functions; Mode Group, Channel, Program Operation (K1);
Section: Program test

2.1.4 Miscellaneous

Setting data
The following axisspecific setting data are provided for the "Travel to fixed stop" function:
SD43500 $SA_FIXED_STOP_SWITCH (selection of travel to fixed stop)
SD43510 $SA_FIXED_STOP_TORQUE (clamping torque for travel to fixed stop)
SD43520 $SA_FIXED_STOP_WINDOW (fixed stop monitoring window)
The setting data are effective only when the axis has reached the fixed stop.
The status of the setting data is displayed via the operator panel in the "Parameters" area.
The commands FXS[x], FXST[x] and FXSW[x] effect a blocksynchronous change in
these setting data.

Travel to fixed stop (F1)

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 Detailed Description
2.1 General functionality

If FXST[x] and FXSW[x] are not programmed, the default settings from the machine data:
MD37010 $MA_FIXED_STOP_TORQUE_DEF
and
MD37020 $MA_FIXED_STOP_WINDOW_DEF
are taken over in the corresponding setting dates if "travel to fixed stop" is activated.
The setting data for clamping torque and fixed stop monitoring window can be changed by
the operator and via the PLC. It is thus possible to specify a higher or lower clamping torque
or a modified fixed stop monitoring window after the fixed stop has been reached.

Changing the clamping torque using the ramp and values greater than 100%
A clamping torque change is transferred to the drive steplike. It is possible to specify a ramp
for always reaching a changed torque limit via the machine data:
MD37012 $MA_FIXED_STOP_TORQUE_RAMP_TIME
.

Clamping torque greater than 100%

Values greater than 100% for the setting data:
SD43510 $SA_FIXED_STOP_TORQUE
are only practical for a short time.
Irrespectively, the maximum torque is limited by the drive.
The drive machine dates have a limiting effect, i.e.:
MD1103 Motor current
MD1104 maximum motor current
MD1105 Reduction in max. motor current
MD1230/1231 torque limiting value 1/2
For further information, please refer to the Planning Guide SIMODRIVE ThreePhase Motors
for Feed and Main Spindle Drives and to the appropriate document regarding the hydraulic
module /FBHLA/.
References:
/FBHLA/ Description of functions HLA-Module

Status query in the parts program

System variable $AA_FXS[x] indicates the status of the "travel to fixed stop" function.
It has the following coding:

$AA_FXS=0 Axis not at fixed stop.

$AA_FXS=1 Fixed stop has been approached successfully
(axis is within fixed stop monitoring window).
$AA_FXS=2 Approach to fixed stop has failed
(axis is not at fixed stop).
$AA_FXS=3 Travel to fixed stop activated.
$AA_FXS=4 Fixed stop detected.
$AA_FXS=5 Travel to fixed stop is deselected. The deselection is not yet completed.

Travel to fixed stop (F1)

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Detailed Description
2.1 General functionality

Query of the system variable in the parts program initiates a block search stop.
As a result of the status query in the parts program, it is possible, for example, to react to an
erroneous operational sequence of the "Travel to fixed stop" function.
The following example applies:
MD37050 $MA_FIXED_STOP_ALARM_MASK = 0
⇒ an alarm is not generated in the error scenario, and a block change therefore takes place
and the error scenario can be evaluated via the system variable.

Example

X300 Y500 F200 FXS[X1]=1 FXST[X1]=25 FXSW[X1]=5

IF $AA_FXS[X1]=2 GOTOF FXS_ERROR
G01 X400 Y200

Inoperative IS signals
The following IS signals (PLC ! NCK) are inoperative for axes at the fixed stop until the
function is deselected (incl. traversing motion):
• IS DB31, ... DBX1.3 ("axis/spindle disable")
• IS DB31, ... DBX2.1 ("controller enable")

Actual position at fixed stop

System variable $AA_IM[x] can determine the actual position of the machine axis, e.g. for
test purposes after successful "travel to fixed stop."

Combination with other functions

"Measure with deletion of distance to go" (command MEAS) and "travel to fixed stop" cannot
be programmed at the same time in one block.
Exception:
One function is acting on a path axis while the other is acting on a positioning axis or both
functions are acting on positioning axes.

Contour monitoring
The axis contour monitoring function is inoperative while "Travel to fixed stop" is active.

Positioning axes
When "Travel to fixed stop" is applied toPOSA axes, block changes are made independently
of the fixed stop motion.

Travel to fixed stop (F1)

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 Detailed Description
2.1 General functionality

Vertical axes
The "Travel to fixed stop" function can be used for vertical axes even when alarms are
active.
Should the traversal of vertical axes be aborted as a result of an FXS alarm, the relevant
drives are not disconnected from the supply via the VDI interface.
This functionality has the same effect on vertical axes as an electronic weight compensation
and can be configured via machine data:
MD37052 $MA_FIXED_STOP_ALARM_REACTION
.

Note
For further details about adaptations for SIMODRIVE 611 digital or digital (HLA module),
please see:
References:
/FB2/ Function Manual Extension Functions; Compensation (K3); Section: Electronic weight
compensation

MD37052
The machine data:
MD37052 $MA_FIXED_STOP_ALARM_REACTION
the drive is not disconnected from the power supply by setting the bits, even when an alarm
is generated, while IS DB11, ... DBX6.3 ("Mode group ready") remains active.
Bit value=0:
The alarms have an effect on FXS (drive becomes disconnected as previously).
IS DB11, ... DBX6.3 ("Mode group ready") is canceled.
Bit value=0:
The alarms have no effect on FXS. IS DB11, ... DBX6.3
("Mode group ready") remains active.

Bit 0: Alarm 20090 Travel to fixed stop cannot be programmed

Bit1: Alarm 20091 Fixed stop is not reached.
Bit 2: Alarm 20092 Travel to a fixed stop active.
Bit 3: Alarm 20093 Standstill monitoring on fixed stop is triggered.
Bit 4: Alarm 20094 Travel to fixed stop aborted.

Travel to fixed stop (F1)

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Detailed Description
2.1 General functionality

2.1.5 Supplementary conditions for expansions

Response to pulse blocking

The cancellation of the pulse enable, either by terminal 663 or by IS DB31, ... DBX21.7
("Pulse enable") is hereafter called a pulse disable.
The machine parameter:
MD37002 $MA_FIXED_STOP_CONTROL
can be used to influence the interaction of "travel to fixed stop" and pulse disable.
Bit 0: Response in case of pulse blocking at stop as follows:

Bit 0 = 0 Travel to fixed stop aborted.

Bit 0 = 1 Travel to fixed stop is aborted,
i.e., the drive becomes weak.
Once the pulse blocking is canceled again, the drive will press at the limited torque again.
The torque is actuated steplike.
At the fixed stop, the drive can be controlled either via:
• IS DB31, ... DBX21.7 ("Pulse enable")
Or
• Drive monitor 663 pulse enable
The NC evaluates IS DB31, ... DBX21.7 ("Pulse enable") itself.
Depending on the drive machine data:
MD1012 $MD_FUNC_SWITCH
the NC reacts with FXS to a change in the status of terminal 663 as follows:

Bit 2 = 0 The NC does not receive the status of terminal 663.

Bit 2 = 1 The NC does not receive the status of terminal 663.

Terminal 663
When pulse enabling is canceled by terminal 663, the drive is deenergized and coasts to a
standstill immediately.
With:
MD1012 $MD_FUNC_SWITCH, Bit 2 = 0
, this is not signaled to NC.
The status can be checked in the line "Pulse enable" (terminal 663) in service display service
drive.

Travel to fixed stop (F1)

2-18 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.1 General functionality

Note
Travel to fixed stop can be canceled by disabling pulses from IS " DB31, ... DBX21.7 ("Pulse
enable") or Terminal 663, if:
MD37002 $MA_FIXED_STOP_CONTROL, Bit 0 = 0
and
MD1012 $MD_FUNC_SWITCH, Bit 2 = 1
are fulfilled.
Both interrupting FXS and stopping "travel to fixed stop" is achieved by the following settings:
MD37002 $MA_FIXED_STOP_CONTROL, Bit 0 = 0
and
MD1012 $MD_FUNC_SWITCH, Bit 2 = 0.

Programming FXS in synchronized actions

The function is not available for analog axes (PLC acknowledgment cannot be awaited).
Select FXS[ ]=1:
The following signal interfaces are set:
Reporting to PLC:
IS DB31, ... DBX62.4 ("Activate travel to fixed stop")
The FXS selection command can only be used in systems with digital drives (VSA, HSA,
HLA).
The following condition mustbe observed:
MD37060 $MA_FIXED_STOP_ACKN_MASK, Bit 0 = 0
Bit 0 = 1 (waiting for PLC acknowledgement) must not be set, otherwise, an interpolator
stop would be required to acknowledge the signal, interrupting the movement.
Deselect FXS[ ]=0:
The following signal interfaces are reset:
Reporting to PLC:
IS DB31, ... DBX62.4 ("Activate travel to fixed stop")
The machine parameter:
MD37060 $MA_FIXED_STOP_ACKN_MASK
must have the value null for signal deselection without motion stop.

Without ramp
The torque limit is changed without taking into account the ramp if:
• FXS is activated with (FXS[]=1), to make sure that the reduction is activated
immediately (especially for synchronized actions).
• The drive needs to be de-energized as quickly as possible in the event of a fault.

Travel to fixed stop (F1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-19
Detailed Description
2.1 General functionality

Selection of FXS with G64

In the machine data:
MD37060 $MA_FIXED_STOP_ACKN_MASK
bit 0 must = 0 (do not wait for PLC input signal "travel to fixed stop active"), since the
selection of FXS must not be allowed to initiate a motion stop.

Modify the torque FXST

The clamping torque can already be modified when approaching the stop.
The torque limit FXST acts in addition to the acceleration limitation with ACC.
The new torque in consideration of the ramp
(MD37012 $MA_FIXED_STOP_TORQUE_RAMP_TIME)
interpolation cycle takes effect after the change in the drive.
A change of the effective torque can be checked by reading the synchronized action variable
$VA_TORQUE[axis].

2.1.6 Travel with limited moment/force FOC:

Function
For applications in which torque or force are to be changed dynamically depending on the
travel or on the time or on other parameters (e.g. pressing), the following functionalityFOC
(Force Control) is provided.
Force/travel or force/time profiles are thus possible using the "Interpolation cycle" resolution.
The function allows torque/force to be modified at any time using synchronized actions.
The function can be activated modally or blockrelated.

Modal activation (FOCON/FOCOF)

The activation of the function after POWER_ON and RESET is determined by the machine
data:
MD37080 $MA_FOC_ACTIVATION_MODE

Table 2-1 Controlling the initial setting of the modal limitation of torque/force
After Value Effect
Bit 0 Power On 0 FOCOF
1 FOCON
Bit 1 RESET 0 FOCOF
1 FOCON

FOCON: Activation of the modally effective torque/force limitation

FOCOF: Disable torque/force limitation
The modal activation acts beyond the program end.If already programmed, it is effective with
FXST set torque/force. FXST can be programmed irrespectively of FOCON; it comes into
effect, however, only after the function has been activated.

Travel to fixed stop (F1)

2-20 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.1 General functionality

Programming
The programming of the axis is carried out in square brackets.
The following are permissible:
• Geometry axis identifiers
• Channel axis identifiers
• Machine axis identifiers
Example:

N10 FOCON[X] ; Modal activation of the torque limit

N20 X100 Y200 FXST[X]=15 ; X travels with reduced torque (15%)
N30 FXST[X]=75 X20 ; Changing the torque to 75%.
; X travels with this reduced torque.
N40 FOCOF[X] ; Disable torque limit

Block-related limit (FOC)

The parts program command FOC activates the torque limit for a block.
An activation from a synchronized action takes effect up to the end of the current parts
program block.

Priority FXS/FOC
An activation of FXS with FOC active has priority, i.e. FXS is executed.
A deselection of FXS will cancel the clamping.
A modal torque/force limitation remains active.
After PowerOn, the machine data:
MD37010 $MA_FIXED_STOP_TORQUE_DEF. is in effect in an activation.
This torque can be modified at any time by programmingFXST.

Synchronized actions
The language commands FOC, FOCON, FOCOF can also be programmed in synchronized
actions as the commands for "travel to fixed stop."

Determine FOC status

The activation status can be read at any time via the status variable $AA_FOC.
If FXS is also activated, the status is not changed.

0: FOC not active

1: FOC modal active
2: FOC block-related active

Travel to fixed stop (F1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-21
Detailed Description
2.1 General functionality

Determine torque limit status

The system variables $VA_TORQUE_AT_LIMIT can be used at any time to read in systems
with digital drives (FDD, MSD, HLA) whether the currently active torque corresponds to the
given torque limit.

0: Effective torque less than torque limit value

1: Effective torque has reached the torque limit value

Restrictions
The function FOC is subject to the following restrictions:
• The change of the torque/force limitation representing itself as an acceleration limitation
is only taken into account in the traversing movement at block limits (see command ACC).
• Only FOC:
No monitoring is possible from the VDI interface to check that the active torque limit has
been reached.
• If the acceleration limitation is not adapted accordingly, an increase of the drag distance
during the traversing motion occurs.
• If the acceleration limitation is not adapted accordingly, the end-of-block position is
possibly reached later than specified in:
MD36040 $MA_STANDSTILL_DELAY_TIME
.
The machine data:
MD36042 $MA_FOC_STANDSTILL_DELAY_TIME
is introduced for this and monitored in this status.

Possible application link and container axes

All axes that can be traversed in a channel, i.e. also link axes and container axes, can be
traversed to fixed stop.
References:
/FB2/ Function Manual, Extension Functions; Several Control Panels on Multiple NCUs,
Distributed Systems (B3)
The status of the machine axis is kept in the case of a container switch, i.e. a clamped
machine axis remains at the stop.
If a modal torque limitation has been activated with FOCON, this is kept for the machine axis
even after a container switch.

Travel to fixed stop (F1)

2-22 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.2 Travel to fixed stop with analog drives

2.2 2.2 Travel to fixed stop with analog drives

2.2.1 SIMODRIVE 611 digital (VSA/HSA)

Selection
The NC recognizes the "Travel to fixed stop" function selection using command FXS[x]=1
and reports to the PLC using interface signal DB31, ... DBX62.4 ("Activate travel to fixed
stop") to indicate that the function has been selected.
If the machine data:
MD37050 FIXED_STOP_ACKN_MASK
is set accordingly, PLC acknowledgement using IS
DB31, ... DBX3.1 ("Enable travel to fixed stop") is waited for
and the function is then started.
This acknowledgment is not required by the NC for digital drives.
The axis now traverses to the target position at the programmed velocity. At the same time,
the clamping torque (specified via FXST[x]) is transferred to the drive via the digital
interface, and this limits its effective torque. In addition, the acceleration is reduced
accordingly in the NC automatically acc. to FXST[x]).

Fixed stop reached

As soon as the axis reaches the fixed stop, the axial contour deviation increases.
If the threshold entered in the machine data:
MD37030 FIXED_STOP_THRESHOLD
is exceeded or the NST signal DB31, ... DBX1.2 ("Sensor fixed stop"), is set, the control
recognizes that the fixed stop has been reached.
The NC will then delete the distance to go and will synchronize the position setpoint to the
current actual position value. The controller enabling command remains active.
The NC then outputs IS DB31, ... DBX62.5 ("Fixed stop reached") to the PLC.
If the machine data:
MD37060 FIXED_STOP_ACKN_MASK
is set accordingly, PLC acknowledgement via IS DB31, ... DBX1.1 ("Acknowledge fixed stop
reached") is waited for.
This acknowledgment is not required by the NC for digital drives.
A block change is executed. The clamping torque continues to be applied.

Travel to fixed stop (F1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-23
Detailed Description
2.2 Travel to fixed stop with analog drives

Fixed stop is not reached

If the programmed end position is reached without the "Fixed stop reached" status being
recognized, then the torque limitation in the drive is canceled via the digital interface and IS
DB31, ... DBX62.4 ("Activate travel to fixed stop") reset.
Depending on machine data:
MD37060 FIXED_STOP_ACKN_MASK
, PLC acknowledgement is waited for by resetting the IS
DB31, ... DBX3.1 ("Enable travel to fixed stop")
and the block change is then carried out.

Deselection
The NC recognizes the function deselection via programming of the command FXS[x]=0.
Then an advance stop (STOPRE) is internally released, since it can't be forseen where the
axis will be after deselection.
The torque limitation and monitoring of the fixed stop monitoring window are canceled.
IS DB31, ... DBX62.4 ("Activate travel to fixed stop") and DB31, ... DBX62.5 ("Fixed stop
reached") are reset.
Depending on machine data:
MD37060 FIXED_STOP_ACKN_MASK
, PLC acknowledgement is waited for by resetting the IS
DB31, ... DBX3.1 ("Enable travel to fixed stop") and/or
DB31, ... DBX1.1 ("Acknowledge fixed stop reached").
The axis will then change to position control. The followup mode of the position setpoints is
ended and a synchronization to the new actual position is carried out.
A programmed traverse motion can then be executed. This motion must lead away from the
fixed stop or else the stop or even the machine may sustain damage.
A block change is executed after the target position has been reached.

Enabling the fixed stop alarms

The machine parameter:
MD37050 FIXED_STOP_ALARM_MASK
:can be used to set the enabling of the fixed stop alarms as follows:

MD 37050 = 0 Fixed stop not reached (suppress Alarm 20091)

MD 37050 = 2 Fixed stop not reached ( suppress alarm 20091) and fixed stop aborted
(suppress alarm 20094)
MD 37050 = 3 Fixed stop aborted (suppress alarm 20094)
All other permissible values of 7 or less do not suppress any alarms.
Using the parts program command NEWCONF a new setting can be activated.

Travel to fixed stop (F1)

2-24 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.2 Travel to fixed stop with analog drives

Terminal 663 with MD37002 controllable

With the machine parameter:
MD37002 FIXED_STOP_CONTROL
the response to pulse blocking on the fixed stop is controllable.
Deleting the pulses by terminal 663 or the "Pulse enable" IS DBX31, ...DBX21.7 will not
abort the function. As a result, the drive will press against the fixed stop again without any
further operating action when the machine is restarted.
The rise time of the torque corresponds to the time needed by the current controller of the
drive to reach the limitation again.
If the pulses are deleted when a deselection is active (waiting for PLC acknowledgments),
the torque limit will be reduced to zero. If the pulses are reactivated during this phase, torque
is no longer built up. Once the deselection has been completed, you can continue traversing
as normally.

Diagram
The following diagram shows the progress of the motor current, the following error and IS
signals for DB31, ... DBX62.4 ("Activate travel to fixed stop") and DB31, ... DBX62.5 ("Fixed
stop reached") with digital drive (SIMODRIVE 611 digital).

Travel to fixed stop (F1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-25
Detailed Description
2.2 Travel to fixed stop with analog drives

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Figure 2-3 Diagram for FXS with a digital drive (611 digital)

Travel to fixed stop (F1)

2-26 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.3 Travel to fixed stop with analog drives

2.2.2 Travel to fixed stop with hydraulic drives SIMODRIVE 611 digital (HLA module)

Velocity/force control
If the function FXS (FXS[x]=1) is activated for the hydraulic module 611 digital (HLA
module), only a change from velocity control to force control takes place. Positioning from
the NC is no longer possible in this case.

NC
When traveling to fixed stop, the NC evaluates a torque/force limit acting in addition to the
limits set on the drive:
• Current
• Force/torque,
• Power, pullout power
• Setup mode

Note
For a description of velocity and force control and special information about the
adjustments on SIMODRIVE 611 digital or digital (HLA module), please refer to:
References:
/FBHLA/, Function Manual HLA Module; Drive Functions Firmware
/FB2/, Description of Functions Extension Functions; Compensation (K3); Section:
Electronic weight compensation

2.3 2.3 Travel to fixed stop with analog drives

2.3.1 SIMODRIVE 611 analog (FDD)

Current/torque control
With the 611 analog (FDD), the torque control and torque limitation
611 analog (VSA) has been realized as a current control/current limitation.

Fixed clamping torque

A fixed current limitation is preset in the drive actuator by means of a resistor circuit (or via
R12). This current limitation is activated by the control via a PLC output (which acts on
terminal 96 of the actuator), thus ensuring that a fixed clamping torque is available on the
axis. Setpoints can be injected via terminals 56/14 or 24/20.

Travel to fixed stop (F1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-27
Detailed Description
2.3 Travel to fixed stop with analog drives

Programmable clamping torque

In this case, the PLC switches the drive actuator from speedcontrolled into currentcontrolled
operation as soon as the fixed stop is reached.
Activation of terminal 22 causes the voltage level applied to terminals 20/24 to take effect as
a current setpoint rather than a speed setpoint.
The NC is thus able to specify a variable clamping torque.
Setpoints must be injected via terminals 24/20.
References:
/IAA/ Installation and start-up guide SIMODRIVE 611 analog System

Selection
The NC detects that the function "travel to fixed stop" is selected via the command
FXS[x]=1 and signals the PLC via the IS "Activate travel to fixed stop" (DB31, ... DBX62.4)
that the function has been selected.
The PLC must then activate the current limitation on the actuator (terminal 96).
If the machine paramete:
MD37060 FIXED_STOP_ACKN_MASK
is set accordingly, then the IS waits for acknowledgment by the PLC in the form of IS
"Activate travel to fixed stop" (DB31, ... DBX3.1)
and then the function is started.

Note
(This acknowledgment should always be programmed for analog drives for safety reasons,
i.e. so that the motion is not started before the torque has been limited).

The NC then internally sets the torque limit to the value specified via the machine parameter:
MD37070 FIXED_STOP_ANA_TORQUE
(torque limit on fixed stop approach for analog drives)
.
This value must correspond to the torque limit value activated via terminal 96.
In addition, the acceleration is automatically reduced in the NC according to the value in the
machine parameter:
MD37070 FIXED_STOP_ANA_TORQUE
The axis now traverses to the target position at the programmed velocity.

Travel to fixed stop (F1)

2-28 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.3 Travel to fixed stop with analog drives

Fixed stop reached

As soon as the axis reaches the fixed stop, the axial contour deviation increases.
If the recorded threshold in the machine parameter:
MD37030 FIXED_STOP_THRESHOLD
is exceeded or the IS signal
"Sensor fixed stop" (DB31, ... DBX1.2) is set,
the controller recognizes that the fixed stop has been reached.
The position controller then responds by outputting a speed setpoint corresponding to the
value set in the machine parameter:
MD37070 FIXED_STOP_ANA_TORQUE
.
The speed controller's output is limited by terminal 96, forcing the drive to the current limit by
means of this continuously applied setpoint.
The NC then deletes the remaining distancetogo and forces the position setpoint to follow.
The controller enabling command remains active.
The NC then outputs IS "Fixed stop reached" (DB31 , ... DBX62.5) to the PLC.
If a programmable clamping torque input (via FXST[x] or setting data), is required from the
NC, then the PLC must switch the drive over from speed controlled to current controlled
operation.
To do so, it activates terminal 22 and switches off the current limitation (terminal 96) after a
period of 10 ms.
As a result, the torque now takes effect on the drive from the machine parameter:
MD37070 FIXED_STOP_ANA_TORQUE
.
If the machine parameter:
MD37060 FIXED_STOP_ACKN_MASK
is set accordingly, then the IS waits for acknowledgment by the PLC in the form of IS
"Acknowledge fixed stop reached" (DB31, ... DBX1.1) and then suddenly transfers the
required clamping torque from the selection block to the drive.
A block change is executed. The clamping torque continues to be applied.

Fixed stop is not reached

If the programmed end position is reached without the "fixed stop reached" status being
recognized, then the internal torque limit in the machine parameter:
MD37070 FIXED_STOP_ANA_TORQUE
is cancelled and the IS signal "activate travel to fixed stop"
(DB31, ... DBX62.4).
The PLC must then deactivate the current limitation (terminal 96).
Depending on the machine parameter:
MD37060 FIXED_STOP_ACKN_MASK
the NC waits for the PLC to acknowledge by resetting IS
"Activate travel to fixed stop" (DB31, ... DBX3.1)
and then the block change is performed.

Travel to fixed stop (F1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-29
Detailed Description
2.3 Travel to fixed stop with analog drives

Deselection
The NC detects that the function has been deselected on the basis of commandFXS[x]=0
and specifies a speed or current setpoint of "0," i.e. zero clamping torque.
The NC then resets IS "Activate travel to fixed stop" (DB31, ... DBX62.4) and "Fixed stop
reached" (DB31, ... DBX62.5).
If currentcontrolled operation is activated, the PLC must first switch on the current limitation
(terminal 96) and switch the drive over to speedcontrolled operation (terminal 22) (a speed
setpoint of "0" is applied by NC).
Then current limitation must then be deactivated (terminal 96).
Depending on the machine parameter:
MD37060 FIXED_STOP_ACKN_MASK
the NC waits for the PLC to acknowledge by resetting IS
"Activate travel to fixed stop" (DB31, ... DBX3.1) and/or
"Acknowledge fixed stop reached" (DB31, ... DBX1.1).
The axis then switches over to position control mode (followup mode is terminated) and
synchronization with the new actual position takes place.
The programmed travel motion is then executed.
A block change is executed after the target position has been reached.

2.3.2 SIMODRIVE 611 analog (FDD)

Fixed clamping torque

A fixed clamping torque is implemented by entering a fixed torque limitation in a free gear
stage in the drive actuator (setting parameter 039). When the "Travel to fixed stop function"
is selected, the PLC switches over to the unassigned gear stage of the drive actuator, thus
activating the torque limitation.
Setpoints must be injected via terminals 56/14.

Programmable clamping torque

In this case, the PLC switches the drive actuator from speedcontrolled into torquecontrolled
operation after the fixed stop is reached. The NC can therefore input a variable clamping
torque.
Setpoints must be injected via terminals 56/14.
References:
/IAA/ Installation and start-up guide SIMODRIVE 611 analog System

Caxis operation
The control system has to switch the spindle into C-axis mode before the "Travel to fixed
stop" function is selected. The PLC does this by activating one of the programmable
terminals E1-D9 (e.g. terminal E1) of the drive actuator.

Travel to fixed stop (F1)

2-30 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.3 Travel to fixed stop with analog drives

Selection
The NC detects that the function "travel to fixed stop" is selected via the command
FXS[x]=1 and signals the PLC via the IS "Activate travel to fixed stop" (DB31, ... DBX62.4)
that the function has been selected.
As a result, the PLC activates the unassigned gear stage, in which the torque limitation is
effective, by means of programmable terminals E1 - E9 of the drive actuator. It then switches
the speed controller monitor off (one terminal (E1-E9) to deactivate error F11 of drive
actuator).
If the machine paramete:
MD37060 FIXED_STOP_ACKN_MASK
is set accordingly, then the IS waits for acknowledgment by the PLC in the form of IS
"Activate travel to fixed stop" (DB31, ... DBX3.1) and then the function is started.

Note
(This acknowledgment should always be programmed for analog drives for safety reasons,
i.e. so that the motion is not started before the torque has been limited).

The NC then internally sets the torque limit to the value specified via the machine parameter:
MD37070 FIXED_STOP_ANA_TORQUE
(torque limit on fixed stop approach for analog drives)
This value must correspond to the torque limit value set in the actuator.
In addition, the acceleration is automatically reduced in the NC according to the value in the
machine parameter:
MD37070 FIXED_STOP_ANA_TORQUE
The rotary axis now traverses to the target position at the programmed velocity.

Fixed stop reached

As soon as the Caxis reaches the fixed stop, the axial contour deviation increases.
If the recorded threshold in the machine parameter:
MD37030 FIXED_STOP_THRESHOLD
is exceeded or the IS signal
"Sensor fixed stop" (DB31, ... DBX1.2) is set,
the controller recognizes that the fixed stop has been reached.
The position controller then responds by outputting a speed setpoint corresponding to the
value set in the machine parameter:
MD37070 FIXED_STOP_ANA_TORQUE
.
The speed controller forces the drive to the torque limit by means of this continuously applied
setpoint.
The NC then deletes the remaining distancetogo and forces the position setpoint to follow.
The controller enabling command remains active.
The NC then outputs IS "Fixed stop reached" (DB31 , ... DBX62.5) to the PLC.

Travel to fixed stop (F1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-31
Detailed Description
2.3 Travel to fixed stop with analog drives

If a programmable clamping torque input (via FXST[x] or setting parameter) is required

from the NC, then the PLC must switch the drive over from speed controlled to current
controlled operation. To do so, it activates one of the programmable terminals E1 - E9 (e.g.
terminal E5) and switches off the torque limitation after a period of 80 ms by selecting the
preceding gear stage.
As a result, the torque now takes effect on the drive from the machine parameter:
MD37070 FIXED_STOP_ANA_TORQUE
If the machine parameter:
MD37060 FIXED_STOP_ACKN_ASK
is set accordingly, then the IS waits for acknowledgment by the PLC in the form of IS
"Acknowledge fixed stop reached" (DB31, ... DBX1.1) and then suddenly transfers the
required clamping torque from the selection block to the drive.
A block change is executed. The clamping torque continues to be applied.

Fixed stop is not reached

If the programmed end position is reached,
without the "fixed stop reached" status being detected,
then the internal torque limit in the machine parameter:
MD37070 FIXED_STOP_ANA_TORQUE
is cancelled and the IS signal "activate travel to fixed stop"
(DB31, ... DBX62.4).
The PLC then activates the preceding gear stage, thus deactivating the torque limitation. It
also switches on the speed control monitoring function again.
Depending on the machine parameter:
MD37060 FIXED_STOP_ACKN_MASK
the NC waits for the PLC to acknowledge by resetting IS
"Activate travel to fixed stop" (DB31, ... DBX3.1)
and then the block change is performed.

Deselection
The NC detects that the function has been deselected on the basis of command FXS[x]=0
and specifies a speed or torque setpoint of "0," i.e. zero clamping torque.
The NC then resets IS "Activate travel to fixed stop"
(DB31, ... DBX62.4) and "Fixed stop reached" (DB31, ... DBX62.5).
If torquecontrolled operation is activated, the PLC must first select the unassigned gear
stage in which the torque limitation is effective and switch the drive over to speedcontrolled
operation (a speed setpoint of "0" is applied by NC). The PLC must also deactivate the
speed controller monitoring function.
The PLC then activates the preceding gear stage, thus deactivating the torque limitation. It
also switches on the speed control monitoring function again.

Travel to fixed stop (F1)

2-32 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.3 Travel to fixed stop with analog drives

Depending on the machine parameter:

MD37060 FIXED_STOP_ACKN_MASK
the NC waits for the PLC to acknowledge by resetting IS
"Activate travel to fixed stop" (DB31, ... DBX3.1) and/or
"Acknowledge fixed stop reached" (DB31, ... DBX1.1).
The C-axis then switches over to position control mode (followup mode is terminated) and
synchronization with the new actual position takes place.
The programmed travel motion is then executed.
A block change is executed after the target position has been reached.

2.3.3 Diagrams for travel to fixed stop with analog drives

FXS selection (fixed stop is reached)

The following diagram shows the sequence of the following error and interface signals for
"FXS selection" (fixed stop is reached) on analog drives.

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Figure 2-4 Diagram for FXS selection (fixed stop is reached) with analog drive

Travel to fixed stop (F1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-33
Detailed Description
2.3 Travel to fixed stop with analog drives

FXS selection (fixed stop is not reached)

The following diagram shows the sequence of the following error and interface signals for
"FXS selection" (fixed stop is not reached) on analog drives.

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Figure 2-5 Diagram for FXS selection (fixed stop is not reached) with analog drive

Travel to fixed stop (F1)

2-34 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.3 Travel to fixed stop with analog drives

FXS deselection
The following diagram shows the sequence of the following error and interface signals for
"FXS Deselection" on analog drives.

);67>[@RU0'),;('B6723B72548(B'()

0RWRUFXUUHQW


7UDFNLQJHUURU 0'),;('B6723B7+5(6+2/'

5HFRUGZLWK);6>[@ 
,6$FWLYDWH);6
,6);6UHDFKHG

5HFRUGFKDQJH

Figure 2-6 Diagram for FXS deselection with analog drive

Travel to fixed stop (F1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-35
Detailed Description
2.3 Travel to fixed stop with analog drives

Travel to fixed stop (F1)

2-36 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Supplementary conditions
There are no supplementary conditions to note.
3

Travel to fixed stop (F1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 3-1
Supplementary conditions

Travel to fixed stop (F1)

3-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Examples 4
Static synchronized actions
Travel to fixed stop (FXS), initiated by a synchronized action.

N10 IDS=1 WHENEVER ; Activate static synchronized action:

(($R1==1) AND ; By the setting of $R1=1
($AA_FXS[Y]==0)) DO ; for
$R1=0 FXS[Y]=1 ; the axis Y FXS is activated
FXST[Y]=10 ; the active torque is reduced to 10%
FA[Y]=200 ; and a travel motion to
POS[Y]=150 ; direction of the stop started

N11 IDS=2 WHENEVER ; once the stop has been recognized

($AA_FXS[Y]==4) DO ; ($AA_FXS[Y]==4), the torque is
FXST[Y]=30 ; increased to 30%

N12 IDS=3 WHENEVER ; after reaching the stop

($AA_FXS[Y]==1) DO ; the torque becomes dependent
FXST[Y]=$R0 ; on R0 controlled

N13 IDS=4 WHENEVER ; deselection in dependence

(($R3==1) AND ; on R3 and
($AA_FXS[Y]==1)) DO ; reverse
FXS[Y]=0
FA[Y]=1000 POS[Y]=0

N20 FXS[Y]= 0 ; normal program run:

G0 G90 X0 Y0

N30 RELEASE(Y) ; axis Y for the movement to

; activate synchronized action

N40 G1 F1000 X100 ; Movement of another axis

N50 ......

N60 GET(Y) ; Include axis Y again in the

; pathgroup

Travel to fixed stop (F1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 4-1
Examples

Multiple selection
A selection may only be carried out once. If the function is called once more due to faulty
programming (FXS[Axis]=1) the alarm 20092 "Travel to fixed stop still active" is initiated.
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.

programming example (parts program fragment):

N10 R1=0
N20 IDS=1 WHENEVER ($R1 == 0 AND $AA_IW[AX3]>7) DO R1=1 FXS[AX1]=1
FXST[AX1] = 12

Blockrelated synchronized actions

By programming a blockrelated synchronized action, travel to fixed stop can be connected
during an approach motion.
Programming example:

N10 G0 G90 X0 Y0
N20 WHEN $AA_IW[X]>17 DO FXS[X]=1 ; If X reaches a position greater
N30 G1 F200 X100 Y110 ; 17mm FXS is activated

Travel to fixed stop (F1)

4-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Data lists 5
5.1 5.1 Machine data

5.1.1 Axis/spindlespecific machine data

Number Identifier: $MA_ Description

36042 FOC_STANDSTILL_DELAY_TIME Delay time 0 monitoring with FOC and FXS
37000 FIXED_STOP_MODE Travel to fixed stop mode
37002 FIXED_STOP_CONTROL Special function when traveling to fixed stop
37010 FIXED_STOP_TORQUE_DEF Default setting for clamping torque
37012 FIXED_STOP_TORQUE_RAMP_TIME Virtual time until reaching the new clamping torque
when traveling to fixed stop
37020 FIXED_STOP_WINDOW_DEF Default for fixed stop monitoring window
37030 FIXED_STOP_THRESHOLD Threshold for fixed stop detection
37040 FIXED_STOP_BY_SENSOR Fixed stop detection via sensor
37050 FIXED_STOP_ALARM_MASK Enabling the fixed stop alarms
37052 FIXED_STOP_ALARM_REACTION Reaction to fixed stop alarms
37060 FIXED_STOP_ACKN_MASK Monitoring of PLC acknowledgments for travel to fixed
stop
37070 FIXED_STOP_ANA_TORQUE Torque limit on fixed stop approach for analog drives
37080 FOC_ACTIVATION_MODE. Status of activation of the modal function FOC

Travel to fixed stop (F1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 5-1
Data lists
5.2 Setting data

5.2 5.2 Setting data

5.2.1 Axis/spindle-specific setting data

Number Identifier: $SA_ Description

43500 FIXED_STOP_SWITCH Selection of travel to fixed stop
43510 FIXED_STOP_WINDOW Clamping torque when traveling to fixed stop
extended to a torque greater than 100%
43520 FIXED_STOP_TORQUE Fixed stop monitoring window

5.3 5.3 Signals

5.3.1 Signals to axis/spindle

DB number Byte.Bit Description

31, ... 1.1 Acknowledge fixed stop reached
31, ... 1.2 Sensor for fixed stop
31, ... 1.3 Axis/spindle disable
31, ... 2.1 Controller enable
31, ... 3.1 Enable travel to fixed stop

Travel to fixed stop (F1)

5-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Data lists
5.3 Signals

5.3.2 Signals from axis/spindle

DB number Byte.Bit Description

31, ... 60.4 Referenced/synchronized 1
31, ... 60.5 Referenced/synchronized 2
31, ... 62.5 Fixed stop reached
31, ... 92.0 Setup mode active
31, ... 92.1 Rampup function generator quick stop
31, ... 92.2 Torque limit 2 active
31, ... 92.3 Speed setpoint smoothing active
31, ... 93.0 - 93.2 Active parameter set A, B, C
31, ... 93.3 - 93.4 Active motor A, B
31, ... 93.5 Drive Ready
31, ... 93.6 Speed controller integrator disabled
31, ... 93.7 Pulses enabled
31, ... 94.0 Motor temperature prewarning
31, ... 94.1 Heat-sink temperature prewarning
31, ... 94.2 Ramp-up function completed
31, ... 94.3 _'Md_'< Mdx
31, ... 94.4 _'nact_'< nmin
31, ... 94.5 _'nact_'< nx
31, ... 94.6 _'nact_'= nset

Travel to fixed stop (F1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 5-3
Data lists
5.3 Signals

Travel to fixed stop (F1)

5-4 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Index

B S
Block-related limit (FOC), 2-20 SD43500, 2-14
SD43510, 2-14
SD43520, 2-14
C SERUPRO, 2-9
SERUPRO ASUP, 2-12
Channel axis identifiers with FXS, 2-1

T
F
Travel to fixed stop
FXS REPOS, 2-13
Analog drives, 2-26
Analog drives, diagrams, 2-32
Analog drives, FXS deselection, 2-34
M Analog drives, FXS selection, 2-32
MD1012, 2-17, 2-18 analog drives, SIMODRIVE 611A (FDD), 2-26
MD1103, 2-15 analog drives, SIMODRIVE 611A (MSD), 2-29
MD1104, 2-15 Block search, 2-9
MD1105, 2-15 Contour monitoring, 2-16
MD1118, 2-1 Customer benefit, 1-1
MD1130:, 2-1 Deselection, 2-6
MD1230/1231, 2-15 Function abort, 2-8
MD36040:, 2-21 Functional sequence, 2-3
MD36042, 2-21 Monitoring window, 2-4
MD37002, 2-7, 2-8, 2-17, 2-18, 2-24 Positioning axes, 2-16
MD37010, 2-3, 2-14, 2-20 Programming, 2-1
MD37012, 2-8, 2-14, 2-19 RESET, 2-8
MD37020, 2-4, 2-14 Selection, 2-3
MD37030, 2-4, 2-22, 2-28, 2-30 Setting data, 2-14, 2-23
MD37040, 2-4 Status query, 2-15
MD37050, 2-5, 2-15, 2-22, 2-23 Travel to fixed stop (F1)
MD37052, 2-6, 2-16 Interrupts, 2-6
MD37060, 2-3, 2-4, 2-6, 2-7, 2-18, 2-19, 2-23, 2-27, Setting data, 2-5
2-28, 2-29, 2-30, 2-31
MD37070, 2-27, 2-28, 2-30, 2-31
MD37080, 2-19 V
Modal activation (FOCON/FOCOF), 2-19
Vertical axes, 2-16

R
REPOS Offset, 2-12

Travel to fixed stop (F1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 Index-1
Index

Travel to fixed stop (F1)

Index-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 1
SINUMERIK 840D sl/840Di sl/840D/840Di/810D Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control (G2)
______________
Brief description

2
______________
Detailed description

3
SINUMERIK ______________
Supplementary conditions

840D sl/840Di sl/840D/840Di/810D

4
______________
Examples

Velocities, Setpoint/Actual-Value 5
Systems, Closed-Loop Control (G2) ______________
Data lists

Function Manual

Valid for

Control
SINUMERIK 840D sl/840DE sl
SINUMERIK 840Di sl/840DiE sl
SINUMERIK 840D powerline/840DE powerline
SINUMERIK 840Di powerline/840DiE powerline
SINUMERIK 810D powerline/810DE powerline

Software Version
NCU System Software for 840D sl/840DE sl 1.3
NCU system software for 840D sl/DiE sl 1.0
NCU system software for 840D/840DE 7.4
NCU system software for 840Di/840DiE 3.3
NCU system software for 810D/810DE 7.4

03/2006 Edition
6FC5397-0BP10-1BA0
Safety Guidelines
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent
damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are
graded according to the degree of danger.

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

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

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

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

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

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

Prescribed Usage
Note the following:

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

Trademarks
All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this
publication may be trademarks whose use by third parties for their own purposes could violate the rights of the
owner.

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

Siemens AG Order No.: 6FC5397-0BP10-1BA0 Copyright © Siemens AG 2006.

Automation and Drives Edition 05/2006 Technical data subject to change
Postfach 48 48
90437 NÜRNBERG
GERMANY
Table of contents
1 Brief description ...................................................................................................................................... 1-1
2 Detailed description ................................................................................................................................ 2-1
2.1 Velocities, traversing ranges, accuracies .................................................................................. 2-1
2.1.1 Velocities.................................................................................................................................... 2-1
2.1.2 Traversing ranges ...................................................................................................................... 2-3
2.1.3 Positioning accuracy of the control system................................................................................ 2-4
2.1.4 Block diagram of resolutions and scaling values ....................................................................... 2-5
2.1.5 Input/display resolution, computational resolution ..................................................................... 2-6
2.1.6 Scaling of physical quantities of machine and setting data ....................................................... 2-7
2.2 Metric/inch measuring system ................................................................................................. 2-11
2.2.1 General .................................................................................................................................... 2-11
2.2.2 Conversion of basic system by parts program......................................................................... 2-12
2.2.3 Manual switchover of the basic system ................................................................................... 2-16
2.2.4 FGROUP and FGREF ............................................................................................................. 2-20
2.3 Setpoint/actual-value system ................................................................................................... 2-22
2.3.1 General .................................................................................................................................... 2-22
2.3.2 Speed setpoint and actual-value routing ................................................................................. 2-25
2.3.3 Configuration of drives ............................................................................................................. 2-31
2.3.4 Adapting the motor/load ratios ................................................................................................. 2-32
2.3.5 Speed setpoint output .............................................................................................................. 2-35
2.3.6 Actual-value processing........................................................................................................... 2-38
2.3.7 Adjustments to actual-value resolution .................................................................................... 2-41
2.4 Closed-loop control .................................................................................................................. 2-47
2.4.1 General .................................................................................................................................... 2-47
2.4.2 Parameter sets of the position controller ................................................................................. 2-52
2.4.3 Extending the parameter set.................................................................................................... 2-53
2.5 Optimization of the control ....................................................................................................... 2-57
2.5.1 Position controller: injection of positional deviation ................................................................. 2-57
2.5.2 Position controller position setpoint filter: New balancing filter................................................ 2-58
2.5.3 Position controller position setpoint filter: new jerk filter .......................................................... 2-65
2.5.4 Position control with proportional-plus-integral-action controller ............................................. 2-67
2.5.5 System variable for status of pulse enable .............................................................................. 2-70
2.5.6 Expansions for "deceleration axes" ......................................................................................... 2-71
3 Supplementary conditions ...................................................................................................................... 3-1
4 Examples................................................................................................................................................ 4-1
5 Data lists................................................................................................................................................. 5-1
5.1 Machine data.............................................................................................................................. 5-1
5.1.1 Memory specific machine data .................................................................................................. 5-1
5.1.2 NC-specific machine data .......................................................................................................... 5-1
5.1.3 Channelspecific machine data ................................................................................................... 5-2
5.1.4 Axis/spindlespecific machine data ............................................................................................. 5-2
Index................................................................................................................................................ Index-1

Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control (G2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 iii
Table of contents

Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control (G2)

iv Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Brief description 1
The description of functions explains how to parameterize a machine axis in relation to:
• Actual-value/measuring systems
• Setpoint system
• Operating accuracy
• Travel ranges
• Axis velocities
• Control parameters

Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control (G2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 1-1
Brief description

Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control (G2)

1-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Detailed description 2
2.1 2.1 Velocities, traversing ranges, accuracies

2.1.1 Velocities

Maximum path and axis velocities and spindle speed

The maximum path and axis velocities and spindle speed are influenced by the machine
design, the dynamic response of the drive and the limit frequency of the actual-value
acquisition (encoder limit frequency).
The maximum axis velocity is defined in machine data:
MD32000 $MA_MAX_AX_VELO (maximum axis velocity).

The maximum permissible spindle speed is defined via machine data:

MD35100 $MA_SPIND_VELO_LIMIT (maximum spindle speed).

For more information, see:

References:
/FB1/ Function Manual, Basic Functions; Spindles (S1)
As well as limiting using MD32000, the control limits the maximum path velocity in relation to
the situation and according to the following formula:

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Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control (G2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-1
Detailed description
2.1 Velocities, traversing ranges, accuracies

For setting the interpolation cycle, see:

References:
/FB3/ Function Manual, Special Functions; Cycle Times (G3)
With a high feedrate (resulting from programmed feedrates and feedrate override), the
maximum path velocity is limited to Vmax.
This automatic feedrate limiting can lead to a drop in velocity over several blocks with
programs generated by CAD systems with extremely short blocks.

Example:
Interpolation cycle = 12 ms
N10 G0 X0 Y0; [mm]
N20 G0 X100 Y100; [mm]
⇒ Path length programmed in block = 141.42 mm
⇒ Vmax = (141.42 mm/12 ms) * 0.9 = 10606.6 mm/s = 636.39 m/min
The following restriction applies to the minimum path or axis velocity:

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The computational resolution is defined via machine data:

MD10200 $MN_INT_INCR_PER_MM (computational resolution for linear positions)
or
MD10210 $MN_INT_INCR_PER_DEG (computational resolution for angular positions):

If Vmin is not reached, no traversing is carried out.

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Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control (G2)

2-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.1 Velocities, traversing ranges, accuracies

Example:
MD10200 $MN_INT_INCR_PER_MM = 1000 [incr. /mm];
Interpolation cycle = 12 ms;
⇒ Vmin = 10 -3/(1000 incr/mm x 12 ms) = 0.005 mm/min;
The value range of the feed rates depends on the selected computational resolution
When the machine data:
MD10200 $MN_INT_INCR_PER_MM
(computational resolution for linear positions) (1000 incr./mm)
or
MD10210 $MN_INT_INCR_PER_DEG
(computational resolution for angular positions) (1000 incr./degree)
is assigned its default values, the following range of values can be programmed with the
specified resolution:

Range of values for path feedrate F and geometry axes:

Metric system: Inch system:
0.001 ≤ F ≤ 999,999.999 0.001 ≤ F ≤ 399,999.999 [inch/min, inch/rev]
[mm/min, mm/rev, degrees/min, degrees/rev]

Range of values for feedrate for positioning axes:

Metric system: Inch system:
0.001 ≤ FA ≤ 999,999.999 0.001 ≤ FA ≤ 399,999.999
[mm/min, mm/rev, degrees/min, degrees/rev] [inch/min, inch/rev]

Range of values for spindle speed S:

0.001 ≤ S ≤ 999,999.999 [rpm]
If the computational resolution is increased/decreased by a factor of 10, the ranges of values
change accordingly.

2.1.2 Traversing ranges

Range of values of the traversing ranges

The range of values of the traversing range depends on the computational resolution
selected.
If machine data:
MD10200 $MN_INT_INCR_PER_MM
(computational resolution for linear positions) (1000 incr./mm)
or
MD10210 $MN_INT_INCR_PER_DEG
(computational resolution for angular positions) (1000 incr./degree)
are assigned their default values, the following range of values can be programmed with the
input resolution:

Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control (G2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-3
Detailed description
2.1 Velocities, traversing ranges, accuracies

Table 2-1 Traversing ranges of axes

G71 [mm, degrees] G70 [inch, degrees]

Range Range
Linear axes X, Y, Z, etc. ∓ 999.999,999 ∓ 399.999,999
Rotary axes A, B, C, etc. ∓ 999.999,999 ∓ 999.999,999
Interpolation parameters I, J, K ∓ 999.999,999 ∓ 399.999,999
The unit of measurement of rotary axes is always degrees.
If the computational resolution is increased/decreased by a factor of 10, the ranges of values
change accordingly.
The traversing range can be limited by software limit switches and working areas.
References:
/FB1/Function Manual, Basic Functions; Axis Monitoring, Protection Zones (A3)
The traversing range for rotary axes can be limited via machine data.
References:
/FB2/Function Manual, Extended Functions; Rotary Axes (R2)
For special features of linear and rotary axes with a large traversing range, see:
References:
/FB1/ Function Manual, Basic Functions; Reference Point Approach (R1)

2.1.3 Positioning accuracy of the control system

Actual-value resolution and computational resolution

The positioning accuracy of the control depends on the actual-value resolution (=encoder
increments/(mm or degrees)) and the computational resolution (=internal increments/(mm or
degrees)).
The coarse resolution of these two values determines the positioning accuracy of the control.
The input resolution, interpolator and position-control cycle selections have no effect on this
accuracy.

Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control (G2)

2-4 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.1 Velocities, traversing ranges, accuracies

2.1.4 Block diagram of resolutions and scaling values

Block diagram of units and resolutions

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Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control (G2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-5
Detailed description
2.1 Velocities, traversing ranges, accuracies

This diagram shows how input values are converted into internal units.
It also shows the following conversion to internal increments/(mm or degrees), which can
cause loss of decimal places if the computational resolution was selected to be coarser than
the input resolution.
In addition, it provides an overview of the following topics:
• Selection of measuring system (metric/inch)
• Scaling of physical quantities of machine and setting data
• Conversion of basic system
• Setting of computational resolution
One example is the conversion of a physical quantity
(MD36110 $MA_POS_LIMIT_PLUS)
depending on the machine data parameterization
(MD10230 $MN_SCALING_FACTORS_USER_DEF,
MD10220 $MN_SCALING_USER_DEF_MASK).

2.1.5 Input/display resolution, computational resolution

Resolutions: Differences
Resolutions, e.g. resolutions of linear and angular positions, velocities, accelerations and
jerk, must be differentiated as follows:
• Input resolution
Data is input via the control panel or parts programs.
• Display resolution
Data is displayed via the control panel.
• Computational resolution
Data input via the control panel or parts program is displayed internally.
The input and display resolution is defined via the control panel being used, whereby the
display resolution of position values can be changed with machine data:
MD9004 $MM_DISPLAY_RESOLUTION
.
Machine data:
MD9011 $MM_DISPLAY_RESOLUTION_INCH
can be used to configure the display resolution of position values using the inch system.
This allows you to display up to six decimal places with the inch setting.
For the programming of parts programs, the input resolutions listed in the Programming
Guide apply.
The desired computational resolution is defined via machine data:
MD10200 $MN_INT_INCR_PER_MM (computational resolution for linear positions)
or
MD10210 $MN_INT_INCR_PER_DEG (computational resolution for angular positions).

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2.1 Velocities, traversing ranges, accuracies

It is independent of the input/display resolution but should have at least the same resolution.
The maximum number of places after the decimal point for position values, velocities, etc., in
the parts program and the number of places after the decimal point for tool offsets, zero
offsets, etc. (and therefore also for the maximum possible accuracy). is defined by the
computational resolution.
The accuracy of angle and linear positions is limited to the computational resolution by
rounding the product of the programmed value with the computational resolution to an
integer number.
To make the rounding clear, powers of 10 should be used for the computational resolution.

Example of rounding:
Computational resolution: 1000 increments/mm
Programmed path: 97.3786 mm
Effective value = 97.379 mm

Example of programming in the 1/10 μm range:

All the linear axes of a machine are to be programmed and traversed within the range of
values 0.1 to 1000 μm.
⇒ In order to position accurately to 0.1 μm, the computational resolution must be set to ≥ 104
incr./mm.
⇒ MD10200 $MN_INT_INCR_PER_MM = 10000 [incr./mm]:
⇒ Example of related parts program:

N20 G0 X 1.0000 Y 1.0000 ; Traverse axes to position

X=1.0000 mm, Y=1.0000 mm
N25 G0 X 5.0002 Y 2.0003 ; Traverse axes to position
X=5.0002 mm, Y=2.0003 mm

2.1.6 Scaling of physical quantities of machine and setting data

Input/output units
Machine and setting data that possess a physical quantity are interpreted in the input/output
units below depending on whether the metric or inch system is selected:

Physical quantity: Input/output units for standard basic system:

Metric Inch
Linear position 1 mm 1 inch
Angular position 1 degree 1 degree
Linear velocity 1 mm/min 1 inch/min
Angular velocity 1 rpm 1 rpm

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2.1 Velocities, traversing ranges, accuracies

Physical quantity: Input/output units for standard basic system:

Metric Inch
Linear acceleration 1 m/s2 1 inch/s2
Angular acceleration 1 rev./s2 1 rev./s2
Linear jerk 1 m/s3 1 inch/s3
Angular jerk 1 rev./s3 1 rev./s3
Time 1s 1s
Position controller servo gain 1/s 1/s
Rev. feedrate 1 mm/rev 1 inch/rev
Compensation value linear 1 mm 1 inch
position
Compensation value angular 1 degree 1 degree
position
The units listed below are used for storage. The control always uses these units internally
irrespective of the basic system selected.

Physical quantity: Internal unit:

Linear position 1 mm
Angular position 1 degree
Linear velocity 1 mm/s
Angular velocity 1 deg./s
Linear acceleration 1 mm/s2
Angular acceleration 1 degree/s2
Linear jerk 1 mm/s3
Angular jerk 1 degree/s3
Time 1s
Position controller servo gain 1/s
Rev. feedrate 1 mm/degree
Compensation value linear position 1 mm
Compensation value angular position 1 degree
The user can define different input/output units for machine and setting data.
In order to achieve this, an adjustment must be made between the newly selected
input/output units and the internal units, via machine data:
MD10220 $MN_SCALING_USER_DEF_MASK
(activation of scaling factors)
and
MD10230 $MN_SCALING_FACTORS_USER_DEF[n]
(scaling factors of physical quantities)
.

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2.1 Velocities, traversing ranges, accuracies

,QSXWRXWSXWXQLWVIRUPDFKLQH
DQGVHWWLQJGDWD

'RWKH
LQSXWRXWSXWXQLWVFRUUHV
SRQGWRWKHVWDQGDUGEDVLF 1R
V\VWHP"
LQFKRUPHWULF

8VHUGHILQHG
<HV 0'6&$/,1*B)$&7256B86(5B'()>Q@
0'6&$/,1*B)$&7256B86(5B'()B0$6.

&RQYHUVLRQRILQWHUQDOXQLWV

,QWHUQDOXQLWV

The following applies:

Selected input/output unit = MD10230 * internal unit
The selected input/output unit is input into machine data:
MD10230 $MN_SCALING_FACTORS_USER_DEF[n],
expressed in internal units of 1 mm, 1 degree or 1 s.

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2.1 Velocities, traversing ranges, accuracies

Example 1:
Machine data input/output of the linear velocities is to be in m/min instead of mm/min (initial
state).
(The internal unit is mm/s.)

⇒ The scaling factor for the linear velocities is to differ from the standard setting. In this
case, bit number 2 must be set in machine data:
MD10220 $MN_SCALING_USER_DEF_MASK.

⇒ MD10220 $MN_SCALING_USER_DEF_MASK = 'H4'; (bit no. 2 as hex value)

⇒ The scaling factor for the linear velocities is to differ from the standard setting. In this
case, bit number 2 must be set in machine data:
MD10220 $MN_SCALING_USER_DEF_MASK.

⇒ MD10220 $MN_SCALING_USER_DEF_MASK = 'H4'; (bit no. 2 as hex value)

⇒ The scaling factor is calculated using the following formula:

,QSXWRXWSXWXQLWVHOHFWHG
0'6&$/,1*B)$&7256B86(5B'()>Q@
,QWHUQDOXQLW

P PP
 PLQ ‘V
0'6&$/,1*B)$&7256B86(5B'()>Q@ 
PP PP 
 V  V 

෎ 0'6&$/,1*B)$&7256B86(5B'()>Q@ 

Index 2 defines the "linear velocity" in the "Scaling factors of physical quantities" list.

Example 2:
In addition to the change in example 1, the machine data input/output of linear accelerations
is to be performed in ft/s2, instead of m/s2 (initial state).
(The internal unit is mm/s2.)

ය 0'6&$/,1*B86(5B'()B0$6. + ELWQRDQGELWQRIURPH[DPSOH

DVKH[YDOXH
IW PP
 V   V 
ය 0'6&$/,1*B)$&7256B86(5B'()>Q@ 
PP PP
 V  V

ය 0'6&$/,1*B)$&7256B86(5B'()>@ 

Index 4 defines the "linear acceleration" in the "Scaling factors of physical quantities" list.

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2.2 Metric/inch measuring system

2.2 2.2 Metric/inch measuring system

2.2.1 General
The control system can operate with the inch or the metric system of measurement.

Initial state
The initial state is defined via the following machine data element:
MD10240 $MN_SCALING_SYSTEM_IS_METRIC (basic metric system).
Depending on the setting in the MD, all geometric values are interpreted either as metric or
inch values.
All manual settings also refer to this initial state (e.g., handwheel, INC, JOG feedrate), as do
zero offsets, tool offsets, FRAMES, etc., and the associated displays.

Supplements
The setting:
MD10260 $MN_CONVERT_SCALING_SYSTEM=1
greatly simplifies a change in the measuring system.
• HMI user interface: Softkey in the "Machine" operating area for changing the measuring
system.
• Automatic conversion of active NC data when the measuring system is changed.
• Data backup is performed with the actual measuring system identifier.
• The measuring system for sag compensation is configured in machine data element:
MD32711 $MA_CEC_SCALING_SYSTEM_METRIC
References:
/FB2/ Function manual, Extended Functions; Compensations (K3)
• The measuring system for positional data of the indexing axis tables and switching points
for software cams is configured in machine data element:
MD10270 $MN_POS_TAB_SCALING_SYSTEM.
References:
/FB2/ Function Manual, Extended Functions; Software Cams, Limit Switching Signals
(N3)/Indexing Axes (T1)

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2.2 Metric/inch measuring system

2.2.2 Conversion of basic system by parts program

Conversion factor
The factor for the inch to metric conversion for the data input and output can be adapted via
the following machine data:
MD10250 $MN_SCALING_VALUE_INCH (conversion factor for switchover to inch system)

Note
The machine data element is not visible unless the password of protection level "Siemens" is
set.

By changing the default value, the control can be adapted to a customerspecific measuring
system.
When programming, it is possible to change over between measuring systems for some
workpiece-related specifications with G70/G71/G700/G710. The data that can be influenced
by G70/G71/G700/G710 is described in the Programming Guide.
The basic position G70/G71/G700/G710 can be assumed channel-specifically via the initial
setting (reset) of the G groups in the machine data:
MD20150 $MC_GCODE_RESET_VALUES[12]
.
When changing the measuring system via the relevant soft key on the HMI, these initial
settings are automatically predefined to appropriate settings for the new measuring system
with G700 or G710.
With the axis-specific machine data:
MD31200 $MA_SCALING_FACTOR_G70_G71
(factor for converting values with active G70/G71/G700/G710)
can be used to freely select the conversion factor between metric and inch conversion with
G70/G71/G700/G710 programming.
The controller can be adapted to a customized measuring system by changing the
predefined settings. The factor only takes effect if parts program programming differs from
the initial state.

Example:
Initial state: inch; (MD10240 $MN_SCALING_SYSTEM_IS_METRIC=0)
Parts program:

N15 G70 ; Factor is not effective, since the setting is exactly the
same as the initial state.
N20 G71 ; Factor is effective.

The current setting (selected with G70/G71) and the initial state can be the same or differ at
any given time. The current setting is channelspecific, the initial state applies to all channels.

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Application:
With this function it is possible, for example, with a metric basic system, to machine an inch
thread in a metric parts program. Tool offsets, zero offsets and feedrates remain metric.
Machine data are output to the screen in the basic system selected in:
MD10240 $MN_SCALING_SYSTEM_IS_METRIC (basic system metric).

Machine coordinates, tool data and zero offsets are always displayed in the initial state,
workpiece coordinate displays are in the current setting.
If programs including data sets (zero offset, tool offset) programmed in the measuring
system, which differs from the basic system, are read in from an external source, the initial
state must first be changed via machine data MD10240.
Data exchange with the PLC of interface signals containing dimension information, e.g.,
feedrate for path and positioning axes, is always carried out in the selected basic system.

Supplements
G700/G710 extends the functionality of G70/G71 as follows:
1. The feedrate is interpreted in the programmed measuring system:
– G700: length parameters [inch]; feedrates [inch/min]
– G710: length parameters [mm]; feedrates [mm/min]
The programmed feedrate is modal and therefore remains active after subsequent
G70/G71/G700/G710 commands. If the feedrate is to apply in the new
G70/G71/G700/G710 context, it must be re-programmed.
2. System variables and machine data specifying lengths in the parts program are read and
written in the programmed measuring system.
This allows you to implement parts programs that are independent of the current default
measuring system.
Comparison of the effect of G70/G71 and G700/G710 on machine data and system variables
in the parts program:
• With G70/G71: reading/writing in the basic system
• With G700/G710: reading/writing in the programmed measuring system

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2.2 Metric/inch measuring system

Examples:
Both parts programs are implemented with a metric setting with:
MD10240 $MN_SCALING_SYSTEM_IS_METRIC=1.

N100 R1=0 R2=0

N120 G01 G70 X1 F1000
N130 $MA_LUBRICATION_DIST[X]=10
N140 NEWCONF
N150 IF ($AA_IW[X]>$MA_LUBRICATION_DIST[X])
N160 R1=1
N170 ENDIF
N180 IF ($AA_IW[X]>10)
N190 R2=1
N200 ENDIF
N210 IF ( (R1<>0) OR (R2<>0))
N220 SETAL(61000)
N230 ENDIF
N240 M30

Note
Alarm 61000 is not output if G70 is replaced by G700 in block N120.

Synchronized actions
In order to prevent the current parts program context from changing the positioning behavior
of a synchronized action arbitrarily in response to asynchronous trigger conditions, the
measuring system must be defined at the time of interpretation. This is the only way to
achieve a defined and reproducible positioning behavior of a synchronized action.
Example 1:

N100 R1=0
N110 G0 X0 Z0
N120 WAITP(X)
N130 ID=1 WHENEVER $R1==1 DO POS[X]=10
N140 R1=1
N150 G71 Z10 F10 ;Z=10 mm X=10 mm
N160 G70 Z10 F10 ;Z=254 mm X=254 mm
N170 G71 Z10 F10 ;Z=10 mm X=10 mm
N180 M30

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Example 2:
The definition is made here by programming G71 in the synchronized action.

N100 R1=0
N110 G0 X0 Z0
N120 WAITP(X)
N130 ID=1 WHENEVER $R1==1 DO G71 POS[X]=10
N140 R1=1
N150 G71 Z10 F10 ;Z=10 mm X=10 mm
N160 G70 Z10 F10 ;Z=254 mm X=10 mm (X posit. always at 0 mm)
N170 G71 Z10 F10 ;Z=10 mm X=10 mm
N180 M30

Comparison: G70/G71-G700/G710
Where:

P: Data is read/written in the programmed measuring system.

G: Data is read/written in the basic system
(MD10240 $MN_SCALING_SYSTEM_IS_METRIC).
R/W: Read/Write
Comparison:

Range G70/G71 G700/G710

Parts program Parts program
R/W R/W
Display, decimal places (WCS) P/P P/P
Display, decimal places (MCS) G/G G/G
Feedrates G/G P/P
Positional data X, Y, Z P/P P/P
Interpolation parameters I, J, K P/P P/P
Circle radius (CR) P/P P/P
Polar radius (RP) P/P P/P
Pitch P/P P/P
Programmable FRAME P/P P/P
Settable FRAMES G/G P/P
Basic frames G/G P/P
Work offsets external G/G P/P
Axial preset offset G/G P/P
Operating range limit (G25/G26) G/G P/P
Protection zones P/P P/P
Tool offsets G/G P/P
Length-related machine data G/G P/P
Length-related setting data G/G P/P
Length-related system variables G/G P/P

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2.2 Metric/inch measuring system

Range G70/G71 G700/G710

GUD G/G G/G
LUD G/G G/G
PUD G/G G/G
R parameters G/G G/G
Siemens cycles P/P P/P
Jog/handwheel increment factor G/G G/G
Reference:
/PG/Programming Manual, Fundamentals; List of Addresses

2.2.3 Manual switchover of the basic system

General
The relevant softkey on the HMI in the "Machine" operating area is used to change the
measuring system of the controller.
The change in the measuring system occurs only under the following boundary conditions:
• MD10260 $MN_CONVERT_SCALING_SYSTEM=1
• Bit 0 of MD20110 $MC_RESET_MODE_MASK is set in every channel.
• All channels are in the Reset state.
• Axes doe not traverse with JOG, DRF or PLC.
• Constant grinding wheel peripheral speed (GWPS) is not active.
Actions such as part program start or mode change are disabled for the duration of the
measuring system changeover.
If the measuring system cannot be changed, this is indicated by a message to that effect on
the user interface. These measures ensure that a consistent set of data is always used for a
running program with reference to the measuring system.
The actual change in the measuring system is made by writing all the necessary machine
data and subsequently activating them with a RESET.
Machine data:
MD10240 $MN_SCALING_SYSTEM_IS_METRIC
and the corresponding G70/G71/G700/G710 settings in machine data:
MD20150 $MN_GCODE_RESET_VALUES
are switched automatically and consistently for all configured channels.
The value of machine data:
MD20150 $MC_GCODE_RESET_VALUES[12]
changes between G700 and G710.
This process takes place independently of the protection level currently set.

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2.2 Metric/inch measuring system

Note
The availability of the soft key and, therefore, its functionality, can be configured using the
compatibility machine data:
MD10260 $MN_CONVERT_SCALING_SYSTEM.

If several NCUs are linked by NCU-link, the switchover has the same effect on all linked
NCUs. If the prerequisites for a switchover are not fulfilled on one of the NCUs linked, no
switchover will take place on none of the NCUs. It is assumed that interpolations between
several NCUs will take place on the existing NCUs, whereby the interpolations can provide
correct results only if the same unit systems are used.
References:
/FB2/ Function Manual, Extended Functions; Several Control Panels on Multiple NCUs,
Decentralized Systems (B3)

System data
When changing over the measuring system, from the view of the user, all length-related
specifications are converted to the new measuring system automatically.
This includes:
• Positions
• Feedrates
• Acceleration rates
• Jerk
• Tool offsets
• Programmable, settable and work offsets external and DRF offsets
• Compensation values
• Protection zones
• Machine data
• Jog and handwheel factors
After the changeover, all of the above data is available in physical quantities.
Data, for which no unique physical units are defined, is not converted automatically.
This includes:
• R parameters
• GUDs (Global User Data)
• LUDs (Local User Data)
• PUD (Program global User Data)
• Analog inputs/outputs
• Data exchange via FC21

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The user is prompted to take the current valid measuring system:

MD10240 $MN_SCALING_SYSTEM_IS_METRIC
into account.
The current measuring system setting can be read at the PLC interface via the "inch
measuring system" signal:
DB10 DBX107.7.

Signal:
DB10 DBB71 (inch/metric measuring system modification counter)
can be used for reading the "measuring system modification counter".

User tool data

Additional machine data sets are introduced for user-defined tool data:
MD18094 $MN_MM_NUM_CC_TDA_PARAM
and cutting edge data:
MD18096 $MN_MM_NUM_CC_TOA_PARAM:

MD10290 $MN_CC_TDA_PARAM_UNIT [MM_NUM_CC_TDA_PARAM]

MD10292 $MN_CC_TOA_PARAM_UNIT [MM_NUM_CC_TOA_PARAM]
A physical unit can be configured using these machine data. All lengthrelated userdefined
tool data are automatically converted to the new measuring system according to the input on
switchover.

Reference point
The reference point is retained. It is not necessary to repeat referencing.

Input resolution and computational resolution

The input/computational resolution is set in the control via machine data:
MD10200 $MN_INT_INCR_PER_MM.

Default settings:

Metric system Inch system

1000 (0.001 mm) 0.0001
Example:
1 inch = 25.4 mm ⇒ 0.0001 inch = 0.00254 mm = 2.54 μm
To be able to program and display the last 40 mm, MD10200 must be assigned a value of
100000.
Only with this identical setting for both measuring systems is it possible to change the
measuring system without a significant loss of accuracy. Once MD10200 has been set to this
value, it will not need to be changed each time the measuring system is switched over.

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JOG and handwheel factor

Machine data:
MD31090 $MA_JOG_INCR_WEIGHT
consists of two values, which contain the axial increment factors for both measuring
systems.
Depending on the current setting in machine data:
MD10240 $MN_SCALING_SYSTEM_IS_METRIC,
the control selects the correct value automatically.
The user defines the two increment factors, e.g., for the first axis, during the installation and
startup phase:
• Metric:
MD31090 $MA_JOG_INCR_WEIGHT[0;AX1]=0.001 mm
• Inch:
MD31090 $MA_JOG_INCR_WEIGHT[1;AX1]=0.00254 mm ≙ 0.0001 inch
In this way, MD31090 does not have to be written on every inch/metric switchover.
Remaining distances are not accumulated during incremental traversing with JOG when the
measuring system is changed, since all internal positions always refer to mm.

Data backup
Data sets, which can be read separately from the control and have access to data relevant to
the measuring system, receive an INCH or METRIC identifier during the read action,
depending on machine data:
MD10260 $MN_CONVERT_SCALING_SYSTEM.
The identifier corresponds to machine data:
MD10240 $MN_SCALING_SYSTEM_IS_METRIC.

This records the measuring system, in which the data were originally read out.
This information is intended to prevent data sets from being read into the control system with
a measuring system, which is different from the active system. In this case, alarm 15030 is
triggered and the write process is interrupted.
Since the language instruction is also evaluated in parts programs, these can also be
"protected" against operator errors as described above. You can, therefore, prevent parts
programs containing only metric data, for example, from running on an inch measuring
system.
Archives and machine data sets are downward compatible if:
MD11220 $MN_INI_FILE_MODE = 2.

Note
The INCH/METRIC instruction is only generated if compatibility machine data:
MD10260 $MN_CONVERT_SCALING_SYSTEM
is set.

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2.2 Metric/inch measuring system

Rounding machine data

All length-related machine data are rounded to the nearest 1 pm when writing in the inch
measuring system (MD10240 $MN_SCALING_SYSTEM_IS_METRIC=0 and MD10260
$MN_CONVERT_SCALING_SYSTEM=1), in order to avoid rounding problems.
The disturbing loss of accuracy, which occurs as a result of conversion to ASCII when
reading out a data backup in the inch system of measurement, is corrected by this procedure
when the data is read back into the system.

2.2.4 FGROUP and FGREF

Programming
It should be possible to program the effective machining feedrate in the usual way as a path
feedrate via the F value in processing procedures where the tool, the workpiece or both are
moved by a rotary axis (e.g., laser machining of rotating tubes).
In order to achieve this, it is necessary to specify an effective radius (reference radius) for
each of the rotary axes involved. You can do this by programming the modal NC address:
FGREF[<axis name>] = reference radius
The unit of the reference radius depends on the G70/G71/G700/G710 setting.
In order to include the axes in the calculation of the path feedrate, they must all be specified
in the FGROUP command.
In order to ensure compatibility with the behavior with no FGREF programming, the factor 1
degree = 1 mm is activated on system powerup and RESET.
This corresponds to a reference radius of:
FGREF = 360 mm/(2π) = 57.296 mm
This default setting is independent of the active basic system:
MD10240 $MN_SCALING_SYSTEM_IS_METRIC
and of the currently active inch/metric G code.

Table 2-2 Special features of the feedrate weighting for rotary axes in FGROUP:

N100 FGROUP(X,Y,Z,A)
N110 G1 G91 A10 F100
N120 G1 G91 A10 X0.001 F100

The programmed F value in block N110 is evaluated as a rotary axis feedrate in

degrees/min, while the feedrate weighting in block N120 is either 100 inch/min or 100
mm/min, depending on the current inch/metric setting.
The time required to execute the two blocks can be differ greatly.

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2.2 Metric/inch measuring system

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

Example:
The following example illustrates the effect of FGROUP on the path and the path feedrate.

N100 R1=0
N110 FGROUP(X,A)
N120 G91 G1 G710 F100 ; Feedrate=100 mm/min or 100 deg/min
N130 DO $R1=$AC_TIME
N140 X10 ; Feedrate=100 mm/min
; Path=10 mm
; R1=6 s approx.
N150 DO $R2=$AC_TIME
N160 X10 A10 ; Feedrate=100 mm/min
; Path=14.14 mm
; R2=8 s approx.
N170 DO $R3=$AC_TIME
N180 A10 ; Feedrate=100 degrees/min
; Path=10 degrees
; R3=6 s approx.
N190 DO $R4=$AC_TIME
N200 X0.001 A10 ; Feedrate=100 mm/min
; Path=10 mm
; R4=6 s approx.
N210 G700 F100 ; Feedrate=2540 mm/min or 100 deg/min
N220 DO $R5=$AC_TIME
N230 X10 ; Feedrate=2540 mm/min
; Path=254 mm
; R5=6 s approx.
N240 DO $R6=$AC_TIME
N250 X10 A10 ; Feedrate=2540 mm/min
; Path=254.2 mm
; R6=6 s approx.
N260 DO $R7=$AC_TIME
N270 A10 ; Feedrate=100 degrees/min
; Path=10 degrees
; R7=6 s approx.
N280 DO $R8=$AC_TIME
N290 X0.001 A10 ; Feedrate=2540 mm/min

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Detailed description
2.3 Setpoint/actual-value system

; Path=10 mm
; R8=0.288 s approx.
N300 FGREF[A]=360/(2*$PI) ; Set 1 degree=1 inch via the effective radius
N310 DO $R9=$AC_TIME
N320 X0.001 A10 ; Feedrate=2540 mm/min
; Path=254 mm
; R9=6 s approx.
N330 M30

Note
The variable $AC_TIME contains the time from the start of the block in seconds. It can only
be used in synchronized actions.

2.3 2.3 Setpoint/actual-value system

2.3.1 General

Control loop
A control loop with the following structure can be configured for every closed-loop controlled
axis/spindle:

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Figure 2-1 Block diagram of a control loop

Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control (G2)

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 Detailed description
2.3 Setpoint/actual-value system

Setpoint output
A setpoint can be output for each axis/spindle. Setpoints are output digitally to the actuator
on SINUMERIK 840D/810D.

Actual-value acquisition
A maximum of two measuring systems can be connected for each axis/spindle, e.g., a direct
measuring system for machining processes with high accuracy requirements and an indirect
measuring system for highspeed positioning tasks.
Enter the number of encoders used in machine data:
MD30200 $MA_NUM_ENCS.

In the case of two actual-value branches, the actual value is acquired for both branches.
The active measuring system is always used for position control, absolute value calculation
and display. If both measuring systems are activated at the same time by the PLC interface,
positioning measuring system 1 is chosen internally by the control.
Reference point approach is executed by the selected measuring system.
Each positioning measuring system must be referenced separately.
For an explanation of actual-value acquisition compensation functions, see:
References:
/FB2/ Function Manual, Extended Functions; Compensations (K3)
For an explanation of encoder monitoring, see:
References:
/FB1/Function Manual, Basic Functions; Axis Monitoring, Protection Zones (A3)

Switching between measuring systems

You can switch between the two measuring systems using the NC/PLC interface signals:
DB31, ... DBX1.5 (positioning measuring system 1)
and
DB31, ... DBX1.6 (positioning measuring system 2).

References
/FB1/ Function Manual, Basic Functions; Various Interface Signals (A2)
It is possible to switch over measuring systems at any time, the axes do not have to be
stationary to do this. Switchover only takes place if a permissible deviation between the
actual values and the two measuring systems has not been violated.
The related tolerance is entered in machine data:
MD36500 $MA_ENC_CHANGE_TOL (maximum tolerance for position actual-value
switchover).

On switchover, the current difference between position measuring system 1 and 2 is

traversed immediately.
The permissible difference between the actual values of the two measuring systems must be
entered in machine data:
MD36510 $MA_ENC_DIFF_TOL.

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Detailed description
2.3 Setpoint/actual-value system

This tolerance setting must not be exceeded during cyclical comparison of the two
measuring systems or an error message will be generated.
Related monitoring is not active if MD35510=0, if 2 measuring systems are not
active/available on the axis or if the axis is not referenced (at least current control measuring
system).

Types of actual-value acquisition

The encoder type used must be defined in machine data:
MD30240 $MA_ENC_TYPE (type of actual-value acquisition (position actual value)).

Simulation axes
For test purposes, the speed control loop of an axis can be simulated.
The axis "travels" with following errors, similar to a real axis.
A simulation axis is defined by setting machine data:
MD30130 $MA_CTRLOUT_TYPE[n] (setpoint output type)
and
MD30240 $MA_ENC_TYPE[n] (actual-value acquisition type)
to "0".
As soon as the standard machine data have been loaded, the axes become simulation axes.
The setpoint and actual value can be set to the reference point value with reference point
approach.
Machine data:
MD30350 $MA_SIMU_AX_VDI_OUTPUT (axis signal output on simulation axes)
can be used to define if the axis-specific interface signals are output to the PLC during the
simulation.

Actual-value correction
If actual-value corrections performed by the NC on the encoder selected for position control
are not to influence the actual value of any other encoder defined in the same axis, then the
position control encoder must be declared to be "independent" via machine data:
MD30242 $MA_ENC_IS_INDEPENDENT.

Actual-value corrections include the following:

• Modulo treatment
• Reference point approach
• Measuring system comparison
• PRESET

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 Detailed description
2.3 Setpoint/actual-value system

2.3.2 Speed setpoint and actual-value routing

General information
In order to carry out speed setpoint and actual-value routing, the following must be defined
for each axis/spindle:
• Assignment of 1st measuring circuit
• Assignment of 2nd measuring circuit (if present)
• Assignment of setpoint branch
Multiple assignment is also possible, e.g., using a measuring circuit for position actual-value
acquisition for the alternating control of several axes/spindles.

Note
When a SIMODRIVE 611 universal is operated via the PROFIBUS DP, various machine
data that need to be parameterized for digital and analog drives are not assigned.

Prerequisite for routing

All NC machine axes must be uniquely defined in machine data:
MD10000 $MN_AXCONF_MACHAX_NAME_TAB[n] (machine axis name).

This name must be unique throughout the system (all mode groups and channels).
References:
/FB1/ Function Manual, Basic Functions;
Axes, Coordinate Systems, Frames (K2)/
Mode Group, Channel, Program Operation, Reset Behavior (K1)

Speed setpoint routing

For speed setpoint routing, the following setpoint assignments for parameterizing the
relevant machine data must be made:

Setpoint assignment Number

Drive type: Of the bus segment
Drive number/module number: Of the module within the bus segment
Output on drive module/module: Of the setpoint output
Output type of setpoint: Type of speed setpoint output
Setpoint output is unipolar Polarity of the output driver for speed setpoint
(only active in conjunction with PROFIBUS DP) output

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Detailed description
2.3 Setpoint/actual-value system

Index of MD for speed setpoint routing

The index [n] of the machine data for setpoint routing is coded with 0 for setpoint assignment
with default setting 1.

Speed setpoint routing

The following machine data need to be parameterized for each setpoint branch:

MD30100 $MA_CTRLOUT_SEGMENT_NR[n] (setpoint assignment of bus segment):

The number of the bus segment, via which the output is addressed, is entered here.
Depending on the SINUMERIK version, certain bus segments are preassigned.
• Local bus (similar to SINUMERIK FM NC, for example) =0
• 611D I/O bus (1st DCM, e.g., SINUMERIK 810D) =1
• Local I/O bus =2
• 611D I/O bus (2nd DCM) =3
• Reserved for virtual buses =4
• PROFIBUS-DP (NCU 573.2 and higher) =5
(PROFIBUS line for ProfiSafe at PLC end)
• PROFIBUS DP link module (NCU 573.2 and higher) =6

MD30110 $MA_CTRLOUT_MODULE_NR[n]
(setpoint assignment: Drive number/module number):
The number of the module in the bus segment, via which the output is to be addressed, is entered
here.
The logical drive number of the axis module can be set via machine data:
MD13010 $MN_DRIVE_LOGIC_NR[n]
for:
• SINUMERIK 810D Range of values 0 - 15
• SINUMERIK 840D as 611 digital drive number Range of values 0 -31
• SINUMERIK 840D PROFIBUS on link module Range of values 0 -125

MD30120 $MA_CTRLOUT_NR[n])
(setpoint assignment: Setpoint output on drive module/module):
The number of the setpoint output must be entered here
(always output 1 for SINUMERIK 840D/810D).

MD30130 $MA_CTRLOUT_TYPE[n] (setpoint output type):

The speed setpoint output type is entered here.
0: Simulation (HW not required)
1: Standard (differentiated via HW configuration)
2: Stepper motor and 3: FM module (for SINUMERIK FM NC only)

MD30134 IS_UNIPOLAR_OUTPUT[n] (setpoint output is unipolar):

The unipolar speed setpoint output works only in conjunction with PROFIBUS DP.

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 Detailed description
2.3 Setpoint/actual-value system

Actual-value routing
For actual-value routing, the following actual-value assignments for parameterizing the
associated machine data must be made:

Actual-value assignment Number:

Drive type: Of the bus segment
Drive number/module number: Of the module within the bus segment
Input on drive module/measuring circuit module: Of the setpoint input
Type of actual-value acquisition (position actual The encoder type used
value):
Encoder set independently/dependently The encoder is independent
Actual-value corrections by the NC

Machine data actual-value routing

The following machine data must be parameterized for each actual-value branch:

MD30210 $MA_ENC_SEGMENT_NR[n] (actual-value assignment of bus segment):

The number of the bus segment, via which the encoder is addressed, is entered here.
Depending on the SINUMERIK version, certain bus segments are preassigned.
• Local bus (similar to SINUMERIK FM NC, for example) =0
• 611D I/O bus (1st DCM, e.g., SINUMERIK 810D) =1
• Local I/O bus =2
• 611D I/O bus (2nd DCM) =3
• Reserved for virtual buses =4
• PROFIBUS-DP (NCU 573.2 and higher) =5
(PROFIBUS line for ProfiSafe at PLC end)
• PROFIBUS DP link module (NCU 573.2 and higher) =6

MD30220 $MA_ENC_MODULE_NR[n])
(actual-value assignment: drive module number/measuring circuit number):
The number of the module in the bus segment, via which the encoder is addressed, is entered here.
The logical drive number of the axis module can be set via machine data:
MD13010 $MN_DRIVE_LOGIC_NR[n]
for:
• SINUMERIK 810D Range of values 0 - 15
• SINUMERIK 840D as 611 digital drive number Range of values 0 -31
• SINUMERIK 840D PROFIBUS on link module Range of values 0 -125

MD30230 $MA_ENC_INPUT_NR[n])
(actual-value assignment: Input on drive module/measuring circuit module):
The number of the input, to which the position actual-value encoder is connected, is entered here.
• SINUMERIK 840D/810D: = 1 or 2 (counting down)
• SINUMERIK FM NC: = 1 - 4, in accordance with input selected X3 - X6

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Detailed description
2.3 Setpoint/actual-value system

MD30240 $MA_ENC_TYPE[n] (type of actual-value acquisition):

Enter the encoder type used here.

MD30242 $MA_ENC_IS_INDEPENDENT[n]:
To prevent actual-value corrections influencing the actual value of an encoder defined in the same
axis, the latter must be declared independent.
0: Encoder is independent
1: Encoder is dependent

MD index for actual-value routing

The coding of the machine data index [n] for actual-value routing is:

[encoder no.]
0 For first encoder
1 For second encoder

Examples of setpoint/actual-value routing

SINUMERIK 840D/810D with SIMODRIVE 611 digital
For machine axis "X1", the setpoint should be output digitally and actual values acquired on
drive module 4 (4th slot = index [3]).
The "logical drive number" of this module is 7.
Encoder number: 1, 2
Therefore, actual values are acquired via a direct and indirect measuring system.

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 Detailed description
2.3 Setpoint/actual-value system

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Special features of SINUMERIK 840D/810D with SIMODRIVE 611 digital:

• MD30110 $MA_CTRLOUT_MODULE_NR[n]
and
MD30220 $MA_ENC_MODULE_NR[n]
always have the same logical drive number with either indirect measuring systems
or if the motor encoder has to be evaluated in the NC.

• If direct measuring systems are installed, you can also configure encoders that are
connected to other drives.
SINUMERIK 810D with axis expansion interface
Integrated drive no. 4 should be assigned to machine axis "X1":

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Detailed description
2.3 Setpoint/actual-value system

Motor measurement channel X414

Pulse interface X304
Measurement channel no. 6 should be assigned to machine axis "X1":
X416 as direct measuring system.
The logical number of the drive is set automatically to 4.

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Figure 2-3 Example of setpoint/actual-value routing with axis expansion interface

Actual-value assignment Machine data parameterization for 810D

1. axis actual value from motor (X414) MD30220 $MA_ENC_MODULE_NR[0] =4
encoder MD30230 $MA_ENC_INPUT_NR[0] =1
2. axis actual value from linear (X416) MD30220 $MA_ENC_MODULE_NR[1] =3
scale MD30230 $MA_ENC_INPUT_NR[1] =1
Number of encoders: MD30200 $MA_NUM_ENCS =2
Actual-value acquisition modes 1: MD30240 $MA_ENC_TYPE[0] =1
2: MD30240 $MA_ENC_TYPE[1] =1
Setpoint assignment
MD30110 $MA_CTRLOUT_MODULE_NR[0] =4
MD30120 $MA_CTRLOUT_NR[0] =1
MD13010 $MN_DRIVE_LOGIC_NR[3] =4
MD30130 $MA_CTRLOUT_TYPE[0] =1

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 Detailed description
2.3 Setpoint/actual-value system

2.3.3 Configuration of drives

SINUMERIK 840D/810D with SIMODRIVE 611 digital

SINUMERIK 840D/810D with 611D drive bus
You can configure the drive in the "Diagnostics" operating area on the operator panel (HMI;
Human Machine Interface).
The following machine data are automatically parameterized for each real drive:
• MD13010 $MN_DRIVE_LOGIC_NR[n] (logical drive number)
• MD13000 $MN_DRIVE_IS_ACTIVE[n] (activate SIMODRIVE 611 digital drive)
• MD13030 $MN_DRIVE_MODULE_TYPE[n] (module identifier)
• MD13040 $MN_DRIVE_TYPE[n] (drive type identifier)
• MD13020 $MN_DRIVE_INVERTER_CODE[n] (power section code of drive module)
The index [n] used in the machine data is the slot number of the real drives. The number is
automatically assigned by the NC for all connected drive modules on POWER ON. The
index is numbered starting with "0" at the beginning of the drive bus (1st real drive available)
and continues in ascending order to the end. Multiaxis modules are assigned consecutive,
physical drive numbers (counted from left to right). SINUMERIK 810D uses the first 6 slots
(indices 0-5).
Machine data:
MD13010 $MN_DRIVE_LOGIC_NR (logical drive number)
can be used to create dummies for modules, which are not yet available.

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Detailed description
2.3 Setpoint/actual-value system

SINUMERIK 840Di with SIMODRIVE 611 universal

SINUMERIK 840Di With PROFIBUS DP
When a SINUMERIK 840Di is operated with the PROFIBUS DP drive 611 universal, the
following MD are not used:
• MD13000 $MN_DRIVE_IS_ACTIVE[n] (activate SIMODRIVE 611 digital drive)
• MD13010 $MN_DRIVE_LOGIC_NR[n] (logical drive number)
• MD13020 $MN_DRIVE_INVERTER_CODE[n] (power section code of drive module)
• MD13030 $MN_DRIVE_MODULE_TYPE[n] (module identifier)
• MD13040 $MN_DRIVE_TYPE[n] (drive type identifier)
The following machine data are used instead of MD13000 to MD13040:
• MD13050 $MN_DRIVE_LOGIC_ADDRESS[n] (drive address)
• MD13060 $MN_DRIVE_TELEGRAM_TYPE[n]
(Message frame type for drives connected to PROFIBUS DP)
• MD13070 $MN_DRIVE_FUNCTION_MASK[n]
(DP functions used for drives connected to PROFIBUS DP)
Allows adaptation of certain nonstandardized PROFIBUS control bits of the SIMODRIVE
611 universal.
• MD13080 $MN_DRIVE_TYPE_DP[n] (PROFIBUS DP drive type)
Selection of external slaves, synchronous, asynchronous or linear drives.

2.3.4 Adapting the motor/load ratios

Gear types
The following gear types are available for adapting the mechanical ratios:

Gear type Activation Adaptation Installation location

Motor/load gear Parameter set Fixed configuration Gear unit
Measuring gear encoder Power ON Sensor-dependent Sensor-side
Load intermediate gear unit NewConfig Load-dependent Tool-side

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 Detailed description
2.3 Setpoint/actual-value system

Local position of gear unit/encoder

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Figure 2-4 Gear unit types and encoder locations

Motor/load gear
The motor/load gear supported by SINUMERIK is configured via the following machine data:
MD31060 $MA_DRIVE_AX_RATIO_NUMERA (Numerator load gearbox)
MD31050 $MA_DRIVE_AX_RATIO_DENOM (Denominator load gearbox)
The transmission ratio is obtained from the numerator/denominator ratio of both machine
data. The associated parameter sets are used automatically as default by the control to
synchronize the position controller with the relevant transmission ratios.
Since a gear stage change is not always carried out automatically, and there are also
several ways to request a gear stage change, the position controller is not always
incorporated via parameter sets.

Note
For more information about parameter sets during gear stage change, see:
References:
/FB1/ Function Manual, Basic Functions; Spindles (S1).

Intermediate gear
Additional, configurable load intermediate gears are also supported by the control:
MD31066 $MA_DRIVE_AX_RATIO2_NUMERA (intermediate gear numerator)
MD31064 $MA_DRIVE_AX_RATIO2_DENOM (intermediate gear denominator)
Power tools generally have their "own" intermediate gear. Such variable mechanics can be
configured by multiplying the active intermediate gearbox and the motor/load gearbox.

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2.3 Setpoint/actual-value system

Caution
Unlike the motor/load gear, there is no parameter set for the intermediate gear and,
therefore, no way of controlling the time-synchronized switchover to parts program or PLC
(VDI interface). Part programming during gear change is, therefore, ruled out. It remains the
task of the user to match the synchronization of the relevant changed machine data to the
corresponding mechanical switchover and activate it. On switchover during a movement,
compensations cannot be ruled out due to jumps in the scaling factors. These are not
monitored for violation of the maximum acceleration.

Encoder directly on tool

Another connection option is possible for a "tool-side encoder" on the intermediate gear, by
configuring machine data:
MD31044 $MA_ENC_IS_DIRECT2.

Encoder not directly on tool

The following supplementary conditions apply to a gear change of the intermediate gear in
position-control mode:
• The gear ratio to be changed is incorporated in a re-scaling of the encoder information in
this case.
In this case, the following applies to axes/spindles in positioning mode:
• A non-abrupt gear change is only possible at zero speed.
To do this, the tool-side position before and after a gear change are set equal for a
change in the ratio, since the mechanical position does not (or hardly) changes during a
gear stage change.
Recommendation:
To avoid 21612 "Controller enable reset during motion", changeover should be carried
out "only at zero speed". It is still permissible and expedient to switch the axis or spindle
to speed-control or follow-up mode before or during a gear change.

Supplementary conditions
If the encoder to be used for position control is connected directly at the tool, the gear stage
change only affects the physical quantities at the speed interface between the NC and the
drive of the motor/load gear. The internal parameter sets are not changed.

Reference point and position reference

In the case of gear changes, it is not possible to make a statement about the effect of the
reference point or machine position reference on the encoder scaling. In such cases, the
control partially cancels the status "Axis referenced/synchronized".
If the position reference to the machine, tool, etc., has been lost, it must first be restored
through appropriate adjustment or referencing of the lost reference point. This is especially
important for the functions Travel to fixed stop, Referencing to Bero, Cam and Zero marker.

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2.3 Setpoint/actual-value system

Caution
The control cannot detect all possible situations that can lead to loss of the machine position
reference. Therefore, it is the responsibility of the commissioning engineer or user to initiate
explicit referencing of zero marker synchronization in such cases.

Note
To facilitate re-referencing without a disruptive RESET,
machine data:
MD34080 $MA_REFP_MOVE_DIST
and
MD34090 $MA_REFP_MOVE_DIST_CORR
should be reset to NewConfig efficacy.
For more information about referencing, please see:
References:
/FB1/ Function Manual, Basic Functions; Reference Point Approach (R1)

2.3.5 Speed setpoint output

Control direction and travel direction of the feed axes

You must determine the travel direction of the feed axis before starting work.
Control direction
Before the position control is started up, the speed controller and current controller of the
drive must be started up and optimized.
Travel direction
Machine data:
MD32100 $MA_AX_MOTION_DIR (travel direction)
can be used to reverse the direction of movement of the axis,
without affecting the control direction of the position control.

Speed setpoint adjustment

SINUMERIK 840D/810D
In the case of speed setpoint comparison, the NC is informed, which speed setpoint
corresponds to which motor speed in the drive, for parameterizing the axial control and
monitoring. This comparison is carried out automatically.

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2.3 Setpoint/actual-value system

SINUMERIK 840D with PROFIBUS DP

It is necessary to change machine data:
MD32250 $MA_RATED_OUTVAL[n] (rated output voltage)
from 80% to 0%, corresponding to value "0", for PROFIBUS DP drives with automatic
comparison of speed setpoint scaling.
This value must also be set in the case of adjustment in the NC.
Alternatively for PROFIBUS-DP drives, manual speed setpoint comparison is also possible.
• Manual comparison
A value other than zero is entered in machine data:
MD32250 $MA_RATED_OUTVAL.

For more information about speed setpoint adjustment, please refer to:
References:
/HBI/SINUMERIK 840Di Manual; "Axes and Spindles".
SINUMERIK 840Di with SIMODRIVE 611 universal
The speed setpoint comparison for SINUMERIK 840Di with SIMODRIVE 611 universal
drives can be performed automatically or manually.
• Automatic adjustment
Configuration values for setpoint scaling are adjusted automatically,
provided that machine data:
MD32250 $MA_RATED_OUTVAL[n] = 0.

The speed setpoint comparison through acyclic services at PROFIBUS DP can be

performed automatically.
SINUMERIK 840D/810D with SIMODRIVE digital

Note
Velocity adjustment and maximum speed setpoint
The velocity does not need to be adjusted on a SINUMERIK 840D/810D due to automatic
speed setpoint comparison.

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2.3 Setpoint/actual-value system

Maximum speed setpoint

With SINUMERIK 840D/810D, the maximum speed setpoint is the largest value,
which can be output on the SIMODRIVE 611 digital drive, due to the maximum speed set in
drive machine data:
MD1401/2401 $MD_MOTOR_MAX_SPEED (maximum useful motor speed).

MD1401 corresponds to the maximum motor speed on the spindle drive. The desired speed
at the spindle is reached via the mechanical gear stage.
The output of the spindle speed is implemented in the NC for SINUMERIK 840D/840Di.
Data for 5 gear stages is implemented in the control.
The gear stages are defined by a minimum and maximum speed for the gear stage and a
minimum speed and a maximum speed for the automatic gear stage change. A new set gear
stage is output only if the new programmed speed cannot be traversed in the current gear
stage.
Machine data:
MD36210 $MA_CTRLOUT_LIMIT[n] (maximum speed setpoint)
is used to limit the speed setpoint to a certain percentage.
Values up to 200% are possible.
An alarm is output if the limit is exceeded.

Q 6HW  6SHHGVHWSRLQW
0D[VSHHGVHWSRLQW
0'&75/287B/,0,7

0D[D[LVYHORFLW\
0'0$;B$;B9(/2

W>V@

Figure 2-5 Maximum speed setpoint

However, due to control processes, the axes should not reach their maximum velocity
(MD32000 $MA_MAX_AX_VELO) at 100% of the speed setpoint, but at 80% to 95%.
For axes, which reach their maximum velocity at around 80% of the speed setpoint range,
the default setting (80%) of machine data:
MD32000 $MA_MAX_AX_VELO (maximum axis velocity)
should be applied.
With SINUMERIK 840D/810, machine data:
MD36210 $MA_CTRLOUT_LIMIT[n] (maximum speed setpoint)
and
MD1405/2405 $MD_MOTOR_SPEED_LIMIT (motor monitoring speed)
must agree.

Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control (G2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-37
Detailed description
2.3 Setpoint/actual-value system

Note
For more information about setpoint adjustment for SIMODRIVE digital drives, see:
References:
/IAD/Installation & Startup Guide; "Axes and Spindles".
For more information about setpoint scaling for SIMODRIVE analog drives, see:
References:
/FB3/ Function Manual, Special Functions; Analog Axis (TE2).

2.3.6 Actual-value processing

Actual-value resolution
In order to be able to create a correctly closed position control loop, the control system must
be informed of the valid actual-value resolution. The axis-specific machine data below are
used for this.
The control calculates the actual-value resolution from the settings made in the MD. The
control parameter sets of the position control are identified as servo parameter sets.
The machining process of the machine forms the basis of the position actual-value
acquisition.

Direct measuring system (DM) is on machine directly: Load-side encoder

Indirect measuring system (IM) is on motor indirectly: Motor-side encoder

Depending on the type of axis (linear axis, rotary axis) and the type of actual-value
acquisition (directly at the machine, indirectly at the motor), the following machine data must
be parameterized to calculate the actual-value resolution:

Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control (G2)

2-38 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.3 Setpoint/actual-value system

Machine data Linear axis Linear axis Rotary axis

Linear scale/ Encoder Encoder Encoder Encoder
or as direct on on on on
measuring motor machine motor machine
system and/or tool and/or tool
MD30300 $MA_IS_ROT_AX 0 0 0 1 1
MD31000 $MA_ENC_IS_LINEAR[n] 1 0 0 0 0
MD31010 $MA_ENC_GRID_POINT_DIST[n] Spacing - - - -
MD34320 $MA_ENC_INVERS[n] Opposite - - - -
direction
MD31040 $MA_ENC_IS_DIRECT[n] -/(1) 0 1 0 1
MD31044 $MA_ENC_IS_DIRECT2[n] -/(1) 0 1 0 1
MD31020 $MA_ENC_RESOL[n] - Pulses/ Pulses/ Pulses/r Pulses/
rev rev ev rev
MD31030 $MA_LEADSCREW_PITCH - mm/rev. mm/rev. - -
MD31050 $MA_DRIVE_AX_RATIO_DENOM[n] - Load - Load See
rev. rev. note
MD31060 $MA_DRIVE_AX_RATIO_NUMERA[n] - Motor - Motor See
rev. if rev. note
infeed
gear
available
MD31070 $MA_DRIVE_ENC_RATIO_DENOM[n] - Encoder Encoder Encoder Encoder
rev. rev. rev. rev.
MD31080 $MA_DRIVE_ENC_RATIO_NUMERA[n] - Motor- Motor Motor Load
side rev. rev. rev.
encoder*

- = Does not apply to this combination

* The encoder on the motor side is a built-in encoder and, therefore, does not have a measuring gear unit.
The transmission ratio is always 1:1.

Note
These machine data are not required for encoder matching (path evaluation).
However, they must be entered correctly for the setpoint calculation!
Otherwise the required servo gain (KV) factor will not be set.
Load revolutions are entered in machine data:
MD31050 $MA_DRIVE_AX_RATIO_DENOM
and motor revolutions in machine data:
MD31060 $MA_DRIVE_AX_RATIO_NUMERA.

Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control (G2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-39
Detailed description
2.3 Setpoint/actual-value system

Coding of the machine data

The indices of the following machine data are encoder-coded [encoder no.]:
encoder 0 or 1

Encoder-dependent machine data Meaning

MD31070 $MA_DRIVE_ENC_RATIO_DENOM[n] (Measuring gear denominator)
MD31080 $MA_DRIVE_ENC_RATIO_NUMERA[n] (Measuring gear numerator)
MD31000 $MA_ENC_IS_LINEAR[n] (Direct measuring system, linear scale)
MD31010 $MA_ENC_GRID_POINT_DIST[n] (Distance between reference marks on
linear scales)
MD31020 $MA_ENC_RESOL[n] (Encoder pulses per revolution)
for rotary encoder
MD31040 $MA_ENC_IS_DIRECT[n] (Encoder is connected directly at the
machine)
MD34320 $MA_ENC_INVERS[n] (Length measurement system is inverse)
Further machine data without index
MD30200 $MA_NUM_ENCS (Number of encoders)
MD30300 $MA_IS_ROT_AX (rotary axis)
MD31030 $MA_LEADSCREW_PITCH (Leadscrew pitch)

Index [n] of the following machine data depend on the servo parameter sets of the position
controller, with which the actual-value resolution is calculated automatically in the control:
MD DRIVE_AX_...[servo parameter set no.] : 0-5

Parameter-set-dependent machine data Meaning

MD31050 $MA_DRIVE_AX_RATIO_DENOM[n] (Denominator load gear unit)
MD31060 $MA_DRIVE_AX_RATIO_NUMERA[n] (Numerator load gear unit)

For the following machine data, the control does not consider any parameter set nor any
indices for coded encoders.

NewConfig-dependent machine data Meaning

MD31064 $MA_DRIVE_AX_RATIO2_DENOM (Intermediate gear denominator)
MD31066 $MA_DRIVE_AX_RATIO2_NUMERA (Intermediate gear numerator)
MD31044 $MA_ENC_IS_DIRECT2 (Encoder on intermediate gear)
MD32000 $MA_MAX_AX_VELO (Maximum axis velocity)
MD34080 $MA_REFP_MOVE_DIST (Reference point distance)
MD34090 $MA_REFP_MOVE_DIST_CORR (Reference point offset)

Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control (G2)

2-40 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.3 Setpoint/actual-value system

Note
These machine data can be activated in parts programs with the command NEWCONF or via
the HMI operator panel using a soft key.

Variants of actual-value acquisition

The relevant machine data and relational calculations for the different methods of actual-
value acquisition are described in the following.

2.3.7 Adjustments to actual-value resolution

Calculating the ratio

The calculation of the ratio is obtained from the associated machine data and is defined for
incremental encoders as follows:

&RPSXWDWLRQDOUHVROXWLRQ ,QWHUQDOLQFUHPHQWV PP
$FWXDOYDOXHUHVROXWLRQ (QFRGHULQFUHPHQWV PP

For incremental encoders with rotary axis, the following applies:

&RPSXWDWLRQDOUHVROXWLRQ ,QWHUQDOLQFUHPHQWV GHJUHHV

$FWXDOYDOXHUHVROXWLRQ (QFRGHULQFUHPHQWV GHJUHHV

The internal pulse multiplication factor provided by the measuring system logic module is
• 2048
For raw signal generators on 840D with SIMODRIVE 611 digital
• 128
For raw signal generators on 810D

Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control (G2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-41
Detailed description
2.3 Setpoint/actual-value system

Linear axis with linear scale

0',6B527B$; 

7DEOH
0 %DOOVFUHZ

/LQHDUVFDOH
/RDGJHDU

0'(1&B,6B/,1($5 
0'(1&B*5,'B32,17B',67 OLQHDUHQFRGHU
0'(1&B,19(56 LQWKHRSSRVLWHGLUHFWLRQ

Figure 2-6 Linear axis with linear scale

In order to adapt the actual-value resolution to the calculation resolution, the control
calculates the quotients from the "internal increments/mm" and the "encoder increments/mm"
as follows:

,QWHUQDOLQFUHPHQWVPP (1&B*5,'B32,17B',67>Q@ ,17B,1&5B3(5B00

(QFRGHULQFUHPHQWVPP ,QWHUQDOPXOWLSOLFDWLRQ

The distance for linear encoders is based on the pulse increments.

Linear axis with rotary encoder on motor

(1&B,6B/,1($5B  ,6B527B$; 
n
(QFRGHU (1&B,6B/,1($5B 
7DEOH
* 0 %DOOVFUHZ
0HDV /RDG
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n 6SLQGOH
0RWRU
(1&B5(62/ '5,9(B$;B5$7,2B180(5$ 1RRIPRWRUUHYV
=
'5,9(B$;B5$7,2B'(120 1RRIVSLQGOHUHYV

'5,9(B(1&B5$7,2B180(5$ 1XPEHURIPRWRUUHYROXWLRQV
=
'5,9(B(1&B5$7,2B'(120 1XPEHURIHQFRGHUUHYROXWLRQV

Figure 2-7 Linear axis with rotary encoder on motor

Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control (G2)

2-42 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.3 Setpoint/actual-value system

In order to adapt the actual-value resolution to the calculation resolution, the control
calculates the quotients from the "internal increments/mm" and the "encoder increments/mm"
as follows:
SINUMERIK example
Linear axis with rotary encoder (2048 pulses) on motor;
internal multiplication (2048)

Gear: Motor/leadscrew 5
Pitch 10 mm
10000 increments per mm

,QWHUQDOLQFUHPHQWVPP 
(QFRGHULQFUHPHQWVPP (1&B5(62/>Q@ LQWHUQDOPXOWLSOLFDWLRQ

'5,9(B(1&B5$7,2B180(5$>Q@
'5,9(B(1&B5$7,2B'(120>Q@

'5,9(B$;B5$7,2B'(120>Q@
'5,9(B$;B5$7,2B180(5$>Q@

/($'6&5(:B3,7&+

,17B,1&5B3(5B00

⇒ MD30300 $MA_IS_ROT_AX =0
MD31000 $MA_ENC_IS_LINEAR[0] =0
MD31040 $MA_ENC_IS_DIRECT[0] =0
MD31020 $MA_ENC_RESOL[0] = 2048
MD31030 $MA_LEADSCREW_PITCH = 10
MD31080 $MA_DRIVE_ENC_RATIO_NUMERA[0] = 1
MD31070 $MA_DRIVE_ENC_RATIO_DENOM[0] =1
MD31060 $MA_DRIVE_AX_RATIO_NUMERA[0] =5
MD31050 $MA_DRIVE_AX_RATIO_DENOM[0] =1
MD10200 $MN_INT_INCR_PER_MM = 10000

,QWHUQDOLQFUHPHQWVPP   
(QFRGHULQFUHPHQWVPP    

PP LQFUPP 

Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control (G2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-43
Detailed description
2.3 Setpoint/actual-value system

Result:
1 encoder increment corresponds to 0.004768 increments of the internal unit. In practice, the
available encoder resolution should not be resolved more accurately than the internal
computational resolution.

Linear axis with rotary encoder on the machine

,6B527B$;  (1&B,6B',5(&7 

(1&B,6B/,1($5 
7DEOH
0 *
%DOOVFUHZ (1&B5(62/
/RDG  0HDV
JHDU JHDU
/($'6&5(:B3,7&+
Q 6SLQGOH Q (QFRGHU

'5,9(B(1&B5$7,2B180(5$ 1RRIVSLQGOHUHYV
'5,9(B(1&B5$7,2B'(120 1RRIHQFRGHUUHYV

Figure 2-8 Linear axis with rotary encoder on the machine

In order to adapt the actual-value resolution to the calculation resolution, the control
calculates the quotients from the "internal increments/mm" and the "encoder increments/mm"
as follows:

,QWHUQDOLQFUHPHQWVPP 
(QFRGHULQFUHPHQWVPP (1&B5(62/>Q@ LQWHUQDOPXOWLSOLFDWLRQ

'5,9(B(1&B5$7,2B180(5$>Q@
'5,9(B(1&B5$7,2B'(120>Q@

/($'6&5(:B3,7&+

,17B,1&5B3(5B00

Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control (G2)

2-44 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.3 Setpoint/actual-value system

Rotary axis with rotary encoder on motor

(1&B,6B/,1($5 

(1&B,6B',5(&7 
Q (QFRGHU Q /RDG ,6B527B$; 

* 0 /
5RWDU\WDEOH

Q 0RWRU '5,9(B$;B5$7,2B180(5$ 1RRIPRWRUUHYV

(1&B5(62/
'5,9(B$;B5$7,2B'(120 1RRIORDGUHYV
5HVROYHUJHDULQJ /RDGJHDU

'5,9(B(1&B5$7,2B180(5$ 1XPEHURIPRWRUUHYROXWLRQV
'5,9(B(1&B5$7,2B'(120 1XPEHURIHQFRGHUUHYROXWLRQV

Figure 2-9 Rotary axis with rotary encoder on motor

In order to adapt the actual-value resolution to the calculation resolution, the control
calculates the quotients from the "internal increments/degree" and the "encoder
increments/degree" as follows:
Example for rotary axis with encoder on motor
Rotary axis with rotary encoder (2048 pulses) on motor;
internal multiplication (2048)

Gear: Motor/rotary axis 5

1000 increments per degree

,QWHUQDOLQFUHPHQWVGHJUHHV GHJUHHV
(QFRGHULQFUHPHQWVGHJUHHV (1&B5(62/>Q@ LQWHUQDOPXOWLSOLFDWLRQ

'5,9(B(1&B5$7,2B180(5$>Q@
'5,9(B(1&B5$7,2B'(120>Q@

'5,9(B$;B5$7,2B'(120>Q@
'5,9(B$;B5$7,2B180(5$>Q@

,17B,1&5B3(5B'(*

⇒ MD30300 $MA_IS_ROT_AX =1
MD31000 $MA_ENC_IS_LINEAR[0] =0
MD31040 $MA_ENC_IS_DIRECT[0] =0
MD31020 $MA_ENC_RESOL[0] = 2048
MD31080 $MA_DRIVE_ENC_RATIO_NUMERA[0] =1
MD31070 $MA_DRIVE_ENC_RATIO_DENOM[0] =1

Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control (G2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-45
Detailed description
2.3 Setpoint/actual-value system

MD31060 $MA_DRIVE_AX_RATIO_NUMERA[0] =5
MD31050 $MA_DRIVE_AX_RATIO_DENOM[0] =1
MD10210 $MN_INT_INCR_PER_DEG = 1000

,QWHUQDOLQFUHPHQWVGHJUHHV GHJUHHV  
(QFRGHULQFUHPHQWVGHJUHHV    

LQFUGHJUHHV 

Result:
1 encoder increment corresponds to 0.017166 increments of the internal unit.
The encoder resolution is thus coarser than the computational resolution by a factor of 58.

Rotary axis with rotary encoder on the machine

Q /RDG

5RWDU\WDEOH (1&B,6B',5(&7 
Q (QFRGHU
(1&B5(62/
0 / * (1&B,6B/,1($5B 

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'5,9(B(1&B5$7,2B'(120(5$ 1RRIHQFRGHUUHYV

/RDGJHDU 5HVROYHUJHDULQJ

Figure 2-10 Rotary axis with rotary encoder on the machine

In order to adapt the actual-value resolution to the calculation resolution, the control
calculates the quotients from the "internal increments/degree" and the "encoder
increments/degree" as follows:

,QWHUQDOLQFUHPHQWVGHJUHHV GHJUHHV
(QFRGHULQFUHPHQWVGHJUHHV (1&B5(62/>Q@ LQWHUQDOPXOWLSOLFDWLRQ

'5,9(B(1&B5$7,2B180(5$>Q@
'5,9(B(1&B5$7,2B'(120>Q@

,17B,1&5B3(5B'(*

Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control (G2)

2-46 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.3 Setpoint/actual-value system

Intermediate gear encoder on tool

'5,9(B$;B5$7,2B180(5$ 1RRIORDGUHYV
'5,9(B$;B5$7,2B'(120 1RRIVSLQGOHUHYV
(1&B,6B',5(&7 
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7RRO
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(1&B5(62/ (1&B,6B',5(&7  (1&B,6B',5(&7 

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'5,9(B$;B5$7,2B'(120 1RRIVSLQGOHUHYV

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'5,9(B(1&B5$7,2B'(120 1XPEHURIHQFRGHUUHYROXWLRQV

Figure 2-11 Intermediate gear with encoder directly on the rotating tool

In order to adapt the actual-value resolution to the calculation resolution, the control
calculates the quotients from the "internal increments/mm" and the "encoder increments/mm"
as follows:

,QWHUQDOLQFUHPHQWVGHJUHHV GHJUHHV
(QFRGHULQFUHPHQWVGHJUHHV (1&B5(62/>Q@ LQWHUQDOPXOWLSOLFDWLRQ

'5,9(B(1&B5$7,2B180(5$>Q@
'5,9(B(1&B5$7,2B'(120>Q@

,17B,1&5B3(5B'(*

Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control (G2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-47
Detailed description
2.4 Closed-loop control

2.4 2.4 Closed-loop control

2.4.1 General

Position control of an axis/spindle

The closed-loop control of an axis consists of the current and speed control loop of the drive
plus a higher-level position control loop in the NC.
The speed and current control systems for SIMODRIVE 611 are described in:
References:
/IAD/"Installation & Startup Guide" SINUMERIK 840D/611D digital
/IAC/"Installation & Startup Guide" SINUMERIK 810D
/PJU/"Planning Guide" Converters.
The basic structure of an axis/spindle position control is illustrated below:

0'$;B-(5.B(1$%/(
0'$;B-(5.B02'( 0'326&75/B*$,1>Q@
0'$;B-(5.B7,0(

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LQWHUSRODWLRQ OLPLWDWLRQ ORRSFRQWURO
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,)&
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0'$;B,1(57,$ 0'(1&B&203B(1$%/(>Q@
0'(48,9B63(('&75/B7,0(>Q@ 0'%$&./$6+>Q@
0'(48,9B&855&75/B7,0(>Q@ 0'%$&./$6+B)$&725>Q@

Figure 2-12 Additional servo parameter sets for position control

Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control (G2)

2-48 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.4 Closed-loop control

For a description of the feedforward control, backlash, friction compensation with further
machine data, and leadscrew error compensation, see:
References:
/FB2/ Function Manual, Extended Functions; Compensations (K3).
For a description of jerk limitation, see:
References:
/FB1/ Function Manual, Basic Functions; Acceleration (B2).

Fine Interpolation
The fine interpolator (FIPO) is used to adjust the setpoint of the (generally lower) interpolator
cycle clock to the later position-control cycle.
Fine interpolation further improves the quality of the contour (decreasing the step effect of
the speed setpoint).
There are three types of FIPOs:

1: Differential FIPO
2: Cubic FIPO
3: Cubic FIPO, optimized for operation with feedforward control
The type of fine interpolation can be defined via machine data:
MD33000 $MA_FIPO_TYPE (fine interpolation type).

A differential FIPO not only performs cycle matching but also calculates a mean value
(smoothing) from an IPO cycle.
The cubic FIPO, type 3, supplies the best contour accuracy in addition to the cycle
adaptation.

Kv factor
To ensure that only low contour deviations occur in continuous-path mode,
a high servo gain factor (Kv):
MD32200 $MA_POSCTRL_GAIN[n]
is required.
However, if the servo gain factor (Kv) is too high, instability, overshoot and possibly
impermissibly high loads on the machine will result.
The maximum permissible servo gain factor (Kv) depends on the following:
• Design and dynamics of the drive
(rise time, acceleration and braking capacity)
• Machine quality
(elasticity, oscillation damping)
• Position-control cycle
The servo gain factor (Kv) is defined as follows:

Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control (G2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-49
Detailed description
2.4 Closed-loop control

9HORFLW\ >PPLQ@
.9 
)ROORZLQJHUURU >PP@

[m/min]/[mm]: Unit of servo gain factor (KV) according to VDI standard

Servo gain factor (Kv-) setting for SINUMERIK 840D/810D

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RIWKHSRVLWLRQ
FRQWUROORRS $[LVHTXLYWLPH

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Figure 2-13 Dynamic response adaptation

Dynamic response adaptation

The purpose of dynamic response adaptation is to set an identical following error for axes
with different servo gain factors (Kv). The optimum contour accuracy for axes interpolating
with each other can thus be achieved without reduced control quality. A high servo gain
factor (Kv) for an axis can be maintained, which guarantees optimum disturbance
suppression of the axis.
The function is activated via machine data:
MD32900 $MA_DYN_MATCH_ENABLE (dynamic response adaptation).

Axes are adapted via machine data:

MD32910 $MA_DYN_MATCH_TIME[n] (dynamic response adaptation time constant).
With this MD, the equivalent time constant of the position control loop of the axes with a
higher servo gain factor (Kv) is matched to the axis with the lowest servo gain factor (Kv).
The difference between the equivalent time constants of the "slowest" control loop and the
relevant axis is entered in machine data:
MD32910 $MA_DYN_MATCH_TIME[n].

Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control (G2)

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 Detailed description
2.4 Closed-loop control

Example of dynamic response adaptation of axes 1, 2 and 3 (without speed feedforward

control):

The equivalent time constant of the position control loop is as follows:

For axis 1: 30 ms
For axis 2: 20 ms
For axis 3: 24 ms
⇒ Axis 1 is dynamically the slowest axis
⇒ For machine data:
MD32910 $MA_DYN_MATCH_TIME[n] (dynamic response adaptation time constant)
the following values are achieved:

Axis 1: 0 ms
Axis 2: 10 ms
Axis 3: 6 ms

Approximation formulae
The equivalent time constant of the position control loop of an axis is calculated according to
the following formula:
• No feedforward control is active


76SDUHV ป
0'326&75/B*$,1>V@

• Speed feedforward control

76SDUHV ป 0'(48,9B63(('&75/B7,0(

• Torque feedforward control

76SDUHV ป 0'(48,9B&855&75/B7,0(

Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control (G2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-51
Detailed description
2.4 Closed-loop control

Note
If a geometry axis is subject to dynamic response adaptation, the same dynamic behavior is
also required of all other geometry axes and can be activated with the setting:
MD32900 $MA_DYN_MATCH_ENABLE= 1.

References:
/IAD/"Installation & Startup Guide", SINUMERIK 840D/611D
/IAC/"Installation & Startup Guide", SINUMERIK 810D

2.4.2 Parameter sets of the position controller

Six different parameters sets

The position control can operate with 6 different servo parameter sets.
They are used as follows
1. Fast adaptation of the position control to altered machine characteristics during operation,
e.g., a gear change of the spindle.
2. Matching the dynamics of an axis to another axis, e.g., during tapping.

Parameter set changeover

The following machine data can be changed by switching over the parameter set during operation:
Denominator load gearbox MD31050 $MA_DRIVE_AX_RATIO_DENOM[n]
Numerator load gearbox MD31060 $MA_DRIVE_AX_RATIO_NUMERA[n]
Kv factor MD32200 $MA_POSCTRL_GAIN[n]
Backlash compensation MD32452 $MA_BACKLASH_FACTOR[n]
Feedforward control factor MD32610 $MA_VELO_FFW_WEIGHT[n]
Exact stop limits MD36012 $MA_STOP_LIMIT_FACTOR[n]
MD36000 $MA_STOP_LIMIT_COARSE
MD36010 $MA_STOP_LIMIT_FINE
and zero-speed window MD36030 $MA_STANSTILL_POS_TOL
Equivalent time constant MD32800 $MA_EQUIV_CURRCTRL_TIME[n]
current control loop for torque feedforward
control
Equivalent time constant MD32810 $MA_EQUIV_SPEEDCTRL_TIME[n]
speed control loop for speed feedforward control
Time constant for dynamic response adaptation MD32910 $MA_DYN_MATCH_TIME[n]
Threshold value for velocity monitoring MD36200 $MA_AX_VELO_LIMIT[n]

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Tapping or thread cutting

The following applies to parameter sets for axes:
• For machine axes not involved in tapping or thread cutting, parameter set 1 (index=0) is
always used.
The further parameter sets need not be considered.
• For machine axes involved in tapping or thread cutting, the same parameter set number
as for the current gear stage of the spindle is activated.
All parameter sets correspond to the gear stages and must therefore be parameterized.
The current parameter set is displayed in operating area "Diagnostics" in the "Service axis"
display. The parameter sets for gear stages 1 to 5 are referred to as interpolation
parameters.

Parameter sets during gear stage change

Interpolation parameter sets during gear stage change:
In the case of spindles, each gear stage is assigned its own parameter set.
The appropriate parameter set is activated, depending on the NC/PLC interface signal:
DB31, ... DBX16.0 - 16.2 (actual gear stage).

DB31, ... DBX16.0 - 16.2 (actual gear stage) Active parameter set
000 1. Gearbox stage 2 (Index=1)
001 1. Gearbox stage 2 (Index=1)
010 2. gear stage 3 (Index=2)
011 3. gear stage 4 (Index=3)
100 4. gear stage 5 (Index=4)
101 5. gear stage 6 (Index=5)
110
111
For more information about gear stages for spindles, see:
References:
/FB1/ Function Manual, Basic Functions; Spindles (S1).

2.4.3 Extending the parameter set

Application
Some machines use the same drive for moving various machine parts, which, in view of
considerably varying speeds, results in a gear stage change. With each gear stage change,
the corresponding parameter set is also switched over.
Now several parameter sets are provided for further practical applications and for setting the
feedforward control of the control loop.

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Functionality
To optimize closed-loop control during startup, these codable parameter sets support
practiceoriented startup by substantially reducing configuration expenditure with regard to
the new functions, such as backlash compensation, feedforward control factor, exact stop
limits, and zero-speed window.

New parameter sets

Until now it has been possible to change the gear ratio and other control loop parameters
(such as achievable control servo gain) by switching over the servo parameter set. The
already existing machine data with parameter set coding are extended as follows:

Parameter set coding (modifiable as a function of parameter set)

Backlash compensation MD32450 $MA_BACKLASH[n] (max. number of
encoders)
Feedforward control factor MD32610 $MA_VELO_FFW_WEIGHT[n]
Exact stop limits MD36000 $MA_STOP_LIMIT_COARSE
MD36010 $MA_STOP_LIMIT_FINE
Zero-speed window MD36030 $MA_STANSTILL_POS_TOL

Weighting factor for parameter set changeover

Weighting factor for: MD32452 $MA_BACKLASH_FACTOR[n]
• Backlash compensation MD32450 $MA_BACKLASH[n]
Weighting factor for: MD36012 $MA_STOP_LIMIT_FACTOR[n]
• Exact stop limits MD36000 $MA_STOP_LIMIT_COARSE
MD36010 $MA_STOP_LIMIT_FINE
• Zero-speed window MD36030 $MA_STANSTILL_POS_TOL

Machine data tried and tested to date

Further machine data with parameter set coding
The following existing machine data can be coded using parameter sets and have already
been tried and tested during the startup of the NC:

Denominator load gearbox MD31050 $MA_DRIVE_AX_RATIO_DENOM

Numerator load gearbox MD31060 $MA_DRIVE_AX_RATIO_NUMERO
Equivalent time constant current control loop MD32800 $MA_EQUIV_CURRCTRL_TIME
Equivalent time constant speed control loop MD32810 $MA_EQUIV_SPEEDCTRL_TIME
Time constant for dynamic response MD32910 $MA_DYN_MATCH_TIME
adaptation
Threshold value for velocity monitoring MD36200 $MA_AX_VELO_LIMIT

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Advantages
• The indirect switchover of a single function: (e.g. MD32452 not 1)
The parameter set-dependent function is only relevant if required.
• The indirect switchover of several functions: (e.g. MD36012 not 1)
The common weighting factor forces the ratios of all parameter set-dependent functions
within various machine data to remain constant. To switch over several functions, one
single machine data can be sufficient.
In this way, configuration errors are avoided and input work reduced.

Activating the parameter set coding

Default setting without parameter set coding
Provided that the machine data below retain a value of (1), the control is compatible with
earlier software versions:
MD32452 $MA_BACKLASH_FACTOR = 1
MD32610 $MA_VELO_FFW_WEIGHT = 1
MD36012 $MA_STOP_LIMIT_FACTOR = 1
Activating the parameter set coding
If the default setting in machine data:
MD32452 $MA_BACKLASH_FACTOR
is changed to something other than (1.0), the backlash compensation is also changed,
depending on the parameter set.
If the default setting in machine data:
MD32610 $MA_VELO_FFW_WEIGHT
is changed to something other than (1.0), the feedforward control factor is also changed,
depending on the parameter set.
If the default setting in machine data:
MD36012 $MA_STOP_LIMIT_FACTOR
is changed to something other than (1.0), the exact limit stops and the zero-speed window
are also changed, depending on the parameter set.
When loading previous archives (from data stored in earlier software versions), machine
data:
MD32610 $MA_VELO_FFW_WEIGHT
is automatically set to the same value for all indices, to ensure that the control remains
compatible.
Machine data:
MD32452 $MA_BACKLASH_FACTOR
and
MD36012 $MA_STOP_LIMIT_FACTOR
are not even available in previous archives.
In this case, the default setting remains active automatically.
The response is also compatible in this case.

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Example
Effects of various parameter sets with backlash compensation:

MD32450 $MA_BACKLASH[AX1] = 0.01

MD32452 $MA_BACKLASH_FACTOR[0,AX1] = 1.0 Parameter set 1
MD32452 $MA_BACKLASH_FACTOR[1,AX1] = 2.0 Parameter set 2
MD32452 $MA_BACKLASH_FACTOR[2,AX1] = 3.0 Parameter set 3
MD32452 $MA_BACKLASH_FACTOR[3,AX1] = 4.0 Parameter set 4
MD32452 $MA_BACKLASH_FACTOR[4,AX1] = 5.0 Parameter set 5
MD32452 $MA_BACKLASH_FACTOR[5,AX1] = 6.0 Parameter set 6

In parameter set 1 (index 0) of the first axis (AX1), a backlash compensation factor with the
value 1.0 has the following effect:
1.0 * MD32450 = 0.01 mm (or inch or degrees)
The backlash compensation is twice as large in parameter set 2, three times as large in
parameter set 3, etc.
The maximum value is 100.

Supplementary conditions
The functional expansion is available for all control variants.

Control response on POWER ON, RESET, REPOS

The new or modified data are activated via the "Enable machine data" soft key or by a
RESET or POWER ON. Mode switchover, block search or REPOS have no influence.

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2.5 2.5 Optimization of the control

2.5.1 Position controller: injection of positional deviation

Application
The stability and positioning response of axes with a low natural frequency (up to approx. 20
Hz) and a mechanical design capable of generating oscillations is improved by active
oscillation damping with simultaneous use of the feedforward control.
To illustrate this, the difference in position between two measuring systems is generated
and injected as an additional current setpoint for the feedforward control, according to the
weighting of machine data:
MD32950 $MA_POSCTRL_DAMPING
The function is used predominantly for axes with strong tendency to vibrate.

Functionality
The positional deviation is injected in the NC in the position controller cycle of the higher-
level position control loop in the NC.
The difference in position between a direct and an indirect measuring system is generated
and injected as an additional current setpoint, depending on the weighting of machine data:
MD32950 $MA_POSCTRL_DAMPING.

Direct measuring system:

MD31040 $MA_ENC_IS_DIRECT[1]=1
The encoder for position actual-value acquisition is connected directly to the machining
process of the machine (load encoder).
Indirect measuring system:
MD31040 $MA_ENC_IS_DIRECT[0]=0
The encoder for position actual-value acquisition is located on the motor (motor encoder).

MD32950
The function is activated via the following machine data setting:
MD32950 $MA_POSCTRL_DAMPING = 1.

It is possible to enter both positive and negative values,

which will then serve to scale the injection of the positional deviation.
Standard setting:
MD32950 $MA_POSCTRL_DAMPING = 0.
In this case, the injection of positional deviation is inactive.

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Note
The weighting of machine data:
MD32950 $MA_POSCTRL_DAMPING
can be set on the basis of step responses, for example.
If the control approaches the stability limit (vibration inclination increases), then the
parameter is too large.

Supplementary condition
1. The functional expansion is available for all control variants,
which use SIMODRIVE 611 digital drives.
2. The function can only be used on axes with two encoders:
MD30200 $MA_NUM_ENCS = 2
One of the encoders must be parameterized as an indirect measuring system and the
other as a direct measuring system.
If these conditions are not met, reset alarm 26016 will acknowledge the function when an
attempt is made to activate machine data:
MD32950 $MA_POSCTRL_DAMPING.

The function remains deactivated internally when this alarm is active.

2.5.2 Position controller position setpoint filter: New balancing filter

For speed and torque feedforward control

Application
With feedforward control active, the position setpoint is sent through a socalled balancing
filter before it reaches the controller itself. It is thus possible to feedforward control the speed
setpoint at 100%, without resulting in overshoots when positioning.

Functionality
Until now, it was possible to compensate the negative effects of the balancing filter (a low
pass with settable time constant), which has remained unchanged since SW 1 and which
has admitted instead of an overshoot also undesired undershoots of some 10 micrometers,
as follows:
• Setting a compromise of overshoots and undershoots
• Setting the positioning slightly overshooting and reducing the amplitude of these
overshoots by way of position setpoint signal smoothing and jerk limitation
• Setting a speed controller with reference model instead of PI behavior
(only possible with 840D)

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• Setting the filter time to zero and setting the feedforward control factor to a value less
than 100%
• Sacrificing the feedforward control and bringing the machine to a very high position
controller gain using dynamic stiffness control.
This measure requires a stiff machine.
With SW 5 and higher, a second, improved balancing filter is therefore available.
The existing filter is still installed and is active with the same function when transferring
existing archives (e.g., in the case of upgrades).

Advantages
The new balancing filter provides the following improvements:
• An axis with feedforward control has a considerably lower inclination to undershoots
when positioning.
• Achieves a higher accuracy at bent contours (can be measured, e.g., using the circularity
test) and can be set more easily.
• A part of the setting is carried out by the control system automatically.

Filter activation with MD32620

The new filter is activated by changing the axial machine data:
MD32620 $MA_FFW_MODE
by selecting values 3 and 4.
The desired active feedforward control variant with new balancing
is selected as follows via MD32620:

3= Speed feedforward control with new balancing

4= Torque feedforward control (only possible with SINUMERIK 840D) with new balancing

For reasons of a compatible response of archives that contain only changes compared with
the default settings, no default value can be set for these new values 3 and 4 in the new
software versions.

Activation of feedforward control

Parts programs can be used to activate and deactivate the feedforward control for all axes,
using instructions FFWON and FFWOF , which does not affect machine data:
MD32630 FFW_ACTIVATION_MODE.

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Control response with POWER ON, RESET, REPOS, etc.

In the case of POWER ON and RESET, as well as with "Enable machine data", the setting
data of the feedforward control are read in anew (see the appropriate values of the machine
data). Mode change, block search and repositioning have no influence on the feedforward
control.

Supplementary conditions
The functional expansion is available for all control variants.

New setting rule for MD32810 and MD32800

If the new filter is active, the setting rule for machine data:
MD32810 $MA_EQUIV_SPEEDCTRL_TIME
and
MD32800 $MA_EQUIV_CURRCTRL_TIME are modified.
This means that, if the old balancing filter had previously been active and is to be changed to
the new filter, the following actions must be considered:
Setting the equivalent time constant with speed feedforward control
If the previous setting was MD32620 $MA_FFW_MODE = 1:
1. Set MD32620 $MA_FFW_MODE = 3.
2. Set MD32610 $MA_VELO_FFW_WEIGHT = 1.
3. Reset MD32810 $MA_EQUIV_SPEEDCTRL_TIME.
Setting the equivalent time constant with torque feedforward control
If the previous setting was MD32620 $MA_FFW_MODE = 2:
1. Set MD32620 $MA_FFW_MODE = 4.
2. Set MD32610 $MA_VELO_FFW_WEIGHT = 1.
3. Reset MD32800 $MA_EQUIV_CURRCTRL_TIME.
This also applies when you load an older archive into the control system, e.g., from a
previous version. For example, when changing MD32620 $MA_FFW_MODE from 1 to 3,
MD32810 $MA_EQUIV_SPEEDCTRL_TIME may not simply retain its old value, but must be
reset. Otherwise, no improvement will be achieved, but rather a worsening of the positioning
response.

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Recommended setting in case of recommissioning

If recommissioning, or if previous standard values are loaded (switch position 1 on
commissioning switch and POWER ON), the following machine data default values apply:
MD32620 $MA_FFW_MODE = 1
MD32610 $MA_VELO_FFW_WEIGHT = 1
These are not the recommended settings, but are chosen for reasons of compatibility.
However, if recommissioning, the following setting is recommended:
MD32620 $MA_FW_MODE = 3
The balancing time for the speed feedforward control then just has to be adjusted in machine
data:
MD32810 $MA_EQUIV_SPEEDCTRL_TIME.

Setting the equivalent time constant of the speed control loop

MD32810 speed feedforward control
We recommend that the axis be allowed to move in and out in "AUTOMATIC" mode with a
part program and that travel-in to the target position, i.e., the actual position value of the
active measuring system, be monitored with servo trace (HMI Advanced or programming
device).
The actual position value can also be output to the drive module's digital-to-analog converter
and an oscilloscope can be used for monitoring.
The initial value for setting is the time constant of the speed control loop. This can be read
from the reference frequency characteristic of the speed control loop. In the frequent case of
a proportional-plus-integral-action controller with special value smoothing, an approximate
equivalent time can be read from drive machine data 1500-1503.
Another option would be to trace the speed setpoint and actual value at a constant
acceleration using an oscilloscope and to measure the follow-on time of the speed actual
value.
This initial value (e.g., 1.5 ms) is then entered:
MD32810 $MA_EQUIV_SPEEDCTRL_TIME = 0.0015.
The axis then travels to and fro and the operator monitors a greatly-magnified characteristic
of the position actual value at the target position.
The following rules apply to making manual fine adjustments:

Overshoot monitored: Magnify MD32810 $MA_EQUIV_SPEEDCTRL_TIME.

Excessively slow approach monitored: Reduce MD32810 $MA_EQUIV_SPEEDCTRL_TIME.

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Magnifying MD32810
Magnifying the value in machine data:
MD32810 $MA_EQUIV_SPEEDCTRL_TIME
slows the axis down and increases the geometric contour error on curves.
It has a similar effect to reducing the position controller gain:
MD32200 $MA_POSCTRL_GAIN.
This can also be watched in the Diagnostics area in the screen form "Service Axis" based on
the servo gain value calculated.
Reducing MD32810
Reducing the value in machine data:
MD32810 $MA_EQUIV_SPEEDCTRL_TIME
speeds the axis up.
Therefore, MD32810 should be assigned as small a value as possible, with the overshoot
setting the limit during positioning.
MD32810 fine adjustment
Experience has shown that the initial value is only modified slightly during fine adjustment,
typically by adding or deducting 0.25 ms.
For example, if the initial value is 1.5 ms, the optimum value calculated manually is usually
within the range 1.25 ms to 1.75 ms.
In the case of axes equipped with direct measuring systems (load encoders) and strong
elasticity, you may possibly accept small overshoots of some micrometers.
These can be reduced with the help of the position setpoint filter for dynamic response
adaptation
(MD32910 $MA_DYN_MATCH_TIME) and for jerk (MD32410 $MA_AX_JERK_TIME),
which also reduces the axis speed.
Identical axis data within an interpolation group
All the axes within an interpolation group must have identical settings in the following data:
MD32200 $MA_POSCTRL_GAIN
MD32620 $MA_FFW_MODE
MD32610 $MA_VELO_FFW_WEIGHT
MD32810 $MA_EQUIV_SPEEDCTRL_TIME (or MD32800 $MA_EQUIV_CURRCTRL_TIME)
MD32400 $MA_AX_JERK_ENABLE
MD32402 $MA_AX_JERK_MODE
MD32410 $MA_AX_JERK_TIME
The servo gain display (KV) in the axis service screen form is used for checking.
If identical values are not possible for the above data,
machine data:
MD32910 $MA_DYN_MATCH_TIME
can be used to make an adjustment.
This allows the same servo gain value (KV) to be displayed;
however, this rarely occurs.

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Different servo gain values (KV) usually point to the following:

• The gear ratios do not match in one or several axes.
• The feedforward control setting data do not match.
• The jerk filter setting data is incorrect at some point.
Automatic switchover when changing the position-control cycle
Previously, if the position-control cycle (MD10050 $MN_SYSCLOCK_CYCLE_TIME)
changed or the
acceptance time of the speed setpoints was modified in order to increase the servo gain (KV)
(MD10082 $MN_CTRLOUT_LEAD_TIME), or dynamic stiffness control was enabled
(MD32640 $MA_STIFFNESS_CONTROL_ENABLE), the adjustment of
MD32810 $MA_EQUIV_SPEEDCTRL_TIME had to be repeated,
as the optimum value changed significantly.
With setting:
MD32620 $MA_FFW_MODE = 3 or 4,
the control takes these changes into account automatically,
so that machine data:
MD32810 $MA_EQUIV_SPEEDCTRL_TIME
no longer has to be reset.
After major changes, however, you should nevertheless check the positioning behavior (via
servo trace).
Example of speed feedforward control
Programming sample of a selection of the speed feedforward control with new balancing and
default setting: FFWON and FFWOF are active.

MD32620 FFW_MODE[X1] = 3 ; New mode for speed feedforward

control
MD32630 FFW_ACTIVATION_MODE[X1] = 1 ; FFWON and FFWOF are active in NC
program.

FFWON now enables the speed feedforward control in the program

(with all axes of the channel with the same settings as X1);
FFWOF will disable them again.
Machine data:
MD20150 $MC_GCODE_RESET_VALUES[23] (G group initial setting)
can be used to set a default value for FFWON for every channel.

MD32620 $MA_FFW_MODE[X1] = 3 ; New mode for speed feedforward

control
MD32630 $MA_FFW_ACTIVATION_MODE[X1] = 0 ; FFWON and FFWOF are active in NC
program.

In this case, the speed feedforward control with X1 is enabled continuously, also in JOG
mode.
MD20150 $MC_GCODE_RESET_VALUES[ ], FFWON and FFWOF have no effect on X1.
This can be useful if the machine is only permitted to run with feedforward control, e.g., for
reasons of accuracy, or if you also want to test the feedforward control without a program
during startup.

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Note
The setting of the feedforward control must be the same for all axes of an interpolation
group.

Setting the equivalent time constant of the current control loop

MD32800 torque feedforward control for each additional option
The same rules and recommendations apply to setting the time constant of the current
control loop as to the speed feedforward control.
However, as previously, activation of the torque feedforward control filter via:
MD32620 $MA_FFW_MODE = 4
must be enabled both in the drive and via the optionin order to set the time constant via:
MD32800 $MA_EQUIV_CURRCTRL_TIME
.
As with activating the previous filter via:
MD32620 $MA_FFW_MODE = 2,
all other machine data are set in consideration of the corresponding elasticity limits of the
machine.
Limitation to stiff machines
Experience has shown that this expenditure is only worthwhile in the case of very stiff
machines, and requires appropriate experience. The elasticities of the machine are often
excited due to the injection of the torque so strongly that the existing vibrations neutralize the
gain in contour accuracy.
In this case, it would be worth trialing the use of dynamic stiffness control as an alternative:
MD32640 $MA_STIFFNESS_CONTROL_ENABLE.

Example of torque feedforward control

Programming sample of a selection of the torque feedforward control with new balancing and
default setting: FFWON and FFWOF are active.

MD32620 $MA_FFW_MODE[X1] = 4 ; New mode for torque feedforward

control
MD32630 $MA_FFW_ACTIVATION_MODE[X1] = 1 ; FFWON and FFWOF are active.

FFWON now enables the torque feedforward control in the program

(with all axes of the channel with the same settings as X1);
FFWOF will disable them again.
Machine data:
MD20150 $MC_GCODE_RESET_VALUES[23] (G group initial setting)
can be used to set a default value for FFWON for every program.

MD32620 $MA_FFW_MODE[X1] = 4 ; New mode for torque feedforward

control
MD32630 $MA_FFW_ACTIVATION_MODE[X1] = 0 ; FFWON and FFWOF are active.

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In this case, the torque feedforward control with X1 is enabled continuously, also in JOG
mode. MD20150 $MC_GCODE_RESET_VALUES[ ], FFWON and FFWOF have no effect on
X1. This can be practical if the machine is only permitted to run with feedforward control,
e.g., for reasons of accuracy, or if you also want to test the feedforward control without a
program during startup.
For more information about the effect of the feedforward control relating to the speed and
torque position controller setpoints, please refer to:
References:
/FB2/ Function Manual, Extended Functions; Compensations (K3),
Chapter: "Description of machine data".

Note
The setting of the feedforward control must be the same for all axes of an interpolation
group.

2.5.3 Position controller position setpoint filter: new jerk filter

Application
In some applications, such as when milling sculptured surfaces, it can be advantageous to
smooth the position setpoint curves to obtain better surfaces, due to reduced excitations of
machine vibrations.

Functionality
The filter effect of the position setpoints must be as strong as possible without impermissibly
affecting contour accuracy.
The smoothing behavior of the filter must also be as "symmetrical" as possible, i.e., if the
same contour was to be traveled in both forward and reverse, the characteristic rounded by
the filter should be as similar as possible in both directions.
The effect of the filter can be monitored by means of the effective servo gain factor (KV),
which is displayed on the Axis service screen form. The filtering effect rounds the position
setpoints slightly, thus reducing the path accuracy so that with increasing filter time a smaller
effective servo gain factor (KV) is displayed.

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Advantages
The filter available since software version 1, which is set via:
MD32400 $MA_AX_JERK_ENABLE = 1
and
MD32410 $MA_AX_JERK_TIME = filter time,
meets the requirements for a strong filter effect with smoothing behavior that is as
symmetrical as possible for small time constants of up to approximately 10 ms.
A considerably better result is achieved using this new filter type for axial jerk limitation with
floating averaging. In this case, filter time constants of approx. 20 to 40 ms can be used,
depending on the particular machine.
Thanks to the floating averaging, the new filter achieves lower contour errors with the same
smoothing effect, compared with the previous 2nd degree filter type. The contour of the
smoothing behavior is to a large degree balanced.

Filter enable with MD32402

Machine data:
MD32402 $MA_AX_JERK_ENABLE
is used to enable the new position setpoint filter,
and is defined as follows:

MD32402 $MA_AX_JERK_MODE =2 Select new jerk filter mode

MD32410 $MA_AX_JERK_TIME = 0.02 Set filter time in seconds (20 ms)
MD32400 $MA_AX_JERK_ENABLE =1 Enable filter calculation

If no filter mode was previously activated:

MD32402 $MA_AX_JERK_MODE = 2,
POWER ON has to be triggered once.
Otherwise, "Enable machine data" or RESET on the machine control panel are sufficient.
For reasons of compatibility, the default setting is:
MD32402 $MA_AX_JERK_MODE = 1.

Note
For new machines, the new filter is generally recommended:
MD32402 $MA_AX_JERK_MODE = 2.

Only if very high filter times are needed and contour accuracy plays a minor part (e.g., as
sometimes occurs when positioning axes), can the old filter be more advantageous.

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 Detailed description
2.5 Optimization of the control

Fine adjustment
The fine adjustment of the position setpoint filter is carried out as follows:
1. Assess the traversing response of the axis
(e.g., based on positioning processes with servo trace).
2. Modify the filter time in MD32410 $MA_AX_JERK_TIME.
3. Activate the modified time via "Enable machine data" or RESET on the machine control
panel.

Disabling
Disabling the position setpoint filter:
1. Disable filter calculation:
MD32410 $MA_AX_JERK_ENABLE = 0.
2. Activate the interlock via "Enable machine data" or RESET on the machine control panel.

Supplementary conditions
The position setpoint filter is available in all control system variants as follows:
• Effective filter times are limited to a range between a minimum of 1 position-control cycle
up to a maximum of 32 position-control cycles (31 position-control cycles are available).
Further supplementary conditions regarding the filter effect:
• The display of the calculated servo gain factor (KV) in the Axis service screen form
displays smaller values than would be appropriate based on the filter effect.
• Path accuracy is better than the displayed servo gain (KV) suggests.
Therefore, on resetting
MD32400 $MA_AX_JERK_MODE = 1
to
MD32400 $MA_AX_JERK_MODE = 2,
the displayed servo gain (KV) can be reduced while retaining the same filter time,
although the path accuracy improves.
Axes that interpolate with each other must be set identically.
Once an optimum value has been identified for these axes, the one with the longest filter
time should be used as the setting for all axes within the interpolation group.
For more information about jerk limitation on an interpolator level, please refer to:
References:
/FB1/ Function Manual, Basic Functions; Acceleration (B2)
Chapter: "Axis-oriented jerk limitation"
Chapter: "Axisspecific machine data".

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Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-67
Detailed description
2.5 Optimization of the control

2.5.4 Position control with proportional-plus-integral-action controller

Function
In the default scenario, the core of the position controller is a proportional controller with the
above-mentioned upstream override options.
For special uses (such as for electronic gearing), an integral part can be connected. The
resulting proportional-plus-integral-action controller then corrects the error between setpoint
and actual positions down to zero in a finite, settable time period when the appropriate
machine data are set accordingly.

Caution
When the proportional-plus-integral-action controller is active, overshoots occur in the actual
position. In this instance, you must decide whether this effect is admissible or acceptable for
the application in question. Expert knowledge of control engineering and measurements
taken using servo trace are absolutely essential when using this function. If incorrect settings
are made for the relevant machine data, there is a risk of damaging the machine, due to
possible instability.

Background
The transfer function of the proportional-plus-integral-action controller is as follows:

*5 V .5   V
7Q

KR: P component gain

Tn: Integral time

Procedure
1. First optimize the position control loop as a proportional-action controller first using the
tools described in the previous subsections.
2. Increase the tolerances of the following machine data while measurements are being
taken to determine the quality of the position control with proportional-plus-integral-action
controller:
– MD36020 $MA_POSITIONING_TIME
– MD36030 $MA_STANDSTILL_POS_TOL
– MD36040 $MA_STANDSTILL_DELAY_TIME
– MD36400 $MA_CONTOUR_TOL

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 Detailed description
2.5 Optimization of the control

3. Activate the position control loop as a proportional-plus-integral-action controller by

setting the following machine data:
MD32220 $MA_POSCTRL_INTEGR_ENABLE ; set value 1
MD32210 $MA_POSCTRL_INTEGR_TIME ; integral time [sec.]
Effect of integral time:
– Tn → 0:
The control error is corrected quickly; however, the control loop can become instable.
– Tn → ∞:
The control error is corrected more slowly.
4. Find the appropriate compromise for Tn for your application, using these two extreme
cases as outer limits.
Tn must not be set too close to the instability limit, since there is a risk of damage to the
machine if instability should occur.
5. Use servo trace to trace the travel-in of an automatic program traveling to and from a
target position.
6. Set the servo trace to display the following:
– Following error
– Actual velocity
– Actual position
– Reference position
7. Reset the tolerance values in the following machine data to the required values, once the
optimum value for Tn has been identified:
– MD36020 $MA_POSITIONING_TIME
– MD36030 $MA_STANDSTILL_POS_TOL
– MD36040 $MA_STANDSTILL_DELAY_TIME
– MD36400 $MA_CONTOUR_TOL

Example
Setting result after several iterative processes for KR and Tn.
Each of the following quantities - following error, actual velocity, actual position, and position
setpoint - has been recorded by servo trace. When traversing in JOG mode, the
characteristic of the individual data shown in the following figure was then drawn.
Set machine data:
MD32220 $MA_POSCTRL_INTEGR_ENABLE = 1
MD32210 $MA_POSCTRL_INTEGR_TIME = 0.003
MD32200 $MA_POSCTRL_GAIN[1] = 5.0
Parameter set selection 0

Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control (G2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-69
Detailed description
2.5 Optimization of the control

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Figure 2-14 Following error (1), actual velocity (2), position actual value (3), position setpoint (4)

Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control (G2)

2-70 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.5 Optimization of the control

2.5.5 System variable for status of pulse enable

Application
For all applications that must quickly react to pulse enabling, the status of the pulse enable is
imaged to a new system variable in order to accelerate the braking signal.
This system variable is preferably evaluated in synchronized actions. Using the synchronized
action, either a direct output to an NCK output can be carried out or a faster transfer to the
PLC.

Functionality
Since 611D digital drives have no integrated braking signal, the brakes are normally
controlled from the PLC. The brake can be closed again by deleting the pulse enable in the
PLC.
If the pulse enable is deleted due to external events (611D interface, terminal 663 to the
PLC) or due to drive or axis errors, the PLC can close the brake only with a delay, since the
transport of the pulse enable signal via servo and interpolator requires 2 to 3 interpolator
cycle clocks. In the worst case, the PLC needs another two PLC cycles. With hanging axes
and linear motors, this is often slow.

System variable for enabling the drive power

Since the function must be available for all kinds of drives in the same form (also for non-
electrical drives), the variable is given the name "Drive power enable".

Description NCK variable

Status of the power enable (pulse enable) of a $VA_DPE[machine axis]
machine axis
Predefined range of values:
FALSE: no power enable
TRUE: power enable exists

Activation
The variable is predefined and can be used at any time acc. to the data type BOOL with
FALSE or TRUE. While communication with the drive is not yet established, the value 0
(FALSE) is supplied.
The synchronized actions, in which the variable is evaluated, should preferably be carried
out as soon as the control powers up, e.g., by starting an ASUB from the PLC. To make sure
that the synchronized actions remain continuously active and are not affected by the mode
change, we recommend that they are programmed as "static synchronized actions" (using
IDS as the vocabulary word).

Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control (G2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-71
Detailed description
2.5 Optimization of the control

Example
Output of the pulse enable of machine axis X1 to the first digital NCK output in all modes
IDS = 1 DO $A_OUT[1] = $VA_DPE[X1]

Supplementary conditions
The functional expansion is available for digital drives in all control variants providing
synchronized actions.

Control response with POWER ON, RESET, REPOS, etc.

After POWER ON, the value 0 is supplied while communication with the drive is not yet
established. Then, the system variable $VA_DPE always specifies the pulse enable value
acquired at the beginning of the interpolation cycle. The modeindependent evaluation or
retransmission should be carried out using static synchronized actions (vocabulary word
IDS).

2.5.6 Expansions for "deceleration axes"

Application
In the case of designconditioned nonlinearities and elasticities, as often occurs in material
handling and highbay racking technology, it is often necessary to sacrifice the position
control due to the unstable position control loop. The axes are, therefore, traversed closed-
loop controlled and not open-loop controlled. To this aim, the WF723 module offers the
special function of the "deceleration axes".

Functionality
This "deceleration axes" function blocks any path movements, but allows positioning with
approach to the target position by reducing the velocity step by step. The response
corresponds to that of a multipoint controller.
For reasons relating to position control loop stability, the position controller algorithm is
extended instead of the special positioning function "deceleration axes". It is thus also
possible to operate drives that might cause problems using the position control.

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 Detailed description
2.5 Optimization of the control

Advantages
Compared with the existing method "deceleration axes", the expansion of the position
controller algorithm provides the following advantages:
• The structure of the interpolation and control is extended only slightly.
Thus, this axis automatically has all the properties of a normal axis.
• Traversing on the path also becomes possible; exactly which path can be foreseen
considerably earlier, e.g., a highbay racking cage will take at different velocities. A
possible collision can thus be avoided.
• It is much easier to configure the function.
• In particular, with feedforward control enabled, the positioning processes are faster.

Low-pass filter for analog drives

A lowpass filter connected at the position controller output now also allows the position
controller gain to be reduced quickly with increasing frequency for analog drives (axes). This
suppresses the effect of strong natural frequencies in the form of settable speed setpoint
filters.
This functionality is provided as standard for digital drives.

MD32930/MD32940
The low-pass filter is activated via setting:
MD32930 $MA_POSCTRL_OUT_FILTER_ENABLE = 1.

The filter time constant is input via machine data:

MD32940 $MA_POSCTRL_OUT_FILTER_TIME.

MD32960 "dead zone"

Nonlinearities close to zero speed, such as those, which can occur when simple frequency
converters are used, are inhibited by a "dead zone" in the controller.
The threshold for system deviation, under which a speed setpoint of "zero" is output, can be
set via machine data:
MD32960 $MA_POSCTRL_ZERO_ZONE.

The "dead zone" is input in MD32960 for each individual encoder.

Stability risk
The expanded position controller algorithm will reduce the risks that a stable control admits
only a rather poor setting of the gain, or that the position control loop does not remain stable
despite the effective extensions, to a minimum.

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Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-73
Detailed description
2.5 Optimization of the control

Supplementary conditions
The functional expansion is available for all control variants.
The low-pass filter is only activated if dynamic stiffness control is inactive:
MD32640 $MA_STIFFNESS_CONTROL_ENABLE = 0.

If the low-pass filter is active, the modeled following error is larger than usual during
acceleration phases.
It can, therefore, be necessary to increase machine data:
MD36400 $MA_CONTOUR_TOL
above the standard value,
in order to prevent activation of axial contour monitoring (alarm 25050).
If the adjustable "dead zone" of the position controller retains its standard setting:
MD32960 $MA_POSCTRL_ZERO_ZONE = 0,
this corresponds to an input value, which is the same size as the current encoder fine
resolution.
The default setting is therefore compatible with earlier software versions.
If the "dead zone":
MD32960 $MA_POSCTRL_ZERO_ZONE
is configured to be larger than the zero-speed tolerance:
MD36030 $MA_STANDSTILL_POS_TOL,
zero-speed monitoring (alarm 25040) could be activated on termination of a positioning
process.
With a "dead zone":
MD32960 $MA_POSCTRL_ZERO_ZONE
greater than the exact stop limits:
MD36000 $MA_STOP_LIMIT_COARSE
, no exact stop signals are output.
This can trigger the positioning monitoring function (alarm 25080)
and block the block change.

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Supplementary conditions
No supplementary conditions apply.
3

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Supplementary conditions

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3-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Examples
No examples are available.
4

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Examples

Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control (G2)

4-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Data lists 5
5.1 5.1 Machine data

5.1.1 Memory specific machine data

Number Identifier: $MM_ Description

9004 DISPLAY_RESOLUTION Display resolution
9010 SPIND_DISPLAY_RESOLUTION Display resolution for spindles
9011 DISPLAY_RESOLUTION_INCH Display resolution for INCH system of measurement

5.1.2 NC-specific machine data

Number Identifier: $MN_ Description

10000 AXCONF_MACHAX_NAME_TAB[n] Machine axis name
10050 SYSCLOCK_CYCLE_TIME System basic cycle
10070 IPO_SYSCLOCK_TIME_RATIO Factor for interpolator cycle
10060 POSCTRL_SYSCLOCK_TIME_RATIO Factor for position-control cycle
10080 SYSCLOCK_SAMPL_TIME_RATIO Division factor of position-control cycle for actual-
value acquisition
10200 INT_INCR_PER_MM Computational resolution for linear positions
10210 INT_INCR_PER_DEG Computational resolution for angular positions
10220 SCALING_USER_DEF_MASK Activation of scaling factors
10230 SCALING_FACTORS_USER_DEF[n] Scaling factors of physical quantities
10240 SCALING_SYSTEM_IS_METRIC Basic system metric
10250 SCALING_VALUE_INCH Conversion factor for switchover to
inch system
10260 CONVERT_SCALING_SYSTEM Basic system switchover active
10270 POS_TAB_SCALING_SYSTEM Measuring system of position tables
10290 CC_TDA_PARAM_UNIT Physical units of the tool data for CC
10292 CC_TOA_PARAM_UNIT Physical units of the tool edge data for CC

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Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 5-1
Data lists
5.1 Machine data

Number Identifier: $MN_ Description

13000 DRIVE_IS_ACTIVE[n] Drive activation
13010 DRIVE_LOGIC_NR[n] Logical drive number
13020 DRIVE_INVERTER_CODE[n] Power section code of drive module
13030 DRIVE_MODULE_TYPE[n] Module identifier
13040 DRIVE_TYPE[n] Identifier of drive type
13050 DRIVE_LOGIC_ADDRESS[n] Logical drive addresses
13060 DRIVE_TELEGRAM_TYPE[n] Standard message frame type for PROFIBUS DP
13070 DRIVE_FUNCTION_MASK[n] DP function used
13080 DRIVE_TYPE_DP[n] Drive type PROFIBUS DP

5.1.3 Channelspecific machine data

Number Identifier: $MC_ Description

20150 GCODE_RESET_VALUES[n] Reset G groups

5.1.4 Axis/spindlespecific machine data

Number Identifier: $MA_ Description

30100 CTRLOUT_SEGMENT_NR[n] Setpoint assignment: Drive type
30110 CTRLOUT_MODULE_NR[n] Setpoint assignment: Drive number/module number
30120 CTRLOUT_NR[n] Setpoint assignment: Setpoint output on drive
module/module
30130 CTRLOUT_TYPE[n] Output type of setpoint
30134 IS_UNIPOLAR_OUTPUT[n] Setpoint output is unipolar
30200 NUM_ENCS Number of encoders
30210 ENC_SEGMENT_NR[n] Actual-value assignment: Drive type
30220 ENC_MODULE_NR[n] Actual-value assignment: Drive module
number/measuring circuit number
30230 ENC_INPUT_NR[n] Actual-value assignment: Input on drive
module/measuring circuit module
30240 ENC_TYPE[n] Type of actual-value acquisition (position actual value)
30242 ENC_IS_INDEPENDENT Encoder is independent
30300 IS_ROT_AX Rotary axis
30350 SIMU_AX_VDI_OUTPUT Output of axis signals for simulation axes
31000 ENC_IS_LINEAR[n] Direct measuring system (linear scale)
31010 ENC_GRID_POINT_DIST[n] Distance between reference marks on linear scales

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5-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Data lists
5.1 Machine data

Number Identifier: $MA_ Description

31020 ENC_RESOL[n] Encoder pulses per revolution
31030 LEADSCREW_PITCH Leadscrew pitch
31040 ENC_IS_DIRECT[n] Encoder is connected directly to the machine
31044 ENC_IS_DIRECT2 Encoder on intermediate gear
31050 DRIVE_AX_RATIO_DENOM[n] Denominator load gearbox
31060 DRIVE_AX_RATIO_NUMERA[n] Numerator load gearbox
31064 DRIVE_AX_RATIO2_DENOM Intermediate gear denominator
31066 DRIVE_AX_RATIO2_NUMERA Intermediate gear numerator
31070 DRIVE_ENC_RATIO_DENOM[n] Measuring gear denominator
31080 DRIVE_ENC_RATIO_NUMERA[n] Measuring gear numerator
31090 JOG_INCR_WEIGHT Weighting of increment for INC/handwheel
31200 SCALING_FACTOR_G70_G71 Factor for converting values when G70/G71 is active
32000 MAX_AX_VELO Maximum axis velocity
32100 AX_MOTION_DIR Travel direction
32110 ENC_FEEDBACK_POL[n] Sign actual value (feedback polarity)
32200 POSCTRL_GAIN [n] Servo gain factor (Kv)
32210 POSCTRL_INTEGR_TIME Integrator time position controller
32220 POSCTRL_INTEGR_ENABLE Activation of integral component of position controller
32250 RATED_OUTVAL[n] Rated output voltage
32260 RATED_VELO[n] Rated motor speed
32450 BACKLASH[n] Backlash
32500 FRICT_COMP_ENABLE Friction compensation active
32610 VELO_FFW_WEIGHT Feedforward control factor for speed feedforward
control
32620 FFW_MODE Feedforward control mode
32630 FFW_ACTIVATION_MODE Activate feedforward control from program
32650 AX_INERTIA Moment of inertia for torque feedforward control
32711 CEC_SCALING_SYSTEM_METRIC System of measurement of sag compensation
32800 EQUIV_CURRCTRL_TIME [n] Equivalent time constant current control loop for
feedforward control
32810 EQUIV_SPEEDCTRL_TIME [n] Equivalent time constant speed control loop for
feedforward control
32900 DYN_MATCH_ENABLE Dynamics matching
32910 DYN_MATCH_TIME [n] Time constant for dynamic response adaptation
32930 POSCTRL_OUT_FILTER_ENABLE Activation of low-pass filter at position controller
output
32940 POSCTRL_OUT_FILTER_TIME Time constant of low-pass filter at position controller
output
32950 POSCTRL_DAMPING Factor for additional damping of position control loop
32960 POSCTRL_ZERO_ZONE[n] Dead zone position controller
33000 FIPO_TYPE Fine interpolator type
34320 ENC_INVERS[n] Length measuring system is inverse

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Data lists
5.1 Machine data

Number Identifier: $MA_ Description

35100 SPIND_VELO_LIMIT Maximum spindle speed
36200 AX_VELO_LIMIT [n] Threshold value for velocity monitoring
36210 CTRLOUT_LIMIT[n] Maximum speed setpoint
36400 AX_JERK_ENABLE Axial jerk limitation
36410 AX_JERK_TIME Time constant for axial jerk filter
36500 ENC_CHANGE_TOL Max. tolerance for position actual-value switchover
36510 ENC_DIFF_TOL Measuring system synchronism tolerance
36700 ENC_COMP_ENABLE[n] Interpolatory compensation

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Index

$ E
$AC_TIME, 2-22 Encoder coding, 2-40
$VA_DPE, 2-70 Encoder directly on tool, 2-34

A F
Actual-value acquisition, 2-23 Fine Interpolation, 2-48
Actual-value correction, 2-25 FIPO, 2-48
Actual-value processing, 2-35, 2-53, 2-57 Following error compensation (feedforward control)
Actual-value resolution, 2-38 Speed feedforward control, 2-58
Actual-value routing, 2-25 Function overview of inch/metric switchover, 2-20
Adapting the motor/load ratios, 2-32 Data backup, 2-19
Adjustments to actual-value resolution, 2-41 Rounding machine data, 2-20
Axis parameter sets, 2-52 Synchronized actions, 2-14

B I
Basic system, 2-11 Inch measuring system, 2-11
Input resolution, 2-6
Intermediate gear, 2-33
C Interpolation parameter sets, 2-53
Closed-loop control, 2-47
Computational resolution, 2-6
Configuration of drives, 2-31
L
Control direction, 2-35 Linear axis
Conversion of basic system, 2-12 With linear scale, 2-42
With rotary encoder on motor, 2-42
With rotary encoder on the machine, 2-44
D
DB 31, ...
DBX16.0 - 16.2, 2-53
M
DB10 Manual switchover of the basic system
DBB71, 2-18 General, 2-16
DBX107.7, 2-18 Input resolution and computational resolution, 2-18
DB31 JOG and handwheel factor, 2-19
DBX1.5, 2-24 Reference point, 2-18
DBX1.6, 2-24 System data, 2-17
Display resolution, 2-6 Tool data, 2-18
Drive configuration, 2-31 MD10000, 2-26
Dynamic response adaptation, 2-50 MD10050, 2-62
MD10082, 2-62

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Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 Index-1
Index

MD10200, 2-2, 2-3, 2-7, 2-18, 2-43 MD32100, 2-35

MD10210, 2-2, 2-3, 2-7, 2-46 MD32200, 2-49, 2-52, 2-61, 2-62, 2-69
MD10220, 2-6, 2-8 MD32210, 2-68, 2-69
MD10230, 2-6, 2-8, 2-9 MD32220, 2-68, 2-69
MD10240, 2-11, 2-13, 2-16, 2-18, 2-19, 2-20 MD32250, 2-36
MD10260, 2-11, 2-16, 2-17, 2-19, 2-20 MD32400, 2-62, 2-66
MD10270, 2-11 MD32402, 2-62, 2-66
MD10290, 2-18 MD32410, 2-62, 2-66
MD10292, 2-18 MD32450, 2-54, 2-56
MD11220, 2-19 MD32452, 2-52, 2-54, 2-55, 2-56
MD13000, 2-31, 2-32 MD32610, 2-52, 2-54, 2-55, 2-60, 2-62
MD13010, 2-27, 2-28, 2-31, 2-32 MD32620, 2-59, 2-60, 2-62, 2-63, 2-64
MD13020, 2-31, 2-32 MD32630, 2-59, 2-63, 2-64
MD13030, 2-31, 2-32 MD32640, 2-62, 2-64, 2-72
MD13040, 2-31, 2-32 MD32711, 2-11
MD13050, 2-32 MD32800, 2-52, 2-54, 2-60, 2-62, 2-64
MD13060, 2-32 MD32810, 2-52, 2-54, 2-60, 2-61, 2-62, 2-63
MD13070, 2-32 MD32900, 2-50, 2-51
MD13080, 2-32 MD32910, 2-50, 2-52, 2-54, 2-62
MD1401, 2-37 MD32930, 2-72
MD1405, 2-37 MD32940, 2-72
MD18094, 2-18 MD32950, 2-57, 2-58
MD18096, 2-18 MD32960, 2-72, 2-73
MD20150, 2-12, 2-16, 2-63 MD33000, 2-49
MD2401, 2-37 MD34080, 2-35, 2-40
MD2405, 2-37 MD34090, 2-35, 2-40
MD30100, 2-26 MD34320, 2-39, 2-40
MD30110, 2-27, 2-30, 2-31 MD35100, 2-1
MD30120, 2-27, 2-31 MD36000, 2-52, 2-54, 2-73
MD30130, 2-24, 2-27, 2-31 MD36010, 2-52, 2-54
MD30134, 2-27 MD36012, 2-52, 2-54, 2-55
MD30200, 2-23, 2-31, 2-40, 2-58 MD36020, 2-68, 2-69
MD30210, 2-28 MD36030, 2-52, 2-54, 2-68, 2-69, 2-73
MD30220, 2-28, 2-30, 2-31 MD36040:, 2-68, 2-69
MD30230, 2-28, 2-31 MD36110, 2-6
MD30240, 2-24, 2-28, 2-31 MD36200, 2-52, 2-54
MD30242, 2-25, 2-28 MD36210, 2-37
MD30300, 2-39, 2-40, 2-43, 2-45 MD36400, 2-68, 2-69, 2-72
MD30350, 2-25 MD36500, 2-24
MD31000, 2-39, 2-40, 2-43, 2-45 MD36510, 2-24
MD31010, 2-39, 2-40 MD9004, 2-6
MD31020, 2-39, 2-40, 2-43, 2-45 MD9011, 2-6
MD31030, 2-39, 2-40, 2-43 Measuring systems, 2-24
MD31040, 2-39, 2-40, 2-43, 2-45, 2-57 Metric measuring system, 2-11
MD31044, 2-34, 2-39, 2-40 Motor/load gear, 2-33
MD31050, 2-33, 2-39, 2-40, 2-43, 2-46, 2-52, 2-54
MD31060, 2-33, 2-39, 2-40, 2-43, 2-46, 2-52, 2-54
MD31064, 2-33, 2-40 P
MD31066, 2-33, 2-40
Parameter set changeover, 2-52
MD31070, 2-39, 2-40, 2-43, 2-45
Parameter sets of the position controller, 2-52
MD31080, 2-39, 2-40, 2-43, 2-45
Path feedrate, 2-3
MD31090, 2-19
Physical quantities, 2-7
MD31200, 2-12
Position control, 2-52
MD32000, 2-1, 2-37, 2-40

Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control (G2)

Index-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Index

Position control loop, 2-47 Setpoint system, 2-22

Positioning accuracy, 2-4 Setpoint/actual-value system|Configuration of drives for
Positioning axes, 2-3 SINUMERIK 840Di, 2-31, 2-32
PROFIBUS DP, 2-32 Simulation axes, 2-24
Pulse multiplication factor, 2-41 Speed control loop, 2-47
Speed setpoint adjustment, 2-35
Speed setpoint output, 2-35, 2-53, 2-57
R Speed setpoint routing, 2-25
Spindle speed, 2-3
Resolutions, 2-6
Rotary axis
With rotary encoder on motor, 2-45
With rotary encoder on the machine, 2-46
T
Traversing ranges, 2-3

S
V
Scaling, 2-6
Scaling of machine and setting data, 2-7 Velocities, 2-1
Servo gain factor, 2-49, 2-50
Setpoint output, 2-23

Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control (G2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 Index-3
Index

Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control (G2)

Index-4 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 1
SINUMERIK 840D sl/840Di sl/840D/840Di/810D Auxiliary Function Output to PLC (H2)
______________
Brief description

2
______________
Detailed description

3
SINUMERIK 840D sl/840Di ______________
Supplementary conditions

sl/840D/840Di/810D
4
______________
Examples

Auxiliary Function Output to PLC 5

(H2) ______________
Data lists

Function Manual

Valid for

Control
SINUMERIK 840D sl/840DE sl
SINUMERIK 840Di sl/840DiE sl
SINUMERIK 840D powerline/840DE powerline
SINUMERIK 840Di powerline/840DiE powerline
SINUMERIK 810D powerline/810DE powerline

Software Version
NCU System Software for 840D sl/840DE sl 1.3
NCU system software for 840D sl/DiE sl 1.0
NCU system software for 840D/840DE 7.4
NCU system software for 840Di/840DiE 3.3
NCU system software for 810D/810DE 7.4

03/2006 Edition
6FC5397-0BP10-1BA0
Safety Guidelines
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent
damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are
graded according to the degree of danger.

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

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

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

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

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

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

Prescribed Usage
Note the following:

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

Trademarks
All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this
publication may be trademarks whose use by third parties for their own purposes could violate the rights of the
owner.

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

Siemens AG Order No.: 6FC5397-0BP10-1BA0 Copyright © Siemens AG 2006.

Automation and Drives Edition 05/2006 Technical data subject to change
Postfach 48 48
90437 NÜRNBERG
GERMANY
Table of contents
1 Brief description ...................................................................................................................................... 1-1
1.1 Function ..................................................................................................................................... 1-1
1.2 Overview of auxiliary functions .................................................................................................. 1-3
2 Detailed description ................................................................................................................................ 2-1
2.1 Predefined auxiliary functions .................................................................................................... 2-1
2.1.1 Predefined auxiliary functions .................................................................................................... 2-1
2.1.2 Parameter: Group assignment................................................................................................... 2-3
2.1.3 Parameter: Type, address extension, and value ....................................................................... 2-4
2.1.4 Parameter: Output behavior....................................................................................................... 2-5
2.1.5 Examples of output behavior ..................................................................................................... 2-8
2.2 Userdefined auxiliary functions ................................................................................................ 2-12
2.2.1 User-specific and extended predefined auxiliary functions ..................................................... 2-12
2.2.2 Maximum number of user-defined auxiliary functions ............................................................. 2-12
2.2.3 Extension of predefined auxiliary functions ............................................................................. 2-12
2.2.4 User-specific auxiliary functions............................................................................................... 2-14
2.2.5 Parameterization ...................................................................................................................... 2-14
2.2.5.1 Parameter: Group assignment................................................................................................. 2-14
2.2.5.2 Parameter: Type, address extension, and value ..................................................................... 2-14
2.2.5.3 Parameter: Output behavior..................................................................................................... 2-16
2.2.5.4 Examples ................................................................................................................................. 2-16
2.3 Type-specific output behavior .................................................................................................. 2-18
2.4 Programmable output duration ................................................................................................ 2-20
2.5 Priorities of the output behavior ............................................................................................... 2-21
2.6 Auxiliary function output to the PLC......................................................................................... 2-23
2.7 Programming............................................................................................................................ 2-24
2.8 Auxiliary functions without block change delay........................................................................ 2-25
2.9 Associated auxiliary functions.................................................................................................. 2-26
2.10 M function with implicit preprocessing stop ............................................................................. 2-28
2.11 Response to overstore............................................................................................................. 2-29
2.12 Block search............................................................................................................................. 2-30
2.12.1 Behavior on block search with calculation ............................................................................... 2-30
2.12.2 Output suppression of spindle-specific auxiliary functions ...................................................... 2-31
2.13 Scan and display of output M-auxiliary functions..................................................................... 2-35
2.13.1 Information options .................................................................................................................. 2-35
2.13.1.1 Status display on the user interface......................................................................................... 2-35
2.13.1.2 Programming a status check ................................................................................................... 2-36

Auxiliary Function Output to PLC (H2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 iii
Table of contents

3 Supplementary conditions....................................................................................................................... 3-1

3.1 General constraints .................................................................................................................... 3-1
3.2 Output behavior.......................................................................................................................... 3-2
4 Examples................................................................................................................................................ 4-1
4.1 Defining auxiliary functions ........................................................................................................ 4-1
5 Data lists................................................................................................................................................. 5-1
5.1 Machine data.............................................................................................................................. 5-1
5.1.1 NC-specific machine data .......................................................................................................... 5-1
5.1.2 Channelspecific machine data ................................................................................................... 5-1
5.2 Signals........................................................................................................................................ 5-2
5.2.1 Signals to channel...................................................................................................................... 5-2
5.2.2 Signals from channel.................................................................................................................. 5-2
5.2.3 Signals to axis/spindle................................................................................................................ 5-5
5.2.4 Signals from axis/spindle ........................................................................................................... 5-5
Index................................................................................................................................................ Index-1

Auxiliary Function Output to PLC (H2)

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Brief description 1
1.1 1.1 Function

General
Auxiliary functions permit activation of the system functions of NC and PLC user functions.
Auxiliary functions can be programmed in part program blocks in the following:
• Parts programs
• Synchronized actions
• User cycles
Detailed information on using auxiliary function output in synchronized actions is to be found
in:
References:
/FBSY/ Function Manual, Synchronized Actions

Predefined auxiliary functions

Predefined auxiliary functions activate system functions. The auxiliary function is also output
to the NC/PLC interface. The following auxiliary functions are predefined:

Type Function Example Meaning

M Miscellaneous (i.e. M30 End of program
special) function
S Spindle function S100 Spindle speed 100 e.g. rpm
T Tool number T3 Tool number 3
D, DL Tool offset D1 Tool cutting edge number 1
F Feed F1000 Feedrate 1000 e.g. mm/min

Userdefined auxiliary functions

There are two uses for user-defined auxiliary functions:
• Extension of predefined auxiliary functions
• User-specific auxiliary functions
Extension of predefined auxiliary functions
Extension of predefined auxiliary functions refers to the "address extensions" parameter. The
address extension defines the number of the spindle to which the auxiliary function applies.

Auxiliary Function Output to PLC (H2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 1-1
Brief description
1.1 Function

The spindle function M3 (spindle right) is predefined for the master spindle of a channel. If a
2nd spindle is assigned to a channel, a corresponding user-defined auxiliary function must
be defined that extends the predefined auxiliary function.

Type Function Example Meaning

M Miscellaneous (i.e. M2=3 2. spindle: Spindle right
special) function
S Spindle function S2=100 2. spindle: Spindle speed = 100 e.g. rpm
T Tool number T2=3
User-specific auxiliary functions
User-specific auxiliary functions do not activate system functions. User-specific auxiliary
functions are output by the NC to the NC/PLC interface only. The functionality of the auxiliary
functions must be implemented by the machine manufacturer / user via the PLC user
program.

Type Function Example Meaning

H1) Auxiliary function H2=5 User-specific function

1) Recommendation

Definition of an auxiliary function

An auxiliary function is defined by the following parameters:
• Type, address extension, and value
The 3 parameters are output to the NC/PLC interface.
• Output behavior
The auxiliary-function-specific output behavior defines for how long an auxiliary function
is output to the NC/PLC interface and when it is output relative to the traverse movement
programmed in the same parts program block.
• Group assignment
An auxiliary function can be assigned to a particular auxiliary function group. The output
behavior can be defined separately for each auxiliary function group. This becomes
active if no auxiliary-function-specific output behavior has been defined. Group
membership also affects output of an auxiliary function after block search.
For more detailed information on auxiliary function output to the NC/PLC interface, see:
References:
/FB1/ Function Manual, Basic Functions, PLC Basic Program (P3)

Auxiliary Function Output to PLC (H2)

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 Brief description
1.2 Overview of auxiliary functions

1.2 1.2 Overview of auxiliary functions

M functions

M (special function)
Address extension Value
Value range Meaning Value range Type Meaning Number8)
0 (implicit) --- up to 8 digits INT Function 5
Remarks:
---
Value range Meaning Value range Type Meaning Number8)
1 - 12 Spindle number 1 – 99 INT Function 5
Remarks:
Example: "Spindle stop" for 2nd spindle of the channel: M2=5.
The master spindle of the channel is addressed if no an address extension is specified.
Value range Meaning Value range Type Meaning Number8)
0 - 99 Any 2147483647 INT Function 5
Remarks:
User-specific M function
Application
Controlling machine functions in synchronism with the part program.
General remarks
• The following M functions have a predefined meaning: M0, M1, M2, M17, M30
M3, M4, M5, M6, M19, M70, M40, M41, M42, M43, M44, M45.
• For each M function (M0 - M99), there is a dynamic signal at the NC/PLC interface that
indicates the validity (new output) of the M function. In addition, 64 additional signals can
be assigned for user M functions.
References
/FB1/ Function Manual, Basic Functions; PLC Basic Program (P3)
• For subprograms, machine data can be used to set whether an output of the M function
should be undertaken for the end of the part program M17, M2 and M30 to the PLC:
MD20800 $MC_SPF_END_TO_VDI (subprogram end to PLC)
• For the predefined M function M40 – M45, only limited redefinition of the output
specification is possible.
• The predefined auxiliary functions M0, M1, M17, M30, M6, M4, M5 cannot be redefined.
• M-function-specific machine data:
– MD10800 $MN_EXTERN_CHAN_SYNC_M_NO_MIN
– MD10802 $MN_EXTERN_CHAN_SYNC_M_NO_MAX
– MD10804 $MN_EXTERN_M_NO_SET_INT
– MD10806 $MN_EXTERN_M_NO_DISABLE_INT
– MD10814 $MN_EXTERN_M_NO_MAC_CYCLE

Auxiliary Function Output to PLC (H2)

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Brief description
1.2 Overview of auxiliary functions

– MD10815 $MN_EXTERN_M_NO_MAC_CYCLE_NAME
– MD20094 $MC_SPIND_RIGID_TAPPING_M_NR
– MD20095 $MC_EXTERN_RIGID_TAPPING_M_NR
– MD20096 $MC_T_M_ADDRESS_EXT_IS_SPINO
– MD22200 $MC_AUXFU_M_SYNC_TYPE
– MD22530 $MC_TOCARR_CHANGE_M_CODE
– MD22532 $MC_GEOAX_CHANGE_M_CODE
– MD22534 $MC_TRAFO_CHANGE_M_CODE
– MD22560 $MC_TOOL_CHANGE_M_CODE

S functions

S (spindle function)
Address extension Value
Value range Meaning Value range Type Meaning Number8)
0 - 12 Spindle number 5) 0 - +/-3.4028 ex 38 3) REAL Spindle speed 3
Comments:
The master spindle of the channel is addressed if no an address extension is specified.
Application
Spindle speed.
Comments
• S functions are assigned to auxiliary function group 3 by default.
• Without an address extension, the S functions refer to the master spindle of the channel.
• S-function-specific machine data:
MD22210 $MC_AUXFU_S_SYNC_TYPE (Output time of the S functions)

H functions

H (aux. function)
Address extension Value
Value range Meaning Value range Type Meaning Number8)
0 - 99 Any -2147483648 - INT Any 3
+2147483647
0 - +/-3.4028exp38 REAL
2) 3) 4)

Comments:
The functionality must be implemented by the user in the PLC user program.
Application
User-specific auxiliary functions.

Auxiliary Function Output to PLC (H2)

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 Brief description
1.2 Overview of auxiliary functions

Comments
• H-function-specific machine data:
MD22110 $MC_AUXFU_H_TYPE_INT (type of H-auxiliary function is an integer)
MD22230 $MC_AUXFU_H_SYNC_TYPE (Output time of the H functions)

T functions

T (tool number) 5) 6)
Address extension Value
Value range Meaning Value range Type Meaning Number8)
1 - 12 Spindle number 0 – 32000 INT Selection of the tool 1
(with active tool (also symbolic tool
management) names for active tool
management)
Comments:
Tool names are not output to the PLC 1)
Application
Tool selection.
Comments
• Identification of the tools, optionally via tool number or location number.
References
/FBW/ Function Description Tool Management
/FB1/Function Manual Basic Functions; Tool Offset (W1)
• When T0 is selected, the current tool is removed from the tool holder but not replaced by
a new tool (default setting).
• T-function-specific machine data:
MD22220 $MC_AUXFU_T_SYNC_TYPE (Output time of the T functions)

D functions

D (tool offset)
Address extension Value
Value range Meaning Value range Type Meaning Number8)
--- --- 0-9 INT Selection of the tool 1
offset
Comments:
Deselection of the tool offset with D0; the default is D1
Application
Selection of the tool offset.

Auxiliary Function Output to PLC (H2)

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Brief description
1.2 Overview of auxiliary functions

Comments
• Initial setting: D1
• After a tool change, the default tool cut can be parameterized via:
MD20270 $MC_CUTTING_EDGE_DEFAULT (Basic position of the tool cut without
programming)
• Deselection of the tool offset: D0
• D function-specific machine data:
MD22250 $MC_AUXFU_D_SYNC_TYPE (Output time of the D functions)

DL functions

DL (additive tool offset)

Address extension Value
Value range Meaning Value range Type Meaning Number8)
--- --- 0-6 INT Selection of the 1
additive tool offset
Comments:
The additive tool offset selected with DL refers to the active D number.
Application
Selection of the additive tool offset with reference to an active tool offset.
Comments
• Initial setting: DL = 0
• DL values cannot be output to the PLC via synchronized actions.
• Default setting of the additive tool offset without an active DL function:
MD20272 $MC_SUMCORR_DEFAULT (basic setting of the additive offset without a
program)
• Deselection of the additive tool offset: DL = 0
• DL-function-specific machine data:
MD22252 $MC_AUXFU_DL_SYNC_TYPE (output time DL functions)

Auxiliary Function Output to PLC (H2)

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 Brief description
1.2 Overview of auxiliary functions

F functions

F (feedrate)
Address extension Value
Value range Meaning Value range Type Meaning Number8)
--- --- 0.001 - 999 999.999 REAL Path feed 6
Comments:
---
Application
Path velocity.
Comments
• F-function-specific machine data:
MD22240 $MC_AUXFU_F_SYNC_TYPE (output time of F functions)

FA functions

FA (axial feedrate)
Address extension Value
Value range Meaning Value range Type Meaning Number8)
1 - 31 Axis number 0.001 - 999 999.999 REAL Axial feedrate 6
Comments:
---

Application
Axial velocity.

Remarks
• F-function-specific machine data:
MD22240 $MC_AUXFU_F_SYNC_TYPE (output time of F functions)

Auxiliary Function Output to PLC (H2)

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Brief description
1.2 Overview of auxiliary functions

Footnotes

1) If tool management is active, neither a T change signal nor a T word is output to the
interface (channel).
2) The type for the values can be selected by the user via MD22110
$MC_AUXFU_H_TYPE_INT.
3) Because of the limited display options on the operator panel screens, the REAL type
values displayed are restricted to:
–999 999 999.9999 to 999 999 999.9999
The NC calculates internally but with complete accuracy.
4) The REAL values are rounded and output to the PLC when setting the machine data:
MD22110 $MC_AUXFU_H_TYPE_INT = 1 (type of H-auxiliary functions is an
integer)
The PLC user program must interpret the value transferred according to the machine
data setting.
5) If the tool management is active, the meaning of the address extension can be
parameterized. Address extension = 0 means the value must be replaced by that of
the master spindle number, i.e. it is equivalent to not programming the address
extension.
Auxiliary functions M19 "Position spindle" collected during a block search are not
output to the PLC.
6) M6: Value range of the address extension:
- without tool management: 0 – 99
- with tool management: 0 – maximum spindle number
0: replace by the value of the master spindle number or the master tool holder
7) If tool management is active, the auxiliary function M6 "Tool change" can only be
programmed once in a part program block, irrespective the address extensions that
are programmed.
8) Maximum number of auxiliary functions per part program block.

Auxiliary Function Output to PLC (H2)

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Detailed description 2
2.1 2.1 Predefined auxiliary functions

2.1.1 Predefined auxiliary functions

Function
Predefined auxiliary functions are auxiliary functions for activating system functions. The
assignment of predefined auxiliary functions to system function cannot be changed.
During execution of a predefined auxiliary function, the corresponding system function is
activated and the auxiliary functions are output to the NC/PLC interface.

Definition of a predefined auxiliary function

The parameters of a predefined auxiliary function are stored in machine data and can be
changed in some cases. All parameters of an auxiliary function have the same index.
• MD22040 $MC_AUXFU_PREDEF_GROUP[ Index ] (Pre-defined auxiliary function
groups)
• MD22050 $MC_AUXFU_PREDEF_TYPE[ Index ] (Pre-defined auxiliary function type)
• MD22060 $MC_AUXFU_PREDEF_EXTENSION[ Index ] (Pre-defined auxiliary function
extension)
• MD22070 $MC_AUXFU_PREDEF_VALUE[ Index ] (Pre-defined auxiliary function value)
• MD22080 $MC_AUXFU_PREDEF_SPEC[ Index ] (output specification)

Auxiliary Function Output to PLC (H2)

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Detailed description
2.1 Predefined auxiliary functions

Predefined auxiliary functions

System function
Index n (index for the machine data of the parameters of an auxiliary function)
Type: MD22050 $MC_AUXFU_PREDEF_TYPE[ n ]
Address extension: MD22060 $MC_AUXFU_PREDEF_EXTENSION[ n ]
Value: MD22070 $MC_AUXFU_PREDEF_VALUE[ n ]
Group: MD22040 $MC_AUXFU_PREDEF_GROUP[ n ]
Output behavior: Bits 0- 8
MD22080 $MC_AUXFU_PREDEF_SPEC[ n ]
8 7 6 5 4 3 2 1 0
Stop 0 M 0 0 1 0 1 0 0 0 0 0 0 1
Conditional stop 1 M 0 1 1 0 1 0 0 0 0 0 0 1
End of subroutine 2 M 0 2 1 0 1 0 0 0 0 0 0 1
3 M 0 17 1 0 1 0 0 0 0 0 0 1
4 M 0 30 1 0 1 0 0 0 0 0 0 1
Tool change 5 M (1) 6 1) (1) (0) (0) (0) (1) (0) (0) (0) 0 1
Spindle right 6 M (1) 3 (2) (0) (0) (0) (1) (0) (0) (0) 0 1
Spindle left 7 M (1) 4 (2) (0) (0) (0) (1) (0) (0) (0) 0 1
Spindle stop 8 M (1) 5 (2) (0) (0) (0) (1) (0) (0) (0) 0 1
Position spindle 9 M (1) 19 (2) (0) (0) (0) (1) (0) (0) (0) 0 1
Axis mode 10 M (1) 70 2) (2) (0) (0) (0) (1) (0) (0) (0) 0 1
Automatic gear stage 11 M (1) 40 (4) (0) 0 0 1 (0) (0) (0) 0 1
Gear stage 1 12 M (1) 41 (4) (0) 0 0 1 (0) (0) (0) 0 1
Gear stage 2 13 M (1) 42 (4) (0) 0 0 1 (0) (0) (0) 0 1
Gear stage 3 14 M (1) 43 (4) (0) 0 0 1 (0) (0) (0) 0 1
Gear stage 4 15 M (1) 44 (4) (0) 0 0 1 (0) (0) (0) 0 1
Gear stage 5 16 M (1) 45 (4) (0) 0 0 1 (0) (0) (0) 0 1
Spindle speed 17 S (1) -1 (3) 0 (0) (1) (0) (0) (0) 0 0 1
Feed 18 F 0 -1 (1) 0 (0) (1) (0) 0 (0) 0 0 1
Cutting edge 19 D 0 -1 (1) 0 (0) (1) (0) 0 (0) 0 0 1
selection
DL 20 L 0 -1 (1) 0 (0) (1) (0) 0 (0) 0 0 1
Tool selection 21 T (1) -1 (1) 0 (0) (1) (0) 0 (0) 0 0 1
Stop (associated) 22 M 0 -1 3) 1 0 1 0 0 0 0 0 0 1
Conditional stop 23 M 0 -1 4) 1 0 1 0 0 0 0 0 0 1
(associated)
End of subroutine 24 M 0 -1 5) 1 0 1 0 0 0 0 0 0 1
Nibbling 25 M 0 20 6) (10) (0) (0) (1) (0) 0 (0) (0) 0 1
Nibbling 26 M 0 23 6) (10) (0) (0) (1) (0) 0 (0) (0) 0 1
Nibbling 27 M 0 22 6) (11) (0) (0) (1) (0) 0 (0) (0) 0 1
Nibbling 28 M 0 25 6) (11) (0) (0) (1) (0) 0 (0) (0) 0 1

Auxiliary Function Output to PLC (H2)

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 Detailed description
2.1 Predefined auxiliary functions

Nibbling 29 M 0 26 6) (12) (0) (0) (1) (0) 0 (0) (0) 0 1

Nibbling 30 M 0 122 6) (11) (0) (0) (1) (0) 0 (0) (0) 0 1
Nibbling 31 M 0 125 6) (11) (0) (0) (1) (0) 0 (0) (0) 0 1
Nibbling 32 M 0 27 6) (12) (0) (0) (1) (0) 0 (0) (0) 0 1

1) The value is dependent upon machine data:

MD22560 $MC_TOOL_CHANGE_M_MODE (M function for tool change)
2) The value can be preset with a different value via the following machine data:
MD20095 $MC_EXTERN_RIGID_TAPPING_M_NR (M function for switching over to the controlled axis mode (ext.
mode))
MD20094 $MC_SPIND_RIGID_TAPPING_M_NR (M function for switching over to controlled axis mode)
The value 70 is always output to the PLC.
3) The value is set via the machine data:
MD22254 $MC_AUXFU_ASSOC_M0_VALUE (additional M function for program stop)
4) The value is set via the machine data:
MD22256 $MC_AUXFU_ASSOC_M1_VALUE (additional M function for conditional stop)
5) The value is set via the machine data:
MD10714 $MN_M_NO_FCT_EOP (M function for spindle active after reset)
6) The value is set via the machine data:
MD26008 $MC_NIBBLE_PUNCH_CODE (definition of M functions)
() Only values in parentheses can be changed.

2.1.2 Parameter: Group assignment

Group assignment
A predefined auxiliary function can be assigned to a certain auxiliary function group via the
group assignment:
MD22040 $MC_AUXFU_PREDEF_GROUP[ index ] (group assignment)
If the value is zero, the auxiliary function is not assigned to any auxiliary function group.

Auxiliary Function Output to PLC (H2)

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Detailed description
2.1 Predefined auxiliary functions

2.1.3 Parameter: Type, address extension, and value

Function
A predefined auxiliary function is programmed via the parameters:
• Type
MD22050 $MC_AUXFU_PREDEF_TYPE[ Index ] (Pre-defined auxiliary function type)
• Address extension
MD22060 $MC_AUXFU_PREDEF_EXTENSION[ Index ] (Pre-defined auxiliary function
extension)
• Value
MD22070 $MC_AUXFU_PREDEF_VALUE[ Index ] (Pre-defined auxiliary function value)

Syntax:
< type > [ < address extension > = ] < value >

Parameter: Type
The identifier of an auxiliary function is defined via the "type," e.g.:

Type Identifier
M Additional function
S Spindle function
F Feed
The "type" cannot be changed for predefined auxiliary functions.

Parameter: Address extension

The "address extension" of an auxiliary function is for addressing different components of the
same type. In the case of predefined auxiliary functions, the value of the "address extension"
is the spindle number to which the auxiliary function applies.
If no address extension is programmed, the address extension is implicitly set = 0. Auxiliary
functions with the address extension = 0 always refer to the master spindle of the channel.
Example

Programming Function
N10 M3 ; "Spindle right" for the master spindle of the channel
N20 M0 = 3 ; "Spindle right" for the master spindle of the channel
N30 M1 = 3 ; "Spindle right" for the 1st spindle of the channel
N40 M2 = 3 ; "Spindle right" for the 2nd spindle of the channel

Auxiliary Function Output to PLC (H2)

2-4 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.1 Predefined auxiliary functions

Grouping together auxiliary functions

To assign an auxiliary function for all spindles of a channel to the same auxiliary function
group, the value "–1" is entered for the "address extension" parameter.
Example:
For all the spindles of the channel, the auxiliary function M3 (machine data index = 6,
corresponding to the table in the Section "Predefined Auxiliary Functions") is assigned to the
second auxiliary function group.

MD22040 $MC_AUXFU_PREDEF_GROUP[ 6 ] =2
MD22050 $MC_AUXFU_PREDEF_TYPE[ 6 ] = "M"
MD22060 $MC_AUXFU_PREDEF_EXTENSION[ 6 ] = -1
MD22070 $MC_AUXFU_PREDEF_VALUE[ 6 ] =3

Parameter: Value
The parameters "value" and "type" define the meaning of an auxiliary function, i.e. the
system function that is activated on the basis of this auxiliary function. The "value" cannot be
changed for a predefined auxiliary function. For some predefined auxiliary functions, the
"value" can be reconfigured via additional machine data (see Section "Associated Auxiliary
Functions").

2.1.4 Parameter: Output behavior

Function
The "output behavior" defines when the auxiliary function is output to the NC/PLC interface
and when it is acknowledged by the PLC:
MD22080 $MC_AUXFU_PREDEF_SPEC[ index ] (specification of output behavior)

Bit Valu Meaning

e
0 1 Output duration one OB1 cycle (normal acknowledgment)
1 1 Output duration one OB40 cycle (quick acknowledgment)
2 1 No predefined auxiliary function
3 1 No output (can only be set as a single bit)
4 1 Spindle response following acknowledgment
5 1 Output prior to motion
6 1 Output during motion
7 1 Output at block end
8 1 The collected auxiliary function is not output after a block search.

Auxiliary Function Output to PLC (H2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-5
Detailed description
2.1 Predefined auxiliary functions

Bit0: Output duration one OB1 cycle (normal acknowledgment)

An auxiliary function with normal acknowledgment is output to the NC/PLC interface at the
beginning of the OB1 cycle. The auxiliary function-specific change signals indicate to the
PLC user program that the auxiliary function is valid.
The auxiliary function is acknowledged as soon as organization block OB1 has run once.
This corresponds to a complete PLC user cycle.
The auxiliary function with normal acknowledgment is output in synchronism with the part
program block in which it is programmed. If execution of the parts program block, e.g. path
and/or positioning axis movements, is completed before acknowledgment of the auxiliary
function, the block change is delayed until after acknowledgment by the PLC.
In continuous-path mode, a constant path velocity can be maintained in conjunction with an
auxiliary function with normal acknowledgment, if the auxiliary function is output by the PLC
during the traverse movement and before reaching the end of block.

Bit1: Output duration one OB40 cycle (quick acknowledgment)

An auxiliary function with quick acknowledgment is output to the NC/PLC interface before the
next OB1 cycle. The auxiliary function-specific change signal indicates to the PLC user
program that the auxiliary function is valid.
The auxiliary function is acknowledged immediately by the PLC basic program in the next
OB40 cycle. Acknowledgment of the auxiliary function is not confirmation that the
corresponding PLC user function has been executed. The auxiliary function is still executed
in the OB1 cycle. Next output of the auxiliary functions to the PLC is therefore not possible
until after this OB1 cycle has run completely. This is noticeable in continuous-path mode
(drop in path velocity) especially if auxiliary functions with quick acknowledgment are output
in several consecutive part program blocks.
With auxiliary functions with quick acknowledgment, it cannot be guaranteed that the PLC
user program will respond in synchronism with the block.

Note
Parameterization of the output behavior of auxiliary functions as "quick auxiliary functions" is
only possible in conjunction with user-defined auxiliary functions.

Bit2: No predefined auxiliary function

A predefined auxiliary function is treated like a user-defined auxiliary function if "No
predefined auxiliary function" is set. The auxiliary function then no longer triggers the
corresponding system function but is only output to the PLC.
Example:
Reconfiguration of "Position spindle" auxiliary function using Index 9 (see table in Section:
Predefined auxiliary functions), to a "user-defined" auxiliary function with normal
acknowledgment and output of the traversing movement.
MD22080 $MC_AUXFU_PREDEF_SPEC [ 9 ] = 'H25' (100101B) (output specification)

Auxiliary Function Output to PLC (H2)

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 Detailed description
2.1 Predefined auxiliary functions

Bit3: No output
The auxiliary function is not output to the PLC.

Bit4: Spindle response following acknowledgment

The corresponding spindle function is only started after acknowledgment by the PLC.

Bit5: Output prior to motion

The auxiliary function is output before the traverse movements programmed in the part
program block (path and/or block-related positioning axis movements).

Bit6: Output during motion

The auxiliary function is output during the traverse movements programmed in the part
program block (path and/or block-related positioning axis movements).

Bit7: Output at block end

The auxiliary function is output after completion of the traverse movements programmed in
the part program block (path and/or block-related positioning axis movements).

Bit8: No output after a block search

The collected auxiliary function is not output after a block search.

Note
In the case of auxiliary functions for which no output behavior has been defined, the
following default output behavior is active:
• Output duration one OB1 cycle
• Output at block end

Context: Output duration and output relative to movement

Output prior to motion
• The traverse movements (path and/or block-related positioning axis movements) of the
previous part program block end with an exact stop.
• The auxiliary functions are output at the beginning of the current part program block.
• Traverse movements of the current part program block (path and/or positioning axis
movements) are started after acknowledgment of the auxiliary functions by the PLC:
– Output duration one OB1 cycle (normal acknowledgment): after one OB1 cycle
– Output duration one OB40 cycle (quick acknowledgment): after one OB40 cycle

Auxiliary Function Output to PLC (H2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-7
Detailed description
2.1 Predefined auxiliary functions

Output during motion

• The auxiliary functions are output at the beginning of the traverse movements (path
and/or positioning axis movements).
• The path velocity of the current part program block is reduced so that the time to the end
of the block is greater than the time to acknowledgment of the auxiliary functions by the
PLC.
– Output duration one OB1 cycle (normal acknowledgment): one OB1 cycle
– Output duration one OB40 cycle (quick acknowledgment): one OB40 cycle
Output after motion
• The traverse movements (path and/or block-related positioning axis movements) of the
current part program block end with an exact stop.
• The auxiliary functions are output after completion of the traverse movements.
• The block change is performed after acknowledgment of the auxiliary functions by the
PLC:
– Output duration one OB1 cycle (normal acknowledgment): after one OB1 cycle
– Output duration one OB40 cycle (quick acknowledgment): after one OB40 cycle

2.1.5 Examples of output behavior

Inputs
The following figures illustrate the differing behavior regarding:
• Output and acknowledgment of the auxiliary function
• Spindle response (speed change)
• Traverse movement (velocity change)
Parameterized output behavior
The binary values specified in the examples under "Spec" refer to the parameterized output
behavior:
MD22080 $MC_AUXFU_PREDEF_SPEC[ index ] (output specification)

Auxiliary Function Output to PLC (H2)

2-8 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.1 Predefined auxiliary functions

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Auxiliary Function Output to PLC (H2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-9
Detailed description
2.1 Predefined auxiliary functions

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Auxiliary Function Output to PLC (H2)

2-10 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.1 Predefined auxiliary functions

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Figure 2-3 Output behavior 3

Auxiliary Function Output to PLC (H2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-11
Detailed description
2.2 Userdefined auxiliary functions

2.2 2.2 Userdefined auxiliary functions

2.2.1 User-specific and extended predefined auxiliary functions

Function
There are two uses for user-defined auxiliary functions:
• Extension of predefined auxiliary functions
• User-specific auxiliary functions

Extension of predefined auxiliary functions

Extension of predefined auxiliary functions refers to the parameter: "Address extension". The
address extension defines the number of the spindle to which the auxiliary function applies.

User-specific auxiliary functions

User-specific auxiliary functions relate exclusively to user functions. User-specific auxiliary
functions do not activate system functions.

2.2.2 Maximum number of user-defined auxiliary functions

Maximum number
The maximum number of user-defined auxiliary function per channel can be parameterized
via the machine data:
MD11100 $MN_AUXFU_MAXNUM_GROUP_ASSIGN (maximum number of user-definable
auxiliary functions)

2.2.3 Extension of predefined auxiliary functions

Function
Because there is only one set of machine data for the predefined auxiliary functions, they
can only ever be used to address one spindle of the channel. To address further spindles,
user-defined auxiliary functions must be parameterized to supplement the predefined
auxiliary functions.

Auxiliary Function Output to PLC (H2)

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 Detailed description
2.2 Userdefined auxiliary functions

Extension of predefined auxiliary functions refers to the "address extensions" parameter. The
number of the spindle that the auxiliary function refers to is entered in the "address
extension" parameter.
The relevant predefined auxiliary functions can be extended for the following system
functions.

System function Type

Address extension 1)
Value
Tool change M 1 6
Spindle right M 1 3
Spindle left M 1 4
Spindle stop M 1 5
Position spindle M 1 19
Axis mode M 1 70
Automatic gear stage M 1 40
Gear stage 1 M 1 41
Gear stage 2 M 1 42
Gear stage 3 M 1 43
Gear stage 4 M 1 44
Gear stage 5 M 1 45
Spindle speed S 1 -1
Tool selection T 1 -1
1) address extension = 1 is the default value used in the auxiliary functions predefined in the machine
data.

Example
Extension of the predefined auxiliary function for the system function "spindle right" for the
second and third spindle of the channel.

Auxiliary function "spindle right" for the second spindle of the channel:
MD22010 $MC_AUXFU_ASSIGN_TYPE[ n ] = "M"
MD22020 $MC_AUXFU_ASSIGN_EXTENSION[ n ] =2
MD22030 $MC_AUXFU_ ASSIGN_VALUE[ n ] =3

Auxiliary function "spindle right" for the third spindle of the channel:
MD22010 $MC_AUXFU_ ASSIGN_TYPE[ m ] = "M"
MD22020 $MC_AUXFU_ASSIGN_EXTENSION[ m ] =3
MD22030 $MC_AUXFU_ ASSIGN_VALUE[ m ] =3

Auxiliary Function Output to PLC (H2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-13
Detailed description
2.2 Userdefined auxiliary functions

2.2.4 User-specific auxiliary functions

Function
User-specific auxiliary functions have the following characteristics:
• User-specific auxiliary functions only activate user functions.
• No system functions can be activated by user-specific auxiliary functions.
• A user-specific auxiliary function is output to the PLC according to the parameterized
output behavior.
• The functionality of a user-specific auxiliary function is implemented by the machine
manufacturer/user in the PLC user program.

2.2.5 Parameterization

2.2.5.1 Parameter: Group assignment

Group assignment
Group assignment is used to assign a user-defined auxiliary function to an auxiliary function
group using the machine data:
MD22000 $MC_AUXFU_ASSIGN_GROUP[ index ] (group assignment)
If the value is zero, the auxiliary function is not assigned to any auxiliary function group.
For the meanings of the auxiliary function groups, see section: Auxiliary function groups.

2.2.5.2 Parameter: Type, address extension, and value

Function
A user-defined auxiliary function is programmed via the parameters:
• Type
MD22010 $MC_AUXFU_ASSIGN_TYPE[ Index ] (type of auxiliary function)
• Address extension
MD22020 $MC_AUXFU_ASSIGN_EXTENSION[ Index ] (auxiliary function extension)
• Value
MD22030 $MC_AUXFU_ASSIGN_VALUE[ Index ] (auxiliary function value)

Syntax:
< type > [ < address extension > = ] < value >

Auxiliary Function Output to PLC (H2)

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 Detailed description
2.2 Userdefined auxiliary functions

Parameter: Type
The name of an auxiliary function is defined via the "type".
The identifiers for user-defined auxiliary functions are:

Type Identifier Meaning

H Auxiliary function User-specific auxiliary functions
M Additional function Extension of predefined auxiliary
S Spindle function functions
T Tool number

Parameter: Address extension

The functionality of the address extension is not defined in user-specific auxiliary functions. It
is generally used to distinguish between auxiliary functions with the same "value".
Grouping together auxiliary functions
If all the auxiliary functions of the same type and value are assigned to the same auxiliary
function group, a value of "-1" must be entered for the "address extension" parameter.
Example:
All user-specific auxiliary functions with the value "= 8" are assigned to the tenth auxiliary
function group.

MD22000 $MC_AUXFU_ASSIGN_GROUP[ 1 ] = 10
MD22010 $MC_AUXFU_ ASSIGN_TYPE[ 1 ] = "H"
MD22020 $MC_AUXFU_ ASSIGN_EXTENSION[ 1 ] = -1
MD22030 $MC_AUXFU_ ASSIGN_VALUE[ 1 ] =8

Parameter: Value
The functionality of the "value" parameter is not defined in user-specific auxiliary functions.
The value is generally used to activate the corresponding PLC user function.
Grouping together auxiliary functions
If all the auxiliary functions of the same type and address extension are assigned to the
same auxiliary function group, a value of "-1" must be entered for the "value" parameter.
Example:
All user-specific auxiliary functions with the address extension "= 2" are assigned to the
eleventh auxiliary function group.

MD22000 $MC_AUXFU_ASSIGN_GROUP[ 2 ] = 11
MD22010 $MC_AUXFU_ ASSIGN_TYPE[ 2 ] = "H"
MD22020 $MC_AUXFU_ ASSIGN_EXTENSION[ 2 ] =2
MD22030 $MC_AUXFU_ ASSIGN_VALUE[ 2 ] = -1

Auxiliary Function Output to PLC (H2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-15
Detailed description
2.2 Userdefined auxiliary functions

2.2.5.3 Parameter: Output behavior

Function
The "output behavior" of user-defined auxiliary functions can be parameterized via the
machine data:
MD22035 $MC_AUXFU_ASSIGN_SPEC[ index ] (specification of output behavior)
For a description of the individual output parameters, see Section "Parameter: output
behavior" of the predefined auxiliary functions. The information given there can be applied
analogously to the output behavior of user-defined auxiliary functions.

2.2.5.4 Examples

Example of the extension of predefined auxiliary functions

For the second spindle of the channel, the auxiliary functions M3, M4 and M5 should be
parameterized:
Parameterization: M3
• Machine data index: 0 (1. user-defined auxiliary function)
• auxiliary function group: 5
• Type and value: M3 (spindle right)
• Address extension: 2 as appropriate for the 2nd spindle of the channel
• Output behavior:
– Output duration one OB1 cycle (normal acknowledgment)
– Output prior to motion

Machine data Machine data index Value

MD22000 $MC_AUXFU_ASSIGN_GROUP 0 5
MD22010 $MC_AUXFU_ASSIGN_TYPE 0 "M"
MD22020 $MC_AUXFU_ASSIGN_EXTENSION 0 2
MD22030 $MC_AUXFU_ASSIGN_VALUE 0 3
MD22035 $MC_AUXFU_ASSIGN_SPEC 0 H21

Parameterization: M4
• Machine data index: 1 (2. user-defined auxiliary function)
• auxiliary function group: 5
• Type and value: M4 (spindle left)
• Address extension: 2 as appropriate for the 2nd spindle of the channel

Auxiliary Function Output to PLC (H2)

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 Detailed description
2.2 Userdefined auxiliary functions

• Output behavior:
– Output duration one OB1 cycle (normal acknowledgment)
– Spindle response following acknowledgment
– Output during motion

Machine data Machine data index Value

MD22000 $MC_AUXFU_ASSIGN_GROUP 1 5
MD22010 $MC_AUXFU_ASSIGN_TYPE 1 "M"
MD22020 $MC_AUXFU_ASSIGN_EXTENSION 1 2
MD22030 $MC_AUXFU_ASSIGN_VALUE 1 4
MD22035 $MC_AUXFU_ASSIGN_SPEC 1 H51

Parameterization: M5
• Machine data index: 2 (3. user-defined auxiliary function)
• auxiliary function group: 5
• Type and value: M5 (spindle stop)
• Address extension: 2 as appropriate for the 2nd spindle of the channel
• Output behavior:
– Output duration one OB1 cycle (normal acknowledgment)
– Spindle response following acknowledgment
– Output at block end

Machine data Machine data index Value

MD22000 $MC_AUXFU_ASSIGN_GROUP 2 5
MD22010 $MC_AUXFU_ASSIGN_TYPE 2 "M"
MD22020 $MC_AUXFU_ASSIGN_EXTENSION 2 2
MD22030 $MC_AUXFU_ASSIGN_VALUE 2 5
MD22035 $MC_AUXFU_ASSIGN_SPEC 2 H91

Auxiliary Function Output to PLC (H2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-17
Detailed description
2.3 Type-specific output behavior

2.3 2.3 Type-specific output behavior

Function
The output behavior of the auxiliary function relative to a traverse motion programmed in the
part program block can be defined type-specifically in the following machine data:
• MD22200 $MC_AUXFU_M_SYNC_TYPE (output time M functions)
• MD22210 $MC_AUXFU_S_SYNC_TYPE (output time S functions)
• MD22220 $MC_AUXFU_T_SYNC_TYPE (output time T functions)
• MD22230 $MC_AUXFU_H_SYNC_TYPE (output time H functions)
• MD22240 $MC_AUXFU_F_SYNC_TYPE (output time F functions)
• MD22250 $MC_AUXFU_D_SYNC_TYPE (output time D functions)
• MD22252 $MC_AUXFU_DL_SYNC_TYPE (output time DL functions)

Output behavior
The following output behaviors can be parameterized:
MD $MC_AUXFU_xx_SYNC_TYPE = <value>

Value Meaning
0 Output prior to motion
1 Output during motion
2 Output at block end
3 No output to the PLC
4 Output according to the predefined output specification
For a description of the various output behaviors, see Section "Parameter: Output
Behaviors" of the predefined auxiliary functions.

Note
For the output behaviors that can be set for each type of auxiliary function, please refer to
the relevant detailed machine data description.
References:
/AMD/ Exhaustive Description of Machine Data

Auxiliary Function Output to PLC (H2)

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 Detailed description
2.3 Type-specific output behavior

Example
Output of auxiliary functions with different output behaviors in a part program block with
traverse movement.
Parameterized output behavior
• T function: Output before the motion
MD22220 $MC_AUXFU_T_SYNC_TYPE = 0 (Output time of the T functions)
• M function: Output during the motion
MD22220 $MC_AUXFU_M_SYNC_TYPE = 1 (Output time of the M functions)
• H function: Output at the end of the block
MD22230 $MC_AUXFU_H_SYNC_TYPE = 2 (Output time of the H functions)
Parts program block

N10 G01 X100 M07 H5 T5

Time sequence for auxiliary function output

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Figure 2-4 Example of auxiliary function output

Auxiliary Function Output to PLC (H2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-19
Detailed description
2.4 Programmable output duration

2.4 2.4 Programmable output duration

Function
User-specific auxiliary functions, for which the output behavior "Output duration of an OB1
cycle (slow acknowledgement)" was parameterized, can be defined for individual outputs via
the parts program guide QU (Quick) for auxiliary functions with quick acknowledgement.

Syntax
An auxiliary function with quick acknowledgment is defined in a part program block with the
following syntax:
< type > [ < address extension > ] = QU(< value >)

Example
Different behavior for the output of the auxiliary functions M100 and M200 in a parts program.
The output behavior of the auxiliary functions is parameterized as follows:
• M100
– Output duration one OB1 cycle (slow acknowledgment)
– Output during motion
• M200
– Output duration one OB1 cycle (slow acknowledgment)
– Output prior to motion

Programming Comment
N10 G94 G01 X50 M100 Output of M100: during the motion
Acknowledgement: slow
N20 Y5 M100 M200 Output of M200: prior to the motion
Output of M100: during the motion
Acknowledgement: slow
N30 Y0 M=QU(100) M=QU(200) Output of M200: prior to the motion
Output of M100: during the motion
Acknowledgement: quick
N40 X0 - - -
N50 M100 M200 Output of M200: immediately1)
Output of M100: immediately1)
Acknowledgement: slow
M17 - - -
1)
Without a traverse movement, auxiliary functions are always output to the PLC
immediately.

The following figure shows the time sequence of the part program. Please note the time
difference during the processing of parts program blocks N20 and N30.

Auxiliary Function Output to PLC (H2)

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 Detailed description
2.5 Priorities of the output behavior

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2.5 2.5 Priorities of the output behavior

Areas of the output behavior

The priority must be observed for the following areas in connection with the parameterized
output behavior of an auxiliary function:
• Output duration (normal / quick acknowledgment)
• Output relative to motion (prior to / during / after the motion)
Priority sequence
The rule for the priority sequence is that the parameterized output behavior with lower
priority becomes active if no output behavior with higher priority has been parameterized.

Area: Output duration

The following priorities apply to the output duration:

Priority Output behavior Defined via:

Highest Specific to auxiliary functions Part program instruction: QU(…)
Specific to auxiliary functions MD22035 $MC_AUXFU_ASSIGN_SYNC
MD22080 $MC_AUXFU_PREDEF_SYNC
Group-specific MD11110 $MC_AUXFU_GROUP_SPEC
Lowest Not defined Default output behavior: Output duration one OB1 cycle

Auxiliary Function Output to PLC (H2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-21
Detailed description
2.5 Priorities of the output behavior

Area: Output relative to motion

The following rules apply to output relative to motion:

Priority Output behavior Defined via:

Highest Specific to auxiliary functions MD22035 $MC_AUXFU_ASSIGN_SYNC
MD22080 $MC_AUXFU_PREDEF_SYNC
Group-specific MD11110 $MC_AUXFU_GROUP_SPEC
Type-specific MD22200 $MC_AUXFU_M_SYNC_TYPE
MD22210 $MC_AUXFU_S_SYNC_TYPE
MD22220 $MC_AUXFU_T_SYNC_TYPE
MD22230 $MC_AUXFU_H_SYNC_TYPE
MD22240 $MC_AUXFU_F_SYNC_TYPE
MD22250 $MC_AUXFU_D_SYNC_TYPE
MD22252 $MC_AUXFU_DL_SYNC_TYPE
Lowest Not defined Default output behavior: Output at block end

Note
Part program blocks without path motion
In a part program block without a path motion (even those with positioning axes and
spindles), the auxiliary functions are all output immediately in a block.

Auxiliary Function Output to PLC (H2)

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 Detailed description
2.6 Auxiliary function output to the PLC

2.6 2.6 Auxiliary function output to the PLC

Function
On output of an auxiliary function to the PLC, the following signals and values are passed to
the NC/PLC interface:
• change signals
• "Address extension" parameter
• "Value" parameter

NC/PLC interface
The change signals and values of the auxiliary functions are within the following data range
in the NC/PLC interface:
• Change signals for auxiliary function transfer from NC channel:
DB21, ... DBB58 - DBB67
• Transferred M and S functions:
DB21, ... DBB68 - DBB112
• Transferred T, D and DL functions:
DB21, ... DBB116 - DBB136
• Transferred H and F functions:
DB21, ... DBB140 - DBB190
• Decoded M signals (M0 - M99):
DB21, ... DBB194 - DBB206 (dynamic M functions)

References
The exhaustive description of the NC/PLC interface is located in:
/LIS1/ Lists (Book 1); Signals from/to channel (DB21 – DB30)
The access procedures with regard to the NC/PLC interface are described in:
/FB1/ Function Manual Basic Functions; PLC Basic Program (P3)

Auxiliary Function Output to PLC (H2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-23
Detailed description
2.7 Programming

2.7 2.7 Programming

Syntax
An auxiliary function is programmed in a part program block with the following syntax:
< type > [ < address extension > = ] < value >
Address expansion
If no address extension is programmed, address extension = 0 is implicitly set.

Symbolic addressing
The values for the "address extension" and "value" parameters can also be specified
symbolically. The symbolic name for the address extension must then be stated in brackets.

Example
Symbolic programming of the auxiliary function M3 (spindle right) for the first spindle:

Programming syntax Meaning

DEF SPINDEL_NR = 1 ; 1. spindle in the channel
DEF DREHRICHTUNG = 3 ; Clockwise rotation
N100 M[SPINDEL_NR] = DREHRICHTUNG ; in accordance with: M1=3

Note
If you use symbolic names to program an auxiliary function, the symbolic name is not
transferred when the auxiliary function is output to the PLC. The corresponding numeric
value is transferred instead.

Auxiliary Function Output to PLC (H2)

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2.8 Auxiliary functions without block change delay

Programming examples
Programming examples of auxiliary functions with the corresponding values for output to the
PLC.

Programming syntax Output to PLC

DEF coolant = 12 ---
DEF lubricant = 130 ---
H[coolant]=lubricant H12=130
H=coolant H0=12
H5 H0=5
H=5.379 H0=5.379
H17=3.5 H17=3.5
H[coolant]=13.8 H12=13.8
H=‘HFF13’ H0=65299
H=‘B1110’ H0=14
H5.3=21 Error

2.8 2.8 Auxiliary functions without block change delay

Function
For auxiliary functions with parameterized and/or programmed output behavior, too:
• "Output duration one OB40 cycle (quick acknowledgment)"
• "Output prior to motion" or "Output during motion"
there may be drops in velocity in continuos-path mode (short traverse paths and high
velocities). This the system has to wait for acknowledgment of the auxiliary function by the
PLC toward the end of the block.
To avoid these velocity drops, the block change can be made irrespective of whether such
auxiliary functions have been acknowledged using machine data:
MD22100 $MC_AUXFU_QUICK_BLOCKCHANGE (block change delay with quick auxiliary
functions)

Constraints
Synchronism of auxiliary functions that are output without a block change delay is no longer
ensured for the part program block in which they are programmed. In the worst case
scenario, acknowledgment comes one OB40 cycle and execution of the auxiliary function
comes one OB1 cycle after the change to the next part program block.

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Detailed description
2.9 Associated auxiliary functions

2.9 2.9 Associated auxiliary functions

Function
Associated auxiliary functions are user-defined auxiliary functions that have the same effect
as the corresponding predefined auxiliary functions. For the following predefined auxiliary
functions, user-defined auxiliary functions can be associated:
• M0 (Stop)
• M1 (conditional stop).

Requirements
The precondition for association of a user-defined auxiliary function with one of the
predefined auxiliary functions mentioned is parameterization of a user-defined auxiliary
function. Only "M" is allowed as a "type" parameter of the user-defined auxiliary function.

Parameterization
Association of a user-defined auxiliary function with one of the predefined auxiliary functions
mentioned is set in the following machine data:
• MD22254 $MC_AUXFU_ASSOC_M0_VALUE (additional M function for program stop)
• MD22256 $MC_AUXFU_ASSOC_M1_VALUE (additional M function for conditional stop)

Group assignment
The group assignment of an associated user-defined auxiliary function is always the group
assignment of the corresponding predefined auxiliary function.

Application
Associated auxiliary functions can be used in:
• Main program
• Subroutine
• Cycle

Note
Associated auxiliary functions may not be used in synchronized actions.

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2.9 Associated auxiliary functions

NC/PLC interface signals

In the case of an associated user-defined auxiliary function, the same signals are output to
the NC/PLC interface as for the corresponding predefined auxiliary function. To distinguish
which auxiliary function has actually been programmed, the value of the user-defined
auxiliary function ("value" parameter) is output as the value of the auxiliary function. This
means it is possible to distinguish between predefined and user-defined auxiliary functions in
the PLC user program.

Note
A change in the following machine data may require corresponding adjustment of the PLC
user program:
• MD22254 $MC_AUXFU_ASSOC_M0_VALUE (additional M function for program stop)
• MD22256 $MC_AUXFU_ASSOC_M1_VALUE (additional M function for conditional stop)

Specific NC/PLC interface signals

The following specific NC/PLC interface signals are available:
• DB21, ... DBX318.5 (associated M00/M01 active) feedback signal
• DB21, ... DBX30.5 (activate associated M01) activation signal

Example
Associating the user-defined auxiliary function M123 with M0:
MD22254 $MC_AUXFU_ASSOC_M0_VALUE = 123 (additional M function for program stop)
The user-defined auxiliary function M123 thus has the same functionality as M0 (stop).

Constraints
Please note the following boundary conditions:
• A user-defined auxiliary function may not be multiply associated.
• Predefined auxiliary functions (e.g. M3, M4, M5 etc.) must not be associated.

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Detailed description
2.10 M function with implicit preprocessing stop

2.10 2.10 M function with implicit preprocessing stop

Function
Triggering a preprocessing stop in conjunction with an auxiliary function can be programmed
via theSTOPRE part program command. Triggering a preprocessing stop in conjunction with
an M function can be programmed explicitly via theSTOPRE part program command.
Always triggering a preprocessing stop in M function programming can be parameterized for
each M function via the following machine data:
MD10713 $MN_M_NO_FCT_STOPRE (M function with feed stop)

Preprocessing stop with M function M88

The user-defined M function M88 is intended to trigger a preprocessing stop.
Parameterization
MD10713 $MN_M_NO_FCT_STOPRE [ 0 ] = 88 (M function with feed stop)
Application
Parts program (extract)

N100 G0 X10 M88 ; Traverse movement and implicit preprocessing stop via
M88
N110 Y=R1 ; N110 is only interpreted after the traverse motion
has been completed and
; acknowledgement of the M function.

Constraints
If a subroutine called indirectly via an M function in a part program in one of the following
ways, no preprocessing stop is performed:
• MD10715 $MN_M_NO_FCT_CYCLE (M function to be replaced by subroutine)
• M98 (ISO dialect T / ISO dialect M)

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 Detailed description
2.11 Response to overstore

2.11 2.11 Response to overstore

Overstore
Before the start, on the SINUMERIK operator interface, the following functions:
• NC START of a part program
• NC START to resume an interrupted part program
the auxiliary functions that are output at the start can be changed by the "Overstore"
function.
Possible applications include:
• Addition of auxiliary functions after block search
• Restoring the initial state to position a part program

Types of auxiliary functions that can be overstored

The following types of auxiliary functions can be overstored:
• M (special function)
• S (spindle speed)
• T (tool number)
• H (aux. function)
• D (tool offset number)
• DL (additive tool offset)
• F (feed)

Duration of validity
An overstored auxiliary function, e.g. M3 (spindle right), is valid until it is overwritten by
another auxiliary function from the same auxiliary function group, by additional overstoring or
by programming in a part program block.

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2.12 Block search

2.12 2.12 Block search

2.12.1 Behavior on block search with calculation

Function
Block searches with calculation collect up auxiliary functions on a groupspecific basis. The
last auxiliary function in each auxiliary function group is output after NC-START, before the
actual reentry block, in a separate part program block that has the following output behavior:
• Output duration one OB1 cycle (normal acknowledgment)
• Output prior to motion

Output control
Whether or not the corresponding auxiliary function is output to the PLC after a block search
can be configured via bit 8 of the machine data:
MD22080 $MC_AUXFU_PREDEF_SPEC[index] (output specification)
MD22035 $MC_AUXFU_ASSIGN_SPEC[index] (output specification)
MD11110 $MN_AUXFU_GROUP_SPEC[index] (auxiliary function group specification)
This behavior does not affect the display and does not affect variables
$AC_AUXFU_M_STATE[n], $AC_AUXFU_M_VALUE[n], and $AC_AUXFU_M_EXT[n]. The
auxiliary function is always regarded as collected after a block search, even though it is not
output to the PLC. An auxiliary function that is not output after a block search also overwrites
an auxiliary function whose Bit 8 is not set during collection. The user can scan the collected
auxiliary functions after a block search and, under certain circumstances, output them again
by means of the subprogram or synchronous actions.

Auxiliary function without auxiliary function group

Auxiliary functions that are not assigned to an auxiliary function group are not collected up.

Auxiliary functions of auxiliary function group 1

Auxiliary functions of auxiliary function group 1 are never collected up.

Overstorage of auxiliary functions

After completion of a block search, the collected auxiliary functions are ouput on the next
NC-START. If it is necessary to output additional auxiliary functions, they can be added via
the "overstore" function. See Section: Response to overstore.

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2.12 Block search

Behavior regarding: M19 (position spindle)

After block completion, the last spindle positioning command programmed with M19 is
always carried out, even if other spindle-specific auxiliary functions are programmed
between the parts program with M19 and the destination block. Setting the necessary spindle
enables must therefore be derived from the interface signals of the traverse commands in
the PLC user program:
DB31, ... DBX64.6 / 64.7 (traverse command minus / plus)
In this case, the spindle-specific auxiliary functions M3, M4, M5 are not suitable because they
might not be output to the PLC after the spindle positioning.
For detailed information on the block search, please refer to:
References::
/FB1/Function Manual, Basic Functions; Mode Group, Channel, Program Operation (K1)

2.12.2 Output suppression of spindle-specific auxiliary functions

Function
For example, with a tool change it may be necessary not to output the spindle-specific
auxiliary functions collected during the block search in action blocks but to delay output, for
example, until after a tool change.
This requires suppression of automatic output of the spindle-specific auxiliary functions after
block search. Output can then be performed manually later by overstoring or by an ASUB.

Parameterization
Suppression of automatic output of the spindle-specific auxiliary functions after block search
is performed via machine data:
MD11450 $MN_SEARCH_RUN_MODE, bit 2 (search parameterization)

Bit Value Meaning

2 0 Output of the spindle-specific auxiliary functions is performed in the action blocks
1 Output of the auxiliary functions is suppressed in the action blocks.

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Detailed description
2.12 Block search

System variables
The spindle-specific auxilary functions are always stored in the following system variables on
block search, irrespective of the programming described above:

System variable Description

$P_SEARCH_S [ n ] Accumulated spindle speed,
Value range = { 0 ... Smax }
$P_SEARCH_SDIR [ n ] Accumulated spindle direction of rotation,
Value range = { 3, 4, 5, -5, -19, 70 }
$P_SEARCH_SGEAR [ n ] Accumulated spindle gear level M function,
Value range = { 40 ... 45 }
$P_SEARCH_SPOS [ n ] Accumulated spindle position,
Value range = { 0 ... MD30330 $MA_MODULO_RANGE (size of
the module range)}
Accumulated traversing path,
Value range = { -100,000,000 ... 100.000.000 }
$P_SEARCH_SPOSMODE [ n ] Accumulated position approach mode,
Value range = { 0 ... 5 }
For later output of the spindle-specific auxiliary functions, the system variables can be read
in an ASUB, for example, and output after the action blocks are output:
DB21, ... DBX32.6 = 1 (last action block active)

Note
The contents of the system variables $P_S, $P_DIR and $P_SGEAR may be lost after block
search due to synchronization operations.

More detailed information on ASUB, block search, and action blocks is to be found in:
References:
/FB1/Function Manual, Basic Functions; Mode Group, Channel, Program Operation (K1),
Section: Program test

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2.12 Block search

Example
Block search for contour with suppression of output of the spindle-specific auxiliary functions
and start of an ASUB after output of action blocks:
MD11450 $MN_SEARCH_RUN_MODE, bit 2 = 1 (search parameterization)
After the block search on N55, the ASUB is started.
Part program

N05 M3 S200 ; Spindle 1

N10 G4 F3
N15 SPOS = 111 ; Spindle 1 is positioned to 111 degrees in
the ASUB
N20 M2 = 4 S2 = 300 ; Spindle 2
N25 G4 F3
N30 SPOS[2] = IC(77) ; Spindle 2 traverses incrementally by 77
degrees
N55 X10 G0 ; Destination block
N60 G4 F10
N99 M30

ASUB

PROC ASUP_SAVE
MSG ("Output of the spindle functions")
DEF INT SNR=1
AUSG_SPI:
M[SNR] = $P_SEARCH_SGEAR[SNR] ; Output gear level
S[SNR] = $P_SEARCH_S[SNR] ; Output speed (for M40, a
suitable gear level is
determined)
M[SNR] = $P_SEARCH_SDIR[SNR] ; Output direction of rotation,
positioning or axis mode
SNR = SNR+1 ; next spindle
REPEAT AUSG_SPI P=$P_NUM_SPINDLES-1 ; For all spindles
MSG("")
REPOSA
RET

Explanation of example
If the number of spindles is known, outputs of the same type can be written in one part
program block to reduce program runtime.
Output of $P_SEARCH_SDIR should be made in a separate part program block because
spindle positioning or switchover to axis mode in conjunction with the gear change can
cause an alarm.
Control response for REPOS
If the started ASUB is ended with REPOSA, spindle 1 remains at position 111 degrees, while
spindle 2 is repositioned at position 77 degrees.

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Detailed description
2.12 Block search

If a different response is required, the program sequence for block search (for example)
"N05 M3 S..." and "N30 SPOS[2] = IC(...)" requires special treatment.
Whether block search is active can be ascertained in the ASUB via the system variable
$P_SEARCH.
$P_SEARCH == 1 ; Block search active
In the case of incremental positioning after speed control operation, the path to be traversed
is defined but, in some cases, the final position reached only becomes known during
positioning. This is the case, for example, during position calibration on crossing the zero
mark when switching on position control. For this reason, the distance programmed after the
zero position is accepted as the REPOS position (REPOSA in the ASUB).

Constraints
Collected S values
The meaning of an S value in the parts program depends on the feed type that is currently
active:

G93, G94, G95, G97, G971 The S value is interpreted as the speed
G96, G961 The S value is interpreted as a constant cutting rate
If the feed operation is changed (e.g. for a tool change) before output of the system variable
$P_SEARCH_S, the original setting from the target block in the parts program must be
restored to avoid use of the wrong type of feed.
Collected direction of rotation
For output of the direction of rotation, the system variable $P_SEARCH_SDIR is assigned
default value "-5" at the start of the block search. This value has no effect on output.
This ensures that the last spindle operating mode is retained for a block search across
program section in which spindles are not programmed with a direction of rotation,
positioning or axis mode.
The programming of M19, SPOS and SPOSA is collected as "M-19" (internal M19) in the
system variables $P_SEARCH_SDIR alternatively to M3, M4, M5 and M70.
For the output of "M-19", the positioning data are read internally from the system variables
$P_SEARCH_SPOS and $P_SEACH_SPOSMODE. Both system variables can also be
written, for example, to make corrections.

Note
Because of the assignments described above (e.g. M[n] = $P_SEARCH_SDIR[n]), the
values "–5" and "–19" generally remain hidden from the user and only have to be observed in
the case of special evaluation of the system variables in the ASUB.

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2.13 Scan and display of output M-auxiliary functions

2.13 2.13 Scan and display of output M-auxiliary functions

2.13.1 Information options

Information methods
Information on the status of M-auxiliary functions is available using:
• Display on the user interface
• Scan of system variables in part program and synchronous actions

2.13.1.1 Status display on the user interface

Operator interface
The output status and acknowledgement status of auxiliary functions can be displayed on
the user interface.

Requirements
To implement function-oriented acknowledgement and display of M-auxiliary functions, the
auxiliary functions must be managed in the PLC and, thus, in the user program itself.
Therefore, it is up to the PLC programmer to program the acknowledgement of these
auxiliary functions. He has to know which auxiliary functions in which group have to be
acknowledged.

Default
M-auxiliary functions that are not managed by means of the PLC are identified by the NC as
output and transferred to the PLC. There is no functional acknowledgement for these
auxiliary functions. All M-auxiliary functions collected after a block search are also displayed
so that the operator knows which auxiliary functions will be output after a start following a
block search.

PLC activities
In the case of auxiliary function groups that are managed by the PLC itself, the PLC user
program must acknowledge all auxiliary functions of this groups when Apply and Function
End are activated. The PLC programmer must know all the auxiliary functions of these
groups.

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Detailed description
2.13 Scan and display of output M-auxiliary functions

Miscellaneous
Only the group-specific M auxiliary functions are displayed. The block-by-block display is
also available, as before. Up to 15 groups can be displayed, whereby only the last M function
of a group that was either collected or output to the PLC is displayed for each group. The M
functions are presented in various display modes depending on their status:

Statuses and their displays

Status Display mode

The last auxiliary function of the group is displayed.
Auxiliary function is collected Inverted with yellow font
Auxiliary function is output from NCK to PLC Inverted
Auxiliary function has been transferred from NCK to PLC Black font on gray background
and transport acknowledgement has taken place
Auxiliary function is managed by the PLC and has been Black font on gray background
directly applied by the PLC.
Auxiliary function is managed by the PLC, and the function Black font on gray background
acknowledgement has taken place.

Display update
The display is organized in such a way that the collected auxiliary functions are always
displayed first, before those that were managed by the PLC and before those that were
managed by the NC. A collected auxiliary function is marked as collected until it has been
output from the NCK to the PLC. PLC-managed auxiliary functions are retained until they are
displaced by another auxiliary function. In the case of a reset, only the collected auxiliary
functions and the NC-managed auxiliary functions are deleted.

2.13.1.2 Programming a status check

System variables
System variables are available for the status check of group-specific, modal M-auxiliary
functions.
The following variables can be used to scan M-auxiliary functions on a group-specific basis
in the part program and via synchronous actions. The requirements and conditions described
in "Status display on user interface" are applicable.
• Value of the collected or output M auxiliary function of the n+1 group:
INT $AC_AUXFU_M_VALUE[n]
• Address extension of the collected or output M auxiliary function of the n+1 group:
INT $AC_AUXFU_M_EXT[n]

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2.13 Scan and display of output M-auxiliary functions

• Output status of the M auxiliary function of the n+1 group:

INT $AC_AUXFU_M_STATE[n]
0: No auxiliary function
1: M-auxiliary function was collected via a search
2: M-auxiliary function has been output to the PLC
3: M-auxiliary function has been output to the PLC and the transport acknowledgement
has taken place.
4: M-auxiliary function is managed by the PLC and has been applied by the PLC.
5: M-auxiliary function is managed by the PLC, and the function acknowledgement has
taken place.

Example
All M-auxiliary functions of the 1st group will be stored in the order they were output.
id=1 every $AC_AUXFU_M_STATE[0] == 2 do $AC_FIFO[0,0] = $AC_AUXFU_M_VALUE[0]
Additional information on the system variables can be found in:
Reference
/PGA1/ Lists of System Variables.

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2.13 Scan and display of output M-auxiliary functions

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Supplementary conditions 3
3.1 3.1 General constraints

Spindle replacement
Because the auxiliary functions are parameterized channel-specifically, if function: "spindle
replacement" is used, the spindle-specific auxiliary function must be parameterized
immediately in all channels that use the spindles.

Tool management
If tool management is active, the following constraints apply:
• T and M<k> functions are not output to the PLC.
Note
k is the parameterized value of the auxiliary function for the tool change (default: 6):
MD22560 $MC_TOOL_CHANGE_M_CODE (auxiliary function for tool change)
• If no address extension is programmed, the auxiliary function refers to the master spindle
or the master tool holder of the channel.
Definition of the master spindle:
– MD20090 $MC_SPIND_DEF_MASTER_SPIND
– Part program instruction: SETMS
Definition of the master tool holder
– MD20124 $MC_TOOL_MANAGEMENT_TOOLHOLDER
– Part program instruction: SETMTH

Maximum number of auxiliary functions per part program block

A maximum of 10 auxiliary functions may be programmed in one part program block.

DL (additive tool offset)

The following restrictions apply to the DL function:
• Only one DL function can be programmed per part program block.
• If DL functions are used in synchronous actions, parameter: "Value" is not output to the
PLC.

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Supplementary conditions
3.2 Output behavior

3.2 3.2 Output behavior

Thread cutting
During active thread cutting G33, G34 and G35, the following output behavior is always
active for the spindle-specific auxiliary functions:
• M3 (spindle right)
• M4 (spindle left)
:
• Output duration one OB40 cycle (quick acknowledgment)
• Output during motion
The spindle-specific auxiliary function M5 (spindle stop) is always output at the end of the
block. The parts program block that contains M5 is always ended with exact stop, i.e. even
during active continuous path mode.

Synchronized actions
With output auxiliary functions from synchronized actions, the parameterized output behavior
is ignored except for the following parameters:
• Bit0: Output duration one OB1 cycle (normal acknowledgment)
• Bit1: Output duration one OB40 cycle (quick acknowledgment)

Auxiliary functions: M17 or M2 / M30 (end of subroutine)

In its own parts program block
If one of the auxiliary functions M17, M2 or M30 is programmed as the only auxiliary function
in a part program block and an axis is still in motion, the auxiliary function is not output to the
PLC until after the axis has stopped.
Overriding the parameterized output behavior
The parameterized output behavior of the auxiliary functions M17 or M2/M30 is overridden by
the output behavior that is determined in the following machine data:
MD20800 $MC_SPF_END_TO_VDI, Bit 0 (subprogram end / stop to PLC)

Bit Value Meaning

0 0 The auxiliary functions M17 or M2/M30 (subprogram end) are not output to the PLC.
Continuous-path mode is not interrupted at the end of the subroutine
1 The auxiliary functions M17 or M2/M30 (subprogram end) are output to the PLC.

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3.2 Output behavior

Auxiliary function: M1 (conditional stop)

Overriding the parameterized output behavior
The parameterized output behavior of the auxiliary function M1 is overridden by the output
behavior defined in the following machine data:
MD20800 $MC_SPF_END_TO_VDI, Bit 1 (subprogram end / stop to PLC)

Bit Value Meaning

1 0 The auxiliary function M01 (conditional stop) is always output to the PLC. A quick
acknowledgement is ineffective, because M01 is permanently assigned to the first
auxiliary function group and is therefore always output at the end of the block.
1 The auxiliary function M01 (conditional stop) is only output to the PLC, if the function:
"Programmed stop" is activated via the HMI user interface.
In the case of a quick acknowledgement, the M1 is output to the PLC during the motion.
While the function is not active, this does not interrupt continuous-path mode.

Part program blocks without traverse movement

In a part program block without a traverse movement, all auxiliary functions are output in a
block immediately, irrespective of their parameterized output behavior.

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3.2 Output behavior

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Examples 4
4.1 4.1 Defining auxiliary functions

Task
Parameterization of the auxiliary-function-specific machine data for a machine with the
following configuration:
Spindles
• Spindle 1: Master spindle
• Spindle 2: Second spindle
Gear stages
• Spindle 1: 5 gear stages
• Spindle 2: No gear stages
Switching functions for cooling water on/off
• Spindle 1
– "ON" = M50
– "OFF" = M51
• Spindle 2
– "ON" = M52
– "OFF" = M53

Requirements
Spindle 1 (master spindle)

Note
Default assignments
• The auxiliary functions M3, M4, M5, M70 and M1=3, M1=4, M1=5, M1=70 of spindle 1
(master spindle) are assigned to the second auxiliary function group by default.
• All S and S1 values of spindle 1 (master spindle) are assigned to the third auxiliary
function group by default.

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Examples
4.1 Defining auxiliary functions

• The gear stage last programmed is to be output after block search. The following auxiliary
functions are assigned to the ninth auxiliary function group for this reason:
– M40, M41, M42, M43, M44, M45
– M1=40, M1=41, M1=42, M1=43, M1=44, M1=45
• The auxiliary functions M3, M4, M5, M70 and M1=3, M1=4, M1=5, M1=70 (second auxiliary
function group) and S and S1 values (third auxiliary function group) should have the
following output behavior:
– Output duration one OB40 cycle (quick acknowledgment)
– Output prior to motion
• The auxiliary functions for gear changeover M40 to M45 and M1=40 to M1=45 (ninth
auxiliary function group) should have the following output behavior:
– Output duration one OB1 cycle (normal acknowledgment)
– Output prior to motion
Spindle 2
• Only one M function for directional reversal may be programmed in one block. The
direction of rotation last programmed is to be output after block search. The following
auxiliary functions are assigned to the tenth auxiliary function group for this reason:
– M2=3, M2=4, M2=5, M2=70
• All S2 values are assigned to auxiliary function group 11.
• The auxiliary functions M2=3, M2=4, M2=5, M2=70 (tenth auxiliary function group) and S2
values (auxiliary function group 11) should have the following output behavior:
– Output duration one OB40 cycle (quick acknowledgment)
– Output prior to motion
Cooling water
• It is not permissible to switch the cooling water on and off in one part program block. After
a block search, the cooling water will be switched on or off. For this purpose, the following
auxiliary functions are assigned, for example, to auxiliary function group 12 or 13:
– 12. auxiliary function group: M50, M51
– 13. auxiliary function group: M52, M53
• The auxiliary functions M50, M51 (auxiliary function group 12) and M52, M53 (auxiliary
function group 13) should have the following output behavior:
– Output duration one OB1 cycle (normal acknowledgment)
– Output prior to motion

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 Examples
4.1 Defining auxiliary functions

Parameterization of the machine data

The machine data are parameterized by appropriate programming within a part program.

Programming Remarks
$MN_AUXFU_MAXNUM_GROUP_ASSIGN = 21 Number of user-defined auxiliary functions per
channel

$MN_AUXFU_GROUP_SPEC[1] = 'H22' Output behavior of auxiliary function group 2

$MN_AUXFU_GROUP_SPEC[2] = 'H22' Output behavior of auxiliary function group 3
$MN_AUXFU_GROUP_SPEC[8] = 'H21' Output behavior of auxiliary function group 9

$MC_AUXFU_ASSIGN_TYPE[0] = "M" Description of auxiliary function 1: M40

$MC_AUXFU_ASSIGN_EXTENSION[0] = 0
$MC_AUXFU_ASSIGN_VALUE[0] = 40
$MC_AUXFU_ASSIGN_GROUP[0] = 9
... (and analogously for aux. functions 2 to 5)
$MC_AUXFU_ASSIGN_TYPE[5] = "M" Description of auxiliary function 6: M45
$MC_AUXFU_ASSIGN_EXTENSION[5] = 0
$MC_AUXFU_ASSIGN_VALUE[5] = 45
$MC_AUXFU_ASSIGN_GROUP[5] = 9

$MC_AUXFU_ASSIGN_TYPE[6] = "M" Description of auxiliary function 7: M1 = 40

$MC_AUXFU_ASSIGN_EXTENSION[6] = 1
$MC_AUXFU_ASSIGN_VALUE[6] = 40
$MC_AUXFU_ASSIGN_GROUP[6] = 9
. . . (and analogously for aux. functions 8 to 11)
$MC_AUXFU_ASSIGN_TYPE[11] = "M" Description of auxiliary function 12: M1 = 45
$MC_AUXFU_ASSIGN_EXTENSION[11] = 1
$MC_AUXFU_ASSIGN_VALUE[11] = 45
$MC_AUXFU_ASSIGN_GROUP[11] = 9

$MN_AUXFU_GROUP_SPEC[9] = 'H22' Output behavior of auxiliary function group 10

$MC_AUXFU_ASSIGN_TYPE[12] = "M" Description of auxiliary function 13: M2 = 3

$MC_AUXFU_ASSIGN_EXTENSION[12] = 2
$MC_AUXFU_ASSIGN_VALUE[12] = 3
$MC_AUXFU_ASSIGN_GROUP[12] = 10

$MC_AUXFU_ASSIGN_TYPE[13] = "M" Description of auxiliary function 14: M2 = 4

$MC_AUXFU_ASSIGN_EXTENSION[13] = 2
$MC_AUXFU_ASSIGN_VALUE[13] = 4
$MC_AUXFU_ASSIGN_GROUP[13] = 10

$MC_AUXFU_ASSIGN_TYPE[14] = "M" Description of auxiliary function 15: M2 = 5

$MC_AUXFU_ASSIGN_EXTENSION[14] = 2
$MC_AUXFU_ASSIGN_VALUE[14] = 5
$MC_AUXFU_ASSIGN_GROUP[14] = 10

$MC_AUXFU_ASSIGN_TYPE[15] = "M" Description of auxiliary function 16: M2 = 70

$MC_AUXFU_ASSIGN_EXTENSION[15] = 2

Auxiliary Function Output to PLC (H2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 4-3
Examples
4.1 Defining auxiliary functions

Programming Remarks
$MC_AUXFU_ASSIGN_VALUE[15] = 70
$MC_AUXFU_ASSIGN_GROUP[15] = 10

$MN_AUXFU_GROUP_SPEC[10] = 'H22' Specification of auxiliary function group 11

$MC_AUXFU_ASSIGN_TYPE[16] = "S" Description of auxiliary function 17: S2 = <all

values>
$MC_AUXFU_ASSIGN_EXTENSION[16] = 2
$MC_AUXFU_ASSIGN_VALUE[16] = -1
$MC_AUXFU_ASSIGN_GROUP[16] = 11

$MN_AUXFU_GROUP_SPEC[11] = 'H21' Specification of auxiliary function group 12

$MC_AUXFU_ASSIGN_TYPE[17] = "M" Description of auxiliary function 18: M50

$MC_AUXFU_ASSIGN_EXTENSION[17] = 0
$MC_AUXFU_ASSIGN_VALUE[17] = 50
$MC_AUXFU_ASSIGN_GROUP[17] = 12

$MC_AUXFU_ASSIGN_TYPE[18] = "M" Description of auxiliary function 19: M51

$MC_AUXFU_ASSIGN_EXTENSION[18] = 0
$MC_AUXFU_ASSIGN_VALUE[18] = 51
$MC_AUXFU_ASSIGN_GROUP[18] = 12

$MN_AUXFU_GROUP_SPEC[12] = 'H21' Specification of auxiliary function group 13

$MC_AUXFU_ASSIGN_TYPE[19] = "M" Description of auxiliary function 20: M52

$MC_AUXFU_ASSIGN_EXTENSION[19] = 0
$MC_AUXFU_ASSIGN_VALUE[19] = 52
$MC_AUXFU_ASSIGN_GROUP[19] = 13

$MC_AUXFU_ASSIGN_TYPE[20] = "M" Description of auxiliary function 21: M53

$MC_AUXFU_ASSIGN_EXTENSION[20] = 0
$MC_AUXFU_ASSIGN_VALUE[20] = 53
$MC_AUXFU_ASSIGN_GROUP[20] = 13

Auxiliary Function Output to PLC (H2)

4-4 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Data lists 5
5.1 5.1 Machine data

5.1.1 NC-specific machine data

Number Identifier: $MN_ Description

10713 M_NO_FCT_STOPRE M function with preprocessing stop
10714 M_NO_FCT_EOP M function for spindle active after NC RESET
11100 AUXFU_MAXNUM_GROUP_ASSIGN Maximum number of user-defined auxiliary functions
per channel
11110 AUXFU_GROUP_SPEC[n], Group-specific output behavior

5.1.2 Channelspecific machine data

Number Identifier: $MC_ Description

20110 RESET_MODE_MASK Definition of control initial setting after part program
start.
20112 START_MODE_MASK Definition of control initial setting after powerup and
on RESET or at end of part program
20270 CUTTING_EDGE_DEFAULT Basic setting of tool cutting edge without programming
20800 SPF_END_TO_VDI Subprogram end to PLC
22000 AUXFU_ASSIGN_GROUP Auxiliary function group
22010 AUXFU_ASSIGN_TYPE Type of auxiliary function
22020 AUXFU_ASSIGN_EXTENSION Auxiliary function extension
22030 AUXFU_ASSIGN_VALUE Auxiliary function value
22035 AUXFU_ASSIGN_SPEC Output specification (user-def. AuxFu)

Auxiliary Function Output to PLC (H2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 5-1
Data lists
5.2 Signals

Number Identifier: $MC_ Description

22040 AUXFU_PREDEF_GROUP Predefined auxiliary function groups
22050 AUXFU_PREDEF_TYPE Predefined auxiliary function type
22060 AUXFU_PREDEF_EXTENSION Predefined auxiliary function extension
22070 AUXFU_PREDEF_VALUE Predefined auxiliary function value
22080 AUXFU_PREDEF_SPEC Output specification (predefined auxiliary function)
22100 AUXFU_QUICK_BLOCKCHANGE Block change without delay
22110 AUXFU_H_TYPE_INT Type of H auxiliary functions
22200 AUXFU_M_SYNC_TYPE Output timing for M functions
22210 AUXFU_S_SYNC_TYPE Output timing of S functions
22220 AUXFU_T_SYNC_TYPE Output timing of T functions
22230 AUXFU_H_SYNC_TYPE Output timing for H functions
22240 AUXFU_F_SYNC_TYPE Output timing of F functions
22250 AUXFU_D_SYNC_TYPE Output timing of D functions
22252 AUXFU_DL_SYNC_TYPE Output timing of DL functions
22254 AUXFU_ASSOC_M0_VALUE Additional M function for program stop
22256 AUXFU_ASSOC_M1_VALUE Additional M function for conditional stop

5.2 5.2 Signals

5.2.1 Signals to channel

DB number Byte.Bit Description

21, ... 30.5 Activate associated M01

5.2.2 Signals from channel

DB number Byte.Bit Description

21, ... 58.0 – 58.4 M function 1 - 5 change
21, ... 59.0 – 59.4 M function 1 - 5 not included in list
21, ... 60.0 - 60.2 S function 1 - 3 change
21, ... 60.4 - 60.6 S function 1 - 3 quick
21, ... 61.0 - 61.2 T function 1 - 3 change

Auxiliary Function Output to PLC (H2)

5-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Data lists
5.2 Signals

DB number Byte.Bit Description

21, ... 61.4 - 61.6 T function 1 - 3 quick
21, ... 62.0 - 62.2 D function 1 - 3 change
21, ... 62.4 - 62.6 D function 1 - 3 quick
21, ... 63.0 E function 1 change
21, ... 63.4 E function 1 quick
21, ... 64.0 - 64.2 H function 1 - 3 change
21, ... 64.4 - 64.6 H function 1 - 3 quick
21, ... 65.0 - 65.5 F function 1 - 6 change
21, ... 66.0 - 66.4 M function 1 - 5 quick
21, ... 67.0 - 67.5 F function 1 - 6 quick
21, ... 68 - 69 Extended address of M function 1 (binary)
21, ... 70 - 73 M function 1 (integer)
21, ... 74 - 75 Extended address of M function 2 (binary)
21, ... 76 - 79 M function 2 (integer)
21, ... 80 - 81 Extended address of M function 3 (binary)
21, ... 82 - 85 M function 3 (integer)
21, ... 86 - 87 Extended address of M function 4 (binary)
21, ... 88 - 91 M function 4 (integer)
21, ... 92 - 93 Extended address of M function 5 (binary)
21, ... 94 - 97 M function 5 (integer)
21, ... 98 - 99 Extended address of S function 1 (binary)
21, ... 100 - 103 S function 1 (real)
21, ... 104 - 105 Extended address of S function 2 (binary)
21, ... 106 - 109 S function 2 (real)
21, ... 110 - 111 Extended address of S function 3 (binary)
21, ... 112 - 115 S function 3 (real)
21, ... 116 - 117 Extended address of T function 1 (binary)
21, ... 118 - 119 T function 1 (integer)
21, ... 120 - 121 Extended address of T function 2 (binary)
21, ... 122 - 123 T function 2 (integer)
21, ... 124 - 125 Extended address of T function 3 (binary)
21, ... 126 - 127 T function 3 (integer)
21, ... 128 Extended address of D function 1 (binary)
21, ... 129 D function 1 (binary)
21, ... 130 Extended address of D function 2 (binary)
21, ... 131 D function 2 (binary)
21, ... 132 Extended address of D function 3 (binary)
21, ... 133 D function 3 (binary)
21, ... 134 Extended address of DL function (binary)
21, ... 136 DL function (real)
21, ... 140 - 141 Extended address of H function 1 (binary)

Auxiliary Function Output to PLC (H2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 5-3
Data lists
5.2 Signals

DB number Byte.Bit Description

21, ... 142 - 145 H function 1 (real format)
21, ... 146 - 147 Extended address of H function 2 (binary)
21, ... 148 - 151 H function 2 (real or double integer)
21, ... 152 - 153 Extended address of H function 3 (binary)
21, ... 154 - 157 H function 3 (real format)
21, ... 158 - 159 Extended address of F function 1 (binary)
21, ... 160 - 163 F function 1 (real format)
21, ... 164 - 165 Extended address of F function 2 (binary)
21, ... 166 - 169 F function 2 (real format)
21, ... 170 - 171 Extended address of F function 3 (binary)
21, ... 172 - 175 F function 3 (real format)
21, ... 176 - 177 Extended address of F function 4 (binary)
21, ... 178 - 181 F function 4 (real format)
21, ... 182 - 183 Extended address of F function 5 (binary)
21, ... 184 - 187 F function 5 (real format)
21, ... 188 - 189 Extended address of F function 6 (binary)
21, ... 190 - 193 F function 6 (real format)
21, ... 194 Dynamic M function: M00 - M07
21, ... 195 Dynamic M function: M08 - M15
21, ... 196 Dynamic M function: M16 - M23
21, ... 197 Dynamic M function: M24 - M31
21, ... 198 Dynamic M function: M32 - M39
21, ... 199 Dynamic M function: M40 - M47
21, ... 200 Dynamic M function: M48 - M55
21, ... 201 Dynamic M function: M56 - M63
21, ... 202 Dynamic M function: M64 - M71
21, ... 203 Dynamic M function: M72 - M79
21, ... 204 Dynamic M function: M80 - M87
21, ... 205 Dynamic M function: M88 - M95
21, ... 206.0 – 206.3 Dynamic M function: M96 - M99
21, ... 318.5 Associated M00/M01 active

Auxiliary Function Output to PLC (H2)

5-4 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Data lists
5.2 Signals

5.2.3 Signals to axis/spindle

DB number Byte.Bit Description

31, ... 78 - 81 F function for positioning axis (real)

5.2.4 Signals from axis/spindle

DB number Byte.Bit Description

31, ... 86 - 87 M function for spindle (binary)
31, ... 88 - 91 S function for spindle (real)

Auxiliary Function Output to PLC (H2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 5-5
Data lists
5.2 Signals

Auxiliary Function Output to PLC (H2)

5-6 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Index
Constraints
Thread cutting, 3-2
$ Continuous-path mode, 2-25
$P_SEARCH_S, 2-32
$P_SEARCH_SDIR, 2-32
$P_SEARCH_SGEAR, 2-32
D
$P_SEARCH_SPOS, 2-32 D functions, 1-5
$P_SEARCH_SPOSMODE, 2-32 DB21, ...
DBB116 - DBB136, 2-23
DBB140 - DBB190, 2-23
A DBB194 - DBB206, 2-23
DBB58 - DBB67, 2-23
Address extension, 2-24
DBB68 - DBB112, 2-23
Area
DBX30.5, 2-27
Output duration, 2-21
DBX318.5, 2-27
Output relative to motion, 2-22
DBX32.6, 2-32
Areas of the output behavior, 2-21
DB31, ...
Auxiliary function output
DBX64.6, 2-31
Block search, 2-30
DBX64.7, 2-31
Auxiliary function without auxiliary function group, 2-30
Definition of an auxiliary function, 1-2
Auxiliary functions of auxiliary function group 1, 2-30
DL functions, 1-6

B E
Behavior regarding
Extension of predefined auxiliary functions, 2-12
M19, 2-31

F
C
F functions, 1-7
Collected direction of rotation, 2-34
FA functions, 1-7
Collected S values, 2-34
Fast acknowledgment, 2-6, 2-25
Constraints
Auxiliary function: M1, 3-3
Auxiliary functions: M17 or M2 / M30, 3-2
DL (additive tool offset), 3-1
G
Maximum number of auxiliary functions per part Group assignment, 2-14
program block, 3-1 Grouping together auxiliary functions, 2-5
Part program blocks without traverse movement, 3-
3
Spindle replacement, 3-1 M
Synchronized actions, 3-2
M functions, 1-3
Tool management, 3-1
M98, 2-28
Constraints, 2-25, 2-34
Maximum number, 2-12
MD10713, 2-28

Auxiliary Function Output to PLC (H2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 Index-1
Index

MD10714, 2-3 O
MD10715, 2-28
Output after motion, 2-8
MD11100, 2-12
Output behavior, 2-18
MD11110, 2-21, 2-22
Output duration one OB1 cycle, 2-6
MD11450, 2-31, 2-33
Output duration one OB40 cycle, 2-6, 2-25
MD20090, 3-1
Output during motion, 2-8, 2-25
MD20094, 2-3
Output prior to motion, 2-7
MD20095, 2-3
Output prior to motion, 2-25
MD20124, 3-1
Overstorage of auxiliary functions, 2-30
MD20270, 1-6
MD20272, 1-6
MD20800, 1-3, 3-2, 3-3
MD22000, 2-14, 2-15, 2-16, 2-17
P
MD22010, 2-13, 2-14, 2-15, 2-16, 2-17 Parameter
MD22020, 2-13, 2-14, 2-15, 2-16, 2-17 Value, 2-5, 2-15
MD22030, 2-13, 2-14, 2-15, 2-16, 2-17 Parameterized output behavior, 2-8
MD22035, 2-16, 2-17, 2-21, 2-22 Parameters
MD22035, 2-16 Address extension, 2-4, 2-15
MD22040, 2-1, 2-3, 2-5 Type, 2-4, 2-15
MD22050, 2-1, 2-4, 2-5 Part program blocks without path motion, 2-22
MD22060, 2-1, 2-4, 2-5 Predefined auxiliary functions, 1-1, 2-2
MD22070, 2-1, 2-4, 2-5 Definition, 2-1
MD22080, 2-1, 2-5, 2-6, 2-8, 2-21, 2-22 Priority sequence, 2-21
MD22100, 2-25
MD22110, 1-5, 1-8
MD22200, 2-18, 2-19, 2-22 S
MD22210, 1-4, 2-18, 2-22
S functions, 1-4
MD22220, 1-5, 2-18, 2-19, 2-22
Symbolic addressing, 2-24
MD22230, 1-5, 2-18, 2-19, 2-22
Syntax, 2-24
MD22240, 1-7, 2-18, 2-22
System function, 2-13
MD22250, 1-6, 2-18, 2-22
System variables, 2-32
MD22252, 1-6, 2-18, 2-22
MD22254, 2-3, 2-26, 2-27
MD22256, 2-3, 2-26, 2-27
MD22560, 2-3
T
MD22560, 3-1 T functions, 1-5
MD26008, 2-3 Type of auxiliary function, 2-18
MD30330, 2-32

U
N Userdefined auxiliary functions, 1-1
Normal acknowledgment, 2-6 User-specific auxiliary functions, 1-2, 2-12

Auxiliary Function Output to PLC (H2)

Index-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 1
SINUMERIK 840D sl/840Di sl/840D/840Di/810D Mode Group, Channel, Program Operation, Reset Response (K1)
______________
Brief description

2
______________
Detailed description

3
SINUMERIK ______________
Supplementary conditions

l/840D/840Di/810D
4
______________
Examples

Mode Group, Channel, Program 5

Operation, Reset Response (K1) ______________
Data lists

Function Manual

Valid for

Control
SINUMERIK 840D sl/840DE sl
SINUMERIK 840Di sl/840DiE sl
SINUMERIK 840D powerline/840DE powerline
SINUMERIK 840Di powerline/840DiE powerline
SINUMERIK 810D powerline/810DE powerline

Software Version
NCU System Software for 840D sl/840DE sl 1.3
NCU system software for 840Di sl/DiE sl 1.0
NCU system software for 840D/840DE 7.4
NCU system software for 840Di/840DiE 3.3
NCU system software for 810D/810DE 7.4

03/2006 Edition
6FC5397-0BP10-1BA0
Safety Guidelines
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent
damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are
graded according to the degree of danger.

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

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

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

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

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

Prescribed Usage
Note the following:

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

Trademarks
All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this
publication may be trademarks whose use by third parties for their own purposes could violate the rights of the
owner.

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

Siemens AG Order No.: 6FC5397-0BP10-1BA0 Copyright © Siemens AG 2006.

Automation and Drives Edition 05/2006 Technical data subject to change
Postfach 48 48
90437 NÜRNBERG
GERMANY
Table of contents
1 Brief description ...................................................................................................................................... 1-1
2 Detailed description ................................................................................................................................ 2-1
2.1 Mode group ................................................................................................................................ 2-1
2.1.1 Mode group Stop ....................................................................................................................... 2-4
2.1.2 Mode group RESET................................................................................................................... 2-4
2.2 Mode groups .............................................................................................................................. 2-5
2.2.1 Monitoring functions and interlocks of the individual modes ................................................... 2-11
2.2.2 Mode change ........................................................................................................................... 2-11
2.3 Channel.................................................................................................................................... 2-13
2.3.1 Global start disable for channel ............................................................................................... 2-16
2.4 Program test............................................................................................................................. 2-17
2.4.1 Program execution without setpoint outputs............................................................................ 2-18
2.4.2 Program execution in singleblock mode .................................................................................. 2-19
2.4.3 Program execution with dry run feedrate................................................................................. 2-22
2.4.4 Skip part-program blocks ......................................................................................................... 2-24
2.5 Block search............................................................................................................................. 2-25
2.5.1 Sequence for block search of Type 1, 2 and 4 ........................................................................ 2-27
2.5.2 Block search in connection with other NCK functions ............................................................. 2-29
2.5.2.1 ASUB after and during block search........................................................................................ 2-29
2.5.2.2 PLC actions after block search ................................................................................................ 2-30
2.5.2.3 Spindle functions after block search ........................................................................................ 2-31
2.5.3 Automatic start of an ASUB after block search........................................................................ 2-32
2.5.4 Cascaded block search............................................................................................................ 2-33
2.5.5 Examples of block search with calculation .............................................................................. 2-35
2.6 Block search Type 5 SERUPRO.............................................................................................. 2-39
2.6.1 REPOS..................................................................................................................................... 2-45
2.6.1.1 Continue machining after SERUPRO search target found...................................................... 2-45
2.6.1.2 Repositioning on contour with controlled REPOS ................................................................... 2-54
2.6.2 Acceleration measures via MD ................................................................................................ 2-57
2.6.3 SERUPRO ASUP .................................................................................................................... 2-58
2.6.4 Selfacting SERUPRO .............................................................................................................. 2-61
2.6.5 Inhibit specific part of the program in the part program for SERUPRO ................................... 2-62
2.6.6 Special features in the part-program target block.................................................................... 2-66
2.6.6.1 STOPRE in the part-program target block............................................................................... 2-66
2.6.6.2 SPOS in target block................................................................................................................ 2-67
2.6.7 Behavior during POWER ON, mode change and RESET....................................................... 2-67
2.6.8 Special features of functions supported during SERUPRO..................................................... 2-68
2.6.8.1 Travel to fixed stop (FXS) ........................................................................................................ 2-68
2.6.8.2 Force Control (FOC) ................................................................................................................ 2-69
2.6.8.3 Synchronous spindle................................................................................................................ 2-69
2.6.8.4 Couplings and master-slave .................................................................................................... 2-70
2.6.8.5 Axis functions ........................................................................................................................... 2-73
2.6.8.6 Gear stage change .................................................................................................................. 2-75
2.6.8.7 Superimposed motion .............................................................................................................. 2-75

Mode Group, Channel, Program Operation, Reset Response (K1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 iii
Table of contents

2.6.8.8 REPOS offset in the interface .................................................................................................. 2-76

2.6.8.9 Making the initial settings more flexible ................................................................................... 2-76
2.6.9 System variables and variables for SERUPRO sequence ...................................................... 2-77
2.6.10 Restrictions .............................................................................................................................. 2-79
2.7 Program operation mode ......................................................................................................... 2-79
2.7.1 Initial settings ........................................................................................................................... 2-80
2.7.2 Selection and start of part program or part-program block ...................................................... 2-83
2.7.3 Part-program interruption ......................................................................................................... 2-84
2.7.4 RESET command .................................................................................................................... 2-86
2.7.5 Program status......................................................................................................................... 2-87
2.7.6 Channel status ......................................................................................................................... 2-88
2.7.7 Responses to operator or program actions.............................................................................. 2-89
2.7.8 Part-Program Start ................................................................................................................... 2-91
2.7.9 Example of timing diagram for a program run.......................................................................... 2-92
2.7.10 Program section repetitions ..................................................................................................... 2-93
2.7.11 A part program section between a Start label and the key word: ENDLABEL ........................ 2-97
2.7.12 Eventdriven program calls........................................................................................................ 2-98
2.7.13 Control and effect on stop events .......................................................................................... 2-108
2.7.14 Asynchronous Subroutines (ASUBs), Interrupt Routines ...................................................... 2-111
2.7.15 Calling the ASUB outside program operation ........................................................................ 2-115
2.7.16 Userdefined system ASUBs................................................................................................... 2-119
2.8 Single block............................................................................................................................ 2-123
2.8.1 Decoding single block SBL2 with implicit preprocessing stop ............................................... 2-124
2.8.2 Single-block stop: Suppression using SBLOF ....................................................................... 2-125
2.8.3 Single-block stop: inhibit according to situation ..................................................................... 2-127
2.8.4 Single-block behavior in mode group with type A/B .............................................................. 2-129
2.9 Program control...................................................................................................................... 2-130
2.9.1 Function selection (via operator panel front or PLC) ............................................................. 2-130
2.9.2 Activation of skip levels .......................................................................................................... 2-131
2.9.3 Adapting the size of the interpolation buffer........................................................................... 2-132
2.9.4 Program display modes via an additional basic block display ............................................... 2-134
2.9.5 Basic block display for ShopMill/ShopTurn............................................................................ 2-135
2.9.6 Structure for a DIN block........................................................................................................ 2-137
2.9.7 Execution from external source (buffer size and number) ..................................................... 2-140
2.9.8 Execution from external subroutines...................................................................................... 2-141
2.10 System settings for power-up, RESET/part-program end and part-program start ................ 2-145
2.11 Subroutine call with M, T, and D functions............................................................................. 2-155
2.11.1 Replacement of auxiliary functions with subroutines ............................................................. 2-155
2.11.2 M function replacement.......................................................................................................... 2-157
2.11.3 Replacement of tool programming......................................................................................... 2-158
2.11.3.1 T and D function replacement ................................................................................................ 2-158
2.11.3.2 M function replacement for tool change................................................................................. 2-160
2.11.3.3 Example of M/T function replacement for tool change .......................................................... 2-162
2.11.4 Parameter transfer to the replacement subroutine ................................................................ 2-163
2.11.5 Properties of replacement subroutines .................................................................................. 2-167
2.12 Program runtime/workpiece counter ...................................................................................... 2-168
2.12.1 Function.................................................................................................................................. 2-168
2.12.2 Program runtime .................................................................................................................... 2-168
2.12.3 Workpiece counter ................................................................................................................. 2-170
3 Supplementary conditions....................................................................................................................... 3-1
4 Examples................................................................................................................................................ 4-1

Mode Group, Channel, Program Operation, Reset Response (K1)

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 Table of contents

5 Data lists................................................................................................................................................. 5-1

5.1 Machine data.............................................................................................................................. 5-1
5.1.1 General machine data................................................................................................................ 5-1
5.1.1.1 HMIspecific machine data.......................................................................................................... 5-1
5.1.1.2 NC-specific machine data .......................................................................................................... 5-1
5.1.2 Channelspecific machine data ................................................................................................... 5-2
5.1.2.1 Basic machine data.................................................................................................................... 5-2
5.1.2.2 Block search............................................................................................................................... 5-3
5.1.2.3 Reset response .......................................................................................................................... 5-4
5.1.2.4 Auxiliary function settings .......................................................................................................... 5-4
5.1.2.5 Transformation definitions.......................................................................................................... 5-5
5.1.2.6 Memory settings......................................................................................................................... 5-6
5.1.2.7 Program runtime and workpiece counter................................................................................... 5-6
5.1.3 Axis/spindlespecific machine data ............................................................................................. 5-7
5.2 Setting data ................................................................................................................................ 5-7
5.2.1 Channelspecific setting data ...................................................................................................... 5-7
5.3 Signals ....................................................................................................................................... 5-8
5.3.1 Signals to NC ............................................................................................................................. 5-8
5.3.2 Signals to mode group ............................................................................................................... 5-8
5.3.3 Signals from mode group........................................................................................................... 5-8
5.3.4 Signals to channel...................................................................................................................... 5-9
5.3.5 Signals from channel ................................................................................................................. 5-9
5.3.6 Signals to axis/spindle ............................................................................................................. 5-10
5.3.7 Signals from axis/spindle ......................................................................................................... 5-11
Index................................................................................................................................................ Index-1

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Mode Group, Channel, Program Operation, Reset Response (K1)

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Brief description 1
Channel
An NC channel represents the smallest unit for manual traversing of axes and automatic
processing of part programs. At any one time, a channel will always be in a particular mode,
e.g., AUTOMATIC, MDA, or JOG. A channel can be regarded as an independent NC.
Mode group
A channel always belongs to a mode group. A mode group can also consist of several
channels. A mode group can be identified by the fact that all channels of the mode group are
always in the same mode at a particular time, e.g., AUTOMATIC, MDA, or JOG. This is
ensured by the internal mode logic of the NC.
A mode group can be regarded as an independent multi-channel NC.

Channel gaps
When channels are configured, placeholder channels can be provided in order to create as
uniform a configuration as possible over machines in a series. Only the channels that are
actually used are then activated.

Program test
For purposes of testing or breaking in a new part program, the following options are available
for reducing critical situations while still in the testing phase:
• Program execution without setpoint outputs
• Program execution in singleblock mode
• Program execution with dry run feedrate
• Skip part program blocks
• Block search with or without calculation.

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Brief description

Block search
The block search function enables the following program simulations for locating specific
program points:
• Type 1 without calculation at contour
• Type 2 with calculation at contour
• Type 4 with calculation at block end point
• Type 5 automatic start of the selected program point with calculation of all required data
from history
• Automatic start of an ASUB after a block search
• Cascaded block search
• Cross-channel block search in program test mode

Program operation
The execution of part programs or part program blocks in AUTOMATIC or MDA modes is
referred to as program operation. During execution, the program sequence can be controlled
by PLC interface signals and commands.
Initial settings can be specified in channelspecific machine data for each channel. These
initial settings affect, for example, G groups and auxiliary function output.
A part program can be selected only if the relevant channel is in the Reset state.
Furthermore, all further program runs are handled by PLC interface signals and the
corresponding commands.
• Start of part program or part program block
• Part program calculation and program control
• RESET command, program status, and channel status
• Responses to operator and program actions
• Eventdriven program calls

Asynchronous subroutines (ASUBs), interrupt routines

Interrupt inputs allow the NC to interrupt the the current part program execution so that it can
react to more urgent events in interrupt routines or ASUBs.

Single block
With the single-block function, the user can execute a part program block-by-block.
There are 3 types of setting for the single-block function:
• SLB1 := IPO single block
• SLB2 := Decoding single block
• SLB3 := Stop in cycle

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 Brief description

Basic block display

A second socalled basic block display can be used with the existing block display to display
all blocks that produce an action on the machine.
The actually approached end positions are shown as an absolute position. The position
values refer either to the workpiece coordinate system (WCS) or the settable zero system
(SZS).

Program execution from external source

When complex workpieces are machined, the NC may not have enough memory for the
programs. The "Execution from external source" function enables subroutines to be called
(EXTCALL) and executed from an external memory (e.g., from the HMI Advanced hard disk).

Reset response
Machine data can be used to change the control-system response for particular system
settings for functions such as G codes, tool length compensation, transformation, coupled
axis groupings, tangential follow-up, and programmable synchronous spindle for certain
system settings following:
• Power on (POWER ON)
• Reset/part program end
• Part program start

Subroutine call with M and T functions

For some applications, it can be advantageous to replace M and/or T functions with a
subroutine call. This can be used, for example, to call the tool change routine.
Relevant machine data can be used to suitably define and control subroutines with M and/or
T functions.

Program runtime/part counter

Information on the program runtime and the part count is provided to assist the machine tool
operator.
Die dabei definierte Funktionalität ist nicht identisch mit Funktionen der Werkzeugverwaltung
und besonders für NC-Systeme ohne Werkzeugverwaltung vorgesehen.

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Mode Group, Channel, Program Operation, Reset Response (K1)

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Detailed description 2
2.1 2.1 Mode group

Mode group
A mode group contains the channels that are required to run simultaneously in the same
mode from the point of view of the machining sequence.

Mode group

Definition of a mode group

A mode group combines NC channels with axes and spindles to form a machining unit.
A mode group contains the channels that are required to run simultaneously in the same
mode from the point of view of the machining sequence.

Note
This description assumes one mode group and one channel.
Functions requiring several channels (e.g., axis replacement) are described in:
References:
/FB2/ Function Manual, Extended Functions; Mode Groups, Channels, Axis Replacement
(K5)

The configuration of a mode group defines which channels are to be included in the group.

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Detailed description
2.1 Mode group

Mode group assignment

A mode group is a grouping of one or more channels. Axes and/or spindles are assigned to
one channel.
Machine data:
MD10010 $MN_ASSIGN_CHAN_TO_MODE_GROUP
is assigned a channel of a mode group.
If the same mode group is addressed in several channels, these channels together form a
mode group.

Note
The control system does not recognize mode group-specific data. However, it is possible to
make some channelspecific settings that pertain to the mode group.

Channelspecific assignments
Axes can be assigned to multiple channels that, in turn, are allocated to different mode
groups. The axes can then be interchanged between these channels (axis replacement).
Axis replacement functions independently of the mode group.
Machine axes and spindles are assigned to a channel. They differ as follows:
• Geometry axes can be operated in the path grouping.
Using the master spindle, they can perform functions such as G96, G961, G331, G332,
etc.
• Channel axes that are not defined as geometry axes can be moved as path axes,
synchronous axes, positioning axes, PLC axes, and command axes.
• Special axes have no geometric relationship with one another.
• Master spindle geometry axes can perform functions using the master spindle.
• Auxiliary spindles are all other spindles/axes in the channel apart from the master
spindle.
The Geo axis replacement command can be programmed to declare a channel axis as a
geometry axis and define its geometry axis number. Which spindle in the channel will be the
master spindle is defined using SETMS.
Any axis in the channel can be configured as a spindle. The number of axes per channel
depends on the control version. In order to optimize the performance utilization, the available
channel and axis configurations are limited depending on the hardware.

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 Detailed description
2.1 Mode group

With SINUMERIK 840D or 840D sl, the following configurations are permissible depending
on the HW/SW version:
• Up to 12 axes/spindles per channel
• Maximum of 31 axes or 20 spindles per NCU
For further information about other axis configurations such as axis containers, link axes,
reciprocating axes, main run, rotary, linear, master and slave axes and the various
implementations, please refer to:
References:
/FB1/ Function Manual, Basic Functions; Axes, Coordinate Systems, Frames (K2)
/FB1/ Function Manual Basic Functions; Spindles (S1)
also see Catalogue NC 60 / NC 61

Mode groupspecific interface signals

The exchange of mode groupspecific signals to/from the mode group is transferred to DB11
in the user interface. In this way, the mode group can be monitored and controlled from the
PLC or NCK.
The following table lists all mode groupspecific interface signals:

Modegroup signals (PLC => NCK) Modegroup signals (NCK → PLC)

Mode group Reset Mode strobe: JOG, MDA, AUTOMATIC
Mode group Stop axes plus spindles Machine function strobe: REF, REPOS, TEACH IN
Mode group Stop All channels (1 to 10, max.) in Reset state
Mode change Mode group Ready
Operating mode: JOG, MDA, AUTOM. Active mode: JOG, MDA, AUTOMATIC
Single block: Type A, Type B Digitizing
Machine function: Active machine function: REF, REPOS, TEACH IN
REF, REPOS, TEACH IN, var. INC, 10000 INC ......... 1 INC

Change in mode group

A change in the configuration of a mode group with respect to its assigned channels requires
a subsequent POWER ON.
The change is made via machine data:
MD10010 $MN_ASSIGN_CHAN_TO_MODE_GROUP.
Mode group numbers must be assigned contiguously starting with 1.

Machine data
There are no mode groupspecific machine data.

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Detailed description
2.1 Mode group

Channel gaps
Channels to which a mode group is assigned with machine data:
MD10010 $MN_ASSIGN_CHAN_TO_MODE_GROUP
are regarded as activated.
Instead of a mode group number, the number "0" can be assigned to channels.
This has the following results:
• The nonactivated channel does not take up memory space in the control.
• Series machines with similar designs can be kept uniform during configuration. Only the
channels that can actually be used by the machine tool are activated (channels with
mode group number greater than 0).
Special case:
Channel 1 must always be available. If:
MD10010 $MN_ASSIGN_CHAN_TO_MODE_GROUP [0] = 0
is specified, the following is automatically set by the control:
MD10010 $MN_ASSIGN_CHAN_TO_MODE_GROUP [0] = 1 (BAG 1).

Example of configurations:
MD10010 $MN_ASSIGN_CHAN_TO_MODE_GROUP[0] = 1
MD10010 $MN_ASSIGN_CHAN_TO_MODE_GROUP[1] = 2
...
MD10010 $MN_ASSIGN_CHAN_TO_MODE_GROUP[3] = 0 ; gap
...
MD10010 $MN_ASSIGN_CHAN_TO_MODE_GROUP[8] = 1
MD10010 $MN_ASSIGN_CHAN_TO_MODE_GROUP[9] = 2

2.1.1 Mode group Stop

Function
The following NC/PLC interface signals are used to stop the traversing motions of the axes
or of the axes and spindles in all mode group channels and to interrupt part program
execution:
• DB11, ... DBX0.5 (mode group stop)
• DB11, ... DBX0.6 (mode group stop axes plus spindles)

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2.1 Mode group

2.1.2 Mode group RESET

Function
A mode group Reset is requested via a mode group-specific NC/PLC interface signal:
DB11, ... DBX0.7 = 1 (mode group reset)
Sequence in the mode group channels
• Part program preparation (preprocessing) is stopped.
• All axes and spindles are decelerated to zero speed according to their acceleration
curves without contour violation.
• Any auxiliary functions not yet output to the PLC are no longer output.
• The preprocessing pointers are set to the interruption point, and the block pointers are set
to the beginning of the appropriate part programs.
• All initial settings, e.g., G function initial setting, are set to the parameterized values.
• All alarms with "Channel reset" criterion are canceled.

Completion of mode group Reset

Once all mode group channels are in Reset state, mode group Reset is completed as
follows:
• All alarms with "Mode group reset" criterion are canceled.
• The NC/PLC interface indicates completion of the mode group Reset and the mode
group's readiness to operate:
DB11, ... DBX6.7 = 1 (all channels in Reset state)
DB11, ... DBX6.3 = 1 (mode group ready)

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Detailed description
2.2 Mode groups

2.2 2.2 Mode groups

Unique mode
The channels of a mode group operate in one mode.
A mode group is either in AUTOMATIC, JOG, or MDA mode.
Several channels of the same mode group cannot be in different modes at the same time. If
individual channels are assigned to different mode groups, a channel switchover activates
the corresponding mode group. This allows mode changes to be initiated via a channel
switchover.

Modes in the mode group

The following operating modes are available:
• AUTOMATIC
Automatic processing of part programs.
– Part program test
– All channels of the mode group can be active at the same time.
• JOG in Automatic
JOG in AUTOMATIC is an extension of AUTOMATIC mode intended to simplify use. JOG
can be executed without leaving AUTOMATIC mode if boundary conditions so permit.
• JOG
Jogging (manual axis traversal)
– The axes can be traversed manually with the handwheel or the traversing keys.
– Channelspecific signals and interlocks are effective in ASUBs and when a movement
is activated via IDS synchronized actions. Links are also taken into account.
– Every channel in the mode group can be active.
• MDA
Manual Data Automatic (the NC blocks are entered via the operator panel)
– Restricted automatic execution of part programs and sections of part programs (can
be only one block or a sequence of blocks).
– Part program test
– A maximum of 1 channel per mode group can be active (applies only to TEACH IN)
– Axes can be manually traversed only in subordinate machine functions such as JOG,
REPOS or TEACH IN.

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2.2 Mode groups

Applies to all modes

Cross-mode synchronized actions
Modal synchronized actions can be executed per IDS in all modes for the following functions
in parallel to the channel:
• Command axis functions
• Spindle functions
• Technology cycles

Selection
The user can select the desired operating mode by means of soft keys on the operator
interface.
This selection (AUTOMATIC, MDA or JOG) is forwarded on interfaces signals:
DB11, ... DBX4.0 to DBX4.2 (strobe mode)
in the PLC, but not yet activated.

Activation and priorities

The desired mode of the mode group is activated via the interface signals:
DB11, ... DBX0.0 to DBX0.2 (mode).

If several modes are selected at the same time, the following priority is in effect:
• JOG (1st priority, high) (DB11, ... DBX0.2)
• MDA (2nd priority, medium) (DB11, ... DBX0.1)
• AUTOMATIC (3rd priority, low) (DB11, ... DBX0.0)

Display
The current mode of the mode group is displayed via the interface signals:
DB11, ... DBX6.0 to DBX6.2 (active mode)
:
• JOG (DB11, ... DBX6.2)
• MDA (DB11, ... DBX6.1)
• AUTOMATIC (DB11, ... DBX6.0)

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2.2 Mode groups

Global machine function for mode group

After mode selection, a machine function can be selected, which is then valid globally for the
whole mode group.
Within JOG mode
Within JOG mode, one of the following machine functions can be selected:
• REF (reference point approach)
References:
/FB1/Function Manual, Basic Functions; Reference Point Approach (R1)
• REPOS (repositioning)
References:
/BEMsl/ Operator's Guide HMI Embedded; Sec.: "Repositioning on contour with
controlled REPOS"
Within MDA mode
Within MDA mode, one of the following machine functions can be selected:
• REF (reference point approach)
References:
/FB1/ Function Manual, Basic Function; Reference Point Approach (R1)
• REPOS (repositioning)
References:
/BEMsl/ Operator's Guide
• TEACHIN (teach-in of axis positions)
References:
/BEMsl/ Operating Instructions HMI Embedded and /BEM/ Operating Instructions HMI
Embedded

TEACH IN, REPOS or REF

The selection of the machine function TEACH IN, REPOS or REF
from the operator interface is stored under:
NST DB11, ... DBX5.0 to DBX5.2 (strobe machine function)
.
The desired machine function TEACHIN, REPOS or REF
is activated under:
NST DB11, ... DBX1.0 to DBX1.2 (machine function)
.
The display of the active machine function TEACHIN, REPOS or REF can be seen in the:
NST DB11, ... DBX7.0 to DBX7.2 (active machine function)
.

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2.2 Mode groups

Operating statuses
The following three channel statuses can occur in each mode:
1. Channel reset
The machine is in its initial state. This is defined by the machine manufacturer's PLC
program, e.g., after POWER ON or at the end of the program.
2. Channel active
A program has been started, and the program is being executed or a reference point
approach is in progress.
3. Channel interrupted
The running program or reference point approach has been interrupted.

Functions in the modes

Operating modes are supplemented through userspecific functions. These functions are not
related to any particular technology or machine. A subset of the available functions can be
selected in each mode, depending on the operating state.
These functions are categorized as follows:
• NCKspecific functions
• Mode groupspecific functions
• Channel-specific functions
The individual functions can be started and/or executed from the three individual channel
statuses: channel reset, channel active, or channel interrupted. The channel states and
program states can be checked on the operator panel.

Boundary condition for submode TEACH IN

TEACH IN is not permissible for leading or following axes of an active axis grouping, e.g.,
for:
• gantry axis grouping or a gantry axis pair
• Coupled-axis grouping of master and slave axis

JOG in AUTOMATIC details

JOG in AUTOMATIC mode is permitted if the mode group is in RESET state and the axis is
jog-capable.
RESET for the mode group means:
• All channels in RESET state.
• All programs interrupted.
• No DRF channel active.

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2.2 Mode groups

Jog-capable axis means:

• The axis is not:
– A PLC axis (as a concurrent positioning axis), i.e., the PLC has fetched the axis via
axis replacement (e.g., via FC18).
– A command axis, i.e., the axis was programmed by a synchronous action and the
motion has not yet been completed.
– A rotating spindle, e.g., a spindle rotating despite RESET.
– An asynchronous reciprocating axis.
Note: The “jog-capable” property is independent of the “JOG in AUTOMATIC” function.
Activation:
The “JOG in AUTOMATIC” function can be activated using machine data
MD10735 $MN_JOG_MODE_MASK.

1. Before POWER ON, the machine data:

MD10735 $MN_JOG_MODE_MASK (Bit 0)
must be set.
2. The user switches to AUTO
(PLC user interface DB11, ... DBX0.0 = 0→1 edge). “JOG in AUTOMATIC” is then active
if the NCK previously had channel status “RESET” and program status “Aborted” in all
mode group channels. The axis in question must also be “jog-capable”. DRF must be
deactivated (if not already deactivated).
3. RESET is initiated or the running program is finished with “M30/M2” in all mode group
channels that do not have channel status “Reset” and program status “Aborted”.
4. The relevant axis is made "Jog-capable" (e.g., axis replacement PLC→NCK).
Note: In most applications, the axes to be traversed are “JOG-capable” and switching to
AUTO will also activate “JOG in AUTOMATIC”!
Features of JOG in AUTOMATIC
• The +/– keys cause a JOG movement, and the mode group is switched internally to JOG.
(i.e., “Internal JOG”).
• Moving the handwheels causes a JOG movement, and the mode group is switched
internally to JOG, unless DRF is active.
• An ongoing JOG movement is not complete until the end position of the increment has
been reached (if this has been set) or the movement has been aborted with “Delete
distance-to-go”.
In this way an increment can be stopped using Stop and then moved to the end using
Start. The NCK remains in “Internal JOG” during this time. A partial increment is possible,
but it must not be interrupted using Stop. There is a mode in which releasing the travel
key causes interruption within an increment.
• Without any JOG movement, “JOG in AUTOMATIC” responds in the same way as
“Automatic”. In particular, the Start key starts the selected part program and the
appropriate HMI softkey initiates a block search.
• If JOG movement is active, the NCK is internally in JOG mode, and, thus, a block search
request is refused and a Start cannot start the part program. Start starts any remaining
increment or has no effect.

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2.2 Mode groups

• While a mode group axis is being traversed in JOG mode, the mode group remains
internally in JOG mode.
Remark: This phase can begin with the JOG movement of an axis and end with the end
of the JOG movement of another axis.
• Axis replacement is not possible for an axis with active JOG movement. (The axis might
change mode group). The NCK blocks any axis replacement attempt.
• The PLC user interface indicates "Automatic" mode:
IS DB11, ... DBX6.0=1
IS DB11, ... DBX6.1=0
IS DB11, ... DBX6.2=0

IS DB11, ... DBX7.0=0

IS DB11, ... DBX7.1=0
IS DB11, ... DBX7.2=0
• In “JOG in AUTOMATIC”, the PLC user interface displays whether the mode group is in
“Mode group RESET”. This enables the NCK to now automatically switch internally to
JOG, if required.
IS DB11, ... DBX6.4
IS DB11, ... DBX26.4; For mode group 2
IS DB11, ... DBX46.4; For mode group 3
• In “JOG in AUTOMATIC”, the PLC user interface displays whether the NCK has
automatically switched to “Internal JOG”.
IS DB11, ... DBX6.5
IS DB11, ... DBX26.5; For mode group 2
IS DB11, ... DBX46.5; For mode group 3
Boundary conditions
“JOG in AUTOMATIC” can only switch internally to JOG if the mode group is in “Mode group
RESET” state, i.e., it is not possible to jog immediately in the middle of a stopped program.
The user can jog in this situation by pressing the JOG key or the Reset key in all channels of
the mode group.
Selecting AUTOMATIC disables the INC keys and the user can/must press the INC keys
again to select the desired increment. If the NCK switches to “Internal JOG”, the selected
increment is retained.
If the user attempts to jog the geometry or orientation axes, the NCK switches to “Internal
JOG” and the motion is executed. Several axes can be physically moved in this way; they
must all be “JOG-capable”.
Following the JOG movement, the NCK deactivates “Internal JOG” again and selects AUTO
mode again. The internal mode change is delayed until the movement is complete. This
avoids unnecessary multiple switching operations, e.g., when using the handwheel. The PLC
can only rely on the “Internal JOG active” PLC signal.
The NCK will then switch to “Internal JOG” if the axis is not enabled.

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2.2 Mode groups

2.2.1 Monitoring functions and interlocks of the individual modes

Channel status determines monitoring functions

Monitoring functions in operating modes

Different monitoring functions are active in individual operating modes. These monitoring
functions are not related to any particular technology or machine.
In a particular mode only some of the monitoring functions are active depending on the
operating status. The channel status determines which monitoring functions are active in
which mode and and in which operating state.

Interlocking functions in operating modes

Different interlocks can be active in the different operating modes. These interlocking
functions are not related to any particular technology or machine.
Almost all the interlocks can be activated in every mode, depending on the operating status.

2.2.2 Mode change

Introduction
A mode change is requested and activated via the mode group interface (DB11, ...). A mode
group will either be in AUTOMATIC, JOG, or MDA mode, i.e., it is not possible for several
channels of a mode group to take on different modes at the same time.
What mode transitions are possible and how these are executed can be configured in the
PLC program on a machine-specific basis.

Note
The mode is not changed internally until the signal "Channel status active" is no longer
pending. All channels must have entered a permissible operating mode before an errorfree
mode change can be performed.

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2.2 Mode groups

Possible mode changes

The following table shows possible mode changes for one channel.

Table 2-1 Mode change

AUTOMATIC JOG MDA

from AUTO MDA JOG without AUTO
handwheel
To Reset Interrupt Reset Interrupt Interrupt Reset Interrupt active Interrupt
AUTOMATIC X X X
JOG X X X X X
MDA X X X X
Possible mode changes are shown by an "X".

Special cases
• Errors during mode change
If a mode change request is rejected by the system, the error message "Operating mode
cannot be changed until after NC Stop" is output. This error message can be cleared
without changing the channel status.
• Mode change disable
A mode change can be prevented by means of interface signal:
DB11, ... D0.4 (Mode change disable).

This suppresses the operating mode change request.

The user must configure a message to the operator indicating that mode change is
disabled. No signal is set by the system.
• Mode change from MDA to JOG
If all channels of the mode group are in Reset state after a mode change from MDA to
JOG, the NC switches from JOG to AUTO. In this state, part program commands START
or INIT can be executed.
If a channel of the mode group is no longer in Reset state after a mode change, the part
program command START is rejected and Alarm 16952 is issued.

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2.3 Channel

2.3 2.3 Channel

Assignment of programs
Part programs are assigned to channels. Programs of different channels are largely
independent of each other.

Channel properties
A channel constitutes an "NC" in which one part program can be executed at a time.
Machine axes, geometry axes and positioning axes are assigned to the channels according
to the machine configuration and the current program status (AXIS CHANGE, GEO AXIS
CHANGE, SETMS).
The system assigns each channel its own path interpolator with associated programming.
Each channel can run its own machining program, which is controlled from the PLC.
The following channelspecific functions make it possible for the channels to process part
programs independently:
• Each channel has its own NC Start, NC Stop, RESET.
• One feedrate override and one rapid traverse override per channel.
• Dedicated interpreter for each channel.
• Dedicated path interpolator for each channel, which calculates the path points such that
all the machining axes of the channel are controlled simultaneously from path axes.
• Selection and deselection of tool cutting edges and their length and radius
compensations for a tool in a specific channel.
For more information about tool offset, see:
References:
/FB1/Function Manual Basic Functions; Tool Offset (W1)
• Channelspecific frames and frames active in the channel for transforming closed
calculation rules into Cartesian coordinate systems. Offsets, rotations, scalings, and
mirrorings for geometry axes and special axes are programmed in a frame.
For further information about frames:
Reference:
/FB1/Function Manual Basic Functions; Axes, Coordinate Systems, Frames (K2), Sec.:
"External work offset"
• Display of channelspecific alarm responses.
• Display of current machining sequence (axis position, current G functions, current
auxiliary functions, current program block) for each channel.
• Separate program control functions for each channel.
These functions (with the exception of the display functions) are controlled and checked by
the PLC with interface signals.
Channels in the same mode group always have to be operated in the same mode
(AUTOMATIC, JOG, MDA).

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2.3 Channel

Channel configuration
The channels can be assigned individual channel names via machine data:
MD20000 $MC_CHAN_NAME (channel name)
.
The various axes are then assigned to the available channels via machine data. There can
be only one setpointissuing channel at a time for an axis/spindle. The axis/spindle actual
value can be read by several channels at the same time. The axis/spindle must be registered
with the relevant channel.
The following channelspecific settings can also be made using machine data:
• Reset states or initial programming settings of G-groups via machine data:
MD20150 $MC_GCODE_RESET_VALUES (reset state of G-groups)
• Auxiliary function groups for compilation and output timing
• Transformation conditions between machine axes and geometry axes
• Other settings for the execution of a part program

Change in the channel assignment

An online change in the channel configuration cannot be programmed in a part program or
PLC user program. Machine data must be used to make changes to the configuration; these
changes do not take effect until the next Power On.

Container axes and link axes

An axis container combines a group of axes in a container. These axes are referred to as
container axes. This involves assigning a pointer to a container slot (ring buffer location
within the relevant container) to a channel axis. One of the axes in the container is located
temporarily in this slot.
Each machine axis in the axis container must be assigned at all times to exactly one channel
axis.
Link axes can be assigned permanently to one channel or dynamically (by means of an axis
container switch) to several channels of the local NCU or the other NCU. A link axis is a non-
local axis from the perspective of one of the channels belonging to the NCU to which the axis
is not physically connected.
The assignment between the link axes and a channel is implemented as follows:
• For permanent assignment using machine data:
Allow the direct logic machine axis image to show link axes.
• For dynamic assignment:
Allow the axis container slot machine data to show link axes.
For more information on link axes and container axes, refer to
References:
/FB2/ Function Manual, Extended Functions; Several Operator Panel Fronts and NCUs,
Distributed Systems (B3)

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2.3 Channel

Interface signals
NCK channel 1 signals lie in DB21 of the user interface, those of channel 2 in DB22. The
channel or channels can be monitored and controlled from the PLC or NCK.

Technology in channel
Machine data:
MD27800 $MC_TECHNOLOGY_MODE
can be used to relate the technology specification for the machine to specific channels.
Among other functions, this information is used for evaluation in HMI, PLC, and standard
cycles.
Siemens supplies standard machine data for milling. If the machine tool is not a milling
machine, but some other type, a different data/program block can be loaded by the HMI or
PLC depending on the technology mode set in the machine data.

Spindle functions using a PLC

It is possible to control special spindle motions via an axial PLC interface as an alternative to
FC18 and to start and stop them using VDI interface signals without executing a part
program.
This option is available only if the channel status is in "Interrupted" or "RESET" mode and
the program status is in "Interrupted" or "Aborted" mode. This acceptance state will occur in
case of RESET and in JOG mode.
A separate spindle start can be set for each spindle. The following spindle functions can be
controlled by PLC via interface signals:
• Spindle Stop (corresponds to M5)
• Spindle Start clockwise (corresponds to M3)
• Spindle Start counterclockwise" (corresponds to M4)
• Select gear stage
• Spindle positioning (corresponds to M19)
In the case of multichannel operation, the spindle started by the PLC becomes active in the
channel that is handling the spindle when the start command is received.
For more information about the special spindle interface, see:
References:
/FB1/ Function Manual, Basic Functions; Spindles (S1)

Autonomous singleaxis operations

It is possible to decouple a particular axis/spindle in the main run from the channel behavior
triggered by the NC program run.
The PLC identifies the corresponding axis/spindle from the axial VDI signal:
DB31, ... DBB28.7 (PLC is controlling the axis) = 1 → assume control
DB31, ... DBB28.7 (PLC is controlling the axis) = 0 → relinquish control

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2.3 Channel

The following functions can be controlled from the PLC:

• Cancel axis/spindle sequence (equivalent to delete distancetogo)
• Stop or interrupt axis/spindle
• Resume axis/spindle operation (continue the motion sequence)
• Reset axis/spindle to the initial state
The exact functionality of independent singleaxis operations is described in:
References:
/FB2/ Function Manual, Basic Functions; Positioning Axes (P2)
For additional information on the channel-specific signal exchange (PLC → NCK), see:
Reference:
/FB1/ Function Manual, Basic Functions, Basic PLC Program (P3)

2.3.1 Global start disable for channel

User/PLC
A global Start disable can be set for the selected channel via the HMI or from the PLC.

Function
When Start disable is set, no new program starts are accepted for the selected channel.
Start attempts are counted internally.
If a start is executed by the PLC before a global block disable is sent from the HMI to the
NCK, the program is not stopped by the Start disable and its status is transmitted to the HMI.
NC Start disable and global Start disable have the same effect on the internal counter for
starts that have been sent but not executed. (OPI variable startRejectCount).

Bypassing global Start disable

The interface signal:
DB21, ... DBX7.5 (PLC → NCK)
allows the PLC to temporarily bypass a global Start disable.

0: Global Start disable is effective

1: Global Start disable is temporarily canceled.

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2.4 Program test

Messages
If desired, a message can be issued when a Start attempt occurs while a global block
disable is active.
The control is exercised using machine data:
MD11411 $MN_ENABLE_ALARM_MASK Bit 6

1: Alarm 16956 appears: Channel %1, Program %2 cannot be started because of

"Global Start disable".
0: Start attempts when a global block disable is set are not signaled by an alarm.

2.4 2.4 Program test

Testing part programs

Purpose
Several control functions are available for testing a new part program. These functions are
provided to reduce danger at the machine and time required for the test phase. Several
program functions can be activated at the same time to achieve a better result.

Test options
The following test options are described below:
• Program execution without setpoint outputs
• Program execution in singleblock mode
• Program execution with dry run feedrate
• Skip part program blocks
• Block search with or without calculation.

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2.4 Program test

2.4.1 Program execution without setpoint outputs

Functionality
In the "Program test" status, a part program is executed without the output of axis or spindle
setpoints.
The part program can be started and executed during the active program test function
using interface signal:
DB21, ... DBX7.1 (NC Start)
i.e., using auxiliary function outputs, wait times, G-function outputs, etc.
Safety functions such as software limit switches and working area limits remain valid.
No axis motion
The only difference compared to normal program operation is that an internal axis disable is
set for all axes (including spindles). The machine axes do not move, the actual values are
generated internally from the setpoints that are not output. The programmed velocities
remain unchanged. This means that the position and velocity information on the operator
interface is exactly the same as that output during normal part program execution.
The position control is not interrupted when this function is active, so the axes do not have to
be referenced when the function is switched off.

Usage and Handling

Usage
The user can use this to check the programmed axis positions and auxiliary function outputs
of a part program. This program simulation can also be used as an extended syntax check.

Selection
This function is selected via the operator interface in the "Program control" menu.
This selection sets interface signal:
DB21, ...DBX25.7 (Program test selected).

This does not activate the function.

Activation
The function is activated via interface signal:
DB21, ... DBX1.7 (activate program test)

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2.4 Program test

Display
As feedback that the program test is active, the appropriate field on the operator interface is
reversed and interface signal:
DB21, ... DBX33.7 (Program test active)
is set.

Caution
The signals for exact stop:
DB31, ... DBX60.6/60.7 (exact stop coarse/fine)
mirror the actual status on the machine.
They are only canceled during program testing if the axis is pushed out of its set position (the
set position remains constant during program testing).
With signal:
DB21, ... DBX33.7 (program test active)
both the PLC program and the part program can use variable
$P_ISTEST
to decide how to react or branch in response to these signals during testing.
Program execution without axis motion can also be activated with the function dry run
feedrate. With this function, part program sections with a small programmed feedrate can be
processed in a shorter time.

Tool management
Because of the axis disable, the assignment of a tool magazine is not changed during
program testing. A PLC application must be used to ensure that the integrity of the data in
the tool management system and the magazine is not corrupted. The toolbox diskettes
contain an example of the basic PLC program.

2.4.2 Program execution in singleblock mode

Functionality
The part program can be started via interface signal:
DB21, ... DBX7.1 (NC Start).

When the "Single block" function is activated, the part program stops executing after every
program block. If tool cutter radius compensation or a tool nose radius correction is selected,
processing stops after every intermediate block inserted by the control.
The program status switches to "Program status stopped".
The channel status remains active.
The next part program block is processed on NC Start.

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2.4 Program test

Usage
The user can execute a part program block-by-block to check the individual machining steps.
Once the user decides that an executed part program block is functioning correctly, he can
call the next block. This is done by triggering NC Start.

Single-block type
The following different types of single block are provided:
• Decoding single block
With this type of single block, all blocks of the part program (even the pure computation
blocks without traversing motions) are processed sequentially by "NC Start".
• Action single block
With this type of single block, all blocks that initiate actions (traversing motions, auxiliary
function outputs, etc.) are processed individually. Blocks that were generated additionally
during decoding (e.g., for cutter radius compensation at acute angles) are also processed
individually in singleblock mode. Processing is however not stopped at calculation blocks
as these do not trigger actions.
Action single block is the initial setting.
For selecting the single block operation, see:
References:
/BEM/ Operator's Guide HMI Embedded

Caution
In a series of G33/G34/G35 blocks, a single block is only operative if "dry run feed" is
selected.
Calculation blocks are not processed in single step mode (only if single decoding block is
active).
SBL2 is also ineffective with G33/G34/G35.

Selection of single block type

An operator input in the Program control area on the HMI specifies the single block type.

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2.4 Program test

Activation
On detection of the "Single Block" key on the machine control panel, the basic PLC program
sets interface signal:
DB21, ... DBX0.4
to activate the single block function.
If there is no machine control panel available, HMI Embedded can be used to activate the
"Single block" key in the machine area with the same result.
In the case of HMI Advanced without machine control panel, a user display must be
configured with a suitable softkey that sets/resets interface signal:
DB21, ... DBX0.4.

Display
Active single block mode is indicated by a reversal in the relevant field in the status line on
the operator interface.
As soon as the part program execution has processed a part program block in single-block
mode, interface signal:
DB21, ...DBX35.3 (program status interrupted)
is set.

Control options
For certain sequences, continuous program execution can be desirable despite the selection
of single-block mode.
Machine data:
MD10702 $MN_IGNORE_SINGLEBLOCK_MASK
specifies which operations are to be processed without interruption.
• Internal ASUPs
• User ASUBs
• Intermediate blocks
• Block search group blocks (action blocks)
• Init blocks
• Subroutines with DISPLOF
• Nonreorganizable blocks
• Nonrepositionable blocks
• Reposition block without travel information
• Tool approach block.
Assignments between operations and bits of the machine data can be found in the machine
data description.

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2.4 Program test

2.4.3 Program execution with dry run feedrate

Functionality
The part program can be started via interface signal:
DB21, ... DBX7.1 (NC Start).

If this function is activated, the traversing speeds programmed in conjunction with G01, G02,
G03, G33, G34, and G35 are replaced by the feedrate value stored in setting:
SD42100 $SC_DRY_RUN_FEED.

The dry run feedrate value also replaces the programmed revolutional feedrate in program
blocks with G95.

Use

Danger
Workpieces may not be machined when "dry run feedrate" is active because the altered
feedrates might cause the permissible tool cutting rates to be exceeded and the workpiece
or machine tool could be damaged.

Selection
Dry run feedrate mode is selected via the operator interface in the "Program control" menu.
This selection sets interface signal:
DB21, ...DBX24.6 (Dry run feedrate selected).

This does not activate the function. In addition, the required dry run feedrate value must be
entered in the "Setting data/JOG data" menu.

Activation
The function is activated via interface signal:
DB21, ... DBX0.6 (activate dry run feed)

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2.4 Program test

Changing the dry run feedrate

The effect of setting data:
SD42100 $SC_DRY_RUN_FEED
can be controlled using setting data:
SD42101 $SC_DRY_RUN_FEED_MODE.

The following options are available for changing the dry run feedrate:
1. Dry run feedrate is the maximum of the programmed feedrate and setting data SD42101.
2. Dry run feedrate is the minimum of the programmed feedrate and setting data SD42101.
3. Dry run feedrate is setting SD42101, regardless of the programmed feedrate.
A dry run feedrate can be selected in the automatic modes and activated on interruption of
an automatic mode or end of a block.
For more information on feedrate control, refer to:
References:
/FB1/ Function Manual, Basic Functions; Feeds (V1)

Display
Active dry run feedrate mode is indicated by a reversal in the relevant field in the status line
on the operator interface.

2.4.4 Skip part-program blocks

Identification
The operating function must be selected, the function must be activated, and the blocks in
question must be identified with a slash character.

Functionality
When testing or breaking in new programs, it is useful to be able to disable or skip certain
part program blocks during program execution.

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2.4 Program test

Main program/subroutine

%100
N10 ...

N20 ...
Block being N30 ...
processed
Skip blocks
/N40 ... N40 and N50 during
processing
/N50 ...

N60 ...

N70 ...
N80 ...

N90 ...

N100 ...

N110 ...
N120 M30

Figure 2-1 Skipping part program blocks

Selection
The skip function is selected via the operator interface in the "Program control" menu.
This selection sets interface signal:
DB21, ...DBX26.0 (Skip block selected).

This does not activate the function. In addition, a slash "/" must be placed before the blocks
to be skipped.

Activation
This function is activated via interface signal:
DB21, ... DBX2.0 (activate skip block)
The "Skip part programs" function remains active during block searches.

Display
Activated "Skip block" function is indicated by a reversal in the relevant field on the operator
interface.

Mode Group, Channel, Program Operation, Reset Response (K1)

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2.5 Block search

2.5 2.5 Block search

Functionality
Block search offers the possibility of starting part program execution from almost any part
program block. This involves the NC rapidly performing an internal run through the part
program (without traversing motions) to the selected target block.
Here, every effort is made to achieve to the exact same control status as would result at the
target block during normal part program execution (e.g., with respect to axis positions,
spindle speeds, loaded tools, NC/PLC interface signals, variable values) in order to be able
to resume automatic part program execution from the target block with minimum manual
intervention.

Block search types

• Type 1: Block search without calculation
Block search without calculation is used to find a part program block in the quickest
possible way. No calculation of any type is performed. The control status at the target
block remains unchanged compared to the status before the start of the block search.
• Type 2: Block search with calculation at contour
Block search with calculation at contour is used to enable the programmed contour to be
approached in any situation. On NC Start, the start position of the target block or the end
position of the block before the target block is approached. This is traversed up to the end
position. Processing is true to contour.
• Type 4: Block search with calculation at block end point
Block search with calculation at block end point is used to enable a target position (e.g.,
tool change position) to be approached in any situation. The end position of the target
block or the next programmed position is approached using the type of interpolation valid
in the target block. This is not true to contour.
Only the axes programmed in the target block are moved. If necessary, a collision-free
initial situation must be created manually on the machine in "JOG REPOS" mode before
the start of further automatic part program execution.
• Type 5: Block search with calculation in mode: "Program test" (SERUPRO)
SERUPRO (search run by programtest) is a cross-channel block search with calculation.
Here, the NC starts the selected part program in "Program test" mode. On reaching the
target block, the program test is automatically deselected. This type of block search also
enables interactions between the channel in which the block search is being performed
and synchronized actions as well as with other NC channels.

Note
For further information about block searches, please see:
References:
/FB1/Function Manual, Basic Functions; Auxiliary Function Output to PLC (H2),
Section: "Behavior on block search"

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2.5 Block search

Subsequent actions
After completion of a block search, the following subsequent actions may occur:
• Type 1 - Type 5: Automatic Start of an ASUB
When the last action block is activated, a user program can be started as an ASUB.
• Type 1 - Type 4: Cascaded block search
A further block search with a different target specification can be started from "Search
target found".

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2.5 Block search

2.5.1 Sequence for block search of Type 1, 2 and 4

Time sequence
The block search (Types 1, 2, and 4) proceeds as follows:
1. Activate search via input in HMI Advanced or HMI Embedded
2. Search target found, or alarm if target cannot be found
3. NC Start for output of action blocks
4. NC Start for program continuation.

Block search Search target 1 Block search Search target 2 NC Start Last
starting found starting found action blocks action block
being output

Block search
active (DB21, ...
DBX33.4)

Action block
active (DB21, ...
DBX32.3)

Last action block

active (DB21, ...
DBX32.6)

Channel status
Reset (DB21, ...
DBX35.7)

Channel status
interrupted
(DB21, ... DBX35.6)

Figure 2-2 Time sequence of interface signals

Interface signals
In the PLC, the following interface signals are set according to the time sequence shown in
the figure:
DB21, ... DBX33.4 (block search active)
DB21, ... DBX32.3 (action block active)
DB21, ... DBX32.4 (approach block active)
DB21, ... DBX32.6 (last action block active)
DB21, ... DBX1.6 (PLC action complete)

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2.5 Block search

Continuation mode after block search

After the block search, the program can be started (for the purpose of continuing) via the
interface signal:
DB21, ... DBX7.1 (NC start)
.
If an axis is first programmed after "Block search with calculation at block end point", the
incremental value can be added to the value accumulated up to the search target using
setting data
SD42444 $SC_TARGET_BLOCK_INCR_PROG.

Action blocks
Action blocks contain the actions accumulated during "Block search with calculation", such
as auxiliary function outputs and tool (T, D), spindle (S), and feedrate programming
commands. During "block search with calculation" (contour or block end point), actions such
as M function outputs are accumulated in socalled action blocks. These blocks are output on
an NC Start after "Search target found".

Note
With the action blocks, the accumulated spindle programming (S value, M3/M4/M5/M19,
SPOS) also becomes active.
The PLC user program must ensure that the tool can be operated and, if necessary, the
spindle programming is reset via the PLC signal:
DB31, ... DBX2.2 (spindle reset)
or the spindle programming is not output.

Single-block processing: MD10702 $MN_IGNORE_SINGLEBLOCK_MASK ()

By setting bit 3 = 1, it is possible to prevent a stop after every action block in singleblock
mode.

Boundary conditions for approach block/target block

Block search type 2
The interface signal:
DB21, ... DBX32.4 (approach block active)
is only set with "Block search with calculation at contour" because a separate approach
block is not generated with "Block search with calculation at block end point" (the approach
block is the same as the target block).
Block search type 4
The approach movement "Search with calculation to block end point" is performed using the
type of interpolation valid in the target block. This should be G0 or G1, as appropriate. With
other types of interpolation, the approach movement can be aborted with an alarm (e.g.
circle end point error on G2/G3).

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2.5 Block search

2.5.2 Block search in connection with other NCK functions

2.5.2.1 ASUB after and during block search

Synchronization of the channel axes

With the start of an ASUB after "block search with calculation", the actual positions of all
channel axes are synchronized during preprocessing.
Effects:
• System variable: $P_EP (programmed end position)
In the ASUB, the system variable provides: $P_EP (programmed end position) the
current actual position of a channel axes in the work piece coordinate system.
$P_EP == "current actual position of the channel axis"
• System variable: $AC_RETPOINT (repositioning point in the ASUB)
In the ASUB, the system variable provides: $AC_RETPOINT (repositioning point in the
ASUB) the actual position of a channel axis in the workpiece coordinate system
accumulated with a block search.
$AC_RETPOINT == "collected search position of the channel axis (WCS)"

Block search type 2

For block search type 2 (block search with calculation on contour) the following part program
command must be programmed at the conclusion of the ASUB:
REPOSA (repositioning on the contour; linear; all channel axes)
Effect:
• All channel axes are moved to their search position that was collected during the block
search.
• $P_EP == "accumulated search position of the channel axis (WCS)"

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2.5 Block search

Block search type 4 and part program command REPOS

After block search type 4 (block search with calculation at block end point) no automatic
repositioning is initiated during the following period of time by the part program command
REPOS:
• Start: NC/PLC interface signals: DB21, ... DBB32, Bit6 (last action block active) == 1
• End: Continuing the part program processing per NC START,.
The start point of the approach movement is represented by the current axis positions of the
channel axes at the time of the NC start command. The end point results from the other
transversing movements programmed in the part program.
For block search type 4, no approach movement is generated by the NC.
Effect:
• After exiting the ASUB, the system variable $P_EP thus provides the actual position, on
which the channel axes of the ASUB were positioned (or manual (mode: JOG).
$P_EP == "current actual position of the channel axis"

2.5.2.2 PLC actions after block search

To allow activation of PLC actions (starting of ASUBs, call-up of PLC functions) after the end
of the block search at a defined point, there is the NCK/PLC interface signal:
DB21, ... DB32.6 (last action block active) == 1
This means that all action blocks are processed and that actions are possible by the PLC
(ASUB, FC) or the operator (overstoring, mode change after JOG/REPOS). This allows the
PLC to perform another tool change, for example, before the start of the transversing
movement.
By default, alarm 10208 is output at this moment to notify the operator that another NC
START is needed to continue program execution.
In combination with alarm 10208, the following interface signals are set:
DB21, ... DBX36.7 (NCK alarm with processing stop)
DB21, ... DBX36.6 (channel-specific NCK alarm is present)

PLC-controlled alarm triggering

The setting by which alarm 10208 is only triggered after ending the PLC action, is done via
machine data:
MD11450 $MN_SEARCH_RUN_MODE, Bit 0 = 1

Bit Value Meaning

0 1 With the change of the last action block after a block search, the following takes
place:
• Execution of the part program is stopped
• DB21, ... DBB32.6 (last action block active) = 1
• Alarm display: Alarm 10208 only if the following applies:
DB21, ... DBX1.6 (PLC action ended) == 1

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2.5 Block search

2.5.2.3 Spindle functions after block search

Control system response and output

The behavior with regard to the spindle functions after ending the block search can be set
via machine data:
MD11450 $MN_SEARCH_RUN_MODE, Bit 2

Bit Value Meaning

2 0 Output of spindle auxiliary functions (M3, M4, M5, M19, M70) in action blocks.
1 Output of the auxiliary functions is suppressed in the action blocks. The spindle
programmings that accumulated during the block search can be output at a later
point in time (e.g. via ASUB).
The program data for this is stored in the following system variables:
• $P_SEARCH_S
• $P_SEARCH_SDIR
• $P_SEARCH_SGEAR
• $P_SEARCH_SPOS
• $P_SEARCH_SPOSMODE

System variables
The spindle-specific auxiliary functions are always stored in the following system variables
on block search, irrespective of the programming described above:

System variables Description

$P_SEARCH_S[ n ] Collected spindle speed,
value range = { 0 ... Smax }
$P_SEARCH_SDIR[ n ] Collected spindle rotation direction,
value range = { 3, 4, 5, -5, -19, 70 }
$P_SEARCH_SGEAR[ n ] Collected spindle gear stage M function,
value range = { 40 ... 45 }
$P_SEARCH_SPOS[ n ] Collected spindle position,
value range = { 0 ... MD30330 $MA_MODULO_RANGE }
Collected traverse path,
value range = { -100.000.000 ... 100.000.000 }
$P_SEARCH_SPOSMODE[ n ] Collected position approach mode,
value range = { 0 ... 5 }
For later output of the spindle-specific auxiliary functions, the system variables can be read,
for example in an ASUB, and output after output of the action blocks:
DB21, ... DBX32.6 == 1 (last action block active)

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Note
The contents of the system variables $P_S, $P_DIR and $P_SGEAR may be lost after block
search due to synchronization operations.
Reference:
More detailed information on ASUB, block search, and action blocks is to be found in:
• /FB1/Function Manual, Basic Functions; Auxiliary Function Output to PLC (H2),
Section: Output suppression of spindle-specific auxiliary functions
• /FB1/ Function Manual, Basic Functions; Mode Group, Channel, Program Operation (K1)
Section: Program test
• /FB1/ Function Manual, Basic Functions; Spindles (S1),
Section: Auxiliary spindle functions after block search

2.5.3 Automatic start of an ASUB after block search

Activation
The automatic ASUB start after block search is configured in the existing machine data:
MD11450 $MN_SEARCH_RUN_MODE
with bit 1 = 1 (TRUE).

Bit 1 = 1: Automatic start of user program

/_N_CMA_DIR/_N_PROG_EVENT_SPF as an ASUB.

When the last action block is activated, user program

/_N_CMA_DIR/_N_PROG_EVENT_SPF is started as an ASUB.

Start event
The event that has started this user program can be determined by scanning system variable
$P_PROG_EVENT. If it is an ASUB Start after a block search, the value 5 can be scanned
using system variable $P_PROG_EVENT.

Note
For further information about the parameter assignment for specific events, see "Event-
driven program calls".

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2.5 Block search

Example ASUB activation

Sequence for the automatic start of an ASUB after block search:
1. Start block search (with/without calculation, at contour, at endofblock point).
2. Stop after "Search target found".
3. NC Start for output of action blocks.
4. Last action block is activated.
5. Automatic start of /_N_CMA_DIR/_N_PROG_EVENT_SPF as an ASUB.
6. The NC will stop after changing the last ASUB block (REPOSA command) and output the
alarm 10208 depending on machine data:
MD11450 $MN_SEARCH_RUN_MODE with Bit 0.

2.5.4 Cascaded block search

Functionality
The "Cascaded block search" function can be used to start another block search from the
status "Search target found". The cascading can be continued after each located search
target as often as you want and is applicable to the following block search functions:
• Type 1 block search without calculation
• Type 2 block search with calculation at contour
• Type 3 block search with calculation at block end point

Note
Another "cascaded block search" can be started from the stopped program execution
only if the search target has been found.

Activation
The "cascaded block search" is configured in the existing machine data:
MD11450 $MN_SEARCH_RUN_MODE
• Cascaded block search is enabled (i.e., several search targets can be specified)
with Bit 3 = 0 (FALSE).
• For compatibility reasons, the cascaded block search can be disabled with Bit 3 = 1
(TRUE). By default, the cascaded block search is set with Bit 3 = 0.

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Execution behavior

Search target found, restart search

When the search target is reached, the program execution stops and the search target is
displayed as a current block. After each located search target, a new block search can be
repeated as often as you want.
Change search target specifications
You can change the search target specifications and block search function prior to each
block search start.

Example: Sequence with cascaded block search

• RESET
• Block search up to search target 1
• Block search up to search target 2 → "Cascaded block search"
• NC Start for output of the action blocks → Alarm 10208
• NC Start → Continue program execution

Block search Search target 1 Block search Search target 2 NC Start Last
starting found starting found action blocks action block
being output

Block search
active (DB21, ...
DBX33.4)

Action block
active (DB21, ...
DBX32.3)

Last action block

active (DB21, ...
DBX32.6)

Channel status
Reset (DB21, ...
DBX35.7)

Channel status
interrupted
(DB21, ... DBX35.6)

Figure 2-3 Chronological order of interface signals

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2.5 Block search

2.5.5 Examples of block search with calculation

Selection
From the following examples, select the type of block search that corresponds to your task.

Type 4 block search with calculation at block end point

Example with automatic tool change after block search with active tool management:
1. Set machine data:
MD11450 $MN_ SEARCH_RUN_MODE to 1
MD11602 $MN_ASUP_START_MASK Bit 0 = 1 (ASUB Start from stopped state)
2. Select ASUB "BLOCK_SEARCH_END" from PLC via FB4.
Reference:
/FB1/ Function Manual, Basic Functions, Basic PLC Program (P3)
3. Load and select part program "WORKPIECE_1".
4. Search to block end point, block number N220.
5. HMI signals "Search target found".
6. NC Start for output of action blocks.
7. With the PLC signal:
DB21... DB32.6 (last action block active)
the PLC starts ASUB "BLOCK_SEARCH_END" via FC9.
References:
/FB1/ Function Manual, Basic Function, Basic PLC Program (P3)
8. After the end of the ASUB (can be evaluated, e.g., via M function M90 to be defined, see
example for block N1110), the PLC sets signal:
DB21, ... DBX1.6 (PLC action ended).
Alternatively, the VDI interface signal:
DB21-DB30 DBB318 Bit 0 (ASUB is stopped)
can also be scanned.
As a result, Alarm 10208 is displayed, i.e., other actions can now be performed by the
operator.
9. Manual operator actions (JOG, JOGREPOS, overstoring)
10.Continue part program with NC Start.

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Y
Tool
change point
300 (450,300)

200

Approach movement
Target block N220

100

Approach point
(170,30)
0 X
100 200 300 400

Figure 2-4 Approach movement for search to block end point (target block N220)

Note
"Search to contour" with target block N220 would generate an approach movement to the
tool change point (start point of the target block).

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2.5 Block search

Type 2 block search with calculation at contour

Example with automatic tool change after block search with active tool management:

1. to 3. Same as example for Type 4 block search

4. Search to contour, block number N260
5. to 10. Same as example for Type 4 block search

Y
Tool
change point
300 (450,300)

200 Approach movement

N260
Approach point

100

0 X
100 200 300 400

Figure 2-5 Approach movement for search to contour (target block N260)

Note
"Search to block end point" with target block N260 would result in Alarm 14040 (circle end
point error).

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Part programs for Type 4 and Type 2

PROC WORKPIECE_1

;Main program
...
;Machine contour section 1 with "CUTTER_1"tool
...
N100 G0 G40 X200 Y200 ; Deselect radius compensation
N110 Z100 D0 ; Deselect length compensation
;End of contour section 1
;
;Machine contour section 2 with "CUTTER_2"tool
N200 T="CUTTER_2" ; Preselect tool
N210 WZW ; Call tool change routine
N220 G0 X170 Y30 Z10 S3000 M3 D1 ; Approach block for contour section 2
N230 Z-5 ; Infeed
N240 G1 G64 G42 F500 X150 Y50 ; Start point of contour
N250 Y150
N260 G2 J50 X100 Y200
N270 G1 X50
N280 Y50
N290 X150
N300 G0 G40 G60 X170 Y30 ; Deselect radius compensation
N310 Z100 D0 ; Deselect length correction
End of contour section 2
...
M30
PROC WZW
Tool change routine
N500 DEF INT TNR_AKTIV ; Variable for active T number
N510 DEF INT TNR_VORWAHL ; Variable for preselected T number
N520 TNR_AKTIV = $TC_MPP6[9998,1] ; Read T number of active tool
N530 GETSELT(TNR_VORWAHL) ; Read T number of preselected tool
;
;Execute tool change only if tool is not yet active
N540 IF TNR_AKTIV == TNR_VORWAHL GOTOF ENDE
N550 G0 G40 G60 G90 SUPA X450 Y300 Z300 D0 ; Approach tool change position
N560 M6 ; Execute tool change
;
END: M17
PROC SUCHLAUF_ENDE SAVE
ASUB for calling the tool change routine after block search
N1000 DEF INT TNR_AKTIV ; Variable for active T number
N1010 DEF INT TNR_VORWAHL ; Variable for preselected T number
N1020 DEF INT TNR_SUCHLAUF ; Variable for T number determined in
search
N1030 TNR_AKTIV = $TC_MPP6[9998,1] ; Read T number of active tool
N1040 TNR_SUCHLAUF = $P_TOOLNO ; Read T number determined by search
N1050 GETSELT(TNR_VORWAHL) ; Read T number of preselected tool
N1060 IF TNR_AKTIV ==TNR_SUCHLAUF GOTOF ASUP_ENDE

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2.6 Block search Type 5 SERUPRO

N1070 T = $TC_TP2[TNR_SUCHLAUF] ; T selection by tool name

N1080 WZW ; Call tool change routine
N1090 IF TNR_VORWAHL == TNR_SUCHLAUF GOTOF ASUP_ENDE
N1100 T = $TC_TP2[TNR_VORWAHL] ; Restore T preselection by tool name
ASUP_ENDE:
N1110 M90 ; Check-back signal to PLC
N1120 REPOSA ; ASUB end

2.6 2.6 Block search Type 5 SERUPRO

SERUPRO
The "search via program test" is from now on referred to as SERUPRO. This acronym has
been derived from "SEarch RUn by PROgram test".

Function
SERUPRO can be used for a cross-channel block search.
This search permits a block search with calculation of all necessary data from the previous
history, so as to acquire all previously valid status data for a particular overall NC status. The
PLC is hereby updated to the current status.
The NC is operated in "Program test" mode during this block search so that interactions
between a channel and synchronized actions or between several channels, can take place
within an NCU.

Channels
In combination with the HMI, SERUPRO is provided for the following channels:
• For the current SERUPRO channel only (1)
• For all channels with the same workpiece name as the SERUPRO channel (2)
• For all channels with the same mode group as the SERUPRO channel (3)
• For all channels of the NCU (4)
The scope of channels for SERUPRO is selected by means of configuration file
maschine.ini, in Section [BlockSearch]:

Section [BlockSearch] Enable search function for HMI and select search configuration
SeruproEnabled=1 ;SERUPRO softkey available for HMI. Default value is (1)
SeruproConfig=1 ;Number (1) to (4) of above indicated channel grouping. Default value is (1)

All other channels started with SERUPRO are operated in "SelfActing SERUPRO" mode.
Only the channel in which a target block has been selected can be started with a block
search in SERUPRO mode.

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2.6 Block search Type 5 SERUPRO

Supported functions
Supported NC functions during SERUPRO:
• Gear stage change
• Setpoint and actual value linkages for drives such as "master-slave" as well as "electronic
gear" and "axial master value coupling"
• Coupled motion in axis grouping
• Gantry axes
• Tangential follow-up of individual axes
• Superimposed motion interpolation
• Travel to fixed stop
• Synchronous spindle grouping
On reaching the beginning of the target block (see "Time sequence of SERUPRO" below),
the user can activate a SERUPRO ASUB.
Special points should be noted during SERUPRO ASUB with regard to:
• Reference point approach
• Tool management
• Spindle ramp-up
Other functions after search target was found, such as:
• Continue machining after SERUPRO search target found (REPOS offset)
• Repositioning on contour with controlled REPOS
• Part program expansions for SERUPRO

Activation
SERUPRO is activated via the HMI. SERUPRO is operated using the "Prog.Test Contour"
softkey.
SERUPRO uses REPOS to approach the target block.

Chronological sequence of SERUPRO

1. Via HMI, softkey "Pog. test contour" and the search target are operated.
2. The NC now automatically starts the selected program in "Program test" mode.
– In this mode, axes are not traversed.
– Auxiliary functions $A_OUT and the direct PLC IO are output.
– The auxiliary functions of the target block are not output.

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2.6 Block search Type 5 SERUPRO

3. Numerous operator actions are permitted during this phase:

– Start, Stop
– Axis replacement
– Deletion of distance-to-go
– Mode change, ASUBs, etc.
The program and channel status of the interface signal:
DB21, ... DBB35
or the system variable:
$AC_PROG
is supplied in the same way as real operation.
4. The part program command WAITM/WAITE/WAITMC will wait for the partner channels
involved.
This waiting occurs if the partner channels are:
– In SERUPRO mode
– In Program test more or are actually running
5. Selection of program test and dry run feedrate is rejected with corresponding Alarm
16935.
6. The NC stops at the beginning of the target block, deselects "Program test" internally,
and displays the Stop condition "Search target found" in its block display.
7. As required, the user can start an ASUB that is traversed really. This ASUB is referred to
below as the SERUPRO-ASUB.
8. The user presses Start:
The spindles are started. Then, the path axes start a REPOS operation that guides them
to the block starting point of the target block.
The REPOS operation is implemented by a system ASUB and can be expanded using
the "Editable ASUB" function.

SERUPRO operation
The sequence of operations in items 2. to 6. corresponds to one SERUPRO operation.

SERUPRO ASUP
An ASUB that can be called optionally when the target block is reached. It is actually
executed.

SERUPRO approach
Approach to the starting point of the target block during a block search in SERUPRO test
mode.

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Boundary conditions for block search SERUPRO

The SERUPRO function may only be activated in "AUTOMATIC" mode and may only be
aborted in program status (channel status RESET).
If in normal mode only the PLC starts commonly several channels, then this can be
simulated by SERUPRO in each channel.
For machine data setting:
MD10708 $MN_SERUPRO_MASK Bit 1 = 0
Alarm 16942 "Channel %1 Start program command action %2<ALNX> not possible"
aborts the simulation if part program command START is used.
Machine data:
MD10707 $MN_SERUPRO_TEST_MASK
allows program testing to be deactivated in the stopped state without the SERUPRO
operation being affected. The default setting allows program testing to be deactivated only in
the RESET state.

Note
After program testing has been deactivated, a REPOS operation is initiated that is subject to
the same restrictions as a SERUPRO approach operation. Any adverse effects can be
inhibited using an ASUB.

Mode Group, Channel, Program Operation, Reset Response (K1)

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2.6 Block search Type 5 SERUPRO

Controlling SERUPRO behavior

Machine data:
MD10708 $MN_SERUPRO_MASK
can influence the SERUPRO behavior as follows:

Stop at M0 during search phase.

Bit 0 = 0 NC is stopped at M0 during the search phase.
Bit 0 = 1 NC is not stopped at M0 during the search phase.

Allow part program command "START" if alarm 16942 is issued.

Bit 1 = 0 The alarm aborts the search phase during part program START.
Bit 1 = 1 The alarm is suppressed. In channel i, a program uses the part program
command "Start(j)" per the following sequence:
In channel j, the preselected program is started.
Channel j begins to actually start with moving axes.
In channel j, program test can be preselected by the user
. Channel j will now not select a search target.

Bit 2 Reserved

SERUPRO not ended simultaneously.

Bit 3 = 0 Switches the function off. All channels that find the search target (also for
self-acting SERUPRO) end SERUPRO at the same time.
Bit 3 = 1 SERUPRO ends as soon as the simulation has found the search target.
No further synchronization operations take place in the channels started
by SERUPRO.

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Initial setting for SERUPRO

Machine data:
MD20112 $MC_START_MODE_MASK
is used to define the initial setting of the control for part program start with respect to G
codes (especially the current plane and settable zero offset), tool length compensation,
transformation, and axis couplings.
There is a special chance, for the SERUPRO operation, with:
MD22621 $MC_ENABLE_START_MODE_MASK_PRT
to select a deviating basic setting at the normal start of the part program.
The new setting must be stored in the machine data:
MD22620 $MC_START_MODE_MASK_PRT
.
The meaning of the bits of MD22620 is identical to those of MD20112.
Example: The synchronous spindle coupling at the beginning of the SERUPRO operation is
retained for the part program start.

; synchronous spindle coupling not

configured
$MC_START_MODE_MASK = 'H400' ; is switched off
$MC_START_MODE_MASK_PRT = 'H00' ; remains active.
$MC_ENABLE_START_MODE_MASK_PRT = 'H01' ; $MC_START_MODE_MASK_PRT is
evaluated in SERUPRO instead of
$MC_START_MODE_MASK.

Identification of the active SERUPRO in the interface.

DB21, ... DBX318.1
The VDI signal of the NCK channel (NCK→PLC):
DB21, ... DBX318.1 (block search via program test is active)
has the following meaning and effect:
The NC runs in the internal "Program test" mode until the target block of the search is
activated in the main run and the program status changes to "Stopped".
During this time, interface "Block search via program test is active" is set to 1.

Mode Group, Channel, Program Operation, Reset Response (K1)

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For userdefined ASUB after the SERUPRO operation

Note
If the machine manufacturer decides to start an ASUB after the SERUPRO operation as
described in item 7, the following must be observed:
Stopped status acc. to point 6. :
Machine data:
MD11602 $MN_ASUP_START_MASK
and
MD11604 $MN_ASUP_START_PRIO_LEVEL
allow the NCK to start the ASUB from stopped status automatically via the FC9 block.
Acknowledgement of FC9 only after completion of REPOS block:
The ASUB can only be signaled as complete from the FC9 block with "ASUB Done" if the
REPOS block has also been completed.
Deselection of assigned REPOS operation after Item 8:
The start of the ASUB deselects the assigned REPOS operation!
Therefore, the ASUB should be ended with REPOSA in order to retain the REPOS
operation.
Deleting an unwanted REPOS operation:
The unwanted REPOS operation is deleted by completing the ASUB with M17 or RET.
Special handling of ASUB:
As a basic rule, an ASUB that ends with REPOS and is started from stopped status receives
special treatment.
The ASUB stops automatically before the REPOS block and indicates this via:
DB21, ... DBX318.0 (ASUB stopped)

Automatic ASUB start

The ASUB in the path:
/_N_CMA_DIR/_N_PROG_EVENT_SPF
is automatically started with the machine data:
MD11450 $MN_SEARCH_RUN_MODE, Bit1 = 1
in the SERUPRO approach after the following sequence:
1. The SERUPRO operation has been performed completely.
2. The user presses "Start".
3. Automatic ASUB start.
4. The NCK stops automatically before the REPOS part program command
and Alarm 10208 "Press NC Start to continue the program" appears.
5. The user presses "Start" again.
6. The NCK executes the REPOS movement and continues the part program at the target
block.

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Note
The automatic ASUB start with MD11450 requires Starts to continue the program.
The procedure is in this respect similar to other search types.

2.6.1 REPOS

MD11470
REPOS occurs according to machine data:
MD11470 $MN_REPOS_MODE_MASK
Case A:
The REPOS operation moves all axes from the current position to the start of the target
block in a single block.
MD11470 $MN_REPOS_MODE_MASK Bit 3 = 1
Case B:
The path axes are repositioned together in one block. The SPOS and POS axes are
repositioned in the residual block.
MD11470 $MN_REPOS_MODE_MASK Bit 3 = 0

2.6.1.1 Continue machining after SERUPRO search target found

User information regarding the REPOS operation

REPOS is generally used to interrupt an ongoing machining operation and to continue
machining after the interruption.
However, with a SERUPRO approach, a program section has to be "recovered".
This is the case when SERUPRO has ended the simulation and is to travel to the target
block again. SERUPRO refers to the existing REPOS function, which the user can adapt as
necessary.

SERUPRO approach
The user can change the REPOS behavior of individual axes at specific times to reposition
certain axis types either earlier, later, or not at all. This affects SERUPRO approach in
particular. Repositioning movements of some axes can also be controlled independently of
SERUPRO approach during the REPOS operation.

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Caution
The REPOS operation moves all axes from the current position to the start of the target
block in a single block with the appropriate setting of machine data:
MD11470 $MN_REPOS_MODE_MASK Bit 3.

During this process, the NC cannot detect any possible collisions with the machine or the
workpiece!
Protection zones and software limits are monitored.

Set REPOS response

With the machine data:
MD11470 $MN_REPOS_MODE_MASK
you can control the behavior of the NC during repositioning by setting the bits.

Bit 0 = 1 The dwell time is resumed at the point of interruption in the residual
repositioning block.
Bit 1 = 1 Reserved
Bit 2 = 1 Prevent repositioning of individual axes using VDI signals.
Bit 3 = 1 Reposition positioning axes in the approach block during block search via
program test (SERUPRO).
Bit 4 = 1 Positioning axes in approach block on every REPOS.
Bit 5 = 1 Modified feedrates and spindle speeds are valid immediately in the residual
block. Otherwise, not until the next block.
Bit 6 = 1 After SERUPRO, neutral axes and positioning spindles in the approach block
are repositioned as command axis.
Bit 7 = 1 The level of interface signal:
DB31, ... DBX10.0 (REPOSDELAY)
is read if REPOSA is interpreted.
Axes, which are neither geometry axes nor orientation axes, are then
excluded from the REPOS and are not moved.

Repositioning with controlled REPOS

At any point during processing, a part program can be interrupted and an ASUB started with
a REPOS.
For path axes, the REPOS mode can be controlled by the PLC via VDI signals to reposition
on the contour. This mode is programmed in the part program and defines the approach
behavior. See "Repositioning to contour with controlled REPOS".
The REPOS response of individual axes can also be controlled via VDI signals
and is enabled with:
MD11470 $MN_REPOS_MODE_MASK BIT 2==1
.

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Path axes cannot be influenced individually. For all other axes that are not geometry axes,
repositioning of individual axes can be prevent temporarily and also delayed. VDI signals can
be used to subsequently reenable or to continue blocking individual channel axes that
REPOS would like to traverse.

Danger
Via the signal:
DB31, ... DBX2.2 (delete distance-to-go, axis-specific)
the following dangerous behavior results during the "Prevent repositioning of individual axes"
via:
MD11470 $MN_REPOS_MODE_MASK (Bit 2==1).
As long as an axis is programmed incrementally after the interruption, the NC approaches
different positions than those approached with no interruption (see example below).

Example: Axis is programmed incrementally

Axis A is positioned at 11° before the REPOS operation; the programmed operation in the
interruption block (target block for SERUPRO) specifies 27°.
Any number of blocks later, this axis is programmed incrementally by 5° using:
N1010 POS[A]=IC(5) FA[A]=1000
.
With the interface signal:
DB31, ... DBX10.0 (REPOSDELAY)
the axis does not traverse in the REPOS operation and is moved to 32° with N1010.
(The user may have to deliberately acknowledge the travel from 11° to 27°.)
Caution:
The axis is programmed incrementally after the interruption.
In the example, the NC moves to 16° (instead of 32°).
A) Start axes individually
The REPOS behavior for SERUPRO approach with several axes is selected with:
MD11470 $MN_REPOS_MODE_MASK BIT 3 == 1
The NC commences SERUPRO approach with a block that moves all positioning axes to the
programmed end and the path axis to the target block.
The user starts the individual axes by selecting the appropriate feedrate enables. The target
block motion is then executed.
B) Reposition positioning axes in the repositioning block
Positioning axes are not repositioned in the residual block but rather in the repositioning
block, and their effect is not limited to the block search via program test on SERUPRO
approach.

MD11470 $MN_REPOS_MODE_MASK
Bit 3=1 for block search via program test (SERUPRO)
Bit 4=1 for each REPOS

Mode Group, Channel, Program Operation, Reset Response (K1)

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2.6 Block search Type 5 SERUPRO

Note
If neither bit 3 nor bit 4 is set, "non-path axes" are repositioned in the residual block in this
phase.

Prefer or ignore REPOS

Further REPOS adaptations can be made by setting the bits in:
MD11470 $MN_REPOS_MODE_MASK

Bit 5 = 1 Modified feedrates and spindle speeds are valid immediately in the residual
block and are given priority. This behavior relates to every REPOS operation.
Bit 6 = 1 Neutral axes and positioning spindles are repositioned after SERUPRO.
Neutral axes that are not allowed to be further repositioned must receive
interface signal:
DB31, ... DBX10.0 (REPOSDELAY)
This cancels the REPOS movement.
Bit 7 = 1 The level of interface signal:
DB31, ... DBX10.0 (REPOSDELAY)
is read if REPOSA is interpreted.
Axes, which are neither geometry nor orientation axes, are then excluded by
REPOS and are not moved.
Note: REPOSDELAY is changed from edge to level evaluation.

Delayed approach of axis with REPOS offset

With the axial level-triggered VDI signal, axis/spindle (PLC→NCK):
DB31, ... DBX10.0 (REPOSDELAY)
is traversed with the edge of IS:
DB21, ... DBX31.4 (REPOSMODEEDGE)
the REPOS offset for this axis is traversed only after the next time it is programmed.
Whether this axis is currently subject to a REPOS offset can be scanned via synchronized
actions with $AA_REPOS_DELAY.

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Caution
The interface signal:
DB31, ... DBX10.0 (REPOSDELAY)
has no effect on machine axes that form a path.
You can determine whether an axis is a path axis via:
DB31, ... DBX76.4 (path axis)
.

Acceptance timing of REPOS VDI signals

With the 0/1 edge of the channel-specific VDI signal (PLC→NCK):
DB21, ... DBX31.4 (REPOSMODEEDGE)
the level signals of:
DB21, ... DBX31.0-31.2 (REPOSPATHMODE0 to 2)
and
DB31, ... DBX10.0 (REPOSDELAY)
are transferred to the NC.
The levels relate to the current block in the main run. There are two different cases:
Case A:
One repositioning block of a currently active REPOS operation is contained in the main run.
The active REPOS operation is aborted, restarted and the REPOS offsets controlled via the
signals:
DB21, ... DBX31.0-31.2 (REPOSPATHMODE0 to 2)
and
DB31, ... DBX10.0 (REPOSDELAY)
.
Case B:
No repositioning block of a currently active REPOS operation is contained in the main run.
Each future REPOS operation wishing to reapproach the current main program block is
controlled by the level of interface signal:
DB21, ... DBX31.0-31.2 (REPOSPATHMODE0 to 2)
and
DB31, ... DBX10.0 (REPOSDELAY)
.

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Note
In the active ASUB, the IS:
DB21, ... DBX31.4 (REPOSMODEEDGE)
does not affect the final REPOS, unless this signal applies to the REPOS blocks.
In Case A, the signal is only allowed in the stopped state.
Response to RESET:
NCK has acknowledged the PLC signal
If the level of the signals:
DB21, ... DBX31.4 (REPOSMODEEDGE) = 1
and
DB21, ... DBX319.0 (REPOSMODEEDGEACKN) = 1
and
a RESET occurs in this situation, then the interface signal of the NCK:
DB21, ... DBX319.1–319.3 (Repos Path Mode Ackn0 to 2)
is extinguished.
NCK has not yet acknowledged the PLC signal:
If the level of the signals:
DB21, ... DBX31. (REPOSMODEEDGE 4) = 1
and
DB21, ... DBX319.0 (REPOSMODEEDGEACKN) = 0
and a RESET occurs in this situation, then from the NCK
DB21, ... DBX319.0 (REPOSMODEEDGEACKN) = 0
and
DB21, ... DBX319.1–319.3 (Repos Path Mode Ackn0 to 2)
is deleted.

Controlling SERUPRO approach with VDI signals

The SERUPRO approach can be used, with the interface signal:
DB21, ... DBX31.4 (REPOSMODEEDGE)
and the associated signals in the following phases:
• Between "Search target found" and "Start SERUPRO ASUB"
• From "SERUPO-ASUB stops automatically before REPOS" to "Target block is executed"
While the SERUPRO ASUB is being executed, e.g. in the program section before the
REPOS operation, the interface signal:
DB21, ... DBX31.4 (REPOSMODEEDGE)
has no effect on SERUPRO approach.

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REPOS operations with VDI signals

Control REPOS with VDI interface signals
REPOS offsets can be positively influenced with the following channelspecific VDI interface
signals from the PLC:
DB21, ... DBX31.0-31.2 (REPOSPATHMODE0 to 2) *channel-specific
DB21, ... DBX31.4 (REPOSMODEEDGE) channel-specific
DB 31, ... DBX10.0 (REPOSDELAY) *axis/spindle
(This axial interface does not affect machine axes that form a path.)
DB31, ... DBX72.0 (REPOSDELAY) axis/spindle
* These signals are available in the respective DB of the HMI or PLC.

REPOS acknowledgement signals

The following VDI signals can be used to acknowledge from the NCK functions that control
the REPOS response via PLC:
DB21, ... DBX319.0 (REPOSMODEEDGEACKN) channel-specific
DB21, ... DBX319.1-319.3 (Repos Path Mode Quitt0 to 2) channel-specific.
DB21, ... DBX319.5 (Repos DEFERRAL Chan) channel-specific
DB31, ... DBX70.0 (Repos offset) axis/spindle
DB31, ... DBX70.1 (Repos offset valid) axis/spindle
DB31, ... DBX70.2 (Repos Delay Ackn) axis/spindle
DB31, ... DBX76.4 (path axis) axis/spindle
For further information, see "REPOS offset in the interface"

REPOS acknowledgement operations

With the channel-specific VDI signal:
DB21, ... DBX319.0 (REPOSMODEEDGEACKN)
if a "handshake" is established by the interface signal:
DB21, ... DBX31.4 (REPOSMODEEDGE)
recognized by the NC and acknowledged with DB21, ... DBX319.0 to the PLC.

Note
If NCK has not yet acknowledged the interface signal:
DB21, ... DBX31.4 (REPOSMODEEDGE)
with the interface signal:
DB21, ... DBX319.0) (REPOSMODEEDGEACKN)
, a RESET in this situation cause the program to abort and the REPOS that is to be used to
control the REPOSPATHMODE can no longer take place.

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A REPOSMODE specified by the PLC is acknowledged by the NCK with the interface
signals:
DB21, ... DBX319.1-319.3 (Repos Path Mode Ackn0 to 2)
and
DB31, ... DBX10.0 (Repos Delay)
with:
DB31, ... DBX70.2 (Repos Delay Ackn)
in the following way:
A part program is stopped at N20 (→ time (2) in figure). The NCK stops according to the
braking ramp. After the PLC has specified the REPOSPATHMODE, the NCK accepts the
REPOSPATHMODE with the 0/1 edge of REPOSMODEEDGE at → Time (3). Repos Path
Mode Ackn remains set until the ASUB is initiated (→ Time (4)). The REPOS command is
started in the ASUB (→ Time (5)). The ASUB RESET block is activated again (→ Time (6)):

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Figure 2-6 REPOS sequence in part program with timed acknowledgement signals from NCK

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NCK sets acknowledgement again

Phase with REPOSPATHMODE still active (residual block of the program stopped at → Time
(2) is not yet completely executed).
As soon as the REPOS repositioning motion of the ASUB is executed, the NCK sets the
"Repos Path Mode Ackn" again (→ Time (5)). If no REPOSPATHMODE has been
preselected via a VDI signal, the programmed REPOS mode is displayed.
"Repos Path Mode Ackn" is canceled when the residual block is activated (→ Time (6)).
The part program block N30 following the block at → Time (2) is resumed.
The interface signal:
DB31, ... DBX70.2 (Repos Delay Ackn) is defined in the same way.
DB 31, ... DBX70.1 (Repos offset valid) = 1, if:
DB21, ... DBX319.1-319.3 (Repos Path Mode Ackn0 to 2) = 4 (RMN).

Valid REPOS offset

When the SERUPRO operation is complete, the user can read out the REPOS offset via the
axis/spindle VDI signal (NCK→PLC):
DB31, ... DBX70.0 (REPOS offset).
The effects of this signal on the relevant axis are as follows:

Value 0: No REPOS offset is applied.

Value 1: REPOS offset is applied.

Range of validity
The interface signal:
DB31, ... DBX70.0 (REPOS offset)
is supplied at the end of the SERUPRO operation.
The REPOS offset is invalidated at the start of a SERUPRO ASUB or the automatic ASUB
start.

Updating the REPOS offset within the scope

Between the SERUPRO end and SERUPRO start, the axis can be moved in JOG mode with
a mode change.
The user applies the REPOS offset manually with JOG, in order to set the IS
DB31, ... DBX70.0 (REPOS offset) to the value 0.
In the scope, the axis can also be moved via FC18, where the IS
DB31, ... DBX70.0 (REPOS offset) is constantly updated.

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Displaying the range of validity

The range of validity of the REPOS offset is indicated with interface signal:
DB31, ... DBX70.1 (REPOS offset valid)
It is indicated whether the REPOS offset calculation was valid or invalid:

Value 0: The REPOS offset of this axis is calculated correctly.

Value 1: The REPOS offset of this axis cannot be calculated, as the REPOS has not
yet occurred, e.g., it is at the end of the ASUB, or no REPOS is active.

REPOS offset after an axis replacement

With the group signal:
DB21, ... DBX319.5 (Repos DEFERRAL Chan)
can be used to determine whether a valid REPOS offset has taken place:

Value 0: All axes currently controlled by this channel have either no REPOS offset or
their REPOS offsets are invalid.
Value 1: Miscellaneous.

REPOS offset with synchronized synchronous spindle coupling

When repositioning with SERUPRO, processing continues at the point of interruption. If a
synchronous spindle coupling was already synchronized, there is no REPOS offset of the
following spindle and no synchronization path is present. The synchronization signals remain
set.

Search target found on block change

The axial VDI signal:
DB31, ... DBX76.4 (path axis) is 1,
if the axis is part of the path group.
This signal shows the status of the current block to be executed during block change.
Subsequent status changes are ignored.
Once the SERUPRO operation is ended with "Search target found", the IS
DB31, ... DBX76.4 (path axis) is relative to the target block.

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2.6.1.2 Repositioning on contour with controlled REPOS

Approach modes

Influence path axes individually

During SERUPRO approach, a REPOS operation is initiated in order to reposition to the
contour. A large number of axes, which the user can control by means of interface signals, is
frequently moved. The operator panel interface supplies the offsets per channel axis, which
REPOS intends to traverse.
Repositioning of individual path axes can be controlled by the PLC and, therefore, has
priority over the actual RMI, RMB and RME commands in the part program.
RMI: Repositioning to interruption point
RMB: Repositioning to start of block
RME: Repositioning to end-of-block position
RMN: Repositioning to next point on path

Repositioning with RMN

Like RMI, RMB, and RME, the RMN function (REPOS Mode Next) is redefined for
SERUPRO approach. After an interruption, the repositioning block is not started again
completely with RMN, but is merely executed as follows from the next path point:
At the time REPOSA is interpreted, position (B) is referenced in order to find point C at the
interruption block with the shortest distance to B. The repositioning block moves from B to C
to the end position.

A Actual position during search.

B Position reached using JOG key
after the SERUPRO operation.

C SERUPRO approach moves from B

after C as C is the point next to B in
target block 2-3.
A
A part program with the blocks
1-2, 2-3, 3-4.

1 2 3 4

Figure 2-7 SERUPRO approach with RMN

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Application and procedure

SERUPRO approach with RMN offers the opportunity of using the application as shown in
the figure: If a program abort is forced by RESET at any point when the program is
advancing from block 2 to 3,
• RMN is used to approach the abort location by the shortest route in order to process just
the distance to go from C-3 and 3-4. The user starts a SERUPRO operation at the
interruption block and uses the JOG keys to move in front of the problem component of
the target block.
• B-2, 2-3, 3-4 are always approached with RMI and RMB and the target block thus
repeated once completely.

Selecting REPOS mode

Using the 3 bits of the channel-specific VDI signal (PLC→NCK)
DB21, ... DBX31.0-31.2 (REPOSPATHMODE0-2) the respective function (RMB, RMI, RME
or RMN) can be selected.
Repositioning point
RMNOTDEF REPOS mode not redefined
RMB Repositioning block start point or last end point
RMI Repositioning interrupt point
RME Repositioning end-of-block point
RMN Repositioning to next path point
DB21, ... DBX31.0-31.2 (REPOSPATHMODE)=0 corresponds to RMNOTDEF
DB21, ... DBX31.0-31.2 (REPOSPATHMODE)=1 corresponds to RMB
DB21, ... DBX31.0-31.2 (REPOSPATHMODE)=2 corresponds to RMI
DB21, ... DBX31.0-31.2 (REPOSPATHMODE)=3 corresponds to RME
DB21, ... DBX31.0-31.2 (REPOSPATHMODE)=4 corresponds to RMN
With DB21, ... DBX31.0-31.2 (REPOSPATHMODE0 to 2) = 0, no settings are overwritten
and the current program is valid. The interface signal responds to the level of the
corresponding mode.

Note
RMN is a general REPOS expansion and is not restricted to SERUPRO. RMI and RMB are
identical with respect to SERUPRO.
With DB21, ... DBX31.0–31.2 (REPOSPATHMODE0 to 2), the path as a whole is controlled.
The path axes cannot be changed individually.
The behavior of the other axis types can be changed individually using interface signal
DB31, ... DBX10.0 (REPOSDELAY). This REPOS offset is not applied immediately, but only
when it is next programmed.
For further information about programming the repositioning point, see
References: /PGA/ Programming Guide Advanced; ”Path Behavior” Repositioning on
Contour

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Read REPOS mode in synchronized actions

The valid REPOS mode of the interrupted block can be read via synchronized actions using
system variable $AC_REPOS_PATH_MODE=

0: not defined Repositioning not defined

1: RMB Repositioning to beginning
2: RMI Repositioning to point of interruption
3: RME Repositioning to block end point
4: RMN Repositioning to next geometric path point of interrupted block

2.6.2 Acceleration measures via MD

Machine data settings

The processing speed of the entire SERUPRO operation can be accelerated using the
following machine data.
MD22600 $MC_SERUPRO_SPEED_MODE and
MD22601 $MC_SERUPRO_SPEED_FACTOR
With MD22600 $MC_SERUPRO_SPEED_MODE == 1, the SERUPRO operation will run at
the usual "dry run feedrate".
Through MD22600 $MC_SERUPRO_SPEED_MODE == 0,
MD22601 $MC_SERUPRO_SPEED_FACTOR is evaluated,
and additional acceleration is permitted. Dynamic monitoring functions are disabled in this
mode.

SPEED factor for channel axes during ramp-up

Machine data MD22600 $MC_SERUPRO_SPEED_MODE is effective for the following
channel axes in the main run throughout the entire SERUPRO operation:
• PLC axes
• Command axes
• Positioning axes
• Reciprocating axes
The functions of MD22600 $MC_SERUPRO_SPEED_MODE and
MD22601 $MC_SERUPRO_SPEED_FACTOR apply only to SERUPRO and not to program
testing. In this case no axes/spindles are moved.

Caution
The NC as a discrete system generates a sequence of interpolation points.
It is possible that a synchronized action that was triggered in normal operation will no longer
be triggered in SERUPRO.

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Mode of functioning with DryRun

An active SERUPRO SPEEDFACTOR has the following effect on DryRun:
• DryRun is activated simultaneously.
This causes a switch from G95/G96/G961/G97/G971 to G94 in order to execute
G95/G96/G961/G97/G971 as quickly as you wish.
• Tapping and thread cutting are performed at the usual velocity for DryRun.
DryRun and SERUPRO affect the spindle/axis with the following G codes:
• G331/G332 causes the spindle to be interpolated as an axis in a path grouping. In the
case of tapping, the drilling depth (e.g., axis X) and the pitch and speed (e.g., spindle S)
are specified.
In the case of DryRun, the velocity of X is specified, the speed remains constant, and the
pitch is adjusted.
Following the SERUPRO simulation, the position for spindle S deviates from the normal
position because the spindle S has rotated less during simulation.

2.6.3 SERUPRO ASUP

SERUPRO ASUB special points

Special points should be noted for SERUPRO ASUB with regard to:
• Reference point approach: Referencing via part program G74
• Tool management: Tool change and magazine data
• Spindle ramp-up On starting a SERUPRO ASUB

G74 reference point approach

If statement G74 (reference point approach) is programmed between the program start and
the search target, this will be ignored by the NC.
SERUPRO approach does not take this G74 statement into account!

Tool management
If tool management is active, the following setting is recommended:
Set MD18080 $MA_TOOL_MANAGEMENT_MASK BIT 20 = 0.
The tool management command generated during the SERUPRO operation is thus not
output to the PLC!

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The tool management command has the following effect:

• The NC acknowledges the commands automatically.
• No magazine data are changed.
• Tool data are not changed.
Exception:
The tool enabled during the test mode can assume 'active' status. As a result, the spindle
may contain the incorrect tool after the SERUPRO operation.
Remedy:
The user starts a SERUPRO ASUB that is actually traversed. Prior to the start, the user
can start an ASUB that loads the correct tool.
SERUPRO operation: Functionality: In sequence steps 2. to 6.
SERUPRO ASUB: Functionality: The sequence of point 7.
In addition, machine data setting
MD18080 $MA_TOOL_MANAGEMENT_MASK Bit 11 = 1 is required because the ASUB
may have to repeat a T selection.
Systems with tool management and auxiliary spindle are not supported by SERUPRO!

Example
Tool change subroutine

PROC L6 ; Tool change routine

N500 DEF INT TNR_AKTUELL ; Variable for active T number
N510 DEF INT TNR_VORWAHL ; Variable for preselected T number

; Determine current tool

N520 STOPRE ; In program testing
N530 IF $P_ISTEST ; from the program context
N540 TNR_AKTUELL = $P_TOOLNO ; the "current" tool is read.
N550 ELSE ; Otherwise, the tool of the spindle
is read out.
N560 TNR_AKTUELL = $TC_MPP6[9998,1] ; Read tool T number on the spindle
N570 ENDIF

N580 GETSELT(TNR_VORWAHL) ; Read T number of preselected tool

of the master spindle. Execute tool
change only if tool not yet
current.
N590 IF TNR_AKTUELL <> TNR_VORWAHL ; Approach tool change position
N600 G0 G40 G60 G90 SUPA X450 Y300 Z300 D0
N610 M206 ; Execute tool change
N620 ENDIF
N630 M17

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ASUB for calling the tool change routine after block search type 5

PROC ASUPWZV2
N1000 DEF INT TNR_SPINDEL ; Variable for active T number
N1010 DEF INT TNR_VORWAHL ; Variable for preselected T number
N1020 DEF INT TNR_SUCHLAUF ; Variable for T number determined in
block search
N1030 TNR_SPINDEL = $TC_MPP6[9998,1] ; Read tool T number on the spindle
N1040 TNR_SUCHLAUF = $P_TOOLNO ; read T number determined by search
run, i.e., that tool determines the
current tool offset.
N1050 GETSELT(TNR_VORWAHL) ; Read T number of preselected tool
N1060 IF TNR_SPINDEL ==TNR_SUCHLAUF GOTOF ;
ASUP_ENDE1
N1070 T = $TC_TP2[TNR_SUCHLAUF] ; T selection by tool name
N1080 L6 ; Call tool change routine
;
N1085 ASUP_ENDE1: ;
N1090 IF TNR_VORWAHL == TNR_SUCHLAUF GOTOF ;
ASUP_ENDE
N1100 T = $TC_TP2[TNR_VORWAHL] ; Restore T preselection by tool name
;
N1110 ASUP_ENDE: ;
N1110 M90 ; Feedback to PLC
N1120 REPOSA ; ;ASUB end

In both of the programs PROC L6 and PROC ASUPWZV2, the tool change is programmed
with M206 instead of M6.
ASUB program "ASUPWZV2" uses different system variables to detect the progress of the
program ($P_TOOLNO) and represent the current status of the machine
($TC_MPP6[9998,1] ).

Spindle ramp-up
When the SERUPRO ASUB is started, the spindle is not accelerated to the speed specified
in the program because the SERUPRO ASUB is intended to move the new tool into the
correct position at the workpiece after the tool change.
A spindle rampup is performed with SERUPRO ASUB as follows:
• SERUPRO operation has finished completely.
• The user starts the SERUPRO ASUB via function block FC 9
in order to ramp up the spindle.
• The start after M0 in the ASUB does not change the spindle status.
• SERUPRO ASUB automatically stops before the REPOS part program block.
• The user presses START.
• The spindle accelerates to the target block state if the spindle was not programmed
differently in the ASUB.

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Note
Modifications for REPOS of spindles:
The transitions of speed control mode and positioning mode must be taken into
consideration in the event of modifications in SERUPRO approach and spindle
functionality.
For further information about operating mode switchover of spindles, see
References: /FB1/ Function Manual, Basic Functions; Spindles (S1), 2.1 Spindle Modes.

2.6.4 Selfacting SERUPRO

Selfacting SERUPRO
The channel-specific function "Self-acting SERUPRO" allows a SERUPRO sequence without
having to previously define a search target in a program of the associated SERUPRO
channels.
In addition, a special channel, the "serurpoMasterChan", can be defined for each "Self-acting
SERUPRO". A search target can be defined in this channel.
The "Selfacting SERUPRO" function supports the SERUPRO cross-channel block search.

Function
The "SelfActing SERUPRO" operation cannot be used to find a search target. If the search
target is not reached, no channel is stopped. In certain situations, however, the channel is
nevertheless stopped temporarily. In this case, the channel will wait for another channel.
Examples are: Wait marks, couplings, or axis replacement.

Wait phase occurs:

During this wait phase, the NC checks whether the channel "seruproMasterChan" has
reached a search target. If no search target is reached, the Wait phase is left.
If the search target is reached,
the SERUPRO operation is also ended in the channel. The "seruproMasterChan" channel
must have been started in normal SERUPRO mode.

No wait phase occurs:

"Self-Acting SERUPRO" is ended by M30 of the part program.
The channel is now in Reset state again.
A SERUPRO approach does not not take place.

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Starting a group of channels

If a group of channels is only started with "SelfActing SERUPRO", then all channels are
ended with "RESET".
Exceptions:
A channel waits for a partner channel that has not been started at all.
A cross-channel block search can be carried out as follows:
• Via the HMI, the user selects the channels that must work together (channel group).
• The user chooses an especially important channel from the channel group for which he
wants to select a search target explicitly (target channel).
• The HMI will then start SERUPRO on the target channel and "SelfActing SERUPRO" in
the remaining channels of the channel group.
The operation is complete if each channel concerned has deleted "seruproActive".
"Selfacting SERUPRO" accepts no master channel on another NCU.

Activation
"Self-acting SERUPRO" is activated via the HMI as a block search start for the Type 5 block
search for target channel "seruproMasterChan".
No search target is specified for dependent channels started from the target channel.

2.6.5 Inhibit specific part of the program in the part program for SERUPRO

Programmed interrupt pointer

As a general rule, only the user of the machine knows the mechanical situation that is
currently being executed in the program. The user can use a "programmable interrupt
pointer" to suppress SERUPRO at a particular point in the program where complex
mechanical conditions prevail to enable user intervention.
Through suitable manipulation of the interrupt pointer, it is possible, with "search for interrupt
point", to resume processing to the search-suppressed location prior to the search-
suppressed location. Search-suppressed areas can also be defined in areas of the part
program in which the NCK is not allowed to resume processing.
The last block processed before the search-suppressed target area is used as a search
pointer.

Input program section

The IPTRLOCK and IPTRUNLOCK language commands mark search-suppressed sections
of the program. These language commands cannot be used in synchronized actions.

IPTRLOCK Start of search-suppressed program section

IPTRUNLOCK End of search-suppressed program section

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IPTRLOCK
Freezes the interrupt pointer at the next "machine function block". This block is referred to
below as the Hold block. If a program abort occurs after IPTRLOCK, the hold block is used
as a search pointer.
Machine function block
Is a single block (SBL1) that can be executed in the main run with a stop after each function
block.
IPTRUNLOCK
The interrupt pointer is repositioned at the current block at the time of the interrupt for the
subsequent program section.

Note
When a search target is found, the interrupt pointer is set to the hold block. The block search
can be repeated for a new search target with the same hold block.

A search-suppressed area in the part program can be detected using the $P_IPRTLOCK
variable.

Nesting rules
The following points govern the interaction between language commands IPTRLOCK and
IPTRUNLOCK with nesting and the subroutine end.
1. IPTRUNLOCK is activated implicitly at the end of the subprogram in which IPTRLOCK
was called.
2. IPTRLOCK has no effect in an existing search-suppressed area.
3. If subprogram1 calls subprogram2 in a search-suppressed area, subprogram2 remains
search-suppressed. In particular, IPTRUNLOCK is ignored if programmed in
subprogram2.

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Examples of nesting with two program levels

Nesting of search-suppressed program sections in 2 program levels.

; Interpretation of the blocks in an

illustrative sequence.
; Subprogram1 is prepared for the
block search:
N10010 IPTRLOCK() ; Program level 1
N10020 R1 = R1 + 1 ;
N10030 G4 F1 ; Hold block
of the search-suppressed program
section starts
... ;
N10040 Subprogram2 ; Interpretation of subprogram2
... ; Program level 2
N20010 IPTRLOCK () ; is ineffective
... ;
N20020 IPTRUNLOCK () ; is ineffective
... ;
N20030 RET ;
... ;
N10050 IPTRLOCK() ;
N10060 R2 = R2 + 2 ;
N10070 G4 F1 ; End of search-suppressed program
section

An interruption in the search-suppressed program section of the above program always

returns block "N10030 G4 F1".

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With implicit IPTRUNLOCK

Nesting of search-suppressed program sections in two program levels with implicit
IPTRUNLOCK. The implicit IPTRUNLOCK in subprogram1 ends the search-suppressed
area.

; Interpretation of the blocks in an

illustrative sequence.
; Subprogram1 is prepared for the
block search:
N10010 IPTRLOCK() ; Program level 1
N10020 R1 = R1 + 1 ;
N10030 G4 F1 ; Hold block
... ; of the search-suppressed program
section starts
as in previous example ;
N20030 RET ;
... ;
N10060 R2 = R2 + 2 ;
N10070 RET ; End of search-suppressed program
section
N100 G4 F1 ; Main program is continued

An interruption in the search-suppressed program section of the above program always

returns block "N10030 G4 F1".
An interruption on N100 then again provides N100 in SPARPRI

On one program level

Nesting of IPTRLOCK and IPTRUNLOCK on one program level

; Interpretation of the blocks in an

illustrative sequence
; Subprogram1 is prepared for the
block search:
N10010 IPTRLOCK() ; Program level 1
N10020 R1 = R1 + 1 ;
N10030 G4 F1 ; Hold block
of the search-suppressed program
section starts
... ;
... ;
N10050 IPTRLOCK() ; is ineffective
... ;
N10060 IPTRUNLOCK() ; is ineffective
N10070 R2 = R2 + 2 ; End of search-suppressed program
section
N100 IPTRLOCK() ; is ineffective
... ;

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An interruption in the search-suppressed program section of the above program always

returns block "N10030 G4 F1" in SPARPI.
An interruption on N100 then again provides N100.

Automatic interrupt pointer

In certain applications it can be useful to automatically define a prespecified type of coupling
as a search-suppressed area. The automatic interrupt pointer function is activated with
machine data
MD 22680 $MC_AUTO_IPTR_LOCK.
• Bit 0 = 1: Electronic gear with EGON
• Bit 1 = 1: Axial master value coupling with LEADON
This program section begins with the last executable block before the activation and ends
with the deactivation.
The automatic interruption pointer is not active for couplings that were activated or
deactivate via synchronized actions.
Example: To declare axial master value coupling as search-suppressed:

N100 G0 X100 ;
N200 EGON(Y, "NOC", X, 1, 1) ; search-suppressed program section
starts
N300 LEADON(A, B, 1) ;
... ;
N400 EGOFS(Y) ;
... ;
N500 LEADOF(A, B) ; search-suppressed program section
ends
N600 G0 X200 ;

A program abort within the search-suppressed program section (N200 - N500) always
supplies N100 to the interrupt pointer.

Caution
Using an overlap of the "programmable interrupt pointer" and
"automatic interrupt pointer" via machine data, the NC selects the largest possible search-
suppressed area.
A program may need a coupling for almost all of the runtime. In this case, the automatic
interrupt pointer would always point to the start of the program and the SERUPRO function
would in fact be useless.

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2.6.6 Special features in the part-program target block

2.6.6.1 STOPRE in the part-program target block

STOPRE block
The STOPRE block receives all modal settings from the preceding block and can, therefore,
apply conditions in advance in relation to the following actions:
• Synchronize program line currently processing with the main run.
• Derive modal settings for SERUPRO in order, for example, to influence this REPOS
motion on approach of SERUPRO.

Example 1:
Position a Z axis by specifying an X axis setpoint.
When block "G1 F100 Z=$AA_IM[X]" is interpreted, the preceding STOPRE block ensures
synchronization with the main run. The correct setpoint of the X axis is thus read via $AA_IM
to move the Z axis to the same position.

Example 2:
Read and correctly calculate external zero offset.

N10 G1 X1000 F100 ;

N20 G1 X1000 F500 ;
N30 G1 X1000 F1000 ;
N40 G1 X1000 F5000 ;
N50 SUPA G1 F100 X200 ; move external zero offset after 200
N60 G0 X1000 ;
N70 ... ;

Via an implicit STOPRE before N50, the NCK can read and correctly and correctly compute
the current zero offset.
For a SERUPRO operation on the search target N50 repositioning occurs in the SERUPRO
approach to the implicit STOPRE and the speed is determined from N40 with F5000.

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Implicit preprocessing stop

Situations in which interpreter issues an implicit preprocessing stop:
1. In all blocks in which one of the following variable access operations occurs: -
Programming of a system variable beginning with $A...
-Redefined variable with attribute SYNR/SYNRW
2. On the following part program commands:
-Part program command MEACALC, MEASURE
-Programming of SUPA (suppress frames and online offsets)
-Programming of CTABDEF (start of curve table definition)
-Part program command WRITE/DELETE (write/delete file)
-Before the first WRITE/DELETE command in a sequence of such commands
-Part program command EXTCALL
-Part program command GETSELT, GETEXET
-Tool change and active fine tool offset FTOCON
3. On the following commands executions:
-Finishing of Type 1 search ("Search without calculation") and
Type 2 search with calculation ("Search at contour end point")
Note: Type 2 search "Block search at contour start point" has the same behavior.

2.6.6.2 SPOS in target block

SPOS
If a spindle is programmed with M3/M4 and the target block contains an SPOS command,
the spindle is switched over to SPOS on completion of the SERUPRO process (search
target located). This is indicated on the VDI interface.

2.6.7 Behavior during POWER ON, mode change and RESET

SERUPRO is inactive during POWER ON. The mode change is permitted during
SERUPRO. RESET will cancel SERUPRO and deselects the internally selected program
test. SERUPRO cannot be combined with other block search types.

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2.6.8 Special features of functions supported during SERUPRO

SERUPRO supports the following NC functions:

• Traversing to fixed stop: FXS and FOC automatically
• Force Control
• Synchronous spindle: Synchronous spindle grouping with COUPON
• Autonomous singleaxis operations: the PLC-controlled axes
• Linkages: Setpoint and actual value couplings can be simulated
Master/slave for drives. These functions are closely simulated
by electronic gears. The relevant
Axial master value coupling restrictions must be considered in each case!
• Axis couplings
Coupled motion: Axis grouping with TRAILON and TRAILOF,
Traverse gantry axis couplings
Tangential control: Tangential followup of individual axes
• Axis functions
Axis enable,
Autonomous axis operations,
Axis transfer
• Gear stage change: During program test (not fully automatically)
• Overlaid movements: Superimposed motion interpolation
For more information about these functions, see the following subsections.

2.6.8.1 Travel to fixed stop (FXS)

FXS
The functionality of FOC is repeated automatically with REPOS and designated FXS-
REPOS below. Every axis is taken into account and the torque last programmed before the
search target is applied.
Furthermore, the meaning of system variable $AA_FXS is redefined for SERUPRO as
follows:
• $AA_FXS displays the current status of program simulation.
• $VA_FXS always describes the real machine status.
The two system variables $AA_FXS and $VA_FXS have the same values continuously
outside the SERUPRO function.
The user can treat FXS and FOC as special commands in a SERUPRO ASUB.

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2.6.8.2 Force Control (FOC)

System variables $AA_FOC, $VA_FOC

The meaning of system variable $AA_FOC is redefined for SERUPRO as follows:
• $AA_FOC represents the current status of program simulation.
• $VA_FOC always describes the real machine status.
The FOCREPOS function behaves analogously to the FXSREPOS function. The
functionality of FOC is repeated automatically with REPOS and is designated FOCREPOS.
Every axis is taken into account and the torque last programmed before the search target is
applied.

Boundary condition
A continuously changing torque characteristic cannot be implemented with FOC-REPOS.

Example:
A program moves axis X from 0 to 100 and activates FOC every 20 increments for 10
increments at a time. This torque characteristic is usually generated with nonmodal FOC and
cannot, therefore, be traced by FOCREPOS. FOCREPOS will traverse axis X from 0 to 100,
with or without FOC, according to the last programming.

Note
For further information about the SERUPRO block search in relation to FXS or
FOC, see
References: /FB1/ Function Manual Basic Functions; Traversing to Fixed Stop (F1), General
Functions

2.6.8.3 Synchronous spindle

The synchronous spindle can be simulated.

The synchronous spindle operation with main spindle and any number of following spindles
can be simulated in all existing channels with SERUPRO.
For further information about synchronous spindles, see:
References: /FB2/ Function Manual, Extended Functions; Synchronous Spindle (S3)

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2.6.8.4 Couplings and master-slave

Setpoint and actual value couplings

The SERUPRO operation is a program simulation in Program Test mode with which setpoint
and actual value couplings can be simulated.

Specifications for EG simulation

For simulation of EG, the following definitions apply:
1. Simulation always takes place with setpoint coupling.
2. If under SERUPRO there are only some, i.e., not all, leading axes, the simulation is
aborted with Alarm 16952 "Reset Clear/No Start". This can occur with cross-channel
couplings.
3. Axes that have only one encoder from the point of view of the NCK and are operated with
external data cannot be simulated correctly. These axes must not be integrated in
couplings.

Caution
In order to be able to simulate couplings correctly, the couplings must have been
switched off previously.
This can occur with machine data MD10708 $MA_SERUPRO_MASK.

Specifications for active couplings

The SERUPRO operation simulates axis couplings always assuming that they are setpoint
couplings. In this way, the end points are calculated for all axes that are used as target
points for SERUPRO approach. The coupling is also active with "Search target found". The
path from the current point to the end point is carried out for SERUPRO approach with the
active coupling.

LEADON
The following specifications apply for the simulation of axial master value couplings:
1. Simulation always takes place with setpoint coupling.
2. SERUPRO approach takes place with active coupling and an overlaid motion of the
following axis in order to reach the simulated target point.
The following axis that is moved solely by the coupling cannot always reach the target point.
In SERUPRO approach, an overlaid linear motion is calculated for the following axis to
approach the simulated point!

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Reaching simulated target point for LEAD with JOG

At the time of "Search target found", the coupling is already active, especially for the JOG
movements. If the target point is not reached, SERUPRO approach can be used to traverse
the following axis with active coupling and an overlaid motion to the target point.

Note
For further information about the repositioning of axis couplings, see
"Continue machining after SERUPRO search target found".

Master-slave
During the block search, only the link status should be updated without calculating the
associated positions of the coupled axis.
A system ASUB can be started automatically after the block search is finished. In this
subroutine, the user can control the link status and the associated axis positions
subsequently. The information needed can be read from additional block search system
variables.
System variable for master/slave
The following system variables are needed for the position offset between the axes to be
coupled with the desired link status:

NCK variables Description

$P_SEARCH_MASLD[X] Slave* Position offset between slave and master axis when
the link is closed.
$P_SEARCH_MASLC[X] Slave* Current status of a master/slave link was changed
during block search.
$AA_MASL_STAT[X] Slave* Current status of a master/slave link active.
Slave* for slave axis identifier

Note
This block search for the master/slave link is effective only if the position offset between the
axes can be determined.
In order to determine the programmed positions, the axes to be linked must be in the same
channel at the time of the block search. If this is not the case, the block search is aborted
with alarm 15395.
Variables $P_SEARCH_MASLD, $P_SEARCH_MASLC and $AA_MASL_STAT are cleared
on MASLON.

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For further information about the master/slave link, see:

References: /FB3/ Function Manual Special Function; Speed/Torque Coupling (TE3),
Master-Slave
The system ASUB is called progevent.spf and must be available in the /_N_CMA_DIR
directory. The contents might be as follows:
progevent.spf
X=master axis, Y=slave axis

N10 IF(($S_SEARCH_MASLC[Y]< >0) AND ($AA_MASL_STAT[Y]< >0))

N20 MASLOF(Y)
N30 SUPA Y=$AA_IM[X]-$P_SEARCH_MASLD[Y]
N40 MASLON(Y)
N50 ENDIF
N60 REPOSA
To ensure that the ASUB can be automatically started, the following machine data must be
set:
MD11602 $MN_ASUB_START_MASK = 'H03'
MD11604 $MN_ASUP_START_PRIO_LEVEL = 100
MD11450 $MN_SEARCH_RUN_MODE = 'H02'

Coupled axes
The following axis links are compatible with the SERUPRO operation:
• Coupled motion "TRAILON" and TRAILOF"
• Gantry axes
• Tangential control
• The activatable and deactivatable "master/slave" link as long as activation and
deactivation is not selective

Note
If the following axes of the master axis are in another channel,
any attempt to accelerate the processing speed by setting
MD22601 $MC_SERUPRO_SPEED_FACTOR = positive

Coupled motion
The motionsynchronous action for coupled motion of an axis grouping with TRAILON and
TRAILOF is supported by SERUPRO.
For further information about coupled motion with TRAILON, TRAILOF, see
References:
/FB3/ Function Manual, Special Functions; M3, "Coupled axes and ESR"
/PGA/ Programming Guide Advanced; "Path Behavior" and "Synchronous Movement
Actions"

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Gantry axes
Mechanically linked machine axes can be moved without a mechanical offset using the
gantry axis function. This operation is simulated correctly with SERUPRO.
For further information about the functionality of gantry axes, refer to
References:
/FB3/ Function Manual Special Functions; G1, "Gantry Axes"

Tangential control
Tangential follow-up of individual axes is supported by SERUPRO.
For further information about tangential control, see:
References:
/FB3/ Function Manual Special Functions; T3, "Tangential Control"
If "overlaid movements" are used, only the block search via program test (SERUPRO) can
be used, since the overlaid movements are interpolated accordingly in the main run. This
applies in particular to $AA_OFF.

2.6.8.5 Axis functions

SERUPRO conditions
The special conditions for SERUPRO must be observed with axis enable, autonomous axis
operations, and axis replacement.

Axis enable
The axial IS DB31, ... DBX3.7 ("Program test axis/spindle enable") controls the axis enables
if no closed-loop controller enable is to (or can) be issued at the machine and is active only
during the program test or when SERUPRO is active.
It is possible, via the interface signal PLC → NCK
DB31, ... DBX3.7 (program test axis/spindle enable) to do this enabling. If the real servo
enable is missing during program testing or SERUPRO, the effect on the axes/spindles is as
follows:
• As soon as the simulated program run intends to move an axis/spindle, the message
"Waiting for axis enable" or "Waiting for spindle enable" is displayed and the simulation is
stopped.
• If, during a simulated movement, the VDI signal DB31, ... DBX3.7 (program test
axis/spindle enable) is canceled again, the alarm 21612: "Channel %1 axis %2 VDI signal
’servo enable’ reset during motion” is activated.

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Autonomous axis operations

Autonomous singleaxis operations are axes controlled by the PLC that can also be simulated
on SERUPRO. During SERUPRO operation, as in normal operation, the PLC can take over
or give up control of an axis. If required, this axis can also be traversed using FC18. The
PLC takes over control of the axis before the approach block and is responsible for
positioning this axis. This is valid for all block search types.
For further information about autonomous singleaxis operations, see:
References: /FB2/ Function Manual Expanded Functions; P2, "Positioning axes"

Axis replacement
Problem: A program moves an axis and gives up control before the target block with
WAITP(X). X is thus not subject to REPOS and the axis is not taken into account in
SERUPRO approach.
Via the machine data MD11470 $MN_REPOS_MODE_MASK, the following behavior can be
achieved for SERUPRO-REPOS:
The neutral axes are moved as "command axes" in the SERUPRO-REPOS. The axis
interpolates without a path context even it was last programmed as a path axis. In this
scenario, the velocity results from MD32060 $MA_POS_AX_VELO. After SERUPRO
approach, this axis is again neutral.
Neutral axes that are however not allowed to be repositioned must receive the axial VDI
signal “REPOSDELAY”. This deletes the REPOS movement.
Example:
After SERUPRO, one axis is deliberately moved in the synchronized action via technology
cycles. The command axes are always moved in the approach block, never in the target
block. The target block can only be changed if all command axes have been moved to the
end.

Caution
The PLC-controlled axis is not repositioned!
Axes enabled by RELEASE(X) before the target block are not repositioned.

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2.6.8.6 Gear stage change

Operational sequences
The gear stage change (GSW) requires physical movements from the NCK in order to shift
into a new gear.
In the SERUPRO operation, no gear stage change is required and is carried out as follows:
Some gears can only be changed when controlled by the NC, since either the axis must
oscillate or a certain position must be approached beforehand.
The gear stage change can be suppressed selectively for DryRun, program test, and
SERUPRO using bits 0 to 2 in MD35035 $MA_SPIND_FUNCTION_MASK.
The gear stage change must then be performed in REPOS; this will work even if the axis
involved is to be in "speed control mode" at the target block. In other cases, the automatic
gear stage change is denied with an alarm if, for example, the axis was involved in a
transformation or coupling between the gear stage change and the target block.

Note
For further information about gear stage changes in DryRun, Program test and SERUPRO,
see
References: /FB1/Function Manual Basic Functions; Spindle Programming (S1)

2.6.8.7 Superimposed motion

Only SERUPRO
If "overlaid movements" are used, only the block search via program test (SERUPRO) can
be used, since the overlaid movements are interpolated accordingly in the main run. This
applies in particular to $AA_OFF.

Velocity profile instead of maximum axis velocity

During Program test, a velocity profile must be used, which allows "superimposed
movements" to be interpolated during the main run. It is thus not possible to interpolate at
the maximum axis velocity.
The axis velocity is set in "Dry run feedrate" mode using
SD42100 $SC_DRY_RUN_FEED.
The velocity of the SERUPRO operation is selected using
MD22600 $MC_SERUPRO_SPEED_MODE.

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2.6.8.8 REPOS offset in the interface

REPOS offset provided or valid

When the SERUPRO operation is finished, the user can use the OPI to read off the REPOS
offset applied via the REPOS process.
An axial interface bit is offered for this
DB31, ...DBX70.0 (REPOS offset).
Value 0 No REPOS offset has to be applied to this axis
Value 1 A REPOS offset has to be applied to this axis.
Scope: The axis-VDI-interface bit "REPOS offset" is provided when the SERUPRO operation
is finished. The "REPOS offset" is invalid when a SERUPRO ASUB starts or continues. The
axis can be moved in JOG mode with a mode change between the SERUPRO end and start
and the "REPOS offset" bit is continuously updated (i.e., the user traverses the REPOS
offset by hand and the bit changes to 0). In the scope, the axis can also be traversed using
FC18, with the "REPOS offset" continuously being updated.
The scope of "REPOS offset" is displayed with the axial VDI interface bit
DB31, ...DBX70.1 (REPOS offset valid):
Value 0 DB31, ... DBX70.0 (REPOS offset) has not been calculated as valid
Value 1 DB31, ... DBX70.0 (REPOS offset) has been calculated as valid

2.6.8.9 Making the initial settings more flexible

Initial setting/initial SERUPRO setting

Machine data MD20112 $MC_START_MODE_MASK defines the initial setting of the control
for part program start with respect to the G codes (especially the current plane and settable
zero offset), tool length compensation, transformation, and axis couplings. The special option
exists for the SERUPRO operation of using
MD22620 $MC_ENABLE_START_MODE_MASK_PRT
to select an initial setting that differs from the normal part program start. The new setting
must therefore been stored in:
MD22620 $MC_START_MODE_MASK_PRT
The meaning of the bits of MD22620 is identical to those of:
MD20112 $MC_START_MODE_MASK.

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Example:
The synchronous spindle coupling at the beginning of the SERUPRO operation is retained
for the part program start.

; synchronous spindle coupling not

configured
$MC_START_MODE_MASK = 'H400' ; is switched off
$MC_START_MODE_MASK_PRT = 'H00' ; remains active
$MC_ENABLE_START_MODE_MASK_PRT = 'H01' ; $MC_START_MODE_MASK_PRT is evaluated
in SERUPRO instead of
$MC_START_MODE_MASK

2.6.9 System variables and variables for SERUPRO sequence

SERUPRO detection
The SERUPRO sequence can be detected using the following system variables:
$P_ISTEST is TRUE (valid also for program test)
$P_SEARCH is set to 5 (search in extended program test)
$AC_ASUP Bit 20 in system ASUB is set after the search target
is found (SERUPRO operation step 8.)
$P_ISTEST AND (5 == $P_SEARCHL) reliably detects SERUPRO.
$AC_SEARCH is not supplied by the SERUPRO operation.

Note
$P_SEARCHL is set at the beginning of the SERUPRO operation and
reset on RESET. As a result, $P_SEARCHL continues to be set in the SERUPRO ASUB and
in the residual part program and can continue to be evaluated.
In contrast, the $P_ISTEST variable is set only in the SERUPRO operation and is thus
suitable for searchspecific adaptation of programs.

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Synchronized action
SERUPRO can be scanned in a synchronized action using system variable
$AC_SERUPRO = TRUE.
SERUPRO Updated REPOS acknowledgements can be scanned via:

"Programsensitive system variable" Description

$AC_REPOS_PATH_MODE Type of REPOS MODE
$AA_REPOS_DELAY REPOS suppression is currently active
for this axis

$AC_SERUPRO and $P_ISTEST, if SERUPRO is still active in the main run

Note
During interpretation of system variables $P_ISTEST and $AC_SERUPRO, a check is made
to determine whether the SERUPRO target block has already been found.
If so, an implicit preprocessing stop is inserted before the two system variables are
evaluated.
As a result, interpretation is halted and not continued again until SERUPRO is deactivated in
the main run as well. The decision as to whether SERUPRO must be active or inactive is
then made correctly.

Additional variable for interpretation during simulation search

In JOG and MDA modes, NC variable "selectedWorkPProg" can be used to select whether
the previously selected program or the program to be simulated is to be displayed in the HMI
during the simulation, e.g., with SERUPRO. For more information, refer to
References: /LIS2/ Lists (Book 2), Section "Variables".

2.6.10 Restrictions

Conditional use
SERUPRO supports the following NC functions subject to certain restrictions:

NCK functionality Restrictions

Master/slave for drives Selective enabling and disabling of the master/slave link with
and SERUPRO MASLON active
Axis enables and SERUPRO Real servo enable missing during program testing
Axis replacement and SERUPRO Axes traversing as path axes before RELEASE are ignored on
REPOS

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2.7 2.7 Program operation mode

PLC, MD, operation

The execution of part programs can be controlled via the HMI in many ways using PLC
inputs, machine data settings and operator inputs.

Definition
The execution of part programs or part program blocks in AUTOMATIC or MDA modes is
referred to as program operation.

Channel control
Every channel can be manipulated by means of interface signals from the PLC. The control
is exercised via mode groupspecific or channelspecific interface signals. An overview of
these signals is given under data lists in this Description of Functions.

Status messages
Each channel reports its current program operation status to the PLC with interface signals.
These signals are, in turn, divided up into mode groupspecific and channelspecific signals.

2.7.1 Initial settings

Machine data
Defined conditions can be set via machine data for the program operation or certain
implementations of the NC language scope.

MD settings

Initial settings
Initial settings can be programmed in channelspecific machine data for each channel. These
initial settings affect, for example, G groups and auxiliary function output.

Auxiliary function output

The timing for output of auxiliary functions can be predefined via machine data
AUXFU_x_SYNC_TYPE (MD22200, 22210, 22220, 22230, 22240, 22250, 22260), (output
timing for M, S, T, H, F, D, E functions). For further information, see:
Reference: /FB1/Function Manual, Basic Functions; Auxiliary Function Output to PLC (H2)

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G groups
An initial programming setting can be specified for each of the available G groups using
MD20150 $MC_GCODE_RESET_VALUES (reset state of G groups). This initial setting is
automatically active during program start or in Reset until it is deselected by a G command
from the same G group.
Via the MD22510 $MC_GCODE_GROUPS_TO_PLC (G codes, which are output to interface
NCK-PLC after block change/RESET), the output of the G codes to the PLC interface can be
activated.
A list of the G groups with the associated G functions and explanations can be found in:
Reference: /PG/Programming Guide Fundamentals

Basic configurations of the NC language scope for SINUMERIK solution line

For SINUMERIK 840D sl, certain basic configurations of the NC language scope can be
generated (configurable) via machine data. The options and functions of the NC language
scope is specially tailored (configured) to the needs of the user.

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NC language scope
The way that non-active options and functions should be moved with NC language
commands can be set via the machine data 10711
$MN_NC_LANGUAGE_CONFIGURATION:
0: All available language commands can be programmed. Whether or not the needed
function is activated can only be recognized upon execution. This corresponds to the default
setting for previous controls such as SINUMERIK 810D/840D and 840Di powerline.
If only certain options are enabled and not all operations are available:
1: All the language commands are known. Language commands for non-enabled options are
already recognized at the beginning of the program interpretation and lead to the alarm
12553 "option/function is not active."
2: Only those language commands are known, which correspond to the current scope of
enabled options of the NCK software. All commands for non-enabled options are not
recognized and trigger the alarm 12550 "Name not defined or option/function not available".
This setting is intended especially for SINUMERIK 802D sl, but can also be used for others.

Note
Option-free functions also have the status "enable option"

If only certain functions activated are:

3: All the language commands are known. Non-activated functions are already recognized at
the beginning of the program interpretation and result in the alarm 12553 "Option/function is
not active". If, for example, the option data is set for the cylinder jacket transformation, but
the transformation is not activated in the machine data MD24100 $MC_TRAOF_TYPE_1, the
programming of TRACYL triggers the alarm 12553.
4: Only those NC language commands are known, which correspond to the current scope of
active functions of the NCK software. All commands for non-active functions are not
recognized and trigger the alarm 12550 "Name not defined or option/function not available".
Whether the command in question is generally unavailable in the Siemens NC language or
whether this is true only on the corresponding system cannot be distinguished in this
scenario.
Whether the current NC language scope of enabled options and active functions is also truly
programmable can be checked using the programming command STRINGIS, see example.

Check sample application for NC language scope on cylinder jacket transformation TRACYL
The cylinder jacket transformation is optional and must be enabled beforehand. In order to
check this, the following initial conditions are assumed:
The cylinder jacket transformation is not enabled and the machine data
$MN_NC_LANGUAGE_CONFIGURATION = 2; NC language command TRACYL is unknown

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The following program is started

N1 R1=STRINGIS("TRACYL") ;R1 is 0 (TRACYL is an unknown name)

N2 IF STRINGIS("TRACYL") ==204
N3 TRACYL(1, 2, 3) ;block is not interpreted
N4 ELSE
N5 G00
N6 ENDIF
N7 M30

Example of whether STRINGIS result is programmable or not

Result of STRINGIS = number-coded return value (three digits)
Number coding of the basic information (1st digit from the left):
000 Name is unknown, programming is denied with alarm 12550
100: Name is known but cannot be programmed, triggers alarm 12533
200: Name/symbol is known but no interpretation is possible
2xx: Name/symbol is known, the command can be programmed, if xx > 0
Definition for name/symbol:
Name: Any STRING that is checked to see
whether it is a component of the NC language in the existing NCK version or configuration.
Symbol: contains the description or meaning of an NC language command that is needed for
the NC program and cycle interpretation.
Dependent on machine data MD10711
$MN_NC_LANGUAGE_CONFIGURATION = (set value) results in the following interpretations
of the option and function relative to their programmability 2xx:

Table 2-2 Setting options

MD10711 = 0 1 2 3 4
Option Function Return value as the basic information (1st digit from the left)
0 0 2 1 0 1 0
1 0 2 2 2 1 0
1 1 2 2 2 2 2
0 1 2 1 0 1 0
Definition for option/function:
0 corresponds to option not activated or function deactivated
1 corresponds to option/activated or function activated
For more detailed information on the value ranges of 2xx programmable functions, see
References: /PGA/ Programming Guide Advanced; Other Functions, "STRINGIS"

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2.7.2 Selection and start of part program or part-program block

Reset status

Channel status
A part program can be selected only if the relevant channel is in the Reset state.

Start command, channel status

There are two possible START commands for initiating processing of a part program or part
program block:
• The channel-specific interface DB21, ... DBX7.1 (NC Start), which is usually controlled
from the machine control panel key NC Start, starts program execution in the same
channel.
• With the NC instruction START, program execution in the first channel can be started
from the second channel, for example (for further information, see Section on Channel
synchronization).
The START command can only be executed in AUTOMATIC and MDA modes. For this, the
channel concerned must be in the following state:
DB21, ... DBX35.7(channel state reset) or
DB21, ... DBX35.6 (channel state interrupted).

Signals, Alarms

Required signal states

The part program can now be enabled for execution in the channel with the START
command on the condition that certain signal states exist on the machine.
The following enable signals are relevant on the VDI interface:
• DB11, ... DBX4.4 (Mode group ready) must be present
• DB11, ... DBX0.7 (mode group reset) must not be present
• DB21, ... DBX1.7 (activate program test) must not be present
• DB21, ... DBX7.0 (NC start disable) must not be present
• DB21, ... DBX7.2 (NC stop at the block limit) must not be present
• DB21, ... DBX7.3 (NC Stop) must not be present
• DB21, ... DBX7.4 (NC Stop axes plus spindle) must not be present
• DB21, ... DBX7. 7 (Reset) must not be present
• DB10, ....DBX56.1 (EMERGENCY STOP) must not be present
• No axis or NCK alarm must be active
For descriptions of the individual signals see Chapter 5.

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Execution of command
The parts program or the parts program block is automatically executed and the IS:
DB21, ... DBX35.5 ("channel status active") and the
DB21, ... DBX35.0 ("program status running") is set.
The program is processed until the end of the program has been reached or the channel is
interrupted or aborted by a STOP or RESET command.

Alarms
Under certain conditions the START command will have no effect and one of the following
alarms will be triggered:
• 10200 "No NC Start permitted with active alarm"
• 10202 "No NC Start permitted with active command" (see /DA/)
• 10203 "No NC Start permitted for nonreferenced axes"

2.7.3 Part-program interruption

"Interrupted" status

Channel status
The STOP command is executed only if the channel concerned has status
IS DB21, ... D35.5 ("channel active").

STOP commands
There are various commands that stop the program execution and set the channel status to
"interrupted". These are in particular the interface signals:
• DB21, ... DBX7.2 ("NC stop at the block limit)
• DB21, ... DBX7.3 ("NC stop")
• DB21, ... DBX7.4 ("NC stop, axes plus spindles")
• DB21, ... DBX2.0 ("Single block")
• Programming command "M00" or "M01".
For a further explanation of the individual interface signals, please see
References: /FB1/ Function Manual Basic Functions; NC/PLC interface signals (Z1), for
explanations of the individual part program instructions, see:
Reference: /PG/ Programming Guide Fundamentals; see "Li st of Instructions"

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Execution of command
After execution of the STOP command, the IS DB21, ... DBX35.3 ("program status
interrupted") is set. Processing of the interrupted program can continue from the point of
interruption with the command START.
The following actions are executed when the STOP command is triggered:
• Part program execution is stopped at the next block limit (with NC stop at block limit,
M00/M01 or single block), processing is stopped immediately with the other STOP
commands.
• Any auxiliary functions of the current block not yet output by this point are no longer
output.
• The axes of each channel are brought to a standstill along a braking ramp and part
program execution is then stopped.
• The block indicator stops at the point of interruption.

Possible actions in the interrupt state

The following actions can be executed when the part program has been interrupted (program
status stopped, channel interrupted):
• Overstoring
References:
/BEM/, Operator's Guide HMI Embedded
• Block search
References:
/BEM/ Operator's Guide HMI Embedded
• Repositioning at contour (machine function REPOS)
References:
/BEM/ Operator's Guide HMI Embedded
• Oriented tool retraction
References:
/PGA/ Programming Manual, Advanced
• Interrupt routine (see Subsection 2.5.12)
• DRF function, workpiece zero offset
References: /FB2/ Function Manual, Extended Functions; Manual and Handwheel Travel
(H1)
• Starting the interrupted program with interface signal:
DB21, ... DBX7.1 (NC start) or
via NC instruction START from another channel.

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2.7.4 RESET command

Command priority

Channel status
The RESET command can be executed in every channel state. This command is aborted by
another command.

Commands

RESET commands
The following Reset commands are available:
• DB11, ... DBX0.7 (mode group reset)
• DB21, ... DBX7.7 ("Reset")
For a further explanation of the individual interface signals, please see
References: /FB1/ Function Manual Basic Functions; NC/PLC interface signals (Z1)
A RESET command can be used to interrupt an active part program or a part program block
(in MDA).
After execution of the Reset command, the IS DB21, ... DBX35.7("channel state reset") is
set.
The part program cannot be continued at the point of interruption. All the axes of the channel
go into exact stop unless they are in followup mode. The same applies to the spindles
configured in the channel.
The following actions are executed when the RESET command is triggered:
• Part program preparation is stopped immediately.
• Axes and, if they exist, spindles in the channel are decelerated along a braking ramp.
• Any auxiliary functions of the current block not yet output by this point are no longer
output.
• The block indicator is reset to the beginning of the part program.
• All Reset alarms (channelspecific, axisspecific, spindlespecific) are cleared from the
display.

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2.7.5 Program status

Interface information
The status of the selected program is displayed in the interface for each channel.
The PLC can then trigger certain responses and interlocks configured by the manufacturer
depending on the status.
The program status is only displayed in the AUTOMATIC and MDA modes. In all other
modes the program status is aborted or interrupted.

Program statuses
The following program statuses are available at the interface:
• DB21, ... DBX35.4 ("Program status aborted")
• DB21, ... DBX35.3 ("program status interrupted")
• DB21, ... DBX35.2 ("Program status stopped")
• DB21, ... DBX35.1 ("Program status wait")
• DB21, ... DBX35.0 ("Program status running")
For a further explanation of the individual interface signals, please see
References: /FB1/ Function Manual Basic Functions; NC/PLC interface signals (Z1)

The effect of commands/signals

The program status can be controlled by activating different commands or interface signals.
The following table shows the resulting program status when these signals are set
(assumption: status before the signal is set -> Program status running).

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Table 2-3 Effect on program status

Program execution statuses

Commands
Aborted Interrupted Stopped Wait Running
IS "Reset" X
IS "NC Stop" X
IS "NC stop at block limit" X
IS "NC stop axes and spindles" X
IS "Read-in disable" X
IS "Feed stop, channelsp." X
IS "Feed stop, axissp." X
Feed override = 0% X
IS "Spindle stop" X
M02/M30 in a block X
M00/M01 in a block X
IS "Single block" X
IS "Delete distancetogo" X
Auxiliary functions output to PLC but X
not yet acknowledged
Wait instruction in program X

2.7.6 Channel status

Interface representation
The current channel status is displayed in the interface. The PLC can then trigger certain
responses and interlocks configured by the manufacturer depending on the status at the
interface.
The channel status is displayed in all operating modes.

Channel statuses
The following channel statuses are available at the interface:
• DB21, ... DBX35.7("channel status reset")
• DB21, ... DBX35.6 ("program status interrupted")
• DB21, ... DBX35.5 ("channel status active")
For a further explanation of the individual signals see Chapter 5.

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The effect of commands/signals

The channel status can be modified through the activation of various commands or interface
signals. The following table shows the resulting channel status when these signals are set
(assumed status before the signal is set - > Channel status active).
The "Channel status active" signal is obtained when a part program or
part program block is being executed or when the axes are traversed in JOG mode.

Resulting channel status

Commands
Reset Interrupted active
IS "Reset" X
IS "NC Stop" X
IS "NC stop at block limit" X
IS "NC stop axes and spindles" X
IS "Read-in disable" X
IS "Feed stop, channelsp." X
IS "Feed stop, axissp." X
Feed override = 0%
IS "Spindle stop" X
M02/M30 in a block X
M00/M01 in a block X
IS "Single block" X
IS "Delete distancetogo" X
Auxiliary functions output to PLC but X
not yet acknowledged
Wait instruction in program X

2.7.7 Responses to operator or program actions

Status transitions
The following table shows the channel and program statuses that result after certain operator
and program actions.
The left-hand side of the table shows the channel and program statuses and the mode
groups from which the initial situation can be selected. Various operator/program actions are
listed on the righthand side of the table, the number of the situation after the action has been
carried out is shown in brackets after each action.

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Table 2-4 Responses to operator or program actions

Situation Channel Program status Active mode Operator or program action (Situation after the
status action)
R V A N V S W A A M J
1 x x x RESET (4)
2 x x x RESET (5)
3 x x x RESET (6)
4 x x x NC Start (13); Mode change (5 or 6)
5 x x x NC Start (14); Mode change (4 or 6)
6 x x x Direction key (15); Mode change (4 or 5)
7 x x x NC Start (14)
8 x x x NC Start (15)
9 x x x NC Start (13); Mode change (10 or 11)
10 x x x NC Start (16); Mode change (9 or 11)
11 x x x Direction key (17); Mode change (9 or 10)
12 x x x NC Start (13); Mode change (10 or 11)
13 x x x NC Stop (12)
14 x x x NC Stop (7); at block end (5)
15 x x x NC Stop (8); at JOG end (6)
16 x x x NC Stop (10); at block end (10)
17 x x x NC Stop (11); at JOG end (11)
18 x x x Reset (4); wait for other channel (18)

Channel status Program status Operating modes

R --> aborted N --> aborted A --> aborted
U --> interrupted U --> interrupted M --> aborted
A --> running S --> stopped J --> aborted
W --> waiting
A --> running

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2.7.8 Part-Program Start

Start handling

Table 2-5 Typical program sequence

Sequence Command Conditions Comments

(must be satisfied before the
command)
1 Load program (via the operator
interface or part program)
2 Select AUTOMATIC mode
3 Program preselection Channel preselected
Preselected channel in
RESET state
User ID sufficient for
program preselection
4 NC start for preselected channel NC start disable not
available
Reference point approached in
all
axes
5 Program execution
6 M02/M30/RESET None End of program

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2.7.9 Example of timing diagram for a program run

Signal sequences

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,66SLQGOH6723 '%'%;


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,63URJUDPVWDWXVLQWHUUXSWHG '%'%;
,63URJUDPVWDWXVVWRSSHG IURP1&.  
 '%'%;
,63URJUDPVWDWXVDERUWHG IURP1&.  
 '%'%;

,67UDYHOFRPPDQG;D[LV IURP1&.  '%'%%

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,66SLQGOHLQVHWSRLQWUDQJH IURP1&.
 '%'%;
3URJUDP
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$X[)0IURP3/&XVHUSURJUDPFRPSOHWHG 06)
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3URJUDPVWRSSHGZLWKUHDGLQGLVDEOH 6SLQGOHUDPSXS $[LVUXQQLQJ 
3URJUDPDERUWHGZLWK5(6(7

Figure 2-8 Examples of signals during a program run

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2.7.10 Program section repetitions

Use

Basic information
Program sections, which have already been programmed, are frequently needed again.
Instead of using subprograms, you can repeat existing program sections in any order.
The advantage compared with copying blocks is that you save memory and can make
modifications easily. Changes to positions only need to be made at one point.

Labels
Labels are used within a program to identify a block or a program section.
References:
/PG/ Programming Guide Fundamentals
The options available for repeating part of a program are:
• Repeat block
• Repeat area starting at label
• Repeat an area between two labels
• Repeat an area between a label and the end label
References:
/PGA/ Programming Guide Advanced

Activation
Program section repetition is activated by programming. (Labels, Number of repetitions)

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Example
Milling: Machine drilling position with different technology sequences
N10 ZENTRIERBOHRER() ; Zentrierbohrer einwechseln
N20 POS_1: ; Bohrpositionen 1
N30 X1 Y1
N40 X2
N50 Y2
N60 X3 Y3
N70 ENDLABEL: ; Res. Name, mehrfach zulässig
N80 POS_2: ; Bohrpositionen 2
N90 X10 Y5
N100 X9 Y-5
N110 X3 Y3
N120 ENDLABEL:
N130 BOHRER() ; Bohrer wechseln und Bohrzyklus
N140 GEWINDE(6) ; Gewindebohrer M6 einwechseln und
Gewindezyklus
N150 REPEAT POS_1 ; wiederhole Programmabschnitt ab
POS_1 einmal bis ENDLABEL
N160 BOHRER() ; Bohrer wechseln und Bohrzyklus
N170 GEWINDE(8) ; Gewindebohrer M8 einwechseln und
Gewindezyklus
N180 REPEAT POS_2 ; wiederhole Programmabschnitt ab
POS_2 einmal bis Endlabel
N190 M30

2.7.11 A part program section between a Start label and the key word: ENDLABEL

Functionality
Via REPEAT in part program block N150, the part program processing branches to the part
program block N120 that is labeled START_1 with a start label. This part program block and
all the part program blocks up to and including the part program block marked with the key
word ENDLABEL (N140) are repeated x number of times. If P is not specified, the part
program section (N120 - N140) is repeated exactly once. After the last repetition, the part
program is continued with the part program block N170 following the REPEATinstruction.

:
N100 ...
N120 START_1: ... ; Start label: START__1
N130 ...
N140 ENDLABEL: ... ; End label: Keyword ENDLABEL
N150 ...
N160 REPEAT START_1 END_1 P=n ; Repetition: START_1 until END_1
N170 ...
:

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Note
Label search direction
The program section marked with the Start and End labels can come before or after the
REPEATinstruction. The search initially commences toward the start of the program. If the
Start label is not found, a search is made in the direction of the program end.
If no keyword ENDLABEL is located between the Start label and the REPEAT instruction, the
part program section from the Start label to the REPEAT instruction is repeated.

Programming

Syntax: REPEAT <Label> [P=n]

Label Start label to which the instruction: REPEAT branches.
Beginning of the part program section that is repeated.
Type: String
P Number of repetitions
-{}-n Number of repetitions
Type: Integer

2.7.12 Eventdriven program calls

Application
In the case of certain events, an implied user program is to start. This allows the user to
activate the initial settings of functions or carry out initialization routines by part program
command.

Event selection

MD 20108
Machine data MD20108 $MC_PROG_EVENT_MASK can be used to specify on a channel-
specific basis which of the following events is to enable the user program:
• Bit0 = 1: Part program start
• Bit1 = 1: Part program end
• Bit2 = 1: Operator panel reset
• Bit3 = 1: Powerup (of the NC control)
The user program can be stored under the fixed path name
/_N_CMA_DIR/_N_PROG_EVENT_SPF or

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Other program name

A name is specified in MD11620 $MN_PROG_EVENT_NAME.
The system then searches for the user program in the directories:
/_N_CUS_DIR/
/_N_CMA_DIR/
/_N_CST_DIR/
in the specified order. The first program found with the stored name is called when a
configured event occurs.
The same protection mechanisms that can be activated for cycles (protection levels for
writing, reading etc.) are activated.
Machine data MD20108 $MC_PROG_EVENT_MASK is ignored during the simulation.

Request which start event

In the user program, the system variable $P_PROG_EVENT can be used to request the
event, which enabled the part program.

Event
Part program start

Table 2-6 Sequence when starting a part program

Sequence Command Boundary conditions Comments

(must be satisfied before the
command)
1 Channel selection: Initial state specification: Select channel and mode
Reset status Channel in Reset status Channel: in reset status and
Mode selection: mode: mode: as per selection
AUTO or AUTO or
AUTO and overstoring or AUTO and overstoring or
MDA or MDA or
TEACHIN TEACHIN
2 NC Start None NCK start
3 MD20112 Initialization sequence with Initialization sequence with
$MC_START_MODE_MASK evaluation evaluation of MD20112
4 /_N_CMA_DIR/_N_PROG_ as a subroutine Implied call of the path name as
EVENT_SPF or name from a subroutine
MD11620
5 None Processing of the data part of the
main program
6 None Processing of the program part of
the main program

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Event
Part program end

Table 2-7 Sequence at part program end

Sequence Command Boundary conditions Comments

(must be satisfied before the
command)
1 Channel selection: Initial state specification: Select channel and mode,
Active status Channel in Active status channel: in active status and
Mode selection: mode: mode: as per selection
AUTO or AUTO or
AUTO and overstoring or AUTO and overstoring or
MDA or TEACHIN MDA or TEACHIN
2 NC Start Block with end of part program Block is changed
3 MD20110 $MC_ Control activated: Control enabled
RESET_MODE_MASK, Reset sequence with evaluation Reset sequence with evaluation
MD20150 $MC_ of MD 20110 and MD 20150 and
GCODE_RESET_VALUES, MD 20152
MD20152 $MC_
GCODE_RESET_MODE
4 /_N_CMA_DIR/_N_PROG_ as an ASUB Implied call of the path name as
EVENT_SPF or name from an ASUB
MD11620
5 MD20110 $MC_ Control activated: Control activated
RESET_MODE_MASK, Reset sequence with evaluation Reset sequence with evaluation
MD20150 $MC_ of MD20110 and MD20150 and
GCODE_RESET_VALUES, MD20152. Significance:
MD20152 $MC_ The G-code indexed position
GCODE_RESET_MODE continues to be specified with
machine data

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Event
Operator panel reset

Table 2-8 Sequence with operator panel reset

Sequence Command Boundary conditions Comments

(must be satisfied before the
command)
1 Select channel and mode: Initial state: Any mode, any Select mode / channel status
Any channel status from
any state
2 Reset
3 MD20110 $MC_ Control activated: Control activated
RESET_MODE_MASK, Reset sequence with evaluation Reset sequence with evaluation
MD20150 $MC_ of MD20110 and MD20150 and
GCODE_RESET_VALUES, MD20152
MD20152 $MC_
GCODE_RESET_MODE
4 /_N_CMA_DIR/_N_PROG_ as an ASUB Implied call of the path name as
EVENT_SPF or name from an ASUB
MD11620
5 MD20110 $MC_ Control activated: Control activated
RESET_MODE_MASK, Reset sequence with evaluation Reset sequence with evaluation
MD20150 $MC_ of MD20110 and MD20150 and
GCODE_RESET_VALUES, MD20152. Significance:
MD20152$MC_ The G-code indexed position
GCODE_RESET_MODE continues to be specified with
machine data

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Event
Startup

Table 2-9 Table 1–9 Sequence during power-up

Sequence Command Boundary conditions Comments

(must be satisfied before the
command)
1 Reset after power up
2 MD20110 $MC_ Control activated After power-up, control enables
RESET_MODE_MASK, after ramp up: the reset sequence with
MD20150 $MC_ Reset sequence with evaluation evaluation of MD 20110 and MD
GCODE_RESET_VALUES, 20150 and MD 20152
MD20152 $MC_
GCODE_RESET_MODE
3 /_N_CMA_DIR/_N_PROG_ as an ASUB Implied call of the path name as
EVENT_SPF or name from an ASUB
MD11620
4 MD20110 $MC_ Control activated: Control activated
RESET_MODE_MASK, Reset sequence with evaluation Reset sequence with evaluation
MD20150 $MC_ of MD20110 and MD20150 and
GCODE_RESET_VALUES, MD20152. Significance:
MD20152 $MC_ The G-code indexed position
GCODE_RESET_MODE continues to be specified with
machine data

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Chronological sequences
For part program start and part-program end:
Time sequence of the VDI signals DB21, ... DBB35 ("program status" and "channel status")
during the processing of a part program with even-controlled program call-up at part program
start and part program end:

Part _N_PROG_ Part _N_PROG_ _N_PROG_

program EVENT_SPF program EVENT_SPF EVENT_SPF
Start End End active End
Program
status DB21-30
running
, ... DBX35.0)
stopped
, ... DBX35.2)
aborted
, ... DBX35.4)

Channel status
DB21-30

active
, ... DBX35.5)
interrupted
, ... DBX35.6)
Reset
, ... DBX35.7)

Figure 2-9 Time sequence of the interface signals for program status and channel status (1)

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For operator panel reset (SW 6.3 and higher):

Time sequence of the VDI signals DB21, ... DBB35 ("program status" and "channel status")
for processing with event-controlled program call-up:

Operator panel _N_PROG_ _N_PROG_

front reset EVENT_SPF EVENT_SPF
active End
Program
status DB21-30
running
, ... DBX35.0)
stopped
, ... DBX35.2)
aborted
, ... DBX35.4)

Channel status
DB21-30

active
, ... DBX35.5)
interrupted
, ... DBX35.6)
Reset
, ... DBX35.7)

Figure 2-10 Time sequence of the interface signals for program status and channel status (2)

The chronological sequences from SW 6.3 and higher are shown:

Note
DB21, ... DBX35.4 ("Program status aborted") and DB21, ... DBX35.7 ("Channel status
reset") is are only received if _N_PROG_EVENT_SPF has been completed.
Neither DB21, ... DBX35.4 ("Program status aborted") nor DB21, ... DBX35.7 ("Channel
status aborted") are received between the program end and the start of the program event.
This is also the case between an operator panel reset and the start of the program event.

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Special points to be noted

The following must be noted for user program _N_PROG_EVENT_SPF:
• It is run with the lowest priority and can, therefore, be interrupted by the user ASUB.
• The PLC can be advised of the processing status of _N_PROG_EVENT_SPF via user M
functions.
• The triggering event can be defined at the interface via the PLC program:
DB2x, ... DBB376 offers the following information:
0 No active event
Bit 0 = 1 part program start from the channel status RESET
Bit 1 = 1 part program end
Bit 2 = 1 operator panel RESET
Bit 3 = 1 ramp up
Bit 4 = 1 first start after search
Bit 5-7 reserved, currently always 0
The general request to 0 makes it possible to determine whether any of the events is
present. If a running event disappears upon RESET, the associated display bit in the
interface extinguishes.

For very brief events, the corresponding bit remains for at least the duration of a complete
PLC cycle.
• _N_PROG_EVENT_SPF is always processed in the channel in which the corresponding
event has occurred. By scanning MD20000 $MC_CHAN_NAME, it is possible to
determine in program _N_PROG_EVENT_SPF which channel is currently being
processed.
Note: Power-up is an event that takes place in all channels.
• Each time MD20108 $MC_PROG_EVENT_MASK is reconfigured,
/_N_CMA_DIR/_N_PROG_EVENT_SPF must be loaded or enabled. Otherwise, the alarm
14011 "Program _N_PROG_EVENT_SPF does not exist or not enabled for execution" is
output.
• The display can be suppressed in the current block display using the DISPLOF attribute
in the PROC statement.
• A single block stop can be disabled with SBLOF attribute command or via
MD10702 $MN_IGNORE_SINGLEBLOCK_MASK with Bit 0.
The read-in disable and single-block processing behavior can be controlled using
machine data MD20106 $MC_PROG_EVENT_IGN_SINGLEBLOCK and MD20107
$MC_PROG_EVENT_IGN_INHIBIT as follows.
MD20106 $MC_PROG_EVENT_IGN_SINGLEBLOCK
_N_PROG_EVENT_SPF makes a block change in spite of single-block mode without an
additional Start if
Bit 0 = 1 is set after the part program start event
Bit 1 = 1 is set after the part program end event
Bit 2 = 1 is set after the operator panel reset event
Bit 3 = 1 is set after the power-up event
Bit 4 = 1 is set after the first start after search event

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MD 20107: PROG_EVENT_IGN_INHIBIT
_N_PROG_EVENT_SPF changes block in spite of read-in disable if
Bit 0 = 1 is set after part-program-start event
Bit 1 = 1 is set after part-program-end event
Bit 2 = 1 is set after operator panel Reset event
Bit 3 = 1 is set after Power-up event
Bit 4 = 1 is set after first start after search run event
For Bit0 = 1 (program event after part program start) the following limitation applies:
If the program event ends with the part program command "RET", then RET always leads
to an executable block (analogous to M17).
There is no new behavior for Bit0 == 0, i.e., RET is interpreted in the interpreter and does
not lead to an "executable block".
No sequences for start/end of part program are passed:
• If a user ASUB is started from the reset status, the described sequences for the event for
start/end of part program are not passed.
• Settable Prog-Event properties
Machine data MD20109 $MC_PROG_EVENT_MASK_PROPERTIES can be used to
define further properties of "event-driven program calls" for specific channels in SW 6.3
and higher:
– Bit0 = 0: An ASUB started from the RESET channel state is followed
by an "event-driven program call" as in earlier versions
– Bit0 = 1: An ASUB started from the RESET channel state is not followed
by an "event-driven program call"
When starting a part program:
• /_N_CMA_DIR/_N_PROG_EVENT_SPF is executed as a subroutine.
_N_PROG_EVENT_SPF must be ended with M17 or RET.
A return by means of REPOS command is not permitted and triggers alarm 16020
"Repositioning not possible".
Errors in the case of operator panel reset or after powerup:
• If an error is present when the operator panel is reset or after powerup EMERGENCY
STOP or Mode group/NCKContinue, then _N_PROG_EVENT_SPF will only be processed
after EMERGENCY STOP has been acknowledged or the error has been acknowledged
in all channels.
The following always applies to powerup:
• The powerup event occurs in all channels at the same time.

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Event programs

Example for call by all events

For MD20108 $MC_PROG_EVENT = 'H0F', i.e.
call of _N_PROG_EVENT_SPF for
part program start
part program end and operator panel reset
and power-up:
PROC PROG_EVENT DISPLOF
Sequence for part program start

IF ($P_PROG_EVENT == 1)
N 10 MY_GUD_VAR = 0 ; Initialize GUD variable
N 20 M17
ENDIF

Sequence for part program end and operator panel reset

IF ($P_PROG_EVENT == 2) OR ($P_PROG_EVENT
== 3)
N10 DRFOF ; Deactivate DRF offsets
N20 IF $MC_CHAN_NAME == "CHAN1"
N30 CANCEL(2) ; Delete modal synchronized action 2
N40 ENDIF
N50 M17
ENDIF

Sequence for powerup

IF ($P_PROG_EVENT == 4)
N10 IF $MC_CHAN_NAME == "CHAN1"

N20 IDS=1 EVERY $A_INA[1] > 5.0 DO

$A_OUT[1] = 1
N30 ENDIF
N40 M17
ENDIF
M17

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Example for call of operator panel reset

For MD20108 $MC_PROG_EVENT = 'H04'

PROC PROG_EVENT DISPLOF

N10 DRFOF ; Deactivate DRF offsets
N20 M17

Start with RESET key

Control with MD PROG_EVENT_IGN_INHIBIT

The part program whose name is in MD11620 $MN_PROG_EVENT_NAME and which was
stored in one of the directories /_N_CUS_DIR/, /_N_CMA_DIR/, or /_N_CST_DIR/ or the
_N_PROG_ENENT_SPF program (default) is automatically started with the RESET key and
executed up to the end, regardless of any read-in disable, if the following MD settings are
present:
CHANDAT(3)
$MC_PROG_EVENT_IGN_INHIBIT= 'H04F'
$MC_PROG_EVENT_MASK= 'H04F'

Note
For block search (SSL):
If MD11450 $MN_SEARCH_RUN_MODE Bit 1 = TRUE, activation of the last action block
also implicitly activates ”Automatic ASUB start” after block search of
/_N_CMA_DIR/_N_PROG_EVENT_SPF.
For further explanation, refer to ”Automatic start of an ASUB after block search” in the
"Program Test" section.
For further explanation of power-up of the control, see
References: /IAD/ Start-up Instructions "Switch-on and Ramp up"

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2.7.13 Control and effect on stop events

Controlling stop events

Stop events can be controlled for a particular program area in a program section. This
program section is designated as a stop-delay section and is activated/deactivated via
language commands:
• Activation: DELAYFSTON
• Deactivate: DELAYFSTOF
References:
/PGA/ Programming Guide Advanced
NCK events that can be stopped on short notice and whose reaction can result in the stop
delay area for a program section are evaluated according to the following criteria:
• Immediate
Stops immediately even in the stop delay area. Is known as a "hard stop event".
• Delayed
Stop (even a short term stop) takes place after the stop delay area. Is known as a "soft
stop event".
• Alarm 16954
Program is aborted because illegal program commands have been used in the stop delay
area.
• Alarm 16955
Program is resumed because an illegal action has taken place in the stop delay area.
• Alarm 16957
The program area (stop delay area) enclosed by DELAYFSTON and DELAYFSTOF
could not be activated. As a result, every stop will take effect immediately and is not
subject to a delay! This will always occur when the deceleration begins before the stop
delay area but ends within the stop delay area. Likewise, if the stop delay area is entered
with an override of 0, the stop delay area also cannot be activated. (example: a G4 before
the stop delay section allows the user to reduce the override to 0. The next block in the
stop delay section then begins with override 0 and the described alarm situation occurs.)
MD11411 $MN_ENABLE_ALARM_MASK Bit 7 activates this alarm.

Stop event
• A stop event can be triggered by the following

Event Classification
VDI interface signals from the PLC "Hard" stop event
Alarms with NOREADY response "Hard" stop event
Stop key "Soft" stop event
Read-in disable "Soft" stop event
Single block "Soft" stop event

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Note
Some NCK events are stopped for a short time, in order to perform a switching operation,
and restarted immediately. These include e.g., the ASUB that stops the contour briefly in
order to then start the ASUB program immediately. These events are also allowed in the
stop delay area, however they are pushed back to its end and are thus considered "soft stop
events".

Boundary conditions
The following exceptions apply while a stop delay area is being processed:
• A change in the feed is ignored while in the stop delay area. A feed disable is thus not
effective until the program area has been exited, and is stopped.
• None of the main run axes, such as command axes and positioning axes, which are
traversed with POSA, is stopped.
• Part program command G4 is permitted in the stop delay area. Other part program
commands that cause a stop in the meantime (e.g., WAITM) are not permitted and trigger
"Alarm 16954".
• If a STOP DELAY AREA with an override of 0% is entered, the STOP DELAY AREA will
not be accepted!

Table 2-10 Summary of NCK events, which stop at least for short time

NCK events Response Stop criteria

Reset and mode group RESET immediate IS: DB21, ... DBX7.7 and DB11, ... DBX20.7
PROG_END Alarm 16954 NC prog.: M30
Interrupt delayed IS: "FC-9" and ASUP DB10, ... DBB1
DELDISTOGO_SYNC immediate IS: "Delete distance-to-go" DB21, ... DBX6.2 and axial
PROGRESETREPEAT delayed IS: "Clear number of subprogram passes" DB21, ...
DBX6.3
PROGCANCELSUB delayed IS: "Program level abort" DB21, ... DBX6.4
SINGLEBLOCKSTOP delayed In the stop delay area: NC stops at end of 1st block
outside stop delay area
Single-block already active before stop delay area:
IS: "NC Stop at block limit" DB21, ... DBX7.2
SINGLEBLOCK_IPO delayed IS: "Activate single-block type 1" DB11, ... DBX21.7
SINGLEBLOCK_DECODIER delayed IS: "Activate single-block type 2" DB11, ... DBX21.6
STOPALL immediate IS: DB21, ... DBX7.4 and DB11, ... DBX20.6
STOPPROG delayed IS: DB21, ... DBX7.3 and DB11, ... DBX20.5
OVERSTORE_BUFFER_END_REACHED Alarm 16954 NC prog.: Stop because of empty overstore buffer
PREP_STOP Alarm 16954 NC prog.: STOPRE and all implicit Stopres
PROG_STOP Alarm 16954 NC prog.: M0 and M1
STOPPROGATBLOCKEND delayed IS: "NC Stop at block limit" DB21, ... DBX7.2

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NCK events Response Stop criteria

STOPPROGATSUPEND System fault SR end should always deselect the stop delay section.
WAITM Alarm 16954 NC prog.: WAITM
WAITE Alarm 16954 NC prog.: WAITE
INIT_SYNC Alarm 16954 NC prog.: INIT with parameter "S"
MMCCMD Alarm 16954 NC prog.: MMC( STRING, CHAR )
PROGMODESLASHON delayed IS: DB21, ... DBB26 Activate/switch over skip block
PROGMODESLASHOFF delayed IS: DB21, ... DBB26 deactivate skip block
PROGMODEDRYRUNON delayed IS: DB21, ... DBX0.6 Activate DryRun
PROGMODEDRYRUNOFF delayed IS: DB21, ... DBX0.6 Deactivate DryRun
BLOCKREADINHIBIT_ON delayed IS: DB21, ... DBX6.1 Activate read-in disable
STOPATEND_ALARM immediate Alarm: Alarm configuration STOPATENDBYALARM
STOP_ALARM immediate Alarm: Alarm configuration STOPBYALARM
STOPATIPOBUFFER_ISEMPTY_ALARM immediate Internal: Stop after alarm on empty IPO buffer
STOPATIPOBUF_EMPTY_ALARM_REORG immediate Internal: Stop after alarm on empty IPO buffer
RETREAT_MOVE_THREAD Alarm 16954 NC prog.: Alarm 16954 with LFON (stop and fastlift
in G33 not possible)
WAITMC Alarm 16954 NC prog.: WAITMC
NEWCONF_PREP_STOP Alarm 16954 NC prog.: NEWCONF
BLOCKSEARCHRUN_NEWCONF Alarm 16954 NC prog.: NEWCONF
SET_USER_DATA delayed OPI: PI "_N_SETUDT"
SYSTEM_SHUTDOWN immediate System shutdown for SINUMERIK 840Di
ESR delayed Extended stop and retract
EXT_ZERO_POINT delayed External work offset
STOPRUN Alarm 16955 OPI: PI "_N_FINDST" STOPRUN

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2.7.14 Asynchronous Subroutines (ASUBs), Interrupt Routines

Overview
Interrupt inputs allow the NC to interrupt the current NC processing operation so that it can
react to more urgent events in interrupt routines or ASUBs.

Note
Interrupt routines can be called if the mode group is in program operation mode, i.e., in
cases where part program blocks are being processed in either AUTOMATIC or in MDA
mode. This restriction is reduced in "Calling the ASUB outside program operation".

Main program/subroutine Interrupt routine

%100
Assign one routine to one event
N10 SETINT ... and switch to "ready"

N20 ...
Block being ABHEB_Z
processed N30 ...

N40 ... Event N10 R1=34 ...

(input switched)
N50 ...
N20 X ...Y ...
N60 ...

N70 ...
N80 ...
M17
N90 ...

N100 ...

N110 ... Return possible

N120 M30

Figure 2-11 Working with interrupt routines

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Interrupt routines/ASUBs
Term
Identical functionality is identified by the terms ASUB and Interrupt routines. In the following
text therefore, only the term interrupt routine is now used.
• Interrupt routines are normal part programs, which are started by interrupt events
(interrupt inputs, process or machine status) related to the machining process or the
relevant machine status. Any part program block currently being executed will be
interrupted by the routine if it is not specifically declared to be locked against interruption.
It is possible to continue the subroutine at the point of interruption at a later stage.
• Where several interrupt routines exist, they have to be given different levels of priority so
that incoming activation signals arriving at the same time can be placed in a certain order.
• Interrupt routines can be activated from the PLC program by means of a "Function call".

Interrupt signals
A total of 8 interrupt signals are available.
All inputs can be controlled via the PLC.
The first four interrupt signals are also controlled via the 4 rapid NC inputs of the NCU
module (X121).
The signal state of the rapid NC inputs can be read out via the PLC interface (DB10).
Transmission of the rapid NC input signals to the interrupt signals can be disabled via the
PLC interface (DB10).

4 rapid NC inputs

PLC interface

4 interrupt signals 4 interrupt signals

Figure 2-12 Interrupt signals

For further information about PLC control of the rapid NC inputs (interrupt signals) see:
References:
/FB1/ Function Manual Basic Functions; PLC Basic Program (P3)
/FB2/ Function Manual Extended Function; Digital and Analog NCK peripherals (A4)

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Parameterization by SETINT
An interrupt signal must be assigned to the part programs via NC instruction SETINT. This
turns the part program into an interrupt routine.
The following parameters can be used in the SETINT instruction:
• LIFTFAST: When the interrupt signal arrives, a "Fast retraction of the tool from the
contour" is executed before the interrupt routine starts. The motion direction for the fast
retraction is specified by NC address ALF.
• BLSYNC: If this parameter is set, the current program block is processed and only then is
the interrupt routine started.
Variants for LIFTFAST fast retraction
If mirroring is active for execution via frames, machine data
MD21202 $MC_LIFTFAST_WITH_MIRROR can be used to control whether the direction of
retraction is to be mirrored as well during fast retraction.
The displacement for the fast retraction is stored for the 3 geometry axes in MD21200
$MC_LIFTFAST_DIST (Displacement during fast retraction from contour).
For parameterized LIFTFAST (fast retraction), the max. axis acceleration for positioning
operations of MD 32300: MAX_AX_ACCEL is reduced by the factors input into the machine
data MD20610 $MC_ADD_MOVE_ACCEL_RESERVE (acceleration reserve for
superimposed movements).

Activation of interrupt routine

Interrupt routines can be activated by two different methods:
• By a 0/1 transition of the interrupt signal, triggered by a 0/1 transition at the rapid NC
input
• By the call of function call ASUPST (/B1/, /P3/)
Upon activation, all machine axes are decelerated to a standstill according to the
acceleration ramp
(MD32300 $MA_MAX_AX_ACCEL (axis acceleration)), and the axis positions are stored.

Reorganizing
In addition to decelerating the axes, the previously decoded calculation blocks are calculated
back to the interruption block. i.e., all the variables, frames and G codes are assigned the
value that they would have at the point of interruption if the part program had not been
previously decoded. These values are put in the buffer so that they can be called up again
when the interrupt routine is completed.
Exceptions, where no reorganization is possible:
• In thread cutting blocks
• With complex geometries (e.g., spline or radius compensation)

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Processing of interrupt routine

The "Interrupt" program is automatically started on completion of reorganization. It is treated
as a normal subroutine by the system (nesting depth etc.) and is also displayed on the
operator panel front.

End of interrupt routine

After the end identifier (M02, M30, M17) of the "Interrupt" routine has been processed, the
axis traverses by default to the end position programmed in the part program block following
the interruption block.
A REPOS instruction must have been programmed at the end of the "interrupt" routine if
return positioning to the point of interruption is required, e.g. REPOSL M17.

Part program: Interrupt routine:

PROGNAME INTER
N10 ... N101...
N20 Y20 N102...
N30 X60 N103...
N40... N104 REPOSL M17
N50 M30
End point of interrupt routine
N104
Standard (with G91)
Traversing distance of
interrupt routine

Path with
REPOSL
Standard (with G90)
N101

N20
N30

Point of interruption N40

Figure 2-13 End of interrupt routine

Flexible programming
SAVE command
If the SAVE command has been used to define the interrupt routine, the G codes, frames
and transformations previously active in the interrupted part program become operative
again as soon as the interrupt routine is ended.
Interrupt disable DISABLE, ENABLE
The DISABLE command can be set to protect part program sections from being interrupted
by an interrupt routine. The assignment interrupt signal <-> part program is maintained but
the interrupt routine does not respond to the 0/1 signal transition.
The DISABLE command can be reset with the ENABLE command. Interrupt routines are not
activated until the next 0/1 transition of the interrupt signal.

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Clear assignment
The assignment interrupt signal <-> part program is cleared when the following happens:
• Channel in Reset state
• CLRINT instruction in part program.
For additional information on interrupt handling with regard to SETINT, DISABLE, ENABLE,
CLRINT and REPOS (e.g. syntax), see
Reference:
/PGA/ Programming Guide Advanced, Section "Flexible NC programming".

2.7.15 Calling the ASUB outside program operation

ASUB activation states

ASUBs/interrupt routines can also be enabled in the program states or operating modes
listed below, in addition to AUTOMATIC mode and MDA:
• JOG, JOG REF
• MDA Teach In, MDA Teach In REF, MDA Teach In JOG, MDA REF, MDA JOG
• AUTOMATIC, stopped, ready
• Not referenced
be activated.
If an interrupt routine is activated in JOG or REF mode, it will interrupt any jogging and
referencing operations in progress.

Starting conditions
Machine data MD11602 $MN_ASUP_START_MASK can be used to enable the start of
ASUBs for conditions under which ASUBs are otherwise locked by default.
• Stop by means of Stop key, M0, M01
• Not all axes are referenced yet
• Readin disable is active

Details

Explicit ASUB start

If MD11602 $MN_ASUP_START_MASK is set such that the ASUB may not be started
automatically, the routine can still be activated by the Start key. Any rapid retraction that may
be parameterized is always started.

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Priorities
Machine data MD11604 $MN_ASUP_START_PRIO_LEVEL can be used to specify the
minimum priority level that the settings in MD11602 $MN_ASUP_START_MASK are to affect
(1-128, 1 corresponds to the highest priority level). The priority specified in this machine data
covers all priority levels from 1 up to the specified level.

Effect of VDI signals on mode group channels

Machine data MD11600 $MN_BAG_MASK can be set to control the effect of mode group
signals (mode group reset, mode group stop axes and spindles, mode change disable) on
mode group channels in which interrupt routines are currently being processed.
The machine data also defines whether the internal program execution mode applies only to
the one channel in which the interrupt routine has been activated or to all channels in the
mode group.
If, via MD 11600 $MN_BAG_MASK, the channel in which the interrupt is running has left the
mode group, the mode group signals Mode Group RESET, Mode Group STOP, and Mode
Group STOPALL have no effect on this channel. In this way the ASUP can proceed
unhindered by mode group signals.

NC response
The following table describes the NC response in the individual operational states:

Status of NC Start of ASUB Control system reaction

Program is active Interrupt, (PLC) Rapid retraction or stop axes
Interruption of program for duration of ASUB
Approach to interruption point if ASUB contains REPOS
Continuation of part program.
RESET Interrupt, (PLC) The ASUB is executed like a main program. RESET (without M30) is
executed at the end of the ASUB. The next control system status
depends on the following machine data:
MD20110 $MC_RESET_MODE_MASK
MD20112 $MC__START_MODE_MASK
References: /FB1/, K2, "WorkpieceRelated Actual Value System"
Program mode Interrupt, (PLC) ASUB is executed. At the end of the ASUB the STOP state is
AUTOMATIC or MDA and reapplied.
channel stopped REPOS in the ASUB:
- The ASUB processing is stopped before the approach block. - The
approach movement can be initiated with the Start key.
Start key Once the ASUB has been executed, processing of the interrupted
program is resumed.
Manual mode, Interrupt, (PLC) Control system assumes the status "internal program execution
Channel stopped mode" for the addressed channel (not evident externally) and then
activates the ASUB. The selected operating mode remains valid. The
original status is resumed after execution of the ASUB (M17).
JOG Interrupt, (PLC) Stop processing, evaluate:
AUTO Teach-In, MD11602 $MN_ASUB_START_MASK
AUTO Teach reference MD11604 $MN_ASUB_START_PRIO_LEVEL
pnt. internal switchover to "internal program execution mode" if

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Status of NC Start of ASUB Control system reaction

MDA JOG, Interrupt, (PLC)
MDA Teach-In,
MDA Teach reference pnt.
Manual mode, Interrupt, (PLC) The current active motion is stopped. The distancetogo is deleted.
Channel running The remaining sequence of operations is the same as for "Manual
mode, channel stopped".
Processing of The signal "Interrupt request not possible" is generated.
INITIAL.INI,
block search, ASUB cannot be
alarm, which cannot be started
reset by an NC start,
digitizing activated,
channel in error state

ASUB activation
ASUBs can also be activated by using synchronized actions to set outputs that enable the
input of the interrupt indirectly by short-circuit.
Example:
1. Define number of active digital I/Os
FASTIO_DIG_NUM_INPUTS=3
FASTIO_DIG_NUM_OUTPUTS=3
2. Generate a short-circuit with the following MDs
FASTIO_DIG_SHORT_CIRCUIT[0]='H0102B102'
FASTIO_DIG_SHORT_CIRCUIT[1]='H0202B202'
3. Hardware assignment of external NC input byte for NC program interrupt
SETINT_ASSIGN_FASTIN=2 ; better to use 1 byte more than needed
4. SETINT (1) PRIO=1 SYNCASUP; Define input as ASUB trigger
5. IDS=1 EVERY $$AC_PATHN>=0.5 DO $A_OUT_[9]=1
References:/FBSY/, Synchronized Actions

ASUB with or without REPOS

ASUB sequences may be generated for which there is no unambiguous return to an
interruption point in the block processing sequence. System variable: $P_REPINF can be
used to scan the ASUB to determine whether a REPOS is possible.

System variable: $P_REPINF

Value Meaning
0 Repositioning with REPOS not possible because:
- not called in ASUB
- ASUB executed from RESET state
- ASUP executed from JOG
1 Repositioning with REPOS possible in ASUB

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Acknowledgment signal DB21, ... DBX318.0

Control systems can also be stopped/started from AUTOMATIC mode automatically prior to
the end of the ASUB. In the stopped state, the VDI acknowledgement signal DB21, ...
DBX318.0 (ASUB is stopped) can be set on the PLC interface.

ASUB with REPOSA

An ASUB with REPOSA can be initiated in the AUTOMATIC status.
Example:

; ASUP program
;
N10 G0 G91 ;
N20 Y10 ;
N30 X20 ;
N40 REPOSA ;

If an ASUB is started after the accumulated part program blocks have been output, the NCK
will stop before executing the REPOSA block and the following interface signal is set:
NST DB21, ... DBX318.0 = 1 (ASUB is stopped)

Note
In the situation described above, the signal: “ASUB done” is not yet set by PLC function
block FC9.
When an ASUB is completed without REPOS, the signals
"Asub–Done" and
NST DB21, ... DBX318.0 (ASUB is stopped) coincide.

Starting ASUBs in spite of active read-in disable and/or IPO single block (SBL1)
To start ASUBs despite active read-in disable:
DB21, ... DBX6.1 == 1 (read-in disable) or IPO single block (SBL1)
the machine data must be parameterized as follows:
• MD10702 $MN_IGNORE_SINGLEBLOCK_MASK (Note prevention of single-block stop)
• MD11602 $MN_ASUP_START_MASK (Ignore stop conditions for ASUBs)
• MD20116 $MC_IGNORE_INHIBIT_ASUP (execute interrupt program in spite of read-in
disable)
• MD20117 $MC_IGNORE_SINGLEBLOCK_ASUP (Execute interrupt routine in single
block completely)

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Cross-mode Start of ASUBs

Requirements:
• Option: Cross-mode actions (Order no.: 6FC5 251-0AD04-0AA0)
• MD11602 $MN_ASUP_START_MASK, at least Bit 0 = 1
For error-free execution of the function, the following settings in particular must be noted:
• MD11600 $MN_BAG_MASK
• MD11604 $MN_ASUP_START_PRIO_LEVEL
• Interrupt assignment priority
Recommended settings:
• MD11600 $MN_BAG_MASK = H11
• MD11602 $MN_ASUP_START_MASK = H111
• MD11604 $MN_ASUP_START_PRIO_LEVEL = 7

2.7.16 Userdefined system ASUBs

Introduction
The SW supplied with the NCK contains preprogrammed processes (internal ASUBs) for
implementation of the RET and REPOS functions. They can be replaced by ASUBs written
by the machine tool manufacturer.

Handling

Replacement of system routine

MD 11610 MN_ASUB_EDITABLE controls which of the system routines are to be replaced
by user-defined routines.

Value Meaning
0 The user-defined routine stored in _N_ASUP_SPF in directory _N_CUS_DIR
is not activated for either RET or REPOS.
1 The user-defined routine is activated for RET,
the routine provided in the system is activated for REPOS.
2 The user-defined routine is activated for REPOS,
the routine provided in the system is activated for RET.
The following diagram illustrates which routines are used:

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ASUP_EDITABLE NCK system SW

User SW
_N_ASUP_SPF System System
ASUB ASUB
RET REPOS
0

System
User 1 ASUB
RET REPOS

User System
REPOS ASUB
2 RET

Value stored in MD 11610

Figure 2-14 Replacing system ASUBs with user routines

Installation of user system ASUBs

One routine named _N_ASUP_SPF can be loaded in directory _N_CUS_DIR. You must
implement the actions desired by the user for:
RET for value 1 in MD11610
REPOS for value 2 in MD11610

$AC_ASUP

Bit 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
RET 1 1 * 1
REPOS 1 1 1 1 1 1 1 1 * 1 1 1

*)If Bit 9 is set, then the branch is determined by MD20114: MODESWITCH_MASK starting
with:
Bit 0 is set in MD 20114: →RET
Bit 0 in MD20114 not set: →REPOS

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Meaning of bits
The meaning of the bits of system variable $AC_ASUP is as follows:

Bit Meaning
0 User interrupt "ASUB with Blsync"
Continuation: Freely selectable REORG or RET
1 User interrupt "ASUB"; The position at which the routine was stopped is stored for
continuation with REPOS.
Continuation: Freely selectable REORG or RET
2 User interrupt "ASUB from channel status Ready"
Continuation: Freely selectable REORG or RET
3 User interrupt "ASUB in a manual mode and in channel status Not
Ready"
Continuation: Freely selectable REORG or RET
4 User interrupt "ASUB"; the current position as the interrupt occurred is stored for
continuation with REPOS.
Continuation: Freely selectable REORG or RET
5 Abortion of subroutine repeat
Continuation: With system ASUB REPOS
6 Activation of decoder single block
Continuation: With system ASUB REPOS
7 Activation of delete distance-to-go
Continuation: With system ASUB RET
8 Activation of axis synchronization
Continuation: With system ASUB REPOS
9 Operating mode switchover
Continuation: On system ASUB REPOS or RET depending on MD11610
10 Program continuation during Teach In or after Teach In deactivation
Continuation: With system ASUB RET
11 Overstore selection
Continuation: With system ASUB REPOS
12 Alarm with reaction correction block with REPOS
Continuation: With system ASUB REPOS
13 Retraction motion with G33 and stop
Continuation: With system ASUB RET
14 Activation of dry run feedrate
Continuation: With system ASUB REPOS
15 Deactivation of dry run feedrate
Continuation: With system ASUB REPOS
16 Activation of skip block
Continuation: With system ASUB REPOS
17 Deactivation of skip block
Continuation: With system ASUB REPOS
18 Activate machine data
Continuation: With system ASUB REPOS
19 Activate user data
Continuation: With system ASUB REPOS

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User ASUB
User routine protection level
If a userdefined routine is to be used, i.e., if a value other than 0 is in MD 11610:
ASUP_EDITABLE, a protection level can be defined for userspecific routine _N_ASUP_SPF.
The protection level can be set to values between 0 and 7 and must be entered in MD11612
$MN_ASUB_EDIT_PROTECTION_LEVEL. For further information about protection levels,
refer to:
References: /IAD/, Installation and Start-Up Guide, Protection Level Concept
Single-block processing
Bit 0 in machine data MD10702 $MN_IGNORE_SINGLEBLOCK_MASK determines whether
internal ASUBs or the described user ASUBs are to be executed without interruption after
every block even when single-block processing is selected:

Bit 0 set: Internal ASUBs are not stopped in any block.

Bit 0 not set Internal ASUBs are stopped in every block.

Danger
The machine manufacturer is responsible for the contents of ASUB routines used to replace
ASUP.SYF supplied by Siemens.

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2.8 2.8 Single block

Block-by-block processing
With the single-block function, the user can execute a part program block-by-block.

Single-block types
There are 3 types of setting for the single-block function:
• SBL1 := IPO single block
When the SLB1 function is active, machining stops or pauses after each machine action
block (Ipo block).
• SBL2 := Decode single block
When the SLB2 function is active, machining always stops or pauses after each part
program block. If a part program block is processed in several IPO blocks, machining
stops after every Ipo block. Thread cutting is an exception.
• SBL3 := Decode single block
As for SLB2, but machining also stops in the part program blocks of the cycles.

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1. Stopping after every block is undesirable in many situations and/or with certain blocks.
– 1. Example:
Change to jog, if it cannot be reorganized or
repositioned, MD10702, bit 6 and 7.
If the stop occurs at the end of the block in a block, which cannot be
reorganized or repositioned, the jog mode cannot be selected in this situation
.
– 2. Example:
Change after JOG operation to a STOPRE block,
MD10702, bits 6 and 7
If AUTO mode is changed to Jog mode while a
STOPRE block is active, in addition to system ASUB2, a continuation start will be
followed by
one residual block and one or possibly (with
decoder single block) two more STOPRE blocks. A logic operation,
which always triggers a part program start in single block
and then always changes to Jog mode, remains
at the STOPRE block indefinitely.
– 3. Example:
DISPOF: Deactivate block display, MD10702, bits 6 and 7
If DISPOF is programmed in a subroutine, the block display
is suppressed. The operator must continuously
press Start blindly in the single block up to the end of the subroutine.
2. When single block is deactivated there is no stop at end of block.
3. When STOPRE blocks are displayed, the main run and preprocessing are synchronized
in the decoding single block.
The following sections describe how to control the behavior of single blocks and prevent
stops in particular situations.

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2.8.1 Decoding single block SBL2 with implicit preprocessing stop

Asynchronicity
As a result of preprocessing of part program blocks, the reference between the current block
display relative to the main run status of the NCK and the variable values displayed on the
HMI can be lost. The operator display then shows implausible variable values.

Preprocessing stop for each block

With channel-specific setting data SD42200 $SC_SINGLEBLOCK2_STOPRE, a
preprocessing stop is executed on every block when SBL2 is active. This suppresses
preprocessing of part program blocks and maintains the relationship between the current
block display and the variable values display.

Note
This variant of SBL2 does not maintain an accurate contour. In other words, as a result of
the preprocessing stop, a different contour may be generated from the one created without
single-block mode or with SBL1.
Application: Debug mode for testing part programs.

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2.8.2 Single-block stop: Suppression using SBLOF

Single block off

Programs identified by the language command SBLOF are executed completely in one block
as with every type of single block.
SBLOF is also valid in subroutines, which are called.

SBLOF
Example for subroutine without stop in single block:

PROC EXAMPLE SBLOF

G1 X10
RET

At the return command, the decision is made whether to stop at the end of the subprogram:

Return jump with M17 Stop at the end of the subprogram

Return jump with RET No stop at end of subroutine

SBLOF in the program

SBLOF must be alone in a block. With effect from this block, single-block stop is deactivated
until the next programmed SBLON or until the end of the active subroutine level.
If SBLOF is active, this also applies in subroutines, which are called.
Example for an area in single block mode
The area between N20 and N60 is executed as one step in single-block mode.

N10 G1 X100 F1000

N20 SBLOF ; Deactivate single block
N30 Y20
N40 M100
N50 R10=90
N60 SBLON ; Reactivate single block
N70 M110
N80 ...

Asynchronous subprograms
The system-internal asynchronous subroutines ASUP1.SYF and ASUP2.SYF, started via
REORG/REPOS, can process the system ASUB in one step via programming of SBLOF.

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Example: ASUP.SPF:

N10 SBLOF
N20 IF $AC_ASUP==’H200’
N30 RET ; No REPOS on mode change
N40 ELSE
N50 REPOSA ; REPOS in all other cases
N60 ENDIF
N70 RET

Constraints
• The current block display can be suppressed in cycles using DISPLOF.
• If DISPLOF is programmed together with SBLOF, the cycle call continues to be displayed
on single-block stops within the cycle.
• The preset behavior of asynchronous subroutines in single block mode specified in
MD20117 MC_IGNORE_SINGLEBLOCK_ASUP can be overwritten on a program-
specific basis using SBLOF.

Cycle
Example 1:A cycle is to act like a command for a user.
Main program:

N10 G1 X10 G90 F200

N20 X-4 Y6
N30 CYCLE1
N40 G1 X0
N50 M30

Program cycle:1

N100 PROC CYCLE1 DISPLOF SBLOF ; Suppress single block

N110 R10=3*SIN(R20)+5
N120 IF (R11 <= 0)
N130 SETAL(61000)
N140 ENDIF
N150 G1 G91 Z=R10 F=R11
N160 M17

CYCLE1 is processed for an active single block, i.e., the Start key must be pressed once to
process CYCLE1.

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Example 2: An ASUB, which is started by the PLC in order to activate a modified zero offset
and tool offsets, is to be executed invisibly.

N100 PROC ZO SBLOF DISPLOF

N110 CASE $P_UIFRNUM OF 0 GOTOF
_G500 1 GOTOF _G54 2 GOTOF _G55 3 GOTOF _G56 4
GOTOF _G57 DEFAULT GOTOF END
N120 _G54: G54 D=$P_TOOL T=$P_TOOLNO
N130 RET
N140 _G54: G55 D=$P_TOOL T=$P_TOOLNO
N150 RET
N160 _G56: G56 D=$P_TOOL T=$P_TOOLNO
N170 RET
N180 _G57: G57 D=$P_TOOL T=$P_TOOLNO
N190 RET
N200 END: D=$P_TOOL T=$P_TOOLNO
N210 RET

2.8.3 Single-block stop: inhibit according to situation

Suppress stopping in single cases

Depending on MD10702 $MN_IGNORE_SINGLEBLOCK_MASK, setting bits 0 to 12 = 1 can
suppress stopping at the end of the block during the following processing operations.
Program execution must not stop after single blocks in the case of the following even if
block-by-block processing is selected:
1. An internal Asub
2. A user Asub
3. Subroutines with the attribute DISPLOF
4. Intermediate blocks
5. Block search group blocks
6. Init blocks
7. Blocks, which cannot be reorganized
8. Blocks, which are not repositionable
9. A repositioning block, which contains no traversing information
10.A prerun/main run/synchronization block, due to REORG
11.at a Tool selection block.
12.At a GET block
13.During a single block type 2

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Sequence
If an ASUB is activated during the single block, for example, execution of the ASUB is
completed. The deceleration movement does not take place until after the end of the ASUB
or the first Ipo block in which single-block suppression is not activated. If the velocity is too
large for the deceleration to be performed in this block (with continuouspath mode G64
active), further block changes are allowed.
For decoding single block, MD10702 is only effective with "internal ASUB", "user ASUB" and
"subroutines with the attribute DISPLOF". In these cases, it is already clear at the time of
interpretation that the block belongs to one of the above categories. In these cases, further
blocks can be generated.

SBLON in ASUB
The single block stop of an internal ASUB or user ASUB that is suppressed with MD10702
$MN_IGNORE_SINGLEBLOCK_MASK can be activated again by programming SBLON in
the ASUB.
This functionality can be suppressed again with MD20117
$MC_IGNORE_SINGLEBLOCK_ASUB. which disables the command SBLON.

Boundary conditions
The following restriction applies to decoding single block SBL2:
• Block search approach blocks
• Block not in ASUB; DISPLOF, SBLOF
• Non-reorganizable and non-repositionable blocks
• Blocks that are not generated in the interpreter, e.g., intermediate blocks

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2.8.4 Single-block behavior in mode group with type A/B

Classifying channels
One mode group channel must be classified as a single-block control channel (KS), while the
other mode group channels must be classified as dependent channels (KA) via interface
signal. Type A or type B single-block behavior can be selected for KA channels.
Type A determines Stop (analogous to STOP key).
Type B determines Stop (analogous to stop at block limit).

Channel classification
In one channel (KS) in a mode group, the user should select single-block (NST DB21 ...
DBX0.4 (activate single block)). Single-block type A or B refers to other channels (KA) of a
mode group.

Mode group
Channel 1 KS Channel 2 KA Channel 3 KA ... Channel n KA

Behavior can be selected via type A or type B

Figure 2-15 Channel classification for single block in mode group 1

Type A, NST DB11, … DBX1.7=1 (single block type A)

- All channels are stopped.
- All channels receive a start (Start key).
- Channel KS stops at the end of the block (due to single-block)
- Channels KA receive a STOP. (analogous to STOP key).
- All channels are stopped. (deceleration phase of all KAs)

Type B, NST DB11, ... DBX1.6=1 (single block type B)

- All channels are stopped.
- All channels receive a start
- Channel KS stops at the end of the block
- Channels KA receive a STOPATEND.
(analogous to NST DB21, ... DBX7.2 (NC stop at the block limit).
- All channels are stopped at a block limit (at some point in time).

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2.9 2.9 Program control

Options
1. Function selection (via operator interface or PLC)
2. Activation of skip levels
3. Adapting the size of the interpolation buffer
4. Program display modes via an additional basic block display
5. Execution from external source (buffer size and number)
6. Execution from external subroutines

2.9.1 Function selection (via operator panel front or PLC)

Operator interface or PLC

The user can control part program execution via the operator panel front or PLC.

Selection, activation, feedback

Selection
Different functions are available under the Program control soft key. Selection affects an
interface signal in the PLC. These signals are to be understood as selection signals from the
operator interface, and do not activate the selected function.
Activation
These signal states must be transferred to another area of the data block to activate the
selected function. With program control by the PLC the signals are to be set directly.
Feedback
The activated functions are partly signaled back to the PLC from the NCK.

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Table 2-11 Program control: Interface signals

Function Selection signal Activation signal Feedback signal

SKP skip block 0 to 7 DB21, ... DBX26.0- 26.7 DB21, ... DBX2.0- 2.7 ---
SKP skip block 8 to 9 DB21, ... DBX27.0- 27.1 DB21, ... DBX31.6- 31.7
DRY dry run feedrate DB21, ... DBX24.6 DB21, ... DBX0.6 DB21, ... DBX318.6
ROV Rapid traverse override DB21, ... DBX25.3 DB21, ... DBX6.6 ---
Single block: Preselection of SBL1, SBL2 or SBL3 via program control display of HMI
SBL1: Action single block HMI operator panel DB21, ... DBX0.4 ---
SBL2: Decoding single block
SBL3: In cycle
M01 (Programmed stop) DB21, ... DBX24.5 DB21, ... DBX0.5 DB21, ... DBX32.5
Associated M01 DB21, ... DBX24.4 DB21, ... DBX30.5 DB21, ... DBX318.5
DRF selection DB21, ... DBX24.3 DB21, ... DBX0.3 DB21, ... DBX33.3
PRT program test DB21, ... DBX25.7 DB21, ... DBX1.7 DB21, ... DBX33.7
References:
/FB1/ Function Manual Basic Functions; NC/PLC Interface Signals (Z1)
/BAD/ Operating Instructions HMI Advanced "Machine Operating Area"

2.9.2 Activation of skip levels

/, /0, ... /9
It is possible to skip blocks, which are not to be executed every time the program runs.
Blocks to be skipped are indicated in the part program by an oblique "/" before the block
number.
The skip levels in the part program are specified by"/0" to "/7".
Only one skip level can be specified per part program block:

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Number of levels
MD9423 $MM_MAX_SKP_LEVEL is used to define the number of skip levels.
Example signals:
Blocks, which are not to be executed in every program pass (e.g., program test blocks) can
be skipped according to the following diagram.
/ ; block skipped, (DB21, ... DBX2.0) 1. skip level
/ N005 ; block skipped, (DB21, ... DBX2.0) 1. "
/0 N005 ; block skipped, (DB21, ... DBX2.0) 1. "
/1 N010 ; block skipped, (DB21, ... DBX2.1) 2. "
/2 N020 ; block skipped, (DB21, ... DBX2.2) 3. "
/3 N030 ; block skipped, (DB21, ... DBX2.3) 4. "
/4 N040 ; block skipped, (DB21, ... DBX2.4) 5. "
/5 N050 ; block skipped, (DB21, ... DBX2.5) 6. "
/6 N060 ; block skipped, (DB21, ... DBX2.6), 7. "
/7 N070 ; block skipped, (DB21, ... DBX2.7) 8. skip level
/8 N080 ; block skipped, (DB21, ... DBX31.6), 9. skip level
/9 N090 ; block skipped, (DB21, ... DBX31.7) 10. skip level
The 10 skip levels "/0" to "/9" are activated by the PLC setting the PLC -> NCK interface
signals.
The function is activated from the HMI via the "Program control" menu in the Machine
operating area for skip levels
• "/0" to "/7" via interface HMI -> PLC DB21, ... DBB26 (block skipping selected).
• "/8" to "/9" via interface HMI -> PLC DB21, ... DBX27.0 to DBX27.1.
References: /BAD/ Operator's Guide HMI Advanced; "Machine Operating Area"

Note
The levels to be skipped can only be changed when the control is in the STOP/RESET state.

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2.9.3 Adapting the size of the interpolation buffer

MD28060
The channelspecific interpolator executes prepared blocks from the interpolation buffer
during the part program run. The maximum number of blocks requiring space in the
interpolation buffer at any given point in time is defined by memoryconfiguring MD 28060
$MM_IPO_BUFFER_SIZE. For some applications it may be meaningful not to use the full
buffer capacity in order to minimize the "interval" between preparation and interpolation.

SD42990
Setting data SD42990 $SC_MAX_BLOCKS_IN_IPOBUFFER can be used to dynamically
limit the number of blocks in the interpolation buffer to a smaller value than that in MD28060
$MC_MM_IPO_BUFFER_SIZE; the minimum number is 2 blocks.
Values of setting data SD42990 $SC_MAX_BLOCKS_IN_IPOBUFFER:

Value Effect
<0 No interpolation buffer limit active.
The max. possible interpolation buffer as set in MD 28060:
MM_IPO_BUFFER_SIZE is activated.
or 1 The minimum permissible interpolation buffer with 2 blocks is activated.
< MM_IPO_BUFFER_SIZE The interpolation buffer is activated with no more than the maximum specified
number of blocks.
>= MM_IPO_BUFFER_SIZE The interpolation buffer is activated with the number of blocks specified in MD
28060: MM_IPO_BUFFER_SIZE.

Note
If SD42990 $SC_MAX_BLOCKS_IN_IPOBUFFER is set in the part program, the
interpolation buffer limitation takes effect immediately if the block with the SD is being
preprocessed by the interpreter.
This means that the limitation of the IPO buffer may take effect a few blocks before the
intended limitation (see also MD 28070 $MC_MM_NUM_BLOCKS_IN_PREP).
To avoid premature activation and to make the limitation of the IPO buffer take effect in
synchronism with the block, a STOPRE (preprocessing stop) must be programmed before
the SD is set in the part program.

Mode Group, Channel, Program Operation, Reset Response (K1)

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Validity
SD42990 $SC_MAX_BLOCK_IN_IPOBUFFER has global, channel-specific validity and can
also be modified in a part program. This modified value is maintained at program end. If this
setting data is to be reset again on defined events, a so-called event-driven program must be
created to do this. For example, this setting data could always be set to a predefined value
on RESET.

Application
The IPO buffer limitation can be used whenever the number of blocks between block
preparation and interpolation must be minimized, e.g., when actual positions in the part
program must be read and processed for other purposes.

Example

N10 ...
N20 ...
..........
N100 $SC_MAX_BLOCKS_IN_IPOBUFFER = 5 ; Limitation of IPO buffer to 5 NC
blocks
N110 ...
N120 ...
............
N200 $SC_MAX_BLOCKS_IN_IPOBUFFER = -1 ; Cancellation of the IPO buffer
limitation
N210 ...
............

2.9.4 Program display modes via an additional basic block display

Basic block display (only for ShopMill/ShopTurn)

A second socalled basic block display can be used with the existing block display to show all
blocks that produce an action on the machine.

Look Ahead basic block display

The actually approached end positions are shown as an absolute position. The position
values refer either to the workpiece coordinate system (WCS) or the settable zero system
(SZS).
The number of Look Ahead display blocks stored in the display buffer depends on the
number of prepared blocks in the NCK preprocessing buffer in the relevant processing state.
If a preprocessing stop is processed, the number of display blocks is reduced to zero and
increases again after the stop is acknowledged. In the case of REORG events (e.g., mode
change, ASUB start), the display blocks stored for Look Ahead are deleted and
preprocessed again afterwards.

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Processed values
Values processed in the basic block display coincide with the:
• selected tools
• feed and spindle speed
• actually approached position values
exceptions:
With active tool radius compensation, deviations can occur.
For modulo axes, the programmed value is displayed in the basic block display. This
value can also lie outside the modulo range.

Note
As a basic rule the positions are represented in the WCS or the SZS.
The basic block display can be activated or deactivated with setting data
SD42750 $SC_ABSBLOCK_ENABLE.

2.9.5 Basic block display for ShopMill/ShopTurn

Configure basic block display

The basic block display can be configured via the following machine data:

NCK machine data for basic block display Significance:

MD28400 $MC_MM_ABSBLOCK Activate basic block display
MD28402 Size of display buffer
$MC_MM_ABSBLOCK_BUFFER_CONF[2]
Display machine data Position values to be set:
MD9004 $MM_DISPLAY_RESOLUTION For metric measurements
MD9011 $MM_DISPLAY_RESOLUTION_INCH For inch measurements
MD9010 $MM_SPIND_DISPLAY_RESOLUTION Settable coordinate system for spindle display
resolution

MD9424 $MM_MA_COORDINATE_SYSTEM For actual value display in WCS or SZS

These display machine data are copied to NCK machine data
MD17200 $MN_GMMC_INFO_UNIT[0] to MD17200 $MN_GMMC_INFO_UNIT[3]. allowing
them to be accessed from the NCK.

Mode Group, Channel, Program Operation, Reset Response (K1)

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2.9 Program control

Activating
The basic block display is activated by MD 28400 $MC_MM_ABSBLOCK by means of
Power On. If MD28400 $MC_MM_ABSBLOCK is set to 1, a channelspecific display buffer
(FIFO) is created during power-up.
Size of display buffer (FIFO) = (MD28060 $MC_MM_IPO_BUFFER_SIZE + MD28070
$MC_MM_NUM_BLOCKS_IN_PREP) multiplied by 128 bytes. This corresponds to a size of
6KB in the machine data default setting.
Optimize size of display buffer:
The memory requirement can be optimized by entering a value between 128 and 512. The
display blocks preprocessed in the display buffer are transferred to the HMI via a
configurable upload buffer.
Maximum size of upload buffer is obtained by multiplying (MD28402
$MC_MM_ABSBLOCK_BUFFER_CONF[0] +
MD28402 $MC_MM_ABSBLOCK_BUFFER_CONF[1] + 1) by the block length configured in
MD28400 $MC_MM_ABSBLOCK.
The number of blocks before the current block is configured in
MD28402 $MC_MM_ABSBLOCK_BUFFER_CONF[0] and the number of blocks after the
current block is configured in MD28402 $MC_MM_ABSBLOCK_BUFFER_CONF[1].

Constraints
If the length of a display block configured in MD28400 $MC_MM_ABSBLOCK is exceeded,
this display block is truncated accordingly. This is represented by string "..." at the end of the
block.
For preprocessed cycles (MD10700 $MN_PREPROCESSING_LEVEL > 1), the display block
contains only axis positions.
Additional boundary conditions for the basic block display:
• Modal synchronized action blocks with absolute values are
not taken into account.
• The basic block display is deactivated during block search with or without computation.
• Polar coordinate programming is not shown in Cartesian system.

Mode Group, Channel, Program Operation, Reset Response (K1)

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2.9 Program control

Radius / diameter values

Diameter values shown in the basic block display and position display may be needed as a
radius for internal calculation. These values for measurements in radius/diameter according
to G code group 29 can be manipulated using the following options:
• G code DIAMCYCOF (expansion of channel-specific diameter programming)
This G code deactivates the channel-specific diameter programming during the cycle
execution. In this way, computations in the cycle can always be done in the radius. The
position display and the basic block display are continued according to the state of the
diameter programming before DIAMCYCOF.
In the basic block display, the last displayed value is retained.
• G code DIACYCOFA[AX] (axis-specific diameter programming)
This G code deactivates the axis-specific diameter programming during the cycle
execution. In this way, computations in the cycle can always be done in the radius. In the
position display and in the basic block display, this continues according to the state of the
diameter programming before DIACYCOFA[AX].
In the basic block display, the last displayed value is retained.
• MD27100 $MC_ABSBLOCK_FUNCTION_MASK

Bit0 = 1 Transverse axis setpoints are always shown as diameter values in the
basic block display.

Behavior while the compressor is active

With active compressor and G/Code group 30 not equal to COMPOF, two display blocks are
generated. The
• first contains the G/Code of the active compressor.
• The second contains the string "..." as character for missing display blocks.

Mode Group, Channel, Program Operation, Reset Response (K1)

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2.9 Program control

Example:

G0 X10 Y10 Z10 ; Block to be preprocessed for the basic block display
COMPCAD ; Compressor for optimized surface quality (CAD prog.) A
... ; string as character for missing display blocks

To avoid bottlenecks in the NCK performance, the basic block display is deactivated
automatically. As a sign that the display blocks are missing, a display block with the string
"..." is generated.
All display blocks are always generated in the single block.

2.9.6 Structure for a DIN block

Structure of display block for a DIN block

Basic structure of display block for a DIN block
• Block number/label
• G function of first G group
(only when altered as compared to the last machine function block).
• Axis positions
(sequence according to MD20070 $MC_AXCONF_MACHAX_USED).
• Other modal G functions
(only when altered as compared to the last machine function block).
• Other addresses as programmed.

Mode Group, Channel, Program Operation, Reset Response (K1)

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2.9 Program control

The display block for the basic block display is directly derived from the programmed part
program blocks according to the following rules:
• Macros are expanded.
• Skip identifiers and comments are omitted.
• Block number and labels are transferred from the original block, but omitted if DISPLOF is
active.
• The number of decimal places is defined in display machine data MD 9004, MD 9010 and
MD 9011 via the HMI.

HMI display machine data Access in NCK machine data

MD9004 $MM_DISPLAY_RESOLUTION MD17200 $MN_GMMC_INFO_NO_UNIT[0]
MD9011 MD17200 $MN_GMMC_INFO_NO_UNIT[1]
$MM_DISPLAY_RESOLUTION_INCH
MD9010 MD17200 $MN_GMMC_INFO_NO_UNIT[2]
$MM_SPIND_DISPLAY_RESOLUTION
MD9424 $MM_MA_COORDINATE_SYSTEM MD17200 $MN_GMMC_INFO_NO_UNIT[3]
• Programmed axis positions are represented as absolute positions in the coordinate
system (WKS / ENS) specified in MD9424 $MM_MA_COORDINATE_SYSTEM.

Note
The modulo correction is omitted for modulo axes, which means that positions outside the
modulo range can be displayed. It also means that the basic block display differs from the
position display in which values are always moduloconverted.

Mode Group, Channel, Program Operation, Reset Response (K1)

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Examples
Comparisons between display block (original block) and basic block display:
• Programmed positions are displayed in absolute terms.
The addresses AP/RP are displayed with their programmed values.

Original block: Display block:

N10 G90 X10.123 N10 X10.123
N20 G91 X1 N20 X11.123

• Address assignments (nonDIN addresses) are displayed in the form <address> =

<constant>.

Original block: Display block:

N110 R1 = -67.5 R2 = 7.5
N130 Z = R1 RND = R2 N130 Z-67.5 RND = 7.5

• Address indices (address extensions) are displayed as constants <address> [ <constant>

] = <constant>.

Original block: Display block:

N220 DEF AXIS AXIS_VAR = X
N240 FA[ AXIS_VAR] = R2 N240 FA[X] = 1000

• DIN addresses without address extension are displayed in the form

<din_address> <constant>.

Original block: Display block:

N410 DEF REAL FEED = 1.5
N420 F = FEED N420 F1.5

The following applies for H functions: Each programmed value is displayed irrespective of
the output type for the PLC
(M22110 $MC_AUXFU_H_TYPE_INT).

Mode Group, Channel, Program Operation, Reset Response (K1)

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• For Tool selection by tool command

display information is generated in the form T<value> or T=<string>. If an address
extension has been programmed, this is displayed as well.
If several spindles have been configured or the
"Tool change via master tool holder" function
(MD20124 $MC_TOOL_MANAGEMENT_TOOLHOLDER) is active, the T number is
always output with address extension.
If no address extension has been programmed, the number of the master spindle or the
master toolholder is used instead (T<spindle_number/tool_holder>= ).
• The following rule applies to Spindle programming via S, M3, M4, M5, M19, M40 - M45
and M70 (or MD 20094: SPIND_RIGID_TAPPING_M_NR) with reference to the address
extension:
If an address extension was programmed, it is also resolved.
If several spindles were configured, then the address expansion is always output with
them.
If no address expansion has been programmed, the number of the master spindle is used
(S<spindle_number>=).
• Indirect G code programming in form G[ <group> ] = <printout> is substituted by the
corresponding G code.

Original block: Display block:

N510 R1=2
N520 G[8]= R1 N520 G54

• Modal G codes that do not generate an executable block are collected and output with
the display block of the next executable block if permitted by the syntax (DIN block). If
this is not the case (e.g., predefined subroutine call TRANSMIT), a separate display block
containing the modified G codes is placed in front of the next executable block.

Original block: Display block:

N610 G64 G64
N620 TRANSMIT N620 TRANSMIT

• A display block is always generated for part program lines in which the addresses F and
FA appear
(including for MD22240 $MC_AUXFU_F_SYNC_TYPE = 3).

Original block: Display block:

N630 F1000 N630 F1000
N640 X100 N640 X100

• The display blocks generated for the block display are derived directly from the
programmed part program blocks. If intermediate blocks (e.g., tool radius compensation
G41/G42, radius/chamfer RNDM, RND, CHF, CHR) are generated in the course of
contour preprocessing, these are assigned the display information from the part program
block on which the motion is based.

Original block: Display block:

N710 Y157.5 G42 N710 Y157.5 G42
N720 Z-67.5 RND=7.5 N720 Z-67.5 RND=7.5

Mode Group, Channel, Program Operation, Reset Response (K1)

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2.9 Program control

• With the EXECTAB command (processing a table of contour elements), the block
generated by EXECTAB is shown in the display block.

Original block: Display block:

N810 EXECTAB (KTAB[5]) N810 G01 X46.147 Z-25.38

• For the EXECSTRING command, the block generated via EXECSTRING is displayed in
the display block.

Original block:
N910 DEF STRING[40] PROGSTRING = "N905 M3 S1000 G94 Z100 F1000 G55"
N920 EXECSTRING(PROGSTRING)

Display block:
N905 Z100 G55 G94 M3 S1000 F1000

2.9.7 Execution from external source (buffer size and number)

Application
Individual machining steps for producing complex workpieces may involve program
sequences that require so much memory they cannot be stored in the NC memory. This type
of program can be selected and executed from an external device in "Execution from
external source" mode. This "external device" takes the following form with HMI Advanced
and with HMI Embedded:

HMI Advanced: HMI Embedded powerline / solution line

Local hard disk or ATA card / CompactFlash Card or a
Network drive Network drive (optional)

Functions
In principle, any program that is accessible via the directory structure of the data
management system of the HMI operator panel front can be selected and reloaded.
• Execution from external source via V24 interface with SINUMERIK powerline:
In HMI Embedded, the "Execution from external source" softkey can be used to transfer
external programs to the NC via the V24 interface.
• Execution from external source via USB interface with SINUMERIK solution line:
If external programs, for example, are to be transferred from an external USB drive via a
USB interface, then only the interface via X203 (named "TCU_1") can be used for this. A
USB FlashDrive cannot be recommended as a persistent storage medium.

Mode Group, Channel, Program Operation, Reset Response (K1)

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• External subroutine:
Executing a subroutine in "Execution from external source" mode
The "external" subroutine is called via part program command EXTCALL with
specification of a call path (optional) and the subroutine identifier.
• Modal execution from external source:
Retaining the selection "Execution from external source" after RESET or part program
end.
Deselection by next program in NC memory:
If a program was selected on the HMI for "Execution from external source", this condition
remains active after a RESET/end of part program. "Execution from external source"
mode is not deselected until another program stored in the NC memory is selected for
execution.

Buffer interpretation
• Settable size of reload memory / FIFO buffer:
A FIFO buffer must be set up in the NCK in order to execute a program (main program or
subroutine) in "Execution from external" mode. The default setting for this buffer size is
30KB.
Machine data MD18360 $MN_MM_EXT_PROG_BUFFER_SIZE can be used to define
the size of the reload buffer. The number of reload buffers is set with MD18362
$MN_MM_EXT_PROG_BUFFER_NUM. A reload buffer must be made available for each
of the programs (main run or subroutine) that are processed simultaneously in "Execution
from external source" mode.
Reload buffers are set up in the NCK DRAM. If there is insufficient DRAM available,
Alarm 4077 "New value of machine data MD 18360/18362 not set" is generated.

2.9.8 Execution from external subroutines

Subprogram call
The "external" subroutine is called with part program command
• EXTCALL with specified <path> and optionally <program name>
Program command EXTCALL is capable of reloading a program in "Execution from external
source" mode via the HMI. The external programs must be accessible via the directory
structure on the HMI operator interface. They can be stored on the following data media:

HMI Advanced Local hard disk or network drive

HMI Embedded powerline ATA card or network drive
HMI Embedded sl Option CompactFlash card or network drive

Mode Group, Channel, Program Operation, Reset Response (K1)

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2.9 Program control

Setting Data

SD42700 $SC_EXT_PROG_PATH
SD42700 $SC_EXT_PROG_PATH can be used to set the call path flexibly. SD42700
$SC_EXT_PROG_PATH contains the path name, which, together with the programmed
subroutine identifier, represents the absolute path name of the program to be called.
If an external subroutine is called without an absolute path name, HMI Advanced runs
through the same search path as applied when a subroutine is called from the NC main
memory.

Path compilation
An external subroutine is called by means of parts program command EXTCALL.
From
• - the subroutine name programmed in EXTCALL and
- setting data SD42700 $SC_EXT_PROG_PATH
results the program path for the external subroutine call through a character string
comprising
• The contents of SD42700 $SC_EXT_PROG_PATH (e.g.
/_N_WKS_DIR/_N_WKST1_WPD)
• The character "/" as a separator (if a path was specified with SD42700
$SC_EXT_PROG_PATH)
• the subroutine path or identifier programmed in EXTCALL.
SD42700 $SC_EXT_PROG_PATH is preassigned with a blank. If an external subroutine is
called without an absolute path name, HMI Advanced runs through the same search path as
applied when a subroutine is called from the NCK memory.
current directory / subroutine identifier
current directory / subroutine identifier_SPF
current directory / subroutine identifier_MPF
/_N_SPF_DIR / subroutine identifier_SPF
/_N_CUS_DIR / subroutine identifier_SPF
/_N_CMA_DIR / subroutine identifier_SPF
/_N_CST_DIR / subroutine identifier_SPF

"current directory": stands for the directory in which the main

program has been selected
"subroutine identifier" stands for the subroutine identifier
programmed in EXTCALL

Mode Group, Channel, Program Operation, Reset Response (K1)

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Example
The program to be reloaded is stored on the local hard disk of HMI Advanced:
• SD42700 $SC_EXT_PROG_PATH = "_N_WKS_DIR/_N_WST1"
Main program_N_MAIN_MPF
(stored in NC memory and is selected for execution)

:N010 PROC MAIN

N020 ....
N030
EXTCALL "ROUGHING"
N040 .....
N050 M30

Subroutine_N_ROUGHING_SPF
(stored in HMI memory under workpieces->WP1)

N010 PROC ROUGHING

N020 G1 F1000
N030 X= ... Y= ... Z= ...
N040 .....
....
....
N999999 M17

Windows path name

Program to be reloaded is stored on network drive or ATA card
• EXTCALL Windows path name
Call for network drive (HMI Embedded or HMI Advanced) e.g.
EXTCALL \\R4711\Workpieces\Contour.1.spf
Call for CompactFlash card (HMI Embedded), e.g.
EXTCALL C:\Workpieces\Contour.2.spf

Mode Group, Channel, Program Operation, Reset Response (K1)

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Detailed description
2.9 Program control

Note
An absolute path must always be specified in HMI Embedded powerline.
For further explanations about operation under HMI Embedded / Advanced, refer to:
References:
/BEM/ operating instructions
HMI Embedded powerline, ”Execution from network”, ”Execution from ATA card” and
”EXTCALL”
HMI Embedded sl, "Execute from network", "Execute from CompactFlash card" and
"EXTCALL under use of the SD4270 $SC_EXT_PROG_PATH and the HMI user memory"
/BAD/, Operating Instructions HMI Advanced, access to external network drive/computer

Power On, RESET

External subroutine calls are aborted and the respective FIFO (reload) buffer erased by a
RESET or POWER ON.
A program selected for "Process from external" remains selected for "Process from external"
after a Reset. A POWER ON deletes the selection. Default program MPF0 is selected
instead.

Mode Group, Channel, Program Operation, Reset Response (K1)

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2.10 System settings for power-up, RESET/part-program end and part-program start

2.10 2.10 System settings for power-up, RESET/part-program end and part-
program start

Concept
The control system response can be altered for functions such as G codes, tool length
compensation, transformation, coupled axis groupings, tangential followup, and
programmable synchronous spindle after
• Power up (power ON),
• Reset/part program end and
• Part program start
by machine data
MD20110 $MC_RESET_MODE_MASK
MD20150 $MC_GCODE_RESET_VALUES and its extension
MD20152 $MC_GCODE_RESET_MODE (specification of initial controller setting
on reset) and
MD20112 $MC_START_MODE_MASK (specification of initial controller setting
after part program start).

For certain applications (e.g., grinding) it is advisable not to capture the reset position of
individual functions until part program start. This is possible through the appropriate setting
of MD20110, MD20150, MD20152 and MD20112.

Table 2-12 Change system settings by means of MD

Status Can be changed in MD

Power up (POWER ON) MD20110 $MC_RESET_MODE_MASK
MD20150 $MC_GCODE_RESET_VALUES
RESET/part program end MD20110 $MC_RESET_MODE_MASK
MD20150 $MC_GCODE_RESET_VALUES
MD20152 $MC_GCODE_RESET_MODE
Part program start MD20110 $MC_START_MODE_MASK and
MD20112 $MC_RESET_MODE_MASK

Procedure
Select the desired system response.
• After power-up (POWER ON)
MD20110 $MC_RESET_MODE_MASK, Bit 0 = 0 or 1

Mode Group, Channel, Program Operation, Reset Response (K1)

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Detailed description
2.10 System settings for power-up, RESET/part-program end and part-program start

Run-up
(POWER ON)

Bit 0=1 - Transformation active

MD 20110: in MD 20140
RESET_MODE_MASK - Geo axis replacement active
Bit 0 in MD 20118 with MD 20050

Bit 0=0
(default)
Bit 2=1
Bit 6=1

MD 20110 The tool length compensation

Bit 2 and bit 6 selected before POWER ON
remains active

Bit 2=0

Tool length compensation active

in MD 20120: , MD 20121 and
MD 20130

- Transformation off
- Tool length compensation off

- G codes in MD 20150: GCODE_RESET_VALUES

- Coupled axis groupings are deactivated
- Tangential follow-up is no longer active
- Synchronous spindle coupling is no longer active
- Axial revolutional feedrate off and setting for path and synchronous axes reset to master spindle
- Geometry axis assignment in MD 20050: AXCONF_GEOAX_ASSIGN_TAB
- Master-value coupling is no longer active
- Basic frame is deselected
- Electronic gear is no longer active
- Master spindle Initial setting in MD 20090: SPIND_DEF_MASTER_SPIND
- Master toolholder Initial setting in MD 20124: TOOL_MANAGEMENT_TOOLHOLDER

RESET/Part-program end

Figure 2-16 System settings after power-up

• After power-up (POWER ON)

MD20110 $MC_RESET_MODE_MASK, Bit 0 = 0 or 1
Bits 4 - 13 can be combined optionally.

Mode Group, Channel, Program Operation, Reset Response (K1)

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2.10 System settings for power-up, RESET/part-program end and part-program start

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Figure 2-17 System settings after RESET/part program end and part program start

Mode Group, Channel, Program Operation, Reset Response (K1)

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2.10 System settings for power-up, RESET/part-program end and part-program start

Table 2-13 Selection of RESET and powerup response

MD RESET_MODE_MASK
number Definition of control initial setting after power-up and reset/part program end
Response Bit 0 = 0 Bit 0 = 1
after
Power ON - Transformation not active - Transformation active according to
(booting) - Tool length compensation MD20140 $MC_TRAFO_RESET_VALUE
not active - Tool length compensation active according to.
MD20120 $MC_TOOL_RESET_VALUE,
MD20121 $MC_TOOL_PRESEL_RESET_VALUE and
MD20130 $MC_CUTTING_EDGE_RESET_VALUE,
if Bits 2 and 6 in MD20110 = 1, the tool length
compensations
selected on Power On,
- G-Codes according to MD20150 $MC_ otherwise WLK according to MD20120, MD20121,
GCODE_RESET_VALUES MD20130
- No coupled axis groupings active - G-Codes according to MD20150
- No tangential follow-up active $MC_GCODE_RESET_VALUES
- nonconfigured Synchronous spindle coupling - No coupled axis groups active
is deactivated - No tangential follow-on active
- Geometry axis assignment according to - nonconfigured Synchronous spindle
MD20050 coupling is switched off
- No master value coupling active - Geometry axis assignment according to MD20118,
- Axial revolutional feedrate OFF MD20050
- Basic frame is deselected - No master value coupling active
- Axial revolutional feedrate OFF
- Basic frame is deselected
RESET/ The current settings are retained. With the next In the case of configured synchronous spindle couple, the
end of part program start, the following initial setting is coupling is set in accordance with
prog. activated: MD21330 $MC_ COUPLE_RESET_MODE_1.

- G codes according to GCODES according to MD20150, MD_20152

MD20150 $MC_GCODE_RESET_VALUES
- Tool length compensation not active
- Transformation not active
- No coupled axis groupings active
- No tangential follow-up active
- Basic frame is deselected
- Geometry axis assignment according to
MD20050
- Axial revolutional feedrate OFF

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Table 2-14 Effect of MD20110 $MC_RESET_MODE_MASK Bits 0 to 6

Bit 0 = 1 Bit 1 = 1 Bit 2 = 1 Bit 3 = 1 Bit 4 = 1 Bit 5 = 1 Bit 6 = 1

Initial setting No D, T, M If bit 0=1 and bit 6 Use active Current Current Active
after power output on =1, the tool offset tool or tool plane is settable tool offset is retained
up and tool of the last active offset from retained, in frame is
RESET/end selection; tool is active after last test SW 5 retained, as
of part with active POWER ON program replaced by of SW 5
program tool (irrelevant with terminated in MD 20152 replaced by
see above managemen active tool test mode index 5 MD 20152
t irrelevant management) see below index 7
see below

Bit 0 = 0 Bit 1 = 0 Bit 2 = 0 Bit 3 = 0 Bit 4 = 0 Bit 5 = 0 Bit 6 = 0

Initial setting D, T, M No tool offset Use active Plane Frame WZK according to
after power output on active after tool or tool according to according to MD20120
up and tool POWER ON offset from MD20150 MD20150 $MC_TOOL_RESET_VAL
RESET/end selection; (no effect when last program $MC_GCOD $MC_GCOD UE, MD20121
of part with active tool management terminated E_ E_ $MC_TOOL_PRESEL_RE
program tool active) before RESET_ RESET_ SET_VALUE,
see above managemen program VALUES; in VALUES; in MD20130
t irrelevant testing SW 5 and SW 5 and $MC_CUTTING_
activated higher, higher, EDGE_RESET_VALUE;
replaced by replaced by Output of D, T, M to PLC,
MD 20152 MD 20152 depending on bit 1
index 5 index 7
see below see below

Table 2-15 Effect of MD20110 $MC_RESET_MODE_MASK Bits 7 to 12

Bit 7 = 1 Bit 8 = 1 Bit 9 = 1 Bit 10 = 1 Bit 11 = 1 Bit 12 = 1

Active Coupledaxis Tangential Not configured Current setting Modified geometry axis
transformation groupings are follow-up is synchronous for revolutional assignment is retained
is retained retained retained spindle coupling feedrate is
remains active retained

Bit 7 = 0 Bit 8 = 0 Bit 9 = 0 Bit 10 = 0 Bit11 = 0 Bit 12 = 0

Transformation Coupledmotion Tangential Not configured Revolutional Modified geometry axis
according to groupings are follow-up is synchronous feedrate is no assignment is deleted
MD20140 deactivated deactivated spindle coupling longer valid according to
$MC_TRAFO_R is switched off MD 20050, depending on
ESET_VALUE MD20118 (because of
compatibility)

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Table 2-16 Effect of MD20110 $MC_RESET_MODE_MASK Bits 13 to 17 (in SW 6.4 and higher, Bit 16 to Bit 17)

Bit 13 = 1 Bit 14 = 1 Bit 15 = 1 Bit 16 = 1 Bit 17 = 1

Active guide value The current setting The active The current setting The current setting
coupling is of the basic frame electronic gears of the master of the master tool
retained is retained. are deactivated spindle is retained. holder is retained.

Bit 13 = 0 Bit 14 = 0 Bit 15 = 0 Bit 16 = 0 Bit 17 = 0

Guide value Basic frame is The active Initial setting for Initial setting for
coupling is deselected electronic gears the master spindle the master tool
separated are retained according to holder according
MD20090 to MD20124

RESET response of master spindle

Up to SW 6.3 the master spindle setting was reset to the configured value on M30/RESET.
Depending on the setting of Bit 0 of MD20110 $MC_RESET_MODE_MASK, there are two
cases:
Bit 0 = 0:
No Init blocks are generated. (Default: the current settings are retained)
Bit 0 = 1:
Init blocks are generated. The settings activated by RESET become valid.

MD20152 $MC_GCODE_RESET_MODE
In SW 5 and higher, MD20152 $MC_GCODE_RESET_MODE replaces Bits 4 and 5 from
MD20110 $MC_RESET_MODE_MASK. In addition, the setting options are expanded:
Up to and including SW 4
the following applies to Bits 4 and 5 of MD20110 $MC_RESET_MODE_MASK:
Bit 4: Level control
Bit 5: Control of settable frames
Each G code group controlled in MD20150 $MC_GCODE_RESET_VALUES[i] can be
selectively controlled with the additional MD20152 $MC_GCODE_RESET_MODE[i].

MD20152 $MC_GCODE_RESET_MODE[i] 0 1
(i = G code group -1)
MD20150 $MC_GCODE_RESET_VALUES[i] The value stored in The last active/
MD20150 is active current value is active

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Note
The previous setting option in machine data MD20110 $MC_RESET_MODE_MASK
is omitted!
The corresponding bits of this MD are tagged as reserved. Write operations involving these
bits are automatically redirected to the corresponding array elements of
MD20150 $MC_GCODE_RESET_MODE and Alarm 4502 is output.
When MD20110 $MC_RESET_MODE_MASK is read, the information from the relevant field
arrays of MD20150 $MC_GCODE_RESET_MASK are read again and written to MD20110
$MC_RESET_MODE_MASK.

The mode of functioning of MD20112 $MC_START_MODE_MASK remains the same as in

SW5.

Part program start

The initial setting of the control system at part program start, e.g., G codes (especially active
plane and active settable zero offset), active tool length compensation, transformation, and
axis coupling, is determined according to the following table.

Application
If a bit is set in MD20112 $MC_START_MODE_MASK, the reset action of the relevant
function can be delayed until the start of the part program.

Table 2-17 Effect of MD20112 $MC_START_MODE_MASK Bits 1 to 7

Bit 1 = 1 Bit 2 = 1 Bit 3 = 1 Bit 4 = 1 Bit 5 = 1 Bit 6 = 1 Bit 7 = 1

No D, T, M Reserved Reserved Plane Frame WZK according to Transformatio
output on tool according to according to MD20120 n according to
selection; MD20150 MD20150 $MC_TOOL_RESET_VALUE, MD20140
with active $MC_GCODE $MC_GCODE MD20121 $MC_TRAFO_
tool _RESET_VAL _RESET_VAL $MC_TOOL_PRESEL_RESET RESET_VALU
management UES UES _ E
irrelevant VALUE, and
MD20130 $MC_CUTTING_
EDGE_RESET_VALUE;
Output of D, T, M to PLC,
depending on bit 1

Bit 1 = 0 Bit 2 = 0 Bit 3 = 0 Bit 4 = 0 Bit 5 = 0 Bit 6 = 0 Bit 7 = 0

D, T, M output Reserved Reserved Current plane Current Active tool length offset is Active
on tool is retained settable frame retained transformation
selection; is retained is retained
with active
tool
management
irrelevant

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Table 2-18 Effect of MD20112 $MC_START_MODE_MASK Bits 8 to 12

Bit 8 = 1 Bit 9 = 1 Bit 10 = 1 Bit 11 = 1 Bit 12 = 1

Coupledaxis groupings Tangential follow-up is Not configured Reserved Geometry axis
are deactivated deactivated synchronous spindle assignment is deleted
coupling is switched off according to MD 20050,
depending on MD
20118 (because of
compatibility)

Bit 8 = 0 Bit 9 = 0 Bit 10 = 0 Bit 11 = 0 Bit 12 = 0

Coupledaxis groupings Tangential follow-up is Not configured Reserved Modified geometry axis
are retained retained synchronous spindle assignment is retained
coupling remains active

Table 2-19 Effect of MD20112 $MC_START_MODE_MASK Bits 13 to 17

Bit 13 = 1 Bit 14 = 1 Bit 15 = 1 Bit 16 = 1 Bit 17 = 1

Guide value reserved for reserved for Initial setting for Only if MD20124
coupling is basic frame electronic gears master spindle $MC_TOOL_MANAGEMENT_TOOLH
separated according to OLDER > 0: Initial setting for the
MD20090 master tool holder according to MD
$MC_SPIND_DEF 20124 $MC_Otherwise setting for
_MASTER_SPIND master spindle.

Bit 13 = 0 Bit 14 = 0 Bit 15 = 0 Bit 16 = 0 Bit 17 = 0

Active guide value reserved for reserved for current setting of The current setting of the
coupling is basic frame electronic gears the master spindle master tool holder (SETMS) is retained.
retained (SETMS) is
retained

Note
In MD20110 $MC_RESET_MODE_MASK, bits set to 1 cause settings to be retained,
In MD20112 $MC_START_MODE_MASK, bits set to 0 cause settings to be retained.

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Meaning of the machine data

The channelspecific machine data in the table has the following meanings. Details are
specified in section NO TAG.
• MD20120 $MC_TOOL_RESET_VALUE
Specification of tool (T number),
whose tool length compensation values are to be taken into account on reset and power-
up in accordance with MD20110 $MC_RESET_MODE_MASK.

MD20121 $MC_TOOL_PRESEL_RESET_VALUE
Specification of tool (T number) as preselected tool whose tool length compensation
values are to be taken into account on reset and power-up in accordance with MD20110
$MC_RESET_MODE_MASK.

MD20130 $MC_CUTTING_EDGE_RESET_VALUE
Definition of edge number (D number) of tool in
$MC_TOOL_RESET_VALUE
MD20140 $MC_TRAFO_RESET_VALUE
Definition of transformation data block (TRAORI, TRAANG,
SW 4 and higher: TRANSMIT)
MD20150 $MC_GCODE_RESET_VALUES
RESET states of G groups
MD20152 $MC_GCODE_RESET_MODE
GCODE initial setting on RESET
MD20152 specifies for each entry in MD20150 $MC_GCODE_RESET_VALUES whether
the setting in accordance with MD20150 $MC_GCODE_RESET_VALUES is taken again
(entry in MD20152=0) or the current setting is retained (entry in MD20152=1).
MD21330 $MC_COUPLE_RESET_MODE_1
Cancelation of an axis coupling
MD20050 $MC_AXCONF_GEOAX_ASSIGN_TAB
Assignment of geometry axis to channel axis
acts on Bit 12 of MD 20110/20112
MD20118 $MC_GEOAX_CHANGE_RESET

acts on Bit 12 of MD 20110/20112

Mode Group, Channel, Program Operation, Reset Response (K1)

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Example:
1. Activate RESET setting on RESET:
MD20110 = 'H01' (Bit 0)
MD20112 = '0'
2. Transformation remains active on RESET/part program start:
MD20110 = 'H81' (Bit 0 + Bit 7)
MD20112 = '0'
3. Tool length compensation remains active on RESET/part program start:
MD20110 = 'H41' (Bit 0 + Bit 6)
MD20112 = '0'
4. Active plane (Bit 4) and settable frame (Bit 5) remain active after RESET and are reset on
part program start:
MD20110 = 'H31' (Bit 4 + Bit 5)
MD20112 = '30'

Note
for bit 5 and bit 6:
If MD20110/MD20112 are parameterized so that tool length compensation or a frame is
active on a part program start/MDA start, the first programming of the axes must use
absolute measurements (because of the offset behavior) .
Exception: With MD42442/MD42440 the offset behavior for G91 is suppressed.

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2.11 2.11 Subroutine call with M, T, and D functions

2.11.1 Replacement of auxiliary functions with subroutines

Function
The M, T, and D auxiliary functions can be replaced with subroutines:
• M functions (switching operations)
• T functions (tool selection)
• D functions (tool offset selection)
The following machine data can be used to configure subroutine calls with M, T, and D
auxiliary functions:

Machine data Meaning

MD10715 $MN_M_NO_FCT_CYCLE M function to be replaced by a subroutine
MD10716 $MN_M_NO_FCT_CYCLE_NAME Name of subroutine for M function
MD10717 $MN_T_NO_FCT_CYCLE_NAME Name of subroutine for T function
MD10718 $MN_M_NO_FCT_CYCLE_PAR M function replacement with parameters
MD10719 $MN_T_NO_FCT_CYCLE_MODE Parameter assignment of T function replacement
MD11717 $MN_D_NO_FCT_CYCLE_NAME Name of subroutine for D function

Note
The functions described above are also effective in ISO dialect mode.

Block search response

During block search with calculation and SERUPRO, subroutine calls with M, T and D
functions are executed in the same way as in normal program operation.

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M functions that cannot be configured

M functions with a fixed meaning must not be used to call subroutines. The following M
functions have standard predetermined meaning:

M function Comments
M0 to M5, M17, M30, M19, M40 to M45 ---
M98, M99 with activated external NC language:
MD18800 $MN_MM_EXTERN_LANGUAGE == TRUE

M functions can be defined for specific tasks using the following machine data. Through this,
they receive a fixed meaning and, therefore, must not be used to call subroutines:

Machine data Specific tasks

MD10714 $MN_M_NO_FCT_EOP M function for spindle active after RESET
MD10804 $MN_EXTERN_CHAN_M_NO_SET_INT M function for ASUB activation (external mode)
MD10806 $MN_EXTERN_CHAN_M_NO_DISABLE_INT M function for ASUB deactivation (external mode)
MD10814 $MN_EXTERN_M_NO_MAC_CYCLE Macro call via M function
MD20094 $MC_SPIND_RIGID_TAPPING_M_NR M function for switchover to controlled axis mode
MD20095 $MC_EXTERN_RIGID_TAPPING_M_NR M function for switchover to controlled axis mode (external
mode)
MD22254 $MC_AUXFU_ASSOC_M0_VALUE Additional M function for program stop
MD22256 $MC_AUXFU_ASSOC_M1_VALUE Additional M function for conditional stop
MD26008 $MC_NIBBLE_PUNCH_CODE Definition of M functions (for nibble-specific)
MD26012 $MC_PUNCHNIB_ACTIVATION Activation of punching and nibbling functions

Note
Exceptions
The configured M function for tool change:
MD22560 $MC_TOOL_CHANGE_M_CODE (M function for tool change)

Boundaries for macro function

Macros are used to define a character string replacement consisting of text only. This
replacement is made prior to execution of the replacement mechanism described here.

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Boundary conditions
For subroutine calls with M, T, and D functions, the following boundary conditions apply:
• Only one function may be replaced for each part program line.
• A subroutine call must not be superimposed on M functions with predetermined meaning.
• In a part program block with an M, T or D function to be replaced, the following applies:
- No modal subprogram call can be active
- No subroutine return can be programmed
-No part program end can be programmed.

Note
The M, T, and D values passed to the cycle have not yet been executed and must,
therefore, be programmed again in the cycle.

2.11.2 M function replacement

Subroutine call via M function

Note
Subroutine calls using an M function are referred to below as M function replacement.

The following machine data are used to configure M function replacement:

• MD10715 $MC_M_NO_FCT_CYCLE (M function to be replaced by a subroutine)
• MD10716 $MC_M_NO_FCT_CYCLE_NAME (Name of subroutine for M function)
The M function via which the subroutine specified in machine data MD10716
$MC_M_NO_FCT_CYCLE_NAME is called is defined in machine data MD10715.

Call rules
If the M function configured with MD10715 $MC_M_NO_FCT_CYCLE is programmed in a
part program block, the appropriate subroutine is called at the end of the part program block.
If the M function is programmed again within the called subroutine, the M function is not
replaced again. In addition, other M function expansions configured with MD10715
$MC_M_NO_FCT_CYCLE or MD10716 $MC_M_NO_FCT_CYCLE_NAME are not executed.
Exceptions
The M function is also replaced in an ASUB if the ASUB was started in a subroutine that was
called via an M function.

Mode Group, Channel, Program Operation, Reset Response (K1)

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2.11 Subroutine call with M, T, and D functions

Address extension of M function

Using system variable $C_ME it is possible to read the address extension of the M function
in the called subroutine.

Example configurations
• Call of subroutine SUB_M101 via M101
MD10715 $MC_M_NO_FCT_CYCLE[0] = 101
MD10716 $MC_M_NO_FCT_CYCLE_NAME[0] = "SUB_M101"
• Call of subroutine SUB_M102 through M102
MD10715 $MC_M_NO_FCT_CYCLE[1] = 102
MD10716 $MC_M_NO_FCT_CYCLE_NAME[1] = "SUB_M102"

2.11.3 Replacement of tool programming

2.11.3.1 T and D function replacement

Subroutine call via T function and D or DL function

Note
The subroutine call via T function is referred to hereinafter as T function replacement, and
the subroutine call via D or DL function is referred to hereinafter as D function replacement.

Call rules
If a T function is programmed in a part program block, a machine data can be used to
specify that the subroutine defined in MD10717 $MN_T_NO_FCT_CYCLE_NAME[n] is called
at the start or end of the block. Similarly, a replacement subroutine for address D or DL can
be defined with MD11717 $MN_D_NO_FCT_CYCLE_NAME[n].
With MD10719 $MN_D_NO_FCT_CYCLE_MODE Bit 1 and Bit 2, the call timing for the T
function replacement and D or DL function replacement can be set.

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Assigning subroutines
The machine data
• MD10717 $MN_T_NO_FCT_CYCLE_NAME is used to assign a subroutine to the T
command
• MD11717 $MN_D_NO_FCT_CYCLE_NAME is used
to assign a subroutine to the D and DL command. The same subroutine should be
configured for the T and D replacement. The corresponding values are not output, the T-
word and the D or DL word must be programmed again in the cycle.

Boundary condition
The subroutine configured with MD10716 $MN_M_NO_FCT_CYCLE_NAME[n] and with
MD10717: T_NO_FCT_CYCLE_NAME or MD11717 $MN_D_NO_FCT_CYCLE_NAME
cannot take effect simultaneously in a block (part program line), i.e. no more than one D, T,
or M function replacement (or generally just one subroutine call) may be executed per block.
Conflicts with other subroutine calls are signaled by alarm 14016.

Configurable time behavior for D/T function replacement

The timing of the call of the replacement subroutine can be parameterized as follows with
(Bit 1 and Bit 2):

MD10719 Bit 1 MD10719 Bit 2 Timing of call of replacement subroutine

0 0 At block end (default)
1 0 At block start
0/1 1 At block start and block end
Timing of call at block end MD10719 Bit 1 = 0
After the replacement subroutine has been executed, the interpretation is resumed with the
subprogram line following the line that triggered the replacement operation.
Timing of call at block start MD10719 Bit 1 = 1 and Bit 2 = 0
After the replacement subroutine has been executed, the part program line that controlled
the call of the subroutine is interpreted. The T address and the D or DL address and the M
function for the tool change are no longer processed.
Timing of the call at block start and at block end M10719 Bit 2 = 1
The replacement program is called twice.

Note
Which replacements are to be performed at the block start and which are to be performed at
the block end is up to the user.

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System variable $P_SUB_STAT can be used to determine the timing (block start/block end)
of a replacement operation. The system variable $P_SUB_STAT returns for
• Value 0: Replacement subroutine is not active
• Value 1: Replacement subroutine is active, call at block start
• Value 2: Replacement subroutine is active, call at block end

Configuration of transfer of D or DL function to the replacement cycle

The T function replacement permits the use of machine data
MD10719 $MN_T_NO_FCT_CYCLE_MODE for specifying which of the following are to
occur if D or DL and T or programmed simultaneously in a block (Bit 0)
• D or DL must be passed as a parameter to the T replacement cycle
• A call is to be executed before the T replacement cycle

MD10719 Bit0 Transfer to the replacement subroutine

0 D or DL number is transferred to the cycle via a system variable
(default value)
1 D or DL number is calculated directly in the block. This function is active only if the
tool change has been configured with M function, otherwise the D or DL values are
always transferred. *
*Tool change with M function is configured with
MD22550 $MC_TOOL_CHANGE_MODE = 1.

Example of T function replacement for tool change

Behavior same as before:
Tool change with M6 not active:
MD22550 $MC_TOOL_CHANGE_MODE = 0
MD10719 $MN_T_NO_FCT_CYCLE_MODE = 0
MD10717 $MN_T_NO_FCT_CYCLE_NAME = "MY_T_CYCLE" ; T replacement cycle

N110 D1 ;
N120 G90 G0 X100 Y100 Z50 ; D1 is active
N130 D2 X110 Z0 T5 ; D1 remains active, programmed D2 is provided to
the T replacement cycle as a variable

A comprehensive example for M/T function replacement with tool change including the
associated replacement subroutines can be found at the end of the next section.

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2.11.3.2 M function replacement for tool change

Calling a tool change program with M function

The following machine data are used to configure M function replacement for calling the tool
change program:
• MD10715 $MN_M_NO_FCT_CYCLE (M function to be replaced by a subroutine)
• MD10716 $MN_M_NO_FCT_CYCLE_NAME (Name of subroutine for M function)
• MD10718 $MN_M_NO_FCT_CYCLE_PAR (M function replacement with parameters)
The information required for the tool offset or tool offset selection is passed to the subroutine
via a system variable.

Programming the M function replacement with parameter transfer

The address extension and function value of the M function must be explicitly, i.e.,
constantly, programmed for M function replacements with parameter transfer. An indirection
definition via variables is not allowed.
Permissible programming:
• M< function value >
• M = < function value >
• M[<address extension>] = <function value>
Illegal programming:
• M = <variable1>
• M[<variable2>] = <variable1>

Boundary conditions
M and T functions for tool change in a block
If, in addition to the M function replacement with parameter transfer, a T function
replacement was configured, the following behavior is applicable in case of a conflict, i.e., T
and M function for tool change are in one block:
• The T function replacement does not take place.
Instead, the T value is made available to the M function replacement via the appropriate
system variable $C_T...
• Programming the address T in the M function subroutine to be replaced does not result in
another replacement.

Configuration example of call of subroutine SUB_M6 through M6 with parameter transfer

MD10715 $MN_M_NO_FCT_CYCLE[2] = 6
MD10716 $MN_M_NO_FCT_CYCLE_NAME[2] = "SUB_M6"
MD10718 $MN_M_NO_FCT_CYCLE_PAR = 6

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Program example of tool change with M function replacement

PROC MAIN
...
N10 T1 D1 M6
...
N90 M30

PROC SUB_M6
N110 IF $C_T_PROG == TRUE ; Scan whether address T has been programmed
N120 T[$C_TE] = $C_T ; Execute T selection
N130 ENDIF
N140 M[$C_ME] = 6 ; Execute tool change
N150 IF $C_D_PROG == TRUE ; Scan whether address D has been programmed
N160 D = $C_D ; Execute D selection
N170 ENDIF
N190 M17

A comprehensive example for M/T function replacement with tool change including the
associated replacement subroutines can be found in the next section.

2.11.3.3 Example of M/T function replacement for tool change

Replacement of T address and D or DL addresses at block start

• Tool change occurs with address T (thus without M code).
• Tool management not active.
• B axis as indexing axis with Hirth tooth system.
Configuration of machine data:
MD11717 $MN_D_NO_FCT_CYCLE_NAME = "D_T_SUB_PROG" ; D replacement cycle
MD10717 $MN_T_NO_FCT_CYCLE_NAME = "D_T_SUB_PROG" ; T replacement cycle
MD10719 $MN_T_NO_FCT_CYCLE_MODE = 'H2'
MD22550 $MC_TOOL_CHANGE_MODE = 0
MD10718 $MN_M_NO_FCT_CYCLE_PAR = -1
Programming with main and replacement subroutine

N410 G01 F1000 X10 T1 = 5 D1 ; Main program

N1000 PROC D_T_SUB_PROG DISPLOF ; Replacement subroutine

SBLOF
...
N4100 IF $C_T_PROG == TRUE Scan whether address T has been
programmed
N4110 ; Replacement for address T with tool no.
N4120 POS[B] = CAC($C_T) ; Move revolver to indexing position
N4130 T[$C_TE] = $C_T ; Select tool (T selection)
N4140 ENDIF

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N4300 IF $C_D_PROG == TRUE ; Scan whether address D has been

programmed
N4300 ; Replacement for address D
N4310 D = $C_D ; Select offset (D selection)
N4320 ENDIF

N4400 IF $C_DL_PROG == TRUE ; Scan whether address DL has been

programmed
N4410 ; Replacement for address DL
N4420 D = $C_DL ; Select insert offset
N4430 ENDIF
...
N9999 RET

This causes part program line "N410 G01 F1000 X10 T1=5 D1" to execute the following
program:

N1000 PROC D_T_SUB_PROG DISPLOF ; Replacement subroutine

SBLOF
...
N4100 IF $C_T_PROG == TRUE Scan whether address T has been
programmed
N4110 ; Replacement for address T with tool no.
N4120 POS[B] = CAC($C_T) ; Move revolver to indexing position
N4130 T[$C_TE] = $C_T ; Select tool (T selection)
N4140 ENDIF

N4300 IF $C_D_PROG == TRUE ; Scan whether address D has been

programmed
N4300 ; Replacement for address D
N4310 D = $C_D ; Select offset (D selection)
N4320 ENDIF

N4400 IF $C_DL_PROG == TRUE ; Scan whether address DL has been

programmed
N4430 ENDIF
N9999 RET
N410 G01 F1000 X10 ; Rest of N410 without tool programming

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2.11 Subroutine call with M, T, and D functions

2.11.4 Parameter transfer to the replacement subroutine

Rules for parameter transfer

The following basic procedure applies when transferring parameters to the replacement
cycle:
• If on of the replacements indicated above is active, all information required for the tool or
offset selection (T, D or DL, M function for tool change, address extensions) is forwarded
to the replacement subroutine.
Exception: MD10719 $MN_T_NO_FCT_CYCLE_MODE Bit 0 = 1. Here, it is possible to
configure that the D/DL addresses not be transferred to the replacement subroutine.
• Only one of the replacement subroutines indicated above can be executed in a part
program line.
If there are multiple replacements of the T or D/DL address and the M function for the call
of the tool change program, only one of the replacement subroutines is ever active even if
their names are different. The, as described above, all necessary parameters for the tool
offset or tool offset selection are made available. If configured accordingly, the subroutine
is called before and/or after execution of the part program line.
• For replacement of the T or D/DL address and the M function for the call of the tool
change program, the same subroutine can be configured in which the function to be
replaced is determined by scanning system variables. The option also exists to configure
different subroutines.

System variable for the transfer parameter

The programmed values for the transfer to the replacement subroutine can be read using the
following system variable:

System variable Remarks

$C_T_PROG TRUE if address T has been programmed
$C_T Value of address T (integer)
$C_TE Address extension of address T
$C_TS_PROG TRUE, if address T was programmed with the tool identifier of type
STRING
$C_TS Value of address T from tool identifier (string, with tool management only)
$C_D_PROG TRUE if address D has been programmed
$C_D Value of address D
$C_DL_PROG TRUE if address DL has been programmed
$C_DL Value of address DL
$C_M_PROG TRUE if M function was programmed for tool change
$C_M Value of replaced address M (integer)
There are two different cases:
1. The replacement subroutine for the tool change configured with
MD10718 $MN_M_NO_FCT_CYCLE_PAR was called. $C_M
contains the value

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System variable Remarks

MD10715
$MN_M_NO_FCT_CYCLE[$MN_M_NO_FCT_CYCLE_PAR].
2. In the case of a tool change with M code, only one replacement
subroutine was configured for the T and/or D/DL addresses. If the M
code for the tool change is programmed together with one of the
addresses to be replaced, the value of MD22560
$MN_TOOL_CHANGE_M_MODE is transferred to the replacement
subroutine.
$C_ME Address extension of replaced M function

Caution
Parameter values
Values passed to the cycle have not yet been executed and must, therefore, be programmed
again in the cycle.

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2.11 Subroutine call with M, T, and D functions

Example of tool change with M6 active and MD10719: T_NO_FCT_CYCLE_MODE= 0

MD10719 $MN_T_NO_FCT_CYCLE_MODE = 0
MD10717 $MN_T_NO_FCT_CYCLE_NAME = "MY_T_CYCLE" ; T replacement cycle

N210 D1 ;
N220 G90 G0 X100 Y100 Z50 ; D1 is active
N230 D2 X110 Z0 T5 ; D1 remains active, programmed D2 is provided to
the T replacement cycle as a variable
N240 M6 ; New tool is selected

Expanded behavior:
Tool change with M6 active and MD10719: T_NO_FCT_CYCLE_MODE= 1
MD22550 $MC_TOOL_CHANGE_MODE = 1
MD10719 $MN_T_NO_FCT_CYCLE_MODE = 1
MD10717 $MN_T_NO_FCT_CYCLE_NAME = "MY_T_CYCLE" ; T replacement cycle

N310 D1 ;
N320 G90 G0 X100 Y100 Z50 ; D1 is active
N330 D2 X110 Z0 T5 ; D2 is activated, D2 is not transferred to the T
replacement cycle as a variable
N340 M6 ; T5 is activated

Example also with parameter transfer on tool change with M6 active and MD10719 = 1
• A replacement cycle for T and M6 has been configured.
• In addition, the parameter transfer to the M6 replacement cycle was configured with
MD10718 $MN_M_NO_FCT_CYCLE_PAR.
If M6 is now programmed with D or DL in the block, the D or DL number is also passed as a
parameter to the M6 replacement cycle when machine data
MD 10719 $MN_T_NO_FCT_CYCLE_MODE = 1.
MD22550 $MC_TOOL_CHANGE_MODE = 1
MD10719 $MN_T_NO_FCT_CYCLE_MODE = 1
MD10717 $MN_T_NO_FCT_CYCLE_NAME = "MY_T_CYCLE" ; T replacement cycle

N410 D1 ;
N420 G90 G0 X100 Y100 Z50 ; D1 is active
N430 D2 X110 T5 M6 ; D1 remains active, D2 and T5 are transferred to
the M6 replacement cycle as a variable

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2.11 Subroutine call with M, T, and D functions

Conflict resolution in case of multiple replacements with the same name

The following table provides information on how conflicts are resolved if all three
replacement subroutines have been configured with different names.

Replacement Configuration of replacement subroutines

For Address D and DL: MD11717 $MN_FCT_CYCLE_NAME = "D_SUB_PROG"
For Address T: MD10717 $MN_FCT_CYCLE_NAME = "T_SUB_PROG"
For M function For the call of the tool change program
MD10716 $MN_M_NO_FCT_CYCLE_NAME[0] = "M6_SUB_PROG"
MD10715 $MN_M_NO_FCT_CYCLE[0] = 6
MD10718 $MN_M_NO_FCT_CYCLE_PAR = 0
Parameterization MD22550 $MC_TOOL_CHANGE_MODE = 1
MD22560 $MC_TOOL_CHANGE_M_CODE = 206

The following are programmed in one part Called replacement subroutine

program line
D and/or DL T M6
– – X M6_SUB_PROG
– X X T_SUB_PROG
– X X M6_SUB_PROG
X – – D_SUB_PROG
X – X M6_SUB_PROG
X X – T_SUB_PROG
X X X M6_SUB_PROG

Note
Configuration of MD10718 $MN_M_NO_FCT_CYCLE_PAR:
The configuration of a replacement subroutine for the tool change with M code is dependent
on whether the tool change with M code was actually configured with MD22550
$MC_TOOL_CHANGE_MODE.

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2.11 Subroutine call with M, T, and D functions

2.11.5 Properties of replacement subroutines

General rules for replacement subroutines

• Like any other subroutine, a replacement subroutine can contain a PROC statement.
• If the replacement subroutine is called from ISO mode, the PROC statement of the
replacement subroutine causes an implicit switchover to the standard language mode.
• However, no transfer parameters can be defined. The transfer of data to the replacement
subroutine always occurs via a system variable.
• The PROC statement enables program attributes such as SBLOF and DISPLOF to be
programmed.
• The replacement subroutine behaves like any other subroutine with respect to SBLOF in
active single block mode:
– Return jump with M17: Stop at end of subroutine
Note: Depending on MD20800 $MC_SPF_END_TO_VDI Bit0, the M function
is output to the PLC.
– Return jump with RET: No stop at end of subroutine
• If the replacement cycle has the DISPLOF attribute, the program line that has resulted in
the replacement cycle call is displayed as the current block in the block display.
• With DELAYFSTON and DELAYFSTOF, areas or even the entire replacement cycle can
be protected against interruptions such as NC Stop, read-in disable, etc.
References: Programming Guide, PGA "Conditionally interruptible program sections".
• Replacements do not occur recursively, i.e., the function that has led to the replacement
subroutine call is no longer replaced if it is programmed again in the replacement
subroutine.

Note
The following applies in general to replacements
In the case of replacements that are called due to programmed auxiliary functions, the
replacement subroutine call does not result in any output of the auxiliary function to the
PLC. The auxiliary function is only output if it is programmed again in the replacement
cycle.

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2.12 Program runtime/workpiece counter

Boundary condition for replacement subroutines

The following boundary conditions apply to replacement subroutines:
• Replacements in synchronized actions are not permitted
• Replacements in technology cycles are not permitted
• A part program line that contains language constructs to be replaced at the block start
may not be placed in front of any block-wise synchronized actions.
• Only the actions required for the respective replacements can be performed in the
replacement cycle.
• The system does not monitor whether the user actually replaces the respective function
in the replacement cycle. Therefore, if the user fails to implement this correctly, the actual
intended function can be omitted.

2.12 2.12 Program runtime/workpiece counter

2.12.1 Function
The functions: "Program runtime" and "Workpiece counting" are not identical to the
corresponding tool management functions, but are intended to support machines, which
have no explicit tool management.

2.12.2 Program runtime

Function
The function "Program runtime" makes the NC internal timers available to monitor
technological processes via system variables.

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2.12 Program runtime/workpiece counter

NC-specific system variables

The following NC-specific system variables are available:

Names Meaning Description

$AN_SETUP_TIME Time since the last control powerup Counts the time since the last control powerup
with default values ("Cold start" in min.) with default values.
is automatically reset to the default values each
time the control is powered up.
$AN_POWERON_TIME Time since the last normal control Counts the time since the last normal control
powerup ("Warm start" in min.) powerup.
It is automatically reset to the default values on
each normal control powerup.
The timers of the system variables are always active.
All system variables are reset to default values on each control power-up.

Channelspecific system variables

The following channel-specific system variables are available
Several channel-specific system variables are available and can be activated via machine
data. Each active runtime measurement is interrupted automatically by a program status
"Program running" and an active override = ZERO.
Dry run feedrate and program testing
The behavior of the active time measurements during the functions: "Dry run feedrate" and
"Program testing" can be specified via machine data.
The following channel-specific system variables are available:

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2.12 Program runtime/workpiece counter

Names Meaning Description

$AC_OPERATING_TIME Total runtime of NC programs in Totals the accumulated runtimes of all programs
Automatic mode (in s) between NC Start and end of program/NC reset.
Is automatically reset each time the control is
powered up.
$AC_CYCLE_TIME Runtime of the selected NC program The runtime between the NC Start and the end of
(in s; always only one active per program/NC reset is measured in the selected NC
channel) program.
It is reset automatically when a new NC program
is started.
$AC_CUTTING_TIME Tool operating time (in s) The measurement produces the runtime of the
path axes (at least one is active) without active
rapid traverse in all NC programs between NC
Start and program end / NC reset with active tool.
The measurement is also interrupted when a
dwell time is active.
It is automatically reset to the default values each
time the control is powered up.
The timers of the system variables must be activated channel-specifically:
MD27860 $MC_PROCESSTIMER_MODE
The system variables are reset to default values on each control power-up.
The timers are automatically activated with the standard machine data for SINUMERIK 802D.

Note
The system variables can be accessed at any time by reading from the HMI operator
interface.

Examples
• Activating the runtime measurement for the active NC program (no measurement with
active dry run feedrate and program testing):
$MC_PROCESSTIMER_MODE = 'H2'
• Activating the measurement for the tool action time (measurement also with dry run
feedrate and program testing):
$MC_PROCESSTIMER_MODE = 'H34'
• Activating the measurement for the total runtime and the tool action time (measurement
also with program test):
$MC_PROCESSTIMER_MODE = 'H25'

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2.12 Program runtime/workpiece counter

2.12.3 Workpiece counter

Functionality
The "Workpiece counter" function makes available various channel-specific system variables
specifically for counting workpieces:
• $AC_REQUIRED_PARTS
Number of workpieces to be completed (setpoint workpieces)
• $AC_TOTAL_PARTS
Number of completed workpieces in total (actual total)
• $AC_ACTUAL_PARTS
Number of completed workpieces (actual workpieces)
• $AC_SPECIAL_PARTS
Number of workpieces specified by the user
Value range: 0 to 999 999 999
Access mode: Write / read

Note
The "workpiece counter" function is independent of the tool management functions.

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2.12 Program runtime/workpiece counter

Activation
The workpiece counters are activated or the reset timing and counting algorithm are
specified via the following two channel-specific machine data:

MD27880 $MC_PART_COUNTER (activation of workpiece counters)

Bit Value Meaning
0 1 $AC_REQUIRED_PARTS is active
1 0 Alarm/VDI output with: $AC_REQUIRED_PARTS == $AC_ACTUAL_PARTS
1 Alarm/VDI output with: $AC_REQUIRED_PARTS == $AC_SPECIAL_PARTS
4 1 $AC_TOTAL_PARTS is active
5 1 With M2 / M30: $AC_TOTAL_PARTS += 1
6 1 Equality under M function of $MC_PART_COUNTER_MCODE[ 0 ]: $AC_TOTAL_PARTS += 1
8 1 $AC_ACTUAL_PARTS is active
9 0 With M2 / M30: $AC_ACTUAL_PARTS += 1
1 Equality under M function of $MC_PART_COUNTER_MCODE[ 1 ]: $AC_ACTUAL_PARTS += 1
12 1 $AC_SPECIAL_PARTS is active
13 0 With M2 / M30: $AC_SPECIAL_PARTS += 1
1 Equality under M function of $MC_PART_COUNTER_MCODE[ 2 ]: $AC_SPECIAL_PARTS += 1

MD27882 $MC_PART_COUNTER_MCODE[ <Index> ] (workpiece counting via user-specific M function)

Index Meaning
0 Value of M function with which $AC_TOTAL_PARTS is counted up.
1 Value of M function with which $AC_ACTUAL_PARTS is counted up.
2 Value of M function with which $AC_SPECIAL_PARTS is counted up.

Boundary conditions
• All workpiece counters are set to the default values on control power-up and can be read
and written independent of their activation.
• If $AC_REQUIRED_PARTS = 0, no ID check is performed with the counter pulse for
$AC_ACTUAL_PARTS or $AC_SPECIAL_PARTS even if the MD bit is set.

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2.12 Program runtime/workpiece counter

Examples
Activation of workpiece counter $AC_REQUIRED_PARTS
MD27880 $MC_PART_COUNTER = 'H3'
Alarm displayed with: $AC_REQUIRED_PARTS == $AC_SPECIAL_PARTS
Activation of workpiece counter $AC_TOTAL_PARTS
MD27880 $MC_PART_COUNTER = 'H10'
MD27882 $MC_PART_COUNTER_MCODE[0] = 80
For each M02: $AC_TOTAL_PARTS += 1
Note: $MC_PART_COUNTER_MCODE[0] has no meaning.
Activation of workpiece counter $AC_ACTUAL_PARTS
MD27880 $MC_PART_COUNTER = 'H300'
MD27882 $MC_PART_COUNTER_MCODE[1] = 17
For each M17: $AC_ACTUAL_PARTS += 1
Activation of workpiece counter $AC_SPECIAL_PARTS
MD27880 $MC_PART_COUNTER = 'H3000'
MD27882 $MC_PART_COUNTER_MCODE[2] = 77
For each M77: $AC_SPECIAL_PARTS += 1
Deactivation of workpiece counter $AC_ACTUAL_PARTS
MD27880 $MC_PART_COUNTER = 'H200'
MD27882 $MC_PART_COUNTER_MCODE[1] = 50
Note: $AC_TOTAL_PARTS is not active
Activation of all counters
MD27880 $MC_PART_COUNTER = 'H3313'
MD27882 $MC_PART_COUNTER_MCODE[0] = 80
MD27882 $MC_PART_COUNTER_MCODE[1] = 17
MD27882 $MC_PART_COUNTER_MCODE[2] = 77

Mode change / NC RESET

The counters are not affected by a mode change or NC RESET.

Mode Group, Channel, Program Operation, Reset Response (K1)

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There are no supplementary conditions to note.

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Mode Group, Channel, Program Operation, Reset Response (K1)

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Examples 4
The examples appear with the descriptions in the individual sections of the function
descriptions.

Mode Group, Channel, Program Operation, Reset Response (K1)

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Examples

Mode Group, Channel, Program Operation, Reset Response (K1)

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Data lists 5
5.1 5.1 Machine data

5.1.1 General machine data

5.1.1.1 HMIspecific machine data

Number Identifier: $MM_ Description

ADV EMB
9421 9421 MA_AXES_SHOW_GEO_FIRST Display geo axes of channel first
9422 9422 MA_PRESET_MODE PRESET / basic offset in JOG.
9423 9423 MA_MAX_SKP_LEVEL Maximum number of skip levels

5.1.1.2 NC-specific machine data

Number Identifier: $MN_ Description

10010 ASSIGN_CHAN_TO_MODE_GROUP Channel valid in mode group
10280 PROG_FUNCTION_MASK Compare commands ">" and "<" compatible to SW
6.3
10700 PREPROCESSING_LEVEL Program preprocessing level
10702 IGNORE_SINGLEBLOCK_MASK Prevent single-block stop
10707 PROG_TEST_MASK Program test modes
10708 SERUPRO_MASK Block change modes
10710 PROG_SD_RESET_SAVE_TAB Setting data to be updated
10713 M_NO_FCT_STOPRE M function with preprocessing stop
10715 M_NO_FCT_CYCLE M function to be replaced by subroutine
10716 M_NO_FCT_CYCLE_NAME Subroutine name for M function replacement
10717 T_NO_FCT_CYCLE_NAME Name of tool change cycle for T function
10718 M_NO_FCT_CYCLE_PAR M function replacement with parameters
10719 T_NO_FCT_CYCLE_MODE Parameter assignment for T function replacement
11450 SEARCH_RUN_MODE Block search parameter settings

Mode Group, Channel, Program Operation, Reset Response (K1)

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Data lists
5.1 Machine data

Number Identifier: $MN_ Description

11470 REPOS_MODE_MASK Repositioning properties
11600 BAG_MASK Mode group response to ASUB
11602 ASUP_START_MASK Ignore stop conditions for ASUB
11604 ASUP_START_PRIO_LEVEL Priorities for "ASUP_START_MASK effective"
11610 ASUP_EDITABLE Activation of a user ASUB for RET/REPOS
11612 ASUP_EDIT_PROTECTION_LEVEL Protection level of user-specific ASUB
11620 PROG_EVENT_NAME Program name for PROG-EVENT
11717 D_NO_FCT_CYCLE_NAME Subroutine name for D function replacement
15700 LANG_SUB_NAME Name for replacement subroutine
15702 LANG_SUB_PATH Call path for replacement subroutine
17200 GMMC_INFO_NO_UNIT Global HMI info (without physical unit)
17201 GMMC_INFO_NO_UNIT_STATUS Global HMI status info (without physical unit)
18360 MM_EXT_PROG_BUFFER_SIZE FIFO buffer size for one program level
18362 MM_EXT_PROG_NUM Number of external program levels (DRAM)

5.1.2 Channelspecific machine data

5.1.2.1 Basic machine data

Number Identifier: $MC_ Description

20000 CHAN_NAME Channel name
20050 AXCONF_GEOAX_ASSIGN_TAB Assignment of geometry axis to channel axis
20060 AXCONF_GEOAX_NAME_TAB Geometry axis name in channel
20070 AXCONF_MACHAX_USED Machine axis number valid in channel
20080 AXCONF_CHANAX_NAME_TAB Channel axis name in channel [channel axis no.]: 0...7
20090 SPIND_DEF_MASTER_SPIND Initial setting of master spindle in channel
20100 DIAMETER_AX_DEF Geometry axis with transverse axis function
20106 PROG_EVENT_IGN_SINGLEBLOCK Prog events ignore the single block
20107 PROG_EVENT_IGN_INHIBIT Prog events ignore the read-in disable
20108 PROG_EVENT_MASK Eventdriven program calls
20109 PROG_EVENT_MASK_PROPERTIES Prog events properties
20114 MODESWITCH_MASK Setting for REPOS
20116 IGNORE_INHIBIT_ASUP Execute user ASUBs completely in spite of readin
disable
20117 IGNORE_SINGLEBLOCK_ASUP Process user ASUBs completely in spite of single-
block processing
20160 CUBIC_SPLINE_BLOCKS Number of blocks for C spline
20170 COMPRESS_BLOCK_PATH_LIMIT Maximum traversing length of NC block for
compression

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 Data lists
5.1 Machine data

Number Identifier: $MC_ Description

20210 CUTCOM_CORNER_LIMIT Max. angle for intersection calculation with tool radius
compensation
20220 CUTCOM_MAX_DISC Maximum value with DISC
20230 CUTCOM_CURVE_INSERT_LIMIT Maximum angle for intersection calculation with tool
radius compensation
20240 CUTCOM_MAXNUM_CHECK_BLOCKS Blocks for predictive contour calculation with tool
radius compensation
20250 CUTCOM_MAXNUM_DUMMY_BLOCKS Max. no. of dummy blocks with no traversing
movements
20270 CUTTING_EDGE_DEFAULT Basic setting of tool cutting edge without programming
20400 LOOKAH_USE_VELO_NEXT_BLOCK Look Ahead to programmed following block velocity
20430 LOOKAH_NUM_OVR_POINTS Number of override switch points for Look Ahead
20440 LOOKAH_OVR_POINTS Override switch points for LookAhead
20500 CONST_VELO_MIN_TIME Minimum time with constant velocity
20600 MAX_PATH_JERK Pathrelated maximum jerk
20610 ADD_MOVE_ACCEL_RESERVE Acceleration reserve for overlaid movements
20700 REFP_NC_START_LOCK NC start disable without reference point
20750 ALLOW_GO_IN_G96 G0 logic in G96
20800 SPF_END_TO_VDI Subprogram end to PLC
21000 CIRCLE_ERROR_CONST Circle end point monitoring constant
21010 CIRCLE_ERROR_FACTOR Circle end point monitoring factor
21100 ORIENTATION_IS_EULER Angle definition for orientation programming
21110 X_AXIS_IN_OLD_X_Z_PLANE Coordinate system for automatic Frame definition
21200 LIFTFAST_DIST Traversing path for fast retraction from the contour
21210 SETINT_ASSIGN_FASTIN NCK input bytes for interrupts
21202 LIFTFAST_WITH_MIRROR Lift fast with mirror
21250 START_INDEX_R_PARAM Number of first channelspecific R parameter

5.1.2.2 Block search

Number Identifier: $MC_ Description

20128 COLLECT_TOOL_CHANGE Collect tool changes during block search
22600 SERUPRO_SPEED_MODE Velocity with block search type 5
22601 SERUPRO_SPEED_FACTOR Velocity factor for block search type 5
22621 ENABLE_START_MODE_MASK_PRT Enables MD 22620: START_MODE_MASK_ PRT for
SERUPRO search run
22622 DISABLE_PLC_START Allow part program start via PLC
22680 AUTO_IPTR_LOCK Disable interrupt pointer

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Data lists
5.1 Machine data

5.1.2.3 Reset response

Number Identifier: $MC_ Description

20110 RESET_MODE_MASK Initial setting at RESET
20112 START_MODE_MASK Initial setting at special NC Start after power-up and at
RESET
20118 GEOAX_CHANGE_RESET Allow automatic geometry axis change
20120 TOOL_RESET_VALUE Tool whose length compensation is selected during
powerup (Reset/part program end)
20121 TOOL_PRESEL_RESET_VALUE Preselected tool whose length compensation is
selected in powerup (Reset/part program end)
20130 CUTTING_EDGE_RESET_VALUE Tool cutting edge on power-up (Reset/part program
end)
20140 TRAFO_RESET_VALUE Active transformation on RESET
20150 GCODE_RESET_VALUES Reset G groups
20152 GCODE_RESET_MODE G code basic setting at RESET
20156 MAXNUM_GCODES_EXT Reset behavior of the external G groups
22620 START_MODE_MASK_PRT Initial setting at special NC Start after power-up and at
RESET

5.1.2.4 Auxiliary function settings

Number Identifier: $MC_ Description

22000 AUXFU_ASSIGN_GROUP Auxiliary function group
22010 AUXFU_ASSIGN_TYPE Auxiliary function type
22020 AUXFU_ASSIGN_EXTENSION Auxiliary function extension
22030 AUXFU_ASSIGN_VALUE Auxiliary function value
22200 AUXFU_M_SYNC_TYPE Output timing of M functions
22210 AUXFU_S_SYNC_TYPE Output timing of S functions
22220 AUXFU_T_SYNC_TYPE Output timing of T functions
22230 AUXFU_H_SYNC_TYPE Output timing of H functions
22240 AUXFU_F_SYNC_TYPE Output timing of F functions
22250 AUXFU_D_SYNC_TYPE Output timing of D functions
22260 AUXFU_E_SYNC_TYPE (available soon) Output timing of E functions.
22300 AUXFU_AT_BLOCK_SEARCH_END Output of auxiliary functions after block search
22400 S_VALUES_ACTIVE_AFTER_RESET S function active after RESET
22410 F_VALUES_ACTIVE_AFTER_RESET F function active after reset
22500 GCODE_OUTPUT_TO_PLC G functions to PLC
22510 GCODE_GROUPS_TO_PLC G codes that are output to the NCK/PLC interface on
block change/RESET
22550 TOOL_CHANGE_MODE New tool offset for M function
22560 TOOL_CHANGE_M_CODE M function for tool change

Mode Group, Channel, Program Operation, Reset Response (K1)

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 Data lists
5.1 Machine data

5.1.2.5 Transformation definitions

Number Identifier: $MC_ Description

24100 TRAFO_TYPE_1 Definition of transformation 1 in channel
24110 TRAFO_AXES_IN_1 Axis assignment for transformation
24120 TRAFO_GEOAX_ASSIGN_TAB_1 Assignment between GEO axis and channel axis for
transformation 1
24200 TRAFO_TYPE_2 Definition of transformation 2 in channel
24210 TRAFO_AXES_IN_2 Axis assignment for transformation 2
24220 TRAFO_GEOAX_ASSIGN_TAB_2 Assignment between GEO axis and channel axis for
transformation 2
24300 TRAFO_TYPE_3 Definition of transformation 3 in channel
24310 TRAFO_AXES_IN_3 Axis assignment for transformation 3
24320 TRAFO_GEOAX_ASSIGN_TAB_3 Assignment between GEO axis and channel axis for
transformation 3
24400 TRAFO_TYPE_4 Definition of transformation 4 in channel
24410 TRAFO_AXES_IN_4 Axis assignment for transformation 4
24420 TRAFO_GEOAX_ASSIGN_TAB_4 Assignment between GEO axis and channel axis for
transformation 4
24430 TRAFO_TYPE_5 Definition of transformation 5 in channel
24432 TRAFO_AXES_IN_5 Axis assignment for transformation 5
24434 TRAFO_GEOAX_ASSIGN_TAB_5 Assignment between GEO axis and channel axis for
transformation 5
24440 TRAFO_TYPE_6 Definition of transformation 6 in channel
24442 TRAFO_AXES_IN_6 Axis assignment for transformation 6
24444 TRAFO_GEOAX_ASSIGN_TAB_6 Assignment between GEO axis and channel axis for
transformation 6
24450 TRAFO_TYPE_7 Definition of transformation 7 in channel
24452 TRAFO_AXES_IN_7 Axis assignment for transformation 7
24454 TRAFO_GEOAX_ASSIGN_TAB_7 Assignment between GEO axis and channel axis for
transformation 7
24460 TRAFO_TYPE_8 Definition of transformation 8 in channel
24462 TRAFO_AXES_IN_8 Axis assignment for transformation 8
24464 TRAFO_GEOAX_ASSIGN_TAB_8 Assignment between GEO axis and channel axis for
transformation 8
24500 TRAFO5_PART_OFFSET_1 Offset vector of 5-axis transformation 1
24510 TRAFO5_ROT_AX_OFFSET_1 Position offset of rotary axes 1/2 for 5axis
transformation 1
24520 TRAFO5_ROT_SIGN_IS_PLUS_1 Sign of rotary axis 1/2 for 5axis transformation 1
24530 TRAFO5_NON_POLE_LIMIT_1 Definition of pole limit for 5-axis transformation 1
24540 TRAFO5_POLE_LIMIT_1 Pole end angle tolerance for interpolation for 5axis
transformation 1
24550 TRAFO5_BASE_TOOL_1 Vector of base tool on activation of 5-axis
transformation 1

Mode Group, Channel, Program Operation, Reset Response (K1)

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Data lists
5.1 Machine data

Number Identifier: $MC_ Description

24560 TRAFO5_JOINT_OFFSET_1 Vector of kinematic offset for 5-axis transformation 1
24600 TRAFO5_PART_OFFSET_2 Offset vector of 5-axis transformation 2
24610 TRAFO5_ROT_AX_OFFSET_2 Position offset of rotary axes 1/2 for 5axis
transformation 2
24620 TRAFO5_ROT_SIGN_IS_PLUS_2 Sign of rotary axis 1/2 for 5axis transformation 2
24630 TRAFO5_NON_POLE_LIMIT_2 Definition of pole limit for 5-axis transformation 2
24640 TRAFO5_POLE_LIMIT_2 Pole end angle tolerance for interpolation for 5axis
transformation 2
24650 TRAFO5_BASE_TOOL_2 Vector of base tool on activation of 5-axis
transformation 2
24660 TRAFO5_JOINT_OFFSET_2 Vector of kinematic offset for 5-axis transformation 2

5.1.2.6 Memory settings

Number Identifier: $MC_ Description

25000 REORG_LOG_LIMIT Percentage of IPO buffer for log file enable
28000 MM_REORG_LOG_FILE_MEM Memory size for REORG (DRAM)
28010 MM_NUM_REORG_LUD_MODULES Number of blocks for local user variables for REORG
(DRAM)
28020 MM_NUM_LUD_NAMES_TOTAL Number of local user variables (DRAM)
28030 MM_NUM_LUD_NAMES_PER_PROG Number of local user variables per program (DRAM)
28040 MM_LUD_VALUES_MEM Memory size for local user variables (DRAM)
(available soon)
28050 MM_NUM_R_PARAM Number of channelspecific R parameters (SRAM)
28060 MM_IPO_BUFFER_SIZE Number of NC blocks in IPO buffer (DRAM)
28070 MM_NUM_BLOCKS_IN_PREP Number of blocks for block preparation (DRAM)
(available soon)
28080 MM_NUM_USER_FRAMES Number of settable Frames (SRAM)
28090 MM_NUM_CC_BLOCK_ELEMENTS Number of block elements for compile cycles (DRAM)
28100 MM_NUM_CC_BLOCK_USER_MEM Size of block memory for compile cycles (DRAM)
28400 MM_ABSBLOCK Dimension basic block display
28402 MM_ABSBLOCK_BUFFER[2] Dimension size of upload buffer
28500 MM_PREP_TASK_STACK_SIZE Stack size of preparation task (DRAM)
28510 MM_IPO_TASK_STACK_SIZE Stack size of IPO task (DRAM)

5.1.2.7 Program runtime and workpiece counter

Number Identifier: $MC_ Description

27860 PROCESSTIMER_MODE Activate the runtime measurement
27880 PART_COUNTER Activate the workpiece counter
27882 PART_COUNTER_MCODE[ ] Workpiece counting via M command

Mode Group, Channel, Program Operation, Reset Response (K1)

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 Data lists
5.2 Setting data

5.1.3 Axis/spindlespecific machine data

Number Identifier: $MA_ Description

30550 AXCONF_ASSIGN_MASTER_CHAN Reset position of channel for axis change
30600 FIX_POINT_POS Fixed value positions of axes with G75
33100 COMPRESS_POS_TOL Maximum deviation with compensation

5.2 5.2 Setting data

5.2.1 Channelspecific setting data

Number Identifier: $SC_ Description

42000 THREAD_START_ANGLE Start angle for thread
42010 THREAD_RAMP_DISP Starting and deceleration distance of feed axis in
thread cutting
42100 DRY_RUN_FEED Dry run feedrate
42200 SINGLEBLOCK2_STOPRE Activate debug mode for SBL2
42444 TARGET_BLOCK_INCR_PROG Continuation mode after block search with calculation
42700 EXT_PROG_PATH Name of an external program path for subroutine call
EXTCALL
42750 ABSBLOCK_ENABLE Enable basic block display
42990 MAX_BLOCKS_IN_IPOBUFFER Control of max. number of blocks in interpolation
buffer

Mode Group, Channel, Program Operation, Reset Response (K1)

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Data lists
Signals

5.3 Signals

5.3.1 Signals to NC
DB number Byte.Bit Description
10 56.1 EMERGENCY STOP

5.3.2 Signals to mode group

DB number Byte.Bit Description
11, ... 0.0 AUTOMATIC mode
11, ... 0.1 MDA mode
11, ... 0.2 JOG mode
11, ... 0.4 Mode change disable
11, ... 0.5 Mode group Stop
11, ... 0.6 Mode group Stop axes plus spindles
11, ... 0.7 Mode group RESET
11, ... 1.0 TEACHIN machine function
11, ... 1.1 Machine function REPOS
11, ... 1.2 Machine function REF

5.3.3 Signals from mode group

DB number Byte.Bit Description
11, ... 4.0 Selected mode AUTOMATIC
11, ... 4.1 Selected mode MDA
11, ... 4.2 Selected mode JOG
11, ... 5.0 Selected machine function TEACH-IN
11, ... 5.1 Selected machine function REPOS
11, ... 5.2 Selected machine function REF
11, ... 6.0 Active mode AUTOMATIC
11, ... 6.1 Active mode MDA
11, ... 6.2 Active mode JOG
11, ... 6.3 Mode group ready
11, ... 6.4 Mode group has been reset
11, ... 6.5 Internal Jog is active

Mode Group, Channel, Program Operation, Reset Response (K1)

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Signals

DB number Byte.Bit Description

11, ... 6.7 All channels in Reset state
11, ... 7.0 Active machine function TEACH-IN
11, ... 7.1 Active machine function REPOS
11, ... 7.2 Active machine function REF

5.3.4 Signals to channel

DB number Byte.Bit Description
21, ... 0.3 Activate DRF
21, ... 0.4 Activate single block
21, ... 0.5 Activate M01
21, ... 0.6 Activate dry run feed
21, ... 1.6 PLC action ended
21, ... 1.7 Activate program test
21, ... 2.0 – 2.7 Skip-block levels: /0 to /7
21, ... 6.1 Activate read-in disable
21, ... 6.4 Program level abort
21, ... 7.0 NC Start disable
21, ... 7.1 NC Start
21, ... 7.2 NC Stop at block limit
21, ... 7.3 NC stop
21, ... 7.4 NC Stop axes plus spindles
21, ... 7.7 Reset
21, ... 31.0 - 31.2 REPOSPATHMODE
21, ... 31.4 REPOSMODEEDGE

5.3.5 Signals from channel

DB number Byte.Bit Description
21, ... 24.3 DRF selected
21, ... 24.4 Select associated M01
21, ... 24.5 M01 selected
21, ... 24.6 Dry run feedrate selected
21, ... 25.0- 25.2 REPOSPATHMODE 0 - 2
21, ... 25.3 Feedrate override selected for rapid traverse
21, ... 25.4 REPOS MODE EDGE
21, ... 25.7 Program test selected
21, ... 26.0 – 26.7 Skip-block selected: /0 - /7
21, ... 27.0 Skip-block selected

Mode Group, Channel, Program Operation, Reset Response (K1)

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Data lists
Signals

DB number Byte.Bit Description

21, ... 27.1 Skip-block selected
21, ... 31.0- 31.2 REPOSPATHMODE: 0 - 2
21, ... 31.4 REPOS MODE EDGE
21, ... 31.6 Skip-block active /8
21, ... 31.7 Skip-block active /9
21, ... 32.0 Execution from external source active
21, ... 32.3 Action block active
21, ... 32.4 Approach block active
21, ... 32.5 M00/M01 active
21, ... 32.6 Last action block active
21, ... 33.4 Block search active
21, ... 33.5 M02/M30 active
21, ... 33.6 Transformation active
21, ... 33.7 Program test active
21, ... 35.0 Program status: Running
21, ... 35.1 Program status: Wait
21, ... 35.2 Program status: Stopped
21, ... 35.3 Program status: Interrupted
21, ... 35.4 Program status: Aborted
21, ... 35.5 Channel status: Active
21, ... 35.6 Channel status: Interrupted
21, ... 35.7 Channel status: Reset
21, ... 36.4 Interrupt processing active
21, ... 36.5 Channel ready
21, ... 37.6 Read-in disable is ignored
21, ... 37.7 Stop at block end is ignored during single block (SBL)
21, ... 208 - 271 Number of the active G function of G function group 1 – n (binary)
21, ... 318.0 ASUB is stopped
21, ... 318.1 Block search via program test is active
21, ... 319.0 REPOS MODE EDGE ACKN
21, ... 319.1- 319.3 Repos Path Mode Quitt: 0 - 2
21, ... 319.5 Repos DEFERAL Chan

5.3.6 Signals to axis/spindle

DB number Byte.Bit Description
31, ... 10.0 REPOSDELAY

Mode Group, Channel, Program Operation, Reset Response (K1)

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Signals

5.3.7 Signals from axis/spindle

DB number Byte.Bit Description
31, ... 70.0 REPOS offset
31, ... 70.1 REPOS offset valid
31, ... 70.2 REPOS Delay Ack
31, ... 72.0 REPOSDELAY
31, ... 76.2 Path axis

Mode Group, Channel, Program Operation, Reset Response (K1)

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Signals

Mode Group, Channel, Program Operation, Reset Response (K1)

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Index
Cascaded, 2-26
Time sequence of types 1, 2 and 4, 2-27
$ with calculation at block end point (type 4), 2-25
with calculation at the contour (type 2), 2-25
$AC_ACTUAL_PARTS, 2-170
with calculation in program test mode, SERUPRO
$AC_REQUIRED_PARTS, 2-170
(type 5), 2-26
$AC_SPECIAL_PARTS, 2-170
without calculation (type 1), 2-25
$AC_TOTAL_PARTS, 2-170
Block search SERUPRO, 2-39
$P_SEARCH_S, 2-31
Automatic interrupt pointer, 2-65
$P_SEARCH_SDIR, 2-31
Axis couplings, 2-72
$P_SEARCH_SGEAR, 2-31
Conditions for axis functions, 2-73
$P_SEARCH_SPOS, 2-31
Control REPOS with VDI interface signals, 2-51
$P_SEARCH_SPOSMODE, 2-31
Definition SERUPRO ASUB, 2-41
Definition SERUPRO operation, 2-41
Delayed approach of axis with REPOS offset, 2-48
1 Gear stage change, 2-75
11450, 2-72 Initial setting, 2-76
Master-slave, 2-71
Overlaid movements, 2-75
A Path axes, 2-49
Prefer or ignore REPOS, 2-48
Action blocks, 2-28
Programmable interrupt pointer, 2-62
collected spindle functions, 2-28
REPOS acknowledgments, 2-51
Action single block, 2-20
REPOS offset after an axis replacement, 2-54
ASUB
REPOS offset with synchronous spindle
after block search with calculation, 2-29
coupling, 2-54
Modes, 2-115
REPOS operation, 2-45
-Operational sequences, 2-117
Reposition positioning axes, 2-47
Priorities, 2-116
Repositioning with controlled REPOS, 2-46
Start despite active read-in disable, 2-118
Set REPOS response, 2-46
Term, 2-112
Setpoint and actual value couplings, 2-70
with REPOSA, 2-118
Supported functions, 2-40, 2-68
Asynchronous subroutines (ASUBs), 2-111
System variable for recognition, 2-77
Automatic Operating Mode, 2-169
Time sequence, 2-40
Autonomous singleaxis operations, 2-74
Updating the REPOS offset within the scope, 2-53
Auxiliary function output, 2-80
Block search with calculation
accumulated spindle functions, 2-31
collected actual position, 2-29
B current actual position, 2-29
Basic block display Block search with calculation at block end point
Activating, 2-135 current actual position, 2-30
Configure, 2-135 BLOCKREADINHIBIT_ON, 2-110
Basic display BLOCKSEARCHRUN_NEWCONF, 2-110
Size of display buffer, 2-135
Block search

Mode Group, Channel, Program Operation, Reset Response (K1)

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Index

C DBX46.5, 2-10
DBX5.0, 2-7
Calling the ASUB outside program operation, 2-115
DBX5.1, 2-7
Cascaded block search, 2-33
DBX5.2, 2-7
Channel
DBX6.0, 2-6, 2-10
Change in configuration, 2-14
DBX6.1, 2-6, 2-10
Configuration, 2-14
DBX6.2, 2-6, 2-10
-display status, 2-88
DBX6.3, 2-5
Initial setting, 2-80
DBX6.4, 2-10
Path interpolator, 2-13
DBX6.5, 2-10
Properties, 2-13
DBX6.7, 2-5
-Statuses, 2-88
DBX7.0, 2-7, 2-10
Channel status
DBX7.1, 2-7, 2-10
Channel active, 2-8
DBX7.2, 2-7, 2-10
Channel interrupted, 2-8
DB21, ...
Channel reset, 2-8
D35.5, 2-84
Control
DBB35, 2-41, 2-102
Normal powerup, 2-168
DBX0.4, 2-20, 2-21
Control powerup, 2-168
DBX0.6, 2-22
With default values, 2-168
DBX1.6, 2-27, 2-30
Counting
DBX1.7, 2-18, 2-83
Pulse, 2-171
DBX2.0, 2-25, 2-84
DBX24.6, 2-22
DBX25.7, 2-18
D DBX26.0, 2-24
DB 31, ... DBX31.0-31.2, 2-49, 2-51, 2-55, 2-56
DBX10.0, 2-49, 2-52 DBX31.4, 2-48, 2-49, 2-50, 2-51
DBX2.2, 2-28 DBX310.1-319.3, 2-51
DBX70.0, 2-53, 2-76 DBX318.0, 2-118
DBX70.1, 2-76 DBX318.1, 2-43
DBX70.2, 2-52, 2-53 DBX319.0, 2-50, 2-51
DB10, ... DBX319.1-319.3, 2-50, 2-52, 2-53
DBX56.1, 2-83 DBX319.5, 2-51, 2-54
DB11, ... DBX32.3, 2-27
D0.4, 2-12 DBX32.4, 2-27, 2-28
DBX0.0, 2-6, 2-9 DBX32.6, 2-27
DBX0.1, 2-6 DBX33.4, 2-27
DBX0.2, 2-6 DBX33.7, 2-19
DBX0.5, 2-4 DBX35. 7, 2-103
DBX0.6, 2-4 DBX35.0, 2-84, 2-87
DBX0.7, 2-4, 2-86 DBX35.1, 2-87
DBX07.7, 2-83 DBX35.2, 2-87
DBX1.0, 2-7 DBX35.3, 2-21, 2-85, 2-87
DBX1.1, 2-7 DBX35.4, 2-87, 2-103
DBX1.2, 2-7 DBX35.5, 2-84, 2-88
DBX1.6, 2-129 DBX35.6, 2-83, 2-88
DBX1.7, 2-129 DBX35.7, 2-83, 2-86, 2-88
DBX26.4, 2-10 DBX36.6, 2-30
DBX26.5, 2-10 DBX36.7, 2-30
DBX4.0, 2-6 DBX6.1, 2-118
DBX4.1, 2-6 DBX7.0, 2-83
DBX4.2, 2-6 DBX7.1, 2-18, 2-19, 2-22, 2-28, 2-85
DBX4.4, 2-83 DBX7.2, 2-83, 2-84
DBX46.4, 2-10 DBX7.3, 2-83, 2-84

Mode Group, Channel, Program Operation, Reset Response (K1)

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 Index

DBX7.4, 2-83, 2-84 Gap, 2-4

DBX7.5, 2-16
DBX7.7, 2-83, 2-86
DB21-DB30, ... H
DBB35, 2-103
Hold block, 2-62
DB31, ...
DBB28.7, 2-15
DBX10.0, 2-46, 2-48, 2-49, 2-51, 2-56
DBX2.2, 2-47
I
DBX3.7, 2-73 ID check, 2-171
DBX60.6, 2-19 Implicit preprocessing stop, 2-67
DBX60.7, 2-19 INIT_SYNC, 2-110
DBX70.0, 2-51, 2-53 Interrupt, 2-109
DBX70.1, 2-51, 2-53 Interrupt disable, 2-114
DBX70.2, 2-51 Interrupt routine
DBX72.0, 2-51 Activating, 2-113
DBX76.4, 2-51, 2-54 End, 2-114
Decoding single block, 2-20 interrupt routines, 2-111
DELDISTOGO_SYNC, 2-109 Term, 2-112
DISABLE, 2-114 Interrupt signals, 2-112
Display block IPTRLOCK, 2-62
Structure of a DIN block, 2-137 IPTRUNLOCK, 2-62
Dry run feedrate, 2-22

L
E LIFTFAST, 2-113
ENABLE, 2-114
ESR, 2-110
Event M
Operator panel reset, 2-101
main technological application, 2-15
Part program end, 2-100
MD10010, 2-1, 2-3, 2-4
Parts program start, 2-99
MD10702, 2-21, 2-28, 2-118, 2-127
Startup, 2-101
MD10707, 2-42
Eventcontrolled program sequences, 2-98
MD10708, 2-42
Part program start and part program end, 2-102
MD10714, 2-156
Execute external subroutine, 2-141
MD10715, 2-155
Execute from external
MD10716, 2-155
Modal execution, 2-141
MD10717, 2-155
via V24 interface, 2-140
MD10718, 2-155
Execution from external source, 2-140
MD10719, 2-155
EXT_ZERO_POINT, 2-110
MD10735, 2-9
External subroutine, 2-141
MD10804, 2-156
MD10806, 2-156
MD10814, 2-156
F MD11411, 2-17, 2-108
Feed stop, 2-89 MD11450, 2-30, 2-31, 2-32, 2-33, 2-44
Function selection (via operator panel front or PLC), MD11470, 2-45, 2-46, 2-47, 2-48, 2-74
2-130 MD11600, 2-116, 2-119
MD11602, 2-72, 2-115, 2-116, 2-118
MD11604, 2-72, 2-116, 2-119
G MD11610, 2-119, 2-120
MD11620, 2-99
G groups, 2-80
MD11717, 2-155

Mode Group, Channel, Program Operation, Reset Response (K1)

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Index

MD17200, 2-135 Submode TEACH IN, 2-7

MD18800, 2-156
MD20000, 2-14
MD20094, 2-156 N
MD20095, 2-156
NC
MD20106, 2-104
- Stop, 2-89
MD20107, 2-104
NC instruction, 2-83
MD20108, 2-98, 2-99
NC Start, 2-83, 2-169
MD20110, 2-116
Program, 2-170
MD20112, 2-43, 2-116
-Reset, 2-169
MD20114, 2-120
NC language scope
MD20116, 2-118
can be configured via MD, 2-80
MD20117, 2-118, 2-126, 2-128
NEWCONF_PREP_STOP, 2-110
MD20150, 2-14, 2-80
MD20610, 2-113
MD21200, 2-113
MD21202, 2-113
O
MD22254, 2-156 Operating modes
MD22256, 2-156 change, 2-11
MD22510, 2-80 Interlocks, 2-11
MD22560, 2-156 monitoring functions, 2-11
MD22600, 2-57 of the mode group, 2-5
MD22601, 2-57, 2-72 Operating statuses, 2-8
MD22620, 2-43, 2-76 Operational states
MD22621, 2-43 Upon start of ASUB, 2-116
MD22680, 2-65 Operator panel reset, 2-103
MD26008, 2-156 Override, 2-169
MD26012, 2-156 OVERSTORE_BUFFER_END_REACHED, 2-109
MD27800, 2-15
MD27880, 2-171
MD27882, 2-171 P
MD28060, 2-132, 2-135
Part program
MD28400, 2-135
Channel enable, 2-83
MD32060, 2-74
End, 2-145
MD32300, 2-113
interruption, 2-84
MD9423, 2-131
Selection, 2-83
Mirroring
Skipping of specific part program blocks, 2-24
Retraction direction (lift fast), 2-113
Start, 2-145
MMCCMD, 2-110
starting, 2-91
Mode, 2-5
Part program start, 2-145
AUTOMATIC, 2-5
Path interpolator, 2-13
JOG, 2-5
PLC-controlled axis, 2-15
JOG in Automatic, 2-5
PREP_STOP, 2-109
MDA, 2-6
PROG_END, 2-109
Mode group
PROGCANCELSUB, 2-109
Change in configuration of the mode group, 2-3
PROGMODESLASHOFF, 2-110
Channelspecific assignments, 2-2
PROGMODESLASHON, 2-110
number, 2-3
Program
Specification, 2-1
-display status, 2-87
User interface, 2-3
Program action, 2-89
Modes
Program test, 2-17
change, 2-5
-statuses, 2-87
cross-mode synchronous actions, 2-6
Program control
Priorities, 2-6

Mode Group, Channel, Program Operation, Reset Response (K1)

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 Index

Interface signals, 2-131 SETINT, 2-113

Program display modes, 2-134 Single block, 2-89
Program execution without setpoint outputs, 2-18 Channel classification, 2-129
Program operation, 2-79 do not stop, depending on the situation, 2-127
Initial setting, 2-80 Program operation mode, 2-19
Program section -reactivate suppression in the ASUB, 2-128
-repetition, 2-93, 2-95, 2-96, 2-97 SBL1, 2-123
PROGRESETREPEAT, 2-109 SBL2, 2-123
SBL2 with implicit preprocessing stop, 2-124
SBL3, 2-123
R Stop suppression, 2-125
-suppression in the program SBLOF, 2-125
Rapid traverse, 2-169
-Suppression with started ASUB, 2-125
Reaching simulated target point for LEAD with JOG,
SINGLEBLOCK_DECODIER, 2-109
2-71
SINGLEBLOCK_IPO, 2-109
Read-in disable, 2-89
SINGLEBLOCKSTOP, 2-109
Reorganizing, 2-113
Special points in the target block
Replace system ASUB via user ASUB, 2-119
STOPRRE block, 2-66
Repositioning
Spindle functions using a PLC, 2-15
at the beginning of the block, 2-55
Spindle stop, 2-89
at the interruption point, 2-55
Stop events
Repositioning neutral axes after SERUPRO, 2-48
Classification, 2-108
Repositioning on contour
Evaluation, 2-108
Repositioning point, 2-55
Influencing, 2-108
Reset, 2-89, 2-109
Stop criteria, 2-109
RESET, 2-145
STOP_ALARM, 2-110
RESET commands, 2-86
STOPALL, 2-109
RETREAT_MOVE_THREAD, 2-110
STOPATEND_ALARM, 2-110
Runtime
STOPATIPOBUF_EMPTY_ALARM_REORG, 2-110
Measurement, 2-170
STOPATIPOBUFFER_ISEMPTY_ALARM, 2-110
of the NC program, 2-169
STOPPROG, 2-109
of the path axes, 2-169
STOPPROGATASUPEND, 2-110
STOPPROGATBLOCKEND, 2-109
STOPRUN, 2-110
S System variable
SAVE, 2-114 Channel-specific, 2-169
SBLOF, 2-125 NCK-specific, 2-168
SBLON, 2-128 SYSTEM_SHUTDOWN, 2-110
SD42100, 2-22, 2-23
SD42101, 2-23
SD42444, 2-28 T
SD42990, 2-132
TEACH IN, 2-6
Selfacting SERUPRO, 2-61
Timers
SERUPRO approach, 2-41, 2-45
Channel-specific, 2-169
control from the PLC, 2-50
Tool
Influence path axes individually, 2-54
management, 1-3
Repositioning to next point, 2-55
Operating time, 2-169
SERUPRO ASUP
Special features, 2-58
SERUPRO operation
SPEED factor for channel axes during ramp-up,
U
2-57 User ASUB
serurpoMasterChan, 2-61 and system ASUB, 2-121
SET_USER_DATA, 2-110 Installation, 2-120

Mode Group, Channel, Program Operation, Reset Response (K1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 Index-5
Index

Protection level, 2-122 W

Single-block processing, 2-122
WAITE, 2-110
User-defined
WAITM, 2-110
System ASUBs, 2-119
WAITMC, 2-110
Userdefined ASUB
Workpiece
after SERUPRO operation, 2-44
-counter: example, 2-172
Workpiecerelated actualvalue system
RESET and power-up response, 2-148

Mode Group, Channel, Program Operation, Reset Response (K1)

Index-6 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Brief description 1

Detailed description 2

Supplementary conditions 3
SINUMERIK
840D sl/840Di sl/840D/840Di/810D
Examples 4
Axis Types, Coordinate Systems, 5
Data lists
Frames (K2)

Function Manual

Valid for

Control
SINUMERIK 840D sl/840DE sl
SINUMERIK 840Di sl/840DiE sl
SINUMERIK 840D powerline/840DE powerline
SINUMERIK 840Di powerline/840DiE powerline
SINUMERIK 810D powerline/810DE powerline

Software Version
NCU System Software for 840D sl/840DE sl 1.3
NCU system software for 840Di sl/DiE sl 1.0
NCU system software for 840D/840DE 7.4
NCU system software for 840Di/840DiE 3.3
NCU system software for 810D/810DE 7.4

03/2006 Edition
6FC5397-0BP10-1BA0
Safety Guidelines
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent
damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are
graded according to the degree of danger.

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

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

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

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

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

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

Prescribed Usage
Note the following:

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

Trademarks
All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this
publication may be trademarks whose use by third parties for their own purposes could violate the rights of the
owner.

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

Siemens AG Order No.: 6FC5397-0BP10-1BA0 Copyright © Siemens AG 2006.

Automation and Drives Edition 05/2006 Technical data subject to change
Postfach 48 48
90437 NÜRNBERG
GERMANY
Table of contents
1 Brief description ...................................................................................................................................... 1-1
1.1 Axes ........................................................................................................................................... 1-1
1.2 Coordinate systems ................................................................................................................... 1-4
1.3 Frames ..................................................................................................................................... 1-6
2 Detailed description ................................................................................................................................ 2-1
2.1 Axes ........................................................................................................................................... 2-1
2.1.1 Overview .................................................................................................................................... 2-1
2.1.2 Machine axes ............................................................................................................................. 2-3
2.1.3 Channel axes ............................................................................................................................. 2-4
2.1.4 Geometry axes........................................................................................................................... 2-4
2.1.5 Replaceable geometry axes ...................................................................................................... 2-5
2.1.6 Special axes............................................................................................................................... 2-9
2.1.7 Path axes ................................................................................................................................... 2-9
2.1.8 Positioning axes ....................................................................................................................... 2-10
2.1.9 Main axes................................................................................................................................. 2-11
2.1.10 Synchronized axes................................................................................................................... 2-12
2.1.11 Axis configuration..................................................................................................................... 2-13
2.1.12 Link axes .................................................................................................................................. 2-16
2.2 Zeros and reference points ...................................................................................................... 2-19
2.2.1 Reference points in working space.......................................................................................... 2-19
2.2.2 Position of coordinate systems and reference points .............................................................. 2-20
2.3 Coordinate systems ................................................................................................................. 2-22
2.3.1 Overview .................................................................................................................................. 2-22
2.3.2 Machine coordinate system (MCS).......................................................................................... 2-24
2.3.3 Basic coordinate system (BCS) ............................................................................................... 2-25
2.3.4 Additive offsets......................................................................................................................... 2-27
2.3.5 Basic zero system (BZS) ......................................................................................................... 2-30
2.3.6 Settable zero system (SZS) ..................................................................................................... 2-32
2.3.7 Configurable settable zero system (SZS) ................................................................................ 2-33
2.3.8 Workpiece coordinate system (WCS)...................................................................................... 2-35
2.4 Frames ................................................................................................................................... 2-36
2.4.1 Coordinate axes, zeros and reference points .......................................................................... 2-36
2.4.2 Frames ................................................................................................................................... 2-37
2.4.3 Frame components .................................................................................................................. 2-38
2.4.3.1 Translation ............................................................................................................................... 2-38
2.4.3.2 Fine offset ................................................................................................................................ 2-38
2.4.3.3 Rotations for geometry axes .................................................................................................... 2-39
2.4.3.4 Scaling ..................................................................................................................................... 2-44
2.4.3.5 Mirroring ................................................................................................................................... 2-44
2.4.3.6 Chain operator ......................................................................................................................... 2-45
2.4.3.7 Programmable axis identifiers.................................................................................................. 2-45
2.4.3.8 Coordinate transformation ....................................................................................................... 2-46
2.4.4 Frames in data management and active frames ..................................................................... 2-47

Axis Types, Coordinate Systems, Frames (K2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 iii
Table of contents

2.4.4.1 Overview .................................................................................................................................. 2-47

2.4.4.2 Activating data management frames ....................................................................................... 2-49
2.4.4.3 NCU global frames................................................................................................................... 2-50
2.4.5 Frame chain and coordinate systems ...................................................................................... 2-50
2.4.5.1 Overview .................................................................................................................................. 2-50
2.4.5.2 Configurable SZS..................................................................................................................... 2-51
2.4.5.3 Manual traverse in the SZS coordinate system ....................................................................... 2-53
2.4.5.4 Suppression of frames ............................................................................................................. 2-53
2.4.6 Frame chain frames ................................................................................................................. 2-55
2.4.6.1 Overview .................................................................................................................................. 2-55
2.4.6.2 Settable frames $P_UIFR[n] .................................................................................................... 2-55
2.4.6.3 Channel basic frames $P_CHBFR[n]....................................................................................... 2-56
2.4.6.4 NCU global basic frames $P_NCBFR[n].................................................................................. 2-57
2.4.6.5 Complete basic frame $P_ACTBFRAME................................................................................. 2-59
2.4.6.6 Programmable frame $P_PFRAME ......................................................................................... 2-60
2.4.6.7 Channelspecific system frames ............................................................................................... 2-62
2.4.6.8 $P_ACTFRAME ....................................................................................................................... 2-64
2.4.7 Implicit frame changes ............................................................................................................. 2-65
2.4.7.1 Frames and switchover of geometry axes ............................................................................... 2-65
2.4.7.2 Frame for selection and deselection of transformations .......................................................... 2-68
2.4.7.3 Adapting active frames............................................................................................................. 2-86
2.4.8 Predefined frame functions ...................................................................................................... 2-87
2.4.8.1 Inverse frame ........................................................................................................................... 2-87
2.4.8.2 Additive frame in frame chain................................................................................................... 2-91
2.4.9 Functions.................................................................................................................................. 2-92
2.4.9.1 Setting zeros, workpiece measuring and tool measuring ........................................................ 2-92
2.4.9.2 Zero offset external via system frames .................................................................................... 2-92
2.4.9.3 Toolholder ................................................................................................................................ 2-93
2.4.10 Subroutine return with SAVE ................................................................................................. 2-104
2.4.11 Data backup ........................................................................................................................... 2-105
2.4.12 Positions in the coordinate system ........................................................................................ 2-105
2.4.13 Control system response ....................................................................................................... 2-106
2.4.13.1 Power on ................................................................................................................................ 2-106
2.4.13.2 Mode change ......................................................................................................................... 2-106
2.4.13.3 Reset, program end ............................................................................................................... 2-107
2.4.13.4 Response at part-program start ............................................................................................. 2-109
2.4.13.5 Block search........................................................................................................................... 2-109
2.4.13.6 Repos ..................................................................................................................................... 2-109
2.5 Workpiecerelated actualvalue system ................................................................................... 2-110
2.5.1 Overview ................................................................................................................................ 2-110
2.5.2 Use of workpiecerelated actual-value system........................................................................ 2-110
2.5.3 Special reactions.................................................................................................................... 2-112
3 Supplementary conditions....................................................................................................................... 3-1
4 Examples................................................................................................................................................ 4-1
4.1 Axes ........................................................................................................................................... 4-1
4.2 Coordinate systems ................................................................................................................... 4-4
4.3 Frames ..................................................................................................................................... 4-5
5 Data lists................................................................................................................................................. 5-1
5.1 Machine data.............................................................................................................................. 5-1
5.1.1 Memory specific machine data .................................................................................................. 5-1
5.1.2 NC-specific machine data .......................................................................................................... 5-2
5.1.3 Channelspecific machine data ................................................................................................... 5-2
5.1.4 Axis/spindlespecific machine data ............................................................................................. 5-3

Axis Types, Coordinate Systems, Frames (K2)

iv Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Table of contents

5.2 Setting data ................................................................................................................................ 5-4

5.2.1 Channelspecific setting data ...................................................................................................... 5-4
5.3 System variables........................................................................................................................ 5-4
5.4 Signals ....................................................................................................................................... 5-5
5.4.1 Signals from channel ................................................................................................................. 5-5
5.4.2 Signals to axis/spindle ............................................................................................................... 5-6
5.4.3 Signals to axis/spindle ............................................................................................................... 5-6
Index................................................................................................................................................ Index-1

Axis Types, Coordinate Systems, Frames (K2)

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Table of contents

Axis Types, Coordinate Systems, Frames (K2)

vi Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Brief description 1
1.1 Axes

Machine axes
Machine axes are the axes that actually exist on a machine tool.

Channel axes
Every geometry axis and every special axis is assigned to a channel and, therefore, a
channel axis. Geometry axes and additional axes are always traversed in "their" channel.

Geometry axes
The three geometry axes always make up a fictitious rectangular coordinate system, the
basic coordinate system (BCS).
By using FRAMES (offset, rotation, scaling, mirroring), it is possible to image geometry axes
of the workpiece coordinate system (WCS) on the BCS.

Special axes
In contrast to geometry axes, no geometrical relationship is defined between the special
axes.

Path axes
Path axes are interpolated together (all the path axes of a channel have a common path
interpolator).
All the path axes of one channel have the same acceleration phase, constant travel phase
and delay phase.

Positioning axes
Positioning axes are interpolated separately (each positioning axis has its own axis
interpolator). Each positioning axis has its own feedrate and acceleration characteristic.

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Brief description
1.1 Axes

Synchronized axes
Synchronous axes are interpolated together with path axes (all path axes and synchronous
axes of one channel have a common path interpolator).
All path axes and all synchronous axes of a channel have the same acceleration phase,
constant travel phase and deceleration phase.

Axis configuration
The machine data below are used to assign the geometry axes, special axes, channel axes
and machine axes as well as the names of the individual axis types:
MD20050 $MC_AXCONF_GEOAX_ASIGN_TAB
MD20060 $MC_AXCONF_GEOAX_NAME_TAB
MD20070 $MC_AXCONF_MACHAX_USED
MD20080 $MC_AXCONF_CHANAX_NAME_TAB
MD10000 $MN_AXCONF_MACHAX_NAME_TAB
MD35000 $MA_SPIND_ASSIGN_TO_MACHAX

Replaceable geometry axes

The "Replaceable geometry axes" function allows the geometry axes in a grouping to be
replaced by other channel axes.
Axes that are initially configured as synchronous special axes in a channel can replace any
selected geometry axis in response to a program command.

Link axis
Link axes are axes, which are physically connected to another NCU and whose position is
controlled from this NCU. Link axes can be assigned dynamically to channels of another
NCU. Link axes are not local axes from the perspective of a particular NCU.
The axis container concept is used for the dynamic modification of the assignment to an
NCU. Axis replacement with GET and RELEASE from the part program is not available for link
axes across NCU boundaries.
The link axes are described in
References:
/FB2/ Function Manual, Expansion Functions; Multiple Operator Panels on Multiple NCUs,
Distributed Systems (B3)

Axis Types, Coordinate Systems, Frames (K2)

1-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Brief description
1.1 Axes

Axis container
An axis container is a circular buffer data structure, in which local axes and/or link axes are
assigned to channels. The entries in the circular buffer can be shifted cyclically.
In addition to the direct reference to local axes or link axes, the link axis configuration in the
logical machine axis image also allows references to axis containers.
This type of reference consists of:
• Axis container number
• A slot (circular buffer location within the corresponding container)
The entry in a circular buffer location contains:
• A local axis
Or
• A link axis
The axis container function is described in
References:
/FB2/Function Manual, Expansion Functions; Multiple Operator Panels on Multiple NCUs,
Distributed Systems (B3)

Axis Types, Coordinate Systems, Frames (K2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 1-3
Brief description
1.2 Coordinate systems

1.2 Coordinate systems

MCS
The machine coordinate system (MCS) has the following properties:
• It is defined by the machine axes.
• The machine axes can be perpendicular to each other to form Cartesian system or
arranged in any other way.
• The names of the machine axes can be defined.
• The machine axes can be linear or rotary axes.

BCS
The basic coordinate system (BCS) has the following properties:
• The geometry axes form a perpendicular Cartesian coordinate system.
• The BCS is derived from a kinematic transformation of the MCS.

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

SZS
The settable zero system (SZS) is the workpiece coordinate system with a programmable
frame from the viewpoint of the WCS. The workpiece zero is defined by the settable frames
G54 to G599.

Axis Types, Coordinate Systems, Frames (K2)

1-4 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Brief description
1.2 Coordinate systems

WCS
The workpiece coordinate system (WCS) has the following properties:
• In the workpiece coordinate system all the axes coordinates are programmed (parts
program).
• It is made up of geometry axes and special axes.
• Geometry axes always form a perpendicular Cartesian coordinate system
• Special axes form a coordinate system without any geometrical relation between the
special axes.
• The names of the geometry axes and special axes can be defined.
• The workpiece coordinate system can be translated, rotated, scaled or mirrored with
FRAMES (TRANS, ROT, SCALE, MIRROR).
Multiple translations, rotational movements, etc., are also possible.

Zero offset external

The zero offset external has the following properties:
• At a time defined in the PLC, a predefined additional zero offset between the basic and
the workpiece coordinate systems is activated.
• The magnitudes of the offsets can be set by the following for each of the axes involved:
– PLC
– Operator Panel
– Part program
• Activated offsets take effect at the instant the first motion block of the relevant axes is
processed after offset activation. The offsets are superimposed on the programmed path
(no interpolation).
The velocity, at which the zero offset external is applied, is as follows:
Programmed F value plus +1/2 JOG velocity
The zero offset external is traversed at the end of G0 blocks.
• The activated offsets are retained after RESET and end of program.
• After POWER ON, the last active offset is still stored in the control but must be
reactivated by the PLC.

Axis Types, Coordinate Systems, Frames (K2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 1-5
Brief description
1.3 Frames

1.3 Frames

FRAME
A FRAME is a closed calculation rule that translates one Cartesian coordinate system into
another.

FRAME components

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Figure 1-1 FRAME components

A FRAME consists of the following components:

Offset Rough offset Programmable with:

• TRANS
• ATRANS (additive translation component)
• CTRANS (zero offset for multiple axes)
and
• G58 (axial zero offset)
Fine offset Programmable with:
• CFINE
and
• G59 (axial zero offset)
Rotation Programmable with:
• ROT/ROTS
• AROT/AROTS
and
• CROTS

Axis Types, Coordinate Systems, Frames (K2)

1-6 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Brief description
1.3 Frames

Scaling Programmable with:

• SCALE
and
• ASCALE
Mirroring Programmable with:
• MIRROR
and
• AMIRROR

Features in relation to axes

The rough and fine offsets, scaling and mirroring can be programmed for geometry and
special axes. A rotation can also be programmed for geometry axes.

Rough and fine offsets

The translation component of FRAMES comprises:
• Rough offset with TRANS, ATRANS and CTRANS
The rough offset is normally specified by the machine setter.
The programmable offsets for all geometry axes and special axes are specified with
TRANS.
• Fine offset with CFINE
This can be defined by the machine operator, within certain input limits.

G58, G59
G58 and G59 can be programmed to replace the rough and fine offsets of the programmable
frame on an axial basis. These functions can only be used when the fine offset is configured.
• Rough offset with G58
G58 changes only the absolute translation component (rough offset) for the specified
axis; the total of additively programmed translations (fine offset) is retained.
• Fine offset with G59
G59 is used for axial overwriting of the additively programmed translations for the
specified axes, which were programmed with ATRANS.

Frame rotations
Orientations in space are defined via frame rotations as follows:
• Rotation with ROT defines the individual rotations for all geometry axes.
• Solid angles with ROTS, AROTS, CROTS define the orientation of a plane in space.
• Frame rotation with TOFRAME defines a frame with a Z axis pointing in the tool direction.

Axis Types, Coordinate Systems, Frames (K2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 1-7
Brief description
1.3 Frames

Scaling
SCALE is used to program the programmable scale factors for all geometry axes and special
axes.
ASCALE must be programmed if a new scaling is to be based on a previous scaling, rotation,
translation or mirroring.

Mirroring
You can set the axis, about which mirroring is performed, via
MD10610 MIRROR_REF_AX
:

MD10610 = 0: Mirroring is performed around the programmed axis.

MD10610 = 1 or 2 or 3: Depending on the input value, mirroring is mapped onto the
mirroring of a specific reference axis and rotation of two other
geometry axes.

Frame chaining
The current FRAME is composed of the total basic frame, the settable FRAME, the 4 system
frames and the programmable FRAME.
The current complete frame is calculated according to the formula below:

$P_ACTFRAME = $P_SETFRAME : $P_EXTFRAME : $P_PARTFRAME :

$P_ACTBFRAME : $P_IFRAME : $P_TOOLFRAME :
$P_PFRAME

Frames with G91

Incremental programming with G91 is defined such that the compensation value is traversed
additively to the incrementally programmed value when a zero offset is selected.
The following are set via the setting data:
SD42440 $SC_FRAME_OFFSET_INCR_PROG
:

Value = 1 Zero offset is applied on FRAME and incremental programming of

an axis (= default setting).
Value = 0 Only the programmed path is traversed.

Suppression of frames
Current frames can be suppressed with the following instructions:

G53 Current zero offset (ZO)

G153 Current frame, incl. basic frame
SUPA Current ZO, incl. programmed offsets

Axis Types, Coordinate Systems, Frames (K2)

1-8 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Brief description
1.3 Frames

NCU global basic frames

For rotary indexing machine technology, for example, a channel must be used to define
frames for other channels. These cross-channel frames are shown in the "NCU global basic
frames" below.
Properties of the NCU global basic frames:
• Can be read and written from all channels.
• Can only be activated in the channels.
• Up to 16 NCU global basic frames are available.
Global frames can be used to apply offsets, scale factors and mirroring operations to
channel and machine axes.
All basic frames (up to 16 global and 16 channel-specific) are chained to produce the total
basic frame. The standard configuration is designed for at least one basic frame per channel.
Settable frames can be defined as either NCU global or channelspecific.

Channel coordination
With NCU global frames, the user must ensure channel coordination and activation of the
frames (e.g. using the WAITMC command), to allow the frames to be calculated at the
desired point in the program.
Crosschannel activation of frames is not supported.

Axis Types, Coordinate Systems, Frames (K2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 1-9
Brief description
1.3 Frames

Axis Types, Coordinate Systems, Frames (K2)

1-10 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Detailed description 2
2.1 Axes

2.1.1 Overview

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Axis Types, Coordinate Systems, Frames (K2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-1
Detailed description
2.1 Axes

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Figure 2-2 Local and external machine axes (link axes)

Axis Types, Coordinate Systems, Frames (K2)

2-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.1 Axes

2.1.2 Machine axes

Meaning
Machine axes are the axes that actually exist on a machine tool.

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Figure 2-3 Machine axes X, Y, Z, B, S on a Cartesian machine

Axis Types, Coordinate Systems, Frames (K2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-3
Detailed description
2.1 Axes

Application
The following can be machine axes:
• Geometry axes X, Y, Z
• Orientation axes A, B, C
• Loader axes
• Tool turrets
• Axes for tool magazine
• Axes for automatic tool changer
• Spindle sleeves
• Axes for pallet changers
• Etc.

2.1.3 Channel axes

Meaning
Each geometry axis and each special axis is assigned to a channel. Geometry axes and
additional axes are always traversed in "their" channel.

2.1.4 Geometry axes

Meaning
The three geometry axes always make up a fictitious rectangular coordinate system.
By using FRAMES (offset, rotation, scaling, mirroring), it is possible to image geometry axes
of the workpiece coordinate system (WCS) on the BCS.

Application
Geometry axes are used to program the workpiece geometry (the contour).
Plane selection G17, G18 and G19 (DIN 66217) always refers to the three geometry axes.
That is why it is advantageous to name the three geometry axes X, Y and Z.

Axis Types, Coordinate Systems, Frames (K2)

2-4 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.1 Axes

2.1.5 Replaceable geometry axes

Meaning
The "Replaceable geometry axes" function allows the geometry axes in a grouping to be
replaced by other channel axes.
Axes that are initially configured as synchronous special axes in a channel can replace any
selected geometry axis in response to a program command.

Example
On a machine with two Z axes, Z1 and Z2, either of the Z axes can be programmed as the
geometry axis in response to an instruction in the part program.

Activation
Axis replacement is activated by the program command:
GEOAX([n, channel axis name]...)

n=0: Removes an axis from the geometry axis grouping.

n=1, 2, 3: Index of the geometry axis
GEOAX( ): Establishes the basic setting defined via MD for the assignment of
channel axes to geometry axes.
Channel axis name: Name of channel axis, which is to operate as a geometry axis.
A channel axis, which has been designated a geometry axis, can only be addressed under
its geometry axis name. The geometry axes names themselves remain unchanged.
Geometry axes can be replaced either individually or as a group in one command.

Supplementary conditions
As a basic rule, any channel axis designated as a geometry axis can be replaced by another
channel axis.
In this case, the following restrictions apply:
• Rotary axes may not be programmed as geometry axes.
• A geometry axis, which has the same name as a channel axis, cannot be replaced by
another channel axis (alarm message). Nor can an axis of this type be removed from the
geometry axis grouping. It cannot change its position within the geometry axis grouping.
• Both axes in each of the axis pairs involved in the replacement operation must be block-
synchronized.

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Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-5
Detailed description
2.1 Axes

• The following functions may not be active when geometry axes are replaced:
– Transformation
– Spline interpolation
– Tool radius compensation
– Tool fine compensation
• Any active DRF offset or zero offset external will remain operative. They both act on
channel axes. The channel axis assignment is not affected by the replacement of
geometry axes.

Replacement of geometry axes

All frames, protection zones and working area limitations are deleted.
They may need to be reprogrammed after the replacement operation.
The system response to replacement of geometry axes is, therefore, identical to its response
to a change (switch on/off, switchover) in a kinematic transformation.

Tool Length Compensation

Any active tool length compensation remains operative and is applied to the new geometry
axes after replacement.
The system treats tool length compensations as not yet applied for the following geometry
axes:
• All geometry axes, which have been newly added to the geometry axis grouping
• All geometry axes, which have changed their positioning within the geometry axis
grouping
Geometry axes, which retain their position within the geometry axis grouping after a
replacement operation, also retain their status with respect to tool length compensation.

RESET
MD20110 $MC_RESET_MODE_MASK

Bit 12: Reset response of the modified geometry axis assignment

Bit 12 = 0 When machine data $MC_GEOAX_CHANGE_RESET is enabled, a
modified geometry axis assignment is cleared on Reset or end of part
program. The basic setting defined in the machine data for the geometry
axis assignment is activated.
Bit 12 = 1 A modified geometry axis assignment remains active after a reset/part-
program end.
MD20118 $MC_GEOAX_CHANGE_RESET

FALSE: The current configuration of the geometry axes remains unchanged on

reset and program start. With this setting, the response is identical to older
software versions without geometry axis replacement.

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 Detailed description
2.1 Axes

TRUE: The configuration of the geometry axes remains unchanged or is switched

to the basic state defined in machine data
AXCONF_GEOAX_ASSIGN_TAB on Reset and part-program end
(according to machine data $MC_RESET_MODE_MASK) and on part-
program start (according to machine data$MC_START_MODE_MASK).

Program start
Analogously to the Reset response, the response on Start is determined by:
MD20112 $MC_START_MODE_MASK

Bit 12: Response of the modified geometry axis assignment

Bit 12 = 0 A modified geometry axis assignment remains active on part-program start.
Bit 12 = 1 A modified geometry axis assignment is cleared on part-program start.

Approaching a reference point

When the "Reference point approach" mode is selected, the geometry axis configuration
defined by the machine data is automatically set.

M code
The PLC is informed when a geometry axis has been replaced using GEOAX( )
through the optional output of an M code that can be set in machine data
MD22532 $MC_GEOAX_CHANGE_M_CODE
.

Note
If this machine data is set to one of the values 0 to 6, 17, 30, then no M code is output.

Transformation changeover
The following interrelationships must be noted with respect to kinematic transformation and
geometry axis replacement:
• Geometry axis assignments cannot be modified when the transformation is active.
• Activation of a transformation deletes the programmed geometry axis configuration and
replaces it by the geometry axis assignment stored in the machine data of the activated
transformation.
• When the transformation is deactivated, the MDdefined basic setting for the geometry
axis configuration becomes valid again.
Should it be necessary to modify the geometry axis assignment in connection with
transformations, then another new transformation must be configured.
The total number of the transformations simultaneously available in the channel is equal to 8.

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Detailed description
2.1 Axes

A maximum of two transformations per channel can be available simultaneously from the
transformation groups below:
• Orientation transformations
(3-axis, 4-axis, 5-axis and nutation transformation)
• TRAANG (oblique axis)
• TRANSMIT
• TRACYL
References:
/FB3/Function Manual, Special Functions; 3-Axis to 5-Axis Transformation (F2)
/FB2/Function Manual, Extension Functions; Kinematic Transformation (M1)

Example
In the example below, it is assumed that there are 6 channel axes with channel axis names
XX, YY, ZZ, U, V, W and three geometry axes with names X, Y, Z. The basic setting is
defined in machine data such that the geometry axes are imaged on the first three channel
axes, i.e., on XX, YY and ZZ.

GEOAX() ; The geometry axis assignment defined via the machine

data
MD AXCONF_GEOAX_ASSIGN_TAB
is effective,
i.e., XX, YY and ZZ become geometry axes.
G0 X0 Y0 Z0 U0 V0 W0 ; All the axes in rapid traverse to position 0.
GEOAX (1, U, 2, V, 3, W) ; Channel axis U becomes the first, V the second and W
the third geometry axis.
GEOAX(1, XX, 3, ZZ) ; Channel axis XX becomes the first, ZZ the third
geometry axis. The second geometry axis remains
unchanged.
G17 G2 X20 I10 F1000 ; Semicircle in the X, Y plane. Channel axes XX and V
traverse.
GEOAX(2,W) ; Channel axis W becomes the second geometry axis. The
first and third geometry axes remain unchanged.
G17 G2 X20 I10 F1000 ; Full circle in the X, Y plane. Channel axes XX and W
traverse.
GEOAX() ; The geometry axis assignment defined via the machine
data
MD AXCONF_GEOAX_ASSIGN_TAB
is effective,
i.e., XX, YY and ZZ become geometry axes.
GEOAX (1, U, 2, V, 3, W) ; U, V and W become the first, second and third
geometry axes.
G1 X10 Y10 Z10 XX=25 ; Channel axes U, V, W each traverse to position 10,
XX traverses to position 25.
GEOAX(0,V) ; V is again removed from the geometry axis grouping.
U and W remain geometry axes. The second geometry
axis is no longer assigned.
GEOAX (1, U, 2, V, 3, W) ; U, V and W become the first, second and third
geometry axes, i.e., U and W remain unchanged.
GEOAX(3,V) ; V becomes the third geometry axis. This means that
W, which was previously the third geometry axis, is
removed from the geometry axis grouping. The second
geometry axis is no longer assigned.

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 Detailed description
2.1 Axes

2.1.6 Special axes

Meaning
In contrast to geometry axes, no geometrical relationship is defined between the special
axes.

Note
Note: Geometry axes have an exactly defined relationship in the form of a rightangled
coordinate system.

Special axes are part of the basic coordinate system (BCS). With FRAMES (translation,
scaling, mirroring), special axes of the workpiece coordinate system can be mapped on the
basic coordinate system.

Application
Typical special axes are:
• Rotary axes
• Machine tool axes
• Tool revolver axes
• Loader axes

2.1.7 Path axes

Meaning
Path axes are interpolated together (all the path axes of a channel have a common path
interpolator).
All the path axes of one channel have the same acceleration phase, constant travel phase
and delay phase.
The feedrate programmed under address F (path feedrate) applies to all the path axes
programmed in a block, with the following exceptions:
• An axis has been programmed that has been defined as having no control over the path
velocity with instruction FGROUP.
• Axes programmed with instructions POS or POSA have an individual feedrate setting (axis
interpolator).

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Detailed description
2.1 Axes

Application
Path axes are used to machine the workpiece with the programmed contour.

2.1.8 Positioning axes

Meaning
Positioning axes are interpolated separately (each positioning axis has its own axis
interpolator). Each positioning axis has its own feedrate and acceleration characteristic.
Positioning axes can be programmed in addition to path axes (even in the same block). Path
axis interpolation (path interpolator) is not affected by the positioning axes. Path axes and
the individual positioning axes do not necessarily reach their block end points at the same
time.
Instructions POS and POSA are used to program positioning axes and define block change
criteria:
• POS
Block change takes place when the path axes and positioning axes have reached their
block end points.
• POSA
Block change takes place when the path axes have reached their end of block position.
Positioning axes continue to traverse beyond block limits to their block end point.
Concurrent positioning axes differ from positioning axes in that they:
• Only receive their block end points from the PLC
• Can be started at any time (not at block limits)
• Do not affect the execution of current part programs.

Application
Typical positioning axes are:
• Loaders for transporting workpieces
• Tool magazine/turret

Reference
References:
/FB2/ Function Manual, Extension Functions; Positioning Axes (P2)
/FB1/ Function Manual, Basic Functions; Spindles (S1)
/FB3/ Function Manual, Special Functions; Gantry Axes (G1)
/FB2/ Function Manual, Expansion Functions; Positioning Axes (P2)
/FB3/ Function Manual, Special Functions; Axis Couplings and ESR (M3)
/FB1/ Function Manual, Basic Functions; PLC Basic Program (P3)
/FB2/ Function Manual, Extension Functions; Oscillation (P5)
/FBSY/ Function Manual, Synchronized Actions

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 Detailed description
2.1 Axes

2.1.9 Main axes

Meaning
A main axis is an axis that is interpolated by the main run.
This interpolation can be started:
• From synchronized actions
(as command axes due to an event via block-related, modal or static synchronized
actions)
• From the PLC via special function blocks in the PLC basic program
(named as a concurrent positioning axis or a PLC axis)
• Via the setting data or from the part program
(as an asynchronous or block-synchronous oscillating axis)

Channel control
An axis interpolated by the main axis reacts in terms of:
• NC STOP
• Alarm handling
• Program control
• End of program
• RESET

Note
The response at the end of the program varies. The axis movement need not always be
completed and, therefore, may carry on beyond the end of the program.

Application
Certain axes in the main run can be decoupled at the channel response triggered by the NC
program sequence and controlled from the PLC. These axes are also interpolated in the
main run and respond independently for the channel and program sequence.
A PLC-controlled axis can then be controlled independently by the NC.
The actions below are affected:
• The sequence for canceling the axis (equivalent to delete distancetogo)
• Stopping or interrupting the axis
• Continuing the axis (continue sequence of motion)
• Resetting the axis to its basic status

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Detailed description
2.1 Axes

2.1.10 Synchronized axes

Meaning
Synchronous axes are components of the path axes, which are not referenced in order to
calculate the tool path velocity. They are interpolated together with path axes (all path axes
and synchronous axes of one channel have a common path interpolator).
All path axes and all synchronous axes of a channel have the same acceleration phase,
constant travel phase and deceleration phase.
The feedrate (path feedrate) programmed under address F applies to all the path axes
programmed in a block but not to the synchronous axes.
Synchronous axes take the same time to cover the programmed path as the path axes.

FGROUP command
The instruction FGROUP specifies whether the axis is a feed-defining path axis (used to
calculate the path velocity) or a synchronous axis (not used to calculate the path velocity).

Example

N05 G00 G94 G90 M3 S1000 X0 Y0 Z0 ;

N10 FGROUP(X,Y) ; Axes X/Y are path axes,
Z is a synchronous axis.
N20 G01 X100 Y100 F1000 ; Progr. feedrate 1000 mm/min.
Feedrate of axis X = 707 mm/min.
Feedrate of axis Y = 707 mm/min.
N30 FGROUP (X) ; Axis X is a path axis,
axis Y is a synchronous axis
N20 X200 Y150 ; progr. feedrate 1000 mm/min.
Feedrate of axis X = 1000 mm/min.
Feedrate of axis Y = 500 mm/min
because only half the distance is to be
traversed.

Note
The channel axis name must be used for the FGROUP command.
This is defined by the machine data:
MD20080 $MC_AXCONF_CHANAX_NAME_TAB

Application
In the case of helical interpolation FGROUP can be programmed to determine whether:
• The programmed feedrate should be valid on the path
(all 3 programmed axes are path axes)
• The programmed feedrate should be valid on the circuit
(2 axes are path axes and the infeed axis is a synchronous axis)

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 Detailed description
2.1 Axes

2.1.11 Axis configuration

The figure below shows the assignment between the geometry axes, special axes, channel axes and machine
axes as well as the names of the individual axis types. MD are used for assignment.

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Detailed description
2.1 Axes

Note
Leading zeroes in user-defined axis identifiers are ignored.
Example:
MD10000 `$MN_AXCONF_MACHAX_NAME_TAB[0] = X01 corresponds to X1
The geometry axes must be assigned to the channel axes in ascending order leaving no
gaps.

Special points to be noted

• Three geometry axes are assigned to the channel axes in the MD.
• All channel axes that are not assigned to the three geometry axes are special axes.
• The channel axes are assigned to machine axes.
• The spindles are also assigned to machine axes.

Channel axis gaps

A machine axis (local axis or link axis) does not have to be assigned to every channel axis
according to
MD20080 $MC_AXCONF_CHANAX_NAME_TAB
via
MD20070 $MC_AXCONF_MACHAX_USED
.
If the concrete machine has a machine axis, which has been specifically assigned to a
certain channel axis, references to the logical machine axis image
MD20070 $MC_AXCONF_MACHAX_USED
are entered in the machine data
MD10002 $MN_AXCONF_LOGIC_MACHAX_TAB
, otherwise the value is 0.
Application:
Consistent, semidefined channel axis names for various machine versions of a
manufacturer's machine series.
Advantages:
• Uniform basic configuration of various machines
• Simple reconfiguration on removal of a machine
• Portability of programs

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 Detailed description
2.1 Axes

Reliability of channel axis gaps

The machine data
MD11640 $MN_ENABLE_CHAN_AX_GAP
must be used to explicitly inform of channel axis gaps.
If this is not carried out, an entry of 0 in the machine data
MD20070 $MC_AXCONF_MACHAX_USED
prevents other machine axes being assigned to channel axes.
References:
/FB2/ Function Manual, Extension Functions; Several Control Panels on Multiple NCUs,
Decentralized Systems (B3)

Example
In the example below, a machine tool channel axis is specified without a real machine axis.

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Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-15
Detailed description
2.1 Axes

Note
The gaps count as axes with reference to the number of channel axes and their indices.
If an attempt is made to define a channel axis gap on the geo axis via the machine data
MD20050 $MC_AXCONF_GEOAX_ASSIGN_TAB
, the attempt is
rejected without an alarm.
Using channel axes in
MD24120ff. $MC_TRAFO_GEOAX_ASSIGN_TAB1...8
and
MD24110ff. $MC_TRAFO_AXES_IN1...8
, to which no machine axes are assigned using
MD20070 $MC_AXCONF_MACHAX_USED
(gap),
triggers alarms 4346 or 4347.

2.1.12 Link axes

Link axes are axes, which are physically connected to another NCU and whose position is controlled from this
NCU. Link axes can be assigned dynamically to channels of another NCU. Link axes are not local axes from the
perspective of a particular NCU.
The axis container concept is used for the dynamic modification of the assignment to an
NCU. Axis replacement with GET and RELEASE from the part program is not available for link
axes across NCU boundaries.

Requirements:
• The participating NCUs, NCU1 and NCU2, must be connected by means of high-speed
communication via the link module.
References:
/PHD/Configuring Manual NCU 571-573.2; Link Module
• The axis must be configured appropriately by machine data.
• The link axis option must be installed.

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 Detailed description
2.1 Axes

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The link axes are described in

References:
/FB2/ Function Manual, Extension Functions; Multiple Operator Panels on Multiple NCUs,
Distributed Systems (B3)

Note
The link axis functionality is currently not available with the SINUMERIK 840Di.

Axis container
An axis container is a circular buffer data structure, in which local axes and/or link axes are
assigned to channels. The entries in the circular buffer can be shifted cyclically.
In addition to the direct reference to local axes or link axes, the link axis configuration in the
logical machine axis image also allows references to axis containers.
This type of reference consists of:
• Container number
• a slot (circular buffer location within the container)
The entry in a circular buffer location contains:
• A local axis
Or
• A link axis

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Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-17
Detailed description
2.1 Axes

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Axis Types, Coordinate Systems, Frames (K2)

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 Detailed description
2.2 Zeros and reference points

Axis container entries contain local machine axes or link axes from the perspective of an
individual NCU.
The entries in the logical machine axis image $MN_AXCONF_LOGIC_MACHAX_TAB of an
individual NCU are fixed.

Note
The axis container functionality is currently not available with the SINUMERIK 840Di.

The axis container function is described in

References:
/FB2/Function Manual, Expansion Functions; Multiple Operator Panels on Multiple NCUs,
Distributed Systems (B3)

2.2 Zeros and reference points

2.2.1 Reference points in working space

The following zeros and reference points are defined in the working space, in which tools
move when machining workpieces:

Table 2-1 Zeros and reference points

Zero points Reference points

M = Machine zero R = Reference point
W = Workpiece zero T = Toolholder reference point

• Machine zero M
The machine zero M defines the machine coordinate system MCS. All other reference
points refer to the machine zero.
• Workpiece zero W
The workpiece zero W defines the workpiece coordinate system in relation to the
machine zero M. The programmed part-program blocks are executed in the workpiece
coordinate system WCS.

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Detailed description
2.2 Zeros and reference points

• Reference point R
The position of the reference point R is defined by cam switches. Reference point R
calibrates the position measuring system.
With incremental encoders, the reference point must be approached every time the
control power is switched on. The control can only then work with the measuring system
and transfer all position values to the coordinate systems.
• Toolholder reference point T
The toolholder reference point T is located on the toolholder locator. By entering the tool
lengths, the control calculates the distance between the tool tip (TCP Tool Center Point)
and the toolholder reference point.

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Figure 2-8 Zeros and reference points on a turning machine

The zero of the coordinate system MCS corresponds to M and the zero of the WCS
corresponds to W. In the working space of the machine the reference point is defined as R
and the toolholder reference point with T.

2.2.2 Position of coordinate systems and reference points

Control POWER ON
For incremental measuring probes, the reference point must be approached each time the
control is activated so that the control can transfer all position values to the coordinate
system.

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2-20 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.2 Zeros and reference points

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Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-21
Detailed description
2.3 Coordinate systems

2.3 Coordinate systems

2.3.1 Overview

Meaning
DIN 66217 stipulates that machine tools must use right-handed, rectangular (Cartesian)
coordinate systems.

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The following coordinate systems are defined:

MCS Machine Coordinat System

BCS Basic Coordinate System
BZS Basic Zero System
SZS Settable Zero System
WCS Workpiece Coordinate System
The coordinate systems are determined by the kinematic transformation and the FRAMES.
A kinematic transformation is used to derive the BCS from the MCS. If no kinematic
transformation is active, the BCS is the same as the MCS.
The basic frame maps the BCS onto the BZS.
An activated settable FRAME G54 to G599 converts the BZS to the SZS.
The WCS, which is the basis for programming, is defined by the programmable FRAME.

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2-22 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.3 Coordinate systems

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Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-23
Detailed description
2.3 Coordinate systems

2.3.2 Machine coordinate system (MCS)

The machine coordinate system (MCS) is made up of all physically available machine axes.

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Figure 2-13 MCS with machine axes X, Y, Z, B, C (5axis milling machine)

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 Detailed description
2.3 Coordinate systems

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Figure 2-14 MCS with machine axes X, Z (turning machine)

Axial preset offset

The "Preset" function can be used to redefine the control zero in the machine coordinate
system. The preset values act on machine axes. Axes do not move when "Preset" is active.

Note
After Preset, the reference points are invalid!
If possible do not use this function.

2.3.3 Basic coordinate system (BCS)

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

Machine tools without kinematic transformation

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

Axis Types, Coordinate Systems, Frames (K2)

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Detailed description
2.3 Coordinate systems

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Figure 2-15 MCS=BCS without kinematic transformation

Machine tools with kinematic transformation

The BCS and the MCS do not coincide when the BCS is mapped onto the MCS with
kinematic transformation (e.g., TRANSMIT/face transformation, 5axis transformation or more
than three axes).
On such machines the machine axes and geometry axes must have different names.

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Figure 2-16 Kinematic transformation between the MCS and BCS

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 Detailed description
2.3 Coordinate systems

Machine kinematics
The workpiece is always programmed in a two or threedimensional, rightangled coordinate
system (WCS). However, such workpieces are being programmed ever more frequently on
machine tools with rotary axes or linear axes not perpendicular to one another. Kinematic
transformation is used to represent coordinates programmed in the workpiece coordinate
system (rectangular) in real machine movements.
References:
/FB3/Function Manual, Special Functions; 3-Axis to 5-Axis Transformation (F2)
/FB2/Function Manual, Extension Functions; Kinematic Transformation (M1)

2.3.4 Additive offsets

Zero offsets external

The "zero offset external" is an axial offset. Unlike with frames, no components for rotation,
scaling and mirroring are possible.

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Figure 2-17 Zero offset external between BCS and BZS

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Detailed description
2.3 Coordinate systems

Setting the offset values

The offset values are set:
• PLC
By describing system variables
• Via the operator panel
From menu "Current zero offsets"
• NC Program
By assigning to system variable $AA_ETRANS[axis]

Activation of the offset values

The 0/1 edge of PLC signal DB31, ... DBX3.0 ("Accept external zero offset") activates the
previously defined offset values. The 0/1 edge change is only evaluated in Automatic
operating mode.

Effect of activation
The offset for an axis becomes active when the first motion block for this axis is executed
after the offset is activated.
Example of possible chronological sequence:

G0 X100
X150 ; A new "Zero offset external" is activated by the PLC during this
motion.
X200 ; The new "Zero offset external" is applied due to G0 programming at the
end of the block (X200), if no velocity reserve is available (100%).

The "Zero offset external via system frame" is applied immediately.

Channel-specific system frames can be configured using the machine data
MD28082 $MC_MM_SYSTEM_FRAME_MASK
.

Programming
Setting a new offset via the axis-specific system variables:
$AA_ETRANS[axis]=Ri
The instruction below reads the axisspecific active offset value:
Ri=$AA_ETRANS[axis]

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 Detailed description
2.3 Coordinate systems

Note
The read value can then differ from the previously set value, if the set value has not yet been
activated.
The read value corresponds to a value set previously, if the most recently set value has not
yet been activated. The system frame for the "Zero offset external" exists only if it has been
configured.

DRF offset
The DRF offset enables you to set an additional incremental work offset for geometry axes
and special axes in the basic coordinate system using a manual pulse encoder.
The DRF offset can be read via axis-specific system variable $AC_DRF[<axis>].
Reference
/FB2/ Function Manual, Extension Functions; Jog with/without Handwheel (H1)
Section: DRF offset

Overlaid movements
The "Superimposed motion" for the programmed axis can only be accessed from
synchronized actions via the system variable $AA_OFF[axis].

Run-up
After run-up (POWER ON) the last used offset values for the "Zero offset external" are
stored and do not become effective again until there is a renewed activation signal.
Depending on the machine data
MD24008 $MC_CHSFRAME_POWERON_MASK
, system frames are retained on POWER ON.

RESET/end of program
The activated values remain active after RESET and program end.
Reset response of the channel-specific system frames is as follows:
With machine data setting
MD24006 $MC_CHSFRAME_RESET_MASK, Bit 1 = 1
, the system frame for the "Zero offset external" becomes active after RESET.
With machine data setting
MD24006 $MC_CHSFRAME_RESET_MASK, Bit 1 = 0
, the "Zero offset external" in the active system frame is deleted in the data management.
Following RESET, these frames are active:
System frame for
MD24006 $MC_CHSFRAME_RESET_MASK, Bit 4 = 1 (workpiece reference points)
MD24006 $MC_CHSFRAME_RESET_MASK, Bit 5 = 1 (cycles)

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2.3 Coordinate systems

Suppression
The NC program instruction SUPA suppresses the "Zero offset external" while the block is
being processed.
The command G74 (reference point approach) and the equivalent operator actions in
"Reference point approach" mode suppress the "Zero offset external" for the duration of the
reference point approach.
With G74, i.e., "Automatic" or "MDA" mode, the previously active "Zero offset external"
automatically becomes active again with the next traverse motion in the block.
After a mode change from "Reference point approach" mode, the VDI signal for the
referenced axes must be set for reactivation.

2.3.5 Basic zero system (BZS)

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

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Figure 2-18 Basic offset between BCS and BZS

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 Detailed description
2.3 Coordinate systems

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

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The following settings apply:

• The user can change the basic offset from the part program by means of an operator
action and from the PLC.
• If the basic offset is to take effect immediately, an ASUB can be started via the PLC using
FC9 in order to execute the appropriate G code.

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Detailed description
2.3 Coordinate systems

Note
Machine manufacturer
Recommendation:
Use the 3rd basic offset onwards for your own applications.
The 1st and 2nd basic offsets are reserved for PRESET and the "Zero offset external".

2.3.6 Settable zero system (SZS)

SZS
The "settable zero system" (SZS) is the workpiece coordinate system WCS with a
programmable frame (viewed from the perspective of the WCS). The workpiece zero is
defined by the settable FRAMES G54 to G599.

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Figure 2-20 Settable FRAME G54 to G599 between BZS and SZS

Programmable offsets act on the "settable zero system". All programmable offsets refer to
the "settable zero system".

WCS actual-value display in WCS or SZS

The actual values of the axes in the machine coordinate system (MCS) or the WCS can be
displayed on the HMI operator interface. For displays in WCS, the actual values can also be
displayed in relation to the SZS. The corresponding configuration is made using:
MD9424 $MM_MA_COORDINATE_SYSTEM = <Coordinate system>

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2.3 Coordinate systems

Coordinate system:
0: Actual-value display in relation to the WCS
1: Actual-value display in relation to the SZS

Note
Display of the current coordinate system
When "Actual-value display in relation to the SZS" is active, the WCS is still displayed on the
HMI operator interface as the coordinate system to which the actual-value display relates.

Example
Actual-value display in relation to the WCS or SZS

Code (excerpt) Actual-value display: Axis X Actual-value display: Axis X

(WCS) (SZS)
N10 X100 100 100
N20 X0 0 0
N30 $P_PFRAME = CTRANS(X,10) 0 10
N40 X100 100 110

2.3.7 Configurable settable zero system (SZS)

Application
The function of the SZS coordinate system is to display actual values and move the axes
during a cycle interruption.
Cycles utilize frames in the frame chain to perform their functions.
They insert translations or rotations either in the:
• Programmed frame $P_PFRAME
Or
• Cycle system frame $P_CYCFRAME
The WCS is, therefore, modified by cycles. A cycle interrupted by the user should thus also
be executed in the programmed WCS. The SZS can be used to display the last valid
coordinates.
The machine data
MD24030 FRAME_ACS_SET
can then be set to define whether the SZS must be interpreted with or without the currently
programmed frame $P_PFRAME and the transformation frame $P_TRAFRAME. The default
value of 1 should be retained.

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2.3 Coordinate systems

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Figure 2-21 SZS with MD24030 $MC_FRAME_ACS_SET = 0

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Figure 2-22 SZS with MD24030 $MC_FRAME_ACS_SET = 1

Manual traverse in SZS

The geometry axes are traversed in the WCS in JOG mode. It is also possible to carry out
manual traversing in the SZS coordinate system. Using variable $AC_JOG_COORD it is
possible to switch between manual traverse in the WCS or SZS.

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2.3 Coordinate systems

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Figure 2-23 Manual traverse in WCS or SZS

2.3.8 Workpiece coordinate system (WCS)

WCS
The workpiece coordinate system (WCS) is the programming basis.

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Figure 2-24 Programmable FRAME between SZS and WCS

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Detailed description
2.4 Frames

2.4 Frames

2.4.1 Coordinate axes, zeros and reference points

As a rule, a coordinate system is formed of three mutually perpendicular coordinate axes.
The positive directions of the coordinate axes are determined using the right hand rule. The
coordinate system is related to the workpiece and programming takes place independently of
whether the tool or the workpiece is being traversed. When programming, it is always
assumed that the tool traverses relative to the coordinate system of the workpiece, which is
intended to be stationary.

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The neutral position of the machine is obtained from the coordinate axes and the
constructive characteristics of the machine. The zero of the coordinate system is obtained by
defining a suitable reference point on the machine in its neutral position.
The position of the coordinate systems (MCS, BCS, BZS, SZS, WCS) is determined by
means of zeros.

M = Machine zero R = Reference point

W = Workpiece zero T = Toolholder reference point

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2.4 Frames

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The position of the reference point R is defined by cam switches. The reference point must
be approached each time the control is activated. The control can only then work with the
measuring system and transfer all position values to the coordinate systems.
The machine zero M defines the machine coordinate system MCS. All other reference points
refer to the machine zero.
The workpiece zero W defines the workpiece coordinate system in relation to the machine
zero. The programmed part-program blocks are executed in the workpiece coordinate
system.
The toolholder reference point is located on the toolholder locator. By entering the tool
lengths, the control calculates the distance between the tool tip (TCP Tool Center Pos) and
the toolholder reference point.

2.4.2 Frames
A frame is a structure, which contains a value for the translation, fine offset, rotation (only for
geometry axes), scaling and mirroring for each axis. Activating a frame causes a static
coordinate transformation to be carried out via a defined calculation rule.

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2.4 Frames

2.4.3 Frame components

2.4.3.1 Translation
The program commands below are used to program the translation:

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$P_UIFR[1] = CTRANS(x,10,y,10)
$P_UIFR[1,x,tr] = 10 ; Frame components
TRANS x = 10 y = 10 ; Prog. frame only

2.4.3.2 Fine offset

The machine data
MD18600 $MN_MM_FRAME_FINE_TRANS
can be used to configure the fine offset as follows:

0: The fine offset cannot be entered or programmed.

1: Fine offset possible for settable frames, basic frames and the prog. frame via command or
program.
The fine offset can be programmed in the program using command CFINE (x, .., y, ...). The
coarse offset is defined with CTRANS(...). Coarse and fine offset add up to the total offset.
$P_UBFR = CTRANS(x, 10) : CFINE(x, 0.1) : CROT(x, 45)
$P_UIFR[1]=CFINE(x, 0.5, y, 1.0, z, 0.1)
Access to the individual components of the fine offset is achieved through component
specification FI.
finex = $P_UIFR[ $P_UIFRNUM, x, FI ]

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2.4 Frames

A fine offset can only be programmed if machine data

MD18600 $MN_FRAME_FINE_TRANS
is predefined with a value of 1.
If this is not the case, every assignment of a fine offset to settable frames and the basic
frame is rejected with the alarm "FRAME: fine offset not possible".
A fine offset changed by the operator does not apply until after activation of the
corresponding frame, i.e., activation via G500, G54 to G599.
Once activated, a fine offset of a frame remains active the whole time the frame is active.
When the offset of the current frame is displayed, the total offset (coarse offset and fine
offset) is output.

2.4.3.3 Rotations for geometry axes

The direction of rotation about the coordinate axes is determined by means of a right-hand,
rectangular coordinate system with axes X, Y and Z.

Rotations

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2.4 Frames

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If the rotary motion is in a clockwise direction when looking in the positive direction of the
coordinate axis, the direction of rotation is positive. A, B and C identify rotations whose axes
are parallel to X, Y and Z.
The machine data below is used to configure the rotation in the frame:
MD10600 $MN_FRAME_ANGLE_INPUT_MODE

1: RPY notation
2: Euler angle

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2.4 Frames

RPY
Rotations with a RPY angle are carried out in the order Z, Y', X''.

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The angles are only defined ambiguously in the following ranges:

-180 <= x <= 180
-90 < y < 90
-180 <= z <= 180

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Detailed description
2.4 Frames

Euler angle
Rotations with a Euler angle are carried out in the order Z, X', Z''.

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The angles are only defined ambiguously in the following ranges:

0 <= x < 180

-180 <= y <= 180
-180 <= z <= 180
The written angles can be uniquely read back again in these areas. When rotations that are
larger than the specified angles are entered, these are converted to a mode of
representation that does not exceed the specified range limits.
RPY example:
$P_UIFR[1] = crot(x, 10, y, 90, z, 40), when read back, produces
$P_UIFR[1] = crot(x, 0, y, 90, z, 30).
$P_UIFR[1] = crot(x, 190, y, 0, z, -200), when read, produces
$P_UIFR[1] = crot(x, -170, y, 0, z, 160).
On writing and reading frame rotation components, these limits should be observed so the
same results are achieved on writing and reading, or on repeated writing.
The program commands below are used to program the rotation:

$P_UIFR[1] = CROT(x, 10, y, 10)

ROT x = 10 y = 10
$P_UIFR[1,x, rt] = 10

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 Detailed description
2.4 Frames

CRPL - Constant Rotation Plane

The predefined function Constant Rotation Plane:
FRAME CRPL( INT, REAL)
allows a rotation to be programmed in any plane for each frame.
This method offers the advantage that no axis identifier, around which a rotation should be
executed, has to be specified for a geometry coordinate axis.
As a rule, turning machines have only two geo axes, meaning that, up to now, a rotation in
the plane could not be programmed.
Parameter:

INT 0: Rotation in the active plane

1: Rotation about z
2: Rotation about y
3: Rotation about x
REAL Angle of rotation in degrees
RPY: -180 <= x <= 180
-90 <= y <= 90
-180 <= z <= 180
Euler: -180 <= x <= 180
0 <= y <= 180
-180 <= z <= 180
The user must keep to the named angles, in the interests of a unique backward
calculation. If the limits are violated, a unique backward calculation is impossible.
Entry is not aborted with an alarm.
CRPL() can be chained with frames and known frame functions, such as CTRANS(),
CROT(), CMIRROR(), CSCALE(), CFINE().
Example:

$P_CYCFRAME = $P_CYCFRAME : CRPL(0, 30)

$P_CYCFRAME = CTRANS(x,10) : CRPL(1, 30)
$P_CYCFRAME = CROT(x,10) : CRPL(2, 30)
$P_CYCFRAME = CRPL(3, 30) : CMIRROR(y)

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2.4 Frames

2.4.3.4 Scaling

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The program commands below are used to program the scaling:

$P_UIFR[1] = CSCALE(x, 1, y, 1)
SCALE x = 1 y = 1
$P_UIFR[1,x, sc] = 1

2.4.3.5 Mirroring

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2.4 Frames

The program commands below are used to program a mirroring:

$P_UIFR[1] = CMIRROR(x, 1, y, 1)
MIRROR x = 1 y = 1
$P_UIFR[1,x, mi] = 1

2.4.3.6 Chain operator

Frame components or complete frames can be combined into a complete frame using the
chain operator ( : ).

2.4.3.7 Programmable axis identifiers

Geo axis, channel axis and machine axis identifiers can be used in the frame commands.
The programmed axis must be known to the channel-specific frames in the channel.
When programming frame instructions, the SPI (<spindle number>) axis function can be
used in place of an axis identifier.
SPI (<spindle number>) forms the reference of the spindle to the channel axis
(see MD35000 $MA_SPIND_ASSIGN_TO_MACHAX[ ] ).
The following frame instructions can be programmed with SPI (spino):

CTRANS()
CFINE()
CMIRROR()
CSCALE()

A spindle can only be assigned to one rotary axis at a time. The CROT(..) function can,
therefore, not be programmed with SPI(), as only geometry axes are permitted for CROT().
The channel axis identifier or machine axis identifier of the axis belonging to the spindle is
always output when decompiling frames, even when axis identifiers have been programmed
in the part program with SPI(..).
For example, if the spindle is assigned to channel axis "A", programming of
N10 $P_UIFR[1] = CTRANS(SPI(1), 33.33, X,1) : CSCALE(SPI(1),33.33):CMIRROR(SPI(1))
becomes
$P_UIFR[1]=CTRANS(X,1,A,33.33):CSCALE(A,33.33):CMIRROR(A) when decompiled.
If a spindle and an assigned axis are programmed in a frame instruction, the alarm 16420
"Axis % multiply programmed" is output.
Example:
$P_UIFR[1] = CTRANS(SPI(1), 33.33, X,1, A, 44)
(the spindle is assigned to axis A)

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2.4 Frames

Programming examples:

$P_PFRAME[SPI(1),TR]=22.22
$P_PFRAME=CTRANS (X, axis value, Y, axis value, SPI(1), axis value)
$P_PFRAME=CSCALE (X, scale, Y, scale, SPI(2), scale)
$P_PFRAME=CMIRROR (S1, Y, Z)
$P_UBFR=CTRANS(A, 10) : CFINE(SPI(1), 0.1)

2.4.3.8 Coordinate transformation

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V: Position vector in BCS

V': Position vector in WCS

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 Detailed description
2.4 Frames

2.4.4 Frames in data management and active frames

2.4.4.1 Overview
There are various types of frame: system frames, basic frames, settable frames and the
programmable frame. Apart from the programmable frame, all types have a frame in the data
management and an active frame. The programmable frame is only active. Frames in the
data managements are stored in the SRAM and can be archived. The program can describe
both data management frames and active frames. HMI can only describe data management
frames.

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2.4 Frames

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2.4 Frames

2.4.4.2 Activating data management frames

Data management frames become active frames by executing G500, G54 to G599, or RESET
with the appropriate machine data setting, transformation change, GEOAX. The HMI writes to
data management frames and, on RESET, activates the frames by means of a PI service.
If a change is made to a frame via HMI with the aid of the PI _N_SETUDT, it has no effect on
the program until it is restarted or is in a reset state, provided that HMI machine data
MD9440 ACTIVATE_SEL_USER_DATA
is set.
WCS position specifications do not change immediately when a change is made to a frame
via HMI, but after restart.
System frames are activated during the preprocessing stage by executing the appropriate
system functions, either from the part program or using the HMI.
System frames, which are saved in the data management, are also activated by means of a
G500, G54 to G599 instruction. The cycle programmer has the option to modify the system
frames and activate them by means of a G500, G54 to G599 instruction. However, this option
should only be used with reservation.
Activation of all data management frames can be changed with the machine data
MD24050 $MC_FRAME_SAA_MODE
.

Bitmask for Save and Activate data management frames

Bit 0: Data management frames are only activated by programming bitmasks
$P_CHBFRMASK, $P_NCBFRMASK and $P_CHSFRMASK. G500 to G599 only activates
the corresponding settable frame. Reset response is independent of this.
Bit 1: Data management frames are not implicitly described by system functions, such as
TOROT, PAROT,
zero offset external and transformations.
The $P_CHSFRMASK variable is used to activate system frames from the data
management.
The variable value is specified as a bit code, corresponding to the machine data
MD28082 $MC_MM_SYSTEM_FRAME_MASK
If the corresponding bit is set to one, the data management frame is activated. If the bit is
equal to zero, the data management frame is not active and the currently active system
frame remains active.
After RESET, the system frames for PRESET and zero offset external are activated, whose
bits are set in the machine data
MD24006 $MC_CHSFRAME_RESET_MASK
.
The system frames for TCARR, PAROT and TOROT, TOFRAME are activated according to the
setting in the machine data
MD20150 $MC_GCODE_RESET_VALUES[ ]
.
As when selecting and deselecting transformations and GEOAX(), when switching geometry
axes the current complete frame is either deleted or recalculated on the basis of the new
geometry axis configuration, and activated. The system frames and all other frames are
conditioned again in relation to the geometry axes.

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2.4 Frames

2.4.4.3 NCU global frames

All settable frames G54 to G599 and all basic frames can be configured NCU globally or
channel-specifically. A combination of these is also possible with basic frames. Global
frames affect all channels on an NCU. All channels have read and write access to the NCU.
Global frames only have axial frame components, such as translations, scales and mirrors of
individual axes. Each channel can read or modify global frames for any machine axis.
A characteristic of global frames is that they are calculated in all channels of an NCU. As the
assignment of machine axes to channel axes and, in particular, to geometry axes, can be
different in all channels, there is no geometric relationship. Global frames describe offsets,
scales and mirrors of machine axes. Rotations cannot be used on global frames.
All settable frames can be reconfigured as global frames via machine data
MD18601 $MN_MM_NUM_GLOBAL_USER_FRAMES
.
If the value of this machine data is greater than zero, there are no channel-specific settable
frames.
Machine data
MD28080 $MC_MM_NUM_USER_FRAMES
is then irrelevant and is not evaluated.
The number of global basic frames is configured via machine data
MD18602 $MN_MM_NUM_GLOBAL_BASE_FRAMES
.
The machine data
MD28081 $MC_MM_NUM_BASE_FRAMES
can also make channel-specific basic frames available simultaneously.
Global frames can be read and written from all channels of an NCU. When writing global
frames, the user must ensure channel coordination. This can be achieved using wait
markers, for example.

2.4.5 Frame chain and coordinate systems

2.4.5.1 Overview
The figure below shows the frame chain for the current complete frame. The frame chain is
stored between the BCS and WCS. The SZS (Settable Zero System) corresponds to the
WCS, transformed by the programmable frame. The BZS (Basic Zero System) still includes
the current settable frame. The system frame for the zero offset external is only available if it
has been configured, otherwise the zero offset external is interpolated as a superimposed
motion of the axis, as it has been up to this point.

WCS: Workpiece Coordinate System PCS: Part Coordinate System

SZS: Settable Zero System ACS: Adjustable Coordinate System
BZS: Basic Zero System FCS: Foot Coordinate System
BCS: Basic Coordinate System BCS: Basic Coordinate System
MCS: Machine Coordinate System MCS: Machine Coordinate System

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2.4 Frames

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The current complete frame is calculated according to the formula below:

$P_ACTFRAME $P_PARTFRAME : $P_SETFRAME : $P_EXTFRAME :

= $P_ACTBFRAME : $P_IFRAME :
$P_TOOLFRAME : $P_WPFRAME : $P_TRAFRAME:
$P_PFRAME : $P_CYCFRAME

2.4.5.2 Configurable SZS

The function of the SZS coordinate system is to display actual values and move the axes
during a cycle interruption. Cycles utilize frames in the frame chain to perform their functions.
They input translations or rotations into either the programmable frame or the cycle system
frame. The WCS is, therefore, modified by cycles. A user who uses Stop to interrupt a cycle,
however, does not wish to traverse in the "cycle coordinate system", but in the programmed
WCS. This is why the SZS is used for the display. For reasons of compatibility, the SZS is
made configurable.

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2.4 Frames

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The machine data

MD24030 $MC_FRAME_ACS_SET
can be used to set whether the SZS is with or without the prog. frame and the
transformation frame.
The value 0 is only made available for reasons of compatibility. The value 1 is set as a
default, and should be retained. All cycles should be reset so that they only use the cycle
frame.
Reconfiguring the SZS affects all SZS actual-value displays and the $AA_IEN[axis] system
variables. Traversing geometry axes in JOG mode in the SZS also depends on the
configuration.

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2.4.5.3 Manual traverse in the SZS coordinate system

Previously, geometry axes have been traversed manually in JOG mode in the WCS. In
addition, there is also the option to carry out this manual operation in the SZS coordinate
system. The $AC_JOG_COORD variable enables the user to switch between manual
traversing in the WCS and SZS. The user can now select if he wants to traverse in the SZS
or the WCS.

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2.4.5.4 Suppression of frames

G53 Nonmodal suppression of the following frames:

System frame for cycles
Programmable frame
System frame for transformations, workpieces, TOROT and TOFRAME
Active settable frame
G153 Nonmodal suppression of the following frames:
System frame for cycles
Programmable frame
System frame for TOROT and TOFRAME, workpieces
Active settable frame
All channel-specific and NCU global basic frames
System frames for PAROT, PRESET, scratching, ext. ZO

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2.4 Frames

SUPA Implicit preprocessing stop and non-modal suppression of frames analog G153 and additional
handwheel offsets (DRF), [ext. zero offset], superimposed motion
G500 Modal activation of the G500 frame. The G500 frame should be a zero frame.
DRFOF Deactivate (clear) the handwheel offsets (DRF)

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Frame suppressions SUPA, G153 and G53 lead to the WCS, SZS and possibly the BZS
jumping when frame suppression is active.
The machine data
MD24020 $MC_FRAME_SUPPRESS_MODE
enables this characteristic for the position display and the predefined position variables to
be changed.
The settings below can be made with MD24020 $MC_FRAME_SUPPRESS_MODE:

Bit 0: Positions for display (OPI) are without frame suppression.

Bit 1: Position variables are without frame suppression.
When the bit is set, the position for the display or the variables is calculated without frame
suppression so that no further jumps in the position occur.

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2.4 Frames

2.4.6 Frame chain frames

2.4.6.1 Overview
There are up to four frame variants:
• Settable frames (G500,G54 to G599)
• Basic frames
• Programmable frame
• System frames

2.4.6.2 Settable frames $P_UIFR[n]

The number of NCU global settable frames is set via machine data
MD18601 $MN_MM_NUM_GLOBAL_USER_FRAMES
.
The number can be between 0 and 100.
If the machine data has a value greater than zero, there are only NCU global settable
frames, otherwise the machine data
MD28080 $MC_MM_NUM_USER_FRAMES
specifies the number of channel-specific settable frames.
System variable $P_UIFR[n] can be used to read and write the frame field elements. The
frame is not activated simultaneously when writing a field element, but rather activation only
takes place on execution of a G500,G54, to G599 instruction. For NCU global frames, the
changed frame only becomes active in those channels of the NCU, which execute a
G500,G54 to G599 instruction. The variable is used primarily for storing write operations
from HMI or PLC. These frame variables are saved by the data backup.

Current settable frame $P_IFRAME

The predefined frame variable $P_IFRAME can be used to read and write the current
settable frame, which is valid in the channel, in the part program. The written settable frame
is immediately included in the calculation. In the case of NCU global settable frames, the
modified frame acts only in the channel in which the frame was programmed. If the frame is
to be modified for all channels of an NCU, $P_UIFR[n] and $P_IFRAME must be written
simultaneously. The other channels must then activate the corresponding frame, e.g., with
G54.

Programming of settable frames

Settable frames can be read and written via the part program and via the OPI by operator
actions and by the PLC. However, only data management frames can be written by the OPI.
The index of the active settable frame can be ascertained via the $P_UIFRNUM system
variable.

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2.4 Frames

2.4.6.3 Channel basic frames $P_CHBFR[n]

The number of basic frames can be configured in the channel via machine data
MD28081 $MC_MM_NUM_BASE_FRAMES
.
The minimum configuration is designed for at least one basic frame per channel. A maximum
of 16 basic frames per channel is possible. In addition to the 16 basic frames, there can also
be 16 NCU-global basic frames in the channel.
System variable $P_CHBFR[n] can be used to read and write the basic frame field elements.
The chained complete basic frame is not activated simultaneously when writing a basic
frame field element, but rather activation only takes place on execution of a G500,G54, to
G599 instruction. The variable is used primarily for storing write operations to the basic frame
from HMI or PLC. These frame variables are saved by the data backup.

Current channel basic frames $P_CHBFRAME[n]

System variable $P_CHBFRAME[n] can be used to read and write the current channel basic
frame field elements. The resulting total basic frame is calculated by means of the write
process in the channel. Whenever a basic frame is written, the complete basic frame is
calculated again.

Basic frame in channel $P_UBFR

The system variable is retained for reasons of compatibility, although it is redundant for the
$P_CHBFR[0] variables.
The basic frame with field device 0 is not activated simultaneously when writing to the
predefined $P_UBFR variable, but rather activation only takes place on execution of a
G500,G54, to G599 instruction. For NCU global frames, the changed frame only becomes
active in those channels of the NCU, which execute a G500,G54 to G599 instruction. The
variable is used primarily for storing write operations to the basic frame from HMI or PLC.
The variable can also be read and written in the program.
$P_UBFR is identical to $P_CHBFR[0]. One basic frame always exists in the channel by
default, so that the system variable is compatible with older versions. If there is no channel-
specific basic frame, an alarm is issued at read/write: "Frame: Instruction not allowed" is
output on a read or write access.

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Current first basic frame in the channel $P_BFRAME

The system variable is retained for reasons of compatibility, although it is redundant for the
$P_CHBFRAME[0] variables.
The predefined frame variable $P_BFRAME can be used to read and write the current basic
frame with the field device of 0, which is valid in the channel, in the part program. The written
basic frame is immediately included in the calculation. In the case of NCU global settable
frames, the modified frame acts only in the channel in which the frame was programmed. If
the frame is to be modified for all channels of an NCU, $P_UBFR and $P_BFRAME must be
written simultaneously. The other channels must then activate the corresponding frame, e.g.,
with G54.
$P_BFRAME is identical to $P_CHBFRAME[0]. The system variable always has a valid
default value. If there is no channel-specific basic frame, an alarm is issued at read/write:
"Frame: Instruction not allowed" is output on a read or write access.

Programming basic frames

Basic frames can be read and written via the part program and via the OPI by operator
actions and by the PLC. However, only data management frames can be written by the OPI.

2.4.6.4 NCU global basic frames $P_NCBFR[n]

The number of global basic frames can be configured via machine data
MD18602 $MN_MM_NUM_GLOBAL_BASE_FRAMES
.
There are a maximum of 16 global basic frames. All basic frames are stored as fields.
System variable $P_NCBFR[n] can be used to read and write the basic frame field elements.
The chained complete basic frame is not activated simultaneously when writing a basic
frame field element, but rather activation only takes place on execution of a G500,G54, to
G599 instruction. If the modified frame is to be active in every channel of the NCU, every
channel must execute a G500,G54 to G599 instruction. The variable is used primarily for
storing write operations to the basic frame from HMI or PLC. These frame variables are
saved by the data backup.

Current NCU global basic frames $P_NCBFRAME[n]

System variable $P_NCBFRAME[n] can be used to read and write the current global basic
frame field elements. The resulting total basic frame is calculated by means of the write
process in the channel. The modified frame is activated only in the channel in which the
frame was programmed. If the frame is to be modified for all channels of an NCU,
$P_NCBFR[n] and $P_NCBFRAME[n] must be written simultaneously. The other channels
must then activate the frame, e.g., with G54. Whenever a basic frame is written, the
complete basic frame is calculated again.

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2.4 Frames

Programming global frames

Global frames are programmed analogously, as are channel-specific frames, i.e., global
basic frames are programmed with $P_NCBFR[n] and global settable frames with
$P_UIFR[n].
Geometry axis, channel axis and machine axis identifiers can be used as axis identifiers for
frame program commands. If there is no machine axis for the channel axis on the NCU,
programming with channel axis identifiers is rejected with the alarm 18314 "Frame: Type
conflict". Channel-specific frames can be programmed with geometry axis, channel axis and
machine axis identifiers. If there is no corresponding channel axis for the machine axis on
the NCU, programming with machine axis identifiers is rejected with the alarm 18314
"Frame: Type conflict". If frame components are applied to a machine axis or a channel axis,
which is also a geometry axis, the corresponding geometry axis components will also be
simultaneously modified.
Example:

$P_NCBFR[0] = CTRANS( ax1, 10 )

$P_NCBFR[0] = CTRANS(x, 10)
$P_NCBFR[0, ax1, FI ] = 0.1
$P_NCBFR[0, x, FI] = 0.1

Rotations cannot be used on global frames. The programming of a rotation is denied with
alarm: "18310 Channel %1 Block %2 Frame: rotation not allowed" is displayed.
It is not possible to program chaining of global frames and channel-specific frames, and any
attempt at this is rejected with the alarm 18314 "Frame: Type conflict". All global frames and
channel-specific frames are internally chained to the complete frame. This takes place in the
channel and only with all channel axes known in the channel. The assignment of a frame
with rotation components to a global frame is denied with alarm "Frame: Rotation not
allowed".
Example:

$P_NCBFR[0] = CTRANS( x, 10 ):CROT( y, 45 ; Faulty assignment on the global basic

) frame

The frames
$P_UBFR, $P_BFRAME, $P_CHBFR[n],
$P_CHBFRAME[n], $P_NCBFRAME[n],
and
$P_ACTBFRAME und $P_ACTFRAME
are channel-specific.
These frames can contain rotation components.
These frames only affect the channel that has been set.
With SW 5.1, attempts to program a channel axis, which is also a link axis, is rejected with
alarm "14092 Channel %1 block %2 axis %3 is wrong axis type". An axis can be
programmed only if it physically exists on the NCU.

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2.4 Frames

2.4.6.5 Complete basic frame $P_ACTBFRAME

The chained complete basic frame is determined by the variable. The variable is readonly.

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$P_ACTBFRAME
corresponds to
$P_NCBFRAME[0] : ... : $P_NCBFRAME[n] : $P_CHBFRAME[0] : ... : $P_CHBFRAME[n].

Programmability of the complete basic frame

System variables $P_CHBFRMASK and $P_NCBFRMASK can be used to select, which
basic frames to include in the calculation of the "complete" basic frame. The variables can
only be programmed in the program and read via the operator panel interface. The value of
the variables is interpreted as a bit mask and specifies, which basic frame array element of
$P_ACTBFRAME is included in the calculation. $P_CHBFRMASK can be used to define,
which channelspecific basic frames are included, and $P_NCBFRMASK can be used to
define, which NCU global basic frames are included in the calculation. When the variables
are programmed, the complete basic frame and the complete frame are calculated again.
After RESET and in the default setting, the value of $P_CHBFRMASK equals
$MC_CHBFRAME_RESET_MASK and the value of $P_NCBFRMASK equals
$MN_NCBFRAME_RESET_MASK.

$P_NCBFRMASK = 'H81' ; $P_NCBFRAME[0] : $P_NCBFRAME[7]

$P_CHBFRMASK = 'H11' ; $P_CHBFRAME[0] : $P_CHBFRAME[4]

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2.4 Frames

2.4.6.6 Programmable frame $P_PFRAME

The programmable frame is only available as an active frame.
This frame is reserved for the programmer.
The programmable frame can be retained on RESET using the machine data setting
MD24010 $MC_PFRAME_RESET_MODE = 1
.
This functionality is particularly important if one wishes to retract from an oblique hole after
RESET.

MIRROR
Previously (up to SW P4), mirroring of a geometry axis had been related to a defined
reference axis using machine data
MD10610 $MN_MIRROR_REF_AX
.
From the user's point of view, this definition is hard to follow. When mirroring the z axis, the
display showed that the x axis was mirrored and the y axis had been rotated about 180
degrees. When mirroring two axes this became even more complex and it was no longer
easy to understand, which axes had been mirrored and, which had not.
With SW P5 and higher, there is the option to clearly display the mirroring of an axis.
Mirroring is then no longer mapped onto the mirroring of a reference axis and rotations of
other axes.
This setting can be configured using the machine data setting
MD10610 $MN_MIRROR_REF_AX = 0.
MIRROR and AMIRROR are used to expand the programming of the programmable frame.
Previously, the specified value of the coordinate axis, e.g., the value 0 for MIRROR X0, is not
evaluated, but the AMIRROR has a toggle function, i.e., MIRROR X0 activates the mirror and
a further AMIRROR X0 deactivates it. MIRROR always has an absolute effect and AMIRROR
an additive effect.
Machine data setting
MD10612 $MN_MIRROR_TOGGLE = 0
can be used to define that the programmed values should be evaluated.
A value of 0, i.e., AMIRROR X0, deactivates the mirroring of the axis, and values not equal to
0 cause the axis to be mirrored if it is not already mirrored.
It is possible to read or write mirrors component by component independent of machine data
MD10612 $MN_MIRROR_TOGGLE.

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A value = 0 means that the axis is not mirrored and a value = 1 means that the axis will
always be mirrored, irrespective of whether it has already been mirrored or not.

$P_NCBFR[0,x,mi] = 1 ; x axis is always mirrored.

$P_NCBFR[0,x,mi] = 0 ; x axis mirror is OFF.

Axial replacement G58, G59

The translation component of the programmable frame is split into an absolute component
and a component for the total of all additively programmed translations. The absolute
component can be changed using TRANS, CTRANS or by writing the translation components,
in which the additive component is set to zero. G58 changes only the absolute translation
component for the specified axis; the total of additively programmed translations is retained.
G58 X... Y... Z... A... ...
G59 is used for axial overwriting of the additively programmed translations for the specified
axes, which were programmed with ATRANS.
G59 X... Y... Z... A... ...
Example:

TRANS X10 Y10 Z10

ATRANS X5 Y5 ; Total translations X15 Y15 Z10
G58 X20 ; Total translations X25 Y15 Z10
G59 X10 Y10 ; Total translations X30 Y20 Z10

G58 and G59 can only be used if machine data

MD24000 $MC_FRAME_ADD_COMPONENTS
is set to TRUE, otherwise the alarm "18311 channel %1 block %2 frame: instruction not
permissible" is output.
The function can also only be used in conjunction with a configured fine offset for the
programmable frame. If G58 or G59 is used without a configured fine offset, alarm "18312
channel %1 block %2 frame: Fine offset not configured" is output.
The absolute component of the translation is stored in the rough offset component and the
additive translation component is stored in the fine offset component. To this end, the
programmable frame or the fine offset is expanded.

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The fine component is transferred on saving the programmable frame in a local frame
variable (LUD or GUD) and on rewriting.

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2.4 Frames

The table below shows the effect of various program commands on the absolute and
additive translation.

Coarse or absolute translation Fine or additive translation

TRANS X10 10 0
ATRANS X10 unchanged alt_fine + 10
CTRANS(X,10) 10 0
CTRANS() 0 0
CFINE(X,10) 0 10
$P_PFRAME[X,TR] = 10 10 unchanged
$P_PFRAME[X,FI] = 10 unchanged 10
G58 X10 10 unchanged
G59 X10 unchanged 10

2.4.6.7 Channelspecific system frames

Functionality
System frames are only described by system functions, such as PRESET, scratching, zero
offset external and oblique processing. There are up to seven system frames per channel.
The valid system frames in the channel can be defined using machine data
MD28082 $MC_MM_SYSTEM_FRAME_MASK
.
Only system frames required for system functions should be configured, in the interests of
memory space. Per channel, each system frame occupies approx. 1 KB SRAM und approx.
6 KB DRAM. The system frame for PRESET and scratching and the system frame for cycles
are the default. Channel-specific system frames are configured as bit codes, in accordance
with the table below:

Bit Default System frame

0 1 PRESET and scratching
1 0 Zero offset external via system frames
2 0 TCARR and PAROT with an orientational toolholder
3 0 TOROT and TOFRAME
4 0 Frame for workpiece reference points
5 1 Frame for cycles
6 0 Frame for selection and deselection of transformations
Example:
$MC_MM_SYSTEM_FRAME_MASK = 'B001101' means that
there are three system frames; one for PRESET, one for PAROT and one for TOROT and
TOFRAME.
The system frame mask is used to define if the corresponding function has a system frame.
With non-configured frames, in certain circumstances the function will be rejected with an
alarm.

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2.4 Frames

System frames in data management

The system frames are stored in the SRAM and can, therefore, be archived and reloaded.
System frames in data management can be read and written in the program using the
following variables:

$P_SETFR System frame for PRESET and scratching (SetFrame)

$P_EXTFR System frame for zero offset external (ExtFrame)
$P_PARTFR System frame for TCARR and PAROT (PartFrame)
$P_TOOLFR System frame for TOROT and TOFRAME (ToolFrame)
$P_WPFR System frame for workpiece reference points (Work Piece Frame)
$P_CYCFR System frame for cycles (Cycle Frame)
$P_TRAFRAME System frame for transformations (Transformation Frame)
All write operations to these frames must be executed using system functions. For cycle
programmers, it has been made possible to write the frames using the above variables.
Attempts to write to a non-configured system frame are rejected with the alarm "Channel %1
block %2 name %3 not defined or option not available".
System frames in the data management are either activated directly with the system function
(TOROT, PAROT, etc.), or with aG500, G54 to G599 instruction.

Active system frames

The active system frames are the frames, which are active in the main run. An appropriate
current system frame exists for each system frame in the data management. Only with the
activation of the data management frame are the values taken into account with regard to
the preprocessing.
The following current system frames exist:
• $P_SETFRAME
In the part program, the variable $P_SETFRAME can be used to read and write the
current system frame for PRESET and scratching.
If the system frame has not been configured using machine data
MD28082 $MC_MM_SYSTEM_FRAME_MASK
, the variable returns a zero frame.
• $P_EXTFRAME
In the part program, the variable $P_EXTFRAME can be used to read and write the
current system frame for the zero offset external.
If the system frame has not been configured using machine data
MD28082 $MC_MM_SYSTEM_FRAME_MASK
, the variable returns a zero frame.

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2.4 Frames

• $P_PARTFRAME
In the part program, the variable $P_PARTFRAME can be used to read and write the
current system frame for TCARR and PAROT for toolholders with orientation capability.
If the system frame has not been configured using machine data
MD28082 $MC_MM_SYSTEM_FRAME_MASK
, the variable returns a zero frame.
• $P_TOOLFRAME
In the part program, the variable $P_TOOLFRAME can be used to read and write the
current system frame for TOROT and TOFRAME.
If the system frame has not been configured using machine data
MD28082 $MC_MM_SYSTEM_FRAME_MASK
, the variable returns a zero frame.
• $P_WPFRAME
In the part program, the variable $P_WPFRAME can be used to read and write the
current system frame for setting workpiece reference points.
If the system frame has not been configured using machine data
MD28082 $MC_MM_SYSTEM_FRAME_MASK
, the variable returns a zero frame.
• $P_CYCFRAME
In the part program, the variable $P_CYCFRAME can be used to read and write the
current system frame for cycles.
If the system frame has not been configured using machine data
MD28082 $MC_MM_SYSTEM_FRAME_MASK
, the variable returns a zero frame.
• $P_TRAFRAME
In the part program, the variable $P_TRAFRAME can be used to read and write the
current system frame for transformations.
If the system frame has not been configured using machine data
MD28082 $MC_MM_SYSTEM_FRAME_MASK
, the variable returns a zero frame.

2.4.6.8 $P_ACTFRAME
The resulting current complete frame $P_ACTFRAME is now a chain of all system frames,
basic frames, the current settable frame and the programmable frame. The current frame is
always updated whenever a frame component is changed.
The current complete frame is calculated according to the formula below:

$P_ACTFRAME = $P_PARTFRAME : $P_SETFRAME : $P_EXTFRAME :

$P_ACTBFRAME : $P_IFRAME :
$P_TOOLFRAME : $P_WPFRAME : $P_TRAFRAME:
$P_PFRAME : $P_CYCFRAME

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2.4.7 Implicit frame changes

2.4.7.1 Frames and switchover of geometry axes

In the channel, the geometry axis configuration can be changed by switching a
transformation on and off and with the GEOAX() command (R3).
Machine data
MD10602 $MN_FRAME_GEOAX_CHANGE_MODE
can be used to configure, for all channels of the system, whether the current complete frame
is calculated again on the basis of the new geometry axes or whether the complete frame is
deleted.
Four modes can be set via machine data:
• MD10602 $MN_FRAME_GEOAX_CHANGE_MODE = 0
The current complete frame is deleted when geometry axes are switched over, when
transformations are selected and deselected, and on GEOAX().
The modified geometry axis configuration is not used until a new frame is activated.
• MD10602 $MN_FRAME_GEOAX_CHANGE_MODE = 1
The current complete frame is calculated again when the geometry axes are switched
over, and the translations, scales and mirrors of the new geometry axes are effective.
The rotations of the geometry axes, which were programmed before the switchover,
remain effective for the new geometry axes.
The aspects described in the chapter "Frames for selection and deselection of
transformations" are relevant to TRANSMIT, TRACYL and TRAANG.
References:
/FB1/Description of Functions, Basic Machine; Axes, Coordinate System, Frames (K2);
Chapter: Frame for selection and deselection of transformations
• MD10602 $MN_FRAME_GEOAX_CHANGE_MODE = 2
The current complete frame is calculated again when the geometry axes are switched
over, and the translations, scales and mirrors of the new geometry axes are effective. If
rotations are active in the current basic frames, the current settable frame or the
programmable frame before the switchover, it is aborted with the alarm "Frame:
Geometry axis switchover not allowed".
The aspects described in the chapter "Frames for selection and deselection of
transformations" are relevant to TRANSMIT, TRACYL and TRAANG.
References:
/FB1/Description of Functions, Basic Machine; Axes, Coordinate System, Frames (K2);
Chapter: Frame for selection and deselection of transformations
• MD10602 $MN_FRAME_GEOAX_CHANGE_MODE = 3
The current frame is deleted when selecting and deselecting transformations.
With GEOAX(), the current complete frame is calculated again and the translations,
scales and mirrors of the new geometry axes come into effect.
The rotations of the geometry axes, which were programmed before the switchover,
remain effective for the new geometry axes.

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2.4 Frames

The workpiece geometry is described by a coordinate system that is formed by the geometry
axes. A channel axis is assigned to each geometry axis and a machine axis is assigned to
each channel axis. An axial frame exists for each machine axis and for each frame (system
frame, basic frame, settable frame, programmable frame). When a new machine axis is
assigned to a geometry axis, the axial frame components of the machine axis, such as
translations (coarse and fine), scales and mirrors of the appropriate frame, are also applied.
The new geometry in the channel is then generated by the new contour frames resulting
from the new geometry axes (up to three in number).
The current valid frames are calculated again on the geometry axis switchover and a
resulting complete frame is generated. The data management frames are not included
unless they are activated.
Example:
The channel axis is to become a geometry axis x through geo axis substitution. The
substitution is to give the programmable frame a translation component of 10 in the x axis.
The current settable frame is to be retained.
MD10602 $MN_FRAME_GEOAX_CHANGE_MODE = 1

$P_UIFR[1] = CROT(x,10,y,20,z,30) ; Frame is retained after geo axis

substitution.
G54 ; Settable frame becomes active.
TRANS a10 ; Axial offset of a is also substituted.
GEOAX(1, a) ; a becomes x axis;
$P_ACTFRAME=CROT(x,10,
y,20,z,30):CTRANS(x10).

Several channel axes can become geometry axes on a transformation change.

Example:
Channel axes 4, 5 and 6 become the geometry axes of a 5axis transformation. The
geometry axes are thus all substituted before the transformation. The current frames are
changed when the transformation is activated. The axial frame components of the channel
axes, which become geometry axes, are taken into account when calculating the new WCS.
Rotations programmed before the transformation are retained. The old WCS is restored
when the transformation is deactivated. The most common application will be that the
geometry axes do not change before and after the transformation and that the frames are to
stay as they were before the transformation.
Machine data:

$MN_FRAME_GEOAX_CHANGE_MODE = 1

$MC_AXCONF_CHANAX_NAME_TAB[0] = "CAX"
$MC_AXCONF_CHANAX_NAME_TAB[1] = "CAY"
$MC_AXCONF_CHANAX_NAME_TAB[2] = "CAZ"
$MC_AXCONF_CHANAX_NAME_TAB[3] = "A"
$MC_AXCONF_CHANAX_NAME_TAB[4] = "B"
$MC_AXCONF_CHANAX_NAME_TAB[5] = "C"

$MC_AXCONF_GEOAX_ASSIGN_TAB[0] = 1

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$MC_AXCONF_GEOAX_ASSIGN_TAB[1] = 2
$MC_AXCONF_GEOAX_ASSIGN_TAB[2] = 3

$MC_AXCONF_GEOAX_NAME_TAB[0] = "X"
$MC_AXCONF_GEOAX_NAME_TAB[1]="Y"
$MC_AXCONF_GEOAX_NAME_TAB[2] = "Z"

$MC_TRAFO_GEOAX_ASSIGN_TAB_1[0]=4
$MC_TRAFO_GEOAX_ASSIGN_TAB_1[1]=5
$MC_TRAFO_GEOAX_ASSIGN_TAB_1[2]=6

$MC_TRAFO_AXES_IN_1[0] = 4
$MC_TRAFO_AXES_IN_1[1] = 5
$MC_TRAFO_AXES_IN_1[2] = 6
$MC_TRAFO_AXES_IN_1[3] = 1
$MC_TRAFO_AXES_IN_1[4] = 2

Program:

$P_NCBFRAME[0] = ctrans(x,1,y,2,z,3,a,4,b,5,c,6)
$P_CHBFRAME[0] = ctrans(x,1,y,2,z,3,a,4,b,5,c,6)
$P_IFRAME = ctrans(x,1,y,2,z,3,a,4,b,5,c,6):crot(z,45)
$P_PFRAME = ctrans(x,1,y,2,z,3,a,4,b,5,c,6):crot(x,10,y,20,z,30)

TRAORI ; Geo axis (4,5,6) sets transformer

; $P_NCBFRAME[0] = ctrans(x,4,y,5,z,6,cax,1,cay,2,caz,3)
; $P_ACTBFRAME =ctrans(x,8,y,10,z,12,cax,2,cay,4,caz,6)
; $P_PFRAME =
ctrans(x,4,y,5,z,6,cax,1,cay,2,caz,3):crot(x,10,y,20,z,30)
; $P_IFRAME = ctrans(x,4,y,5,z,6,cax,1,cay,2,caz,3):crot(z,45)
TRAFOOF ; Geo axis (1,2,3) sets transformation deactivation
; $P_NCBFRAME[0] = ctrans(x,1,y,2,z,3,a,4,b,5,c,6)
; $P_CHBFRAME[0] = ctrans(x,1,y,2,z,3,a,4,b,5,c,6)
; $P_IFRAME = ctrans(x,1,y,2,z,3,a,4,b,5,c,6):crot(z,45)
; $P_PFRAME = ctrans(x,1,y,2,z,3,a,4,b,5,c,6):crot(x,10,y,20,z,30)

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2.4 Frames

2.4.7.2 Frame for selection and deselection of transformations

This function is available with NCK 51.00.00 and higher. Transformations TRANSMIT,
TRACYL and TRAANG are supported.
As a rule, the assignment of geometry axes to channel axes changes when selecting and
deselecting transformations. It is not possible to uniquely assign axial frame components to
geometric contour frame components when carrying out transformations, in which rotary
axes become linear axes and vice versa. The contour frame must be conditioned using
special treatment for such non-linear transformations.
The mode, set with machine data
MD10602 $MN_FRAME_GEOAX_CHANGE_MODE = 1 and 2
, is expanded in such a way as to take the above transformations into account.
When selecting transformations, the contour frame is connected to the axial frames. With
transformations TRANSMIT, TRACYL and TRAANG, the virtual geometry axis is subject to
special treatment.

TRANSMIT

&

Transmit expansions:
The machine data
MD24905 $MC_TRANSMIT_ROT_AX_FRAME_1 = 1
MD24905 $MC_TRANSMIT_ROT_AX_FRAME_2 = 1
can be used to take the axial complete frame of the transmit rotary axis, i.e., the translation,
fine offset, mirroring and scaling, into account in the transformation.
A rotary axis offset can, for example, be entered by compensating the oblique position of a
workpiece in a frame within a frame chain. As a rule, this offset can also be included in the
transformation as an offset in the rotary axis. A c axis offset, as in the figure above, then
leads to corresponding x and y values.

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MD24905 $MC_TRANSMIT_ROT_AX_FRAME_1 = 2
MD24905 $MC_TRANSMIT_ROT_AX_FRAME_2 = 2
With this setting, the axial offset of the rotary axis is taken account of in the transformation
up to the SZS. The axial offsets of the rotary axis included in the SZS frames are entered
into the transformation frame as rotations. This setting is only effective if the transformation
frame has been configured.
Frame expansions:
The expansions described below are only valid for the machine data
$MN_FRAME_GEOAX_CHANGE_MODE = 1
$MN_FRAME_GEOAX_CHANGE_MODE = 2
The selection of transformation TRANSMIT produces a virtual geometry axis, coupled by way
of the rotary axis, which is merely included in the contour frame but does not have a
reference to an axial frame. The geometric value results from the rotation of a rotary axis. All
other geometry axes accept their axial components when the transformation is selected.
Translations:
On selecting transmit, translations of the virtual axis are deleted. Translations of the rotary
axis can be taken into account in the transformation.
Rotations:
Rotations before the transformation are taken over.
Mirrorings:
Mirrorings of the virtual axis are deleted. Mirrorings of the rotary axis can be taken into
account in the transformation.
Scalings:
Scalings of the virtual axis are deleted. Scalings of the rotary axis can be taken into account
in the transformation.
Example:
Machine data for TRANSMIT

; FRAME configurations

$MC_MM_SYSTEM_FRAME_MASK = 'H41' ; TRAFRAME, SETFRAME

$MC_CHSFRAME_RESET_MASK = 'H41' ; Frames are active after Reset.
$MC_CHSFRAME_POWERON_MASK = 'H41' ; Frames are deleted on POWER ON.

$MN_FRAME_GEOAX_CHANGE_MODE = 1 ; Frames are calculated after

switchover of the geo axis.
$MC_RESET_MODE_MASK = 'H4041' ; Basic frame is not deselected after
RESET.
;$MC_RESET_MODE_MASK = 'H41' ; Basic frame is deselected after
RESET.

;$MC_GCODE_RESET_VALUES[7] = 2 ; G54 is the default setting.

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2.4 Frames

$MC_GCODE_RESET_VALUES[7] = 1 ; G500 is the default setting.

$MN_MM_NUM_GLOBAL_USER_FRAMES = 0
$MN_MM_NUM_GLOBAL_BASE_FRAMES = 3

$MC_MM_NUM_USER_FRAMES = 10 ; from 5 to 100

$MC_MM_NUM_BASE_FRAMES = 3 ; from 0 to 8

$MN_NCBFRAME_RESET_MASK = 'HFF'
$MC_CHBFRAME_RESET_MASK = 'HFF'

$MN_MIRROR_REF_AX = 0 ; No scaling when mirroring

$MN_MIRROR_TOGGLE = 0
$MN_MM_FRAME_FINE_TRANS = 1 ; Fine offset
$MC_FRAME_ADD_COMPONENTS = TRUE ; G58, G59 is possible

; TRANSMIT is 1st transformer

$MC_TRAFO_TYPE_1 = 256

$MC_TRAFO_AXES_IN_1[0] = 1
$MC_TRAFO_AXES_IN_1[1] = 6
$MC_TRAFO_AXES_IN_1[2] = 3
$MC_TRAFO_AXES_IN_1[3] = 0
$MC_TRAFO_AXES_IN_1[4] = 0

$MA_ROT_IS_MODULO[AX6] = TRUE;

$MC_TRAFO_GEOAX_ASSIGN_TAB_1[0]=1
$MC_TRAFO_GEOAX_ASSIGN_TAB_1[1]=6
$MC_TRAFO_GEOAX_ASSIGN_TAB_1[2]=3

$MC_TRANSMIT_BASE_TOOL_1[0]=0.0
$MC_TRANSMIT_BASE_TOOL_1[1]=0.0
$MC_TRANSMIT_BASE_TOOL_1[2]=0.0

$MC_TRANSMIT_ROT_AX_OFFSET_1 = 0.0
$MC_TRANSMIT_ROT_SIGN_IS_PLUS_1 = TRUE

$MC_TRANSMIT_ROT_AX_FRAME_1 = 1

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; TRANSMIT is 2nd transformer

$MC_TRAFO_TYPE_2 = 256

$MC_TRAFO_AXES_IN_2[0] = 1
$MC_TRAFO_AXES_IN_2[1] = 6
$MC_TRAFO_AXES_IN_2[2] = 2
$MC_TRAFO_AXES_IN_2[3] = 0
$MC_TRAFO_AXES_IN_2[4] = 0

$MC_TRAFO_GEOAX_ASSIGN_TAB_2[0] = 1
$MC_TRAFO_GEOAX_ASSIGN_TAB_2[1] = 6
$MC_TRAFO_GEOAX_ASSIGN_TAB_2[2] = 2

$MC_TRANSMIT_BASE_TOOL_2[0] = 4.0
$MC_TRANSMIT_BASE_TOOL_2[1] = 0.0
$MC_TRANSMIT_BASE_TOOL_2[2] = 0.0

$MC_TRANSMIT_ROT_AX_OFFSET_2 = 19.0
$MC_TRANSMIT_ROT_SIGN_IS_PLUS_2 = TRUE

$MC_TRANSMIT_ROT_AX_FRAME_2 = 1
Part program:

; Frame settings
N820 $P_UIFR[1] = ctrans(x,1,y,2,z,3,c,4)
N830 $P_UIFR[1] = $P_UIFR[1] : crot(x,10,y,20,z,30)
N840 $P_UIFR[1] = $P_UIFR[1] : cmirror(x,c)
N850
N860 $P_CHBFR[0] = ctrans(x,10,y,20,z,30,c,15)
N870

; Tool selection, clamping compensation, plane selection

N890 T2 D1 G54 G17 G90 F5000 G64 SOFT
N900

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2.4 Frames

;Approach start position

N920 G0 X20 Z10
N930
N940 if $P_BFRAME <> CTRANS(X,10,Y,20,Z,30,C,15)
N950 setal(61000)
N960 endif
N970 if $P_BFRAME <> $P_CHBFR[0]
N980 setal(61000)
N990 endif
N1000 if $P_IFRAME <>
CTRANS(X,1,Y,2,Z,3,C,4):CROT(X,10,Y,20,Z,30):CMIRROR(X,C)
N1010 setal(61000)
N1020 endif
N1030 if $P_IFRAME <> $P_UIFR[1]
N1040 setal(61000)
N1050 endif
N1060 if $P_ACTFRAME <>
CTRANS(X,11,Y,22,Z,33,C,19):CROT(X,10,Y,20,Z,30):CMIRROR(X,C)
N1070 setal(61000)
N1080 endif
N1090
N1100 TRANSMIT(2)
N1110
N1120 if $P_BFRAME <> CTRANS(X,10,Y,0,Z,20,CAZ,30,C,15)
N1130 setal(61000)
N1140 endif
N1180 if $P_IFRAME <>
CTRANS(X,1,Y,0,Z,2,CAZ,3,C,4):CROT(X,10,Y,20,Z,30):CMIRROR(X,C)
N1190 setal(61000)
N1200 endif
N1240 if $P_ACTFRAME <>
CTRANS(X,11,Y,0,Z,22,CAZ,33,C,19):CROT(X,10,Y,20,Z,30):CMIRROR(X,C)
N1250 setal(61001)
N1260 endif
N1270
N1280
N1290 $P_UIFR[1,x,tr] = 11
N1300 $P_UIFR[1,y,tr] = 14
N1310
N1320 g54
N1330

;Set frame
N1350 ROT RPL=-45
N1360 ATRANS X-2 Y10
N1370

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;Four-edge roughing
N1390 G1 X10 Y-10 G41 OFFN=1; allowance 1 mm
N1400 X-10
N1410 Y10
N1420 X10
N1430 Y-10
N1440

;Change tool
N1460 G0 Z20 G40 OFFN=0
N1470 T3 D1 X15 Y-15
N1480 Z10 G41
N1490

; Square finishing
N1510 G1 X10 Y-10
N1520 X-10
N1530 Y10
N1540 X10
N1550 Y-10
N1560

; Deselect frame
N2950 m30 N1580 Z20 G40
N1590 TRANS
N1600
N1610 if $P_BFRAME <> CTRANS(X,10,Y,0,Z,20,CAZ,30,C,15)
N1620 setal(61000)
N1630 endif
N1640 if $P_BFRAME <> $P_CHBFR[0]
N1650 setal(61000)
N1660 endif
N1670 if $P_IFRAME <>
TRANS(X,11,Y,0,Z,2,CAZ,3,C,4):CROT(X,10,Y,20,Z,30):CMIRROR(X,C)
N1680 setal(61000)
N1690 endif
N1730 if $P_ACTFRAME <>
TRANS(X,21,Y,0,Z,22,CAZ,33,C,19):CROT(X,10,Y,20,Z,30):CMIRROR(X,C)
N1740 setal(61001)
N1750 endif
N1760
N1770 TRAFOOF
N1780
N1790 if $P_BFRAME <> CTRANS(X,10,Y,20,Z,30,C,15)
N1800 setal(61000)
N1810 endif

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N1820 if $P_BFRAME <> $P_CHBFR[0]

N1830 setal(61000)
N1840 endif
N1850 if $P_IFRAME <>
TRANS(X,11,Y,2,Z,3,C,4):CROT(X,10,Y,20,Z,30):CMIRROR(X,C)
N1860 setal(61000)
N1870 endif
N1880 if $P_IFRAME <> $P_UIFR[1]
N1890 setal(61000)
N1900 endif
N1910 if $P_ACTFRAME <>
TRANS(X,21,Y,22,Z,33,C,19):CROT(X,10,Y,20,Z,30):CMIRROR(X,C)
N1920 setal(61002)
N1930 endif
N1940
N2010 $P_UIFR[1] = ctrans()
N2011 $P_CHBFR[0] = ctrans()
N2020 $P_UIFR[1] = ctrans(x,1,y,2,z,3,c,0)
N2021 G54
N2021 G0 X20 Y0 Z10 C0
N2030 TRANSMIT(1)
N2040 TRANS x10 y20 z30
N2041 ATRANS y200
N2050 G0 X20 Y0 Z10
N2051 if $P_IFRAME <> CTRANS(X,1,Y,0,Z,3,CAY,2)
N2052 setal(61000)
N2053 endif
N2054 if $P_ACTFRAME <> CTRANS(X,11,Y,20,Z,33,CAY,2):CFINE(Y,200)
N2055 setal(61002)
N2056 endif
N2060 TRAFOOF
N2061 if $P_IFRAME <> $P_UIFR[1]
N2062 setal(61000)
N2063 endif
N2064 if $P_ACTFRAME <> CTRANS(X,11,Y,2,Z,33):CFINE(Y,0)
N2065 setal(61002)
N2066 endif

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TRACYL

&

[
'LDPHWHUG

Tracyl expansions:
The machine data below can be used to take the axial complete frame of the tracyl rotary
axis, i.e., the translation, fine offset, mirroring and scaling, into account in the transformation:
MD24805 $MC_TRACYL_ROT_AX_FRAME_1 = 1
MD24855 $MC_TRACYL_ROT_AX_FRAME_2 = 1
A rotary axis offset can, for example, be entered by compensating the oblique position of a
workpiece in a frame within a frame chain. As a rule, this offset can also be included in the
transformation as an offset in the rotary axis or as a y offset. A c axis offset, as in the figure
above, then leads to corresponding x and y values.
MD24805 $MC_TRACYL_ROT_AX_FRAME_1 = 2
MD24855 $MC_TRACYL_ROT_AX_FRAME_2 = 2
With this setting, the axial offset of the rotary axis is taken account of in the transformation
up to the SZS. The axial offsets of the rotary axis included in the SZS frames are entered
into the transformation frame as offsets on the sheath surface. This setting is only effective if
the transformation frame has been configured.

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2.4 Frames

Frame expansions:
The expansions described below are only valid for the machine data
MD10602 $MN_FRAME_GEOAX_CHANGE_MODE = 1
MD10602 $MN_FRAME_GEOAX_CHANGE_MODE = 2
The selection of transformation TRANSMIT produces a virtual geometry axis on the sheath
surface, coupled by way of the rotary axis, which is merely included in the contour frame but
does not have a reference to an axial frame. All components of the virtual geometry axis are
deleted. All other geometry axes accept their axial components when the transformation is
selected.
Translations:
On selecting tracyl, translations of the virtual axis are deleted. Translations of the rotary axis
can be taken into account in the transformation.
Rotations:
Rotations before the transformation are taken over.
Mirrorings:
Mirrorings of the virtual axis are deleted. Mirrorings of the rotary axis can be taken into
account in the transformation.
Scalings:
Scalings of the virtual axis are deleted. Scalings of the rotary axis can be taken into account
in the transformation.
Example:
Machine data for TRACYL:

; FRAME configurations

$MC_MM_SYSTEM_FRAME_MASK = 'H41' ; TRAFRAME, SETFRAME

$MC_CHSFRAME_RESET_MASK = 'H41' ; Frames are active after Reset.
$MC_CHSFRAME_POWERON_MASK = ; Frames are deleted on POWER ON.
'H41'

$MN_FRAME_GEOAX_CHANGE_MODE = ; Frames are calculated after switchover of

1 the geo axis.

$MC_RESET_MODE_MASK = 'H4041' ; Basic frame is not deselected after RESET.

;$MC_RESET_MODE_MASK = 'H41' ; Basic frame is deselected after RESET.

;$MC_GCODE_RESET_VALUES[7] = 2 ; G54 is the default setting.

$MC_GCODE_RESET_VALUES[7] = 1 ; G500 is the default setting.

$MN_MM_NUM_GLOBAL_USER_FRAMES = 0
$MN_MM_NUM_GLOBAL_BASE_FRAMES = 3

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$MC_MM_NUM_USER_FRAMES = 10 ; from 5 to 100

$MC_MM_NUM_BASE_FRAMES = 3 ; from 0 to 8

$MN_NCBFRAME_RESET_MASK = 'HFF'
$MC_CHBFRAME_RESET_MASK = 'HFF'

$MN_MIRROR_REF_AX = 0 ; No scaling when mirroring

$MN_MIRROR_TOGGLE = 0
$MN_MM_FRAME_FINE_TRANS = 1 ; Fine offset
$MC_FRAME_ADD_COMPONENTS = ; G58, G59 is possible
TRUE

; TRACYL with groove side offset is 3rd

transformer

$MC_TRAFO_TYPE_3 = 513; TRACYL

$MC_TRAFO_AXES_IN_3[0] = 1
$MC_TRAFO_AXES_IN_3[1] = 5
$MC_TRAFO_AXES_IN_3[2] = 3
$MC_TRAFO_AXES_IN_3[3] = 2

$MC_TRAFO_GEOAX_ASSIGN_TAB_3[0] = 1
$MC_TRAFO_GEOAX_ASSIGN_TAB_3[1] = 5
$MC_TRAFO_GEOAX_ASSIGN_TAB_3[2] = 3

$MC_TRACYL_BASE_TOOL_1[0] = 0.0
$MC_TRACYL_BASE_TOOL_1[1] = 0.0
$MC_TRACYL_BASE_TOOL_1[2] = 0.0

$MC_TRACYL_ROT_AX_OFFSET_1 = 0.0
$MC_TRACYL_ROT_SIGN_IS_PLUS_1 = TRUE

$MC_TRACYL_ROT_AX_FRAME_1 = 1
Part program:

;Simple traversing test with groove side offset

N450 G603
N460

Axis Types, Coordinate Systems, Frames (K2)

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Detailed description
2.4 Frames

; Frame settings
N500 $P_UIFR[1] = ctrans(x,1,y,2,z,3,b,4)
N510 $P_UIFR[1] = $P_UIFR[1] : crot(x,10,y,20,z,30)
N520 $P_UIFR[1] = $P_UIFR[1] : cmirror(x,b)
N530
N540 $P_CHBFR[0] = ctrans(x,10,y,20,z,30,b,15)
N550
N560 G54
N570

; Continuous-path mode, resurface by grinding selected

N590 G0 x0 y0 z-10 b0 G90 F50000 T1 D1 G19 G641 ADIS=1 ADISPOS=5
N600
N610 if $P_BFRAME <> CTRANS(X,10,Y,20,Z,30,B,15)
N620 setal(61000)
N630 endif
N640 if $P_BFRAME <> $P_CHBFR[0]
N650 setal(61000)
N660 endif
N670 if $P_IFRAME <>
TRANS(X,1,Y,2,Z,3,B,4):CROT(X,10,Y,20,Z,30):CMIRROR(X,B)
N680 setal(61000)
N690 endif
N700 if $P_IFRAME <> $P_UIFR[1]
N710 setal(61000)
N720 endif
N730 if $P_ACTFRAME <>
TRANS(X,11,Y,22,Z,33,B,19):CROT(X,10,Y,20,Z,30):CMIRROR(X,B)
N740 setal(61000)
N750 endif
N760

; Transformation ON
N780 TRACYL(40.)
N790
N800 if $P_BFRAME <> CTRANS(X,10,Y,0,Z,30,CAY,20,B,15)
N810 setal(61000)
N820 endif
N830 if $P_CHBFR[0] <> CTRANS(X,10,Y,0,Z,30,CAY,20,B,15)
N840 setal(61000)
N850 endif
N860 if $P_IFRAME <>
TRANS(X,1,Y,0,Z,3,CAY,2,B,4):CROT(X,10,Y,20,Z,30):CMIRROR(X,B)
N870 setal(61000)
N880 endif
N890 if $P_UIFR[1] <>
TRANS(X,1,Y,0,Z,3,CAY,2,B,4):CROT(X,10,Y,20,Z,30):CMIRROR(X,B)
N900 setal(61000)
N910 endif

Axis Types, Coordinate Systems, Frames (K2)

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 Detailed description
2.4 Frames

N920 if $P_ACTFRAME <>

TRANS(X,11,Y,0,Z,33,CAY,22,B,19):CROT(X,10,Y,20,Z,30):CMIRROR(X,B)
N930 setal(61001)
N940 endif
N950
N960 $P_UIFR[1,x,tr] = 11
N970 $P_UIFR[1,y,tr] = 14
N980
N990 g54
N1000
N1010 if $P_BFRAME <> CTRANS(X,10,Y,0,Z,30,CAY,20,B,15)
N1020 setal(61000)
N1030 endif
N1040 if $P_BFRAME <> $P_CHBFR[0]
N1050 setal(61000)
N1060 endif
N1070 if $P_IFRAME <>
TRANS(X,11,Y,0,Z,3,CAY,2,B,4):CROT(X,10,Y,20,Z,30):CMIRROR(X,B)
N1080 setal(61000)
N1090 endif
N1100 if $P_IFRAME <> $P_UIFR[1]
N1110 setal(61000)
N1120 endif
N1130 if $P_ACTFRAME <>
TRANS(X,21,Y,0,Z,33,CAY,22,B,19):CROT(X,10,Y,20,Z,30):CMIRROR(X,B)
N1140 setal(61001)
N1150 endif
N1160

; Transformation off
N1180 TRAFOOF
N1190
N1200 if $P_BFRAME <> CTRANS(X,10,Y,20,Z,30,B,15)
N1210 setal(61000)
N1220 endif
N1230 if $P_BFRAME <> $P_CHBFR[0]
N1240 setal(61000)
N1250 endif
N1260 if $P_IFRAME <>
TRANS(X,11,Y,2,Z,3,B,4):CROT(X,10,Y,20,Z,30):CMIRROR(X,B)
N1270 setal(61000)
N1280 endif
N1290 if $P_IFRAME <> $P_UIFR[1]
N1300 setal(61000)
N1310 endif
N1320 if $P_ACTFRAME <>
TRANS(X,21,Y,22,Z,33,B,19):CROT(X,10,Y,20,Z,30):CMIRROR(X,B)
N1330 setal(61002)
N1340 endif
N1350

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Detailed description
2.4 Frames

N1360 G00 x0 y0 z0 G90

N1370
N1380 m30

TRAANG

Frame expansions:
The expansions described below are only valid for the machine data
MD10602 $MN_FRAME_GEOAX_CHANGE_MODE = 1
MD10602 $MN_FRAME_GEOAX_CHANGE_MODE = 2
Translations:
On selecting traang, translations of the virtual axis are retained.
Rotations:
Rotations before the transformation are taken over.
Mirrorings:
Mirrorings of the virtual axis are taken over.
Scalings:
Scalings of the virtual axis are taken over.
Example:
Machine data for TRAANG:

Axis Types, Coordinate Systems, Frames (K2)

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 Detailed description
2.4 Frames

; FRAME configurations

$MC_MM_SYSTEM_FRAME_MASK = 'H1' ; SETFRAME

$MC_CHSFRAME_RESET_MASK = 'H41' ; Frames are active after RESET.
$MC_CHSFRAME_POWERON_MASK = ; Frames are deleted on POWER ON.
'H41'

$MN_FRAME_GEOAX_CHANGE_MODE = ; Frames are calculated after switchover of

1 the geo axis.

$MC_RESET_MODE_MASK = 'H4041' ; Basic frame is not deselected after RESET.

;$MC_RESET_MODE_MASK = 'H41' ; Basic frame is deselected after RESET.

;$MC_GCODE_RESET_VALUES[7] = 2 ; G54 is the default setting.

$MC_GCODE_RESET_VALUES[7] = 1 ; G500 is the default setting.

$MN_MM_NUM_GLOBAL_USER_FRAMES = 0
$MN_MM_NUM_GLOBAL_BASE_FRAMES = 3

$MC_MM_NUM_USER_FRAMES = 10 ; from 5 to 100

$MC_MM_NUM_BASE_FRAMES = 3 ; from 0 to 8

$MN_NCBFRAME_RESET_MASK = 'HFF'
$MC_CHBFRAME_RESET_MASK = 'HFF'

$MN_MIRROR_REF_AX = 0 ; No scaling when mirroring

$MN_MIRROR_TOGGLE = 0
$MN_MM_FRAME_FINE_TRANS = 1 ; Fine offset
$MC_FRAME_ADD_COMPONENTS = ; G58, G59 is possible
TRUE

; TRAANG is 1st transformer

$MC_TRAFO_TYPE_1 = 1024

$MC_TRAFO_AXES_IN_1[0] = 4 ; Oblique axis

$MC_TRAFO_AXES_IN_1[1] = 3 ; Axis is parallel to z
$MC_TRAFO_AXES_IN_1[2] = 2
$MC_TRAFO_AXES_IN_1[3] = 0
$MC_TRAFO_AXES_IN_1[4] = 0

Axis Types, Coordinate Systems, Frames (K2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-81
Detailed description
2.4 Frames

$MC_TRAFO_GEOAX_ASSIGN_TAB_1[0]=4
$MC_TRAFO_GEOAX_ASSIGN_TAB_1[1]=2
$MC_TRAFO_GEOAX_ASSIGN_TAB_1[2]=3

$MC_TRAANG_ANGLE_1 = 85.
$MC_TRAANG_PARALLEL_VELO_RES_1 = 0.
$MC_TRAANG_PARALLEL_ACCEL_RES_1 = 0.

$MC_TRAANG_BASE_TOOL_1[0] = 0.0
$MC_TRAANG_BASE_TOOL_1[1] = 0.0
$MC_TRAANG_BASE_TOOL_1[2] = 0.0

; TRAANG is 2nd transformer

$MC_TRAFO_TYPE_2 = 1024

$MC_TRAFO_AXES_IN_2[0] = 4
$MC_TRAFO_AXES_IN_2[1] = 3
$MC_TRAFO_AXES_IN_2[2] = 0
$MC_TRAFO_AXES_IN_2[3] = 0
$MC_TRAFO_AXES_IN_2[4] = 0

$MC_TRAFO_GEOAX_ASSIGN_TAB_2[0] = 4
$MC_TRAFO_GEOAX_ASSIGN_TAB_2[1] = 0
$MC_TRAFO_GEOAX_ASSIGN_TAB_2[2] = 3

$MC_TRAANG_ANGLE_2 = -85.
$MC_TRAANG_PARALLEL_VELO_RES_2 = 0.2
$MC_TRAANG_PARALLEL_ACCEL_RES_2 = 0.2

$MC_TRAANG_BASE_TOOL_2[0] = 0.0
$MC_TRAANG_BASE_TOOL_2[1] = 0.0
$MC_TRAANG_BASE_TOOL_2[2] = 0.0

Axis Types, Coordinate Systems, Frames (K2)

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 Detailed description
2.4 Frames

Part program:

; Frame settings
N820 $P_UIFR[1] = ctrans(x,1,y,2,z,3,b,4,c,5)
N830 $P_UIFR[1] = $P_UIFR[1] : crot(x,10,y,20,z,30)
N840 $P_UIFR[1] = $P_UIFR[1] : cmirror(x,c)
N850
N860 $P_CHBFR[0] = ctrans(x,10,y,20,z,30,b,40,c,15)
N870

; Tool selection, clamping compensation, plane selection

N890 T2 D1 G54 G17 G90 F5000 G64 SOFT
N900

;Approach start position

N920 G0 X20 Z10
N930
N940 if $P_BFRAME <> CTRANS(X,10,Y,20,Z,30,B,40,C,15)
N950 setal(61000)
N960 endif
N970 if $P_BFRAME <> $P_CHBFR[0]
N980 setal(61000)
N990 endif
N1000 if $P_IFRAME <>
TRANS(X,1,Y,2,Z,3,B,4,C,5):CROT(X,10,Y,20,Z,30):CMIRROR(X,C)
N1010 setal(61000)
N1020 endif
N1030 if $P_IFRAME <> $P_UIFR[1]
N1040 setal(61000)
N1050 endif
N1060 if $P_ACTFRAME <>
TRANS(X,11,Y,22,Z,33,B,44,C,20):CROT(X,10,Y,20,Z,30):CMIRROR(X,C)
N1070 setal(61000)
N1080 endif
N1090
N1100 TRAANG(,1)
N1110
N1120 if $P_BFRAME <> CTRANS(X,10,Y,20,Z,30,CAX,10,B,40,C,15)
N1130 setal(61000)
N1140 endif
N1150 if $P_BFRAME <> $P_CHBFR[0]
N1160 setal(61000)
N1170 endif
N1180 if $P_IFRAME <>
CTRANS(X,1,Y,2,Z,3,CAX,1,B,4,C,5):CROT(X,10,Y,20,Z,30):CMIRROR(X,CAX,C)
N1190 setal(61000)
N1200 endif
N1210 if $P_IFRAME <> $P_UIFR[1]

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Detailed description
2.4 Frames

N1220 setal(61000)
N1230 endif
N1240 if $P_ACTFRAME <>
TRANS(X,11,Y,22,Z,33,CAX,11,B,44,C,20):CROT(X,10,Y,20,Z,30):CMIRROR(X,CAX,C)
N1250 setal(61001)
N1260 endif
N1270
N1280
N1290 $P_UIFR[1,x,tr] = 11
N1300 $P_UIFR[1,y,tr] = 14
N1310
N1320 g54
N1330

;Set frame
N1350 ROT RPL=-45
N1360 ATRANS X-2 Y10
N1370

;Four-edge roughing
N1390 G1 X10 Y-10 G41 OFFN=1; allowance 1 mm
N1400 X-10
N1410 Y10
N1420 X10
N1430 Y-10
N1440

;Change tool
N1460 G0 Z20 G40 OFFN=0
N1470 T3 D1 X15 Y-15
N1480 Z10 G41
N1490

; Square finishing
N1510 G1 X10 Y-10
N1520 X-10
N1530 Y10
N1540 X10
N1550 Y-10
N1560

Axis Types, Coordinate Systems, Frames (K2)

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 Detailed description
2.4 Frames

; Deselect frame
N1580 Z20 G40
N1590 TRANS
N1600
N1610 if $P_BFRAME <> CTRANS(X,10,Y,20,Z,30,CAX,10,B,40,C,15)
N1620 setal(61000)
N1630 endif
N1640 if $P_BFRAME <> $P_CHBFR[0]
N1650 setal(61000)
N1660 endif
N1670 if $P_IFRAME <>
TRANS(X,11,Y,14,Z,3,CAX,1,B,4,C,5):CROT(X,10,Y,20,Z,30):CMIRROR(X,CAX,C)
N1680 setal(61000)
N1690 endif
N1700 if $P_IFRAME <> $P_UIFR[1]
N1710 setal(61000)
N1720 endif
N1730 if $P_ACTFRAME <>
TRANS(X,21,Y,34,Z,33,CAX,11,B,44,C,20):CROT(X,10,Y,20,Z,30):CMIRROR(X,CAX,C)
N1740 setal(61001)
N1750 endif
N1760
N1770 TRAFOOF
N1780
N1790 if $P_BFRAME <> CTRANS(X,10,Y,20,Z,30,B,40,C,15)
N1800 setal(61000)
N1810 endif
N1820 if $P_BFRAME <> $P_CHBFR[0]
N1830 setal(61000)
N1840 endif
N1850 if $P_IFRAME <>
TRANS(X,1,Y,14,Z,3,B,4,C,5):CROT(X,10,Y,20,Z,30):CMIRROR(X,C)
N1860 setal(61000)
N1870 endif
N1880 if $P_IFRAME <> $P_UIFR[1]
N1890 setal(61000)
N1900 endif
N1910 if $P_ACTFRAME <>
TRANS(X,11,Y,34,Z,33,B,44,C,20):CROT(X,10,Y,20,Z,30):CMIRROR(X,C)
N1920 setal(61002)
N1930 endif
N1940
N1950 m30

Axis Types, Coordinate Systems, Frames (K2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-85
Detailed description
2.4 Frames

2.4.7.3 Adapting active frames

The geometry axis configuration can change during program execution or on RESET. The
number of available geometry axes can vary from zero to three. With unavailable geometry
axes, components in the active frames (e.g., rotations) can lead to the active frames for this
axis configuration becoming invalid. This is indicated by the alarms below:
Channel %1 block %2 rotation programmed for non-existent geometry axis
This alarm remains present until the frames have been changed accordingly.
The machine data below can be used to switch on the automatic adaptation of active frames,
thus preventing alarm 16440:
MD24040 $MC_FRAME_ADAPT_MODE
Bitmask for adapting the active frames with reference to the axis constellation.
The following settings apply:

Bit 0: Rotations in active frames, which rotate coordinate axes with no geometry
axes, are deleted from the active frames.
Bit 1: Shear angles in the active frames are orthogonalized.
Bit 2: Scalings of all geometry axes in the active frames are set to value 1.
With machine data setting
MD24040 $MC_FRAME_ADAPT_MODE = 1
, all rotations in the active frames, which could produce coordinate axis movements for non-
existent geometry axes, are deleted.
The data management frames are not changed. Only the possible rotations are applied
when the data management frames are activated.
Example:
No y axis exists:
MD20050 $MC_AXCONF_GEOAX_ASSIGN_TAB[0] = 1
MD20050 $MC_AXCONF_GEOAX_ASSIGN_TAB[1] = 0
MD20050 $MC_AXCONF_GEOAX_ASSIGN_TAB[2] = 3
$P_UIFR[1] = crot(x,45,y,45,z,45)

N390 G54 G0 X10 z10 f10000

if $P_IFRAME <> crot(y,45) ; Only the rotation about y is taken

over.
setal(61000)
endif

Axis Types, Coordinate Systems, Frames (K2)

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 Detailed description
2.4 Frames

2.4.8 Predefined frame functions

2.4.8.1 Inverse frame

To round off the frame arithmetic, the part program provides a function which calculates the
inverse frame from another frame. The chaining between a frame and its inverse frame
always produces a zero frame.
FRAME INVFRAME( FRAME )
Frame inversion is an aid for coordinate transformations. Measuring frames are usually
calculated in the WCS. If you should wish to transform this calculated frame into another
coordinate system, i.e., the calculated frame should be entered into any desired frame within
the frame chain, the calculations below should be used.
The new complete frame is a chain of the old complete frame and the calculated frame.

$P_ACTFRAME = $P_ACTFRAME : $AC_MEAS_FRAME

The new frame in the frame chain is therefore:

Target frame is $P_SETFRAME:

$P_SETFRAME = $P_ACTFRAME : $AC_MEAS_FRAME : INVFRAME($P_ACTFRAME) :
$P_SETFRAME
Target frame is nth channel basic frame $P_CHBFRAME[n]:

n = 0: TMP = $P_PARTFRAME : $P_SETFRAME : $P_EXTFRAME : $P_NCBFRAME[0..k]

n <> 0: TMP = $P_PARTFRAME : $P_SETFRAME : $P_EXTFRAME :
$P_NCBFRAME[0..k] : $P_CHBFRAME[0..n-1]
k = $MN_MM_NUM_GLOBAL_BASE_FRAMES
$P_CHBFRAME[n] = INVFRAME(TMP) : $P_ACTFRAME : $AC_MEAS_FRAME :
INVFRAME($P_ACTFRAME) : TMP : $P_CHBFRAME[n]
Target frame is $P_IFRAME:

TMP = $P_PARTFRAME : $P_SETFRAME : $P_EXTFRAME : $P_BFRAME

$P_IFRAME = INVFRAME(TMP) : $P_ACTFRAME : $AC_MEAS_FRAME :
INVFRAME($P_ACTFRAME) : TMP : $P_IFRAME

Axis Types, Coordinate Systems, Frames (K2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-87
Detailed description
2.4 Frames

Application example:
A frame calculated, for example, via a measuring function, must be entered in the current
SETFRAME such that the new complete frame is a chain of the old complete frame and the
measurement frame. The SETFRAME is calculated accordingly by means of frame inversions.

DEF INT RETVAL

DEF FRAME TMP

$TC_DP1[1,1]=120 ; Type
$TC_DP2[1,1]=20.;0
$TC_DP3[1,1]= 10. ; (z) length compensation vector
$TC_DP4[1,1]= 0. ; (y)
$TC_DP5[1,1]= 0. ; (x)
$TC_DP6[1,1]= 2. ; Radius

T1 D1

g0 x0 y0 z0 f10000

G54

$P_CHBFRAME[0] = crot(z,45)

$P_IFRAME[x,tr] = -sin(45)
$P_IFRAME[y,tr] = -sin(45)

$P_PFRAME[z,rt] = -45

; Measure corner with four measuring points

$AC_MEAS_VALID = 0

; Approach measuring point 1

g1 x-1 y-3

; Store measuring point 1

$AC_MEAS_LATCH[0] = 1

; Approach measuring point 2

g1 x5 y-3

Axis Types, Coordinate Systems, Frames (K2)

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 Detailed description
2.4 Frames

; Store measuring point 2

$AC_MEAS_LATCH[1] = 1

; Approach measuring point 3

g1 x-4 y4

; Store measuring point 3

$AC_MEAS_LATCH[2] = 1

; Approach measuring point 4

g1 x-4 y1

; Store measuring point 4

$AC_MEAS_LATCH[3] = 1

; Set position setpoint of the corner

$AA_MEAS_SETPOINT[x] = 0
$AA_MEAS_SETPOINT[y] = 0
$AA_MEAS_SETPOINT[z] = 0

; Define setpoint angle of intersection

$AC_MEAS_CORNER_SETANGLE = 90
$AC_MEAS_WP_SETANGLE = 30

; Measuring plane is G17

$AC_MEAS_ACT_PLANE = 0

;Select tool
$AC_MEAS_T_NUMBER = 1
$AC_MEAS_D_NUMBER = 1

; Set measuring type on corner 1

$AC_MEAS_TYPE = 4

; Start measuring process

RETVAL = MEASURE()

if RETVAL <> 0
setal(61000 + RETVAL)
endif

Axis Types, Coordinate Systems, Frames (K2)

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Detailed description
2.4 Frames

if $AC_MEAS_WP_ANGLE <> 30
setal(61000 + $AC_MEAS_WP_ANGLE)
endif

if $AC_MEAS_CORNER_ANGLE <> 90
setal(61000 + $AC_MEAS_CORNER_ANGLE)
endif

; Transform measured frame and write in accordance with $P_SETFRAME in such a way
; that a complete frame is produced, as a result of the old complete frame
; being chained with the measuring frame.

$P_SETFRAME = $P_ACTFRAME : $AC_MEAS_FRAME : INVFRAME($P_ACTFRAME) :

$P_SETFRAME

; Describe system frames in data management

$P_SETFR = $P_SETFRAME

; Approach the corner

g1 x0 y0

; Retract the rectangle rotated about 30 degrees

g1 x10
y10
x0
y0

m30

Axis Types, Coordinate Systems, Frames (K2)

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 Detailed description
2.4 Frames

2.4.8.2 Additive frame in frame chain

Measurements on the workpiece or calculations in the part program and cycles generally
produce a frame that is applied additively to the current complete frame. The WCS and thus
the programming zero must, therefore, be displaced and possibly rotated. This measured
frame is available as a temporary frame and not yet actively included in the frame chain. This
function is used to calculate and possible activate this frame:

INT ADDFRAME( FRAME, STRING )

Parameter 1: Type: FRAME ; Additive measured or calculated frame
Parameter 2: Type: STRING ; Strings for current frames:
; "$P_CYCFRAME", "$P_PFRAME",
"$P_WPFRAME",
; "$P_TOOLFRAME", "$P_IFRAME",
; "$P_CHBFRAME[0..16]", "$P_NCBFRAME[0..16]",
; "$P_EXTFRAME", "$P_SETFRAME"
; "$P_PARTFRAME"
; Strings for data management frames
; "$P_CYCFR", "$P_TRAFR", "$P_WPFR",
; "$P_TOOLFR", "$P_UIFR[0..99]",
; "$P_CHBFR[0..16]", "$P_NCBFR[0..16]",
; "$P_EXTFR", "$P_SETFR", "$P_PARTFR"

Function value Type: INT ; 0: OK

; 1: Specified target (string) is wrong
; 2: Target frame is not configured
; 3: Rotation in frame is not permitted
The ADDFRAME() function calculates the target frame, which is specified by the STRING.
The target frame is calculated such that the new complete frame comprises a chain of the
old complete frame and the transferred frame, e.g.:
ERG = ADDFRAME( TMPFRAME, "$P_SETFRAME" )
The new complete frame is calculated to be:
$P_ACTFRAMEnew = $P_ACTFRAMEold : TMPFRAME
If a current frame has been specified as a target frame, then the new complete frame
becomes active at the preprocessing stage. If the target frame is a data management frame,
then the frame is not operative until it is explicitly activated in the part program.
The function does not set any alarms, but returns the error codes via the return value. The
cycle can react according to the error codes.

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Detailed description
2.4 Frames

2.4.9 Functions

2.4.9.1 Setting zeros, workpiece measuring and tool measuring

PRESET is achieved using HMI operator actions or measuring cycles. The calculated frame
can be written to system frame SETFRAME. The position setpoint of an axis in the WCS can
be altered when the actual-value memory is preset.
"Scratching" means workpiece and tool measuring. The position of the workpiece in relation
to an edge, a corner or a hole can be measured. To determine the zero position of the
workpiece or the hole, position setpoints can be added to the measured positions in the
WCS. The resultant offsets can be entered in a selected frame. In tool measuring, the length
or radius of a tool can be measured using a measured reference part.
Measurements can be taken via operator actions or measuring cycles. Communication with
the NCK takes place via predefined system variables. In the NCK, the calculation is made by
using a HMI operator action to activate a PI service, or by using a part-program command
from the measuring cycles. A tool and a plane can be selected as a basis for the calculation.
The calculated frame is entered in the result frame.

2.4.9.2 Zero offset external via system frames

Previous function:
The zero offset external is either defined by the PLC via the OPI or programmed in the part
program by the axis variable $AA_ETRANS[axis] = value. This zero offset is activated by the
PLC via a VDI signal.
After the PLC has activated the offset, every axis compensation value is applied with the
next block. With G64, in certain circumstances this could also be multiple blocks, if there is
no Stop at the block end.
Functional expansion:
With SW package 6 and higher, the zero offset external can be managed and enabled via a
system frame.
The system frame is configured with bit 1 in machine data
MD28082 $MC_MM_SYSTEM_FRAME_MASK = 'B0010'
.
If this bit is set, the system function will only use the system frame, disabling the existing
functionality. Values are written by the PLC (OPI) or, in the part program, with axial variables
$AA_ETRANS[axis].
As previously, activation is by the PLC, via an axial VDI signal.

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If a level change of the axis signal from 0 to 1 is detected, the movement is stopped
immediately, the preprocessing is reorganized and the current system frame is written and
activated with the axis value of $AA_ETRANS[axis]. The system frame in the data
management is also described. The offset is then first applied and the interrupted motion is
continued.
With G91 and machine data setting
MD42440 $MC_FRAME_OFFSET_INCR_PROG = 0
, the zero offset external is also applied with the approach block.
Special treatment when programming incrementally is not relevant for the zero offset
external. Activation always leads to the offset being applied immediately.
The zero offset external acts on the absolute translation absolutely (coarse offset) of the
current system frame. Therefore, a multiple activation of a zero offset external does not act
additively, and only the coarse component of the translation is overwritten with the value
$AA_ETRANS[axis]. The current system frame is the system frame currently active in the
main run.

2.4.9.3 Toolholder

Translations
With kinematics of type P and M the selection of a toolholder activates an additive frame
(table offset of the orientational toolholder), which takes into account the zero point offset as
a result of the rotation of the table.
The zero offset is entered into a system frame ($P_PARTFR).
The translational part of this frame is then overwritten.
Other contents of the frame are left unchanged.
In order to be able to use this system frame, bit 2 must be set in the machine data
MD28082 $MC_MM_SYSTEM_FRAME_MASK
.
Alternatively, there is the option to enter this offset into the basic frame identified by machine
data
MD20184 $MC_TOCARR_BASE_FRAME_NUMBER
.
This option is available in the interests of compatibility with older software versions.
It is not recommended for use with new systems.
A frame offset as a result of a toolholder change becomes effective immediately on selection
of TCARR=.... A change in the tool length, on the other hand, only becomes effective
immediately if a tool is active.
A frame rotation does not take place on activation and a rotation which is already active is
not changed. As in case T (only the tool can be rotated), the position of the rotary axes used
for the calculation is dependent on the G code TCOFR/TCOABS and determined from the
rotation component of an active frame or from the entries $TC_CARRn. Activation of a frame
changes the position in the workpiece coordinate system accordingly, without compensating
movement by the machine itself.

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The ratios are shown in the figure below:

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Figure 2-25 Frame on activation of a rotary table with TCARR

With kinematics of type M (tool and table are each rotary around one axis), the activation of
a toolholder with TCARR simultaneously produces a corresponding change in the effective
tool length (if a tool is active) and the zero offset.

Rotations
Depending on the machining task, it is necessary to take into account not only a zero offset
(whether as frame or as tool length) when using a rotary toolholder or table, but also a
rotation. However, the activation of an orientational toolholder never leads directly to a
rotation of the coordinate system.
If only the tool can be rotated, a frame can be defined for it using TOFRAME or TOROT.
With rotary tables (kinematics types P and M), activation with TCARR similarly does not lead
to an immediate rotation of the coordinate system, i.e., even though the zero point of the
coordinate system is offset relative to the machine, while remaining fixed relative to the zero
point of the workpiece, the orientation remains unchanged in space.
If the coordinate system needs to be fixed relative to the workpiece, i.e., not only offset
relative to the original position but also rotated according to the rotation of the table, then
PAROT can be used to activate such a rotation in a similar manner to the situation with a
rotary tool.
With PAROT, the translations, scalings and mirroring in the active frame are retained, but the
rotation component is rotated by the rotation component of an orientational toolholder
corresponding to the table.
Up to and including SW P6.1, the rotation activated by PAROT is calculated in the
programmable frame ($P_PFRAME), thus changing its rotation component.

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With SW P6.2 and higher, the entire programmable frame remains unchanged, including its
rotation component.
The rotation component, which describes the rotation of the tool table, is then entered into
system frame $PARTFR, if bit 2 of machine data
MD28082 $MC_MM_SYSTEM_FRAME_MASK
is set.
Alternatively, the basic frame described in machine data
MD20184 $MC_TOCARR_BASE_FRAME_NUMBER
can also be used.
As with the note made in the description of the table offset, the second alternative here is not
recommended for use with new systems.
The rotation component of the part frame can be deleted with PAROTOF , independently of
whether this frame is found in a basic or a system frame.
The translation component is deleted when a toolholder, which does not produce an offset, is
activated or a possibly active orientational toolholder is deselected with TCARR=0.
PAROT or TOROT take into account the overall orientation change in cases where the table or
the tool are oriented with two rotary axes. With mixed kinematics only the corresponding
component caused by a rotary axis is considered. It is thus possible, for example, when
using TOROT, to rotate a workpiece such that an oblique plane lies parallel to the XY plane
fixed in space, whereby rotation of the tool must be taken into account in machining where
any holes to be drilled, for example, are not perpendicular to this plane.
Example:
On a machine, the rotary axis of the table points in the positive Y direction. The table is
rotated by +45 degrees. PAROT defines a frame, which similarly describes a rotation of 45
degrees about the Y axis. The coordinate system is not rotated relative to the actual
environment (marked in the figure with "Position of the coordinate system after TCARR"), but
is rotated by -45 degrees relative to the defined coordinate system (position after PAROT). If
this coordinate system is defined with ROT Y-45, for example, and if the toolholder is then
selected with active TCOFR, an angle of +45 degrees will be determined for the rotary axis of
the toolholder.
Language command PAROT is not rejected if no orientational toolholder is active. However,
such a call then produces no frame changes.

Machining in direction of tool orientation

Particularly on machines with tools that can be oriented, traversing should take place in the
tool direction (typically, when drilling) without activating a frame (e.g., using TOFRAME or
TOROT), on which one of the axes points in the direction of the tool. This is also a problem if,
when carrying out oblique machining operations, a frame defining the oblique plane is active,
but the tool cannot be set exactly perpendicularly because an indexed toolholder (Hirth tooth
system) prevents free setting of the tool orientation. In these cases it is then necessary -
contrary to the actually requested motion perpendicular to the plane - to drill in tool direction,
as the drill would otherwise not be guided in the direction of its longitudinal axis, which
among other things would lead to breaking of the drill.
The end point of such a motion is programmed with MOVT= ....
The programmed value is effective incrementally in the tool direction as standard.
The positive direction is defined from the tool tip to the tool adapter. The content of MOVT is
thus generally negative for the infeed motion (when drilling), and positive for the retraction
motion. This corresponds to the situation with normal paraxial machining, e.g., with G91 Z
....

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Instead of MOVT= ... it is also possible to write MOVT=IC( ...) if it is to be plainly visible
that MOVT is to function incrementally. There is no functional difference between the two
forms.
If the motion is programmed in the form MOVT=AC( ...), MOVT functions absolutely.
In this case a plane is defined, which runs through the current zero point, and whose surface
normal vector is parallel to the tool orientation. MOVT then gives the position relative to this
plane (see figure). The reference plane is only used to calculate the end position. Active
frames are not affected by this internal calculation.

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Programming with MOVT is independent of the existence of a toolholder that can be oriented.
The direction of the motion is dependent on the active plane.
It runs in the directions of the vertical axes, i.e., with G17 in Z direction, with G18 in Y
direction and with G19 in X direction. This applies both where no orientational toolholder is
active and for the case of an orientational toolholder without rotary tool or with a rotary tool in
its basic setting.
MOVT acts similarly for active orientation transformation (345axis transformation).
If in a block with MOVT the tool orientation is changed simultaneously (e.g., active 5axis
transformation by means of simultaneous interpolation of the rotary axes), the orientation at
the start of the block is decisive for the direction of movement of MOVT.
With an active 5-axis transformation, the path of the tool center point (TCP) is not affected by
the change of orientation, i.e., the path remains a straight line and its direction is determined
by the tool orientation at the start of the block.
If MOVT is programmed, linear or spline interpolation must be active (G0,G1, ASPLINE,
BSPLINE, CSPLINE). Otherwise, an alarm is produced.
If a spline interpolation is active, the resultant path is generally not a straight line, since the
end point calculated by MOVT is treated as if it had been programmed explicitly with X, Y, Z.
A block with MOVT must not contain any programming of geometry axes (alarm 14157).

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Definition of frame rotations with solid angles

Where a frame is to be defined to describe a rotation around more than one axis, this is
achieved through chaining individual rotations. A new rotation is hereby always performed in
the already rotated coordinate system.
This applies both to programing in a block, e.g. with ROT X... Y... Z...,
(the sequence of rotations is defined by machine data:
MD10600 $MN_FRAME_ANGLE_INPUT_MODE
and is independent of the sequence of the axis letters in the block)
, and when constructing a frame in multiple blocks, e.g. in the format:

N10 ROT Y...

N20 AROT X...
N30 AROT Z...

In workpiece drawings, oblique surfaces are frequently described by way of solid angles, i.e.,
the angles, which the intersection lines of the oblique plane form with the main planes (X-Y,
Y-Z, Z-X planes) (see figure). The machine operator is not expected to convert these solid
angles into the angles of rotation of a chaining of individual rotations.

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For this reason, the language commands ROTS, AROTS and CROTS are used, with which the
rotations can be immediately described as solid angles.
The orientation of a plane in space is defined unambiguously by specifying two solid angles.
The third solid angle is derived from the first two. Therefore, a maximum of 2 solid angles
may be programmed, e.g., in the form ROTS X10 Y15. If a third solid angle is specified, an
alarm will be triggered.
It is permissible to specify a single solid angle. The rotations which are performed with ROTS
or AROTS in this case are identical to those for ROT and AROT.
An expansion of the existing functionality arises only in cases where exactly two solid angles
are programmed.

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The two programmed axes define a plane, the non-programmed axis defines the related
third axis of a right-hand coordinate system. Which axis is first and which second is then
unambiguously defined for both programmed axes (the definition corresponds to those found
in the plane definition of G17/G18/G19). The angle programmed with the axis letter of an
axis of the plane then specifies the axis, around which the other axis of the plane must be
rotated in order to move this into the line of intersection, which the rotated plane forms with
the plane surrounded by the other and the third axis. This definition ensures that, in the case
that one of the two programmed angles is towards zero, the defined plane enters the plane,
which is created if only one axis is programmed (e.g., with ROT or AROT).
The diagram shows an example where X and Y are programmed. Y here gives the angle, by
which the X axis must rotate around the Y axis to bring the X axis to the line of intersection
formed by the oblique plane and the XZ plane. The same principle applies for the
programmed value of X.

Note
In the shown position of the oblique plane the value of Y is positive, that of X on the other
hand negative.

The specification of the solid angle does not define the orientation of the twodimensional
coordinate system within the plane (i.e., the angle of rotation around the surface normal
vector). The position of the coordinate system is thus determined so that the rotated first axis
lies in the plane, which is surrounded by the first and third axes of the nonrotated coordinate
system.
This means that
• When programming X and Y the new X-axis lies in the old ZX plane.
• When programming Z and X the new Z-axis lies in the old YZ plane.
• When programming Y and Z the new Y-axis lies in the old XY plane.
If the required coordinate system does not correspond to this basic setting, then an
additional rotation must be performed with AROT....
On programming the solid angles, they are converted into the equivalent RPY or Euler
angles, depending on machine data
MD10600 $MN_FRAME_ANGLE_INPUT_MODE
.
These then appear also in the display.

Frame rotation in tool direction

With the language command TOFRAME, which also existed in older software versions, it is
possible to define a frame whose Z axis points in the tool direction.
An already programmed frame is then overwritten by a frame, which describes a pure
rotation. Any zero offsets, mirrorings or scalings existing in the previously active frame are
deleted.
This response is sometimes interfering. It is often particularly practical to retain a zero offset,
with which the reference point in the workpiece is defined.

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The language command TOROT is then also used. This command overwrites only the
rotation component in the programmed frame and leaves the remaining components
unchanged. The rotation defined with TOROT is the same as that defined with TOFRAME.
TOROT is, like TOFRAME, independent of the availability of an orientational toolholder. This
language command is also especially useful for 5-axis transformations.
The new language command TOROT ensures consistent programming with active
orientational toolholders for each kinematics type.
TOFRAME or TOROT defines frames whose Z direction points in the tool direction. This
definition is suitable for milling, where G17 is usually active. However, particularly with
turning or, more generally, when G18 or G19 is active, it is desirable that frames, which will
be aligned on the X or Y axis, can be defined. As a result of this, the G codes below are
newly introduced into G code group 53:

TOFRAMEX
TOFRMAEY
TOFRAMEZ
TOROTX
TOROTY
TOROTZ
These G codes enable corresponding frames to be defined. The functions of TOFRAME and
TOFRAMEZ or of TOROT and TOROTZ are identical to one another.
With software version P6 and higher, there is the option to write frames produced by TOROT
or TOFRAME into their own system frame ($P_TOOLFR).
For this, bit 3 must be set in machine data
MD28082 $MC_MM_SYSTEM_FRAME_MASK
.
The programmable frame is then retained unchanged.
When programming TOROT or TOFRAME, etc., response is identical, with or without a system
frame. Differences occur when the programmable frame is processed further elsewhere.
In new systems, it is recommended that only the intended system frame is used for frames
produced by G codes in group 53.
Example:
TRANS is programmed after TOROT. TRANS without specified parameters deletes the
programmable frame. In the variant without a system frame, this also deletes the frame
component of the programmable frame produced by TOROT, but if the TOROT component is
in the system frame, it is retained.
TOROT or TOFRAME, etc., are disabled with language command TOROTOF. TOROTOF deletes
the entire system frame $P_TOOLFR. If the programmable frame (old variant) and not the
system frame is described by commands TOFRAME, etc., TOROT only deletes the rotation
component and leaves the remaining frame components unchanged.
If a rotating frame is already active before language command TOFRAME or TOROT is
activated, a request is often made that the newly defined frame should deviate as little as
possible from the old frame. This is the case, for example, if a frame definition needs to be
modified slightly because the tool orientation cannot be set freely on account of Hirthtoothed
rotary axes. The language commands uniquely define the Z direction of the new frame.
In previous software versions, machine data
MD21110 $MC_X_AXIS_IN_OLD_X_Z_PLANE
can be used to choose between two variants for the position of the X-axis and Y-axis.
However, in both cases there is no reference to the previously active frame.

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Setting data
SD42980 $SC_TOFRAME_MODE
is, therefore, introduced, which can be used to control the response of TOFRAME and
TOROT.
It can accept values of 0 (inactive) to 3. If the value of the setting data is not zero, the effect
of machine data
MD21110 $MC_X_AXIS_IN_OLD_X_Z_PLANE is overwritten.
The values 1 to 3 have the following meanings:

1: The new X direction is chosen to lie in the XZ plane of the old coordinate system.
In this setting the angle difference between the old and new Y axis will be minimal.
2: The new Y direction is chosen to lie in the YZ plane of the old coordinate system.
In this setting the angle difference between the old and new Y axis will be minimal.
3: The value chosen is the mean value of the two settings, which would have been
chosen with 1 and 2.
Characteristics and expansions:
Settings 1 and 2 are reached by rotating the coordinate system around the Z axis, starting
from any position on the X and Y axis, until the desired setting is reached. Setting 3 is
achieved by executing a rotation whose value is the exact mean of these two angles.
However, this only applies for the case that the old and new Z direction enclose an angle of
less than 90 degrees. With variant 1, both the old and new X axes form an angle of under 90
degrees, with variant 2 the same is true of the Y axis (the relevant axes point in
"approximately" the same direction). If the two Z directions form an angle of more than 90
degrees, however, the conditions of an angle < 90 degrees between the old and new axes
can no longer be met simultaneously for both X and Y. In this case, priority is given to the X
direction, i.e., a mean value is taken from the direction for 1 and the negative direction for 2.
If one of the G codes TOFRAMEX,TOFRAMEY,TOROTX,TOROTY is programmed in place of
TOFRAME(Z) or TOROT(Z), the descriptions for adapting the axis directions perpendicular to
the main direction are also valid for the cyclically exchanged axes. The assignments in the
table below are then valid:

TOFRAME, TOFRAMEZ TOFRAMEY TOFRAMEX

TOROT, TOROTZ TOROTY TOROTX
Tool direction Z Y X
(vertical axis)
Secondary axis X Z Y
(horizontal axis)
Secondary axis Y X Z
(ordinate)

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Example:

...
...
N90 $SC_TOFRAME_MODE=1
N100 ROT Z45
N110 TCARR=1 TCOABS T1 D1
N120 TOROT
...
...

N100 describes a rotation by 45 degrees in the XY plane. It is assumed that the toolholder
activated in N110 rotates the tool by 30 degrees around the X axis, i.e., the tool lies in the YZ
plane and is rotated by 30 degrees relative to the Z axis. As a result the Z axis of the frame
newly defined in N120 also points in this direction (independently of the value in setting data
SD42980 $SC_TOFRAME_MODE in N90).
In the figure below, the situation for setting data setting
SD42980 $SC_TOFRAME_MODE=1
is shown:

[[

The old and new X axes X and X' coincide in the projection in the direction of the old Z axis.
The old and new Y axes Y and Y' form an angle of 8.13 degrees (right angles are generally
not retained in the projection).
For setting data setting
SD42980 $SC_TOFRAME_MODE=2
, Y and Y' would coincide accordingly and X and X' would form an angle of 8.13 degrees.
For setting data setting
SD42980 $SC_TOFRAME_MODE=3
, X and X', as well as Y and Y', would each form an angle of 4.11 degrees.

Note
The named angles (8.13 and 4.11 degrees) are the angles, which the projections of the axes
form in the X-Y plane. They are not the spatial angles of these axes.

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TCARR and PAROT

Previously, TCARR has used the basic frame identified by machine data
MD20184 $MC_TOCARR_BASE_FRAME_NUMBER
.
A system frame can be created for TCARR and PAROT alone, in order to avoid conflicts with
systems, which already use all the basic frames.
PAROT,TOROT and TOFRAME have previously changed the rotation component of the
programmable frame. In this case, it is not possible to shut down PAROT or TOROT
separately. On RESET, the programmable frame is deleted, which means the after changing
the operating mode to JOG, the rotation component of PAROT and TOROT is no longer
available. The user must also have unrestricted access to the programmable frame. Frames
produced by PAROT and TOROT must be able to be archived and reloaded via data backup.
The system frame for TCARR and PAROT is configured with bit 2 in machine data
MD28082 $MC_MM_SYSTEM_FRAME_MASK
.
Machine data
MD20184 $MC_TOCARR_BASE_FRAME_NUMBER
is then no longer evaluated.
If the system frame for TCARR is configured, TCARR and PAROT describe that system frame;
otherwise the basic frame identified by machine data
MD20184 $MC_TOCARR_BASE_FRAME_NUMBER
is described.
With kinematics systems of the types P and M, TCARR will enter the table offset of the
orientational toolholder (zero offset resulting from the rotation of the table) as a translation
into the system frame. PAROT converts the system frame such, that a partoriented WCS
results.
The system frames are stored in the SRAM and, therefore, remain stored after Reset. The
system frames also remain active in the case of a mode change.
For the display, the G codes PAROT and TOROT,TOFRAME are each assigned to a separate
G code group.

PAROTOF
PAROTOF is the switch off command for PAROT. This command deletes the rotations in the
system frame for PAROT. In so doing, the rotations in the current $P_PARTFRAME and in
the data management frame $P_PARTFR are deleted. The position of the coordinate system
is then recreated according to TCARR. PAROTOF is in the same G code group as PAROT and
appears, therefore, in the G code display.

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TOROT and TOFRAME

The system frame for TOROT and TOFRAME is configured with bit 3 in machine data
MD28082 $MC_MM_SYSTEM_FRAME_MASK
.
This system frame is located before the programmable frame in the frame chain.
The SZS coordinate system is located before the programmable frame.

TOROTOF
TOROTOF is the switch off command for TOROT and TOFRAME. This command deletes the
system frame for TOROT and TOFRAME. The current $P_TOOLFRAME and the data
management frame $P_TOOLFR are also deleted. TOROTOF is in the same G code group as
TOROT and TOFRAME and appears, therefore, in the G code display.

Example
Example of using an orientational toolholder with deactivated kinematics:

N10 $TC_DP1[1,1]= 120

N20 $TC_DP3[1,1]=13 ; Tool length 13 mm
; Definition of toolholder 1:
N30 $TC_CARR1[1] = 0 ; X components of 1st offset vector
N40 $TC_CARR2[1] = 0 ; Y components of 1st offset vector
N50 $TC_CARR3[1] = 0 ; Z components of 1st offset vector
N60 $TC_CARR4[1] = 0 ; X components of 2nd offset vector
N70 $TC_CARR5[1] = 0. ; Y components of 2nd offset vector
N80 $TC_CARR6[1] = -15. ; Z components of 2nd offset vector
N90 $TC_CARR7[1] = 1 ; X components of 1st axis
N100 $TC_CARR8[1] = 0 ; Y components of 1st axis
N110 $TC_CARR9[1] = 0 ; Z components of 1st axis
N120 $TC_CARR10[1] = 0 ; X components of 2nd axis
N130 $TC_CARR11[1] = 1 ; Y components of 2nd axis
N140 $TC_CARR12[1] = 0 ; Z components of 2nd axis
N150 $TC_CARR13[1] = 30. ; Angle of rotation of 1st axis
N160 $TC_CARR14[1] = -30. ; Angle of rotation of 2nd axis
N170 $TC_CARR15[1] = 0 ; X components of 3rd offset vector
N180 $TC_CARR16[1] = 0 ; Y components of 3rd offset vector
N190 $TC_CARR17[1] = 0 ; Z components of 3rd offset vector
N200 $TC_CARR18[1] = 0 ; X components of 4th offset vector
N210 $TC_CARR19[1] = 0 ; Y component of 4th offset vector
N220 $TC_CARR20[1] = 15. ; Z components of 4th offset vector
N230 $TC_CARR21[1] = A ; Reference for 1st axis
N240 $TC_CARR22[1] = B ; Reference for 2nd axis
N250 $TC_CARR23[1] = "M" ; Toolholder type
N260 X0 Y0 Z0 A0 B45 F2000
N270 TCARR=1 X0 Y10 Z0 T1 TCOABS ; Selection of orient. toolholder
N280 PAROT ; Rotation of table
N290 TOROT ; Rotation of z axis in tool orient.

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N290 X0 Y0 Z0
N300 G18 MOVT=AC(20) ; Processing in G18 plane
N310 G17 X10 Y0 Z0 ; Processing in G17 plane
N320 MOVT=-10
N330 PAROTOF ; Deactivate rotation of table
N340 TOROTOF ; No longer align WCS with tool
N400M30

2.4.10 Subroutine return with SAVE

Settable frames G54 to G599

If the same G code is active on the subroutine return as in the subroutine call, then the active
settable frame is retained.
If this is not the case, the settable frame at the instant the subroutine was called is
reactivated (response as now).
The new response can be deactivated by setting bit 0 in machine data
MD10617 $MN_FRAME_SAVE_MASK
.

Basic frames $P_CHBFR[ ] and $P_NCBFR[ ]

The active total basic frame is retained on return from a subroutine.
The new response can be deactivated by setting bit 1 in machine data
MD10617 $MN_FRAME_SAVE_MASK
.

Programmable frame
The programmable frame is recreated when the subroutine return is carried out.

System frames $P_TRAFR, $P_SETFR, $P_EXTFR, $P_PARTFR, $P_TOOLFR, $P_WPFR,

$P_CYCFR
These system frames are not affected by the SAVE attribute. A compatibility machine data is
not provided.

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2.4 Frames

2.4.11 Data backup

Data block _N_CHANx_UFR is used to archive the system frames.
Machine data
MD28082 $MC_MM_SYSTEM_FRAME_MASK
should not have changed between saving and reintroducing the saved system frames. If it
has changed then it is possible that saved system frames could no longer be loaded.
In this case, the loading process triggers an alarm.
Data backup always takes place in accordance with the currently valid geometry axis
assignment, not in accordance with the axis configurations set in the machine data.
The machine data
$MC_MM_SYSTEM_DATAFRAME_MASK
can be used to configure data management frames for the system frames.
If you do not want a data management frame for a system frame, the frame does not have to
be saved. With G500, G54 to G599, the active frame is retained.
A separate data block _N_NC_UFR is used to archive global frames.
The block requested by the HMI is created if the machine data
MD18601 $MN_MM_NUM_GLOBAL_USER_FRAMES
or
MD18602 $MN_MM_NUM_GLOBAL_BASE_FRAMES
has a value greater than zero.
Channel-specific frames are saved in data block _N_CHANx_UFR.
In certain circumstances, alarms could be triggered when reintroducing saved data, if the
frame affiliates, be they NCU global or channel-specific, have been changed using machine
data.
Data backup always takes place in accordance with the axis configuration set in the machine
data, not in accordance with the currently valid geometry axis assignment.

2.4.12 Positions in the coordinate system

The setpoint positions in the coordinate system can be read via the following system
variables. The actual values can be displayed in the WCS, SZS, BZS or MCS via the PLC.
There is a softkey for actual-value display in MCS/WCS. Machine manufacturers can define
on the PLC side, which coordinate system corresponds to the workpiece coordinate system
on their machines. The HMI requests the appropriate actual values from the NCK.
$AA_IM[axis]
The setpoints in the machine coordinate system can be read for each axis using the
variables $AA_IM[axis].

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2.4 Frames

$AA_IEN[axis]
The setpoints in the settable zero system (SZS) can be read for each axis using the
variables $AA_IEN[axis].
$AA_IBN[axis]
The setpoints in the basic zero system (BZS) can be read using the variable $AA_IBN[axis].
$AA_IW[axis]
The setpoints in the workpiece coordinate system (WCS) can be read using the variable
$AA_IW[axis].

2.4.13 Control system response

2.4.13.1 Power on
The table below describes the frame states after POWER ON:

Programmable frame Deleted

Settable frames Retained, depending on
MD20110 $MC_RESET_MODE_MASK
Complete basic frame Retained, depending on
MD20110 $MC_RESET_MODE_MASK bit 0 and bit 14
Individual basic frames can be deleted with
MD10615 $MN_NCBFRAME_POWERON_MASK
and
MD24004 $MC_CHBFRAME_POWERON_MASK
.
System frames Retained, depending on
MD24008 $MC_CHSFRAME_POWERON_MASK
, individual system frames can be deleted on POWER ON.
System frames are carried out in the first-order in the data
management.
Zero offset external Permanent, but has to be activated again.
The system frame is retained.
DRF offset Deleted

2.4.13.2 Mode change

System frames are retained and remain active when the operating mode is changed. In JOG
mode, the frame components of the current frame are only taken into account for the
geometry axes if a rotation is active. No other axial frames are taken into account.
The response for PLC axes and command axes can be set via machine data
MD32074 $MA_FRAME_OR_CORRPOS_NOTALLOWED
.

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2.4 Frames

2.4.13.3 Reset, program end

The Reset response of the basic frame is set via
MD20110 $MC_RESET_MODE_MASK
.
The system frames are retained in the data management after a Reset.
The machine data below can be used to configure the activation of individual system frames:
MD24006 $MC_CHSFRAME_RESET_MASK

Bit 0: System frame for PRESET and scratching is active after RESET.
Bit 1: System frame for zero offset external is active after RESET.
Bit 2 and bit 3: Not evaluated
Bit 4: System frame for workpiece reference points is active after RESET.
Bit 5: System frame for cycles is active after RESET.
The reset response of the system frames for TCARR, PAROT, TOROT, and TOFRAME depends
on the G code reset setting.
The machine data below are used for this setting:
MD20110 $MC_RESET_MODE_MASK

Bit 0 = 0:
TCARR and PAROT system frames are retained as before the
Reset.

Bit 0 = 1:
MD20152 $MC_GCODE_RESET_MODE[51] = 0
MD20150 $MC_GCODE_RESET_VALUES[51] = 1 PAROTOF
MD20150 $MC_GCODE_RESET_VALUES[51] = 2 PAROT
MD20152 $MC_GCODE_RESET_MODE[51] = 1
TCARR and PAROT system frames are retained as before
the Reset.

MD20152 $MC_GCODE_RESET_MODE[52] = 0
MD20150 $MC_GCODE_RESET_VALUES[52] = 1 TOROTOF
MD20150 $MC_GCODE_RESET_VALUES[52] = 2 TOROT
MD20150 $MC_GCODE_RESET_VALUES[52] = 3 TOFRAME
MD20152 $MC_GCODE_RESET_MODE[52] = 1
TOROT and TOFRAME system frames are retained as
before the Reset.
TCARR and PAROT are two independent functions, which describe the same frame. With
PAROTOF, the component of TCARR is not activated on Reset.

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Detailed description
2.4 Frames

MD20110 $MC_RESET_MODE_MASK
Bit 0 = 1 and bit 14 = 0 Chained complete basic frame is deleted.
Bit 0 = 1 and bit 14 = 1 The complete basic frame results from
$MC_BASEFRAMES_RESET_MASK
and
$MN_BASEFRAMES_RESET_MASK.
$MC_BASEFRAMES_RESET_MASK:
Bit 0 = 1: 1. channel basic frame is calculated into the chained
complete basic frame.
Bit 7 = 1: 8th channel basic frame is calculated into the chained
complete basic frame.
$MN_BASEFRAMES_RESET_MASK:
Bit 0 = 1: 1st NCU global basic frame is calculated into the chained
complete basic frame.
Bit 7 = 1: 8th NCU global basic frame is calculated into the chained
complete basic frame.

Programmable frame Deleted

Settable frames Retained, depending on
MD20110 $MC_RESET_MODE_MASK
and
MD20152 $MC_GCODE_RESET_MODE.

Complete basic frame Retained, depending on

MD20110 $MC_RESET_MODE_MASK bit 0 and bit 14
and on
MD10613 $MN_NCBFRAME_RESET_MASK
and
MD24002 $MC_CHBFRAME_RESET_MASK.
System frames Retained, depending on
MD24006 $MC_CHSFRAME_RESET_MASK
and
MD20150 $MC_GCODE_RESET_VALUES[ ].
Zero offset external Retained
DRF offset Retained
On RESET, system frames in the data management can be deleted using machine data
MD24007 $MC_CHSFRAME_RESET_CLEAR_MASK
Bitmask for clearing channel-specific system frames in the data management on Reset.
Bit 0: System frame for PRESET and scratching is cleared on RESET.
Bit 1: System frame for zero offset external is cleared on RESET.
Bit 2: Reserved, for TCARR and PAROT see MD20150
$MC_GCODE_RESET_VALUES[ ].
Bit 3: Reserved, for TOROT and TOFRAME see MD20150
$MC_GCODE_RESET_VALUES[ ].
Bit 4: System frame for workpiece reference points is cleared on RESET.
Bit 5: System frame for cycles is cleared on RESET.
Bit 6: Reserved, reset response depends on MD20110 $MC_RESET_MODE_MASK.

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 Detailed description
2.4 Frames

2.4.13.4 Response at part-program start

Programmable frame Deleted

Settable frames Retained, depending on
MD20112 $MC_START_MODE_MASK

Complete basic frame Retained

System frames Retained
Zero offset external Retained
DRF offset Retained

2.4.13.5 Block search

Data management frames are also modified when carrying out a block search with
calculation.
If the block search is aborted with RESET, machine data
MD28560 $MC_MM_SEARCH_RUN_RESTORE_MODE
can be used to configure all data management frames to be reset to the values they had
before the block search.
With cascaded block searches, frames are set to the status of the previous block search.
The "SERUPRO" function is not supported.
MD28560 $MC_MM_SEARCH_RUN_RESTORE_MODE
Bitmask for restoring data when a simulated program run is aborted.
The following settings apply:

Bit 0: All frames in the data management are restored.

2.4.13.6 Repos
There is no special treatment for frames. If a frame is modified in an ASUB, it is retained in
the program. On repositioning with REPOS, a modified frame is included, provided the
modification was activated in the ASUB.

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Detailed description
2.5 Workpiecerelated actualvalue system

2.5 Workpiecerelated actualvalue system

2.5.1 Overview

Definition
The term "workpiece-related actual-value system" designates a series of functions that
permit the user:
• To use a workpiece coordinate system defined in machine data after powerup.
Features:
– No additional operations are necessary.
– Effective in JOG and AUTOMATIC modes
• To retain the valid settings for the following after end of program for the next part
program:
– Active plane
– Settable frame (G54-G57)
– Kinematic transformation
– Active tool offset
• To change between work coordinate system and machine coordinate system via the user
interface.
• To change the work coordinate system by operator action (e.g., changing the settable
frame or the tool offset).

2.5.2 Use of workpiecerelated actual-value system

Requirements, basic settings

The settings described in the previous Section have been made for the system.
The predefined setting after power-up of the MMC is MCS.

Switchover to WCS
The change to the WCS via the user interface causes the axis positions relative to the origin
of the WCS to be displayed.

Switchover to MCS
The change to the MCS via the user interface causes the axis positions relative to the origin
of the MCS to be displayed.

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 Detailed description
2.5 Workpiecerelated actualvalue system

Interrelationships between coordinate systems

The figure below shows the interrelationships between the machine coordinate system
(MCS) and the workpiece coordinate system (WCS).

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Figure 2-26 Interrelationship between coordinate systems

References:
/PG/Programming Guide, Fundamentals
/FB1/Description of Functions, Basic Machine; Tool Offset (W1)
/FB1/Description of Functions, Basic Machine; Auxiliary Function Outputs to PLC (H2)
/FB2/Description of Functions, Expansion Functions; Kinematic Transformation (M1)
/FB3/Description of Functions, Special Functions; Axis Couplings and ESR (M3);
Chapter: Coupled Motion, Chapter: Master Value Coupling
/FB3/Description of Functions, Special Functions; Tangential Control (T3)

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Detailed description
2.5 Workpiecerelated actualvalue system

2.5.3 Special reactions

Overstore
Overstoring in RESET state of:
• Frames (zero offsets)
• Active plane
• Activated transformation
• Tool offset
immediately affects the actualvalue display of all axes in the channel.

MMC inputs
If operations on the operator panel are used to change the values for
"Active frame" (zero offsets, "Parameters" operating area)
and
"Active tool length compensation" ("Parameters" operating area)
, one of the following actions is used to activate these changes in the display:
• Press the RESET key.
• Reselect:
– Zero offset by the part program
– Tool offset by the part program
• Reset:
– Zero offset by overstoring
– Tool offset by overstoring
• Part-program start

MD9440
If the MMC machine data
MD9440 ACTIVATE_SEL_USER_DATA
for the operator panel is set, the entered values become active immediately in RESET state.
When values are entered in the part-program execution stop state, they become effective
when program execution continues.

Actual-value reading
If the actual value of $AA_IW is read in the WCS after activation of a frame (zero offset) or a
tool offset, the activated changes are already contained in the result read even if the axes
have not yet been traversed with the activated changes.
The actual values in the settable zero system (SZS) can be read from the part program for
each axis using the variable $AA_IEN[axis].
The actual values in the basic zero system (BZS) can be read from the part program for
each axis using the variable $AA_IBN[axis].

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 Detailed description
2.5 Workpiecerelated actualvalue system

Actual-value display
The programmed contour is always displayed in the WCS.
The following offsets are added to the MCS:
• Kinematic transformation
• DRF offset/zero offset external
• Active frame
• Active tool offset of the current tool

Switchover by PLC
The actual values can be displayed in the WCS, SZS, BZS or MCS via the PLC. The PLC
can define, which coordinate system corresponds to the workpiece coordinate system on a
machine.
On MMC poweron the MCS is preset.
With the signal DB19 DBB0.7 "MCS/WCS switchover", it is also possible to switch from the
PLC to the WCS.

Transfer to PLC
Depending on machine data
MD20110 / MD20112, bit 1
, the auxiliary functions (D, T, M) are output to the PLC (or not) on selection of the tool length
compensation.

Note
If the WCS is selected from the PLC, an operator action can still be used to switch between
the WCS and MCS for the relevant mode.
However, when the mode and or area is changed, the WCS selected by the PLC is
evaluated and activated.
References:
/FB1/Description of Functions, Basic Machine; Mode Group, Channel, Program Operation,
Reset Response (K1)

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Detailed description
2.5 Workpiecerelated actualvalue system

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There are no supplementary conditions to note.
3

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Supplementary conditions

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Examples 4
4.1 Axes

Axis configuration for a 3axis milling machine with rotary table

1. Machine axis: X1 Linear axis

2. Machine axis: Y1 Linear axis
3. Machine axis: Z1 Linear axis
4. Machine axis: B1 Rotary table (for turning for multiface machining)
5. Machine axis: W1 Rotary axis for tool magazine (tool revolver)
6. Machine axis: C1 (Spindle)

1. Geometry axis: X (1. channel)

2. Geometry axis: Y (1. channel)
3. Geometry axis: Z (1. channel)
1. Special axis: B (1. channel)
2. Special axis: WZM (1. channel)
1. spindle: S1/C (1. channel)

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Examples
4.1 Axes

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:=0
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;

=

Parameterization of the machine data

Machine data Value

MD10000 AXCONF_MACHAX_NAME_TAB[0] = X1
MD10000 AXCONF_MACHAX_NAME_TAB[1] = Y1
MD10000 AXCONF_MACHAX_NAME_TAB[2] = Z1
MD10000 AXCONF_MACHAX_NAME_TAB[3] = B1
MD10000 AXCONF_MACHAX_NAME_TAB[4] = W1
MD10000 AXCONF_MACHAX_NAME_TAB[5] = C1

MD20050 AXCONF_GEOAX_ASSIGN_TAB[0] =1
MD20050 AXCONF_GEOAX_ASSIGN_TAB[1] =2
MD20050 AXCONF_GEOAX_ASSIGN_TAB[2] =3

MD20060 AXCONF_GEOAX_NAME_TAB[0] =X
MD20060 AXCONF_GEOAX_NAME_TAB[1] =Y
MD20060 AXCONF_GEOAX_NAME_TAB[2] =Z

MD20070 AXCONF_MACHAX_USED[0] =1

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 Examples
4.1 Axes

Machine data Value

MD20070 AXCONF_MACHAX_USED[1] =2
MD20070 AXCONF_MACHAX_USED[2] =3
MD20070 AXCONF_MACHAX_USED[3] =4
MD20070 AXCONF_MACHAX_USED[4] =5
MD20070 AXCONF_MACHAX_USED[5] =6

MD20080 AXCONF_CHANAX_NAME_TAB[0] =X
MD20080 AXCONF_CHANAX_NAME_TAB[1] =Y
MD20080 AXCONF_CHANAX_NAME_TAB[2] =Z
MD20080 AXCONF_CHANAX_NAME_TAB[3] =B
MD20080 AXCONF_CHANAX_NAME_TAB[4] = WZM
MD20080 AXCONF_CHANAX_NAME_TAB[5] = S1

MD30300 IS_ROT_AX[3] =1
MD30300 IS_ROT_AX[4] =1
MD30300 IS_ROT_AX[5] =1

MD30310 ROT_IS_MODULO[3] =1
MD30310 ROT_IS_MODULO[4] =1
MD30310 ROT_IS_MODULO[5] =1

MD30320 DISPLAY_IS_MODULO[3] =1
MD30320 DISPLAY_IS_MODULO[4] =1

MD20090 SPIND_DEF_MASTER_SPIND =1

MD35000 SPIND_ASSIGN_TO_MACHAX[AX1] =0
MD35000 SPIND_ASSIGN_TO_MACHAX[AX2] =0
MD35000 SPIND_ASSIGN_TO_MACHAX[AX3] =0
MD35000 SPIND_ASSIGN_TO_MACHAX[AX4] =0
MD35000 SPIND_ASSIGN_TO_MACHAX[AX5] =0
MD35000 SPIND_ASSIGN_TO_MACHAX[AX6] =1

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Examples
4.2 Coordinate systems

4.2 Coordinate systems

Configuring a global basic frame

An NC with 2 channels is required. The following applies:
• The global basic frame can then be written by either channel.
• The other channel recognizes this change when the global basic frame is reactivated.
• The global basic frame can be read by either channel.
• Either channel can activate the global basic frame for that channel.

Machine data

Machine data Value

MD10000 $MN_AXCONF_MACHAX_NAME_TAB[0] = X1
MD10000 $MN_AXCONF_MACHAX_NAME_TAB[1] = X2
MD10000 $MN_AXCONF_MACHAX_NAME_TAB[2] = X3
MD10000 $MN_AXCONF_MACHAX_NAME_TAB[3] = X4
MD10000 $MN_AXCONF_MACHAX_NAME_TAB[4] = X5
MD10000 $MN_AXCONF_MACHAX_NAME_TAB[5] = X6
MD18602 $MN_MM_NUM_GLOBAL_BASE_FRAMES =1
MD28081 $MC_MM_NUM_BASE_FRAMES =1

Machine data for channel 1 Value Machine data for channel 1 Value
$MC_AXCONF_CHANAX_NAME_TAB[0] =X $MC_AXCONF_CHANAX_NAME_TAB[0] =X
$MC_AXCONF_CHANAX_NAME_TAB[1] =Y $MC_AXCONF_CHANAX_NAME_TAB[1] =Y
$MC_AXCONF_CHANAX_NAME_TAB[2] =Z $MC_AXCONF_CHANAX_NAME_TAB[2] =Z
$MC_AXCONF_MACHAX_USED[0] =1 $MC_AXCONF_MACHAX_USED[0] =4
$MC_AXCONF_MACHAX_USED[1] =2 $MC_AXCONF_MACHAX_USED[1] =5
$MC_AXCONF_MACHAX_USED[2] =3 $MC_AXCONF_MACHAX_USED[2] =6
$MC_AXCONF_GEOAX_NAME_TAB[0] =X $MC_AXCONF_GEOAX_NAME_TAB[0] =X
$MC_AXCONF_GEOAX_NAME_TAB[1] =Y $MC_AXCONF_GEOAX_NAME_TAB[1] =Y
$MC_AXCONF_GEOAX_NAME_TAB[2] =Z $MC_AXCONF_GEOAX_NAME_TAB[2] =Z
$MC_AXCONF_GEOAX_ASSIGN_TAB[0] =1 $MC_AXCONF_GEOAX_ASSIGN_TAB[0] =4
$MC_AXCONF_GEOAX_ASSIGN_TAB[1] =2 $MC_AXCONF_GEOAX_ASSIGN_TAB[1] =5
$MC_AXCONF_GEOAX_ASSIGN_TAB[2] =3 $MC_AXCONF_GEOAX_ASSIGN_TAB[2] =6

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 Examples
4.3 Frames

Part program in first channel

Code (excerpt) Comment

. . .
N100 $P_NCBFR[0] = CTRANS( x, 10 ) ; Activation of the NC global basic frame
. . .
N130 $P_NCBFRAME[0] = CROT(X, 45) ; Activation of the NC global basic frame with rotation =>
alarm 18310, since rotations of NC global frames
are not permitted
. . .

Part program in second channel

Code (excerpt) Comment

. . .
N100 $P_NCBFR[0] = CTRANS( x, 10 ) ; The NCU global basic frame is also active in second
channel.
. . .
N510 G500 X10 ; Activate basic frame
N520 $P_CHBFRAME[0] = CTRANS( x, 10 ) ; Current frame of second channel is activated with an
offset.
. . .

4.3 Frames

Example 1
The channel axis is to become a geometry axis through geometry axis substitution.
The substitution is to give the programmable frame a translation component of 10 in the X
axis.
The current settable frame is to be retained:
FRAME_GEOX_CHANGE_MODE = 1

$P_UIFR[1] = ; Frame is retained after geo axis substitution.

CROT(x,10,y,20,z,30)
G54 ; Settable frame becomes active.
TRANS a10 ; Axial offset of a is also substituted.
GEOAX(1, a) ; a becomes x axis.
; $P_ACTFRAME= CROT(x,10,y,20,z,30):CTRANS(x10)

Several channel axes can become geometry axes on a transformation change.

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Examples
4.3 Frames

Example 2
Channel axes 4, 5 and 6 become the geometry axes of a 5axis orientation transformation.
The geometry axes are thus all substituted before the transformation.
The current frames are changed when the transformation is activated.
The axial frame components of the channel axes, which become geometry axes, are taken
into account when calculating the new WCS. Rotations programmed before the
transformation are retained. The old WCS is restored when the transformation is
deactivated.
The most common application will be that the geometry axes do not change before and after
the transformation and that the frames are to stay as they were before the transformation.
Machine data:

$MN_FRAME_GEOAX_CHANGE_MODE = 1

$MC_AXCONF_CHANAX_NAME_TAB[0] = "CAX"
$MC_AXCONF_CHANAX_NAME_TAB[1] = "CAY"
$MC_AXCONF_CHANAX_NAME_TAB[2] = "CAZ"
$MC_AXCONF_CHANAX_NAME_TAB[3] = "A"
$MC_AXCONF_CHANAX_NAME_TAB[4] = "B"
$MC_AXCONF_CHANAX_NAME_TAB[5] = "C"

$MC_AXCONF_GEOAX_ASSIGN_TAB[0] = 1
$MC_AXCONF_GEOAX_ASSIGN_TAB[1] = 2
$MC_AXCONF_GEOAX_ASSIGN_TAB[2] = 3

$MC_AXCONF_GEOAX_NAME_TAB[0] = "X"
$MC_AXCONF_GEOAX_NAME_TAB[1]="Y"
$MC_AXCONF_GEOAX_NAME_TAB[2] = "Z"

$MC_TRAFO_GEOAX_ASSIGN_TAB_1[0]=4
$MC_TRAFO_GEOAX_ASSIGN_TAB_1[1]=5
$MC_TRAFO_GEOAX_ASSIGN_TAB_1[2]=6

$MC_TRAFO_AXES_IN_1[0] = 4
$MC_TRAFO_AXES_IN_1[1] = 5
$MC_TRAFO_AXES_IN_1[2] = 6
$MC_TRAFO_AXES_IN_1[3] = 1
$MC_TRAFO_AXES_IN_1[4] = 2

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 Examples
4.3 Frames

Program:

$P_NCBFRAME[0] = ctrans(x,1,y,2,z,3,a,4,b,5,c,6)
$P_CHBFRAME[0] = ctrans(x,1,y,2,z,3,a,4,b,5,c,6)
$P_IFRAME = ctrans(x,1,y,2,z,3,a,4,b,5,c,6):crot(z,45)
$P_PFRAME = ctrans(x,1,y,2,z,3,a,4,b,5,c,6):crot(x,10,y,20,z,30)

TRAORI ; Geo axis (4,5,6) sets transformer

; $P_NCBFRAME[0] =
ctrans(x,4,y,5,z,6,cax,1,cay,2,caz,3)
; $P_ACTBFRAME =
ctrans(x,8,y,10,z,12,cax,2,cay,4,caz,6)
; $P_PFRAME = ctrans(x,4,y,5,z,6,cax,1,cay,2,caz,3):
; crot(x,10,y,20,z,30)
; $P_IFRAME =
ctrans(x,4,y,5,z,6,cax,1,cay,2,caz,3):crot(z,45)

TRAFOOF; ; Geo axis (1,2,3) sets transformation deactivation

; $P_NCBFRAME[0] = ctrans(x,1,y,2,z,3,a,4,b,5,c,6)
; $P_CHBFRAME[0] = ctrans(x,1,y,2,z,3,a,4,b,5,c,6)
; $P_IFRAME =
ctrans(x,1,y,2,z,3,a,4,b,5,c,6):crot(z,45)
; $P_PFRAME =
ctrans(x,1,y,2,z,3,a,4,b,5,c,6):crot(x,10,y,20,z,30)

Axis Types, Coordinate Systems, Frames (K2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 4-7
Examples
4.3 Frames

Axis Types, Coordinate Systems, Frames (K2)

4-8 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Data lists 5
5.1 Machine data

5.1.1 Memory specific machine data

Number Identifier: $MM_ Description

HMI HMI
Advanced Embedded
9242 MA_STAT_DISPLAY_BASE Numerical basis for display of moving
joint STAT
9243 MA_TU_DISPLAY_BASE Numerical basis for display of rotary
axis position TU
9244 MA_ORIAXES_EULER_ANGLE_NAME Display of orientation axes as Euler
angle
9245 MA_PRESET_FRAMEIDX Value storage scratching and
PRESET
9247 9247 USER_CLASS_BASE_ZERO_OFF_PA Availability of basic offset in
"Parameters" operating area
9248 9248 USER_CLASS_BASE_ZERO_OFF_MA Availability of basic offset in Machine
operating area
9249 USER_CLASS_VERT_MODE_SK Provide protection for vertical area
soft keys
9400 TOOL_REF_GEO_AXIS1 Absolute dimension tool length
compensation geometry axis 1
9401 TOOL_REF_GEO_AXIS2 Absolute dimension tool length
compensation geometry axis 2
9402 TOOL_REF_GEO_AXIS3 Absolute dimension tool length
compensation geometry axis 3
9424 9424 MA_COORDINATE_SYSTEM Coordinate system for actualvalue
display
9425 MA_SCRATCH_DEFAULT_MODE Tool offset computation for geometry
axes with scratching
9440 9440 ACTIVE_SEL_USER_DATA Active data (frames) are immediately
operative after editing
9449 WRITE_TOA_LIMIT_MASK Applicability of MD9203 to edge data

Axis Types, Coordinate Systems, Frames (K2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 5-1
Data lists
5.1 Machine data

Number Identifier: $MM_ Description

and locationdependent offsets
9450 9450 MM_WRITE_TOA_FINE_LIMIT Limit value for wear fine
9451 9451 MM_WRITE_ZOA_FINE_LIMIT Limit value for offset fine
9459 PA_ZOA_MODE Display mode of zero offset

5.1.2 NC-specific machine data

Number Identifier: $MN_ Description

10000 AXCONF_MACHAX_NAME_TAB Machine axis name
10600 FRAME_ANGLE_INPUT_MODE Input type for rotation with frame
10602 FRAME_GEOAX_CHANGE_MODE Frames and switchover of geometry axes
10610 MIRROR_REF_AX Reference axis for FRAME element mirroring
10612 MIRROR_TOGGLE Toggle mirroring
10613 NCBFRAME_RESET_MASK RESET response of global basic frame
10615 NCBFRAME_POWERON_MASK POWER ON response of global basic frames
10650 IPO_PARAM_NAME_TAB Name of interpolation parameters
10660 INTERMEDIATE_POINT_NAME_TAB Name of intermediate point coordinates for G2/G3
11640 ENABLE_CHAN_AX_GAP Channel axis gaps allowed
18600 MM_FRAME_FINE_TRANS Fine offset for all settable FRAMES and the basic
frame
18601 MM_NUM_GLOBAL_USER_FRAMES Number of globally predefined user frames
18602 MM_NUM_GLOBAL_BASE_FRAMES Number of global basic frames

5.1.3 Channelspecific machine data

Number Identifier: $MC_ Description

21015 INVOLUTE_RADIUS_DELTA NC start disable without reference point
20050 AXCONF_GEOAX_ASSIGN_TAB Assignment geometry axis to channel axis
20060 AXCONF_GEOAX_NAME_TAB Geometry axis name in channel
20070 AXCONF_MACHAX_USED Machine axis number valid in channel
20080 AXCONF_CHANAX_NAME_TAB Channel axis name/special axis name in channel
22532 GEOAX_CHANGE_M_CODE M code for replacement of geometry axes

Axis Types, Coordinate Systems, Frames (K2)

5-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Data lists
5.1 Machine data

Number Identifier: $MC_ Description

22534 TRAFO_CHANGE_M_CODE M code for transformation changeover
24000 FRAME_ADD_COMPONENTS Separate programming/modification of additively
programmable frame components
24002 CHBFRAME_RESET_MASK RESET response of channelspecific basic frames
24004 CHBFRAME_POWERON_MASK POWER ON response of channelspecific
basic frames
24006 CHSFRAME_RESET_MASK RESET response of channelspecific system frames
24007 CHSFRAME_RESET_CLEAR_MASK Clear system frames on RESET
24008 CHSFRAME_POWERON_MASK Delete system frames on POWER ON
24010 PFRAME_RESET_MODE RESET mode for programmable frame
24020 FRAME_SUPPRESS_MODE Positions for frame suppression
24030 FRAME_ACT_SET SZS coordinate system setting
24040 FRAME_ADAPT_MODE Adapting active frames
24050 FRAME_SAA_MODE Save and activate data management frames
24805 TRACYL_ROT_AX_FRAME_1 Rotary axis offset TRACYL 1
24855 TRACYL_ROT_AX_FRAME_2 Rotary axis offset TRACYL 2
24905 TRANSMIT_ROT_AX_FRAME_1 Rotary axis offset TRANSMIT1
24955 TRANSMIT_ROT_AX_FRAME_2 Rotary axis offset TRANSMIT2
28081 MM_NUM_BASE_FRAMES Number of channel/specific Basic frames
28082 MM_SYSTEM_FRAME_FRAMES Configuration screen form for channel-specific system
frames
28560 MM_SEARCH_RUN_RESTORE_MODE Restore data after a simulation
(SW 7.1 and higher)

5.1.4 Axis/spindlespecific machine data

Number Identifier: $MA_ Description

32074 FRAME_OR_CORRPOS_NOTALLOWED FRAME or HL offset is not permitted
35000 SPIND_ASSIGN_TO_MACHAX Assignment spindle to machine axis

Axis Types, Coordinate Systems, Frames (K2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 5-3
Data lists
5.2 Setting data

5.2 Setting data

5.2.1 Channelspecific setting data

Number Identifier: $SC_ Description

42440 FRAME_OFFSET_INCR_PROG Zero offsets are traversed on incremental
programming
42980 TOFRAME_MODE Determination of the direction of X and Y axes for
frame definition

5.3 System variables

Names Description
$AC_DRF[axis] DRF offset (differential resolver function)
$AA_ETRANS[axis] Offset value zero offset external
$AA_OFF[axis] Overlaid motion for programmed axis
$P_UIFR[n] Settable frames, activated via G500, G54 to G599
$P_CHBFR[n] Channel basic frames, activated via G500, G54 to G599
$P_SETFR System frame for PRESET and scratching in data management
$P_EXTFR System frame for zero offset external in data management
$P_PARTFR System frame for TCARR and PAROT in data management
$P_TOOLFR System frame for TOROT and TOFRAME in data management
$P_WPFR System frame for workpiece reference points
$P_CYCFR System frame for cycles
$P_TRAFRAME System frame for transformations
$P_NCBFR[n] NCU basic frames, activated via G500, G54 to G599
$P_UBFR Basic frame in channel activated after G500, G54 to G599 Corresponds to
$P_CHBFR[0].
$P_SETFRAME Current system frame for PRESET and scratching
$P_EXTFRAME Current system frame for zero offset external
$P_PARTFRAME Current system frame for TCARR and PAROT with an orientational toolholder
$P_TOOLFRAME Current system frame for TOROT and TOFRAME
$P_WPFRAME Current system frame for workpiece reference points
$P_CYCFRAME Current system frame for cycles

Axis Types, Coordinate Systems, Frames (K2)

5-4 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Data lists
5.4 Signals

Names Description
$P_TRAFRAME Current system frame for transformations
$P_CHBFRAME[n] Current basic frame in channel,
0 to 15 NCU basic frames can be configured via machine data
MD28081 MM_NUM_BASE_FRAMES
.
$P_NCBFRAME[n] Current NCU basic frame,
0 to 15 NCU basic frames can be configured via machine data
MD18602 MM_NUM_GLOBAL_BASE_FRAMES
.
$P_ACTBFRAME Current chained total basic frame
$P_BFRAME Current first basic frame in the channel. Corresponds to $P_CHBFRAME
$P_IFRAME Current settable frame
$P_PFRAME Current programmable frame
$P_ACTFRAME Current total frame
$P_UIFRNUM Number of active frame $P_UIFR
$P_NCBFRMASK Bit mask for definition of NCU global basic frames
$P_CHBFRMASK Bit mask for definition of channelspecific basic frames
$P_CHSFRMASK Bit mask for activating system frames in data management

$AA_ETRANS[X]
$AA_ETRANS[X] is an axisspecific system variable of the DOUBLE type. The default setting
in the system for this variable is zero. Values set by the user are activated by IS "Zero offset
external" (DB31-61, ... DBX3.0).

5.4 Signals

5.4.1 Signals from channel

DB number Byte.Bit Description

21, ... 61.0 T function modification
21, ... 62.0 D function modification
21, ... 118-119 T function
21, ... 129 D function
21, ... 208 Number of active function G group 1
21, ... 209 Number of active function G group 2
... ... ...
21, ... 230 Number of active function G group 29

Axis Types, Coordinate Systems, Frames (K2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 5-5
Data lists
5.4 Signals

5.4.2 Signals to axis/spindle

DB number Byte.Bit Description

31, ... 3.0 Zero offset external
31, ... 60.0 Spindle/no axis

5.4.3 Signals to axis/spindle

DB number Byte.Bit Description

31, ... 3.0 Zero offset external
31, ... 60.0 Spindle/no axis

Axis Types, Coordinate Systems, Frames (K2)

5-6 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Index

A L
Actual-value system Loader axes, 2-9
workpiecerelated, 2-111
ATRANS, 1-5
Axis configuration, 2-13 M
Machine axes, 2-2
Machine coordinate system (MCS), 1-3
B Machine coordinate systems (MCS), 2-25
Basic coordinate system (BCS), 1-3, 2-26 Machine tool axes, 2-9
Machine zero M, 2-20
Main axes, 2-11
C Manual traverse in SZS, 2-35
MD10000, 1-2, 2-14
CFINE, 1-5
MD10002, 2-15
Channel axes, 2-4
MD10600, 2-41, 2-98, 2-99
Configurable SZS, 2-34
MD10602, 2-66, 2-67, 2-69, 2-76, 2-81
CTRANS, 1-5
MD10610, 1-7, 2-61
MD10612, 2-61
MD10613, 2-109
F MD10615, 2-107
FGROUP, 2-9, 2-12 MD10617, 2-105
Fine offset, 1-5 MD11640, 2-15
FRAME, 2-4 MD18600, 2-39, 2-40
MD18601, 2-51, 2-56, 2-106
MD18602, 2-51, 2-58, 2-106
G MD20050, 1-2, 2-17, 2-87
MD20060, 1-2
G58, 1-5
MD20070, 1-2, 2-15, 2-17
G59, 1-5
MD20080, 1-2, 2-12, 2-15
Geometry axes, 2-4, 2-9, 2-26
MD20110, 2-6, 2-107, 2-108, 2-109, 2-110, 2-114
MD20112, 2-6, 2-110, 2-114
MD20118, 2-6
H MD20150, 2-50, 2-109
Helical interpolation, 2-13 MD20152, 2-109
Helix interpolation, 2-13 MD20184, 2-94, 2-96, 2-103
MD21110, 2-100, 2-101
MD22532, 2-7
K MD24002, 2-109
MD24004, 2-107
Kinematic transformation, 2-26
MD24006, 2-30, 2-50, 2-108, 2-109
MD24007, 2-109
MD24008, 2-30, 2-107

Axis Types, Coordinate Systems, Frames (K2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 Index-1
Index

MD24020, 2-55 Reference points in working space, 2-20

MD24030, 2-34, 2-53 Replaceable geometry axes, 2-4
MD24040, 2-87 Rotary axes, 2-9
MD24050, 2-50 Rough offset, 1-5
MD24110, 2-17
MD24120, 2-17
MD24805, 2-76 S
MD24855, 2-76
SD42980, 2-101, 2-102
MD24905, 2-69
Special axes, 2-9
MD28080, 2-51, 2-56
Synchronized axes, 2-12
MD28081, 2-51
MD28082, 2-29, 2-50, 2-63, 2-64, 2-65, 2-93, 2-94,
2-96, 2-100, 2-103, 2-106
MD28560, 2-110
T
MD32074, 2-107 TCP Tool Center Position, 2-20
MD35000, 1-2, 2-46 Tool revolver axes, 2-9
MD42440, 2-93 Toolholder reference point T, 2-20
MD9440, 2-50, 2-113 TRANS, 1-5
Transformation, 2-27
TRANSMIT, 2-26
P
Path axes, 2-9
POS, 2-9, 2-10
W
POSA, 2-9, 2-10 Workpiece coordinate system (WCS), 1-3, 1-4, 2-36
Position of coordinate systems and reference points, Workpiece zero W, 2-20
2-21
Positioning axes, 2-10
Z
Zeros and reference points, 2-20
R
Reference point R, 2-20

Axis Types, Coordinate Systems, Frames (K2)

Index-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Brief Description 1

Detailed description 2

Restrictions 3
SINUMERIK
840D sl/840Di sl/840D/840Di/810D
Examples 4
Emergency Stop (N2) 5
Data lists

Function Manual

Valid for

Control
SINUMERIK 840D sl/840DE sl
SINUMERIK 840Di sl/840DiE sl
SINUMERIK 840D powerline/840DE powerline
SINUMERIK 840Di powerline/840DiE powerline
SINUMERIK 810D powerline/810DE powerline

Software Version
NCU System Software for 840D sl/840DE sl 1.3
NCU system software for 840Di sl/DiE sl 1.0
NCU system software for 840D/840DE 7.4
NCU system software for 840Di/840DiE 3.3
NCU system software for 810D/810DE 7.4

03/2006 Edition
6FC5397-0BP10-1BA0
Safety Guidelines
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent
damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are
graded according to the degree of danger.

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

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

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

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

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

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

Prescribed Usage
Note the following:

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

Trademarks
All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this
publication may be trademarks whose use by third parties for their own purposes could violate the rights of the
owner.

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

Siemens AG Order No.: 6FC5397-0BP10-1BA0 Copyright © Siemens AG 2006.

Automation and Drives Edition 05/2006 Technical data subject to change
Postfach 48 48
90437 NÜRNBERG
GERMANY
Table of contents
1 Brief Description ..................................................................................................................................... 1-1
2 Detailed description ................................................................................................................................ 2-1
2.1 Relevant standards .................................................................................................................... 2-1
2.2 Emergency stop control elements ............................................................................................. 2-2
2.3 Emergency stop sequence ........................................................................................................ 2-3
2.4 Emergency stop acknowledgement........................................................................................... 2-5
3 Restrictions............................................................................................................................................. 3-1
4 Examples................................................................................................................................................ 4-1
5 Data lists................................................................................................................................................. 5-1
5.1 Machine data.............................................................................................................................. 5-1
5.1.1 Drive-specific machine data....................................................................................................... 5-1
5.1.2 Axis/spindlespecific machine data ............................................................................................. 5-1
5.2 Signals ....................................................................................................................................... 5-1
5.2.1 Signals to NC ............................................................................................................................. 5-1
5.2.2 Signals from NC......................................................................................................................... 5-2
5.2.3 Signals to BAG........................................................................................................................... 5-2
Index................................................................................................................................................ Index-1

Emergency Stop (N2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 iii
Table of contents

Emergency Stop (N2)

iv Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Brief Description 1
Function
The control system supports the machine manufacturer in implementing an emergency stop
function on the basis of the following functions:
• An emergency stop button is installed in a location easily accessible to the machine
operator on all SINUMERIK machine control panels. The functionality of the emergency
stop button includes the positive opening of electrical switching contacts and a
mechanical self-activating latching/locking.
• The emergency stop request to the NC is transmitted via the NC/PLC interface on the
PLC.
• In response to an emergency stop command, the NC decelerates all axes and spindles
as quickly as possible (with setpoint value 0), i.e., braking at the current limit of the drives.
• In the case of an emergency stop, all machine functions controlled by the PLC can be
brought to a safe state that can be set by the machine manufacturer.
• Unlatching the emergency stop button does not cancel the emergency stop state nor
does it initiate a restart.
• After the emergency stop state has been canceled, it is not necessary to reference the
machine axes or synchronize the spindles. The actual positions of the machine axes are
continuously tracked during the emergency stop sequence.

Emergency Stop (N2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 1-1
Brief Description

Emergency Stop (N2)

1-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Detailed description 2
2.1 Relevant standards

Relevant standards
Compliance with the following standards is essential for the emergency stop function:
• EN 292 Part 1
• EN 292 Part 2
• EN 418
• EN 60204 Part 1:1992 Section 10.7
VDE 0113 Part 1 only applies for a transitional period and will be replaced by EN 60204.

EMERGENCY STOP
In accordance with EN 418, an emergency stop is a function that:
• Is intended to prevent or diminish developing or existing risks to operating personnel, and
damage to the machine or machined materials.
• Is triggered by a single human action in cases where the normal stop function is not
suitable.

Hazards
In the terms of EN 418, risks may arise from:
• Functional irregularities (machine malfunctions, unacceptable properties of the material to
be machined, human error, etc.).
• Normal operation.

Standard EN 2922
In accordance with the basic safety requirements of the EC Machinery Directive regarding
emergency stop, as stipulated in Subsection 6.1.1 of EN 2922, machines must be equipped
with an emergency stop device.

Emergency Stop (N2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-1
Detailed description
2.2 Emergency stop control elements

Exceptions
No emergency stop device is required on machines:
• Where an emergency stop device would not reduce the risk, either because the shutdown
time would not be reduced or because the measures to be taken would not be suitable for
controlling the risk.
• that are held and operated manually.

Notice
The machine manufacturer is expressly directed to comply with the national and
international standards. The SINUMERIK controllers support the machine manufacturer
in the implementation of the emergency stop function according to the specifications in
the following function description. But the responsibility for the emergency stop function
(its triggering, sequence, and acknowledgment) rests exclusively with the machine
manufacturer.

2.2 Emergency stop control elements

EN standard
In accordance with EN 418, emergency stop control elements must be designed so that they
latch mechanically on their own and are easy for the operator and others to actuate in the
event of an emergency.
The following list includes some possible types of control elements:
• Mushroomhead pushbutton switches
• Wires/cables, cords, rods
• Puller grips
• In special cases: Footoperated switches without protective covers

Emergency Stop (N2)

2-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.3 Emergency stop sequence

Emergency stop button and control

Actuation of the emergency stop button or a signal derived directly from the button must be
routed to the controller (PLC) as a PLC input.
In the PLC user program, this PLC input must be forwarded to the NC on the interface
signal:
DB10, DBX56.1 (Emergency stop).
Resetting of the emergency stop button or a signal derived directly from the button must be
routed to the controller (PLC) as a PLC input.
In the PLC user program, this PLC input must be forwarded to the NC on the interface
signal:
DB10, DBX56.2 (Acknowledge emergency stop).

Connection Conditions
See the hardware configuration guide (Operator Components Manual) for information on
connecting the emergency stop button.
References:
/BH/ Equipment Manual Operator Components

2.3 Emergency stop sequence

EN 418 standard
After actuation of the emergency stop control element, the emergency stop device must
operate in the best possible way to prevent or minimize the danger.
"In the best possible way" means that the most favorable delay rate can be selected and the
correct stop category (defined in EN 60204) can be determined according to a risk
assessment.

Emergency stop sequence

Sequence in the NC
The predefined (in EN 418) sequence of internal functions implemented to obtain the
emergency stop state is as follows in the control system:
1. Part program execution is interrupted.
All machine axes are braked in the relevant axis-specific parameterized time:
MD36610 $MA_AX_EMERGENCY_STOP_TIME (time of braking ramp in event of errors).
The maximum brake ramp that can be achieved is defined by the maximum brake current
of the respective drive. The maximum brake current is achieved by setting a setpoint = 0
(fast braking).

Emergency Stop (N2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-3
Detailed description
2.3 Emergency stop sequence

2. Reset interface signal

DB11, ... DBX6.3 (Mode group ready).
3. Set the interface signal:
DB10, DBX106.1 (Emergency stop active).
4. Alarm: "3000 Emergency Stop" is displayed.
5. The controller enables of the machine axes are reset, once a parameterized time has
lapsed in the machine data:
MD36620 $MA_SERVO_DISABLE_DELAY_TIME (switchoff delay controller enable).
Please note the configuration rule below:
MD36620 ≥ MD36610
6. All machine axes are switched to follow-up mode within the control.
The machine axes are no longer in position control during this.

Sequence on the machine

The emergency stop sequence on the machine is determined solely by the machine
manufacturer.
Attention should be paid to the following points in connection to the sequence on the NC:
• The process in the NC is started using the interface signal:
DB10, DBX 56.1 (Emergency stop).
After the machine axes are at standstill, the energy supply must be interrupted in
accordance with EN 418.

Note
The responsibility for interrupting the power supply rests with the machine manufacturer.

• The digital and analog outputs of the PLC I/O are not influenced by the emergency stop
sequence in the NC.
If individual outputs are required to attain a particular state or voltage level in the event of
an emergency stop, the machine manufacturer must implement this in the PLC user
program.
• The fast digital outputs of the NCK I/O system are not influenced by the emergency stop
sequence in the NC.
If individual outputs must assume a specific state in the case of emergency stop, the
machine manufacturer must transmit the desired state to the NC in the PLC user program
via interface signals:
DB10, DBB4 to DBB7.

Emergency Stop (N2)

2-4 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.4 Emergency stop acknowledgement

Note
If the sequence in the NC is not to be executed during an emergency stop as described
above, then the interface signal must not be set until an emergency stop state defined by
the machine manufacturer in the PLC user program is reached.
DB10 DBX56.1 (Emergency stop).
As long as the interface signal is not set and no other alarm is pending, all interface
signals are operative in the NC. Any emergency stop state defined by the manufacturer
(including axis-, spindle-, and channelspecific emergency stop states) can therefore be
assumed.

2.4 Emergency stop acknowledgement

EN 418 standard
The emergency stop control element may only be reset as a result of manual manipulation of
the emergency stop control element. Resetting of the emergency stop control element alone
must not trigger a restart command.
A machine restart must be impossible until all of the actuated emergency stop control
elements have been deliberately reset by hand.

Emergency stop acknowledgement

1. Interface signal:
DB10, DBX56.2 = 1 (Acknowledge emergency stop)
2. Interface signal:
DB11, ... DBX0.7 = 1 (mode group reset)

Note
The two interface signals DB10, DBX56.2 (Acknowledge emergency stop) and DB21, ...
DBX7.7 (Reset) must both remain set at least until the interface signal is reset:
DB10, DBX106.1 (Emergency stop active).
The emergency stop state cannot be reset, only using the interface signal:
DB21, ... DBX7.7 (Reset).

Emergency Stop (N2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-5
Detailed description
2.4 Emergency stop acknowledgement

'%'%; (PHUJHQF\VWRS
1

'%'%; $FNQRZOHGJHHPHUJHQF\VWRS

'%'%; (PHUJHQF\VWRSDFWLYH

'%'%; 5(6(7

Figure 2-1 Resetting the emergency stop state

(1) DB10, DBX56.2 (acknowledge emergency stop) is inoperative

(2) DB21, ... DBX7.7 (Reset) is inoperative
(3) DB10, DBX56.2 and DB21, ... DBX7.7 reset DB10, DBX106.1(Emergency stop active)

Effects
Resetting the emergency stop state has the following effects:
• Within the control, the servo enable is set, the follow-up mode deactivated and the
position control activated for all machine axes.
• Set interface signals:
DB 31, ... DBB60.5 (position control active).
• Set interface signals:
DB11, ... DBX6.3 (Mode group ready).
• Reset interface signal:
DB10, DBX106.1 (Emergency stop active).
• Alarm: "3000 Emergency Stop" is cleared.
• Part program processing is interrupted in all channels of the NC.

PLC and NCK I/Os

The PLC user program must switch the PLC and NCK I/Os back to the state for operation of
the machine.

Emergency Stop (N2)

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 Detailed description
2.4 Emergency stop acknowledgement

POWER OFF / ON (supply off / on)

The emergency stop state can also be reset by switching the controller off and back on
(POWER OFF / ON).
Prerequisite: When powering up the control, the interface signal must not be active:
DB10, DBX56.1 (Emergency stop).

Emergency Stop (N2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-7
Detailed description
2.4 Emergency stop acknowledgement

Emergency Stop (N2)

2-8 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Restrictions
No supplementary conditions apply.
3

Emergency Stop (N2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 3-1
Restrictions

Emergency Stop (N2)

3-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Examples
No examples are available.
4

Emergency Stop (N2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 4-1
Examples

Emergency Stop (N2)

4-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Data lists 5
5.1 Machine data

5.1.1 Drive-specific machine data

Number Identifier: $MD_ Description

1404 PULSE_SUPPRESSION_DELAY Time for pulse suppression

5.1.2 Axis/spindlespecific machine data

Number Identifier: $MA_ Description

36610 AX_EMERGENCY_STOP_TIME Length of the braking ramp for error states
36620 SERVO_DISABLE_DELAY_TIME Cutout delay servo enable

5.2 Signals

5.2.1 Signals to NC

DB number Byte.Bit Description

10 56.1 EMERGENCY STOP
10 56.2 Acknowledge EMERGENCY STOP

Emergency Stop (N2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 5-1
Data lists
5.2 Signals

5.2.2 Signals from NC

DB number Byte.Bit Description

10 106.1 EMERGENCY STOP active

5.2.3 Signals to BAG

DB number Byte.Bit Description

11, ... 0.7 Mode group RESET

Emergency Stop (N2)

5-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Index

D E
DB 31, ... EMERGENCY STOP
DBB60.5, 2-6 Acknowledgment, 2-5
DB10 Interface, 2-3
DBB4, 2-4 Sequence, 2-3
DBB5, 2-4 Emergency stop key, 2-2
DBB6, 2-4
DBB7, 2-4
DBX 56.1, 2-4 M
DBX106.1, 2-4, 2-5, 2-6
MD36610, 2-3
DBX56.1, 2-3, 2-5, 2-7
MD36620, 2-4
DBX56.2, 2-3, 2-5
DB11, ...
DBX0.7, 2-5
DBX6.3, 2-4, 2-6
R
DB21, ... Reset, 2-5
DBX7.7, 2-5

Emergency Stop (N2)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 Index-1
Index

Emergency Stop (N2)

Index-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Brief description 1

Detailed Description 2

Supplementary conditions 3
SINUMERIK
840D sl/840Di sl/840D/840Di/810D
Examples 4
Transverse axes (P1) 5
Data lists

Function Manual

Valid for

Control
SINUMERIK 840D sl/840DE sl
SINUMERIK 840Di sl/840DiE sl
SINUMERIK 840D powerline/840DE powerline
SINUMERIK 840Di powerline/840DiE powerline
SINUMERIK 810D powerline/810DE powerline

Software Version
NCU System Software for 840D sl/840DE sl 1.3
NCU system software for 840Di sl/DiE sl 1.0
NCU system software for 840D/840DE 7.4
NCU system software for 840Di/840DiE 3.3
NCU system software for 810D/810DE 7.4

03/2006 Edition
6FC5397-0BP10-1BA0
Safety Guidelines
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent
damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are
graded according to the degree of danger.

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

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

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

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

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

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

Prescribed Usage
Note the following:

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

Trademarks
All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this
publication may be trademarks whose use by third parties for their own purposes could violate the rights of the
owner.

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

Siemens AG Order No.: 6FC5397-0BP10-1BA0 Copyright © Siemens AG 2006.

Automation and Drives Edition 05/2006 Technical data subject to change
Postfach 48 48
90437 NÜRNBERG
GERMANY
Table of contents
1 Brief description ...................................................................................................................................... 1-1
2 Detailed Description................................................................................................................................ 2-1
2.1 Defining a geometry axis as transverse axis ............................................................................. 2-1
2.2 Dimensional information for transverse axes............................................................................. 2-3
3 Supplementary conditions ...................................................................................................................... 3-1
4 Examples................................................................................................................................................ 4-1
5 Data lists................................................................................................................................................. 5-1
5.1 Machine data.............................................................................................................................. 5-1
5.1.1 Channelspecific machine data ................................................................................................... 5-1
5.1.2 Axis/spindlespecific machine data ............................................................................................. 5-1
Index................................................................................................................................................ Index-1

Transverse axes (P1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 iii
Table of contents

Transverse axes (P1)

iv Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Brief description
Within the framework of "turning" technology, the transverse axis refers to the machine axis
1
that travels perpendicular to the axis of symmetry of the spindle, in other words, to
longitudinal axis Z.

Definition
Every geometry axis of a channel can be defined as a transverse axis.
However, only exactly one transverse axis can be defined per channel.
A transverse axis is a linear axis for the following functions, which can be permitted and
activated at the same time or separately:
• Programming and display in the diameter
• Reference axis for constant cutting speed G96/G961/G962

Overview of the transverse axes functions

Diameter programming and reference axis for G96/G961/G962 can be active for different
transverse axes (several transverse axes in a channel).
Functional decoupling of diameter programming and reference axis

Programming and Reference axis for Comment

display in the diameter G96/G961/G962
Geometry axis Linear channel Geometry axis Permitted axis type
axes
one m of 3 m of n one one Selection in the
of 3 channel
Channel Axis Channel Specific effect
$ $MA_MD3460 $MC_MD20100 machine data axis
MC_MD BASE_FUNCTION_MASK _DIAMETER_AX_DEF functions
20100
DIAM* SCC[AX] Programming
channel-specific modal channel-specific modal reference
G group 29 axis for G96/G961/G962
DIAM*A[AX] Acceptance during
axis-specific modal axis replacement
DAC, DIC; RAC, RIC axis-specific non- axis-specific non-
modal only programming modal

Transverse axes (P1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 1-1
Brief description

DIAM*: DIAMOF, DIAMON, DIAM90, DIAMCYCOF

DIAM*A[AX]:
DIAMOFA[AX], DIAMONA[AX], DIAM90A[AX], DIACYCOFA[AX], DIAMCHANA[AX]
AX: Axis identifier for geometry/channel or machine axis identifier
Rotary axes are not permitted to serve as transverse axes.

Programming the transversing paths

The traverse paths of a transverse axis programmed in the part program may be either
radius- or diameter-based. It is possible to switch between the two reference types with the
part program commands DIAMON (DIAMeter ON = diameter) and DIAMOF (DIAMeter OF =
radius). In this way, dimensional information can be taken directly from the technical drawing
without conversion.
Active parts program
When the part program DIAMON (dimensional information as diameter) is active, the
following is true for the transverse axis:
• The setpoint and actual values that refer to the workpiece coordinate system are
displayed as diameter values.
• System variables for setpoints and actual values that refer to the workpiece coordinate
system contain diameter values.
• Offsets are entered, programmed and displayed in radius format.
• Programmed end positions are converted to radius values internally.
• The absolute interpolation parameters (e.g. I, J, K) for circular interpolation (G2 and G3)
are converted to radius values internally.
• Measurement results that were determined by touch trigger probe in the workpiece
coordinate system are stored as diameter measurements.
• Setpoints and actual values can be read in diameter format in the WCS with the aid of
system variables.
When the part program command DIAMOF (dimensional information as radius) is active, the
above-mentioned data is always entered, programmed, internally stored, read or displayed
as radius data.

Transverse axes (P1)

1-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Detailed Description 2
2.1 Defining a geometry axis as transverse axis

Transverse axis
Within the framework of "turning" technology, the transverse axis refers to the machine axis
that travels perpendicular to the axis of symmetry of the spindle, in other words, to
longitudinal axis Z.

;
7UDQVYHUVHD[LV

0
:

/RQJLWXGLQDOD[LV

Figure 2-1 Position of the transverse axis in the machine coordinate system

Definition
Definition of a transversing axis in the channel
The definition of a geometry axis as a transverse axis is done using machine data:
MD20100 $MC_DIAMETER_AX_DEF (geometry axis with transverse axis function ).
For this axis, diameter programming and assigning a constant cutting speed with
G96/G961/G962 are both permitted.
Definition of several transversing axes in the channel
The machine data MD30460 $MA_BASE_FUNCTION_MASK allows the definition of
additional transverse axes, for which axis-specific diameter programming with bit2=1 is
possible.
An axis can be simultaneously defined in MD20100 and in MD30460 with bit2. For this, the
channel-specific MD20100 has a higher priority than the axis-specific MD30460.

Transverse axes (P1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-1
Detailed Description
2.1 Defining a geometry axis as transverse axis

With:
• MD20100, the function G96/G961/G962 is assigned to the transverse axis during power
up.
• MD20100, the channel-specific diameter programming DIAMON, DIAMOF, DIAM90,
DIAMCYCOF is assigned to the transverse axis during power up.
This axis occupies the axis-specific basic position DIAMCHANA[AX] after power up.
• MD30460 bit2 the additional enabling of the axis-specific statements DIAMONA[AX],
DIAMOFA[AX], DIAM90A[AX], DIACYCOFA[AX], DIMCHANA[AX].

Example for defining a transverse axis in the channel

MD20100 $MC_DIAMETER_AX_DEF=”X” ;the geometry axis X is the transverse axis

in the channel

Restrictions
However, only exactly one geometry axis can be defined as transverse axis per channel.
With MD30460 $MA_BASE_FUNCTION_MASK bit2=1 is only permitted for linear axes.

Channel-specific basic position after power up, RESET

The channel-specific basic position after power up or RESET or end of parts program of the
G group 29: DIAMON, DIAM90, DIAMOF, DIAMCYCOF define the
MD20150 $MC_GCODE_RESET_VALUE
and independently of
MD20110 $MC_RESET_MODE_MASK / bit0 the MD20152 $MC_GCODE_RESET_MODE.
The user can set the respective desired status via an event-controlled program call (prog-
event).
If G96/G961/G962 is the basic position after power up, a transverse axis must be defined
using MD20100 $MC_DIAMETER_AX_DEF, otherwise the alarm message 10870 is output.
Reference axis for G96/G961/G962 retained:
MD20110 $MC_RESET_MODE_MASK, bit 18=1 for RESET or end of parts program
MD20112 $MC_START_MODE_MASK, bit 18=1 for start of parts program
A reference axis for G96/G961/G962 can also be assigned without application of a
transverse axis in MD20100 via SCC[AX]. For this scenario, the constant cutting speed
cannot be activated with G96. For further information refer to
Reference
/PG/ Programming Manual Fundamentals, Feedrate Control and Spindle Motion
"Constant Cutting Speed (G96, G961, G962, G97, G971, LIMS, ACC[AX])"

Transverse axes (P1)

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 Detailed Description
2.2 Dimensional information for transverse axes

2.2 Dimensional information for transverse axes

Transverse axes can be programed with respect to both diameter and radius. Generally,
they are diameter-related, i.e. programmed with doubled path dimension so that the
corresponding dimensional information can be transferred to the part program directly from
the technical drawings.

;
7UDQVYHUVHD[LV

0
:
' '
=
/RQJLWXGLQDOD[LV

Figure 2-2 Transverse axis with diameter information (D1, D2)

Switching the diameter programming on/off

Channel-specific diameter programming
The activating or deactivating of the diameter programming is done via the modally active
parts program statements of the G group 29:
• DIAMON: Diameter programming ON
• DIAMOF: Diameter programming OFF, in other words, radius programming ON
• DIAM90: Diameter or radius programming depending on the reference mode:
– Diameter programming ON in connection with absolute dimensioning G90
– Radius programming ON in connection with incremental dimensioning G91
• DIAMCYCOF: Radius programming for G90 and G91 ON , for the HMI, the last active G
code of this group remains active
Reference is made exclusively to the transverse axis of the channel.
Axis-specific diameter programming for several transverse axes in one channel

Transverse axes (P1)

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Detailed Description
2.2 Dimensional information for transverse axes

Note
The additionally specified axis must be activated via MD30460
$MA_BASE_FUNCTION_MASK with bit2=1.
The axis specified must be a known axis in the channel. Geometry, channel or machine axes
are permitted.
Programming is not permitted in synchronized actions.

The following axis-specific modal statements can be programmed several times in a parts
program block:
• DIAMONA[Axis]: Diameter programming for G90, G91 AC and IC ON
• DIAMOFA[Axis]: Diameter programming OFF, in other words, radius programming ON
• DIAM90A[axis]: Diameter or radius programming depending on the reference mode:
– Diameter programming ON in connection with absolute dimensioning G90 and AC
– Radius programming ON in connection with incremental dimensioning G91 and IC
• DIACYCOFA[axis]: Radius programming for G90 and G91 ON , for the HMI, the last
active G code of this group remains active
• DIAMCHANA[axis]: Acceptance of diameter programming channel status
• DIAMCHAN: all axes with MD30460, bit2=1 accept the diameter programming channel
status
Axis-specific modal statements have priority over the channel setting.

Acceptance of the additional transverse axis in the channel

Due to a GET request from the parts program, the diameter programming status for an
additional transverse axis is accepted in the new channel during axis replacement using
RELEASE[axis].
Axis replacement in synchronized actions
For axis replacement in synchronized actions, a transverse axis takes the status of the axis-
specific diameter programming with it into the new channel if the following applies to the
transverse axis:
• with MD30460, bit2=1 axis-specific diameter programming is permitted.
• it is not subordinated to the channel-specific diameter programming in the releasing
channel.
The active dimension can be queried via the system variable $AA_DIAM_STAT[AX].
Axis replacement via axis container rotation
By rotating the axis container, the assignment of a channel axis can change to assignment of
a machine axis. The current diameter programming status is retained however for the
channel axis after the rotation. This also applies to the current channel status and axis
status, because the status is the same for all axes of the axis container at the time of the
machine data "putting into effect" the status from MD30460 $MA_BASE_FUNCTION_MASK.

Transverse axes (P1)

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 Detailed Description
2.2 Dimensional information for transverse axes

Initial setting
The following machine data is used to parameterize the initial setting:
MD20150 $MC_GCODE_RESET_VALUES [28] (initial setting of the G groups)
and independently of MD20110 $MC_RESET_MODE_MASK for bit0 the
MD20152 $MC_GCODE_RESET_MODE

Diameter-related data
After activation of the diameter programming, the following data refer to diameter
dimensions:

DIAMON/DIAMONA[AX]
• Display data of transverse axis in the workpiece coordinate system:
– Setpoint and actual position
– Distance-to-go
– REPOS Offset
• "JOG" mode:
– Increments for incremental dimension (INC) and handwheel travel (dependent upon
active MD)
• Part program programming:
– End positions, independent of reference mode (G90 / G91)
– Interpolation parameters of circular-path programming (G2 / G3) if these are
programmed with part program instruction: AC absolute.
• Actual values read with reference to the workpiece coordinate system (WCS):
– $AA_MW[Transverse axis]
System variable of the measuring functions MEAS (measuring with delete distance-to-
go) and MEAW (measuring without delete distance-to-go)
– $P_EP[Transverse axis]
– $AA_IW[Transverse axis]

DIAM90/DIAM90A[AX]
After activation of the reference-mode-dependent diameter programming, the following data
are always displayed in relation to diameter regardless of the operating mode (G90 / G91):
• Actual value
• Actual values read with reference to the workpiece coordinate system (WCS):
– $AA_MW[Transverse axis]
System variable of the measuring functions MEAS (measuring with delete distance-to-
go) and MEAW (measuring without delete distance-to-go)
– $P_EP[Transverse axis]
– $AA_IW[Transverse axis]

Transverse axes (P1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-5
Detailed Description
2.2 Dimensional information for transverse axes

DIAMCYCOF/DIACYCOFA[AX]
Just as for DIAMCYCOF, a changeover to radius programing takes place within the controller
for DIACYCOFA[AX]. The diameter programming status that was active before DIAMCYCOF
or DIACYCOFA[AX] continues to be displayed to the HMI.

Permanently radius-related data

For transverse axes, the following data is always entered, programmed and displayed in
relation to radius:
• Offsets:
– Tool offsets
– Programmable and configurable frames
– External work offset
– DRF and preset offset
– etc.
• Working area limitation
• software limit switch
• Feed
• Display data with reference to the machine coordinate system
• Display data of the service images for axis, FSD and MSD
Extended functions for data that is always radius-related:
• PLC axes, via FC18 or axes controlled exclusively by the PLC.
– The dimension for PLC axes in the radius also applies to several transverse axes with
diameter function and is independent of channel-specific or axis-specific diameter
programming.
– In JOG mode (Inc) a PLC axis is subordinate to the channel status. If diameter
programming is active and MD20624 $MC_HANDWH_CHAN_STOP_COND bit15=0,
only half the path of the specified increment is transversed.
Radius programming from MD20100 $MC_DIAMETER_AX_DEF and
MD30460 $MA_BASE_FUNCTION_MASK, bit2 is dependent upon
MD20360 $MC_TOOL_PARAMETER_DEF_MASK taken into consideration as follows:
bit3=0: Work offset $P_EXTFRAME and frames
For transverse axes, work offsets in frames are always calculated as radius values.
Bit5=0: external work offset (axis superimposition)
For transverse axes, the external work offset is always calculated as radius values.
Bit8=1: Display of remaining path in WCS always as a radius

Transverse axes (P1)

2-6 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.2 Dimensional information for transverse axes

DRF-traveling with handwheel

For all transverse axes, MD11346 $MN_HANDWH_TRUE_DISTANCE == 1 for
bit9=0:
causes the half path of the specified handwheel increment to be traveled, if channel-specific
or axis-specific diameter programming is active for this axis.
Bit 9=1:
the half path of the specified handwheel increment is always traveled.

Displaying position values in the diameter

Position values of the transverse axis are always displayed as a diameter value, if the bit0=1
is set by
MD27100 $MC_ABSBLOCK_FUNCTION_MASK.

Dimension on several transverse axes permanent diameter-related data

Several transverse axes permitted by MD30460 $MA_BASE_FUNCTION_MASK, bit2=1 do
not behave differently in comparison to a transverse axis defined using MD20100
$MC_DIAMETER_AX_DEF. Diameter values continue to be converted into radius values.
For all of the transverse axes defined in the channel, the following functions can be activated
as a diameter per MD20360 $MC_TOOL_PARAMETER_DEF_MASK for a set bit:
1: Transverse axis tool length as a diameter
2: Alarm for wear or tool length as a diameter and level change
3: Work offset in frames of the transverse axis as a diameter
4: Preset value as a diameter
5: External work offset of transverse as a diameter
6: Actual values of the transverse axis as a diameter
7: Display of actual values of the transverse axis as a diameter value.
10: Tool portion of an active tool carrier that can be oriented if no tool is active
11: Evaluation of $TC_DP6 as a diameter
12: Evaluation of $TC_DP15 as wear of the tool diameter
Work offset $P_EXTFRAME and frames
Bit3=1: For all transverse axes
, work offsets in frames are always calculated as diameter values. The frame stores the work
offsets internally as a radius value. There is no conversion during a change of diameter, to
radius programming or vice versa.
Work offset external
Bit 5=1: For all transverse axes,
external work offsets are always calculated as diameter values. There is no conversion
during a change of diameter, to radius programming or vice versa. Radiusprogrammierung
bzw. umgekehrt.

Transverse axes (P1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-7
Detailed Description
2.2 Dimensional information for transverse axes

Settable response of geometry axes for traveling with handwheel

If the geometry axis is traveled as a transverse axis in the channel for handwheel traveling
MD11346 $MN_HANDWH_TRUE_DISTANCE == 1, the response of the handwheel traveling
can be changed via MD20624 $MC_HANDWH_CHAN_STOP_COND, bit15:
Bit15=0: Only the half path of the specified increment is traveled.
Bit15=1: The specified increment is traveled completely.

Application Examples
X is a transverse axis defined via MD20100 $MC_DIAMETER_AX_DEF.
Y is a geometry axis and U is an additional axis. These two axes are transverse axes with
specified diameter further defined in MD30460 $MA_BASE_FUNCTION_MASK with bit2=1.
DIAMON is not active after power up.

N10 G0 G90 X100 Y50 ;no diameter programming is active

N20 DIAMON ;Channel-specific diameter programming, in effect for X
N30 Y200 X200 ;Dimension: X in the diameter, Y in the radius
N40 DIAMONA[Y] ;axis-specific modal diameter programming,
;in effect for Y
N50 Y250 X300 ;Dimension: X and Y in diameter
N60 DIAM90 ;dimension: X G90/AC in the diameter, G91/IC in the radius
N70 Y200 ;Y: continuing, axis-specific modal diameter programming
N75 G91 Y20 U=DIC(40) ;dimension: Y in the diameter, U non-modally IC in the
diameter
N80 X50 Y100 ;dimension: X in the radius (G91), Y in the diameter
N85 G90 X100 U200 ;dimension: X in the diameter, U in the radius
N90 DIAMCHANA[Y] ;Y accepts the channel status DIAM90
N95 G91 X100 Y100 ;Dimension: X and Y in the radius(G91)
N100 G90 X200 Y200 ;Dimension: X and Y in diameter

Example with axle replacement

Transverse axes with diameter specification applied as in the previous example.
X and Y are located in channel 1 and are also known in channel 2, i.e. permitted for axis
replacement.

Channel 1
N10 G0 G90 X100 Y50 ;no diameter programming is active
N20 DIAMON ;Channel-specific diameter programming for X
N30 Y200 X200 ;Dimension: X in the diameter, Y in the radius
N40 DIAMONA[Y] ;Y axis-specific modal diameter programming
N50 Y250 X300 ;Dimension: X and Y in diameter
N60 SETM(1) ;Synchronous marker 1
N70 WAIT(1,2) ;wait for synchronous marker 1 in channel 2
Channel 2
...
N50 DIAMOF ;channel 2 no diameter programming active
...
N100 WAIT(1,1) ;wait for synchronous marker 1 in channel 1
N110 GETD(Y) ;Axis replacement direct Y
N120 Y100 ;Y the channel-specific diameter programming
;subordinated in channel 2, i.e. dimension in the radius

Transverse axes (P1)

2-8 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.2 Dimensional information for transverse axes

Transverse axes (P1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-9
Detailed Description
2.2 Dimensional information for transverse axes

Transverse axes (P1)

2-10 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Supplementary conditions
There are no supplementary conditions to note.
3

Transverse axes (P1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 3-1
Supplementary conditions

Transverse axes (P1)

3-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Examples
No examples are available.
4

Transverse axes (P1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 4-1
Examples

Transverse axes (P1)

4-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Data lists 5
5.1 Machine data

5.1.1 Channelspecific machine data

Number Identifier: $MC_ Description

20050 AXCONF_GEOAX_ASSIGN_TAB[n] Assignment of geometry axis to channel axis
20060 AXCONF_GEOAX_NAME_TAB[n] Geometry axis name in channel
20100 DIAMETER_AX_DEF Geometry axis with transverse axis function
20110 RESET_MODE_MASK Definition of control basic setting after powerup and RESET /
part program end
20112 START_MODE_MASK Definition of the control basic settings for NC start
20150 GCODE_RESET_VALUES[n] Reset G groups
20152 GCODE_RESET_MODE[n] G code basic setting at RESET/end of parts program
20360 TOOL_PARAMETER_DEF_MASK Definition of tool parameters
20624 HANDWH_CHAN_STOP_COND Definition of the behavior of traveling with handwheel
27100 ABSBLOCK_FUNCTION_MASK Parameterize block display with absolute values

5.1.2 Axis/spindlespecific machine data

Number Identifier: $MA_ Description

30460 BASE_FUNCTION_MASK Axis functions

Transverse axes (P1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 5-1
Data lists
5.1 Machine data

Transverse axes (P1)

5-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Index
MD20150, 2-2, 2-4
MD20152, 2-2, 2-4
A MD27100, 2-6
MD30460, 2-1, 2-3, 2-4, 2-7
assigning the reference axis via SCC[AX] for
G96/G961/G962, 2-2
P
C PLC axes, 2-6
Position of the transverse axis in the machine
channel-specific basic position after power up,
coordinate system, 2-1
RESET, 2-2
Channel-specific diameter programming, 2-3
Constant cutting rate, 2-1
R
Radius-related data, 2-5
D Reference axis for RESET, end of parts program or
start of parts program retained, 2-2
DIACYCOFA[axis], 2-4
DIAM90, 2-3
DIAM90/DIAM90A[AX], 2-5
DIAM90A[axis], 2-4
S
DIAMCHAN, 2-4 Several transverse axes
DIAMCHANA[axis], 2-4 Acceptance of the additional transverse axis, 2-4
DIAMCYCOF, 2-3 Axis identifier, 1-1
DIAMCYCOF/DIACYCOFA[AX], 2-5 Axis replacement in synchronized actions, 2-4
DIAMOF, 2-3 Axis replacement via axis container rotation, 2-4
DIAMOFA[axis], 2-4 Axis-specific diameter programming, 2-3
DIAMON, 2-3 Definition of several transversing axes in the
DIAMON/DIAMONA[AX], 2-5 channel, 2-1
DIAMONA[axis], 2-4 Dimension can be activated as a diameter, 2-7
Display of actual values as a diameter, 2-7
Display of remaining path in WCS always as a
radius, 2-6 T
Displaying position values in the diameter, 2-6
Transverse axes functions, 1-1
DRF-traveling with handwheel, 2-6
Transverse axis
Definition, 1-1
Definition of a transversing axis in the channel, 2-1
G Dimensions, 2-3
Geometry axes during handwheel traveling, 2-7 Initial setting, 2-4
Position and designation, 2-1
Programming the transversing commands, 1-2
M
MD20100, 2-1, 2-7
MD20110, 2-2, 2-4
MD20112, 2-2

Transverse axes (P1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 Index-1
Index

W
Work offset $P_EXTFRAME, 2-7
Work offset external, 2-7

Transverse axes (P1)

Index-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Brief description 1

Detailed description 2

Supplementary conditions 3
SINUMERIK 840D/840Di/810D
Examples 4
PLC basic program powerline 5
Data lists
pl)

Function Manual

Valid for

Control
SINUMERIK 840D powerline/840DE powerline
SINUMERIK 840Di powerline/840DiE powerline
SINUMERIK 810D powerline/810DE powerline

Software Version
NCU system software for 840D/840DE 7.4
NCU system software for 840Di/840DiE 3.3
NCU system software for 810D/810DE 7.4

03/2006 Edition
6FC5397-0BP10-1BA0
Safety Guidelines
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent
damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are
graded according to the degree of danger.

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

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

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

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

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

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

Prescribed Usage
Note the following:

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

Trademarks
All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this
publication may be trademarks whose use by third parties for their own purposes could violate the rights of the
owner.

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

Siemens AG Order No.: 6FC5397-0BP10-1BA0 Copyright © Siemens AG 2006.

Automation and Drives Edition 05/2006 Technical data subject to change
Postfach 48 48
90437 NÜRNBERG
GERMANY
Table of contents
1 Brief description ...................................................................................................................................... 1-1
2 Detailed description ................................................................................................................................ 2-1
2.1 Key PLC CPU data for 810D, 840D and 840Di ......................................................................... 2-1
2.2 Reserve resources (timers, FC, FB, DB, I/O) ............................................................................ 2-8
2.3 Starting up hardware configuration of PLC CPUs ..................................................................... 2-9
2.4 Starting up the PLC program ................................................................................................... 2-15
2.4.1 Installing the basic program for 810D, 840D ........................................................................... 2-15
2.4.2 Application of basic program.................................................................................................... 2-16
2.4.3 Version codes .......................................................................................................................... 2-17
2.4.4 Machine program ..................................................................................................................... 2-18
2.4.5 Data backup ............................................................................................................................. 2-19
2.4.6 PLC series startup, PLC archives: ........................................................................................... 2-19
2.4.7 Software upgrades................................................................................................................... 2-21
2.4.8 I/O modules (FM, CP modules) ............................................................................................... 2-22
2.4.9 Troubleshooting ....................................................................................................................... 2-22
2.5 Linking PLC CPUs to 810D, 840D ........................................................................................... 2-23
2.5.1 Properties of PLC CPUs .......................................................................................................... 2-23
2.5.2 Interface on 810D and 840D with integrated PLC ................................................................... 2-24
2.5.3 Diagnostic buffer on PLC ......................................................................................................... 2-26
2.6 Interface structure .................................................................................................................... 2-28
2.6.1 PLC/NCK interface................................................................................................................... 2-28
2.6.2 PLC/MMC interface.................................................................................................................. 2-35
2.6.3 PLC/MCP/HHU interface ......................................................................................................... 2-38
2.7 Structure and functions of the basic program .......................................................................... 2-42
2.7.1 Startup and synchronization of NCK PLC................................................................................ 2-42
2.7.2 Cyclic operation (OB1)............................................................................................................. 2-42
2.7.3 Time-alarm processing (OB 35)............................................................................................... 2-45
2.7.4 Process-alarm processing (OB 40).......................................................................................... 2-45
2.7.5 Response to NC failure............................................................................................................ 2-45
2.7.6 Functions of the basic program called from the user program ................................................ 2-46
2.7.7 Symbolic programming of user program with interface DB ..................................................... 2-49
2.7.8 M decoding acc. to list ............................................................................................................. 2-50
2.7.9 PLC machine data ................................................................................................................... 2-54
2.7.10 Configuration of machine control panel, handheld unit ........................................................... 2-58
2.8 SPL for Safety Integrated......................................................................................................... 2-66
2.9 Assignment overview ............................................................................................................... 2-66
2.9.1 Assignment: NC/PLC interface ................................................................................................ 2-66
2.9.2 Assignment: FB/FC.................................................................................................................. 2-67
2.9.3 Assignment: DB ....................................................................................................................... 2-67
2.9.4 Assignment: Timers ................................................................................................................. 2-69
2.10 Memory requirements of basic PLC program for 810D, 840D ................................................ 2-69

PLC basic program powerline (P3 pl)

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Table of contents

2.11 Supplementary conditions and NC VAR selector .................................................................... 2-72

2.11.1 Supplementary conditions........................................................................................................ 2-72
2.11.1.1 Programming and parameterizing tools ................................................................................... 2-72
2.11.1.2 SIMATIC documentation required............................................................................................ 2-74
2.11.1.3 Relevant SINUMERIK documents ........................................................................................... 2-75
2.11.2 NC VAR selector ...................................................................................................................... 2-75
2.11.2.1 Overview .................................................................................................................................. 2-75
2.11.2.2 Description of Functions........................................................................................................... 2-77
2.11.2.3 Startup, installation................................................................................................................... 2-86
2.12 Block descriptions .................................................................................................................... 2-86
2.12.1 FB 1: RUN_UP Basic program, startup section ....................................................................... 2-86
2.12.2 FB 2: Read GET NC variable................................................................................................... 2-98
2.12.3 FB 3: PUT write NC variables ................................................................................................ 2-105
2.12.4 FB 4: PI_SERV General PI services ...................................................................................... 2-111
2.12.5 FB 5: GETGUD read GUD variable ....................................................................................... 2-133
2.12.6 FB 7: PI_SERV2 General PI services .................................................................................... 2-137
2.12.7 FB 9: M : N operating-unit switchover.................................................................................... 2-141
2.12.8 FB 10: Safety relay (SI relay) ................................................................................................. 2-146
2.12.9 FB 11: Brake test ................................................................................................................... 2-149
2.12.10 FB 29: Signal recorder and data trigger diagnostics.............................................................. 2-154
2.12.11 FC 2: GP_HP Basic program, cyclical section ....................................................................... 2-157
2.12.12 FC 3: GP_PRAL Basic program, interruptcontrolled section ................................................. 2-158
2.12.13 FC 5: GP_DIAG Basic program, diagnostic alarm, and module failure ................................. 2-161
2.12.14 FC 7: TM_REV Transfer block for tool change with revolver................................................. 2-163
2.12.15 FC 8: TM_TRANS transfer block for tool management ......................................................... 2-166
2.12.16 FC 9: ASUB startup of asynchronous subprograms.............................................................. 2-173
2.12.17 FC 10: AL_MSG error and operating messages.................................................................... 2-175
2.12.18 FC 12: AUXFU call interface for user with auxiliary functions ............................................... 2-177
2.12.19 FC 13: BHGDisp display control for handheld unit ................................................................ 2-178
2.12.20 FC 15: POS_AX positioning of linear and rotary axes ........................................................... 2-181
2.12.21 FC 16: PART_AX positioning of indexing axes...................................................................... 2-186
2.12.22 FC 17: YDelta star/delta changeover..................................................................................... 2-190
2.12.23 FC 18: SpinCtrl spindle control .............................................................................................. 2-193
2.12.24 FC 19: MCP_IFM transmission of MCP signals to interface.................................................. 2-202
2.12.25 FC 21: transfer PLC NCK data exchange.............................................................................. 2-209
2.12.26 FC 22: TM_DIR Direction selection for tool management ..................................................... 2-216
2.12.27 FC 24: MCP_IFM2 Transmission of MCP signals to interface............................................... 2-219
2.12.28 FC 25: MCP_IFT transfer of MCP/OP signals to interface .................................................... 2-222
2.12.29 FC 26: HPU_MCP Transfer of HPU/HT6 signals to the interface.......................................... 2-225
2.12.29.1 General................................................................................................................................... 2-225
2.12.29.2 MCP selection signals to the user interface........................................................................... 2-228
2.12.29.3 Checkback signals from user interface for controlling displays ............................................. 2-230
2.12.30 FC 19, FC 24, FC 25, FC 26 source code description........................................................... 2-230
2.13 Signal/data descriptions ......................................................................................................... 2-232
2.13.1 Interface signals NCK/PLC, MMC/PLC, MCP/PLC ............................................................... 2-232
2.13.2 Decoded M signals................................................................................................................. 2-232
2.13.3 G Functions ............................................................................................................................ 2-234
2.13.4 Message signals in DB 2........................................................................................................ 2-236
2.14 Useful Tips on Programming with STEP 7............................................................................. 2-238
2.14.1 General................................................................................................................................... 2-238
2.14.2 Copying data .......................................................................................................................... 2-238
2.14.3 ANY and POINTER................................................................................................................ 2-239
2.14.3.1 General................................................................................................................................... 2-239
2.14.3.2 Use of POINTER and ANY in FC if POINTER or ANY is available as parameter................. 2-239
2.14.3.3 Use of POINTER and ANY in FB if POINTER or ANY is available as parameter ................. 2-240
2.14.3.4 POINTER or ANY variable for transfer to FC or FB............................................................... 2-241

PLC basic program powerline (P3 pl)

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 Table of contents

2.14.4 Multiinstance DB .................................................................................................................... 2-243

2.14.5 Strings .................................................................................................................................... 2-244
2.14.6 Determining offset addresses for data block structures ........................................................ 2-245
3 Supplementary conditions ...................................................................................................................... 3-1
4 Examples................................................................................................................................................ 4-1
5 Data lists................................................................................................................................................. 5-1
5.1 Machine data.............................................................................................................................. 5-1
5.1.1 NC-specific machine data .......................................................................................................... 5-1
5.1.2 Channelspecific machine data ................................................................................................... 5-1
Index................................................................................................................................................ Index-1

PLC basic program powerline (P3 pl)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 v
Table of contents

PLC basic program powerline (P3 pl)

vi Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Brief description 1
General
The PLC basic program organizes the exchange of signals and data between the PLC user
program and the NCK (Numerical Control Kernel), HMI (Human-Machine Interface) and
MCP (Machine Control Panel) areas. A distinction is made between the following groups for
signals and data:
• Cyclic signal exchange
• Eventdriven signal exchange
• Messages

Cyclic signal exchange

The cyclically-exchanged signals consist primarily of bit arrays.
• They contain commands transmitted from the PLC to the NCK (such as start or stop) and
status information from the NCK (such as program running, interrupted, etc.).
• The bit fields are organized into signals for:
– Mode groups
– channels
– Axes/spindles
– General NCK signals
The cyclic exchange of data is performed by the basic program at the start of the PLC cycle
(OB1). This ensures that the signals from the NCK remain constant throughout the cycle.

Event-driven signal exchange NCK → PLC

PLC functions that have to be executed as a function of the workpiece program are triggered
by auxiliary functions in the workpiece program. If the auxiliary functions are used to start
execution of a block, the type of auxiliary function determines whether the NCK has to wait
before executing the function (e.g. during a tool change) or whether the function is executed
in parallel to machining of the workpiece (e.g. for tool preparation on milling machines with
chaintype magazines).
Data transfer must be as fast and yet as reliable as possible, in order to minimize the effect
on the NC machining process. Data transfer is therefore controlled by alarms and
acknowledgments. The basic program evaluates the signals and data, acknowledges this to
the NCK and transfers the data to the application interface at the start of the cycle. If the data
do not require user acknowledgment, this does not affect NC processing.

PLC basic program powerline (P3 pl)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 1-1
Brief description

Event-driven signal exchange PLC → NCK

An "eventdriven signal exchange PLC → NCK" takes place whenever the PLC passes a
request to the NCK (e.g., traversal of an auxiliary axis). In this case, the data transfer is also
controlled by acknowledgment. When performed from the user program, this type of signal
exchange is triggered using a function block (FB) or function call (FC).
The associated FBs (Function Blocks) and FCs (Function Calls) are supplied together with
the basic program.

Messages
User messages are acquired and conditioned by the basic program. A defined bit field is
used to transfer the message signals to the basic program. The signals are evaluated there
and entered in the PLC diagnostics buffer on the occurrence of the message events. If a
control unit is present, the messages are displayed on the operator interface.

Note
The function of the machine is largely determined by the PLC program. Every PLC program
in the working memory can be edited with the programming device.

PLC basic program powerline (P3 pl)

1-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Detailed description 2
2.1 Key PLC CPU data for 810D, 840D and 840Di
The tables below show the performance range of the PLC CPUs and the scope of the
basic PLC program relative to the various controller types.

Type of control: 810D and 840D

Key CPU data

810D / 840D 810D / 840D 810D / 840D

PLC CPU Integrated PLC Integrated PLC Integrated PLC
CPU314 CPU315-2DP CPU315-2DP master/slave
MLFB 6ES7 315-2AF00-0AB0 6ES7 315-2AF01-0AB0
Memory for user and basic 64, 96, 128 KB 64, 96 128, 160, 192, 224, 96, 160, 224, 288, 352, 416,
program 256, 288 KB 480 KB
(dependent on option) (dependent on option)
Data block memory Like user memory Like user memory Up to 96 KB
Memory submodule no no no
Bit memories 2048 2048 2048/ 4096 with PLC
operating system 03.10.13 or
later
Timers 128 128 128
Counters 64 64 64
Clock memories 8 8 8
Program/data blocks
OB
1, 10, 20, 35, 40, 1, 10, 20, 35, 40, 1, 10, 20, 35, 40,
80-82, 85, 87, 100, 80-82, 85-87, 100, 80-82, 85-87, 100,
FB 121-122 121-122 121-122
FC 1-127 1-127 0-255
DB 1-127 1-127 0-255
1-127 1-127 1-399
Max. data block length 16 KB 16 KB 16 KB
Max. block length FC, FB 24 KB 24 KB 24 KB
Inputs/outputs
(address capacity)
- digital 768 1024/1024 1024/1024
- analog 64 64 64
Inputs/outputs 1) Subrack 0 is not available for Through optional configuring Through optional configuring

PLC basic program powerline (P3 pl)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-1
Detailed description
2.1 Key PLC CPU data for 810D, 840D and 840Di

810D / 840D 810D / 840D 810D / 840D

(addressing) I/O devices: of I/O devices: of I/O devices:
- digital from I/O byte 32 onwards from I/O byte 0 onwards from I/O byte 0 onwards
- analog from PI/PO byte 384 from PI/PO byte 272 from PI/PO byte 272
onwards onwards onwards
Processing time
- Bit commands (I/O) 0.3 ms/kA 0.3 ms/kA 0.3 ms/kA
- Word commands 1-4 ms/kA 1-4 ms/kA 1-4 ms/kA
PDIAG (Alarm S,SQ) no no yes
PROFIBUS N/A Master Master/Slave
Number of PROFIBUS Min. 16, max. 64 Min. 16, max. 64
slaves SDB 2000 ≤ 8 KB SDB 2000 ≤ 32 KB
PBC (programmable block no no yes
communication)
Consistent data to standard N/A 26 26
slave via SFC 14, 15
1) Subrack 0 is integrated in the NC. Subracks 1 to 3 are available for I/O devices.

I/O expansion

810D / 840D 810D / 840D 810D / 840D

PLC CPU Integrated PLC Integrated PLC Integrated PLC
CPU314 CPU315-2DP CPU315-2DP master/slave
MLFB 6ES7 315-2AF00-0AB0 6ES7 315-2AF01-0AB0
I/O modules 24 24 24
PROFIBUS DP modules N/A yes yes
Interfaces (MPI) 1 1 1

Types of control: 840Di, 810D and 840D

Key CPU data

840Di 810D 840D

PLC CPU Integrated PLC 315-2DP Integrated PLC 315-2DP Integrated PLC 314C-2DP
master/slave master/slave master/slave
MLFB 6ES7 315-2AF03-0AB0 6ES7 315-2AF03-0AB0 6FC5 314-6CF00-0AB0
Memory for user 64, 96, 128, 160, 192, 224, 64, 96, 128, 160, 192, 224, 96, 160, 224, 352, 416, 480
and basic program 256 KB 288 KB KB
(dependent on option)
Data block memory Like user memory Like user memory Up to 96 KB
Memory submodule no no no
Bit memories 4096 4096 4096
Timers 128 128 256
Counters 64 64 256
Clock memories 8 8 8

PLC basic program powerline (P3 pl)

2-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.1 Key PLC CPU data for 810D, 840D and 840Di

840Di 810D 840D

Program/data blocks
OB 1, 10, 20, 35, 40, 1, 10, 20, 35, 40, 1, 10, 20, 35, 40,
80-82, 85-87, 100, 80-82, 85-87, 100, 80-82, 85-87,100,
121-122 121-122 121-122
FB 0-255 0-255 0-255
FC 0-255 0-255 0-255
DB 1-399 1-399 1-399
Max. length of data block 16 KB 16 KB 16 KB
Max. block length FC, FB 24 KB 24 KB 24 KB
Inputs/outputs
(address capacity)
- digital 1024/1024 1024/1024 1024/1024
- analog 64 64 64
Inputs/outputs 1) Through optional configuring Through optional configuring Through optional configuring
(addressing) of I/O devices: of I/O devices: of I/O devices:
- digital from I/O byte 0 onwards from I/O byte 0 onwards from I/O byte 0 onwards
- analog from PI/PO byte 272 from PI/PO byte 272 from PI/PO byte 272
onwards onwards onwards
(PROFIBUS only)
Processing time
- Bit commands (I/O) 0.3 ms/kA 0.3 ms/kA 0.1 ms/kA
- Word commands 1-4 ms/kA 1-4 ms/kA 0.25-1.2 ms/kA
PDIAG (Alarm S,SQ) Yes Yes Yes
PROFIBUS Master Master/Slave Master/Slave
Number of PROFIBUS Max. 64 Max. 64 Max. 32
slaves SDB 2000 ≤ 32 KB SDB 2000 ≤ 32 KB SDB 2000 ≤ 32 KB
Max. number of PROFIBUS 256 256 256
slots
PBC (programmable block Yes Yes Yes
communication)
Consistent data to standard 26 26 32
slave via SFC 14, 15
1) Subrack 0 is integrated in the NC. Subracks 1 to 3 are available for I/O devices.

I/O expansion

840Di 810D 840D

PLC CPU Integrated PLC 315-2DP Integrated PLC 315-2DP Integrated PLC 314C-2DP
master/slave master/slave master/slave
MLFB 6ES7 315-2AF03-0AB0 6ES7 315-2AF03-0AB0 6FC5 314-6CF00-0AB0
I/O modules PROFIBUS only 24 24
PROFIBUS DP modules Yes Yes Yes
Interfaces (MPI) 1 1 1

PLC basic program powerline (P3 pl)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-3
Detailed description
2.1 Key PLC CPU data for 810D, 840D and 840Di

Types of control: 840Di and 840D

Key CPU data

840Di 840D
PLC CPU Integrated PLC 317-2DP Integrated PLC 317-2DP
master/slave master/slave
MLFB 6FC5 317-2AJ10-0AB0 6FC5 317-2AJ10-1AB0
Memory for user 128 to 768 KB 128 to 768 KB
and basic program
Data block memory Max. 256 KB Max. 256 KB
Memory submodule no no
Bit memories 32768 32768
Timers 512 512
Counters 512 512
Clock memories 8 8
Program/data blocks:
OB
10, 20-21, 32-35, 40, 55-57, 10, 20-21, 32-35, 40, 55-57,
80, 82, 85-87, 100, 80, 82, 85-87,100,
FB 121-122 121-122
FC 0-2048 0-2048
DB 0-2048 0-2048
1-2048 1-2048
Max. length of data block 32 KB 32 KB
Max. block length FC, FB 64 KB 64 KB
Inputs/outputs 1)
(address capacity in bytes):
- digital / - analog
- incl. reserved area 4096/4096 4096/4096
- process image 8192/8192 8192/8192
Note: The inputs/outputs 256/256 256/256
above 4096 are reserved for
integrated drives.
Inputs/outputs 2) Through optional configuring Through optional configuring
(addressing): of I/O devices: of I/O devices:
- digital from I/O byte 0 onwards from I/O byte 0 onwards
- analog from PI/PO byte 272 from PI/PO byte 272
onwards onwards
(PROFIBUS only)
Processing time:
- Bit commands (I/O) ≤ 0.031 ms/kA ≤ 0.103 ms/kA
- Word commands 0.1 ms/kA 0.1 ms/kA
PDIAG (Alarm S,SQ) Yes Yes
PROFIBUS Master/Slave Master/Slave
Number of PROFIBUS max. 125 max. 125
slaves
Max. number of PROFIBUS 512 512

PLC basic program powerline (P3 pl)

2-4 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.1 Key PLC CPU data for 810D, 840D and 840Di

840Di 840D
slots
DP master system: DP 1 1
DP master system: MPI/DP 2 N/A
PBC (programmable block Yes Yes
communication)
Consistent data to standard 128 128
slave via SFC 14, 15
1) Notice!: The inputs/outputs above 4096 are reserved for integrated drives.
2) Subrack 0 is integrated in the NC. Subracks 1 to 3 are available for I/O devices.

I/O expansion

840Di 840D
PLC CPU Integrated PLC 317-2DP Integrated PLC 317-2DP
master/slave master/slave
MLFB 6FC5 317-2AJ10-0AB0 6FC5 317-2AJ10-1AB0
I/O modules PROFIBUS only 24
PROFIBUS DP modules 1 (2) 1
Interfaces (MPI) 1 (0) 1

Note
Number of PROFIBUS slaves
Because SDB 2000 and other SDBs must be stored by the PLC operating system in the
static RAM area, which the Profibus ASIC can also access, the information from SDB2000
can continue to be transferred to the NCK and the PLC basic program in conditioned form
(CPI interface).
This is necessary for controlling drives and PROFIsafe modules on Profibus. A memory area
defined by the PLC is available for these data structures. Its size is limited by the maximum
number of slots. This means that during loading, SDBs with fewer slaves than listed above
may be rejected. A slot is usually a slave module or the slave itself. A module only counts as
2 slots in cases where it features both I and O areas.
For this reason it is not possible to specify the exact size of SDB 2000.
It is only possible to say whether the configuration is permssible after the SDB container has
been loaded into the CPU. The values specified in the tables mentioned above are therefore
only intended as guidelines.
If the configuration is impermissible, a request for a general reset is issued when the SDBs
are loaded. The cause of the configuring error can be found in the diagnostic buffer on
completion of the general reset.

PLC basic program powerline (P3 pl)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-5
Detailed description
2.1 Key PLC CPU data for 810D, 840D and 840Di

PLC versions
In SW 3.5 and higher on the 840D, version 6 (version code 35.06.03) is installed with PLC
314 and version 3 (version code 35.03.03) with PLC 315-2DP or higher.
These versions are compatible with the corresponding SIMATIC CPU300.
All modules and software packages approved by SIMATIC for these versions and CPUs are
therefore suitable. Modules that can only be installed in subrack 0 are the exception
(modules FM NC and FM 357 are also exceptions).
Version code: XX.YY.ZZ
• XX: SIMATIC CPU PLC version
• YY: Firmware transfer increment
• ZZ: Internal increment
Example

PLC 315-2DP with MLFB 6ES7 315-2AF00-0AB0: 04.02.14

PLC 315-2DP with MLFB 6ES7 315-2AF01-0AB0: 03.10.23
PLC 314: 07.02.12

HMI version display

The PLC module, the PLC operating system version and the module code appear in the last
line of the HMI version display.
Example

PLC module PLC operating system version Module code

S7 PLC_315-2DP system 03.10.23 1200

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 Detailed description
2.1 Key PLC CPU data for 810D, 840D and 840Di

Module codes
The table below shows the relationship between the module code and the corresponding
PLC module, the suitable PLC operating system and its current software version:

Module code PLC module Suitable PLC operating systems PLC operating
(corresponding SIMATIC MLFB) system SW version
0208 PLC 314 6ES7 314–1AE0–0AB0 07.02.12
1008 PLC 3152DP with ASPC 2 Step C 6ES7 315–2AF00–0AB0 04.02.14
1100 PLC 3152DP with ASPC 2 Step D 6ES7 315–2AF01–0AB0 03.10.23
1200 PLC 3152DP with ASPC 2 Step E 6ES7 315–2AF01–0AB0 03.10.23
6ES7 315–2AF03–0AB0 FW1.2 12.30.10
1400 PLC 314C2DP with IBC 16 6ES7 314–6CF00–0AB0 FW1.0.2 10.60.20
2200 PLC 317-2DP with IBC 32 6ES7 317–2AJ10–0AB0 FW2.1 20.71.15
MCI 1 (840Di) PLC 3152DP with ASPC 2 Step E 6ES7 315–2AF03–0AB0 FW1.0 04.20.36
MCI 2 (840Di) PLC 317-2DP with IBC32 6ES7 317–2AJ10–0AB0 FW2.1 20.70.17
2100

810 D, 840D
The tables below show the key data of the OPI interface and the PLC basic program
functionality with reference to SINUMERIK 810D, 840D and 840Di:
OPI interface

840Di 810D 840D

Number N/A N/A 1

PLC basic program functions

840Di 810D 840D

Axes/spindles 1) 5 31
channels 1) 2 10
Mode groups 1) 1 10
Status/control signals + + +
M decoders (M00-99) + + +
G group decoders + + +
Aux. function distributors + + +
Interrupt-driven output of auxiliary functions + + +
Move axes/spindles from PLC + + +
Async. subprogram interface - - -
Error/operating messages + + +
MCP and handheld unit signals via NCK + + +
Reading/writing of NC variables + + +

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2.2 Reserve resources (timers, FC, FB, DB, I/O)

840Di 810D 840D

PI services + + +
Tool management + + +
Star/delta switchover + + +
Display control handheld unit + + +
1) Depends on chosen system software package

2.2 Reserve resources (timers, FC, FB, DB, I/O)

Reserved components
The components below are reserved for the basic program:

Component Reserved range

Timers T0 - T9
Functions (general) FC 0 - FC 29
Functions (in ShopMill/ShopTurn) FC 0 - FC 35
Function blocks FB 0 - FB 29
Data blocks (general)1) DB 1 - DB 62; DB 71 - DB 80
Data blocks (in ShopMill/ShopTurn) 1) DB 1 - DB 62; DB 71 - DB 89
1) The data blocks for channels, axes/spindles and tool management functions that are not activated may be assigned as
required by the user.

PLC 317-2DP
PLC CPU: PLC 317-2DP are reserved for further number bands for SIEMENS applications
referring to FC, FB, DB and I/O areas.
FC, FB and DB

Component Reserved range

Functions FC 1000 - FC 1023
Function blocks FB 1000 - FB 1023
Data blocks DB 1000 - DB 1099

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2.3 Starting up hardware configuration of PLC CPUs

I/O range

Component Reserved range

Address area 256 - 271 1)
Inputs/outputs 4096 upwards2)
1) Reserved for the NC module and future expansions
2) Reserved for integrated drives However, diagnostics addresses for modules can only be placed in the uppermost
address range, as suggested by STEP7.

2.3 Starting up hardware configuration of PLC CPUs

General procedure
STEP 7 is used to define the hardware configuration for a PLC CPU, including the
associated I/O.
The procedure to be followed is shown below:
1. Load tool box to PG/PC
2. Create a new project (File, New, Project)
3. Insert, Hardware, SIMATIC 300 station
4. Select SIMATIC 300 station1 with mouse
5. Open object by right-clicking with the mouse to start the HWConfig
6. Destination system, load to PG, the hardware equipment complement is read back from
the central system
7. Configure distributed I/Os
8. Insert PLC basic program
The addresses for the I/O modules can be changed if necessary (permissible only on certain
PLC CPUs, e.g. PLC 3152DP).
As an alternative, the entire hardware configuration can be entered manually (see also
appropriate STEP7 documentation). The notices below must be observed.

STEP7, Version 3
With STEP7 Version 3 and higher, the hardware configuration of the SINUMERIK
components must be defined via the entries in SIMATIC\RACK 300. The install or setup
program of the basic program on the tool box diskettes is required for this purpose.

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2.3 Starting up hardware configuration of PLC CPUs

STEP7 Version 5.1 SP2 and Toolbox 6.03.02

With STEP7 V5.1 SP2 and Toolbox 6.03.02 or later, the SINUMERIK components are stored
under SIMATIC 300\SINUMERIK. The current hardware expansion for STEP 7 can also be
found under eSupport.
Current path (02/13/2004): sinumerik_software > 840d/810d/fm-nc > patches & fixes > plc >
Hardware_fuer_STEP7 > Hardware upto NCU*.5/CCU3/840Di_MCI2 > V6.5.2.0

Comparable Selection from STEP7 hardware

NCU MLFB SIMATIC CPU MLFB catalog
included
CCU1 810D CPU 6FC5 410-0AA00-0AA0 6ES7 314-1AE01-0AB0 810D/840D with PLC314
CCU2 810D CPU 6FC5 410-0AA01-0AA0 6ES7 314-1AE01-0AB0 810D/840D with PLC314
CCU1 810DE CPU 6FC5 410-0AY01-0AA0 6ES7 314-1AE01-0AB0 810D/840D with PLC314
CCU2 810D CPU 6FC5 410-0AX02-0AA0 6ES7 314-1AE01-0AB0 810D/840D with PLC314
SINUMERIK 810DE Light 6FC5 410-0AY00-0AA0 6ES7 314-1AE01-0AB0 810D/840D with PLC314
CCU1 module
with system software (export)
SINUMERIK 810D CCU2 6FC5 410-0AX02-1AA0 6ES7 315-2AF01-0AB0 810D/840D with PLC3152AF01
module with system software
(standard)
SINUMERIK 840DE NCU 6FC5 356-0BB11-0AE0 6ES7 315-2AF01-0AB0 810D/840D with PLC3152AF01
561.2 without system
software
SINUMERIK 840D NCU 571 6FC5 357-0BA10-0AE0 6ES7 314-1AE01-0AB0 810D/840D with PLC314
(export version)
SINUMERIK 840D NCU 571 6FC5 357-0BA11-0AE0 6ES7 315-2AF00-0AB0 840D with PLC3152AF00
(export version) with
PROFIBUS DP
SINUMERIK 840D NCU 6FC5 357-0BA11-1AE0 6ES7 315-2AF01-0AB0 810D/840D with PLC3152AF01
571.2 (export version) with
PROFIBUS DP
SINUMERIK 840DE NCU 6FC5 357-0BB11-0AE0 6ES7 315-2AF01-0AB0 810D/840D with PLC3152AF01
571.2 without system
software
SINUMERIK 840D NCU 572 6FC5 357-0BA20-0AE0 6ES7 314-1AE01-0AB0 810D/840D with PLC314
SINUMERIK 840D NCU 572 6FC5 357-0BA20-1AE0 6ES7 314-1AE01-0AB0 810D/840D with PLC314
SINUMERIK 840D NCU 572 6FC5 357-0BA21-0AE0 6ES7 315-2AF00-0AB0 840D with PLC3152AF00
SINUMERIK 840D NCU 572 6FC5 357-0BA21-1AE0 6ES7 315-2AF00-0AB0 840D with PLC3152AF00
SINUMERIK 840D NCU 6FC5 357-0BA21-1AE1 6ES7 315-2AF01-0AB0 810D/840D with PLC3152AF01
572.2 (export version) with
PROFIBUS DP
SINUMERIK 840D/DE NCU 6FC5 357-0BB21-0AE0 6ES7 315-2AF01-0AB0 810D/840D with PLC3152AF01
572.2 without system
software
SINUMERIK 840D/DE NCU 6FC5 357-0BB22-0AE0 6ES7 315-2AF01-0AB0 10D/840D with PLC315-2AF01
572.3 without system
software

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 Detailed description
2.3 Starting up hardware configuration of PLC CPUs

Comparable Selection from STEP7 hardware

NCU MLFB SIMATIC CPU MLFB catalog
included
SINUMERIK 840D NCU 572 6FC5 357-0BY20-0AE0 6ES7 314-1AE01-0AB0 810D/840D with PLC314
(export version)
SINUMERIK 840D NCU 572 6FC5 357-0BY20-1AE0 6ES7 314-1AE01-0AB0 810D/840D with PLC314
(export version)
SINUMERIK 840D NCU 572 6FC5 357-0BY21-0AE0 6ES7 315-2AF00-0AB0 840D with PLC3152AF00
(export version) with
PROFIBUS DP
SINUMERIK 840D NCU 572 6FC5 357-0BY21-1AE0 6ES7 315-2AF00-0AB0 840D with PLC3152AF00
(export version) with
PROFIBUS DP
SINUMERIK 840D NCU 6FC5 357-0BY21-1AE1 6ES7 315-2AF01-0AB0 810D/840D with PLC3152AF01
572.2 (export version) with
PROFIBUS DP
SINUMERIK 840D NCU 572 6FC5 357-0BA24-0AE0 6ES7 314-1AE01-0AB0 810D/840D with PLC314
with digitizing
SINUMERIK 840D NCU 6FC5 357-0BA24-1AE0 6ES7 315-2AF01-0AB0 810D/840D with PLC3152AF01
572.2 with digitizing and
PROFIBUS DP
SINUMERIK 840D/DE NCU 6FC5 357-0BB24-0AE0 6ES7 315-2AF01-0AB0 810D/840D with PLC3152AF01
572.2 without system
software
SINUMERIK 840D NCU 572 6FC5 357-0BY24-0AE0 6ES7 314-1AE01-0AB0 810D/840D with PLC314
(export version) with
digitizing
SINUMERIK 840D NCU 6FC5 357-0BY24-1AE0 6ES7 315-2AF01-0AB0 810D/840D with PLC3152AF01
572.2 (export version) with
digitizing and PROFIBUS DP
SINUMERIK 840D NCU 573 6FC5 357-0BA30-0AE0 6ES7 314-1AE01-0AB0 810D/840D with PLC314
SINUMERIK 840DE NCU 6FC5 357-0BY30-0AE0 6ES7 314-1AE01-0AB0 810D/840D with PLC314
573 (export version)
SINUMERIK 840D NCU 573 6FC5 357-0BA31-0AE0 6ES7 314-1AE01-0AB0 810D/840D with PLC314
with digitizing
SINUMERIK 840D NCU 573 6FC5 357-0BY31-0AE0 6ES7 314-1AE01-0AB0 810D/840D with PLC314
(export version) with
digitizing
SINUMERIK 840D NCU 573 6FC5 357-0BA32-0AE1 6ES7 315-2AF00-0AB0 840D with PLC3152AF00
with PROFIBUS DP
SINUMERIK 840D NCU 573 6FC5 357-0BY32-0AE1 6ES7 315-2AF00-0AB0 840D with PLC3152AF00
(export version) with
PROFIBUS DP
SINUMERIK 840D NCU 573 6FC5 357-0BA33-0AE0 6ES7 315-2AF00-0AB0 840D with PLC3152AF00
with PROFIBUS DP
SINUMERIK 840D NCU 573 6FC5 357-0BY33-0AE0 6ES7 315-2AF00-0AB0 840D with PLC3152AF00
(export version) with
PROFIBUS DP
SINUMERIK 840D NCU 6FC5 357-0BA32-1AE0 6ES7 315-2AF01-0AB0 810D/840D with PLC3152AF01
573.2 (Pentium Pro) up to 12
axes with PROFIBUS DP

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Detailed description
2.3 Starting up hardware configuration of PLC CPUs

Comparable Selection from STEP7 hardware

NCU MLFB SIMATIC CPU MLFB catalog
included
SINUMERIK 840D NCU 6FC5 357-0BA33-1AE0 6ES7 315-2AF01-0AB0 810D/840D with PLC3152AF01
573.2 (Pentium Pro) up to 31
axes with PROFIBUS DP
SINUMERIK 840D/DE NCU 6FC5 357-0BB33-0AE0 6ES7 315-2AF01-0AB0 810D/840D with PLC3152AF01
573.2 without system
software
SINUMERIK 840D/DE NCU 6FC5 357-0BB33-0AE1 6ES7 315-2AF01-0AB0 810D/840D with PLC3152AF01
573.2 Pentium II without
system software
SINUMERIK 840D NCU 6FC5 357-0BA31-1AE0 6ES7 315-2AF01-0AB0 810D/840D with PLC3152AF01
573.2 (Pentium Pro) for
digitizing with PROFIBUS DP
SINUMERIK 840D/DE NCU 6FC5 357-0BB31-0AE0 6ES7 315-2AF01-0AB0 810D/840D with PLC3152AF01
573.2 without system
software
SINUMERIK 840D NCU 6FC5 357-0BY32-1AE0 6ES7 315-2AF01-0AB0 810D/840D with PLC3152AF01
573.2 (Pentium Pro) (export
version) for 12 axes with
PROFIBUS DP
SINUMERIK 840D NCU 6FC5 357-0BY33-1AE0 6ES7 315-2AF01-0AB0 810D/840D with PLC3152AF01
573.2 (Pentium Pro) (export
version) for 31 axes with
PROFIBUS DP
SINUMERIK 840D NCU 6FC5 357-0BY31-1AE0 6ES7 315-2AF01-0AB0 810D/840D with PLC3152AF01
573.2 (Pentium Pro) (export
version) for digitizing with
PROFIBUS DP
SINUMERIK 840Di 6FC5 220-0AA00-1AA0 6ES7 315-2AF03-0AB0 810D/810Di with PLC315-2AF03
SINUMERIK 840Di with PK 6ES7 315-2AF03-0AB0 810D/810Di with PLC315-2AF03,
bus PK bus
SINUMERIK 840D NCU 6FC5 357-0BB22-0AE0 with operating system 810D/840D with PLC3152AF01
572.3 03.10.23:
6ES7 315-2AF01-0AB0
SINUMERIK 840D NCU 6FC5 357-0BB22-0AE0 with operating system 810D/840D with PLC315-2AF03
572.3 12.30.07:
6ES7 315-2AF03-0AB0
SINUMERIK 840D NCU 6FC5 357-0BB33-0AE2 6ES7 315-2AF01-0AB0 810D/840D with PLC3152AF01
573.3
SINUMERIK 840D NCU 6FC5 357-0BB33-0AE2 with operating system 810D/840D with PLC315-2AF03
573.3 12.30.07: (as of STEP7 V5.0 and Toolbox
6ES7 315-2AF03-0AB0 05.03.05)
SINUMERIK 840D NCU 6FC5 357-0BB23-0AE0 6ES7 314-6CF00-0AB0 810D/840D with PLC314C-2DP
572.4
SINUMERIK 840D NCU 6FC5 357-0BB34-0AE1 6ES7 314-6CF00-0AB0 810D/840D with PLC314C-2DP
573.4
SINUMERIK 810D CCU3 6FC5 410-0AY03-0AA0 6ES7 315-2AF03-0AB0 810D/840D with PLC315-2AF03
SINUMERIK 840D NCU 6FC5 357-0BB11-0AE1 6ES7 315-2AF03-0AB0 810D/840D with PLC315-2AF03
571.3

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2.3 Starting up hardware configuration of PLC CPUs

Comparable Selection from STEP7 hardware

NCU MLFB SIMATIC CPU MLFB catalog
included
SINUMERIK 840D NCU 6FC5356-0BB11-0AE1 6ES7 315-2AF03-0AB0 810D/840D with PLC315-2AF03
561.3 (as of STEP7 V5.0 and Toolbox
05.03.05)
SINUMERIK 840D NCU 6FC5357-0BB12-0AE0 6ES7 314-6CF00-0AB0 810D/840D with PLC314C-2 DP
571.4 (STEP7 V5.1 SP3 and higher
and Toolbox 06.03.02)
SINUMERIK 840D NCU 6FC5356-0BB12-0AE0 6ES7 314-6CF00-0AB0 810D/840D with PLC314C-2 DP
561.4 (STEP7 V5.1 SP3 and higher
and Toolbox 06.03.02)
SINUMERIK 840D NCU 6FC5357-0BB35-0A E0 6ES7 317-2AJ00-0AB0 810D/840D with PLC317-2 DP
573.5 (STEP7 V5.2 SP1 and higher
and Toolbox 06.05.02)
SINUMERIK 840Di with 6FC5 222-0AA02-1AA0 6ES7 317-2AJ00-0AB0 810Di with PLC317-2 DP
MCI2 (STEP7 V5.2 SP1 and higher
and Toolbox 06.05.02)

Note
On the SINUMERIK 810D or 840D, SIMATIC subrack 0 is integrated in the NC. The
following components are plugged into this subrack:
- Slot 2: The integrated PLC (PLC 314 or PLC 315-2DP)
- Slot 3: An IM 360
- Slot 4: The FM NCU.
With PLC 314, NC software version 3.5 and higher, the FM NCU must also be defined if
further MPI (C bus) devices are included in subrack 1 to subrack 3 (e.g., FM modules with C
bus connection). The properties of the FM NCU must not be changed, as process interrupts
(e.g. auxiliary functions) of the NCU may, in this case, no longer function.

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2.3 Starting up hardware configuration of PLC CPUs

Figure 2-1 Hardware configuration of row 0 on 810D, 840D

MCP (Machine Control Panel) and HHU (HandHeld Unit)

(only for SINUMERIK 810D to SW 3.x)
If the MCP or HHU is configured (deviation from the norm), an additional SIMATIC 300
station must be inserted into the machine project for each operator component. Any type of
CPU must be inserted in location 2 on row 0 in this station by means of the hardware
configuration (HW config.). The MPI address of the operator component must be set as the
MPI address. MPI network (1) can then be marked in the SIMATIC manager. The global data
can then be activated via the "Tools" menu item.
The rest of the procedure is described in detail in the Commissioning Manual.

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2.4 Starting up the PLC program

2.4 Starting up the PLC program

2.4.1 Installing the basic program for 810D, 840D

Before initial startup of the NC, an NC and PLC general reset must be carried out to initialize
the relevant memory areas. To do this, set switch S3 to setting 1 and switch S4 to setting 3
and switch the control off and on again (POWER ON reset).

Installation
With Toolbox SW 6.1 and higher, the installation is performed by a WINDOWS-compliant
setup program for the basic program, hardware selection in STEP7 (SINUMERIK
810D/840D option package) and the NC-Var Selector. To start the installation, run
"setup.exe" in the main CD directory. You can then choose which components to install.
After the installation, you can select the basic program library directly from STEP 7
(gp8x0d61, 61 is the main basic program version).
The concrete version of the basic program can be scanned for the object properties of the
library or the program folder in the comment field.
From software version 3.7 to version 4.2, installation is carried out using INSTALL.BAT
(INSTALL1.BAT, INSTALL4.BAT).
This program installs the basic program and additional files for the relevant STEP7 version.
With automatic installation in STEP 7 V3 and higher, the TYP, GSD and meta files in the
hardware catalog are also augmented and updated.
The hardware components of the SINUMERIK system are then also available for hardware
configuration under STEP 7. This eliminates the need for unzipping, mentioned below.
The basic program is supplied in zipped format as a project for STEP 7 Version 1.x or as a
library for STEP 7 Version 2.x and subsequent versions.

General
The OB source programs, including standard parameterization, interface symbols and DB
templates for handheld unit and M decoding functions are enclosed in the SIMATIC project
or SIMATIC library of the basic program.
STEP 7 must be installed before the basic program.

STEP7 V1.x
The basic program is stored as a compressed file with the name GP840D.EXE (or
GP810D.EXE and GPFMNC.EXE) in the main directory on the diskette. The basic program
(GP840D.exe) must be copied to the main directory (root) of a drive (e.g., c:\) and then
called. The project structure required for the basic program is generated automatically. The
catalog name of the basic program is GP840Dxy.S7A. In this case, xy stands for the basic
program version.

Note
When STEP 7 V1 is used, the GP840Dxy.S7A catalog must be copied to the root directory.
Any existing catalog with the same name GP840Dxy.S7A must be deleted beforehand.

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2.4 Starting up the PLC program

STEP7 V2.x, 3.x

The basic program is stored as a compressed file with the name "GP840D.EXE" in directory
S7V2.840 or S7V2.810 or S7V2 on the basic program diskette. The basic program
(GP840D.exe) must be copied to subcatalog "S7LIBS" of STEP7 V2 (step7_v2) or
subsequent versions thereof and then called. The library structure required for the basic
program is generated automatically. The catalog name of the basic program is GP840Dxy. In
this case, xy stands for the basic program version. The file "MET.EXE" must be copied to the
basic catalog of STEP 7 and called from there via the DOS window with "MET.EXE –O".

Note
The name GP840D specified above refers to the basic program of the SINUMERIK 840D.
The basic program is named GP810D on the SINUMERIK 810D and GPFMNC on the FM-
NC. With effect from SW 4.2, the basic program for 810D and 840D is combined. It is now
called GP8x0D.

2.4.2 Application of basic program

A new CPU program (e.g., "Turnma1") must be set up in a project by means of the STEP7
software for each installation (machine).

Comment
The catalog structures of a project and the procedure for creating projects and user
programs are described in the relevant SIMATIC documentation.

STEP7 V1
A network link to the PLC must be activated for the machine CPU program under menu
items "Edit", "Configuration". This is done in the "Services", "Parameterize" menu followed by
selection of the MPI parameters.
Default:
• "Networked"
• "MPI subnetwork number = 0"
• "CPU MPI Addr = 2"
The following must be copied into the CPU program for the machinespecific program files:
1. The basic-program blocks (FCs, FBs, DBs, OBs, SFCs, SFBs, and UDTs) ("File",
"Manage Project" menu in the Step7 program editor).

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2.4 Starting up the PLC program

2. File GPOB840D.AWL (or GPOB810D.AWL or GPOBFMNC.AWL) and other STL (AWL)

files if appropriate must also be copied from the basic program catalog into the CPU
program. The OBs contained in this file are the basis for the user program with the
associated basic program calls. Existing user blocks must be copied as STL files to the
newly created CPU program (catalog name CPU1.S7D) and compiled.
3. We also recommend that the symbolic names are transferred with the files from the basic
program package using the symbol editor.

STEP7 V2
The basic-program blocks are copied using the SIMATIC Manager and
"File"/"Open"/"Library".
The following sections must be copied from the library:
AP off: FCs, FBs, DBs, OBs, SFC, SFB, UDT and the SDB container.
For the 810D, the SDB container includes:
• The source_files (SO):
– GPOB810D or GPOB840D
– Possibly MDECLIST, HHU_DB and others
• Symbol table (SY)

Note
The SDB container is only included for these control variants.

Compatibility with STEP 7

No interdependencies exist between the basic program (including older program versions)
and currently valid versions of STEP 7.

2.4.3 Version codes

Basic program
The basic-program version, including the control type, is output in the version display of the
MMC in SW 4 (NCK, PLC) and higher.
In earlier versions of the basic program, the PLC version is stored in data block DB 17 on the
data double word DBD 0. A HEX number must be set as the data format.
For example, the following display appears in V 3.2:
DB17.DBD0: 0332_0100

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2.4 Starting up the PLC program

The version is shown in decades 3 and 4 of the display (bold type). The two leftaligned
decades contain the control type of this basic program. The remaining decades contain a
development code.
The type of control is encoded as follows:

Leftaligned decade of DB17.DBD0 (byte 0) Type of control

01 FM-NC
02 SINUMERIK 810D
03 SINUMERIK 840D (571, 572, 573)
04 SINUMERIK 840Di

User program
In SW 4 and higher, users can also display the version codes of their own user programs on
the MMC.
For this purpose, a data of type STRING containing a maximum of 54 characters must be
defined in any data block. The data can contain a text of the user's choice. Parameter
assignments for this string are made via a pointer in FB 1. Parameterization requires
symbolic definition of the data block.
References:
/FB1/Description of Functions, Basic Machine; PLC Basic Program (P3);
Chapter: Block Description

2.4.4 Machine program

The machine manufacturer creates the machine program using the library routines supplied
with the basic program. The machine program contains the logic operations and sequences
on the machine. The interface signals to the NC are also controlled in this program. More
complex communication functions with the NC (e.g., read/write NC data, tool-management
acknowledgments, etc., are activated and executed via basic-program FCs and FBs). The
machine program can be created in different creation languages (e.g., STL, LAD, CSF, S7
HIGRAPH, S7GRAPH, SCL). The complete machine program must be generated and
compiled in the correct sequence. This means that blocks that are called by other blocks
must generally be compiled before the blocks, which call them. If blocks that are called by
other blocks are subsequently modified in the interface (VAR_INPUT, VAR_OUTPUT,
VAR_IN_OUT, VAR) as the program is developed, then the call block and all blocks
associated with it must be recompiled. This general procedure applies analogously to
instance data blocks for FBs. If this sequence of operations is not observed, timestamp
conflicts occur when the data are retranslated into STEP7. In some cases, therefore, it may
not be possible to recompile blocks, creating problems, for example, with the "Block status"
function. It is moreover advisable to generate blocks in ASCIISTL by means of the STEP7
editor when they have been created in the ladder diagram or in single statements
(incremental mode).

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 Detailed description
2.4 Starting up the PLC program

2.4.5 Data backup

The PLC CPU does not store symbolic names, only the data-type descriptions of the block
parameters (VAR_INPUT, VAR_OUTPUT, VAR_IN_OUT, VAR) and the data types of the
global data blocks. Without the associated project for this machine, therefore, blocks cannot
be recompiled meaningfully (e.g., for the Block status function or in the event of
modifications subsequently required to PLC CPU programs). It is therefore necessary to
keep a backup copy of the STEP7 project located in the PLCCPU on the machine. This is
extremely useful for servicing purposes and saves time and problems. If the STEP7 project
exists and has been created according to the instructions given above, then symbols can be
processed in the PLCCPU on this machine. It may also be advisable to store the machine
source programs as STL files in case they are required for any future upgrade.
The source programs of all organization blocks and all instance data blocks should always
be available.

2.4.6 PLC series startup, PLC archives:

After the blocks have been loaded to the PLC CPU, a series archive can be generated via
the MMC operator interface to back up data on the machine. To ensure data consistency,
this backup must be created immediately after block loading when the PLC is in the Stop
state. It does not replace the SIMATIC project backup as the series archive saves binary
data only, and does not back up, e.g., symbolic information. In addition, no CPU DBs (SFC
22 DBs) or SDBs generated in the CPU are saved.
In Toolbox 06.03.03 and STEP 7 V5.1 and higher, the PLC series archive can be generated
directly from the corresponding SIMATIC project.
To do this, select the "Options" → "Settings" menu item and the "Archive" tab in STEP 7. This
contains an entry "SINUMERIK (*.arc)", which must be selected to create a series startup
file. After selection of the archive, select the "File" → "Archive" menu item. The relevant
series archive will then be generated. If the project contains several programs, the program
path can be selected. A series archive is set up for the selected program path. All blocks
contained in the program path are incorporated into the archive, except for CPU-DBs (SFC
22 DBs).
The process of generating a series archive can be automated (comparable to the command
interface in STEP 7, V5.1 and higher). In generating this series archive, the command
interface is expanded.
The following functions are available for this expansion:
The functions (shown here in VB script) are not available until server instantiations and
Magic have been called:
Const S7BlockContainer = 1138689, S7PlanContainer = 17829889
Const S7SourceContainer = 1122308
set S7 = CreateObject("Simatic.Simatic.1")
rem Instantiate command interface of STEP7
Set S7Ext = CreateObject("SimaticExt.S7ContainerExt")
Call S7Ext.Magic("")
Functions:
Function Magic(bstrVal As String) As Long
Function MakeSeriesStartUp(FileName As String, Option As Long, Container As
S7Container) As Long

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Detailed description
2.4 Starting up the PLC program

Function Magic(bstrVal As String) As Long

Call gives access to certain functions. The function must be called once after server
instantiation. The value of bstrVal can be empty. This initiates a check of the correct Step7
version and path name in Autoexec. The functions are enabled with a return parameter of 0.
Return parameter (-1) = incorrect STEP 7 version
Return parameter (-2) = no entry in Autoexec.bat
Function MakeSeriesStartUp(FileName As String, Option As Long, Container As
S7Container) As Long
"Option" parameter:

0: Normal series startup file with general reset

Bit 0 = 1: Series startup file without general reset. When project contains SDBs, this
option is inoperative.
A general reset is then always executed.
Bit 1 = 1: Series startup file with PLC restart (supported in MMC SW 6.2 and higher)
Return parameter value:

0 = OK
-1 = Function unavailable, call Magic function beforehand
-2 = File name cannot be generated
-4 = Container parameter invalid or container block empty
-5 = Internal error (memory request rejected by Windows)
-6 = Internal error (problem in STEP 7 project)
-7 = Write error when generating series startup files (e.g., diskette full)

If S7Ext.Magic("") < 0 Then

Wscript.Quit(1)
End If
Set Proj1 = s7.Projects("new")
set S7Prog = Nothing
Set s7prog = Proj1.Programs.Item(1) 'if there is only one program'
For i = 1 to S7Prog.Next.Count
Set Cont = S7Prog.Next.Item(i)
Check block container
If (Cont.ConcreteType = S7BlockContainer) Then
Exit For
End if
Next
Error = S7Ext.MakeSerienIB("f:\dh\arc.dir\PLC.arc", 0, Cont)'Error analysis now'

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 Detailed description
2.4 Starting up the PLC program

2.4.7 Software upgrades

Software upgrade
Whenever you update the PLC or NCK software, always reset the PLC to its initial state first.
This initial clear state can be achieved by means of a general PLC reset. All existing blocks
are cleared when the PLC is reset.
It is usually necessary to include the new basic program when a new NC software version is
installed. The basic programs blocks must be loaded into the user project for this purpose.
OB 1, OB 40, OB 100, FC 12 and DB 4 should not be loaded if these blocks are already
included in the user project. These blocks may have been modified by the user. The new
basic program must be linked with the user program.
To do this, proceed as follows:
1. Generate the text or source file of all user blocks before copying the basic program.
2. Then copy the new basic program blocks to this machine project (for a description, see
Subsection "Application of basic program")
3. All user programs *.awl must then be recompiled in the correct order! (See also the
"Machine program" section.)
This newly compiled machine program must then be loaded to the PLC CPU using STEP
7.
However, it is normally sufficient to recompile the organization blocks (OB) and the instance
data blocks of the machine program. This means you only need to generate sources for the
organization blocks and the instance data blocks (before upgrading).

Overall reset
A description of how to perform a general PLC reset appears in the Installation and Startup
Guide. However, a general reset does not delete the contents of the diagnostic buffer nor the
node address on the MPI bus. Another possible general reset method is described below.
This method must be used when the normal general reset process does not work.
Proceed as follows:

No. Action Effect

1 Control system is switched off
2 PLC switch setting 3 (MRES) and switch control on LED labeled PS flashes slowly.
again or perform hardware reset.
3 Set PLC startup switch to position 2 (STOP) and The LED labeled PS starts to flash
back to position 3 (MRES). faster.
4 Set PLC startup switch to setting 2 or 0.

NC variables
The latest NC VAR selector can be used for each NC software version (even earlier
versions). The variables can also be selected from the latest list for earlier NC software
versions. The data content in DB 120 (default DB for variables) does not depend on the
software version, i.e., selected variables in an older software version must not be reselected
when the software is upgraded.

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Detailed description
2.4 Starting up the PLC program

2.4.8 I/O modules (FM, CP modules)

Special packages for STEP7 are generally required for more complex I/O modules. Some of
these special packages include support blocks (FC, FB) stored in a STEP7 library. The
blocks contain functions for operating the relevant module which are parameterized and
called by the user program. In many cases, the FC numbers of the CP and FM module
handling blocks are also included in the number range of the basic program for the 810D and
840D systems.
What action can be taken if such a conflict occurs?
The block numbers of the basic program must remain unchanged. The block numbers of
handling blocks can be assigned new, free numbers using STEP7. These new blocks (with
new FC numbers) are then called in the user program with the parameter assignments
required by the function.

2.4.9 Troubleshooting
This section describes problems which may occur, their causes and remedies and should be
read carefully before hardware is replaced.

Errors, cause/description and remedy

Serial Error Cause/description Remedy
no.
error
inform
ation
1 No The MPI cable is not connected Test: Create a link with the programmer in the
connecti or is defective. STEP 7 editor by means of connection
on via "Direct_PLC". A number of node addresses
MPI to must be displayed here. If they are missing,
PLC. the MPI cable is defective or not connected.

In Windows 95 versions of STEP 7, the

hardware must be checked in the Control
The STEP 7 software for the Panel; the PC/PG interface configuration
MPI card may not be configured should also be checked as well.
correctly.
2 PLC A system data block SDB 0 has Disconnect all MPI cables to other
cannot been loaded with a modified components. Create the link "Direct_PLC" with
be MPI address. This has caused the programmer. Correct the MPI address.
accesse an MPI bus conflict due to dual
d in spite assignment of addresses.
of PLC
general
reset.
3 All four A system error has occurred in Once the PLC program has been reset or
LEDs on the PLC. reloaded, the system may return to normal
the PLC Actions: The diagnostic buffer operation. Even in this case, the content of the
flash (DI on the PLC must be read to diagnostic buffer should be sent to the
disaster) analyze the system error in Development Office.
detail. To access the buffer, the
PLC must be stopped (e.g., set
switch S4 to position 2). A
hardware reset must then be

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 Detailed description
2.5 Linking PLC CPUs to 810D, 840D

Errors, cause/description and remedy

Serial Error Cause/description Remedy
no.
error
inform
ation
performed. The diagnostic buffer
can then be read out with
STEP7. Relay the information
from the diagnostic buffer to the
Hotline / Development Service.
A general reset must be carried
out if requested after the
hardware reset. The diagnostic
buffer can then be read with the
PLC in the Stop state.

2.5 Linking PLC CPUs to 810D, 840D

2.5.1 Properties of PLC CPUs

SINUMERIK 810D/840D/840Di PLC CPUs are based on standard SIMATIC CPUs in the S7-
300 family. As a result, they generally possess the same functions. Functional deviations are
shown in the table above. Owing to differences in their memory system as compared to the
S7 CPU, certain functions are not available (e.g., blocks on memory card, project on memory
card).

Note
With the current SIMATIC CPUs, the PLC is not automatically started after voltage failure
and recovery when a PLC Stop is initiated via software operation. In this instance, the PLC
remains in the Stop state with an appropriate diagnostic entry for safety reasons. You can
start the PLC only via software operation "Execute a restart" or by setting the switch to
"Stop" and then "RUN". This behavior is also integrated in the current versions of the
SINUMERIK PLC.

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Detailed description
2.5 Linking PLC CPUs to 810D, 840D

2.5.2 Interface on 810D and 840D with integrated PLC

Physical interfaces
As the 810D and 840D systems have an integrated PLC, signals can be exchanged between
the NCK and PLC directly via a dualport RAM.

Exchange with operator panel and MCP

Data are generally exchanged with the operator panel (OP), machine control panel (MCP)
and handheld unit (HHU) on the 840D via the operator panel interface (OPI), the COM
module being responsible for data transport.
All devices specified above can also be operated on the multipoint interface (MPI) in the
case of the 840 D. With the 810D, data communication with the operator panel (OP),
machine control panel (MCP) and handheld unit (HHU) takes place only via the MPI.
The programming device is connected directly to the PLC via the MPI (multipoint interface).

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2-24 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.5 Linking PLC CPUs to 810D, 840D

NCK/PLC interface
NCK/PLC data exchange is organized by the basic program in the PLC.
The status information (e.g., "Program running") stored in the internal DPR is copied to data
blocks by the basic program at the beginning of the cycle (OB1), which the user can then
access (user interface). The user also enters NC control signals (e.g., NC start) in the
interface data blocks, and these are also transferred to the NC at the start of the cycle.
Auxiliary functions transferred to the PLC dependent on the workpiece program are first
evaluated by the basic program (alarmdriven) and then transferred to the user interface at
the start of OB1. If the relevant NC block contains auxiliary functions that require the
interruption of the NC machining process (e.g., M06 for tool change), the basic program halts
the execution of the block on the NC for one PLC cycle. The user can then use the "read
disable" interface signal to halt the block execution until the tool change has been
completed. If, on the other hand, the relevant NC block does not contain auxiliary functions
requiring the interruption of the NC machining process (e.g., M08 for "Cooling on"), the
transfer of these "rapid" auxiliary functions is enabled directly in OB 40, so that block
execution is only marginally influenced by the transfer to the PLC.
The evaluation and enabling of the G functions transferred from the NCK are also alarm-
driven, however they are transferred directly to the user interface. Where a G function is
evaluated at several points in the PLC program, differences in the information of the G
function within one PLC cycle may arise.
In the case of NC actions triggered and assigned with parameters by the PLC (e.g., traverse
concurrent axes), triggering and parameter assignment is performed using FCs and FBs, not
interface data blocks. The FCs and FBs belonging to the actions are supplied together with
the basic program. The FCs must be loaded by the user and called in the PLC program of
the machine manufacturer (machine program). You can find an overview of the FC, FB and
DB blocks, divided according to their basic and expanded function, in:
References:
/FB1/Description of Functions, Basic Machine; PLC Basic Program (P3);
Chapter: Starting Up the PLC Program

OP/PLC interface
Data are exchanged between the OP and PLC via the OP/NC serial bus, COM module and
C bus. The COM module transfers the data intact from one bus segment to another. It
merely converts the baud rate. The OP is always the active partner (client) and the PLC is
always the passive partner (server). Data transmitted or requested by the OP are read from
and written to the OP/PLC interface area by the PLC operating system (timing: Cycle control
point). From the viewpoint of the PLC application, the data are identical to I/O signals.

MCP/PLC interface, HHU/PLC interface (840D only)

Data are exchanged between MCP/PLC and HHU/PLC via the serial bus MCP, HHU/NC,
COM module, and NCK. The NCK transfers the MCP/HHU signals to and fetches them from
the internal NC/NCK DPR (dual-port RAM). On the PLC side, the basic program handles
communication with the user interface. The basic-program parameters define the operand
areas (e.g., I/O) and the start addresses.

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Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-25
Detailed description
2.5 Linking PLC CPUs to 810D, 840D

MCP/PLC interface, HHU/PLC interface (810D only)

Data exchange between MCP/PLC and HHU/PLC takes place via the MPI interface on the
PLC. The Communication with global data (GD)1) service is used for this purpose (see also
STEP7 User's Guide). The PLC operating system handles the transfer of signals from and to
the user interface. The STEP7 Communication configuration configuring tool is used to
define both GD parameters as well as operand areas (e.g., I/O) and their initial addresses. In
SW 2.2 and higher, data exchange is possible as on the 840D.
1) IC (GD) = Implicit Communication (Global Data)

2.5.3 Diagnostic buffer on PLC

General
The diagnostic buffer on the PLC, which can be read out using STEP 7, displays diagnostic
information about the PLC operating system. In addition, 10 entries are made to the
diagnostic buffer via the FC by means of the basic program and the "Alarms/Messages"
function. These alarms and messages are indicated in the diagnostic buffer as an event with
"Event ID: <ID>" without any explanatory text.

Meaning of displayed data

An example is presented below to illustrate what information is displayed for an event and
how to interpret this information.
Diagnostic buffer (extract, relevant data selected):

Event details: 1 of 10 Event ID: 16# B046

No entry in text database. Hex values are displayed.
Event ID: 16# B046
OB: 16# 01
PK: 16# 01
DatID 1/ 2: 16# 59 C9
Supplementary info1 / 2 / 3: 16# 0200 0000 0020
Outgoing event: 36:02:459 08.04.03

Type of event
The two most significant digits of Event ID 16# B046 contain the code for the event type:

A1: Alarm set

A0: Alarm cancelled
B1: Message set
B0: Message cancelled

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 Detailed description
2.5 Linking PLC CPUs to 810D, 840D

Alarm/Message Number
The two least significant digits of Event ID 16# B046 contain the code for the most significant
decimal places of the alarm or message number. The two least significant digits of
supplementary information 1 / 2 / 3 must also be taken into account when determining the
complete alarm or message number:
• Supplementary information 1 16# 0200 0000 0020
• Supplementary information 2 16# 0200 0000 0020
All values must be converted to decimal values and lined up in order of alarm or message
number:

Event ID: 46 hex = 70 dec

Supplementa 00 hex = 00 dec
ry information
1
Supplementa 20 hex = 32 dec
ry information
2
Alarm number (BM) 1) = 70 00 32
1) Controlled by DB2.DBX184.0
BM = operational message

This signifies the event with Event ID 16# B046 and the indicated supplementary information
"Message 700032 deleted".
Notes
• The meaning of the message number is specified by the machine manufacturer.
• Events with Event ID 16# xx28 or 16# xx29 are generated from the basic program.
• The messages stored in the diagnostic buffer can be read out on the MMC with the
associated message texts.

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Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-27
Detailed description
2.6 Interface structure

2.6 Interface structure

2.6.1 PLC/NCK interface

General
The PLC/NCK interface comprises a data interface on one side and a function interface on
the other. The data interface contains status and control signals, auxiliary functions and G
functions, while the function interface is used to transfer jobs from the PLC to the NCK.

Data interface
The data interface is subdivided into the following groups:
• NCKspecific signals
• Mode groupspecific signals
• Channelspecific signals
• Axis/spindle/drivespecific signals

Function interface
The function interface is formed by FBs and FCs. The figure below illustrates the general
structure of the interface between the PLC and the NCK.

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2-28 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.6 Interface structure

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Compile-cycle signals
In addition to the standard signals exchanged between the PLC and NCK, an interface DB
for compile cycles is also generated if required (DB 9). The signals, which are dependent on
the compile cycles, are transmitted cyclically at the start of OB1.

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Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-29
Detailed description
2.6 Interface structure

Signals PLC/NC
The group of signals from the PLC to NC includes:
• Signals for modifying the highspeed digital I/O signals of the NC
• Keyswitch and emergency stop signals

Signals NC/PLC
The group of signals from the NC to PLC includes:
• Actual values of the digital and analog I/O signals of the NC
• Ready and status signals of the NC
Also output in this group are the handwheel selection signals from the MMC and the status
signals of the MMC.
The signals for handwheel selection are decoded by the basic program and entered in the
machine/axisspecific interface.

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2-30 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.6 Interface structure

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Digital/analog inputs/outputs of the NCK

The following must be noted with respect to the digital and analog inputs and outputs of the
NCK:
Inputs:
• All input signals or input values of the NCK are also transferred to the PLC.
• The transfer of signals to the NC parts program can be suppressed by the PLC. Instead,
a signal or value can be specified by the PLC.
• The PLC can also transfer a signal or value to the NCK even if there is no hardware for
this channel on the NCK side.
Outputs:
• All signals or values to be output are also transferred to the PLC.

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Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-31
Detailed description
2.6 Interface structure

• The NCK can also transfer signals or values to the PLC even if there is no hardware for
this channel on the NCK side.
• The values transferred by the NCK can be overwritten by the PLC.
• Signals and values from the PLC can also be output directly via the NCK I/O devices.

Note
When implementing digital and analog NCK I/Os, you must observe the information in the
following references:
References:
/FB2/Description of Functions, Extended Functions;
Digital and Analog NCK I/Os (A4)

Signals PLC/Mode group

The operating mode signals set by the machine control panel or the MMC are transferred to
the operating mode group (mode group). The mode signals are valid for all NC channels of
the mode group on the 810D and 840D. On 840D systems, several mode groups can
optionally be defined in the NCK.
The mode group reports its current status to the PLC.

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Signals PLC/NCK channels

The signal groups below must be considered on the interface:
• Control/status signals
• Auxiliary/G functions
• Tool management signals
• NCK functions
The control/status functions are transmitted cyclically at the start of OB1. The signals*
entered in the channelspecific interface by the MMC (MMC signals are entered by the PLC
operating system) are also transferred at this time if the signals have been defined on the
NC OP, not on the MCP.
* MMC signals are entered by the PLC operating system

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 Detailed description
2.6 Interface structure

Auxiliary functions and G functions are entered in the interface data blocks in two ways.
First, they are entered with the change signals.
• M signalsM00 - M99 * (they are transferred from the NCK with extended address 0) are
also decoded and the associated interface bits set for the duration of one cycle.
* M signals M0 - M99 are transferred from the NCK with extended address 0
• In the case of the G functions, the group is additionally decoded and the G functions
which are active in the relevant group are entered in the interface data block.
• S values are also entered together with the related M signals (M03, M04, M05) in the
spindlespecific interface. The axisspecific feedrates are also entered in the appropriate
axisspecific interface.
When the tool management function is activated in the NCK, the assignment of spindle or
revolver and the loading/unloading points are entered (DB71-73) in separate interface DBs.
The triggering and parameter assignment of NCK functions is performed by means of PLC
function calls.
The following function calls are available, for example:
• Position a linear axis or rotary axis
• Position an indexing axis
• Start a prepared asynchronous subprogram (ASUB)
• Read/write NC variables
• Update magazine assignment
Some of the above functions are described in their own function documentation.

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Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-33
Detailed description
2.6 Interface structure

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PLC/axis, spindle, drive signals

The axis-specific and spindle-specific signals are divided into the following groups:
• Shared axis/spindle signals
• Axis signals
• Spindle signals
• Drive signals
The signals are transferred cyclically at the start of OB 1, with the following exceptions:
Exceptions include:
MMC INC mode, axial F value, M/S value .
An axial F value is entered via the M, S, F distributor of the basic program if it is transferred
to the PLC during the NC machining process.
The M and S value are also entered via the M, S, F distributor of the basic program if an S
value requires processing together with the corresponding M value (M03, M04, M05).

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2-34 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.6 Interface structure

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2.6.2 PLC/MMC interface

General
The following groups of functions are required for the PLC/MMC interface:
• Control signals
• Machine operation
• PLC messages
• PLC status display

Control signals
In some cases, signals are input via the machine control panel and must be taken into
account by the MMC. This group of signals includes, for example, display actual values in
MCS or WCS, key disable, etc. These are exchanged with the MMC via a separate interface
DB (DB19).

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Detailed description
2.6 Interface structure

Machine operation
All operator inputs, which lead to response actions on the machine, are monitored by the
PLC. Operator actions are usually performed on the machine control panel. However, it is
also possible to perform some operator actions on the MMC (e.g., mode selection, INC
mode selection).
The PLC operating system enters the operating signals sent by the MMC directly into the
interface data blocks. In standard cases, the basic program, which decodes the operating
signals, allows the operator actions to be performed on the machine control panel (provided
the operator actions are available) or on the MMC. If required, the user can switch off the
operation via MMC through a parameter "MMCToIF" of FB1.

PLC messages
The signaling functions are based on the system diagnostic functions integrated in the
operating system of the AS 300. These have the following characteristics:
• The PLC operating system enters all important system states and state transitions in a
diagnostics status list. Communication events and I/O module diagnostics data (for
modules with diagnostic functions) are also entered.
• Diagnostics events, which lead to a system stop, are also entered with a time stamp in a
diagnostic buffer (circular buffer) in the chronological order of their occurrence.
• The events entered in the diagnostic buffer are automatically transmitted to
human machine interface systems (OS or MMC) via the MPI or via the OPI through the
COM module, once these have issued a ready signal (message service). Transfer to the
node ready is a function of the PLC operating system. Receipt and interpretation of the
messages is executed by the MMC software.
• An SFC (system function call) can also be used by the user program to enter messages
in the diagnostic buffer.
• The events are entered in the diagnostic buffer in coded format.
The associated message texts must be stored on the OP or MMC.
An FC (FC10) for message acquisition is prepared in conjunction with the basic program.
This FB records events, subdivides them into signal groups and reports them to the MMC via
the diagnostic buffer.
The message acquisition structure is shown in the figure "Acquisition and signaling of PLC
events".
The features include:

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2.6 Interface structure

• Bit fields for events related to the VDI interface are combined in a single data block (DB2)
with bit fields for user messages.
• Bit fields are evaluated at several levels by FC10.
– Evaluation 1; Acquisition of group signals
A group signal is generated for each group of signals when at least one bit signal is
set to "1". This signal is generally linked to the disable signal of the VDI interface (on
modules with diagnostic functions). The group signals are acquired completely in
cycles.
– Evaluation 2;Acquisition of
– Error messages
A fixed specification exists to define which signals in a group generate an error
message when they change from "0" to "1".
– Evaluation 3;Acquisition of
– Operational messages
A fixed specification exists to define which signals in a group generate an operational
message.
• The scope of the user bit fields (user area) is defined as standard as 10 areas with 8
bytes each, but can also be adjusted to suit the requirements of the machine
manufacturer via basic program parameters in FB 1.

Acknowledgment procedures
The following acknowledgment procedures are implemented for error and operating
messages:
Operating messages are intended for the display of normal operating states as information
for the user. Acknowledgment signals are therefore not required for this type of message. An
entry is made in the diagnostic buffer for incoming and outgoing messages. The MMC
maintains an uptodate log of existing operating messages using the identifiers "operating
message arrived" and "operating message departed".
Error messages are used to display error states on the machine which generally lead to a
machine stoppage. Where several errors occur in rapid succession, it is important to be able
to distinguish their order of occurrence for troubleshooting purposes. This is indicated, on the
one hand, by the order in which they are entered in the diagnostic buffer and on the other, by
the time stamp, which is assigned to every entry.
If the cause of the error disappears, the error message is only deleted if the user has
acknowledged the message (e.g., by pressing a key on the machine control panel). In
response to this signal, the "message acquisition" FC examines which of the reported errors
have disappeared and enters these in the diagnostic buffer with the entry "error departed".
This enables the MMC to also maintain an uptodate log of existing error messages. The time
of day indicating the time of error occurrence remains available for messages which are still
pending (in contrast to a received interrogation).

User program
The user PLC program merely needs to call the basic program block FC 10 with appropriate
parameter settings in the cyclic program section and set or reset the bit fields in DB2. All
further necessary measures are implemented by the basic program and MMC.

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Detailed description
2.6 Interface structure

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2.6.3 PLC/MCP/HHU interface

General
On the SINUMERIK 840D/810D, the machine control panel (MCP) is connected on the same
bus that connects the OP with the NC. The advantage of this is that only one bus cable is
required to connect the operator unit. The handheld unit (HHU) can be connected to the MPI
of the PLC or to the operator panel interface (OPI) (840D only). However, since the OP bus
on the 840D supports higher baud rates, two different types of bus topology are provided.

840D topology
On the 840D, the machine control panel is connected to the OPI bus segment (transmission
rate 1.5 Mbps) as an active global data node. Where the connection of further keys and
displays is required for customized operator panels, an additional keyboard (machine control
panel without operating unit) can be used. 64 pushbuttons, switches, etc. and 64 display
elements can be connected via ribbon cable.

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 Detailed description
2.6 Interface structure

The signals arriving from the machine control panel are copied by the COM module into the
DPR (dualport RAM) for transfer to the NC. The NC in turn transmits them to the PLC (VDI
task). The basic program of the PLC enters the incoming signals in the input image. The NC-
related signals are generally distributed by the basic program to the VDI interface. This can
be modified by the user if required.
The signals (displays) from the PLC to the MCP (displays) are transferred in the opposite
direction.
The signals of the handheld unit (HHU) are transferred either via the operator panel interface
in the same way as via the machine control panel or by means of the GD service (GD =
Global Data) of the MPI interface. The PLC operating system enters the HHU data, for
example, in the input image and transfers the display values, e.g., from the output image,
back to the HHU. The corresponding parameters are set via system data block SDB210,
which is generated with the STEP7 communication configuration tool.

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810D topology
On the 810D, the machine control panel, handheld unit and OP are connected to the MPI
(multipoint Interface) of the AS 300. The transmission rate in this configuration is 187.5
Kbps. The PLC operating system copies the incoming signals straight to the user interface
(e.g., input image) at the cycle control point.
Transfer to the VDI interface is performed, as on the 840D, by the user program or by a
standard routine of the basic program.

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Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-39
Detailed description
2.6 Interface structure

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Bus addresses
The default bus addresses for the standard configurations are entered in the "Connecting the
MCP on the 810D" figures. In addition to the bus addresses, the implicit communication
service (global data) also requires the definition of a GD circle number.
The following should be taken into account when allocating bus addresses (node no.):
Bus addresses 840D
The two bus segments on the 840D must be examined separately:

Operator panel bus segment:

Bus station Perm. setting range Standard setting
Operator panel (OP) 1 - 31 1
Machine control 15 (setting via DIP fix)
panel/keyboard interface
COM module 31 13
Programming device/PC fixed 0
(e.g., for startup)

PLC bus segment:

Bus station Setting range Default Comment
setting
PLC 31 2
COM module Fixed depending on PLC 3
address
Programming device/PC fixed 0
(e.g., for startup)

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 Detailed description
2.6 Interface structure

MCP interface in the PLC

The signals from the machine control panel are routed via the I/O area by default. A
distinction is made between NC and machinespecific signals. NCspecific key signals are
normally distributed by FC 19 to the various mode group, NCK, axis and spindlespecific
interfaces. The reverse applies to the status signals, which are routed to the machine control
panel interface.

Note
FC 19 must be called in the PLC user program.

Customized keys, which can be used to trigger a wide range of machine functions, must be
evaluated directly by the user program. The user program also routes the status signals to
the output area for the LEDs.

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Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-41
Detailed description
2.7 Structure and functions of the basic program

2.7 Structure and functions of the basic program

2.7.1 Startup and synchronization of NCK PLC

Loading the basic program

The basic program must be loaded with the S7 tool when the PLC is in the Stop state. This
ensures that all blocks in the basic program will be initiated correctly the next time they are
called. An undefined state may otherwise develop on the PLC (e.g., all PLC LEDs flashing).

Startup
NCK and PLC synchronization is performed during startup. The system and user data blocks
are checked for integrity and the most important basic program parameters are verified for
plausibility. In the event of an error, the basic program outputs an error identifier to the
diagnostic buffer and switches the PLC to STOP.
A warm restart is not provided, i.e., following system initialization, the operating system runs
organization block OB 100 and always commences cyclic execution at the start of OB 1.

Synchronization
The PLC is synchronized with the MMC and NCK during powerup.

Sign of life
After a proper initial start and the first complete OB1 cycle (initial setting cycle) the PLC and
NCK continuously exchange sign of life signals. If the signoflife signal from the NCK fails to
arrive, the PLC/NCK interface is neutralized and the signal "NCK CPU ready" in DB 10 is set
to zero.

2.7.2 Cyclic operation (OB1)

General
The NCK PLC interface is processed completely in cyclic mode. From a chronological
viewpoint, the basic program runs ahead of the user program. In order to minimize the
execution time of the basic program, only the control/status signals are transmitted cyclically;
transfer of the auxiliary functions and G functions only takes place on request.
The following functions are performed in the cyclic part of the basic program:
• Transmission of the control/status signals
• Distribution of the auxiliary and G functions
• M decoding (M00 - M99),
• M, S, F distribution

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 Detailed description
2.7 Structure and functions of the basic program

• Transmission of the machine control panel signals via the NCK (on the 840D only)
• Acquisition and conditioning of the user errors and operating messages.

Control/Status signals
A shared feature of the control and status signals is that they are bit fields. The basic
program updates them at the start of OB1.
The signals can be subdivided into the following groups:
• General signals
• Mode-groupspecific signals such as operating modes
• Channelspecific signals such as program and feed modifications
Axis- and spindlespecific signals such as feed disable

Auxiliary and G functions

The auxiliary and G functions have the following characteristics:
• Transfer to the PLC is blocksynchronous (referred to a parts program block)
• Transfer is acknowledgecontrolled.
• The acknowledgment times have an immediate effect on the execution time of NC blocks
containing auxiliary functions requiring acknowledgment.
The value range is presented in the table below:

Function Structure Value range Data type

1. Value 2. Value 1. Value 2. Value 1. Value 2. Value
G function G function 2551) Byte
M word M group M word 99 99.999.999 Word DWord
S word Spindle no. S word 6 Floating Word DWord
point2)
T word Magazine T word 99 65535 Word Word
no.
D word - D word 99 255 Byte Byte
H word H group H word 99 Floating Word DWord
point
F word Axis No. F word 18 Floating Word DWord
point
1) relative number, transferred for each G group
2) corresponding STEP 7 format (24-bit mantissa, 8-bit exponent)

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Detailed description
2.7 Structure and functions of the basic program

The M, S, T, H, D and F values sent by the NCK are output together with the accompanying
change signals to the CHANNEL DB interface via the auxiliary/G functions (see
documentation "Lists of SINUMERIK 840D, 810D"). The function value and the extended
address are transferred to the appropriate data word. The accompanying modification signal
is activated to 1 for one PLC cycle. When the modification signal is reset, the
acknowledgment is passed to the NCK. The acknowledgment of highspeed auxiliary
functions is given by the basic program immediately the basic program detects the auxiliary
function.
In addition to distribution of the auxiliary and G functions, selected signals are processed as
described below.

M decoder
M functions can be used to transfer both switching commands and fixed point values.
Decoded dynamic signals are output to the CHANNEL DB interface for standard M functions
(range M00 - M99); signal length = 1 cycle time.

G group decoders
In the case of G functions sent by the NCK, the related groups are decoded and the current
G number is entered in the corresponding interface byte of the CHANNEL DB, i.e., all active
G functions are entered in the channel DBs. The entered G functions are retained even after
the NC program has terminated or aborted.

Note
During system startup, all G group bytes are initialized with the value "0".

M, S, F distributor
The M, S, F, distributor is used to enter spindlespecific M words M(1...6)=[3,4,5], S words
and F words for axial feeds in the appropriate spindle and axis data blocks. The criterion for
distribution is the extended address, which is passed to the PLC for M words, S words and
axial F words.

MCP signal transmission

On the 840D, the MCP signals are transferred to the NCK via the serial bus (MPI) and from
there to the PLC. A function call from the basic program transfers the signals to the interface
of inputs and outputs specified by basic program parameters. The status signals for
controlling the LEDs on the machine control panel are passed in the opposite direction.

User messages
The acquisition and processing of the user error and operational messages is performed by
an FC in the basic program.

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2.7 Structure and functions of the basic program

2.7.3 Time-alarm processing (OB 35)

General
The user must program OB 35 for time-alarm processing. The default time base setting of
OB 35 is 100 ms. Another time base can be selected using the STEP7 application "S7
Configuration". However, the OB 35 with a time base setting not less than approx. 15 ms
must not be used without additional measures, otherwise this would cause the PLC CPU to
stop. The stop is caused by the reading of the MMC system state list during runup of the
MMC. This reading process blocks priority class control for approx. 8 to 12 ms. The OB 35
with a time base set to a rather lower value is then no longer processed correctly. If,
however, small time base settings are required for OB 35, the stop can be prevented by
programming OB 80 with at least the program command "BE".

2.7.4 Process-alarm processing (OB 40)

General
A process alarm OB 40 (interrupt) can, for example, be triggered by appropriately configured
I/Os or by certain NC functions. Due to the different origin of the interrupt, the PLC user
program must first interpret the cause of the interrupt in OB 40. The cause of the interrupt is
contained in the local data of OB 40.

2.7.5 Response to NC failure

General
During cyclic operation, the PLC continuously monitors NC availability by querying the sign-
oflife character. If the NCK is no longer reacting, then the NCK PLC interface is neutralized
and IS NCK CPU ready in signals from NC group (DB 10.DBX 104.7) is reset. The signals
sent by the NCK to the PLC are also set to an initial state.
The PLC itself remains active so that it can continue to control machine functions.

Signals NCK to PLC

The signals sent by the NCK to the PLC are divided into the following groups:
• Status signals from the NCK, channels, axes and spindles
• Modification signals of the auxiliary functions
• Values of the auxiliary functions
• Values of the G functions
Status signals:
The status signals from the NCK, channels, axes, and spindles are reset.
Auxiliary-function modification signals:

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Detailed description
2.7 Structure and functions of the basic program

Auxiliary-function modification signals are also reset.

Auxiliary-function values:
Auxiliary-function values are retained so that it is possible to trace the last functions triggered
by the NCK.
G-function values:
G-function values are reset (i.e., initialized with the value 0).

PLC → NCK signals

The signals sent by the PLC to the NCK are divided into control signals and tasks that are
transferred by FCs to the NCK.
Control signals:
The control signals from the PLC to the NCK are frozen; cyclic updating by the basic
program is suspended.
Jobs from PLC to NCK:
The FCs and FBs, which are used to pass jobs to the NCK, must no longer be processed by
the PLC user program, as this could lead to incorrect checkback signals. During runup of the
control, a job
(e.g., read NCK data) must not be activated in the user program until the NCK-CPU ready
signal is set.

2.7.6 Functions of the basic program called from the user program

General
In addition to the modules of the basic program, which are called at the start of OBs 1, 40
and 100, functions are also provided, which can be called at a suitable point in the user
program and supplied with parameters.
These functions can be used, for example, to pass the following jobs from the PLC to the
NCK:
• Traverse concurrent axes (FC 15, FC 16),
• Start asynchronous subprograms (ASUBs) (FC 9),
• Select NC programs and NC blocks (FB 4),
• Control of spindle (FC 18),
• Read/write variables (FB 2, FB 3).

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 Detailed description
2.7 Structure and functions of the basic program

Note
The following note will later help you to check and diagnose a function call (FCs, FBs of
basic program). These are FCs and FBs, which are controlled by a trigger signal (e.g., via
parameter Req, Start, etc.), and which supply an execution acknowledgment as an output
parameter (e.g., via parameter Done, NDR, Error, etc.). A variable compiled of other
signals, which produce the trigger for the function call should be set. Start conditions may
be reset only as a function of the states of parameters Done, NDR and Error.
This control mechanism may be positioned in front of or behind the function call. If the
mechanism is placed after the call, the output variables can be defined as local variables
(advantage: Reduction of global variables, flags, data variables and timerelated
advantages over data variables).
The trigger parameter must be a global variable (e.g., flag, data variable).
In OB 100, jobs still activated by the user program (Parameter Req,
Start, etc.:= TRUE) must be set to zero at the named parameters. A POWER OFF/ON
could result in a state in which jobs are still active.

Concurrent axes
The distinguishing features of concurrent axes are as follows:
• They can be traversed either from the PLC or from the NC.
• They can be started from a function call on the PLC in all operating modes.
• The start is independent of NC block boundaries.
Function calls are available for positioning (FC 15) and indexing axes (FC 16).

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Asynchronous subprograms (ASUBs) can be used to activate any selected function in the
NC. Before an asynchronous subprogram can be started from the PLC, it must be ensured
that it is available and prepared by the NC program or by FB 4 PI services (ASUB). ASUBs
can only be started in MDA or Automatic mode with running parts program.

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Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-47
Detailed description
2.7 Structure and functions of the basic program

Once prepared in this way, it can be started at any time from the PLC. The NC program
running on the channel in question is interrupted by the asynchronous subprogram. The
asynchronous subprogram is started by FC 9.

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If an asynchronous subprogram has not been prepared by an NC program or by FB 4
(ASUB) (e.g., if no interrupt no. has been assigned), a start error is output.

Read/Write NC variables
NCK variables can be read with FB GET while values can be entered in NCK variables with
FB PUT. The NCK variables are addressed via identifiers at inputs Addr1 to Addr8. The
identifiers (symbols) point to address data, which must be stored in a global DB. To allow
generation of this DB, PC software is supplied with the basic program with which the
required variables can be selected from a table, which is also supplied. The selected
variables are first collected in a second, projectrelated list. Command Generate DB creates a
*.AWL file, which must be linked to the program file for the machine concerned and compiled
together with the machine program.
1 to 8 values can be read or written with a read or write job. If necessary, the values are
converted (e.g., NCK floating point values (64 bits) are converted to PLC format (32 bits with
24-bit mantissa and 8bit exponent) and vice versa). A loss of accuracy results from the
conversion from 64 bits to 32bit REAL. The maximum precision of 32bit REAL numbers is
approximately 10 to the power of 7.

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5' 6'

PLC basic program powerline (P3 pl)

2-48 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.7 Structure and functions of the basic program

2.7.7 Symbolic programming of user program with interface DB

General

Note
With basic program SW 3.2 and higher, files NST_UDT.STL and TM_UDT.AWL are stored
on the basic program diskette supplied with the system.

The compiled UDT blocks from these two files are stored in the CPU program of the basic
program.
A UDT is a data type defined by the user that can, for example, be assigned to a data block
generated in the CPU.
Symbolic names of virtually all the interface signals are defined in these UDT blocks.
The UDT numbers 2, 10, 11, 19, 21, 31, 71, 72, 73 are used.
The assignments have been made as follows:

UDT assignments
UDT Assignment to interface DB Meaning
number
UDT 2 DB 2 Alarms/Messages
UDT 10 DB 10 NCK signals
UDT 11 DB 11 Mode group signals
UDT 19 DB 19 MMC signals
UDT 21 DB 21 to DB 30 Channel signal
UDT 31 DB 31 to DB 61 Axis/spindle signals
UDT 71 DB 71 Tool management: Load/unload locations
UDT 72 DB 72 Tool management: Change in spindle
UDT 73 DB 73 Tool management: Change in revolver
To symbolically program the interface signals, the interface data blocks must first be
symbolically assigned using the symbol editor.
For example, symbol "AxisX" is assigned to operand DB31 with data type UDT 31 in the
symbol file.
After this input, the STEP 7 program can be programmed in symbols for this interface.

Note
Programs generated with an earlier software version that utilize the interface DBs described
above can also be converted into symbol programs. To do so, however, a fully qualified
instruction is needed for data access in the earlier program (e.g., "U DB31.DBX 60.0" - this
command is converted to "AxisX.E_SpKA" when the symbols function is activated in the
editor).

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Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-49
Detailed description
2.7 Structure and functions of the basic program

Description
Abbreviated symbolic names of the interface signals are defined in the two STL files
NST_UDT.AWL and TM_UDT.AWL.
In order to create the reference to the names of the interface signals, the name is included in
the comment after each signal.
The symbolic names, commands and absolute addresses can be viewed by means of a
STEP 7 editor command when the UDT block is opened.

Note
Unused bits and bytes are listed, for example, with the designation "f56_3".
"56": Byte address of the relevant data block
"3": Bit number in this byte

English versions of the UDT interfaces are available in SW 4.4 and higher under
NST_UDTB.AWL and TM_UDTB.AWL. Only the English versions will continue to be
developed in future versions.
Proceed as follows to convert the German language symbols used thus far into English
language symbols:
• If sources are not being used, only the NST_UDTB.AWL and TM_UDTB.AWL blocks
must be translated. The new symbols can then be seen immediately.
• If you are using sources, the sources must first be compiled with the previous UDTs
(NST_UDT.AWL and TM_UDT.AWL). It is then necessary to compile NST_UDTB.AWL
and TM_UDTB.AWL. After this step, you need to initiate a reverse compilation into the
sources in accordance with the previous source setup. The interface symbols are then
permanently converted to English.

2.7.8 M decoding acc. to list

Description of Functions
When the M decoding according to list function is activated via the BP parameter of
FB1 "ListMDecGrp", up to 256 M functions with extended address can be decoded by the
basic program.
The assignment between the M function with extended address and the bit to be set in the
signal list is defined in the decoding list. The signals are grouped for this purpose.
The signal list contains 16 groups with 16 bits each as decoded signals.
There is only one decoding list and one signal list, i.e., this is a crosschannel function.

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 Detailed description
2.7 Structure and functions of the basic program

The M functions are decoded. Once they are entered in the decoding list, then the
associated bit in the signal list is set.
When the bit is set in the signal list, the readin disable in the associated NC channel is set
simultaneously by the basic program.
The readin disable in the channel is reset once the user has reset all the bits output by this
channel and thus acknowledged them.
The output of an M function decoded in the list as a highspeed auxiliary function does not
result in a readin disable.
The figure below shows the structure of the M decoding according to list:

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10  WROLVW

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6LJQDOOLVW

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&KDQQHO VLJQDOV
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GLVDEOH '% )&<
ฺ
5HDGLQGLVDEOH
10 

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5HDGLQGLVDEOH

Figure 2-12 M decoding acc. to list

Structure of decoding list

There must be an entry in decoding list DB 75 for every group of M functions to be decoded.
A maximum of 16 groups can be created.
16 bits are available in each group in the list of decoded signals.
The assignment between the M function with extended address and the bit to be set in the
signal list is specified via the first and last M functions in the decoding list.

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Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-51
Detailed description
2.7 Structure and functions of the basic program

The bit address is generated correspondingly from the first M function ("MFirstAdr") to the
last M function ("MLastAdr") from bit 0 up to maximum bit 15 for each group.
Each entry in the decoding lists consists of 3 parameters, each of which is assigned to a
group.
The source file for the decoding list (MDECLIST:AWL) is supplied with the basic program.

Assignment of groups
Group Extended First M address in group Last M address in group
M address
1 MSigGrp[1].MExtAdr MSigGrp[1].MFirstAdr MSigGrp[1].MLastAdr
2 MSigGrp[2].MExtAdr MSigGrp[2].MFirstAdr MSigGrp[2].MLastAdr
... ... ... ...
16 MSigGrp[16].MExtAdr MSigGrp[16].MFirstAdr MSigGrp[16].MLastAdr

Type and value range for signals

Signal Type Value range Remarks
MExtAdr Int Up to 99 Extended M address
MFirstAdr DInt Up to 99,999,999 First M address in group
MLastAdr Dint Up to 99,999,999 Last M address in group

Example

DATA_BLOCK DB 75
TITLE =
VERSION : 0.0
STRUCT
MSigGrp : ARRAY [1 .. 16 ] OF STRUCT
MExtAdr : INT ;
MFirstAdr : DINT;
MLastAdr : DINT;
END_STRUCT;
END_STRUCT;
BEGIN
MSigGrp[1].MExtAdr := 0;
MSigGrp[1].MFirstAdr := L#0;
MSigGrp[1].MLastAdr := L#0;
MSigGrp[2].MExtAdr := 0;
MSigGrp[2].MFirstAdr := L#0;
MSigGrp[2].MLastAdr := L#0;
MSigGrp[15].MExtAdr := 0;
MSigGrp[15].MFirstAdr := L#0;
MSigGrp[15].MLastAdr := L#0;
MSigGrp[16].MExtAdr := 0;
MSigGrp[16].MFirstAdr := L#0;
MSigGrp[16].MLastAdr := L#0;
END_DATA_BLOCK

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 Detailed description
2.7 Structure and functions of the basic program

Signal list
Data block DB 76 is set up when the function is activated.
A bit is set in the appropriate group in DB 76 for an M signal decoded in the list.
At the same time, a readin disable is set in the channel in which the M function has been
output.

Activation of the function

The number of groups to be evaluated is specified in basic-program parameter
ListMGDecGrp.
The decoding function is activated if this value is between 1 and 16.
Before activation of decoding, the decoding list DB75 must be transferred to the PLC
followed by a restart.

Example
The table below contains the parameters for the following programming example:

Example parameters
Group Decoding list (DB 75) Signal list
Extended First Last DB 76
M address M address M address
in group
1 2 1 5 DBX0.0 to DBX0.4
2 3 12 23 DBX2.0 to DBX3.3
3 40 55 55 DBX4.0

DATA_BLOCK DB 75
TITLE =
VERSION : 0.0
STRUCT
MSigGrp : ARRAY [1 .. 16 ] OF STRUCT
MExtAdr : INT ;
MFirstAdr : DINT;
MLastAdr : DINT;
END_STRUCT;
END_STRUCT;
BEGIN
MSigGrp[1].MExtAdr := 2;
MSigGrp[1].MFirstAdr := L#1;
MSigGrp[1].MLastAdr := L#5;
MSigGrp[2].MExtAdr := 3;
MSigGrp[2].MFirstAdr := L#12;
MSigGrp[2].MLastAdr := L#23;

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Detailed description
2.7 Structure and functions of the basic program

MSigGrp[3].MExtAdr := 40;
MSigGrp[3].MFirstAdr := L#55;
MSigGrp[3].MLastAdr := L#55;
END_DATA_BLOCK

2.7.9 PLC machine data

General
The user has the option of storing PLCspecific machine data in the NC. These data can then
be processed while the PLC is running up (OB 100). This enables, for example, user options,
machine expansion levels, machine configurations, etc., to be implemented.
The interface to read these data is stored in the DB 20. However, DB20 is set up by the
basic program during powerup only when user machine data are used, i.e., sum of BP
parameters UDInt, UDHex and UDReal is greater than zero.
The size of the individual ranges and, therefore, the total length of DB 20,
is set using PLC machine data
MD14504 MAXNUM_USER_DATA_INT,
MD14506 MAXNUM_USER_DATA_HEX,
MD14508 MAXNUM_USER_DATA_FLOAT
and specified for the user in BP parameters
UDInt, UDHex and UDReal
.
The basic program stores the data in DB 20 in the following order:
Integer MD, Hex field MD, Real MD.
The integer and real values are stored in DB 20 in S7 format.
Hexadecimal data are stored in DB20 in the order in which they are input (use as bit fields).

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 Detailed description
2.7 Structure and functions of the basic program

'%

8VHUPDFKLQH 1RRI8',QW
GDWDW\SH,17

8VHUPDFKLQH 1RRI8'+H[
GDWDW\SH%<7(

8VHUPDFKLQH 1RRI8'5HDO
GDWDW\SH5($/

Figure 2-13 DB 20

Note
If the number of PLC machine data used is increased later, then DB20 must be deleted
beforehand. To prevent such extensions in use having any effect on the existing user
program, the data in DB20 should be accessed in symbolic form wherever possible, e.g., by
means of a structure definition in the UDT.

Interrupts
400120 Delete DB 20 in PLC and restart
Explanation DB length is not the same as the required DB length
Response Alarm display and PLC STOP
Remedy Delete DB 20 followed by Reset
Continuation After cold restart

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Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-55
Detailed description
2.7 Structure and functions of the basic program

Example
The project in the example requires 4 integer values, 2 hexadecimal fields with bit
information and 1 real value.
Machine data:

MD14510 USER_DATA_INT[0] 123

MD14510 USER_DATA_INT[1] 456
MD14510 USER_DATA_INT[2] 789
MD14510 USER_DATA_INT[3] 1011
...
MD14512 USER_DATA_HEX[0] 12
MD14512 USER_DATA_HEX[1] AC
...
MD14514 USER_DATA_FLOAT[0] 123.456
BP parameters (OB 100):
Call fb 1, db 7(
MCPNum := 1,
MCP1In := P#E0.0,
MCP1Out := P#A0.0,
MCP1StatSend := P#A8.0,
MCP1StatRec := P#A12.0,
MCP1BusAdr := 6,
MCP1Timeout := S5T#700MS,
MCP1Cycl := S5T#200MS,
NCCyclTimeout := S5T#200MS,
NCRunupTimeout := S5T#50S;
BP parameters (to scan runtime):
l gp_par.UDInt; //=4,
l gp_par.UDHex; //=2,
l gp_par.UDReal; //=1 )

During PLC run-up, DB20 was generated with a length of 28 bytes:

DB 20

DB 20
Address Data
0.0 123
2.0 456
4.0 789
6.0 1011
8.0 b#16#12
9.0 b#16#AC
10.0 e+02
The structure of the machine data used is specified in a UDT:

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 Detailed description
2.7 Structure and functions of the basic program

TYPE UDT 20
STRUCT
UDInt : ARRAY [0 .. 3 ] OF INT ;
UDHex0 : ARRAY [0 .. 15]OF BOOL;
UDReal : ARRAY [0 .. 0 ] OF REAL ; //Description as field, for
// later expansions
END_STRUCT;
END_TYPE

Note
ARRAY OF BOOL are always sent to even-numbered addresses. For this reason, an array
range of 0 to 15 must generally be selected in the UDT definition or all Boolean variables
specified individually.

Although only a REAL value is used initially in the example, a field (with one element) has
been created for the variable. This ensures that extensions can be made easily in the future
without the symbolic address being modified.
An entry is made in the symbol table to allow data access in symbolic form:

Interrupts

Symbol Operand Data type

UData DB 20 UDT 20
Access operations in user program (list includes only symbolic read access):

...
L "UData".UDInt[0];
L "UData".UDInt[1];
L "UData".UDInt[2];
L "UData".UDInt[3];

U "UData".UDHex0[0];
V "UData".UDHex0[1];
V "UData".UDHex0[2];
V "UData".UDHex0[3];
V "UData".UDHex0[4];
V "UData".UDHex0[5];
V "UData".UDHex0[6];
V "UData".UDHex0[7];
.. ...
.
U "UData".UDHex0[15];

L "UData".UDReal[0];
...

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Detailed description
2.7 Structure and functions of the basic program

2.7.10 Configuration of machine control panel, handheld unit

General
The communications system integrated in the NC permits a maximum of 2 machine control
panels and one handheld unit to exchange data with the 810D and the 840D. An SDB 210 is
not required to transfer the signals of these components. The information given below is
based on the assumption that no SDB 210 has been installed for the components
concerned.
The components are parameterized by calling basic-program block FB 1 in OB 100. FB 1
stores its parameters in the associated instance DB (DB 7, symbolic name "gp_par").
Separate parameter sets are provided for each machine control panel and the handheld unit.
The input/output addresses of the user must be defined in these parameter sets. These input
and output addresses are also used in FC 19, FC 24, FC 25, FC 26 and FC 13. Addresses
for status information, MPI or OPI (a GD parameter set must be set for the handheld unit
rather than an MPI address) must also be defined. The default time settings for timeout and
cyclic forced retriggering do not have to be changed.

Activation
Each component is activated either via the number of machine control panels (parameter
MCPNum) or, in the case of the handheld unit, parameter BHG := 2 (BHG := 1 corresponds
to a link via the MPI interface in conjunction with an SDB 210). Whether a component is to
be linked to the OPI or the MPI is determined by parameters MCPMPI and BHGMPI.

Handheld unit
The handheld unit addresses the MPI or OPI by means of a GD parameter set. These
parameter values must be assigned according to the handheld unit settings. However, the
parameter names on the handheld unit are the reverse of the parameter names in the basic
program. All Send type parameters on the handheld unit must be defined as Rec type (and
Rec in Send type) in the basic program.

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 Detailed description
2.7 Structure and functions of the basic program

Control signals
Parameters MCP1Stop, MCP2Stop and BHGStop can be used to stop communication with
individual components (parameter setting = 1). This stop or activation of communication can
be applied in the current cycle. However, the change in value must be implemented through
the symbolic notation of the parameters and not by means of another FB 1 call.
Example of stopping transfer from the first machine control panel:

SET;
S gp_par.MCP1Stop;

Setting parameters MCP1Stop, MCP2Stop, BHGStop also results in a suppression of alarms

40260 to 40262.

MPI switchover, OPI address

An existing connection with an MCP (Machine Control Panel) or HHU (HandHeld Unit) can
be aborted. Another MCP or HHU component already connected to the bus (with another
MPI or OPI address) can then be activated. Proceed as follows to switch addresses:
1. Stop communication with component to be decoupled via parameter MCP1Stop or
MCP2Stop or BHGStop = 1.
2. After checkback in DB10 byte 104 (relevant bits 0, 1, 2 set to 0). Change in the bus
address or GD parameter set of this unit to that of the new component.
3. In this PLC cycle, communication with the new component can now be activated again by
means of parameter MCP1Stop or MCP2Stop or BHGStop = 0.
4. Communication with the new component is taking place when the checkback in DB10
byte 104 (relevant bits 0, 1, 2 is set to 1).
As described in Section Control signals, all parameters must be programmed according to
data type.

Switching off flashing MCP:

With MCP firmware V5.01.01 and higher, flashing can be suppressed in offline mode. No
communication takes place in offline mode (e.g., if the MCP connection fails). During active
communication, a value can be specified in the output data using status bits 24 or 25 in
MCP1StatSend and MCP2StatSend.
The checkback signal transferred by the value is signaled back in the same bits in
MCP1StatRec, MCP2StatRec. Following a successful checkback signal, the status bits in
send status must be reset.
Implementation example is stored in the Toolbox.

Temperature monitoring of the MCP:

With MCP firmware V5.01.02 and higher, an increased temperature is signaled back via bit
28 = 1 in MCP1StatRec, MCP2StatRec.

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Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-59
Detailed description
2.7 Structure and functions of the basic program

Configuring
There are basically two communication mechanisms for transferring data between the
MCP/HHU and PLC. With the first mechanism, data are transported via the COM module
(840D/810D). The mechanism is parameterized completely via the MCP/HHU parameters in
FB1.
An overview of the various interfacing options as a function of the NC type used is given
below. In each case, the parameter set of FB1 and the valid status information relevant for
the respective data transmission method are specified.
If an error is detected due to a timeout monitor, a corresponding entry is made in the
diagnostic buffer of the PLC CPU (errors 400260 to 400262). In this case, the input signals
from the MCP or from the handheld unit (MCP1In/MCP2In or BHGIn) are initialized with 0. If
it is possible to resynchronize the PLC and MCP/HHU, communication is resumed
automatically and the error message reset by the BP.
840D: OPI/MPI connection
Communication starts from the PLC BP via the NCK and COM mode, i.e., even a link via the
MPI does not require an SDB210. Parameter settings are made via the relevant parameters
in FB1.

23,

&200 ' 1&.

3
PRGXOH 5 0&3 0&3 ++8
LQW '
3
3/& 5

03,

Figure 2-14 840D: OPI/MPI connection

Relevant parameters (FB1)

MCP HHU
MCPNum=1 or 2 (number of MCPs) BHG=2
(transfer via COM module)
MCP1In MCP2In BHGIn
MCP1Out MCP2Out BHGOut
MCP1StatSend MCP2StatSend BHGStatSend
MCP1StatRec MCP2StatRec BHGStatRec
MCP1BusAdr MCP2BusAdr BHGInLen
MCP1Timeout MCP2Timeout BHGOutLen
MCP1Cycl MCP2Cycl BHGTimeout
MCPMPI = FALSE (OPI), TRUE (MPI) BHGCycl
MCP1Stop MCP2Stop BHGRecGDNo
BHGRecGBZNo
BHGRecObjNo
BHGSendGDNo

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 Detailed description
2.7 Structure and functions of the basic program

Relevant parameters (FB1)

MCP HHU
BHGSendGBZNo
BHGSendObjNo
BHGMPI = FALSE (OPI), TRUE
(MPI)
BHGStop

Status information
Available in Bit No. Description
MCP1StatSend 4 Syntax error in GD package:
MCP2StatSend Error in parameter set (FB1)
BHGStatSend
MCP1StatSend 27 Transmitter:
MCP2StatSend Timeout
BHGStatSend
MCP1StatRec 10 Receiver:
MCP2StatRec Timeout
BHGStatRec
An error entry is also made in the PLC diagnostic buffer for timeouts (bits 10 and 27),
resulting in the following error messages on the MMC:
• 400260: MCP 1 failure
Or
• 400261: MCP 2 failure
• 400262: HHU failure
An MCP or HHU failure is detected immediately after a cold restart even if no data have yet
been exchanged between the MCP/HHU and PLC.
The monitoring function is activated as soon as all components have signaled "Ready" after
powerup.
840D: MPI connection for HHU (not for new development)
Communications for HHU by PLC operating system and parameterization via SDB210.
Communication for the MCP is controlled from the PLC BP via the NCK and COM module as
described above.

PLC basic program powerline (P3 pl)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-61
Detailed description
2.7 Structure and functions of the basic program

23,

&200 ' 1&.

3
PRGXOH 5 0&3 0&3 ++8
LQW3/& '
3
5

03,

6'%
IRU++8

Figure 2-15 840D: MPI connection for HHU

Relevant parameters (FB1):

Communication between the PLC and HHU is implemented through configuring and
subsequent loading of SDB210 (Global Data). To allow the basic program to access the
HHU data and implement HHU failure monitoring, the addresses set via global data must be
declared in FB1 parameters.

Relevant parameters (FB1)

MCP HHU
(parameterization via SDB210)
Parameter settings are made via the BHG = 1 (transfer via SDB210)
relevant parameters in FB1.
BHGIn (as parameterized in SDB210)
BHGOut (as parameterized in SDB210)
BHGStatRec (as parameterized in SDB210)
BHGTimeout (as parameterized in SDB210)

Status information (MCP1 and MCP2 see table Status information)

Available in Bit No. Description
BHGStatRec 10 Receiver: Timeout
An error entry is also made in the PLC diagnostic buffer for timeouts,
resulting in the following error message on the MMC:
• 400262: HHU failure
An HHU failure is only recognized if data exchange has taken place previously with the HHU.
The first exchange of data with the HHU activates the monitoring function.
MPI connection
Communication starts from the PLC BP via the NCK and COM mode, i.e., even a link via the
MPI does not require an SDB210. Parameter settings are made via the relevant parameters
in FB1.

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 Detailed description
2.7 Structure and functions of the basic program

0&3 0&3
3/&&38 1&. ++8

03,

Figure 2-16 MPI connection

Relevant parameters (FB1)

MCP HHU
MCPNum=1 or 2 (number of MCPs) BHG=2
(transfer via COM module)
MCP1In MCP2In BHGIn
MCP1Out MCP2Out BHGOut
MCP1StatSend MCP2StatSend BHGStatSend
MCP1StatRec MCP2StatRec BHGStatRec
MCP1BusAdr MCP2BusAdr BHGInLen
MCP1Timeout MCP2Timeout BHGOutLen
MCP1Cycl MCP2Cycl BHGTimeout
MCPMPI = TRUE (MPI) BHGCycl
MCP1Stop MCP2Stop BHGRecGDNo
BHGRecGBZNo
BHGRecObjNo
BHGSendGDNo
BHGSendGBZNo
BHGSendObjNo
BHGMPI = TRUE (MPI)
BHGStop

Status information
Available in Bit No. Description
MCP1StatSendMCP2Stat 4 Syntax error in GD package:
Send Error in parameter set (FB1)
BHGStatSend
MCP1StatSendMCP2Stat 27 Transmitter:
SendB Timeout
HGStatSend
MCP1StatRec 10 Receiver:
MCP2StatRec Timeout
BHGStatRec

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Detailed description
2.7 Structure and functions of the basic program

An error entry is also made in the PLC diagnostic buffer for timeouts (bits 10 and 27),
resulting in the following error messages on the MMC:
• 400260: MCP 1 failure
Or
• 400261: MCP 2 failure
• 400262: HHU failure
An MCP or HHU failure is detected immediately after a cold restart even if no data have yet
been exchanged between the MCP/HHU and PLC.
The monitoring function is activated as soon as all components have signaled "Ready" after
powerup.
MPI connection and 810D (SW 4 and lower)
Communications for MCP and HHU by PLC operating system and parameterization via
SDB210.

0&3 0&3
3/&&38 1&. ++8

03,

6'%
IRU0&3
DQG++8

Figure 2-17 MPI connection and 810D

Relevant parameters (FB1):

Communication between the PLC and HHU is implemented through configuring and
subsequent loading of SDB210 (Global Data). To allow the basic program to access the
HHU data and implement HHU failure monitoring, the addresses set via global data must be
declared in FB1 parameters.

Relevant parameters (FB1) (all entries as parameterized in SDB210 global data)

MCP HHU
MCPNum=1 or 2 (number of MCPs) BHG=1 (MPI)
MCP1In MCP2In BHGIn
MCP1Out MCP2Out BHGOut
MCP1StatRec MCP2StatRec BHGStatRec
MCP1Timeout MCP2Timeout BHGTimeout

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 Detailed description
2.7 Structure and functions of the basic program

Status information
Available in Bit No. Description
MCP1StatRec 10 Receiver: Time out
MCP2StatRec
BHGStatRec
An error entry is also made in the PLC diagnostic buffer for timeouts,
resulting in the following error messages on the MMC:
• 400260: MCP 1 failure
Or
• 400261: MCP 2 failure
• 400262: HHU failure
An MCP/HHU failure is only detected following a cold restart if the unit has already been
involved in data exchange. The first exchange of data with the MCP/HHU activates the
monitoring function.
840D: PROFIBUS connection
With an MCP PROFIBUS connection, these components must be considered in the STEP 7
hardware configuration. The addresses must be stored in the input and output log range.
These start addresses must also be stored in the pointer parameters of the FB1. The FB1
parameters listed below are used for further parameterization. There is no PROFIBUS
variant of the HHU. For this reason, an Ethernet connection is shown for the HHU in this
figure. PROFIBUS slave address can be stored in MCP1BusAdr and MCPBusAdr.

23,

&2 1&
0&3 0&3 ++8
LQW '
3
5

03,'3
'3

352),
%86IRU
0&

Relevant parameters (FB1)

MCP HHU
MCPNum = 1 or 2 (number of MCPs) HHU = 2 (via COM module)
MCP1In MCP2In BHGIn
MCP1Out MCP2Out BHGOut
MCP1StatSend (n.r.) MCP2StatSend (n.r.) BHGStatSend

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2.8 SPL for Safety Integrated

Relevant parameters (FB1)

MCP HHU
MCP1StatRec (n.r.) MCP2StatRec (n.r.) BHGStatRec
MCP1BusAdr MCP2BusAdr BHGInLen
MCP1Timeout (n.r.) MCP2Timeout (n.r.) BHGOutLen
MCP1Cycl (n.r.) MCP2Cycl (n.r.) BHGTimeout
MCPMPI = FALSE BHGCycl
MCP1Stop (n.r.) MCP2Stop (n.r.) BHGRecGDNo
MCPBusType = 3 BHGRecGBZNo
BHGRecObjNo
BHGSendGDNo
BHGSendGBZNo
BHGSendObjNo
BHGMPI = FALSE
BHGStop
MCP failure switches the PLC to the STOP state. If this is undesirable, OB 82, OB 86 can be
used to avoid a stop. The MCP (as PROFIBUS slave) can also be switched on and off via
SFC12.
In the event of a failure, alarm messages are not generated by the basic program.
M to N is not possible with the MCP variant.

2.8 SPL for Safety Integrated

See:
References:
/FBSI/Description of Functions, Safety Integrated

2.9 Assignment overview

2.9.1 Assignment: NC/PLC interface

The assignment of the NC/PLC interface is comprehensively described in:
References:
/LIS/ Lists

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2.9 Assignment overview

2.9.2 Assignment: FB/FC

FB number FC number Meaning

1 Basic program
2 - 29 Reserved for Siemens
1 Initialization of basic program
2 - 29 Reserved for Siemens
30 - 35 See below: ShopMill, ManualTurn
30 – 127 1) user area
30 – 127 1) user area
1)
The actual upper limit of the block number (FB/FC) depends on the current PLC CPU. See section
"Key PLC CPU data for 810D, 840D". For FC and FB assignment, see section "Memory requirements
of basic PLC program for 810D, 840D".

ManualTurn
ManualTurn uses FC 30 to 35 and DB 81 to 89.
ManualTurn is an operating system for conventional, cyclecontrolled turning machines. The
above FCs and DBs can be used provided that the machine to be configured is not a turning
machine with a maximum of two axes and one spindle. If your machine is of this type and if
you might require conventional operating methods in addition to CNC functions, then you
should not use the FCs and DBs above.

ShopMill
ShopMill uses FC30 to 35 and DB 81 to 89.
ShopMill is an operating system for 2 1/2D milling machines in the workshop environment.
The above FCs and DBs can be used provided that the machine to be configured is not a
milling machine for 2 1/2D machining operations. However, if you intend to use your machine
for applications of this type, then the FCs and DBs should not be used.

2.9.3 Assignment: DB

Note
Only as many data blocks as are required according to the NC machine data configuration
are set up.

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2.9 Assignment overview

Overview of data blocks

DB no. Designation Name Packa
ge
1 Reserved for Siemens BP
4 PLC-MELD PLC messages BP
8 Reserved for Siemens
9 NC-COMPILE Interface for NC compile cycles BP
10 NC INTERFACE Central NC interface BP
11 Mode group 1 Interface mode group BP
12 Computer link and transport system interface
14 Reserved for Siemens
15 Basic program
16 PI Service definition
17 Version ID
18 Reserved for basic program
19 MMC interface
20 PLC machine data
21 - 30 CHANNEL 1 ... n Interface NC channels BP
31 - 61 AXIS 1 ... m Interfaces for axes/spindles BP
or free for user assignment
62 - 70 Free for user assignment
71 - 74 Tool management BP
75 - 76 M group decoding
77 - 80 Reserved for Siemens
81 - 89 See below: ShopMill, ManualTurn
81 –127 1) user area
1)
The actual upper limit of the block number (DB) depends on the current PLC CPU. See section "Key
PLC CPU data for 810D, 840D".

Note
The data blocks of channels, axes/spindles and tool management functions that are not
activated may be assigned as required by the user.

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ManualTurn
ManualTurn uses FC 30 to 35 and DB 81 to 89.
ManualTurn is an operating system for conventional, cyclecontrolled turning machines. The
above FCs and DBs can be used provided that the machine to be configured is not a turning
machine with a maximum of two axes and one spindle. If your machine is of this type and if
you might require conventional operating methods in addition to CNC functions, then you
should not use the FCs and DBs above.

ShopMill
ShopMill uses FC30 to 35 and DB 81 to 89.
ShopMill is an operating system for 2 1/2D milling machines in the workshop environment.
The above FCs and DBs can be used provided that the machine to be configured is not a
milling machine for 2 1/2D machining operations. However, if you intend to use your machine
for applications of this type, then the FCs and DBs should not be used.

2.9.4 Assignment: Timers

Timer No. Meaning

0-9 Reserved for Siemens
10 – 127 1) user area
1)
The actual upper limit of the block number (timer) depends on the current PLC CPU. See section
"Key PLC CPU data for 810D, 840D".

2.10 Memory requirements of basic PLC program for 810D, 840D

General
The basic program consists of basic and optional functions. The basic functions include
cyclic signal exchange between the NC and PLC.
The options include, for example, the FCs, which can be used if required.
The table below lists the memory requirements for the basic functions and the options. The
data quoted represent guide values, the actual values depend on the current software
version.

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2.10 Memory requirements of basic PLC program for 810D, 840D

Memory requirements of blocks with SINUMERIK 840D

Block size (bytes)
Block Function Remark Load Working
type no. memory memory
Basic functions in basic program
FB 1, 15, 16, 17, Must be loaded 3616 3052
18
FC 1, 2, 3, 4, 11, Must be loaded 7208 6608
20
DB 4, 5, 7, 8, 17, Must be loaded 2490 966
19
DB 2, 3, 6 Are generated by the BP 992 812
OB 1, 40, 100 Must be loaded 490 282
Total 14796 11720

PLC/NCK, PLC/MMC interface

DB 10 PLC/NCK signals Must be loaded 318 262
DB 11 Signals PLC/Mode group Is generated by BP 80 44
DB 21, 30 PLC/channel signals Are generated by BP as a function of NCMD 352 each 316 each
DB 31, ...61 PLC/axis or spindle Are generated by BP as a function of NCMD 180 each 144 each
signals

Basic program options

Machine control panel
FC 19 Transfer of MCP signals, Must be loaded when M variant of MCP is 1498 1258
M variant installed
FC 25 Transfer of MCP signals, Must be loaded when T variant of MCP is 1358 1160
T variant installed
FC 24 Transfer of MCP signals, Must be loaded when slim variant of MCP is 1358 1160
slim variant installed
FC 26 Transfer of MCP signals, Must be loaded for HPUs 1358 1160
HPU variant
FC 14 MPI/OPI transfer Must be loaded if MCPNum > 0 942 802
Handheld unit
FC 13 Display control HHU Can be loaded for handheld units 1264 1044
Error/operating messages
FC 10 Acquisition FM/BM Load when FM/BM is used 1572 1350
ASUB
FC 9 ASUB start Load when PLC ASUBs are used 656 538

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Basic program options

Concurrent axes
FC 15 Positioning of linear/rotary Load for axis positioning by PLC 656 546
axes
FC 16 Positioning of indexing Load for axis positioning by PLC 674 560
axes
Star/delta changeover
FC 17 Star/delta switchover of Load for star/delta switchover 612 494
MSD
Spindle control
FC 18 Spindle control Load for spindle control from PLC 826 676
PLC/NC communication
FB 2 Read NC variable Load for Read NC variable 396 224
DB n1) Read NC variable One instance DB per FB 2 call 426 each 270 each
FB 3 Write NC variable Load for Write NC variable 396 224
DB m1) Write NC variable One instance DB per FB 3 call 426 each 270 each
FB 4 PI services Load for PI services 334 214
DB o1) PI services One instance DB per FB 4 call 234 each 130 each
DB 16 PI services description Load for PI services 1190 408
FB 5 Read GUD variables Load for PI services 532 365
DB p Read GUD variables One instance DB per FB 5 call 308 each 166 each
FB 6 General Load for Read/write NC variables and PI 5986 5228
communication services
DB 15 General Instance DB for FB 6 440 172
communication
Tool management
FC 6 Basic function Load for tool management option 1382 1182
FC 7 Transfer function Load for tool management option 530 430
turret
FC 8 Transfer function Load for tool management option 1002 834
FC 22 Direction selection Load if direction selection is required 404 300
DB 71 Loading locations Generated by BP as a function of NC MD 30*B 30*B
DB 72 Spindles Generated by BP as a function of NC MD 48*Sp 48*Sp
DB 73 Turret Generated by BP as a function of NC MD 44*R 44*R
DB 74 Basic function Generated by BP as a function of NC MD (B+ (B+
Sp+R)*20 Sp+R)*20
Compile cycles
DB 9 Interface Is generated by BP as a function of NC option 472 436
PLC compile cycles
1): DB number must be specified by PLC user

Example:
Based on the memory requirements in the table above, the memory requirements have been
determined for two sample configurations (see table below).

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2.11 Supplementary conditions and NC VAR selector

Block size (bytes)

Block Function Remark Load Working
type no. memory memory
Minimum configuration (1 spindle, 2 axes and TMCP)
See above Basic program, base 14796 11720
Interface DBs 1290 1054
MCP 2300 1962
Total 18386 14736

Block size (bytes)

Block Function Remark Load Working
type no. memory memory
Maximum configuration (2 channels, 4 spindles, 4 axes, TMCP)
See above Basic program, base 14796 11720
See above Interface DBs 2542 2090
See above MCP 2300 1962
See above Error/status 1572 1350
messages
See above ASUBs 1 ASUB initiation 656 538
See above Concurrent axis For 2 turrets 674 560
See above PLC/NC 1 x read variable and 1 x write variable 8070 6388
communication
See above Tool management 2 turrets with one loading point each 3430 2854
See above Compile cycles 472 436
Total 34512 27898

2.11 Supplementary conditions and NC VAR selector

2.11.1 Supplementary conditions

2.11.1.1 Programming and parameterizing tools

Hardware
Programming devices or PCs with the following equipment are required for the PLCs
installed on the 810D and 840D:

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Minimum Recommendation
Processor 80486 Pentium
RAM (MB) 32 Or more
Hard disk, 200 > 400
free capacity (MB)
Interfaces MPI incl. cable
Memory card
Graphics VGA or TIGA SVGA
Mouse yes
Operating system Windows 95/98/NT Windows 95/98/NT
or higher
STEP 7 and higher STEP 7 and higher
Version 4 Version 5.1
The STEP7 package for the S7300 can be obtained and installed on equipment meeting the
above requirements in cases where the package has not already been supplied with the
programming device.
The following functions are possible with this package:
• Programming
– Editors and compilers for STL (complete scope of the language incl. SFB/SFC calls),
LAD, FBD
– Creation and editing of assignment lists (symbol editor)
– Data block editor
– Input and output of blocks ON/OFF line
– Insertion of modifications and additions ON and OFF line
– Transfer of blocks from programming device to the PLC and vice versa
• Parameterizing
– Parameterizing tool HW Config for CPU and I/O device parameterization
– Communication Configuration configuration tool for setting the CPU communication
parameters
– Output of system data such as hardware and software version, memory capacity, I/O
expansion/assignment
• Testing and diagnostics (ONLINE)
– Variable status/forcing (I/Os, flags, data block contents, etc.)
– Status of individual blocks
– Display of system states (ISTACK, BSTACK, system status list)
– Display of system messages
– PLC STOP/complete restart/overall reset triggering from the programming device
– Compress PLC
• Documentation
– Printout of individual or all blocks

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2.11 Supplementary conditions and NC VAR selector

– Allocation of symbolic names (also for variables in data blocks)

– Input and output of comments within each block
– Printout of test and diagnostics displays
– Hardcopy function
– Cross-reference list
– Program overview
– Assignment plan I/O/M/T/C/B/P/D
• Archiving of utility routines
– Allocation of the output statuses of individual blocks
– Comparison of blocks
– Rewiring
– STEP 5 -> STEP 7 converter
• Option packages
– Programming in S7–HIGRAPH, S7–GRAPH, SCL.
These packages can be ordered from the SIMATIC sales department.
– Additional packages for configuring modules
(e.g., CP3425 -> NCM package)

Note
More information about possible functions can be found in SIMATIC catalogs and STEP 7
documentation.

2.11.1.2 SIMATIC documentation required

References:
SIMATIC S 7 System Overview
S7-300, CPU 314, CPU 315-2DP Operation List
Programming with STEP 7
STEP 7 User's Guide
STEP 7 Programming Manual; Designing User Programs
STEP 7 Reference Manual; STL Instruction List
STEP 7 Reference Manual; LAD Ladder Diagram
STEP 7 Reference Manual; Standard and System Functions
STEP 7 Manual: Conversion of STEP 5 Programs
STEP 7 General Index
CPU 314, CPU 315-2DP Manual

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2.11.1.3 Relevant SINUMERIK documents

References:
/IAD/840D, 611D Installation and Startup Guide; PLC Interface
/IAG/810D, 611D Installation and Startup Guide; PLC Interface
/BH/Operator Components Manual (HW)/840D/FM NC/810D
/FB/840D, 810D Description of Functions
/LIS/840D/810 D Lists
/FBP/PLC C Programming

2.11.2 NC VAR selector

2.11.2.1 Overview

General
A catalog with an optional catalog name must be set up via the Windows Explorer. The
selected data of the VAR selector (data.VAR and data.AWL (STL)) must be stored in this
catalog. An "Insert", "External source" into the STEP 7 machine project for the "Data.AWL"
file must then be carried out via the STEP 7 manager (V3 and higher). The source container
must be selected in the manager for this purpose. This action stores this file in the project
structure. Once the file has been transferred, these AWL (STL) files must be compiled with
STEP 7.
The PC application "NC VAR selector" fetches the addresses of required NC variables and
processes them for access in the PLC program (FB 2/FB 3). This enables the programmer to
select NC variables from the entire range of NC variables, to store this selection of variables,
to edit them by means of a code generator for the STEP 7 compiler and finally to store them
as an ASCII file (*.AWL) in the machine CPU program. This process is shown in the figure
"NC VAR selector".

Note
The latest NC VAR selector can be used for each NC software version (even earlier
versions). The variables can also be selected from the latest list for earlier NC software
versions. The data content in DB 120 (default DB for variables) does not depend on the
software version, i.e., selected variables in an older software version must not be reselected
when the software is upgraded.

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2.11 Supplementary conditions and NC VAR selector

3URMHFW

)XOOOLVW 6HOHFWHG *HQHUDWH

OLVW FRGH
YDUB YDUB
6HOHFWHG
YDUB OLVW
YDUB 6DYH
YDUB

YDU DZO

PGE
+DUGGLVN

Figure 2-18 NC VAR selector

After the "NC VAR selector" application has been started, select a list of variables of an NC
variant (hard disk → file Ncv.mdb) to display all the variables contained in this list in a
window.

In SW V6.3 and higher, the variable lists ncv*.mdb are separated according to:
NC variables including machine and setting data: ncv_NcData.mdb
Machine data for 611D drive: ncv_611d.mdb
Machine data for 611D linear drive: ncv_611dLinear.mdb
Machine data of the 611D drive, Performance 2: ncv_611d_P2.mdb
Machine data of the 611D linear drive, Performance 2: ncv_611d_P2Linear.mdb
Machine data of the hydraulic drive: ncv_Hydraulics.mdb
The user can also transfer variables to a second list (separate window). This latter selection
of variables can then be stored in an ASCII file or edited as a STEP 7 source file (.awl) and
stored.
Once he has generated a PLC data block by means of the STEP 7 compiler, the
programmer is able to read or write NCK variables via the basic program function blocks
"PUT" and "GET" using the STEP 7 file.
The list of selected variables is also stored as an ASCII file (file extension .var).
The variable list supplied with the "NC VAR selector" tool is adapted to the current NC
software version. This list does not contain any variables (GUD variables) defined by the
user. These variables are processed by the function block FB 5 in the basic program.

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2.11 Supplementary conditions and NC VAR selector

Note
The latest version of the "NC VAR selector" is capable of processing all previous NC
software versions. It is not therefore necessary to install different versions of the "NC VAR
selector" in parallel.

System features, supplementary conditions

The PC application "NC VAR selector" requires Windows 95 (or later operating system).
The assignment of names to variables is described in:
References:
/LIS/ Lists; Chapter: Variables,
or in the Variables Help file (integrated in NC VAR selector).

2.11.2.2 Description of Functions

Overview
The figure below illustrates how the NC VAR selector is used within the STEP 7
environment.

1&9$5VHOHFWRU 67(3

%DVLFOLVW )XOOOLVW 6HOHFWHG DZOILOH PFILOH

OLVW 9DULDEOHV 9DULDEOHV
1DPH 1DPH 1DPH 1DPHYDOXH! 1DPHYDOXH!

8VHUGDWD

8, 9DU,'
&DOO)%9DU $UHDXQLW
9DU1DPH &ROXPQ


Figure 2-19 Application of NC VAR selector in the STEP 7 environment

The NC VAR selector is used to generate a list of selected variables from a list of variables
and then to generate an .awl file that can be compiled by the STEP 7 compiler.

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2.11 Supplementary conditions and NC VAR selector

Note
A *.awl file contains the names and alias names of the NC variables, as well as information
about their address parameters.
Any data block generated from this file will only contain the address parameters (10 bytes
per parameter).

• The generated data blocks must always be stored in the machinespecific file storage
according to STEP 7 specifications.
• To ensure that the parameterization of the GET/PUT (FB 2/3) blocks with respect to NC
addresses can be implemented with symbols, the freely assignable, symbolic name of the
generated data block must be included in the STEP 7 symbol table.

Basic display/Basic menu

After the NC VAR selector has been selected (started), the basic display with all input
options (upper menu bar) appears on the screen. All other displayed windows are placed
within the general window.

Figure 2-20 Basic display with basic menu

Project menu item

All operator actions associated with the project file (file of selected variables) are performed
under this menu item.

Terminating the application

The application can be terminated by selecting the "End" option under the "Project" menu
item.

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2.11 Supplementary conditions and NC VAR selector

Creating a new project

A new project (new file for selected variables) can be set up under the "Project" menu item.
A window is displayed for the selected variables when "NEW" is selected. The file selection
for the NC variable list is then displayed after a prompt (applies only if the NC variable list is
not already open).

Figure 2-21 Window with selected variables for new project

The selected variables are displayed in a window.

Opening an existing project

Select "Open" under the "Project" menu item to open an existing project (variables already
selected). A file selection window is displayed allowing the appropriate project with extension
".var" to be selected.

Figure 2-22 Selection window for existing projects

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2.11 Supplementary conditions and NC VAR selector

If, after selection of the project, new variables are to be added, a complete list of NCK
variables must be selected (see: Selecting complete list). No complete list need be called if
the user only wishes to delete variables from the project.

Storing a project
The variable list is stored using the "Project", "Save" or "Save As...." menu items.
"Save" stores the variable list under a path, which is already specified. If the project path is
not known, then the procedure is as for "Save As....".
"Save As..." displays a window in which the path for the project to be stored can be
specified.

Printing a project
The "Print" command under the "Project" menu item can be selected to print a project file.
The number of lines per page is selected under the "Print Setting" menu item. The default
setting is 77 lines.

Edit menu item

The following operator actions are examples of those, which can be carried out directly with
this menu item:
• Transfer variables
• Delete variables
• change alias names
• Find variables
These actions can also be canceled again under Edit.

Undoing actions
Operator actions relating to the creation of the project file (transfer variables, delete
variables, change alias names) can be undone in this menu.

NC variables menu item

The basic list of all variables is saved in the NC Var selector path Data\Swxy (xy stands for
SW no., e.g., SW 5.3:=xy=53). This list can be selected as an NC variables list. The
available variable lists are provided thematically.

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Selecting an NC variable list

A list of all the NC variables for an NC version can now be selected and displayed via the
"NC Variable List", "Select" menu item.

Figure 2-23 Window with selected Complete List

The field variables (e.g., axis area, T area data, etc.) are indicated by means of brackets ([.]).
Additional information must be specified here. When the variables are transferred to the
project list, the additional information required is requested.

Displaying subsets
Double-click on any table field (with the exception of variable fields) to display a window in
which filter criteria can be preset.

Figure 2-24 Window with filter criteria for displaying list of variables

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There are three options:

• Display all data
• Input area, block and name (incl. combinations)
• Display MD/SE data number
The following wildcards can also be used:

* To extend the search criterion as required

Example search criteria

Name search criterion: Found: CHAN_NAME

CHAN*
chanAlarm
chanStatus
channelName
chanAssignment

Selecting variables
A variable is selected by means of a simple mouse click and transferred to the window of
selected variables by double-clicking.
This action can also be undone under the "Edit" menu item.

Alias name
The variable names provided can be up to 32 characters in length. To make variables clearly
identifiable in the data block to be generated, several ASCII characters are added to the
selected name. However, the STEP 7 compiler recognizes only 24 ASCII characters as an
unambiguous STEP 7 variable. Since it cannot be precluded that variable names can only be
differentiated by the last 8 character positions, ALIAS names are used for names, which are
too long. When a variable is selected, the length of the STEP 7 name to be used is therefore
checked. If the name is longer than 24 characters, the user must enter an additional name,
which is then used as the alias.
In this case, the user must ensure that the alias name is unambiguous.
Alias input can always be activated by the user in the "Options" menu.
An alias name can then be entered every time a variable is transferred.
It is also possible to edit alias names at a later point in time by doubleclicking on the S7
variable name field. This action can also be undone under the "Edit" menu item.

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Figure 2-25 Screen with complete list and selected variables

Scrolling
A scroll bar is displayed if it is not possible to display all variables in the window. The
remaining variables can be reached by scrolling (page up/down).

Variables in multi-dimensional structures

If variables are selected from multidimensional structures, then the column and/or line
number as well as the area number must be entered so that the variables can be addressed.
The required numbers can be found in the NC variables documentation.
References:
/LIS/ Lists; Variables
By entering a zero (0) as the block number or the line or column index, it is possible to use
the variable in the S7 PLC as a pointer to these data. When reading or writing these data via
the functions "PUT" and "GET", the optional parameters "UnitX", "ColumnX" and "LineX"
must be filled with the necessary information.

Figure 2-26 Entry field for line, column and block no.

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Delete variables
Variables are deleted in the window of selected variables by selecting the appropriate
variables (single mouse click) and pressing the "Delete" key. No deletion action is taken with
the doubleclick function. It is possible to select several variables for deletion (see "Selecting
variables").
This action can also be undone under the "Edit" menu item.

Note
Deleting of variables results in a change of the absolute addresses of the pointer structures
to the variables. When changing the variable selection, it is, therefore, absolutely necessary
to generate one or several text files of all user blocksprior to the change. This is the only way
to ensure that the assignment of the variables in FB "GET" or FB "PUT" remains correct,
even after recompilation.

Storing a selected list

Once variables have been selected, they can be stored under a project name. The files are
stored on a projectspecific basis.
A window is displayed for the file to be stored. The project path and name for the file must be
selected in the window.

Figure 2-27 Window for project path and name of file to be stored

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2.11 Supplementary conditions and NC VAR selector

Code generation
This menu item contains three selection options:
1. Settings (input of data block number to be generated) and other settings
2. Generate (create data block)
3. In the STEP 7 project (transferring the data block to a STEP 7 project)

Settings
Under this menu item, the DB number and the symbol for this DB number for which the code
is created is entered.
Under the "Unit System" tab, a selection is made to determine how the unit system variables
are calculated in the PLC.
Under the "Generate" tab, the project creation is defined for the relevant target system.

Generate
Under this menu item, the STEP 7 file from the selected variable list with extension ".awl" is
set.
A file is generated when "Select" is clicked:
An .awl file that can be used as an input for the STEP 7 compiler.
A window opens, in which path and name for the .awl file to be generated must be specified
for the file to be saved.

In a STEP7 project
The generated AWL file is transferred to a selectable SIMATIC project (program path) and
compiled. Furthermore, the symbol can also be transferred. This function will be available as
of STEP7 Version 5.1 and NCVar Selector 6.04.05. This process take some time due to the
time require by STEP7. Before transferring a new AWL file, the file window of the AWL file
must be closed in the LAD/FUP/AWL Editor.

Option menu item

The following can be selected under the "Option" menu item:
• The current language
• The mode for alias input (always/>24 characters)

Help menu item

The information below can be viewed by selecting the corresponding submenu item:
• The Operator's Guide
• The Description of Variables
The copyright and the version number can also be displayed.

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2.11.2.3 Startup, installation

The Windows application "NC Var selector" is installed using the SETUP program supplied
with the package.

2.12 Block descriptions

2.12.1 FB 1: RUN_UP Basic program, startup section

Description of Functions
The synchronization of NCK and PLC is performed during startup. The data blocks for the
NC/PLC user interface are created with reference to the NC configuration defined in the
machine data and the most important parameters verified for plausibility. In the event of an
error, FB 1 passes an error identifier to the diagnostics buffer and switches the PLC to the
STOP state.
To enable an orderly startup of the control, it is vital to synchronize the NCK and PLC, as
these systems have their own types of powerup procedure. During startup routine, therefore,
the CPUs perform "subsidiary startup functions" and exchange ID information to ensure that
the procedure is functioning correctly.
Since the startup procedure is asynchronous, it is unavoidable that one CPU may have to
"wait" until the other has "caught up". This is automatically managed by the basic program.
The PLC 314 and PLC 315-2DP only know the start-up type cold restart. A warm restart is
not provided, i.e., following system initialization, the operating system runs organization
block OB 100 and always commences cyclic execution at the start of
OB 1.
Users need only supply the FB 1 parameters that are relevant to their applications. The
preset values in the associated instance DB 7 do not need to be assigned. The block can
only be called in OB 100.

Output parameters
The output parameters in FB 1 provide the PLC user with information about the control
system configuration. These data can also be accessed in the cyclic program section.
There are two access options:
1. Direct access to the DB 7 data block (instance of the FB 1) in symbolic format (e.g., L
gp_par.MaxChan; in this case, gp_par is the symbolic name of the DB 7)
2. Assignment of a flag; during parameterization of the FB 1, the data element is assigned
to the relevant parameter (e.g., MaxChan:=MW 20) Information about the maximum
number of channels can then be polled in memory word 20 in the rest of the user
program.

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Note
An additional SDB 210 must be generated via the STEP7 Communication Configuration
application for the operator components connected on the MPI interface.
The corresponding procedure is explained in the Installation and Startup Guide.

Caution
The text below is only relevant if an MCP1In, MCP1Out, MCP1StatSend, or
MCP1StatRec pointer parameter (or the parameters for the second MCP and the HHU) is
to be assigned to a data block (these pointers are usually stored on inputs or outputs).
To assign the MCP1In, MCP1Out, MCP1StatSend, or MCP1StatRec pointer parameter
(or the parameters for the second MCP and the HHU) to data block elements:
The In parameter (e.g., MCP1In) for this operator component must point to a data block.
The parameterized DB number must be the same for the other parameters if the other
pointers point to data blocks (the other parameters can point to inputs, outputs or flags).
All pointers of an operator component do not have to point to data blocks.

Declaration 810D, 840D

Code Comment
FUNCTION_BLOCK FB 1
VAR_INPUT
MCPNum: INT:= 1; //0: No MCP
//1: 1 MCP (default)
//2: 2 MCPs
MCP1In: POINTER; //Start addr. MCP 1 input signals
MCP1Out: POINTER; //Start addr. MCP 1 output signals
MCP1StatSend: POINTER; //Status DW for sending MCP 1
MCP1StatRec: POINTER; //Status DW for receiving MCP 1
MCP1BusAdr: INT:= 6; //Default
MCP1Timeout: S5TIME:= S5T#700MS;
MCP1Cycl: S5TIME:= S5T#200MS;
MCP2In: POINTER; //Start addr. MCP 2 input signals
MCP2Out: POINTER; //Start addr. MCP 2 output signals
MCP2StatSend: POINTER; //Status DW for sending MCP 2
MCP2StatRec: POINTER; //Status DW for receiving MCP 2
MCP2BusAdr: INT ;
MCP2Timeout: S5TIME:= S5T#700MS;
MCP2Cycl: S5TIME:= S5T#200MS;
MCPMPI: BOOL:= FALSE;
MCP1Stop: BOOL:= FALSE;
MCP2StopI: BOOL:= FALSE;
MCP1NotSend: BOOL:= FALSE;
MCP2NotSend BOOL:= FALSE;

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Code Comment
MCPSDB210: BOOL:= FALSE;
MCPCopyDB77: BOOL:= FALSE;
MCPBusType: BYTE = 0;
HHU: INT ; //Handheld unit interface
//0: No HHU
//1: HHU on MPI
//2: HHU on OPI
BHGIn: POINTER; //Transmit data of the HHU
BHGOut: POINTER; //Receive data of the HHU
BHGStatSend: POINTER; //Status DW for sending HHU
BHGStatRec: POINTER; //Status DW for receiving HHU
BHGInLen: BYTE:= B#16#6; //Input 6 bytes
BHGOutLen: BYTE:= B#16#14; //Output 20 bytes
BHGTimeout: S5TIME:= S5T#700MS;
BHGCycl: S5TIME:= S5T#100MS;
BHGRecGDNo: INT:= 2;
BHGRecGBZNo: INT:= 2;
BHGRecObjNo: INT:= 1;
BHGSendGDNo: INT:= 2;
BHGSendGBZNo: INT:= 1;
BHGSendObjNo: INT:= 1;
BHGMPI: BOOL:= FALSE;
BHGStop: BOOL:= FALSE;
BHGNotSend: BOOL:= FALSE;
NCCyclTimeout: S5TIME:= S5T#200MS;
NCRunupTimeout: S5TIME:= S5T#50S;
ListMDecGrp: INT:= 0;
NCKomm: BOOL:= FALSE;
MMCToIF: BOOL:= TRUE;
HWheelMMC: BOOL:= TRUE; //Selection of handwheel using MMC
MsgUser: INT:= 10; //Number of user areas in DB 2
UserIR: bool:= FALSE; //User programs in OB 40,
//Observe local data expansion!
IRAuxfuT: bool:= FALSE; //Evaluate T function in OB 40
IRAuxfuH: bool:= FALSE; //Evaluate H function in OB 40
IRAuxfuE: bool:= FALSE; //Evaluate DL function in OB 40
UserVersion: Pointer; //Pointer to string variable indicated in
//version display
END_VAR

VAR_OUTPUT
MaxBAG: INT ;
MaxChan: INT ;
MaxAxis: INT ;
ActivChan: ARRAY[1..10] OF BOOL;
ActivAxis: ARRAY[1.0.31] OF BOOL;
UDInt : INT ;
UDHex: INT ;
UDReal : INT ;
END_VAR

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Description of formal parameters 810D, 840D

The table below lists all formal parameters of the RUN_UP function for 810D, 840D:

Signal I/O Type Value range Remarks

MCPNum I Int Up to 2 Number of active MCPs
0: No MCP installed
MCP1In I Pointer I0.0 to I120.0 or F0.0 Start address for input
MCP2In to F248.0 or DBn signals of relevant machine
DBX0.0 to DBXm.0 control panel
MCP1Out I Pointer Q0.0 to Q120.0 or Start address for output
MCP2Out F0.0 to F248.0 or signals of relevant machine
DBn DBX0.0 to control panel
DBXm.0
MCP1StatSend I Pointer Q0.0 to Q124.0, Start address for status double
MCP2StatSend F0.0 to F252.0 or word for data transmission to the
DBn DBX0.0 to machine control panel:
DBXm.0 DW#16#08000000: Timeout,
otherwise 0
MCP1StatRec I Pointer Q0.0 to Q124.0, Start address for status double
MCP2StatRec F0.0 to F252.0 or word for data reception by machine
DBn DBX0.0 to control panel:
DBXm.0 DW#16#00000400: Timeout,
otherwise 0
MCP1BusAdr I Int 1...15 Bus address of machine control
MCP2BusAdr panel
MCP1Timeout I S5time Recommendation: Cyclic sign-of-life monitoring for
MCP2Timeout 700 ms machine control panel
MCP1Cycl I S5time Recommendation: Time reference for cyclic updating
MCP2Cycl 200 ms of signals to machine control panel
MCPMPI I Bool 1: All machine control panels
connected to the MPI bus (without
GD parameterization)
MCP1Stop I Bool 0: Start transfer of machine control
MCP2Stop panel signals
1: Stop transfer of machine control
panel signals
MCP1NotSend I Bool 0: Send and receive operation
MCP2NotSend activated
1: Receive MCP signals only
(under development)
MCPSDB210 I Bool 0: No SDB 210 for MCP
1: Activate timeout monitors on
SDB 210 for MCP
MCPCopyDB77 I Bool 1: Copy between DB 77 and MCP
pointers on DB 7
Can only be used with standard
SDB 210 configuration on DB 77.
MCPBusType I Byte 0: MPI or OPI
b#16#33: PROFIBUS for MCP1

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Signal I/O Type Value range Remarks

and MCP2
HHU I Int HHU interface
0: No HHU
1: HHU to MPI with SDB 210
configuration (for SW V3.x):
2: HHU to OPI or MPI if FB 1
parameter BHGMPI is also set to
TRUE
(SW V4.x and higher)
BHGIn I Pointer I0.0 to I124.0, Start address
F0.0 to F252.0 or PLC receive data
DBn DBX0.0 to from HHU
DBXm.0
BHGOut I Pointer Q0.0 to Q124.0, Start address
F0.0 to F252.0 or PLC transmit data
DBn DBX0.0 to to HHU
DBXm.0
BHGStatSend I Pointer Q0.0 to Q124.0, Start address for status double
F0.0 to F252.0 or word for transmitting data to HHU:
DBn DBX0.0 to DW#16#08000000: Timeout,
DBXm.0 otherwise 0
BHGStatRec I Pointer Q0.0 to Q124.0, Start address for status double
F0.0 to F252.0 or word for receiving data
DBn DBX0.0 to from HHU: DW#16#00000400:
DBXm.0 Timeout,
otherwise 0
BHGInLen I Byte HHU default: Quantity of data received from
B#16#6 (6 bytes) handheld unit
BHGOutLen I Byte HHU default: Quantity of data transmitted to
B#16#14 (20 bytes) handheld unit
BHGTimeout I S5time Recommendation: Cyclic sign-of-life monitoring for
700 ms handheld unit
BHGCycl I S5time Recommendation: Time reference for cyclic updating
100 ms of signals to handheld unit
BHGRecGDNo I Int HHU default: 2 Receive GD circle no.
BHGRecGBZNo I Int HHU default: 2 Receive GI no.
BHGRecObjNo I Int HHU default: 1 Object number for receive GI
BHGSendGDNo I Int HHU default: 2 Transmit GD circle no.
BHGSendGBZNo I Int HHU default: 1 Transmit GI no.
BHGSendObjNo I Int HHU default: 1 Object number for transmit GI
BHGMPI I Bool 1: Handheld unit coupled to MPI
(without SDB 210 config.)
Parameter HHU must be set to 2.
BHGStop I Bool 0: Start transmission
of handheld unit signals
1: Stop transmission
of handheld unit signals
BHGNotSend I Bool 0: Send and receive operation
activated

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Signal I/O Type Value range Remarks

1: Receive HHU signals only
(under development)
NCCyclTimeout I S5time Recommendation: Cyclic sign-of-life monitoring NCK
200 ms
NCRunupTimeout I S5time Recommendation: 50 Powerup monitoring NCK
s
ListMDecGrp I Int 0...16 Activation of expanded
M group decoding
0: Not active
1...16: Number of M groups
NCKomm I Bool PLC NC communications services
(FB 2/3/4/5/7:
Put/Get/PI_SERV/GETGUD)
true: active
MMCToIF I Bool Transmission of MMC signals to
interface (modes, program control,
etc.)
true: active
HWheelMMC I Bool True: Handwheel selection via
MMC
False: Handwheel selection via
user program
MsgUser I Int 0...25 Number of user areas for messages
(DB 2)
UserIR I Bool Local data expansion OB40
required for processing of signals
from user
IRAuxfuT I Bool Default, false Evaluate T function in OB40
IRAuxfuH I Bool Default, false Evaluate H function in OB40
IRAuxfuE I Bool Default, false Evaluate DL function in OB40
UserVersion I Pointer Pointer to string variable.
The associated string variable is
indicated in the version display
(max. 41 characters).
MaxBAG Q INT 1..10 Number of mode groups
MaxChan Q INT 1..10 Number of channels
MaxAxis Q INT 1..31 Number of axes
ActivChan Q ARRAY[1.. Bit string for active channels
10] OF
BOOL

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Signal I/O Type Value range Remarks

ActivAxis Q ARRAY[1.. Bit string for active axes
31] OF
BOOL
UDInt Q Int Quantity of integer machine data
in DB 20
UDHex Q Int Quantity of hexadecimal machine
data in DB20
UDReal Q Int Quantity of real machine data
in DB 20

Declaration 810D

Code Comment
FUNCTION_BLOCK FB 1
VAR_INPUT
MCPNum: INT:= 1; //0: No MCP
//1: 1 MCP (default)
//2: 2 MCPs
MCP1In: POINTER;
MCP1Out: POINTER;
MCP1StatRec: POINTER;
MCP1Timeout: S5TIME:= S5T#700MS;
MCP2In: POINTER;
MCP2Out: POINTER;
MCP2StatRec: POINTER;
MCP2Timeout: S5TIME:= S5T#700MS;
HHU: INT:= 0; //Handheld unit interface
//0 - no HHU
//1 - HHU on MPI
BHGIn: POINTER; //Transmit data of the HHU
BHGOut: POINTER; //Receive data of the HHU
BHGStatRec: POINTER; //Status DW for receiving HHU
BHGTimeout: S5TIME:= S5T#700MS;
NCCyclTimeout: S5TIME:= S5T#200MS;
NCRunupTimeout: S5TIME:= S5T#50S;
ListMDecGrp: INT:= 0;
NCKomm: BOOL:= FALSE;
MMCToIF: BOOL:= TRUE;
HWheelMMC: BOOL:= TRUE; //Selection of handwheel using MMC
MsgUser: INT:= 10; //Number of user areas in DB 2
UserIR: bool:= FALSE //User programs in OB 40,
//Observe local data expansion!
IRAuxfuT: bool:= FALSE; //Evaluate T function in OB 40
IRAuxfuH: bool:= FALSE; //Evaluate H function in OB 40
IRAuxfuE: bool:= FALSE; //Evaluate E function in OB40
UserVersion: Pointer; //Pointer to string variable indicated
//in version display
END_VAR

VAR OUTPUT

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Code Comment
MaxBAG: INT ;
MaxChan: INT ;
MaxAxis: INT ;
ActivChan: ARRAY[1..10] OF BOOL;
ActivAxis: ARRAY[1.0.31] OF BOOL;
UDInt : INT ;
UDHex: INT ;
UDReal : INT ;
END_VAR

Description of formal parameters 810D and 840D

The table below lists all formal parameters of the RUN_UP function for the 810D and 840D:

Signal I/O Type Value range Remarks

MCPNum I Int Up to 2 Number of active MCPs
0: No MCP installed
MCP1In I Pointer E0.0 to E120.0 or Start address for
MCP2In M0.0 to M248.0 or input signals of relevant
DBn.DBX0.0 to machine control panel1)
DBXm.0
MCP1Out I Pointer Q0.0 to Q120.0 or Start address for
MCP2Out M0.0 to M248.0 or output signals of relevant
DBn.DBX0.0 to machine control panel1)
DBXm.0
MCP1StatSend I Pointer Q0.0 to Q124.0, Start address for status double
MCP2StatSend M0.0 to M252.0 or word for data transmission from
DBn.DBX0.0 machine control panel:
to DBXm.0 DW#16#00080000:
Timeout, otherwise 0 1)
MCP1StatRec I Pointer Q0.0 to Q124.0, Start address for status double
MCP2StatRec M0.0 to M252.0 or word for data reception by machine
DBn.DBX0.0 control panel: DW#16#00040000:
to DBXm.0 Timeout, otherwise 0 1)
MCP1BusAdr I Int 1... 15 Bus address of machine control
MCP2BusAdr panel
MCP1Timeout I S5time Recommendation: Cyclic sign-of-life monitoring for
MCP2Timeout 700 ms machine control panel
MCP1Cycl I S5time Recommendation: Time reference for cyclic updating
MCP2Cycl 200 ms of signals to machine control panel
MCPMPI I Bool 1: All machine control panels
connected to the MPI bus
(without GD parameterization)
MCP1Stop I Bool 0: Start transfer of machine control
MCP2Stop panel signals
1: Stop transfer of machine control
panel signals
MCP1NotSend I Bool 0: Send and receive operation
MCP2NotSend activated

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Signal I/O Type Value range Remarks

1: Receive machine control panel
signals only
HHU I Int Handheld unit interface
0: No HHU
1: HHU on MPI with SDB 210
configuration
BHGIn I Pointer I0.0 to I124.0, Start address
M0.0 to M252.0 PLC receive data
or DBn.DBX0.0 from HHU 2)
to DBXm.0
BHGOut I Pointer Q0.0 to Q124.0, Start address
M0.0 to M252.0 PLC transmit data
or to HHU 2)
DBn.DBX0.0
to DBXm.0
BHGStatSend I Pointer Q0.0 to Q124.0, Start address for the
M0.0 to M252.0 status double word for sending data
or DBn.DBX0.0 to the HHU:
to DBXm.0 DW#16#08000000: Timeout,
otherwise 0 2)
BHGStatRec I Pointer Q0.0 to Q124.0, Start address for the
M0.0 to M252.0 status double word for receiving
or data from HHU:
DBn.DBX0.0 DW#16#00040000: Timeout,
to DBXm.0 otherwise 0 2)
BHGInLen I BYTE HHU default: Quantity of data received from
B#16#6 (6 bytes) handheld unit
BHGOutLen I Byte HHU default: Quantity of data transmitted to
B#16#14 (10 bytes) handheld unit
BHGTimeout I S5time Recommendation: Cyclic sign-of-life
700 ms monitoring for handheld unit
BHGCycl I S5time Recommendation: Time reference for cyclic updating
100 ms of signals to handheld unit
BHGRecGDNo I Int HHU default: 1 Receive GD circle no.
BHGRecGBZNo I Int HHU default: 2 Receive GI no.
BHGRecObjNo I Int HHU default: 1 Object number for receive GI
BHGSendGDNo I Int HHU default: 2 Transmit GD circle no.
BHGSendGBZNo I Int HHU default: 1 Transmit GI no.
BHGSendObjNo I Int HHU default: 1 Object number for transmit GI
BHGMPI I Bool 1: Handheld unit coupled to MPI
(without SDB 210 config.)
Parameter HHU must be set to 2.
BHGStop I Bool 0: Start transfer of HHU signals
1: Stop transfer of HHU signals
BHGNotSend I Bool 0: Send and receive operation
activated
1: Receive HHU signals only
NCCyclTimeout I S5time Recommendation: Cyclic sign-of-life

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Signal I/O Type Value range Remarks

200 ms monitoring NCK
NCRunupTimeout I S5time Recommendation: 50 Powerup monitoring NCK
s
ListMDecGrp I INT 0...16
NCKomm I Bool PLC NC communications services
(FB 2/3/4/5/7:
Put/Get/PI_SERV/GETGUD)
1: active
MMCToIF I Bool Transmission of MMC signals
to interface (modes,
program control, etc.)
true: active
HWheelMMC I Bool True: Handwheel selection via
MMC
False: Handwheel selection using
user prog.
MsgUser I Int 0...25 Number of user areas for messages
(DB 2)
UserIR I Bool Local data expansion OB40
required for processing of signals
from user
IRAuxfuT I Bool Evaluate T function in OB40
IRAuxfuH I Bool Evaluate H function in OB40
IRAuxfuE I Bool Evaluate DL function in OB40
UserVersion I Pointer Pointer to string variable.
The associated string variable is
indicated in the version display
(max. 54 characters).
MaxBAG Q INT 1..10 Number of mode groups
MaxChan Q INT 1..10 Number of channels
MaxAxis Q INT 1..31 Number of axes
ActivChan Q ARRAY Bit string for active channels
[1..10] OF
BOOL
ActivAxis Q ARRAY Bit string for active axes
[1.0.31] OF
BOOL

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Signal I/O Type Value range Remarks

UDInt Q Int Quantity of integer machine data in
DB20
UDHex Q Int Quantity of hexadecimal machine
data in DB20
UDReal Q Int Quantity of real machine data in
DB20
1) To ensure BP monitoring of the MCP(s), the addresses must be specified as set in SDB 210 on the
810D. The start address is set via SDB 210 on the 810D. In the supplied SDB 210, the start address
is specified as IB 0 for input signals and QB 0 for output signals. If a different start address is
required, this must be specified using the STEP 7 Communication Configuration package.
2)To ensure BP monitoring of the HHU(s), the addresses must be specified as set in SDB 210 on the
810D.

MCP/HHU monitoring (for 810D, 840D)

The following status information regarding communication with the machine control panels is
output in the event of an error:

Available in: Bit No. Description

MCP1StatRec 10 Receiver:
MCP2StatRec Time out
BHGStatRec
SINUMERIK 840D only: 27 Transmitter:
MCP1StatSend Timeout
MCP2StatSend
BHGStatSend
In addition, an error entry is generated in the diagnostics buffer of the PLC,
resulting in the following error messages on the MMC:
• 400260: MCP 1 failure or
• 400261: MCP 2 failure
• 400262: HHU failure
In this case, the input signals from the MCP or from the handheld unit (MCP1In/ MCP2In or
BHGIn) are initialized with 0. If it is possible to resynchronize the PLC and MCP/HHU,
communication is resumed automatically and the error message reset by the BP.

810D example call

An example call for the FB 1 in OB 100 appears below. This example is part of the diskette
with the basic program for 810D.

ORGANIZATION_BLOCK OB 100
VAR_TEMP
OB100_EV_CLASS : BYTE ;
OB100_STRTUP : BYTE ;
OB100_PRIORITY : BYTE ;

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OB100_OB_NUMBR : BYTE ;
OB100_RESERVED_1 : BYTE ;
OB100_RESERVED_2 : BYTE ;
OB100_STOP : WORD ;
OB100_RESERVED_3 : WORD ;
OB100_RESERVED_4 : WORD ;
OB100_DATE_TIME : DATE_AND_TIME;
END_VAR
BEGIN
Call fb 1, db 7(
MCPNum := 1,
MCP1In := P#E0.0,
MCP1Out := P#A0.0,
MCP1StatSend.= P#A8.0,
MCP1StatRec := P#A12.0,
MCP1BusAdr := 14,
MCP1Timeout := S5T#700MS,
MCPMPI:= TRUE,
NCCyclTimeout := S5T#200MS,
NCRunupTimeout := S5T#50S);
//INSERT USER PROGRAM HERE
END_ORGANIZATION_BLOCK

840D example call

An example call for the FB 1 in OB 100 appears below. This example is part of the diskette
with basic program for 840D.

ORGANIZATION_BLOCK OB 100
VAR_TEMP
OB100_EV_CLASS : BYTE ;
OB100_STRTUP : BYTE ;
OB100_PRIORITY : BYTE ;
OB100_OB_NUMBR : BYTE ;
OB100_RESERVED_1 : BYTE ;
OB100_RESERVED_2 : BYTE ;
OB100_STOP : WORD ;
OB100_RESERVED_3 : WORD ;
OB100_RESERVED_4 : WORD ;
OB100_DATE_TIME : DATE_AND_TIME;
END_VAR
BEGIN
Call fb 1, db 7(
MCPNum := 1,
MCP1In := P#E0.0,
MCP1Out := P#A0.0,
MCP1StatSend := P#A8.0,
MCP1StatRec := P#A12.0,
MCP1BusAdr := 6,
MCP1Timeout := S5T#700MS,

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MCP1Cycl := S5T#200MS,
NC-CyclTimeout := S5T#200MS,
NC-RunupTimeout := S5T#50S);
//INSERT USER PROGRAM HERE
END_ORGANIZATION_BLOCK

2.12.2 FB 2: Read GET NC variable

Description of Functions
The PLC user program can read variables from the NCK area using FB GET.
FB 2 also includes an Instance DB from the user area (capable of multi-instances with SW
V3.7 and higher).
When FB 2 is called with a positive signal edge change at control input "Req", a job is
started, which reads the NCK variables referenced by ADDR1ADDR8 and then copies them
to the PLC operand areas referenced by RD1 to RD8. Successful completion of the read
process is indicated by a logical "1" in status parameter NDR.
The read process lasts for several PLC cycles (normally 1-2). The block can be called up in
cyclic mode only.
Any errors are indicated by Error and State.
In order to reference the NC variables, all required variables are first selected with the "NC
VAR selector" tool and generated as STL source in a data block. A name must then be
assigned to this DB in the symbol table.
"DB name.S7 name" is transferred as the actual parameter of the
NCK variable address (Addr1 to Addr8) when FB 2 is called.

Variable addressing
For some NC variables, it is necessary to select area no. and/or line or column from the NC-
VAR selector. A basic type can be selected for these variables,
i.e., area/column/line are preset to "0".
The contents of the area number, line and column specified by the NC VAR selector are
checked for a "0" in the FB. If a "0" is present, the value is transferred to the input parameter.
The user must supply the required parameters (UnitX/ColumnX/LineX) before calling FB
GET.

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Note
After communication between the PLC and NC (read/write NC variables, FB2, 3, 5, or PI
general services, FB4) has been aborted by POWER OFF, the start jobs must be deleted in
the first OB1 run after cold restart or reset (signal: Req = 0).
FB 2 can read NC variables only if basic program parameter NCKomm ="1" has been set (in
OB 100: FB 1, DB7).
When channel-specific variables are read, only the variables of
one channel may be addressed in a job (FB 2 call) via Addr1 to Addr8.
In areas V and H, different logic axis numbers must not be assigned in one job.
(Failure to observe this rule results in Error:= TRUE, State:= W#16#02).

NCK variables within one group can be combined in a job:

Area
Group 1 C1 N B Q T
Group 2 C[2] N B Q T
Group 3 V . H[.]
The same rules apply to channels 3 to 10 as illustrated as examples in the above table in
groups 1 and 2.

Note
Especially when reading several long strings, the number of usable variables can be less
than 8.

Declaration

FUNCTION_BLOCK FB 2
VAR_INPUT
Req : BOOL ;
NumVar : : INT ;
Addr1 : ANY ;
Unit1 : BYTE ;
Column1 : WORD ;
Line1 : WORD ;
Addr2 : ANY ;
Unit2 : BYTE ;
Column2 : WORD ;
Line2 : WORD ;
Addr3 : ANY ;

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Unit3 : BYTE ;
Column3 : WORD ;
Line3 : WORD ;
Addr4 : ANY ;
Unit4 : BYTE ;
Column4 : WORD ;
Line4 : WORD ;
Addr5 : ANY ;
Unit5 : BYTE ;
Column5 : WORD ;
Line5 : WORD ;
Addr6 : ANY ;
Unit6 : BYTE ;
Column6 : WORD ;
Line6 : WORD ;
Addr7 : ANY ;
Unit7 : BYTE ;
Column7 : WORD ;
Line7 : WORD ;
Addr8 : ANY ;
Unit8 : BYTE ;
Column8 : WORD ;
Line8 : WORD ;
FMNCNo : int;1)
END_VAR
VAR_OUTPUT
Error : BOOL ;
NDR : BOOL ;
State : WORD ;
END_VAR

VAR_IN_OUT:
RD1 : ANY ;
RD2 : ANY ;
RD3 : ANY ;
RD4 : ANY ;
RD5 : ANY ;
RD6 : ANY ;
RD7 : ANY ;
RD8 : ANY ;
END_VAR

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Description of formal parameters

The table below list all formal parameters of the GET function.

Signal I/O Type Value range Remarks

Req I Bool Job start with positive signal edge
NumVar I Int 1 to 8 Number of variables to be read
(corresponds to use
of Addr1 to Addr8)
Addr1 to Addr8 I Any [DBName].[VarName Variable identifiers from NC Var selector
]
Unit1 to Unit8 I Byte Area address, optional for variable
addressing
Column1 to I Wor Column address, optional for variable
Column8 d addressing
Line1 to Line8 I Wor Line address, optional for variable
d addressing
Error Q Bool Negative acknowledgment of job or
execution of job impossible
NDR Q Bool Job successfully executed Data are
available
State Q Wor See error identifiers
d
RD1 to I/O Any P#Mm.n BYTE x... Target area for read data
RD8 P#DBnr.dbxm.n
BYTE x

Error identifiers
If it was not possible to execute a job, the failure is indicated by "logic 1" on status parameter
error. The error cause is coded at the block output State:

State Meaning Note

WORD WORD L
H
1 to 8 1 Access error In high byte number of Var in which error
occurred
0 2 Error in job Incorrect compilation of Var. in a job
0 3 Negative acknowledgment, Internal error,
job not executable try: NC reset
1 to 8 4 Insufficient local user Read var. is longer than specified in RD1
memory available (to RD8); in high byte number of var in
which error occurred
0 5 Format conversion error Error on conversion of var. type double:
Var. is not within S7 REAL area
0 6 FIFO full Job must be repeated since queue is full
0 7 Option not set BP parameter "NCKomm" is not set
1 to 8 8 Incorrect target area (RD) RD1 to RD8 may not be local data

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State Meaning Note

WORD WORD L
H
0 9 Transmission occupied Job must be repeated
1 to 8 10 Error in variable addressing Unit or column/line contains value 0
0 11 Address of variable invalid Check Addr (or variable name), area, unit
0 12 NumVar = 0 Check parameter NumVar

Configuration steps
Proceed as follows to read NC variables:
• Select variables with the NC VAR selector.
• Store the selected variables in a *.VAR file in the required project catalog (*.S7D).
• Generate a STEP 7 *.STL source file.
• Generate a DB with the associated address data.
• Enter the symbol for the generated DB in the symbol table so that it is possible to access
the address parameters symbolically in the user program.
• Set FB 2 parameters

Pulse diagram

     


5HT
 

1'5

(UURU

(1) Activation of function

(2) Positive acknowledgment: Receive new data
(3) Reset function activation after receipt of acknowledgment
(4) Signal change by means of FB
(5) If function activation is reset prior to receipt of acknowledgment, the output signals are not
updated without the operational sequence of the activated function being affected.
(6) Negative acknowledgment: Error has occurred, error code in the output parameter state.

Call example
Reading of three channelspecific machine data from channel 1, whose address
specifications are stored in DB120.

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Select data with NC VAR selector and store in file DB120.VAR; then create file DB120.AWL:

Area Block Name Type No. Byte S7 Name

C[1] M MD20070: char 20070 1 C1AxConfMachAxUsed1
AXCONF_MACHAX_USED[1]
C[1] M MD20070: char 20070 1 C1AxConfMachAxUsed2
AXCONF_MACHAX_USED[2]
C[1] M MD20090: int 20090 1 C1SpindDefMasterSpind
SPIND_DEF_MASTER_SPIND
S7 (ALIAS) names have been selected in order to:
• Incorporate the channel designation into the name
and
• Remove the characters [ ], which are not legal in a STEP 7 symbol.
Entry of the name in the S7 SYMBOL table (e.g., NCVAR for DB 120):

Symbol Operand Data type

NCVAR DB120 DB120
File DB120.AWL must be compiled and transferred to the PLC.
Parameterization of FB 2 with instance DB 110:

DATA_BLOCK DB 110 //Unassigned user DB, as

instance for FB 2
FB 2
BEGIN
END_DATA_BLOCK
Function FC "VariablenCall" : VOID
E 7.7; //Unassigned machine
control panel pushbutton
S M 100.0; //Activate req.
V M 100.1; //NDR completed message
R M 100.0; //Terminate job
V E 7.6; //Manual error
acknowledgment
V M 102.0; //Error pending
R M 100.0; //Terminate job
Call fb 2, db 110(
Req := M 100.0,
NumVar := 3, //Read 3 variables
Addr1 := NCVAR.C1AxConfMachAxU
sed1,
Addr2 := NCVAR.C1AxConfMachAxU
sed2,
Addr3 := NCVAR.C1SpindDefMasterS

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pind,
Error := M102.0,
NDR := M100.1,
State := MW104,
RD1 := P#DB99.DBX0.0 BYTE 1,
RD2 := P#DB99.DBX1.0 BYTE 1,
RD3 := P#M110.0 INT 1);

Example: Variable addressing

Reading of two R parameters from channel 1, whose address specifications are stored in
DB120 as the basic type. The R parameter number is parameterized via parameter LineX.

DATA_BLOCK DB 120
VERSION : 0.0
STRUCT
C1_RP_rpa0_0:
STRUCT
SYNTAX_ID : BYTE := B#16#82;
area_and_unit : byte := B#16#41;
column : word := W#16#1;
line : word := W#16#0;
block type : byte := B#16#15;
NO. OF LINES : BYTE := B#16#1;
type : byte := B#16#F;
length : byte := B#16#8;
END_STRUCT;
END_STRUCT;
BEGIN
END_DATA_BLOCK
CALL FB 2, DB 110 (
Req := M 0.0,
NumVar := 2,
Addr1 := "NCVAR".C1_RP_rpa0_0,
Line1 := W#16#1,
Addr2 := "NCVAR".C1_RP_rpa0_0,
Line2 := W#16#2,
Error := M 1.0,
NDR := M 1.1,
State := MW 2,
RD1 := P#M 4.0 REAL 1,
RD2 := P#M 24.0 REAL 1);

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Data types
The data types of the NCK are listed in the NCVAR selector with the variables. The tables
below give the assignments to the S7 data types.

Classification of data types

NCK data type S7 data type
double REAL
float REAL
long DINT
integer DINT
uint_32 DWORD
int_16 INT
uint_16 WORD
unsigned WORD
char CHAR or BYTE
string STRING
bool BOOL

2.12.3 FB 3: PUT write NC variables

Description of Functions
The PLC user program can write variables in the NCK area using FB PUT.
Every FB 3 call must be assigned a separate instance DB from the user area. (multiinstance
capability in SW 3.7 and higher).
When FB 3 is called with a positive signal edge change at control input Req, a job is started
to overwrite the NC variables referenced by Addr1 to Addr8 with the data of the PLC
operand areas locally referenced by SD1 to SD8. Successful completion of the write process
is indicated by a logical "1" in status parameter Done.
The write process lasts for several PLC cycles (normally 1-2). The block can be called up in
cyclic mode only.
Any errors are indicated by Error and State.
In order to reference the NC variables, all required variables are first selected with the "NC
VAR selector" tool and generated as STL source in a data block. A name must then be
assigned to this DB in the symbol table. "DB name.S7 name" is transferred as the actual
parameter of the NCK variable address (Addr1 to Addr8) when FB3 is called.

Variable addressing
For some NC variables, it is necessary to select area no. and/or line or column in the NC
VAR selector. A basic type can be selected for these variables,
i.e., area/column/line are preset to "0".
The contents of the area number, line and column specified by the NC VAR selector are

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checked for a "0" in the FB. If a "0" is present, the value is transferred to the input parameter.
The user must supply the required parameters (UnitX/ColumnX/LineX) before calling
FB PUT.

Machine data, GUD

In order to define machine data and GUDs without a password, the protection levels of the
data you want to access must be redefined to the lowest level. The procedure is described in
the Installation Guide (in the section describing the protection level concept) and in the
Programming Guide Advanced (protection levels for user data).

Note
After communication between the PLC and NC (read/write NC variables, FB2, 3, 5, or PI
general services, FB4) has been aborted by POWER OFF, the start jobs must be deleted in
the first OB1 run after cold restart or reset (signal: Req = 0).
FB 3 can only write NC variables if basic program parameter NCKomm has been set to "1"
(in OB100: FB 1, DB7). When channelspecific variables are written, only variables from one
and the same channel may be addressed via Addr1 to Addr8 in a job (FB 3 call).
In areas V and H, different logic axis numbers must not be assigned in one job. (Failure to
observe this rule results in Error:= TRUE, State:= W#16#02).

NCK variables within one group can be combined in a job:

Area
Group 1 C[1] N B Q T
Group 2 C[2] N B Q T
Group 3 V[.] H[.]

The same rules apply to channels 3 to 10 as illustrated as examples in the above table in
groups 1 and 2.

Note
Especially when reading several long strings, the number of usable variables can be less
than 8.

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Declaration

FUNCTION_BLOCK FB 3
VAR_INPUT
Req : BOOL ;
NumVar : INT ;
Addr1 : ANY ;
Unit1 : BYTE ;
Column1 : WORD ;
Line1 : WORD ;
Addr2 : ANY ;
Unit2 : BYTE ;
Column2 : WORD ;
Line2 : WORD ;
Addr3 : ANY ;
Unit3 : BYTE ;
Column3 : WORD ;
Line3 : WORD ;
Addr4 : ANY ;
Unit4 : BYTE ;
Column4 : WORD ;
Line4 : WORD ;
Addr5 : ANY ;
Unit5 : BYTE ;
Column5 : WORD ;
Line5 : WORD ;
Addr6 : ANY ;
Unit6 : BYTE ;
Column6 : WORD ;
Line6 : WORD ;
Addr7 : ANY ;
Unit7 : BYTE ;
Column7 : WORD ;
Line7 : WORD ;
Addr8 : ANY ;
Unit8 : BYTE ;
Column8 : WORD ;
Line8 : WORD ;
END_VAR
VAR_OUTPUT
Error : BOOL ;
Done : BOOL ;
State : WORD ;
END_VAR
VAR_IN_OUT:
SD1 : ANY ;
SD2 : ANY ;
SD3 : ANY ;
SD4 : ANY ;
SD5 : ANY ;

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SD6 : ANY ;
SD7 : ANY ;
SD8 : ANY ;
END_VAR

Description of formal parameters

The table below lists all formal parameters of the PUT function.

Signal I/O Type Value range Remarks

Req I Bool Job start with positive signal edge
NumVar I Int 1 to 8 Number of variables to be written
(corresponds to use of
Addr1 to Addr8)
Addr1 to Addr8 I Any [DBName].[VarName] Variable identifiers from NC Var
selector
Unit 1 to Unit 8 I Byte Area address, optional for variable
addressing
Column 1 to Column I Word Column address, optional for
8 variable addressing
Line 1 to Line 8 I Word Line address, optional for variable
addressing
Error Q Bool Negative acknowledgment of job or
execution of job impossible
Done Q Bool Job successfully executed
State Q Word See error identifiers
SD1 to I/O Any P#Mm.n BYTE x... Data to be written
SD8 P#DBnr.dbxm.n BYTE x

Error identifiers
If it was not possible to execute a job, the failure is indicated by "logic 1" on status parameter
error. The error cause is coded at the block output State:

State Meaning Note

WORD H WORD L
1 to 8 1 Access error In high byte number of Var in which
error occurred
0 2 Error in job Incorrect compilation of Var in a job
0 3 Negative acknowledgment, job Internal error,
not executable try: Check job,
NC Reset
1 to 8 4 Data areas or data types do Check data to be written in SD1 to SD8;
not match or string is empty in high byte number of the Var in which
error occurred

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State Meaning Note

WORD H WORD L
0 6 FIFO full Job must be repeated since queue is
full
0 7 Option not set BP parameter "NCKomm" is not set
1 to 8 8 Incorrect target area (SD) SD1 to SD8 may not be local data
0 9 Transmission occupied Job must be repeated
1 to 8 10 Error in variable addressing Unit or column/line contains value 0
0 11 Variable addr. invalid or var. is Check Addr (or variable name), area,
read-only unit
0 12 NumVar = 0 Check parameter NumVar

Configuration steps
To write NC variables, the same configuration steps are required as for reading NC
variables. It is useful to store the address data of all NC variables to be read or written in a
DB.

Pulse diagram

     


5HT
 

'RQH

(UURU

(1) Activation of function

(2) Positive acknowledgment: variables have been written
(3) Reset function activation after receipt of acknowledgment
(4) Signal change by means of FB
(5) If function activation is reset prior to receipt of acknowledgment, the output signals are not
updated without the operational sequence of the activated function being affected.
(6) Negative acknowledgment: Error has occurred, error code in the output parameter state.

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Call example
Writing of three channelspecific machine data of channel 1:
Select the three data with NC VAR selector and store in the file DB120.VAR:

Area Block Name Type Byte S7 Name

C[1] RP rpa[5] double 4 rpa_5C1RP
C[1] RP rpa[11] double 4 rpa_11C1RP
C[1] RP rpa[14) double 4 rpa_14C1RP

Entry NCVAR for DB 120 with the S7 SYMBOL Editor:

Symbol Operand Data type

NCVAR DB120 DB120

File DB120.AWL must be compiled and transferred to the PLC.

Call and parameterization of FB 3 with instance DB 111:

DATA_BLOCK DB 111 //Unassigned user DB, as instance for FB

3
FB 3
BEGIN
Function FC "VariablenCall" : VOID
END_DATA_BLOCK
E 7.7; //Unassigned machine control panel
pushbutton
S M 100.0; //Activate req.
V M 100.1; //Done completed message
R M 100.0; //Terminate job
V E 7.6; //Manual error acknowledgment
V M 102.0; //Error pending
R M 100.0; //Terminate job
Call fb 3, db 111(
Req := M 100.0,
NumVar := 3, //Write 3 variables
Addr1 := NCVAR.rpa_5C1RP,
Addr2 := NCVAR.rpa_11C1RP,
Addr3 := NCVAR.rpa_14C1RP,
Error := M102.0,
Done := M100.1,
State := MW104,
SD1 := P#DB99.DBX0.0 REAL
1,
SD2 := P#DB99.DBX4.0 REAL
1,
SD3 := P#M110.0 REAL 1);

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Example: Variable addressing

Writing of two R parameters of channel 1, whose address specifications are stored in DB
120 as the basic type. The R parameter number is parameterized via parameter LineX.

DATA_BLOCK DB 120
VERSION : 0.0
STRUCT
C1_RP_rpa0_0:
STRUCT
SYNTAX_ID : BYTE := B#16#82;
area_and_unit : byte := B#16#41;
column : word := W#16#1;
line : word := W#16#0;
block type : byte := B#16#15;
NO. OF LINES : BYTE := B#16#1;
type : byte := B#16#F;
length : byte := B#16#8;
END_STRUCT;
END_STRUCT;
BEGIN
END_DATA_BLOCK
CALL FB 3, DB 122 (
Req := M 10.0,
NumVar := 2,
Addr1 := "NCVAR".C1_RP_rpa0_0,
Line1 := W#16#1,
Addr2 := "NCVAR".C1_RP_rpa0_0,
Line3 := W#16#2
Error := M 11.0,
Done := M 11.1,
State := MW 12,
SD1 := P#M 4.0 REAL 1,
SD2 := P#M 24.0 REAL 1);

2.12.4 FB 4: PI_SERV General PI services

Description of Functions
FB PI_SERV can be used to start program-instance services in the NCK area. The possible
services are described in this section. A program section, which carries out a particular
function (e.g., with tool management, search for empty location in a magazine), is executed
in the NCK by making a request via the PI service.
Every FB 4 call must be assigned a separate instance DB from the user area. The multi-
instance capability can also be applied in SW 3.7 and higher. Please refer to the STEP 7
Descriptions for more information.

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The specified service is referenced via the PIService parameter. The selected PI service is
supplied via the freely assignable additional input variables with varying data types (Addr1 to
Addr4 for strings, WVar1 to WVar 10 for integer or word variables). A job is started when FB
4 is called by means of a positive edge change at control input Req. Successful execution of
the job is displayed by means of a logic "1" in status parameter Done. Any errors are
indicated by Error and State.
The "PI" data block (DB16) contains internal descriptions of the possible PI services. A name
must then be assigned to this DB in the signal list. On calling the FB 4, "DB-Name.PI-Name"
is transferred as the actual parameter for PIService.
The execution of the PI service extends over several PLC cycles (generally 1 to 2). The
block can be called up in cyclic mode only.

Note
After communication between the PLC and NC (read/write NC variables, FB2, 3, 5, or PI
general services, FB4) has been aborted by POWER OFF, the start jobs must be deleted in
the first OB1 run after cold restart or reset (signal: Req = 0).
FB 4 can start PI services only if the basic program parameter NCKomm has been set to "1"
(in OB100: FB 1, DB7).

Declaration

FUNCTION_BLOCK FB 4
VAR_INPUT
Req : BOOL ;
PIService : ANY ;
Unit : INT ;
Addr1 : ANY ;
Addr2 : ANY ;
Addr3 : ANY ;
Addr4 : ANY ;
WVar1 : WORD ;
WVar2 : WORD ;
WVar3 : WORD ;
WVar4 : WORD ;
WVar5 : WORD ;
WVar6 : WORD ;
WVar7 : WORD ;
WVar8 : WORD ;
WVar9 : WORD ;
WVar10 : WORD ;
END_VAR
VAR_OUTPUT
Error : BOOL ;
Done : BOOL ;
State : WORD ;
END_VAR

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Description of formal parameters

The following table shows all formal parameters of the function PI_SERV.

Signal I/O Type Value range Remarks

Req I Bool Job request
PIService I Any [DBName].[VarName] PI service description1)
default
is:"PI".[VarName]
Unit I Int 1... Area number
Addr1 to Addr4 I Any [DBName].[VarName] Reference to strings specification
according to selected PI service
WVar1 to WVar10 I Word 1... Integer or word variables. Specification
according to selected PI service
(WVar10 SW4 and higher)
Error Q Bool Negative acknowledgment of job or
execution of job impossible
Done Q Bool Job successfully executed
State Q Word See error identifiers
1)See README file on basic program diskette supplied

Error identifiers
If it was not possible to execute a job, the failure is indicated by "logic 1" on status parameter
error. The error cause is coded at block output State. The error identifiers, which may be
encountered, are as follows:

State Meaning Note

3 Negative acknowledgment, job Internal error,
not executable try: NC reset
6 FIFO full Job must be repeated since queue is full
7 Option not set BP parameter "NCKomm" is not set
9 Transmission occupied Job must be repeated

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Pulse diagram

     


5HT
 

'RQH

(UURU

(1) Activation of function

(2) Positive acknowledgment: PI service has been executed
(3) Reset function activation after receipt of acknowledgment
(4) Signal change by means of FB
(5) If function activation is reset prior to receipt of acknowledgment, the output signals are not
updated without the operational sequence of the activated function being affected.
(6) Negative acknowledgment: Error has occurred, error code in the output parameter State

Overview of PI services
The following section provides an overview of the PI services that can be started from the
PLC. The meaning and application of the general FB 4 input variables (Unit, Addr ..., WVar
...) depend on the individual PI service concerned.

PI service Function Available in 840D/810D

SELECT Select program for processing for one channel x
ASUB Assign interrupt x
FINDBL Activate block search x
SETUFR Activate user frames x
CONFIG Reconfiguration of x
tagged machine data
CANCEL Execute cancel x
DELETO Delete tool x
CREATO Generate tool x
CREACE Create cutting edge x
TMCRTO Create tool x
TMFDPL Empty location search for loading x
TMMVTL Prepare magazine location for loading, unload tool x
TMPOSM Position magazine location or tool x
LOGIN Activate password x x
LOGOUT Reset password x x
MMCSEM Semaphores for various PI services x

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PI service Function Available in 840D/810D

CRCEDN Create new cutting edge x
DELECE Delete a cutting edge x
TMFPBP Empty location search x
TSEARC Complex search using search screen forms x
TMPCIT Set increment value for workpiece counter x
DIGION Digitizing on x
DIGIOF Digitizing off x
NCRES Initiate NC Reset x
TMRASS Reset active status x
TRESMO Reset monitoring values x
ACTDEF Activate a definition (GUD or macro) x
x: PI service is available

PI service: SELECT
Select a program for execution for a channel.
Function:
A program stored on the NCK is selected for processing for one channel. This is possible
only if the file may be executed. The path name and program name must be entered as
described in the Programming Guide (Chapter "File and Program Management", Section
"Program Memory"). Please also refer to example of FB 4 for notation of path and program
names.

Possible block types

Block types
Workpiece directory WPD
Main program MPF
Subroutine SPF
cycles CYC
Asynchronous subprograms ASP
Binary files BIN

Parameterization
Signal Type Value range Meaning
PIService ANY PI.SELECT Program selection
Unit INT 1 to 10 Channel
Addr1 STRING Path name
Addr2 STRING Program name

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PI service: ASUB
Assign interrupt
Function:
A program stored on the NCK is assigned an interrupt signal for a channel. This is possible
only if the file may be executed. The path name and program name must be entered as
described in the Programming Guide (Chapter "File and Program Management", Section
"Program Memory"). Please also refer to example of FB 4 for notation of path and program
names.

Parameterization
Signal Type Value range Meaning
PIService ANY PI.ASUP Assign interrupt
Unit INT 1 to 10 Channel
WVar1 WORD 1 to 8 Interrupt number
WVar2 WORD 1 to 8 Priority
WVar3 WORD 0/1 LIFTFAST
WVar4 WORD 0/1 BLSYNC
Addr1 STRING Path name
Addr2 STRING Program name

Note
The SETINT instruction is also used to make the assignment.
The ASUB PI service may only be executed when the channel to be activated is in Reset.
Only PRIO 1 is possible when selecting the ASUB via FB 4 and then starting it with FC 9.

References:
/PA/Programming Guide

PI service: FINDBL
Activate block search
Function:
A channel is switched to block search mode and the appropriate acknowledgment then
transmitted. The block search is then executed immediately by the NCK. The search pointer
must already be in the NCK at this point in time. The search can be interrupted at any time
by an NC RESET. Once the search is successfully completed, the normal processing mode
is reactivated automatically. NC Start then takes effect from the located search target. The
operator is responsible for providing a collisionfree approach path.

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Parameterization
Signal Type Value range Meaning
PIService ANY PI.FINDBL Block search
Unit INT 1 to 10 Channel
WVar1 WORD x Preprocessing mode
x: Describes the preprocessing mode
x = 1 without calculation
x = 2 with calculation
x = 3 with main block observation

PI service: SETUFR
Activate user frames
Function:
User frames are loaded to the NCK. All necessary frame values must be transferred to the
NCK beforehand by writing variables with FB 3.

Parameterization
Signal Type Value range Meaning
PIService ANY PI.SETUFR Activate
user frames
Unit INT 1 to 10 Channel

PI service: CONFIG
Reconfiguration
Function:
The reconfiguration command activates machine data, which have been entered sequentially
by the operator or the PLC, almost in parallel.
The command can only be activated when the control is in Reset or the program is
interrupted (NC stop at block limit). An FB 4 error checkback message is output if these
conditions are not fulfilled (state = 3).

Parameterization
Signal Type Value range Meaning
PIService ANY PI.CONFIG Reconfiguration
Unit INT 1
WVar1 INT 1 Classification

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PI service: CANCEL
Execute cancel
Function:
The CANCEL command activates the Cancel function (in accordance with key on MMC).

Parameterization
Signal Type Value range Meaning
PIService ANY PI.CANCEL Cancel

PI service: DELETO
Delete tool
Function:
Deletes the tool assigned to the transferred T number with all cutting edges (in TO, in some
cases TU, TUE and TG (type 400), TD and TS blocks).

Parameterization
Signal Type Value range Meaning
PIService ANY PI.DELETO Delete tool
Unit INT 1, 2 TOA
WVar1 INT T number

PI service: CREATO
Create tool
Function:
Creation of a tool with specification of a T number. The tool is entered as existing in the tool
directory area (TV). The first "cutting edge" D1 (with zero contents) is created for tool offsets
in the TO block. D1 (with zero contents) is also created for the OEM "cutting edge" data in
the TUE block - if one is present. If a TU block exists, it will contain the data set for the tool.

Parameterization
Signal Type Value range Meaning
PIService ANY PI.CREATO Create tool
Unit INT 1, 2 TOA
WVar1 INT T number

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PI service: CREACE
Create cutting edge
Function:
Creation of the cutting edge with the next higher/next unassigned D number for the tool with
the transferred T number in TO, TS (if present). The cutting edge for the OEM cutting edge
data is set up simultaneously in the TUE block - if one is present.

Parameterization
Signal Type Value range Meaning
PIService ANY PI.CREACE Create cutting edge
Unit INT 1, 2 TOA
WVar1 INT T number

PI service: TMCRTO
Create tool
Function:
Creation of a tool with specification of an identifier, a duplo number and a T number
(optional). The tool is entered as existing in the tool directory area (TV). The first cutting
edge "D1" (with zero contents) is created for tool offsets in the TO block. "D1" (with zero
contents) is also set up for the monitoring data in the TS block, and simultaneously with zero
contents for the OEM cutting edge data in the TUE block - if one is present. The TD block
contains the identifier, duplo number and number of cutting edges (=1) for the T number that
is entered optionally or allocated by the NCK. If a TU block exists, it will contain the data set
for the tool.
After execution of the PI, the T number of the tool created is available in the TV block under
TnumWZV.

Note
Before and after this PI service, the MMCSEM PI service must be called up with the
associated parameter WVar1 for this PI service. See PI service MMCSEM for more
information.

Parameterization
Signal Type Value range Meaning
PIService ANY PI.TMCRTO Create tool
Unit INT 1, 2 TOA
WVar1 INT T number
WVar2 INT Duplo number
Addr1 STRING max. 32 characters Tool identifier

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Parameterization
Signal Type Value range Meaning
T number > 0 means a T number must be specified
T number = -1 means that the NCK should allocate a T number
The example shows T number = -1 ⇒ T number assigned by NCK

PI service: TMFDPL
Empty location search for loading
Function:
(dependent on parameter assignment)
Location_number_to = -1, Magazine_number_to = -1:
Searches all magazines in the specified area (= channel) for an empty location for the tool
specified with a T number. After execution of the PI, the magazine and locations numbers
found during the search are listed in the configuration block of the channel (component
magCMCmdPar1 (magazine number) and magCMCmdPar2 (location number)).
Location_number_ID and magazine_number_ID can be set as search criteria or not (= -1).
The PI is acknowledged positively or negatively depending on the search result.
Location_number_to = -1, Magazine_number_to = Magazine_number:
An empty location for the tool specified with a T number is searched for in the specified
magazine. Location_number_ID and magazine_number_ID can be set as search criteria or
not (= -1). The PI is acknowledged positively or negatively depending on the search result.
Location_number_to = Location_number, Magazine_number_to = Magazine_number:
The specified location is checked, to confirm that it is free to be loaded with the specified
tool. Location_number_ID and magazine_number_ID can be set as search criteria or not (= -
1). The PI is acknowledged positively or negatively depending on the search result.
Command parameters 1 and 2 are located at source.

Loading: If source is an internal loading magazine, then the command parameters are
located at the target (a real magazine).
Unloading Source is always a real magazine.
:

Note
Before and after this PI service, the MMCSEM PI service must be called up with the
associated parameter WVar1 for this PI service. See PI service MMCSEM for more
information.

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Parameterization
Signal Type Value range Meaning
PIService ANY PI.TMFDPL Empty location
for loading
Unit INT 1, 2 TOA
WVar1 INT T number
WVar2 INT Location_number
_to
WVar3 INT Magazine_number
_to
WVar4 INT Location_number_ID
WVar5 INT Magazine_number
_ID

PI service: TMMVTL
Prepare magazine location for loading, unload tool
Function:
This PI service is used both to load and unload tools. Whether the PI initiates a loading or
unloading operation depends on the assignment between the real locations and the from
parameters and to parameters: Loading ⇒ 'From' = Loading point/station, unloading ⇒ 'To' =
loading point/station
The TMMVTL PI service is used for all movements.
1. Loading and unloading (loading point ↔ magazine)
2. Loading and unloading (loading point ↔ buffer storage, e.g., spindle)
3. Relocation within a magazine
4. Relocation between different magazines
5. Relocation between magazine and buffer storage
6. Relocation within buffer storage
The following variables from the TM block are used to monitor case 1, 3, 4, 5:
magCmd (area no. = TO unit, line = magazine number)
magCmdState <- "acknowledgment"
The following variables from the TMC block are used to monitor case 2), 6):
magCBCmd (area no. = TO unit)
magCBCmdState <- "acknowledgment"
Load function
Prepares the specified real magazine for the specified channel for loading, i.e., traverses the
magazine to the selected location for loading at the specified loading point/station
(location_number_from, magazine_number_from) and inserts the tool.

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When location_number_to = -1, an empty location for the tool specified by a T number is first
sought in the specified magazine and the magazine then traversed. After execution of the PI,
the number of the location found is listed in the TM area in component magCMCmdPar2 for
the real magazine of the channel.
With location_number_to = -2 and a valid magazine number, loading takes place into the
currently queued magazine position of the specified magazine. After execution of the PI, the
number of the location for tool loading is listed in the TM area in component
magCMCmdPar2 for the real magazine of the channel.
Unload function
The tool specified by the tool number is unloaded at the specified loading point/station
(location_number_to, magazine_number_to), i.e., the magazine is traversed to the position
for unloading and the tool is then removed. The magazine location for the tool is marked as
being free in the TP block. The tool can be specified either via a T number or by means of
the location and magazine numbers. The value -1 is entered at unused specification points.

Note
Before and after this PI service, the MMCSEM PI service must be called up with the
associated parameter WVar1 for this PI service. See PI service MMCSEM for more
information.

Parameterization
Signal Type Value range Meaning
PIService ANY PI.TMMVTL Make magazine
location ready for
loading, unload tool
Unit INT 1, 2 TOA
WVar1 INT T number
WVar2 INT Location_number_from
WVar3 INT Magazine_number_fro
m
WVar4 INT Location_number_to
WVar5 INT Magazine_number_to

PI service: TMPOSM
Position magazine location or tool
Function:
(dependent on parameter assignment)
A magazine location, which has either been specified directly or qualified via a tool located
on it, is traversed to a specified position (e.g., in front of a load location) via the PI service.

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The PI service makes a magazine location, which can be qualified in various ways, traverse
in front of a specified load location.
The load location must be specified in the PI parameters location number_from and
magazine number_from.
The magazine location to be traversed can be qualified by the following:
• T number of the tool
The location where the tool is positioned traverses; the tool identifier, duplo number,
location number_from and magazine number_from parameters are irrelevant (i.e., values
"" , "-0001", "-0001","-0001").
Or
• Tool identifier and duplo number
The location where the tool is positioned traverses; the T number, location number_from
and magazine number_from parameters are irrelevant (i.e., value "-0001" each).
Or
• Direct specification of the location in the location_number_from
and magazine_number_from parameters
The tool-qualifying parameters T number, tool identifier and duplo number are irrelevant
(i.e., values "-0001", "", "-0001").

Parameterization
Signal Type Value range Meaning
PIService ANY PI.TMPOSM Position magazine
location or tool
Unit INT 1, 2 TOA
Addr1 STRING max. 32 characters Tool identifier
WVar1 INT T number
WVar2 INT Duplo number
WVar3 INT Location_number_from
WVar4 INT Magazine_number_fro
m
WVar5 INT Location number_ref
WVar6 INT Magazine number_ref

PI service: LOGIN
Create password
Function:
Transfers the parameterized password to the NCK. The passwords generally consist of 8
characters. If required, blanks must be added to the string of the password.
Example:
Password: STRING[8] := 'SUNRISE?';

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Parameterization
Signal Type Value range Meaning
PIService ANY PI.LOGIN Create password
Unit INT 1 NCK
Addr1 STRING 8 characters Password

PI service: LOGOUT
Reset password
Function:
The password last transferred to the NCK is reset.

Parameterization
Signal Type Value range Meaning
PIService ANY PI.LOGOUT Reset password
Unit INT 1 NCK

Semaphores for PI services

MMCSEM
For use by MMC and PLC
10 semaphores are provided for each channel. These protect critical functions for the
MMC/PLC. By setting the semaphore for the corresponding function number, several
MMC/PLC units can be synchronized with it in cases where a function contains a critical
section with respect to data to be fetched by the NCK. Semaphores are managed by the
MMC/PLC. A semaphore value of 1stipulates a Test & Set operation for the semaphore of
the specified function number. The return value of the PI service represents the result of this
operation:
• Return value OK:
Semaphore has been set, critical function can be called.
• Return value REJECTED:
Semaphore was already set, critical function cannot be called at the present time. The
operation must be repeated later.

Note
On completion of the operation (reading data of this PI service) it is essential that the
semaphore is enabled again.

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Parameter:
WVar1=FunctionNumber
This function number represents a PI service:

1: TMCRTO (create tool)

2: TMFDPL (search for empty location for loading):
3: TMMVTL (prepare magazine location for loading, unload tool)
4: TMFPBP (search for location)
5: TMGETT (search for tool number)
6: TSEARC (search for tool)
7 ... Reserved
10:

WVar2=SemaphorValue

0: Reset semaphore
1: Test and set semaphore

Parameterization:

Parameterization
Signal Type Value range Meaning
PIService ANY PI.MMCSEM Create new cutting
edge
Unit INT 1, 2 to 10 Channel
WVar1 INT 1 to 10 FunctionNumber
WVar2 Word 0, 1 SemaphoreValue

Create new cutting edge

CRCEDN
Function:
Create tool edge by specifying the cutting edge number.
If the T number of an existing tool is specified in parameter “T number” in the PI service, then
a cutting edge is set up for this particular tool (in this case, parameter “D number” (number of
cutting edge to be created) has a value range of 00001–00009). If a positive T number is
specified as a parameter and the tool for the T number entered does not exist, then the PI
service is aborted. If a value of 00000 is entered for the T number (model of absolute D
numbers), then the D number value range might extend from 00001 to 31999. The new
cutting edge is set up with the specified D number. If the specified cutting edge already
exists, then the PI service is aborted in both cases.
Parameterization:

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Parameterization
Signal Type Value range Meaning
PIService ANY PI.CRCEDN Create new cutting
edge
Unit INT TOA
WVar1 INT T number of tool for
which cutting edge
must be created. A
setting of 00000 states
that the cutting edge
should not refer to any
particular tool (absolute
D number).
WVar2 INT 1 - 9 or Edge number of tool
01 - 31999 cutting edge

Delete a cutting edge

DELECE
Function:
If the T number of an existing tool is specified in parameter “T number” in the PI service, then
a cutting edge is deleted for this particular tool (in this case, parameter “D number” (number
of cutting edge to be created) has a value range of 00001–00009). If a positive T number is
specified as a parameter and the tool for the T number entered does not exist, then the PI
service is aborted. If a value of 00000 is entered for the T number (model of absolute D
numbers), then the D number value range might extend from 00001 to 31999. If the specified
cutting edge does not exist, then the PI service is aborted in both cases.
Parameterization:

Parameterization
Signal Type Value range Meaning
PIService ANY PI.DELETE Delete cutting edge
Unit INT TOA
WVar1 INT T number of tool for
which the cutting edge
must be deleted. A
setting of 00000 states
that the cutting edge
should not refer to any
particular tool (absolute
D number).
WVar2 INT 1 - 9 or Edge number of cutting
01 - 31999 edge that must be
deleted

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Empty location search

TMFPBP
Function:
(dependent on parameter assignment)
See description in FB 7.

Complex search using search screen forms

TSEARC
Function:
(dependent on parameter assignment)
The PI service allows you to search for tools with specified properties within a search domain
(in one or more magazines starting and ending at a specific location). The specified
properties refer only to data of the tools and their cutting edges. The PI service is only
available if tool management is activated. You can define a search direction and the number
of hits for the PI service (e.g., one tool for the next tool with matching properties or all tools
with the specified properties). As a result of this service, the user who made the call receives
a list of the internal T numbers of the tools found.
The search criteria can only be specified as AND operations. If an application needs to
define an OR operation for the search criteria, it must first execute a series of queries with
AND criteria and then combine/evaluate the results of the individual queries.
To assign the parameters of the PI service, the properties of the required tools are first
defined via variable service in the TF block. This is achieved by selecting the relevant
comparison criteria in the operand masks (parMaskT..) in the TF block (i.e., which tool data
are to be compared?), entering the types of comparison logic (==, <, >, <=, >=, &&) in the
comparison operator data (parDataT..), and entering the comparison values in the operand
data. The PI service is then initiated and, after its successful return, the variable service from
the TF block is used to read out the number of hits in the variable resultNrOfTools and the
result list in the variable resultToolNr (i.e., the list of internal T numbers of the tools found in
the search - resultNrOfTools quantity). The PI service must be encapsulated with a
semaphore from its preparation until the successful return of the result. This is the only way
to ensure exclusive access and the exclusive use of the TF block in conjunction with the
TSEARC PI service. The function number provided for the semaphore feature (PI service
MMCSEM) is the function number for TSEARC.
If the service is configured incorrectly, a malfunction occurs. In all other cases, it will return a
result, even if no tools are found (resultNrOfTools = 0).
The search domain can be defined as follows in the parameters
MagNrFrom, PlaceNrFrom, MagNrTo, PlaceNrTo:

MagNrFro PlaceNrFro MagNrTo PlaceNrTo Search area

m m
WVar1 WVar2 WVar3 WVar4
#M1 #P1 #M2 #P2 Locations starting at magazine #M1, location
#P1 up to magazine #M2, location #P2 are
searched
#M1 -1 #M1 -1 All locations in magazine #M1 - and no others
- are searched
#M1 -1 -1 -1 All locations starting at magazine #M1 are
searched

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MagNrFro PlaceNrFro MagNrTo PlaceNrTo Search area

m m
#M1 #P1 -1 -1 All locations starting at magazine #M1 and
location #P1 are searched
#M1 #P1 #M1 -1 Locations in magazine #M1 starting at
magazine #M1 and location #P1 in this
magazine are searched
#M1 #P1 #M2 -1 Locations starting at magazine #M1, location
#P1 up to magazine #M2, location #P2 are
searched
#M1 -1 #M2 #P2 Locations starting at magazine #M1 up to
magazine #M2, location #P2 are searched
#M1 -1 #M2 -1 Locations starting at magazine #M1 up to and
including magazine #M2 are searched
-1 -1 -1 -1 All magazine locations are searched

For a symmetrical search (see parameter "SearchDirection"), the search domain must only
include one magazine (cases 2 and 5 in the table above). If another search domain is
specified, the service will malfunction. A reference location must be specified in the
parameters MagNrRef and PlaceNrRef for a symmetrical search (see parameter
"SearchDirection"). The reference location is specified in the parameters MagNrRef and
PlaceNrRef. The reference location is a buffer location (a location from the magazine buffer,
i.e., change position, gripper, etc.) or a load point (a location from the internal loading
magazine). The search is executed symmetrically with reference to the magazine location in
front of the specified reference location. A multiple assignment to the magazine being
searched must be configured in the TPM block for the reference location. If this is not the
case, a malfunction occurs. If the magazine location in front of the reference location is
outside the search domain, the service responds as if it has not found a matching location.

Note
Before and after this PI service, the MMCSEM PI service must be called up with associated
WVar1 parameters for this PI service. See PI service MMCSEM for more information.

The PI service is valid from NCK SW 4.2 and higher.

Parameterization:

Parameterization
Signal Type Value range Meaning
PIService ANY PI.TSEARC Complex search using search screen forms
Unit INT 1, 2 TOA
WVar1 INT MagNrFrom Magazine number of magazine from which
search must begin
WVar2 INT PlaceNrFrom Location number of location in magazine
MagNrFrom, at which search must begin
WVar3 INT MagNrTo Magazine number of magazine at which search
must end

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Parameterization
Signal Type Value range Meaning
WVar4 INT PlaceNrTo Location number of location in magazine
MagNrTo, at which search must end
WVar5 INT MagNrRef Magazine number of (internal) magazine, with
reference to which the symmetrical search is to be
performed. (this parameter is only relevant with a
"symmetrical" search direction)
WVar6 INT PlaceNrRef Location number of location in magazine
MagNrRef, with reference to which the symmetrical search
is to be performed. This parameter is only relevant with a
"symmetrical" search direction
WVar7 INT 1, 2, 3 SearchDirection specifies the required search direction.
1: Forwards from the first location of the search domain
2: Backwards from the last location of the search domain
3: Symmetrical with real magazine location positioned in
front of the location specified by MagNrRef and PlaceNrRef
WVar8 INT 0, 1, 2, 3 KindofSearch
0: Find all tool with this property cutting edge specifically
1: Search for the first tool found with this property (cutting
edge specifically)
2: Browse all cutting edges to find all tool with this property
3: Browse all tools to search for the first tool found with this
property

Set increment value for workpiece counter

TMPCIT
Function:
Incrementing the workpiece counter of the spindle tool
Parameterization:

Signal Type Value range Meaning

PIService ANY PI.TMPCIT Set increment value for workpiece counter
Unit INT 1 to 10 TOA
WVar1 WORD 0 ... max. Spindle number; corresponds to the type index in the
location data with spindle location type of the buffer
magazine in channel.000 = main spindle
WVar2 WORD 0 ... max. Increment value; indicates the number of spindle
revolutions after which the workpiece counter is
incremented

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Reset active status

TMRASS
Function:
Resetting the active status on worn tools
This PI service is used to search for all tools with the tool status active and disabled. The
active status is then canceled for these tools. Potentially appropriate times for this PI service
are the negative edge of VDI signal "tool disable ineffective", an end of program, or a
channel reset. This PI service is intended mainly for the PLC, since it knows when the
disabled tool is finally no longer to be used.
Parameterization:

Signal Type Value range Meaning

PIServic ANY PI. TMRASS Reset active status
e
Unit INT 1 to 10 TO area

Reset monitoring values (TRESMO)

This PI service resets the monitoring values of the designated edges of the designated tools
to their setpoint (initial) values.
This only relates to tools with active monitoring.
Compare this with the RESETMON NC command.
Parameterization:
Signal Type Value range Meaning
PIServic ANY PI. TRESMO Reset monitoring values
e
Unit INT 1 to 10 TO area
WVar1 WORD -max ..max ToolNumber
0: Applies to all tools
>0: Applies only to this tool
<0: Applies to all sister tools of the specified T No.
WVar2 WORD 0 ... max. D number
>0: Monitoring of specified edge of specified tools is
reset.
0: Monitoring of all edges of specified tools is reset.
WVar3 WORD 0 ...15 Monitoring types
Type of monitoring to be reset.
This parameter is binary-coded.
1: Tool-life monitoring is reset.
2: Count monitoring is reset.
4: Wear monitoring is reset.
8: Total-offset monitoring is reset.
Combinations of monitoring types can be reset by adding
the values above.
0: All active tool-monitoring functions ($TC_TP9) are
reset.

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Digitizing on (DIGION)
Function:
Selecting digitizing in the specified channel
Parameterization:

Signal Type Value range Meaning

PIService ANY PI.DIGION Digitizing on
Unit INT 1 to 10 Channel

Digitizing OFF (DIGIOF)

Function:
Deactivating digitizing in the specified channel
Parameterization:

Signal Type Value range Meaning

PIService ANY PI.DIGIOF Digitizing off
Unit INT 1 to 10 Channel

Initiate NC Reset
NCRES
Function:
Initiates an NCK Reset. The Unit and WVar1 parameters must be assigned 0.
Parameterization:

Signal Type Value range Meaning

PIService ANY PI.NCRES Initiate NC Reset
Unit INT 0 0
WVar1 WORD 0 0

Call example
Program selection in channel 1 (main program and workpiece program)
Entry of PI for DB 16 and STR for DB 124 with the S7 SYMBOL editor:
Parameterization:

Symbol Operand Data type

PI DB16 DB16
STR DB124 DB124

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DATA_BLOCK DB 126 //Unassigned user DB, as instance for FB 4

FB 4
BEGIN
END_DATA_BLOCK
DATA_BLOCK db 124
struct
PName: string[32]:= '_N_TEST_MPF
';
Path: string[32]:= //Main program
'/_N_MPF_DIR/';
PName_WST: string[32]:=
'_N_ABC_MPF';
Path_WST: string[32]:= //Workpiece program
'/_N_WKS_DIR/_N_ZYL_WPD';
end_struct
BEGIN
END_DATA_BLOCK
Function FC "PICall" : VOID
call fb4,db126(
I 7.7; //Unassigned machine control panel key
S M 0.0; //Activate req.
V M 1.1; //Done completed message
R M 0.0; //Terminate job
V I 7.6; //Manual error acknowledgment
V M 1.0; //Error pending
R M 0.0; //Terminate job
Req := M0.0,
PIService PI.SELECT,
:=
Unit := 1, // CHAN 1
Addr1 := STR.Path,
Addr2 := STR.PNam //Main-program
e, selection
//Addr1:=STR.Path
_WST,
//Addr2:=STR.PNam
e_WST,
//Workpiece-
program selection
Error := M1.0,
Done := M1.1,
State := MW2);

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2.12 Block descriptions

2.12.5 FB 5: GETGUD read GUD variable

Description of Functions
The PLC user program can read a GUD variable (GUD = Global User Data) from the NCK or
channel area using the FB GETGUD. Capital letters must be used for the names of GUD
variables. Every FB 5 call must be assigned a separate instance DB from the user area.
(multiinstance capability in SW 3.7 and higher). A job is started when FB 5 is called by
means of a positive edge change at control input "Req". This job includes the name of the
GUD variable to be read in parameter "Addr" with data type "STRING". The pointer to the
name of the GUD variables is assigned symbolically to the "Addr" parameter with
<DataBlockName>.<VariableName>. Additional information about this variable is specified in
parameters "Area", "Unit", "Index1" and "Index2" (see table of block parameters).
When parameter "CnvtToken" is activated, a variable pointer (token) can be generated for
this GUD variable as an option. This pointer is generated via the VAR selector for system
variables of the NC. Only this method of generating pointers is available for GUD variables.
Once a pointer has been generated for the GUD variable, then it is possible to read and write
via FB 2 and FB 3 (GET, PUT) with reference to the pointer. This is the only method by
which GUD variables can be read. When FB 2 or FB 3 is parameterized, only parameter
Addr1 ... Addr8 need to be parameterized for the variable pointer. GUD variable fields are an
exception. In these, Line1 .. Line8 must also be parameterized with the field index of this
variable.
Successful completion of the read process is indicated by a logic "1" in status parameter
Done.
The read process extends over several PLC cycles generally 1 to 2).
The block can be called up in cyclic mode only.
Any errors are indicated by Error and State.

Note
After communication between the PLC and NC (read/write NC variables, FB2, 3, 5, or PI
general services, FB4) has been aborted by POWER OFF, the start jobs must be deleted in
the first OB1 run after cold restart or reset (signal: Req = 0).
FB 5 can read GUD variables only if basic program parameter NCKomm has been set to "1"
FB 1, DB 7).

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Declaration

FUNCTION_BLOCK FB 5 //Server name

KNOW_HOW_PROTECT
VERSION : 3.0
VAR_INPUT
Req : bool;
Addr: any; //Variables name string
Area: byte; //Area: NCK = 0, channel =
1
Unit : byte;
Index1: INT ; //Field index 1
Index2: INT ; //Field index 2
CnvtToken: BOOL ; //Conversion into 10-byte
token
VarToken: ANY ; //Struct with 10 bytes for
the variable token

END_VAR

VAR_OUTPUT
Error : bool;
Done : bool;
State : word;
END_VAR

VAR_IN_OUT:
RD: any;
END_VAR

BEGIN
END_FUNCTION_BLOCK

Description of formal parameters

The table below lists all formal parameters of the GETGUD function.

Signal I/O Type Value range Remarks

Req I Bool Job start with positive signal edge
Addr I Any [DBName].[VarName] GUD variable name in a variable of
data type STRING
Area I Byte Area address:
0: NCK variable
2: Channel variables
Unit I Byte NCK area: Unit:=1
Channel area: Channel no.
Index1 I Int Field index 1 of variable

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Signal I/O Type Value range Remarks

Variable has the value 0 if no field
index is used.
Index2 I Int Field index 2 of variable
Variable has the value 0 if no field
index is used.
CnvtToken I Bool Activate generation of a variable
token
VarToken I Any Address to a 10byte token (see
example)
Error Q Bool Job negatively
acknowledged or
not executable
Done Q Bool Job successfully
executed.
State Q Word See error identifiers
RD I/O Any P#Mm.n BYTE x... Data to be written
P#DBnr.dbxm.n BYTE x

Error identifiers
If it was not possible to execute a job, the failure is indicated by "logic 1" on status parameter
error. The error cause is coded at the block output State:

State Meaning Note

WORD H WORD L
0 1 Access error
0 2 Error in job Incorrect compilation of Var. in a job
0 3 Negative Internal error,
acknowledgment, job not try: NC reset
executable
0 4 Data areas or data Check data to be
types do not tally read in RD
0 6 FIFO full Job must be repeated,
since queue is full
0 7 Option not set BP parameter "NCKomm" is not set
0 8 Incorrect target area (SD) RD may not be local data
0 9 Transmission occupied Job must be repeated
0 10 Error in addressing Unit contains value 0
0 11 Address of variable Check Addr (or variable name), area,
invalid unit

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Configuration steps
To be able to read a GUD variable, its name must be stored in a string variable. The data
block with this string variable must be defined in the symbol table so that the "Addr"
parameter can be assigned symbolically for FB GETGUD. A structure variable can be
defined optionally in any data area of the PLC to receive the variable pointer (see
specification in following example).

Pulse diagram

     


5HT
 

'RQH

(UURU

(1) Activation of function

(2) Positive acknowledgment: variables have been written
(3) Reset function activation after receipt of acknowledgment
(4) Signal change by means of FB
(5) If function activation is reset prior to receipt of acknowledgment, the output signals are not
updated without the operational sequence of the activated function being affected.
(6) Negative acknowledgment: Error has occurred, error code in the output parameter state.

Call example
Reading of a GUD variable with the name "GUDVAR1" as an integer variable
(see also table in FB 2: Assignment of NC data type in SIMATIC data type).
Call and parameterization of FB 5 with instance DB 111:

DATA_BLOCK DB GUDVAR //Assignment to symbol table

STRUC
GUDVar1 : STRING[32] := 'GUDVAR1'; //Name is defined by user
GUDVar1T :
STRUCT
SYNTAX_ID : BYTE ;
area_and_unit byte;
:
column : word;
line : word;
block type : byte;
NO. OF LINES BYTE ;
:

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type : byte;
length : byte;
END_STRUCT;
END_STRUCT;
BEGIN
END_DATA_BLOCK
DATA_BLOCK DB 111 //Unassigned user DB, as instance for
FB 5
FB 5
BEGIN
END_DATA_BLOCK
//A user-defined channel variable from channel 1 must be read
//with conversion into a variable pointer to allow subsequent
//writing of a variable.
Function FC "VariablenCall" : VOID
I 7.7; //Unassigned machine control panel key
S M 100.0; //Activate req.
V M 100.1; //Done completed message
R M 100.0; //Terminate job
V I 7.6; //Manual error acknowledgment
V M 102.0; //Error pending
R M 100.0; //Terminate job
Call fb 5, db 111(
Req := M 100.0, //Starting edge for
reading
Addr := GUDVAR.GUDVar1,
Area := B#16#2, //Channel variable
Unit := B#16#1, //Channel 1
Index1 := 0, //No field index
Index2 := 0, //No field index
CnvtToken := TRUE, //Conversion into
10-byte token
VarToken := GUDVAR.GUDVar1T,
Error := M102.0,
Done := M100.1,
State := MW104,
RD := P#DB99.DBX0.0
DINT 1
);

2.12.6 FB 7: PI_SERV2 General PI services

Description of Functions
A detailed description of the FB 7 is contained in the description of FB 4. The only difference
to FB 4 is the number of WVar1 and subsequent parameters. In FB 7, WVar1 to WVar16 are
defined in VAR_INPUT (FB4 has WVar1 to WVar10). All other parameters are identical to FB
4. This PI server can be used for all PI services previously implemented with FB 4. In
addition, the PI services listed below can only be handled with FB 7.

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Declaration

FUNCTION_BLOCK FB 7
Var_INPUT
Req : BOOL ;
PIService : ANY ;
Unit : INT ;
Addr1 : ANY ;
Addr2 : ANY ;
Addr3 : ANY ;
Addr4 : ANY ;
WVar1 : WORD ;
WVar2 : WORD ;
WVar3 : WORD ;
WVar4 : WORD ;
WVar5 : WORD ;
WVar6 : WORD ;
WVar7 : WORD ;
WVar8 : WORD ;
WVar9 : WORD ;
WVar10 : WORD ;
WVar11 : WORD ;
WVar12 : WORD ;
WVar13 : WORD ;
WVar14 : WORD ;
WVar15 : WORD ;
WVar16 : WORD ;
END_VAR
VAR_OUTPUT
Error : BOOL ;
Done : BOOL ;
State : WORD ;
END_VAR

Description of formal parameters

The following table shows all formal parameters of the function PI_SERV.

Signal I/O Type Value range Remarks

Req I Bool Job request
PIService I Any [DBName].[VarName] PI service description
default is:"PI".[VarName]
Unit I Int 1... Area number
Addr1 to I Any [DBName].[VarName] Reference to strings specification according to
Addr4 selected PI service

WVar1 to WVar16 I Word 1... Integers or word variables. Specification according

to selected PI service
Error Q Bool Negative acknowledgment of job or execution of

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Signal I/O Type Value range Remarks

job impossible
Done Q Bool Job has been executed successfully
State Q Word See error identifiers

Overview of additional PI services

The following section provides an overview of the PI services that can be started from the
PLC. The meaning and application of the general FB 7 input variables (Unit, Addr..., WVar...)
depends on the individual PI service concerned.

PI service Function Available in

D/810D
TMFPBP Empty location search *(SW 4 and higher)

Empty location search

TMFPBP
Function:
(dependent on parameter assignment)
This service searches the magazine(s) named in the relevant parameters for an empty
location, which meets the specified criteria (tool size and location type). The result of the
empty location search can be fetched from variables magCMCmdPar1 (magazine number)
and magCMCmdPar2 (location number) in block TMC when the service has functioned
correctly. As the PI service stores a result in variables magCMCmdPar1 and
magCMCmdPar2, the service must be protected by the semaphore mechanism (PI service
MMCSEM) with the function number for _N_TMFDPL in cases where several control units or
PLCs are operating on one NC. The search area can be predefined in the following way by
setting parameters MagazineNumber_From, LocationNumber_From, MagazineNumber_To,
LocationNumber_To:

MagazineN LocationNu MagazineN LocationNu Search area

umber mber_From umber_To mber_To
_From
WVar1 WVar2 WVar3 WVar4
#M1 #P1 #M1 #P1 Only location #P1 in magazine #M1 is
checked
#M1 #P1 #M2 #P2 Locations starting at magazine #M1, location
#P1 up to magazine #M2, location #P2 are
searched
#M1 -1 #M1 -1 All locations in magazine #M1 - and no others
- are searched
#M1 -1 -1 -1 All locations starting at magazine #M1 are
searched
#M1 #P1 -1 -1 All locations starting at magazine #M1 and
location #P1 are searched

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MagazineN LocationNu MagazineN LocationNu Search area

umber mber_From umber_To mber_To
_From
#M1 #P1 #M1 -1 Locations in magazine #M1 starting at
magazine #M1 and location #P1 in this
magazine are searched
#M1 #P1 #M2 -1 Locations starting at magazine #M1, location
#P1 up to magazine #M2, location #P2 are
searched
#M1 -1 #M2 #P2 Locations starting at magazine #M1 up to
magazine #M2, location #P2 are searched
#M1 -1 #M2 -1 Locations starting at magazine #M1 up to and
including magazine #M2 are searched
-1 -1 -1 -1 All magazine locations are searched

Note
Before and after this PI service, the MMCSEM PI service must be called up with the
associated parameter WVar1 for this PI service. See PI service MMCSEM for more
information.

Parameterization:

Parameterization
Signal Type Value range Meaning
PIService ANY PI.TMFPBP Empty location search
Unit INT ... max. TOA TOA
WVar1 INT MagazineNumber_From:
Magazine number of magazine from which
search must begin (start of search area)
WVar2 INT LocationNumber_From:
Location number of location in magazine
MagazineNumber_From at which search must
begin
WVar3 INT MagazineNumber_To:
Magazine number of magazine at which
search must end
WVar4 INT LocationNumber_To:
Location number of location in magazine
MagazineNumber_To at which search must
end
WVar5 INT MagazineNumber_Ref:
WVar6 INT LocationNumber_Ref:
WVar7 INT 0, 1 .. 7 Number of required half locations to left
WVar8 INT 0, 1 .. 7 Number of required half locations to right
WVar9 INT 0, 1 .. 7 Number of required half locations in upward

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Parameterization
Signal Type Value range Meaning
direction
WVar10 INT 0, 1 .. 7 Number of required half locations in downward
direction
WVar11 INT 0, 1 .. 7 Number of required location type
WVar12 INT 0: default Specifies the required search direction
1: forwards 0: Empty location search strategy is set in
2: backwards $TC_MAMP2
3: Symmetrical

2.12.7 FB 9: M : N operating-unit switchover

Description of Functions
This block allows switchover between several operating units (MMC operator panel fronts
and/or MCP machine control panels), which are connected to one or more NCU control
modules via a bus system.
References:
/FB2/Description of Functions, Expansion Functions; Several Control Panels on Multiple
NCUs, Decentralized Systems (B3)
The interface between the individual control units and the NCU (PLC) is the M : N interface
in data block DB19 (see FB 2 above, Chapter 5 Signal Description). FB 9 uses the signals of
these interfaces.
Apart from initialization, sign-of-life monitoring and error routines, the following basic
functions are also performed by the block for operating-unit switchover:

Tabulated overview of functions:

Basic function Meaning
MMC call waiting MMC wants to go online to an NCU
MMC coming MMC is connecting to an NCU
MMC going MMC is disconnecting from an NCU
Forced break MMC must break connection to an NCU
Operating focus changeover to Change operating focus from one NCU to the other
server mode
Active/passive operating mode: Operator control and monitoring/monitoring only
MCP switchover As an option, MCP can be switched over with the MMC

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Brief description of a few important functions

Active/passive operating mode
An online MMC can operate in two different modes:

Active mode: Operator can control and monitor

Passive mode: Operator can monitor (MMC header only)

After switchover to an NCU, this initially requests active operating mode in the PLC of the
online NCU. If two MMCs are simultaneously connected online to one NCU, one of the two is
always in active and the other in passive operating mode. The operator can request active
mode on the passive MMC at the press of a button.

MCP switchover
As an option, an MCP assigned to the MMC can be switched over at the same time. To
achieve this, the MCP address must be entered in the mstt_adress parameter of the
NETNAMES.INI configuration file on the MMCs and MCPEnable must be set to true. The
MCP of the passive MMC is deactivated so that there is only ever one active MCP on an
NCU at one time.

Boot condition
To prevent the previously selected MCP being reactivated when the NCU is restarted, input
parameters
MCP1BusAdr = 255 (address of 1st MCP) and MCP1STOP =TRUE (deactivate 1st MCP)
must be set when FB1 is called in OB 100.

Releases
When one MCP is switched over to another, any active feedrate or axis enabling signals may
be transferred at the same time.

Note
Keys actuated at the moment of switchover remain operative until the new MCP is activated
(by the MMC, which is subsequently activated). The override settings for feedrate and
spindle also remain valid. To deactivate actuated keys, the input image of the machine
control signals must be switched to nonactuated signal level on a falling edge of
DB10.DBX104.0. The override settings should remain unchanged.
Measures for deactivating keys must be implemented in the PLC user program
(see below: Example of override switchover).

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Declaration of function

FUNKTION_BLOCK FB9
VAR_INPUT
Ack :BOOL; //Acknowledge alarms
OPMixedMode: BOOL:= FALSE; // Hybrid operation with non-M-to-N-
enabled OP deactivated
ActivEnable :BOOL:= TRUE; // Not supported
MCPEnable :BOOL:= TRUE; // Activate MCP switchover
END_VAR
VAR_OUTPUT
Alarm1 :BOOL; // Alarm: Error in MMC bus address, bus
type!
Alarm2 :BOOL; // Alarm: No confirmation MMC1 offline!
Alarm3 :BOOL; // Alarm: MMC1 is not going offline!
Alarm4 :BOOL; // Alarm: No confirmation MMC2 offline!
Alarm5 :BOOL; // Alarm: MMC2 is not going offline!
Alarm6 : BOOL ; // Alarm: Queuing MMC is not going online!
Report : BOOL ; // Message: Sign-of-life monitoring
ErrorMMC : BOOL ; // Error detection MMC
END_VAR

Description of formal parameters

The table below lists all formal parameters of the M:N function.

Formal parameters of M:N function

Signal I/O Type Remarks
Ack I BOOL Acknowledge alarms
OPMixedMode I BOOL Mixed mode deactivated for OP without M to N capability
ActivEnable I BOOL Function is not supported. Control panel switchover
Interlocking via MMCx_SHIFT_LOCK in DB 19
MCPEnable I BOOL Activate MCP switchover
TRUE = MCP is switched over with operator panel front.
FALSE: = MCP is not switched over with operator panel
front. This can be used to permanently link an MCP. See also
MMCx_MCP_SHIFT_LOCK in DB 19

Alarm1 Q BOOL Alarm: Error in MMC bus address, bus type!

Alarm2 Q BOOL Alarm: No confirmation MMC1 offline!
Alarm3 Q BOOL Alarm: MMC1 is not going offline!
Alarm4 Q BOOL Alarm: No confirmation MMC2 offline!
Alarm5 Q BOOL Alarm: MMC2 is not going offline!
Alarm6 Q BOOL Alarm: Queuing MMC is not going online!
Report Q BOOL Message: Signoflife monitoring MMC
ErrorMMC Q BOOL Error detection MMC

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Note
The block must be called by the user program. The user must provide an instance DB with
any number for this purpose. The call is not multiinstancecapable.

FB9 call

CALL FB 9 , DB 109 (
Ack := Error_ack, // e.g., MCP reset
OPMixedMode := FALSE,
ActivEnable = TRUE, //
MCPEnable := TRUE, // Enable MCP switchover
Alarm1 := DB2.dbx188.0, // Error message 700.100
Alarm2 := DB2.dbx188.1, // Error message 700.101
Alarm3 := DB2.dbx188.2, // Error message 700.102
Alarm4 := DB2.dbx188.3, // Error message 700.103
Alarm5 := DB2.dbx188.4, // Error message 700.104
Alarm6 := DB2.dbx188.5, // Error message 700.105
Report :=DB2.dbx192.0) // Operational message 700.132

Note
Input parameter “MCPEnable” must also be set to true to enable MCP switchover. The
default value of these parameters is set in this way and need not be specially assigned when
the function is called.

Alarm, error
The output parameters "Alarm1" to "Alarm6" and "Report" can be transferred to the DB2
areas for MMC alarm and error messages.
If execution of an MMC function has failed (for which an appropriate error message cannot
be displayed), status parameter ErrorMMC is set to 'logic 1' (e.g., booting error when no
connection is made).

Example of FB1 call (call in OB100)

CALL "RUN_UP", "gp_par" (

MCPNum := 1,
MCP1In := P#I 0.0,
MCP1Out := P#Q 0.0,
MCP1StatSend := P#Q 8.0,

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MCP1StatRec := P#Q 12.0,

MCP1BusAdr := 255, // Address of first MCP
MCP1Cycl := S5T#200MS,
MCP1Stop := TRUE, // MCP disabled
NCCyclTimeout := S5T#200MS,
NCRunupTimeout := S5T#50S);

Example of override switchover

// Auxiliary flags used M100.0, M100.1, M100.2, M100.3

// Positive edge of MCP1Ready must check override and actions for activation
// Initiate MCP block
// This example covers feed override; for spindle override, interfaces and
// input bytes must be exchanged.
V DB10.DBX 104.0; //MCP1Ready
EN M 100.0; //Edge trigger flag 1
JCN smth1;
S M 100.2; //Set auxiliary flag 1
R M 100.3; //Reset auxiliary flag 2

// Save override
L DB21.DBB 4; //Feed override interface
T EB 28; //Buffer storage (freely assignable input or
memory byte)
wei1:
V M 100.2; //Switchover takes place
O DB10.DBX 104.0; //MCP1Ready
JCN smth2;
V DB10.DBX 104.0; //MCP1Ready
FP M 100.1; //Edge trigger flag 2
JC smth2;
V M 100.2; //Switchover takes place
R M 100.2; //Reset auxiliary flag 1
JC smth2;
V M 100.3; //Comparison has taken place
JC MCP; //Call MCP program
// Guide the stored override to the interface of the switched MCP
// until the override values match
L EB28; //Buffer storage open
T DB21.DBB 4; //Guide override interface
L EB 3; //Override input byte for feed
<>i; //Match?
JC smth2; //No, jump
S M100.3; //Yes, set auxiliary flag 2
// When override values match, call the MCP program again
MCP: CALL "MCP_IFM"( //FC 19
BAGNo := B#16#1,
ChanNo := B#16#1,

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SpindleIFN := B#16#0,
o
FeedHold := M 101.0,
SpindleHol := M 101.1);
d
wei2: NOP 0;

2.12.8 FB 10: Safety relay (SI relay)

Description of Functions
The SPL block "Safety relay" for "Safety Integrated" is the PLC equivalent to the NC function
of the same name. The standard SPL "Safety relay" block is designed to support the
implementation of an emergency stop function with safe programmable logic. However, it
can also be used to implement other similar safety functions, e.g., control of a protective
door. The function contains 3 input parameters (In1, In2, In3). On switchover of one of these
parameters to the value 0, the output Out0 is deactivated without delay and outputs Out1,
Out2 and Out3 deactivated via the parameterized timer values (parameters TimeValue1,
TimeValue2, TimeValue3). The outputs are activated again without delay, if inputs In1 to In3
take the value 1 and a positive edge change is detected at one of the acknowledgement
inputs Ack1, Ack2. To bring the outputs to their basic setting (values = 0) after booting, the
parameter FirstRun must be configured as follows. Parameter FirstRun must be switched to
the value TRUE via a retentive data (memory bit, bit in data block) on the first run after
control booting. The data can be preset, e.g., in OB 100. The parameter is reset to FALSE
when FB 10 is executed for the first time. Separate data must be used for parameter
FirstRun for each call with separate instance.
The corresponding NCK SPL block is described in:
References:
/FBSI/Description of Functions, Safety Integrated.

Simplified block diagram in CSF

The figure below shows only one acknowledgment input Ack1 and one delayed deactivation
output Out1. The circuit for Ack2 and the other delayed outputs are identical. The parameter
FirstRun is also missing in the function diagram. The mode of operation is described above.

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Declaration of the function

FUNCTION_BLOCK FB 10

VAR_INPUT
In1 : BOOL := True ; //Input 1
In2 : BOOL := True ; //Input 2
In3 : BOOL := True ; //Input 3
Ack1; : BOOL //Ack 1 signal
Ack2 : . BOOL ; //Ack 2 signal
TimeValue1 : TIME := T#0ms ; //TimeValue for output 1
TimeValue2 : TIME := T#0ms ; //TimeValue for output 2
TimeValue3 : TIME := T#0ms ; //TimeValue for output 3
END_VAR
VAR_OUTPUT
Out0 : BOOL ; //Output without delay
Out1 : BOOL ; //Delayed output to false by timer 1
Out2 : BOOL ; //Delayed output to false by timer 2
Out3 : BOOL ; //Delayed output to false by timer 3
END_VAR
VAR_INOUT
FirstRun BOOL: //True by user after initial start of SPL
END_VAR

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Description of formal parameters

The following table shows all formal parameters of the SI relay function.

Formal parameters of SI relay function

Signal I/O Type Remarks
In1 I BOOL Input 1
In2 I BOOL Input 2
In3 I BOOL Input 3
Ack1 I BOOL Acknowledge input 1
Ack2 I BOOL Acknowledge input 2
TimeValue1 I TIME Time value 1 for OFF delay
TimeValue2 I TIME Time value 2 for OFF delay
TimeValue3 I TIME Time value 3 for OFF delay
Out0 Q BOOL Output undelayed
Out1 Q BOOL Output delayed by TimeValue1
Out2 Q BOOL Output delayed by TimeValue2
Out3 Q BOOL Output delayed by TimeValue3
FirstRun I/O BOOL Activation of initial setting

Note
The block must be called cyclically by the user program once following SPL program startup.
The user must provide an instance DB with any number for this purpose. The call is multi-
instance-capable.

2.12.9 FB 11: Brake test

Description of Functions
The braking operation check should be used for all axes, which must be prevented from
moving in an uncontrolled manner by a holding brake. This check function is primarily
intended for the socalled "vertical axes".
The machine manufacturer can use his PLC user program to close the brake at a suitable
moment in time (guide value every 8 hours, similar to the SI test stop) and allow the drive to
produce an additional torque/additional force equivalent to the weight of the axis. In errorfree
operation, the brake can produce the necessary braking torque/braking force and keep the
axis at a virtual standstill. When an error occurs, the actual position value exits the
parameterizable monitoring window. In this instance, the position controller prevents the axis
from sagging and negatively acknowledges the mechanical brake test.
The required parameterization of NC and drive is described in:
References:
/FBSI/Description of Functions, Safety Integrated.

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The brake test must always be started when the axis is at a standstill. For the entire duration
of the brake test, the enable signals of the parameterized axis must be set to Enable (e.g.,
the servo disable, feedrate enable signals). The "PLC monitoring axis" (DB "Axis".DBX 28.7)
must also be set to status 1 by the user program for the entire duration of the test. Before the
"PLC monitoring axis" signal is activated, the axis must be switched to "neutral axis" status
(e.g., byte 8 must be set to channel 0 in the axis DB, activation signal must be set in the
same byte, current-status checkback can be polled in byte 68). The block must not be
started until the NC checkback via the appropriate bit (DB "Axis".DBX 63.1) has arrived. The
direction in which the drive must produce its torque/force is specified by the PLC in the form
of a "traversing motion" (e.g., via FC 18). The axis must be able to reach the destination of
this movement without risk of collision if the brake is unable to produce the necessary
torque/force.

Note
Note on FB 18
If FC 15, FC 16 or FC 18 are called for the same axis in the remainder of the user program,
the calls must be mutually interlocked. For example, this can be achieved via a common call
of this function with an interlocked common data interface for the FC 18 parameters. A
second option is to call the FC 18 repeatedly, whereby the inactive FC 18 will not be
processed by the program. A multiple-use interlock must be provided.

The brake test is divided into the following steps:

Brake test sequence

Step Expected checkback Monitoring time value
Start brake test DBX 71.0 = 1 TV_BTactiv
Close brake Bclosed = 1 TV_Bclose
Issue travel command DBX 64.6 Or DBX 64.7 TV_FeedCommand
Issue test travel command DBX62.5 = 1 TV_FXSreached
Wait for hold time DBX62.5 = 1 TV_FXShold
Deselect brake test/ DBX71.0 = 0 TV_BTactiv
open brake
Issue Test O.K.

Declaration of the function

FUNCTION_BLOCK FB 11

VAR_INPUT
Start : BOOL ; //Start of brake test
Ack : BOOL ; //Acknowledge error
Bclosed : BOOL ; //Brake closed input (single channel - PLC)
Axis : INT ; //Testing axis no.
TimerNo : TIMER ; //Timer from user
TV_BTactiv : S5TIME ; //TimeValue -> brake test active

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TV_Bclose : S5TIME ; //TimeValue -> close brake

TV_FeedComman : S5TIME //TimeValue -> force FeedCommand
d
TV_FXSreached : S5TIME ; //TimeValue -> fixed stop reached
TV_FXShold : S5TIME ; //TimeValue -> test brake
END_VAR
VAR_OUTPUT
CloseBrake : BOOL ; //Signal close brake
MoveAxis : BOOL ; //Do move axis
Done : BOOL ;
Error : BOOL ;
State : BYTE ; //Error byte
END_VAR

Description of formal parameters

The following table lists all of the formal parameters of the brake test function

Formal parameters of brake test function

Signal I/O Type Remarks
Start I BOOL Start brake test
Ack I BOOL Acknowledge error
Bclosed I BOOL Checkback input whether Close Brake is activated
(singlechannel - PLC)
Axis I INT Axis number of axis to be tested
TimerNo I TIMER Timer from user program
TV_BTactiv I S5TIME Monitoring time value -> brake test active, check of axis
signal DBX71.0
TV_Bclose I S5TIME Monitoring time value -> close brake Check of input
signal Bclosed after output CloseBrake has been set.
TV_FeedCommand I S5TIME Monitoring time value -> issue travel command Check
travel command after MoveAxis has been set.
TV_FXSreched I S5TIME Monitoring time value -> fixed stop reached
TV_FXShold I S5TIME Monitoring time value -> test brake
CloseBrake Q BOOL Request for close brake
MoveAxis Q BOOL Request to initiate travel movement
Done Q BOOL Test successfully completed
Error Q BOOL Error occurred.
State Q BYTE ErrorStatus

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Error identifiers

Error identifiers
State Meaning
0 No error
1 Start conditions not fulfilled, e.g., axis not under closedloop control/brake closed/axis
disabled
2 No NC checkback in "Brake test active" signal on selection of brake test
3 No "Brake applied" checkback by input signal BClosed
4 No travel command output (e.g., axis motion has not been started)
5 Fixed end stop will not be reached -> axis reset was initiated
6 Traversing inhibit/approach too slow -> fixed end stop cannot be reached. TV
FXSreached monitoring timeout
7 Brake is not holding at all (end position is reached)/approach velocity too high
8 Brake opens during the holding period
9 Error in brake test deselection
10 Internal error
11 "PLC monitoring axis" signal not activated by the user program

Note
The block must be called by the user program. The user must provide an instance DB with
any number for this purpose. The call is multi-instance-capable.

Example of FB11 call:

UN M 111.1; //Request to close brake, Z axis of FB

= Q 85.0; //Brake control, Z axis
OPEN "Axis3"; //Brake test, Z axis
O I 73.0; //Brake test trigger, Z axis
O M 110.7; //Brake test running
FP M 110.0;
UN M 111.4; //Error has occurred
S M 110.7; //Brake test running
S M 110.6; //Next step
S DBX 8.4; //Request neutral axis
V DBX 68.6; //Checkback signal, axis is neutral
V M 110.6;
FP M 110.1
R M 110.6
S M 110.5; //Next step
R DBX 8.4;

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S DBX 28.7; //Request PLC-monitored axis

V DBX 63.1; //Checkback signal, axis monitored by PLC
V M 110.5;
FP M 110.2;
R M 110.5;
S M 111.0; //Start brake test for FB

CALL FB 11, DB 211 (//Brake test block

Start :=M 111.0, //Start brake test
Ack :=E 3.7, //Acknowledge error with Reset key
Bclosed := I 54.0, //Checkback signal, brake close
controlled
Axis := 3, //Axis number of axis to be tested, Z
axis
TimerNo := T 110, //Timer number
TV_BTactiv := S5T#200MS, //Monitoring time value: Brake test
active DBX71.0
TV_Bclose := S5T#1S, //Monitoring time value: Brake closed
TV_FeedCommand := S5T#1S, //Monitoring time value: Travel command
issued
TV_FXSreache := S5T#1S, //Monitoring time value: Fixed stop
reached
TV_FXShold := S5T#2S, //Monitoring time value: Test time Brake
CloseBrake :=M 111.1, //Request to close brake
MoveAxis :=M 111.2, //Request to initiate travel movement
Done :=M 111.3, //Test successfully completed
Error :=M 111.4, //Error has occurred
State := MB 112); //Error status

OPEN "Axis3 //Brake test, Z axis

";
O M 111.3; //Test successfully completed
O M 111.4; //Error has occurred
FP M 110.3;
R DBX 28.7; //Request, PLC-monitored axis
UN DBX 63.1; //Checkback signal, axis monitored by PLC
V M 111.0; //Start brake test for FB
V M 110.7; //Brake test running
FP M 110.4;
R M 111.0; //Start brake test for FB
R M 110.7; //Brake test running
CALL "SpinCtrl" (//Traverse Z axis
Start :=M 111.2, //Start traversing motion
Stop := FALSE,
Funct := B#16#5, //Mode: Axis mode
Mode := B#16#1, //Procedure: Incremental
AxisNo := 3, //Axis number of axis to be traversed, Z
axis

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Pos := - //Traversing distance: Minus 5 mm

5.000000e+000,
FRate := //Feedrate: 1000 mm/min
1.000000e+003,
InPos :=M 113.0, //Position reached
Error :=M 113.1, //Error has occurred
State := MB 114); //Error status

2.12.10 FB 29: Signal recorder and data trigger diagnostics

Signal recorder
The "diagnostics" FB allows various diagnostic routines to be performed on the PLC user
program. A diagnostic routine logs signal states and signal changes. In this diagnostic
routine, function number 1 is assigned to the Func parameter. Up to 8 Boolean signals
(parameters Signal_1 to Signal_8) are recorded in a ring buffer each time one of the signals
changes. The current information of parameters Var1 (byte value), and Var2 and Var3
(integer values) is also stored in the ring buffer. The number of past OB 1 cycles is also
stored in the buffer as additional information. This information enables the graphical
evaluation of signals and values in OB 1 cycle grid. The first time the "diagnostics" FB is
called in a new PLC cycle, the NewCycle parameter must be set to TRUE. If the
"diagnostics" FB is called several times in the same OB 1 cycle, the NewCycle parameter
must be set to FALSE for the second and subsequent calls. This prevents a new number of
OB 1 cycles from being calculated. The ring buffer is set up by the user. The DB of the ring
buffer must be passed to the diagnostics FB in the BufDB parameter. The ring buffer must
use an array structure, as specified in the source code. The array can have any number of
elements. A size of 250 elements is recommended. The ClearBuf parameter is used to clear
the ring buffer and set the BufAddr pointer (I/O parameter) to the start. The associated
instance DB for the FB is a DB from the user area.

Data trigger
The data trigger function is intended to allow triggering on specific values (or bits) at any
permissible memory cell. The cell to be triggered is "rounded" with a bit mask (AndMask
parameter) before the TestVal parameter is compared in the diagnostic block.

Note
The source code for the function is available in the source container of the basic-program
library under the name Diagnose.awl.. The instance DB and the ring buffer DB are also
defined in this source block. The function call is also described in the function. The DB
numbers and the call must be modified.

FUNCTION_BLOCK FB 29

VAR_INPUT
Func : INT ; //Function number
//0 = No function, 1 = Signal recorder, 2 = Data trigger

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Signal_1 : BOOL ;
Signal_2 : BOOL ;
Signal_3 : BOOL ;
Signal_4 : BOOL ;
Signal_5 : BOOL ;
Signal_6 : BOOL ;
Signal_7 : BOOL ;
Signal_8 : BOOL ;
NewCycle : BOOL ;
Var1 : BYTE ;
Var2 : INT ;
Var3 : INT ;
BufDB : INT ;
ClearBuf : BOOL ;
DataAdr : POINTER; //Area pointer to testing word
TestVal : WORD ; //Value for triggering
AndMask : WORD ; //AND mask to the testing word
END_VAR
VAR_OUTPUT
TestIsTrue : BOOL ;
END_VAR
VAR_IN_OUT:
BufAddr : INT ;
END_VAR

Structure for ring buffer

TITLE =
//Ring buffer DB for FB 29
VERSION : 1.0
STRUCT
Box: ARRAY [0 to 249 ] OF STRUCT //can be any size of this struct

Cycle : INT ; //Delta cycle to last storage in buffer

Signal_1 : BOOL ; //Signal names same as FB 29
Signal_2 : BOOL ;
Signal_3 : BOOL ;
Signal_4 : BOOL ;
Signal_5 : BOOL ;
Signal_6 : BOOL ;
Signal_7 : BOOL ;
Signal_8 : BOOL ;
Var1 : BYTE ;
Var2 : WORD ;
Var3 : WORD ;
END_STRUCT;
END_STRUCT;
BEGIN
END_DATA_BLOCK

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Description of formal parameters

The table below lists all formal parameters of the Diagnostics function:

Signal I/O Type Value range Remarks

Func I Int 0, 1, 2 Function
0: Switch off
1: Signal recorder
2: Data trigger
Parameters for function 1
Signal_1 to I Bool Bit signals checked for change
Signal_8
NewCycle I Bool See the "Signal recorder" description
above
Var1 I Byte Additional value
Var2 I Int Additional value
VAR I Int Additional value
BufDB I Int Ring buffer DB no.
ClearBuf I Bool Delete ring buffer DB and reset pointer
BufAddr
BufAddr I/O Int Target area for read data
Parameters for function 2
DataAdr I Pointer Pointer to word to be tested
TestVal I Word Comparison value
AndMask I Word See description
TestIsTrue Q Bool Result of comparison

Configuration steps
Select function of diagnostics block. Define suitable data for the recording as signal recorder
or data triggering. Find a suitable point or points in the user program for calling the
diagnostics FB. Create a data block for the ring buffer (see call example). Call the
diagnostics FB with parameters in the user program. In function 1, it is advisable to clear the
ring buffer with the ClearBuf parameter. When the recording phase is complete (function 1),
read out the ring buffer DB in STEP7 by opening the data block in the data view. The
contents of the ring buffer DB can only be analyzed.

Call example

FUNCTION FC 99: VOID

TITLE =
VERSION : 0.0
BEGIN
NETWORK
TITLE = NETWORK
CALL FB 29, DB 80 (

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Func := 1,
Signal_1 :=M 100.0,
Signal_2 :=M 100.1,
Signal_3 :=M 100.2,
Signal_4 :=M 100.3,
Signal_5 :=M 10.4,
Signal_6 :=M 100.5,
Signal_7 :=M 100.6,
Signal_8 :=M 100.7,
NewCycle := TRUE,
Var1 := MB 100,
BufDB := 81,
ClearBuf :=M 50.0);
END_FUNCTION

2.12.11 FC 2: GP_HP Basic program, cyclical section

Description of Functions
The complete processing of the NCKPLC interface is carried out in cyclic mode. In order to
minimize the execution time of the basic program, only the control/status signals are
transmitted cyclically; transfer of the auxiliary functions and G functions only takes place
when requested by the NCK.

Declaration
FUNCTION FC 2: VOID
//No parameters

Call example
As far as the time is concerned, the basic program must be executed before the user
program. It is therefore called first in OB 1.
The following example contains the standard declarations for OB 1 and the calls for the basic
program (FC2), the transfer of the machine control panel signals (FC19) and the acquisition
of error and operating messages (FC10).

ORGANIZATION_BLOCK OB 1
VAR_TEMP
OB1_EV_CLASS : BYTE ;
OB1_SCAN_1 : BYTE ;
OB1_PRIORITY : BYTE ;
OB1_OB_NUMBR : BYTE ;
OB1_RESERVED_1 : BYTE ;
OB1_RESERVED_2 : BYTE ;
OB1_PREV_CYCLE : INT ;
OB1_MIN_CYCLE : INT ;

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OB1_MAX_CYCLE : INT ;
OB1_DATE_TIME : DATE_AND_TIME;
END_VAR
BEGIN
CALL FC 2; //Call basic program as first FC
//INSERT USER PROGRAM HERE
CALL FC 19 ( //MCP signals to interface
BAGNo := B#16#1, //Mode group no. 1
ChanNo := B#16#1, //Channel no. 1
SpindleIFNo := B#16#4, //Spindle interface number
= 4
FeedHold := m22.0, //Feed stop signal
//modal
SpindleHold := db2.dbx151.0) //Spindle stop modal
;
//in message
DB
CALL FC 10 ( //Error and operational
messages
ToUserIF := TRUE, //Signals transferred from
DB2
//to interface
Ack := I6.1); //Acknowledgment of error
messages
//via I 6.1
END_ORGANIZATION_BLOCK

2.12.12 FC 3: GP_PRAL Basic program, interruptcontrolled section

Description of Functions
Blocksynchronized transfers from the NCK to the PLC (auxiliary and G functions) are carried
out in the interruptdriven part of the basic program. Auxiliary functions are subdivided into
normal and highspeed auxiliary functions. The highspeed functions of an NC block are
buffered and the transfer acknowledged to the NC. These are passed to the application
interface at the start of the next OB1 cycle. Normal auxiliary functions are only
acknowledged when they have existed for the duration of one cycle. This allows the
application to issue a read disable to the NC.
Highspeed auxiliary functions programmed immediately one after the other, are not lost for
the user program. This is ensured by a mechanism in the basic program.
The G functions are evaluated immediately and passed to the application interface.

NC process alarms
If the interrupt is triggered by the NC (possible in each IPO cycle), a bit in the local data of
OB 40 ("GP_IRFromNCK") is set by the basic program. (only if FB 1 parameter UserIR :=
TRUE). This data is not set on other events (process interrupts through I/Os). This
information makes it possible to branch into the associated interrupt routine in the user
program in order to initiate the necessary action.

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To be able to implement highspeed, jobcontrolled processing of the user program for the
machine, the following NC functions are available in the interrupt processing routine (OB 40
program section) for the PLC user program with SW 3.2 and higher:
• Selected auxiliary functions
• Tool-change function for tool-management option
• Position reached for positioning axes, indexing axes and spindles with activation via PLC
• Block transfer to FM (function available soon)
The functions listed above can or must be evaluated by the user program in OB 40 in order
to initiate reactions on the machine. As an example, the revolver switching mechanism can
be activated when a T command is programmed on a turning machine.
For further details on programming hardware interrupts (time delay, interruptibility, etc.) refer
to the corresponding SIMATIC documentation.

Auxiliary functions
Generally, high-speed or acknowledging auxiliary functions are processed with or without
interrupt control independently of any assignment.
Basic-program parameters in FB 1 can be set to define which auxiliary functions (T, H, DL)
must be processed solely on an interruptdriven basis by the user program.
Functions which are not assigned via interrupts are only made available by the cyclic basic
program as in earlier versions. The change signals of these functions are available in a PLC
cycle.
Even if the selection for the auxiliary function groups (T, H, DL) is made using interrupt
control, only one interrupt can be processed by the user program for the selected functions.
A bit is set channelspecifically in the local data "GP_AuxFunction" for the user program (if
"GP_AuxFunction[1]" is set, then an auxiliary function is available for the 1st channel).
The change signals and function value are available to the user in the associated channel
DB. The change signal for this interruptcontrolled function is reset to zero in the cyclical
basic program section after the execution of at least one full OB1 cycle (max. approx. two
OB1 cycles).

Tool change
With the tool-management option, the tool-change command for revolver and the tool
change in the spindle is supported by an interrupt. The local data bit "GP_TM" in OB 40 is
set for this purpose. The PLC user program can thus check the tool management DB (DB 72
or DB 73) for the tool change function and initiate the tool change operation.

Position reached
In the bit structure, "GP_InPosition" of the local data of OB 40 is specific to the machine axis
(each bit corresponds to an axis/spindle, e.g., GP_InPosition[5] corresponds to axis 5).
If a function has been activated via FC 15 (positioning axis), FC 16 (indexing axis) or FC 18
(spindle control) for an axis or spindle, the associated "GP_InPosition" bit makes it possible
to implement instantaneous evaluation of the "InPos" signal of the FCs listed above. This
capability can be used, for example, to obtain immediate activation of clamps for an indexing
axis.

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Declaration
FUNCTION FC 3: VOID
//No parameters

Call example
As far as the time is concerned, the basic program must be executed before other interrupt-
driven user programs. It is therefore called first in OB 40.
The following example contains the standard declarations for OB 40 and the call for the
basic program.

ORGANIZATION_BLOCK OB 40
VAR_TEMP
OB40_EV_CLASS : BYTE ;
OB40_STRT_INF : BYTE ;
OB40_PRIORITY : BYTE ;
OB40_OB_NUMBR : BYTE ;
OB40_RESERVED_1 : BYTE ;
OB40_MDL_ID : BYTE ;
OB40_MDL_ADDR : INT ;
OB40_POINT_ADDR : DWORD;
OB40_DATE_TIME : DATE_AND_TIME;
//Assigned to basic program
GP_IRFromNCK : BOOL ; //Interrupt by NCK for user
GP_TM : BOOL ; //Tool management
GP_InPosition : ARRAY [1..3] OF BOOL; //Axis-oriented for positioning and
//indexing axes, spindles
GP_AuxFunction : ARRAY[1..10] OF BOOL; //Channel-oriented for //auxiliary
functions
GP_FMBlock : ARRAY[1..10] OF BOOL; //Channel-oriented for block
//transfer to FM (available soon)

//Further local user data may be defined from this point onwards
END_VAR
BEGIN
CALL FC 3;
//INSERT USER PROGRAM HERE
END_ORGANIZATION_BLOCK

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2.12.13 FC 5: GP_DIAG Basic program, diagnostic alarm, and module failure

Description of functions

Description of functions
Module defects and module failures are detected in this section of the basic program.
The FC5 block parameter can be used to define whether the PLC is to be placed in STOP
mode. The PLC is placed in STOP mode only for incoming events. The PROFIBUS MCPs
assigned on FB1 are excluded from stopping the PLC.

Declaration

FUNCTION FC 5: VOID
VAR_INPUT
PlcStop: BOOL := True;
END_VAR

Call example
As far as timing is concerned, the basic program can be executed after other user programs.
This is advisable since the FC5 circuitry will place the PLC in Stop mode.
This example contains the standard declarations for OB82 and OB86 and the call of the
basic program block.

ORGANIZATION_BLOCK OB 82
VAR_TEMP
OB82_EV_CLASS : BYTE ;
OB82_FLT_ID : BYTE ;
OB82_PRIORITY : BYTE ;
OB82_OB_NUMBR : BYTE ;
OB82_RESERVED_1 : BYTE ;
OB82_IO_FLAG : BYTE ;
OB82_MDL_ADDR : INT ;
OB82_MDL_DEFECT : BOOL ;
OB82_INT_FAULT : BOOL ;
OB82_EXT_FAULT : BOOL ;
OB82_PNT_INFO : BOOL ;
OB82_EXT_VOLTAGE : BOOL ;
OB82_FLD_CONNCTR : BOOL ;

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OB82_NO_CONFIG : BOOL ;
OB82_CONFIG_ERR : BOOL ;
OB82_MDL_TYPE : BYTE ;
OB82_SUB_NDL_ERR : BOOL ;
OB82_COMM_FAULT : BOOL ;
OB82_MDL_STOP : BOOL ;
OB82_WTCH_DOG_FLT : BOOL ;
OB82_INT_PS_FLT : BOOL ;
OB82_PRIM_BATT_FLT : BOOL ;
OB82_BCKUP_BATT_FLT : BOOL ;
OB82_RESERVED_2 : BOOL ;
OB82_RACK_FLT : BOOL ;
OB82_PROC_FLT : BOOL ;
OB82_EPROM_FLT : BOOL ;
OB82_RAM_FLT : BOOL ;
OB82_ADU_FLT : BOOL ;
OB82_FUSE_FLT : BOOL ;
OB82_HW_INTR_FLT : BOOL ;
OB82_RESERVED_3 : BOOL ;
OB82_DATE_TIME : DATE_AND_TIME;
END_VAR
BEGIN
CALL FC 5
(PlcStop := False);
END_ORGANIZATION_BLOCK
ORGANIZATION_BLOCK OB 86
VAR_TEMP
OB86_EV_CLASS : BYTE ;
OB86_FLT_ID : BYTE ;
OB86_PRIORITY : BYTE ;
OB86_OB_NUMBR : BYTE ;
OB86_RESERVED_1 : BYTE ;
OB86_RESERVED_2 : BYTE ;
OB86_MDL_ADDR : WORD ;
OB86_RACKS_FLTD : ARRAY [0 .. 31]OF BOOL;
OB86_DATE_TIME : DATE_AND_TIME;
END_VAR
BEGIN
CALL FC 5
(PlcStop := True);
END_ORGANIZATION_BLOCK

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2.12.14 FC 7: TM_REV Transfer block for tool change with revolver

Description of Functions
After a revolver has been changed, the user will call this block. The revolver number
(corresponding to interface number in DB 73) must be specified in parameter "ChgdRevNo"
for this purpose. As this block is called, the associated "Interface active" bit in data block DB
73, word 0 of FC 7 is reset after parameter "Ready" := TRUE is returned.
Block FC TM_REV may be started (with "Start" parameter = "TRUE") only if an activation
signal for the appropriate interface (DB 73, word 0) for this transfer has been supplied by the
tool management function.
Output parameter "Ready" is set to the value TRUE when the job has been executed
correctly.
The user must then set the
"Start" parameter to FALSE
or not call the block again.
If the
"Ready" parameter is set to FALSE,
the error code in the
"Error" parameter must be interpreted.
If the error code = 0, then this job must be repeated in the next PLC cycle (e.g., "Start"
remains set to "TRUE"). This means that the transfer job has not yet been completed (see
example FC 7 call and timing diagram). The "Start" parameter does not need a signal edge
for a subsequent job.

Warning
It is not permissible to abort the transfer (e.g., by an external signal reset). The "Start"
parameter must always retain the 1 signal until the "Ready" and/or "Error" parameters <> 0.

An error code <> 0 indicates incorrect parameterization.

Note
For further details on tool management (also with regard to PLC) refer to the Description of
Functions Tool Management. In addition, PI services for tool management via FB 4, FC 8
and FC 22 are available. Machine data 20310 bit 12 must not be set to 1 for circular
magazines.

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Manual revolver switching

If a manual action is used to rotate the revolver, this information must be forwarded to the
tool management. The asynchronous transfer function of FC 8 must be used to transfer the
modified positions of the revolver. This must only occur once on the first manual rotation in
the sequence. In this case, the following parameterization of the asynchronous transfer is
needed via FC 8:

TaskIdent = 4
TaskIdentNo = channel
NewToolMag = Magazine number of the revolver
NewToolLoc = Original location of the tool
OldToolMag = Magazine no. buffer storage (spindle) = 9998
OldToolLoc = Buffer storage number of the spindle
Status = 1

This action also causes the same T command to be resent to the tool-management interface
if the previous T is programmed again.

Declaration of the function

STL representation

FUNCTION FC 7: void
//NAME :TM_REV
VAR_INPUT
Start: BOOL ;
ChgdRevNo: BYTE ;
END_VAR
VAR_OUTPUT
Ready: BOOL ;
Error : INT ;
END_VAR
BEGIN
END_FUNCTION

Description of formal parameters

The table below lists all formal parameters of the TM_REV function.

Signal I/O Type Value range Remarks

Start I Bool = transfer is started
ChgdRevNo I Byte 1.. Number of revolver interface
Ready Q Bool = transfer completed
Error Q Int 0..3 Error checkback
0 : No error has occurred

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Signal I/O Type Value range Remarks

1: No revolver present
2: Illegal revolver number in parameter "ChgdRevNo"
3: Illegal job ("interface active" signal for selected
revolver = "FALSE")

Timing diagram

     


6WDUW
 

5HDG\

(UURU !

(1) Activation of function

(2) Positive acknowledgment: Tool management has been transferred
(3) Reset function activation after receipt of acknowledgment
(4) Signal change by means of FB
(5) This signal chart is not permissible. The job must generally be terminated since the new tool
positions must be forwarded to the tool management in the NCK.
(6) Negative acknowledgment: Error has occurred, error code in the output parameter "Error".

Call example

CALL FC 7 ( //Tool management transfer of block for revolver

Start := m 20.5, //Start := "1 " => transfer trigger
ChgdRevNo := DB61.DBB 1,
Ready := m 20.6,
Error := DB61.DBW 12);
u m 20.6; //Poll ready
r m 20.5; //Reset start
spb m001; //Jumps, if everything OK
l db61.dbw 12; //Error information
ow w#16#0; //Evaluate error
JC error; //Jumps to troubleshooting, if <> 0
m001: // Start of another program
error:
r m 20.5; //Reset start, if an error has occurred

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2.12.15 FC 8: TM_TRANS transfer block for tool management

Description of Functions
In the case of changed tool positions or status changes, the user will call FC TM_TRANS.
This FC is parameterized with parameter "TaskIdent":
• For loading/unloading positions
• For spindle change positions
• For revolver change positions as transfer identifier
• Asynchronous transfer
• Asynchronous transfer with location reservation
The interface number is indicated in parameter "TaskIdentNo".
Example for loading point 5:
Parameter "TaskIdent":= 1 and "TaskIdentNo":= 5.
Furthermore, the current tool positions and status data (list of "Status" parameter in the
following text) are also transmitted for this transfer function.

Note
FC8 informs the NCK of the current positions of the old tool.
The NCK knows where the old and the new tool have been located until the position change.

In the case of a transfer without a socalled "old tool" (e.g., on loading), the value 0 is
assigned to parameters "OldToolMag", "OldToolLoc".
Block FC TM_TRANS may be started (with "Start" parameter = "TRUE") only if an activation
signal for the appropriate interface (DB 71, DB 72, DB 73 in word 0) for this transfer has
been supplied by the tool management function.

Output parameter "Ready" is set to the value TRUE when the job has been executed
correctly.
The user must then set the
"Start" parameter to FALSE
or not call the block again.
If the
"Ready" parameter = FALSE,
the error code in the "Error" parameter must be interpreted
(see Call example FC 8 and timing diagram).
If the error code = 0, then this job must be repeated in the next PLC cycle (e.g., "Start"
remains set to "TRUE"). This means that the transfer operation has not yet been completed.
If the user assigns a value of less than 100 to the "Status" parameter, then the associated
interface in data block DB 71 or DB 72 or DB 73, word 0 is deactivated (process complete).
The appropriate bit for the interface is set to 0 by FC 8.

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The "Start" parameter does not need a signal edge for a subsequent job. This means that
new parameters can be assigned with "Start = TRUE" immediately when "Ready = TRUE" is
received.

Asynchronous transfer
To ensure that changes in the position of a tool are automatically signaled from PLC to tool
management (e.g., power failure during an active command or independent changes in the
position by the PLC), block FC TM_TRANS with "TaskIdent" := 4 or 5 is called. This call does
not require interface activation by tool management.
If parameter "TaskIdent" = 5, the tool management reserves the location in addition to
changing the position. The location is only reserved if the tool has been transported from a
real magazine to a buffer storage.
A relevant NC channel must be parameterized in the "TaskIdentNo" parameter.
The previous position of the tool is specified in parameters "OldToolMag", "OldToolLoc"; the
current position of the tool is specified in parameters "NewToolMag", "NewToolLoc". Status =
1 must be specified.
With status 5, the specified tool remains at location "OldToolMag", "OldToolLoc". This
location must be a buffer (e.g., spindle). The real magazine and location must be specified in
the parameters "NewToolMag", "NewToolLoc"; the location is at the position of the buffer.
This procedure must always be used if the tool management is to be informed of the position
of a specific magazine location. This procedure is used for alignment in search strategies.

Warning
It is not permissible to abort the transfer (e.g., by an external signal reset). The "Start"
parameter must always retain the 1 signal until the "Ready" and/or "Error" parameters <> 0.

An error code <> 0 indicates incorrect parameterization.

Note
For further details on tool management (also with regard to PLC) refer to the Description of
Functions Tool Management. In addition, PI services for tool management via FB 4, FC 7
and FC 22 are available.

Declaration of the function

STL representation

FUNCTION FC 8: void
//NAME :TM_TRANS
VAR_INPUT
Start: BOOL ;
TaskIdent: BYTE ;
TaskIdentNo: BYTE ;

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NewToolMag: INT ;
NewToolLoc: INT ;
OldToolMag: INT ;
OldToolLoc: INT ;
Status: INT ;
END_VAR
VAR_OUTPUT
Ready: BOOL ;
Error : INT ;
END_VAR
BEGIN
END_FUNCTION

Description of formal parameters

The table below lists all formal parameters of the TM_TRANS function:

Signal I/O Type Value range Remarks

Start I Bool 1 = Start of transfer
TaskIdent I Byte 1..5 Interface or tank identifier
1: Loading/unloading location
2: Spindle change position
3: Revolver change position
4: Asynchronous transfer
5: Asynchronous transfer with
location reservation
TaskIdentNo I Byte 1.. Number of associated interface or channel
number. The upper nibble can specify the interface
number for asynchronous transfer (e.g., B#16#12,
1st interface, 2nd channel).
NewToolMag I Int -1, 0.. Current magazine number of new tool
-1: Tool remains at its location NewToolLoc = any
value. Only permissible if TaskIdent = 2
NewToolLoc I Int 0 to max. Current location number of new tool
location
number
OldToolMag I Int -1, 0.. Current magazine number of tool to be replaced
-1: Tool remains at its location OldToolLoc = any
value. Only permissible if TaskIdent = 2
OldToolLoc I Int Max. location Current location number of tool to be replaced
number
Status I Int 1..7, 103..105 Status information about transfer operation
Ready Q Bool 1= transfer completed
Error Q Int 0..65535 Error checkback
0: No error has occurred
1: Unknown "TaskIdent"
2: Unknown "TaskIdentNo"
3: Illegal job ("interface active" signal for selected
revolver = "FALSE")

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Signal I/O Type Value range Remarks

Other values:
The number corresponds to the error message of
the tool management function in the NCK caused
by this transfer.

Timing diagram

     


6WDUW
 

5HDG\

(UURU !

(1) Activation of function

(2) Positive acknowledgment: Tool management has been transferred
(3) Reset function activation after receipt of acknowledgment
(4) Signal change by means of FB
(5) This signal chart is not permissible. The job must generally be terminated since the new tool
positions must be forwarded to the tool management in the NCK.
(6) Negative acknowledgment: Error has occurred, error code in the output parameter "Error".

Status list
Status = 1:
The operation is complete (loading/unloading/reloading, prepare change, change).
The parameters of FC 8 (FC TM_TRANS) "NewToolMag", "NewToolLoc", "OldToolMag" and
"OldToolLoc" must be parameterized to the tool target positions specified in the interface
(except for Prepare change). For further information, please refer to description of
parameters of FC TM_TRANS or general Section of tool management in the PLC.
1. In the case of loading/unloading/reloading, the tool has arrived at the required target
address. If the bit in the interface in DB 71.DBX (n+0).3 "position at loading point" is
enabled, status 1 cannot be used for the function termination. Status 5 must be used for
correct termination.
2. In the case of "Prepare change", the new tool is now available. The tool may, for
example, be positioned in a buffer (gripper). In some cases, the target (magazine,
location) of the old tool has been moved to the toolchange position after placement of the
new tool in a buffer. However, the old tool still remains in the spindle. The preparations
for a tool change are thus complete. After this acknowledgment, the "Change" command
can be received. The positions in parameters "NewToolMag", "NewToolLoc",
"OldToolMag" and "OldToolLoc" correspond to the current tool positions.

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3. In the case of "Change" (spindle or revolver), the tools addressed in the interface have
now reached the required target addresses.
The tool-change operation is thus complete.
Status = 2:
The "new" tool cannot be made available.
This status is only admissible in conjunction with the "Change tool" command. When this
status is applied, the PLC must be prevented from making a change with the proposed tool.
The proposed (new) tool is disabled by the tool management function in the NCK. A new
command is then output by the tool management with a duplo tool. The positions in
parameters "NewToolMag", "NewToolLoc", "OldToolMag", and "OldToolLoc" correspond to
the original tool positions.
Status = 3:
An error has occurred.
The tool positions must not have been changed. Any changes to the magazine positions
which have taken place in the meantime must be notified beforehand, for example, with
status = 105 via FC TM_TRANS. Only then will the tool positions be taken into account by
the tool management function.
Status = 4:
It would be better to position the "old" tool in the magazine position specified in parameters
"OldToolMag" and "OldToolLoc".
This status is permissible only in conjunction with preparation for tool change (change into
spindle). After this status has been transferred to the tool management in the NCK, the tool
management tries to take the specified magazine position into account in the subsequent
command. However, it can only do so if the position is free. Parameters "NewToolMag" and
"NewToolLoc" are not taken into account.
Status = 5:
The operation is complete.
The "new" tool is in the position specified in parameters "NewToolMag", "NewToolLoc". In
this case, the specified tool is not really in this position, but is still in the same magazine
location. However, this magazine location has been moved to the position set in the
parameters (e.g., tool change position). This status may be used only for revolvers, chain-
type magazines and disk magazines. Status 5 enables the tool management function to
adjust the current position of a magazine and to improve the search strategy for subsequent
commands. This status is permissible only in conjunction with loading, unloading, and
reloading operations and with preparations for a tool change.
The "OldToolMag" and "OldToolLoc" parameters must be parameterized with the data of a
buffer.
• Loading, reloading:
On loading or reloading, a location for the tool is already reserved in the NCK. The
machine operator must then insert the tool at the target location. Notice: The location
reservation is canceled when the control system is switched on again.
• Tool-change preparation:
Tool motions still to be executed are not carried out until after the tool has been changed.
• Positioning to load point:
If the bit in the interface in DB 71.DBX (n+0).3 "positioning to load point" is enabled,
status 5 (not status 1) cannot be used for the function termination.

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Status = 6:
The tool management job is completed.
This status has the same function as status 1, but, in addition, a reservation of the source
location is carried out. This status is only permitted when reloading. The command is ended
and the source location of the tool is reserved if the target location is in a buffer magazine.
STATUS = 7:
Repetition of the "Prepare Tool" command initiated.
This status is only admissible in conjunction with the Prepare Tool Change command. This
status is intended for use when the "new" tool has changed its position (e.g., via an
asynchronous command of the "new" tool).
After "Ready = 1" has been provided by FC 8, the
"Prepare Change" command is repeated automatically with the same tool.
For the automatic repetition, a new tool search is carried out.
The positions in parameters "NewToolMag", "NewToolLoc", "OldToolMag", "OldToolLoc"
must correspond to the original positions of the tools.
Status = 103:
The "new" tool can be inserted.
This status is only permissible in conjunction with the preparations for a tool change if the
PLC may reject the new tool (MD: MC_TOOL_MANAGEMENT_MASK, bit 4). The tool
positions have remained unchanged. This status is required to continue the forward motion
in the NCK (otherwise processing is stopped).
References:
/FBW/Description of Functions, Tool Management
Status = 104:
The "new" tool is in the position specified in parameters "NewToolMag", "NewToolLoc".
This status is only permissible if the tool is still in the magazine in the same location. The
"old" tool is in the position (buffer) specified in parameters "OldToolMag", "OldToolLoc". In
this case, however, the new tool is not really in this position, but is still in the same magazine
location. However, this magazine location has been moved to the position set in the
parameters (e.g., tool change position). This status may be used only in conjunction with
revolvers, chaintype magazines and disk magazines for the "Tool change preparation"
phase. Status 104 enables the tool management to adjust the current position of a magazine
and to improve the search strategy for subsequent commands.
Status = 105:
The specified buffer has been reached by all tools involved
(standard case if the operation has not yet been completed).
The tools are in the specified tool positions (parameters "NewToolMag", "NewToolLoc",
"OldToolMag", "OldToolLoc").

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Status definition
A general rule for the acknowledgment status is that the state information 1 to 7 leads to the
termination of the command. If FC 8 receives one of the statuses, the "Interface active bit" of
the interface specified in FC 8 is reset to "0" (see also interface lists DB 71 to DB 73), thus
completing the operation. The response if different in the case of status information 103 to
105. When the FC 8 receives one of these items of status information, the “Interface active
bit” of this interface remains at “1”. Further processing is required by the user program in the
PLC (e.g., continuation of magazine positioning). This item of status information is generally
used to transfer changes in position of one or both tools while the operation is still in
progress.

Call example

CALL FC 8 ( //Tool-management transfer block

Start := m 20.5, //Start := "1 " => transfer trigger
TaskIdent := DB61.DBB 0,
TaskIdentNo DB61.DBB 1,
:=
NewToolMag DB61.DBW 2, //Current position of new tool
:=
NewToolLoc DB61.DBW 4,
:=
OldToolMag DB61.DBW 6, //Current position of old tool
:=
OldToolLoc DB61.DBW 8,
:=
Status := DB61.DBW 10, //Status
Ready := m 20.6,
Error := DB61.DBW
12);
u m 20.6; //Poll ready
r m 20.5; //Reset start
spb m001; //Jumps, if everything OK
l DB61.dbw 12; //Error information
ow w#16#0; //Evaluate error
JC error; //Jumps to troubleshooting
m001: //Normal branch
error: //Troubleshooting
r m 20.5: //Reset start

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2.12.16 FC 9: ASUB startup of asynchronous subprograms

Description of Functions
The FC ASUB can be used to trigger any functions in the NC. Before an ASUB can be
started from the PLC, it must have been selected and parameterized by an NC program or
by FB 4 (PI service ASUB).
Once prepared in this way, it can be started at any time from the PLC. The NC program
running on the channel in question is interrupted by the asynchronous subprogram. Only one
ASUB can be started in the same channel at a time. If the start parameter is set to logical 1
for two FC 9s within one PLC cycle, the ASUBs are started in the sequence in which they
are called.
The start parameter must be set to logic 0 by the user once the ASUB has been terminated
(Done) or if an error has occurred.
For the purpose of job processing, every FC ASUB required its own WORD parameter (Ref)
from the global user memory area. This parameter is for internal use only and must not be
changed by the user. Parameter Ref is initialized with the value 0 in the first OB 1 cycle and,
for this reason, every FC 9 must be called absolutely. Alternatively, the user can initialize
parameter "Ref" with a value of 0 during startup. This option makes conditional calls
possible. When a conditional call is activated by parameter "Start" = 1, it must remain active
until parameter "Done" has made the transition from 1 to 0.

Note
The function is initiated only with the LowHigh edge.

Declaration

FUNCTION FC 9: VOID //ASUB

VAR_INPUT
Start: BOOL ;
ChanNo: INT ;
IntNo: INT ;
END_VAR
VAR_OUTPUT
Active: BOOL ;
Done : BOOL ;
Error : BOOL ;
StartErr: BOOL ;
END_VAR
VAR_IN_OUT:
Ref: WORD ;
END_VAR

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Description of formal parameters

The table below lists all formal parameters of the ASUB function.

Signal I/O Type Value range Remarks

Start I Bool
ChanNo I Int 1 - 10 No. of NC channel
IntNo I Int 1-8 Interrupt no.
Active Q Bool 1 = active
Done Q Bool 1 = ASUB terminated
Error Q Bool
StartErr Q Bool 1 = Interrupt number not allocated
Ref I/O Word Global variable (MW, 1 word per FC 9 (for internal use)
DBW,..)

Timing diagram

     

6WDUW


$FWLY
   
'RQH

(UURU

(1) Activation of function

(2) ASUP active
(3) Positive acknowledgment: ASUB ended
(4) Reset function activation after receipt of acknowledgment
(5) Signal change by means of FB
(6) If function activation is reset prior to receipt of acknowledgment, the output signals are not
updated without the operational sequence of the activated function being affected.
(7) Negative acknowledgment: Error has occurred

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Call example

CALL FC 9 ( //Start an asynchronous subroutine

//in channel 1 interrupt number 1
Start := I 45.7,
ChanNo := 1,
IntNo := 1,
Active := M 204.0,
Done := M204.1,
Error := M 204.4,
StartErr := M 204.5,
Ref := MW 200);

2.12.17 FC 10: AL_MSG error and operating messages

Description of Functions
FC AL_MSG evaluates the signals entered in DB 2 and displays them as incoming and
outgoing error and operational messages on the MMC. The incoming signals (positive edge)
are displayed immediately in the case of both error and operating messages. Outgoing
signals (negative edge) are only canceled immediately in the case of operating messages.
Error messages remain stored on the MMC - even if the signals no longer exist - until the
"acknowledge" parameter is issued, i.e., until the user acknowledges the messages. The
"ToUserIF" parameter can be used to transfer the group signals for the feed, read and NC
start disabling signals and feed stop signal to the existing axis, spindle and channel
interfaces. The group signals are transferred to the user interface directly from the status
information in DB 2 irrespective of an alarm acknowledgment.
1. If parameter "ToUserIF": is set to FALSE, signals are not transferred to the user interface.
In this case, the user must take measures in his PLC program to ensure that these
signals are influenced in the interface.
2. If parameter "ToUserIF": is set to TRUE, all signals listed above are sent to the user
interface as a group signal in each case. The user PLC program can therefore influence
these signals only via DB 2 in connection with a message or alarm output. The
appropriate information is overwritten in the user interface.
As an alternative to the procedure described under paragraph 2, the user can influence the
disable and stop signals without a message output by applying a disable or stop signal state
to the interface signals after FC AL_MSG has been called.
The following program illustrates this method:

CALL FC 10 (
ToUserIF := TRUE,
Ack := I 6.1);
u m 50.0; //Feed disable for channel 1
to DB 21;
s dbx 6.0; //Set disable condition, reset via
//FC AL_MSG, if M 50.0 outputs the signal "0".

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Error and operational messages are provided by the user in data block DB 2.

Note
In DB 2, a "1" signal must be present for several OB1 cycles to ensure that a message can
also be displayed on the MMC.

Declaration of the function

STL representation

FUNCTION FC 10: Void

// NAME: AL_MSG
VAR_INPUT
ToUserIF : BOOL ;
Ack : BOOL ;
END_VAR
END_FUNCTION

Description of formal parameters

The table below lists all formal parameters of the AL-MSG function.

Signal I/O Type Value range Remarks

ToUserIF I Bool 1 = Transfer signals to user
interface
every cycle
Ack I Bool 1 = Acknowledge error messages.

Call example

CALL FC 10 ( //Error and operational messages

ToUserIF := TRUE, //Signals from DB 2 are transferred
//to interface
Ack := I6.1); //Acknowledgment of
//error message carried out via
//input I6.1

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2.12.18 FC 12: AUXFU call interface for user with auxiliary functions

Description of Functions
FC AUXFU is generally called on an eventdriven basis in the basic program if the channel
transferred in the input parameter contains new auxiliary functions. The PLC user can extend
FC AUXFU with program instructions for processing his auxiliary function to avoid cyclic
polling of the channel DBs. This mechanism permits auxiliary functions to be processed on a
jobcontrolled basis. FC AUXFU is supplied as a compiled empty block in the basic program.
In this case, the basic program supplies parameter "Chan" with the channel number. The
PLC user knows which channel has new auxiliary functions available. The new auxiliary
functions can be determined by the auxiliary-function change signals in the channel
concerned.

Declaration

FUNCTION FC 12: VOID //Event control of auxiliary functions

VAR_INPUT
Chan: BYTE ;
END_VAR
BEGIN
BE;
END_FUNCTION

Explanation of formal parameters

The table below lists all formal parameters of the AUXFU function:

Signal I/O Type Value range Remarks

Chan I Byte 0 to 9 No. of NC channel -1

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Example

FUNCTION FC 12: VOID //Event control of auxiliary

functions
VAR_INPUT
Chan: BYTE ; //Parameter is supplied by basic
program
END_VAR
VAR_TEMP
ChanDB: INT ;
END_VAR
BEGIN
L Chan; //Channel no. (0, 1, 2, etc.)
+ 21; //Channel DB offset
T ChanDB; //Save channel DB no.
TO DB[ChanDB]; //Channel DB is opened indirectly
// Auxiliary-function change signals are now scanned, etc.
BE;
END_FUNCTION

2.12.19 FC 13: BHGDisp display control for handheld unit

Description of Functions
This module carries out the display control of the handheld unit (HHU). The information to be
output on the display is stored as 32 characters in string data ChrArray. A fixed text
assignment of 32 characters is therefore required for this string when the data block is
created. Variable components within this string can be inserted by means of the optional
numerical converter, for which parameter Convert must be set to TRUE. The variable to be
displayed is referenced via the pointer Addr. Parameter DataType contains the format
description of this parameter (see parameter table). The number of bytes of the variable is
linked to the format description. The address justified to the right within the string is specified
by parameter StringAddr. The number of written characters is shown in the parameter table.
By setting parameter Row to 0, it is possible to suppress the display (e.g., if several variables
in one or several PLC cycles need to be entered in the string without any display output).

Signals
Byte 1 is supplied by the output signals of the HHU and the character specifications are
supplied by the module. These may not be written by the PLC user program.

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Additional parameters
The pointer parameters for the input and output data of the handheld unit must be
parameterized in the start OB 100 in FB 1, DB 7. Parameter BHGIn corresponds to the input
data of the PLC from the handheld unit (data received by PLC). Parameter BHGOut
corresponds to the output data of the PLC to the handheld unit (data transmitted by PLC).
These two pointers must be set to the starting point of the relevant data area, which is also
parameterized in SDB 210 with an MPI link.

Note
If the numerical converter is used to display information, then it is better to avoid performing
a conversion in every PLC cycle for the sake of reducing the PLC cycle time. In this case, it
is advisable to use the input signal from the HHU to the PLC "Acknowledgment digital
display" (DB m+5.7) for parameter "Convert". In this way it can be ensured that the most
recent numerical information is displayed.

Declaration of the function

STL representation

DATA_BLOCK "strdat" //The data block number

//is defined in the symbol file
STRUCT
disp: STRING [32]:= 'line 1 line //32 characters are defined
2 ';
END_STRUCT;
BEGIN
END_DATA_BLOCK
FUNCTION FC 13: VOID
VAR INPUT
Row : Byte; //Display line (see table)
ChrArray : STRING ; //Transfer at least string[32]
Convert : BOOL ; //Activate numerical conversion
Addr: POINTER; //Points to the variable being
converted
DataType : Byte; //Data type of the variables
StringAddr : INT ; //Right-justified string address
(1 to 32)
Digits : BYTE ; //Number of decimal places (1 to
3)
END VAR
VAR OUTPUT
Error : BOOL ; //Conversion or string error
END VAR

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Description of formal parameters

The table below lists all formal parameters of the BHGDisp function:

Signal I/O Type Value range Remarks

Row I Byte 0-3 Display line
0: No display output
1: Line 1
2: Line 2
3: Line 1 and line 2
ChrArray I String >= string[32] This string contains the
entire display content
Convert I Bool Activation of numerical conversion
Addr I Pointer Points to the variable
to be converted
DataType I Byte 1-8 Data type of variable
1: Bool, 1 character
2: Byte, 3 characters
3: Char, 1 character
4: Word, 5 characters
5: Int, 6 characters
6: Dword, 7 characters
7: Dint, 8 characters
8: Real, 9 characters
(see parameter Digits)
StringAddr I Int 1-32 Address within variable ChrArray
Digits I Byte 1-4 Relevant only for data type Real
with sign
1: 6.1 digits unsigned
2: 5.2 digits unsigned
3: 4.3 digits unsigned
4: 3.4 digits unsigned
Error Q Bool Conversion error, numerical
overflow or error in StringAddr

Ranges of values

Value ranges of data types

Data type Representable numerical range
BOOL 0, 1
BYTE 0 to 255
WORD 0 to 65535
INT - 32768 to + 32767
DWORD 0 to 9999999
DINT - 9999999 to + 9999999
REAL (Digits := 1) - 999999.9 to + 999999.9
REAL (Digits := 2) - 99999.99 to + 99999.99
REAL (Digits := 3) - 9999.999 to + 9999.999
REAL (Digits := 4) - 999.9999 to + 999.9999

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Call example

CALL FC 13 (
Row := MB 26,
ChrArray := "strdat".disp, //DB with name strdat in
//data element symbol table
//disp is declared as string[32]
//and assigned entirely
//with character
Convert := M 90.1,
Addr := P#M 20.0, //Number to be converted
DataType := MB 28, //Data type of the variables
StringAddr := MW 30,
Digits := B#16#3, //3 decimal places
Error := M 90.2);

2.12.20 FC 15: POS_AX positioning of linear and rotary axes

Description of Functions
(Do not use for new applications, function is integrated in FC 18 in SW 3.6 and higher.)
FC POS_AX can be used to traverse axes in any operating mode, also from the PLC. (See
also Description of Functions Positioning Axes SW 2).
In order to traverse the NC axes via the PLC, the traversing check must be activated for the
PLC.
This can be achieved, for example, by calling FC "POS_AX" with activation of the "Start"
parameter.
FC "POS_AX" then requests an axis check by the NC.
The NC feeds back the status of this axis in byte 68 in the associated axis interface (DB 31,
...) (see interface lists).
Once the axis check has been completed ("InPos" is True, "Start" changes to zero), it is
switched to a neutral state by FC POS AX.
Alternatively, the PLC user program can also request the check for the PLC prior to calling
FC "POS_AX".
By calling this function several times in succession, a better response reaction by the axes
can be obtained as the changeover process in the FC can be omitted.
Activation through the PLC user program is executed in the corresponding axis interface in
byte 8.
After return of the check, the axis can again be programmed by the NC program.

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Note
Rotary axes can be positioned by the shortest possible route through the programming of a
negative feed value in absolute programming mode. In incremental mode (parameter "IC" :=
TRUE), the traversing direction can be defined by means of the parameter "Pos" sign:
Positive sign indicates travel in a positive direction
Negative sign indicates travel in a negative direction
After the FC has been called, ACCU1 contains an error statement by the NCK (but not if the
output parameters are assigned to a data block). This is generally the value 0 (signifies: No
error has occurred). The interpretation of other numerical values is shown in the following
table.
FC 15 must be called cyclically until the "Active" signal produces an edge transition from 1 to
0. Only when the "Active" signal has a 0 state can the axis concerned be restarted (the next
start must be delayed by at least one PLC cycle). This also applies when the assignment in
data byte 8 has changed.
The function cannot be aborted by means of parameter "Start", but only by means of the
axial interface signals (e.g., delete distancetogo). The axial interface also returns status
signals of the axis that may need to be evaluated (e.g., exact stop, traverse command).

Warning
If several block calls (FC 15, FC 16, FC 18) are programmed for the same axis/spindle in the
PLC user program, then the functions concerned must be interlocked by conditional calls in
the user program.
The conditional call of a started block (parameter Start or Stop = TRUE) must be called
cyclically until the signal state of output parameter Active or InPos changes from 1 to 0.

Error identifiers

Error identifiers
State Meaning
Errors caused by PLC handling
1 Several axis/spindle functions have been activated simultaneously
20 A function has been started without the position being reached
30 The axis/spindle has been transferred to the NC while still in motion
40 The axis is programmed in the NC program
Errors which occur during NCK routines.
The alarm numbers are described in the 840D Diagnostics Guide
100 Corresponds to alarm no.: 16830
105 Corresponds to alarm no.: 16770
106 Corresponds to alarm no.: 22052
107 Corresponds to alarm no.: 22051
108 Corresponds to alarm no.: 22050

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Error identifiers
State Meaning
109 Corresponds to alarm no.: 22055
110 Velocity/speed is negative
111 Setpoint speed is zero
112 Invalid gear stage
115 Programmed position has not been reached
117 G96/G961 is not active in the NC
118 G96/G961 is still active in the NC
120 Not an indexing axis
121 Indexing position error
125 DC (shortest path) not possible
126 Minus absolute value not possible
127 Plus absolute value not possible
130 Software limit switch plus
131 Software limit switch minus
132 Working area limitation plus
133 Working area limitation minus
System or other serious alarms
200 Corresponds to system alarm no.: 450007

Declaration

FUNCTION FC 15: VOID //POS_AX

VAR_INPUT
Start: BOOL ;
AxisNo: INT ;
IC: BOOL ;
Inch: BOOL ;
HWheelOv: BOOL ;
Pos: REAL;
FRate: REAL;
END_VAR
VAR_OUTPUT
InPos: BOOL ;
Active: BOOL ;
StartErr: BOOL ;
Error : BOOL ;
END_VAR

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Description of formal parameters

The table below lists all formal parameters of the POS_AX function:

Signal I/O Type Value range Remarks

Start I Bool
AxisNo I Byte 1 - 31 No. of axis to be traversed
IC I Bool 0 = Absolute
1 = Incremental
Inch I Bool 0 = mm
1 = Inch
HWheelOv I Bool 1 = Handwheel override
Pos I Real ∓ 0,1469368 I -38 to Position of
∓ 0,1701412 I +39 linear axis: mm
Rotary axis: Degr.
FRate I Real ∓ 0,1469368 I -38 to Feedrate of
∓ 0,1701412 I +39 linear axis: mm/min
Rotary axis: rev/min
InPos Q Bool 1 = In position
Active Q Bool 1 = Active
StartErr Q Bool Axis cannot be started,
see Table 8-48 Error identifiers
Error Q Bool Traversing error 1)
see table 8–48 Error codes
1)Error evaluation by user in the PLC

Timing diagram

   

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(1) Activation of function

(2) Positioning axes active
(3) Positive acknowledgment: Position reached
(4) Reset function activation after receipt of acknowledgment
(5) Signal change using FC
(6) Reset function activation after receipt of active signal

Timing diagram (fault scenario)

 

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(1) Activation of function by means of a positive edge

(2) Negative acknowledgment: Error has occurred
(3) Reset function activation after receipt of acknowledgment
(4) Signal change using FC

Call example

CALL FC 15 (
Start := M 100.0,
AxisNo := 5,
IC := #incr, //e.g., local variable
Inch := FALSE,
HWheelOv := FALSE,
Pos := MD160,
FRate := MD164,
InPos := Q 36.0,
Active := Q 36.1,
StartErr := Q 36.2,
Error := Q 36.3);

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2.12.21 FC 16: PART_AX positioning of indexing axes

Description of Functions
(Do not use for new applications, function is integrated in FC 18 in SW 3.6 and higher.)
FC PART_AX can be used to traverse NC axes defined via machine data as "indexing axes",
also from the PLC.
References:
/FB2/Description of Functions, Expansion Functions; Indexing Axes (T1)
In order to traverse the indexing axes via the PLC, the traversing check must be activated for
the PLC.
This can be achieved, for example, by calling FC "PART_AX" with activation of the "Start"
parameter.
The FC "PART_AX" then requests checking of the axes from the NC.
The NC feeds back the status of this axis in byte 68 in the associated axis interface (DB 31,
...) (see interface lists).
On completion ("InPos" is True, "Start" changes to zero), the axis check function is switched
to a neutral status by FC PART_AX.
Alternatively, the PLC user program can also request the check for the PLC prior to calling
FC "PART_AX".
By calling this function several times in succession, a better response reaction by the axes
can be obtained as the changeover process in the FC can be omitted.
Activation through the PLC user program is executed in the corresponding axis interface in
byte 8.
After return of the check, the axis can again be programmed by the NC program.

Note
After the FC has been called, ACCU1 contains an error statement by the NCK (but not if the
output parameters are assigned to a data block). This is generally the value 0 (signifies: No
error has occurred). See table 8-48 for the interpretation of other numerical values for error
codes in FC 15.
FC 16 must be called cyclically until the "Active" signal produces an edge transition from 1 to
0. Only when the "Active" signal has a 0 state can the axis concerned be restarted (the next
start must be delayed by at least one PLC cycle). This also applies when the assignment in
data byte 8 has changed.
The function cannot be aborted by means of parameter "Start", but only by means of the
axial interface signals (e.g., delete distancetogo). The axial interface also returns status
signals of the axis that may need to be evaluated (e.g., exact stop, traverse command).

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Warning
If several block calls (FC 15, FC 16, FC 18) are programmed for the same axis/spindle in the
PLC user program, then the functions concerned must be interlocked by conditional calls in
the user program. The conditional call of a started block (parameter Start or Stop = TRUE)
must be called cyclically until the signal state of output parameter Active or InPos changes
from 1 to 0.

Declaration

FUNCTION FC 16: VOID //PART_AX

VAR_INPUT
Start: BOOL ;
AxisNo: INT ;
IC: BOOL ;
DC: BOOL
Minus: BOOL ;
Plus: BOOL ;
Pos: INT ;
FRate: REAL;
END_VAR
VAR_OUTPUT
InPos: BOOL ;
Active: BOOL ;
StartErr: BOOL ;
Error : BOOL ;
END_VAR

Description of formal parameters

The table below lists all formal parameters of the PART_AX function:

Signal I/O Type Value range Remarks

Start I Bool
AxisNo I Int 1 - 31 No. of axis to be traversed
IC I Bool = Absolute direction input
1 = Incremental direction input
DC I Bool = Predefined direction
= Shortest path
Minus I Bool : Rotary axis motion as for linear
axis
1: Motion in negative direction with
rotary axes
Plus I Bool : Rotary axis motion as for linear
axis
1: Motion in positive direction with

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Signal I/O Type Value range Remarks

rotary axes
Pos I Int 1 to 60 No. of indexing position
FRate I Real  0,1469368 I -38 to Feedrate of
 0,1701412 I +39 linear axis: mm/min
Rotary axis: rev/min
InPos Q Bool = Position reached
Active Q Bool = Active
StartErr Q Bool Axis cannot be started,
see Table 8-48 Error identifiers
Error Q Bool Traversing error 1)
see table 8–48 Error codes
1)Error evaluation by user in the PLC

Timing diagram

   

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(1) Activation of function by means of a positive edge

(2) Positioning axes active
(3) Positive acknowledgment: Position reached
(4) Reset function activation after receipt of acknowledgment
(5) Signal change using FC
(6) Reset function activation after receipt of active signal

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Timing diagram (fault scenario)

 

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(1) Activation of function by means of a positive edge

(2) Negative acknowledgment: Error occurred
(3) Reset function activation after receipt of acknowledgment
(4) Signal change using FC

Call example

CALL FC 16 ( //Position an indexing axis

Start := I72.4,
AxisNo := 6,
IC := FALSE,
DC := #short, //e.g., local variable
Minus := FALSE,
Plus := FALSE,
Pos := MW 168,
FRate := MD164,
InPos := Q 36.4,
Active := Q 36.5,
StartErr := Q 36.6,
Error := Q 36.7);

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2.12.22 FC 17: YDelta star/delta changeover

Description of Functions
The block for star/delta changeover controls the timing of the defined switching logic such
that the changeover can be performed in either direction even when the spindle is running.
This block may be used only for digital main spindle drives and must be called separately for
each spindle.
The changeover operation is implemented via 2 separate contactors in a sequence involving
4 steps:

Step 1: Delete the "Motor selection in progress" interface signal in the relevant axis DB (DB
31, ... DBX21.5) and connect the changeover process using "Motor selection" A (DB
31, ... DBX21.5).
Step 2: As soon as the "Pulses enabled" = 0 (DB 31, ... DBX93.7) checkback signal and the
acknowledgment of the announced motor selection from the drive have appeared, the
currently energized contactor drops out.
Step 3: The other contactor is energized after the time period set by the user in parameter
"TimeVal" has elapsed.
Step 4: After a further delay, the changeover is signaled to the drive with "Motor selection in
progress" (DB31, ... DBX21.5).

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More information about motor speed adjustment can be found in:

References:
/FB/Description of Functions, Basic Machine; Spindles (S1);
Section: Configurable Gear Adjustments
/FB/Description of Functions, Basic Machine; Velocities, Setpoint/Actual Value Systems,
Closed-Loop Control (G2)

Error message
If the parameter "SpindleIFNo" is not in the permissible range, the PLC is stopped with
output of alarm message number 401702.

Special features
When parameterizing "TimeVal" with the value 0, a default value of 100 ms is used. With a
value of less than 50 ms, the minimum setting of 50 ms is applied.
The block must be called unconditionally.

Note
Changeover does not occur if the spindle is in an axis mode, such as M70, SPOS.

Supplementary conditions
Star/delta changeover on digital main spindle drives initiates a process, which contains
closed-loop control sequences. Since the closed-loop control system supports automatic
star/delta changeover, certain restrictions should be noted:
• Due to the automatic deactivation of the pulses on the drive, IS "Current controller active"
(DB31, ... DBX61.7) and "Speed controller active" (DB31, ... DBX61.6) are deactivated
simultaneously to IS "Pulses enabled" (DB31, ... DBX93.7).
• If a changeover from star to delta takes place while the spindle is rotating and the spindle
position controller is switched on, IS "Position controller active" (DB31, ... DBX61.5), this
triggers alarm 25050 "Contour monitoring".
• Once the star/delta changeover has been initiated with FC17, the changeover of the
star/delta contactor cannot be delayed by the user. The user can implement this signal
interaction with PLC logic.

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Declaration of the function

STL representation

VAR_INPUT
YDelta: BOOL ; //Star = 0, delta = 1
SpindleIFNo: INT ; //Machine axis number
TimeVal: S5TIME ; //Time value
TimerNo : INT ; //User timer for changeover time
END_VAR
VAR_OUTPUT
Y: BOOL ; //Star contactor
Delta: BOOL ; //Delta contactor
END_VAR
VAR_IN_OUT:
Ref: WORD ; //Block status word (instance)
END_VAR

Description of formal parameters

The table below lists all formal parameters of the YDelta function:

Signal I/O Type Value range Remarks

YDelta I Bool = star
= delta.
The changeover edge of the signal
initiates the changeover operation.
SpindleIFNo I Int 1.. Number of the axis interface
declared as a spindle
TimeVal I S5time 0.. Changeover time
TimerNo I Int 10.. Timer for programming the wait
time
Y Q Bool Energizing of star contactor
Delta Q Bool Energizing of delta contactor
Ref I/O Word Instance for status information
Internal use

Call example

CALL FC 17 (
YDelta := I 45.7, //Star delta
SpindleIFNo := 4,
TimeVal := S5T#150ms,
TimerNo := 10, //Timer 10
Y := Q 52.3, //Star contactor
Delta := Q 52.4, //Delta contactor
Ref := mw 50); //Instance

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2.12.23 FC 18: SpinCtrl spindle control

Description of Functions
FC SpinCtrl can be used to control spindles and axes from the PLC.
References:
/FB1/Description of Functions, Basic Machine; Spindles (S1)
/FB2/Description of Functions, Expansion Functions; Positioning Axes (P2)
/FB/Description of Functions, Expansion Functions; Indexing Axes (T1)
This block supports the following functions:
• Position spindle
• Rotate spindle
• Oscillate spindle
• Indexing axes
• Positioning axes
Each function is activated by the positive edge of the appropriate initiation signal (start, stop).
This signal must remain in the logic "1" state until the function has been acknowledged
positively or negatively by InPos="1" or Error = "1". The output parameters are deleted when
the relevant trigger signal is reset and the function terminated.
To be able to control an axis or spindle via the PLC, it must be activated for the PLC. This
can, for example, be achieved by calling the FC "SpinCtrl" with activation of the "Start" or
"Stop" parameter. In this case, the FC "SpinCtrl" requests control over the spindle/axis from
the NC.
The NC feeds back the status of this spindle/axis in byte 68 in the associated spindle/axis
interface (DB 31, ...) (see interface lists). Once the axis/spindle is operating under PLC
control, the travel command for the active state can be evaluated via the relevant axis
interface.
On completion ("InPos" is True, "Start" changes to zero), the axis/spindle check function is
switched to a neutral status by FC "SpinCtrl".
Alternatively, the PLC user program can also request the check for the PLC prior to calling
FC "SpinCtrl".
By calling this function several times in succession, a better response reaction by the
spindle/axis can be obtained as the changeover process in the FC can be omitted.
Activation through the PLC user program is executed in the corresponding spindle interface
in byte 8.
After return of the check, the spindle can again be programmed by the NC program.

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Note
Please note:
FC 18 must be called cyclically until signal "InPos" or, in the case of an error "Error",
produces an edge transition of 1 to 0. Only when the "InPos"/"Error" signal has a 0 state can
the axis/spindle concerned be "started" or "stopped" again (the next "start" must be delayed
by at least one PLC cycle). This also applies when the assignment in data byte 8 on the axial
interface has been changed.
Abort:
The function cannot be aborted by means of parameter "Start" or "Stop", but only by means
of the axial interface signals (e.g., delete distancetogo). The axial interface also returns axis
status signals that may need to be evaluated
(e.g., exact stop, traverse command).
InPos on spindle - rotation/oscillation:
For the "Rotate spindle" and "Oscillate spindle" functions, the meaning of the "InPos"
parameter is defined as follows:
Setpoint speed is output --> function was started without error.
The reaching of the required spindle speed must be evaluated using the spindle interface.
Simultaneity:
Several axes can be traversed simultaneously or subject to a delay by the blocks FC 15, 16
and 18. The upper limit is defined by the maximum number of axes. The NCK handles the
PLC function request (FC 15, 16, 18) via independent interfaces for each axis/spindle.
Axis disable:
With the axis disabled, an axis controlled via FC 18 will not move. Only a simulated actual
value is generated. (Behavior as with NC programming).

Warning
If several block calls (FC 15, FC 16, FC 18) are programmed for the same axis/spindle in the
PLC user program, then the functions concerned must be interlocked by conditional calls in
the user program. The conditional call of a started block (parameter Start or Stop = TRUE)
must be called cyclically until the signal state of output parameter Active or InPos changes
from 1 to 0.

Functions
1. Position spindle:
The following signals are relevant:

Start: Initiation signal

Funct: "1" = Position spindle
Mode: Positioning mode 1, 2, 3, 4
AxisNo: Number of machine axis

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Pos: Position
FRate: Positioning speed, if FRate = 0, value from MD35300:
SPIND_POSCTRL_VELO (position control activation speed) is used
InPos: Is set to "1" when position is reached with "Exact stop fine".
Error : With positioning error = "1"
State : Error code

2. Rotate spindle:
The following signals are relevant:

Start: Initiation signal for start rotation

Stop: Initiation signal for stop rotation
Funct: "2" = Rotate spindle
Mode: Positioning mode 5 (direction of rotation M4)
Positioning mode < >5 (direction of rotation M3)
AxisNo: Number of machine axis
FRate: Spindle speed
InPos: Function has started without an error
Error : With positioning error = "1"
State : Error code

3. Oscillate spindle:
The following signals are relevant:

Start: Initiation signal for start oscillation

Stop: Initiation signal for stop oscillation
Funct: "3" = Oscillate spindle
AxisNo: Number of machine axis
Pos: Set gear stage
InPos: Error : With positioning error = "1"
State : Error code

The oscillation speed is taken from machine data:

MD35400 SPIND_OSCILL_DES_VELO

MD35010 Function MD35010: Function

GEAR_STEP_CHANGE_ GEAR_STEP_CHAN
ENABLE = 0 GE_ENABLE = 1
Pos = 0 Oscillatio Pos = 0
n
Pos = 1 Oscillatio Pos = 1 Oscillation with gear stage change
n M41
Pos = 2 Oscillatio Pos = 2 Oscillation with gear stage change

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MD35010 Function MD35010: Function

GEAR_STEP_CHANGE_ GEAR_STEP_CHAN
ENABLE = 0 GE_ENABLE = 1
n M42
Pos = 3 Oscillatio Pos = 3 Oscillation with gear stage change
n M43
Pos = 4 Oscillatio Pos = 4 Oscillation with gear stage change
n M44
Pos = 5 Oscillatio Pos = 5 Oscillation with gear stage change
n M45

4. Traverse indexing axis:

The following signals are relevant:

Start: Initiation signal

Funct: "4" = Indexing axis

Note
With
Funct: "4" = Indexing axis
The modulo conversion can be compared with approaching the indexing position via
POS[AX] = CIC (value) in the part program.

Mode: Positioning mode 0, 1, 2, 3, 4

AxisNo: Number of machine axis
Pos: Indexing position
FRate: Positioning speed; if FRate = 0,
the value is taken from machine data POS_AX_VELO
(unit as set in machine data).
InPos: Is set to "1" when position is reached with "Exact stop fine".
Error : With positioning error = "1"
State : Error code

5 to 8. Position axes:
The following signals are relevant:

Start: Initiation signal

Funct: "5 to 8" = Position axes
Mode: Positioning mode 0, 1, 2, 3, 4

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AxisNo: Number of machine axis

Pos: Position
FRate: Positioning speed; if FRate = 0,
the value is taken from machine data POS_AX_VELO
(unit as set in machine data).
InPos: Is set to "1" when position is reached with "Exact stop fine".
Error : With positioning error = "1"
State : Error code

9. Rotate spindle with automatic gear stage selection:

The following signals are relevant:

Start: Initiation signal for start rotation

Stop: Initiation signal for stop rotation
Funct: "9" = Rotate spindle with gear stage selection
Mode: Positioning mode 5 (direction of rotation M4)
Positioning mode < >5 (direction of rotation M3)
AxisNo: Number of machine axis
FRate: Spindle speed
InPos: Setpoint speed is output
Error : With positioning error = "1"
State : Error code

10/11. Rotate spindle with constant cutting rate:

The "Constant cutting rate" function must be activated by the NC program in order for this to
be executed.
The following signals are relevant:

Start: Initiation signal for start rotation

Stop: Initiation signal for stop rotation
Funct: "B#16#0A = Rotate spindle with constant cutting rate (m/min)
Funct: "B#16#0B = Rotate spindle with constant
cutting rate (feet/min)
Mode: Positioning mode 5 (direction of rotation M4)
Positioning mode < >5 (direction of rotation M3)
AxisNo: Number of machine axis
FRate: cutting rate
InPos: Setpoint speed is output
Error : With position error = "1"
State : Error code

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FUNCTION FC 18: VOID //SpinCtrl

VAR_INPUT
Start: BOOL ;
Stop: BOOL ;
Funct: BYTE ;
Mode: BYTE ;
AxisNo: INT ;
Pos: REAL;
FRate: REAL;
END_VAR
VAR_OUTPUT
InPos: BOOL ;
Error : BOOL ;
State : BYTE ;
END_VAR

Description of formal parameters

The table below lists all formal parameters of the SpinCtrl function.

Signal I/O Type Value range Remarks

Start I Bool Start spindle control from PLC
Stop I Bool Stop spindle control from PLC
Funct I Byte 1 to B#16#0B 1: Position spindle
2: Rotate spindle
3: Oscillate spindle
4: Indexing axis
5: PosAxis metric
6: PosAxis inch
7: PosAxis metric with handwheel override
8: PosAxis inch with handwheel override
9: Rotate spindle with gear stage selection
A: Rotate spindle with constant cutting rate
(m/min)
B: Rotate spindle with constant cutting rate
(feet/min)
Mode I Byte 0 to 5 0: Pos to absolute pos
1: Pos incrementally
2: Pos shortest path
3: Pos absolute, positive approach direction
4: Pos absolute, negative approach direction
5: Rotational direction as for M4
AxisNo I Int 1 - 31 No. of axis/spindle to be traversed
Pos I Real ∓ 0,1469368 I -38 Rotary axis: Degrees
to Indexing axis: Indexing position
∓ 0,1701412 I +39 Linear axis: mm or inches

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Signal I/O Type Value range Remarks

FRate I Real ∓ 0,1469368 I -38 Rotary axis and spindle: rev/min
to See under table containing info about FRate
∓ 0,1701412 I +39
InPos Q Bool 1 = Position reached,
or function executed
Error Q Bool 1 = Error
State Q Byte 0 to 255 Error code

FRate
The feed rate in FC 18 can also be specified as:
1. Cutting rate with unit m/min or feet/min
2. Constant grinding wheel surface speed in m/s or feet/s
These alternative velocity settings can be used only if this function is activated by the NC
program. Checkback signals for successful activation can be found in byte 84 on the axis
interface.

Error identifiers
If a function could not be executed, this is indicated by the "Error" status parameter being set
to 'logic 1'. The error cause is coded at block output "State". For a list of the error codes, see
the table in the description of FC 15.

Timing diagram

 

6WDUW
 

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6WDUW(UU

(1) Activation of function by means of a positive signal edge with start or stop
(2) Positive acknowledgment: Function executed/Position reached
(3) Reset function activation after receipt of acknowledgment
(4) Signal change using FC

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Detailed description
2.12 Block descriptions

Timing diagram (fault scenario)

 

6WDUW
 
,Q3RV

(UURU
6WDUW(UU

(1) Activation of function by means of a positive signal edge with start or stop
(2) Negative acknowledgment: Error has occurred
(3) Reset function activation after receipt of acknowledgment
(4) Signal change using FC

Call examples
1. Position spindle:

//Positive acknowledgment resets Start:

U M112.0; //InPos
R M 100.0; //Start
//Negative acknowledgment, after error evaluation (state: MB114) reset with T12
start
U M113.0; // Error
U I 6.4; //Key T12
R M 100.0; //Start
//Start with T13
U I 6.3; //Key T13
AN F 112.0; //Restart only when InPos or Error = 0
AN F 113.0;
S M 100..0;
CALL FC 18 (
Start := M100.0,
Stop := FALSE,
Funct := Bq16q1, //Position spindle
Mode := Bq16q2, //Shortest path
AxisNo := 5,
Pos := MD104,
FRate := MD108,
InPos := M112.0,
Error := M113.0,
State := MB114);

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2. Start spindle rotation:

CALL FC 18 (
Start := M100.0,
Stop := FALSE,
Funct := Bq16q2, //Rotate spindle
Mode := Bq16q5, //Rotational direction as for M4
AxisNo := 5,
Pos := 0.0,
FRate := MD108,
InPos := M112.0,
Error := M113.0,
State := MB114);

3. Start spindle oscillation

CALL FC 18 (
Start := M100.0,
Stop := FALSE,
Funct := B#16#3, //Oscillate spindle
Mode := B#16#0,
AxisNo := 5,
Pos := 0.0,
FRate := MD108,
InPos := M112.0,
Error := M113.0,
State := MB114);

4. Traverse indexing axis

CALL FC 18 (
Start := M100.0,
Stop := FALSE, //Not used
Funct := B#16#4, //Traverse indexing axis
Mode := B#16#0, //Position absolutely
AxisNo := 4,
Pos := MD104, //Default setting in REAL:
1.0;2.0;..
FRate := MD108,
InPos := M112.0,
Error := M113.0,
State := MB114);

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5. Position axes

CALL FC 18 (
Start := M100.0,
Stop := FALSE, //Not used
Funct := B#16#5, //Position axes
Mode := B#16#1, //Position incrementally
AxisNo := 6,
Pos := MD104,
FRate := MD108,
InPos := M112.0,
Error := M113.0,
State := MB114);

2.12.24 FC 19: MCP_IFM transmission of MCP signals to interface

Description of Functions
With FC MCP_IFM (M variants), the following are transferred from the machine control panel
(MCP) to the corresponding signals of the NCK/PLC interface:
• Mode groups
• Axis selections
• WCS/MCS switchover commands
• Traversing keys
• Overrides
• Key switch
In the basic program (FC 2), FC 27 transmits handwheel selections, modes and other
operation signals from the operator panel or MMC to the NCK/PLC interface in such a way
as to allow the modes to be selected from the machine control panel or the operator panel.
Transfer of MMC signals to the interface can be deactivated by setting the value of the
parameter "MMCToIF" to "FALSE" in FB 1 (DB 7).
The following specifications apply to the feed override, axis travel keys and INC keys
depending on the active mode or on the coordinate system selected:
• Feed override:
– The feed override is transferred to the interface of the selected channel and to the
interface of the axes.
– The feed override signals are transferred in addition to interface byte "Rapid traverse"
override (DBB 5) to the NC channel if MMC signal "Feed override for rapid traverse
effective" is set (exception: Switch setting "Zero"). "Rapid traverse override effective"
is also set with this MMC signal.
• Machine functions for INC and axis travel keys:

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– When the MCS is selected, the signals are transferred to the interface of the selected
machine axis.
– When the WCS is selected, the signals are transferred to the geoaxis interface of the
parameterized channel.
– When the system is switched between MCS and WCS, the active axes are generally
deselected.
The handwheel selection signals from the MMC are decoded and activated in the
(machine) axis or the Geo axis interface of the handwheel selected (only if parameter
"HWheelMMC := TRUE" in FB 1).
The LEDs on the machine control panel derived from the selections in the acknowledgment.
Feedrate and spindle Start/Stop are not transferred to the interface, but output modally as a
"FeedHold" or "SpindleHold" signal. The user can link these signals to other signals leading
to a feed or spindle stop (this can be implemented, e.g., using the appropriate input signals
in FC 10: AL_MSG). The associated LEDs are activated at the same time.
If the MCP fails, the signals it outputs are preset to zero; this also applies to "FeedHold" and
"SpindleHold" output signals.
With SW V4 and higher, multiple calls of FC 19 or FC 25 are permitted within the same PLC
cycle. In this case, the first call in the cycle drives the LED displays. Furthermore, all actions
of the parameterized block are carried out in the first call. In the following calls, only a
reduced level of processing of the channel and mode group interface takes place. The
geometry axes are supplied with directional data only in the first block call in the cycle.
Single block processing can be selected/deselected only in the first call in the cycle.
The second machine control panel can be processed if parameter ModeGroupNo has been
increased by B#16#10. When parameterizing, the HHU number is contained in the lower
nibble (lower 4 bits).
BAGNo = 0 or B#16#10 means that the mode group signals are not processed.
ChanNo = 0 means that the channel signals are not processed.
With SW 5 and higher, the INC selections are only transferred to the mode group interface.
This results in runtime improvements. The activation for this command is performed by this
block once after powerup via DB10.DBX 57.0. Machine control panels can still be handled in
parallel by this module. The module 2 call for the 2nd machine control panel in OB1 cycle
must come after the call of the 1st MCP. A support for two MCPs is still provided within
certain restrictions in the control panel blocks (support is not provided for standard axis
numbers 10 to 31, mutual interlocking of axis selections with two MCPs).

Flexible axis configuration

With SW V6 and higher, it is possible to be flexible in the assignment of axis selections or
direction keys of machine axis numbers.
Better support is now provided by the MCP blocks for use of two MCPs, which are operated
simultaneously, in particular for an application using two channels and two mode groups.
Note that the axis-numbers are also specified in the parameterized mode group number of
the MCP block in the axis tables of the relevant MCP.
To afford this flexibility, tables for axis numbers are stored in DB 10. The table starts from
byte 8 (symbolic name: MCP1AxisTbl[1..22]) for the first machine control panel (MCP) and
from byte 32 (symbolic name: MCP2AxisTbl[1..22]) for the second MCP. The machine axis
numbers must be entered byte by byte here.
It is permissible to enter a value of 0 in the axis table. Checks are not made to find
impermissible axis numbers, meaning that false entries can lead to a PLC Stop.

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For FC 19, the maximum possible number of axis selections can also be restricted. This limit
is set for the appropriate MCP in DB10.DBW30 (symbolic name: MCP1MaxAxis) or
DB10.DBW54 (symbolic name: MCP2MaxAxis). The default setting is 0, corresponding to
the maximum number of configured axes. The axis numbers and the limit can also be
adapted dynamically. Afterwards, a new axis must be selected on FC 19.
Axis numbers may not be switched over while the axes are traversing the relevant direction
keys.
The compatibility mode is preset with axis numbers 1 to 9 for both MCPs and the restriction
for the configured number of axes.

Declaration of the function

FUNCTION FC 19: void

//NAME : MCP_IFM
VAR_INPUT
BAGNo : BYTE ;
ChanNo: BYTE ;
SpindleIFNo: BYTE ;
END_VAR
VAR_OUTPUT
FeedHold : BOOL ;
SpindleHold : BOOL ;
END_VAR
BEGIN
END_FUNCTION

Explanation of the formal parameters

The table below shows all formal parameters of the "MCP_IFM" function:

Signal I/O Type Value range Remarks

BAGNo I Byte 0 - b#16# and No. of mode group to which the mode signals are
b#16#10 - transferred.
b#16#1A BAGNo >= b#16#10 means access to the
second machine control panel.
ChanNo I Byte 0 - B#16#0A Channel no. for the channel signals
SpindleIFN I Byte 0 - 31 Number of the axis interface declared as a spindle
o (B#16#1F)
FeedHold Q Bool Feed stop from machine control panel, modal
SpindleHol Q Bool Spindle stop from machine control panel, modal
d

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MCP selection signals to the user interface

Key switch

Source: Destination:
MCP switch Interface DB
Position 0 DB10.DBX56.4
Position 1 DB10.DBX56.5
Position 2 DB10.DBX56.6
Position 3 DB10.DBX56.7

Operating modes and machine functions

Source: Destination:
MCP button Interface DB (Parameter ChanNo)
AUTOMATIC DB11, ... DBX0.0
MDA DB11, ... DBX0.1
JOG DB11, ... DBX0.2
REPOS DB11, ... DBX1.1
REF DB11, ... DBX1.2
TEACH IN DB11, ... DBX1.0
INC 1 ... 10 000, INC Var. (SW 5 and higher) DB11.DBB2, Bits 0 to 5

SW 4 and lower

Source: Destination:
MCP button Interface DB (Parameter ChanNo)
INC 1 ... 10 000, INC Var. DB21, ... DBB13, Bit 0 to 5
INC 1 ... 10 000, INC Var. DB21, ... DBB17, Bit 0 to 5
INC 1 ... 10 000, INC Var. DB21, ... DBB21, Bit 0 to 5

Source: Destination:
MCP button Interface DB (all axis DBs)
INC 1 ... 10 000, INC Var. DB31, ... DBB5, Bit 0 to 5
(up to SW 4)

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Direction keys rapid traverse override

The transfer is dependent upon the selected axis. The associated interface bits are deleted
for axes, which are not selected.

Source: Destination:
MCP button Interface DB (Parameter ChanNo)
Direction key + DB21, ... DBX12.7
Direction key - DB21, ... DBX12.6
Rapid traverse override DB21, ... DBX12.5
Direction key + DB21, ... DBX16.7
Direction key - DB21, ... DBX16.6
Rapid traverse override DB21, ... DBX16.5
Direction key + DB21, ... DBX20.7
Direction key - DB21, ... DBX20.6
Rapid traverse override DB21, ... DBX20.5

Source: Destination:
MCP button Interface DB (all axis DBs)
Direction key + DB31, ... DBX4.7
Direction key - DB31, ... DBX4.6
Rapid traverse override DB31, ... DBX4.5

Override

Source: Destination:
MCP switch Interface DB (Parameter ChanNo)
Feedrate override DB21, ... DBB4

Source: Destination:
MCP switch Interface DB (all axis DBs)
Feedrate override DB31, ... DBB0 (selected axis number) The feed override
of the 1st MCP applies to all axes.
Spindle override DB31, ... DBB19 (parameter SpindleIFNo)

Channel signals

Source: Destination:
MCP button Interface DB (Parameter ChanNo)
NC Start DB21, ... DBX7.1
NC stop DB21, ... DBX7.3
Reset DB21, ... DBX7.7
Single block DB21, ... DBX0.4

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Feedrate, spindle signals

Source: Destination:
MCP button FC output parameters
Feed stop Parameter: "FeedHold" latched, LEDs are
Feed enable driven
Spindle stop Parameter: "SpindleHold" latched, LEDs
Spindle enable are driven

Checkback signals from user interface for controlling displays

Operating modes and machine functions

Destination: Source:
MCP LED Interface DB (parameter ModeGroupNo)
AUTOMATIC DB11, ... DBX6.0
MDA DB11, ... DBX6.1
JOG DB11, ... DBX6.2
REPOS DB11, ... DBX7.1
REF DB11, ... DBX7.2
TEACH IN DB11, ... DBX7.0

All signals are ORed to obtain the LED checkback signals of the INC selections.

Destination: Source:
MCP LED Interface DB (parameter ChanNo)
INC 1 ... 10 000, INC Var. DB21, ... DBB41, Bit 0 to 5
INC 1 ... 10 000, INC Var. DB21, ... DBB47, Bit 0 to 5
INC 1 ... 10 000, INC Var. DB21, ... DBB53, Bit 0 to 5

Destination: Source:
MCP LED Interface DB (all axis DBs)
INC 1 ... 10 000, INC Var. DB31, ... DBB65, Bit 0 to 5

Channel signals

Destination: Source:
MCP LED Interface DB (parameter ChanNo)
NC Start DB21, ... DBX35.0
NC stop DB21, ... DBX35.2 or DB21, ... DBX35.3
Single block DB21, ... DBX0.4

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Note
Direction key LEDs are controlled by operating the direction keys.
Axis selection and WCS/MCS LEDs are controlled by operating the relevant pushbutton
switch.

Call example

CALL FC 19 ( //Machine control panel M variants

//signals to interface
BAGNo := B#16#1, //Mode group no. 1
ChanNo := B#16#1, //Channel no. 1
SpindleIFNo B#16#4, //Spindle interface
:=
//number = 4
FeedHold := m22.0, //Feed stop signal
//modal
SpindleHold db2.dbx151.0); //Spindle stop modal in
:=
//message DB

With these parameter settings, the signals are sent to the 1st mode group, the 1st channel
and all axes. In addition, the spindle override is transferred to the 4th axis/spindle interface.
The feed hold signal is passed to bit memory 22.0 and the spindle stop signal to data block
DB2, data bit 151.0.

Reconnecting the axis selections

To ensure a flexible assignment of the axis selection keys to the appropriate axis or spindle,
FC 19 needs not be modified or reprogrammed.
The required flexibility can be obtained by applying the solution described below.
1. Before FC 19 is called, the information (RLO) relating to the newly defined axis selection
key is transferred to the key selection identified by an axis number.
2. After FC 19 has been called, the information (RLO) relating to the LED identified by an
axis number is transferred to the LED of the new axis selection key and the RLO of the
previous axis LED then deleted.
Example:
The spindle is defined as the 4th axis and must be selected via axis key 9.
STL extract:

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u i 5.2; //Selection of ninth axis

= e 4.2; //Selection of fourth axis
call fc 19(
BAGNo := b#16#1,
ChanNo := b#16#1,
SpindleIFNo := b#16#4,
FeedHold := m 30.0,
SpindleHold := m 30.1);
u a 2.5; //LED fourth axis
= a 3.3; //LED ninth axis
clr;
= a 2.5; //Switch off LED on fourth axis

2.12.25 FC 21: transfer PLC NCK data exchange

Description of Functions
When the Transfer block is called, data are exchanged between the PLC and NCK according
to the selected function code. Data are transferred as soon as FC 21 is called, not only at the
start of the cycle.
The "Enable" signal activates the block.
FC 21 is processed only when "Enable" = "1".

Declaration of function, STL representation

VAR_INPUT
Enable : BOOL ;
Funct: BYTE ;
S7Var : ANY ;
IVar1 : INT ;
IVar2 : INT ;
END_VAR
VAR_OUTPUT
Error : BOOL ;
ErrCode : INT
END_VAR

Explanation of formal parameters

The table below shows all formal parameters of the "Transfer" function.

Signal I/O Type Value range Remarks

Enable I Bool 1 = FC 21 active
Funct I Byte 1.. 7 1: Synchronized actions to channel

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Signal I/O Type Value range Remarks

2: Synchronized actions from
channel
3: Read data
4: Write data
5: Control signals to channel
6, 7: Control signals to axis
S7Var I Any S7 data storage area Depends on "Funct"
IVAR1 I Int 0.. Depends on "Funct"
IVAR2 I Int 1.. Depends on "Funct"
Error Q Bool
ErrCode Q Int Depends on "Funct"

Functions
1: Signals for synchronized actions to channel:
2: Signals for synchronized actions from channel:
Synchronized actions can be disabled or enabled by the PLC.
The data area is stored on the user interface in DB21 to DB30.DBB 300..307 (to channel)
and DBB 308..315 (from channel). Parameter "S7Var" is not evaluated for this function, but
must be assigned an actual parameter (see call example). The data are transferred to/from
the NC as soon as FC 21 is processed.
The following signals are relevant:

Signal I/O Type Value range Remarks

Enable I Bool 1 = FC 21 active
Funct I Byte 1, 2 1: Synchronized actions to channel
2: Synchronized actions from
channel
S7Var I Any S7 data storage area Not used
IVAR1 I Int 1..MaxChannel Channel number
Error Q Bool
ErrCode Q Int 1 : "Funct" invalid
10: Channel no. invalid

Call example

FUNCTION FC 100: VOID

VAR_TEMP
myAny: ANY ;
END_VAR
BEGIN
NETWORK
...

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// Deactivate synchronized actions with ID3, ID10 and ID31 in NC channel 1 :

SYAK: OPEN DB 21
SET;
S DBX300.2; //ID3
S DBX301.1; //ID10
S DBX303.6; //ID31
L B#16#1;
T MB11;
SPA TRAN;
// Synchronized actions from NCK channel:
SYVK: L B#16#2;
T MB11;
TRAN: CALL FC 21 (
Enable M 10.0, // if True, FC 21 is active
:=
Funct := MB 11,
S7Var := #myAny, //Not used
IVAR1 := 1, //Channel no.
IVAR2 := 0,
Error := M 10.1,
ErrCode MW 12);
:=
...
END_FUNCTION

Functions
3, 4: Rapid PLC NCK data exchange

General
A separate, internal data area is provided to allow the highspeed exchange of data between
the PLC and NCK. The size of the internal data field is preset to 1024 bytes. The NCK is
accessed (read/written) from the PLC via FC21. The assignment of this area (structure) must
be declared identically in both the NC parts program and the PLC user program.
These data can be accessed from the NC parts program by commands $A_DBB[x],
$A_DBW[x], $A_DBD[x], $A_DBR[x] (see Programming Guide). The concrete address is the
data field is specified by a byte offset (0 to 1023) in parameter IVAR1. In this case, the
alignment must be selected according to the data format, i.e., a Dword starts at a 4byte limit
and a word at a 2byte limit. Bytes can be positioned on any chosen offset within the data
field, singlebit access operations are not supported and converted to a byte access operation
by FC 21. Data type information and quantity of data are taken from the ANY parameter,
transferred via S7Var.
Without additional programming actions, data consistency is only ensured for 1 and 2 byte
access in the NCK and in the PLC. However, 2 byte consistency is only ensured for the data
types Word or Int, not for the data type Byte. In the case of longer data types or transfer of
fields, which should be transferred consistently, a semaphore byte must be programmed in
parameter IVAR2 that can be used by FC 21 to determine the validity or consistency of a
block. This handling must be supported by the NC, i.e., in the part program, by writing or
deleting the semaphore byte. The semaphore byte is stored in the same data field as the
actual user data.

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The semaphore byte is identified by a value between 0 and 1023 in IVAR2.

The PLC reads and describes the semaphore byte via FC 21 in the same call, which should
transfer the user data. The PLC programmer only needs to set up a semaphore variable. For
access from the NC via the parts program, the semaphore feature must be programmed
using individual instructions according to the flow chart shown below. The sequence is
different for reading and writing variables.
Only individual variables or arrays can be supported directly by the semaphore technique.
Structure transfers must be subdivided into individual jobs. The user must ensure data
consistency of this structure by programming a semaphore system.
If IVAR2 = -1, data are transferred without a semaphore.
Data exchange with semaphore in PLC (schematic of FC 21)

)XQFW  )XQFW 
UHDG ZULWH

Q Q
6HPDSKRUH " 6HPDSKRUH "

M M

7UDQVIHU 7UDQVIHU
(UURU  (UURU 
GDWDIURP GDWDIURP
(UU&RGH  (UU&RGH 
1&WR3/& 3/&WR1&

6HPDSKRUH  6HPDSKRUH 
(UURU  (UURU 
(UU&RGH  (UU&RGH 

Basic structure in NCK:

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5HDGLQ :ULWHLQ
1&. 1&.

Q Q
6HPDSKRUH " 6HPDSKRUH "

M M

5HDGGDWD 7UDQVIHU
IURP3/& GDWDIURPWR
3/&

6HPDSKRUH  6HPDSKRUH 

Variable value ranges

The following signals are relevant:

Signal I/O Type Value range Remarks

Enable I Bool = FC 21 active
Funct I Byte 3 ,4 3: Read data
4: Write data
S7Var I Any S7 data area, except Source/destination data storage
local data area
IVAR1 I Int 0..1023 Position offset
IVAR2 I Int -1 .. 1023 Semaphore byte
Transfer without semaphore: -1
Error Q Bool
ErrCode Q Int 20: Alignment error
21: Illegal position offset
22: Illegal semaphore byte
23: No new data to be read
24: Cannot write data
25: Local data parameterized for
S7Var

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Call example
1. Read double word of position offset 4 with semaphore in byte 0 and store in MD 100:
Data type Dword (4 bytes)
Position offset 4

 6HPDSKRUH

 'ZRUG 'DWDW\SH'ZRUG E\WHV

3RVLWLRQRIIVHW



CALL FC 21 (
Enable := M 10.0, // if True, FC 21
is active
Funct := B#16#3, //Read data
S7Var := P#M 100.0 DWORD 1,
IVAR1 := 4,
IVAR2 := 0,
Error := M 10.1,
ErrCode := MW12);
UN M10.1; //Enable while 1, until value is read
R F10.0;

Examples of NCK programming:

Data transfer from NC to PLC, with data written via synchronized actions;
Byte 0 serves as the semaphore
ID=1 WHENEVER $A_DBB[0] == 0 DO $A_DBR[4] = $AA_IM[X] $A_DBB[0] = 1
Data transfer from PLC to NC, with data read via synchronized actions;
Byte 1 serves as the semaphore
ID=2 WHENEVER $A_DBB[1] == 1 DO $R1 = $A_DBR[12] $A_DBB[1] = 0
2. Read word of position offset 8 without semaphore and store in MW 104:

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CALL FC 21 (
Enable := M 10.0, // if True, FC 21
is active
Funct := B#16#3, //Read data
S7Var := P#M 104.0 WORD 1,
IVAR1 := 8,
IVAR2 := -1,
Error := M 10.1,
ErrCode := MW12);

Function
5: Update control signals to channel:
The purpose of function 5 is to transmit important control signals at high speed in between
cyclic data transfers. Data bytes 6 and 7 of user interfaces DB21 to DB30 are transferred to
the NC. The channel is specified in parameter "IVAR1". This enable, for example, the feed
disable, read-in disable to be transferred outside of the PLC cycle.
The following signals are relevant:

Signal I/O Type Value range Remarks

Enable I Bool 1= FC 21 active
Funct I Byte 5 5: Control signals to channel
S7Var I Any S7 data storage area Not used
IVAR1 I Int 1. Max. channel Channel number
Error Q Bool
ErrCode Q Int 1: "Funct" invalid
10: Channel no. invalid

6: Update control signals to axes:

The purpose of function 6 is to transmit important control signals at high speed in between
cyclic data transfers. Data byte 2 of application interface DB31 to DB61 is transferred to the
NC. The transfer is performed for all activated axes. This allows the servo enable to be
transferred outside the PLC cycle, for example.
The following signals are relevant:

Signal I/O Type Value range Remarks

Enable I Bool 1= FC 21 active
Funct I Byte 6 6: Control signals to axes
S7Var I Any S7 data storage area Not used
IVAR1 I Int 0
Error Q Bool
ErrCode Q Int 1: "Funct" invalid

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7: Update control signals to axes:

The purpose of function 7 is to transmit important control signals at high speed in between
cyclic data transfers. Data byte 4 of application interface DB31 to DB61 is transferred to the
NC. The transfer is performed for all activated axes. This function can be used, for example,
to transfer a feed stop outside the PLC cycle.
The following signals are relevant:

Signal I/O Type Value range Remarks

Enable I Bool 1= FC 21 active
Funct I Byte 7 7: Control signals to axes
S7Var I Any S7 data storage area Not used
IVAR1 I Int 0
Error Q Bool
ErrCode Q Int 1: "Funct" invalid

2.12.26 FC 22: TM_DIR Direction selection for tool management

Description of Functions
The block TM_DIR provides the shortest path for positioning a magazine or a revolver based
on the actual and setpoint position.
As long as a 1 signal is applied to the Start input, all output parameters are updated
cyclically. Changes can be made to input parameters (e.g., position values) in subsequent
PLC cycles.
The output signals are undefined when the start signal is at 0 level.
In the case of direction selection with special positioning input "Offset" > 0, a new setpoint
position is calculated from the setpoint and special positions and the number of magazine
locations according to the following formula:
New setpoint position = (setpoint pos. - (special pos. -1)) neg. modulo # locations
The new setpoint position corresponds to the location number at which the magazine must
be positioned so that the setpoint position requested by the user corresponds to the location
number of the special position. The directional optimization is active both with and without
special positioning.
The block must be called once with the appropriate parameter settings for each magazine.

Warning
The block may be called only in conjunction with tool management or after a DB 74 data
block has been set up as described below in the example. In this example there are two
magazines. The first magazine has 10 locations and the second has 12 locations. When
adapting to the real machine, you only need to change the data AnzMag, MagNo[.].

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DATA_BLOCK DB 74
STRUCT
P: ARRAY[1 to 9] of DINT
w1: WORD ;
AnzMag: BYTE ;
res:BYTE;
MagNo: array [1 to 16] of struct //Byte 40
AnzPlatz:INT;
res1:BYTE;
res2:BYTE;
end_struct;
end_struct
BEGIN
P[4]:=L#320; //Absolutely essential
AnzMag:=b#16#2; //Total number of magazines = 2
MagNo[1].AnzPlatz:=10; //Number of locations for magazine 1 =
10
MagNo[2].AnzPlatz:=12; //Number of locations for magazine 2 =
12
END_DATA_BLOCK

Note
For further details on tool management (also with regard to PLC) refer to the Description of
Functions, Tool Management. Furthermore, PI services are provided for tool management
via the FB 4, FC 7 and FC 8 (see also the corresponding Sections in this documentation).

Declaration of the function

STL representation

FUNCTION FC 22: void

// NAME: TM_DIR
VAR_INPUT
MagNo: INT ;
ReqPos: INT ;
ActPos: INT ;
Offset: BYTE ;
Start: BOOL ;
END_VAR
VAR_OUTPUT
Cw: BOOL ;
Ccw: BOOL ;
InPos: BOOL ;
Diff: INT ;
Error : BOOL ;
END_VAR
BEGIN
END_FUNCTION

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Explanation of the formal parameters

The table below shows all formal parameters of the "TM_DIR" function.

Signal I/O Type Value range Remarks

MagNo I Int 1.. Magazine number
ReqPos I Int 1.. Setpoint location
ActPos I Int 1.. Actual location
Offset I Byte 0.. Offset for special positioning
Start I Bool Start of calculation
Cw Q Bool 1 = Move magazine clockwise
Ccw Q Bool 1 = Move magazine
counterclockwise
InPos Q Bool 1 = In position
Diff Q Int 0.. Differential path (shortest path)
Error Q Bool 1 = Error

Call example

CALL FC 22 ( //Tool management direction selection

MagNo := 2, //Magazine number
ReqPos := mw 20, //Target position
ActPos := mw 22, //Current position
Offset := b#16#0, //Offset for special
positioning
Start := m 30.4, //Start trigger
//Return parameters
Cw := m 30.0, //Move magazine
//in clockwise direction
Ccw := m 30.1, //Move magazine
//in anticlockwise
direction
InPos := m 30.2, //Magazine in position
Diff := mw 32, //Differential path
Error := m30.3 //Error has occurred
);

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2.12.27 FC 24: MCP_IFM2 Transmission of MCP signals to interface

Description of Functions
With FC MCP_IFM2 (M variant slim operator panel), the following are transferred from the
machine control panel (MCP) to the corresponding signals of the NCK/PLC interface:
• Mode groups
• Axis selections
• WCS/MCS switchover
• Traversing keys
• Overrides or override simulation signals
In the basic program (FC 2), FC 27 transmits handwheel selections, modes and other
operation signals from the operator panel or MMC to the NCK/PLC interface in such a way
as to allow the modes to be selected from the machine control panel or the operator panel.
Transfer of MMC signals to the interface can be deactivated by setting the value of the
parameter "MMCToIF" to "FALSE" in FB 1 (DB 7). "MMCToIF" can also be
activated/deactivated in the cyclical program by setting and resetting (e.g., R
gp_par.MMCToIF).
The following specifications apply to the feed override, axis travel keys and INC keys
depending on the active mode or on the coordinate system selected:
• Feed override:
– The feed override is transferred to the interface of the selected channel and to the
interface of the axes.
– The feed override signals are transferred in addition to interface byte "Rapid traverse"
override (DBB 5) to the NC channel if MMC signal "Feed override for rapid traverse
effective" is set (exception: Switch setting "Zero"). "Rapid traverse override effective"
is also set with this MMC signal.
• Machine functions for INC and axis travel keys:
– When the MCS is selected, the signals are transferred to the interface of the selected
machine axis.
– When the WCS is selected, the signals are transferred to the geoaxis interface of the
parameterized channel.
– When the system is switched between MCS and WCS, the active axes are generally
deselected.
The handwheel selection signals of the MMC are decoded and activated in the associated
(machine) axis interface or geo axis interface of the relevant handwheel (only if FB 1
parameter "HWheelMMC := TRUE").
The associated LEDs of the machine control panel are derived from the acknowledgments
from the relevant selections.

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Feedrate and spindle Start/Stop are not transferred to the interface, but output modally as a
"FeedHold" or "SpindleHold" signal. The user can link these signals to other signals leading
to a feed or spindle stop (this can be implemented, e.g., using the appropriate input signals
in FC 10: AL_MSG). The associated LEDs are activated at the same time.
The spindle direction (+, -) is not switched directly either, but made available as output
parameter "SpindleDir", permitting, for example, FC 18 to be parameterized. A spindle
enable signal is also switched via parameter "SpindleHold". One possible method of moving
a spindle directly is to preselect it as an axis so that it can be traversed via (axis) direction
keys.
If the machine control panel fails, the signals it outputs are preset to zero; this also applies to
"FeedHold" and "SpindleHold" output signals.
Multiple calls of FC 24 or FC 19, FC 25 are permitted within the PLC cycle from SW 4 and
higher. In this case, the first call in the cycle drives the LED displays. Moreover, all actions of
the parameterized block are performed in the first call. In the following calls, only a reduced
level of processing of the channel and mode group interface takes place.
The geometry axes are supplied with directional data only in the first block call in the cycle.
Single block processing can be selected/deselected only in the first call in the cycle.
The second machine control panel can be processed if parameter ModeGroupNo has been
increased by B#16#10. When parameterizing, the HHU number is contained in the lower
nibble (lower 4 bits).
BAGNo = 0 or B#16#10 means that the mode group signals are not processed.
ChanNo = 0 means that the channel signals are not processed.
With SW 5 and higher, the INC selections of the override switch are only transferred to the
mode group interface. This results in runtime improvements. The activation for this command
is performed by this block once after powerup via DB10.DBX 57.0. Machine control panels
can still be handled in parallel by this module. The module 2 call for the 2nd machine control
panel in OB1 cycle must come after the call of the 1st MCP. Support for of two MCPs is still
provided within certain restrictions in the control panel blocks (the standard software does
not support axis numbers 10 to 31, mutual interlocking of axis with two MCPs).

Flexible axis configuration

With SW V6 and higher, it is possible to be flexible in the assignment of axis selections or
direction keys of machine axis numbers.
Better support is now provided by the MCP blocks for use of two MCPs, which are operated
simultaneously, in particular for an application using two channels and two mode groups.
Note that the axis-numbers are also specified in the parameterized mode group number of
the MCP block in the axis tables of the relevant MCP.
To afford this flexibility, tables for axis numbers are stored in DB 10. The table starts from
byte 8 (symbolic name: MCP1AxisTbl[1..22]) for the first machine control panel (MCP) and
from byte 32 (symbolic name: MCP2AxisTbl[1..22]) for the second MCP. The machine axis
numbers must be entered byte by byte here.
It is permissible to enter a value of 0 in the axis table. Checks are not made to find
impermissible axis numbers, meaning that false entries can lead to a PLC Stop.
For FC 19, the maximum possible number of axis selections can also be restricted. This limit
is set for the appropriate MCP in DB10.DBW30 (symbolic name: MCP1MaxAxis) or
DB10.DBW54 (symbolic name: MCP2MaxAxis). The default setting is 0, corresponding to
the maximum number of configured axes.

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The axis numbers and the limit can also be adapted dynamically. Afterwards, a new axis
must be selected on FC 19. Axis numbers may not be switched over while the axes are
traversing the relevant direction keys.
The compatibility mode is preset with axis numbers 1 to 9 for both MCPs and the restriction
for the configured number of axes.

Declaration of the function

FUNCTION FC 24: void

// NAME: MCP_IFM2
VAR_INPUT
BAGNo : BYTE ;
ChanNo: BYTE ;
SpindleIFNo: BYTE ;
END_VAR
VAR_OUTPUT
FeedHold : BOOL ;
SpindleHold : BOOL ;
SpindleDir: BOOL ;
END_VAR
BEGIN
END_FUNCTION

Explanation of the formal parameters

The table below shows all formal parameters of the "MCP_IFM2" function:

Signal I/O Type Value range Remarks

BAGNo I Byte 0 - b#16#0A No. of mode group to which the
and mode signals are transferred.
b#16#10 - b#16#1A ModeGroupNo >= b#16#10 means
access to the second machine
control panel.
ChanNo I Byte 0 - B#16#0A Channel no. for the channel signals
SpindleIFNo I Byte 0 - 31 Number of the axis interface
(B#16#1F) declared as a spindle
FeedHold Q Bool Feed stop from machine control
panel, modal
SpindleHold Q Bool Spindle stop from machine control
panel, modal
SpindleDir Q Bool Spindle direction
0 equals + (counterclockwise)
1 equals - (clockwise)

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Call example

CALL FC 24 ( //Slim machine control panel M variants

//signals to interface
BAGNo := B#16#1, //Mode group no. 1
ChanNo := B#16#1, //Channel no. 1
SpindleIFNo := B#16#4, //Spindle interface
//number = 4
FeedHold := m22.0, //Feed stop signal
//modal
SpindleHold := db2.dbx151.0); //Spindle stop modal in
//message DB
SpindleDir:= m22.1); //Spindle direction return

With these parameter settings, the signals are sent to the 1st mode group, the 1st channel
and all axes. In addition, the spindle override is transferred to the 4th axis/spindle interface.
The feed hold signal is passed to bit memory 22.0 and the spindle stop signal to data block
DB2, data bit 151.0. The spindle direction feedback signal supplied via parameter SpindleDir
can be used as a direction input for an additional FC 18 call.

2.12.28 FC 25: MCP_IFT transfer of MCP/OP signals to interface

Description of Functions
With FC MCP_IFT (T variants), the following are transferred from the machine control panel
(MCP) to the corresponding signals of the NCK/PLC interface:
• Mode groups
• Direction keys of four axes
• WCS/MCS switchover commands
• Overrides
• Key switch
In the basic program (FC 2), FC 27 transmits handwheel selections, modes and other
operation signals from the operator panel or MMC to the NCK/PLC interface in such a way
as to allow the modes to be selected from the machine control panel or the operator panel.
Transmission of MMC signals to the interface can be deactivated by setting the value
"FALSE" in the parameter in FB 1 (DB 7) "MMCToIF".
The following specifications apply to the feed override, axis travel keys and INC keys
depending on the active mode or on the coordinate system selected:
• Feed override:
– The feed override is transferred to the interface of the selected channel and to the
interface of the axes.
– The feed override signals are transferred in addition to interface byte "Rapid traverse"
override (DBB 5) to the NC channel if MMC signal "Feed override for rapid traverse
effective" is set (exception: Switch setting "Zero"). "Rapid traverse override effective"
is also set with this MMC signal.

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• Machine functions for INC and axis travel keys:

– When the MCS is selected, the signals are transferred to the interface of the selected
machine axis.
– When the WCS is selected, the signals are transferred to the geoaxis interface of the
parameterized channel.
The handwheel selection signals from the MMC are decoded and activated in the
(machine) axis or the Geo axis interface of the handwheel selected (only if parameter
"HWheelMMC := TRUE" in FB 1).
The associated LEDs of the machine control panel are derived from the acknowledgments
from the relevant selections.
Feedrate and spindle Start/Stop are not transferred to the interface, but output modally as a
"FeedHold" or "SpindleHold" signal. The user can link these signals to other signals leading
to a feed or spindle stop (this can be implemented, e.g., using the appropriate input signals
in FC 10: AL_MSG). The associated LEDs are activated at the same time.
In the case of machine control panel failure, the signals it supplies are set to zero.
With SW V4 and higher, multiple calls of FC 25 or FC 19 are permitted within the same PLC
cycle. In this case, the first call in the cycle drives the LED displays. Furthermore, all actions
of the parameterized block are carried out in the first call. In the following calls, only a
reduced level of processing of the channel and mode group interface takes place. The
geometry axes are supplied with directional data only in the first block call in the cycle.
Single block processing can be selected/deselected only in the first cycle.
The second machine control panel can be processed if parameter ModeGroupNo has been
increased by B#16#10. When parameterizing, the HHU number is contained in the lower
nibble (lower 4 bits).
BAGNo = 0 or B#16#10 means that the mode group signals are not processed.
ChanNo = 0 means that the channel signals are not processed.
With SW 5 and higher, the INC selections of the override switch are only transferred to the
BAG group. This results in runtime improvements. The activation for this command is
performed by this block once after powerup via DB10.DBX 57.0. Machine control panels can
still be handled in parallel by this module. Support for of two MCPs is still provided within
certain restrictions in the control panel blocks (the standard software does not support axis
numbers 10 to 31, mutual interlocking of axis with two MCPs).

Flexible axis configuration

With SW V6 and higher, it is possible to be flexible in the assignment of axis selections or
direction keys of machine axis numbers.
Better support is now provided by the MCP blocks for use of two MCPs, which are operated
simultaneously, in particular for an application using two channels and two mode groups.
The module 2 call for the 2nd machine control panel in OB1 cycle must come after the call of
the 1st MCP. Note that the axis-numbers are also specified in the parameterized mode
group number of the MCP block in the axis tables of the relevant MCP.

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To afford this flexibility, tables for axis numbers are stored in DB 10. The table starts from
byte 8 (symbolic name: MCP1AxisTbl[1..22]) for the first machine control panel (MCP) and
from byte 32 (symbolic name: MCP2AxisTbl[1..22]) for the second MCP. The machine axis
numbers must be entered byte by byte here.
It is permissible to enter a value of 0 in the axis table. Checks are not made to find
impermissible axis numbers, meaning that false entries can lead to a PLC Stop.
For FC 19, the maximum possible number of axis selections can also be restricted. This limit
is set for the appropriate MCP in DB10.DBW30 (symbolic name: MCP1MaxAxis) or
DB10.DBW54 (symbolic name: MCP2MaxAxis). The default setting is 0, corresponding to
the maximum number of configured axes. The axis numbers and the limit can also be
adapted dynamically. Afterwards, a new axis must be selected on FC 19.
Axis numbers may not be switched over while the axes are traversing the relevant direction
keys.
The compatibility mode is preset with axis numbers 1 to 9 for both MCPs and the restriction
for the configured number of axes.

Declaration of the function

FUNCTION FC 25: void

// NAME: MCP_IFT
VAR_INPUT
BAGNo : BYTE ;
ChanNo: BYTE ;
SpindleIFNo: BYTE ;
END_VAR
VAR_OUTPUT
FeedHold : BOOL ;
SpindleHold : BOOL ;
END_VAR
BEGIN
END_FUNCTION

Explanation of the formal parameters

The table below shows all formal parameters of the "MCP_IFT" function:

Signal I/O Type Value range Remarks

BAGNo I Byte 0 - b#16#0A No. of mode group to which the
and mode signals are transferred.
b#16#10 - b#16#1A ModeGroupNo >= b#16#10 means
access to the second machine
control panel.
ChanNo I Byte 0 - B#16#0A Channel no. for the channel signals
SpindleIFNo I Byte 0 - 31 Number of the axis interface
(B#16#1F) declared as a spindle
FeedHold Q Bool Feed stop from machine control
panel, modal
SpindleHold Q Bool Spindle stop from machine control
panel, modal

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Call example

CALL FC 25 ( //Machine control panel T variants

//signals to interface
BAGNo := B#16#1, //Mode group no. 1
ChanNo := B#16#1, //Channel no. 1
SpindleIFNo := B#16#4, //Spindle interface
//number = 4
FeedHold := m22.0, //Feed stop signal
//modal
SpindleHold := db2.dbx151.0); //Spindle stop modal in
//message DB

With these parameter settings, the signals are sent to the 1st mode group, the 1st channel
and all axes. In addition, the spindle override is transferred to the 4th axis/spindle interface.
The feed hold signal is passed to bit memory 22.0 and the spindle stop signal to data block
DB2, data bit 151.0.

2.12.29 FC 26: HPU_MCP Transfer of HPU/HT6 signals to the interface

2.12.29.1 General

Description of Functions
With FC HPU_MCP (machine control panel signals of the hand-held programming device),
the following are transferred from the machine control panel (MCP) to the corresponding
signals of the NCK/PLC interface:
• Mode groups
• WCS/MCS switchover
• Traversing keys
• Override
In the basic program (FC 2), FC 27 transmits handwheel selections, modes and other
operation signals from the operator panel or MMC to the NCK/PLC interface in such a way
as to allow the modes to be selected from the machine control panel or the operator panel.
Transfer of MMC signals to the interface can be deactivated by setting the value of the
parameter "MMCToIF" to "FALSE" in FB 1 (DB 7).
The following specifications apply to the feed override, axis travel keys and INC keys
depending on the active mode or on the coordinate system selected:

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• Feed override:
– The feed override is transferred to the interface of the selected channel and to the
interface of the axes.
– The feed override signals are transferred in addition to interface byte "Rapid traverse"
override (DBB 5) to the NC channel if MMC signal "Feed override for rapid traverse
effective" is set (exception: Switch setting "Zero"). "Rapid traverse override effective"
is also set with this MMC signal.
Machine functions for INC and axis travel keys:
– When the MCS is selected, the signals are transferred to the interface of the selected
machine axis (for 6 axes).
– When the WCS is selected, the signals of the first three axes are transferred to the
Geo axis interface of the parameterized channel. The remaining three axes are
transferred to the interface of the selected machine axis.
The handwheel selection signals of the MMC are decoded and activated in the associated
(machine) axis interface or geo axis interface of the relevant handwheel (only if FB 1
parameter "HWheelMMC := TRUE").
The LEDs on the machine control panel derived from the selections in the acknowledgment.
Feedrate and spindle Start/Stop are not transferred to the interface, but output modally as a
"FeedHold" or "SpindleHold" signal. The user can link these signals to other signals leading
to a feed or spindle stop (this can be implemented, e.g., using the appropriate input signals
in FC 10: AL_MSG). The associated LEDs are activated at the same time.
In the case of a failure of the MCP, the signals it supplies are set to zero.
With SW V4 and higher, multiple calls of FC 19 or FC 25 are permitted within the same PLC
cycle. In this case, the first call in the cycle drives the LED displays. Moreover, all actions of
the parameterized block are performed in the first call. In the following calls, only a reduced
level of processing of the channel and mode group interface takes place. The geometry axes
are supplied with directional data only in the first block call in the cycle.
The second machine control panel can be processed if parameter ModeGroupNo has been
increased by B#16#10. When parameterizing, the HHU number is contained in the lower
nibble (lower 4 bits).
BAGNo = 0 or B#16#10 means that the mode group signals are not processed.
ChanNo = 0 means that the channel signals are not processed.
With SW 5 and higher, the INC selections of the override switch are only transferred to the
BAG group. This results in runtime improvements. The activation for this command is
performed by this block once after powerup via DB10.DBX 57.0. 2 MCPs can still be handled
in parallel by this module. The module 2 call for the 2nd machine control panel in OB1 cycle
must come after the call of the 1st MCP. Support for of two MCPs is still provided within
certain restrictions in the control panel blocks (the standard software does not support axis
numbers 10 to 31, mutual interlocking of axis with two MCPs).

Flexible axis configuration

With SW V6 and higher, it is possible to be flexible in the assignment of axis selections or
direction keys of machine axis numbers.
Better support is now provided by the MCP blocks for use of two MCPs, which are operated
simultaneously, in particular for an application using two channels and two mode groups.
Note that the axis-numbers are also specified in the parameterized mode group number of
the MCP block in the axis tables of the relevant MCP.

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To afford this flexibility, tables for axis numbers are stored in DB 10. The table starts from
byte 8 (symbolic name: MCP1AxisTbl[1..22]) for the first machine control panel (MCP) and
from byte 32 (symbolic name: MCP2AxisTbl[1..22]) for the second MCP. The machine axis
numbers must be entered byte by byte here.
It is permissible to enter a value of 0 in the axis table. Checks are not made to find
impermissible axis numbers, meaning that false entries can lead to a PLC Stop.
For FC 19, the maximum possible number of axis selections can also be restricted. This limit
is set for the appropriate MCP in DB10.DBW30 (symbolic name: MCP1MaxAxis) or
DB10.DBW54 (symbolic name: MCP2MaxAxis). The default setting is 0, corresponding to
the maximum number of configured axes. The axis numbers and the limit can also be
adapted dynamically. Afterwards, a new axis must be selected on FC 19.
Axis numbers may not be switched over while the axes are traversing the relevant direction
keys.
The compatibility mode is preset with axis numbers 1 to 9 for both MCPs and the restriction
for the configured number of axes.

Declaration of the function

FUNCTION FC 26: void

// NAME: HPU_MCP
VAR_INPUT
BAGNo : BYTE ;
ChanNo: BYTE ;
END_VAR
BEGIN
END_FUNCTION

Explanation of the formal parameters

The table below shows all formal parameters of the "HPU_MCP" function.

Signal I/O Type Value range Remarks

BAGNo I Byte 0 - b#16#0A No. of mode group to which the mode signals are
and transferred. BAGNo >= b#16#10 means access to
b#16#10 - b#16#1A the second machine control panel.
ChanNo I Byte B#16#0A Channel no. for the channel signals

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2.12.29.2 MCP selection signals to the user interface

Operating modes and machine functions

Source: Destination: Interface DB (parameter ModeGroupNo)

MCP key representation for mode group 1
AUTOMATIC DB11.DBX0.0
MDA DB11.DBX0.1
JOG DB11.DBX0.2
REPOS DB11.DBX1.1
REF DB11.DBX1.2
TEACH_IN DB11. DBX1.0
INC 1 ... 10 000, INC Var. (SW DB11.DBB2, Bits 0 to 5
5 and higher)

SW 4 and lower

Source: Destination:
MCP button Interface DB (Parameter ChanNo)
INC 1 ... 10 000, INC Var. DB21, ... DBB13, Bit 0 to 5
INC 1 ... 10 000, INC Var. DB21, ... DBB17, Bit 0 to 5
INC 1 ... 10 000, INC Var. DB21, ... DBB21, Bit 0 to 5

Source: Destination:
MCP button Interface DB (6 axis DBs)
INC 1 ... 10 000, INC Var. DB31, ... DBB5, Bit 0 to 5
(up to SW 4)

Direction keys rapid traverse override

The transfer is dependent upon the selected axis. The corresponding interface bits are
deleted for axes that are not selected.

Source: Destination:
MCP button Interface DB (Parameter ChanNo)
Direction key + DB21, ... DBX12.7
Direction key - DB21, ... DBX12.6
Rapid traverse override DB21, ... DBX12.5
Direction key + DB21, ... DBX16.7
Direction key - DB21, ... DBX16.6
Rapid traverse override DB21, ... DBX16.5
Direction key + DB21, ... DBX20.7
Direction key - DB21, ... DBX20.6

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Source: Destination:
MCP button Interface DB (Parameter ChanNo)
Rapid traverse override DB21, ... DBX20.5

Source: Destination:
MCP button Interface DB (6 assigned axis DBs)
Direction key + DB31, ... DBX4.7
Direction key - DB31, ... DBX4.6
Rapid traverse override DB31, ... DBX4.5

Override

Source: Destination:
MCP setting Interface DB (Parameter ChanNo)
Feedrate override DB21, ... DBB4

Source: Destination:
MCP setting Interface DB (6 assigned axis DBs)
Feedrate override DB31, ... DBB0
Spindle override DB31, ... DBB19 (parameter SpindleIFNo)

Channel signals

Source: Destination:
MCP keys Interface DB (Parameter ChanNo)
NC Start DB21, ... DBX7.1
NC stop DB21, ... DBX7.3
Reset DB21, ... DBX7.7
Single block DB21, ... DBX0.4

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2.12.29.3 Checkback signals from user interface for controlling displays

Operating modes and machine functions

Operating modes and machine functions

Destination: Source:
MCP output Interface DB (parameter ModeGroupNo)
representation for mode group 1
AUTOMATIC DB11, ... DBX6.0
MDA DB11, ... DBX6.1
JOG DB11, ... DBX6.2
REPOS DB11, ... DBX7.1
REF DB11, ... DBX7.2
TEACH IN DB11, ... DBX7.0

WCS/MCS output is operated through key actuation.

Call example

CALL FC 26 ( //Machine control panel of the HPU/HT6

//signals to interface
BAGNo := B#16#1, //Mode group no. 1
ChanNo := B#16#1); //Channel no. 1

With these parameter settings, the signals from the first parameterized machine control
panel are sent to the 1st mode group, the 1st channel and all axes.

2.12.30 FC 19, FC 24, FC 25, FC 26 source code description

Task
Machine control panel to application interface
(FC 19 M variant, FC 24 slim variant, FC 25 T variant, FC 26 HPU/HT6 variant)

Associated blocks
DB 7 (this was DB 5, up to SW 3), mode group number, channels, axes
DB 7, pointer of machine control panel
DB 8, storage for the next cycle
FC 20, output of error messages

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Resources used
None.

General
Blocks FC 19 (M version), FC 24 (slim-line version), FC 25 (T version) and FC 26 (HPU/HT6
version) transfer the machine control panel to and from the application interface. In the input
parameters, "ModeGroupNo" selects the mode group to be processed by the block. The
"ModeGroupNo" parameter also selects the number of the machine control panel. "ChanNo"
selects the channel to be processed. The "SpindleIFNo" parameter defines the axis interface
of the spindle. The spindle override is transferred to this spindle interface. The parameters
are checked for errors. Output parameters "FeedHold" and "SpindleHold" are generated
from the 4 feed/spindle disable and feed/spindle enable keys and are returned with "logical
1" for disable. Information for the next cycle is stored in DB8, bytes 0 to 3 or bytes 62 to 65,
depending on the machine control panel number. This information is the edge trigger flag,
feed value and selected axis number. The blocks are provided with user data via the pointer
parameters in DB 7 MCP1In and MCP1Out (MCP2In and MCP2Out). The pointers are
addressed indirectly via a further pointer from the VAR section of DB7 in order to avoid
absolute addressing. This additional pointer is determined symbolically in FB1.

Block Descriptions
All four blocks have a similar structure. The blocks are organized into separate sections for
individual subtasks.
In the input network, various parameters are copied into local variables. The machine control
signals (user data for input/output area) are also copied between locations using the various
pointers in DB 7 (gp_par). These local variables are handled in the block for reasons of
efficiency. Some values are initialized for the startup.
The MCS/WCS switchover with edge evaluation, axis selections, direction keys and rapid
traverse overlay are determined in Network Global_in for further processing in the block.
Userspecific modifications should be made to this Section of the program. The userspecific
modifications will usually mainly involve axis selections.
Only the keyswitch information is copied in Network NC.
The mode group network transfers the modes of the keys as dynamic signals to the NCK. If
the mode group number is 0, this network is not processed. If the number is too large,
message 401901 or 402501 is output and the control switches to Stop mode.
In the channel network, INCREMENT selections of the geo axes are transferred to the
interface of all geo axes dynamically by the pushbutton switches (up to SW 4). The NC Start,
Stop, Reset and SingleBlock functions are activated by corresponding checkback signals.
The direction keys of the geometry axes are supplied if a corresponding preselection is
made, otherwise they are cleared. If the channel number is 0, this network is not processed.
If the number is too large, message 401902 or 402502 is output and the control switches to
Stop mode.
The spindle network transfers the spindle override into the interface configured via
SpindleIFNo.
The axis network transfers the feedrate override to the selected axis interface. The direction
keys are assigned to the selected axis/spindle. If an axis was selected previously, the
direction information is set to 0. The INC checkback of the selected axis is displayed.
The output parameters are prepared and the LED signals of the INC machine function are
generated in the global_out network.

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The output network transfers the output signals of the machine control panel from the
VAR_TEMP image to the logical address. The data for the next cycle are also saved.

Axis selection extension

Network Global_in must be modified for more than 9 axes. If other keys and LEDs are to be
used on the machine control panel here, proceed as follows:
1. The UD DW#16#Wert command deletes all LEDs defined for axis selections.
The bit mask is currently processing the 9 axis selection LED.
2. The UW W#16# command, with the comment "Mask all axis selection keys" checks for a
new selection of direction. The bit string must be adjusted here.
3. The branch destination list (SPL) must be expanded with new jump labels.
The new jump labels should be inserted in descending order before label m009. The
selection information should be extended for the new jump labels, as described for labels
m009 and m008.

2.13 Signal/data descriptions

2.13.1 Interface signals NCK/PLC, MMC/PLC, MCP/PLC

General
The NCK/PLC, MMC/PLC, and MSTT/PLC interface signals are listed in the list manual for
SINUMERIK 840D with references to the respective function description where the signals
are described.
References:
/LIS/Lists
The NCK signals that are evaluated by the basic program and transferred in conditioned
form to the user interface are presented in the following sections.

2.13.2 Decoded M signals

General
The M functions programmed in the part program, ASUB or synchronized actions are
channel specifically transferred from the NC to the PLC:
• M functions from channel 1: DB21
• M functions from channel 2: DB22
• etc.
The signal length is one PLC cycle.

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Note
The spindle-specific M functions below are not decoded: M3, M4, M5, and M70.

Addresses in DB21, ... Variable Type Comment

DBX 194.0 ... 7 M_Fkt_M0 ... M7 Bool M signals M0 ... M7
DBX 195.0 ... 7 M_Fkt_M8 ... M15 Bool M signals M8 ... M15
DBX 196.0 ... 7 M_Fkt_M16 ... M23 Bool M signals M16 ... M23
DBX 197.0 ... 7 M_Fkt_M24 ... M31 Bool M signals M24 ... M31
DBX 198.0 ... 7 M_Fkt_M32 ... M39 Bool M signals M32 ... M39
DBX 199.0 ... 7 M_Fkt_M40 ... M47 Bool M signals M40 ... M47
DBX 200.0 ... 7 M_Fkt_M48 ... M55 Bool M signals M48 ... M55
DBX 201.0 ... 7 M_Fkt_M56 ... M63 Bool M signals M56 ... M63
DBX 202.0 ... 7 M_Fkt_M64 ... M71 Bool M signals M64 ... M71
DBX 203.0 ... 7 M_Fkt_M72 ... M79 Bool M signals M72 ... M79
DBX 204.0 ... 7 M_Fkt_M80 ... M87 Bool M signals M80 ... M87
DBX 205.0 ... 7 M_Fkt_M88 ... M95 Bool M signals M88 ... M95
DBX 206.0 ... 3 M_Fkt_M96 ... M99 Bool M signals M96 ... M99

Note
The M02/M30 auxiliary function output to the PLC does not state that the part program has
been terminated. In order to securely identify the end of a part program in the channel,
DB21, ... DBX33.5 (M02/M30 active)
must be evaluated. The channel status must be RESET. The auxiliary function output could
arise from an asynchronous subroutine (ASUB) or a synchronized action and has nothing to
do with the real end of the parts program in this case.

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2.13.3 G Functions

General
The G functions programmed in the part program, ASUB or synchronized actions are
channel specifically transferred from the NC to the PLC:
• G functions from channel 1: DB21
• G functions from channel 2: DB22
• etc.
The signal length is one PLC cycle.
POWER ON
After POWER ON, the value zero, i.e., active G groups undefined, is specified in the NC/PLC
interface for all G groups.
Part program end or abort
After part program end or abort, the last state of the G group is retained.
NC START
After NC START, the values in the 8 G groups specified in the machine data element:
MD22510 $NC_ GCODE_GROUPS_TO_PLC
are overwritten according to the initial setting defined via the machine data, as are the values
programmed in the part program.

Addresses in DB21, ... Variable Type Initial setting Comment

DBB 208 G_FKT_GR_1 Byte 0 Active G function of group 1
DBB 209 G_FKT_GR_2 Byte 0 Active G function of group 2
DBB 210 G_FKT_GR_3 Byte 0 Active G function of group 3
DBB 211 G_FKT_GR_4 Byte 0 Active G function of group 4
DBB 212 G_FKT_GR_5 Byte 0 Active G function of group 5
DBB 213 G_FKT_GR_6 Byte 0 Active G function of group 6
DBB 214 G_FKT_GR_7 Byte 0 Active G function of group 7
DBB 215 G_FKT_GR_8 Byte 0 Active G function of group 8
DBB 216 G_FKT_GR_9 Byte 0 Active G function of group 9
DBB 217 G_FKT_GR_10 Byte 0 Active G function of group 10
DBB 218 G_FKT_GR_11 Byte 0 Active G function of group 11
DBB 219 G_FKT_GR_12 Byte 0 Active G function of group 12
DBB 220 G_FKT_GR_13 Byte 0 Active G function of group 13
DBB 221 G_FKT_GR_14 Byte 0 Active G function of group 14
DBB 222 G_FKT_GR_15 Byte 0 Active G function of group 15
DBB 223 G_FKT_GR_16 Byte 0 Active G function of group 16
DBB 224 G_FKT_GR_17 Byte 0 Active G function of group 17
DBB 225 G_FKT_GR_18 Byte 0 Active G function of group 18
DBB 226 G_FKT_GR_19 Byte 0 Active G function of group 19

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Addresses in DB21, ... Variable Type Initial setting Comment

DBB 227 G_FKT_GR_20 Byte 0 Active G function of group 20
DBB 228 G_FKT_GR_21 Byte 0 Active G function of group 21
DBB 229 G_FKT_GR_22 Byte 0 Active G function of group 22
DBB 230 G_FKT_GR_23 Byte 0 Active G function of group 23
DBB 231 G_FKT_GR_24 Byte 0 Active G function of group 24
DBB 232 G_FKT_GR_25 Byte 0 Active G function of group 25
DBB 233 G_FKT_GR_26 Byte 0 Active G function of group 26
DBB 234 G_FKT_GR_27 Byte 0 Active G function of group 27
DBB 235 G_FKT_GR_28 Byte 0 Active G function of group 28
DBB 236 G_FKT_GR_29 Byte 0 Active G function of group 29
DBB 237 G_FKT_GR_30 Byte 0 Active G function of group 30
DBB 238 G_FKT_GR_31 Byte 0 Active G function of group 31
DBB 239 G_FKT_GR_32 Byte 0 Active G function of group 32
DBB 240 G_FKT_GR_33 Byte 0 Active G function of group 33
DBB 241 G_FKT_GR_34 Byte 0 Active G function of group 34
DBB 242 G_FKT_GR_35 Byte 0 Active G function of group 35
DBB 243 G_FKT_GR_36 Byte 0 Active G function of group 36
DBB 244 G_FKT_GR_37 Byte 0 Active G function of group 37
DBB 245 G_FKT_GR_38 Byte 0 Active G function of group 38
DBB 246 G_FKT_GR_39 Byte 0 Active G function of group 39
DBB 247 G_FKT_GR_40 Byte 0 Active G function of group 40
DBB 248 G_FKT_GR_41 Byte 0 Active G function of group 41
DBB 249 G_FKT_GR_42 Byte 0 Active G function of group 42
DBB 250 G_FKT_GR_43 Byte 0 Active G function of group 43
DBB 251 G_FKT_GR_44 Byte 0 Active G function of group 44
DBB 252 G_FKT_GR_45 Byte 0 Active G function of group 45
DBB 253 G_FKT_GR_46 Byte 0 Active G function of group 46
DBB 254 G_FKT_GR_47 Byte 0 Active G function of group 47
DBB 255 G_FKT_GR_48 Byte 0 Active G function of group 48
DBB 256 G_FKT_GR_49 Byte 0 Active G function of group 49
DBB 257 G_FKT_GR_50 Byte 0 Active G function of group 50
DBB 258 G_FKT_GR_51 Byte 0 Active G function of group 51
DBB 259 G_FKT_GR_52 Byte 0 Active G function of group 52
DBB 260 G_FKT_GR_53 Byte 0 Active G function of group 53
DBB 261 G_FKT_GR_54 Byte 0 Active G function of group 54
DBB 262 G_FKT_GR_55 Byte 0 Active G function of group 55
DBB 263 G_FKT_GR_56 Byte 0 Active G function of group 56
DBB 264 G_FKT_GR_57 Byte 0 Active G function of group 57

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G functions (values)
A full list of all G functions can be found in:
References:
/PG/Programming Guide, Basics

2.13.4 Message signals in DB 2

General
DB 2 allows the user to display the messages for individual signals on the operator panel. As
the lists of interface signals show, signals are divided into predefined groups. When a
message occurs, disappears or is acknowledged, the number entered in the message
number column is transferred to the MMC. Text can be stored in the MMC for each message
number.
References:
/IAD/Installation and Start-Up Guide; Message Numbers

Note
The number of user areas can be parameterized via FB 1.
After the configuration has been modified (FB 1: MsgUser), DB 2/3 must be deleted.

Channel areas in DB 2

Area Address Message number

Channel 1 DBX0.0 - DBX11.7 510.000 -- 510.231
Channel 1, geo axes DBX12.0 - DBX17.7 511.100 - 511.315
Channel 2 DBX18.0 - DBX29.7 520.000 - 520.231
Channel 2, geo axes DBX30.0 - DBX35.7 521.100 - 521.315
Channel 3 DBX36.0 - DBX47.7 530.000 - 530.231
Channel 3, geo axes DBX48.0 - DBX53.7 531.000 - 531.315
Channel 4 DBX54.0 - DBX65.7 540.000 - 540.231
Channel 4, geo axes DBX66.0 - DBX71.7 541.100 - 541.315
Channel 5 DBX72.0 - DBX83.7 550.000 - 550.231
Channel 5, geo axes DBX84.0 - DBX89.7 551.100 - 551.315
Channel 6 DBX90.0 - DBX101.7 560.000 - 560.231
Channel 6, geo axes DBX102.0 - DBX107.7 561.100 - 561.315
Channel 7 DBX108.0 - DBX119.7 570.000 - 570.231
Channel 7, geo axes DBX120.0 - DBX125.7 570.100 - 571.315
Channel 8 DBX126.0 - DBX137.7 580.000 - 580.231
Channel 8, geo axes DBX138.0 - DBX143.7 581.100 - 581.315
Channels 9 and 10 are not currently
implemented

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User areas in DB 2

Area Address Message number

Axis/spindle 1 DBX144.0 - DBX145.7 600.100 - 600.115
Axis/spindle 2 DBX146.0 - DBX147.7 600.200 - 600.215
Axis/spindle 3 DBX148.0 - DBX149.7 600.300 - 600.315
Axis/spindle 4 DBX150.0 - DBX151.7 600.400 - 600.415
Axis/spindle 5 DBX152.0 - DBX153.7 600.500 - 600.515
Axis/spindle 6 DBX154.0 - DBX155.7 600.600 - 600.615
Axis/spindle 7 DBX156.0 - DBX157.7 600.700 - 600.715
Axis/spindle 8 DBX158.0 - DBX159.7 600.800 - 600.815
Axis/spindle 9 DBX160.0 - DBX161.7 600.900 - 600.915
Axis/spindle 10 DBX162.0 - DBX163.7 601.000 - 601.015
Axis/spindle 11 DBX164.0 - DBX165.7 601.100 - 601.115
Axis/spindle 12 DBX166.0 - DBX167.7 601.200 - 601.215
Axis/spindle 13 DBX168.0 - DBX169.7 601.300 - 601.315
Axis/spindle 14 DBX170.0 - DBX171.7 601.400 - 601.415
Axis/spindle 15 DBX172.0 - DBX173.7 601.500 - 601.515
Axis/spindle 16 DBX174.0-DBX175.7 601.600 - 601.615
Axis/spindle 17 DBX176.0 - DBX177.7 601.700 - 601.715
Axis/spindle 18 DBX178.0 - DBX179.7 601.800 - 601.815
Axes 19 to 31 are not currently
implemented

User areas in DB 2

Area Address Message number

User area 0 DBX180.0 - DBX187.7 700.000 - 700.063
User area 1 DBX188.0 - DBX195.7 700.100 - 700.163
User area 2 DBX196.0 - DBX203.7 700.200 - 700.263
User area 3 DBX204.0 - DBX211.7 700.300 - 700.363
User area 4 DBX212.0 - DBX219.7 700.400 - 700.463
User area 5 DBX220.0 - DBX227.7 700.500 - 700.563
User area 6 DBX228.0 - DBX235.7 700.600 - 700.663
User area 7 DBX236.0 - DBX243.7 700.700 - 700.763
User area 8 DBX244.0 - DBX251.7 700.800 - 700.863
User area 9 DBX252.0 - DBX259.7 700.900 - 700.963
User area 10 DBX260.0 - DBX267.7 710.000 - 701.063
User area 11 DBX268.0 - DBX275.7 710.100 - 701.163

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Area Address Message number

User area 12 DBX276.0 - DBX283.7 710.200 - 701.263
User area 13 DBX284.0 - DBX291.7 710.300 - 701.363
User area 14 DBX292.0 - DBX299.7 710.400 - 701.463
User area 15 DBX300.0 - DBX307.7 710.500 - 701.563
User area 16 DBX308.0 - DBX315.7 710.600 - 701.663
User area 17 DBX316.0 - DBX323.7 710.700 - 701.763
User area 18 DBX324.0 - DBX331.7 710.800 - 701.863
User area 19 DBX332.0 - DBX339.7 710.900 - 701.963
User area 20 DBX340.0 - DBX347.7 702.000 - 702.063
User area 21 DBX348.0 - DBX355.7 702.100 - 702.163
User area 22 DBX356.0 - DBX363.7 702.200 - 702.263
User area 23 DBX364.0 - DBX371.7 702.300 - 702.363
User area 24 DBX372.0 - DBX379.7 702.400 - 702.463

2.14 Useful Tips on Programming with STEP 7

2.14.1 General

General
Some useful tips on programming complex machining sequences in STEP7 are given in the
following. This information concentrates mainly on the handling of data type POINTER and
ANY. Detailed information about the structure of data types POINTER and ANY can be
found in Chapter "CPU register and storage of data" in STEP7 manual "Designing user
programs".

2.14.2 Copying data

High-speed copying
The following is an example of how to copy data at high speed from one DB into another.

Code Comment
// DB xx.[AR1] is the source
// DI yy.[AR2] is the destination
OPEN DB 100; //Source DB
LAR1 P#20.0; //Source start address on data byte 20
OPEN DI 101; //Destination DB
LAR2 P#50.0; //Destination start address on data byte 50

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Code Comment
//AR1, AR2, DB, DI loaded beforehand
L 42; //Transfer 84 bytes
M001:
L DBW [AR1,P#0.0]; //Copy word-oriented
L DBW [AR1,P#0.0];
T DIW [AR2,P#0.0];
+AR1 P#2.0;
+AR2 P#2.0;
TAK;
LOOP M001;

2.14.3 ANY and POINTER

2.14.3.1 General

General
The following programming examples illustrate different programming mechanisms. They
demonstrate how input/output and transit variables (VAR_INPUT, VAR_OUTPUT,
VAR_IN_OUT) are accessed by data types "POINTER" or "ANY" within an FC or FB. The
access operations are described in such a way that a part symbolic method of programming
can be used.

2.14.3.2 Use of POINTER and ANY in FC if POINTER or ANY is available as parameter

Description of Functions
FC 99 has inputs parameters that are defined as POINTER or ANY. The example shows a
body program via which the subcomponents of the POINTER or ANY can be accessed. In
this case, the DB parameterized with POINTER or ANY is opened and the address offset
stored as a crossarea pointer in address register AR1, thus allowing access to data elements
of variables (generally structures and arrays) that are addressed via the POINTER, ANY.
This access operation is described at the end of the relevant program sequence in the
example. With data type ANY, it is also possible to execute a check or branch when the
variable is accessed based on the data type and the number of elements involved.

FUNCTION FC 99: VOID Comment

VAR_INPUT
Row : BYTE ;
Convert : BOOL ; //Activate numerical conversion
Addr: POINTER; //Points to variable
Addr1 : ANY ;
END_VAR
VAR_TEMP
dbchr : WORD ;
Number: WORD ;

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FUNCTION FC 99: VOID Comment

type : BYTE ;
END_VAR
BEGIN
NETWORK
TITLE =
//POINTER
L P##Addr;
LAR1 ; //Retrieve pointer
L W [AR1,P#0.0]; //Retrieve DB number
T #dbchr;
L D [AR1,P#2.0]; //Offset part of pointer
LAR1 ;
AUF DB [#dbchr]; //Open DB of variables
L B [AR1,P#40.0]; //Retrieve byte value using pointer with
//address offset 40
//ANY
L P##Addr1;
LAR1 ; //Retrieve ANY
L B [AR1,P#1.0]; //Retrieve type
T #typ;
L W [AR1,P#2.0]; //Retrieve amount
T #Amount;
L W [AR1,P#4.0]; //Retrieve DB number
T #dbchr;
L D [AR1,P#6.0]; //Offset part of pointer
LAR1 ;
OPEN DB [#dbchr]; //Open DB of variables
L B [AR1,P#0.0]; //Retrieve byte value using ANY

2.14.3.3 Use of POINTER and ANY in FB if POINTER or ANY is available as parameter

Description of Functions
FB 99 has inputs parameters that are defined as POINTER or ANY. The example shows a
body program via which the subcomponents of the POINTER or ANY can be accessed. In
this case, the DB parameterized with POINTER or ANY is opened and the address offset
stored as a crossarea pointer in address register AR1, thus allowing access to data elements
of variables (generally structures and arrays) that are addressed via the POINTER, ANY.
This access operation is described at the end of the relevant program sequence in the
example. With data type ANY, it is also possible to execute a check or branch when the
variable is accessed based on the data type and the number of elements involved.

FUNCTIONBLOCK FB 99 Comment
VAR_INPUT
Row : BYTE ;
Convert : BOOL ; //Activate numerical conversion
Addr: POINTER; //Points to variable
Addr1 : ANY ;

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FUNCTIONBLOCK FB 99 Comment
END_VAR
VAR_TEMP
dbchr : WORD ;
Number: WORD ;
type : BYTE ;
END_VAR
BEGIN
NETWORK
TITLE =
//POINTER
L P##Addr;
LAR1 ; //Retrieve pointer from instance DB
L DIW [AR1,P#0.0]; //Retrieve DB number
T #dbchr;
L DID [AR1,P#2.0]; //Offset part of pointer
LAR1 ;
OPEN DB [#dbchr]; //Open DB of variables
L B [AR1,P#40.0]; //Retrieve byte value using pointer
with
//address offset 40
//ANY
L P##Addr1;
LAR1 ; //Retrieve ANY from instance DB
L DIB [AR1,P#1.0]; //Retrieve type
T #typ;
L DIW [AR1,P#2.0]; //Retrieve amount
T #Amount;
L DIW [AR1,P#4.0]; //Retrieve DB number
T #dbchr;
L DID [AR1,P#6.0]; //Offset part of pointer
LAR1 ;
OPEN DB [#dbchr]; //Open DB of variables
L B [AR1,P#0.0]; //Retrieve byte value using ANY

2.14.3.4 POINTER or ANY variable for transfer to FC or FB

With version 1 or later of STEP7 it is possible to define a POINTER or an ANY in
VAR_TEMP. The following two examples show how an ANY can be supplied.
1. Several ANY parameters are defined in an FB (FC). A specific ANY parameter must now
be chosen from a selection list for transfer to another FB (FC). This can only be done by
means of an ANY in VAR_TEMP. 1 to 4 can be set in parameter "WhichAny" in order to
select Addr1 to Addr4.

Note
Address register AR2 is used in the block. However, this register is also used for multi-
instance DBs. For this reason, the relevant FB must not be declared as a multiinstance
DB.

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FUNCTIONBLOCK FB 100 Comment

CODE_VERSION1 //To deactivate multi-instance DB with STEP 7 Version
2 and higher
VAR_INPUT
WhichAny : INT ;
Addr1 : ANY ; //Observe predetermined order
Addr2 : ANY ;
Addr3 : ANY ;
Addr4 : ANY ;
END_VAR
VAR_TEMP
dbchr : WORD ;
Number: WORD ;
type : BYTE ;
Temp_addr : ANY ;
END_VAR
BEGIN
NETWORK
TITLE =
L WhichAny;
DEC 1;
L P#10.0; //10 bytes per ANY
*I;
LAR2;
L P##Addr1;
+AR2; //Add ANY start addresses
L P##Temp_addr;
LAR1 ; //Retrieve pointer from VAR_TEMP
L DID [AR2,P#0.0]; //Transfer pointer value to VAR_TEM
T LD [AR1,P#0.0];
L DID [AR2,P#4.0];
T LD [AR1,P#4.0];
L DIW [AR2,P#8.0];
T LW [AR1,P#8.0];

CALL FB 101, DB 100

(ANYPAR := #Temp_addr); //ANYPAR is data type ANY

1. An ANY parameter that has already been compiled must be transferred to another FB
(FC). This can be done only by means of an ANY stored in VAR_TEMP

FUNCTIONBLOCK FB 100 Comment

VAR_INPUT
DBNumber: INT ;
DBOffset : INT ;
Data type: INT ;
Number: INT ;
END_VAR
VAR_TEMP
dbchr : WORD ;
Temp_addr : ANY ;

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FUNCTIONBLOCK FB 100 Comment

END_VAR
BEGIN
NETWORK
TITLE =
L P##Temp_addr;
LAR1 ; //Retrieve pointer from VAR_TEMP
L B#16#10; //ANY identifier
T LB [AR1,P#0.0];
L Data type;
T LB [AR1,P#1.0];
L Amount;
T LW [AR1,P#2.0];
L DBNumber;
T LW [AR1,P#4.0];
L DBOffset;
SLD 3; //Offset is a bit offset
T LD [AR1,P#6.0];
CALL FB 101, DB 100
(ANYPAR := #Temp_addr); //ANYPAR is data type ANY

2.14.4 Multiinstance DB

Multiinstance DB
With version 2 and higher of STEP 7, FBs might have a multiinstance capability, i.e., they
might incorporate multiinstance DBs. The primary characteristic of multiinstance DBs is that
they can be used for various instances of FBs (see STEP 7 documentation), thus allowing
the DB data quantity to be optimized.
Multi-instance DBs should be activated only when they are actually going to be used since
they increase the runtime and code size of the FBs.

Note
For more complex programs using pointers and address registers in FBs, which are to be
multi-instance capable, certain rules specified by the programmer must be complied with.
With multi-instance DBs, the start address of the variable (VAR_INPUT, VAR_OUTPUT,
VAR_IN_OUT, VAR) is transferred with the DI data block register and address register AR2.
When variables are accessed within the multiinstance FB, the compiler independently
controls the access operation via address register AR2. However, when complex program
sections also have to work with address registers in the same FB (e.g., to copy data), then
the old contents of AR2 must be saved before the register is changed. The contents of AR2
must be restored to their original state before an instance variable (VAR_INPUT,
VAR_OUTPUT, VAR_IN_OUT, VAR) is accessed. It is best to save the AR2 register of the
instance in a local variable (VAR_TEMP).
The 'load pointer to an instance variable' command returns a pointer value at the start of the
instance data. To be able to access this variable via a pointer, the offset stored in AR2 must
be added.

PLC basic program powerline (P3 pl)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-243
Detailed description
2.14 Useful Tips on Programming with STEP 7

Example

FUNCTION_BLOCK FB 99 Comment
VAR_INPUT
varin: INT ;
END_VAR
VAR
variable1: ARRAY[0 to 9] of INT;
variable2: INT ;
END_VAR
BEGIN
L P##variable1; //Pointer at start of ARRAY
//The value 8500 0010 is now in the accumulator
//and a cross-area pointer is in the AR2. If cross-area
processing is to take place, then an area should be skipped
when these two pointers are added.
AD DW#16#00FF_FFFF, //Skipping of an area
LAR1 //Load into AR1
TAR2;
+AR1 AR2; //AR2 instance offset to be added
//The ARRAY of variable1 can now be accessed indirectly via
AR1.
L DIW [AR1, P#0.0]; //E.g., access to first element
END_FUNCTION_BLOCK

2.14.5 Strings

General
The STRING data type is required by certain services of the basic program. For this reason,
some additional facts about the string structure and general handling procedures for
parameter assignments are given below.

Structure of STRING
A data of type STRING is generally stored (defined) in a data block. There are two methods
of defining a string:
1. Only the data type STRING is assigned to a variable. The STEP7 compiler automatically
generates a length of 254 characters.
2. Data type STRING is assigned to a variable together with a string length in square
parenthesis (e.g., [32]). With this method, the STEP7 compiler generates a string length
corresponding to the input.
Two bytes more than prescribed by the definition are always stored for variables of the
STRING data type. The STEP7 compiler stores the maximum possible number of characters
in the 1st byte. The 2nd byte contains the number of characters actually used. Normally, the
useful length of the assigned string is stored in byte 2 by the compiler. The characters (1
byte per character) are then stored from the 3rd byte onwards.

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2-244 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.14 Useful Tips on Programming with STEP 7

String parameters are generally assigned to blocks of the basic program by means of a
POINTER or ANY. Such assignments must generally by made using symbolic programming
methods. The data block, which contains the parameterizing string, must be stored in the
symbol list. The assignment to the basic program block is then made by means of the
symbolic data block name followed by a full stop and the symbolic name of the string
variable.

2.14.6 Determining offset addresses for data block structures

General
Another task, which occurs frequently, is symbolic determination of an offset address within
a structured DB, e.g., an ARRAY or STRUCTURE is stored somewhere within the DB. After
loading the address register symbolically with the start address, you might like to access the
individual elements of the ARRAY or STRUCTURE via an address register. One way of
loading the address register symbolically is to use an FC whose input parameter is a pointer.
The address of the ARRAY or STRUCTURE is then assigned symbolically to the input
parameter of this FC in the program. The program code in the FC now determines the offset
address from the input parameter, and passes the offset address in the address register
(AR1) to the calling function. Symbolic addressing is thus possible even with indirect access.

FUNCTION FC 99: VOID Comment

VAR_INPUT
Addr: POINTER; //Points to variable
END_VAR
BEGIN
NETWORK
TITLE =
L P##Addr;
LAR1 ; //Retrieve pointer from Addr
L D [AR1,P#2.0]; //Offset part of pointer of variable
LAR1 ;
END_FUNCTION

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Detailed description
2.14 Useful Tips on Programming with STEP 7

PLC basic program powerline (P3 pl)

2-246 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Supplementary conditions
There are no supplementary conditions to note.
3

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Supplementary conditions

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3-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Examples
No examples are available.
4

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Examples

PLC basic program powerline (P3 pl)

4-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Data lists 5
5.1 Machine data

5.1.1 NC-specific machine data

Number Identifier: $MN_ Description

10100 PLC_CYCLIC_TIMEOUT Cyclic PLC monitoring time
14504 MAXNUM_USER_DATA_INT Number of user data (INT)
14506 MAXNUM_USER_DATA_HEX Number of user data (HEX)
14508 MAXNUM_USER_DATA_FLOAT Number of user data (FLOAT)
14510 USER_DATA_INT User data (INT)
14512 USER_DATA_HEX User data (HEX)
14514 USER_DATA_FLOAT[n] User data (FLOAT)
Machine data in integer/hex format is operated in the NC as DWORD.
Machine data in floating comma format are operated in the NC as FLOAT (IEEE 8 byte).
They are stored in the NC/PLC interface and can be read by the PLC user program during PLC power-up from the DB 20.

5.1.2 Channelspecific machine data

Number Identifier: $MC_ Description

28150 MM_NUM_VDIVAR_ELEMENTS Number of elements for writing PLC variables

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Data lists
5.1 Machine data

PLC basic program powerline (P3 pl)

5-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Index
FB 4
PI_SERV General PI services, 2-106
A FB 5
GETGUD read GUD variable, 2-127
Assignment of DBs, 2-64
FB 7
ASUBs, 2-44
PI_SERV2 General PI services, 2-132
FB 9
Operating unit switchover, 2-81
B FB 9 M:N operating-unit switchover, 2-135
Basic PLC Program (P3)|Physical interfaces on FC 10
840D, 2-22 AL_MSG, 2-168
Basic PLC program (P3)|PLC interface on SINUMERIK FC 13
840D, 2-22 BHGDisp, 2-171
Bus addresses on SINUMERIK 840D, 2-37 FC 15
POS_AX, 2-174
FC 16
C PART_AX, 2-179
FC 17
Concurrent axes, 2-44
YDelta, 2-183
Configurability of machine control panel, handheld
FC 18
unit, 2-54
SpinCtrl, 2-186
Cyclic operation, 2-39
FC 19
Cyclic signal exchange, 1-1
MCP_IFM, 2-195
FC 22
TM_DIR, 2-210
D FC 24
Diagnostic buffer on PLC, 2-24 MCP_IFM2, 2-213
FC 25
MCP_IFT, 2-216
E FC 7
TM_REV, 2-156
Eventdriven signal exchange, 1-1, 1-2
FC 8
TM_TRANS, 2-159
FC 9
F ASUB, 2-166
FB 10 FC2
Safety relay, 2-140 GP_HP, 2-151
FB 11 FC3
Brake test, 2-143 GP_PRAL, 2-152, 2-154
FB 2
GET, 2-93
FB 29 I
Signal recorder and data trigger diagnostics, 2-148
Interface
FB 3
840D, 2-22
PUT, 2-100
PLC/MCP, 2-35

PLC basic program powerline (P3 pl)

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Index

PLC/MMC, 2-32 Process alarm processing, 2-42

Programming and parameterizing tools, 2-69
Programming devices or PCs, 2-69
M
M decoding acc. to list, 2-47
MAXNUM_USER_DATA_FLOAT, 5-1
R
MAXNUM_USER_DATA_HEX, 5-1 Read/Write NC variables, 2-45
MAXNUM_USER_DATA_INT, 5-1
MD14504, 2-51
MD14506, 2-51 S
MD14508, 2-51
Signals
MD35400, 2-189
PLC/axes, spindles, 2-31
memory requirements of basic PLC program
PLC/mode group, 2-29
Maximum, 2-68
PLC/Mode group, 2-29
Minimum, 2-68
PLC/NC, 2-27
Memory requirements of basic PLC program, 2-66
PLC/NCK channels, 2-30
Message signals in DB2, 2-229
Startup and synchronization of NCK PLC, 2-39
MM_NUM_VDIVAR_ELEMENTS, 5-1
Symbolic programming of user program with interface
Mode group, 2-40
DB, 2-46

N U
NC failure, 2-42
Useful Tips on Programming with STEP 7, 2-231
NC VAR selector, 2-71
Useful tips on programming with Step7
Startup, installation, 2-81
ANY and POINTER, 2-232
NC variables, 2-76
Multiinstance DB, 2-236
POINTER or ANY variable, 2-235
Strings, 2-238
P Use of ANY and POINTER in FB, 2-233
PI services Use of ANY and POINTER in FC, 2-232
Overview, 2-109 USER_DATA_FLOAT[n], 5-1
PLC CPUs, properties, 2-22 USER_DATA_HEX[n], 5-1
PLC messages, 2-33 USER_DATA_INT[n], 5-1
PLC/NCK interface, 2-26
PLC_CYCLIC_TIMEOUT, 5-1

PLC basic program powerline (P3 pl)

Index-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Brief description 1

Detailed description 2

Supplementary conditions 3
SINUMERIK 840D sl/840Di sl
Examples 4
PLC basic program solution line 5
Data lists
(P3 sl)

Function Manual

Valid for

Control
SINUMERIK 840D sl/840DE sl
SINUMERIK 840Di sl/840DiE sl

Software Version
NCU system software for 840D sl/840DE sl 1.3
NCU system software for 840Di sl/DiE sl 1.0

03/2006 Edition
6FC5397-0BP10-1BA0
Safety Guidelines
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent
damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are
graded according to the degree of danger.

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

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

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

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

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

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

Prescribed Usage
Note the following:

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

Trademarks
All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this
publication may be trademarks whose use by third parties for their own purposes could violate the rights of the
owner.

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

Siemens AG Order No.: 6FC5397-0BP10-1BA0 Copyright © Siemens AG 2006.

Automation and Drives Edition 05/2006 Technical data subject to change
Postfach 48 48
90437 NÜRNBERG
GERMANY
Table of contents
1 Brief description ...................................................................................................................................... 1-1
2 Detailed description ................................................................................................................................ 2-1
2.1 Key PLC CPU data for 810D, 840D and 840Di ......................................................................... 2-1
2.2 Reserve resources (timers, counters, FC, FB, DB, I/O) ............................................................ 2-5
2.3 Starting up hardware configuration of PLC CPUs ..................................................................... 2-6
2.4 Starting up the PLC program ..................................................................................................... 2-9
2.4.1 Installing the basic program for 840D ........................................................................................ 2-9
2.4.2 Application of basic program...................................................................................................... 2-9
2.4.3 Version codes .......................................................................................................................... 2-10
2.4.4 Machine program ..................................................................................................................... 2-11
2.4.5 Data backup ............................................................................................................................. 2-11
2.4.6 PLC series start-up, PLC archives........................................................................................... 2-11
2.4.7 Software upgrades................................................................................................................... 2-14
2.4.8 I/O modules (FM, CP modules) ............................................................................................... 2-15
2.4.9 Troubleshooting ....................................................................................................................... 2-16
2.5 Linking PLC CPUs to 840D...................................................................................................... 2-17
2.5.1 General .................................................................................................................................... 2-17
2.5.2 Properties of PLC CPUs .......................................................................................................... 2-17
2.5.3 Interface on 840D with integrated PLC.................................................................................... 2-17
2.5.4 Diagnostic buffer on PLC ......................................................................................................... 2-20
2.6 Interface structure .................................................................................................................... 2-20
2.6.1 PLC/NCK interface................................................................................................................... 2-21
2.6.2 Interface PLC/HMI ................................................................................................................... 2-28
2.6.3 PLC/MCP/HHU interface ......................................................................................................... 2-31
2.7 Structure and functions of the basic program .......................................................................... 2-33
2.7.1 Startup and synchronization of NCK PLC................................................................................ 2-35
2.7.2 Cyclic operation (OB1)............................................................................................................. 2-35
2.7.3 Time-interrupt processing (OB 35)........................................................................................... 2-37
2.7.4 Process-interrupt processing (OB 40) ..................................................................................... 2-38
2.7.5 Diagnostic interrupt, module failure processing (OB 82, OB 86)............................................. 2-38
2.7.6 Response to NCK failure ......................................................................................................... 2-38
2.7.7 Functions of the basic program called from the user program ................................................ 2-39
2.7.8 Symbolic programming of user program with interface DB ..................................................... 2-42
2.7.9 M decoding acc. to list ............................................................................................................. 2-44
2.7.10 PLC machine data ................................................................................................................... 2-48
2.7.11 Configuring machine control panel, handheld unit................................................................... 2-51
2.7.12 Switchover of machine control panel, handheld unit ............................................................... 2-58
2.7.13 Special functions of the machine control panel ....................................................................... 2-60
2.8 SPL for Safety Integrated......................................................................................................... 2-60
2.9 Assignment overview ............................................................................................................... 2-60
2.9.1 Assignment: NCK/PLC interface.............................................................................................. 2-60
2.9.2 Assignment: FB/FC.................................................................................................................. 2-61

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Table of contents

2.9.3 Assignment: DB ....................................................................................................................... 2-61

2.9.4 Assignment: Timers ................................................................................................................. 2-62
2.10 Memory requirements of basic PLC program for 840D ........................................................... 2-63
2.11 General conditions and NC-VAR_Selector .............................................................................. 2-66
2.11.1 Supplementary conditions........................................................................................................ 2-66
2.11.1.1 Programming and parameterizing tools ................................................................................... 2-66
2.11.1.2 SIMATIC documentation required............................................................................................ 2-68
2.11.1.3 Relevant SINUMERIK documents ........................................................................................... 2-68
2.11.2 NC VAR selector ...................................................................................................................... 2-68
2.11.2.1 Overview .................................................................................................................................. 2-68
2.11.2.2 Description of functions............................................................................................................ 2-70
2.11.2.3 Startup, installation................................................................................................................... 2-79
2.12 Block descriptions .................................................................................................................... 2-79
2.12.1 FB 1: RUN_UP Basic program, startup section ....................................................................... 2-79
2.12.2 FB 2: Read GET NC variable................................................................................................... 2-87
2.12.3 FB 3: PUT write NC variables .................................................................................................. 2-94
2.12.4 FB 4: PI_SERV General PI services ...................................................................................... 2-101
2.12.5 FB 5: GETGUD read GUD variable ....................................................................................... 2-123
2.12.6 FB 7: PI_SERV2 General PI services .................................................................................... 2-128
2.12.7 FB 9: M : N operating-unit switchover.................................................................................... 2-132
2.12.8 FB 10: Safety relay (SI relay) ................................................................................................. 2-138
2.12.9 FB 11: Brake test ................................................................................................................... 2-140
2.12.10 FB 29: Signal recorder and data trigger diagnostics.............................................................. 2-145
2.12.11 FC 2: GP_HP Basic program, cyclic section.......................................................................... 2-149
2.12.12 FC 3: GP_PRAL Basic program, interruptdriven section ....................................................... 2-150
2.12.13 FC 5: GP_DIAG Basic program, diagnostic alarm, and module failure ................................. 2-152
2.12.14 FC 7: TM_REV Transfer block for tool change with revolver................................................. 2-154
2.12.15 FC 8: TM_TRANS transfer block for tool management ......................................................... 2-157
2.12.16 FC 9: ASUB startup of asynchronous subprograms.............................................................. 2-164
2.12.17 FC 10: AL_MSG error and operating messages.................................................................... 2-166
2.12.18 FC 12: AUXFU call interface for user with auxiliary functions ............................................... 2-168
2.12.19 FC 13: BHGDisp Display control for handheld unit................................................................ 2-169
2.12.20 FC 17: YDelta star/delta changeover..................................................................................... 2-172
2.12.21 FC 18: SpinCtrl spindle control .............................................................................................. 2-175
2.12.22 FC 19: MCP_IFM transmission of MCP signals to interface.................................................. 2-185
2.12.23 FC 21: transfer PLC NCK data exchange.............................................................................. 2-193
2.12.24 FC 22: TM_DIR Direction selection for tool management ..................................................... 2-201
2.12.25 FC 24: MCP_IFM2 transmission of MCP signals to interface................................................ 2-203
2.12.26 FC 25: MCP_IFT transfer of MCP/OP signals to interface .................................................... 2-207
2.12.27 FC 26: HPU_MCP Transfer of HPU/HT6 signals to the interface.......................................... 2-210
2.12.27.1 MCP selection signals to the user interface........................................................................... 2-212
2.12.27.2 Checkback signals from user interface for controlling displays ............................................. 2-214
2.12.28 FC 19, FC 24, FC 25, FC 26 source code description........................................................... 2-214
2.12.29 Signal/data descriptions ......................................................................................................... 2-216
2.12.29.1 Interface signals NCK/PLC, MMC/PLC, MCP/PLC ............................................................... 2-216
2.12.29.2 Decoded M signals................................................................................................................. 2-216
2.12.29.3 G Functions ............................................................................................................................ 2-217
2.12.29.4 Message signals in DB 2........................................................................................................ 2-219
2.12.30 Useful Tips on Programming with STEP 7............................................................................. 2-222
2.12.30.1 General................................................................................................................................... 2-222
2.12.30.2 Copying data .......................................................................................................................... 2-222
2.12.30.3 ANY and POINTER................................................................................................................ 2-222
3 Supplementary conditions....................................................................................................................... 3-1
4 Examples................................................................................................................................................ 4-1

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 Table of contents

5 Data lists................................................................................................................................................. 5-1

5.1 Machine data.............................................................................................................................. 5-1
5.1.1 NC-specific machine data .......................................................................................................... 5-1
5.1.2 Channelspecific machine data ................................................................................................... 5-1
Index................................................................................................................................................ Index-1

PLC basic program solution line (P3 sl)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 v
Brief description 1
General
The PLC basic program organizes the exchange of signals and data between the PLC user
program and the NCK (Numerical Control Kernel), HMI (Human Machine Interface) and MCP
(Machine Control Panel). A distinction is made between the following groups for signals and
data:
• Cyclic signal exchange
• Eventdriven signal exchange
• Messages

Cyclic signal exchange

Signals exchanged cyclically consist primarily of bit fields.
• They contain commands transmitted from the PLC to the NCK (such as start or stop) and
status information from the NCK (such as program running, interrupted, etc.).
• The bit fields are organized into signals for:
– Mode groups
– Channels
– Axes/spindles
– General NCK signals
The cyclic exchange of data is performed by the basic program at the start of the PLC cycle
(OB1). This ensures, for example, that the signals from the NCK remain constant throughout
a cycle.

Event-driven signal exchange NCK → PLC

PLC functions that have to be executed as a function of the workpiece program are triggered
by auxiliary functions in the workpiece program. If the auxiliary functions are used to start
execution of a block, the type of auxiliary function determines whether the NCK has to wait
before executing the function (e.g., during a tool change) or whether the function is executed
in parallel to machining of the workpiece (e.g., for tool preparation on milling machines with
chaintype magazines).
Data transfer must be as fast and yet as reliable as possible, in order to minimize the effect
on the NCK machining process. Data transfer is, therefore, interrupt- and acknowledgment-
driven. The basic program evaluates the signals and data, acknowledges this to the NCK
and transfers the data to the application interface at the start of the cycle. Where the data do
not require user acknowledgment, this does not affect NCK machining.

PLC basic program solution line (P3 sl)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 1-1
Brief description

Event-driven signal exchange PLC → NCK

An "eventdriven signal exchange PLC → NCK" takes place whenever the PLC passes a
request to the NCK (e.g., traversal of an auxiliary axis). In this case, data transfer is also
acknowledgment-driven. When performed from the user program, this type of signal
exchange is triggered using a function block (FB) or function call (FC).
The associated FBs (Function Blocks) and FCs (Function Calls) are supplied together with
the basic program.

Messages
User messages are acquired and conditioned by the basic program. A defined bit field is
used to transfer the message signals to the basic program, where they are evaluated and, if
message events occur, entered in the PLC's interrupt buffer by means of the ALARM S/SQ
function. Where an HMI (e.g. HMI embedded) is provided, the messages are transferred to
and displayed on the HMI.

PLC/HMI data exchange

In this type of data exchange, the HMI takes the initiative, being referred to as the "client" on
the bus system. The HIM polls or writes data. The PLC processes these requests at the
cycle control point via the operating system. The PLC basic program is not involved in these
exchanges.

Note
The function of the machine is largely determined by the PLC program. Every PLC program
in the RAM can be edited with the programming device.

PLC basic program solution line (P3 sl)

1-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Detailed description 2
2.1 Key PLC CPU data for 810D, 840D and 840Di

The tables below show the performance range of the PLC CPUs and the range of the PLC
basic program for various control types.

Type of control: Key PLC CPU data for 840D

Type of control 840Di sl 840D sl

PLC CPU Integrated PLC Integrated PLC
CPU317-2DP master/slave CPU317-2DP master/slave
MLFB 6FC5 317-2AJ10-0AB0 6FC5 317-2AJ10-0AB0
Memory for user and basic 128 to 768KB 128 to 768KB
program
Data block memory Max. of 256KB Max. of 256KB
Memory submodule No No
Bit memories 32768 32768
Timers 512 512
Counters 512 512
Clock memories 8 8
Program/data blocks
OB
1, 10, 20-21, 32-35, 40, 55- 1, 10, 20-21, 32-35, 40, 55-
57, 80-82, 85-87, 90, 100, 57, 80-82, 85-87, 90, 100,
121-122 121-122
FB 0-2048 0-2048
FC 0-2048 0-2048
DB 1-2048 1-2048
Max. data block length 64 KB 64 KB
Max. block length FC, FB 64 KB 64 KB
Inputs/outputs
(address capacity in bytes):
- digital + analog 4096/4096 4096/4096
incl. reserved area (8192/8192) (8192/8192)
process image 256/256 256/256

PLC basic program solution line (P3 sl)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-1
Detailed description
2.1 Key PLC CPU data for 810D, 840D and 840Di

Type of control 840Di sl 840D sl

Notice! The inputs/outputs
above 4096 are reserved for
integrated drives.
Inputs/outputs 1) Row 0 is integrated in the Through optional configuring Through optional configuring
(addressing) NCU. Rows 1 to 3 are of I/O devices: of I/O devices:
- digital available for I/O devices from I/O byte 0 onwards from I/O byte 0 onwards
- analog from PI/PO byte 288 from PI/PO byte 288
onwards onwards
Profibus only
Processing time
- Bit commands (I/O) 0.03 ms/kA 0.03 ms/kA
- Word commands 0.1 ms/kA 0.1 ms/kA
PDIAG (Alarm S,SQ) Yes Yes
PROFIBUS Master/Slave Master/Slave
Number of PROFIBUS max. 125 max. 125
slaves
Max. number of PROFIBUS 512 512
slots
DP master system no. DP 1 1
DP master system no. 2 2
MPI/DP
DP master system no. - 3
internal Profibus (PCI)
PBC programmable block Yes Yes
communication
Consistent data to standard 128 128
slave via SFC 14, 15
1) Subrack 0 is integrated in the NC. Rows 1 to 3 are available for I/O devices

I/O expansion

I/O modules, central PROFIBUS only 24 (option)

PROFIBUS DP interfaces 1 (2) 1 (2)
Interfaces (MPI) 1 (0) 1 (0)

PLC basic program solution line (P3 sl)

2-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.1 Key PLC CPU data for 810D, 840D and 840Di

Note
Number of PROFIBUS slaves
Der Inhalt des SDB 2000 und zugehöriger weiterer SDBs wird durch das PLC
Betriebssystem in interne Datenstrukturen gelegt, auf die auch der PROFIBUS ASIC
zugreifen kann. Furthermore, information from SDB 2000 is also conditioned (CPI interface)
and transmitted to the NCK and the PLC basic program. This is necessary in order to control
drives and PROFIsafe modules on the PROFIBUS. A memory area defined by the PLC is
available for these data structures. Its size is limited by the maximum number of slots. This
means that during loading, SDBs with fewer slaves than listed above may be refused. A slot
is usually a slave module or the slave itself. Only on a module with both I and Q areas does
one module count as 2 slots. It is, therefore, not possible to specify the size of SDB 2000
exactly. It cannot be determined whether the configuration is legal until the SDB container
has been loaded to the CPU. The values shown above must be taken as guide values only.
If the configuration is illegal, a general reset request is issued when the SDBs are loaded.
The cause of the configuring error can be found in the diagnostic buffer on completion of the
general reset.

PLC versions
PLC 317-2DP with SIMATIC version 2.1.6 (version ID 20.70.24)
or higher
is integrated. These versions are compatible with the corresponding SIMATIC CPU 300,
which means that all modules and software packages that are approved for these versions
and CPUs on SIMATIC are, therefore, suitable. Exceptions include modules that can usually
only be inserted in row 0 (other exceptions are the FMNC and FM 357 modules).

The version ID on the version screen comprises the following components:

• SIMATIC CPU PLC primary version identifier
• Firmware transfer increment
• Internal increment

Example ID
317-2DP PLC with MLFB 6FC5 317-2AJ10-0AB0: 20.70.24

Version screen on HMI

The PLC currently being used and the associated version of the PLC operating system are
displayed under PLC on the version screen,
for example
PLC_317-2DP 20.70.24.

The module code of the PLC module used appears in the preceding column. The following
PLC module codes are currently in use:

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2.1 Key PLC CPU data for 810D, 840D and 840Di

Module code PLC module Suitable PLC operating Operating system

systems (corresponding SW version ID
SIMATIC MLFB)
2000 PLC 317-2DP with 6ES7 317-2AJ10-0AB0, 20.70.24
IBC32 FW 2.1
MCI 2 (840Di) PLC 317-2DP with 6ES7 317-2AJ10-0AB0, 20.70.24
2100 IBC32 FW 2.1

PLC basic program functions

840Di 810D sl
Interfaces
MPI 1 1
Ethernet 2+1
Functions of basic program
Scope:
Axes/spindles See Catalog 31
Channels 6 10
Mode groups 6 10
Functions:
Status/control signals + +
M decoders (M00-99) + +
G group decoders + +
Aux. function distributors + +
Aux. function transfer, interrupt-driven + +
M decoding acc. to list + +
Move axes/spindles from PLC + +
Async. subprogram interface + +
Error/operating messages + +
Transfer MCP and HHU signals + +
Display control handheld unit + +
Read/write NCK variables and GUD + +
PI services + +
Tool management + +
Star/delta switchover + +
m:n + +
Safety Integrated +
Program diagnostics + +

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2.2 Reserve resources (timers, counters, FC, FB, DB, I/O)

Mode selector on PLC CPUs for 840D

On the NCU component, the right-hand twist button labeled "PLC" is used to set the PLC
operating mode.
The switch settings are listed in the following table.

Switch setting Meaning Remarks

0 RUN-P
1 RUN Cannot load program
2 STOP
3 MRES

2.2 Reserve resources (timers, counters, FC, FB, DB, I/O)

Reserve resources (timers, counters, FC, FB, DB, I/O)

The components below are reserved for the basic program:

Timers
No reservation

Counters
No reservation

FC, FB, DB
FC 0 to FC 29 and FB 0 to FB 29 are reserved for the basic program.
The number range between 1000 and 1023 is also reserved for FCs and FBs. Data blocks
DB 1 to DB 62 and DB 71 to DB 80 are reserved.
The number range between 1000 and 1099 is also reserved for data blocks.
Data blocks from non-activated channels, axes/spindles and tool management are free for
the user.

I/O range:
The PLC 317 has an I/O address volume of 8192 bytes each for inputs and outputs. The
address ranges starting at 4096/4096 are reserved for/occupied by integrated drives.
However, diagnostic addresses for modules can be assigned to the highest address range
as proposed by STEP7. Furthermore, the address range between 256 and 287 is assigned
for the NCK, CP and HMI in rack 0 on the SIMATIC 300 station.

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2.3 Starting up hardware configuration of PLC CPUs

2.3 Starting up hardware configuration of PLC CPUs

General procedure
The hardware configuration for the PLC CPUs used in the NCU7x0, including other
components of the NCU (NCK, CP, HMI, drive), must be defined via STEP 7.
Proceed as follows in STEP7:
1. Create a new project (File, New, Project)
2. Insert, Hardware, SIMATIC 300 station
3. Select the SIMATIC 300 station with the mouse
4. Right-click with the mouse and select Open Object
and start HWConfig
5. A suitable SINUMERIK component is selected from the "SIMATIC 300\SINUMERIK\840D
sl" hardware catalog.
6. Add I/O from the STEP7 hardware catalog
The addresses for the I/O modules can be modified if required.

Requirements
In order to be able to select SINUMERIK components from the hardware catalog, you must
run the Toolbox setup program first ("Hardware expansions for STEP7" and "Starter"). The
current version of the hardware expansion for STEP7 can also be found under eSupport.

Table 2-1 Hardware expansions

Comparable Selection from STEP7 hardware

NCU MLFB SIMATIC CPU MLFB catalog
included
SINUMERIK 840D NCU 6FC5 371-0AA00-?AA0 6ES7 317-2AJ00-0AB0 NCU710.1
710.1 (as of STEP7 V5.3 SP2
and Toolbox 840D sl 01.01.00)
SINUMERIK 840D NCU 6FC5 372-0AA00-?AA0 6ES7 317-2AJ00-0AB0 NCU720.1
720.1 (as of STEP7 V5.3 SP2
and Toolbox 840D sl 01.01.00)
SINUMERIK 840D NCU 6FC5 373-0AA00-?AA0 6ES7 317-2AJ00-0AB0 NCU730.1
730.1 (as of STEP7 V5.3 SP2
and Toolbox 840D sl 01.01.00)
SINUMERIK 840Di sl with 6FC5 222-0AA02-1AA0 6ES7 317-2AJ00-0AB0 840Di with PLC317-2 DP
MCI2 (as of STEP7 V5.3 SP2
and Toolbox 840D sl 01.02.00)

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2.3 Starting up hardware configuration of PLC CPUs

Note
On SINUMERIK 840D, SIMATIC line 0 is allocated for the SINUMERIK components. The
following components are inserted in this line:
The integrated PLC with the various bus systems (slot 2)
An IM 360 (slot 3)
The NCK 840D sl (slot 4). The properties (I/O address 256, process interrupt) of the NCK
must not be changed, otherwise process interrupts (e.g., auxiliary functions) from the NCK to
the PLC will no longer function.
The integrated Ethernet CP 840D sl (slot 5)
The integrated HMI 840D sl (slot 6)

The integrated drive is linked on the internal PCI bus (PROFIBUS protocol).
Currently, this bus does not support I/O access, and SFCs are not supported for this bus.
If you are using a different NCU, you can change the NCU using drag & drop. The settings
remain unaffected.

Figure 2-1 Hardware configuration on the 840D sl and SINAMICS Properties dialog box

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2.3 Starting up hardware configuration of PLC CPUs

Figure 2-2 DP slave properties

In the Properties dialog box for the integrated SINAMICS drive, object codes 1 to 6 are used
to identify axes 1 to 6. The axes are set for message frame type 106 and Safety Motion
Monitoring as standard. This is the default setting. Message frame type 106 features the
longest possible user data length of an NC axis. The message frame type in the NC machine
data may not tally at all with this setting. In the context of an NC axis, message frame type
means: 2 encoders + DSC
Object 7 contains the ALM via which, for example, enables have to be activated by the PLC
user program. Object 8 contains the Dev0 (Device 0).
Axis expansions with the NX10 and NX15 modules are possible for NCU720 and NCU730.
You will find NX10 and NX15 in the PROFIBUS DP\SINAMICS module catalog.
You will find the clock settings for the drives in the dialog box under the tab.

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2.4 Starting up the PLC program

2.4 Starting up the PLC program

2.4.1 Installing the basic program for 840D

A complete general reset of the NCK and the PLC is necessary before starting up the NCU
component for the first time. Turn the "SIM/NCK" switch on the left-hand side to position 1
and the "PLC" switch on the right-hand side to position 3. Then restart the controller. This
action generates a "hard reset request" on the PLC. The memories of the PLC and NC are
then initialized.

Installation
The basic program is installed by the Toolbox by means of the execution of a setup program
for the basic program, hardware expansion for STEP7 (option package for SINUMERIK
840D sl) and NC-Var selector components, as well as for other tools. To start the installation,
run setup.exe in the main CD directory. You can then choose which components to install.
After the installation you can select the basic program library directly from STEP7
(bp7x0_12, 12 is the main basic program version 1.2). The actual version of the basic
program can be scanned for the object properties of the library or the program folder in the
comment field.

General
The OB source programs, including standard parameterization, interface symbols and data-
block templates for the handheld unit and M decoding functions are included in the SIMATIC
project or SIMATIC library of the basic program.

STEP7 must be installed before installing the basic program Toolbox. It is generally
advisable to reinstall the hardware expansions for STEP7 from the Toolbox following an
update of STEP7.

2.4.2 Application of basic program

A new CPU program (e.g., "Turnma1") must be set up in a project by means of the STEP7
software for each installation (machine).

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2.4 Starting up the PLC program

Comment
The catalog structures of a project and the procedure for creating projects and user
programs are described in the relevant SIMATIC documentation.

Procedure
The basic-program blocks are copied using the SIMATIC Manager and File/Open/Library.
The following components must be copied from the library:
• From the block container: FCs, FBs, DBs, OBs, SFC, SFB, UDT
• Source_files (from the source container): GPOB840D
• Possibly MDECLIST, HHU_DB and others
• The symbols table (from the symbols container)

Compatibility with STEP 7

There are no dependencies between the basic program and current STEP7 versions.

2.4.3 Version codes

Basic Program
The version of the basic program is displayed on the HMI version screen along with the
controller type.
The controller type is encoded as follows:

Leftaligned decade of DB17.DBD0 (byte 0) Controller type

02 SINUMERIK 810D
03 SINUMERIK 840D (561,571, 572, 573)
04 SINUMERIK 840Di
03 SINUMERIK 840D sl (710, 720, 730)

User Program
Users can also display their own PLC version codes on the HMI version screen. For this
purpose, a data of type STRING containing a maximum of 54 characters must be defined in
any data block. The data can contain a text of the user's choice. Parameter assignments for
this string are made via a pointer in FB1. Parameterization requires symbolic definition of the
data block. See the FB1 block description for more information.

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2.4 Starting up the PLC program

2.4.4 Machine program

The machine manufacturer creates the machine program using the library routines supplied
with the basic program. The machine program contains the machine's logic links and
machine sequences. The program also handles the interface signals to the NCK. More
complex communication functions with the NCK (e.g., read/write NC data, tool-management
acknowledgments, etc., are activated and executed via basic-program FCs and FBs).
The machine program can be created in various STEP7 creation languages (e.g. STL, LAD,
CSF, FBD, S7 HIGRAPH, S7GRAPH, SCL). The complete machine program must be
generated and compiled in the correct sequence. This means that blocks that are called by
other blocks must generally be compiled before the blocks which call them. If blocks that are
called by other blocks are subsequently modified in the interface (VAR_INPUT,
VAR_OUTPUT, VAR_IN_OUT, VAR) as the program is developed, then the call block and all
blocks associated with it must be compiled again. This procedure is valid in the same way for
instance data blocks for FBs. If you do not follow this sequence, time-stamp conflicts will
occur during recompilation in STEP7. In some cases, therefore, it may not be possible to
recompile blocks, creating problems, for example, with the "Block status" function. It is,
moreover, advisable to generate blocks in ASCIISTL by means of the STEP7 editor when
they have been created in Ladder Diagram or in single statements (incremental mode).

2.4.5 Data backup

The PLC CPU does not store symbolic names, only the data-type descriptions of the block
parameters (VAR_INPUT, VAR_OUTPUT, VAR_IN_OUT, VAR) and the data types of the
global data blocks. Without the associated project for this machine, therefore, blocks cannot
be recompiled meaningfully (e.g., for the Block status function or in the event of
modifications subsequently required to PLC CPU programs). It is, therefore, necessary to
keep a backup copy of the STEP7 project located in the PLC CPU on the machine. This is
extremely useful for servicing purposes and saves time and problems. If the STEP7 project
exists and has been created according to the instructions given above, then symbols can be
processed in the PLCCPU on this machine. It may also be advisable to store the machine
source programs as STL files in case they are required for any future upgrade.
The source programs of all organization blocks and all instance data blocks should always
be available.

2.4.6 PLC series start-up, PLC archives

Once the blocks have been loaded to the PLC CPU, a series archive can be generated via
the HMI operator interface to back up data on the machine. To ensure data consistency, this
backup must be created immediately after block loading when the PLC is in the Stop state.

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It does not replace the SIMATIC project backup as the series archive saves binary data only,
and does not back up, e.g., symbolic information. In addition, no CPU DBs (SFC 22 DBs) or
SDBs generated in the CPU are saved.
The PLC series archive can be generated directly from the relevant SIMATIC project as an
alternative.
To do this, select the "Options" → "Settings" menu item and the "Archive" tab in STEP7. This
contains an entry "SINUMERIK (*.arc)", which must be selected to create a series
commissioning file. After selection of the archive, select the "File" → "Archive" menu item.
The relevant series archive will then be generated. If the project contains several programs,
the program path can be selected. A series archive is set up for the selected program path.
All blocks contained in the program path are incorporated into the archive, except for CPU-
DBs (SFC 22 DBs).

Automation:
The process of generating a series archive can be automated (comparable to the command
interface in STEP7). In generating this series archive, the command interface is expanded.
The following functions are available for this expansion:
The functions (shown here in VB script) are not available until server instantiations and
Magic have been called:
Const S7BlockContainer = 1138689, S7PlanContainer = 17829889
Const S7SourceContainer = 1122308

set S7 = CreateObject("Simatic.Simatic.1")
instantiate rem STEP7 command interface
Set S7Ext = CreateObject("SimaticExt.S7ContainerExt")
Call S7Ext.Magic("")
Functions:
Function Magic(bstrVal As String) As Long
Function MakeSeriesstart-up(FileName As String, Option As Long, Container As
S7Container) As Long

Description:
Function Magic(bstrVal As String) As Long
Call gives access to certain functions. The function must be called once after server
instantiation. The value of bstrVal can be empty. This initiates a check of the correct Step7
version and path name in Autoexec. The functions are enabled with a return parameter of 0.
Return parameter (-1) = incorrect STEP 7 version
Return parameter (-2) = no entry in Autoexec.bat
Function MakeSeriesstart-up(FileName As String, Option As Long, Container As
S7Container) As Long
"Option" parameter:

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2.4 Starting up the PLC program

0: Normal series start-up file with general reset

Bit 0 = 1: Series startup file without general reset. When project contains SDBs, this
option is inoperative.
A general reset is then always executed.
Bit 1 = 1: Series start-up file with PLC restart
Return parameter value:

0 = OK
-1 = Function unavailable, call Magic function beforehand
-2 = File name cannot be generated
-4 = Container parameter invalid or container block empty
-5 = Internal error (memory request rejected by Windows)
-6 = Internal error (problem in STEP 7 project)
-7 = Write error when generating series start-up files (e.g. disk full)

Use in script:
If S7Ext.Magic("") < 0 Then
Wscript.Quit(1)
End If
Set Proj1 = s7.Projects("new")
set S7Prog = Nothing
Set s7prog = Proj1.Programs.Item(1) 'if there is only one program'
For Each cont In s7prog.Next
If (Cont.ConcreteType = S7BlockContainer) Then
' Check block container
Exit For
End if
Cont = Nothing
Next
Error = S7Ext.MakeSerienIB("f:\dh\arc.dir\PLC.arc", 0, Cont)
' Now error analysis

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2.4 Starting up the PLC program

The For Each...Next Block programmed above can be programmed in the Delphi
programming language as follows (the programming for C, C++ programming languages is
similar).
Var
EnumVar: IEnumVariant;
rgvar: OleVariant;
fetched: Cardinal;

//For Each Next

EnumVar := (S7Prog.Next._NewEnum) as IEnumVariant;
While (EnumVar.Next(1,rgvar,fetched) = S_OK) Do Begin
Cont := IS7Container(IDispatch(rgvar)); // block container,
check sources
If (Cont.ConcreteType = S7BlockContainer) Then Break;
Cont := NIL;
End;

2.4.7 Software upgrades

Software upgrade
Whenever you update the PLC or NCK software, always reset the PLC to its initial state first.
This initial clear state can be achieved by means of a general PLC reset. All existing blocks
are cleared when the PLC is reset.
It is usually necessary to include the new basic program when a new NCU software version
is installed. The basic programs blocks must be loaded into the user project for this purpose.
OB 1, OB 40, OB 100, FC 12 and DB 4 should not be loaded if these blocks are already
included in the user project. These blocks may have been modified by the user. The new
basic program must be linked with the user program.
To do this, proceed as follows:
1. Generate the text or source file of all user blocks before copying the basic program.
2. Then copy the new basic program blocks to this machine project (for a description, see
Subsection "Application of basic program")
3. All user programs *.awl must then be recompiled in the correct order! (See also the
"Machine program" section.)
This newly compiled machine program must then be loaded to the PLC CPU using STEP
7.
However, it is normally sufficient to recompile the organization blocks (OB) and the instance
data blocks of the machine program. This means you only need to generate sources for the
organization blocks and the instance data blocks (before upgrading).

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2.4 Starting up the PLC program

General reset
A description of how to perform a general PLC reset appears in the Installation and Start-Up
Guide. However, a general reset does not delete the contents of the diagnostic buffer nor the
node address on the MPI bus. Another possible general reset method is described below.
This method must be used when the normal general reset process does not work.
Proceed as follows:

No. Action Activation

1 Control system is switched off
2 PLC switch setting 3 (MRES) and switch control on LED labeled PS flashes slowly.
again or perform hardware reset.
3 Set PLC startup switch to position 2 (STOP) and The LED labeled PS starts to flash
back to position 3 (MRES). faster.
4 Set PLC start-up switch to setting 2 or 0.

NC tags
The latest NC VAR selector can be used for each NCU software version (even earlier
versions). The variables can also be selected from the latest list for earlier NC software
versions. The data content in DB 120 (default DB for variables) does not depend on the
software version, i.e., selected variables in an older software version must not be reselected
when the software is upgraded.

2.4.8 I/O modules (FM, CP modules)

Special packages for STEP7 are generally required for more complex I/O modules. Some of
these special packages include support blocks (FC, FB) stored in a STEP7 library. The
blocks contain functions for operating the relevant module which are parameterized and
called by the user program. In many cases, the FC numbers for the CP and FM module
handling blocks are also included in the number range of the basic program for the 840D.
What action can be taken if such a conflict occurs?
The block numbers of the basic program must remain unchanged. The block numbers of
handling blocks can be assigned new, free numbers using STEP7. These new blocks (with
new FC numbers) are then called in the user program with the parameter assignments
required by the function.

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Detailed description
2.4 Starting up the PLC program

2.4.9 Troubleshooting

This section describes problems which may occur, their causes and remedies and should be
read carefully before hardware is replaced.

Errors, cause/description and remedy

Serial Error Cause/description Remedy
no.
error
inform
ation
1 No The MPI cable is not Test: Create a link with the programmer in the
connection connected or is defective. STEP7 editor by means of connection
via MPI to "Direct_PLC". A number of node addresses
PLC. The STEP 7 software for must be displayed here. If they do not appear,
the MPI card may not be the MPI cable is faulty/has not been
configured correctly. connected.

2 PLC cannot A system data block SDB 0 Disconnect all MPI cables to other
be accessed has been loaded with a components. Create the link "Direct_PLC" with
in spite of modified MPI address. This the programmer. Correct the MPI address.
PLC general has caused an MPI bus
reset. conflict due to dual
assignment of addresses.
3 All four LEDs A system error has Once the PLC program has been reset or
on the PLC occurred in the PLC. reloaded, the system may return to normal
flash (DI Actions: The diagnostic operation. Even in this case, the content of the
disaster) buffer on the PLC must be diagnostic buffer should be sent to the
read to analyze the system Development Office.
error in detail. To access
the buffer, the PLC must
be stopped (e.g., set "PLC"
switch to position 2). A
hardware reset must then
be performed. The
diagnostic buffer can then
be read out with STEP7.
Relay the information from
the diagnostic buffer to the
Hotline / Development
Service. A general reset
must be carried out if
requested after the
hardware reset. The
diagnostic buffer can then
be read with the PLC in the
Stop state.

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2.5 Linking PLC CPUs to 840D

2.5 Linking PLC CPUs to 840D

2.5.1 General

General
The AS 300 family is used as the PLC for all systems. On the 840 D, the PLC CPU is
integrated into the NCU component as a sub-module. The relevant performance data for
PLC CPUs can be found in the above table or in the SIMATIC catalog.

2.5.2 Properties of PLC CPUs

SINUMERIK 810D/840Di PLC CPUs are based on standard SIMATIC CPUs in the S7300
family. As a result, they generally possess the same functions. Functional deviations are
shown in the table above. Owing to differences in their memory system as compared to the
SIMATIC CPU, certain functions are not available (e.g. save blocks on memory card, save
project on memory card).

Note
With the current SIMATIC CPUs, the PLC is not automatically started after voltage failure
and recovery when a PLC Stop is initiated via software operation. In this instance, the PLC
remains in the Stop state with an appropriate diagnostic entry for safety reasons. You can
start the PLC only via software operation "Execute a restart" or by setting the switch to
"Stop" and then "RUN". This behavior is also integrated in the current versions of the
SINUMERIK PLC.

2.5.3 Interface on 840D with integrated PLC

Physical interfaces
As the 840D system has an integrated PLC, signals can be exchanged between the NCK
and PLC directly via a dualport RAM.

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2.5 Linking PLC CPUs to 840D

Exchange with the operator panel front

Data exchange with the operator panel (HMI, OP) usually takes place via the internal
software-based C bus. Alternatively, external HMI or OP systems can also be connected on
Ethernet or the MPI bus. In the event of connection to the Ethernet bus, the integrated CP
provides the link to the PLC. On the 840D, data exchange with the machine control panel
(MCP) and handheld unit (HHU) is determined by the interface setup of the MCP/HHU.
Possible connection paths include: MPI, Profibus, Ethernet.
Programming devices should preferably be connected directly to the PLC on the Ethernet
bus via the internal CP or via the MPI (Multi-Point-Interface).

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2.5 Linking PLC CPUs to 840D

NCK/PLC interface
As illustrated in the figure, NCK/PLC data exchange is organized by the basic program in the
PLC. At the beginning of the cycle (OB1), the status information (e.g. "Program running")
written to the internal DPR by the NCK is copied to data blocks by the basic program, which
the user can then access (user interface). The control signals for the NCK (e.g. NC start)
entered in the interface data blocks by the user are also written to the internal DPR and
transmitted to the NCK at the start of the cycle.

Workpiece-program-specific auxiliary functions transferred to the PLC are first evaluated by

the basic program (interruptdriven) and then transferred to the user interface at the start of
OB 1. If the relevant NC block contains auxiliary functions that require the interruption of the
NCK machining process (e.g. M 06 for tool change), the basic program halts the decoding of
the NCK block initially for one PLC cycle. The user can then use the "read disable" interface
signal to halt the block execution until the tool change has been completed. If, on the other
hand, the relevant NC block does not contain auxiliary functions requiring the interruption of
the decoding process (e.g. M 08 for cooling on), the transfer of these "rapid" auxiliary
functions is enabled directly in OB 40, so that decoding is only marginally affected by the
transfer to the PLC.
The evaluation and enabling of the G functions transferred from the NCK are also alarm-
driven, however they are transferred directly to the user interface. Where a G function is
evaluated at several points in the PLC program, differences in the information of the G
function within one PLC cycle may arise.
In the case of NC actions triggered and assigned with parameters by the PLC (e.g. traverse
concurrent axes), triggering and parameter assignment is performed using FCs and FBs, not
interface data blocks. The FCs and FBs belonging to the actions are supplied together with
the basic program. The FCs and FBs required must be loaded by the user and called in the
PLC program of the machine manufacturer (machine program). For an overview of FC, FB
and data blocks, sorted according to basic and extended functions, please refer to:
Chapter: Commissioning the PLC Program

Interface HMI/PLC
HMI/PLC data exchange takes place via the software C bus or via the Ethernet, internal CP,
control-internal C bus link. The CP transfers the data intact from one bus segment to
another. The HMI is always the active partner (client) and the PLC is always the passive
partner (server). Data transmitted or requested by the HMI are read from and written to the
HMI/PLC interface area by the PLC operating system (timing: cycle control point). From the
viewpoint of the PLC application, the data are identical to I/O signals.

Interface MCP/PLC, interface HHU/PLC (Ethernet link)

MCP/PLC and HHU/PLC data exchange takes place via the integrated CP's Ethernet bus.
The CP transfers the MCP/HHU signals to and fetches them from the PLC's internal DPR
(Dual-Port RAM). On the PLC side, the basic program handles communication with the user
interface. The basic-program parameters (FB1, DB7) define the operand areas (e.g. I/O) and
the start addresses.

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Detailed description
2.6 Interface structure

Interface MCP/PLC (Profibus link)

MCP/PLC data exchange takes place via the PLC's Profibus. The MCP's I/O addresses
must be set in the PLC's process image area and via HW configuration in STEP7. The
MCP*In, MCP*Out pointer variables must be set to the same addresses. The selected DP
slave number must be entered in MCP*BusAdr.

Interface MCP/PLC, interface HHU/PLC (MPI link)

MCP/PLC and HHU/PLC data exchange takes place via the PLC's MPI interface. The
Communication with global data (GD) service (= implicit global data communication) is used
for this purpose (see also STEP7 User Manual). The PLC operating system handles the
transfer of signals from and to the configured operand areas. The STEP7 NetPro configuring
tool is used to define both GD parameters and operand areas (e.g., I/O) and their start
addresses. The addresses assigned in NetPro must also be set in the MCP*In, MCP*Out
pointer variables on FB1.

Other parameters for MCP configuration must be set on FB1 in accordance with the FB1
description.
Please refer to chapter "Configuring the machine control panel, handheld unit" for more
detailed information about configuration.

2.5.4 Diagnostic buffer on PLC

General
The diagnostic buffer on the PLC, which can be read out using STEP7, contains diagnostic
information about the PLC operating system.

2.6 Interface structure

Interface data blocks

Mapping in interface data blocks is necessary due to the large number of signals exchanged
between the NCK and PLC. These are global data blocks from the viewpoint of the PLC
program. During system start-up, the basic program creates these data blocks from current
NCK machine data (no. of channels, axes, etc.). The advantage of this approach is that the
minimum amount of PLC RAM required for the current machine configuration is used.

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 Detailed description
2.6 Interface structure

2.6.1 PLC/NCK interface

General
The PLC/NCK interface comprises a data interface on one side and a function interface on
the other. The data interface contains status and control signals, auxiliary functions and G
functions, while the function interface is used to transfer jobs from the PLC to the NCK.

Data interface
The data interface is subdivided into the following groups:
• NCKspecific signals
• Mode-groupspecific signals
• Channelspecific signals
• Axis/spindle/drivespecific signals

Function interface
The function interface is formed by FBs and FCs. The figure below illustrates the general
structure of the interface between the PLC and the NCK.

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Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-21
Detailed description
2.6 Interface structure

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 Detailed description
2.6 Interface structure

Compile-cycle signals
In addition to the standard signals exchanged between the PLC and NCK, an interface data
block for compile cycles is also generated if required (DB 9). The associated signals, which
are dependent on the compile cycles, are transmitted cyclically at the start of OB 1. The
basic program starts transmission at the lowest address and works up to the highest. First,
signals are transferred from the PLC to the NCK, then from the NCK to the PLC. The user
must synchronize the NCK and PLC as necessary (e.g. using the semaphore technique).
Signal transmission is asynchronous between NCK and PLC. This means, for example, that
active NCK data transmission can be interrupted by the PLC. This can mean that data is not
always consistent.

PLC/NCK signals
The group of signals from the PLC to NCK includes:
• Signals for modifying the digital and analog I/O signals of the NCK
• Keyswitch and emergency stop signals

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Figure 2-5 PLC/NCK interface

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Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-23
Detailed description
2.6 Interface structure

NCK/PLC signals
The group of signals from the NCK to PLC includes:
• Actual values of the digital and analog I/O signals of the NCK
• Ready and status signals of the NCK
Also output in this group are the HMI handwheel selection signals and the status signals.
The signals for handwheel selection are decoded by the basic program and entered in the
machine-/axisspecific interface.

Digital/analog inputs/outputs of the NCK

The following must be noted with respect to the digital and analog inputs and outputs of the
NCK:
Inputs:
• All input signals or input values of the NCK are also transferred to the PLC.
• The transfer of signals to the NC parts program can be suppressed by the PLC. Instead,
a signal or value can be specified by the PLC.
• The PLC can also transfer a signal or value to the NCK even if there is no hardware for
this channel on the NCK side.
Outputs:
• All signals or values to be output are also transferred to the PLC.
• The NCK can also transfer signals or values to the PLC even if there is no hardware for
this channel on the NCK side.
• The values transferred by the NCK can be overwritten by the PLC.
• Signals and values from the PLC can also be output directly via the NCK I/O devices.

Note
When implementing digital and analog NCK I/Os, you must observe the information in the
following references:
References:
/FB2/Function Manual, Extended Functions;
Digital and Analog NCK I/Os (A4)

Signals PLC/Mode group

The operating mode signals set by the machine control panel or the HMI are transferred to
the operating mode group (BAG) of the NCK. On the 840D, these are valid for all NCK
channels. On 840D systems, several mode groups can optionally be defined in the NCK.
The mode group reports its current status to the PLC.

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2-24 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.6 Interface structure

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Signals PLC/NCK channels

The signal groups below must be considered on the interface:
• Control/status signals
• Auxiliary/G functions
• Tool management signals
• NCK functions
The control/status functions are transmitted cyclically at the start of OB1. The signals
entered in the channelspecific interface by the HMI (HMI signals are entered by the PLC
operating system) are also transferred at this time if they have been defined on the HMI
operator panel front, not on the MCP.
Auxiliary functions and G functions are entered in the interface data blocks in two ways.
First, they are entered with the change signals.
• M signalsM00 - M99 (they are transferred from the NCK with extended address 0) are also
decoded and the associated interface bits set for the duration of one cycle.

• For G functions, only the groups selected via machine data are entered in the interface
data block.
• S values are also entered together with the related M signals (M03, M04, M05) in the
spindlespecific interface. The axisspecific feedrates are also entered in the appropriate
axisspecific interface.
When the tool management (magazine management) function is activated in the NCK, the
assignment of spindle or revolver and the loading/unloading points are entered in separate
interface DBs (DB71-73)

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Detailed description
2.6 Interface structure

The triggering and parameter assignment of NCK functions is performed by means of PLC
function calls.
The following function calls are available, for example:
• Position a linear axis or rotary axis
• Position an indexing axis
• Start a prepared asynchronous subprogram (ASUB)
• Read/write NC variables
• Update magazine and tool movement
Some of the above functions are described in their own function documentation.

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 Detailed description
2.6 Interface structure

PLC/axis, spindle, drive signals

The axis-specific and spindle-specific signals are divided into the following groups:
• Shared axis/spindle signals
• Axis signals
• Spindle signals
• Drive signals
The signals are transmitted cyclically at the start of OB 1 with the following exceptions:
Exceptions include:
• Axial F value
• M value and
• S value
An axial F value is entered via the M, S, F distributor of the basic program if it is transferred
to the PLC during the NC machining process.
The M and S value are also entered via the M, S, F distributor of the basic program if one or
both values requires processing.

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Figure 2-8 Interface between PLC and axes/spindles/drives

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Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-27
Detailed description
2.6 Interface structure

2.6.2 Interface PLC/HMI

General
The following groups of functions are required for the PLC/HMI interface:
• Control signals
• Machine operation
• PLC messages
• PLC status display

Control signals
Some control signals are signal inputs, for example, via the machine control panel, which
have to be taken into account by the HMI. This group of signals includes, for example,
display actual values in MCS or WCS, key disable, etc. These are exchanged with the HMI
via a separate interface data block (DB19).

Machine operation
All operator inputs, which lead to response actions on the machine, are monitored by the
PLC. Operator actions are usually performed on the machine control panel (MCP). However,
it is also possible to perform some operator actions on the HMI (e.g. mode selection).
The PLC operating system enters the operating signals sent by the HMI directly into the
interface data blocks. As standard, the basic program routes these operating signals in such
a way that, provided equivalent operator actions are available, these can be performed either
on the HMI or on the MCP. If required, the user can switch off operation via HMI via an FB1
parameter "MMCToIF".

PLC messages
The signaling functions are based on the system diagnostic functions integrated in the
operating system of the AS 300. These have the following characteristics:
• The PLC operating system enters all important system states and state transitions in a
diagnostics status list. Communication events and I/O module diagnostics data (for
modules with diagnostic functions) are also entered.
• Diagnostics events, which lead to a system stop, are also entered with a time stamp in a
diagnostic buffer (circular buffer) in the chronological order of their occurrence.
• The events entered in the diagnostic buffer are automatically transmitted to
human machine interface systems (OP or MMC) via the bus systems once these have
issued a ready signal (message service). Transfer to the node ready is a function of the
PLC operating system. Receipt and interpretation of the messages is executed by the
HMI software.
• The PLC user program can also use SFCs (System Function Calls) to enter messages in
the diagnostic buffer or ALARM S/ALARM SQ buffer.
• The events are entered in the interrupt buffer.
The associated message texts must be stored on the OP or HMI.

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 Detailed description
2.6 Interface structure

An FC (FC 10) for message acquisition is prepared in conjunction with the basic program.
This FC records events, subdivides them into signal groups and reports them to the HMI via
the interrupt buffer.
The message acquisition structure is shown in the figure "Acquisition and signaling of PLC
events".
The features include:
• Bit fields for events related to the VDI interface are combined in a single data block (DB2)
with bit fields for user messages.
• Bit fields are evaluated at several levels by FC10.
– Evaluation 1; Acquisition of group signals
A group signal is generated for each group of signals if at least one bit signal is set to
"1". This signal is generally linked to the disable signal of the VDI interface (on
modules with diagnostic functions). The group signals are acquired completely in
cycles.
– Evaluation 2; Acquisition of interrupt messages
A fixed specification exists to define which signals in a group generate an interrupt
message when they change from "0" to "1".
– Evaluation 3; Acquisition of operating signals
A fixed specification exists to define which signals in a group generate an operational
message.
• The scope of the user bit fields (user area) is set by default to 10 areas with 8 bytes each,
but the number of areas can also be adjusted to suit the requirements of the machine
manufacturer via basic program parameters in FB 1.

Acknowledgment concept
The following acknowledgment procedures are implemented for error and operational
messages:
Operating messages are intended for the display of normal operating states as information
for the user. Acknowledgment signals are, therefore, not required for this type of message.
An entry is made in the diagnostic status list for incoming and outgoing messages. The HMI
maintains an uptodate log of existing operating messages using the identifiers "operating
message arrived" and "operating message gone".
Interrupt messages are used to display error states on the machine, which will usually lead
to the machine being stopped. Where several errors occur in rapid succession, it is important
to be able to distinguish their order of occurrence for troubleshooting purposes. This is
indicated, on the one hand, by the order in which they are entered in the diagnostic buffer
and on the other, by the time stamp, which is assigned to every entry.
If the cause of the error disappears, the associated interrupt message is only deleted if the
user has acknowledged it (e.g. by pressing a key on the MCP). In response to this signal, the
"Message acquisition" FC examines which of the reported errors have disappeared and
enters these in the diagnostic buffer with the entry "Interrupt gone". This enables the HMI to
also maintain an uptodate log of pending interrupt messages. The time of day indicating the
time at which the error occurred is maintained for messages, which are still pending (in
contrast to a received interrogation).

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Detailed description
2.6 Interface structure

Step 7
A tool can be started in the Simatic Manager via menu item Target system > CPU
messages. Alarms and messages can be displayed by number using this tool. To do this,
acivate the "Alarm" tab and enter a check mark under "A" in the upper half of the screen.

User program
The user PLC program merely needs to call the basic program block FC 10 with appropriate
parameter settings in the cyclic program section and set or reset the bit fields in DB2. All
further necessary measures are implemented by the basic program and HMI.

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 Detailed description
2.6 Interface structure

2.6.3 PLC/MCP/HHU interface

General
There are three different connection options for the machine control panel (MCP) and the
handheld unit (HHU). This is in part due to the history of the MCP and HHU. This description
focuses primarily on the connection of the Ethernet components.
On SINUMERIK 840 D, the machine control panel (MCP) or HT8 (MCP) and handheld unit
HT1, HT2 (HHU) are connected via the Ethernet bus, which also links the TCU to the NCU.
The advantage of this is that only one bus cable is required to connect the control unit.

840D topology
On the 840 D, the machine control panel and the handheld unit are connected to the CP
840D sl Ethernet bus (Fig. 9). Where the connection of further keys and displays is required
for customized operator panels, an additional keyboard interface (machine control panel
without operating unit) can be used. For each keyboard interface, 64 pushbuttons, switches,
etc. and 64 display elements can be connected via ribbon cable.
The signals sent from the MCP are copied to the PLC's DPR (Dual Port RAM) by the
integrated Ethernet CP-840D sl. The basic program of the PLC enters the incoming signals
in the input image configured on FB1. NCKrelevant signals are usually distributed by the
basic program to the VDI interface. If required, the signals can be modified by the user.
The signals from the PLC to the MCP (displays) are transferred in the opposite direction.

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Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-31
Detailed description
2.6 Interface structure

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840Di topology
On the 840 Di, the machine control panel and handheld unit are connected to the PLC's MPI
(MultiPoint Interface) or Profibus. The PLC operating system copies the incoming signals
straight to the user interface (e.g., input image) at the cycle control point. As on the 840 D,
transfer to the VDI interface is performed by the user program or by standard blocks of the
basic program (e.g. FC19).

Bus addresses
On Ethernet components, MAC and IP addresses or logic names are determining factors in
respect of communication. The control system's system programs convert logic names into
MAC or IP addresses. On the PLC, the numeric component of the logic name is used for
communication. This numeric part is assigned to FB1 parameter MCPxBusAdr by the user.
The logical name of an MCP or HHU always begins with "DIP". This is followed by a number
corresponding to the switch position of the MCP component (e.g. DIP 192, DIP 17).

MCP interface in the PLC

The signals from the machine control panel are routed by default via the I/O interface to the
PLC area. A distinction must be made between NC and machinespecific signals. NC-specific
key signals are distributed to the relevant mode-group-, NCK-, axis- and spindle-specific
interface by FC19 (or FC24, FC25, FC26, depending on the type of MCP) by default.

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 Detailed description
2.7 Structure and functions of the basic program

The reverse applies to the associated status signals, which are routed to the MCP interface.
For this purpose, FC 19 or the other blocks mentioned above must be called in the user
program.
Customized keys, which can be used to trigger a wide range of machine functions, must be
evaluated directly by the user program. The user program also routes the status signals to
the output area for the LEDs.

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2.7 Structure and functions of the basic program

General
The program is modular in design, i.e., it is structured according to NCK functions.
In the operating system, a distinction is made between the following levels of execution:
• Startup and synchronization (OB 100)
• Cyclic mode (OB 1)
• Process interrupt handling (OB 40)
• Diagnostic interrupt, module failure (OB82, OB86)
Each section of the basic program - as illustrated in the figure below - must be called by the
user in OBs 1, 40 and 100.

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Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-33
Detailed description
2.7 Structure and functions of the basic program

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 Detailed description
2.7 Structure and functions of the basic program

2.7.1 Startup and synchronization of NCK PLC

Loading the basic program

The basic program must be loaded with the S7 tool when the PLC is in the Stop state. This
ensures that all blocks in the basic program will be initiated correctly the next time they are
called. An undefined state may otherwise develop on the PLC (e.g., all PLC LEDs flashing).

Startup,
The synchronization of NCK and PLC is performed during startup. The system and user data
blocks are checked for integrity and the most important basic program parameters are
verified for plausibility. In the event of an error, the basic program outputs an error identifier
to the diagnostic buffer and switches the PLC to STOP.
A warm restart is not provided, i.e., following system initialization, the operating system runs
organization block OB 100 and always commences cyclic execution at the start of OB 1.

Synchronization
The PLC is synchronized with the HMI and NCK and CP during powerup.

Sign-of-life
After a correct initial start and the first complete OB1 cycle (initial setting cycle) the PLC and
NCK continuously exchange sign of life signals. If the signoflife signal from the NCK fails to
arrive, the PLC/NCK interface is neutralized and the signal "NCK CPU ready" in DB 10 is set
to zero.

2.7.2 Cyclic operation (OB1)

General
The NCK PLC interface is processed completely in cyclic mode. From a chronological
viewpoint, the basic program runs ahead of the user program. In order to minimize the
execution time of the basic program, only the control/status signals are transmitted cyclically;
transfer of the auxiliary functions and G functions only takes place on request.
The following functions are performed in the cyclic part of the basic program:
• Transmission of the control/status signals
• Distribution of the auxiliary functions
• M decoding (M00 - M99),
• M, S, F distribution
• Transmission of the MCP signals via the NCK (on the 840D only)
• Acquisition and conditioning of the user errors and operating messages.

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Control/Status signals
A shared feature of the control and status signals is that they are bit fields. The basic
program updates them at the start of OB1.
The signals can be subdivided into the following groups:
• General signals
• Mode-groupspecific signals such as operating modes
• Channelspecific signals such as program and feed modifications
• Axis- and spindlespecific signals such as feed disable

Auxiliary and G functions

The auxiliary and G functions have the following characteristics:
• Transfer to the PLC is blocksynchronous (referred to a parts program block)
• Transfer is acknowledgedriven.
• The acknowledgment times have an immediate effect on the execution time of NC blocks
containing auxiliary functions requiring acknowledgment.
The value range is presented in the table below:

Function Structure Value range Data type

1. Value 2. Value 1. Value 2. Value 1. Value 2. Value
G function G function 2551) Byte
M word M group M word 99 99,999,999 Word DWord
S word Spindle no. S word 6 Floating Word DWord
point2)
T word Magazine T word 99 65535 Word Word
no.
D word - D word 99 255 Byte Byte
H word H group H word 99 Floating Word DWord
point
F word Axis No. F word 18 Floating Word DWord
point
1) relative number, transferred for each G group
2) corresponding STEP7 format (24-bit mantissa, 8-bit exponent)
The M, S, T, H, D and F values sent by the NCK are output together with the accompanying
change signals to the CHANNEL DB interface via the auxiliary/G functions (see
documentation "Lists of SINUMERIK 840D sl"). The function value and the extended
address are transferred to the appropriate data word. The accompanying modification signal
is activated to 1 for one PLC cycle. When the modification signal is reset, the
acknowledgment is passed to the NCK. The acknowledgment of highspeed auxiliary
functions is given by the basic program immediately the basic program detects the auxiliary
function.
In addition to distribution of the auxiliary and G functions, selected signals are processed as
described below.

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M decoder
M functions can be used to transfer both switching commands and fixed point values.
Decoded dynamic signals are output to the CHANNEL DB interface for standard M functions
(range M00 - M99); signal length = 1 cycle time.

G group decoders
In the case of G functions sent by the NCK, the related groups are decoded and the current
G number is entered in the corresponding interface byte of the CHANNEL DB, i.e., all active
G functions are entered in the channel DBs. The entered G functions are retained even after
the NC program has terminated or aborted.

Note
During system startup, all G group bytes are initialized with the value "0".

M, S, F distributor
The M, S, F, distributor is used to enter spindlespecific M words M(1...6)=[3,4,5], S words
and F words for axial feeds in the appropriate spindle and axis data blocks. The criterion for
distribution is the extended address, which is passed to the PLC for M words, S words and
axial F words.

MCP signal transmission

On the 840 D, depending on the bus connection, MCP signals are transmitted to the
parameterized I/O areas either directly to the PLC or indirectly via an internal procedure
using the basic program.

User messages
The acquisition and processing of the user error and operational messages is performed by
an FC in the basic program.

2.7.3 Time-interrupt processing (OB 35)

General
The user must program OB 35 for time-interrupt processing. The default time base setting of
OB 35 is 100 ms. A different time base can be selected using the STEP7 "HW Config" tools.
However, the OB 35 time setting must be at least 3 ms in order to avoid a PLC CPU stop.
The stop is caused by reading of the HMI system state list during powerup of the HMI. This
reading process blocks priority class control for approx. 2 ms. The OB 35 with a time base
set to a rather lower value is then no longer processed correctly.

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2.7.4 Process-interrupt processing (OB 40)

General
A process interrupt OB 40 (interrupt) can, for example, be triggered by appropriately
configured I/Os or by certain NC functions. Due to the different origin of the interrupt, the
PLC user program must first interpret the cause of the interrupt in OB 40. The cause of the
interrupt is contained in the local data of OB 40.
(For more information please also refer to the SIMATIC STEP7 description or the STEP7
online help).

2.7.5 Diagnostic interrupt, module failure processing (OB 82, OB 86)

General
A module diagnosis or module failure on an I/O module triggers OB 82 / OB 86. These
blocks are supplied by the basic program. The basic program block FC5 is called in these
OBs. This is wired by default to trigger a PLC stop in the event of an error being detected. If
the cause of the error is removed, a PLC stop will not be triggered. A PLC stop does not
occur on the PROFIBUS MCPs indicated in the FB1 parameters. The response can be
changed by modifying the FC5 parameter setting.

2.7.6 Response to NCK failure

General
During cyclic operation, the PLC basic program continuously monitors NCK availability by
polling the signoflife character. If the NCK is no longer reacting, then the NCK PLC interface
is neutralized and IS NCK CPU ready in signals from NC group (DB 10.DBX 104.7) is reset.
The signals sent by the NCK to the PLC are initialized with default settings.
The PLC itself remains active so that it can continue to control machine functions. However,
it remains the responsibility of the user program to set the machine to a safe state.

NCK -> PLC signals

The signals sent by the NCK to the PLC are divided into the following groups:
• Status signals from the NCK, channels, axes and spindles
• Modification signals of the auxiliary functions
• Values of the auxiliary functions
• Values of the G functions
Status signals:
The status signals from the NCK, channels, axes, and spindles are reset.

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Auxiliary-function modification signals:

Auxiliary-function modification signals are also reset.
Auxiliary-function values:
Auxiliary-function values are retained so that it is possible to trace the last functions triggered
by the NCK.
G-function values:
G function values are reset (i.e. initialized with the value 0).

PLC -> NCK signals

The signals sent by the PLC to the NCK are divided into control signals and tasks that are
transferred by FCs to the NCK.
Control signals:
The control signals from the PLC to the NCK are frozen; cyclic updating by the basic
program is suspended.
Jobs from PLC to NCK:
The FCs and FBs, which are used to pass jobs to the NCK, must no longer be processed by
the PLC user program, as this could lead to incorrect checkback signals. During powerup of
the control, a job
(e.g. read NCK data) must not be activated in the user program until the NCK CPU ready
signal is set.

2.7.7 Functions of the basic program called from the user program

General
In addition to the modules of the basic program, which are called at the start of OBs 1, 40
and 100, functions are also provided, which have to be called and supplied with parameters
at a suitable point in the user program.
These functions can be used, for example, to pass the following jobs from the PLC to the
NCK:
• Traversing concurrent axes (FC 18)
• Start asynchronous subprograms (ASUBs) (FC 9),
• Selecting NC programs (FB 4)
• Control of spindle (FC 18),
• Read/write variables (FB 2, FB 3).

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2.7 Structure and functions of the basic program

Note
The following note will later help you to check and diagnose a function call (FCs, FBs of
basic program). These are FCs and FBs, which are controlled by a trigger signal (e.g., via
parameter Req, Start, etc.), and which supply an execution acknowledgment as an output
parameter (e.g., via parameter Done, NDR, Error, etc.). A variable compiled of other
signals, which produce the trigger for the function call should be set. Start conditions may
be reset only as a function of the states of parameters Done, NDR and Error.
This control mechanism may be positioned in front of or behind the function call. If the
mechanism is placed after the call, the output variables can be defined as local variables
(advantage: Reduction of global variables, flags, data variables and timerelated
advantages over data variables).
The trigger parameter must be a global variable (e.g., flag, data variable).
In OB 100, jobs still activated by the user program (Parameter Req,
Start, etc.:= TRUE) must be set to zero at the named parameters. A POWER OFF/ON
could result in a state in which jobs are still active.

Concurrent axes
The distinguishing features of concurrent axes are as follows:
• They can be traversed either from the PLC or from the NC.
• They can be started from a function call on the PLC in all operating modes.
• The start is independent of NC block boundaries.
Function calls are available for positioning, indexing axes and spindles (FC 18).

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2.7 Structure and functions of the basic program

ASUBs
Asynchronous subprograms (ASUBs) can be used to activate any function in the NCK.
Before an asynchronous subprogram can be started from the PLC, it must be ensured that it
is available and prepared by the NC program or by FB 4 PI services (ASUB).
Once prepared in this way, it can be started at any time from the PLC. The NC program
running in one of the parameterized channels of FC 9 is interrupted by the asynchronous
subprogram. An ASUB is started by calling FC 9 from the user program by setting the start
parameter to 1.

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Note
If an asynchronous subprogram has not been prepared by an NC program or by FB 4
(ASUB) (e.g. if no interrupt no. has been assigned), a start error is output (StartErr = TRUE).

Read/Write NC variables
NCK variables can be read with FB GET while values can be entered in NCK variables with
FB PUT. The NCK variables are addressed via identifiers at inputs Addr1 to Addr8. The
identifiers (symbols) point to address data, which must be stored in a global DB. To allow
generation of this DB, PC software is supplied with the basic program with which the
required variables can be selected from a table, which is also supplied. The selected
variables are first collected in a second, projectrelated list. Command Generate DB creates a
*.AWL file, which must be linked to the program file for the machine concerned and compiled
together with the machine program.
1 to 8 values can be read or written with a read or write job. If necessary, the values are
converted (e.g., NCK floating point values (64 bits) are converted to PLC format (32 bits with
24-bit mantissa and 8bit exponent) and vice versa). A loss of accuracy results from the
conversion from 64 bits to 32bit REAL. The maximum precision of 32bit REAL numbers is
approximately 10 to the power of 7.

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2.7 Structure and functions of the basic program

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2.7.8 Symbolic programming of user program with interface DB

General

Note
The basic program library on the CD supplied with the Toolbox for the 840D contains files
NST_UDTB.AWL and TM_UDTB.AWL.

The compiled UDT blocks from these two files are stored in the CPU program of the basic
program.
A UDT is a data type defined by the user that can, for example, be assigned to a data block
generated in the CPU.
Symbolic names of virtually all the interface signals are defined in these UDT blocks.
The UDT numbers 2, 10, 11, 19, 21, 31, 71, 72, 73 are used.
The assignments have been made as follows:

UDT assignments
UDT Assignment to interface DB Meaning
number
UDT 2 DB 2 Interrupts/Messages
UDT 10 DB 10 NCK signals
UDT 11 DB 11 Mode group signals
UDT 19 DB 19 HMI signals
UDT 21 DB 21 to DB 30 Channel signal
UDT 31 DB 31 to DB 61 Axis/spindle signals
UDT 71 DB71 Tool management: Load/unload locations

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UDT assignments
UDT Assignment to interface DB Meaning
number
UDT 72 DB 72 Tool management: Change in spindle
UDT 73 DB 73 Tool management: Change in revolver
UDT77 DB 77 MCP and HHU signals with standard SDB 210
To symbolically program the interface signals, the interface data blocks must first be
symbolically assigned using the symbol editor.
For example, symbol "AxisX" is assigned to operand DB31 with data type UDT 31 in the
symbol file.
After this input, the STEP7 program can be programmed in symbols for this interface.

Note
Programs generated with an earlier software version that utilize the interface DBs described
above can also be converted into symbol programs. To do so, however, a fully qualified
instruction is needed for data access in the earlier program (e.g., "U DB31.DBX 60.0" - this
command is converted to "AxisX.E_SpKA" when the symbols function is activated in the
editor).

Description
Abbreviated symbolic names of the interface signals are defined in the two STL files
NST_UDTB.AWL and TM_UDTB.AWL.
In order to create the reference to the names of the interface signals, the name is included in
the comment after each signal. The names are based on the English language. The
comments are in English.
The symbolic names, commands and absolute addresses can be viewed by means of a
STEP7 editor command when the UDT block is opened.

Note
Unused bits and bytes are listed, for example, with the designation "f56_3".
"56": Byte address of the relevant data block
"3": Bit number in this byte

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2.7 Structure and functions of the basic program

2.7.9 M decoding acc. to list

Description of functions
When the M decoding according to list function is activated via the GP parameter of
FB1 "ListMDecGrp" (number of M groups for decoding), up to 256 M functions with extended
address can be decoded by the basic program.
The assignment between the M function with extended address and the bit to be set in the
signal list is defined in the decoding list. The signals are grouped for this purpose.
The signal list contains 16 groups with 16 bits each as decoded signals.
There is only one decoding list and one signal list, i.e., this is a crosschannel function.
The M functions are decoded. Once they are entered in the decoding list, then the
associated bit in the signal list is set.
When the bit is set in the signal list, the readin disable in the associated NCK channel is set
simultaneously by the basic program.
The readin disable in the channel is reset once the user has reset all the bits output by this
channel and thus acknowledged them.
The output of an M function decoded in the list as a highspeed auxiliary function does not
result in a readin disable.
The figure below shows the structure of the M decoding according to list:

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2.7 Structure and functions of the basic program

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Activation of the function

The number of evaluating/decoding groups is indicated in the basic program parameter
"ListMDecGrp" when FB1 is called in OB 100 (see also FB1 description). M decoding is
activated if this value is between 1 and 16. Before the function is activated, the decoding list
DB75 must be transferred to the PLC followed by a restart.

Structure of decoding list

The source file for the decoding list (MDECLIST.AWL) is supplied with the basic program.
DB 75 is created when the STL source is compiled.
There must be an entry in decoding list DB 75 for every group of M functions to be decoded.
A maximum of 16 groups can be created.
16 bits are available in each group in the list of decoded signals.
The assignment between the M function with extended address and the bit to be set in the
signal list is specified via the first and last M functions in the decoding list.

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The bit address is generated correspondingly from the first M function ("MFirstAdr") to the
last M function ("MLastAdr") from bit 0 up to maximum bit 15 for each group.
Each entry in the decoding lists consists of 3 parameters, each of which is assigned to a
group.

Assignment of groups
Group Extended First M address in group Last M address in group
M address
1 MSigGrp[1].MExtAdr MSigGrp[1].MFirstAdr MSigGrp[1].MLastAdr
2 MSigGrp[2].MExtAdr MSigGrp[2].MFirstAdr MSigGrp[2].MLastAdr
... ... ... ...
16 MSigGrp[16].MExtAdr MSigGrp[16].MFirstAdr MSigGrp[16].MLastAdr

Type and value range for signals

Signal Type Value range Remarks
MExtAdr Int 0 to 99 Extended M address
MFirstAdr DInt 0 to 99,999,999 First M address in group
MLastAdr Dint 0 to 99,999,999 Last M address in group

Signal list
Data block DB 76 is set up when the function is activated.
A bit is set in the appropriate group in DB 76 for an M signal decoded in the list.
At the same time, a readin disable is set in the channel in which the M function has been
output.

Example
Three groups of M commands are to be decoded in the following example:
• · M2 = 1 to M2 = 5
• · M3 = 12 to M3 = 23
• · M40 = 55
Structure of the decoding list in DB 75:

Example parameters
Group Decoding list (DB 75) Signal list
Extended First Last DB 76
M address M address M address
in group in group
1 2 1 5 DBX0.0 to DBX0.4
2 3 12 23 DBX2.0 to DBX3.3
3 40 55 55 DBX4.0

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DATA_BLOCK DB 75
TITLE =
VERSION: 0.0
STRUCT
MSigGrp : ARRAY [1 .. 16 ] OF STRUCT
MExtAdr : INT ;
MFirstAdr : DINT;
MLastAdr : DINT;
END_STRUCT;
END_STRUCT;
BEGIN
MSigGrp[1].MExtAdr := 2;
MSigGrp[1].MFirstAdr L#1;
:=
MSigGrp[1].MLastAdr L#5;
:=
MSigGrp[2].MExtAdr := 3;
MSigGrp[2].MFirstAdr L#12;
:=
MSigGrp[2].MLastAdr L#23;
:=
MSigGrp[3].MExtAdr := 40;
MSigGrp[3].MFirstAdr L#55;
:=
MSigGrp[3].MLastAdr L#55;
:=
END_DATA_BLOCK

Structure of FB1 in OB 100

(enter the number of M groups to be decoded in order to activate the function):

Call FB 1, DB 7(
...
ListMDecGrp := 3,// M decoding of three groups
....
);

The appending of the entry in OB 100 and transfer of DB75 (decoding list) to the PLC must
be followed by a restart. During the restart, the basic program sets up DB76 (signal list).
If the NC program is started at this point and the expanded M function (e.g., M3=17) is
processed by the NCK, this M function will be decoded and bit 2.5 set in DB76 (see
decoding list DB75). At the same time, the basic program sets the read-in disable and the
processing of the NC program is halted (and the "expanded address M function" and "M
function no." are not entered in the associated NC channel DB).
The readin disable in the channel is reset once the user has reset and, therefore,
acknowledged, all the bits output by this channel in the signal list (DB76).

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2.7.10 PLC machine data

General
The user has the option of storing PLCspecific machine data in the NCK. These machine
data can then be processed during power-up of the PLC (OB 100). This enables, for
example, user options, machine expansion levels, machine configurations, etc., to be
implemented.
The interface to read these data is stored in the DB 20. However, DB20 is set up by the
basic program during powerup only when user machine data are used, i.e., sum of BP
parameters UDInt, UDHex and UDReal is greater than zero.
The size of the individual ranges and, therefore, the total length of DB 20,
is set using PLC machine data
MD14504 MAXNUM_USER_DATA_INT,
MD14506 MAXNUM_USER_DATA_HEX,
MD14508 MAXNUM_USER_DATA_FLOAT
and specified for the user in BP parameters
UDInt, UDHex and UDReal
.
The basic program stores the data in DB 20 in the following order:
Integer MD, Hex field MD, Real MD.
The integer and real values are stored in DB 20 in S7 format.
Hexadecimal data are stored in DB20 in the order in which they are input (use as bit fields).

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Figure 2-15 DB 20

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Note
If the number of PLC machine data used is increased later, then DB20 must be deleted
beforehand. To prevent such extensions in use having any effect on the existing user
program, the data in DB20 should be accessed in symbolic form wherever possible, e.g., by
means of a structure definition in the UDT.

Interrupts
400120 Delete DB 20 in PLC and restart
Explanation DB length is not the same as the required DB length
Reaction Interrupt display and PLC STOP
Remedy Delete DB 20 followed by Reset
Continuation After cold restart

Example
The project in the example requires 4 integer values, 2 hexadecimal fields with bit
information and 1 real value.
Machine data:

MD14510 USER_DATA_INT[0] 123

MD14510 USER_DATA_INT[1] 456
MD14510 USER_DATA_INT[2] 789
MD14510 USER_DATA_INT[3] 1011
...
MD14512 USER_DATA_HEX[0] 12
MD14512 USER_DATA_HEX[1] AC
...
MD14514 USER_DATA_FLOAT[0] 123.456
BP parameters (OB 100):
Call fb 1, db 7(
MCPNum := 1,
MCP1In := P#E0.0,
MCP1Out := P#A0.0,
MCP1StatSend := P#A8.0,
MCP1StatRec := P#A12.0,
MCP1BusAdr := 6,
MCP1Timeout := S5T#700MS,
MCP1Cycl := S5T#200MS,
NCCyclTimeout := S5T#200MS,
NCRunupTimeout S5T#50S;
:=

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BP parameters (to scan runtime):

l gp_par.UDInt; //=4,
l gp_par.UDHex; //=2,
l gp_par.UDReal; //=1 )

During PLC power-up, DB20 was generated with a length of 28 bytes:

DB 20

DB 20
Address data
0.0 123
2.0 456
4.0 789
6.0 1011
8.0 b#16#12
9.0 b#16#AC
10.0 1.234560e+02
The structure of the machine data used is specified in a UDT:

TYPE UDT 20
STRUCT
UDInt : ARRAY [0 .. 3 ] OF INT ;
UDHex0 : ARRAY [0 .. 15 ] OF BOOL ;
UDReal : ARRAY [0 .. 0 ] OF REAL //Description as field, for
; // later expansions
END_STRUCT;
END_TYPE

Note
ARRAY OF BOOL are always sent to even-numbered addresses. For this reason, an array
range of 0 to 15 must generally be selected in the UDT definition or all Boolean variables
specified individually.

Although only a REAL value is used initially in the example, a field (with one element) has
been created for the variable. This ensures that extensions can be made easily in the future
without the symbolic address being modified.
An entry is made in the symbol table to allow data access in symbolic form:

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Interrupts

Symbol Operand Data type

UData DB 20 UDT 20
Access operations in user program (list includes only symbolic read access):

...
L "UData".UDInt[0];
L "UData".UDInt[1];
L "UData".UDInt[2];
L "UData".UDInt[3];

U "UData".UDHex0[0];
U "UData".UDHex0[1];
U "UData".UDHex0[2];
U "UData".UDHex0[3];
U "UData".UDHex0[4];
U "UData".UDHex0[5];
U "UData".UDHex0[6];
U "UData".UDHex0[7];
... ...
U "UData".UDHex0[15];

L "UData".UDReal[0];
...

2.7.11 Configuring machine control panel, handheld unit

General
Up to two machine control panels and one handheld unit can be in operation at the same
time. There are various connection options (Ethernet, Profibus, MPI) for the machine control
panel or HT8 (MCP) and handheld unit HT2, HT1 (HHU). It is possible to connect two MCPs
to different bus systems (mixed operation is only possible on Ethernet and Profibus). This
can be achieved using FB1 parameter MCPBusType. In this parameter, the right-hand
decade is responsible for the first MCP and the left-hand decade for the second MCP.

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Detailed description
2.7 Structure and functions of the basic program

The components are parameterized by calling basic-program block FB 1 in OB 100. FB 1

stores its parameters in the associated instance DB (DB 7, symbolic name "gp_par").
Separate parameter sets are provided for each machine control panel and the handheld unit.
The input/output addresses of the user must be defined in these parameter sets. These input
and output addresses are also used in FC 19, FC 24, FC 25, FC 26 and FC 13. Addresses
for status information, MPI, Profibus/Ethernet (a GD parameter set must be set for the MPI
variant of the handheld unit rather than an MPI address) must also be defined. The default
time settings for timeout and cyclic forced retriggering should not be changed. Please refer
to the Operator Components manual for further information on MCPs and handheld unit
components.

Activation
Each component is activated either via the number of machine control panels (MCPNum
parameter) or, in the case of the handheld unit, via the HHU parameter. The MCP and HHU
connection settings are entered in FB1 parameters MCPMPI, MCPBusType or BHG,
BHGMPI.

Handheld unit (MPI)

The handheld unit addresses the MPI by means of a GD parameter set. These parameter
values must be assigned according to the handheld unit settings. However, the parameter
names on the handheld unit are the reverse of the parameter names in the basic program. In
the basic program, all *Send type parameters must be defined by the handheld unit as *Rec
type (and *Rec as *Send).

Configuring
Essentially, there are various communication mechanisms for transferring data between the
MCP/HHU and PLC. These mechanisms are characterized by the bus connection of the
MCP and HHU. In one case (Ethernet), data is transported via the CP840D. The mechanism
is parameterized completely via the MCP/HHU parameters in FB1.
In the second case, data are transferred via the PLC operating system by means of the
evaluation of SDB210 (global data) or via the Profibus configuration.
The mechanism is parameterized via STEP7->Global Data or in HW Config. To allow the
basic program to access these data and implement MCP/HHU failure monitoring, the
addresses set via SDB210 (global data) must be declared in the FB1 parameters in the basic
program.
An overview of the various coupling mechanisms appears below. Mixed operation can also
be configured. If an error is detected due to a timeout monitor, an entry is made in the alarm
buffer of the PLC CPU (interrupts 400260 to 400262). In this case, the input signals from the
MCP or from the handheld unit (MCP1In/MCP2In or BHGIn) are initialized with 0. If it is
possible to resynchronize the PLC and MCP/HHU, communication is resumed automatically
and the error message reset by the GP.

Note
In the following tables, "(n.r.)" indicates "not relevant".

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2.7 Structure and functions of the basic program

840D: Ethernet connection

Without further configuration settings being made, communication takes place directly from
the PLC GP via the CP 840D sl. The FB1 parameters listed below are used for
parameterization. The numeric part of the logical name of the component must be entered in
MCP1 BusAdr, MCP2 BusAdr or BHGRecGDNo (bus address of node). The logical name is
defined via switches on the MCP or terminal box.

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Figure 2-16 840D: Ethernet connection

Relevant parameters (FB1)

MCP HHU
MCPNum=1 or 2 (number of MCPs) HHU = 5 (via CP 840D sl)
MCP1In MCP2In BHGIn
MCP1Out MCP2Out BHGOut
MCP1StatSend MCP2StatSend BHGStatSend
MCP1StatRec MCP2StatRec BHGStatRec
MCP1BusAdr MCP2BusAdr BHGInLen (n.r.)
MCP1Timeout MCP2Timeout BHGOutLen (n.r.)
MCP1Cycl MCP2Cycl BHGTimeout (n.r.)
MCPMPI = FALSE BHGCycl (n.r.)
MCP1Stop MCP2Stop BHGRecGDNo
MCP1 NotSend MCP2 NotSend BHGRecGBZNo (n.r.)
BHGRecObjNo (n.r.)
MCPBusType = b#16#55 (via CP 840D sl) BHGSendGDNo (n.r.)
BHGSendGBZNo (n.r.)
MCPSDB210= FALSE BHGSendObjNo (n.r.)
MCPCopyDB77 = FALSE BHGMPI = FALSE
BHGStop
BHG NotSend

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Detailed description
2.7 Structure and functions of the basic program

A fault entry is generated in the alarm buffer of the PLC in the case of timeouts. This causes
the following error messages to be displayed on the HMI:
• 400260: MCP 1 failure
or
• 400261: MCP 2 failure
• 400262: HHU failure
An MCP or HHU failure is detected immediately after a cold restart even if no data have yet
been exchanged between the MCP/HHU and PLC.
The monitoring function is activated as soon as all components have signaled "Ready" after
powerup.
840D: Profibus connection
With an MCP Profibus connection, these components must be considered in the STEP 7
hardware configuration. The MCP may only be interfaced with the standard DP bus on the
PLC (not on MPI/DP). The addresses must be stored in the input and output log range.
These start addresses must also be stored in the pointer parameters of the FB1. The FB1
parameters listed below are used for further parameterization.
There is no Profibus variant of the HHU. For this reason, an Ethernet connection is shown
for the HHU in this figure. The Profibus slave address must be stored in MCP1BusAdr and
MCP2BusAdr. Enter the pointer to the configured diagnostic address (e.g., P#A8190.0) in
MCPxStatRec.

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Figure 2-17 Profibus connection

Relevant parameters (FB1)

MCP HHU
MCPNum = 1 or 2 (number of MCPs) HHU = 5 (via CP 840D sl)
MCP1In MCP2In BHGIn
MCP1Out MCP2Out BHGOut
MCP1StatSend (n.r.) MCP2StatSend (n.r.) BHGStatSend

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2.7 Structure and functions of the basic program

Relevant parameters (FB1)

MCP HHU
MCP1StatRec MCP2StatRec BHGStatRec
MCP1BusAdr MCP2BusAdr BHGInLen
MCP1Timeout MCP2Timeout BHGOutLen
MCP1Cycl (n.r.) MCP2Cycl BHGTimeout (n.r.)
MCPMPI = FALSE BHGCycl (n.r.)
MCP1Stop MCP2Stop BHGRecGDNo
MCPBusType = b#16#33 BHGRecGBZNo (n.r.)
BHGRecObjNo (n.r.)
MCPSDB210= FALSE BHGSendGDNo (n.r.)
MCPCopyDB77 = FALSE BHGSendGBZNo (n.r.)
BHGSendObjNo (n.r.)
BHGMPI = FALSE
BHGStop
MCP failure normally switches the PLC to the STOP state. If this is undesirable, OB 82, OB
86 can be used to avoid a stop. The basic program includes the OB 82, OB 86 calls as
standard. FC5 is called in these OBs. This FC5 checks whether the failed slave is an MCP. If
this is the case, no PLC stop is triggered. Setting MCPxStop := True causes the basic
program to deactivate the MCP as a slave via SFC 12. If the PLC does not switch to the stop
state following the failure of or a fault on the MCP, an interrupt message will be generated
via the basic program. The interrupt is deleted when the station recovers.

840D: MPI connection

If an MPI connection is used for the MCP and HHU, these components must be taken into
account in the configuration for global data in STEP7 (NetPro). Although the addresses of
the MCP and HHU can be stored anywhere, we recommend a free input and output image
area. These start addresses must also be stored in the pointer parameters of the FB1. The
FB1 parameters listed below are used for further parameterization.
Setting MCP1Stop, MCP2Stop, BHGStop = 1 will suppress time monitoring. MCP failed
interrupts are suppressed.
Once the configuration has been compiled in NetPro, the SDB 210 in the SDB container will
need to be loaded on the PLC.

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Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-55
Detailed description
2.7 Structure and functions of the basic program

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Figure 2-18 MPI connection

Relevant parameters (FB1)

MCP HHU
MCPNum=1 or 2 (number of MCPs) HHU = 1 (MPI)
MCP1In MCP2In BHGIn
MCP1Out MCP2Out BHGOut
MCP1StatSend MCP2StatSend BHGStatSend
MCP1StatRec MCP2StatRec BHGStatRec
MCP1Timeout MCP2Timeout BHGTimeout
MCPMPI = TRUE BHGMPI = TRUE
MCP1Stop MCP2Stop BHGStop
MCPSDB210 = TRUE
MCPCopyDB77 = TRUE or FALSE
MCPBusType = B#16#00
(all pointer entries as parameterized in SDB210 global data)

Status information (MCP1 and MCP2 see above)

Available in Bit No. Description
MCP1StatRec 10 Receiver:
MCP2StatRec Timeout
BHGStatRec

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 Detailed description
2.7 Structure and functions of the basic program

An error entry is also made in the PLC diagnostic buffer for timeouts (bits 10 and 27),
resulting in the following error messages on the HMI:
• 400260: MCP 1 failure
or
• 400261: MCP 2 failure
• 400262: HHU failure
An MCP/HHU failure is detected only following a cold restart if the MCP/HHU has previously
been involved in data exchange. The first exchange of data with the MCP/HHU activates the
monitoring function.

Configuring global data

An additional SIMATIC 300 station for each component needs to be added to the machine
project for the configuration of the machine control panel/handheld unit. Any type of CPU
must be inserted in location 2 on row 0 in this station by means of the hardware configuration
(HW Config.). The desired MPI address of the operator component must be set as the MPI
address. MPI network(1) can then be marked in the SIMATIC Manager. The global data can
then be activated via the Extras menu item. The rest of the procedure is described in detail in
the Commissioning Manual.
A special variant of GD communication with a standard SDB210 is to be represented here.
The standard SDB210 is designed for all MCPs and HHUs on DB77. Other pointers can be
wired to the FB1. The basic program manages data transfer if the FB1 parameter
MCPCopyDB77 is set to True (see figure below). If you are using the standard SDB210, the
following settings must be made on the MCPs/HHUs:
1. MCP must be set to bus address 14. MCP2 must be set to bus address 10. In respect of
the GD parameters, HHU must be set to the default settings of 2.1.1 and 2.2.1. All
components must be set to a transfer rate of 187.5 kbaud.

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Detailed description
2.7 Structure and functions of the basic program

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Figure 2-19 Configuring global data

2.7.12 Switchover of machine control panel, handheld unit

Requirements
Only Ethernet variants support switchover/deactivation of the machine control panel (MCP)
or handheld unit (HHU) as standard. On MPI and PROFIBUS variants, this function is either
not supported at all or can only be implemented in restricted format requiring additional effort
on the part of the user. For example, with the PROFIBUS variant of the MCP, the DB77 data
area specified for MCP1, MCP2 or HHU can be used for the MCP pointer on FB1. The MCP
slave bus address must be set correctly under MCPxBusAdr as this is used as the basis for
monitoring.

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2.7 Structure and functions of the basic program

A user program copy routine to copy the signals of the active MCP from the I/O area
configured in HW Config to DB77. This enables a number of MCPs on the PROFIBUS to be
switched via signals. Set the MCPxStop parameter to True for the switchover phase from
one MCP to another.
One method will be outlined now with the Ethernet variants of MCP and HHU.

Control signals
Parameters MCP1Stop, MCP2Stop and BHGStop can be used to stop communication with
individual components (parameter setting = 1). This function is available only on Ethernet
variants. This stop or activation of communication can be applied in the current cycle.
However, the change in value must be implemented through the symbolic notation of the
parameters and not by means of another FB 1 call.
Example of stopping transfer from the first machine control panel:
SET;
S gp_par.MCP1Stop;
Setting parameters MCP1Stop, MCP2Stop, BHGStop also results in a suppression or
deletion of interrupts 400260 to 400262.

Bus address switchover

An existing connection with a machine control panel (MCPl) or handheld unit (HHU) can be
aborted. Another MCP or HHU component already connected to the bus (different address)
can then be activated. Proceed as follows to switch addresses:
1. Stop communication with component to be decoupled via parameter MCP1Stop or
MCP2Stop or BHGStop = 1.
2. Following checkback in DB10 byte 104 (relevant bits 0, 1 and 2 are set to 0), the bus
address (with MCP, this is the FB1 parameter "MCP1BusAdr" or "MCP2BusAdr"; with
HHU Ethernet variant, the bus address is set at FB1 parameter "BHGRecGDNo") of this
unit is changed to the new component.
3. In this PLC cycle, communication with the new component can now be activated again by
means of parameter MCP1Stop or MCP2Stop or BHGStop = 0.
4. Communication with the new component is taking place when the checkback is in DB10
byte 104 (relevant bits 0, 1, 2 are set to 1).

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Detailed description
2.8 SPL for Safety Integrated

2.7.13 Special functions of the machine control panel

General
Special functions are available for some MCP variants:

Switch off MCP flashing

On the MCP MPI variant, flashing can be suppressed in offline mode. No communication
takes place in offline mode (e.g., even if the MCP connection fails). During active
communication, a value can be specified in the output data using status bits 24 or 25 in
MCP1StatSend and MCP2StatSend. The checkback signal indicating that the value has
been transferred is sent back in the same bits in MCP1StatRec, MCP2StatRec. Following a
successful checkback signal, the status bits in send status must be reset.
There is an implementation example in the Toolbox.

Temperature monitoring of the MCP

With the MCP MPI variant, an increased temperature is signaled back via bit 28 = 1 in
MCP1StatRec, MCP2StatRec.

2.8 SPL for Safety Integrated

Rather than being a function of the basic program, SPL is a user function. The basic
program makes a data block (DB18) available for Safety SPL signals and runs a data
comparison to ensure the consistency of SPL program data in the NCK.
See:
References:
/FBSI/Description of Functions, Safety Integrated

2.9 Assignment overview

2.9.1 Assignment: NCK/PLC interface

The assignment of the NC/PLC interface is comprehensively described in:
References:
/LIS1/ Lists (Book 1)
/LIS2/ Lists (Book 2)

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 Detailed description
2.9 Assignment overview

2.9.2 Assignment: FB/FC

Number Meaning
FB 15 Basic program
FB 1, FC2, FC 3, Basic program
FC5
FC 0-29 Reserved for Siemens
FB 0-29 Reserved for Siemens
FC 30-999 1) Free for user assignment
FB 30-999 1) Free for user assignment
FC 1000-1023 Reserved for Siemens
FB 1000-1023 Reserved for Siemens
FC 1024- upper limit Free for user assignment
FB 1024- upper limit Free for user assignment
1)

The actual upper limit of the block number (FB/FC) depends on the PLC CPU on which the selected
NCU is located. For FC and FB assignment, see Section 6.4 (Memory requirements of PLC basic
program for 810D, 840D).

2.9.3 Assignment: DB

Note
Only as many data blocks as are required according to the NC machine data configuration
are set up.

Overview of data blocks

DB no. Name Name Packa
ge
1 Reserved for Siemens BP
2-4 PLC-MELD PLC messages BP
5-8 Basic Program
9 NC-COMPILE Interface for NC compile cycles BP
10 NC INTERFACE Central NCK interface BP
11 Mode group 1 Interface mode group BP
12 Computer link and transport system interface
13-14 Reserved for basic program
15 Basic Program
16 PI Service definition
17 Version identifier
18 Reserved for basic program

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Detailed description
2.9 Assignment overview

Overview of data blocks

DB no. Name Name Packa
ge
19 HMI interface
20 PLC machine data
21 - 30 CHANNEL 1 ... n Interface NC channels BP
31 - 61 AXIS 1 ... m Interfaces for axes/spindles BP
or free for user assignment
62 - 70 Free for user assignment
71 - 74 Tool management BP
75 - 76 M group decoding
77 Data block for MCP signals
78 - 80 Reserved for Siemens
81 - 999 1) See below: ShopMill, ManualTurn
1000 – 1099 Reserved for Siemens
1100 - Free for user assignment
upper limit
1)
The actual upper limit of the block number (DB) depends on the PLC CPU on which the selected
NCU is located. The data blocks of channels, axes/spindles and tool management functions that are
not activated may be assigned as desired by the user.

Note
The data blocks of channels, axes/spindles and tool management functions that are not
activated may be assigned as required by the user.

2.9.4 Assignment: Timers

Timer No. Meaning

T 0 – to T 512 1) User area
1)
The actual upper limit of the timer number (DB) depends on the PLC CPU on which the selected
NCU is located.

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 Detailed description
2.10 Memory requirements of basic PLC program for 840D

2.10 Memory requirements of basic PLC program for 840D

General
The basic program consists of basic and optional functions. The basic functions include
cyclic signal exchange between the NC and PLC.
The options include, for example, the FCs, which can be used if required.
The table below lists the memory requirements for the basic functions and the options. The
data quoted represent guide values, the actual values depend on the current software
version.

Memory requirements of blocks with SINUMERIK 840D

Block size (bytes)
Block Function Remark Working
type no. memory
Basic functions in basic program
FB 1, FB15 must be loaded / on CF card 52182
FC 2, 3, 5, 12 Must be loaded 470
DB 4, 5, 7, 8 Must be loaded 1006
DB 2, 3, 17 Are generated by the BP 632
OB 1, 40, 100, 82, Must be loaded 398
86
Total 55698

PLC/NCK, PLC/HMI interface

DB 10 PLC/NCK signals Must be loaded 262
DB 11 Signals PLC/Mode group Is generated by BP 56
DB 19 PLC/HMI signals Is generated by BP 434
DB 21 to DB 30 PLC/channel signals Are generated by BP as a function of NCMD: for 416
each DB
DB 31 to DB 61 PLC/axis or spindle Are generated by BP as a function of NCMD: for 148
signals each DB

Basic program options

Machine control panel
FC 19 Transfer of MCP signals, Must be loaded when M variant of MCP is 92
M variant installed
FC 25 Transfer of MCP signals, Must be loaded when T variant of MCP is 92
T variant installed
FC 24 Transfer of MCP signals, Must be loaded when slim variant of MCP is 100
slim variant installed
FC 26 Transfer of MCP signals, Must be loaded for HT8 68
HT8 variant

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Detailed description
2.10 Memory requirements of basic PLC program for 840D

Basic program options

Handheld unit
FC 13 Display control HHU Can be loaded for handheld units 144
Error/operating messages
FC 10 Acquisition FM/BM Load when FM/BM is used 66
ASUB
FC9 ASUB start Load when PLC ASUBs are used 128

Basic program options

Star/delta changeover
FC 17 Star/delta switchover of Load for star/delta switchover 114
MSD
Spindle control
FC 18 Spindle control Load for spindle control from PLC 132
PLC/NC communication
FB 2 Read NC variable Load for Read NC variable 76
DB n Read NC variable One instance DB per FB 2 call 270
FB 3 Write NC variable Load for Write NC variable 76
DB m Write NC variable One instance DB per FB3 call 270
FB 4 PI services Load for PI services 76
DB o PI services One instance DB per FB4 call 130
DB 16 PI services description Load for PI services 618
FB5 Read GUD variables Load for PI services 76
DB p Read GUD variables One instance DB per FB5 call 166
FB 6 General Load for Read/write NC variables and PI 5512
communication services
DB 15 General Global data block for communication 146
communication
FB7 PI services 2 Load for PI services 76
DB o PI services 2 One instance DB per FB4 call: every 144
FC 21 Transfer Load with dual-port RAM, ... 164
m:n
FB 9 Switchover M to N Load with M to N 58
Safety Integrated
FB10 Safety relay Load with Safety option 74
FB 11 Brake test Load with Safety option 76
FB 18 Safety data Load with Safety option 226
Tool management
FC 7 Transfer function Load for tool management option 84
turret
FC 8 Transfer function Load for tool management option 132
FC 22 Direction selection Load if direction selection is required 138

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2.10 Memory requirements of basic PLC program for 840D

Basic program options

DB71 Loading locations Generated by BP as a function of NC MD 40+30*B
DB 72 Spindles Generated by BP as a function of NC MD 40+48*Sp
DB 73 Revolver Generated by BP as a function of NC MD 40+44*R
DB 74 Basic function Generated by BP as a function of NC MD ( 100+(B+
Sp+R)*22
Compile cycles
DB 9 Interface Is generated by BP as a function of NC option 436
PLC compile cycles
1): DB number must be specified by PLC user

Example:
Based on the memory requirements in the table above, the memory requirements have been
determined for two sample configurations (see table below).

Block size (bytes)

Block Function Remark Working
type no. memory
Minimum configuration (1 spindle, 2 axes and T MCP)
See above Basic program, base 54688
Interface DBs 2768
MCP 92
Total 56392

Block size (bytes)

Block Function Remark Working
type no. memory
Maximum configuration (2 channels, 4 spindles, 4 axes, T MCP)
See above Basic program, base 54688
See above Interface DBs 2768
See above MCP 92
See above Error/status 66
messages
See above ASUBs 1 ASUB initiation 128
See above Concurrent axis For 2 turrets 132
See above PLC/NC 1 x read variable and 1 x write variable 838
communication
See above Tool management 2 turrets with one loading point each 674
See above Compile cycles 436
Total 59822

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Detailed description
2.11 General conditions and NC-VAR_Selector

2.11 General conditions and NC-VAR_Selector

2.11.1 Supplementary conditions

2.11.1.1 Programming and parameterizing tools

Hardware
Programming devices or PCs with the following equipment are required for the PLCs
installed on the 810D and 840D:

Minimum Recommendation
Processor Pentium Pentium
RAM (MB) 256 512 or more
Hard disk, 500 > 500
free capacity (MB)
Interfaces MPI, Ethernet incl. cable
Memory card
Graphic SVGA (1024*768)
Mouse Yes
Operating system Windows 2000 /XP Professional, STEP7 version 5.3 SP2 or
higher
The required version of STEP7 can be installed on equipment meeting the above
requirements in cases where the package has not already been supplied with the
programming device.
The following functions are possible with this package:
• Programming
– Editors and compilers for STL (complete scope of the language incl. SFB/SFC calls),
LAD, FBD
– Creation and editing of assignment lists (symbol editor)
– Data block editor
– Input and output of blocks ON/OFF line
– Insertion of modifications and additions ON and OFF line
– Transfer of blocks from programming device to the PLC and vice versa
• Parameterization
– Parameterizing tool HW Config for CPU and I/O device parameterization
– NetPro parameterizing tool for setting the CPU communication parameters
– Output of system data such as hardware and software version, memory capacity, I/O
expansion/assignment

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2.11 General conditions and NC-VAR_Selector

• Testing and diagnostics (ONLINE)

– Variable status/forcing (I/Os, flags, data block contents, etc.)
– Status of individual blocks
– Display of system states (ISTACK, BSTACK, system status list)
– Display of system messages
– PLC STOP/complete restart/overall reset triggering from the programming device
– Compress PLC
• Documentation
– Printout of individual or all blocks
– Allocation of symbolic names (also for variables in data blocks)
– Input and output of comments within each block
– Printout of test and diagnostics displays
– Hardcopy function
– Cross-reference list
– Program overview
– Assignment plan I/O/M/T/Z/D
• Archiving of utility routines
– Allocation of the output statuses of individual blocks
– Comparison of blocks
– Rewiring
– STEP 5 -> STEP 7 converter
• Option packages
– Programming in S7–HIGRAPH, S7–GRAPH, SCL.
These packages can be ordered from the SIMATIC sales department.
– Additional packages for configuring modules
(e.g., CP3425 -> NCM package)

Note
More information about possible functions can be found in SIMATIC catalogs and STEP7
documentation.

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Detailed description
2.11 General conditions and NC-VAR_Selector

2.11.1.2 SIMATIC documentation required

References:
SIMATIC S 7 System Overview
S7-300 Operation List
Programming with STEP7
STEP7 User Manual
STEP7 Programming Manual; Designing User Programs
STEP7 Reference Manual; STL Statement List
STEP7 Reference Manual; LAD Ladder Diagram
STEP7 Reference Manual; Standard and System Functions
STEP7 Manual: Conversion of STEP5 Programs
STEP7 General Index
CPU 317-2DP Manual

2.11.1.3 Relevant SINUMERIK documents

References:
/IAD/Commissioning Manual 840D, PLC Interface
/BH/ Operator Components Manual (HW) 840D
/FB1/ Function Manual Basic Functions
/FB2/ Function Manual Extended Functions
/FB3/ Function Manual Special Functions
/LIS1/ Lists (Volume 1)
/LIS2/ Lists (Volume 2)

2.11.2 NC VAR selector

2.11.2.1 Overview

General
A catalog with a user-defined catalog name must be set up via the Windows Explorer. The
selected data of the VAR selector (data.VAR and data.AWL (STL)) must be stored in this
catalog. The "Daten.AWL" (STL data) file must then be inserted into the STEP 7 machine
project via "Insert", "External Source" in the STEP 7 Manager. The source container must be
selected in the manager for this purpose. This action stores this file in the project structure.
Once the file has been transferred, these AWL (STL) files must be compiled with STEP 7.
The PC application "NC VAR selector" fetches the addresses of required NC variables and
processes them for access in the PLC program (FB 2/FB 3). This enables the programmer to
select NC variables from the entire range of NC variables, to store this selection of variables,
to edit them by means of a code generator for the STEP7 compiler and finally to store them
as an ASCII file (*.AWL) in the machine CPU program. This process is shown in the figure
"NC VAR selector".

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2.11 General conditions and NC-VAR_Selector

Note
The latest NC VAR selector can be used for each NC software version (even earlier
versions). The variables can also be selected from the latest list for earlier NC software
versions. The data content in DB 120 (default DB for variables) does not depend on the
software version, i.e., selected variables in an older software version must not be reselected
when the software is upgraded.

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Figure 2-20 NC VAR selector

After the "NC VAR selector" application has been started, select a list of variables of an NC
variant (hard disk → file Ncv.mdb) to display all the variables contained in this list in a
window.

In SW V6.3 and higher, the variable lists ncv*.mdb are separated according to:
NC variables including machine and setting data: ncv_NcData.mdb
Machine data for 611D drive: ncv_611d.mdb
Machine data for 611D linear drive: ncv_611dLinear.mdb
Machine data of the 611D drive, Performance 2: ncv_611d_P2.mdb
Machine data of the 611D linear drive, Performance 2: ncv_611d_P2Linear.mdb
Machine data of the hydraulic drive: ncv_Hydraulics.mdb
The user can also transfer variables to a second list (separate window). This latter selection
of variables can then be stored in an ASCII file or edited as a STEP 7 source file (.awl) and
stored.
Once he has generated a PLC data block by means of the STEP 7 compiler, the
programmer is able to read or write NCK variables via the basic program function blocks
"PUT" and "GET" using the STEP 7 file.

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The list of selected variables is also stored as an ASCII file (file extension .var).
The variable list supplied with the "NC VAR selector" tool is adapted to the current NC
software version. This list does not contain any variables (GUD variables) defined by the
user. These variables are processed by the function block FB 5 in the basic program.

Note
The latest version of the "NC VAR selector" is capable of processing all previous NC
software versions. It is, therefore, not necessary to install different versions of the "NC VAR
selector" in parallel.

System features, supplementary conditions

The PC application "NC VAR selector" requires Windows 95 (or later operating system).
The assignment of names to variables is described in:
References:
/LIS1/ Lists (Volume 1); Chapter: Variables,
or in the Variables Help file (integrated in NC VAR selector).

2.11.2.2 Description of functions

Overview
The figure below illustrates how the NC VAR selector is used within the STEP 7
environment.

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Figure 2-21 Application of NC VAR selector in the STEP 7 environment

The NC VAR selector is used to generate a list of selected variables from a list of variables
and then to generate an .awl file that can be compiled by the STEP 7 compiler.
• A *.awl file contains the names and alias names of the NC variables, as well as
information about their address parameters. Any data block generated from this file will
only contain the address parameters (10 bytes per parameter).
• The generated data blocks must always be stored in the machinespecific file storage
according to STEP 7 specifications.
• To ensure that the parameterization of the GET/PUT (FB 2/3) blocks with respect to NC
addresses can be implemented with symbols, the freely assignable, symbolic name of the
generated data block must be included in the STEP 7 symbol table.

Basic display/Basic menu

After the NC VAR selector has been selected (started), the basic display with all input
options (upper menu bar) appears on the screen. All other displayed windows are placed
within the general window.

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Figure 2-22 Basic display with basic menu

Project menu item

All operator actions associated with the project file (file of selected variables) are performed
under this menu item.

Terminating the application

The application can be terminated by selecting the "End" option under the "Project" menu
item.

Creating a new project

A new project (new file for selected variables) can be set up under the "Project" menu item.
A window is displayed for the selected variables when "NEW" is selected. The file selection
for the NC variable list is then displayed after a prompt (applies only if the NC variable list is
not already open).

Figure 2-23 Window with selected variables for new project

The selected variables are displayed in a window.

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Opening an existing project

Select "Open" under the "Project" menu item to open an existing project (variables already
selected). A file selection window is displayed allowing the appropriate project with extension
".var" to be selected.

Figure 2-24 Selection window for existing projects

If, after selection of the project, new variables are to be added, a complete list of NCK
variables must be selected (see: Selecting complete list). No complete list need be called if
the user only wishes to delete variables from the project.

Storing a project
The variable list is stored using the "Project", "Save" or "Save As...." menu items.
"Save" stores the variable list under a path, which is already specified. If the project path is
not known, then the procedure is as for "Save As....".
"Save As..." displays a window in which the path for the project to be stored can be
specified.

Printing a project
The "Print" command under the "Project" menu item can be selected to print a project file.
The number of lines per page is selected under the "Print Setting" menu item. The default
setting is 77 lines.

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Edit menu item

The following operator actions are examples of those, which can be carried out directly with
this menu item:
• Transfer variables
• Delete variables
• change alias names
• Find variables
These actions can also be canceled again under Edit.

Undoing actions
Operator actions relating to the creation of the project file (transfer variables, delete
variables, change alias names) can be undone in this menu.

NC variables menu item

The basic list of all variables is saved in NC Var Selector path Data\Swxy (xy stands for
software version no., e.g. SW 5.3:=xy=53). This list can be selected as an NC variables list.
The available variable lists are provided thematically.

Selecting an NC variable list

A list of all the NC variables for an NC version can now be selected and displayed via the
"NC Variable List", "Select" menu item.

Figure 2-25 Window with selected Complete List

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The field variables (e.g. axis area, T area data, etc.) are indicated by means of brackets ([.]).
Additional information must be specified here. When the variables are transferred to the
project list, the additional information required is requested.

Displaying subsets
Double-click on any table field (with the exception of variable fields) to display a window in
which filter criteria can be preset.

Figure 2-26 Window with filter criteria for displaying list of variables

There are three options:

• Display all data
• Input area, block and name (incl. combinations)
• Display MD/SE data number
The following wildcards can also be used:

* To extend the search criterion as required

Example search criteria

Name search criterion: Found: CHAN_NAME

CHAN*
chanAlarm
chanStatus
channelName
chanAssignment
• Selecting variables
A variable is selected by means of a simple mouse click and transferred to the window of
selected variables by double-clicking. This action can also be undone under the "Edit"
menu item.

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Alias name
The variable names provided can be up to 32 characters in length. To make variables clearly
identifiable in the data block to be generated, several ASCII characters are added to the
selected name. However, the STEP 7 compiler recognizes only 24 ASCII characters as an
unambiguous STEP 7 variable. Since it cannot be precluded that variable names can only be
differentiated by the last 8 character positions, ALIAS names are used for names, which are
too long. When a variable is selected, the length of the STEP7 name to be used is, therefore,
checked. If the name is longer than 24 characters, the user must enter an additional name,
which is then used as the alias.
In this case, the user must ensure that the alias name is unambiguous.
Alias input can always be activated by the user in the "Options" menu.
An alias name can then be entered every time a variable is transferred.
It is also possible to edit alias names at a later point in time by doubleclicking on the S7
variable name field. This action can also be undone under the "Edit" menu item.

Figure 2-27 Screen with complete list and selected variables

Scrolling
A scroll bar is displayed if it is not possible to display all variables in the window. The
remaining variables can be reached by scrolling (page up/down).

Variables in multi-dimensional structures

If variables are selected from multidimensional structures, then the column and/or line
number as well as the area number must be entered so that the variables can be addressed.
The required numbers can be found in the NC variables documentation.
References:
/LIS1/ Lists (Volume 1); Variables
By entering a zero (0) as the block number or the line or column index, it is possible to use
the variable in the S7 PLC as a pointer to these data. When reading or writing these data via
the functions "PUT" and "GET", the optional parameters "UnitX", "ColumnX" and "LineX"
must be filled with the necessary information.

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Figure 2-28 Entry field for line, column and block no.

Delete variables
Variables are deleted in the window of selected variables by selecting the appropriate
variables (single mouse click) and pressing the "Delete" key. No deletion action is taken with
the doubleclick function. It is possible to select several variables for deletion (see "Selecting
variables").
This action can also be undone under the "Edit" menu item.

Note
Deleting of variables results in a change of the absolute addresses of the pointer structures
to the variables. When changing the variable selection, it is, therefore, absolutely necessary
to generate one or several text files of all user blocksprior to the change. This is the only way
to ensure that the assignment of the variables in FB "GET" or FB "PUT" remains correct,
even after recompilation.

Storing a selected list

Once variables have been selected, they can be stored under a project name. The files are
stored on a projectspecific basis.
A window is displayed for the file to be stored. The project path and name for the file must be
selected in the window.

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Figure 2-29 Window for project path and name of file to be stored

Code generation
This menu item contains three selection options:
1. Settings (input of data block number to be generated) and other settings
2. Generate (create data block)
3. In the STEP7 project (transferring the data block to a STEP7 project)

Settings
Under this menu item, the DB number and the symbol for this DB number for which the code
is created is entered.
Under the "Unit System" tab, a selection is made to determine how the unit system variables
are calculated in the PLC.
Under the "Generate" tab, the project creation is defined for the relevant target system.

Generate
Under this menu item, the STEP 7 file from the selected variable list with extension ".awl" is
set.
A file is generated when "Select" is clicked:
An .awl file that can be used as an input for the STEP 7 compiler.
A window opens, in which path and name for the .awl file to be generated must be specified
for the file to be saved.

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In a STEP7 project
The generated AWL file is transferred to a selectable SIMATIC project (program path) and
compiled. Furthermore, the symbol can also be transferred. This function will be available as
of STEP7 Version 5.1 and NCVar Selector 6.04.05. This process take some time due to the
time require by STEP7. Before transferring a new AWL file, the file window of the AWL file
must be closed in the LAD/FUP/AWL Editor.

Option menu item

The following can be selected under the "Option" menu item:
• The current language
• The mode for alias input (always/>24 characters)

Help menu item

The information below can be viewed by selecting the corresponding submenu item:
• The Operator's Guide
• The Description of Variables
The copyright and the version number can also be displayed.

2.11.2.3 Startup, installation

The Windows application "NC Var selector" is installed using the SETUP program supplied
with the package.

2.12 Block descriptions

2.12.1 FB 1: RUN_UP Basic program, startup section

Description of functions
The synchronization of NCK and PLC is performed during startup. The data blocks for the
NC/PLC user interface are created with reference to the NC configuration defined in the
machine data and the most important parameters verified for plausibility. In the event of an
error, FB 1 passes an error identifier to the diagnostics buffer and switches the PLC to the
STOP state.
To enable an orderly startup of the control, it is vital to synchronize the NCK and PLC, as
these systems have their own types of powerup procedure. During startup routine, therefore,
the CPUs perform "subsidiary startup functions" and exchange ID information to ensure that
the procedure is functioning correctly.
Since the startup procedure is asynchronous, it is unavoidable that one CPU may have to
"wait" until the other has "caught up". This is automatically managed by the basic program.

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The integrated PLC only supports cold starts. A warm restart is not provided, i.e., following
system initialization, the operating system runs organization block OB 100 and always
commences cyclic execution at the start of
OB 1.
Users need only supply the FB 1 parameters that are relevant to their applications. The
preset values in the associated instance DB 7 do not need to be assigned. The block can
only be called in OB 100.

Output parameters
The output parameters in FB 1 provide the PLC user with information about the control
system configuration. These data can also be accessed in the cyclic program section.
There are two access options:
1. Direct access to the DB 7 data block (instance of the FB 1) in symbolic format (e.g., L
gp_par.MaxChan; in this case, gp_par is the symbolic name of the DB 7)
2. Assignment of a flag; during parameterization of the FB 1, the data element is assigned
to the relevant parameter (e.g., MaxChan:=MW 20) Information about the maximum
number of channels can then be polled in memory word 20 in the rest of the user
program.

Note
An additional SDB 210 must be generated via the STEP7 NetPro tool for the operator
components connected on the MPI interface.
The corresponding procedure is explained in the Commissioning Manual. For more
information about the assignment of MCP and HHU parameters, see "MCP/HHU
configuration".

840D declaration

Code Comment
FUNCTION_BLOCK FB 1
VAR_INPUT
MCPNum: INT:= 1; //0: No MCP
//1: 1 MCP (default)
//2: 2 MCPs
MCP1In: POINTER; //Start addr. input signals MCP 1
MCP1Out: POINTER; //Start addr. output signals MCP 1
MCP1StatSend: POINTER; //Status DW for sending MCP 1
MCP1StatRec: POINTER; //Status DW for receiving MCP 1
MCP1BusAdr: INT:= 6; //Default
MCP1Timeout: S5TIME:= S5T#700MS;
MCP1Cycl: S5TIME:= S5T#200MS;
MCP2In: POINTER; //Start addr. input signals MCP 2
MCP2Out: POINTER; //Start addr. output signals MCP 2
MCP2StatSend: POINTER; //Status DW for sending MCP 2
MCP2StatRec: POINTER; //Status DW for receiving MCP 2

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Code Comment
MCP2BusAdr: INT ;
MCP2Timeout: S5TIME:= S5T#700MS;
MCP2Cycl: S5TIME:= S5T#200MS;
MCPMPI: BOOL:= FALSE;
MCP1Stop: BOOL:= FALSE;
MCP2Stop: BOOL:= FALSE;
MCP1NotSend: BOOL:= FALSE;
MCP2NotSend BOOL:= FALSE;
MCPSDB210: BOOL:= FALSE;
MCPCopyDB77: BOOL:= FALSE;
MCPBusType: BYTE = B#16#0;
HHU: INT:= 0; //Handheld unit interface
//0: No HHU
//1: HHU on MPI
//2: HHU on OPI
BHGIn: POINTER; //Transmit data of the HHU
BHGOut: POINTER; //Receive data of the HHU
BHGStatSend: POINTER; //Status DW for sending HHU
BHGStatRec: POINTER; //Status DW for receiving HHU
BHGInLen: BYTE:= B#16#6; //Input 6 bytes
BHGOutLen: BYTE:= B#16#14; //Output 20 bytes
BHGTimeout: S5TIME:= S5T#700MS;
BHGCycl: S5TIME:= S5T#100MS;
BHGRecGDNo: INT:= 2;
BHGRecGBZNo: INT:= 2;
BHGRecObjNo: INT:= 1;
BHGSendGDNo: INT:= 2;
BHGSendGBZNo: INT:= 1;
BHGSendObjNo: INT:= 1;
BHGMPI: BOOL:= FALSE;
BHGStop: BOOL:= FALSE;
BHGNotSend: BOOL:= FALSE;
NCCyclTimeout: S5TIME:= S5T#200MS;
NCRunupTimeout: S5TIME:= S5T#50S;
ListMDecGrp: INT:= 0;
NCKomm: BOOL:= FALSE;
MMCToIF: BOOL:= TRUE;
HWheelMMC: BOOL:= TRUE; //Handwheel selection via HMI
MsgUser: INT:= 10; //Number of user areas in DB 2
UserIR: bool:= FALSE; //User programs in OB 40,
//Observe local data expansion!
IRAuxfuT: bool:= FALSE; //Evaluate T function in OB 40
IRAuxfuH: bool:= FALSE; //Evaluate H function in OB 40
IRAuxfuE: bool:= FALSE; //Evaluate DL function in OB 40
UserVersion: Pointer; //Pointer to string variable indicated in
//version display
END_VAR

VAR_OUTPUT
MaxBAG: INT ;
MaxChan: INT ;

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Code Comment
MaxAxis: INT ;
ActivChan: ARRAY[1..10] OF BOOL;
ActivAxis: ARRAY[1..31] OF BOOL;
UDInt: INT;
UDHex: INT;
UDReal: INT;
END_VAR

Description of formal parameters 840D

The table below lists all formal parameters of the RUN_UP function for the 840D:

Signal Type Type Value range Remarks

MCPNum I Int Up to 2 Number of active MCPs
0: No MCPs available
MCP1In I Pointer I0.0 to I120.0 or F0.0 Start address for input
MCP2In to F248.0 or DBn signals of relevant machine
DBX0.0 to DBXm.0 control panel
MCP1Out I Pointer Q0.0 to Q120.0 or Start address for output
MCP2Out F0.0 to F248.0 or signals of relevant machine
DBn DBX0.0 to control panel
DBXm.0
MCP1StatSend I Pointer Q0.0 to Q124.0, Start address for status double
MCP2StatSend F0.0 to F252.0 or word for data transmission to the
DBn DBX0.0 to machine control panel:
DBXm.0 DW#16#08000000: Timeout,
otherwise 0
MCP1StatRec I Pointer Q0.0 to Q124.0, Start address for status double
MCP2StatRec F0.0 to F252.0 or word for data reception by machine
DBn DBX0.0 to control panel:
DBXm.0 DW#16#00000400: Timeout,
otherwise 0
MCP1BusAdr I Int 1...15 MPI/MCP bus address of MCP
MCP2BusAdr 1 ... 126 DP slave: PROFIBUS address
MCP1Timeout I S5time Recommendation: Cyclic sign-of-life monitoring for
MCP2Timeout 700 ms machine control panel
MCP1Cycl I S5time Recommendation: Time reference for cyclic updating
MCP2Cycl 200 ms of signals to machine control panel
MCPMPI I Bool 1: All machine control panels
connected to the MPI bus (without
GD parameterization)
MCP1Stop I Bool 0: Start transfer of machine control
MCP2Stop panel signals
1: Stop transfer of machine control
panel signals
DP slave: Slave deactivated
MCP1NotSend I Bool 0: Send and receive operation
MCP2NotSend activated
1: Receive machine control panel

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Signal Type Type Value range Remarks

signals only
MCPSDB210 I Bool 0: No SDB 210 for MCP
1: Activate timeout monitors on
SDB 210 for MCP
MCPCopyDB77 I Bool 1: Copy between DB 77 and MCP
pointers on DB 7
Can only be used with standard
SDB 210 configuration on DB 77.
MCPBusType I Byte 0: MPI or MCP
b#16#33: Profibus
b#16#55: Ethernet
Mixed operation possible, see
MCP/HHU configuration
HHU I Int HHU interface
0: No HHU
1: HHU on MPI with SDB 210
configuration
5: HHU on Ethernet
BHGIn I Pointer I0.0 to I124.0, Start address
F0.0 to F252.0 or PLC receive data
DBn DBX0.0 to from HHU
DBXm.0
BHGOut I Pointer Q0.0 to Q124.0, Start address
F0.0 to F252.0 or PLC transmit data
DBn DBX0.0 to to HHU
DBXm.0
BHGStatSend I Pointer Q0.0 to Q124.0, Start address for status double
F0.0 to F252.0 or word for transmitting data to HHU:
DBn DBX0.0 to DW#16#08000000: Timeout,
DBXm.0 otherwise 0
BHGStatRec I Pointer Q0.0 to Q124.0, Start address for status double
F0.0 to F252.0 or word for receiving data
DBn DBX0.0 to from HHU: DW#16#00000400:
DBXm.0 Timeout,
otherwise 0
BHGInLen I Byte HHU default: Quantity of data received from
B#16#6 (6 bytes) handheld unit
BHGOutLen I Byte HHU default: Quantity of data transmitted to
B#16#14 (20 bytes) handheld unit
BHGTimeout I S5time Recommendation: Cyclic sign-of-life monitoring for
700 ms handheld unit
BHGCycl I S5time Recommendation: Time reference for cyclic updating
100 ms of signals to handheld unit
BHGRecGDNo I Int HHU default: 2 Receive GD circle no.
or bus address
BHGRecGBZNo I Int HHU default: 2 Receive GI no.
BHGRecObjNo I Int HHU default: 1 Object number for receive GI
BHGSendGDNo I Int HHU default: 2 Transmit GD circle no.

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Signal Type Type Value range Remarks

BHGSendGBZNo I Int HHU default: 1 Transmit GI no.
BHGSendObjNo I Int HHU default: 1 Object number for transmit GI
BHGMPI I Bool 1: Handheld unit coupled to MPI
(without SDB 210 config.)
Parameter HHU must be set to 2.
BHGStop I Bool 0: Start transmission
of handheld unit signals
1: Stop transmission
of handheld unit signals
BHGNotSend I Bool 0: Send and receive operation
activated
1: Receive handheld unit signals
only
NCCyclTimeout I S5time Recommendation: Cyclic sign-of-life monitoring NCK
200 ms
NCRunupTimeout I S5time Recommendation: 50 Powerup monitoring NCK
s
ListMDecGrp I Int 0...16 Activation of expanded
M group decoding
0: Not active
1...16: Number of M groups
NCKomm I Bool PLC NC communications services
(FB 2/3/4/5/7:
Put/Get/PI_SERV/GETGUD)
true: active
MMCToIF I Bool Transmission of HMI signals to
interface (modes, program control
etc.)
true: active
HWheelMMC I Bool True: Handwheel selection via HMI
False: Handwheel selection via
user program
MsgUser I Int 0...25 Number of user areas for messages
(DB 2)
UserIR I Bool Local data expansion OB40
required for processing of signals
from user
IRAuxfuT I Bool Default, false Evaluate T function in OB40
IRAuxfuH I Bool Default, false Evaluate H function in OB40
IRAuxfuE I Bool Default, false Evaluate DL function in OB40
UserVersion I Pointer DBxx Pointer to string variable.
The associated string variable is
indicated in the version display
(max. 41 characters).
MaxBAG INT 1..10 Number of mode groups

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Signal Type Type Value range Remarks

Q
MaxChan INT 1..10 Number of channels

Q
MaxAxis INT 1..31 Number of axes

Q
ActivChan ARRAY[1.. Bit string for active channels
10] OF
BOOL

Q
ActivAxis ARRAY[1.. Bit string for active axes
31] OF
BOOL

Q
UDInt Int Quantity of integer machine data
in DB 20

Q
UDHex Int Quantity of hexadecimal machine
data in DB20

Q
UDReal Int Quantity of real machine data
in DB 20

MCP/HHU monitoring (840D)

For communication with the machine control panels (MCPs), in the event of an error, the
following status information will be displayed (MPI, Ethernet only):

Available in: Bit No. Description

MCP1StatRec 10 Receiver:
MCP2StatRec Timeout
BHGStatRec
SINUMERIK 840D only: 27 Transmitter:
MCP1StatSend Timeout
MCP2StatSend
BHGStatSend

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In addition, an error entry is generated in the diagnostics buffer of the PLC,

resulting in the following error messages on the HMI:
• 400260: MCP 1 failure or
• 400261: MCP 2 failure
• 400262: HHU failure
In this case, the input signals from the MCP or from the handheld unit (MCP1In/MCP2In or
BHGIn) are reset to 0. If it is possible to resynchronize the PLC and MCP/HHU,
communication is resumed automatically and the error message reset by the GP.

840D example call

An example call for the FB 1 in OB 100 appears below. This example is part of the diskette
with basic program for 840D.

ORGANIZATION_BLOCK OB 100
VAR_TEMP
OB100_EV_CLASS : BYTE ;
OB100_STRTUP : BYTE ;
OB100_PRIORITY : BYTE ;
OB100_OB_NUMBR : BYTE ;
OB100_RESERVED_1 : BYTE ;
OB100_RESERVED_2 : BYTE ;
OB100_STOP : WORD ;
OB100_RESERVED_3 : WORD ;
OB100_RESERVED_4 : WORD ;
OB100_DATE_TIME : DATE_AND_TIME;
END_VAR
BEGIN
Call fb 1, db 7(
MCPNum := 1,
MCP1In := P#E0.0,
MCP1Out := P#A0.0,
MCP1StatSend := P#A8.0,
MCP1StatRec := P#A12.0,
MCP1BusAdr := 6,
MCP1Timeout := S5T#700MS,
MCP1Cycl := S5T#200MS,
NC-CyclTimeout := S5T#200MS,
NC-RunupTimeout S5T#50S);
:=
//INSERT USER PROGRAM HERE
END_ORGANIZATION_BLOCK

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2.12.2 FB 2: Read GET NC variable

Description of functions
The PLC user program can read variables from the NCK area using FB GET. The FB is
multi-instance-capable.
FB 2 also includes an Instance DB from the user area.
When FB 2 is called with a positive signal edge change at control input "Req", a job is
started, which reads the NCK variables referenced by ADDR1ADDR8 and then copies them
to the PLC operand areas referenced by RD1 to RD8. Successful completion of the read
process is indicated by a logical "1" in status parameter NDR.
The read process lasts for several PLC cycles (normally 1-2). The block can be called up in
cyclic mode only.
Any errors are indicated by Error and State.
In order to reference the NC variables, all required variables are first selected with the "NC
VAR selector" tool and generated as STL source in a data block. A name must then be
assigned to this DB in the symbol table.
"DB name.S7 name" is transferred as the actual parameter of the
NCK variable address (Addr1 to Addr8) when FB 2 is called.

Variable addressing
For some NC variables, it is necessary to select area no. and/or line or column from the NC-
VAR selector. A basic type can be selected for these variables,
i.e., area/column/line are preset to "0".
The contents of the area number, line and column specified by the NC VAR selector are
checked for a "0" in the FB. If a "0" is present, the value is transferred to the input parameter.
The user must supply the required parameters (UnitX/ColumnX/LineX) before calling FB
GET.

Note
After communication between the PLC and NC (read/write NC variables, FB2, 3, 5, or PI
general services, FB4) has been aborted by POWER OFF, the start jobs must be deleted in
the first OB1 run after cold restart or reset (signal: Req = 0).
FB 2 can read NC variables only if basic program parameter NCKomm ="1" has been set (in
OB 100: FB 1, DB7). The call is permitted only in cyclic program OB1.
When channel-specific variables are read, only the variables of
one and the same channel may be addressed in one job (FB 2 call) via Addr1 to Addr8.
In areas V and H, different logic axis numbers must not be assigned in one job.
(Failure to observe this rule results in Error:= TRUE, State:= W#16#02).

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NCK variables within one group can be combined in a job:

Area
Group 1 C[1] N B T
Q
Group 2 C[2] N B T
Q
Group 3 V[.] H[.]
The same rules apply to channels 3 to 10 as illustrated as examples in the above table in
groups 1 and 2.

Note
Especially when reading several long strings, the number of usable variables can be less
than 8.

Declaration

FUNCTION_BLOCK FB 2
VAR_INPUT
Req : BOOL ;
NumVar : : INT ;
Addr1 : ANY ;
Unit1 : BYTE ;
Column1 : WORD ;
Line1 : WORD ;
Addr2 : ANY ;
Unit2 : BYTE ;
Column2 : WORD ;
Line2 : WORD ;
Addr3 : ANY ;
Unit3 : BYTE ;
Column3 : WORD ;
Line3 : WORD ;
Addr4 : ANY ;
Unit4 : BYTE ;
Column4 : WORD ;
Line4 : WORD ;
Addr5 : ANY ;
Unit5 : BYTE ;
Column5 : WORD ;

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Line5 : WORD ;
Addr6 : ANY ;
Unit6 : BYTE ;
Column6 : WORD ;
Line6 : WORD ;
Addr7 : ANY ;
Unit7 : BYTE ;
Column7 : WORD ;
Line7 : WORD ;
Addr8 : ANY ;
Unit8 : BYTE ;
Column8 : WORD ;
Line8 : WORD ;
END_VAR
VAR_OUTPUT
Error : BOOL ;
NDR : BOOL ;
State : WORD ;
END_VAR

VAR_IN_OUT
RD1 : ANY ;
RD2 : ANY ;
RD3 : ANY ;
RD4 : ANY ;
RD5 : ANY ;
RD6 : ANY ;
RD7 : ANY ;
RD8 : ANY ;
END_VAR

Description of formal parameters

The table below list all formal parameters of the GET function.

Signal Ty Type Value range Remarks

pe
Req I Bool Job start with positive signal edge
NumVar I Int 1 to 8 Number of variables to be read
(corresponds to use
of Addr1 to Addr8)
Addr1 to Addr8 I Any [DBName].[VarName Variable identifiers from NC Var selector
]
Unit1 to Unit8 I Byte Area address, optional for variable

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Signal Ty Type Value range Remarks

pe
addressing
Column1 to I Wor Column address, optional for variable
Column8 d addressing
Line1 to Line8 I Wor Line address, optional for variable
d addressing
Error Bool Negative acknowledgment of job or
execution of job impossible

Q
NDR Bool Job successfully executed Data are
available

Q
State Wor See error identifiers
d

Q
RD1 to I/O Any P#Mm.n BYTE x... Target area for read data
RD8 P#DBnr.dbxm.n
BYTE x

Error identifiers
If it was not possible to execute a job, the failure is indicated by "logic 1" on status parameter
error. The error cause is coded at the block output State:

State Meaning Note

WORD WORD L
H
1 to 8 1 Access error In high byte number of Var in which error
occurred
0 2 Error in job Incorrect compilation of Var. in a job
0 3 Negative acknowledgment, Internal error,
job not executable try: NC reset
1 to 8 4 Insufficient local user Read var. is longer than specified in RD1
memory available (to RD8); in high byte number of var in
which error occurred
0 5 Format conversion error Error on conversion of var. type double:
Var. is not within S7 REAL area
0 6 FIFO full Job must be repeated since queue is full

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State Meaning Note

WORD WORD L
H
0 7 Option not set BP parameter "NCKomm" is not set
1 to 8 8 Incorrect target area (RD) RD1 to RD8 may not be local data
0 9 Transmission occupied Job must be repeated
1 to 8 10 Error in variable addressing Unit or column/line contains value 0
0 11 Address of variable invalid Check Addr (or variable name), area, unit
0 12 NumVar = 0 Check parameter NumVar
1 to 8 13 (0x0d) ANY date reference NcVar date required has not been
incorrect parameterized

Configuration steps
Proceed as follows to read NC variables:
• Select variables with the NC VAR selector.
• Save selected variables in a *.VAR file
• Generate a STEP 7 *.STL source file.
• Generate a DB with the associated address data.
• Enter the symbol for the generated DB in the symbol table so that it is possible to access
the address parameters symbolically in the user program.
• Set FB 2 parameters

Pulse diagram

     


5HT
 

1'5

(UURU

(1) Activation of function

(2) Positive acknowledgment: Receive new data
(3) Reset function activation after receipt of acknowledgment
(4) Signal change by means of FB
(5) Not permissible
(6) Negative acknowledgment: Error has occurred, error code in output parameter state

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Call example
Reading of three channelspecific machine data from channel 1, whose address
specifications are stored in DB120.
Select data with NC VAR selector and store in file DB120.VAR; then create file DB120.AWL:

Area Block Name Type No. Byte S7 Name

C[1] M MD20070: char 20070 1 C1AxConfMachAxUsed1
AXCONF_MACHAX_USED[1]
C[1] M MD20070: char 20070 1 C1AxConfMachAxUsed2
AXCONF_MACHAX_USED[2]
C[1] M MD20090: int 20090 1 C1SpindDefMasterSpind
SPIND_DEF_MASTER_SPIND
S7 (ALIAS) names have been selected in order to:
• Incorporate the channel designation into the name
and
• Remove the characters [ ], which are not legal in a STEP 7 symbol.
Entry of the name in the S7 SYMBOL table (e.g., NCVAR for DB 120):

Symbol Operand Data type

NCVAR DB120 DB120
File DB120.AWL must be compiled and transferred to the PLC.
Parameterization of FB 2 with instance DB 110:

DATA_BLOCK DB 110 //Unassigned user DB,

as instance for FB 2
FB 2
BEGIN
END_DATA_BLOCK
Function FC "VariablenCall": VOID
U I 7.7; //Unassigned machine control panel key
S M 100.0; //Activate req.
U M 100.1; //NDR completed message
R M 100.0; //Terminate job
U I 7.6; //Manual error acknowledgment
U M 102.0; //Error pending
R M 100.0; //Terminate job
Call fb 2, db 110(
Req := M 100.0,
NumVar := 3, //Read 3 variables
Addr1 := NCVAR.C1AxConfMachAxUsed1,
Addr2 := NCVAR.C1AxConfMachAxUsed2,
Addr3 := NCVAR.C1SpindDefMasterSpind,

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Error := M102.0,
NDR := M100.1,
State := MW104,
RD1 := P#DB99.DBX0.0 BYTE 1,
RD2 := P#DB99.DBX1.0 BYTE 1,
RD3 := P#M110.0 INT 1);

Example: Variable addressing

Reading of two R parameters from channel 1, whose address specifications are stored in
DB120 as the basic type. The R parameter number is parameterized via parameter LineX.

DATA_BLOCK DB 120
VERSION: 0.0
STRUCT
C1_RP_rpa0_0:
STRUCT
SYNTAX_ID : BYTE := B#16#82;
area_and_unit : byte := B#16#41;
column : word := W#16#1;
line : word := W#16#0;
block type : byte := B#16#15;
NO. OF LINES : BYTE := B#16#1;
type : byte := B#16#F;
length : byte := B#16#8;
END_STRUCT;
END_STRUCT;
BEGIN
END_DATA_BLOCK
CALL FB 2, DB 110 (
Req := M 0.0,
NumVar := 2,
Addr1 := "NCVAR".C1_RP_rpa0_0,
Line1 := W#16#1,
Addr2 := "NCVAR".C1_RP_rpa0_0,
Line2 := W#16#2,
Error := M 1.0,
NDR := M 1.1,
State := MW 2,
RD1 := P#M 4.0 REAL 1,
RD2 := P#M 24.0 REAL 1);

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Data types
The data types of the NCK are listed in the NCVAR selector with the variables. The tables
below give the assignments to the S7 data types.

Classification of data types

NCK data type S7 data type
double REAL
float REAL
long DINT
integer DINT
uint_32 DWORD
int_16 INT
uint_16 WORD
unsigned WORD
char CHAR or BYTE
string STRING
bool BOOL
datetime DATE_AND_TIME

2.12.3 FB 3: PUT write NC variables

Description of functions
The PLC user program can write variables in the NCK area using FB PUT. The FB is multi-
instance-capable.
Every FB 3 call must be assigned a separate instance DB from the user area.
When FB 3 is called with a positive signal edge change at control input Req, a job is started
to overwrite the NC variables referenced by Addr1 to Addr8 with the data of the PLC
operand areas locally referenced by SD1 to SD8. Successful completion of the write process
is indicated by a logical "1" in status parameter Done.
The write process lasts for several PLC cycles (normally 1-2). The block can be called up in
cyclic mode only.
Any errors are indicated by Error and State.
In order to reference the NC variables, all required variables are first selected with the "NC
VAR selector" tool and generated as STL source in a data block. A name must then be
assigned to this DB in the symbol table. "DB name.S7 name" is transferred as the actual
parameter of the NCK variable address (Addr1 to Addr8) when FB3 is called.

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Variable addressing
For some NC variables, it is necessary to select area no. and/or line or column in the NC
VAR selector. A basic type can be selected for these variables,
i.e., area/column/line are preset to "0".
The contents of the area number, line and column specified by the NC VAR selector are
checked for a "0" in the FB. If a "0" is present, the value is transferred to the input parameter.
The user must supply the required parameters (UnitX/ColumnX/LineX) before calling
FB PUT.

Machine data, GUD

In order to define machine data and GUDs without a password, the protection levels of the
data you want to access must be redefined to the lowest level. The procedure is described in
the Commissioning Manual (in the section describing the protection level concept) and in the
Programming Guide Advanced (protection levels for user data).

Notice
FB 3 can only write NC variables if basic program parameter NCKomm has been set to "1"
(in OB100: FB 1, DB 7). The call is permitted only in cyclic program OB1.
When channelspecific variables are written, only variables from one and the same channel
may be addressed via Addr1 to Addr8 in one job. In areas V and H, different logic axis
numbers must not be assigned in a single job. (Failure to observe this rule results in Error:=
TRUE, State:= W#16#02).
NCK variables can be combined in a group in a single job: NCK variables can be combined
in one group in a single job:

Area
Group 1 C[1] N B T
Q
Group 2 C[2] N B T
Q
Group 3 V[.] H[.]
The same rules apply to channels 3 to 10 as illustrated as examples in the above table in
groups 1 and 2.

Note
Especially when reading several long strings, the number of usable variables can be less
than 8.

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Declaration

FUNCTION_BLOCK FB 3
VAR_INPUT
Req : BOOL ;
NumVar : INT ;
Addr1 : ANY ;
Unit1 : BYTE ;
Column1 : WORD ;
Line1 : WORD ;
Addr2 : ANY ;
Unit2 : BYTE ;
Column2 : WORD ;
Line2 : WORD ;
Addr3 : ANY ;
Unit3 : BYTE ;
Column3 : WORD ;
Line3 : WORD ;
Addr4 : ANY ;
Unit4 : BYTE ;
Column4 : WORD ;
Line4 : WORD ;
Addr5 : ANY ;
Unit5 : BYTE ;
Column5 : WORD ;
Line5 : WORD ;
Addr6 : ANY ;
Unit6 : BYTE ;
Column6 : WORD ;
Line6 : WORD ;
Addr7 : ANY ;
Unit7 : BYTE ;
Column7 : WORD ;
Line7 : WORD ;
Addr8 : ANY ;
Unit8 : BYTE ;
Column8 : WORD ;
Line8 : WORD ;
END_VAR

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VAR_OUTPUT
Error : BOOL ;
Done : BOOL ;
State : WORD ;
END_VAR
VAR_IN_OUT
SD1 : ANY ;
SD2 : ANY ;
SD3 : ANY ;
SD4 : ANY ;
SD5 : ANY ;
SD6 : ANY ;
SD7 : ANY ;
SD8 : ANY ;
END_VAR

Description of formal parameters

The table below lists all formal parameters of the PUT function.

Signal Typ Type Value range Remarks

e
Req I Bool Job start with positive signal edge
NumVar I Int 1 to 8 Number of variables to be written
(corresponds to use of
Addr1 to Addr8)
Addr1 to Addr8 I Any [DBName].[VarName] Variable identifiers from NC Var
selector
Unit 1 to Unit 8 I Byte Area address, optional for variable
addressing
Column 1 to Column I Word Column address, optional for
8 variable addressing
Line 1 to Line 8 I Word Line address, optional for variable
addressing
Error Bool Negative acknowledgment of job or
execution of job impossible

Q
Done Bool Job successfully executed

Q
State Word See error identifiers

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Signal Typ Type Value range Remarks

e

Q
SD1 to I/O Any P#Mm.n BYTE x... Data to be written
SD8 P#DBnr.dbxm.n BYTE x

Error identifiers
If it was not possible to execute a job, the failure is indicated by "logic 1" on status parameter
error. The error cause is coded at the block output State:

State Meaning Note

WORD H WORD L
1 to 8 1 Access error In high byte number of Var in which
error occurred
0 2 Error in job Incorrect compilation of Var in a job
0 3 Negative acknowledgment, job Internal error,
not executable try: Check job,
NC Reset
1 to 8 4 Data areas or data types do Check data to be written in SD1 to SD8;
not match or string is empty in high byte number of the Var in which
error occurred
0 6 FIFO full Job must be repeated since queue is
full
0 7 Option not set BP parameter "NCKomm" is not set
1 to 8 8 Incorrect target area (SD) SD1 to SD8 may not be local data
0 9 Transmission occupied Job must be repeated
1 to 8 10 Error in variable addressing Unit or column/line contains value 0
0 11 Variable addr. invalid or var. is Check Addr (or variable name), area,
read-only unit
0 12 NumVar = 0 Check parameter NumVar
1 to 8 13 (0x0d) ANY data reference incorrect NcVar date required has not been
parameterized
1 to 8 15 (0x0f) User data too long

Configuration steps
To write NC variables, the same configuration steps are required as for reading NC
variables. It is useful to store the address data of all NC variables to be read or written in a
DB.

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Pulse diagram

     


5HT
 

'RQH

(UURU

(1) Activation of function

(2) Positive acknowledgment: variables have been written
(3) Reset function activation after receipt of acknowledgment
(4) Signal change by means of FB
(5) Not permissible
(6) Negative acknowledgment: Error has occurred, error code in output parameter state

Call example
Writing of three channelspecific machine data of channel 1:
Select the three data with NC VAR selector and store in the file DB120.VAR:

Area Block Name Type Byte S7 Name

C[1] RP rpa[5] double 4 rpa_5C1RP
C[1] RP rpa[11] double 4 rpa_11C1RP
C[1] RP rpa[14) double 4 rpa_14C1RP
Entry NCVAR for DB 120 with the S7 SYMBOL Editor:

Symbol Operand Data type

NCVAR DB120 DB120
File DB120.AWL must be compiled and transferred to the PLC.
Call and parameterization of FB 3 with instance DB 111:

DATA_BLOCK DB 111 //Unassigned user DB, as instance

for FB 3
FB 3
BEGIN
Function FC "VariablenCall": VOID
END_DATA_BLOCK
U I 7.7; //Unassigned machine control
panel key
S M 100.0; //Activate req.
U M 100.1; //Done completed message
R M 100.0; //Terminate job

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U I 7.6; //Manual error acknowledgment

U M 102.0; //Error pending
R M 100.0; //Terminate job
Call fb 3, db 111(
Req := M 100.0,
NumVar 3, //Write 3
:= variables
Addr1 := NCVAR.rpa_5C1RP,
Addr2 := NCVAR.rpa_11C1RP,
Addr3 := NCVAR.rpa_14C1RP,
Error := M102.0,
Done := M100.1,
State := MW104,
SD1 := P#DB99.DBX0.0 REAL 1,
SD2 := P#DB99.DBX4.0 REAL 1,
SD3 := P#M110.0 REAL 1);

Example: Variable addressing

Writing of two R parameters of channel 1, whose address specifications are stored in DB
120 as the basic type. The R parameter number is parameterized via parameter LineX.

DATA_BLOCK DB 120
VERSION: 0.0
STRUCT
C1_RP_rpa0_0:
STRUCT
SYNTAX_ID : BYTE := B#16#82;
area_and_unit : byte := B#16#41;
column : word := W#16#1;
line : word := W#16#0;
block type : byte := B#16#15;
NO. OF LINES : BYTE := B#16#1;
type : byte := B#16#F;
length : byte := B#16#8;
END_STRUCT;
END_STRUCT;
BEGIN
END_DATA_BLOCK
CALL FB 3, DB 122 (
Req := M 10.0,
NumVar 2,
:=
Addr1 := "NCVAR".C1_RP_rpa0_0,
Line1 := W#16#1,

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Addr2 := "NCVAR".C1_RP_rpa0_0,
Line3 := W#16#2
Error := M 11.0,
Done := M 11.1,
State := MW 12,
SD1 := P#M 4.0 REAL 1,
SD2 := P#M 24.0 REAL 1);

2.12.4 FB 4: PI_SERV General PI services

Description of functions
FB PI_SERV can be used to start program-instance services in the NCK area. The FB is
multi-instance-capable. The possible services are described in this section.
Recommendation: Use the expanded FB7 instead of FB4.
A program section, which carries out a particular function (e.g., with tool management,
search for empty location in a magazine), is executed in the NCK by making a request via
the PI service.
Every FB 4 call must be assigned an instance DB from the user area.

The specified service is referenced via the PIService parameter. The selected PI service is
supplied via the freely assignable additional input variables with varying data types (Addr1 to
Addr4 for strings, WVar1 to WVar 10 for integer or word variables). A job is started when FB
4 is called by means of a positive edge change at control input Req. Successful execution of
the job is displayed by means of a logic "1" in status parameter Done. Any errors are
indicated by Error and State.
The "PI" data block (DB16) contains internal descriptions of the possible PI services. A name
must then be assigned to this DB in the signal list. On calling the FB 4, "DB-Name.PI-Name"
is transferred as the actual parameter for PIService.
The execution of the PI service extends over several PLC cycles (generally 1 to 2). The
block can be called up in cyclic mode only.

Note
After communication between the PLC and NC (read/write NC variables, FB2, 3, 5, or PI
general services, FB4) has been aborted by POWER OFF, the start jobs must be deleted in
the first OB1 run after cold restart or reset (signal: Req = 0).
FB 4 can start PI services only if the basic program parameter NCKomm has been set to "1"
(in OB100: FB 1, DB7). The call is permitted only in cyclic program OB1.

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Declaration

FUNCTION_BLOCK FB 4
VAR_INPUT
Req : BOOL ;
PIService : ANY ;
Unit : INT ;
Addr1 : ANY ;
Addr2 : ANY ;
Addr3 : ANY ;
Addr4 : ANY ;
WVar1 : WORD ;
WVar2 : WORD ;
WVar3 : WORD ;
WVar4 : WORD ;
WVar5 : WORD ;
WVar6 : WORD ;
WVar7 : WORD ;
WVar8 : WORD ;
WVar9 : WORD ;
WVar10 : WORD ;
END_VAR
VAR_OUTPUT
Error : BOOL ;
Done : BOOL ;
State : WORD ;
END_VAR

Description of formal parameters

The following table shows all formal parameters of the function PI_SERV.

Signal Ty Type Value range Remarks

pe
Req I Bool Job request
PIService I Any [DBName].[VarName] PI service description1)
default
is:"PI".[VarName]
Unit I Int 1... Area number
Addr1 to Addr4 I Any [DBName].[VarName] Reference to strings specification
according to selected PI service
WVar1 to WVar10 I Word 1... Integers or word variables. Specification
according to selected PI service.
Error Bool Negative acknowledgment of job or
execution of job impossible

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Signal Ty Type Value range Remarks

pe

Q
Done Bool Job successfully executed

Q
State Word See error identifiers

Q
1)See README file on basic program diskette supplied

Error identifiers
If it was not possible to execute a job, the failure is indicated by "logic 1" on status parameter
error. The error cause is coded at block output State. The error identifiers, which may be
encountered, are as follows:

State Meaning Note

3 Negative acknowledgment, job Internal error,
not executable try: NC reset
6 FIFO full Job must be repeated since queue is full
7 Option not set BP parameter "NCKomm" is not set
9 Transmission occupied Job must be repeated
13 (0x0d) ANY date reference incorrect String date required has not been parameterized
14 (0x0e) PIService parameter reference No valid PI description
incorrect

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Pulse diagram

     


5HT
 

'RQH

(UURU

(1) Activation of function

(2) Positive acknowledgment: PI service has been executed
(3) Reset function activation after receipt of acknowledgment
(4) Signal change by means of FB
(5) Not permissible
(6) Negative acknowledgment: Error has occurred, error code in the output parameter State

Overview of PI services
The following section provides an overview of the PI services that can be started from the
PLC. The meaning and application of the general FB 4 input variables (Unit, Addr ..., WVar
...) depend on the individual PI service concerned.

PI service Function Available in 840D

ASUB Assign interrupt x
CANCEL Execute cancel x
CONFIG Reconfiguration of x
tagged machine data
DIGION Digitizing on x
DIGIOF Digitizing off x
FINDBL Activate block search x
LOGIN Activate password x
LOGOUT Reset password x
NCRES Initiate NC Reset x
SELECT Select program for processing for one channel x
SETUFR Activate user frame x

PI service Tool management function

CRCEDN Create new cutting edge x
CREACE Create cutting edge x
CREATO Generate tool x
DELECE Delete a cutting edge x
DELETO Delete tool x

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PI service Function Available in 840D

MMCSEM Semaphores for various PI services x
TMCRTO Create tool x
TMFDPL Empty location search for loading x
TMFPBP Empty location search x
TMMVTL Prepare magazine location for loading, unload tool x
TMPOSM Position magazine location or tool x
TMPCIT Set increment value for workpiece counter x
TMRASS Reset active status x
TRESMO Reset monitoring values x
TSEARC Complex search using search screen forms x
x: PI service is available

Possible block types

Block types
Workpiece directory WPD
Main program MPF
Subprogram SPF
Cycles CYC
Asynchronous subprograms ASP
Binary files BIN

Parameter assignment
Signal Type Value range Meaning
PIService ANY PI.SELECT Program selection
Unit INT 1 to 10 Channel
Addr1 STRING Path name
Addr2 STRING Program name

PI service: ASUB
Assign interrupt
Function:
A program stored on the NCK is assigned an interrupt signal for a channel. This is possible
only if the file may be executed. The path name and program name must be entered as
described in the Programming Guide (Chapter "File and Program Management", Section
"Program Memory"). Please also refer to example of FB 4 for notation of path and program
names.

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Parameter assignment
Signal Type Value range Meaning
PIService ANY PI.ASUP Assign interrupt
Unit INT 1 to 10 Channel
WVar1 WORD 1 to 8 Interrupt number
WVar2 WORD 1 to 8 Priority
WVar3 WORD 0/1 LIFTFAST
WVar4 WORD 0/1 BLSYNC
Addr1 STRING Path name
Addr2 STRING Program name

Note
The SETINT instruction is also used to make the assignment.
The ASUB PI service may only be executed when the channel to be activated is in Reset.

References:
/PA/Programming Guide

PI service: CANCEL
Execute cancel
Function:
The CANCEL command activates the Cancel function (in the same way as the key on the
HMI).

Parameter assignment
Signal Type Value range Meaning
PIService ANY PI.CANCEL Cancel

PI service: CONFIG
Reconfiguration
Function:
The reconfiguration command activates machine data, which have been entered sequentially
by the operator or the PLC, almost in parallel.
The command can only be activated when the control is in Reset or the program is
interrupted (NC stop at block limit). An FB 4 error checkback signal is output if these
conditions are not fulfilled (state = 3).

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Parameter assignment
Signal Type Value range Meaning
PIService ANY PI.CONFIG Reconfiguration
Unit INT 1
WVar1 INT 1 Classification

PI service: DIGION
Digitizing on
Function:
Select digitizing in the specified channel.).

Parameter assignment
Signal Type Value range Meaning
PIService ANY PI.DIGION Digitizing on
Unit INT 1 to 10 Channel

PI service: DIGIOF

Function:
Deactivating digitizing in the specified channel
Parameterization:

Signal Type Value range Meaning

PIService ANY PI.DIGIOF Digitizing off
Unit INT 1 to 10 Channel

PI service: FINDBL
Activate block search
Function:
A channel is switched to block search mode and the appropriate acknowledgment then
transmitted. The block search is then executed immediately by the NCK. The search pointer
must already be in the NCK at this point in time. The search can be interrupted at any time
by an NC RESET. Once the search is successfully completed, the normal processing mode
is reactivated automatically. NC Start then takes effect from the located search target. The
operator is responsible for providing a collisionfree approach path.

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Parameter assignment
Signal Type Value range Meaning
PIService ANY PI.FINDBL Block search
Unit INT 1 to 10 Channel
WVar1 WORD x Preprocessing mode
x: Describes the preprocessing mode
x = 1 without calculation
x = 2 with calculation
x = 3 with main block observation

PI service: LOGIN
Create password
Function:
Transfers the parameterized password to the NCK. The passwords generally consist of 8
characters. If required, blanks must be added to the string of the password.
Example:
Password: STRING[8] := 'SUNRISE?';

Parameter assignment
Signal Type Value range Meaning
PIService ANY PI.LOGIN Create password
Unit INT 1 NCK
Addr1 STRING 8 characters Password

PI service: LOGOUT
Reset password
Function:
The password last transferred to the NCK is reset.

Parameter assignment
Signal Type Value range Meaning
PIService ANY PI.LOGOUT Reset password
Unit INT 1 NCK

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PI service: NCRES
Initiate NC Reset
Function:
Initiates an NCK Reset. The Unit and WVar1 parameters must be assigned 0.
Parameterization:

Signal Type Value range Meaning

PIService ANY PI.NCRES Initiate NC Reset
Unit INT 0 0
WVar1 WORD 0 0

PI service: Select
Function:
A program stored on the NCK is selected for processing for one channel. This is possible
only if the file may be executed. The path name and program name must be entered as
described in the Programming Guide (Chapter "File and program management", Section
"Program memory"). Please also refer to example of FB 4 for notation of path and program
names.

Possible block types

Workpiece directory WPD

Main program MPF
Subprogram SPF
Cycles CYC
Asynchronous subprograms ASP
Binary files BIN

Signal Type Value range Meaning

PIService ANY PI.SELECT Program selection
Unit INT 1 to 10 Channel
Addr1 STRING Path name
Addr2 STRING Program name

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PI service: SETUFR
Activate user frames
Function:
User frames are loaded to the NCK. All necessary frame values must be transferred to the
NCK beforehand by writing variables with FB 3.

Parameter assignment
Signal Type Value range Meaning
PIService ANY PI.SETUFR Activate
user frames
Unit INT 1 to 10 Channel

Tool management services:

PI service: CRCEDN
Create new cutting edge
Function:
If the T number of an existing tool is specified in parameter “T number” in the PI service, then
a cutting edge is set up for this particular tool (in this case, parameter “D number” (number of
cutting edge to be created) has a value range of 00001–00009). If a positive T number is
specified as a parameter and the tool for the T number entered does not exist, then the PI
service fails. If a value of 00000 is entered for the T number (model of absolute D numbers),
then the D number value range might extend from 00001 to 31999. The new cutting edge is
set up with the specified D number. If the specified cutting edge already exists, then the PI
service is aborted in both cases.

Parameter assignment
Signal Type Value range Meaning
PIService ANY PI.CRCEDN Create new cutting
edge
Unit INT 1, 2 TOA
WVar1 INT T number of tool for
which cutting edge
must be created. A
setting of 00000 states
that the cutting edge
should not refer to any
particular tool (absolute
D number).
WVar2 INT 1 - 9 or Edge number of tool
01 - 31999 cutting edge

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PI service: CREACE
Create cutting edge
Function:
Creation of the cutting edge with the next higher/next unassigned D number for the tool with
the transferred T number in TO, TS (if present). The cutting edge for the OEM cutting edge
data is set up simultaneously in the TUE block - if one is present.

Parameter assignment
Signal Type Value range Meaning
PIService ANY PI.CREACE Create cutting edge
Unit INT 1, 2 TOA
WVar1 INT T number

PI service: CREATO
Create tool
Function:
Creation of a tool with specification of a T number. The tool is entered as existing in the tool
directory area (TV). The first "cutting edge" D1 (with zero contents) is created for tool offsets
in the TO block. D1 (with zero contents) is also created for the OEM "cutting edge" data in
the TUE block - if one is present. If a TU block exists, it will contain the data set for the tool.

Parameter assignment
Signal Type Value range Meaning
PIService ANY PI.CREATO Create tool
Unit INT 1, 2 TOA
WVar1 INT T number

PI service: DELECE
Delete a cutting edge
Function:
If the T number of an existing tool is specified in parameter “T number” in the PI service, then
a cutting edge is deleted for this particular tool (in this case, parameter “D number” (number
of cutting edge to be created) has a value range of 00001–00009). If a positive T number is
specified as a parameter and the tool for the T number entered does not exist, then the PI
service fails. If a value of 00000 is entered for the T number (model of absolute D numbers),
then the D number value range might extend from 00001 to 31999. If the specified cutting
edge does not exist, then the PI service is aborted in both cases.

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Parameter assignment
Signal Type Value range Meaning
PIService ANY PI.DELETE Delete cutting edge
Unit INT TOA
WVar1 INT T number of tool for
which the cutting edge
must be deleted. A
setting of 00000 states
that the cutting edge
should not refer to any
particular tool (absolute
D number).
WVar2 INT 1 - 9 or Edge number of cutting
01 - 31999 edge that must be
deleted

PI service: DELETO
Delete tool
Function:
Deletes the tool assigned to the transferred T number with all cutting edges (in TO, in some
cases TU, TUE and TG (type 400), TD and TS blocks).

Parameter assignment
Signal Type Value range Meaning
PIService ANY PI.DELETO Delete tool
Unit INT 1, 2 TOA
WVar1 INT T number

PI service: MMCSEM
Semaphores for various PI services
For use by HMI and PLC
10 semaphores are provided for each channel. These protect critical functions for the
HMI/PLC. By setting the semaphore for the corresponding function number, several
HMI/PLC units can be synchronized with it in cases where a function contains a critical
section with respect to data to be fetched by the NCK. Semaphores are managed by the
HMI/PLC. A semaphore value of 1stipulates a Test & Set operation for the semaphore of the
specified function number. The return value of the PI service represents the result of this
operation:
• Checkback value Done := TRUE: Semaphore has been set, critical function can be called
• Checkback value Error := TRUE with state = 3: Semaphore was already set, critical
function cannot be called at the present time. The operation must be repeated later.

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Note
On completion of the operation (reading data of this PI service) it is essential that the
semaphore is enabled again.

Parameter:
WVar1=FunctionNumber
This function number represents a PI service:

1: TMCRTO (create tool)

2: TMFDPL (search for empty location for loading):
3: TMMVTL (prepare magazine location for loading, unload tool)
4: TMFPBP (search for location)
5: TMGETT (search for tool number)
6: TSEARC (search for tool)
7 ... Reserved
10:

WVar2=SemaphorValue

0: Reset semaphore
1: Test and set semaphore

Parameter assignment
Signal Type Value range Meaning
PIService ANY PI.MMCSEM Set semaphore
Unit INT 1, 2 to 10 Channel
WVar1 INT 1 to 10 FunctionNumber
WVar2 Word 0, 1 SemaphoreValue

PI service: TMCRTO
Create tool
Function:
Creation of a tool with specification of an identifier, a duplo number and a T number
(optional). The tool is entered as existing in the tool directory area (TV). The first cutting
edge "D1" (with zero contents) is created for tool offsets in the TO block. "D1" (with zero
contents) is also set up for the monitoring data in the TS block, and simultaneously with zero
contents for the OEM cutting edge data in the TUE block - if one is present. The TD block
contains the identifier, duplo number and number of cutting edges (=1) for the T number that
is entered optionally or allocated by the NCK. If a TU block exists, it will contain the data set
for the tool.
After execution of the PI, the T number of the tool created is available in the TV block under
TnumWZV.

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Note
Before and after this PI service, the MMCSEM PI service must be called up with the
associated parameter WVar1 for this PI service. See PI service MMCSEM for more
information.

Parameter assignment
Signal Type Value range Meaning
PIService ANY PI.TMCRTO Create tool
Unit INT 1, 2 TOA
WVar1 INT T number
WVar2 INT Duplo number
Addr1 STRING max. 32 characters Tool identifier
T number > 0 means a T number must be specified
T number = -1 means that the NCK should allocate a T number
The example shows T number = -1 ⇒ T number assigned by NCK

PI service: TMFDPL
Empty location search for loading
Function:
(dependent on parameter assignment)
Location_number_to = -1, Magazine_number_to = -1:
Searches all magazines in the specified area (= channel) for an empty location for the tool
specified with a T number. After execution of the PI, the magazine and locations numbers
found during the search are listed in the configuration block of the channel (component
magCMCmdPar1 (magazine number) and magCMCmdPar2 (location number)).
Location_number_ID and magazine_number_ID can be set as search criteria or not (= -1).
The PI is acknowledged positively or negatively depending on the search result.
Location_number_to = -1, Magazine_number_to = Magazine_number:
An empty location for the tool specified with a T number is searched for in the specified
magazine. Location_number_ID and magazine_number_ID can be set as search criteria or
not (= -1). The PI is acknowledged positively or negatively depending on the search result.
Location_number_to = Location_number, Magazine_number_to = Magazine_number:
The specified location is checked, to confirm that it is free to be loaded with the specified
tool. Location_number_ID and magazine_number_ID can be set as search criteria or not (= -
1). The PI is acknowledged positively or negatively depending on the search result.
Command parameters 1 and 2 are located at source.

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Loading: If source is an internal loading magazine, then the command parameters are
located at the target (a real magazine).
Unloading Source is always a real magazine.
:

Note
Before and after this PI service, the MMCSEM PI service must be called up with the
associated parameter WVar1 for this PI service. See PI service MMCSEM for more
information.

Parameter assignment
Signal Type Value range Meaning
PIService ANY PI.TMFDPL Empty location
for loading
Unit INT 1, 2 TOA
WVar1 INT T number
WVar2 INT Location_number
_to
WVar3 INT Magazine_number
_to
WVar4 INT Location_number_ID
WVar5 INT Magazine_number
_ID

PI service: TMFPBP
Empty location search
Function:
(dependent on parameter assignment)
See description in FB 7.

PI service: TMMVTL
Prepare magazine location for loading, unload tool
Function:
This PI service is used both to load and unload tools. Whether the PI initiates a loading or
unloading operation depends on the assignment between the real locations and the from
parameters and to parameters: Loading ⇒ 'From' = Loading point/station, unloading ⇒ 'To' =
loading point/station

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The TMMVTL PI service is used for all movements.

1. Loading and unloading (loading point ↔ magazine)
2. Loading and unloading (loading point ↔ buffer storage, e.g., spindle)
3. Relocation within a magazine
4. Relocation between different magazines
5. Relocation between magazine and buffer storage
6. Relocation within buffer storage
The following variables from the TM block are used to monitor case 1, 3, 4, 5:
magCmd (area no. = TO unit, line = magazine number)
magCmdState <- "acknowledgment"
The following variables from the TMC block are used to monitor case 2), 6):
magCBCmd (area no. = TO unit)
magCBCmdState <- "acknowledgment"
Load function
Prepares the specified real magazine for the specified channel for loading, i.e., traverses the
magazine to the selected location for loading at the specified loading point/station
(location_number_from, magazine_number_from) and inserts the tool.
When location_number_to = -1, an empty location for the tool specified by a T number is first
sought in the specified magazine and the magazine then traversed. After execution of the PI,
the number of the location found is listed in the TM area in component magCMCmdPar2 for
the real magazine of the channel.
With location_number_to = -2 and a valid magazine number, loading takes place into the
currently queued magazine position of the specified magazine. After execution of the PI, the
number of the location for tool loading is listed in the TM area in component
magCMCmdPar2 for the real magazine of the channel.
Unload function
The tool specified by the tool number is unloaded at the specified loading point/station
(location_number_to, magazine_number_to), i.e., the magazine is traversed to the position
for unloading and the tool is then removed. The magazine location for the tool is marked as
being free in the TP block. The tool can be specified either via a T number or by means of
the location and magazine numbers. The value -1 is entered at unused specification points.

Note
Before and after this PI service, the MMCSEM PI service must be called up with the
associated parameter WVar1 for this PI service. See PI service MMCSEM for more
information.

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Parameter assignment
Signal Type Value range Meaning
PIService ANY PI.TMMVTL Make magazine
location ready for
loading, unload tool
Unit INT 1, 2 TOA
WVar1 INT T number
WVar2 INT Location_number_from
WVar3 INT Magazine_number_fro
m
WVar4 INT Location_number_to
WVar5 INT Magazine_number_to

PI service: TMPOSM
Position magazine location or tool
Function:
(dependent on parameter assignment)
A magazine location, which has either been specified directly or qualified via a tool located
on it, is traversed to a specified position (e.g., in front of a load location) via the PI service.
The PI service makes a magazine location, which can be qualified in various ways, traverse
in front of a specified load location.
The load location must be specified in the PI parameters location number_from and
magazine number_from.
The magazine location to be traversed can be qualified by the following:
• T number of the tool
The location where the tool is positioned traverses; the tool identifier, duplo number,
location number_from and magazine number_from parameters are irrelevant (i.e., values
"" , "-0001", "-0001","-0001").
or
• Tool identifier and duplo number
The location where the tool is positioned traverses; the T number, location number_from
and magazine number_from parameters are irrelevant (i.e., value "-0001" each).
or
• Direct specification of the location in the location_number_from
and magazine_number_from parameters
The tool-qualifying parameters T number, tool identifier and duplo number are irrelevant
(i.e., values "-0001", "", "-0001").

Parameter assignment
Signal Type Value range Meaning
PIService ANY PI.TMPOSM Position magazine
location or tool
Unit INT 1, 2 TOA

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Parameter assignment
Signal Type Value range Meaning
Addr1 STRING max. 32 characters Tool identifier
WVar1 INT T number
WVar2 INT Duplo number
WVar3 INT Location_number_from
WVar4 INT Magazine_number_fro
m
WVar5 INT Location number_ref
WVar6 INT Magazine number_ref

PI service: TMPCIT
Set increment value for workpiece counter
Function:
Incrementing the workpiece counter of the spindle tool
Parameterization:

Signal Type Value range Meaning

PIService ANY PI.TMPCIT Set increment value for workpiece counter
Unit INT 1 to 10 TOA
WVar1 WORD 0 ... Maximum Spindle number; corresponds to the type index in the
location data with spindle location type of the buffer
magazine in channel.000 = main spindle
WVar2 WORD 0 ... Maximum Increment value; indicates the number of spindle
revolutions after which the workpiece counter is
incremented

PI service: TMRASS
Reset active status
Function:
Resetting the active status on worn tools
This PI service is used to search for all tools with the tool status active and disabled. The
active status is then canceled for these tools. Potentially appropriate times for this PI service
are the negative edge of VDI signal "tool disable ineffective", an end of program, or a
channel reset. This PI service is intended mainly for the PLC, since it knows when the
disabled tool is finally no longer to be used.
Parameterization:

Signal Type Value range Meaning

PIServic ANY PI. TMRASS Reset active status
e
Unit INT 1 to 10 TO area

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PI service: TRESMO
Reset monitoring values
This PI service resets the monitoring values of the designated edges of the designated tools
to their setpoint (initial) values.
This only relates to tools with active monitoring.
Compare this with the RESETMON NC command.
Parameterization:

Signal Type Value range Meaning

PIServic ANY PI. TRESMO Reset monitoring values
e
Unit INT 1 to 10 TO area
WVar1 WORD -max ..max ToolNumber
0: Applies to all tools
>0: Applies only to this tool
<0: Applies to all sister tools of the specified T No.
WVar2 WORD 0 ... Maximum D number
>0: Monitoring of specified edge of specified tools is
reset.
0: Monitoring of all edges of specified tools is reset.
WVar3 WORD 0 ...15 Monitoring types
Type of monitoring to be reset.
This parameter is binary-coded.
1: Tool-life monitoring is reset.
2: Count monitoring is reset.
4: Wear monitoring is reset.
8: Total-offset monitoring is reset.
Combinations of monitoring types can be reset by adding
the values above.
0: All active tool-monitoring functions ($TC_TP9) are
reset.

PI service: TSEARC
Complex search using search screen forms
Function:
(dependent on parameter assignment)
The PI service allows you to search for tools with specified properties within a search domain
(in one or more magazines starting and ending at a specific location). The specified
properties refer only to data of the tools and their cutting edges. The PI service is only
available if tool management is activated. You can define a search direction and the number
of hits for the PI service (e.g., one tool for the next tool with matching properties or all tools
with the specified properties). As a result of this service, the user who made the call receives
a list of the internal T numbers of the tools found.
The search criteria can only be specified as AND operations. If an application needs to

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define an OR operation for the search criteria, it must first execute a series of queries with
AND criteria and then combine/evaluate the results of the individual queries.
To assign the parameters of the PI service, the properties of the required tools are first
defined via variable service in the TF block. This is achieved by selecting the relevant
comparison criteria in the operand masks (parMaskT..) in the TF block (i.e., which tool data
are to be compared?), entering the types of comparison logic (==, <, >, <=, >=, &&) in the
comparison operator data (parDataT..), and entering the comparison values in the operand
data. The PI service is then initiated and, after its successful return, the variable service from
the TF block is used to read out the number of hits in the variable resultNrOfTools and the
result list in the variable resultToolNr (i.e., the list of internal T numbers of the tools found in
the search - resultNrOfTools quantity). The PI service must be encapsulated with a
semaphore from its preparation until the successful return of the result. This is the only way
to ensure exclusive access and the exclusive use of the TF block in conjunction with the
TSEARC PI service. The function number provided for the semaphore feature (PI service
MMCSEM) is the function number for TSEARC.
If the service is configured incorrectly, a malfunction occurs. In all other cases, it will return a
result, even if no tools are found (resultNrOfTools = 0).
The search domain can be defined as follows in the parameters
MagNrFrom, PlaceNrFrom, MagNrTo, PlaceNrTo:

MagNrFro PlaceNrFro MagNrTo PlaceNrTo Search area

m m
WVar1 WVar2 WVar3 WVar4
#M1 #P1 #M2 #P2 Locations starting at magazine #M1, location
#P1 up to magazine #M2, location #P2 are
searched
#M1 -1 #M1 -1 All locations in magazine #M1 - and no others
- are searched
#M1 -1 -1 -1 All locations starting at magazine #M1 are
searched
#M1 #P1 -1 -1 All locations starting at magazine #M1 and
location #P1 are searched
#M1 #P1 #M1 -1 Locations in magazine #M1 starting at
magazine #M1 and location #P1 in this
magazine are searched
#M1 #P1 #M2 -1 Locations starting at magazine #M1, location
#P1 up to magazine #M2, location #P2 are
searched
#M1 -1 #M2 #P2 Locations starting at magazine #M1 up to
magazine #M2, location #P2 are searched
#M1 -1 #M2 -1 Locations starting at magazine #M1 up to and
including magazine #M2 are searched
-1 -1 -1 -1 All magazine locations are searched

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For a symmetrical search (see parameter "SearchDirection"), the search domain must only
include one magazine (cases 2 and 5 in the table above). If another search domain is
specified, the service will malfunction. A reference location must be specified in the
parameters MagNrRef and PlaceNrRef for a symmetrical search (see parameter
"SearchDirection"). The reference location is specified in the parameters MagNrRef and
PlaceNrRef. The reference location is a buffer location (a location from the magazine buffer,
i.e., change position, gripper, etc.) or a load point (a location from the internal loading
magazine). The search is executed symmetrically with reference to the magazine location in
front of the specified reference location. A multiple assignment to the magazine being
searched must be configured in the TPM block for the reference location. If this is not the
case, a malfunction occurs. If the magazine location in front of the reference location is
outside the search domain, the service responds as if it has not found a matching location.

Note
Before and after this PI service, the MMCSEM PI service must be called up with associated
WVar1 parameters for this PI service. See PI service MMCSEM for more information.

Parameter assignment
Signal Type Value range Meaning
PIService ANY PI.TSEARC Complex search using search screen forms
Unit INT 1, 2 TOA
WVar1 INT MagNrFrom Magazine number of magazine from which
search must begin
WVar2 INT PlaceNrFrom Location number of location in magazine
MagNrFrom, at which search must begin
WVar3 INT MagNrTo Magazine number of magazine at which search
must end
WVar4 INT PlaceNrTo Location number of location in magazine
MagNrTo, at which search must end
WVar5 INT MagNrRef Magazine number of (internal) magazine, with
reference to which the symmetrical search is to be
performed. (this parameter is only relevant with a
"symmetrical" search direction)
WVar6 INT PlaceNrRef Location number of location in magazine
MagNrRef, with reference to which the symmetrical search
is to be performed. This parameter is only relevant with a
"symmetrical" search direction
WVar7 INT 1, 2, 3 SearchDirection specifies the required search direction.
1: Forwards from the first location of the search domain
2: Backwards from the last location of the search domain
3: Symmetrical with real magazine location positioned in
front of the location specified by MagNrRef and PlaceNrRef
WVar8 INT 0, 1, 2, 3 KindofSearch
0: Find all tool with this property cutting edge specifically
1: Search for the first tool found with this property (cutting

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Parameter assignment
Signal Type Value range Meaning
edge specifically)
2: Browse all cutting edges to find all tool with this property
3: Browse all tools to search for the first tool found with this
property

Call example
Program selection in channel 1 (main program and workpiece program)
Entry of PI for DB 16 and STR for DB 124 with the S7 SYMBOL editor:
Parameterization:

Symbol Operand Data type

PI DB16 DB16
STR DB124 DB124

DATA_BLOCK DB 126 //Unassigned user DB, as instance for FB 4

FB 4
BEGIN
END_DATA_BLOCK
DATA_BLOCK db 124
struct
PName: string[32]:= '_N_TEST_MPF
';
Path: string[32]:= //Main program
'/_N_MPF_DIR/';
PName_WST: string[32]:=
'_N_ABC_MPF';
Path_WST: string[32]:= //Workpiece program
'/_N_WKS_DIR/_N_ZYL_WPD';
end_struct
BEGIN
END_DATA_BLOCK
Function FC "PICall" : VOID
call fb4,db126(
U I 7.7; //Unassigned machine control panel key
S M 0.0; //Activate req.
U M 1.1; //Done completed message
R M 0.0; //Terminate job
U I 7.6; //Manual error acknowledgment
U M 1.0; //Error pending
R M 0.0; //Terminate job
Req := M0.0,
PIService PI.SELECT,
:=
Unit := 1, // CHAN 1
Addr1 := STR.Path,
Addr2 := STR.PNam //Main-program
e, selection
//Addr1:=STR.Path

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_WST,
//Addr2:=STR.PNam
e_WST,
//Workpiece-
program selection
Error := M1.0,
Done := M1.1,
State := MW2);

2.12.5 FB 5: GETGUD read GUD variable

Description of functions
The PLC user program can read a GUD variable (GUD = Global User Data) from the NCK or
channel area using the FB GETGUD. The FB is multi-instance-capable. Capital letters must
be used for the names of GUD variables. Every FB 5 call must be assigned a separate
instance DB from the user area. A job is started when FB 5 is called by means of a positive
edge change at control input "Req". This job includes the name of the GUD variable to be
read in parameter "Addr" with data type "STRING". The pointer to the name of the GUD
variables is assigned symbolically to the "Addr" parameter with
<DataBlockName>.<VariableName>. Additional information about this variable is specified in
parameters "Area", "Unit", "Index1" and "Index2" (see table of block parameters).
When parameter "CnvtToken" is activated, a variable pointer (token) can be generated for
this GUD variable as an option. This pointer is generated via the VAR selector for system
variables of the NC. Only this method of generating pointers is available for GUD variables.
Once a pointer has been generated for the GUD variable, then it is possible to read and write
via FB 2 and FB 3 (GET, PUT) with reference to the pointer. This is the only method by
which GUD variables can be read. When FB 2 or FB 3 is parameterized, only parameter
Addr1 ... Addr8 need to be parameterized for the variable pointer. GUD variable fields are an
exception. In these, Line1 .. Line8 must also be parameterized with the field index of this
variable.
Successful completion of the read process is indicated by a logic "1" in status parameter
Done.
The read process extends over several PLC cycles generally 1 to 2).
The block can be called up in cyclic mode only.
Any errors are indicated by Error and State.

Note
After communication between the PLC and NC (read/write NC variables, FB2, 3, 5, or PI
general services, FB4) has been aborted by POWER OFF, the start jobs must be deleted in
the first OB1 run after cold restart or reset (signal: Req = 0).
FB 5 can read GUD variables only if basic program parameter NCKomm has been set to "1"
FB 1, DB 7).

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Declaration

FUNCTION_BLOCK FB 5 //Server name

KNOW_HOW_PROTECT
VERSION : 3.0
VAR_INPUT
Req : bool;
Addr: any; //Variables name string
Area: byte; //Area: NCK = 0, channel = 1
Unit : byte;
Index1: INT ; //Field index 1
Index2: INT ; //Field index 2
CnvtToken: BOOL ; //Conversion into 10-byte
token
VarToken: ANY ; //Struct with 10 bytes for the
variable token

END_VAR

VAR_OUTPUT
Error : bool;
Done : bool;
State : word;
END_VAR

VAR_IN_OUT
RD: any;
END_VAR

BEGIN
END_FUNCTION_BLOCK

Description of formal parameters

The table below lists all formal parameters of the GETGUD function.

Signal Ty Type Value range Remarks

pe
Req I Bool Job start with positive signal edge
Addr I Any [DBName].[VarName] GUD variable name in a variable of
data type STRING
Area I Byte Area address:
0: NCK variable

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Signal Ty Type Value range Remarks

pe
2: Channel variables
Unit I Byte NCK area: Unit:=1
Channel area: Channel no.
Index1 I Int Field index 1 of variable
Variable has the value 0 if no field
index is used.
Index2 I Int Field index 2 of variable
Variable has the value 0 if no field
index is used.
CnvtToken I Bool Activate generation of a variable
token
VarToken I Any [DBName].[VarName] Address to a 10byte token (see
example)
Error Bool Job negatively
acknowledged or
not executable

Q
Done Bool Job successfully
executed.

Q
State Word See error identifiers

Q
RD I/O Any P#Mm.n BYTE x... Data to be written
P#DBnr.dbxm.n BYTE x

Error identifiers
If it was not possible to execute a job, the failure is indicated by "logic 1" on status parameter
error. The error cause is coded at the block output State:

State Meaning Note

WORD H WORD L
0 1 Access error
0 2 Error in job Incorrect compilation of Var. in a job
0 3 Negative Internal error,
acknowledgment, job not try: NC reset

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State Meaning Note

WORD H WORD L
executable
0 4 Data areas or data Check data to be
types do not tally read in RD
0 6 FIFO full Job must be repeated,
since queue is full
0 7 Option not set BP parameter "NCKomm" is not set
0 8 Incorrect target area (SD) RD may not be local data
0 9 Transmission occupied Job must be repeated
0 10 Error in addressing Unit contains value 0
0 11 Address of variable Check Addr (or variable name), area,
invalid unit
1 to 8 13 (0x0d) ANY data reference String/NcVar data required has not
incorrect been parameterized

Configuration steps
To be able to read a GUD variable, its name must be stored in a string variable. The data
block with this string variable must be defined in the symbol table so that the "Addr"
parameter can be assigned symbolically for FB GETGUD. A structure variable can be
defined optionally in any data area of the PLC to receive the variable pointer (see
specification in following example).

Pulse diagram

     


5HT
 

'RQH

(UURU

(1) Activation of function

(2) Positive acknowledgment: variables have been written
(3) Reset function activation after receipt of acknowledgment
(4) Signal change by means of FB
(5) Not permissible
(6) Negative acknowledgment: Error has occurred, error code in output parameter state

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Call example
Reading of a GUD variable with the name "GUDVAR1" as an integer variable
(see also table in FB 2: Assignment of NC data type in SIMATIC data type).
Call and parameterization of FB 5 with instance DB 111:

DATA_BLOCK DB GUDVAR //Assignment to symbol table

STRUC
GUDVar1 : STRING[32] := 'GUDVAR1'; //Name is defined by user
GUDVar1T :
STRUCT
SYNTAX_ID : BYTE ;
area_and_unit : byte;
column : word;
line : word;
block type : byte;
NO. OF LINES : BYTE ;
type : byte;
length : byte;
END_STRUCT;
END_STRUCT;
BEGIN
END_DATA_BLOCK
DATA_BLOCK DB 111 //Unassigned user DB, as instance for FB
5
FB 5
BEGIN
END_DATA_BLOCK

DATE_BLOCK 112 //Unassigned user DB, as instance for FB

3
FB 3
BEGIN
END_DATA_BLOCK
//A user-defined channel variable from channel 1 must be read
//with conversion into a variable pointer to allow subsequent
//writing of a variable.
Function FC "VariablenCall" : VOID
U I 7.7; //Unassigned machine control panel key
S M 100.0; //Activate req.
U M 100.1; //Done completed message
R M 100.0; //Terminate job
U I 7.6; //Manual error acknowledgment

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U M 102.0; //Error pending

R M 100.0; //Terminate job
Call fb 5, db 111(
Req := M 100.0, //Starting edge for
reading
Addr := GUDVAR.GUDVar1,
Area := B#16#2, //Channel variable
Unit := B#16#1, //Channel 1
Index1 := 0, //No field index
Index2 := 0, //No field index
CnvtToken := TRUE, //Conversion into 10-
byte token
VarToken := GUDVAR.GUDVar1T,
Error := M102.0,
Done := M100.1,
State := MW104,
RD := P#DB99.DBX0.0 DINT 1
);
Following a successful FB5 call, fb3 can be written via the returned address.

Call fb 3, db 112(
Req := M 200.0,
NumVar := 1, //Write 1 GUD variable
Addr1 := GUDVAR.GUDVar1T,
Error := M102.0,
Done := M100.1,
State := MW104,
SD1:= P#DB99.DBX0.0 DINT 1);

2.12.6 FB 7: PI_SERV2 General PI services

Description of functions
A detailed description of the FB 7 is contained in the description of FB 4. The FB is multi-
instance-capable. The call is permitted only in cyclic program OB1. The only difference to FB
4 is the number of WVar1 and subsequent parameters. In FB 7, WVar1 to WVar16 are
defined in VAR_INPUT (FB4 has WVar1 to WVar10). All other parameters are identical to FB
4. This PI server can be used for all PI services previously implemented with FB 4. In
addition, the PI services listed below can only be handled with FB 7.

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Declaration

FUNCTION_BLOCK FB 7
Var_INPUT
Req : BOOL ;
PIService : ANY ;
Unit : INT ;
Addr1 : ANY ;
Addr2 : ANY ;
Addr3 : ANY ;
Addr4 : ANY ;
WVar1 : WORD ;
WVar2 : WORD ;
WVar3 : WORD ;
WVar4 : WORD ;
WVar5 : WORD ;
WVar6 : WORD ;
WVar7 : WORD ;
WVar8 : WORD ;
WVar9 : WORD ;
WVar10 : WORD ;
WVar11 : WORD ;
WVar12 : WORD ;
WVar13 : WORD ;
WVar14 : WORD ;
WVar15 : WORD ;
WVar16 : WORD ;
END_VAR
VAR_OUTPUT
Error : BOOL ;
Done : BOOL ;
State : WORD ;
END_VAR

Description of formal parameters

The following table shows all formal parameters of the function PI_SERV2.

Signal Typ Type Value range Remarks

e
Req I Bool Job request
PIService I Any [DBName].[VarName] PI service description
default is:"PI".[VarName]

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Signal Typ Type Value range Remarks

e
Unit I Int 1... Area number
Addr1 to I Any [DBName].[VarName] Reference to strings specification according to
Addr4 selected PI service
WVar1 to WVar16 I Word 1... Integers or word variables. Specification according
to selected PI service
Error Bool Negative acknowledgment of job or execution of
job impossible

Q
Done Bool Job has been executed successfully

Q
State Word See error identifiers

Overview of additional PI services

The following section provides an overview of the PI services that can be started from the
PLC. The meaning and application of the general FB 7 input variables (Unit, Addr..., WVar...)
depends on the individual PI service concerned.
PI service Function Available in
840D/810D
TMFPBP Empty location search +

Empty location search

TMFPBP
Function:
(dependent on parameter assignment)
This service searches the magazine(s) named in the relevant parameters for an empty
location, which meets the specified criteria (tool size and location type). The result of the
empty location search can be fetched from variables magCMCmdPar1 (magazine number)
and magCMCmdPar2 (location number) in block TMC when the service has functioned
correctly. As the PI service stores a result in variables magCMCmdPar1 and
magCMCmdPar2, the service must be protected by the semaphore mechanism (PI service
MMCSEM) with the function number for _N_TMFDPL in cases where several control units or
PLCs are operating on one NC. The search area can be predefined in the following way by
setting parameters MagazineNumber_From, LocationNumber_From, MagazineNumber_To,
LocationNumber_To:

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MagazineN LocationNu MagazineN LocationNu Search area

umber mber_From umber_To mber_To
_From
WVar1 WVar2 WVar3 WVar4
#M1 #P1 #M1 #P1 Only location #P1 in magazine #M1 is
checked
#M1 #P1 #M2 #P2 Locations starting at magazine #M1, location
#P1 up to magazine #M2, location #P2 are
searched
#M1 -1 #M1 -1 All locations in magazine #M1 - and no others
- are searched
#M1 -1 -1 -1 All locations starting at magazine #M1 are
searched
#M1 #P1 -1 -1 All locations starting at magazine #M1 and
location #P1 are searched
#M1 #P1 #M1 -1 Locations in magazine #M1 starting at
magazine #M1 and location #P1 in this
magazine are searched
#M1 #P1 #M2 -1 Locations starting at magazine #M1, location
#P1 up to magazine #M2, location #P2 are
searched
#M1 -1 #M2 #P2 Locations starting at magazine #M1 up to
magazine #M2, location #P2 are searched
#M1 -1 #M2 -1 Locations starting at magazine #M1 up to and
including magazine #M2 are searched
-1 -1 -1 -1 All magazine locations are searched

Note
Before and after this PI service, the MMCSEM PI service must be called up with the
associated parameter WVar1 for this PI service. See PI service MMCSEM for more
information.

Parameter assignment
Signal Type Value range Meaning
PIService ANY PI.TMFPBP Empty location search
Unit INT ... max. TOA TOA
WVar1 INT MagazineNumber_From:
Magazine number of magazine from which
search must begin (start of search area)
WVar2 INT LocationNumber_From:
Location number of location in magazine
MagazineNumber_From at which search must
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Parameter assignment
Signal Type Value range Meaning
WVar3 INT MagazineNumber_To:
Magazine number of magazine at which
search must end
WVar4 INT LocationNumber_To:
Location number of location in magazine
MagazineNumber_To at which search must
end
WVar5 INT MagazineNumber_Ref:
WVar6 INT LocationNumber_Ref:
WVar7 INT 0, 1 .. 7 Number of required half locations to left
WVar8 INT 0, 1 .. 7 Number of required half locations to right
WVar9 INT 0, 1 .. 7 Number of required half locations in upward
direction
WVar10 INT 0, 1 .. 7 Number of required half locations in downward
direction
WVar11 INT 0, 1 .. 7 Number of required location type
WVar12 INT 0: default Specifies the required search direction
1: forwards 0: Empty location search strategy is set in
2: backwards $TC_MAMP2
3: Symmetrical

2.12.7 FB 9: M : N operating-unit switchover

Description of functions
This block allows switchover between several control units (HMI operator panel fronts and/or
MCP machine control panels), which are connected to one or more NCU control modules via
a bus system.
References:
/FB2/ Function Manual Extended Functions; Several Operator Panel Fronts on Several
NCUs, Distributed Systems (B3)
The interface between the individual control units and the NCU (PLC) is the M : N interface
in data block DB19 (see FB 2 above, Chapter 5 Signal Description). FB 9 uses the signals of
these interfaces.
Apart from initialization, sign-of-life monitoring and error routines, the following basic
functions are also performed by the block for control unit switchover:

Tabulated overview of functions:

Basic function Meaning
HMI queuing HMI wants to go online with an NCU
HMI coming HMI is connecting to an NCU
HMI going HMI is disconnecting from an NCU

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Tabulated overview of functions:

Basic function Meaning
Forced break HMI must break connection with an NCU
Operating focus changeover to Change operating focus from one NCU to the other
server mode
Active/passive operating mode: Operator control and monitoring/monitoring only
MCP switchover As an option, MCP can be switched over with the HMI

Brief description of a few important functions

Active/passive operating mode
An online HMI can operate in two different modes:

Active mode: Operator can control and monitor

Passive mode: Operator can monitor (HMI header only)
After switchover to an NCU, this initially requests active operating mode in the PLC of the
online NCU. If two HMI are connected online on one NCU simultaneously, one of the two is
always in active and the other in passive mode. The operator can request active mode on
the passive HMI at the press of a button.

MCP switchover
As an option, an MCP assigned to the HMI can be switched over at the same time. To
achieve this, the MCP address must be entered in the mstt_adress parameter of the
NETNAMES.INI configuration file on the HMI and MCPEnable must be set to true. The MCP
of the passive HMI is deactivated so that there is only ever one active MCP on an NCU at
one time.

Boot condition
To prevent the previously selected MCP being reactivated when the NCU is restarted, input
parameters
MCP1BusAdr = 255 (address of 1st MCP) and MCP1STOP =TRUE (deactivate 1st MCP)
must be set when FB1 is called in OB100.

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Approvals
When one MCP is switched over to another, any active feed or axis enables will be retained.

Note
Keys actuated at the moment of switchover remain operative until the new MCP is activated
(by the HMI, which is subsequently activated). The override settings for feedrate and spindle
also remain valid. To deactivate actuated keys, the input image of the machine control
signals must be switched to nonactuated signal level on a falling edge of DB10.DBX104.0.
The override settings should remain unchanged.
Measures for deactivating keys must be implemented in the PLC user program
(see below: Example of override switchover).
The call is permitted only in cyclic program OB1.

Declaration of function

FUNKTION_BLOCK FB9
VAR_INPUT
Ack :BOOL; //Acknowledge interrupts
OPMixedMode :BOOL:= FALSE; // Mixed operation with non-M-to-N-enabled
OP deactivated
ActivEnable :BOOL:= TRUE; // Not supported
MCPEnable :BOOL:= TRUE; // Activate MCP switchover
END_VAR
VAR_OUTPUT
Alarm1 :BOOL; // Interrupt: Error in HMI bus address, bus
type!
Alarm2 :BOOL; // Interrupt: No confirmation HMI 1 offline!
Alarm3 :BOOL; // Interrupt: HMI 1 is not going offline!
Alarm4 :BOOL; // Interrupt: No confirmation HMI 2 offline!
Alarm5 :BOOL; // Interrupt: HMI 2 is not going offline!
Alarm6 : BOOL ; // Interrupt: Queuing HMI is not going online!
Report : BOOL ; // Message: Signoflife monitoring
ErrorMMC : BOOL ; // Error detection HMI
END_VAR

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Description of formal parameters

The table below lists all formal parameters of the M:N function.

Formal parameters of M:N function

Signal Type Type Remarks
Ack I BOOL Acknowledge interrupts
OPMixedMode I BOOL Mixed operation deactivated for OP without M:N capability
ActivEnable I BOOL Function is not supported. Control panel switchover
Interlocking via MMCx_SHIFT_LOCK in DB 19
MCPEnable I BOOL Activate MCP switchover
TRUE = MCP is switched over with operator panel.
FALSE: = MCP is not switched over with operator panel. This
can be used to permanently link an MCP. See also
MMCx_MCP_SHIFT_LOCK in DB 19

Alarm1 BOOL Interrupt: Error in HMI bus address, bus type!

Q
Alarm2 BOOL Interrupt: No confirmation HMI 1 offline!

Q
Alarm3 BOOL Interrupt: HMI 1 is not going offline!

Q
Alarm4 BOOL Interrupt: No confirmation HMI 2 offline!

Q
Alarm5 BOOL Interrupt: HMI 2 is not going offline!

Q
Alarm6 BOOL Interrupt: Queuing HMI is not going online!

Q
Report BOOL Message: Sign-of-life monitoring HMI

Q
ErrorMMC BOOL Error detection HMI

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Note
The block must be called by the user program. The user must provide an instance DB with
any number for this purpose. The call is not multiinstancecapable.

FB9 call

CALL FB 9 , DB 109 (
Ack := Error_ack, // e.g., MCP reset
OPMixedMode := FALSE,
ActivEnable := TRUE, //
MCPEnable := TRUE); // Enable for MCP switchover

Note
Input parameter “MCPEnable” must be set to true to enable MCP switchover. The default
value of these parameters is set in this way and need not be specially assigned when the
function is called.

Interrupts, errors
The output parameters "Alarm1" to "Alarm6" and "Report" exist as information in the PLC
and are output in the event of M:N errors visualized on the HMI by the appearance of
interrupts 410900 - 410906.
If execution of an HMI function has failed (and an appropriate error message cannot be
displayed), status parameter ErrorMMC is set to 'logic 1' (e.g., booting error when no
connection is made).

Example of FB1 call (call in OB100)

CALL "RUN_UP", "gp_par" (

MCPNum := 1,
MCP1In := P#I 0.0,
MCP1Out := P#Q 0.0,
MCP1StatSend := P#Q 8.0,
MCP1StatRec := P#Q 12.0,
MCP1BusAdr := 255, // Address of 1st MCP

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MCP1Cycl := S5T#200MS,
MCP1Stop := TRUE, // MCP switched off
NCCyclTimeout := S5T#200MS,
NCRunupTimeout := S5T#50S);

Example of override switchover

// Auxiliary flags used M100.0, M100.1, M100.2, M100.3

// Positive edge of MCP1Ready must check override and actions for activation
// Initiate MCP block
// This example covers feed override; for spindle override, interfaces and
// input bytes must be exchanged.
U DB10.DB 104.0; //MCP1Ready
X
EN M 100.0; //Edge trigger flag 1
JCN smth1;
S M 100.2; //Set auxiliary flag 1
R M 100.3; //Reset auxiliary flag 2

// Save override
L DB21.DBB 4; //Feed override interface
T EB 28; //Buffer storage (freely assignable input or memory
byte)
wei1:
U M 100.2; //Switchover takes place
O DB10.DBX 104.0; //MCP1Ready
JCN smth2;
U DB10.DBX 104.0; //MCP1Ready
FP M 100.1; //Edge trigger flag 2
JC smth2;
U M 100.2; //Switchover takes place
R M 100.2; //Reset auxiliary flag 1
JC smth2;
U M 100.3; //Comparison has taken place
SPB MCP; //Call MCP program
// Route the stored override to the interface of the switched MCP
// until the override values match
L EB28; //Buffer storage open
T DB21.DBB 4; //Route override interface
L EB 3; //Override input byte for feed
<>i; //Match?

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JC smth2; //No, jump

S M100.3; //Yes, set auxiliary flag 2
// When override values match, call the MCP program again
MCP: CALL "MCP_IFM"( //FC 19
BAGNo := B#16#1,
ChanNo := B#16#1,
SpindleIFNo := B#16#0,
FeedHold := M 101.0,
SpindleHold := M 101.1);
wei2: NOP 0;

2.12.8 FB 10: Safety relay (SI relay)

Description of functions
The SPL block "Safety relay" for "Safety Integrated" is the PLC equivalent of the NC function
of the same name. The standard SPL "Safety relay" block is designed to support the
implementation of an emergency stop function with safe programmable logic. However, it
can also be used to implement other similar safety functions, e.g., control of a protective
door. The function contains 3 input parameters (In1, In2, In3). On switchover of one of these
parameters to the value 0, the output Out0 is deactivated without delay and outputs Out1,
Out2 and Out3 deactivated via the parameterized timer values (parameters TimeValue1,
TimeValue2, TimeValue3). The outputs are activated again without delay, if inputs In1 to In3
take the value 1 and a positive edge change is detected at one of the acknowledgement
inputs Ack1, Ack2. To bring the outputs to their basic setting (values = 0) after booting, the
parameter FirstRun must be configured as follows. Parameter FirstRun must be switched to
the value TRUE via a retentive data (memory bit, bit in data block) on the first run after
control booting. The data can be preset, e.g., in OB 100. The parameter is reset to FALSE
when FB 10 is executed for the first time. Separate data must be used for parameter
FirstRun for each call with separate instance.
The corresponding NCK SPL block is described in:
References:
/FBSI/Description of Functions, Safety Integrated.

Simplified block diagram in CSF

The figure below shows only one acknowledgment input Ack1 and one delayed deactivation
output Out1. The circuit for Ack2 and the other delayed outputs are identical. The parameter
FirstRun is also missing in the function diagram. The mode of operation is described above.

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Declaration of the function

FUNCTION_BLOCK FB 10

VAR_INPUT
In1 : BOOL := True ; //Input 1
In2 : BOOL := True ; //Input 2
In3 : BOOL := True ; //Input 3
Quit1 : : BOOL ; //Ack 1 signal
Ack2 : :BOOL; //Ack 2 signal
TimeValue1 : TIME := T#0ms ; //TimeValue for output 1
TimeValue2 : TIME := T#0ms ; //TimeValue for output 2
TimeValue3 : TIME := T#0ms ; //TimeValue for output 3
END_VAR
VAR_OUTPUT
Out0 : BOOL ; //Output without delay
Out1 : BOOL ; //Delayed output to false by timer 1
Out2 : BOOL ; //Delayed output to false by timer 2
Out3 : BOOL ; //Delayed output to false by timer 3
END_VAR
VAR_INOUT
FirstRun BOOL: //True by user after initial start of SPL
END_VAR

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Description of formal parameters

The following table shows all formal parameters of the SI relay function.

Formal parameters of SI relay function

Signal Type Type Remarks
In1 I BOOL Input 1
In2 I BOOL Input 2
In3 I BOOL Input 3
Ack1 I BOOL Acknowledge input 1
Ack2 I BOOL Acknowledge input 2
TimeValue1 I TIME Time value 1 for OFF delay
TimeValue2 I TIME Time value 2 for OFF delay
TimeValue3 I TIME Time value 3 for OFF delay
Out0 BOOL Output undelayed

Q
Out1 BOOL Output delayed by TimeValue1

Q
Out2 BOOL Output delayed by TimeValue2

Q
Out3 BOOL Output delayed by TimeValue3

Q
FirstRun I/O BOOL Activation of initial setting

Note
The block must be called cyclically by the user program once following SPL program startup.
The user must provide an instance DB with any number for this purpose. The call is multi-
instance-capable.

2.12.9 FB 11: Brake test

Description of functions
The braking operation check should be used for all axes, which must be prevented from
moving in an uncontrolled manner by a holding brake. This check function is primarily
intended for the socalled "vertical axes".
The machine manufacturer can use his PLC user program to close the brake at a suitable
moment in time (guide value every 8 hours, similar to the SI test stop) and allow the drive to
apply additional torque/additional force on top of the weight force of the axis.

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In errorfree operation, the brake can produce the necessary braking torque/braking force and
keep the axis at a virtual standstill. When an error occurs, the actual position value exits the
parameterizable monitoring window. In this instance, the position controller prevents the axis
from sagging and negatively acknowledges the mechanical brake test.
The required parameterization of NC and drive is described in:
References:
/FBSI/Description of Functions, Safety Integrated.
The brake test must always be started when the axis is at a standstill. For the entire duration
of the brake test, the enable signals of the parameterized axis must be set to Enable (e.g.,
the servo disable, feedrate enable signals). The "PLC monitoring axis" (DB "Axis".DBX 28.7)
must also be set to status 1 by the user program for the entire duration of the test. Before the
"PLC monitoring axis" signal is activated, the axis must be switched to "neutral axis" status
(e.g., byte 8 must be set to channel 0 in the axis DB, activation signal must be set in the
same byte, current-status checkback can be polled in byte 68). The block must not be
started until the NC checkback via the appropriate bit (DB "Axis".DBX 63.1) has arrived. The
direction in which the drive must produce its torque/force is specified by the PLC in the form
of a "traversing motion" (e.g., via FC 18). The axis must be able to reach the destination of
this movement without risk of collision if the brake is unable to produce the necessary
torque/force.

Note
Note on FB 18
If FC18 is called for the same axis in the remainder of the user program, the calls must be
mutually interlocked. For example, this can be achieved via a common call of this function
with an interlocked common data interface for the FC 18 parameters. A second option is to
call the FC 18 repeatedly, whereby the inactive FC 18 will not be processed by the program.
A multiple-use interlock must be provided.

The brake test is divided into the following steps:

Brake test sequence

Step Expected checkback Monitoring time value
Start brake test DBX 71.0 = 1 TV_BTactiv
Close brake Bclosed = 1 TV_Bclose
Issue travel command DBX 64.6 Or DBX 64.7 TV_FeedCommand
Issue test travel command DBX62.5 = 1 TV_FXSreached
Wait for hold time DBX62.5 = 1 TV_FXShold
Deselect brake test/ DBX71.0 = 0 TV_BTactiv
open brake
Issue Test O.K.

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Declaration of the function

FUNCTION_BLOCK FB 11

VAR_INPUT
Start : BOOL ; //Start of brake test
Ack : BOOL ; //Acknowledge error
Bclosed : BOOL ; //Brake closed input (single channel - PLC)
Axis : INT ; //Testing axis no.
TimerNo : TIMER ; //Timer from user
TV_BTactiv : S5TIME ; //TimeValue -> brake test active
TV_Bclose : S5TIME ; //TimeValue -> close brake
TV_FeedCommand : S5TIME ; //TimeValue -> force FeedCommand
TV_FXSreached : S5TIME ; //TimeValue -> fixed stop reached
TV_FXShold : S5TIME ; //TimeValue -> test brake
END_VAR
VAR_OUTPUT
CloseBrake : BOOL ; //Signal close brake
MoveAxis : BOOL ; //Do move axis
Done : BOOL ;
Error : BOOL ;
State : BYTE ; //Error byte
END_VAR

Description of formal parameters

The following table lists all of the formal parameters of the brake test function

Formal parameters of brake test function

Signal Type Type Remarks
Start I BOOL Start brake test
Ack I BOOL Acknowledge error
Bclosed I BOOL Checkback input whether Close Brake is activated
(singlechannel - PLC)
Axis I INT Axis number of axis to be tested
TimerNo I TIMER Timer from user program
TV_BTactiv I S5TIME Monitoring time value -> brake test active, check of axis
signal DBX71.0
TV_Bclose I S5TIME Monitoring time value -> close brake Check of input
signal Bclosed after output CloseBrake has been set.
TV_FeedCommand I S5TIME Monitoring time value -> issue travel command Check
travel command after MoveAxis has been set.
TV_FXSreched I S5TIME Monitoring time value -> fixed stop reached
TV_FXShold I S5TIME Monitoring time value -> test brake
CloseBrake BOOL Request for close brake

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Formal parameters of brake test function

Signal Type Type Remarks
MoveAxis BOOL Request to initiate travel movement

Q
Done BOOL Test successfully completed

Q
Error BOOL Error occurred.

Q
State BYTE ErrorStatus

Error identifiers

Error identifiers
State Meaning
0 No fault
1 Start conditions not fulfilled, e.g., axis not under closedloop control/brake closed/axis
disabled
2 No NC checkback in "Brake test active" signal on selection of brake test
3 No "Brake applied" checkback by input signal Bclosed
4 No travel command output (e.g., axis motion has not been started)
5 Fixed end stop will not be reached -> axis reset was initiated
6 Traversing inhibit/approach too slow -> fixed end stop cannot be reached. TV
FXSreached monitoring timeout
7 Brake is not holding at all (end position is reached)/approach velocity too high
8 Brake opens during the holding period
9 Error in brake test deselection
10 Internal error
11 "PLC monitoring axis" signal not activated by the user program

Note
The block must be called by the user program. The user must provide an instance DB with
any number for this purpose. The call is multi-instance-capable.

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Example of FB11 call:

UN M 111.1; //Request to close brake, Z axis of FB

= 85.0; //Brake control, Z axis

Q
OPEN "Axis3"; //Brake test, Z axis
O I 73.0; //Brake test trigger, Z axis
O M 110.7; //Brake test running
FP M 110.0;
UN M 111.4; //Error has occurred
S M 110.7; //Brake test running
S M 110.6; //Next step
L B#16#10
T DBB 8; //Request neutral axis
U DBX 68.6; //Checkback signal, axis is neutral
U M 110.6;
FP M 110.1;
R M 110.6;
S M 110.5; //Next step
R DBX 8.4;
S DBX 28.7; //Request PLC-monitored axis
U DBX 63.1; //Checkback signal, axis monitored by PLC
U M 110.5;
FP M 110.2;
R M 110.5;
S M 111.0; //Start brake test for FB

CALL FB 11, DB 211 (//Brake test block

Start :=M 111.0, //Start brake test
Ack := I 3.7, //Acknowledge error with Reset key
Bclosed := I 54.0, //Checkback signal, brake close
controlled
Axis := 3, //Axis number of axis to be tested, Z
axis
TimerNo := T 110, //Timer number
TV_BTactiv := S5T#200MS, //Monitoring time value: Brake test
active DBX71.0
TV_Bclose := S5T#1S, //Monitoring time value: Brake closed
TV_FeedCommand := S5T#1S, //Monitoring time value: Travel command
issued
TV_FXSreache := S5T#1S, //Monitoring time value: Fixed stop
reached
TV_FXShold := S5T#2S, //Monitoring time value: Test time Brake
CloseBrake :=M 111.1, //Request to close brake
MoveAxis :=M 111.2, //Request to initiate travel movement
Done :=M 111.3, //Test successfully completed
Error :=M 111.4, //Error has occurred
State := MB 112); //Error status

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OPEN "Axis3 //Brake test, Z axis

";
O M 111.3; //Test successfully completed
O M 111.4; //Error has occurred
FP M 110.3;
R DBX 28.7; //Request, PLC-monitored axis
UN DBX 63.1; //Checkback signal, axis monitored by PLC
U M 111.0; //Start brake test for FB
U M 110.7; //Brake test running
FP M 110.4;
R M 111.0; //Start brake test for FB
R M 110.7; //Brake test running
CALL "SpinCtrl" (//Traverse Z axis
Start :=M 111.2, //Start traversing motion
Stop := FALSE,
Funct := B#16#5, //Mode: Axis mode
Mode := B#16#1, //Procedure: Incremental
AxisNo := 3, //Axis number of axis to be
traversed, Z axis
Pos := -5.000000e+000, //Traversing distance: Minus 5 mm
FRate := 1.000000e+003, //Feedrate: 1000 mm/min
InPos :=M 113.0, //Position reached
Error :=M 113.1, //Error has occurred
State := MB 114); //Error status

2.12.10 FB 29: Signal recorder and data trigger diagnostics

Signal recorder
The "diagnostics" FB allows various diagnostic routines to be performed on the PLC user
program. A diagnostic routine logs signal states and signal changes. In this diagnostic
routine, function number 1 is assigned to the Func parameter. Up to 8 Boolean signals
(parameters Signal_1 to Signal_8) are recorded in a ring buffer each time one of the signals
changes. The current information of parameters Var1 (byte value), and Var2 and Var3
(integer values) is also stored in the ring buffer. The number of past OB 1 cycles is also
stored in the buffer as additional information. This information enables the graphical
evaluation of signals and values in OB 1 cycle grid. The first time the "diagnostics" FB is
called in a new PLC cycle, the NewCycle parameter must be set to TRUE. If the
"diagnostics" FB is called several times in the same OB 1 cycle, the NewCycle parameter
must be set to FALSE for the second and subsequent calls. This prevents a new number of
OB 1 cycles from being calculated. The ring buffer is set up by the user. The DB of the ring
buffer must be passed to the diagnostics FB in the BufDB parameter. The ring buffer must
use an array structure, as specified in the source code. The array can have any number of
elements. A size of 250 elements is recommended. The ClearBuf parameter is used to clear
the ring buffer and set the BufAddr pointer (I/O parameter) to the start. The associated
instance DB for the FB is a DB from the user area.

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Data trigger
The data trigger function is intended to allow triggering on specific values (or bits) at any
permissible memory cell. The cell to be triggered is "rounded" with a bit mask (AndMask
parameter) before the TestVal parameter is compared in the diagnostic block.

Note
The source code for the function is available in the source container of the basic-program
library under the name Diagnose.awl.. The instance DB and the ring buffer DB are also
defined in this source block. The function call is also described in the function. The DB
numbers and the call must be modified.

FUNCTION_BLOCK FB 29

VAR_INPUT
Func : INT ; //Function number
//0 = No function, 1 = Signal recorder, 2 = Data trigger
Signal_1 : BOOL ;
Signal_2 : BOOL ;
Signal_3 : BOOL ;
Signal_4 : BOOL ;
Signal_5 : BOOL ;
Signal_6 : BOOL ;
Signal_7 : BOOL ;
Signal_8 : BOOL ;
NewCycle : BOOL ;
Var1 : BYTE ;
Var2 : INT ;
Var3 : INT ;
BufDB : INT ;
ClearBuf : BOOL ;
DataAdr : POINTER; //Area pointer to testing word
TestVal : WORD ; //Value for triggering
AndMask : WORD ; //AND mask to the testing word
END_VAR
VAR_OUTPUT
TestIsTrue : BOOL ;
END_VAR
VAR_IN_OUT
BufAddr : INT ;
END_VAR

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Structure for ring buffer

TITLE =
//Ring buffer DB for FB 29
VERSION : 1.0
STRUCT
Field: ARRAY [0 .. 249 ] OF STRUCT //can be any size of this struct

Cycle : INT ; //Delta cycle to last storage in buffer

Signal_1 : BOOL ; //Signal names same as FB 29
Signal_2 : BOOL ;
Signal_3 : BOOL ;
Signal_4 : BOOL ;
Signal_5 : BOOL ;
Signal_6 : BOOL ;
Signal_7 : BOOL ;
Signal_8 : BOOL ;
Var1 : BYTE ;
Var2 : WORD ;
Var3 : WORD ;
END_STRUCT;
END_STRUCT;
BEGIN
END_DATA_BLOCK

Description of formal parameters

The table below lists all formal parameters of the Diagnostics function:

Signal Ty Type Value range Remarks

pe
Func I Int 0, 1, 2 Function
0: Switch off
1: Signal recorder
2: Data trigger
Parameters for function 1
Signal_1 to I Bool Bit signals checked for change
Signal_8
NewCycle I Bool See the "Signal recorder" description
above
Var1 I Byte Additional value
Var2 I Int Additional value
VAR I Int Additional value
BufDB I Int Ring buffer DB no.
ClearBuf I Bool Delete ring buffer DB and reset pointer
BufAddr
BufAddr I/O Int Target area for read data

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Signal Ty Type Value range Remarks

pe
Parameters for function 2
DataAdr I Pointer Pointer to word to be tested
TestVal I Word Comparison value
AndMask I Word See description
TestIsTrue Bool Result of comparison

Configuration steps
Select function of diagnostics block. Define suitable data for the recording as signal recorder
or data triggering. Find a suitable point or points in the user program for calling the
diagnostics FB. Create a data block for the ring buffer (see call example). Call the
diagnostics FB with parameters in the user program. In function 1, it is advisable to clear the
ring buffer with the ClearBuf parameter. When the recording phase is complete (function 1),
read out the ring buffer DB in STEP7 by opening the data block in the data view. The content
of the ring buffer DB can now be analyzed.

Call example

FUNCTION FC 99: VOID

TITLE =
VERSION : 0.0
BEGIN
NETWORK
TITLE = NETWORK
CALL FB 29, DB 80 (

Func := 1,
Signal_1 :=M 100.0,
Signal_2 :=M 100.1,
Signal_3 :=M 100.2,
Signal_4 :=M 100.3,
Signal_5 :=M 10.4,
Signal_6 :=M 100.5,
Signal_7 :=M 100.6,
Signal_8 :=M 100.7,
NewCycle := TRUE,
Var1 := MB 100,
BufDB := 81,
ClearBuf :=M 50.0);
END_FUNCTION

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2.12.11 FC 2: GP_HP Basic program, cyclic section

Description of functions
The complete processing of the NCKPLC interface is carried out in cyclic mode. In order to
minimize the execution time of the basic program, only the control/status signals are
transmitted cyclically; transfer of the auxiliary functions and G functions only takes place
when requested by the NCK.

Declaration
FUNCTION FC 2: VOID
//No parameters

Call example
As far as the time is concerned, the basic program must be executed before the user
program. It is, therefore, called first in OB 1.
The following example contains the standard declarations for OB 1 and the calls for the basic
program (FC2), the transfer of the MCP signals (FC19), and the acquisition of error and
operating messages (FC10).

ORGANIZATION_BLOCK OB 1
VAR_TEMP
OB1_EV_CLASS : BYTE ;
OB1_SCAN_1 : BYTE ;
OB1_PRIORITY : BYTE ;
OB1_OB_NUMBR : BYTE ;
OB1_RESERVED_1 : BYTE ;
OB1_RESERVED_2 : BYTE ;
OB1_PREV_CYCLE : INT ;
OB1_MIN_CYCLE : INT ;
OB1_MAX_CYCLE : INT ;
OB1_DATE_TIME : DATE_AND_TIME;
END_VAR
BEGIN
CALL FC 2; //Call basic program as first FC
//INSERT USER PROGRAM HERE
CALL FC 19 ( //MCP signals to interface
BAGNo := B#16#1, //Mode group no. 1
ChanNo := B#16#1, //Channel no. 1
SpindleIFNo := B#16#4, //Spindle interface number
= 4
FeedHold := m22.0, //Feed stop signal
//modal
SpindleHold := db2.dbx151.0) //Spindle stop modal
;
//in message DB
CALL FC 10 ( //Error and operational
messages
ToUserIF := TRUE, //Signals transferred from

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DB2
//to interface
Ack := I6.1); //Acknowledgment of error
messages via I 6.1
END_ORGANIZATION_BLOCK

2.12.12 FC 3: GP_PRAL Basic program, interruptdriven section

Description of functions
Blocksynchronized transfers from the NCK to the PLC (auxiliary and G functions) are carried
out in the interruptdriven part of the basic program. Auxiliary functions are subdivided into
normal and highspeed auxiliary functions. The highspeed functions of an NC block are
buffered and the transfer acknowledged to the NC. These are passed to the application
interface at the start of the next OB1 cycle. Normal auxiliary functions are only
acknowledged when they have existed for the duration of one cycle. This allows the
application to issue a read disable to the NC.
Highspeed auxiliary functions programmed immediately one after the other, are not lost for
the user program. This is ensured by a mechanism in the basic program.
The G functions are evaluated immediately and passed to the application interface.

NC process interrupts
If the interrupt is triggered by the NC (possible in each IPO cycle), a bit in the local data of
OB 40 ("GP_IRFromNCK") is set by the basic program. (only if FB 1 parameter UserIR :=
TRUE). This data is not set on other events (process interrupts through I/Os). This
information makes it possible to branch into the associated interrupt routine in the user
program in order to initiate the necessary action. To be able to implement highspeed, job-
driven processing of the user program for the machine, the following NC functions are
available in the interrupt processing routine (OB 40 program section) for the PLC user
program:
• Selected auxiliary functions
• Tool-change function for tool-management option
• Position reached for positioning axes, indexing axes and spindles with activation via PLC
The functions listed above can or must be evaluated by the user program in OB 40 in order
to initiate reactions on the machine. As an example, the revolver switching mechanism can
be activated when a T command is programmed on a turning machine.
For further details on programming hardware interrupts (time delay, interruptibility, etc.) refer
to the corresponding SIMATIC documentation.

Auxiliary functions,
Generally, high-speed or acknowledging auxiliary functions are processed with or without
interrupt control independently of any assignment.
Basic-program parameters in FB 1 can be set to define which auxiliary functions (T, H, DL)
must be processed solely on an interruptdriven basis by the user program.

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Functions which are not assigned via interrupts are only made available by the cyclic basic
program as in earlier versions. The change signals of these functions are available in a PLC
cycle.
Even if the selection for the auxiliary function groups (T, H, DL) is made using interrupt
control, only one interrupt can be processed by the user program for the selected functions.
A bit is set channelspecifically in the local data "GP_AuxFunction" for the user program (if
"GP_AuxFunction[1]" is set, then an auxiliary function is available for the 1st channel).
The change signals and function value are available to the user in the associated channel
DB. The change signal for this interruptdriven function is reset to zero in the cyclic basic
program section after the execution of at least one full OB1 cycle (max. approx. two OB1
cycles).

Tool change
With the tool-management option, the tool-change command for revolver and the tool
change in the spindle is supported by an interrupt. The local data bit "GP_TM" in OB 40 is
set for this purpose. The PLC user program can thus check the tool management DB (DB 72
or DB 73) for the tool change function and initiate the tool change operation.

Position reached
In the bit structure, "GP_InPosition" of the local data of OB 40 is specific to the machine axis
(each bit corresponds to an axis/spindle, e.g., GP_InPosition[5] corresponds to axis 5).
If a function has been activated via FC 18 (spindle control, positioning axis, indexing axis) for
an axis or spindle, the associated "GP_InPosition" bit can be used to implement
instantaneous evaluation of the "InPos" signal of the FCs listed above. This feature can be
used, for example, to obtain immediate activation of clamps for an indexing axis.

Declaration
FUNCTION FC 3: VOID
//No parameters

Call example
As far as the time is concerned, the basic program must be executed before other interrupt-
driven user programs. It is, therefore, called first in OB 40.
The following example contains the standard declarations for OB 40 and the call for the
basic program.

ORGANIZATION_BLOCK OB 40
VAR_TEMP
OB40_EV_CLASS : BYTE ;
OB40_STRT_INF : BYTE ;
OB40_PRIORITY : BYTE ;
OB40_OB_NUMBR : BYTE ;
OB40_RESERVED_1 : BYTE ;
OB40_MDL_ID : BYTE ;
OB40_MDL_ADDR : INT ;
OB40_POINT_ADDR : DWORD;
OB40_DATE_TIME : DATE_AND_TIME;

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//Assigned to basic program

GP_IRFromNCK : BOOL ; //Interrupt by NCK for user
GP_TM : BOOL ; //Tool management
GP_InPosition : ARRAY[1..3] OF BOOL; //Axis-oriented for positioning and
//indexing axes, spindles
GP_AuxFunction : ARRAY[1..10] OF BOOL; //Channel-oriented for //auxiliary
functions
GP_FMBlock : ARRAY[1..10] OF BOOL; //Channel-oriented for block
//transfer to FM (available soon)

//Further local user data may be defined from this point onwards
END_VAR
BEGIN
CALL FC 3;
//INSERT USER PROGRAM HERE
END_ORGANIZATION_BLOCK

2.12.13 FC 5: GP_DIAG Basic program, diagnostic alarm, and module failure

Description of functions

Description of functions
Module defects and module failures are detected in this section of the basic program.
The FC5 block parameter can be used to define whether the PLC is to be placed in STOP
mode. The PLC is placed in STOP mode only for incoming events. The PROFIBUS MCPs
assigned on FB1 are excluded from stopping the PLC.

Declaration

FUNCTION FC 5: VOID
VAR_INPUT
PlcStop: BOOL := True;
END_VAR

Call example
As far as timing is concerned, the basic program can be executed after other user programs.
This is advisable since the FC5 circuitry will place the PLC in Stop mode.
This example contains the standard declarations for OB82 and OB86 and the call of the
basic program block.

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ORGANIZATION_BLOCK OB 82
VAR_TEMP
OB82_EV_CLASS : BYTE ;
OB82_FLT_ID : BYTE ;
OB82_PRIORITY : BYTE ;
OB82_OB_NUMBR : BYTE ;
OB82_RESERVED_1 : BYTE ;
OB82_IO_FLAG : BYTE ;
OB82_MDL_ADDR : INT ;
OB82_MDL_DEFECT : BOOL ;
OB82_INT_FAULT : BOOL ;
OB82_EXT_FAULT : BOOL ;
OB82_PNT_INFO : BOOL ;
OB82_EXT_VOLTAGE : BOOL ;
OB82_FLD_CONNCTR : BOOL ;
OB82_NO_CONFIG : BOOL ;
OB82_CONFIG_ERR : BOOL ;
OB82_MDL_TYPE : BYTE ;
OB82_SUB_NDL_ERR : BOOL ;
OB82_COMM_FAULT : BOOL ;
OB82_MDL_STOP : BOOL ;
OB82_WTCH_DOG_FLT : BOOL ;
OB82_INT_PS_FLT : BOOL ;
OB82_PRIM_BATT_FLT : BOOL ;
OB82_BCKUP_BATT_FLT : BOOL ;
OB82_RESERVED_2 : BOOL ;
OB82_RACK_FLT : BOOL ;
OB82_PROC_FLT : BOOL ;
OB82_EPROM_FLT : BOOL ;
OB82_RAM_FLT : BOOL ;
OB82_ADU_FLT : BOOL ;
OB82_FUSE_FLT : BOOL ;
OB82_HW_INTR_FLT : BOOL ;
OB82_RESERVED_3 : BOOL ;
OB82_DATE_TIME : DATE_AND_TIME;
END_VAR
BEGIN
CALL FC 5
(PlcStop := False);
END_ORGANIZATION_BLOCK

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ORGANIZATION_BLOCK OB 86
VAR_TEMP
OB86_EV_CLASS : BYTE ;
OB86_FLT_ID : BYTE ;
OB86_PRIORITY : BYTE ;
OB86_OB_NUMBR : BYTE ;
OB86_RESERVED_1 : BYTE ;
OB86_RESERVED_2 : BYTE ;
OB86_MDL_ADDR : WORD ;
OB86_RACKS_FLTD : ARRAY [0 .. 31]OF BOOL;
OB86_DATE_TIME : DATE_AND_TIME;
END_VAR
BEGIN
CALL FC 5
(PlcStop := True);
END_ORGANIZATION_BLOCK

2.12.14 FC 7: TM_REV Transfer block for tool change with revolver

Description of functions
After a revolver has been changed, the user will call this block. The revolver number
(corresponding to interface number in DB 73) must be specified in parameter "ChgdRevNo"
for this purpose. As this block is called, the associated "Interface active" bit in data block DB
73, word 0 of FC 7 is reset after parameter "Ready" := TRUE is returned.
Block FC TM_REV may be started (with "Start" parameter = "TRUE") only if an activation
signal for the appropriate interface (DB 73, word 0) for this transfer has been supplied by the
tool management function.
Output parameter "Ready" is set to the value TRUE when the job has been executed
correctly.
The user must then set the
"Start" parameter to FALSE
or not call the block again.
If the
"Ready" parameter is set to FALSE,
the error code in the
"Error" parameter must be interpreted.
If the error code = 0, then this job must be repeated in the next PLC cycle (e.g., "Start"
remains set to "TRUE"). This means that the transfer job has not yet been completed (see
example FC 7 call and timing diagram). The "Start" parameter does not need a signal edge
for a subsequent job.

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Warning
It is not permissible to abort the transfer (e.g., by an external signal reset). The "Start"
parameter must always retain the 1 signal until the "Ready" and/or "Error" parameters <> 0.

An error code <> 0 indicates incorrect parameterization.

Note
For further details on tool management (also with regard to PLC) refer to the Description of
Functions, Tool Management. In addition, PI services for tool management via FB 4, FC 8
and FC 22 are available. Machine data 20310 bit 12 must not be set to 1 for circular
magazines.

Manual revolver switching

If a manual action is used to rotate the revolver, this information must be forwarded to the
tool management. The asynchronous transfer function of FC 8 must be used to transfer the
modified positions of the revolver. This must only occur once on the first manual rotation in
the sequence. In this case, the following parameterization of the asynchronous transfer is
needed via FC 8:

TaskIdent = 4
TaskIdentNo = channel
NewToolMag = Magazine number of the revolver
NewToolLoc = Original location of the tool
OldToolMag = Magazine no. buffer storage (spindle) = 9998
OldToolLoc = Buffer storage number of the spindle
Status = 1
This action also causes the same T command to be resent to the tool-management interface
if the previous T is programmed again.

Declaration of the function

STL representation

FUNCTION FC 7: void
//NAME :TM_REV
VAR_INPUT
Start: BOOL ;
ChgdRevNo: BYTE ;
END_VAR
VAR_OUTPUT

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Ready: BOOL ;
Error : INT ;
END_VAR
BEGIN
END_FUNCTION

Description of formal parameters

The table below lists all formal parameters of the TM_REV function.

Signal Typ Type Value range Remarks

e
Start I Bool = transfer is started
ChgdRevNo I Byte 1.. Number of revolver interface
Ready Bool = transfer completed

Q
Error Int 0..3 Error checkback
0 : No error has occurred
1: No revolver present
2: Illegal revolver number in parameter "ChgdRevNo"
Q 3: Illegal job ("interface active" signal for selected
revolver = "FALSE")

Pulse diagram

     


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(1) Activation of function

(2) Positive acknowledgment: Tool management has been transferred
(3) Reset function activation after receipt of acknowledgment
(4) Signal change by means of FB
(5) This signal chart is not permissible. The job usually has to be terminated as the new tool
positions need to be forwarded to the tool management in the NCK.
(6) Negative acknowledgment: Error has occurred, error code in output parameter error

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Call example

CALL FC 7 ( //Tool management transfer of block for revolver

Start := m 20.5, //Start := "1 " => transfer trigger
ChgdRevNo := DB61.DBB 1,
Ready := m 20.6,
Error := DB61.DBW 12);
u m 20.6; //Poll ready
r m 20.5; //Reset start
spb m001; //Jumps, if everything OK
l db61.dbw 12; //Error information
ow w#16#0; //Evaluate error
JC error; //Jumps to troubleshooting, if <> 0
m001: // Start of another program
error:
r m 20.5; //Reset start, if an error has occurred

2.12.15 FC 8: TM_TRANS transfer block for tool management

Description of functions
In the case of changed tool positions or status changes, the user will call FC TM_TRANS.
This FC is parameterized with parameter "TaskIdent":
1. For loading/unloading positions
2. For spindle change positions
3. For revolver change positions as transfer identifier
4. Asynchronous transfer
5. Asynchronous transfer with location reservation
The interface number is indicated in parameter "TaskIdentNo".
Example for loading point 5:
Parameter "TaskIdent":= 1 and "TaskIdentNo":= 5.
Furthermore, the current tool positions and status data (list of "Status" parameter in the
following text) are also transmitted for this transfer function.

Note
FC8 informs the NCK of the current positions of the old tool.
The NCK knows where the old and the new tool have been located until the position change.

In the case of a transfer without a socalled "old tool" (e.g., on loading), the value 0 is
assigned to parameters "OldToolMag", "OldToolLoc".

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Block FC TM_TRANS may be started (with "Start" parameter = "TRUE") only if an activation
signal for the appropriate interface (DB 71, DB 72, DB 73 in word 0) for this transfer has
been supplied by the tool management function.

Output parameter "Ready" is set to the value TRUE when the job has been executed
correctly.
The user must then set the
"Start" parameter to FALSE
or not call the block again.
If the
"Ready" parameter = FALSE,
the error code in the "Error" parameter must be interpreted
(see Call example FC 8 and timing diagram).
If the error code = 0, then this job must be repeated in the next PLC cycle (e.g., "Start"
remains set to "TRUE"). This means that the transfer operation has not yet been completed.
If the user assigns a value of less than 100 to the "Status" parameter, then the associated
interface in data block DB 71 or DB 72 or DB 73, word 0 is deactivated (process complete).
The appropriate bit for the interface is set to 0 by FC 8.
The "Start" parameter does not need a signal edge for a subsequent job. This means that
new parameters can be assigned with "Start = TRUE" immediately when "Ready = TRUE" is
received.

Asynchronous transfer
To ensure that changes in the position of a tool are automatically signaled from PLC to tool
management (e.g., power failure during an active command or independent changes in the
position by the PLC), block FC TM_TRANS with "TaskIdent" := 4 or 5 is called. This call does
not require interface activation by tool management.
If parameter "TaskIdent" = 5, the tool management reserves the location in addition to
changing the position. The location is only reserved if the tool has been transported from a
real magazine to a buffer storage.
A relevant NC channel must be parameterized in the "TaskIdentNo" parameter.
The previous position of the tool is specified in parameters "OldToolMag", "OldToolLoc"; the
current position of the tool is specified in parameters "NewToolMag", "NewToolLoc". Status =
1 must be specified.
With status 5, the specified tool remains at location "OldToolMag", "OldToolLoc". This
location must be a buffer (e.g., spindle). The real magazine and location must be specified in
the parameters "NewToolMag", "NewToolLoc"; the location is at the position of the buffer.
This procedure must always be used if the tool management is to be informed of the position
of a specific magazine location. This procedure is used for alignment in search strategies.

Note
It is not permissible to abort the transfer (e.g., by an external signal reset). The "Start"
parameter must always retain the 1 signal until the "Ready" and/or "Error" parameters <> 0.

An error code <> 0 indicates incorrect parameterization.

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Note
For further details on tool management (also with regard to PLC) refer to the Description of
Functions, Tool Management. In addition, PI services for tool management via FB 4, FC 7
and FC 22 are available.

Declaration of the function

STL representation

FUNCTION FC 8: void
//NAME :TM_TRANS
VAR_INPUT
Start: BOOL ;
TaskIdent: BYTE ;
TaskIdentNo: BYTE ;
NewToolMag: INT ;
NewToolLoc: INT ;
OldToolMag: INT ;
OldToolLoc: INT ;
Status: INT ;
END_VAR
VAR_OUTPUT
Ready: BOOL ;
Error : INT ;
END_VAR
BEGIN
END_FUNCTION

Description of formal parameters

The table below lists all formal parameters of the TM_TRANS function:

Signal Typ Type Value range Remarks

e
Start I Bool 1 = Start of transfer
TaskIdent I Byte 1..5 Interface or tank identifier
1: Loading/unloading location
2: Spindle change position
3: Revolver change position
4: Asynchronous transfer
5: Asynchronous transfer with
location reservation
TaskIdentNo I Byte 1.. Number of associated interface or channel number.
The upper nibble can specify the interface number
for asynchronous transfer (e.g., B#16#12, 1st

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Signal Typ Type Value range Remarks

e
interface, 2nd channel).
NewToolMag I Int 1, 0.. Current magazine number of new tool
-1: Tool remains at its location NewToolLoc = any
value Only with TaskIdent = 2 permissible
NewToolLoc I Int 0 to max. Current location number of new tool
location
number
OldToolMag I Int -1, 0.. Current magazine number of tool to be changed
-1: Tool remains at its location OldToolLoc = any
value Only with TaskIdent = 2 permissible
OldToolLoc I Int Max. location Current location number of tool to be changed
number
Status I Int 1..6, 103..105 Status information about transfer operation
Ready Bool 1= transfer completed

Q
Error Int 0..65535 Error checkback
0: No error has occurred
1: Unknown "TaskIdent"
2: Unknown "TaskIdentNo"
Q 3: Illegal job ("interface active" signal for selected
revolver = "FALSE")

Other values:
The number corresponds to the error message of
the tool management function in the NCK caused
by this transfer.

Pulse diagram

     


6WDUW
 

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Figure 2-30 Pulse diagram

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(1) Activation of function

(2) Positive acknowledgment: Tool management has been transferred
(3) Reset function activation after receipt of acknowledgment
(4) Signal change by means of FB
(5) This signal chart is not permissible. The job usually has to be terminated since the new tool
positions need to be forwarded to the tool management in the NCK.
(6) Negative acknowledgment: Error has occurred, error code in output parameter error

Status list
Status = 1:
The operation is complete (loading/unloading/reloading, prepare change, change).
The parameters of FC 8 (FC TM_TRANS) "NewToolMag", "NewToolLoc", "OldToolMag" and
"OldToolLoc" must be parameterized to the tool target positions specified in the interface
(except for Prepare change). For further information, please refer to description of
parameters of FC TM_TRANS or general Section of tool management in the PLC.
1. In the case of loading/unloading/reloading, the tool has arrived at the required target
address. If the bit in the interface in DB 71.DBX (n+0).3 "position at loading point" is
enabled, status 1 cannot be used for the function termination. Status 5 must be used for
correct termination.
2. In the case of "Prepare change", the new tool is now available. The tool may, for
example, be positioned in a buffer (gripper). In some cases, the target (magazine,
location) of the old tool has been moved to the toolchange position after placement of the
new tool in a buffer. However, the old tool still remains in the spindle. The preparations
for a tool change are thus complete. After this acknowledgment, the "Change" command
can be received. The positions in parameters "NewToolMag", "NewToolLoc",
"OldToolMag" and "OldToolLoc" correspond to the current tool positions.
3. In the case of "Change" (spindle or revolver), the tools addressed in the interface have
now reached the required target addresses.
The tool-change operation is thus complete.
Status = 2:
The "new" tool cannot be made available.
This status is only admissible in conjunction with the "Change tool" command. When this
status is applied, the PLC must be prevented from making a change with the proposed tool.
The proposed (new) tool is disabled by the tool management function in the NCK. A new
command is then output by the tool management with a duplo tool. The positions in
parameters "NewToolMag", "NewToolLoc", "OldToolMag", and "OldToolLoc" correspond to
the original tool positions.
Status = 3:
An error has occurred.
The tool positions must not have been changed. Any changes to the magazine positions
which have taken place in the meantime must be notified beforehand, for example, with
status = 105 via FC TM_TRANS. Only then will the tool positions be taken into account by
the tool management function.
Status = 4:
It would be better to position the "old" tool in the magazine position specified in parameters
"OldToolMag" and "OldToolLoc".

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This status is permissible only in conjunction with preparation for tool change (change into
spindle). After this status has been transferred to the tool management in the NCK, the tool
management tries to take the specified magazine position into account in the subsequent
command. However, it can only do so if the position is free. Parameters "NewToolMag" and
"NewToolLoc" are not taken into account.
Status = 5:
The operation is complete.
The "new" tool is in the position specified in parameters "NewToolMag", "NewToolLoc". In
this case, the specified tool is not really in this position, but is still in the same magazine
location. However, this magazine location has been moved to the position set in the
parameters (e.g., tool change position). This status may be used only for revolvers, chain-
type magazines and disk magazines. Status 5 enables the tool management function to
adjust the current position of a magazine and to improve the search strategy for subsequent
commands. This status is permissible only in conjunction with loading, unloading, and
reloading operations and with preparations for a tool change.
The "OldToolMag" and "OldToolLoc" parameters must be parameterized with the data of a
buffer.
• Loading, reloading:
On loading or reloading, a location for the tool is already reserved in the NCK. The
machine operator must then insert the tool at the target location. Notice: The location
reservation is canceled when the control system is switched on again.
• Tool-change preparation:
Tool motions still to be executed are not carried out until after the tool has been changed.
• Positioning to load point:
If the bit in the interface in DB 71.DBX (n+0).3 "positioning to load point" is enabled,
status 5 (not status 1) cannot be used for the function termination.
Status = 6:
The tool management job is completed.
This status has the same function as status 1, but, in addition, a reservation of the source
location is carried out. This status is only permitted when reloading. The command is ended
and the source location of the tool is reserved if the target location is in a buffer magazine.
Status = 103:
The "new" tool can be inserted.
This status is only permissible in conjunction with the preparations for a tool change if the
PLC may reject the new tool (MD: MC_TOOL_MANAGEMENT_MASK, bit 4). The tool
positions have remained unchanged. This status is required to ensure that preprocessing
continues in the NCK (otherwise processing is stopped).
References:
/FBW/Description of Functions, Tool Management
Status = 104:
The "new" tool is in the position specified in parameters "NewToolMag", "NewToolLoc".
This status is only permissible if the tool is still in the magazine in the same location. The
"old" tool is in the position (buffer) specified in parameters "OldToolMag", "OldToolLoc". In
this case, however, the new tool is not really in this position, but is still in the same magazine
location. However, this magazine location has been moved to the position set in the
parameters (e.g., tool change position).

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This status may be used only in conjunction with revolvers, chaintype magazines and disk
magazines for the "Tool change preparation" phase. Status 104 enables the tool
management to adjust the current position of a magazine and to improve the search strategy
for subsequent commands.
Status = 105:
The specified buffer has been reached by all tools involved
(standard case if the operation has not yet been completed).
The tools are in the specified tool positions (parameters "NewToolMag", "NewToolLoc",
"OldToolMag", "OldToolLoc").

Status definition
A general rule for the acknowledgment status is that the state information 1 to 7 leads to the
termination of the command. If FC 8 receives one of the statuses, the "Interface active bit" of
the interface specified in FC 8 is reset to "0" (see also interface lists DB 71 to DB 73), thus
completing the operation. The response if different in the case of status information 103 to
105. When the FC 8 receives one of these items of status information, the “Interface active
bit” of this interface remains at “1”. Further processing is required by the user program in the
PLC (e.g., continuation of magazine positioning). This item of status information is generally
used to transfer changes in position of one or both tools while the operation is still in
progress.

Call example

CALL FC 8 ( //Tool-management transfer block

Start := m 20.5, //Start := "1 " => transfer trigger
TaskIdent := DB61.DBB 0,
TaskIdentNo := DB61.DBB 1,
NewToolMag := DB61.DBW 2, //Current position of new tool
NewToolLoc := DB61.DBW 4,
OldToolMag := DB61.DBW 6, //Current position of old tool
OldToolLoc := DB61.DBW 8,
Status := DB61.DBW 10, //Status
Ready := m 20.6,
Error := DB61.DBW
12);
u m 20.6; //Poll ready
r m 20.5; //Reset start
spb m001; //Jumps, if everything OK
l DB61.dbw 12; //Error information
ow w#16#0; //Evaluate error
JC error; //Jumps to troubleshooting

m001: //Normal branch

error: //Troubleshooting
r m 20.5: //Reset start

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2.12.16 FC 9: ASUB startup of asynchronous subprograms

Description of functions
The FC ASUB can be used to trigger any functions in the NC. Before an ASUB can be
started from the PLC, it must have been selected and parameterized by an NC program or
by FB 4 (PI service ASUB). The channel and interrupt number must tally with the parameters
in FC 9.
An ASUB prepared in this way can be started by the PLC at any point in time. The NC
program running on the channel in question is interrupted by the asynchronous subprogram.
Only one ASUB can be started in the same channel at a time. If the start parameter is set to
logical 1 for two FC 9s within one PLC cycle, the ASUBs are started in the sequence in
which they are called.
The start parameter must be set to logic 0 by the user once the ASUB has been terminated
(Done) or if an error has occurred.
For the purpose of job processing, every FC ASUB required its own WORD parameter (Ref)
from the global user memory area. This parameter is for internal use only and must not be
changed by the user. Parameter Ref is initialized with the value 0 in the first OB 1 cycle and,
for this reason, every FC 9 must be called absolutely. Alternatively, the user can initialize
parameter "Ref" with a value of 0 during startup. This option makes conditional calls
possible. When a conditional call is activated by parameter "Start" = 1, it must remain active
until parameter "Done" has made the transition from 1 to 0.

Note
The FB4 call must be terminated before FC9 can be started. FC9 cannot be started if
"Emergency off" is set. Neither can FC9 be started if the channel reset is active.

Declaration

FUNCTION FC 9: VOID //ASUB

VAR_INPUT
Start: BOOL ;
ChanNo: INT ;
IntNo: INT ;
END_VAR
VAR_OUTPUT
Active: BOOL ;
Done : BOOL ;
Error : BOOL ;
StartErr: BOOL ;
END_VAR
VAR_IN_OUT
Ref: WORD ;
END_VAR

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Description of formal parameters

The table below lists all formal parameters of the ASUB function.

Signal Type Type Value range Remarks

Start I Bool
ChanNo I Int 1 - 10 No. of NC channel
IntNo I Int 1-8 Interrupt no.
Active Bool 1 = Active

Q
Done Bool 1 = ASUB terminated

Q
Error Bool 1 = Interrupt switched off

Q
StartErr Bool 1 = Interrupt number not assigned
or deleted

Q
Ref I/O Word Global variable (MW, 1 word per FC 9 (for internal use)
DBW,..)

Pulse diagram

     

6WDUW


$FWLY
   
'RQH

(UURU

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(1) Activation of function

(2) ASUP active
(3) Positive acknowledgment: ASUB ended
(4) Reset function activation after receipt of acknowledgment
(5) Signal change by means of FB
(6) Not permitted If function activation is reset prior to receipt of acknowledgment, the output
signals are not updated without the operational sequence of the activated function being
affected.
(7) Negative acknowledgment: Error has occurred

Call example

CALL FC 9 ( //Start an asynchronous subroutine

//in channel 1 interrupt number 1
Start := I 45.7,
ChanNo := 1,
IntNo := 1,
Active := M 204.0,
Done := M204.1,
Error := M 204.4,
StartErr := M 204.5,
Ref := MW 200);

2.12.17 FC 10: AL_MSG error and operating messages

Description of functions
FC AL_MSG evaluates the signals entered in DB 2 and displays them as incoming and
outgoing error and operational messages on the HMI. The incoming signals (positive edge)
are displayed immediately in the case of both error and operating messages. Outgoing
signals (negative edge) are only canceled immediately in the case of operating messages.
Error messages remain stored on the HMI - even if the signals no longer exist - until the
"acknowledge" parameter is issued, i.e., until the user acknowledges the messages. The
"ToUserIF" parameter can be used to transfer the group signals for the feed, read and NC
start disabling signals and feed stop signal to the existing axis, spindle and channel
interfaces. The group signals are transferred to the user interface directly from the status
information in DB 2 irrespective of an interrupt acknowledgment.
1. If parameter "ToUserIF": is set to FALSE, signals are not transferred to the user interface.
In this case, the user must take measures in his PLC program to ensure that these
signals are influenced in the interface.
2. If parameter "ToUserIF": is set to TRUE, all signals listed above are sent to the user
interface as a group signal in each case. The user PLC program can, therefore, influence
these signals only via DB 2 in connection with a message or interrupt output. The
appropriate information is overwritten in the user interface.

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As an alternative to the procedure described under paragraph 2, the user can influence the
disable and stop signals without a message output by applying a disable or stop signal state
to the interface signals after FC AL_MSG has been called.
The following program illustrates this method:

CALL FC 10 (
ToUserIF := TRUE,
Ack := I 6.1);

u m 50.0; //Feed disable for channel 1

to DB 21;
s dbx 6.0; //Set disable condition, reset via
//FC AL_MSG, if M 50.0 outputs the signal "0".

Error and operational messages are provided by the user in data block DB 2.

Note
In DB 2, a "1" signal must be present for several OB1 cycles to ensure that a message can
also be displayed on the HMI. There is an upper limit for the number of interrupts and
messages that can be pending at the same time. This upper limit is dependent on the PLC
CPU. On PLC 317-2DP, the upper limit for messages pending simultaneously is 60.

Declaration of the function

STL representation

FUNCTION FC 10: Void

// NAME: AL_MSG
VAR_INPUT
ToUserIF : BOOL ;
Ack : BOOL ;
END_VAR
END_FUNCTION

Description of formal parameters

The table below lists all formal parameters of the AL-MSG function.

Signal Type Type Value range Remarks

ToUserIF I Bool 1 = Transfer signals to user
interface
every cycle
Ack I Bool 1 = Acknowledge error messages.

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Call example

CALL FC 10 ( //Error and operational messages

ToUserIF := TRUE, //Signals from DB 2 are transferred
//to interface
Ack := I6.1); //Acknowledgment of
//error message carried out via
//input I6.1

2.12.18 FC 12: AUXFU call interface for user with auxiliary functions

Description of functions
FC AUXFU is generally called on an eventdriven basis in the basic program if the channel
transferred in the input parameter contains new auxiliary functions. The PLC user can extend
FC AUXFU with program instructions for processing his auxiliary function to avoid cyclic
polling of the channel DBs. This mechanism permits auxiliary functions to be processed on a
jobdriven basis. FC AUXFU is supplied as a compiled empty block in the basic program. In
this case, the basic program supplies parameter "Chan" with the channel number. The PLC
user knows which channel has new auxiliary functions available. The new auxiliary functions
can be determined by the auxiliary-function change signals in the channel concerned.

Declaration

FUNCTION FC 12: VOID //Event control of auxiliary functions

VAR_INPUT
Chan: BYTE ;
END_VAR
BEGIN
BE;
END_FUNCTION

Explanation of formal parameters

The table below lists all formal parameters of the AUXFU function:

Signal Type Type Value range Remarks

Chan I Byte 0 to 9 No. of NC channel -1

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Example

FUNCTION FC 12: VOID //Event control of auxiliary functions

VAR_INPUT
Chan: BYTE ; //Parameter is supplied by basic program
END_VAR
VAR_TEMP
ChanDB: INT ;
END_VAR

BEGIN
L Chan; //Channel index no., (0,1,2,..)
+ 21; //Channel DB offset
T ChanDB; //Save channel DB no.
TO DB[ChanDB]; //Channel DB is opened indirectly
// Auxiliary-function change signals are now scanned, etc.
BE;
END_FUNCTION

2.12.19 FC 13: BHGDisp Display control for handheld unit

Description of functions
This block carries out the display control of the handheld unit (HHU). The information to be
output on the display is stored as 32 characters in string data ChrArray. A fixed text
assignment of 32 characters is, therefore, required for this string when the data block is
created. Variable components within this string can be inserted by means of the optional
numerical converter, for which parameter Convert must be set to TRUE. The variable to be
displayed is referenced via the pointer Addr. Parameter DataType contains the format
description of this parameter (see parameter table). The number of bytes of the variable is
linked to the format description. The address justified to the right within the string is specified
by parameter StringAddr. The number of written characters is shown in the parameter table.
By setting parameter Row to 0, it is possible to suppress the display (e.g., if several variables
in one or several PLC cycles need to be entered in the string without any display output).

Signals
Byte 1 is supplied by the output signals of the HHU and the character specifications are
supplied by the block. These may not be written by the PLC user program.

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Additional parameters
The pointer parameters for the input and output data of the handheld unit must be
parameterized in the start OB 100 in FB 1, DB 7. Parameter BHGIn corresponds to the input
data of the PLC from the handheld unit (data received by PLC). Parameter BHGOut
corresponds to the output data of the PLC to the handheld unit (data transmitted by PLC).
These two pointers must be set to the starting point of the relevant data area, which is also
parameterized in SDB 210 with an MPI link.

Note
If the numerical converter is used to display information, then it is better to avoid performing
a conversion in every PLC cycle for the sake of reducing the PLC cycle time. In this case, it
is advisable to use the input signal from the HHU to the PLC "Acknowledgment digital
display" (DB m+5.7) for parameter "Convert". In this way it can be ensured that the most
recent numerical information is displayed.

Declaration of the function

STL representation

DATA_BLOCK "strdat" //The data block number

//is defined in the symbol file
STRUCT
disp: STRING [32]:= 'line 1 line 2 //32 characters are defined
';
END_STRUCT;
BEGIN
END_DATA_BLOCK

FUNCTION FC 13: VOID

VAR INPUT
Row : Byte; //Display line (see table)
ChrArray : STRING ; //Transfer at least string[32]
Convert : BOOL ; //Activate numerical conversion
Addr: POINTER; //Points to the variable being
converted
DataType : Byte; //Data type of the variables
StringAddr : INT ; //Right-justified string address (1 to
32)
Digits : BYTE ; //Number of decimal places (1 to 3)
END VAR
VAR OUTPUT
Error : BOOL ; //Conversion or string error
END VAR

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Description of formal parameters

The table below lists all formal parameters of the BHGDisp function:

Signal Type Type Value range Remarks

Row I Byte 0-3 Display line
0: No display output
1: Line 1
2: Line 2
3: Line 1 and line 2
ChrArray I String >= string[32] This string contains the
[DBName].[VarName] entire display content
Convert I Bool Activation of numerical conversion
Addr I Pointer Points to the variable
to be converted
DataType I Byte 1-8 Data type of variable
1: Bool, 1 character
2: Byte, 3 characters
3: Char, 1 character
4: Word, 5 characters
5: Int, 6 characters
6: Dword, 7 characters
7: Dint, 8 characters
8: Real, 9 characters
(see parameter Digits)
StringAddr I Int 1-32 Address within variable ChrArray
Digits I Byte 1-4 Relevant only for data type Real
with sign
1: 6.1 digits unsigned
2: 5.2 digits unsigned
3: 4.3 digits unsigned
4: 3.4 digits unsigned
Error Bool Conversion error, numerical
overflow or error in StringAddr

Ranges of values

Value ranges of data types

Data type Representable numerical range
BOOL 0, 1
BYTE 0 to 255
WORD 0 to 65535
INT - 32768 to + 32767
DWORD 0 to 9999999
DINT - 9999999 to + 9999999
REAL (Digits := 1) - 999999.9 to + 999999.9

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Value ranges of data types

Data type Representable numerical range
REAL (Digits := 2) - 99999.99 to + 99999.99
REAL (Digits := 3) - 9999.999 to + 9999.999
REAL (Digits := 4) - 999.9999 to + 999.9999

Call example

CALL FC 13 (
Row := MB 26,
ChrArray := "strdat".disp, //DB with name strdat in
//data element symbol table
//disp is declared as string[32]
//and assigned in full with characters
Convert := M 90.1,
Addr := P#M 20.0, //Number to be converted
DataType := MB 28, //Data type of the variables
StringAddr := MW 30,
Digits := B#16#3, //3 decimal places
Error := M 90.2);

2.12.20 FC 17: YDelta star/delta changeover

Description of functions
The block for star/delta changeover controls the timing of the defined switching logic such
that the changeover can be performed in either direction even when the spindle is running.
This block may be used only for digital main spindle drives and must be called separately for
each spindle.
The changeover operation is implemented via 2 separate contactors in a sequence involving
4 steps:

Step 1: Delete the "Motor selection in progress" interface signal in the relevant axis DB (DB
31, ... DBX21.5) and connect the changeover process using "Motor selection" A (DB
31, ... DBX21.5).
Step 2: As soon as the "Pulses enabled" = 0 (DB 31, ... DBX93.7) checkback signal and the
acknowledgment of the announced motor selection from the drive have appeared, the
currently energized contactor drops out.
Step 3: The other contactor is energized after the time period set by the user in parameter
"TimeVal" has elapsed.
Step 4: After a further delay, the changeover is signaled to the drive with "Motor selection in
progress" (DB31, ... DBX21.5).

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Figure 2-31 Star/delta switchover

More information about motor speed adjustment can be found in:

References:
/FB1/Function Manual, Basic Functions; Spindles (S1);
Section: Configurable Gear Adjustments
/FB1/Function Manual, Basic Functions; Velocities, Setpoint/Actual Value Systems, Closed-
Loop Control (G2)

Error message
If the parameter "SpindleIFNo" is not in the permissible range, the PLC is stopped with
output of interrupt message number 401702.

Special features
When parameterizing "TimeVal" with the value 0, a default value of 100 ms is used. With a
value of less than 50 ms, the minimum setting of 50 ms is applied.
The block must be called unconditionally.

Note
Switchover does not take place if the spindle is in an axis mode such as M70, SPOS.

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Restrictions
Star/delta changeover on digital main spindle drives initiates a process, which contains
closed-loop control sequences. Since the closed-loop control system supports automatic
star/delta changeover, certain restrictions should be noted:
• Due to the automatic deactivation of the pulses on the drive, IS "Current controller active"
(DB31, ... DBX61.7) and "Speed controller active" (DB31, ... DBX61.6) are deactivated
simultaneously to IS "Pulses enabled" (DB31, ... DBX93.7).
• If a changeover from star to delta takes place while the spindle is rotating and the spindle
position controller is switched on, IS "Position controller active" (DB31, ... DBX61.5), this
triggers interrupt 25050 "Contour monitoring".
• Once the star/delta changeover has been initiated with FC17, it cannot be delayed by the
user, e.g., by waiting until the star/delta contactors change over during the course of
operation. The user can implement this signal interaction with PLC logic.

Declaration of the function

STL representation

VAR_INPUT
YDelta: BOOL ; //Star = 0, delta = 1
SpindleIFNo: INT ; //Machine axis number
TimeVal: S5TIME ; //Time value
TimerNo : INT ; //User timer for changeover time
END_VAR
VAR_OUTPUT
Y: BOOL ; //Star contactor
Delta: BOOL ; //Delta contactor
END_VAR
VAR_IN_OUT
Ref: WORD ; //Block status word (instance)
END_VAR

Description of formal parameters

The table below lists all formal parameters of the YDelta function:

Signal Type Type Value range Remarks

YDelta I Bool = star
= delta.
The changeover edge of the signal
initiates the changeover operation.
SpindleIFNo I Int 1.. Number of the axis interface
declared as a spindle
TimeVal I S5time 0.. Switchover time
TimerNo I Int 10.. Timer for programming the wait
time
Y Bool Energizing of star contactor

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Signal Type Type Value range Remarks

Q
Delta Bool Energizing of delta contactor

Q
Ref I/O Word Instance for status information
Internal use

Call example

CALL FC 17 (
YDelta := I 45.7, //Star delta
SpindleIFNo := 4,
TimeVal := S5T#150ms,
TimerNo := 10, //Timer 10
Y := Q 52.3, //Star contactor
Delta := Q 52.4, //Delta contactor
Ref := mw 50); //Instance

2.12.21 FC 18: SpinCtrl spindle control

Description of functions
FC SpinCtrl can be used to control spindles and axes from the PLC.
References:
/FB1/Function Manual, Basic Functions; Spindles (S1)
/FB2/Function Manual, Extended Functions; Positioning Axes (P2)
/FB/Function Manual, Extended Functions; Indexing Axes (T1)
This block supports the following functions:
• Position spindle
• Rotate spindle
• Oscillate spindle
• Indexing axes
• Positioning axes
Each function is activated by the positive edge of the appropriate initiation signal (start, stop).
This signal must remain in the logic "1" state until the function has been acknowledged
positively or negatively by InPos="1" or Error = "1". The output parameters are deleted when
the relevant trigger signal is reset and the function terminated.

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To be able to control an axis or spindle via the PLC, it must be activated for the PLC. This
can, for example, be achieved by calling the FC "SpinCtrl" with activation of the "Start" or
"Stop" parameter. In this case, the FC "SpinCtrl" requests control over the spindle/axis from
the NC.
The NC feeds back the status of this spindle/axis in byte 68 in the associated spindle/axis
interface (DB 31, ...) (see interface lists). Once the axis/spindle is operating under PLC
control, the travel command for the active state can be evaluated via the relevant axis
interface.
On completion ("InPos" is True, "Start" changes to zero), the axis/spindle check function is
switched to a neutral status by FC "SpinCtrl".
Alternatively, the PLC user program can also request the check for the PLC prior to calling
FC "SpinCtrl".
By calling this function several times in succession, a better response reaction by the
spindle/axis can be obtained as the changeover process in the FC can be omitted.
Activation through the PLC user program is executed in the corresponding spindle interface
in byte 8.
After return of the check, the spindle can again be programmed by the NC program.

Note
Please note:
FC 18 must be called cyclically until signal "InPos" or, in the case of an error "Error",
produces an edge transition of 1 to 0. Only when the "InPos"/"Error" signal has a 0 state can
the axis/spindle concerned be "started" or "stopped" again (the next "start" must be delayed
by at least one PLC cycle). This also applies when the assignment in data byte 8 on the axial
interface has been changed.
Abort:
The function cannot be aborted by means of parameter "Start" or "Stop", but only by means
of the axial interface signals (e.g., delete distancetogo). The axial interface also returns axis
status signals that may need to be evaluated
(e.g., exact stop, traverse command).
InPos on spindle - rotation/oscillation:
For the "Rotate spindle" and "Oscillate spindle" functions, the meaning of the "InPos"
parameter is defined as follows:
Setpoint speed is output --> function was started without error.
The reaching of the required spindle speed must be evaluated using the spindle interface.
Simultaneity:
Several axes can be traversed simultaneously or subject to a delay by FC 18 blocks. The
upper limit is defined by the maximum number of axes. The NCK handles the PLC function
request (FC 18) via independent interfaces for each axis/spindle.
Axis disable:
With the axis disabled, an axis controlled via FC 18 will not move. Only a simulated actual
value is generated. (Behavior as with NC programming).

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Warning
If several block calls (FC 18) have been programmed for the same axis/spindle in the PLC
user program, then the functions concerned must be interlocked by conditional calls in the
user program. The conditional call of a started block (parameter Start or Stop = TRUE) must
be called cyclically until the signal state of output parameter Active or InPos changes from 1
to 0.

Functions
1. Position spindle:
The following signals are relevant:

Start: Initiation signal

Funct: "1" = Position spindle
Mode: Positioning mode 1, 2, 3, 4
AxisNo: Number of machine axis
Pos: Position
FRate: Positioning speed, if FRate = 0, value from MD35300:
SPIND_POSCTRL_VELO (position control activation speed) is used
InPos: Is set to "1" when position is reached with "Exact stop fine".
Error : With positioning error = "1"
State : Error code
2. Rotate spindle:
The following signals are relevant:

Start: Initiation signal for start rotation

Stop: Initiation signal for stop rotation
Funct: "2" = Rotate spindle
Mode: Positioning mode 5 (direction of rotation M4)
Positioning mode < >5 (direction of rotation M3)
AxisNo: Number of machine axis
FRate: Spindle speed
InPos: Function has started without an error
Error : With positioning error = "1"
State : Error code
3. Oscillate spindle:
The following signals are relevant:

Start: Initiation signal for start oscillation

Stop: Initiation signal for stop oscillation
Funct: "3" = Oscillate spindle

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AxisNo: Number of machine axis

Pos: Set gear step
InPos: Error : With positioning error = "1"
State : Error code
The oscillation speed is taken from machine data:
MD35400 SPIND_OSCILL_DES_VELO

MD35010 Function MD35010: Function

GEAR_STEP_CHANGE_ GEAR_STEP_CHAN
ENABLE = 0 GE_ENABLE = 1
Pos = 0 Oscillatio Pos = 0
n
Pos = 1 Oscillatio Pos = 1 Oscillation with gear stage change
n M41
Pos = 2 Oscillatio Pos = 2 Oscillation with gear stage change
n M42
Pos = 3 Oscillatio Pos = 3 Oscillation with gear stage change
n M43
Pos = 4 Oscillatio Pos = 4 Oscillation with gear stage change
n M44
Pos = 5 Oscillatio Pos = 5 Oscillation with gear stage change
n M45
4. Traverse indexing axis:
The following signals are relevant:

Start: Initiation signal

Funct: "4" = Indexing axis

Note
With
Funct: "4" = Indexing axis
The modulo conversion can be compared with approaching the indexing position via
POS[AX] = CIC (value) in the part program.

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Mode: Positioning mode 0, 1, 2, 3, 4

AxisNo: Number of machine axis
Pos: Indexing position
FRate: Positioning speed; if FRate = 0,
the value is taken from machine data POS_AX_VELO
(unit as set in machine data).
InPos: Is set to "1" when position is reached with "Exact stop fine".
Error : With positioning error = "1"
State : Error code
5 to 8. Position axes:
The following signals are relevant:

Start: Initiation signal

Funct: "5 to 8" = Position axes
Mode: Positioning mode 0, 1, 2, 3, 4
AxisNo: Number of machine axis
Pos: Position
FRate: Positioning speed; if FRate = 0,
the value is taken from machine data POS_AX_VELO
(unit as set in machine data).
InPos: Is set to "1" when position is reached with "Exact stop fine".
Error : With positioning error = "1"
State : Error code
9. Rotate spindle with automatic gear stage selection:
The following signals are relevant:

Start: Initiation signal for start rotation

Stop: Initiation signal for stop rotation
Funct: "9" = Rotate spindle with gear stage selection
Mode: Positioning mode 5 (direction of rotation M4)
Positioning mode < >5 (direction of rotation M3)
AxisNo: Number of machine axis
FRate: Spindle speed
InPos: Setpoint speed is output
Error : With positioning error = "1"
State : Error code
10/11. Rotate spindle with constant cutting rate:
The "Constant cutting rate" function must be activated by the NC program in order for this to
be executed.
The following signals are relevant:

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Start: Initiation signal for start rotation

Stop: Initiation signal for stop rotation
Funct: "B#16#0A = Rotate spindle with constant cutting rate (m/min)
Funct: "B#16#0B = Rotate spindle with constant
cutting rate (feet/min)
Mode: Positioning mode 5 (direction of rotation M4)
Positioning mode < >5 (direction of rotation M3)
AxisNo: Number of machine axis
FRate: cutting rate
InPos: Setpoint speed is output
Error : With position error = "1"
State : Error code

FUNCTION FC 18: VOID //SpinCtrl

VAR_INPUT
Start: BOOL ;
Stop: BOOL ;
Funct: BYTE ;
Mode: BYTE ;
AxisNo: INT ;
Pos: REAL;
FRate: REAL;
END_VAR
VAR_OUTPUT
InPos: BOOL ;
Error : BOOL ;
State : BYTE ;
END_VAR

Description of formal parameters

The table below lists all formal parameters of the SpinCtrl function.

Signal Typ Type Value range Remarks

e
Start I Bool Start spindle control from PLC
Stop I Bool Stop spindle control from PLC
Funct I Byte 1 to B#16#0B 1: Position spindle
2: Rotate spindle
3: Oscillate spindle
4: Indexing axis
5: PosAxis metric
6: PosAxis inch
7: PosAxis metric with handwheel override
8: PosAxis inch with handwheel override

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Signal Typ Type Value range Remarks

e
9: Rotate spindle with gear stage selection
A: Rotate spindle with constant cutting rate
(m/min)
B: Rotate spindle with constant cutting rate
(feet/min)
Mode I Byte 0 to 5 0: Pos to absolute pos
1: Pos incrementally
2: Pos shortest path
3: Pos absolute, positive approach direction
4: Pos absolute, negative approach direction
5: Rotational direction as for M4
AxisNo I Int 1 - 31 No. of axis/spindle to be traversed
Pos I Real ∓ 0,1469368 I -38 Rotary axis: Degrees
to Indexing axis: Indexing position
∓ 0,1701412 I +39 Linear axis: mm or inches
FRate I Real ∓ 0,1469368 I -38 Rotary axis and spindle: rev/min
to See under table containing info about FRate
∓ 0,1701412 I +39
InPos Bool 1 = Position reached,
or function executed

Q
Error Bool 1 = error

Q
State Byte 0 to 255 Error code

FRate
The feed rate in FC 18 can also be specified as:
1. Cutting rate with unit m/min or feet/min
2. Constant grinding wheel surface speed in m/s or feet/s
These alternative velocity settings can be used only if this function is activated by the NC
program. Checkback signals for successful activation can be found in byte 84 on the axis
interface.

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Error identifiers
If a function could not be executed, this is indicated by the "Error" status parameter being set
to 'logic 1'. The error cause is coded at block output "State":

State Meaning
Errors caused by PLC handling:
1 B#16#1 Several axis/spindle functions have been activated
simultaneously
20 B#16#14 A function has been started without the position being reached
30 B#16#1e The axis/spindle has been transferred to the NC while still in
motion
40 B#16#28 The axis is programmed by the NC program, NCK internal error
Error can be attributed to actions on the NCK. The interrupt numbers are described
in the Diagnostics Guide for the 840D:
100 B#16#64 Corresponds to interrupt number 16830
105 B#16#69 Corresponds to interrupt number 16770
106 B#16#6a Corresponds to interrupt number 22052
107 B#16#6b Corresponds to interrupt number 22051
108 B#16#6c Corresponds to interrupt number 22050
109 B#16#6d Corresponds to interrupt number 22055
110 B#16#6e Velocity/speed is negative
111 B#16#6f Setpoint speed is zero
112 B#16#70 Invalid gear stage
115 B#16#73 Programmed position has not been reached
117 B#16#75 G96/G961 is not active in the NC
118 B#16#76 G96/G961 is still active in the NC
120 B#16#78 Not an indexing axis
121 B#16#79 Indexing position error
125 B#16#7d DC (shortest path) not possible
126 B#16#7e Minus absolute value not possible
127 B#16#7f Plus absolute value not possible
130 B#16#82 Software limit switch Plus
131 B#16#83 Software limit switch minus
132 B#16#84 Working area limitation plus
133 B#16#85 Working area limitation minus
System or other serious interrupts:
200 B#16#c8 Corresponds to system interrupt number 450007

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Pulse diagram

 

6WDUW
 

,Q3RV

(UURU
6WDUW(UU

(1) Activation of function by means of a positive signal edge with start or stop
(2) Positive acknowledgment: Function executed/Position reached
(3) Reset function activation after receipt of acknowledgment
(4) Signal change using FC

Timing diagram (fault scenario)

 

6WDUW
 
,Q3RV

(UURU
6WDUW(UU

(1) Activation of function by means of a positive signal edge with start or stop
(2) Negative acknowledgment: Error has occurred
(3) Reset function activation after receipt of acknowledgment
(4) Signal change using FC

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Call examples
1. Position spindle:

//Positive acknowledgment resets Start:

U M112.0; //InPos
R M 100.0; //Start
//Negative acknowledgment, after error evaluation (state: MB114) reset with T12
start
U M113.0; // Error
U I 6.4; //Key T12
R M 100.0; //Start
//Start with T13
U I 6.3; //Key T13
AN F 112.0; //Restart only when InPos or Error = 0
AN F 113.0;
S M 100..0;

CALL FC 18 (
Start := M100.0,
Stop := FALSE,
Funct := Bq16q1, //Position spindle
Mode := Bq16q2, //Shortest path
AxisNo := 5,
Pos := MD104,
FRate := MD108,
InPos := M112.0,
Error := M113.0,
State := MB114);

2. Start spindle rotation:

CALL FC 18 (
Start := M100.0,
Stop := FALSE,
Funct := Bq16q2, //Rotate spindle
Mode := Bq16q5, //Rotational direction as for M4
AxisNo := 5,
Pos := 0.0,
FRate := MD108,
InPos := M112.0,
Error := M113.0,
State := MB114);

3. Start spindle oscillation

CALL FC 18 (
Start := M100.0,
Stop := FALSE,
Funct := B#16#3, //Oscillate spindle
Mode := B#16#0,

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AxisNo := 5,
Pos := 0.0,
FRate := MD108,
InPos := M112.0,
Error := M113.0,
State := MB114);

4. Traverse indexing axis

CALL FC 18 (
Start := M100.0,
Stop := FALSE, //Not used
Funct := B#16#4, //Traverse indexing axis
Mode := B#16#0, //Position absolutely
AxisNo := 4,
Pos := MD104, //Default setting in REAL:
1.0;2.0;..
FRate := MD108,
InPos := M112.0,
Error := M113.0,
State := MB114);

5. Position axes

CALL FC 18 (
Start := M100.0,
Stop := FALSE, //Not used
Funct := B#16#5, //Position axes
Mode := B#16#1, //Position incrementally
AxisNo := 6,
Pos := MD104,
FRate := MD108,
InPos := M112.0,
Error := M113.0,
State := MB114);

2.12.22 FC 19: MCP_IFM transmission of MCP signals to interface

Description of functions
FC MCP_IFM (M variants) is used to transfer the following from the machine control panel
(MCP) to the corresponding signals of the NCK/PLC interface:
• Mode Groups
• Axis selections
• WCS/MCS switchover commands
• Traversing keys
• Overrides
• Keylock switch

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In the basic program (FC 2) handwheel selections, modes and other operating signals are
transferred from the operator panel front (HMI) to the NCK/PLC interface so that the modes
support selection from the MCP or HMI.
Transfer of HMI signals to the interface can be deactivated by setting the value of the
parameter "MMCToIF" to "FALSE" in FB 1 (DB 7).
The following specifications apply to the feed override, axis travel keys and INC keys
depending on the active mode or on the coordinate system selected:
• Feed override:
– The feed override is transferred to the interface of the selected channel and to the
interface of the axes.
– The feed override signals are transferred to the NC channel in addition to the "Rapid
traverse override" (DBB 5) interface byte if the "Feed override for rapid traverse
effective" HMI signal is set (exception: switch setting "Zero"). "Rapid traverse override
effective" is also set with this HMI signal.
• Machine functions for INC and axis travel keys:
– When the MCS is selected, the signals are transferred to the interface of the selected
machine axis.
– When the WCS is selected, the signals are transferred to the geoaxis interface of the
parameterized channel.
– When the system is switched between MCS and WCS, the active axes are generally
deselected.
The handwheel selection signals from the HMI are decoded and activated in the associated
(machine) axis interface or the Geo axis interface of the handwheel selected (only if the
"HWheelMMC parameter := TRUE" in FB 1).
The LEDs on the machine control panel operate on the basis of the checkback signals from
the selections made.
Feedrate and spindle Start/Stop are not transferred to the interface, but output modally as a
"FeedHold" or "SpindleHold" signal. The user can link these signals to other signals leading
to a feed or spindle stop (this can be implemented, e.g., using the appropriate input signals
in FC 10: AL_MSG). The associated LEDs are activated at the same time.
If the MCP fails, the signals it outputs are preset to zero along with the "FeedHold" and
"SpindleHold" output signals.
Multiple calls of FC 19, FC24, FC25, and even FC 26 are permitted within the same PLC
cycle. In this case, the first call in the cycle activates the LED displays. Furthermore, all
actions of the parameterized block are carried out in the first call. In the following calls, only a
reduced level of processing of the channel and mode group interface takes place. The
geometry axes are supplied with directional data only in the first block call in the cycle.
Single block processing can be selected/deselected only in the first call in the cycle.
The second machine control panel can be processed if parameter ModeGroupNo has been
increased by B#16#10. When parameterizing, the HHU number is contained in the lower
nibble (lower 4 bits).
BAGNo = 0 or B#16#10 means that the mode group signals are not processed.
ChanNo = 0 means that the channel signals are not processed.

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The INC selections are transferred to the mode group interface. The activation for this
command is performed by this block once after powerup via DB10.DBX 57.0. Machine
control panels can still be handled in parallel by this block. The block call for the 2nd
machine control panel in the OB1 cycle must come after the call for the 1st MCP. Support for
two MCPs is still provided in the control panel blocks up to certain limits (support is not
provided as standard for mutual interlocking of axis selections on two MCPs).

Flexible axis configuration

It is possible to be flexible in the assignment of axis selections or direction keys for machine
axis numbers.
Better support is now provided by the MCP blocks for the use of two MCPs, which are to run
in parallel, in particular for an application using two channels and two mode groups. Note
that the axis-numbers are also specified in the parameterized mode group number of the
MCP block in the axis tables of the relevant MCP.
To afford this flexibility, tables for axis numbers are stored in DB 10. For the first machine
control panel (MCP), the table starts at byte 8 (symbolic name: MCP1AxisTbl[1..22]) and at
byte 32 for the second MCP (symbolic name: MCP2AxisTbl[1..22]) for the second MCP. The
machine axis numbers must be entered byte by byte here.
It is permissible to enter a value of 0 in the axis table. Checks are not made to find
impermissible axis numbers, meaning that false entries can lead to a PLC Stop.
For FC 19, the maximum possible number of axis selections can also be restricted. This limit
is set for the appropriate MCP in DB10.DBW30 (symbolic name: MCP1MaxAxis) or
DB10.DBW54 (symbolic name: MCP2MaxAxis). The default setting is 0, corresponding to
the maximum number of configured axes. The axis numbers and the limit can also be
adapted dynamically. Afterwards, a new axis must be selected on FC 19.
Axis numbers may not be switched over while the axes are traversing the relevant direction
keys.
The compatibility mode is preset with axis numbers 1 to 9 for both MCPs and restricted to
the configured number of axes.

Example
More than nine axes are to be controlled with FC19 using a special application. We
recommend that you proceed as follows:
• Reserve free key on MCP
• Evaluate this key as a flipflop
• Evaluate the flipflop output as pos. and neg. edge
• For pos. edge write one set of axis numbers in the axis table (DB10) and switch on LED
via this key.
• For neg. edge write a different set of axis numbers in the axis table (DB10) and switch off
LED via this key.

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Declaration of the function

FUNCTION FC 19: void

//NAME : MCP_IFM
VAR_INPUT
BAGNo : BYTE ;
ChanNo: BYTE ;
SpindleIFNo: BYTE ;
END_VAR
VAR_OUTPUT
FeedHold : BOOL ;
SpindleHold : BOOL ;
END_VAR
BEGIN
END_FUNCTION

Description of formal parameters

The table below shows all formal parameters of the "MCP_IFM" function:

Signal Ty Type Value range Remarks

pe
BAGNo I Byte 0 - b#16# and No. of mode group to which the mode signals are
b#16#10 - transferred.
b#16#1A BAGNo >= b#16#10 means access to the
second machine control panel.
ChanNo I Byte 0 - B#16#0A Channel no. for the channel signals
SpindleIFN I Byte 0 - 31 Number of the axis interface declared as a spindle
o (B#16#1F)
FeedHold Bool Feed stop from MCP, modal

Q
SpindleHol Bool Spindle stop from MCP, modal
d

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MCP selection signals to the user interface

Keylock switch

Source: Destination:
MCP switch Interface DB
Position 0 DB10.DBX56.4
Position 1 DB10.DBX56.5
Position 2 DB10.DBX56.6
Position 3 DB10.DBX56.7

Operating modes and machine functions

Source: Destination:
MCP button Interface DB (Parameter ChanNo)
AUTOMATIC DB11, ... DBX0.0
MDI DB11, ... DBX0.1
JOG DB11, ... DBX0.2
REPOS DB11, ... DBX1.1
REF DB11, ... DBX1.2
TEACH IN DB11, ... DBX1.0
INC 1 ... 10 000, INC Var. DB11.DBB2, Bits 0 to 5

Direction keys rapid traverse override

The transfer is dependent upon the selected axis. The associated interface bits are deleted
for axes, which are not selected.

Source: Destination:
MCP button Interface DB (Parameter ChanNo)
Direction key + DB21, ... DBX12.7
Direction key - DB21, ... DBX12.6
Rapid traverse override DB21, ... DBX12.5
Direction key + DB21, ... DBX16.7
Direction key - DB21, ... DBX16.6
Rapid traverse override DB21, ... DBX16.5
Direction key + DB21, ... DBX20.7
Direction key - DB21, ... DBX20.6
Rapid traverse override DB21, ... DBX20.5

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Source: Destination:
MCP button Interface DB (all axis DBs)
Direction key + DB31, ... DBX4.7
Direction key - DB31, ... DBX4.6
Rapid traverse override DB31, ... DBX4.5

Override

Source: Destination:
MCP switch Interface DB (Parameter ChanNo)
Feedrate override DB21, ... DBB4

Source: Destination:
MCP switch Interface DB (all axis DBs)
Feedrate override DB31, ... DBB0 (selected axis number) The feed override
of the 1st MCP is applied to all axes.
Spindle override DB31, ... DBB19 (parameter SpindleIFNo)

Channel signals

Source: Destination:
MCP keys Interface DB (Parameter ChanNo)
NC Start DB21, ... DBX7.1
NC Stop DB21, ... DBX7.3
Reset DB21, ... DBX7.7
Single block DB21, ... DBX0.4

Feedrate, spindle signals

Source: Destination:
MCP keys FC output parameters
Feed stop Parameter: "FeedHold" latched, LEDs are
Feed enable activated
Spindle stop Parameter: "SpindleHold" latched, LEDs
Spindle enable are activated

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Checkback signals from user interface for controlling displays

Operating modes and machine functions

Destination: Source:
MCP LED Interface DB (parameter ModeGroupNo)
AUTOMATIC DB11, ... DBX6.0
MDI DB11, ... DBX6.1
JOG DB11, ... DBX6.2
REPOS DB11, ... DBX7.1
REF DB11, ... DBX7.2
TEACH IN DB11, ... DBX7.0

Destination: Source:
MCP LED Interface DB (parameter ModeGroupNo)
INC 1 ... 10 000, INC Var. DB11.DBB8, bits 0 to 5

Channel signals

Destination: Source:
MCP LED Interface DB (parameter ChanNo)
NC Start DB21, ... DBX35.0
NC Stop DB21, ... DBX35.2 or DB21, ... DBX35.3
Single block DB21, ... DBX0.4

Note
Direction-key LEDs are activated by pressing the direction keys.
Axis selection and WCS/MCS LEDs are activated by pressing the relevant pushbutton
switch.

Call example

CALL FC 19 ( //Machine control panel M variants

//signals to interface
BAGNo := B#16#1, //Mode group no. 1
ChanNo := B#16#1, //Channel no. 1
SpindleIFNo := B#16#4, //Spindle interface
//number = 4

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FeedHold := m22.0, //Feed stop signal

//modal
SpindleHold := db2.dbx151.0); //Spindle stop modal in
//message DB

With these parameter settings, the signals are sent to the 1st mode group, the 1st channel
and all axes. In addition, the spindle override is transferred to the 4th axis/spindle interface.
The feed hold signal is passed to bit memory 22.0 and the spindle stop signal to data block
DB2, data bit 151.0.

Reconnecting the axis selections

To ensure a flexible assignment of the axis selection keys to the appropriate axis or spindle,
FC 19 needs not be modified or reprogrammed.
The required flexibility can be obtained by applying the solution described below.
1. Before FC 19 is called, the information (RLO) relating to the newly defined axis selection
key is transferred to the key selection identified by an axis number.
2. After FC 19 has been called, the information (RLO) relating to the LED identified by the
axis number is transferred to the LED of the new axis selection key and the RLO of the
previous axis LED is then deleted.
Example:
The spindle is defined as the 4th axis and must be selected via axis key 9.
STL extract:

u i 5.2; //Selection of ninth axis

= e 4.2; //Selection of fourth axis
call fc 19(
BAGNo := b#16#1,
ChanNo := b#16#1,
SpindleIFNo := b#16#4,
FeedHold := m 30.0,
SpindleHold := m 30.1);
u a 2.5; //LED fourth axis
= a 3.3; //LED ninth axis
clr;
= a 2.5; //Switch off LED on fourth axis

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2.12.23 FC 21: transfer PLC NCK data exchange

Description of functions
When the Transfer block is called, data are exchanged between the PLC and NCK according
to the selected function code. Data are transferred as soon as FC 21 is called, not only at the
start of the cycle.
The "Enable" signal activates the block.
FC 21 is processed only when "Enable" = "1".

Declaration of function, STL representation

VAR_INPUT
Enable : BOOL ;
Funct: BYTE ;
S7Var : ANY ;
IVar1 : INT ;
IVar2 : INT ;
END_VAR
VAR_OUTPUT
Error : BOOL ;
ErrCode : INT
END_VAR

Explanation of formal parameters

The table below shows all formal parameters of the "Transfer" function.

Signal Type Type Value range Remarks

Enable I Bool 1 = FC 21 active
Funct I Byte 1.. 7 1: Synchronized actions to channel
2: Synchronized actions from
channel
3: Read data
4: Write data
5: Control signals to channel
6, 7: Control signals to axis
S7Var I Any S7 data storage area Depends on "Funct"
IVAR1 I Int 0.. Depends on "Funct"
IVAR2 I Int 1.. Depends on "Funct"
Error Bool

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Signal Type Type Value range Remarks

ErrCode Int Depends on "Funct"

Functions
1: Signals for synchronized actions to channel:
2: Signals for synchronized actions from channel:
Synchronized actions can be disabled or enabled by the PLC.
The data area is stored on the user interface in DB21 to DB30.DBB 300..307 (to channel)
and DBB 308..315 (from channel). Parameter "S7Var" is not evaluated for this function, but
must be assigned an actual parameter (see call example). The data are transferred to/from
the NC as soon as FC 21 is processed.
The following signals are relevant:

Signal Type Type Value range Remarks

Enable I Bool 1 = FC 21 active
Funct I Byte 1, 2 1: Synchronized actions to channel
2: Synchronized actions from
channel
S7Var I Any S7 data storage area Not used
IVAR1 I Int 1..MaxChannel Channel number
Error Bool

Q
ErrCode Int 1 : "Funct" invalid
10: Channel no. invalid

Call example

FUNCTION FC 100: VOID

VAR_TEMP
myAny: ANY ;
END_VAR
BEGIN
NETWORK
...
// Deactivate synchronized actions with ID3, ID10 and ID31 in NC channel 1 :
SYAK: TO DB21;
SET;

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S DBX300.2; //ID3
S DBX301.1; //ID10
S DBX303.6; //ID31
L B#16#1;
T MB11;
SPA TRAN;

// Synchronized actions from NCK channel:

SYVK: L B#16#2;
T MB11;
TRAN: CALL FC 21 (
Enable := M 10.0, // if True, FC 21 is active
Funct := MB 11,
S7Var := #myAny, //Not used
IVAR1 := 1, //Channel no.
IVAR2 := 0,
Error := M 10.1,
ErrCode := MW 12);
...
END_FUNCTION

Functions
3, 4: Rapid PLC NCK data exchange

General
A separate, internal data area is provided to allow the highspeed exchange of data between
the PLC and NCK. The size of the internal data field is preset to 1024 bytes. The NCK is
accessed (read/written) from the PLC via FC21. The assignment of this area (structure) must
be declared identically in both the NC parts program and the PLC user program.
These data can be accessed from the NC parts program by commands $A_DBB[x],
$A_DBW[x], $A_DBD[x], $A_DBR[x] (see Programming Guide). The concrete address is the
data field is specified by a byte offset (0 to 1023) in parameter IVAR1. In this case, the
alignment must be selected according to the data format, i.e., a Dword starts at a 4byte limit
and a word at a 2byte limit. Bytes can be positioned on any chosen offset within the data
field, singlebit access operations are not supported and converted to a byte access operation
by FC 21. Data type information and quantity of data are taken from the ANY parameter,
transferred via S7Var.
Without additional programming actions, data consistency is only ensured for 1 and 2 byte
access in the NCK and in the PLC. However, 2 byte consistency is only ensured for the data
types Word or Int, not for the data type Byte. In the case of longer data types or transfer of
fields, which should be transferred consistently, a semaphore byte must be programmed in
parameter IVAR2 that can be used by FC 21 to determine the validity or consistency of a
block. This handling must be supported by the NC, i.e., in the part program, by writing or
deleting the semaphore byte. The semaphore byte is stored in the same data field as the
actual user data.
The semaphore byte is identified by a value between 0 and 1023 in IVAR2.
The PLC reads and describes the semaphore byte via FC 21 in the same call, which should
transfer the user data. The PLC programmer only needs to set up a semaphore variable. For
access from the NC via the parts program, the semaphore feature must be programmed
using individual instructions according to the flow chart shown below. The sequence is

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different for reading and writing variables.

Only individual variables or arrays can be supported directly by the semaphore technique.
Structure transfers must be subdivided into individual jobs. The user must ensure data
consistency of this structure by programming a semaphore system.
If IVAR2 = -1, data are transferred without a semaphore.
Data exchange with semaphore in PLC (schematic of FC 21)

)XQFW  )XQFW 
UHDG ZULWH

Q Q
6HPDSKRUH " 6HPDSKRUH "

M M

7UDQVIHU 7UDQVIHU
(UURU  (UURU 
GDWDIURP GDWDIURP
(UU&RGH  (UU&RGH 
1&WR3/& 3/&WR1&

6HPDSKRUH  6HPDSKRUH 
(UURU  (UURU 
(UU&RGH  (UU&RGH 

Basic structure in NCK:

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5HDGLQ :ULWHLQ
1&. 1&.

Q Q
6HPDSKRUH " 6HPDSKRUH "

M M

5HDGGDWD 7UDQVIHU
IURP3/& GDWDIURPWR
3/&

6HPDSKRUH  6HPDSKRUH 

Variable value ranges

The following signals are relevant:

Signal Type Type Value range Remarks

Enable I Bool = FC 21 active
Funct I Byte 3 ,4 3: Read data
4: Write data
S7Var I Any S7 data area, except Source/destination data storage
local data area
IVAR1 I Int 0..1023 Position offset
IVAR2 I Int -1 .. 1023 Semaphore byte
Transfer without semaphore: -1
Error Bool

Q
ErrCode Int 20: Alignment error
21: Illegal position offset
22: Illegal semaphore byte
23: No new data to be read
Q

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Signal Type Type Value range Remarks

24: Cannot write data
25: Local data parameterized for
S7Var

Call example
1. Read double word of position offset 4 with semaphore in byte 0 and store in MD 100:
Data type Dword (4 bytes)
Position offset 4

 6HPDSKRUH

 'ZRUG 'DWDW\SH'ZRUG E\WHV

3RVLWLRQRIIVHW



CALL FC 21 (
Enable := M 10.0, // if True, FC 21 is active
Funct := B#16#3, //Read data
S7Var := P#M 100.0 DWORD 1,
IVAR1 := 4,
IVAR2 := 0,
Error := M 10.1,
ErrCode := MW12);
UN M10.1; //Enable while 1, until value is read
R F10.0;

Examples of NCK programming:

Data transfer from NC to PLC, with data written via synchronized actions;
Byte 0 serves as the semaphore
ID=1 WHENEVER $A_DBB[0] == 0 DO $A_DBR[4] = $AA_IM[X] $A_DBB[0] = 1
Data transfer from PLC to NC, with data read via synchronized actions;
Byte 1 serves as the semaphore
ID=2 WHENEVER $A_DBB[1] == 1 DO $R1 = $A_DBR[12] $A_DBB[1] = 0

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2. Read word of position offset 8 without semaphore and store in MW 104:

CALL FC 21 (
Enable := M 10.0, // if True, FC 21 is active
Funct := B#16#3, //Read data
S7Var := P#M 104.0 WORD 1,
IVAR1 := 8,
IVAR2 := -1,
Error := M 10.1,
ErrCode := MW12);

Function
5: Update control signals to channel:
The purpose of function 5 is to transmit important control signals at high speed in between
cyclic data transfers. Data bytes 6 and 7 of user interfaces DB21 to DB30 are transferred to
the NC. The channel is specified in parameter "IVAR1". This enable, for example, the feed
disable, read-in disable to be transferred outside of the PLC cycle.
The following signals are relevant:

Signal Type Type Value range Remarks

Enable I Bool 1= FC 21 active
Funct I Byte 5 5: Control signals to channel
S7Var I Any S7 data storage area Not used
IVAR1 I Int 1. Max. channel Channel number
Error Bool

Q
ErrCode Int 1: "Funct" invalid
10: Channel no. invalid

Q
6: Update control signals to axes:
The purpose of function 6 is to transmit important control signals at high speed in between
cyclic data transfers. Data byte 2 of application interface DB31 to DB61 is transferred to the
NC. The transfer is performed for all activated axes. This allows the servo enable to be
transferred outside the PLC cycle, for example.
The following signals are relevant:

Signal Type Type Value range Remarks

Enable I Bool 1= FC 21 active
Funct I Byte 6 6: Control signals to axes
S7Var I Any S7 data storage area Not used

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Signal Type Type Value range Remarks

IVAR1 I Int 0
Error Bool

Q
ErrCode Int 1: "Funct" invalid

Q
7: Update control signals to axes:
The purpose of function 7 is to transmit important control signals at high speed in between
cyclic data transfers. Data byte 4 of application interface DB31 to DB61 is transferred to the
NC. The transfer is performed for all activated axes. This function can be used, for example,
to transfer a feed stop outside the PLC cycle.
The following signals are relevant:

Signal Type Type Value range Remarks

Enable I Bool 1= FC 21 active
Funct I Byte 7 7: Control signals to axes
S7Var I Any S7 data storage area Not used
IVAR1 I Int 0
Error Bool

Q
ErrCode Int 1: "Funct" invalid

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2.12.24 FC 22: TM_DIR Direction selection for tool management

Description of functions
The block TM_DIR provides the shortest path for positioning a magazine or a revolver based
on the actual and setpoint position.
As long as a 1 signal is applied to the Start input, all output parameters are updated
cyclically. Changes can be made to input parameters (e.g., position values) in subsequent
PLC cycles.
The output signals are undefined when the start signal is at 0 level.
In the case of direction selection with special positioning input "Offset" > 0, a new setpoint
position is calculated from the setpoint and special positions and the number of magazine
locations according to the following formula:
New setpoint position = (setpoint pos. - (special pos. -1)) neg. modulo # locations
The new setpoint position corresponds to the location number at which the magazine must
be positioned so that the setpoint position requested by the user corresponds to the location
number of the special position. The directional optimization is active both with and without
special positioning.
The block must be called once with the appropriate parameter settings for each magazine.

Warning
The block may only be called in conjunction with the tool management.

Note
For further details on tool management (also with regard to PLC) refer to the Description of
Functions, Tool Management. Furthermore, PI services are provided for tool management
via the FB 4, FC 7 and FC 8 (see also the corresponding Sections in this documentation).

Declaration of the function

STL representation

FUNCTION FC 22: void

// NAME: TM_DIR
VAR_INPUT
MagNo: INT ;
ReqPos: INT ;
ActPos: INT ;

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Offset: BYTE ;
Start: BOOL ;
END_VAR
VAR_OUTPUT
Cw: BOOL ;
Ccw: BOOL ;
InPos: BOOL ;
Diff: INT ;
Error : BOOL ;
END_VAR
BEGIN
END_FUNCTION

Description of formal parameters

The table below shows all formal parameters of the "TM_DIR" function.

Signal Type Type Value range Remarks

MagNo I Int 1.. Magazine number
ReqPos I Int 1.. Setpoint location
ActPos I Int 1.. Actual location
Offset I Byte 0.. Offset for special positioning
Start I Bool Start of calculation
Cw Bool 1 = Move magazine clockwise

Q
Ccw Bool 1 = Move magazine
counterclockwise

Q
InPos Bool 1 = In position

Q
Diff Int 0.. Differential path (shortest path)

Q
Error Bool 1 = error

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Call example

CALL FC 22 ( //Tool management direction selection

MagNo := 2, //Magazine number
ReqPos := mw 20, //Target position
ActPos := mw 22, //Current position
Offset := b#16#0, //Offset for special
positioning
Start := m 30.4, //Start trigger
//Return parameters
Cw := m 30.0, //Move magazine
//in anticlockwise direction
Ccw := m 30.1, //Move magazine
//in anticlockwise direction
InPos := m 30.2, //Magazine in position
Diff := mw 32, //Differential path
Error := m30.3 //Error has occurred
);

2.12.25 FC 24: MCP_IFM2 transmission of MCP signals to interface

Description of functions
With FC MCP_IFM2 (M variant slim operator panel), the following are transferred from the
machine control panel (MCP) to the corresponding signals of the NCK/PLC interface:
• Mode groups
• Axis selections
• WCS/MCS switchover
• Traversing keys
• Overrides or override simulation signals
In the basic program (FC 2), handwheel selections, modes and other operating signals
continue to be transferred from the operator panel front or HMI to the NCK/PLC interface so
that the modes support selection from the MCP or HMI.
Transfer of HMI signals to the interface can be deactivated by setting the value of the
parameter "MMCToIF" to "FALSE" in FB 1 (DB 7). "MMCToIF" can also be
activated/deactivated in the cyclic program by setting and resetting (e.g., R
gp_par.MMCToIF).
The following specifications apply to the feed override, axis travel keys and INC keys
depending on the active mode or on the coordinate system selected:

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• Feed override:
– The feed override is transferred to the interface of the selected channel and to the
interface of the axes.
– The feed override signals are transferred to the NC channel in addition to the "Rapid
traverse override" (DBB 5) interface byte if the "Feed override for rapid traverse
effective" HMI signal is set (exception: Switch setting "Zero"). "Rapid traverse override
effective" is also set with this HMI signal.
• Machine functions for INC and axis travel keys:
– When the MCS is selected, the signals are transferred to the interface of the selected
machine axis.
– When the WCS is selected, the signals are transferred to the geoaxis interface of the
parameterized channel.
– When the system is switched between MCS and WCS, the active axes are generally
deselected.
The handwheel selection signals of the HMI are decoded and activated in the associated
(machine) axis interface or geo axis interface of the relevant handwheel (only if FB 1
parameter "HWheelMMC := TRUE").
The LEDs on the machine control panel operate on the basis of the checkback signals from
the selections made.
Feedrate and spindle Start/Stop are not transferred to the interface, but output modally as a
"FeedHold" or "SpindleHold" signal. The user can link these signals to other signals leading
to a feed or spindle stop (this can be implemented, e.g., using the appropriate input signals
in FC 10: AL_MSG). The associated LEDs are activated at the same time.
The spindle direction (+, -) is not switched directly either, but made available as output
parameter "SpindleDir", permitting, for example, FC 18 to be parameterized. A spindle
enable signal is also switched via parameter "SpindleHold". One possible method of moving
a spindle directly is to preselect it as an axis so that it can be traversed via (axis) direction
keys.
If the machine control panel fails, the signals it outputs are preset to zero; this also applies to
"FeedHold" and "SpindleHold" output signals.
Multiple calls of FC 24 or FC 19, FC 25, FC 26 are permitted in a single PLC cycle. In this
case, the first call in the cycle activates the LED displays. Moreover, all actions of the
parameterized block are executed in the first call. In the following calls, only a reduced level
of processing of the channel and mode group interface takes place.
The geometry axes are supplied with directional data only in the first block call in the cycle.
Single-block processing can be selected/deselected only in the first call in the cycle.
The second machine control panel can be processed if parameter ModeGroupNo has been
increased by B#16#10. When parameterizing, the HHU number is contained in the lower
nibble (lower 4 bits).
BAGNo = 0 or B#16#10 means that the mode group signals are not processed.
ChanNo = 0 means that the channel signals are not processed.

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The INC selections are transferred to the mode group interface. The activation for this
command is performed by this block once after booting via DB10.DBX 57.0. Furthermore,
two machine control panels can be handled in parallel by this block. The block call for the
2nd machine control panel in the OB1 cycle must come after the call for the 1st MCP.
Support for two MCPs is provided in the control panel blocks up to certain limits (support is
not provided as standard for mutual interlocking of axis selections with identical assignments
on two MCPs).

Flexible axis configuration

It is possible to be flexible in the assignment of axis selections or direction keys for machine
axis numbers.
Better support is now provided by the MCP blocks for the use of two MCPs, which are to run
in parallel, in particular for an application using two channels and two mode groups. Note
that the axis-numbers are also specified in the parameterized mode group number of the
MCP block in the axis tables of the relevant MCP.
To afford this flexibility, tables for axis numbers are stored in DB 10. For the first machine
control panel (MCP), the table starts at byte 8 (symbolic name: MCP1AxisTbl[1..22]) and at
byte 32 for the second MCP (symbolic name: MCP2AxisTbl[1..22]) for the second MCP. The
machine axis numbers must be entered byte by byte here.
It is permissible to enter a value of 0 in the axis table. Checks are not made to find
impermissible axis numbers, meaning that false entries can lead to a PLC Stop.
For FC 19, the maximum possible number of axis selections can also be restricted. This limit
is set for the appropriate MCP in DB10.DBW30 (symbolic name: MCP1MaxAxis) or
DB10.DBW54 (symbolic name: MCP2MaxAxis). The default setting is 0, corresponding to
the maximum number of configured axes. The axis numbers and the limit can also be
adapted dynamically. Afterwards, a new axis must be selected on FC 19.
Axis numbers may not be switched over while the axes are traversing the relevant direction
keys.
The compatibility mode is preset with axis numbers 1 to 9 for both MCPs and restricted to
the configured number of axes.

Declaration of the function

FUNCTION FC 24: void

// NAME: MCP_IFM2
VAR_INPUT
BAGNo : BYTE ;
ChanNo: BYTE ;
SpindleIFNo: BYTE ;
END_VAR
VAR_OUTPUT
FeedHold : BOOL ;
SpindleHold : BOOL ;
SpindleDir: BOOL ;
END_VAR
BEGIN
END_FUNCTION

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Description of formal parameters

The table below shows all formal parameters of the "MCP_IFM2" function:

Signal Type Type Value range Remarks

BAGNo I Byte 0 - b#16#0A No. of mode group to which the
and mode signals are transferred.
b#16#10 - b#16#1A ModeGroupNo >= b#16#10 means
access to the second machine
control panel.
ChanNo I Byte 0 - B#16#0A Channel no. for the channel signals
SpindleIFNo I Byte 0 - 31 Number of the axis interface
(B#16#1F) declared as a spindle
FeedHold Q Bool Feed stop from MCP, modal
SpindleHold Q Bool Spindle stop from MCP, modal
SpindleDir Q Bool Spindle direction
0 equals + (counterclockwise)
1 equals - (clockwise)

Call example

CALL FC 24 ( //Slim machine control panel M variants

//signals to interface
BAGNo := B#16#1, //Mode group no. 1
ChanNo := B#16#1, //Channel no. 1
SpindleIFNo := B#16#4, //Spindle interface number = 4
FeedHold := m22.0, //Feed stop signal modal
SpindleHold := db2.dbx151.0); //Spindle stop modal in message data block
SpindleDir:= m22.1); //Spindle direction return

With these parameter settings, the signals are sent to the 1st mode group, the 1st channel
and all axes. In addition, the spindle override is transferred to the 4th axis/spindle interface.
The feed hold signal is passed to bit memory 22.0 and the spindle stop signal to data block
DB2, data bit 151.0. The spindle direction checkback signal supplied via parameter
SpindleDir can be used as a direction input for an additional FC 18 call.

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2.12.26 FC 25: MCP_IFT transfer of MCP/OP signals to interface

Description of functions
With FC MCP_IFT (T variants), the following are transferred from the machine control panel
(MCP) to the corresponding signals of the NCK/PLC interface:
• Mode groups
• Direction keys of four axes
• WCS/MCS switchover commands
• Overrides
• Keylock switch
In the basic program (FC 2), handwheel selections, modes and other operating signals
continue to be transferred from the operator panel front or HMI to the NCK/PLC interface so
that the modes support selection from the MCP or HMI. Transmission of HMI signals to the
interface can be deactivated by setting the FB 1 (DB 7) parameter "MMCToIF" to "FALSE".
The following specifications apply to the feed override, axis travel keys and INC keys
depending on the active mode or on the coordinate system selected:
• Feed override:
– The feed override is transferred to the interface of the selected channel and to the
interface of the axes.
– The feed override signals are transferred to the NC channel in addition to the "Rapid
traverse override" (DBB 5) interface byte if the "Feed override for rapid traverse
effective" HMI signal is set (exception: Switch setting "Zero"). "Rapid traverse override
effective" is also set with this HMI signal.
• Machine functions for INC and axis travel keys:
– When the MCS is selected, the signals are transferred to the interface of the selected
machine axis.
– When the WCS is selected, the signals are transferred to the geoaxis interface of the
parameterized channel.
The handwheel selection signals from the HMI are decoded and activated in the associated
(machine) axis interface or the Geo axis interface of the handwheel selected (only if the
"HWheelMMC parameter := TRUE" in FB 1).
The LEDs on the machine control panel operate on the basis of the checkback signals from
the selections made.
Feedrate and spindle Start/Stop are not transferred to the interface, but output modally as a
"FeedHold" or "SpindleHold" signal. The user can link these signals to other signals leading
to a feed or spindle stop (this can be implemented, e.g., using the appropriate input signals
in FC 10: AL_MSG). The associated LEDs are activated at the same time.
In the case of machine control panel failure, the signals it supplies are set to zero.

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Multiple calls of FC 25 are permitted in a single PLC cycle. In this case, the first call in the
cycle activates the LED displays. Furthermore, all actions of the parameterized block are
carried out in the first call. In the following calls, only a reduced level of processing of the
channel and mode group interface takes place. The geometry axes are supplied with
directional data only in the first block call in the cycle.
Single-block processing can be selected/deselected only in the first cycle.
The second machine control panel can be processed if parameter ModeGroupNo has been
increased by B#16#10. When parameterizing, the HHU number is contained in the lower
nibble (lower 4 bits).
BAGNo = 0 or B#16#10 means that the mode group signals are not processed.
ChanNo = 0 means that the channel signals are not processed.

Flexible axis configuration

It is possible to be flexible in the assignment of axis selections or direction keys for machine
axis numbers.
Better support is now provided by the MCP blocks for the use of two MCPs, which are to run
in parallel, in particular for an application using two channels and two mode groups. The
block call for the 2nd machine control panel in the OB1 cycle must come after the call for the
1st MCP. Note that the axis-numbers are also specified in the parameterized mode group
number of the MCP block in the axis tables of the relevant MCP.
To afford this flexibility, tables for axis numbers are stored in DB 10. For the first machine
control panel (MCP), the table starts at byte 8 (symbolic name: MCP1AxisTbl[1..22]) and at
byte 32 for the second MCP (symbolic name: MCP2AxisTbl[1..22]) for the second MCP. The
machine axis numbers must be entered byte by byte here.
It is permissible to enter a value of 0 in the axis table. Checks are not made to find
impermissible axis numbers, meaning that false entries can lead to a PLC Stop.
For FC 19, the maximum possible number of axis selections can also be restricted. This limit
is set for the appropriate MCP in DB10.DBW30 (symbolic name: MCP1MaxAxis) or
DB10.DBW54 (symbolic name: MCP2MaxAxis). The default setting is 0, corresponding to
the maximum number of configured axes. The axis numbers and the limit can also be
adapted dynamically. Afterwards, a new axis must be selected on FC 19.
Axis numbers may not be switched over while the axes are traversing the relevant direction
keys.
The compatibility mode is preset with axis numbers 1 to 9 for both MCPs and restricted to
the configured number of axes.

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Declaration of the function

FUNCTION FC 25: void

// NAME: MCP_IFT
VAR_INPUT
BAGNo : BYTE ;
ChanNo: BYTE ;
SpindleIFNo: BYTE ;
END_VAR
VAR_OUTPUT
FeedHold : BOOL ;
SpindleHold : BOOL ;
END_VAR
BEGIN
END_FUNCTION

Description of formal parameters

The table below shows all formal parameters of the "MCP_IFT" function:

Signal Type Type Value range Remarks

BAGNo I Byte 0 - b#16#0A No. of mode group to which the
and mode signals are transferred.
b#16#10 - b#16#1A ModeGroupNo >= b#16#10 means
access to the second machine
control panel.
ChanNo I Byte 0 - B#16#0A Channel no. for the channel signals
SpindleIFNo I Byte 0 - 31 Number of the axis interface
(B#16#1F) declared as a spindle
FeedHold Q Bool Feed stop from MCP, modal
SpindleHold Q Bool Spindle stop from MCP, modal

Call example

CALL FC 25 ( //Machine control panel T variants

//signals to interface
BAGNo := B#16#1, //Mode group no. 1
ChanNo := B#16#1, //Channel no. 1
SpindleIFNo := B#16#4, //Spindle interface number = 4
FeedHold := m22.0, //Feed stop signal modal
SpindleHold := db2.dbx151.0); //Spindle stop modal in message data block

With these parameter settings, the signals are sent to the 1st mode group, the 1st channel
and all axes. In addition, the spindle override is transferred to the 4th axis/spindle interface.
The feed hold signal is passed to bit memory 22.0 and the spindle stop signal to data block
DB2, data bit 151.0.

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2.12.27 FC 26: HPU_MCP Transfer of HPU/HT6 signals to the interface

Description of functions
With FC HPU_MCP (machine control panel signals of the handheld programming device),
the following are transferred from the machine control panel (MCP) to the corresponding
signals of the NCK/PLC interface:
• Mode groups
• WCS/MCS switchover
• Traversing keys
• Override
In the basic program (FC 2), handwheel selections, modes and other operating signals
continue to be transferred from the operator panel front or HMI to the NCK/PLC interface so
that the modes support selection from the MCP or HMI.
Transfer of HMI signals to the interface can be deactivated by setting the value of the
parameter "MMCToIF" to "FALSE" in FB 1 (DB 7).
The following specifications apply to the feed override, axis travel keys and INC keys
depending on the active mode or on the coordinate system selected:
• Feed override:
– The feed override is transferred to the interface of the selected channel and to the
interface of the axes.
– The feed override signals are transferred to the NC channel in addition to the "Rapid
traverse override" (DBB 5) interface byte if the "Feed override for rapid traverse
effective" HMI signal is set (exception: Switch setting "Zero"). "Rapid traverse override
effective" is also set with this HMI signal.
Machine functions for INC and axis travel keys:
– When the MCS is selected, the signals are transferred to the interface of the selected
machine axis (for 6 axes).
– When the WCS is selected, the signals of the first three axes are transferred to the
Geo axis interface of the parameterized channel. The remaining three axes are
transferred to the interface of the selected machine axis.
The handwheel selection signals of the HMI are decoded and activated in the associated
(machine) axis interface or geo axis interface of the relevant handwheel (only if FB 1
parameter "HWheelMMC := TRUE").
The LEDs on the machine control panel operate on the basis of the checkback signals from
the selections made.
Feedrate and spindle Start/Stop are not transferred to the interface, but output modally as a
"FeedHold" or "SpindleHold" signal. The user can link these signals to other signals leading
to a feed or spindle stop (this can be implemented, e.g., using the appropriate input signals
in FC 10: AL_MSG). The associated LEDs are activated at the same time.
If the MCP fails, the signals it supplies are set to zero.

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Multiple calls of FC 19, FC24, FC 25, and even FC 26 are permitted within the same PLC
cycle. In this case, the first call in the cycle activates the LED displays. Moreover, all actions
of the parameterized block are executed in the first call. In the following calls, only a reduced
level of processing of the channel and mode group interface takes place. The geometry axes
are supplied with directional data only in the first block call in the cycle.
The second machine control panel can be processed if parameter ModeGroupNo has been
increased by B#16#10. When parameterizing, the HHU number is contained in the lower
nibble (lower 4 bits).
BAGNo = 0 or B#16#10 means that the mode group signals are not processed.
ChanNo = 0 means that the channel signals are not processed.
The INC selections are transferred to the mode group interface. The activation for this
command is performed by this block once after powerup via DB10.DBX 57.0. Furthermore,
two machine control panels can be handled in parallel by this block. The block call for the
2nd machine control panel in the OB1 cycle must come after the call for the 1st MCP.
Support for two MCPs is provided in the control panel blocks up to certain limits (support is
not provided as standard for mutual interlocking of axis selections with identical assignments
on two MCPs).

Flexible axis configuration

It is possible to be flexible in the assignment of axis selections or direction keys for machine
axis numbers.
Better support is now provided by the MCP blocks for the use of two MCPs, which are to run
in parallel, in particular for an application using two channels and two mode groups. Note
that the axis-numbers are also specified in the parameterized mode group number of the
MCP block in the axis tables of the relevant MCP.
To afford this flexibility, tables for axis numbers are stored in DB 10. For the first machine
control panel (MCP), the table starts at byte 8 (symbolic name: MCP1AxisTbl[1..22]) and at
byte 32 for the second MCP (symbolic name: MCP2AxisTbl[1..22]) for the second MCP. The
machine axis numbers must be entered byte by byte here.
It is permissible to enter a value of 0 in the axis table. Checks are not made to find
impermissible axis numbers, meaning that false entries can lead to a PLC Stop.
For FC 19, the maximum possible number of axis selections can also be restricted. This limit
is set for the appropriate MCP in DB10.DBW30 (symbolic name: MCP1MaxAxis) or
DB10.DBW54 (symbolic name: MCP2MaxAxis). The default setting is 0, corresponding to
the maximum number of configured axes. The axis numbers and the limit can also be
adapted dynamically. Afterwards, a new axis must be selected on FC 19.
Axis numbers may not be switched over while the axes are traversing the relevant direction
keys.
The compatibility mode is preset with axis numbers 1 to 9 for both MCPs and restricted to
the configured number of axes.

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Declaration of the function

FUNCTION FC 26: void

// NAME: HPU_MCP
VAR_INPUT
BAGNo : BYTE ;
ChanNo: BYTE ;
END_VAR
BEGIN
END_FUNCTION

Description of formal parameters

The table below shows all formal parameters of the "HPU_MCP" function.

Signal Typ Type Value range Remarks

e
BAGNo I Byte 0 - b#16#0A No. of mode group to which the mode signals are
and transferred. BAGNo >= b#16#10 means access to
b#16#10 - b#16#1A the second machine control panel.
ChanNo I Byte B#16#0A Channel no. for the channel signals

2.12.27.1 MCP selection signals to the user interface

Operating modes and machine functions

Source: Destination: Interface DB (parameter ModeGroupNo)

MCP key representation for mode group 1
AUTOMATIC DB11.DBX0.0
MDI DB11.DBX0.1
JOG DB11.DBX0.2
REPOS DB11.DBX1.1
REF DB11.DBX1.2
TEACH_IN DB11. DBX1.0
INC 1 ... 10 000, INC Var. DB11.DBB2, Bits 0 to 5

Direction keys rapid traverse override

The transfer is dependent upon the selected axis. The corresponding interface bits are
deleted for axes that are not selected.

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Source: Destination:
MCP button Interface DB (Parameter ChanNo)
Direction key + DB21, ... DBX12.7
Direction key - DB21, ... DBX12.6
Rapid traverse override DB21, ... DBX12.5
Direction key + DB21, ... DBX16.7
Direction key - DB21, ... DBX16.6
Rapid traverse override DB21, ... DBX16.5
Direction key + DB21, ... DBX20.7
Direction key - DB21, ... DBX20.6
Rapid traverse override DB21, ... DBX20.5

Source: Destination:
MCP button Interface DB (6 assigned axis DBs)
Direction key + DB31, ... DBX4.7
Direction key - DB31, ... DBX4.6
Rapid traverse override DB31, ... DBX4.5

Override

Source: Destination:
MCP setting Interface DB (Parameter ChanNo)
Feedrate override DB21, ... DBB4

Source: Destination:
MCP setting Interface DB (6 assigned axis DBs)
Feedrate override DB31, ... DBB0

Channel signals

Source: Destination:
MCP keys Interface DB (Parameter ChanNo)
NC Start DB21, ... DBX7.1
NC Stop DB21, ... DBX7.3
Reset DB21, ... DBX7.7
Single block DB21, ... DBX0.4

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2.12.27.2 Checkback signals from user interface for controlling displays

Operating modes and machine functions

Operating modes and machine functions

Destination: Source:
MCP output Interface DB (parameter ModeGroupNo)
representation for mode group 1
AUTOMATIC DB11, ... DBX6.0
MDI DB11, ... DBX6.1
JOG DB11, ... DBX6.2
REPOS DB11, ... DBX7.1
REF DB11, ... DBX7.2
TEACH IN DB11, ... DBX7.0
WCS/MCS output is operated through key actuation.

Call example

CALL FC 26 ( //Machine control panel of the HPU/HT6

//signals to interface
BAGNo := B#16#1, //Mode group no. 1
ChanNo := B#16#1); //Channel no. 1

With these parameter settings, the signals from the first parameterized machine control
panel are sent to the 1st mode group, the 1st channel and all axes.

2.12.28 FC 19, FC 24, FC 25, FC 26 source code description

Task
Machine control panel to application interface
(FC 19 M variant, FC 24 slim variant, FC 25 T variant, FC 26 HPU/HT6 variant)

Associated blocks
DB 7, no. of BAGs, channels, axes
DB 7, pointer of machine control panel
DB 8, storage for the next cycle
FC 20, output of error messages

Resources used
None.

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General
Blocks FC 19 (M version), FC 24 (slim-line version), FC 25 (T version) and FC 26 (HPU/HT6
version) transfer the machine control panel to and from the application interface. In the input
parameters, "ModeGroupNo" selects the mode group to be processed by the block. The
"ModeGroupNo" parameter also selects the number of the machine control panel. "ChanNo"
selects the channel to be processed. The "SpindleIFNo" parameter defines the axis interface
of the spindle. The spindle override is transferred to this spindle interface. The parameters
are checked for errors. Output parameters "FeedHold" and "SpindleHold" are generated
from the 4 feed/spindle disable and feed/spindle enable keys and are returned with "logical
1" for disable. Information for the next cycle is stored in DB8, bytes 0 to 3 or bytes 62 to 65,
depending on the machine control panel number. This information is the edge trigger flag,
feed value and selected axis number. The blocks are provided with user data via the pointer
parameters in DB 7 MCP1In and MCP1Out (MCP2In and MCP2Out). The pointers are
addressed indirectly via a further pointer from the VAR section of DB7 in order to avoid
absolute addressing. This additional pointer is determined symbolically in FB1.

Block Description
All four blocks have a similar structure. The blocks are organized into separate sections for
individual subtasks.
In the Input network, various parameters are copied to local variables. The machine control
signals (user data for input/output area) are also copied between locations using the various
pointers in DB 7 (gp_par). These local variables are handled in the block for reasons of
efficiency. Some values are initialized for the startup.
MCS/WCS switchover with edge evaluation, axis selections, direction keys and rapid
traverse overlay is determined in the Global_in network for further processing in the block.
Userspecific modifications should be made to this Section of the program. The userspecific
modifications will usually mainly involve axis selections.
Only the keyswitch information is copied in Network NC.
The mode group network transfers the modes of the keys as dynamic signals to the NCK.
The INC checkback signals from the NC are stored temporarily for the corresponding LEDs.
If the mode group number is 0, this network is not processed. If the number is too large,
message 401901 or 402501 is output and the control switches to Stop mode.
In the Channel network, the NC Start, Stop, Reset and Single Block functions are activated
by corresponding checkback signals. The direction keys of the geometry axes are supplied if
a corresponding preselection is made, otherwise they are cleared. If the channel number is
0, this network is not processed. If the number is too large, message 401902 or 402502 is
output and the control switches to Stop mode.
The Spindle network transfers the spindle override to the interface configured via
SpindleIFNo.
The Axes network transfers the feedrate override to the selected axis interface. The direction
keys are assigned to the selected axis/spindle. If an axis has been selected previously, the
direction information is set to 0.
The output parameters are prepared and the LED signals of the INC machine function are
generated in the Global_OUT network.
The Output network transfers the output signals of the machine control panel from the
VAR_TEMP image to the logical address. The data for the next cycle are also saved.

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Axis selection extension

The Global_IN network must be modified if more than nine axes are selected. If other keys
and LEDs are to be used on the machine control panel here, proceed as follows:
1. The command UD DW#16#Value (comment: Clear all axis LEDs for display) deletes all
defined LEDs for axis selections. The bit mask is currently processing the nine axis
selection LEDs.
2. The command UW W#16# (comment: ”Masking all the axis selection buttons” ) checks
whether the direction has changed. The bit string must be adjusted here.
3. 3. The branch destination list (SPL) must be expanded with new jump labels. The new
jump labels should be inserted in descending order before label m009. The selection
information should be extended for the new jump labels, as described for labels m009
and m008.

2.12.29 Signal/data descriptions

2.12.29.1 Interface signals NCK/PLC, MMC/PLC, MCP/PLC

General
The NCK/PLC, HMI/PLC and MCP/PLC interface signals are contained in the Lists
document.
References:
/LIS1/ Lists (Volume 1)
/LIS2/ Lists (Volume 2)
for SINUMERIK 840D, with references to the
Description of Functions in which the signals are described.
The NCK signals, which are evaluated and prepared by the basic program and transferred to
the user interface, are listed in the following sections.

2.12.29.2 Decoded M signals

General
The M functions programmed in the part program, ASUB or synchronized actions are
channel specifically transferred from the NC to the PLC:
• M functions from channel 1: DB21
• M functions from channel 2: DB22
• etc.
The signal length is one PLC cycle.

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Note
The spindle-specific M functions below are not decoded: M3, M4, M5, and M70.

Addresses in DB21, ... Variable Type Comment

DBX 194.0 ... 7 M_Fkt_M0 ... M7 Bool M signals M0 ... M7
DBX 195.0 ... 7 M_Fkt_M8 ... M15 Bool M signals M8 ... M15
DBX 196.0 ... 7 M_Fkt_M16 ... M23 Bool M signals M16 ... M23
DBX 197.0 ... 7 M_Fkt_M24 ... M31 Bool M signals M24 ... M31
DBX 198.0 ... 7 M_Fkt_M32 ... M39 Bool M signals M32 ... M39
DBX 199.0 ... 7 M_Fkt_M40 ... M47 Bool M signals M40 ... M47
DBX 200.0 ... 7 M_Fkt_M48 ... M55 Bool M signals M48 ... M55
DBX 201.0 ... 7 M_Fkt_M56 ... M63 Bool M signals M56 ... M63
DBX 202.0 ... 7 M_Fkt_M64 ... M71 Bool M signals M64 ... M71
DBX 203.0 ... 7 M_Fkt_M72 ... M79 Bool M signals M72 ... M79
DBX 204.0 ... 7 M_Fkt_M80 ... M87 Bool M signals M80 ... M87
DBX 205.0 ... 7 M_Fkt_M88 ... M95 Bool M signals M88 ... M95
DBX 206.0 ... 3 M_Fkt_M96 ... M99 Bool M signals M96 ... M99

Note
The M02/M30 auxiliary function output to the PLC does not state that the part program has
been terminated. In order to securely identify the end of a part program in the channel,
DB21, ... DBX33.5 (M02/M30 active)
must be evaluated. The channel status must be RESET. The auxiliary function output could
arise from an asynchronous subroutine (ASUB) or a synchronized action and has nothing to
do with the real end of the parts program in this case.

2.12.29.3 G Functions

General
The G functions programmed in the part program, ASUB or synchronized actions are
channel specifically transferred from the NC to the PLC:
• G functions from channel 1: DB21
• G functions from channel 2: DB22
• etc.
The signal length is one PLC cycle.

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POWER ON
After POWER ON, the value zero, i.e., active G groups undefined, is specified in the NC/PLC
interface for all G groups.
Part program end or abort
After part program end or abort, the last state of the G group is retained.
NC START
After NC START, the values in the 8 G groups specified in the machine data element:
MD22510 $NC_ GCODE_GROUPS_TO_PLC
are overwritten according to the initial setting defined via the machine data, as are the values
programmed in the part program.

Addresses in DB21, ... Variable Type Basic position Comment

DBB 208 G_FKT_GR_1 Byte 0 Active G function of group 1
DBB 209 G_FKT_GR_2 Byte 0 Active G function of group 2
DBB 210 G_FKT_GR_3 Byte 0 Active G function of group 3
DBB 211 G_FKT_GR_4 Byte 0 Active G function of group 4
DBB 212 G_FKT_GR_5 Byte 0 Active G function of group 5
DBB 213 G_FKT_GR_6 Byte 0 Active G function of group 6
DBB 214 G_FKT_GR_7 Byte 0 Active G function of group 7
DBB 215 G_FKT_GR_8 Byte 0 Active G function of group 8
DBB 216 G_FKT_GR_9 Byte 0 Active G function of group 9
DBB 217 G_FKT_GR_10 Byte 0 Active G function of group 10
DBB 218 G_FKT_GR_11 Byte 0 Active G function of group 11
DBB 219 G_FKT_GR_12 Byte 0 Active G function of group 12
DBB 220 G_FKT_GR_13 Byte 0 Active G function of group 13
DBB 221 G_FKT_GR_14 Byte 0 Active G function of group 14
DBB 222 G_FKT_GR_15 Byte 0 Active G function of group 15
DBB 223 G_FKT_GR_16 Byte 0 Active G function of group 16
DBB 224 G_FKT_GR_17 Byte 0 Active G function of group 17
DBB 225 G_FKT_GR_18 Byte 0 Active G function of group 18
DBB 226 G_FKT_GR_19 Byte 0 Active G function of group 19
DBB 227 G_FKT_GR_20 Byte 0 Active G function of group 20
DBB 228 G_FKT_GR_21 Byte 0 Active G function of group 21
DBB 229 G_FKT_GR_22 Byte 0 Active G function of group 22
DBB 230 G_FKT_GR_23 Byte 0 Active G function of group 23
DBB 231 G_FKT_GR_24 Byte 0 Active G function of group 24
DBB 232 G_FKT_GR_25 Byte 0 Active G function of group 25
DBB 233 G_FKT_GR_26 Byte 0 Active G function of group 26
DBB 234 G_FKT_GR_27 Byte 0 Active G function of group 27
DBB 235 G_FKT_GR_28 Byte 0 Active G function of group 28
DBB 236 G_FKT_GR_29 Byte 0 Active G function of group 29
DBB 237 G_FKT_GR_30 Byte 0 Active G function of group 30
DBB 238 G_FKT_GR_31 Byte 0 Active G function of group 31

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Addresses in DB21, ... Variable Type Basic position Comment

DBB 239 G_FKT_GR_32 Byte 0 Active G function of group 32
DBB 240 G_FKT_GR_33 Byte 0 Active G function of group 33
DBB 241 G_FKT_GR_34 Byte 0 Active G function of group 34
DBB 242 G_FKT_GR_35 Byte 0 Active G function of group 35
DBB 243 G_FKT_GR_36 Byte 0 Active G function of group 36
DBB 244 G_FKT_GR_37 Byte 0 Active G function of group 37
DBB 245 G_FKT_GR_38 Byte 0 Active G function of group 38
DBB 246 G_FKT_GR_39 Byte 0 Active G function of group 39
... ... ... ... ...
DBB 271 G_FKT_GR_64 Byte 0 Active G function of group 64

G functions (values)
A full list of all G functions can be found in:
References:
/PG/Programming Guide, Basics

2.12.29.4 Message signals in DB 2

General
DB 2 allows the user to display the messages for individual signals on the operator panel. As
the lists of interface signals show, signals are divided into predefined groups. When a
message occurs, disappears or is acknowledged, the number entered in the message
number column is transferred to the HMI. Text can be stored in the HMI for each message
number.
References:
/IAD/Installation and Start-Up Guide; Message Numbers

Note
The number of user areas can be parameterized via FB 1.
After the configuration has been modified (FB 1: MsgUser), DB 2/3 must be deleted.

Channel areas in DB 2

Area Address Message number

Channel 1 DBX0.0 - DBX11.7 510.000 -- 510.231
Channel 1, geo axes DBX12.0 - DBX17.7 511.100 - 511.315
Channel 2 DBX18.0 - DBX29.7 520.000 - 520.231
Channel 2, geo axes DBX30.0 - DBX35.7 521.100 - 521.315

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Area Address Message number

Channel 3 DBX36.0 - DBX47.7 530.000 - 530.231
Channel 3, geo axes DBX48.0 - DBX53.7 531.000 - 531.315
Channel 4 DBX54.0 - DBX65.7 540.000 - 540.231
Channel 4, geo axes DBX66.0 - DBX71.7 541.100 - 541.315
Channel 5 DBX72.0 - DBX83.7 550.000 - 550.231
Channel 5, geo axes DBX84.0 - DBX89.7 551.100 - 551.315
Channel 6 DBX90.0 - DBX101.7 560.000 - 560.231
Channel 6, geo axes DBX102.0 - DBX107.7 561.100 - 561.315
Channel 7 DBX108.0 - DBX119.7 570.000 - 570.231
Channel 7, geo axes DBX120.0 - DBX125.7 570.100 - 571.315
Channel 8 DBX126.0 - DBX137.7 580.000 - 580.231
Channel 8, geo axes DBX138.0 - DBX143.7 581.100 - 581.315
Channels 9 and 10 are not currently
implemented

User areas in DB 2

Area Address Message number

Axis/spindle 1 DBX144.0 - DBX145.7 600.100 - 600.115
Axis/spindle 2 DBX146.0 - DBX147.7 600.200 - 600.215
Axis/spindle 3 DBX148.0 - DBX149.7 600.300 - 600.315
Axis/spindle 4 DBX150.0 - DBX151.7 600.400 - 600.415
Axis/spindle 5 DBX152.0 - DBX153.7 600.500 - 600.515
Axis/spindle 6 DBX154.0 - DBX155.7 600.600 - 600.615
Axis/spindle 7 DBX156.0 - DBX157.7 600.700 - 600.715
Axis/spindle 8 DBX158.0 - DBX159.7 600.800 - 600.815
Axis/spindle 9 DBX160.0 - DBX161.7 600.900 - 600.915
Axis/spindle 10 DBX162.0 - DBX163.7 601.000 - 601.015
Axis/spindle 11 DBX164.0 - DBX165.7 601.100 - 601.115
Axis/spindle 12 DBX166.0 - DBX167.7 601.200 - 601.215
Axis/spindle 13 DBX168.0 - DBX169.7 601.300 - 601.315
Axis/spindle 14 DBX170.0 - DBX171.7 601.400 - 601.415
Axis/spindle 15 DBX172.0 - DBX173.7 601.500 - 601.515
Axis/spindle 16 DBX174.0-DBX175.7 601.600 - 601.615
Axis/spindle 17 DBX176.0 - DBX177.7 601.700 - 601.715
Axis/spindle 18 DBX178.0 - DBX179.7 601.800 - 601.815
Axes 19 to 31 are not currently
implemented

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 Detailed description
2.12 Block descriptions

User areas in DB 2

Area Address Message number

User area 0 DBX180.0 - DBX187.7 700.000 - 700.063
User area 1 DBX188.0 - DBX195.7 700.100 - 700.163
User area 2 DBX196.0 - DBX203.7 700.200 - 700.263
User area 3 DBX204.0 - DBX211.7 700.300 - 700.363
User area 4 DBX212.0 - DBX219.7 700.400 - 700.463
User area 5 DBX220.0 - DBX227.7 700.500 - 700.563
User area 6 DBX228.0 - DBX235.7 700.600 - 700.663
User area 7 DBX236.0 - DBX243.7 700.700 - 700.763
User area 8 DBX244.0 - DBX251.7 700.800 - 700.863
User area 9 DBX252.0 - DBX259.7 700.900 - 700.963
User area 10 DBX260.0 - DBX267.7 710.000 - 701.063
User area 11 DBX268.0 - DBX275.7 710.100 - 701.163
User area 12 DBX276.0 - DBX283.7 710.200 - 701.263
User area 13 DBX284.0 - DBX291.7 710.300 - 701.363
User area 14 DBX292.0 - DBX299.7 710.400 - 701.463
User area 15 DBX300.0 - DBX307.7 710.500 - 701.563
User area 16 DBX308.0 - DBX315.7 710.600 - 701.663
User area 17 DBX316.0 - DBX323.7 710.700 - 701.763
User area 18 DBX324.0 - DBX331.7 710.800 - 701.863
User area 19 DBX332.0 - DBX339.7 710.900 - 701.963
User area 20 DBX340.0 - DBX347.7 702.000 - 702.063
User area 21 DBX348.0 - DBX355.7 702.100 - 702.163
User area 22 DBX356.0 - DBX363.7 702.200 - 702.263
User area 23 DBX364.0 - DBX371.7 702.300 - 702.363
User area 24 DBX372.0 - DBX379.7 702.400 - 702.463

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Detailed description
2.12 Block descriptions

2.12.30 Useful Tips on Programming with STEP 7

2.12.30.1 General

General
Some useful tips on programming complex machining sequences in STEP7 are given in the
following. This information concentrates mainly on the handling of data type POINTER and
ANY. Detailed information about the structure of data types POINTER and ANY can be
found in Chapter "CPU register and storage of data" in STEP7 manual "Designing user
programs".

2.12.30.2 Copying data

The following is an example of how to copy data at high speed from one DB into another.

Code Comment
// DB xx.[AR1] is the source
// DI yy.[AR2] is the destination
OPEN DB 100; //Source DB
LAR1 P#20.0; //Source start address on data byte 20
OPEN DI 101; //Destination DB
LAR2 P#50.0; //Destination start address on data byte 50
//AR1, AR2, DB, DI loaded beforehand
L 42; //Transfer 84 bytes
M001:
L DBW [AR1,P#0.0]; //Copy word-oriented
L DBW [AR1,P#0.0];
T DIW [AR2,P#0.0];
+AR1 P#2.0;
+AR2 P#2.0;
TAK;
LOOP M001;

2.12.30.3 ANY and POINTER

Multiinstance DB
With version 2 and higher of STEP 7, FBs might have a multiinstance capability, i.e., they
might incorporate multiinstance DBs. The primary characteristic of multiinstance DBs is that
they can be used for various instances of FBs (see STEP 7 documentation), thus allowing
the DB data quantity to be optimized.

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 Detailed description
2.12 Block descriptions

Multi-instance DBs should be activated only when they are actually going to be used since
they increase the runtime and code size of the FBs.

Note
For more complex programs using pointers and address registers in FBs, which are to be
multi-instance capable, certain rules specified by the programmer must be complied with.
With multi-instance DBs, the start address of the variable (VAR_INPUT, VAR_OUTPUT,
VAR_IN_OUT, VAR) is transferred with the DI data block register and address register AR2.
When variables are accessed within the multiinstance FB, the compiler independently
controls the access operation via address register AR2. However, when complex program
sections also have to work with address registers in the same FB (e.g., to copy data), then
the old contents of AR2 must be saved before the register is changed. The contents of AR2
must be restored to their original state before an instance variable (VAR_INPUT,
VAR_OUTPUT, VAR_IN_OUT, VAR) is accessed. It is best to save the AR2 register of the
instance in a local variable (VAR_TEMP).
The 'load pointer to an instance variable' command returns a pointer value at the start of the
instance data. To be able to access this variable via a pointer, the offset stored in AR2 must
be added.

Example

FUNCTION_BLOCK FB 99 Comment
VAR_INPUT
varin: INT ;
END_VAR
VAR
variable1: ARRAY[0 to 9] of INT;
variable2: INT ;
END_VAR
BEGIN
L P##variable1; //Pointer at start of ARRAY
//The value 8500 0010 is now in the accumulator
//and a cross-area pointer is in the AR2. If cross-area
processing is to take place, then an area should be skipped
when these two pointers are added.
AD DW#16#00FF_FFFF, //Skipping of an area
LAR1 //Load into AR1
TAR2;
+AR1 AR2; //AR2 instance offset to be added
//The ARRAY of variable1 can now be accessed indirectly via
AR1.
L DIW [AR1, P#0.0]; //E.g., access to first element
END_FUNCTION_BLOCK

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Detailed description
2.12 Block descriptions

Strings

General
The STRING data type is required by certain services of the basic program. For this reason,
some additional facts about the string structure and general handling procedures for
parameter assignments are given below.

Structure of STRING
A data of type STRING is generally stored (defined) in a data block. There are two methods
of defining a string:
1. Only the data type STRING is assigned to a variable. The STEP7 compiler automatically
generates a length of 254 characters.
2. Data type STRING is assigned to a variable together with a string length in square
parenthesis (e.g., [32]). With this method, the STEP7 compiler generates a string length
corresponding to the input.
Two bytes more than prescribed by the definition are always stored for variables of the
STRING data type. The STEP7 compiler stores the maximum possible number of characters
in the 1st byte. The 2nd byte contains the number of characters actually used. Normally, the
useful length of the assigned string is stored in byte 2 by the compiler. The characters (1
byte per character) are then stored from the 3rd byte onwards.
String parameters are generally assigned to blocks of the basic program by means of a
POINTER or ANY. Such assignments must generally by made using symbolic programming
methods. The data block, which contains the parameterizing string, must be stored in the
symbol list. The assignment to the basic program block is then made by means of the
symbolic data block name followed by a full stop and the symbolic name of the string
variable.

Determining offset addresses for data block structures

General
Another task, which occurs frequently, is symbolic determination of an offset address within
a structured DB, e.g., an ARRAY or STRUCTURE is stored somewhere within the DB. After
loading the address register symbolically with the start address, you might like to access the
individual elements of the ARRAY or STRUCTURE via an address register. One way of
loading the address register symbolically is to use an FC whose input parameter is a pointer.
The address of the ARRAY or STRUCTURE is then assigned symbolically to the input
parameter of this FC in the program. The program code in the FC now determines the offset
address from the input parameter, and passes the offset address in the address register
(AR1) to the calling function. Symbolic addressing is thus possible even with indirect access.

FUNCTION FC 99: VOID Comment

VAR_INPUT
Addr: POINTER; //Points to variable
END_VAR
BEGIN
NETWORK

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 Detailed description
2.12 Block descriptions

FUNCTION FC 99: VOID Comment

TITLE =
L P##Addr;
LAR1 ; //Retrieve pointer from Addr
L D [AR1,P#2.0]; //Offset part of pointer of variable
LAR1 ;
END_FUNCTION

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Supplementary conditions
There are no supplementary conditions to note.
3

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Examples
No examples are available.
4

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Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 4-1
Data lists 5
5.1 Machine data

5.1.1 NC-specific machine data

Number Identifier: $MN_ Description

10100 PLC_CYCLIC_TIMEOUT Cyclic PLC monitoring time
14504 MAXNUM_USER_DATA_INT Number of user data (INT)
14506 MAXNUM_USER_DATA_HEX Number of user data (HEX)
14508 MAXNUM_USER_DATA_FLOAT Number of user data (FLOAT)
14510 USER_DATA_INT User data (INT)
14512 USER_DATA_HEX User data (HEX)
14514 USER_DATA_FLOAT[n] User data (FLOAT)
Machine data in integer/hex format is operated in the NC as DWORD.
Machine data in floating comma format are operated in the NC as FLOAT (IEEE 8 byte).
They are stored in the NC/PLC interface and can be read by the PLC user program during PLC power-up from the DB 20.

5.1.2 Channelspecific machine data

Number Identifier: $MC_ Description

28150 MM_NUM_VDIVAR_ELEMENTS Number of elements for writing PLC variables

PLC basic program solution line (P3 sl)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 5-1
Index
FB 7
PI_SERV2 General PI services, 2-128
A FB 9
Control unit switchover, 2-79
AS, 2-17
FB 9 M:N control unit switchover, 2-132
Assignment of DBs, 2-61
FC 10
ASUBs, 2-41
AL_MSG, 2-166
FC 13
BHGDisp, 2-169
B FC 17
BAG, 2-36 YDelta, 2-172
Basic PLC Program (P3)|Physical interfaces on FC 18
840D, 2-17 SpinCtrl, 2-175
Basic PLC program (P3)|PLC interface on SINUMERIK FC 19
840D, 2-17 MCP_IFM, 2-185
FC 22
TM_DIR, 2-201
C FC 24
MCP_IFM2, 2-203
Concurrent axes, 2-40
FC 25
Configurability of machine control panel, handheld
MCP_IFT, 2-207
unit, 2-51
FC 7
Cyclic operation, 2-35
TM_REV, 2-154
Cyclic signal exchange, 1-1
FC 8
TM_TRANS, 2-157
FC2
E GP_HP, 2-149
Eventdriven signal exchange, 1-1, 1-2 FC3
GP_PRAL, 2-150, 2-152
FC9
F ASUB, 2-164
FB 10
Safety relay, 2-138
FB 11
I
Brake test, 2-140 Interface
FB 2 840D, 2-17
GET, 2-87 PLC/HMI, 2-28
FB 29 PLC/MCP, 2-31
Signal recorder and data trigger diagnostics, 2-145
FB 3
PUT, 2-94 M
FB 4
M decoding acc. to list, 2-44
PI_SERV General PI services, 2-101
MAXNUM_USER_DATA_FLOAT, 5-1
FB 5
MAXNUM_USER_DATA_HEX, 5-1
GETGUD read GUD variable, 2-123

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Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 Index-1
Index

MAXNUM_USER_DATA_INT, 5-1 Programming devices or PCs, 2-66

MD14504, 2-48
MD14506, 2-48
MD14508, 2-48 R
MD35400, 2-178
Read/Write NC variables, 2-41
memory requirements of basic PLC program, 2-63
Maximum, 2-65
Minimum, 2-65
Message signals in DB2, 2-219
S
MM_NUM_VDIVAR_ELEMENTS, 5-1 Signals
PLC/axes, spindles, 2-27
PLC/Mode group, 2-24
N PLC/NC, 2-23
PLC/NCK channels, 2-25
NC failure, 2-38
Startup and synchronization of NCK PLC, 2-35
NC tags, 2-74
Symbolic programming of user program with interface
NC VAR selector, 2-68
DB, 2-42
Startup, installation, 2-79

P U
Useful Tips on Programming with STEP 7, 2-222
PI services
Useful tips on programming with Step7
Overview, 2-104
Multiinstance DB, 2-223
PLC, 2-17
Strings, 2-224
PLC messages, 2-28
USER_DATA_FLOAT[n], 5-1
PLC/NCK interface, 2-21
USER_DATA_HEX[n], 5-1
PLC_CYCLIC_TIMEOUT, 5-1
USER_DATA_INT[n], 5-1
Process-interrupt processing, 2-38
Programming and parameterizing tools, 2-66

PLC basic program solution line (P3 sl)

Index-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Brief Description 1

Detailed description 2

Supplementary conditions 3
SINUMERIK
840D sl/840Di sl/840D/840Di/810D
Data lists 4
Reference point approach (R1)

Function Manual

Valid for

Control
SINUMERIK 840D sl/840DE sl
SINUMERIK 840Di sl/840DiE sl
SINUMERIK 840D powerline/840DE powerline
SINUMERIK 840Di powerline/840DiE powerline
SINUMERIK 810D powerline/810DE powerline

Software Version
NCU System Software for 840D sl/840DE sl 1.3
NCU system software for 840Di sl/DiE sl 1.0
NCU system software for 840D/840DE 7.4
NCU system software for 840Di/840DiE 3.3
NCU system software for 810D/810DE 7.4

03/2006 Edition
6FC5397-0BP10-1BA0
Safety Guidelines
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent
damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are
graded according to the degree of danger.

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

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

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

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

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

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

Prescribed Usage
Note the following:

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

Trademarks
All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this
publication may be trademarks whose use by third parties for their own purposes could violate the rights of the
owner.

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

Siemens AG Order No.: 6FC5397-0BP10-1BA0 Copyright © Siemens AG 2006.

Automation and Drives Edition 05/2006 Technical data subject to change
Postfach 48 48
90437 NÜRNBERG
GERMANY
Table of contents
1 Brief Description ..................................................................................................................................... 1-1
2 Detailed description ................................................................................................................................ 2-1
2.1 Axisspecific referencing ............................................................................................................. 2-1
2.2 Channelspecific referencing....................................................................................................... 2-3
2.3 Reference point appraoch from part program (G74) ................................................................. 2-5
2.4 Referencing with incremental measurement systems ............................................................... 2-6
2.4.1 Chronological sequence ............................................................................................................ 2-6
2.4.2 Phase 1: Traversing to the reference cam................................................................................. 2-8
2.4.3 Phase 2: Synchronization with the zero mark.......................................................................... 2-11
2.4.4 Phase 3: Traversing to the reference point.............................................................................. 2-17
2.4.5 Buffered actual value ............................................................................................................... 2-19
2.5 Referencing with distancecoded reference marks................................................................... 2-21
2.5.1 General overview ..................................................................................................................... 2-21
2.5.2 Basic parameter assignment ................................................................................................... 2-22
2.5.3 Chronological sequence .......................................................................................................... 2-23
2.5.4 Phase 1: Travel across the reference marks with synchronization ......................................... 2-24
2.5.5 Phase 2: Travel to fixed stop ................................................................................................... 2-26
2.6 Referencing with absolute value encoders .............................................................................. 2-28
2.6.1 Information about calibration.................................................................................................... 2-28
2.6.2 Calibration by entering a reference point offset ....................................................................... 2-30
2.6.3 Adjustment by entering a reference point value ...................................................................... 2-31
2.6.4 Automatic calibration with probe .............................................................................................. 2-33
2.6.5 Calibration with BERO ............................................................................................................. 2-34
2.6.6 Reference point approach with absolute encoders ................................................................. 2-36
2.6.7 Automatic encoder replacement detection .............................................................................. 2-36
2.6.8 Enabling the measurement system ......................................................................................... 2-37
2.6.9 Referencing variants that are not supported............................................................................ 2-39
2.7 Referencing by means of actual value adjustment .................................................................. 2-39
2.7.1 Actual value adjustment to the referencing measurement system .......................................... 2-39
2.7.2 Actual value adjustment to the referenced measurement system........................................... 2-40
2.7.3 Actual value adjustment for measuring systems with distance-coded reference marks ......... 2-41
2.8 Referencing in followup mode.................................................................................................. 2-42
2.9 Zero mark selection with BERO............................................................................................... 2-45
3 Supplementary conditions ...................................................................................................................... 3-1
3.1 Large traverse range.................................................................................................................. 3-1
4 Data lists................................................................................................................................................. 4-1
4.1 Machine data.............................................................................................................................. 4-1
4.1.1 NC-specific machine data .......................................................................................................... 4-1
4.1.2 Channelspecific machine data ................................................................................................... 4-1
4.1.3 Axis/spindlespecific machine data ............................................................................................. 4-1

Reference point approach (R1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 iii
Table of contents

4.2 Signals........................................................................................................................................ 4-3

4.2.1 Signals to BAG........................................................................................................................... 4-3
4.2.2 Signals from BAG....................................................................................................................... 4-3
4.2.3 Signals to channel...................................................................................................................... 4-3
4.2.4 Signals from channel.................................................................................................................. 4-3
4.2.5 Signals to axis/spindle................................................................................................................ 4-4
4.2.6 Signals from axis/spindle ........................................................................................................... 4-4
Index................................................................................................................................................ Index-1

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Brief Description 1
Function
The "Reference Point Approach" function is used to synchronize the measuring system of a
machine axis with machine zero. The machine axis is traversed to machine zero and the
measuring system set to zero.
If it is not possible to approach machine zero directly, a reference point within the traversing
range of the machine axis is used whose position with reference to machine zero precisely
known.
After the reference point approach, the measuring system of the machine axis is not set to
zero but to the corresponding reference point value.

Measuring systems and referencing methods

The "Reference point approach" function enables machine axes to be referenced using the
following measuring systems and referencing methods:
• Measuring systems
– Incremental rotary measuring system with at least one zero mark
– Incremental linear measuring system
– Rotary measuring system with distancecoded reference marks (supplied by
Heidenhain)
– Linear measuring system with distancecoded reference marks (supplied by
Heidenhain)
– Absolute rotary measuring system
– Absolute linear measuring system
• Referencing methods
– Referencing with incremental measuring systems with BERO and one-edge and two-
edge detection
– Referencing with incremental measuring systems with replacement of homing cam
with BERO
– Referencing with incremental measuring systems with BERO with configured
approach velocity for spindle applications
– Referencing with measuring systems with distancecoded reference marks by
overtravelling 2 or 4 zero marks
– Referencing of passive measuring systems using measuring system adjustment
– Referencing in followup mode
– Referencing with cam switch at the drive

Reference point approach (R1)

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Brief Description

Start
The reference point approach of a machine axis can be started manually or via the part
program:
• Manual: Operation mode JOG and MDA, machine function REF
• Part program: Part program command G74

Reference point approach (R1)

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Detailed description 2
2.1 Axisspecific referencing
In axis-specific reference point approach, reference point approach must be initiated
individually for each machine axis that is to be referenced.

Selection of mode and machine function

Before starting reference point approach of the machine axes, you must first place the
relevant mode group in JOG or MDA mode:
DB11, ... DBX0.2 (JOG mode)
DB11, ... DBX0.1 (MDA mode)
Then the machine function REF (reference point approach) must be selected:
DB11, ... DBX1.2 (Machine function REF)

Start reference point approach

In axis-specific reference point approach, each machine axis must be started individually.
Reference point approach is started with the axis-specific traversing keys:
DB31, ... DBX4.6 (Traversing key minus)
DB31, ... DBX4.7 (Traversing key plus)

Direction enable
To avoid faulty operation, the direction release must be parameterized:
MD34010 $MA_REFP_CAM_DIR_IS_MINUS (approach reference point in minus direction)
The direction enable specifies which traversing key starts the reference point approach:

Value Meaning
0 Reference point approach in plus direction
1 Reference point approach in minus direction

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Detailed description
2.1 Axisspecific referencing

Jog mode
The following machine data element can be used to specify whether reference point
approach is completed when the direction key is pressed once or whether the operator is
required to keep the direction key pressed (jogging) for safety reasons:
MD11300 $MN_JOG_INC_MODE_LEVELTRIGGRD (INC and REF in jog mode)
If the machine operator releases the direction key, the machine axis is decelerated to zero
speed. Reference point approach is not aborted. Reference point approach is continued the
next time the direction key is pressed.

Referencing status
When reference point approach is started, the referencing status of the machine axis is
reset:
DB31, ... DBX60.4 (referenced / synchronized 1)
DB31, ... DBX60.5 (referenced / synchronized 2)
DB21, ... DBX36.2 (all axes with obligatory reference points are referenced)

Distance-coded measuring systems

In distance-coded measuring systems, reference point approach can be started with any
traversing key.

Sequence
The machine operator or machine manufacturer (via the PLC user program) is responsible
for ensuring that the machine axes are referenced in the proper order.
• Machine operator
The machine axes must be started by the machine operator in the specified order.
• Machine manufacturer
The PLC user program of the machine manufacturer allows machine axes to be started
only in the proper order.

Simultaneous reference point approach of several machine axes

Several machine axes can be referenced simultaneously depending on the control type:

SINUMERIK 840D: Max. 8 machine axes

SINUMERIK 810D: Max. 5 machine axes

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 Detailed description
2.2 Channelspecific referencing

Terminating reference point approach

Acknowledgment that reference point approach of a machine axis has been successfully
completed is given by setting the referencing status:
DB31, ... DBX60.4 (referenced / synchronized 1)
DB31, ... DBX60.5 (referenced / synchronized 2)

Aborting reference point approach

In axis-specific reference point approach, the machine axis is traversed in the channel that
was assigned as the master channel of the machine axis.
MD30550 $MA_ AXCONF_ASSIGN_MASTER_CHAN
For aborting the reference point approach, either mode group reset or channel reset for the
master channel of the machine axis must be activated:
DB11, ... DBX0.7 (mode group reset)
DB21, ... DBX7.7 (channel reset)
All machine axes that have not yet successfully completed reference point approach when
the action is cancelled remain in status "Not referenced":
DB31, ... DBX60.4 (referenced / synchronized 1)
DB31, ... DBX60.5 (referenced / synchronized 2)

2.2 Channelspecific referencing

In channel-specific reference point approach, all machine axes of the channel are referenced
in the parameterized sequence when reference point appraoch is initiated.

Selecting mode and machine function

Before starting reference point approach of the machine axes, you must first set the mode
group to JOG or MDA mode:
DB11, ... DBX0.2 (JOG mode)
DB11, ... DBX0.1 (MDA mode)
Then machine function REF (reference point approach) must be selected:
DB11, ... DBX1.2 (Machine function REF)

Parameterizing the axis sequence

The following machine data element is used to specify the sequence in which the machine
axes of the channel are referenced:
MD34110 $MA_REFP_CYCLE_NR = Number

Reference point approach (R1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-3
Detailed description
2.2 Channelspecific referencing

Number Meaning
-1 The machine axis does not have to be referenced for NC START in the channel.
0 The machine axis does not participate in channel-specific reference point approach.
1 - 15 Sequence number in channel-specific reference point approach.

The machine axes are referenced in ascending order of numbers.

Machine axes with the same number will be referenced simultaneously.

Simultaneous reference point approach of several machine axes

Several machine axes can be referenced simultaneously depending on the control type:

SINUMERIK 840D: Max. 8 machine axes

SINUMERIK 810D: Max. 5 machine axes

Start reference point approach

Channel-specific reference point approach is started with:
DB21, ... DBX1.0 (activate referencing)
The status of channel-specific reference point approach is indicated by the channel with:
DB21, ... DBX33.0 (Referencing active)

Referencing status
When reference point approach is started, the referencing status of the machine axis is
reset:
DB31, ... DBX60.4 (referenced / synchronized 1)
DB31, ... DBX60.5 (referenced / synchronized 2)

Terminating reference point approach

As soon as channel-specific reference approach has been successfully completed for all
machine axes involved, this is acknowleged with:
DB21, ... DBX36.2 (all axes with obligatory reference point are referenced)

Aborting reference point approach

In channel-specific reference point approach the machine axis is traversed in the channel to
which that axis is currently assigned as channel axis.
For aborting the reference point approach either mode group reset or channel reset for the
corresponding channel must be activated:

Reference point approach (R1)

2-4 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.3 Reference point appraoch from part program (G74)

DB11, ... DBX0.7 (mode group reset)

DB21, ... DBX7.7 (channel reset)
All machine axes for which the reference point approach is not yet successfully completed
when the action is cancelled remain in the status "Not referenced":
DB31, ... DBX60.4 (referenced / synchronized 1)
DB31, ... DBX60.5 (referenced / synchronized 2)

2.3 Reference point appraoch from part program (G74)

Referencing of machine axes can be activated for the first time or repeated from the part
program
Referencing must be repeated, for example, after:
• converting the actual value of the machine axis: PRESETON function
• Machine axis is parked:
DB31, ... DBX1.5 (Position measuring system 1) = 0
DB31, ... DBX1.6 (Position measuring system 2) = 0
• DB31, ... DBX2.1 (servo enable) = 0
• Exceeding the encoder limit frequency of the position measuring system

Programming
Syntax
G74Machine axis { Machine axis }
Function
Machine axes can be referenced from a part program with part program instruction G74
Parameter: Machine axes
The name of the machine axis must be specified. The machine axis must be a channel axis
of the channel in which the part program is processed.
Effective:
G74 is non-modal.
Special points to be noted
G74 must be programmed in a separate part program block.

Reference point approach (R1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-5
Detailed description
2.4 Referencing with incremental measurement systems

Reset response
Mode group reset or channel reset aborts the reference point approach for all programmed
machine axes:
DB11, ... DBX0.7 (mode group reset)
DB21, ... DBX7.7 (channel reset)
All machine axes for which the reference point approach is not yet successfully completed
when the action is cancelled remain in status "Not referenced":
DB31, ... DBX60.4 (referenced / synchronized 1)
DB31, ... DBX60.5 (referenced / synchronized 2)

2.4 Referencing with incremental measurement systems

2.4.1 Chronological sequence

Reference point approach with incremental measuring systems can be divided into three
phases:
• Phase 1: Traversing to the reference cam
• Phase 2: Synchronization with the zero mark of the position measuring system (encoder
zero mark)
• Phase 3: Traversing to the reference point

Reference point approach (R1)

2-6 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.4 Referencing with incremental measurement systems

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Reference point approach (R1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-7
Detailed description
2.4 Referencing with incremental measurement systems

2.4.2 Phase 1: Traversing to the reference cam

Phase 1: Graphic representation

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Phase 1: Start
For information on starting reference point approach, refer to "Axis-specific referencing" and
"Channel-specific referencing."

Phase 1: Sequence
In phase 1, depending on the position of the machine axis with reference to the homing cam,
we distinguish between three cases:
1. The machine axis is positioned before the reference cam
2. The machine axis is positioned on the reference cam
3. The machine axis has no reference cam

Reference point approach (R1)

2-8 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.4 Referencing with incremental measurement systems

Case 1: The machine axis is positioned before the reference cam

After the start of reference point approach, the machine axis is accelerated in the
parameterized direction and to the parameterized reference point approach velocity :
MD34010 $MA_REFP_CAM_DIR_IS_MINUS (Reference point approach in minus direction)
MD34020 $MA_REFP_VELO_SEARCH_CAM (Reference point approach velocity)
The PLC user program communicates to the NC that the reference cam has been reached
via the following interface signal:
DB31, ... DBX12.7 (reference point approach deceleration)
As a result the NC decelerates to zero speed. The following distance smin is still minimally
back tracked:

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This minimum distance is required to ensure that the machine axis exits the reference cam in
Phase 2 at the parameterized reference point creep velocity.
Phase 1 is now complete. Reference point approach is continued with Phase 2.

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Figure 2-3 Minimum distance for deceleration

Case 2: The machine axis is positioned on the reference cam

The machine axis remains at its starting position.
Phase 1 is now complete. Reference point approach is continued with Phase 2.

Reference point approach (R1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-9
Detailed description
2.4 Referencing with incremental measurement systems

Case 3: The machine axis has no reference cam

Machine axes without reference point cams remain at their starting position.
These include, for example:
• Machine axes that only have one zero mark along their entire traversing range
• Rotary axes that only have one zero mark per revolution
Zero must be entered in the following machine data for machine axes without a reference
point cam:
MD34000 $MA_REFP_CAM_IS_ACTIVE (Axis with reference cam) = 0
Phase 1 is now complete. Reference point approach is continued with Phase 2.

Phase 1: Features
• Feed override active.
• Feed stop (channelspecific and axisspecific) is active.
• NC-STOP and NC-START are active.
• The machine axis is stopped if the reference cam does not arrive within the
parameterized distance:
MD34030 $MA_REFP_MAX_CAM_DIST (max. distance to reference cam)
DB31, ... DBX12.7 (reference point approach delay) = 1

Reference point approach (R1)

2-10 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.4 Referencing with incremental measurement systems

2.4.3 Phase 2: Synchronization with the zero mark

Phase 2: Graphic representation

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Figure 2-4 Phase 2: Synchronization with the zero mark

Phase 2: Start
Phase 2 is automatically started when phase 1 has been completed without an alarm.
Initial situation:
The machine axis is positioned on the reference cam.
Zero mark search direction:
The zero mark is searched for in the parameterized direction and approached:
MD34050 $MA_REFP_SEARCH_MARKER_REVERSE (direction reversal on reference
cam)

Reference point approach (R1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-11
Detailed description
2.4 Referencing with incremental measurement systems

Phase 2: Sequence
Synchronization in Phase 2 can occur in two ways:
• Synchronization with falling reference cam signal edge
• Synchronization with rising reference cam signal edge
The type of synchronization is determined with the machine data:
MD34050 $MA_REFP_SEARCH_MARKER_REVERSE (direction reversal on reference
cam)

Value Meaning
0 Synchronization with falling reference cam signal edge
1 Synchronization with rising reference cam signal edge

Note
If the actual velocity of the machine axis at appraoch of the reference cam has not yet
reached the target velocity of Phase 2 within the parameterized tolerence limits, Phase 1 will
be re-started:
MD35150 $MA_SPIND_DES_VELO_TOL (spindle speed tolerance)
This will be the case, for example, if the machine axes are positioned at the reference cam
when reference point approach starts.

Case 1: Synchronization with falling reference cam signal edge

During synchronization with falling reference cam signal edge, the machine axis accelerates
to the parameterized reference point creep velocity against the parameterized reference
point approach direction (traversing direction of Phase 1):
MD34040 $MA_REFP_VELO_SEARCH_MARKER (reference point creep velocity)
MD34010 $MA_REFP_CAM_DIR_IS_MINUS (Reference point approach in minus direction)
After the reference cam is exited (DB31, ... DBX12.7 = 0), the next encoder zero mark is
awaited.
As soon as the encoder zero mark is detected, Phase 2 comes to an end. The machine axis
continues at constant velocity and reference point approach is continued with phase 3.

Reference point approach (R1)

2-12 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.4 Referencing with incremental measurement systems

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Case 2: Synchronization with rising reference cam edge

During synchronization with rising reference cam signal edge, the machine axis accelerates
to the parameterized reference point approach velocity against the parameterized reference
point approach direction (traversing direction of the phase 1):
MD34020 $MA_REFP_VELO_SEARCH_CAM (Reference point approach velocity)
MD34010 $MA_REFP_CAM_DIR_IS_MINUS (Reference point approach in minus direction)
After the reference cam is exited (DB31, ... DBX12.7 = 0), the machine axis is decelerated to
stillstand.
The machine axis then travels back to the reference cam at the parameterized reference
point creep velocity:
MD34040 $MA_REFP_VELO_SEARCH_MARKER (reference point creep velocity)
After the reference cam is reached (DB31, ... DBX12.7 = 1), the next encoder zero mark is
awaited.
As soon as the encoder zero mark is detected, Phase 2 comes to an end. The machine axis
continues at constant velocity and reference point approach is continued with phase 3.

Reference point approach (R1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-13
Detailed description
2.4 Referencing with incremental measurement systems

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Electronic reference cam offset

Electronic reference cam offset is used for compensating reference cam length increases
caused by temperature:
MD34092 $MA_ REFP_CAM_SHIFT (electronic reference cam offset for incremental
measuring systems with equidistant zero marks)
After a rising or falling reference cam edge is detected the axis is synchronized for the next
encoder zero mark only after the cyclically calculated offset path has been covered.
Because the offset path sshift is calculated by the NC in IPO cycles, the following minimum
and maximum offset paths sshift_min and sshift_max will result:

sshift_min = MD34092 $MA_ REFP_CAM_SHIFT

sshift_max = MD34092 $MA_ REFP_CAM_SHIFT +

MD34040 $MA_REFP_VELO_SEARCH_MARKER * interpolation cycle

The reference cam offset acts in the direction of zero mark search.
Prerequisite
The reference cam offset is only active for machine axes for which a reference cam has
been parameterized:
MD34000 $MA_REFP_CAM_IS_ACTIVE = 1

Reference point approach (R1)

2-14 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.4 Referencing with incremental measurement systems

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Figure 2-7 Electronic reference cam offset

Reference cam adjustment

Encoder with equidistant zero marks
Always ensure that the reference cam of encoders that supply zero marks at equidistances
is accurately adjusted so that the correct zero mark is always detected during reference point
approach.

Dynamic response
The following factors influence the dynamic response from the arrival of the reference cam to
the machine up to the detection of reference cam signals transferred from the PLC user
program to the NC:
• Switching accuracy of the reference cam switch
• Delay of the reference cam switch (NC contact)
• Delay at the PLC input
• PLC cycle time
• Cycle time for updating the VDI interface
• Interpolation cycle
• Position control cycle

Setting notes
• reference cam
Aligning the signal edge of the reference cam directly between two zero marks has
proven to be the most practical method.
• Electronic reference cam offset
Information needed for parameterizing the electronic reference cam offset is to be found
in the read-only machine data:
MD34093 $MA_REFP_CAM_MARKER_DIST (distance between reference cam/reference
mark)

Reference point approach (R1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-15
Detailed description
2.4 Referencing with incremental measurement systems

The indicated value is equivalent to the distance between departure from the reference
cam and detection of the reference mark. If the values are too small, there is a risk that
the determination of the reference point will be nondeterministic, due to temperature
effects or fluctuations in the operating time of the cam signal.

Warning
If the reference cam adjustment is faulty or inaccurate, an incorrect zero mark can be
evaluated. The control then calculates an incorrect machine zero. As a result, the
machine axis will approach the wrong positions. Software limit switches, protected areas
and working area limitations act on incorrect positions and are therefore incapable of
protecting the machine. The path difference is +/- of the path covered by the machine
axis between 2 zero marks.

Phase 2: Features
• Feedrate override is not active.
Internal motion with feedrate override = 100%.
If a feedrate override of 0% is specified, motion is aborted.
• Feed stop (channelspecific and axisspecific) is active.
• NC-STOP and NC-START are not active.
• If the machine axis does not arrive at Phase 2 within the parameterized distance of the
reference mark (encoder zero mark), the machine axis will be stopped:
MD34060 $MA_REFP_MAX_MARKER_DIST (max. distance to the reference mark)

Reference point approach (R1)

2-16 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.4 Referencing with incremental measurement systems

2.4.4 Phase 3: Traversing to the reference point

Phase 3: Graphic representation

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Phase 3: Start
At the end of phase 2 the machine axis travels at reference point creep velocity. Therefore,
as soon as phase 2 is completed successfully without an alarm, phase 3 is started without
interruption.

Initial situation
The encoder zero mark has been detected.

Phase 3: Sequence
The machine axis moves at the assigned reference point positioning velocity:
MD34070 $MA_REFP_VELO_POS (reference point positioning velocity)
from the encoder zero mark detected in Phase 2 to the reference point.

Reference point approach (R1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-17
Detailed description
2.4 Referencing with incremental measurement systems

The path sref to be covered is calculated from the sum of the reference point distance plus
reference point offset:
MD34080 $MA_REFP_MOVE_DIST (reference point distance)
MD34090 $MA_REFP_MOVE_DIST_CORR (reference point offset)

Velocity

MD34100 $MA_REFP_SET_POS [0/1/2 OR 3]

MD34080 $MA_REFP_MOV_DIST +
MD34090 $MA_REFP_MOVE_DIST_CORR

MD34020 $MA_ REFP_VELO_SEARCH_CAM

(Reference point approach velocity)
MD34070 $MA_REFP_VELO_POS
(Reference point positioning velocity)
MD34040 $MA_REFP_VELO_SEARCH_MARKER
(Reference point creep velocity)

Distance
Zero Mark of reference
DELAY point cam
of reference
point approach

Figure 2-9 Reference point position

When the reference point is reached the machine axis is stopped and the actual value
system of the machine axis is synchronized with the reference point value specified by the
PLC user program.
MD34100 $MA_ REFP_SET_POS [ n] (Reference point value)
The reference point value is specified by the PLC user program via:
DB31, ... DBX2.4 / .5 / .6 / .7 (reference point value 1 / 2 / 3 / 4)
The reference point value, which was selected by the PLC user program at the time of the
arrival of the reference cam in Phase 1 (DB31, ... DBX12.7 = 1), is taken over by the NC.
The machine axis is now referenced. As identification, the NC sets the appropriate interface
signal depending on the active measuring system:
DB31, ... DBX60.4 / .5 (Referenced/Synchronized 1 / 2) = 1

Features of phase 3
• Feed override active.
• Feed stop (channelspecific and axisspecific) is active.
• NC STOP and NC START are active.

Reference point approach (R1)

2-18 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.4 Referencing with incremental measurement systems

Special feature of phase 3

If the parameterized distance from the encoder zero mark to the reference point, i.e. the sum
of reference point distance and reference point offset (MD34080 + MD34090) is smaller than
the required breaking distance for stopping from the reference point positioning
velocity(MD34070), the machine axis initially stops "behind" the reference point and then
travels back to it.

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2.4.5 Buffered actual value

Automatic referencing
By buffering the actual value, "automatic referencing" is enabled, which does not require
machine axes with incremental measuring systems, after situations in which they are in the
"Not referenced" condition, to traverse back to the reference point for referencing of the
measuring system. For example, this is the case after:
• POWER OFF/ON
• "Parking" selected:
DB31, ... DBX1.5 / 1.6 (Position measuring system 1/2) = 0
DB31, ... DBX2.1 (servo enable) = 0
If the function is active, referencing is performed without axis motion by synchronizing the
actual value system of the machine axis to the last valid actual value. The actual value is
buffered in a retentive memory area of the control even after POWER OFF.

Reference point approach (R1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-19
Detailed description
2.4 Referencing with incremental measurement systems

Warning
During the time in which the measuring system (encoder) of the machine axis is switched off
((POWER OFF, "Parking" the axis, etc.), the machine axis may not be further mechanically
moved. This must be supported by the machine manufacturer with such measures as
holding brakes, etc., and ensured by the user. Otherwise the actual value system of the
machine axis will no longer be synchronized resulting in danger to personnel and machine.

Precondition for automatic referencing

At the time of automatic referencing (e.g. after POWER ON, "Parking" of the machine axis is
again deselected, etc.), the encoder status of the active measuring system of the machine
axis must have the value 2.
MD34210 $MA_ENC_REFP_STATE = 2
That is, the encoder is referenced, an exact stop is reached, and automatic referencing is
active the next time the encoder is activated.
The following conditions must be fulfilled:
• "Automatic referencing" is assigned for the measuring system (encoder):
MD34210 $MA_ENC_REFP_STATE = 1

Encoder status = Automatic referencing enabled, but encoder not yet referenced or
1: exact stop not reached.

• The measuring system has already been successfully referenced with reference point
approach.
This is identified by the NC by changing the encoder status from 1 to 2.

Encoder status = Encoder is referenced, an exact stop is reached, and automatic

2: referencing is active the next time the encoder is activated.

• The machine axis was disabled in "Exact stop fine" status.

Note
Within the scope of actual value buffering, the following axis specific interface signal is
evaluated:
DB31, ... DBX60.7 (Position reached with fine exact stop)
The actual values of machine axes that do not use the signal cannot be buffered.

Reference point approach (R1)

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 Detailed description
2.5 Referencing with distancecoded reference marks

Functional sequence
Two different cases apply for automatic referencing, which depend on the encoder status:
• Case 1: Encoder status = 2
Automatic referencing in parameterized, the measuring system has been referenced and
the machine axis was switched off in status "exact stop fine".
As a result:
– The actual value system of the machine axis is synchronized with the buffered actual
value.
– The status of the machine axis is set to "Referenced".
DB31, ... DBX60.4 / 60.5 (Referenced/Synchronized 1/2) = 1
• Case 2: Encoder status = 1
Automatic referencing in parameterized but the measuring system has either not yet been
referenced or the machine axis was not switched off in status "exact stop fine".
As a result:
– The actual value system of the machine axis is synchronized with zero.
– The status of the machine axis is set to "Not referenced":
DB31, ... DBX60.4 / 60.5 (Referenced/Synchronized 1/2) = 0

2.5 Referencing with distancecoded reference marks

2.5.1 General overview

Distancecoded reference marks

Measuring systems with distance-coded reference marks consist of two parallel scale tracks:
• Incremental grating
• Reference mark track
The distance between any two consecutive reference marks is defined in different ways. This
makes it possible to determine the absolute position of the machine axis when two
consecutive reference marks are crossed. For example, if the distance between the
reference marks is approx. 10 mm, a traverse path of approx. 20 mm is all that is required to
reference the machine axis.
Referencing can be performed from any axis position in the positive or negative direction
(exception: end of travel range).

Reference point approach (R1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-21
Detailed description
2.5 Referencing with distancecoded reference marks

2.5.2 Basic parameter assignment

Linear measuring systems.

The following data must be set to parameterize linear measuring systems:
• The absolute offset between the machine zero point and the position of the first reference
mark of the linear measuring system:
MD34090 $MA_REFP_MOVE_DIST_CORR (reference point/absolute offset)
See also below: Determining the absolute offset
• Orientation of the length measuring system (equidirectional or inverse) relative to the
machine system coordinate system:
MD34320 $MA_ENC_INVERS (length measuring system inverse to the machine system)

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Figure 2-11 DIADUR graduated glass scale with distance-coded reference marks
(dimensions in mm for 20 mm scale division)

Rotary measuring system

For rotary measuring systems, the same applies as for linear measuring systems (see
above).

Determining the absolute offset

The following procedure is recommended for the determination of the absolute offset
between the machine zero point and the position of the first reference mark of a machine
axis:
1. Enter the value zero for the absolute offset:
MD34090 $MA_REFP_MOVE_DIST_CORR = 0
2. Perform reference point approach.
Note:Reference point approach should be performed at a point in the machine where the
exact position of the machine axis relative to machine zero can be determined easily with
a laser interferometer, for example.
3. Determine the actual position of the machine axis via the operator interface screen.

Reference point approach (R1)

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 Detailed description
2.5 Referencing with distancecoded reference marks

4. Measure the current position of the machine axis with reference to the machine zero
point.
5. Calculate absolute offset and enter in MD34090.
The absolute offset is calculated with respect to the machine coordinate system and
depending on the orientation of the measuring system (equidirectional or inverse) as:

Orientation of the measuring system Absolute offset

equidirectional Measured position + displayed actual position
Opposite direction Measured position - displayed actual position

Warning
After determining the absolute offset and the entry in MD34090, the reference point
traversing for the machine axis must be carried out once more.

Referencing methods
Referencing with distance-coded reference marks can be performed in one of two ways:
• Evaluation of two consecutive reference marks:
MD34200 $MA_ENC_REFP_MODE (referencing mode) = 3
Advantage:
– Short travel path
• Evaluation of four consecutive reference marks:
MD34200 $MA_ENC_REFP_MODE = 8
Advantage:
– Plausibility check by NC is possible
– Increase in reliability of referencing result

2.5.3 Chronological sequence

Chronological sequence
Referencing with distance-coded reference marks can be divided into two phases:
• Phase 1: Travel across the reference marks with synchronization
• Phase 2: Traveling to a fixed destination point

Reference point approach (R1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-23
Detailed description
2.5 Referencing with distancecoded reference marks

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Figure 2-12 Distancecoded reference marks

2.5.4 Phase 1: Travel across the reference marks with synchronization

Phase 1: Start
For information on starting reference point approach, refer to "Axis-specific referencing" and
"Channel-specific referencing."

reference cam
In measuring systems with distance-coded reference marks, reference cams are not
required for the actual referencing action. For functional reasons, however, a reference cam
is required for channel-specific reference point approach and reference point approach from
the part program (G74) before the traversing range end of the machine axis.

Phase 1: Sequence
Sequence without touching a reference cam
Once reference point approach is started, the machine axis accelerates to the assigned
reference point creep velocity:
MD34040 $MA_REFP_VELO_SEARCH_MARKER (reference point creep velocity)

Reference point approach (R1)

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 Detailed description
2.5 Referencing with distancecoded reference marks

Once the parameterized number of reference marks has been crossed, the machine axis is
stopped again and the actual value system of the machine axis is synchronized to the
absolute position calculated by the NC.

Sequence when starting from the reference cam

If the machine axis is at the reference cam at the start of the reference point traversing, it
accelerates to the parameterized reference point creep velocity against the parameterized
reference point approach direction:
MD34040 $MA_REFP_VELO_SEARCH_MARKER (reference point creep velocity)
MD34010 $MA_CAM_DIR_IS_MINUS (Reference point approach in minus direction)
That ensures that the machine axis does not reach the travel range limit before it has
crossed the parameterized number of reference marks.
Once the parameterized number of reference marks has been crossed, the machine axis is
stopped again and the actual value system of the machine axis is synchronized to the
absolute position calculated by the NC.

Sequence when contact is made with reference cam during referencing

Once reference point approach is started, the machine axis accelerates to the assigned
reference point creep velocity:
MD34040 $MA_REFP_VELO_SEARCH_MARKER (reference point creep velocity)
Before the machine axis travels over the parameterized number of reference marks, it
touches the reference cam. It is then reversed and reference mark search is restarted in the
opposite direction.
Once the parameterized number of reference marks has been crossed, the machine axis is
stopped again and the actual value system of the machine axis is synchronized to the
absolute position calculated by the NC.

Plausiblity check of the reference mark distance

An error occurs if, during reference point traversing for two subsequent reference marks, the
NC determines a distance greater than twice the parameterized reference mark distance.
MD34300 $MA_ENC_REFP_MARKER_DIST (Reference mark distance)
The machine axis will then traverse in opposite direction at half the parameterized reference
point creep velocity (MD34040) and the search for reference mark is restarted.
If a faulty reference mark distance is detected again, the machine axis is stopped and the
reference point traversing is aborted (alarm 20003 "fault in the measuring system").

Abort criterion
If the parameterized number of reference marks is not detected within the parameterized
distance, the machine axis is stopped and reference point traversing is aborted.
MD34060 $MA_REFP_MAX_ MARKER_DIST (max. distance to the reference mark)

Reference point approach (R1)

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Detailed description
2.5 Referencing with distancecoded reference marks

Features of phase 1
After phase 1 is successfully completed, the actual value system of the machine axis is
synchronized.

2.5.5 Phase 2: Travel to fixed stop

Phase 2: Start
Phase 2 is automatically started when phase 1 has been completed without an alarm.
Initial situation:
• The machine axis is positioned directly behind the last of the parameterized number of
reference marks.
• The actual value system of the machine axis is synchronized.

Phase 2: Sequence
In Phase 2, the machine axis completes reference point approach by traversing to a defined
target position (reference point). This action can be suppressed in order to shorten the
reference point approach:
MD34330 $MA_STOP_AT_ABS_MARKER

Value Meaning
0 Travel to target position
1 No travel to target position

Travel to target position (normal case)

The machine axis accelerates to the parameterized reference point position velocity and
travels to the parameterized target point (reference point):
MD34070 $MA_REFP_VELO_POS (Reference point positioning velocity)
MD34100 $MA_REFP_SET_POS (reference point value)
The machine axis is referenced. To identify this, the NC sets an interface signal for the
measuring system that is currently active:
DB31, ... DBX60.4 / 60.5 (Referenced/Synchronized 1/2) = 1

No travel to target position

The machine axis is now referenced. To identify this, the NC sets an interface signal for the
measuring system that is currently active:
DB31, ... DBX60.4 / 60.5 (Referenced/Synchronized 1/2) = 1

Reference point approach (R1)

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2.5 Referencing with distancecoded reference marks

Features of phase 2
Phase 2 will display different characteristics, depending on whether a reference point cam is
parameterized for the machine axis.

Machine axis without reference point cam

MD34000 $MA_REFP_CAM_IS_ACTIVE (Axis with reference point cam) = 0
Properties:
• Feed override active.
• The feed stop (channelspecific and axisspecific) is active.
• NC STOP and NC START are active.

Machine axis with reference point cam

MD34000 $MA_REFP_CAM_IS_ACTIVE (Axis with reference point cam) = 1
Properties:
• Feedrate override is not active.
Machine axis moves internally when feedrate override = 100%.
If a feedrate override of 0% is specified, an abort occurs.
• The feed stop (channelspecific and axisspecific) is active.
• NC-STOP and NC-START are not active.
• If the parameterized number of reference marks is not detected within the parameterized
distance after the exit of the reference cam, the machine axis will be stopped.
MD34060 $MA_REFP_MAX_ MARKER_DIST (max. distance to the reference mark)

Special features of rotary measuring systems

On rotary distancecoded measuring systems, the absolute position can only be determined
uniquely within one revolution. Depending on the mechanical mounting of the encoder, the
overtravel of the absolute position in the hardware does not always coincide with the
traversing range of the rotary axis.

Special features of modulo rotary axes

With module rotary axes, the reference point position is mapped on the parameterized
modulo range:
MD30330 $MA_MODULO_RANGE (extent of modulo range)
MD30340 $MA_MODULO_RANGE_START (starting position of modulo range)

Reference point approach (R1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-27
Detailed description
2.6 Referencing with absolute value encoders

Note
The reference point position is mapped onto the assigned (ghost) modulo range even with
axis function "Determination of reference point position rotary, distance-coded encoder within
the configured modulo range":
MD30455 $MA_MISC_FUNCTION_MASK (axis functions), BIT1 = 1

2.6 Referencing with absolute value encoders

2.6.1 Information about calibration

Referencing with absolute value encoders

The advantage of machine axes with absolute value encoder is that after a one time
adjustment procedure, the necessary reference point traversing with incremental measuring
systems (e.g. build-up of control, de-selection of "Parking" of machine axes etc.) can be
skipped and the actual value system of the machine axis can be immediately synchronized
to the determined absolute position.

Adjustment
Adjustment of an absolute encoder involves matching the actual value of the encoder with
the machine zero once and then setting it to valid.
The current adjustment status of an absolute value encoder is displayed in the following axis
specific machine data of the machine axis, to which it is connected:
MD34210 $MA_ENC_REFP_STATE (status of absolute encoder)

Value Meaning
0 Encoder not calibrated
1 Encoder adjustment enabled
2 Encoder is calibrated

Adjustment methods
The following adjustment methods are supported:
• Adjustment by entering a reference point offset
• Adjustment by entering a reference point value
• Automatic adjustment with probe
• Adjustment with BERO

Reference point approach (R1)

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 Detailed description
2.6 Referencing with absolute value encoders

Readjustment
Readjustment of the absolute encoder is required after:
• Gear change between load and absolute encoder
• Removal/installation of the absolute value encoder
• Removal/installation of the motor with the absolute value encoder
• Data loss in the static NC memory
• Battery failure
• Setting actual value (PRESETON)

Notice
The NCK can only detect a required readjustment during the following events:
• Gear change with change of gear ratio
• Response of the zero mark monitor (Alarm 25020)
• New encoder serial number after change of the absolute value encoder
Subsequently, the status of the absolute value encoder will be set back to 0 automatically
by the NCK (encoder not adjusted):
MD34210 $MA_ENC_REFP_STATE[n] = 0
In all other cases (e.g. PRESETON) it is the sole responsibility of the user, by resetting the
status to 0 (encoder not adjusted), to show the misalignment of the absolute value
encoder and to carry out a readjustment.

Warning
Data backup
During the back-up of machine data of a machine A, the encoder status of the machine
axis (MD34210) is also backed up.
During loading of this data record into a machine B of the same type, e.g. in the context
of a serial start-up or after a case of maintenance, the referenced machine axes will be
automatically regarded as adjusted / referenced by the NC. It is the special responsibility
of the machine manufacturer / user to undertake a readjustment in such cases.
See also explanations regarding machine data:
MD30250 $MA_ACT_POS_ABS (Absolute encoder position at the time of switch-off)

Reference point approach (R1)

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Detailed description
2.6 Referencing with absolute value encoders

2.6.2 Calibration by entering a reference point offset

Function
During adjustment by entering the reference point offset, the difference between the position
displayed on the operator interface and the true actual position in the machine is determined
and made known to the NC as reference point offset.

Procedure
1. Determining the position of the machine axis with reference to the machine zero point via
e.g.:
– position measurement (e.g. laser interferometer)
– Moving the machine axis to a known position (e.g., fixed stop)
2. Reading the displayed actual position of the machine axis on the operator interface.
3. Calculating the reference point offset (difference between the actual positions determined
under point 1 and 2) and entering in machine data:
MD34090 $MA_REFP_MOVE_DIST_CORR (reference point offset)
4. Marking the absolute value encoder as adjusted:
MD34210 $MA_ENC_REFP_STATE = 2

Note
The encoder adjustment does not become active until the next time the encoder is
activated (e.g., when the controller is powered up).

5. Initiate POWER ON reset.

6. Controlling the position of the machine axis displayed on the operator interface.

Reference point approach (R1)

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 Detailed description
2.6 Referencing with absolute value encoders

Note
Backlash compensation
If backlash compensation is parameterized for a measuring system with absolute value
encoder, the following must be observed:
No backlash is permitted during machine axis travel to the adjusted machine position.
Activate reference point offset permanently
The entered reference point offset (MD34090) will be permanently active only after initial
POWER ON - Reset. If the machine axis is moved after the absolute encoder adjustment
without an interim POWER ON - Reset, the reference point offset entered in the machine
data can be overwritten, for example, as part of internal overrun offset.
Checking the actual position
Following adjustment of the absolute encoder, we recommend that you verify the actual
position of the machine axis the next time you power up the controller (POWER ON).

2.6.3 Adjustment by entering a reference point value

Function
During adjustment by entering the reference point value, the absolute position of the
machine axis with reference to the machine zero point is determined by e.g.:
• Position measurement (e.g. laser interferometer)
• Moving the machine axis to a known position (e.g. fixed stop)
This determined position value will be made known to the NC as the reference point value.
The NC then calculates the reference point offset from the difference between the encoder
absolute value and the reference point value.

Procedure
1. Set reference mode to "Take over of the reference point value"
MD34200 $MA_ENC_REFP_MODE = 0
2. Traversing machine axis in the JOG mode to the (e.g. Laser interferometer) position to be
measured or already known (e.g. fixed stop).

Reference point approach (R1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-31
Detailed description
2.6 Referencing with absolute value encoders

Note
The machine axis can only be traversed in the direction enabled for referencing with the
travel keys:
MD34010 $MA_REFP_CAM_DIR_IS_MINUS (approach reference point in minus
direction)
To avoid an invalid position because of backlash in the drive train, the known position
must be approached at low velocity.

3. Communicate the position of the machine axis relative to machine zero to the NC as the
reference point value:
MD34100 $MA_REFP_SET_POS = Position
4. Releasing encoder adjustment:
MD34210 $MA_ENC_REFP_STATE = 1
5. Activate NCK-Reset for acceptance of the entered machine data values.
6. Switch to JOG-REF mode.
7. Operate the travel key used for referencing in step 2.
The machine axis does not move when the traversing key is actuated!
The NC calculates the reference point offset from the entered reference point value and
that given by the absolute value encoder. The result is entered into the machine data:
MD34090 $MA_REFP_MOVE_DIST_CORR (reference point offset)
The status of the absolute value encoder is set to "Encoder is adjusted":
MD34210 $MA_ ENC_REFP_STATE = 2
The actual value system of the machine axis is synchronized.
The machine axis is now referenced. As identification, the NC sets the appropriate
interface signal based on which measuring system is currently active:
DB31, ... DBB60.4 / 60.5 (referenced/synchronized 1 / 2) = 1
8. Initiate POWER ON reset.

Note
Activate reference point offset permanently
The entered reference point offset (MD34090) will only be permanently active after
POWER ON - Reset.
If the machine axis is moved after the absolute encoder adjustment without an interim
POWER ON - Reset, the reference point offset entered in the machine data can be
overwritten, for example, within internal overrun corrections.
Checking the actual position
Following adjustment of the absolute encoder, we recommend that you verify the actual
position of the machine axis the next time you power up the controller (POWER ON).

Reference point approach (R1)

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 Detailed description
2.6 Referencing with absolute value encoders

2.6.4 Automatic calibration with probe

Function
In automatic adjustment with a probe, a known position in the machine is approached with
the machine axis from a part program. The position value is stored in the NC as a reference
point value. The position is reached when the probe switches, and the NC then calculates
the reference point offset from the difference between the encoder value and reference point
value.

Note
Part program for automatic adjustment
The part program for automatic adjustment using a probe must be created by the machine
manufacturer / user for the specific requirements of the machine.
Freedom from collision
Because actual-value-related monitoring is not active for the machine axes being referenced,
the machine operator must take special care to ensure that collisions do not occur in the
machine while the machine axes are being moved!

Part program
The part program for automatic adjustment of absolute encoders with probe must perform
the points listed below for each axis in the order indicated:
1. Approach the adjustment position of machine axis, which is detected from the probe
response.
The position must be approached several times from the same direction, but at a velocity
which is gradually reduced on each approach, to ensure that the measured value
obtained is as accurate as possible. The measured value is stored in system variable
$AA_IM.
2. Calculating and writing the reference point offset:

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3. Set the absolute encoder status to "Encoder is adjusted":

MD34210 $MA_ ENC_REFP_STATE = 2

Reference point approach (R1)

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Detailed description
2.6 Referencing with absolute value encoders

Sequence
Proceed as follows for automatic adjustment with probe:
1. Enable part program start even for non-referenced machine axes:
MD20700 $MC_REFP_NC_START_LOCK = 0
2. Enter the machine axis position relative to machine zero when probe is switched as the
reference point value for all relevant machine axes:
MD34100 $MA_REFP_SET_POS = reference point value
3. Activate NCK-Reset for the acceptance of the entered machine data values.
4. Start part program.
5. After completion of the part program, re-secure the partial program start for machine axes
which are not referenced:
MD20700 $MC_REFP_NC_START_LOCK = 1
6. Initiate POWER ON - Reset so that the reference point offset written by the part program
is permanently active:
MD34090 $MA_REFP_MOVE_DIST_CORR (reference point offset)

Note
Activate reference point offset permanently
The entered reference point offset (MD34090) will only be permanently active after
POWER ON - Reset.
If the machine axis is moved after the absolute encoder adjustment without an interim
POWER ON - Reset, the reference point offset entered in the machine data can be
overwritten, for example, as part of internal overrun offset.
Checking the actual position
Following adjustment of the absolute encoder, we recommend that you verify the actual
position of the machine axis the next time you power up the controller (POWER ON).

2.6.5 Calibration with BERO

Function
For adjustment using BERO, a reference point approach to a defined machine position is
performed the same as for incremental measuring systems. In this case the BERO replaces
the encoder zero mark that the absolute encoder does not have. After successful completion
of reference point approach, the NC automatically calculates the reference point offset from
the difference between the encoder absolute value and the parameterized reference point
value.

Reference point approach (R1)

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 Detailed description
2.6 Referencing with absolute value encoders

Procedure
Proceed as follows for adjustment with BERO:
1. Set referencing mode to "Referencing with BERO":
MD34200 $MA_ENC_REFP_MODE = 2
2. Assign reference point value:
MD34100 $MA_REFP_SET_POS = Reference point value
3. Start reference point approach.
Reference point approach can be started manually in JOG-REF mode or in AUTOMATIC
or MDA mode from a part program (G74).
After a successful reference point approach, the absolute encoder is calibrated, the
actual value system of the machine axis is synchronized, and the machine axis is
referenced.
To identify this, the NC sets an interface signal for the measuring system that is currently
active:
DB31, ... DBB60.4 / 60.5 (referenced/synchronized 1 / 2) = 1

Note
If the BERO is removed after adjustment of the absolute encoder, the referencing mode
must be assigned to "Referencing with absolute encoder".
MD34200 $MA_ENC_REFP_MODE = 0

Signal propagation delay compensation

The signal propagation time can cause corruption of the absolute position detected by the
NC. The signal propagation time can be compensated for in any direction:
MD31122 $MA_BERO_DELAY_TIME_PLUS (BERO delay time plus)
MD31123 $MA_BERO_DELAY_TIME_MINUS (BERO delay time minus)

Note
Prerequisite for a correct compensation of signal propagation time is drives of type
SIMODRIVE 611 digital. The compensation times are pre-set in delivery condition in such a
way that changes are usually not required.

Creep velocity
If with the approach of BERO, it is to be proceeded with the parameterized reference point
creep velocity (MD34040 $MA_REFP_VELO_SEARCH_MARKER) then "BERO with
projected start velocity with spindles" must be parameterized as reference mode:
MD34200 $MA_ENC_REFP_MODE = 7

Reference point approach (R1)

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Detailed description
2.6 Referencing with absolute value encoders

2.6.6 Reference point approach with absolute encoders

Traversing movement release

If for a mchine axis with adjusted absolute value encoder as active measuring system,
reference point traversing is activated (manual in the mode JOG-REF or automatic according
to part program instruction G74), the machine axis travels depending on the parameterized
release traversing movement.
MD34330 $MA_REFP_STOP_AT_ABS_MARKER = <Value>

Value Meaning
0 Traversing is enabled.
When reference point approach is initiated, the machine axis moves to the reference point
position. Reference point approach is completed when the reference point position is
reached.
1 Traversing is not enabled.
After the activation of the reference point travel, the machine axis does not travel and the
reference point travel is immediately completed.

2.6.7 Automatic encoder replacement detection

Function
Automatic encoder replacement detection is required for absolute encoders in order to detect
if the encoder has been replaced and therefore needs to be readjusted.
The NC reads the encoder-specific serial number of the encoder from the drive every time
the control is powered up. If the serial number has changed the NC resets the encoder
status to "Encoder not calibrated".
MD34210 $MA_ENC_REFP_STATE = 0
The status of the measuring system is indicated as "Not referenced":
DB31, ... DBB60.4 / 60.5 (referenced/synchronized 1/2) = 0

Serial number display

The NC stores the serial numbers read in the build-up specific to the machine in the machine
data:
MD34230 $MA_ENC_SERIAL_NUMBER (encoder serial number)

Note
Currently, only the serial numbers of absolute encoders with an EnDat interface can be read.
For all other encoders the display shows that no serial number has been read.
Automatic encoder replacement detection can therefore only be used with the specified
encoder types.

Reference point approach (R1)

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 Detailed description
2.6 Referencing with absolute value encoders

Avoiding readjustments
In some special cases, for example, when a machine axis (built-on rotary axes) is removed
and then mounted again, readjustment is not necessary / desirable.
To avoid readjustment, zero must be parameterized as a serial number to be ignored for the
measuring system of the machine axis in question.
MD34232 $MA_EVERY_ENC_SERIAL_NUMBER = 0
If the NC now reads zero as the serial number, the encoder status is not reset and the serial
number indicated in the machine data is kept.

Example sequence of operation:

1. The NC reads the serial number of the absolute encoder for the measuring system of the
machine axis in question and the serial number is not equal to zero.
2. The absolute encoder is calibrated in the correct manner.
3. When the controller is powered up subsequently, the NC reads "zero" as the serial
number of the absolute encoder.
Serial number "zero" is ignored and the encoder status remains the same, that is
"calibrated".
4. When the controller is powered up, the NC again reads the serial number it read under
Item 1 and that is still indicated in the machine data. The encoder status continues to be
"Adjusted".

Note
PROFIBUS drives
As not every drive connected via PROFIBUS-DP is able to deliver the encoder serial
number in time for build-up of control or at all, the range of the encoder serial number
with PROFIBUS drives is pre-set with zero to avoid unnecessary new NC internal
adjustments:
MD34232 $MA_EVERY_ENC_SERIAL_NUMBER = 0
A manual parameterizing to 1 is ineffective.

2.6.8 Enabling the measurement system

The measuring system of a machine axis is activated in the following cases:
• Power up of the control (POWER ON)
• Activation of the measuring system via interface signal (deselection of "parking"):
DB31, ... DBB1.5 / 1.6 (position measuring system 1/2)
DB31, ... DBB2.1 (servo enable)
• Violation of the assigned encoder limit frequency (spindles):
MD36300 $MA_ENC_FREQ_LIMIT

Reference point approach (R1)

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Detailed description
2.6 Referencing with absolute value encoders

When the measuring system is activated, the NC synchronizes the actual value system of
the machine axis with the current absolute value. Traversing is disabled during
synchronization for axes but not for spindles.

Parameterizing the encoder limit frequency (spindles)

The EQN 1325 absolute encoder made by Heidenhain has an incremental track and an
absolute track.
If a spindle is driven at a speed above the encoder limit frequency of the incremental track,
the substantially lower limit frequency of absolute track must be parameterized as the
encoder limit frequency.
MD36300 $MA_ENC_FREQ_LIMIT
Otherwise an incorrect absolute position would be read because the parameterized encoder
limit frequency is not reached when the measuring system is activated. This would cause a
position offset in the actual value system of the machine axis.

Determining the encoder limit frequency

The encoder limit frequency to be parameterized is derived from the smaller of the two
following limit speeds:
• Encoder
The limit speed or encoder limit frequency is listed in the data sheet of the encoder (e.g.,
limit speed = 2000 [rpm])
• NC
Due to the NC-internal evaluation process, the maximum limit speed for which error-free
calculation of the absolute value by the NC is possible is 4 encoder revolutions per
interpolation cycle.
For an interpolation cycle of, for example, 12 ms: Limit speed = 4 / 12 ms = 20,000 rpm
The limiting frequency corresponding to the limiting speed is calculated to be:

 0'
0'
0' 0'

MD31020 $MA_ENC_RESOL (Encoder lines per revolution)

MD10050 $MN_SYSCLOCK_CYCLE_TIME (System clock cycle)
MD10070 $MN_IPO_SYSCLOCK_TIME_RATIO (Factor for interpolator cycle)

Reference point approach (R1)

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 Detailed description
2.7 Referencing by means of actual value adjustment

Note
The position control switching speed relevant for spindles is set according to the encoder
limiting frequency of the absolute value encoder of the spindle:
MD35300 $MA_SPIND_POSCTRL_VELO (position control switching speed)
MD36300 $MA_ENC_FREQ_LIMIT (Encoder limit frequency)

2.6.9 Referencing variants that are not supported

The following referencing variants are not supported when used with absolute encoders:
• Referencing / calibrating with encoder zero mark
• Distancecoded reference marks
• BERO with two-edge evaluation

2.7 Referencing by means of actual value adjustment

2.7.1 Actual value adjustment to the referencing measurement system

Function
When actual value adjustment to the referencing measuring system is performed, the
resulting absolute actual position after successful referencing of the measuring system of a
machine axis is transferred directly to all other measuring systems of the machine axis, and
the machine axis is designated as referenced:
DB31, ... DBB60.4 / 60.5 (referenced/synchronized 1/2) = 1
Advantage
When the machine axis switches from an explicitly referenced measuring system to the
measuring system referenced by actual value adjustment, continuous servo control is
assured (servo enable active) because the matched actual position prevents a sudden
change in actual value.

Note
In order to improve positioning precision by determining the measuring-system-specific
encoder fine information, we recommend explicitly re-referencing the measuring system
previously referenced by actual value adjustment after switching over.

Reference point approach (R1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-39
Detailed description
2.7 Referencing by means of actual value adjustment

Activation
The activation of the actual value adjustment to the referencing measuring system is
machine-specifically carried out via:
MD34102 $MA_REFP_SYNC_ENCS = 1

2.7.2 Actual value adjustment to the referenced measurement system

Function
If a machine axis has several measuring systems and one of them is referenced, the
remaining measuring systems can be referenced by actual value adjustment to the
measuring system already referenced.
Advantage
Referencing does not take as long because the path to be traversed only has to be
sufficiently along to allow elimination of the backlash in both measuring systems.
If the distance to the traversing range limits is large enough, referencing can be started at
any point along the traversing range of the machine axis in any direction because no zero
mark, reference point cam, etc., is required.

Parameterization
The following machine data must be parameterized for actual value adjustment to a
referenced measuring system:
• Homing mode: Actual value adjustment to a referenced measuring system
MD34200 $MA_ENC_REFP_MODE[measuring system] = 6
• Traverse path for backlash recovery:
MD34080 $MA_REFP_MOVE_DIST[measuring system] (reference point distance)

Note
Reference point distance greater than zero
To ensure reliable backlash recovery, the assigned value for the reference point distance
must be greater than the maximum backlash of both measuring systems.
Reference point distance equal to zero
The reference point distance can also equal zero. In this case, actual value adjustment is
performed without a traversing movement as soon as reference point approach starts. In
this case, the active backlash should be less than half the increment of the measuring
system whose actual value is taken.

Reference point approach (R1)

2-40 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.7 Referencing by means of actual value adjustment

2.7.3 Actual value adjustment for measuring systems with distance-coded reference
marks

Function
In order to improve positioning precision by determining the measuring-system-specific
encoder fine information, we recommend explicitly re-referencing the measuring system
previously referenced by actual value adjustment after switching over the measuring system.
If an encoder with distance-coded reference marks is used for the passive measuring
system, referencing can be avoided if the following conditions are met:
1. Active measuring system: indirect measuring system (motor measuring system) with
absolute encoder, for example
2. Passive measuring system: Direct measuring system with distancecoded reference
marks
3. Travel movement of the machine axis with the referenced indirect measuring system
before measuring system switchover in which the number of reference marks required for
referencing are crossed. This automatically references the passive direct measuring
system.

Parameterization
In addition to the specific machine data required to reference the individual measuring
systems, the following machine data must be set:
• Enable actual value adjustment:
MD34102 $MA_REFP_SYNC_ENCS = 1
• Direct measuring system with distancecoded reference marks:
– MD34200 $MA_ENC_REFP_MODE[measuring system] = 3
Distancecoded reference marks
– MD30242 $MA_ENC_IS_INDEPENDENT[measuring system] = 2
During actual value adjustment, the passive direct measuring system is adjusted to
the actual position of the active indirect measuring system, but is not marked as
referenced. After the parameterized number of reference marks have been crossed,
the passive direct measuring system is automatically referenced. Referencing is
performed in every operating mode.

Sequence
1. Initial situation: Neither of the measuring systems are referenced:
DB31, ... DBX60.4 = 0 (referenced / synchronized 1)
DB31, ... DBX60.5 = 0 (referenced / synchronized 2)
2. Reference the indirect measuring system according to the measuring system type:
DB31, ... DBX60.4 = 1 (referenced / synchronized 1)
DB31, ... DBX60.5 = 0 (referenced / synchronized 2)

Reference point approach (R1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-41
Detailed description
2.8 Referencing in followup mode

3. Traverse the machine axis across the parameterized number of reference marks.
This automatically references the direct measuring system:
DB31, ... DBX60.4 = 1 (referenced / synchronized 1)
DB31, ... DBX60.5 = 1 (referenced / synchronized 2)

2.8 Referencing in followup mode

Function
Incremental measuring systems and measuring systems with distance-coded reference
marks can be referenced even when the machine axis is in follow-up mode. This requires
that reference point approach be properly parameterized according to the measuring system
in use (see "Referencing with incremental measuring systems" and "Referencing with
distance-coded reference marks").
When referencing in follow-up mode the machine axis is moved not by the NC but by means
of an external travel movement over the encoder zero mark and the parameterized number
of distance-coded reference marks. The measuring system is referenced when the encoder
zero mark or parameterized number of distance-coded reference marks are detected.

Note
Reproducibility of the referencing result
In NC-guided reference point approach, reproducibility of the referencing result is ensured
through adherence to the assigned traverse velocities during the referencing operation.
During referencing in follow-up mode, responsibility for achieving reproducibility of the
referencing results lies with the machine manufacturer / user.

Unique zero mark

Referencing of an incremental measuring system is based on the explicit position of the
encoder zero mark relative to the overall traversing range of the machine axis.
Because the reference cam signal is not evaluated by the NC during referencing in follow-up
mode, unique identification of the reference point when referencing in follow-up mode will
only result with:
• Only one encoder zero mark in the traversing range of the machine axis
• Linear measuring systems with distancecoded reference marks
• Modulo rotary axes (absolute position within one revolution)

Reference point approach (R1)

2-42 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.8 Referencing in followup mode

Zero mark selection when several zero marker signals occur

If several encoder zero marks are detected in the traversing range of the machine axis due
to machine-specific factors, e.g., reduction gear between encoder and load, a BERO must
be mounted on the machine and connected to the relevant drive module (SIMODRIVE 611D)
via a BERO input in order to uniquely specify the reference point. The position of the
reference point is then derived from the combination of BERO signal and encoder zero mark.
Zero mark evaluation with BERO must be parameterized as the referencing mode:
MD34200 $MA_ENC_REFP_MODE = 5
Negative edge evaluation
In the case of a referencing operation with a negative edge evaluation of the BERO signal:
MD34120 $MA_REFP_BERO_LOW_ACTIVE = FALSE
synchronization is with the next encoder zero mark encountered after the BERO is exited.
Positive edge evaluation
In the case of a referencing operation with a positive edge evaluation of the BERO signal:
MD34120 $MA_REFP_BERO_LOW_ACTIVE = TRUE
synchronization is with the next encoder zero mark encountered after the BERO is
approached.
Mechanically, the BERO must be sized in such a way that the positive BERO signal covers
the entire width of the encoder zero mark.

Enable
The "Referencing in follow-up mode" function is enabled with:
MD34104 $MA_REFP_PERMITTED_IN_FOLLOWUP = TRUE

Starting the referencing operation

If the machine axis is operating in the follow-up mode at the start of reference point
traversing, (DB31,... DBX61.3 == TRUE) the measuring system will be referenced in the
follow-up mode.
If the machine axis is not operating in the follow-up mode at the start of reference point
traversing, the "normal" from the NC controlled reference point travels is carried out.
Referencing in follow-up mode can be started in the following modes:
• JOG-REF: Traversing keys
• AUTOMATIC: Part program command G74

Reference point approach (R1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-43
Detailed description
2.8 Referencing in followup mode

Sequence of referencing operation (JOG-REF mode)

1. Activate follow-up mode of machine axis:
DB31, ... DBX1.4 (follow-up mode) = 0
DB31, ... DBX2.1 (servo enable) = 0
2. Take into account activation of follow-up mode:
DB31, ... DBX61.3 (follow-up mode active) = 1
3. Switch to JOG-REF mode.
4. External movement of machine axis across encoder zero mark or parameterized number
of distance-coded reference marks. The referencing operation is started internally in the
NC as soon as the machine axis is moved:
DB31, ... DBX61.4 (axis/spindle stationary) = 0
5. The measuring system is referenced after the encoder zero mark or the assigned number
of distance-coded reference marks have been successfully detected:
DB31, ... DBX60.4/60.5 (referenced/synchronized 1 / 2) = 1

Aborting the reference operation

An active referencing operation can be aborted by:
• Deselecting follow-up mode
• NCK Reset

Response when measuring systems are already referenced

A measuring system that has already been referenced can only be re-referenced in
AUTOMATIC mode using part program instruction G74.

Sequence of referencing operation (AUTOMATIC mode)

1. Switch to AUTOMATIC mode.
2. Start the part program.
3. Activate follow-up mode of machine axis:
DB31, ... DBX1.4 (follow-up mode) = 0
DB31, ... DBX2.1 (servo enable) = 0
4. Take into account activation of follow-up mode:
DB31, ... DBX61.3 (follow-up mode active) = 1
5. The referencing operation is started internally in the NC as soon as part program
instruction G74 is processed.
6. External movement of machine axis across encoder zero mark or parameterized number
of distance-coded reference marks.

Reference point approach (R1)

2-44 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed description
2.9 Zero mark selection with BERO

7. The measuring system is referenced after the encoder zero mark or the assigned number
of distance-coded reference marks have been successfully detected:
DB31, ... DBX60.4 / 60.5 (referenced/synchronized 1/2) = 1
8. The block change occurs after the referencing operation has been successfully
completed.

Aborting the reference operation

An active referencing operation can be aborted by:
• Deselecting follow-up mode
• NCK Reset

Response when measuring systems are already referenced

A measuring system that you have already referenced can be referenced again.

2.9 Zero mark selection with BERO

Function
Referencing of incremental measuring systems is based on the unique position of the
encoder zero mark relative to the overall traversing range of the machine axis. If several
encoder zero marks are detected in the traversing range of the machine axis due to
machine-specific factors, e.g., reduction gear between encoder and load, a BERO must be
mounted on the machine and connected to the relevant drive module (SIMODRIVE 611D)
via a BERO input in order to uniquely specify the reference point. The position of the
reference point is then derived from the combination of BERO signal and encoder zero mark.

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Figure 2-13 Zero mark selection with BERO

Zero mark evaluation with BERO must be parameterized as the referencing mode:
MD34200 $MA_ENC_REFP_MODE = 5

Reference point approach (R1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-45
Detailed description
2.9 Zero mark selection with BERO

Negative edge evaluation

In the case of a referencing operation with a negative edge evaluation of the BERO signal:
MD34120 $MA_REFP_BERO_LOW_ACTIVE = FALSE
synchronization is with the next encoder zero mark encountered after the BERO is exited.
Positive edge evaluation
In the case of a referencing operation with a positive edge evaluation of the BERO signal:
MD34120 $MA_REFP_BERO_LOW_ACTIVE = TRUE
synchronization is with the next encoder zero mark encountered after the BERO is
approached.
If, mechanically, the BERO is sized in such a way that the positive BERO signal covers the
entire width of the encoder zero mark, the encoder zero mark will be reliably detected in both
traversing directions.

Reference point approach (R1)

2-46 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Supplementary conditions 3
3.1 Large traverse range

Notes on uniqueness of encoder position

Linear absolute encoder
The absolute value of linear position encoders, e.g., Heidenhain LC181, is always unique for
the scale lengths available.

Rotary absolute encoder

The absolute value of rotary absolute encoders is only unique within the range of the specific
maximum encoder revolutions.
For example, the EQN 1325 rotary absolute encoder by Heidenhain supplies a unique
absolute value in the range of 0 to 4,096 encoder revolutions.
Depending on how the encoder is connected that will result in:
• Rotary axis with encoder on load: 4096 load revolutions
• Rotary axis with encoder on motor: 4096 motor revolutions
• Linear axis with encoder on motor: 4096 motor revolutions

Example:
An EQN 1325 rotary absolute encoder is connected to the motor of a linear axis. For an
effective leadscrew pitch of 10 mm this will result in a unique absolute value within the travel
range -20.48 to +20.48 m.

Supplementary conditions
• Linear axes with a traversing range > 4096 encoder revolutions, rotatory absolute value
encoder EQN 1325 and a parameterized absolute value encoder range of
MD34220 $MA_ENC_ABS_TURNS_MODULO = 4096:
– The maximum possible travel range corresponds to that of incremental encoders.

Reference point approach (R1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 3-1
Supplementary conditions
3.1 Large traverse range

• Endlessly turning rotary axes with absolute encoders:

– Any number of integer transmission ratios are permitted.
– We recommend that you parameterize endlessly turning rotary axes with absolute
encoders as modulo rotary axes (traversing range 0 to 360 degrees).
MD34220 $MA_ENC_ABS_TURNS_MODULO
Otherwise, the machine axis may require a very long traverse path to reach absolute
zero when the measuring system is activated.
• Machine axes with absolute encoders:
– To ensure that the NC correctly determines the current actual position when the
measuring system is reactivated, the machine manufacturer / user must ensure that
the machine axis is moved less than half the assigned traversing range when the
measuring system is deactivated (POWER OFF, "parking" selected).
MD34220 $MA_ENC_ABS_TURNS_MODULO

Reference point approach (R1)

3-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Data lists 4
4.1 Machine data

4.1.1 NC-specific machine data

Number Identifier: $MN_ Description

11300 JOG_INC_MODE_LEVELTRIGGRD INC/REF in jog/continuous mode

4.1.2 Channelspecific machine data

Number Identifier: $MC_ Description

20700 REFP_NC_START_LOCK NC start disable without reference point

4.1.3 Axis/spindlespecific machine data

Number Identifier: $MA_ Description

30200 NUM_ENCS Number of encoders
30240 ENC_TYP Actual value encoder type
30242 ENC_IS_INDEPENDENT Encoder is independent
30250 ACT_POS_ABS Absolute encoder position at time of deactivation.
30270 ENC_ABS_BUFFERING Absolute encoder: Traversing range extension
30300 IS_ROT_AX Rotary axis/spindle
30310 ROT_IS_MODULO Modulo conversion for rotary axis / spindle
30330 MODULO_RANGE Magnitude of the modulo range
30340 MODULO_RANGE_START Starting position of modulo range
30355 MISC_FUNCTION_MASK Axis functions
31122 BERO_DELAY_TIME_PLUS BERO delay time in plus direction

Reference point approach (R1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 4-1
Data lists
4.1 Machine data

Number Identifier: $MA_ Description

31123 BERO_DELAY_TIME_MINUS BERO delay time in minus direction
34000 REFP_CAM_IS_ACTIVE Axis with reference cam
34010 REFP_CAM_DIR_IS_MINUS Reference point approach in minus direction
34020 REFP_VELO_SEARCH_CAM Homing approach velocity
34030 REFP_MAX_CAM_DIST Maximum distance to reference cam
34040 REFP_VELO_SEARCH_MARKER Reference point creep velocity
34050 REFP_SEARCH_MARKER_REVERSE Direction reversal to reference cam
34060 REFP_MAX_MARKER_DIST Maximum distance to reference mark;
Max. distance to 2 reference mark for distance-coded
scales
34070 REFP_VELO_POS Reference point positioning velocity
34080 REFP_MOVE_DIST Reference point distance/destination point for
distancecoded system
34090 REFP_MOVE_DIST_CORR Reference point/absolute offset, distancecoded
34092 REFP_CAM_SHIFT Electronic reference cam shift for incremental
measurement systems with equidistant zero marks.
34093 REFP_CAM_MARKER_DIST Reference cam/reference mark distance
34100 REFP_SET_POS Reference point value
34102 REFP_SYNC_ENCS Actual value adjustment to the referencing
measurement system
34104 REFP_PERMITTED_IN_FOLLOWUP Enable referencing in followup mode
34110 REFP_CYCLE_NR Axis sequence for channelspecific Homing
34120 REFP_BERO_LOW_ACTIVE Polarity change of the BERO cam
34200 ENC_REFP_MODE Referencing mode
34210 ENC_REFP_STATE Status of absolute encoder
34220 ENC_ABS_TURNS_MODULO Absolute encoder range for rotary encoders
34230 ENC_SERIAL_NUMBER Encoder serial number
34232 EVERY_ENC_SERIAL_NUMBER Expansion of encoder serial number
34300 ENC_REFP_MARKER_DIST Basic distance of reference marks for distance-coded
encoders
34310 ENC_MARKER_INC Interval between two reference marks with distance-
coded scales
34320 ENC_INVERS Linear measuring system inverse to machine system:
34330 REFP_STOP_AT_ABS_MARKER Distancecoded linear measuring system without
destination point
35150 SPIND_DES_VELO_TOL Spindle speed tolerance
36302 ENC_FREQ_LIMIT_LOW Encoder limit frequency resynchronization
36310 ENC_ZERO_MONITORING Zero mark monitoring

Reference point approach (R1)

4-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Data lists
4.2 Signals

4.2 Signals

4.2.1 Signals to BAG

DB number Byte.Bit Name

11, ... 0.7 Mode group RESET
11, ... 1.2 Machine function REF

4.2.2 Signals from BAG

DB number Byte.Bit Name

11, ... 5.2 Active machine function REF

4.2.3 Signals to channel

DB number Byte.Bit Name

21, ... 1.0 Activate referencing
21, ... 28.7 OEM channel signal (HMI → PLC) REF

4.2.4 Signals from channel

DB number Byte.Bit Name

21, ... 33.0 Referencing active
21, ... 35.7 Reset
21, ... 36.2 All axes referenced

Reference point approach (R1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 4-3
Data lists
4.2 Signals

4.2.5 Signals to axis/spindle

DB number Byte.Bit Name

31, ... 1.4 Followup mode (request)
31, ... 1.5 / 1.6 Position measuring system 1 / position measuring system 2
31, ... 2.4 - 2.7 Reference point value 1 to 4
31, ... 4.6 / 4.7 Traversing keys minus / plus
31, ... 12.7 Decelertion of reference point approach

4.2.6 Signals from axis/spindle

DB number Byte.Bit Name

31, ... 60.4 / 60.5 Referenced, synchronized 1 / Referenced, synchronized 2
31, ... 61.3 Followup mode active
31, ... 64.6 / 64.7 Traverse command minus / plus

Reference point approach (R1)

4-4 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Index
34080, 2-40
34210, 3-1
D 34220, 3-1
MD10050, 2-38
DB11, ...
MD10070, 2-38
DBX0.1, 2-1, 2-3
MD11300, 2-2
DBX0.2, 2-1, 2-3
MD20700, 2-34
DBX0.7, 2-3, 2-5, 2-6
MD30242, 2-41
DBX1.2, 2-1, 2-3
MD30250, 2-29
DB21, ...
MD30330, 2-27
DBX1.0, 2-4
MD30340, 2-27
DBX33.0, 2-4
MD30455, 2-28
DBX36.2, 2-2, 2-4
MD30550, 2-3
DBX7.7, 2-3, 2-5, 2-6
MD31020, 2-38
DB31, ...
MD31122, 2-35
DBB1.5, 2-37
MD31123, 2-35
DBB1.6, 2-37
MD32300, 2-9
DBB2.1, 2-37
MD34000, 2-10, 2-14, 2-27
DBB60.4, 2-32, 2-35, 2-39
MD34010, 2-1, 2-9, 2-12, 2-13, 2-25, 2-32
DBB60.5, 2-32, 2-35, 2-39
MD34020, 2-9, 2-13
DBX1.4, 2-44
MD34030, 2-10
DBX1.5, 2-5, 2-19
MD34040, 2-9, 2-12, 2-13, 2-14, 2-24, 2-25, 2-35
DBX1.6, 2-5, 2-19
MD34050, 2-11, 2-12
DBX12.7, 2-9, 2-10, 2-12, 2-13
MD34060, 2-16, 2-25, 2-27
DBX2.1, 2-5, 2-19, 2-44
MD34070, 2-17, 2-19, 2-26
DBX2.4/ .5/ .6/ .7, 2-18
MD34080, 2-18, 2-19, 2-40
DBX4.6, 2-1
MD34090, 2-18, 2-19, 2-22, 2-23, 2-30, 2-31, 2-32, 2-
DBX4.7, 2-1
33, 2-34
DBX60.4, 2-2, 2-3, 2-4, 2-5, 2-6, 2-18, 2-21, 2-26,
MD34092, 2-14
2-41, 2-44, 2-45
MD34093, 2-15
DBX60.5, 2-2, 2-3, 2-4, 2-5, 2-6, 2-18, 2-21, 2-26,
MD34100, 2-18, 2-26, 2-32, 2-34, 2-35
2-41, 2-44, 2-45
MD34102, 2-40, 2-41
DBX60.7, 2-20
MD34104, 2-43
DBX61.3, 2-43, 2-44
MD34110, 2-3
DBX61.4, 2-44
MD34120, 2-43, 2-46
MD34200, 2-23, 2-31, 2-35, 2-41, 2-43, 2-45
MD34210, 2-20, 2-28, 2-29, 2-30, 2-32, 2-33, 2-36
H MD34230, 2-36
Homing MD34232, 2-37
with incremental measurement system, 2-6 MD34300, 2-25
MD34320, 2-22
MD34330, 2-36
M MD35150, 2-12
MD35300, 2-39
Machine zero, 1-1
MD36300, 2-37, 2-38, 2-39
MD

Reference point approach (R1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 Index-1
Index

Measuring systems, 1-1 T

Traversing movement release, 2-36
R
Referencing methods, 1-1

Reference point approach (R1)

Index-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Brief Description 1

Detailed Description 2

Constraints 3
SINUMERIK
840D sl/840Di sl/840D/840Di/810D
Examples 4
Spindles (S1) 5
Data lists

Function Manual

Valid for

Control
SINUMERIK 840D sl/840DE sl
SINUMERIK 840Di sl/840DiE sl
SINUMERIK 840D powerline/840DE powerline
SINUMERIK 840Di powerline/840DiE powerline
SINUMERIK 810D powerline/810DE powerline

Software Version
NCU System Software for 840D sl/840DE sl 1.3
NCU system software for 840Di sl/DiE sl 1.0
NCU system software for 840D/840DE 7.4
NCU system software for 840Di/840DiE 3.3

03/2006 Edition
6FC5397-0BP10-1BA0
Safety Guidelines
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent
damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are
graded according to the degree of danger.

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

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

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

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

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

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

Prescribed Usage
Note the following:

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

Trademarks
All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this
publication may be trademarks whose use by third parties for their own purposes could violate the rights of the
owner.

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

Siemens AG Order No.: 6FC5397-0BP10-1BA0 Copyright © Siemens AG 2006.

Automation and Drives Edition 05/2006 Technical data subject to change
Postfach 48 48
90437 NÜRNBERG
GERMANY
Table of contents
1 Brief Description ..................................................................................................................................... 1-1
2 Detailed Description................................................................................................................................ 2-1
2.1 Spindle modes ........................................................................................................................... 2-1
2.1.1 General ...................................................................................................................................... 2-1
2.1.2 Spindle control mode ................................................................................................................. 2-3
2.1.3 Spindle oscillation mode ............................................................................................................ 2-7
2.1.4 Spindle positioning mode........................................................................................................... 2-7
2.1.5 Axis mode ................................................................................................................................ 2-22
2.1.6 Default mode setting ................................................................................................................ 2-25
2.2 Homing/synchronizing.............................................................................................................. 2-26
2.3 Configurable gear adaptation................................................................................................... 2-30
2.3.1 Gear steps for spindles and gear step change ........................................................................ 2-30
2.3.2 Intermediate gear..................................................................................................................... 2-41
2.3.3 Nonacknowledged gear step change ...................................................................................... 2-42
2.3.4 Gear step change with oscillation mode .................................................................................. 2-43
2.3.5 Gear step change at fixed position .......................................................................................... 2-49
2.4 Selectable spindles .................................................................................................................. 2-54
2.5 Programming............................................................................................................................ 2-57
2.5.1 Programming from the part program ....................................................................................... 2-57
2.5.2 Programming via synchronized actions ................................................................................... 2-60
2.5.3 Programming spindle controls via the PLC with FC18 ............................................................ 2-61
2.5.4 Special spindle movements via PLC interface......................................................................... 2-61
2.5.5 Gear step change with DryRun, program testing and SERUPRO........................................... 2-68
2.5.6 External programming (PLC, HMI)........................................................................................... 2-71
2.6 Spindle monitoring ................................................................................................................... 2-72
2.6.1 Speed ranges........................................................................................................................... 2-72
2.6.2 Axis/spindle stationary (n < n min)........................................................................................... 2-73
2.6.3 Spindle in setpoint range ......................................................................................................... 2-73
2.6.4 Minimum/maximum Speed of gear step .................................................................................. 2-75
2.6.5 Maximum encoder limit frequency ........................................................................................... 2-76
2.6.6 End point monitoring ................................................................................................................ 2-77
3 Constraints ............................................................................................................................................. 3-1
4 Examples................................................................................................................................................ 4-1
4.1 Example of automatic gear step selection (M40)....................................................................... 4-1
5 Data lists................................................................................................................................................. 5-1
5.1 Machine data.............................................................................................................................. 5-1
5.1.1 NC-specific machine data .......................................................................................................... 5-1
5.1.2 Channelspecific machine data ................................................................................................... 5-1
5.1.3 Axis/spindlespecific machine data ............................................................................................. 5-1
5.2 Setting data ................................................................................................................................ 5-3

Spindles (S1)
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 iii
Table of contents

5.2.1 Channelspecific setting data ...................................................................................................... 5-3

5.2.2 Axis/spindle-specific setting data ............................................................................................... 5-3
5.3 Signals........................................................................................................................................ 5-4
5.3.1 Signals to axis/spindle................................................................................................................ 5-4
5.3.2 Signals from axis/spindle ........................................................................................................... 5-5
Index................................................................................................................................................ Index-1

Spindles (S1)
iv Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Brief Description 1
Spindle functions
The primary function of a spindle is to set a tool or workpiece in rotary motion in order to
facilitate machining.
Depending on the type of machine, the spindle must support the following functions in order
to achieve this:
• Input of a direction of rotation for the spindle (M3, M4)
• Input of a spindle speed (S....)
• Spindle stop without orientation (M5)
• Spindle stop with orientation/spindle positioning
(SPOS, M19, and SPOSA)
• Gear change (M40 to M45)
• Spindleaxis functionality (spindle becomes rotary axis and vice versa)
• Thread cutting (G33, G34, G35)
• Tapping with and without compensating chuck (G331, G332)
• Revolutional feedrate (G95)
• Constant cutting rate (G96, G961, G97, G971)
• Programmable spindle speed limits (G25, G26, LIMS)
• Position encoder assembly on the spindle or on the spindle motor
• Spindle monitoring for min. and max. speed as well as
max. encoder limit frequency and end point monitoring of spindle
• Switching the position control (SPCON, SPCOF, M70) on/off
• Programming of spindle functions:
– From the part program
– Via synchronized actions
– Via PLC with FC18 or via special spindle interfaces for simple spindle activation

Spindles (S1)
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 1-1
Brief Description

Spindles (S1)
1-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Detailed Description 2
2.1 Spindle modes

2.1.1 General

Spindle modes
The spindle can have the following modes:
• Control mode
• Oscillation mode
• Positioning mode
• Synchronous mode synchronous spindle (S3)
• Rigid tapping
References:
/PA/ Programming Guide, Fundamentals
/PAZ/ Programming Guide, Cycles

Axis mode
The spindle can be switched from spindle mode to axis mode (rotary axis) if the same motor
is used for spindle and axis operation:

Switching between spindle modes

Interface signals or programming commands can be used to switch between the spindle
modes and axis operation:

Spindles (S1)
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-1
Detailed Description
2.1 Spindle modes

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Figure 2-1 Switching between spindle modes

• Open-loop control mode → Oscillation mode

The spindle changes to oscillation mode if a new gear step has been specified using
automatic gear step selection (M40) in conjunction with a new S value or by M41 to M45.
The spindle only changes to oscillation mode if the new gear step is not equal to the
current actual gear step.
• Oscillation mode → Open-loop control mode
When the new gear is engaged, IS:
DB31, ... DBX84.6 (Oscillation mode)
is reset and the spindle is switched
to open-loop control mode with IS:
DB31, ... DBX16.3 (Gear changed).
The last programmed spindle speed (S value) is reactivated.
• Open-loop control mode → Positioning mode
To stop the spindle from rotation (M3 or M4) with orientation or to reorient it from standstill
(M5), SPOS, M19 or SPOSA are used to switch to positioning mode.
• Positioning mode → Open-loop control mode
M3, M4 or M5 are used to change to open-loop control mode if the orientation of the
spindle is to be terminated. The last programmed spindle speed (S value) is reactivated.
• Positioning mode → Oscillation mode
If the orientation of the spindle is to be terminated, M41 to M45 can be used to change to
oscillation mode. When the gear change is complete, the last programmed spindle speed
(S value) and M5 (control mode) are reactivated.

Spindles (S1)
2-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.1 Spindle modes

• Positioning mode → Axis mode

If a spindle was stopped with orientation, the assigned axis name is used to program a
change to axis mode. The gear step is retained.
• Open-loop control mode → Axis mode
Switching from open-loop control mode to axis mode can be also achieved by
programming M70. In this case, a rotating spindle is decelerated in the same way as for
M5, position control is activated and the zero parameter set is selected.
• Axis mode → Open-loop control mode
To terminate axis mode, M3, M4 or M5 can be used to change to open-loop control mode.
The last programmed spindle speed (S value) is reactivated.
• Axis mode → Oscillation mode
To terminate axis mode, M41 to M45 can be used to change to oscillation mode (only if
the programmed gear step is not the same as the actual gear step). When the gear
change is complete, the last programmed spindle speed (S value) and M5 (control mode)
are reactivated.

2.1.2 Spindle control mode

When open-loop control mode?

The spindle is in control mode with the following functions:

Constant spindle speed S.... M3/M4/M5 and G93, G94, G95, G97, G971
Constant cutting rate G96/G961 S.... M3/M4/M5
Constant spindle speed S.... M3/M4/M5 and G33, G34, G35
Constant spindle speed S.... M3/M4/M5 and G63

Preconditions
• The spindle need not be synchronized.
• No spindle position actual-value sensor required for M3/M4/M5 in connection with:
– Inverse-time feedrate coding (G93)
– Feedrate in mm/min or inch/min (G94)
– Tapping with compensating chuck (G63)

Spindles (S1)
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-3
Detailed Description
2.1 Spindle modes

• A spindle position actual-value sensor is an essential requirement for M3/M4/M5 in

connection with:
– Revolutional feedrate (G95)
– Constant cutting rate (G96, G961, G97, G971)
– Thread cutting (G33, G34, G35)
– Tapping (G331, G332)
– Activate position control (SPCON, M70)

Position control ON/OFF

The spindle can be operated with or without position control:

SPCON (Position control ON)

SPCOF (Position control OFF)

Speed control mode

Speed control mode is particularly suitable if a constant spindle speed is required, but the
position of the spindle is not important (e.g., constant milling speed for even appearance of
the workpiece surface).
• Speed control mode is activated in the part program with M3, M4, M5 or with SPCOF.
• NC/PLC IS:
DB31, ... DBX84.7 (open-loop control mode)
is set.
• NC/PLC IS:
DB31, ... DBX61.5 (Position controller active)
is reset if position control is not used.
• Acceleration in speed control mode is defined independent of the gear step in machine
data:
MD35200 $MA_GEAR_STEP_SPEEDCTRL_ACCEL
and should, whenever possible, correspond to the physical properties.

DB31, ... DBX61.5 (position controller active)

Position control is particularly suitable if the position of the spindle needs to be tracked over
a longer period or if synchronous spindle setpoint value linkage is to be activated.
• Position control mode is activated in the part program with SPCON (spindle number).
• NC/PLC IS:
DB31, ... DBX61.5 (Position controller active)
is set.
• Acceleration in position control mode is defined independent of the gear step in machine
data:
MD35210 $MA_GEAR_STEP_POSCTRL_ACCEL
.

Spindles (S1)
2-4 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.1 Spindle modes

Independent spindle reset

Machine data:
MD35040 $MA_SPIND_ACTIVE_AFTER_RESET (Independent spindle reset)
defines how the spindle behaves after a reset or program end (M2, M30):
• MD35040 $MA_SPIND_ACTIVE_AFTER_RESET is reset.
When the spindle is reset or at the end of the program, the spindle immediately
decelerates to a stop at the active acceleration rate. The last programmed spindle speed
and direction of rotation are deleted.
• MD35040 $MA_SPIND_ACTIVE_AFTER_RESET is set.
On a reset or at the end of the program, the last programmed spindle speed (S value) and
the last programmed direction of spindle rotation (M3, M4, M5) are retained.
The spindle is not decelerated.
If prior to a reset or end of program the constant cutting speed (G96, G961) is active, the
current spindle speed (in relation to 100% spindle override) is applied internally as the last
programmed spindle speed.
The spindle can only be stopped with NC/PLC IS:
DB31, ... DBX2.2
(Delete distancetogo/Spindle reset).
The direction of rotation is deleted in the event of all alarms generating a spindle quick stop.
The last programmed spindle speed (S value) is retained.
Once the source of the alarm has been eliminated, the spindle must be restarted.

Spindle actual speed display and spindle behavior with G96, G961
DB31, ... DBX61.4 (axis/spindle stationary)
Machine data:
MD36060 $MA_STANDSTILL_VELO_TOL
defines the speed at which the spindle is considered "stationary".
The speed set in the machine data should be dimensioned
so that NC/PLC IS:
DB31, ... DBX61.4 (Axis/Spindle stationary) is sure to be
pending on standstill.
If the NC/PLC interface signal:
DB31,...DBX61.4 (Axis/Spindle stationary)
registers and no position control is active for the spindle then the actual speed is shown as
zero on the operator interface and is read as zero by the system variables $AA_S[n].
References:
/FB1/Descriptions of Functions, Basic Machine; Various Interface Signals and Functions (A2)

Spindles (S1)
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-5
Detailed Description
2.1 Spindle modes

Spindle behavior with G96, G961

Constant cutting rate
• At the start of machining (transition from G0 to Gx) and after NC stop, G60 (exact stop,
modal) and G09 (exact stop, non-modal) the system waits until the actual speed has
reached the speed setpoint tolerance range before starting the path.
NC/PLC IS:
DB31, ... DBX83.5 (nAct = nSet)
is then set.
• NC PLC IS:
DB31, ... DBX83.5 (nAct = nSet)
and
DB31, ... DBX83.1 (Setpoint speed limited)
are also set to defined values even if severe speed changes are specified
(transverse axis travels towards position 0).
• If the speed drops below the minimum speed
or when NC/PLC IS:
DB31, ... DBX61.4 (Axle/Spindle stationary)
is detected, NC/PLC IS:
DB31, ... DBX83.5 (nAct = nSet)
is reset (e.g., for an emergency machine strategy).
• A path operation, which has started (G64, rounding), is not interrupted.
Machine data:
MD35500 $MA_SPIND_ON_SPEED_AT_IPO_START
can also influence spindle behavior significantly.
Spindle behavior at the end of gear step change
End of gear step change
• NC/PLC IS:
DB31, ... DBX16.3 (Gear changed)
tells the NC that the new gear step
(NC/PLC IS DB31, ... DBX16.0-16.2 (Actual gear step A to C))
applies and oscillation mode is terminated.
In this case, it does not matter whether NC/PLC IS:
DB31, ... DBX18.5 (oscillation mode)
is still set.
The actual gear step should correspond to the set gear step.
The actual gear step signaled is relevant for selection of the parameter set.
• Once the gear step change (GSW) has been acknowledged via the PLC (DB31, ...
DBX16.3), the spindle is in speed control mode (DB31, ... DBX84.7 = 1).
If a direction of rotation (M3, M4, M5 or FC18: "Start spindle rotation") or a spindle speed
(S value) was programmed before the gear step change, then the last speed and
direction of rotation will be reactivated after the gear step change.

Spindles (S1)
2-6 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.1 Spindle modes

2.1.3 Spindle oscillation mode

Operating principle
Oscillation mode is activated for the spindle during the gear step change.
A detailed functional description of "spindle mode oscillation mode" can be found under:
Literature:
/FB1/ functions manual Basic Functions; Spindles (S1), Sec.: "Gear stage change with
oscillation mode"

2.1.4 Spindle positioning mode

When is positioning mode used?

The spindle positioning mode stops the spindle at the defined position and activates the
position control, which remains active until it is de-activated.
The spindle is in positioning mode with the following functions (the parameter [n], where
n=spindle number, is not required for the main spindle):
• SPOS[n]=.....
• SPOS [n]=ACP(.....)
• SPOS [n]=ACN( .....)
• SPOS [n]=AC(.....)
• SPOS [n]=IC(.....)
• SPOS [n]=DC(.....)
• SPOSA [n]=ACP(.....)
• SPOSA [n]=ACN(.....)
• SPOSA [n]=AC(.....)
• SPOSA [n]=IC(.....)
• SPOSA [n]=DC(.....) identical to SPOSA [n]= .....
• M19 or M [n]=19

SPOS [n]=AC(.....)
Spindle positioning to an absolute position (0 to 359.999 degrees). The positioning direction
is determined either by the current direction of spindle rotation (spindle rotating) or the
distancetogo.

SPOS [n]=IC(.....)
Spindle positioning to an incremental position (+/- 999999.99 degrees) in relation to the last
programmed position. The positioning direction is defined by the sign of the distance to be
traveled.

Spindles (S1)
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-7
Detailed Description
2.1 Spindle modes

SPOS [n]=DC(.....)
Spindle positioning across the shortest path to an absolute position (0 to 359.999 degrees).
The positioning direction is determined either by the current direction of spindle rotation
(spindle rotating) or automatically by the control (spindle stationary).

SPOS[n]=.....
Identical functional sequence as SPOS [n]=DC(.....).

SPOS [n]=ACP(.....)
Approaches the position from the positive direction.
When positioning from a negative direction of rotation, the speed is decelerated to zero and
accelerated in the opposite direction to execute the positive approach.

SPOS [n]=ACN(....)
Approaches the position from the negative direction.
When positioning from a positive direction of rotation, the speed is decelerated to zero and
accelerated in the opposite direction to execute the negative approach.

MD20850
In order to reach a constancy of M19 and SPOS and/or SPOSA regarding the behavior at VDI-
interface, with SPOS and SPOSA configurable help function M19 is output to the VDI interface
and activated through setting of the following machine data setting:
MD20850 SPOS_TO_VDI = 1
.
After activation, the minimum duration of an SPOS/SPOSA block is increased to the time for
output and acknowledgment of the auxiliary functions by the PLC.

M19 (DIN 66025)

M19 can be used to position the spindle.
The position and the position approach mode are read from the following setting data:
SD43240 M19_SPOS
and
SD43250 M19_SPOSMODE
.
The positioning options with M19 are identical to those of
SPOS = <approach mode> <position/path>
.
M19 is output as an auxiliary function to the VDI interface as an alternative to M3, M4, M5, and
M70. The M19 block remains active in the interpolator for the duration of the positioning
motion (like SPOS).

Spindles (S1)
2-8 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.1 Spindle modes

Part programs using M19 as a macro (e.g., DEFINE M19 AS SPOS = 0) or as a

subroutine, continue to remain executable. For the sake of compatibility with previous
controls, the internal processing of M19 (NCK positions the spindle) can be disabled as
shown in the following example:

MD22000 $MC_AUXFU_ASSIGN_GROUP[0] = 4 ; Auxiliary functions group: 4

MD22010 $MC_AUXFU_ASSIGN_TYPE[0] = "M" ; Auxiliary functions type: "M
MD22020 $MC_AUXFU_ASSIGN_EXTENSION[0] = 0 ; Auxiliary functions
expansion: 0
MD22030 $MC_AUXFU_ASSIGN_VALUE[0] = 19 ; Auxiliary function value: 19

SD43240 and SD43250

The positioning data for M19 are stored in the following axis specific setting data:
SD43240 $SA_M19_SPOS[n] (Position)
and
SD43250 $SA_M19_SPOSMODE[n] (Position approach mode)
.

End of positioning
The end of the positioning motion can be programmed using the following commands:

FINEA [Sn] End of motion on reaching "Exact stop fine" (DB31, ... DBX60.7)
COARSEA [Sn] End of motion on reaching "Exact stop coarse" (DB31, ... DBX60.6)
IPOENDA [Sn] End of motion when “IPO stop” is reached

Block change
Settable block change time
In addition to the existing programmable endofmotion criterion with FINEA, COARSEA,
IPOENDA, for singleaxis interpolation, a new endofmotion criterion can be programmed for
block change with IPOBRKA in the braking ramp (100-0%).
The program advances to the next block if the end-of-motion criteria for all spindles or axes
programmed in the current block, plus the block change criterion for path interpolation, are
fulfilled. This applies to both part-program and technology-cycle blocks.
Further explanations regarding configurable set change time of "configurable positioning
axes" for single axis interpolation can be found under:
Literature:
/FB2/ functions manual Expanding Functions; Positioning axes (P2)

Spindles (S1)
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-9
Detailed Description
2.1 Spindle modes

SPOS, M19 and SPOSA have the same functionality, but differ in their block change behavior:
• Programming with SPOS and M19
The block change is carried out if all functions programmed in the block have reached
their endofblock criterion (e.g., all auxiliary functions acknowledged by the PLC, all axes
have reached their end points) and the spindle has completed its positioning motion.
• Programming with SPOSA
The program moves to the next block if all the functions (except for spindle) programmed
in the current block have reached their end-of-block criterion. If SPOSA is the only entry in
the block, block change is performed immediately. The spindle positioning operation may
be programmed over several blocks (see WAITS).

Coordination
A coordination of the sequence of motions can be achieved with:
• PLC:
If NC/PLC IS:
DB31..., DBX 83.5 (Spindle in setpoint range)
is not active, channel-specific signal:
DB2x, DBX 6.1 (Read-in disable)
can be set in order to wait for a particular spindle position.
• MD configuration:
Setting:
MD35500 $MA_SPIND_ON_SPEED_AT_IPO_START = 1
is used to perform path interpolation taking the tolerance:
MD35150 $MA_SPIND_DES_VELO_TOL
into account only if the spindle has rotated up to the preselected speed.
Setting:
MD35500 $MA_SPIND_ON_SPEED_AT_IPO_START = 2
stops traveling path axes before the start of machining at the lastG0.
Machining continues:
– On the next traversing command
– If the spindle speed is reached
– When MD35510 $MA_SPIND_STOPPED_AT_IPO_START = 1
(path feed enable, if spindle stationary)
• In the part program:
Coordination actions in the part program have the following advantages:
– The part programmer can decide at what point in the program the spindle needs to be
up to speed, e.g., in order to start machining a workpiece.
– This avoids unnecessary delays.

Spindles (S1)
2-10 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.1 Spindle modes

Caution
The part programmer must ensure that one of the following maintenance conditions
occurs for WAITS.
- Position reached
- Spindle stationary
- Spindle up to programmed speed
In cases where one spindle is used in several channels, the part programmer must
ensure that WAITS starts at the earliest in the phase in which the spindle of another
channel has already started to accelerate or decelerate towards the new speed or
direction of rotation.

• WAITS instructions are used for coordination in the part program:

WAITS for main spindle (master spindle)

WAITS[n] for main and other spindles
WAITS[n, m,...,q] for several spindles up to the maximum number of spindles

The control waits before executing subsequent blocks until:

position(s) programmed with are reached.
SPOSA
M5 The spindle is stationary.
NC/PLC IS:
DB31, ... DBX61.4 (Spindle stationary)
taking the tolerance:
MD36060 $MA_STANDSTILL_VELO_TOL into account.
WAITS is terminated and the next block loaded when the first
occurrence of the signal is detected.
M3, M4 (speed control mode) The speed is in the setpoint range.
NC/PLC IS:
DB31, ... DBX83.5 (Spindle in setpoint range)
Tolerance:
MD35150 $MA_SPIND_DES_VELO_TOL
WAITS is terminated and the next block loaded when the first
occurrence of the signal is detected.
This function of WAITS applies in the programmed channel.
WAITS can be used to wait for all spindles known to this channel,
although spindles may also have been started in other channels.

Spindles (S1)
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-11
Detailed Description
2.1 Spindle modes

Special cases
• Tolerance for spindle speed:
If the machine data setting is:
MD35150 $MA_SPIND_DES_VELO_TOL = 0
the NC/PLC IS:
DB31...;DBX83.5 (Spindle in setpoint range)
is always set to 1.
WAITS is terminated as soon as the spindle has reached the setpoint-side target after a
change in speed or direction (M3/M4).
• Missing enable signals:
If WAITS waits for the "Spindle in setpoint range" signal in speed control mode and the
spindle stops or fails to rotate because an enable signal (axial feed enable, controller,
pulse enable, etc.) is missing, the block is not terminated until the "Spindle in setpoint
range" signal is active, once enable signals are being received again.
• Response to NC and mode-group stop:
If an NC or mode-group stop is triggered during WAITS, the wait operation is resumed
after the NC start with all the above conditions.

Note
In particular when using spindles across different channels, care should be taken when
programming not to start WAITS too early in one channel, i.e., at a time when the spindle
in the other channel is still rotating at its "old" speed.
In such cases, the "Spindle in setpoint range" signal is activated and WAITS is *stopped
too soon.
To prevent this happening, it is strongly recommended to set a WAITM before WAITS.

M function output
Auxiliary function M19 is output to the VDI interface by:

M[n]=19 always output to the IS

SPOS [n] Output of M19 to the IS with MD setting:
MD20850 $MC_SPOS_TO_VDI = 1
SPOSA[n] Output of M19 to the IS with MD setting:
MD20850 $MC_SPOS_TO_VDI = 1
If M19 is programmed, auxiliary function M [n]=19 is always output to the interface.
For SPOS and SPOSAM19is output depending on machine data:
MD20850 $MC_SPOS_TO_VDI
to the IS.

Spindles (S1)
2-12 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.1 Spindle modes

Feed
The positioning speed is configured using machine data:
MD35300 $MA_SPIND_POSCTRL_VELO
and can be modified by programming or by synchronized actions:

FA[Sn] where n = spindle number

FA[Sn]=0 the configured speed is active
The speed is specified in [degrees/min].

Acceleration
The dynamic response during positioning can be modified by programming or by
synchronized actions:

ACC[Sn] Programming or synchronized action

ACC[Sn]=0 the configured acceleration is active

n: Spindle number, 0 ... max. spindle number

Positioning from rotation

The spindle can be in speed control mode or in position control mode when positioning starts
(SPOS, M19 or SPOSA command in the program).
The following sequence is obtained:

Case 1: Spindle in speed control mode, encoder limit frequency exceeded

Case 2: Spindle in speed control mode, encoder limit frequency not exceeded
Case 3: Spindle in position control mode
Case 4: Spindle speed ‹ Position-control activation speed

Spindles (S1)
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-13
Detailed Description
2.1 Spindle modes

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Note
The speed from machine data:
MD36302 $MA_ENC_FREQ_LOW
must be greater than the position-control activation speed
(MD35300 $MA_SPIND_POSCTRL_VELO).

Phase 1
Possible positioning from Phase 1a:
The spindle is rotating at a higher speed than the encoder limit frequency. The spindle is not
synchronized.
Possible positioning from Phase 1b:
The spindle is rotating at a lower speed than the encoder limit frequency. The spindle is
synchronized.

Note
If position control is active, the speed can only amount to 90% of the maximum speed of the
spindle or the encoder limit frequency (10% control reserve required).

Spindles (S1)
2-14 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.1 Spindle modes

Possible positioning from Phase 1c:

The spindle rotates at the programmed spindle speed,
whereby the speed is less than that given in the machine data:
MD35300 $MA_SPIND_POSCTRL_VELO (Position control activation speed)
.
The spindle is synchronized.

Phase 2
Spindle speed > Position-control activation speed
With the activation of the command SPOS, M19 or SPOSA the deceleration of the spindle
begins with the acceleration given in the machine data:
MD35200 $MA_GEAR_STEP_SPEEDCTL_ACCEL
up to the position control activation speed.
The spindle is synchronized once the encoder limit frequency is undercrossed.
Spindle speed < Position-control activation speed
With the programming of SPOS, M19 or SPOSA the spindle is switched to the position control
mode (if it is not already in the position control mode).
MD35210 $MA_GEAR_STEP_POSCTRL_ACCEL (Acceleration in the position control
mode)
will be active. The travel path to the end point is calculated.
The traversing of the spindle up to the programmed target point is carried out optimally in
time.
I.e., the target point is driven at the highest possible speed
(maximum MD35300 $MA_SPIND_POSCTRL_VELO).
Depending on corresponding limiting conditions Phases 2 - 3 - 4 - 5,
or 2 - 4a - 5a respectively are executed.

Phase 3
Spindle speed > Position-control activation speed
When the position-control activation speed stored in machine data:
MD35300 $MA_SPIND_POSCTRL_VELO
is reached:
• Position control is activated (if not already active)
• The distancetogo (to end point) is calculated
• Acceleration in machine data:
MD35210 $MA_GEAR_STEP_POSCTRL_ACCEL (Acceleration in position control mode)
is activated (or this level of acceleration is maintained)
Spindle speed < Position-control activation speed
To reach the end point, the spindle is accelerated up to the speed defined in machine data:
MD35300 $MA_SPIND_POSCTRL_VELO (position-control activation speed).

This is not exceeded.

The braking start point calculation identifies when the programmed spindle position can be
approached accurately at the acceleration defined in machine data:
MD35210 $MA_GEAR_STEP_POSCTRL_ACCEL.

Spindles (S1)
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-15
Detailed Description
2.1 Spindle modes

Phase 4
Spindle speed > Position-control activation speed
The spindle brakes from the calculated "braking point" with machine data:
MD35210 $MA_GEAR_STEP_POSCTRL_ACCEL
to the end point.
Spindle speed < Position-control activation speed
At the point, which is determined by the braking start point calculation in Phase 3,
the spindle decelerates to stillstand with the acceleration given in the following machine data:
MD35210 $MA_GEAR_STEP_POSCTRL_ACCEL
.
Phase 4a:
When the SPOS command is activated the proximity of the end point is such
that the spindle can no longer be accelerated up to machine data:
MD35300 $MA_SPIND_POSCTRL_VELO.

The spindle is decelerated to stillstand with the acceleration given in the following machine
data:
MD35210 $MA_GEAR_STEP_POSCTRL_ACCEL
.

Phase 5
Spindle speed > Position-control activation speed
Position control remains active and holds the spindle in the programmed position.

Note
The maximum encoder limit frequency of the spindle position actual-value encoder is
monitored by the control (it may be exceeded); in position control mode, the setpoint speed
is reduced to 90% of the measurement system limit speed.
NC/PLC IS:
DB31, ... DBX83.1 (Programmed speed too high)
is set.
If
"MS limit frequency exceeded"
is still pending following a reduction in the setpoint speed, an alarm is output.

Spindles (S1)
2-16 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.1 Spindle modes

Spindle speed < Position-control activation speed (Phase 5, 5a)

The spindle is stationary and has reached the end point. Position control is active and holds
the spindle in the programmed position.
NC/PLC IS:
DB31, ... DBX60.6 (Position reached with exact stop coarse)
and
DB31, ... DBX60.7 (Position reached with exact stop fine)
are set if the distance between the spindle actual position and the programmed position
(spindle setpoint position) is less than the settings for the exact stop fine and coarse limits.
This is defined in machine data:
MD36010 $MA_STOP_LIMIT_FINE
and
MD36000 $MA_STOP_LIMIT_COARSE.

Note
The positioning procedure is considered complete when the end-of-positioning criterion is
reached and signaled.
The condition is "Exact stop fine". This applies to SPOS, M19 or SPOSA from the part
program, synchronized actions and spindle positioning by the PLC using FC 18.

Positioning from standstill

A distinction is made between two cases with regard to positioning from standstill:
• Case 1: The spindle is not synchronized.
This is the case if the spindle is to be positioned after switching on the control and drive
or after a gear step change (e.g., for a tool change).
MD31040 $MA_ENC_IS_DIRECT = 0
• Case 2: The spindle is synchronized.
This is the case if, after switching on the control and drive, the spindle is to be rotated
through a minimum of one revolution with M3 or M4 and then stopped with M5
(synchronization with the zero mark) before the first positioning action.

Spindles (S1)
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-17
Detailed Description
2.1 Spindle modes

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Figure 2-3 Positioning with stationary spindle

Phase 1
Case 1: Spindle not synchronized
The programming of SPOS, M19 or SPOSA accelerates the spindle with the acceleration from
machine data:
MD35200 $MA_GEAR_STEP_POSCTRL_ACCEL (Acceleration in positioning mode).
The direction of rotation is defined in machine data:
MD35350 $MA_SPIND_POSITIONING_DIR (Direction of rotation when positioning from
standstill).

Spindles (S1)
2-18 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.1 Spindle modes

Exception:
If ACN, ACP, IC is used for positioning, the programmed direction of travel is activated.
The spindle is synchronized with the next zero mark of the spindle-position actual value
sensor and goes into position control mode.
It will be monitored whether the zero mark is found at the distance stored in the machine
data:
MD34060 $MA_REFP_MAX_MARKER_DIST
(except for IC).
If the speed defined in machine data:
MD35300 $MA_SPIND_POSCTRL_VELO (Positioning speed)
is reached before the spindle is synchronized, the spindle will continue to rotate at the
positioning creep speed (the spindle is not accelerated further).
Case 2: Spindle synchronized
SPOS, M19 or SPOSA will switch the spindle to position control mode.
The acceleration from the following machine data is active:
MD35210 $MA_GEAR_STEP_POSCTRL_ACCEL (acceleration in the position control mode)
.
Rotational direction is determined through the programmed movement (ACP, ACN, IC, DC) or
through the queued remaining distance.
The speed given in the machine data:
MD35300 $MA_SPIND_POSCTRL_VELO (position control activation speed)
is not exceeded.
The travel path to the end point is calculated.
The spindle travels to the programmed end point optimally in terms of time.
This means that the end point is approached at the highest possible speed
(maximum MD35300 $MA_SPIND_POSCTRL_VELO).

Depending on the appropriate secondary conditions, the operational sequences in phases 1

- 2 - 3 -4,
or 1 - 3a - 4a are executed.

Phase 2
Case 1: Spindle not synchronized
When the spindle is synchronized, position control is activated.
The spindle rotates at the maximum speed stored in machine data:
MD35300 $MA_SPIND_POSCTRL_VELO
until the braking start point calculation identifies the point at which the programmed spindle
position can be approached accurately with the defined acceleration.
Case 2: Spindle synchronized

Spindles (S1)
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-19
Detailed Description
2.1 Spindle modes

To reach the end point, the spindle is accelerated up to the speed defined in machine data:
MD35300 $MA_SPIND_POSCTRL_VELO.

This is not exceeded.

The braking start point calculation identifies when the programmed spindle position can be
approached accurately at the acceleration defined in machine data:
MD35210 $MA_GEAR_STEP_POSCTRL_ACCEL.

At the time identified by the braking start point calculation in phase 1, the spindle brakes to
standstill with the acceleration from machine data:
MD35210 $MA_GEAR_STEP_POSCTRL_ACCEL
.

Phase 3
At the point, which is determined by the braking start point in Phase 2, the spindle
decelerates to stillstand with the acceleration from the following machine data:
MD35210 $MA_GEAR_STEP_POSCTRL_ACCEL
.
Phase 3a:
When the SPOS command is activated the proximity of the end point is such that the spindle
can no longer be accelerated up to machine data:
MD35300 $MA_SPIND_POSCTRL_VELO.

The spindle is decelerated to standstill with the acceleration from the following machine data:
MD35210 $MA_GEAR_STEP_POSCTRL_ACCEL
.

Phase 4, 4a
The spindle is stationary and has reached the end point. Position control is active and holds
the spindle in the programmed position.
NC/PLC IS:
DB31, ... DBX60.6 (Position reached with exact stop coarse)
and
DB31, ... DBX60.7 (Position reached with exact stop fine)
are set if the distance between the spindle actual position and the programmed position
(spindle setpoint position) is less than the settings for the exact stop fine and coarse limits.
This is defined in machine data:
MD36010 $MA_STOP_LIMIT_FINE
and
MD36000 $MA_STOP_LIMIT_COARSE.
Phase 3:
At the point, which is determined by the braking start point in Phase 2,
the spindle decelerates to standstill with the acceleration from the following machine data:
MD35210 $MA_GEAR_STEP_ POSCTRL_ACCEL

Spindles (S1)
2-20 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.1 Spindle modes

Phase 4:
The spindle is stationary and has reached the end point. Position control is active and holds
the spindle in the programmed position.
NC/PLC IS:
DB31, ... DBX60.6 (Position reached with exact stop coarse)
and
DB31, ... DBX60.7 (Position reached with exact stop fine)
are set if the distance between the spindle actual position and the programmed position
(spindle setpoint position) is less than the settings for the exact stop fine and coarse limits.
This is defined in machine data:
MD36010 $MA_STOP_LIMIT_FINE
and
MD36000 $MA_STOP_LIMIT_COARSE.

Aborting the positioning process

The positioning action can only be aborted with NC/PLC IS:
DB31, ... DBX2.2 (Delete distancetogo/Spindle reset).

The positioning action is aborted with each reset (Operator panel front reset / NC/PLC IS
DB31, ... DBX2.2 (Delete distancetogo/Spindle reset)),
independent of machine data:
MD35040 $MA_SPIND_ACTIVE_AFTER_RESET (individual spindle reset).

Special points to be noted

• The accelerations are defined in the following machine data:
– MD35210 $MA_GEAR_STEP_POSCTRL_ACCEL
(acceleration in position control mode)
– MD35200 $MA_GEAR_STEP_SPEEDCTRL_ACCEL
(Acceleration in the speed control mode)
• The spindle override switch is active.
• The positioning action (SPOS, M19 and SPOSA) is canceled with each reset.
• The positioning action is canceled with NC STOP.
• The positioning velocity can also be programmed with FA[Sn].

Spindles (S1)
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-21
Detailed Description
2.1 Spindle modes

2.1.5 Axis mode

Why axis mode?

For certain machining tasks (e.g., on turning machines with end-face machining), the spindle
not only has to be rotated with M3, M4 and M5 and positioned with SPOS, M19 and SPOSA, but
also addressed as an axis with its own identifier (e.g., C).

Prerequisites
• The same spindle motor is used for spindle mode and axis mode.
• The same position measurement system or separate position measurement systems can
be used for spindle mode and axis mode.
• A position actual-value encoder is a mandatory requirement for axis mode.
• If the axis is not synchronized, e.g., M70 is programmed after POWER ON, the axis must
first be homed with G74. Only then does the mechanical position match the programmed
one.
Example:

M70
G74 C1=0 Z100
G0 C180 X50

Configurable M function
The M function, which switches the spindle to axis mode, can be configured in machine data:
MD20094 $MC_SPIND_RIGID_TAPPING_M_NR.

The value on delivery is 70.

Functionality
If the axis mode is active and the rotary axis homed, all axis functions can be used.
References:
/FB2/Function Manual, Extended Functions; Rotary Axes (R2)
The most important functions are:
• Programming with axis name
• Use of zero offsets (G54, G55, TRANS, etc.)
• G90, G91, IC, AC, DC, ACP, ACN
• Use of kinematic transformations (e.g., transmit)
• Interpolation with other axes (path interpolation)
• Programming as a positioning axis

Spindles (S1)
2-22 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.1 Spindle modes

Special points to be noted

• The feed override switch is active.
• NC/PLC IS:
DB21, ... DBX7.7 (Reset)
does not terminate axis mode as standard.
• NC/PLC IS:
DBB16 to DBB19 and DBB82 to DBB91 in DB31, ...
are of no significance if NC/PLC IS:
DB31, ... DBX60.0 (Axis/No spindle)
is set to zero.
• Axis mode can be activated in all gear steps.
If the position actual-value encoder is installed on the motor (indirect measurement
system), the positioning and contouring accuracy may vary for the different gear steps.
• The gear step cannot be changed when the axis mode is active.
The spindle must be switched to control mode.
This is done with M41 ... M45 and M5, SPCOF.
• In axis mode, the machine data of the parameter set with index zero are effective in order
to carry out adaptation in this mode.

Transition to axis mode

Transition to axis mode by programming:
• The spindle with its own identifier or by M70 and by means of the M function:
MD20094 $MC_SPIND_RIGID_TAPPING_M_NR
• The relevant machine data when changing the servo parameter set are:

MD31050 $MA_DRIVE_AX_RATIO_DENOM (Measuring gear denominator)

MD31060 $MA_DRIVE_AX_RATIO_NUMERA (Numerator load gear unit)
MD32200 $MA_POSCTRL_GAIN (Servo gain factor (Kv))
MD32452 $MA_BACKLASH_FACTOR (Weighting factor for backlash)
MD32610 $MA_VELO_FFW_WEIGHT (Weighting factor for feedforward control)
MD32800 $MA_EQUIV_CURRCTRL_TIME (Equivalent time constant current control circuit
for feedforward control)
MD32810 $MA_EQUIV_SPEEDCTRL_TIME (Equivalent time constant speed control loop for
feedforward control)
MD32910 $MA_DYN_MATCH_TIME (Time constant for dynamic matching)
MD36012 $MA_STOP_LIMIT_FACTOR (Factor for exact stop coarse/fine and zero speed
control)
MD36200 $MA_AX_VELO_LIMIT (Threshold value for velocity monitoring)

• The dynamic limits of the axis stored in the machine data are applicable in axis operation.
• The axis switches to the current feedforward control mode as designated by the MD and
the commands FFWON and FFWOF.

Spindles (S1)
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-23
Detailed Description
2.1 Spindle modes

Other notes on the servo parameter set:

References:
/FB1/Function Manual, Basic Functions; Velocities, Setpoint/Actual-Value System,
Closed-Loop Control (G2)
• When using resolution changes in (analog) drive actuators, the following NC program
steps are required:

Table 2-1 Change over to axis mode:

SPOS=...
M5 Closed-loop controller enable off (by PLC)
→ Output to PLC
M70 Switch actuator (by PLC on account of M70)
Closed-loop controller enable on (by PLC)
C=... NC travels with axis parameter set

Table 2-2 Switch back to spindle mode

C=...
M71 → Output to PLC
Closed-loop controller enable off (by PLC)
Switch actuator (by PLC)
Switched to spindle parameter set (1-5) internally in the NC,
controller enable on (by PLC)
M3/4/5 NC travels with spindle parameter set
or
SPOS=...

Change to spindle mode

The interpolation parameter (set 1 ... 5) is selected according to the currently valid gear step.
The feedforward control function is always activated, except for tapping with compensating
chuck.
Machine data:
MD32620 $MA_FFW_MODE (feedforward control type)
must always be not equal to 0.
Feedforward control should always be operated with the value 100% to avoid alarms being
output during positioning.

Spindles (S1)
2-24 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.1 Spindle modes

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Figure 2-4 Validity of parameter sets for axis and spindle modes

2.1.6 Default mode setting

Machine data
The default setting of the spindle mode allows configuration of the basic spindle setting
following Power On, NC-START and RESET using machine data:
MD35020 $MA_SPIND_DEFAULT_MODE
and
MD35030 $MA_SPIND_DEFAULT_ACT_MASK
.

Spindles (S1)
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-25
Detailed Description
2.2 Homing/synchronizing

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Figure 2-5 Programmable defaults for spindle operating mode

2.2 Homing/synchronizing

Why synchronize?
In order to ensure that the control detects the exact position when it is switched on, the
control must be synchronized with the position measurement system of the spindle. This
process is known as synchronization.
Only a synchronized spindle is capable of:
• Thread cutting
• Rigid tapping
• Being programmed as an axis
Further explanations regarding synchronization of the spindle can be found under:
Literature:
/FB1/ functions manual Basic Functions; Reference Point Travel (R1)

Why reference?
In order to ensure that the control detects the exact machine zero when it is switched on, the
control must be synchronized with the position measurement system of the rotary axis. This
process is known as homing. The sequence of operations required to home an axis is known
as homing.

Spindles (S1)
2-26 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.2 Homing/synchronizing

Only a homed axis can approach a programmed position accurately on the machine.
Further explanations regarding referencing of round axis can be found under:
Literature:
/FB1/ functions manual Basic Functions; Reference Point Travel (R1)

Installation position of the position measurement system

The position measurement systems can be installed as follows:
• Direct on the motor in combination with a Bero proximity switch on the spindle as a zero-
mark encoder
• On the motor via a measuring gearbox in combination with a Bero proximity switch on the
spindle as a zero-mark encoder
• Directly on the spindle
• On the spindle via a measuring gearbox in combination with a Bero proximity switch on
the spindle as a zero-mark encoder (only with ratios not equal to 1:1)
Where two position measurement systems are provided, they can be installed either in the
same location or separately.

Synchronization procedure
When the spindle is switched on, the spindle can be synchronized as follows:
• The spindle is started with a spindle speed (S value) and a spindle rotation (M3 or M4) and
synchronized with the next zero mark of the position measurement system or with the
next Bero signal.
• The spindle is to be positioned from standstill using SPOS, M19 or SPOSA. The spindle
synchronizes with the next zero mark of the position measurement system or with the
next Bero signal. It is then positioned to the programmed position.
• The spindle can be synchronized from the movement (after M3 or M4) using SPOS, M19 or
SPOSA.
The responses are as follows:
– With SPOS = Pos, SPOS = DC(Pos) and SPOS = AC(Pos), the direction of motion
is retained and the position is approached.
– With SPOS = ACN(Pos) or SPOS = ACP(Pos), the position is always approached
with negative or positive direction of motion. If necessary, the direction of motion is
inverted prior to positioning.
• If does not make any difference whether the procedure is initiated from the part program,
FC 18 or synchronized actions.
• Crossing the zero mark in JOG mode by means of direction keys in speed control mode.

Spindles (S1)
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-27
Detailed Description
2.2 Homing/synchronizing

Note
During synchronization of the spindle, all four possible reference point values and
reference point offsets are effective as appropriate to the measurement system selected.
The measurement system offset has the same effect.
The following machine data must be observed:
MD34080 $MA_REFP_MOVE_DIST
(Reference point distance/end point for distancecoded system)
MD34090 $MA_REFP_MOVE_DIST_CORR
(Reference point offset/absolute offset, distancecoded)
MD34100 $MA_REFP_SET_POS
(reference point value, of no relevance in the case of distance-coded system).
If a non-homed spindle with SPOS=IC(...) and a path < 360 degrees is positioned, it
may be the case that the zero mark is not crossed and the spindle position is still not
synchronized with the zero mark.
This can happen:
- After POWER ON
- By setting the axial NC/PLC interface signals:
DB31, ... DBX17.5 (Resynchronize spindle during positioning 2)
and
DB31, ... DBX17.4 (Resynchronize spindle during positioning 1)

Special features for synchronization with BERO

The position falsification caused by the signal delay with BERO can be corrected internally in
the NC by entering a signal runtime compensation.
In machine data:
MD31122 $MA_BERO_DELAY_TIME_PLUS
or
MD31123 $MA_BERO_DELAY_TIME_MINUS
a signal runtime compensation (dead time) for positive or negative movement direction is
entered in connection with the following machine data setting:
MD34200 $MA_ENC_REFP_MODE = 2 or 7
.
• Setting:
MD34200 $MA_ENC_REFP_MODE = 7
executes position synchronization only at a fixed velocity/speed defined in machine data:
MD34040 $MA_REFP_VELO_SEARCH_MARKER
.
The velocity defined in machine data:
MD34040 $MA_REFP_VELO_SEARCH_MARKER
is also effective when homing in operating mode JOG-REF and through the part program
with G74.
• Setting:
MD34200 $MA_ENC_REFP_MODE = 2
executes position synchronization without specifying a specific velocity/speed.

Spindles (S1)
2-28 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.2 Homing/synchronizing

Note
The overriding of the signal propagation delay by the NC requires the use of type
611D drives.
Signal propagation delays are preset on delivery so that the content generally does not
have to be changed.

Homing sequence
If the spindle is to be programmed in axis mode directly after control power up, it must be
ensured that the axis is homed.
When the control is switched on, the spindle can be homed (condition is one zero mark per
revolution).
For information on operation of referencing see:
Literature:
/FB1/ functions manual Basic Functions; Reference Point Approach (R1)
The rotary axis is homed at the same time as the spindle is synchronized (see
Synchronization procedure) if the position measurement system used for the spindle is also
used for the rotary axis.

Position measurement systems, spindle

The spindle can be switched from spindle mode to axis mode (rotary axis) if a single motor is
used for spindle mode and axis mode.
The spindle (spindle mode and axis mode) can be equipped with one or two position
measurement systems. With two position measurement systems, it is possible to assign one
position measurement system to the spindle and the other to the rotary axis, or to assign two
position measurement systems to the spindle. Where two position measurement systems
are provided, both are updated by the control, but only one can be active.
NC/PLC IS:
DB31, ... DBX1.5 (Position measurement system 1)
and
DB31, ... DBX1.6 (Position measurement system 2)
are used to select the active position measurement system.
The active position measurement system is required for the following functions:
• Position control of the spindle (SPCON)
• Spindle positioning (SPOS, M19 and SPOSA)
• Thread cutting (G33, G34, G35)
• Tapping without compensating chuck (G331, G332)

Spindles (S1)
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-29
Detailed Description
2.3 Configurable gear adaptation

• Revolutional feedrate (G95)

• Constant cutting rate (G96, G961, G97, G971)
• Spindle actual speed display
• Axis mode
• Synchronous spindle setpoint value linkage.

NC/PLC IS DB31, ... DBX16.4 (Resynchronize spindle)

In the following cases, the spindle position measurement system must be resynchronized:
• The position encoder is on the motor, a Bero proximity switch is mounted on the spindle
and a gear step change is performed. Synchronization is triggered internally once the
spindle is rotating in the new gear step (see Synchronization procedure).
• The machine has a selector switch for a vertical and horizontal spindle. Two different
position encoders are used (one for the vertical spindle and one for the horizontal
spindle), but only one actual-value input is used on the control. When the system
switches from the vertical to the horizontal spindle, the spindle must be resynchronized.
This synchronization action is triggered with NC/PLC IS:
DB31, ... DBX16.4 (Resynchronize spindle 1)
or
DB31, ... DBX16.5 (Resynchronize spindle 2).

The spindle must be in open-loop control mode.

2.3 Configurable gear adaptation

2.3.1 Gear steps for spindles and gear step change

Why do we need gear steps?

Gear steps are used on spindles to step down the speed of revolution of the motor in order
to generate a high torque at low spindle speeds or to step up in order to maintain a high
speed.

No. of gear steps

5 gear steps can be configured for each spindle.
If the spindle motor is mounted to the spindle directly (1:1) or with a non-adjustable gear
ratio,
machine data:
MD35010 $MA_GEAR_STEP_CHANGE_ENABLE
must be set to zero.
In this case, the 1st gear step is active. This is the default setting.

Spindles (S1)
2-30 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.3 Configurable gear adaptation

Selection of gear change type

Configuring machine data:
MD35010 $MA_GEAR_STEP_CHANGE_ENABLE (Gear step change is possible)
determines the gear step change type as follows:

0: Spindle motor installed directly (1:1) or with a nonvariable transmission ratio.

1: Spindle motor with up to 5 gear steps.
The gear step change is executed in oscillation mode.
2: Spindle motor with up to 5 gear steps.
The gear step change is executed at the configured fixed position.
3: Gear step change protocol between NCK and PLC is simulated.
5: The second gear step data set is applied with G331/G332, e.g. for rigid tapping.
Requirement for a gear step change:
Activated by the NC by setting machine data:
MD35010 $MA_GEAR_STEP_CHANGE_ENABLEnot equal to 0
and by the part program at M40 with S... or M41...M45.
In principle, the gear step change is only performed, however, if the requested gear step is
not the same as the active gear step.
The following section explains who can request a gear step change and how it is triggered,
initiated and completed.

Ways of specifying a gear step change

A gear step change can be requested:
• In the part program
Automatically by means of the programmed spindle speed for M40 without S or by means
of programming with M41 to M45.
• By the PLC using function module FC 18
• By synchronized actions with M40 and S or M41 to M45.
• In the reset state by writing to the VDI interface.
In particular after a power on, the NC can be informed of the latest gear step.
• In the reset state in the event of NC stop
In the case of a manual gear step change directly at the installation location.

Selection between two gear steps

Gear step selection between two gear steps with specification of a maximum spindle speed
is shown in the example below:

Spindles (S1)
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-31
Detailed Description
2.3 Configurable gear adaptation

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Figure 2-6 Gear step change with selection between two gear steps

Parameters on gear step change

At gear step change, interpolation parameter and, in the standard case, servo parameter
sets of the position controller will be applied depending on the following machine data:
MD35590 $MA_PARAMSET_CHANGE_ENABLE

Servo parameter sets of position controller 1 to 6:

The servo parameter sets are used for fast matching of the position controller to changed
properties of the machine during operation on gear change of the spindle.
If the spindle is operating in axis mode, the new gear step is stored internally and parameter
set index "0" remains active in the servo. The new gear step is activated the next time the
spindle is programmed.

Spindles (S1)
2-32 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.3 Configurable gear adaptation

For further instructions on control and on servo parameter sets see:

Literature:
/FB1/ functions manual Basic Functions; Speeds, Setpoint-/Actual Value System, Control
(G2)
/PGA/ Programming manual Work Preparation/ Programmable Servo Parameter Set
The interpolation parameters specify gear steps 1 to 5
at the VDI interface for:
DB31, ... DBX82.0-82.2 (Set gear step A to C).

The appropriate
servo parameter set is activated depending on:
DB31, ... DBX16.0-16.2 (Actual gear step A to C).
One set of parameters, with the following assignment, is provided by the NC for each of the
5 gear steps:

Data set VDI interface Parameter set, index n Data/content

Spindle data of the data set
Data for axis mode * 0 Monitoring functions
Data for 1st gear step 001 1 M40 speed
Min./max. speed
Acceleration rates
KV factor
Transmission ratio
Data for 2nd gear step 010 2
Data for 3rd gear step 011 3
Data for 4th gear step 100 4
Data for 5th gear step 110 5
111

* = the last active gear step

The parameter sets of gear steps 1 to 5 can be configured with the following machine data:

First Gear Step Data Set Min./max. speed

MD35110 $MA_GEAR_STEP_MAX_VELO[n] Max. gear step change
MD35120 $MA_GEAR_STEP_MIN_VELO[n] Min. gear step change
MD35130 $MA_GEAR_STEP_MAX_VELO_LIMIT[n] Max. gear step
MD35140 $MA_GEAR_STEP_MIN_VELO_LIMIT[n] min of gear step
Acceleration in:
MD35200 $MA_GEAR_STEP_SPEEDCTRL_ACCEL[n] Speed control mode:
MD35210 $MA_GEAR_STEP_POSCTRL_ACCEL[n] Position controller mode
MD35012 $MA_GEAR_STEP_CHANGE_POSITION[n] Gear step change position

Spindles (S1)
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-33
Detailed Description
2.3 Configurable gear adaptation

Second Gear Step Data Record

The automatic gear step change M40 will be extended by a second configurable gear step
data set. The number of gear steps 1 to 5 used by this second data set is determined with
the machine data:
MD35092 $MA_NUM_GEAR_STEPS2
The second data set of gear step set is deactivated if zero is entered in this machine data, as
in the standard case. With an active M40 the selection of the gear step is then carried out
through the first data set, as before.

Note
The number of gear steps in the second data set can vary from the first. If no appropriate
gear step is found for a programmed speed for M40, then - as before - no gear step change
is carried out. For further information on a typical program execution for rigid tapping
G331/G332 see:
Literature:
/PG/ Programming Manual Basic/ Distance Commands Programming

Gear steps 1 to 5 are configurable for an automatic gear step change with the following:

Second Gear Step Data Set Speed min/max:

MD35112 $MA_GEAR_STEP_MAX_VELO2[n] max of GSW
MD35122 $MA_GEAR_STEP_MIN_VELO2[n] min of GSW
Acceleration in:
MD35212 $MA_GEAR_STEP_POSCTRL_ACCEL2[n] Position Control Mode

Note
The number of servo parameter sets for the mechanical factors remain unchanged.
Furthermore, five mechanical gear steps for the spindle and one for the axis operation can
be configured.

As the speed limits of each gear step are dependent on the mechanical factors, the following
machine data can be configured only for one gear step data set for each gear step:
MD35130 $MA_GEAR_STEPMAX_VELO_LIMIT[n] ; Limit of maximum speed
MD35130 $MA_GEAR_STEPMAX_VELO_LIMIT[n] ; Increase to the minimum speed for M3,
M4

Changing parameter sets and formatting

The gear step change also switches over the servo parameter set,
if machine data:
MD35590 $MA_PARAMSET_CHANGE_ENABLE = 0 or 1
.

Spindles (S1)
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 Detailed Description
2.3 Configurable gear adaptation

0: The parameter sets cannot be controlled.

1: The servo parameter set is defined primarily by the internal NC switchover at the VDI
interface.

If the parameter sets cannot be controlled:

• For axes, the 1st parameter set with the index 0 is always the one that is applicable.
• For spindles, the 2nd to the 6th parameter set plus one is always active depending on the
gear step selected.
By pre-setting of servo parameter set through VDI interface, the parameter sets 1 to 6 can
be activated with the index 0 to 5.
The following applies:
• For the axes involved, the parameter set number that corresponds to the master spindle
gear step incremented by one is active. This then corresponds to parameter set numbers
2 to 6.
• For spindles, the 2nd to the 6th parameter set plus one is always active depending on the
gear step selected.
If:
MD35590 $MA_PARAMSET_CHANGE_ENABLE = 2,
the servo parameter set is specified by the PLC.
A gear step can be specified by the PLC at any time.

Sequence for switchover

If the new gear step is preselected, the following sequence is implemented:
NC/PLC interface signals:
DB31, ... DBX82.0-82.2 (Set gear step A to C)
and
DB31, ... DBX82.3 (Change gear)
are set.
In accordance with the point at which NC/PLC IS:
DB31, ... DBX18.5 (Oscillation speed)
is set, the spindle decelerates to a standstill at the acceleration for oscillation or at the
acceleration for speed control/position control.
Oscillation can be activated at the latest when the spindle reaches a standstill
(NC/PLC IS: DB31, ... DBX61.4 (Axis/Spindle stationary)
with NC/PLC IS:
DB31, ... DBX18.5
(Oscillation speed).
In principle, the new gear step can also be engaged without oscillation
When the new gear step is engaged,
the NC/PLC interface signals DB31, ... DBX16.0-16.2 (actual gear step A to C)
and
DB31, ... DBX16.3 (Gear changed)
are set
by the PLC program.

Spindles (S1)
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-35
Detailed Description
2.3 Configurable gear adaptation

End of gear step change

The gear step change is considered completed ("oscillation" spindle mode is deselected)
and the spindle is switched to the servo and interpolation parameter set of the new actual
gear step.
NC/PLC IS:
DB31, ... DBX82.3 (Change gear)
is reset by the NCK,
which causes the PLC program to reset NC/PLC IS:
DB31, ... DBX16.3 (Gear changed).

NC/PLC IS:
DB31, ... DBX16.3 (Gear changed)
tells the NC that the new gear step applies with NC/PLC IS:
DB31, ... DBX16.0-16.2 (Actual gear step A to C)
and oscillation mode is terminated.
In this case, it does not matter whether NC/PLC IS:
DB31, ... DBX18.5 (oscillation mode)
is still set.
The actual gear step, which should correspond to the set gear step, is relevant
for selecting the parameter set.
If this is not the case, machine data setting:
MD11410 $MN_SUPPRESS_ALARM_MASK, Bit 3 = 0
triggers alarm 22010.
Following acknowledgment of gear step change via the PLC
with NC/PLC IS:
DB31, ... DBX16.3 (Gear changed)
the spindle is in speed control mode (DB31, ... DBX84.7).
For further instructions on signal exchange between PLC and NC, see:
Literature:
/FB1/ Functions Manual Basic Functions; Diverse interface signals (A2)

Specify gear step in the part program

In the case of M40, the spindle must be in open-loop control mode for automatic gear step
selection with an S value. The gear step change is otherwise rejected and alarm 22000
"Gear change not possible" is output.
Automatic selection with active M40
The gear step is automatically selected by the control. The control checks which gear step is
possible for the programmed spindle speed (S value).
If the suggested gear step is not the same as the current (actual) gear step,
NC/PLC IS:
DB31, ... DBX82.3 (Change gear)
and
DB31, ... DBX82.0-82.2 (Set gear step A to C)
are set.
While the appropriate gear step is being determined, a gear step change is only requested if
the new speed is not within the permissible speed range of the active gear step.

Spindles (S1)
2-36 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.3 Configurable gear adaptation

If necessary, the speed is limited to the max. speed of the current gear step or increased to
the minimum speed of the current gear step, and NC/PLC IS:
DB31, ... DBX83.1 (Setpoint speed limited)
is set.

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Figure 2-7 Example for two "gear steps with overlapping speed ranges" for automatic gear step
change (M40)

Permanently defining the gear step with M41 to M45

The gear step can be permanently defined in the part program with M41 to M45.
If a gear step is specified by M41 to M45, which is not the same as the current (actual) gear
step,
NC/PLC IS:
DB31, ... DBX82.3 (Change gear)
and
DB31, ... DBX82.0-82.2 (Set gear step A to C)
are set.

The programmed spindle speed (S value) then refers to this permanently defined gear step.

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Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-37
Detailed Description
2.3 Configurable gear adaptation

If a spindle speed is programmed, which exceeds the max. speed of the defined gear step,
the spindle speed is limited to the max. speed of the gear step:
MD35130 $MA_GEAR_STEP_MAX_VELO_LIMIT
and NC/PLC IS:
DB31, ... DBX83.1 (Setpoint speed limited)
is set.

Block change
When programming the gear step change in the part program, the gear step change set
remains active until the gear step change is aborted by PLC. (Same effect, as if NC/PLC IS:
DB21, ... DBX6.1 (Read-in enable)
is set.)

Specification of gear step via PLC with FC18

The gear step change can also be performed by function block FC18 during a part program,
in the reset state or in all operating modes.
If the speed and direction of rotation is specified with FC18, the NC can be requested to
select the gear step as appropriate for the speed. This corresponds to an automatic gear
step change with M40.
The gear step is not changed if the spindle is positioned by FC18 or if traversing in axis
mode.
Further instructions on function block FC18 can be found under:
Literature:
/FB1/ Function Manual Basic Functions; PLC Basic Program (P3)

Specification of gear step with synchronized actions

The gear step change can be requested by synchronized actions:
• In the event of automatic gear step change forM40 with S
Or
• When specifying gear steps 1 to 5 with M41 to M45.
The gear step is not changed if the spindle is positioned by synchronized actions or if
traversing in axis mode.

Manual specification of a gear step

Outside a part program that is running, the gear step can also be changed without a request
from the NC or the machine. This is the case, for example, when a gear step is changed
directly by hand.
To select the appropriate parameter sets, the NC must be informed of the current gear step.
For this to work, the control or the part program must be in the reset state.
Constraints
Transfer of the gear step to the NC is initiated when
NC/PLC IS:
DB31, ... DBX16.0-16.2 (Actual gear step A to C) changes.

Spindles (S1)
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 Detailed Description
2.3 Configurable gear adaptation

These three bits must be set continuously during operation.

Successful transfer is acknowledged with NC/PLC IS:
DB31, ... DBX82.0-82.2 (Set gear step A to C)
to the PLC.
NC/PLC IS:
DB31, ... DBX16.3 (Gear changed)
must not be set.
If position control is active when a new gear step is specified by the PLC
with NC/PLC IS:
DB31, ... DBX16.0-16.2) (Actual gear step A to C),
it is disabled throughout the gear change action.

NC stop during gear step change

The spindle cannot be stopped with NC/PLC IS:
DB21, ... DBX7.4 (NC stop)
if:
• The spindle is not yet in oscillation mode for the gear step change
• NC/PLC IS:
DB31, ... DBX16.3 (Gear changed)
is not set.

Note
Options for aborting:
NC/PLC IS:
DB31, ... DBX2.2 (Delete distance-to-go/Spindle reset)
or
DB31, ... DBX16.3 (Gear changed)
with corresponding acknowledgment from actual gear step
(DB31, ... DBX16.0-16.2 (Actual gear step)).

Spindle response after a gear step change

How the spindle behaves once the gear step has been changed depends on the following
initial conditions:
• If the spindle was in the stop state before the gear step change (M5, FC18: "Stop rotate
spindle"), in positioning or axis mode, M5 (spindle stop) is active after completion of the
gear step change.
• If a direction of rotation
(M3, M4, or FC18: "Start spindle rotation"), then the last speed and direction of rotation will
become active again after the gear step change. In the new gear step, the spindle
accelerates to the last spindle speed programmed (S value).
The next block in the part program can be executed.

Spindles (S1)
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-39
Detailed Description
2.3 Configurable gear adaptation

Special points to be noted

The following points must be observed on gear step change:
• The gear step change is not terminated by selecting
NC/PLC IS:
DB31, ... DBX20.1 (Ramp-up switchover to V/f mode).

Setpoint 0 is output.
The acknowledgment of the gear step change is carried out as usual
by the NC/PLC IS:
DB31, ... DBX16.3 (Gear changed).
• The "Rampfunction generator rapid stop" signal must be reset by the PLC before the gear
step change is completed by the PLC.
• The gear step change procedure is terminated without an alarm output on an NC reset.
The gear step output with NC/PLC IS:
DB31, ... DBX16.0-16.2 (Actual gear step A to C)
is applied by the NC.

Star/delta switchover with FC17

Digital main spindle drives can be switched in both directions between star and delta using
FC17, even when the spindle is running. This automatic switchover is controlled by a defined
logic circuit in FC17, which provides the user with a configurable switchover time for the
relevant spindle.
Further instructions on function block FC17 can be found under:
Literature:
/FB1/ Function Manual Basic Functions; PLC Basic Program (P3)

Parameter set of the load gearbox ratio

It is possible to configure positive or negative load gearbox factors for each gear step and in
axis mode.
The setting is defined in machine data:
MD31060 $MA_DRIVE_AX_RATIO_NUMERA.
The setting range is the same size for positive and negative load gearbox factors.
It is not possible to enter the value 0.

Note
The reference will be lost if an indirect encoder is configured and the load gearbox ratio
changes.
NC/PLC IS:
DB31, ... DBX60.4/60.5 (Homed/Synchronized 1 or 2)
is reset for the relevant measuring system.

Spindles (S1)
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 Detailed Description
2.3 Configurable gear adaptation

2.3.2 Intermediate gear

Application and functions

A configured intermediate gear can be used to adapt a variety of rotating tools. The
intermediate gear on the tool side has a multiplicative effect on the motor/load gearbox.
It is set via machine data:
MD31066 $MA_DRIVE_AX_RATIO2_NUMERA (Intermediate gear numerator)
MD31064 $MA_DRIVE_AX_RATIO2_DENOM (Intermediate gear denominator)
An encoder on the tool for the intermediate gear
is configured with machine data:
MD31044 $MA_ENC_IS_DIRECT2 (Encoder on intermediate gear)
.
Change parameters for these machine data can be activated with "NewConfig" either using
the SinuCOM-NC commissioning software or via a softkey on the operator panel (HMI). The
existing motor/load gearboxes, on the other hand, are active after POWER ON.

Tool change
If the intermediate gear is changed at the same time as the tool, the user must also
reconfigure the transmission ratio of the numerator and denominator via the machine data of
the intermediate gear.
Example:
In the case of an installed tool with a transmission ratio of 2:1, a suitable intermediate gear is
configured and is activated immediately in the part program with the command NEWCONF.

N05 $MA_DRIVE_AX_RATIO2-NUMERA[AX5] = 2
M10 $MA_DRIVE_AX_RATIO2-DENOM[AX5] = 1
N15 NEWCONF

Caution
It remains the task of the user to stop within the appropriate period in order to make changes
to the machine data when required and then activate a "NewConfig".

Switchover
Switchover to a new transmission ratio is performed immediately by means of NewConfig.
From a technological viewpoint, the associated mechanical switchover process takes some
time, since, in mechanical terms, a different intermediate gear with rotating tool is being
installed.

Spindles (S1)
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-41
Detailed Description
2.3 Configurable gear adaptation

Note
At zero speed, switchover is jerk-free. The user is therefore responsible for taking
appropriate precautions.
Applications in which switchover takes place during motion and which require smoothed or
soft speed transition can be handled using existing setpoint speed filters.

For further instructions for control technical dependencies see:

Literature:
/FB1/ Function Manual, Basic Functions; Speeds, Setpoint/Actual Value System, Control
(G2)

2.3.3 Nonacknowledged gear step change

Mode change
A gear step change that has not been acknowledged cannot be interrupted by a change in
operating mode (e.g., switchover to JOG).
The switchover is delayed by the maximum period entered in machine data:
MD10192 $MN_GEAR_CHANGE_WAIT_TIME
.
If the gear step change is not acknowledged within this time, the NC will output an alarm:

Further events
Events that initiate reorganization will also wait until a gear step change is completed.
The time entered in machine data:
MD10192 $MN_GEAR_CHANGE_WAIT_TIME
determines how long the control waits before executing the gear step change.
If this time elapses without the gear step change being completed, the NC responds with an
alarm.
The following events have an analog response:
• User ASUB
• Mode change
• Delete distance-to-go
• Axis replacement
• Activate PI user data

Spindles (S1)
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 Detailed Description
2.3 Configurable gear adaptation

• Enable PI service machine data

• Switch over skip block, switch over Dry Run
• Editing in the modes
• Compensation block alarms
• Overstore
• Rapid retraction with G33, G34, G35
• Subroutine level abort, subroutine abort

Response after POWER ON

The active gear step on the machine can be specified by the PLC control after POWER ON
and in the RESET state.
The NCK will then select the appropriate parameter set
and check back the NC/PLC interface signals:
DB31, ... DBX82.0-82.2 (Set gear step A to C)
to the PLC.

2.3.4 Gear step change with oscillation mode

What is oscillation?
Oscillation in this context means that the spindle motor rotates alternately in the clockwise
and counterclockwise directions. This oscillation movement makes it easy to engage a new
gear step.

Oscillation mode
NC/PLC IS:
DB31, ... DBX82.3 (Change gear)
displays that a gear step change is required.
In principle, the new gear step can also be engaged without oscillation
1. Machine data:
MD35010 $MA_GEAR_STEP_CHANGE_ENABLE
must be set to 1.
2. NC/PLC IS:
DB31, ... DBX84.6 (oscillation mode)
is set.
3. The acceleration is determined in the following machine data:
MD35410 $MA_SPIND_OSCILL_ACCEL

Spindles (S1)
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-43
Detailed Description
2.3 Configurable gear adaptation

DB31, ... DBX18.5 (oscillation speed)

The spindle is in oscillation mode if a new gear step was defined using automatic gear step
selection (M40) or M41 to M45 (DB31, ... DBX82.3 (Change gear) is set).
NC/PLC IS:
DB31, ... DBX82.3 (Change gear)
is only enabled when a new gear step is defined
that is not the same as the current actual gear step.
If NC/PLC IS:
DB31, ... DBX18.5 (Oscillation speed)
is simply set by the PLC without a new gear step being defined by the NC,
the spindle does not change to oscillation mode.
Oscillation mode is activated with NC/PLC IS:
DB31, ... DBX18.5 (Oscillation speed)
.
Depending on NC/PLC IS:
DB31, ... DBX18.4 (Oscillation via PLC)
while the function is in operation, a distinction is made between:
• Oscillation via NCK
• Oscillation via PLC
• Oscillation with FC 18
Literature:
/FB1/ Function Manual, Basic Function; PLC Basic Program (P3)

Oscillation time
The oscillation time for oscillation mode can be defined in a machine date for each direction
of rotation:

Oscillation time in M3 direction

(referred to as t1 in the following): MD35440 $MA_SPIND_OSCILL_TIME_CW
Oscillation time in M4 direction
(referred to as t2 in the following): MD35450 $MA_SPIND_OSCILL_TIME_CCW

Oscillation via NCK

Phase 1:
NC/PLC IS:
DB31, ... DBX18.5 (Oscillation speed)
accelerates the spindle motor to the speed (with oscillation acceleration) defined in machine
data:
MD35400 $MA_SPIND_OSCILL_DES_VELO (oscillation speed)
.
Start direction is defined through the following machine data:
MD35430 $MA_SPIND_OSCILL_START_DIR (Start direction with oscillation)

Spindles (S1)
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 Detailed Description
2.3 Configurable gear adaptation

The time t1 (or t2) is started,

according to which start direction is given in the machine data:
MD35430 $MA_SPIND_OSCILL_START_DIR

The time - and not the fact that the oscillation speed is reached - is always decisive.
Phase 2:
If time t1 (t2) has passed, the spindle motor
accelerates in the opposite direction to the speed defined in machine data:
MD35400 $MA_SPIND_OSCILL_DES_VELO
.
Time t2 (t1) starts.
Phase 3:
If time t2 (t1) has passed, the spindle motor accelerates in the opposite direction (same
direction as in Phase 1) to the speed defined in machine data:
MD35400 $MA_SPIND_OSCILL_DES_VELO
.
Time t1 (t2) starts. The process continues with Phase 2.

Oscillation via PLC

NC/PLC IS:
DB31, ... DBX18.4 (Oscillation via PLC)
and
DB31, ... DBX18.5 (oscillation speed)
accelerates the spindle motor to the speed (with oscillation acceleration) defined in machine
data:
MD35400 $MA_SPIND_OSCILL_DES_VELO (oscillation speed)
.
The direction of rotation is defined by NC/PLC IS:
DB31, ... DBX18.7 (Set direction of rotation CCW)
and
DB31, ... DBX18.6 (Set direction of rotation CW)
.
The oscillation movement and the two times t1 and t2 (for clockwise and counterclockwise
rotation) must be simulated on the PLC.

Special points to be noted

Setting/Resetting the NC/PLC IS and machine data in oscillation mode:
• To decelerate the spindle, the PLC user need not set NC/PLC IS:
DB31, ... DBX4.3 (Spindle stop)
.
The spindle is brought to a standstill internally by the control when a gear step change is
requested.
• The gear step change should always be terminated with NC/PLC IS:
DB31, ... DBX16.3 (Gear changed)
.

Spindles (S1)
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-45
Detailed Description
2.3 Configurable gear adaptation

• NC/PLC IS:
DB31, ... DBX18.5 (Oscillation speed)
should be used to support mechanical engagement of the gear.
It has no effect on the internal control mechanism for the gear step change procedure
and should therefore only be set as necessary.
• If NC/PLC IS:
DB31, ... DBX18.5 (Oscillation speed)
is reset, oscillation mode stops.
However, the spindle remains in "oscillation mode".
• The acceleration is defined in the following machine data:
MD35410 $MA_SPIND_OSCILL_ACCEL

• The spindle will cease to be synchronized if an indirect measuring system (motor

encoder) is used.
If the machine data is set to:
MD31050 $MA_ENC_IS_DIRECT = 0,
NC/PLC IS:
DB31, ... DBX60.4/5 = 0 (Homed/Synchronized)
is automatically deleted.
The zero mark is synchronized the next time it is crossed.

End of oscillation mode

On termination of oscillation mode, the spindle returns to openloop control mode and
automatically changes to the mode defined by SPCON or SPCOF.
All gearspecific limit values (min./max. speed, etc.) correspond to the set values of the actual
gear step.

Functionality
Machine tools of conventional design require a gear step change of the spindle in oscillation
mode.
If the machine data configuration is:
MD35010 $MA_GEAR_STEP_CHANGE_ENABLE = 1
the following sequence is implemented:
• Deceleration of the spindle.
The braking action corresponds to an M5 movement.
• Output of VDI interface signals:
DB31, ... DBX84.6 (Oscillation mode)
DB31, ... DBX82.3 (Change gear)
DB31, ... DBX82.0-82.2 (Set gear step A to C).
If position control has been enabled, it is disabled:
DB31, ... DBX61.5 = 0.
• The load gearbox can now "disengage".

Spindles (S1)
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 Detailed Description
2.3 Configurable gear adaptation

• NC/PLC IS:
DB31, ... DBX18.5 (Oscillation enable)
can be set by the PLC.
The spindle motor then performs an oscillation motion with preset values.
The oscillation motion is designed to facilitate and accelerate the reengaging of the gear
wheels.
• Writing of NC/PLC IS:
DB31, ... DBX16.0-16.2 (Actual gear step A to C)
by the PLC.
• Once the PLC has sent:
DB31, ... DBX16.3 (Gear changed)
to the NCK, the last movement to be active is continued, if available.
For indirect encoders (motor encoders), the homing status is cleared:
DB31, ... DBX60.4/5 = 0.

Block change
If the spindle is switched to oscillation mode
with NC/PLC IS:
DB31, ... DBX82.3 (Change gear)
, the processing of the part program remains suspended.
A new block is not executed.
If oscillation mode is terminated with NC/PLC IS:
DB31, ... DBX16.3 (Gear changed)
, the processing of the part program is resumed.
A new block is executed.

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Spindles (S1)
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-47
Detailed Description
2.3 Configurable gear adaptation

Oscillation mode
Typical time sequence for the gear step change with a spindle:

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Spindles (S1)
2-48 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.3 Configurable gear adaptation

2.3.5 Gear step change at fixed position

Application and advantages

Machine tools increasingly use standardized spindle drives, firstly to save technological dead
time on a gear step change and secondly to gain the cost benefits of using standardized
components.
The Gear step change at fixed position function supports the "directed gear step change" of
load gearboxes that need to be activated in a different way than the NC. The gear step
change can in this case only be performed at a defined spindle position. An oscillation
motion as required by conventional load gearboxes is thus no longer necessary.

Sequence for gear step change at fixed position

Gear step change at fixed position
Machine data configuration:
MD35010 $MA_GEAR_STEP_CHANGE_ENABLE = 2
runs the following sequence:
• Positioning of the spindle from standstill or movement across the position configured in
machine data:
MD35012 $MA_GEAR_STEP_CHANGE_POSITION
.
If the gear step change is performed out of a movement, then the current direction of
rotation is maintained. The spindle is in positioning mode during the positioning action.
NC/PLC IS:
DB31, ... DBX84.5 (positioning mode)
is output.
If no reference is available:
DB31, ... DBX60.4/5 = 0
or NC/PLC IS:
DB 31, ... DBX17.4/5 (Resynchronize on positioning MS 1/2)
is set, the positioning action is extended by the time it takes to find the zero mark.
• After reaching the gear step change position configured in machine data:
MD35012$MA_GEAR_STEP_CHANGE_POSITION
the machine waits for the time in machine data:
MD35310 $MA_SPIND_POSIT_DELAY_TIME
before switching to oscillation mode,
and the known gear step change dialog starts.
• Output of VDI interface signals:
DB31, ... DBX84.6 (Oscillation mode)
DB31, ... DBX82.3 (Change gear)
DB31, ... DBX82.0-82.2 (Set gear step A to C).

Spindles (S1)
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-49
Detailed Description
2.3 Configurable gear adaptation

• Position control is not disabled when an active measuring system with indirect encoder
(motor encoder) is used:
MD31040 $MA_ENC_IS_DIRECT = 0
If a measuring system with a direct encoder (load encoder) is active, position control is
deactivated:
DB31, ... DBX61.5 = 0,
because the induction flux to the load is interrupted and closed-loop position control is no
longer possible.
• If positioncontrolled operation is not possible, it can be disabled by
resetting "Servo enable":
DB31, ... DBX2.1 = 0
.
• Mechanical switchover of the gear step on the machine.
No oscillation motion is required from the drive.
NC/PLC IS:
DB31, ... DBX18.5 (Oscillation enable)
and
DB31, ... DBX18.4 (Oscillation via PLC)
should not be set.
In principle, oscillation movement is still possible at this point.
• Writing of NC/PLC IS:
DB31, ... DBX16.0-16.2 (Actual gear step A to C)
by the PLC.
• After signal:
DB31, ... DBX16.3 (Gear step changed),
the last movement to be active is continued, if available.
For indirect encoders (motor encoders), the homing status is cleared:
DB31, ... DBX60.4/5 = 0.
The spindle is in speed control mode and NC/PLC IS:
DB311, ... DBX84.7 (Openloop control mode)
is output.

Gear step change at fixed position

Typical time sequence for the gear step change at fixed position:

Spindles (S1)
2-50 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.3 Configurable gear adaptation

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Figure 2-10 Gear step change with stationary spindle

Gear step change position MD35012

The gear step change position is defined in machine data:
MD35012 $MA_GEAR_STEP_CHANGE_POSITION
for each gear step.

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Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-51
Detailed Description
2.3 Configurable gear adaptation

Gear step change wait time MD35310

After the positioning action the machine waits for the time configured in machine data:
MD35310 $MA_SPIND_POSIT_DELAY_TIME
until gear change request:
DB31, ... DBX84.6 (Oscillation mode)
DB31, ... DBX82.3 (Change gear)
and
DB31, ... DBX82.0-82.2 (Set gear step A to C)
are output.

Position identifiers/position
The position is always approached via the shortest path (corresponds to DC).
If no reference is available and the spindle is in stillstand
(e.g. after Power On), then the direction of travel is determined by the following machine
data:
MD35350 $MA_SPIND_POSITIONING_DIR
If an adjustable gear step change position is required, then this can be achieved by writing
the machine data and by a subsequent NewConfig.
The change of the MD value can be achieved by the part program or HMI.
If the system is unable to reach the preset position, then alarm 22020 is signaled and the
gear step change dialog between NCK and PLC does not take place in order not to destroy
the gears. As this alarm is serious, the part program cannot continue and the cause must be
eliminated under all circumstances Experience has shown that the abortion of positioning is
usually due to incorrect MD settings or incompatible PLC signals.

Velocity
The positioning velocity is taken from the machine data:
MD35300 $MA_SPIND_POSCTRL_VELO
NC/PLC IS "Spindle speed override"/"Feedrate override" at
DB31, ... DBX17.0=0: DB31, ... DBB19)
as well as:
DB31, ... DBX17.0=1: DB31, ... DBB0
are effective as normal for positioning.
The positioning speed can be changed proportionally through the program instruction
OVRA[Sn].

Note
OVRA[Sn] is valid modally. After the gear step change, a value appropriate for the
machining should be reset.

The part-program instruction FA[Sn] does not change the positioning speed during gear
step change.

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 Detailed Description
2.3 Configurable gear adaptation

acceleration
The acceleration values are determined through the gear step dependent machine data:
MD35200 $MA_GEAR_STEP_SPEEDCTRL_ACCEL
and
MD35210 $MA_GEAR_STEP_POSCTRL_ACCEL
.
The acceleration can be changed proportionally by programming ACC[Sn].

Note
ACC[Sn] is valid modally. After the gear step change, a value appropriate for the machining
should be reset.

Speed-dependent acceleration
The "kneeshaped acceleration characteristic" is effective as in positioning with SPOS or
FC18.

Jerk
It is currently not possible to limit the change in acceleration.

End of positioning
The transition between the end of the positioning action (DB31, ... DBX84.5)
and the start of oscillation mode (DB31, ... DBX84.6) is defined on
reaching "Exact stop fine" (DB31, ... DB60.7) and the time value entered in machine data:
MD3510 $MA_SPIND_POSIT_DELAY_TIME
.
The determination of the transition condition has an effect firstly on the gear step change
time and secondly on the accuracy of the approach to the preset gear step change position.

Block change
The block change is stopped and the machining blocks are not started until the gear step
has been changed by the PLC (DB31, ... DBX16.3).

End of gear step change

Once the gear step change has been completed, the spindle returns to open-loop control
mode and will automatically change to the controller mode defined by SPCON or SPCOF.
All gearspecific limit values (min./max. speed of gear step, etc.) correspond to the check-
back values of the actual gear step.

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Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-53
Detailed Description
2.4 Selectable spindles

Constraints
• The spindle must have at least one measuring system.
• Positioncontrolled operation must be possible and must have been activated.
• Generally, it must be possible to execute SPOS from the part program, from a
synchronized action or via FC18: “Start spindle positioning” without errors.
Unless all requirements can be met, the function described cannot be used successfully.

Activation
The function of gear step change at fixed position
is activated by the configuration:
MD35010 $MA_GEAR_STEP_CHANGE_ENABLE = 2

2.4 Selectable spindles

Application
The "selectable spindles" function allows you to write part programs with reference to the
spindles used ("channel spindle, logical spindle") regardless of the actual assignment of
configured spindles ("physical spindles") to a channel.
The physical spindles loaded or unloaded by "axis replacement" no longer have to be
specified explicitly in the part program.

Functionality
Each spindle is clearly mapped to a machine axis through a configurable number with the
machine data:
MD35000 $MA_SPIND_ASSIGN_TO_MACHAX[AX...]
.
This number is always valid for a spindle whereby it is irrespective in which channel the
spindle is actively handled.
The channel spindles can be switched over because an intermediate level is introduced
between the logical spindle numbers used in the part program and the physical spindles
existing in the channel.
The setting data table
(SD42800 $SC_SPIND_ASSIGN_TAB[...]; Spindle number converter)
assigns each logical spindle used in the part program a physical spindle.
The spindle number converter is effective in spindle programming by means of:
• The part program
• Synchronized actions
The spindle number converter has no effect with PLC commands, which use function block
FC18. The physical spindle must always be addressed there within the context of the axis.

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 Detailed Description
2.4 Selectable spindles

The logical spindles can be switched by changing the setting data:

SD42800 $SC_SPIND_ASSIGN_TAB[...]
The change can be achieved by the part program, by the PLC and/or HMI.

Note
In setting data:
SD42800 $SC_SPIND_ASSIGN_TAB[0]
contains the logical master spindle.
It is only used for display purposes.
This setting data is defined in the part program by SETMS (logical spindle).
Unused spindles are assigned the value 0 in SD42800.
System variables affected by the spindle mapping table are:
$P_S, $P_SDIR, $P_SMODE, $P_GWPS, $AC_SDIR, §AC_SMODE, $AC_MSNUM, $AA_S.

Literature:
/PGA/ Programming Manual, Work Preparation
The converted, physical spindle number is always output as the address extension in the
auxiliary function output.

Constraints
• Switchable channel spindles are not a substitute for the Axis replacement function.
• You can only switch spindles, which have been assigned to the channel by means of
configuration.
• If spindles, which are presently active in another channel, are designated for switchover,
either the "AutoGet" function is triggered for the physical spindle or alarm 16105
"Assigned spindles do not exist" is output, depending on the configuration variant.
• If the setting data:
SD42800 $SC_SPIND_ASSIGN_TAB[...]
is specified by the PLC or from HMI, then the channel whose table is changed should be
in Reset status or the spindle to be changed should not be used in the running part
program respectively.
A synchronized response can be achieved by means of a STOPRE preprocessor stop.
• The multiple mapping of logical to physical spindles is not prevented in the NC. However,
with the display of logical spindle in the operator interface, there are ambiguities
corresponding to the change table.
• Spindle conversion operates on spindles via FC 18.

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Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-55
Detailed Description
2.4 Selectable spindles

Activation
Setting data:
SD42800 $SC_SPIND_ASSIGN_TAB[...]
is enabled by activating machine data:
MD20092 $MC_SPIND_ASSIGN_TAB_ENABLE=1
.

Basic position SD42800

After switching on the NC in installation switch position 1 (Delete SRAM)
the setting data:
SD42800 $SC_SPIND_ASSIGN_TAB[...]
is in the basic position.
The numbers of the logical and physical spindles are identical.
SD42800 $SC_SPIND_ASSIGN_TAB[1] = 1
SD42800 $SC_SPIND_ASSIGN_TAB[2] = 2
SD42800 $SC_SPIND_ASSIGN_TAB[3] = 3
SD42800 $SC_SPIND_ASSIGN_TAB[4] = 4
SD42800 $SC_SPIND_ASSIGN_TAB[5] = 5
...

Example
Assumptions: Spindle configurations:
Specifying the spindle number and machine axis

MD35000 $MA_SPIND_ASSIGN_TO_MACHAX [AX4] = 1

MD35000 $MA_SPIND_ASSIGN_TO_MACHAX [AX5] = 2
MD35000 $MA_SPIND_ASSIGN_TO_MACHAX [AX6] = 3
MD35000 $MA_SPIND_ASSIGN_TO_MACHAX [AX7] = 5

Applying a machine axis in the channel

MD20070 $MC_AXCONF_MACHAX_USED[0] = 4
MD20070 $MC_AXCONF_MACHAX_USED[1] = 5
MD20070 $MC_AXCONF_MACHAX_USED[2] = 6
MD20070 $MC_AXCONF_MACHAX_USED[3] = 7

Specifying the master spindle

MD20090 $MC_SPIND_DEF_MASTER_SPIND = 1

Spindle number converter

MD20092 $MC_SPIND_ASSIGN_TAB_ENABLE = 1 Activate spindle number converter

SD42800 $SC_SPIND_ASSIGN_TAB[0] = 1 Master spindle as configured
SD42800 $SC_SPIND_ASSIGN_TAB[1] = 1 Basic table setting

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 Detailed Description
2.5 Programming

SD42800 $SC_SPIND_ASSIGN_TAB[2] = 2
SD42800 $SC_SPIND_ASSIGN_TAB[3] = 3
SD42800 $SC_SPIND_ASSIGN_TAB[4] = 0 Logical spindle not assigned
M3 S1000 Address extension = 1, M1=3 S1=1000 is output. The spindle with the
configured No. "1" (No. of physical master spindle) rotates.
...
...
SD42800 $SC_SPIND_ASSIGN_TAB[1] = 5 Assignment of logical spindle 1 to
physical spindle 5
SD42800 $SC_SPIND_ASSIGN_TAB[2] = 3 Assignment of logical spindle 2 to
physical spindle 3.
Caution:physical spindle 3 has now been
assigned twice. When programming logical
spindles 2 and 3, physical spindle 3 is
always addressed. In the basic machine
displays, both spindles rotate.
SETMS (2) SD42800 $SC_SPIND_ASSIGN_TAB[0] = 2 defined internally by NCK.
...
M5 Master spindle = address extension = 2, spindle number M3=5
The physical spindle configured with number "3" stops.
...
GET (S4) Alarm 16105, as logical spindle "4" cannot be switched.
...
RELEASE (S1) Channel spindle "1" = physical. Spindle "5" is enabled.
...
M30

2.5 Programming

2.5.1 Programming from the part program

Programming statements

Statement Description
SETMS The master spindle is the spindle stored in machine data:
MD20090 $MC_SPIND_DEF_MASTER_SPIND
(Initial setting for master spindle on channel)
.
SETMS(n) The spindle with the number (n) is the master spindle
(can differ from the initial setting in machine data:
MD20090 $MC_SPIND_DEF_MASTER_SPIND
).
The master spindle must be defined for the following functions:
G95 Rev. feedrate
G96 S../G961 S... constant cutting speed in m/min or ft/min

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Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-57
Detailed Description
2.5 Programming

Statement Description
G97/G971 CancelG96/G961 and freeze last spindle speed
G63 Tapping with compensating chuck
G33/G34/G35 Thread cutting
G331/G332 Rigid tapping
G4 S... Dwell time in spindle revolutions
Programming M3, M4, M5, S, SPOS, M19, SPOSA, M40, M41 to M45 and WAITS without
entering the spindle number.
The current master spindle setting can be retained via RESET and START
.
The setting is made in machine data:
MD20110 $MC_RESET_MODE_MASK
and
MD20112 $MC_START_MODE_MASK.
References:
/FB1/Descriptions of Functions, Basic Machine;
Mode Group, Channel, Program Operation (K1)
M3 Direction of spindle rotation clockwise for master spindle.
M1=3 Direction of spindle rotation clockwise for spindle number 1
M4 Direction of spindle rotation counterclockwise for master spindle.
M2=4 Direction of spindle rotation counterclockwise for spindle number 2
M5 Spindle stop without orientation for master spindle.
M1=5 Spindle stop without orientation for spindle number 1
S .... Spindle speed in rpm for master spindle.
S2= .... Spindle speed in rpm for spindle number 2
SPOS =270 Spindle positioning for the master spindle or
SPOS[n] =270 the spindle with number n to the position 270 degrees.
The block change is only performed when the spindle is in position.
SPOSA=90 Spindle positioning for the master spindle
SOSSA[n]=90 or the spindle with number n to the position 90 degrees.
The block change is executed immediately. Spindle positioning continues, regardless
of further part program processing, until the spindle has reached its position.
SPOS=DC(Pos), The direction of motion is retained for positioning while in motion and the position
SPOS[n]=DC(Pos), approached. When positioning from standstill, the position is approached via the
SPOSA=DC(Pos), shortest path.
SPOSA[n]=DC(Pos)
SPOS=ACN(Pos), The position is always approached with negative direction of motion. If necessary, the
SPOS[n]=ACN(Pos), direction of motion is inverted prior to positioning.
SPOSA=ACN(Pos),
SPOSA[n]=ACN(Pos)
SPOS=ACP(Pos), The position is always approached with positive direction of motion.
SPOS[n]=ACP(Pos), If necessary, the direction of motion is inverted prior to positioning.
SPOSA=ACP(Pos),
SPOSA[n]=ACP(Pos)
SPOS=IC(Pos), The travel path is specified. The direction of travel is obtained from the sign in front of
SPOS[n]=IC(Pos), the travel path. If the spindle is in motion, the direction of travel is inverted as
SPOSA=IC(Pos), necessary to allow traversing in the programmed direction.
SPOSA[n]=IC(Pos) If the zero mark is crossed during traversing, the spindle is automatically synchronized
with the zero mark if no reference is available or if a new one has been requested via
an interface signal.
M19 Spindle positioning for the master spindle or

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 Detailed Description
2.5 Programming

Statement Description
M[n]=19 the spindle with number n to the position entered in setting data:
SD43240 $SA_M19_SPOS
.
The block change is only performed when the spindle is in position.
M70 Bring spindle to standstill and activate position control,
select zero parameter set, activate axis mode for the master spindle
M1=70 or for the spindle with number 1.
SPCON, Spindle position control for the master spindle ON
SPCON(n), Spindle position control mode for the spindle number n ON
SPCON(n,m) Spindle position control mode for the spindle number n and m ON
PCOF, Spindle position control for the master spindle OFF, activate speed control mode.
SPCOF(n), Spindle position control for the master spindle OFF, activate speed control mode
for the spindle number n
SPCOF(n,m) as well as for the spindle number n and m.
FPRAON (S2) Revolutional feedrate for spindle S2 ON, derived from the master spindle
FPRAON (S2, A) Revolutional feedrate for spindle S2 ON, derived from axis A.
The revolutional feedrate value must be specified with FA[Sn].
FPRAOF (S2) Revolutional feedrate for spindle S2 OFF.
C30 G90 G1 F3600 Rotary axis C (spindle in axis mode) travels to the position 30 degrees at a speed of
3600 degrees/min = 10 rpm.
G25 S...., Programmable minimum spindle speed limitation.
G25 S2... Programmable minimum spindle speed limitation for spindle number 2.
G26 S...., Programmable maximum spindle speed limitation.
G26 Sn... Programmable maximum spindle speed limitation for spindle number n.
LIMS= Programmable maximum spindle speed limitation with G96, G961, G97.
WAITS Part program, synchronization command for master spindle.
Execution of the following blocks is suspended until the spindle(s) programmed with
SPOSA has/have reached their position(s) with exact stop fine.
Waits until the spindle is at standstill after M5.
Waits until the spindle has reached its setpoint speed after M3/M4.
WAITS(n) Synchronization command for spindle n.
WAITS(n,m) Synchronization command for spindles n and m.
FA[Sn] Programming of positioning speed (axial feed)
for spindles in [deg/min].
The value configured in machine data:
MD35300 $MA_SPIND_POSCTRL_VELO
is reactivated with FA[Sn]=0.
OVRA[Sn] Programming of axial override value for spindle n in [%].
ACC[Sn] Programming of the axial acceleration capacity of spindle n in [%].
SPI(n) Axis functions for a spindle with SPI(n) with SPI(n) (spino) are converted into the
data type AXIS
according to machine data:
MD35000 $MA_SPIND_ASSIGN_TO_MACHAX[ ]. SPIis used if axis functions are
programmed using the spindle number.
The following instructions are possible with SPI:
• Frame instructions with SPI:
– CTRANS()
– CFINE()
– CMIRROR()

Spindles (S1)
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-59
Detailed Description
2.5 Programming

Statement Description
– CSCALE()
• Velocity and acceleration values for following spindles with SPI:
– FA[SPI(n)]
– ACC[SPI(n)]
– OVRA[SPI(n)]
• System variable with SPI:
– $P_PFRAME[SPI(1),TR] = 2.22 frames can be written, for example.
– $P_PFRAME = CTRANS (X, axis value, Y, axis value, SPI(1), axis value)
– $P_PFRAME = CSCALE (X, scale, Y, scale, SPI(1), scale)
– $P_PFRAME = CMIRROR (S1, Y, Z)
– $P_UBFR = CTRANS (A, 10) : CFINE (19, 0.1)
Detailed information about programming of SPI can be found in
References:
/PGA/ Programming Guide Advanced
M40, Automatic gear step selection for master spindle.
M1=40 Automatic gear step selection for spindle number 1.
M41 to M45 Select gear step 1 to 5 for master spindle.
M1=41 to M1=45 Select gear step 1 to 5 for spindle number 1.

Note
Mfunctions M3, M4, M5, and M70 are not output in DB21, ... DBB194 and DBB202 if a spindle
is configured in a channel. These M functions are offered as extended M functions in DB21, ...
DBB68 ff. and in the relevant axis DBs, DB31, ... DBB86 ff.

Detailed explanations for programming the spindle can be found under:

Literature:
/PG/ Programming Manual Basics

2.5.2 Programming via synchronized actions

M40 to M45
Mfunctions M40 to M45 can also be programmed in synchronized actions.
Please note:
• Programming ofM40...M45 in the part program has no effect on the current status of the
automatic gear step change of synchronized actions, and vice versa.
• When programming S values with M40, automatic gear step change is effective
separately for synchronized actions and the part program.

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For synchronized actions:

• M40 is deactivated after POWER ON.
The gear step is not adjusted if an S value is specified from a synchronized action.
• An M40 command programmed using synchronized actions always remains active for
synchronized actions (modal) and is not reset on RESET.
M41...M45 selects the first to fifth gear step according to the programming instructions in the
part program.
Please note:
• An axis replacement is necessary in order to run the function.
• Once the gear step change has been performed, the spindle status is neutral (same
response as M3, M4, M5 instructions).
Further explanations regarding the programming of spindle as well as spindle movements
from synchronized actions can be found under:
Literature:
/PGA/ Programming Manual Work Preparation
/FBSY/ Function Description Synchronized Actions

2.5.3 Programming spindle controls via the PLC with FC18

Automatic gear step change with FC18

When the PLC specifies the direction of rotation and speed using FC18, the NCK can
determine and select a gear step to match the speed. This is equivalent to the M40
functionality when programming via the part program.
The correct start code must be set when FC18 is called in a PLC user program, in order to
activate gear step selection.
More detailed explanations regarding the programming of spindle controls by PLC with FC18
can be found under:
Literature:
/FB1/ Function Manual, Basic Functions; PLC Basic Program (P3)

2.5.4 Special spindle movements via PLC interface

Why use a special spindle interface?

This function can be used to program the spindle via an axial PLC interface as an alternative
to the FC18. The simplicity of the settings results in slightly restricted functionality. This
functionality can be used preferably for simple control applications.

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Functionality
Special VDI interface signals are provided to start and stop spindles outside a running part
program. In this regard, the channel status and the program status need not be in the active
mode. These states will occur, e.g., on RESET and in JOG mode.
The spindle concerned must have the state "Channel axis" or "Neutral axis" and must not be
moved using the JOG keys or positioned by FC18 or synchronized actions. If these
conditions are fulfilled, spindle jobs will be accepted via the DBB30 spindle interface.
The spindle settings are retained after a change in mode (e.g., from JOG mode to
AUTOMATIC). The spindle settings (direction of rotation, speed or cutting rate) are applied
to the part program at the start of the program and can be modified again using part-program
instructions. In JOG mode, the spindle can be moved at the speed last programmed.

Multichannel operation
In the case of multichannel operation, the spindle started by the PLC becomes active in the
channel that handles the spindle at the appropriate moment.
This channel can be determined on the PLC by reading NC/PLC IS:
DB31, ... DBX68.0-68.3 (NC axis/spindle in channels A to D)
.

Spindle job
In order to start a job, the channel handling the spindle must be in the acceptance status. A
spindle job is always started on the LowHigh edge of a DBB30 signal.
Generally, the DBB30 start signals do not have any meaning in the static status and do not
prevent the spindle being programmed by FC18, synchronized actions, the part program or
JOG traversing movements (e.g., when the STOP signal is statically at "1").

Conditions for the acceptance status

Outside a running part program, spindles can be started and stopped using the special VDI
interface signals NCK → PLC.
For this, the channel status in "Interrupted" mode:
DB21, ... DBX35.6 = 1
or "Reset":
DB21, ... DBX35.7=1
and the program status must be in "Interrupted" mode:
DB21, ... DBX35.6 = 1
or "Aborted":
DB21, ... DBX35.4 = 1.

These states will occur on RESET and in JOG mode.

At the start time, the spindle concerned must meet the following requirements:
• It must be in the status "Channel axis" or "Neutral axis" and must not be moved by means
of the JOG keys.
• When the spindle is specified, no positioning movement may be carried out by FC18 or
synchronized actions.

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Spindle job outside the acceptance range

LowHigh edges outside the acceptance range will be ignored. No alarm message is output
by the NCK. It can be assumed that the acceptance range will be indicated to the operator
by the PLC program.
Spindle jobs outside the acceptance range can also be carried out using FC18 or ASUB.

SD43200 Overwrite
Setting data:
SD43200 $SA_SPIND_S
can be overwritten as follows:
• Through speed programming
• Through direct programming in the part program
• Through HMI software

Note
The setting data is written immediately and asynchronously to part-program execution.

Conditions for writing

When overwriting the setting data:
SD43200 $SA_SPIND_S
the following conditions apply:

Programming through: Conditions for programming:

Speed programming MD35035 $MA_SPIND_FUNCTION_MASK Bit 4 = 1
must be set.
Constant cutting rate G96, G961 must not be active.
NC/PLC IS:
DB31, ... DBX84.0 = 0 (constant cutting speed)
must be set.
Direct programming in the part A programmed S-value and the value of the directly written SD can
program be outdated with respect to time. If this is the case, after
programming the SD, the statementSTOPRE should be executed.
HMI Only positive values including zero can be accepted.
Otherwise, a corresponding message is generated.

Spindle commands
The following basic logic functions can be specified for the spindle:

Basic logic functions: Spindle commands:

Motion specification: Independently of a running part program:
Spindle stop Input from the PLC via axial

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Basic logic functions: Spindle commands:

Spindle start clockwise rotation VDI interface signals DB31, ... DBB30
Spindle start counterclockwise rotation
Select gear step
Spindle positioning
Speed Speed specifications from part program
MD35035 $MA_SPIND_FUNCTION_MASK Bit 4 = 1 or FC18 are programmed in setting data:
When movement starts the speed SD43200 $SA_SPIND_S.
is read from setting data:
SD43200 $SA_SPIND_S
.
Setpoint speed: You can use the JOG keys to operate the
MD35035 $MA_SPIND_FUNCTION_MASK Bit 5 = 1 spindle
The content from setting data: at the speed defined in setting data:
SD43200 $SA_SPIND_S SD43200 $SA_SPIND_S.
is used as the setpoint speed.
Constant cutting speed: Specifications for the constant cutting
MD35035 $MA_SPIND_FUNCTION_MASK Bit 8 = 1 speed from part program, FC18 and
Read from setting data: synchronized actions are programmed in
SD43202 $SA_SPIND_CONSTCUT_S. setting data:
SD43200 $SA_SPIND_S.

Notes on machine data MD35035 $MA_SPIND_FUNCTION_MASK:

For bit 4 and bit 8, the following also applies:
• Programmed S values that are not programmed speed values are not written to the
corresponding setting data.
This includes S values in the case of a rotation-related dwell time (G4).
• If this conditions are met, spindle jobs will be accepted via the DBB30 interface
(acceptance status).

Motion settings
The direction of rotation is specified in DBB30 and transmitted by the NCK input signals at
the axial VDI interface (PLC -> NCK) in data bytes DB31, ... DBB30 (JobShop).
Interface signals
"Spindle stop" (equivalent to M5) DB31, ... DBX30.0
"Spindle start clockwise" (equivalent to M3) DB31, ... DBX30.1
"Spindle start counter-clockwise" (equivalent to M4) DB31, ... DBX30.2
"Select gear step" DB31, ... DBX30.3
(Function in preparation) (reserved signal)
"Spindle positioning" (corresponds to M19) DB31, ... DBX30.4
Priorities
If several DBB30 signals are set at the same time, the following order of priority is defined:
Spindle stop (M5) 1. Priority
Spindle start/Positioning mode (M3) 2. Priority
Spindle start/Positioning mode (M4) 3. Priority
Spindle start/Positioning mode (M19) 4. Priority

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Acknowledgment spindle start/stop

A spindle start can be detected at the VDI interface based on traversing commands output:
DB31, ... DBX64.6 = 1 (Traversing command minus)
or
DB31, ... DBX64.7 = 1 (Traversing command plus).

A spindle stop is executed if NC/PLC IS:

DB31, ... DBX61.4 = 1 (Axis/spindle stationary)
is output.
Direct acknowledgment signals for the DBB30 input signals are not output.
Invert M3/M4
NC/PLC interface signal:
DB31, ... DBX17.6 (Invert M3/M4)
acts on NC/PLC IS:
DB31, ... DBX30.1 (Spindle start CW)
and
DB31, ... DBX30.2 (Spindle start CCW)
in the same way as for direction of rotation programming for M3 or M4 via part program,
synchronized action, or FC18.

Speed default
Speed specifications from part program, FC18 or synchronized actions
are programmed in setting data:
SD43200 $SA_SPIND_S
and always programmed from the usual sources.
Read SD43200
When movement starts the speed is read from setting data:
SD43200 $SA_SPIND_S [rpm]
with the positive edge of the start signal:
DB31, ... DBX30.1 (Spindle start CW)
and
DB31, ... DBX30.2 (Spindle start CCW).

Note
Rewriting of the setting data is not activated until the next positive edge
of the start signals :
DB31, ... DBX30.1 (Spindle start CW)
and
DB31, ... DBX30.2 (Spindle start CCW)
for the current spindle speed.
The content of the setting data is only accepted with the next spindle start signal.

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Gear step change and effect on speed

In the current version, no gear step change is triggered if the setpoint speed is out of the
speed range of the gear step. The usual speed limitations and the speed increase to the
setpoint speed are active.

Constant cutting rate setting

Constant cutting speed specifications from part program, FC18 or synchronized actions are
programmed in setting data:
SD43200 $SA_SPIND_S
and always programmed from the usual sources.
Read SD43202
The constant cutting speed is read from setting data:
SD43202 $SA_SPIND_CONSTCUT_S [m/min] or [feet/min]
with the positive edge of the start signal:
DB31, ... DBX30.1 (Spindle start CW)
and
DB31, ... DBX30.2 (Spindle start CCW).

Note
Rewriting of the setting data is not activated until the next positive edge of the start signals:
DB31, ... DBX30.1 (Spindle start CW)
and
DB31, ... DBX30.2 (Spindle start CCW)
for the current spindle speed.
The content of the setting data is only accepted with the next spindle start signal.

Supplementary condition
To ensure that constant cutting rate settings are active, the spindle concerned must be a
master spindle in the channel handling the spindle.
This condition is met when NC/PLC IS:
DB31, ... DBX84.0 = 1 (Constant cutting rate active)
is set on the axial VDI interface.
Writing from the part program
When writing from the part program, the value for the constant cutting rate is interpreted as
follows:

if G710 is active in the 12th G Group: Metric

if G700 is set in the 12th G Group: inch as [feet/min]
Regarding G70, G71 and the specification of external (HMI), the setting in the machine data:
MD10240 $MN_SCALING_SYSTEM_IS_METRIC
determines the interpretation of the specified values.

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Further explanations regarding metric/inch measuring system can be found under:

Literature:
/FB1/ Function Manual, Basic Functions; Speeds, Setpoint-/Actual Value System, Control
(G2)
Setting via FC18 synchronized actions
If the constant cutting rate is set via FC18, the setting of bit 6 in byte to in the "Signals to
concurring positioning axes" area determines how the speed value (bytes 8...11) is
interpreted.
In the case of setting via synchronized actions, the feedrate type will determine how the S
value is interpreted, analogously to the part program.
Reading from part program and synchronized actions
The programmed cutting rate value can be determined both in the part program and in
synchronized actions by reading system variables:
$P_CONSTCUT_S
and
$AC_CONSTCUT_S.

The programmed cutting rate value can also be read via the OPI interface.
System variables
RV: Defined range of values of the two new system variables.

Description NCK variable

Last constant cutting rate programmed $P_CONSTRUCT_S[n]
RV = {0, DBL_Max}
Current constant cutting rate $AC_CONSTRUCT_S[n]
RV = {0, DBL_Max}

Spindlespecific functions
MD35035
Machine data:
MD35035 $MA_SPIND_FUNCTION_MASK
defines spindle-specific functions from the part programs, FC18 and synchronized actions as
follows:

No gear step change with DryRun, program testing and SERUPRO.

Bit 0 = 1 Gear step change for blocks with M40, M41 to M45 or via FC18 and
synchronized actions are suppressed with DryRun.
Bit 1 = 1 Gear step change for blocks with M40, M41 to M45 or via FC18 and
synchronized actions are suppressed with Program Test and SERUPRO.
Bit 2 = 1 Gear step change for programmed gear step is performed after deselection of
functions DryRun and SERUPRO.
Acceptance of programmed speed and cutting rate including settings.
Bit 4 = 1 The programmed speed including speed specifications are accepted in setting
data:
SD43200 $SA_SPIND_S.

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2.5 Programming

through FC18 and synchronized actions.

Bit 5 = 1 The content of setting data:
SD43200 $SA_SPIND_S
serves as the setpoint speed in JOG mode.
You can use the JOG keys to operate the spindle at the speed defined in
SD43200.
If the content is zero, other JOG speed specifications are active
(see setting data SD41200 $SN_JOGSPIND_SET_VELO).
Bit 8 = 1 The programmed cutting speed including specifications for FC18 and
synchronized actions are accepted in SD43202 $SA_SPIND_S.
Spindle override is also actively influenced during zero marker search with M19, SPOS, or SPOSA.
Bit 12 = 1 Spindle override is effective during zero marker search with M19, SPOS, or
SPOSA.
For additional information about machine data:
MD35035 $MA_SPIND_FUNCTION_MASK
please refer to:
Literature:
/FB1/ Function Manual, Basic Function; Acceleration (B2)

2.5.5 Gear step change with DryRun, program testing and SERUPRO

Part program, synchronized actions and FC18

The behavior of the gear stage change from the part program, FC18 and synchronized
actions for the functions DryRun, Programmtest and SERUPRO
(SearchRunByProgrammtest) can be configured with the following, already available
machine data:
MD35035 $MA_SPIND_FUNCTION_MASK
.
These functions do not generally require a gear step change and can therefore be
suppressed in machine data:
MD35035 $MA_SPIND_FUNCTION_MASK
with bits 0 to 2 as follows:

Dry run feedrate (DryRun)

Bit 0 = 0 Gear steps are activated even with the DryRun function active for part program
blocks with M40, M41 to M45 or via FC18 and synchronized action programming.
response).
Bit 0 = 1 Gear step change for blocks with M40, M41 to M45 or via FC18 and synchronized
actions are suppressed with DryRun.
Program testing and SERUPRO
Bit 1 = 0 Gear steps are activated even with the Program Test function active for part
program blocks with M40, M41 to M45 or via FC18 and synchronized action
programming. response).
Bit 1 = 1 Gear step change for blocks with M40, M41 to M45 or via FC18 and synchronized
actions are suppressed with Program Test and SERUPRO.
DryRun, program testing and SERUPRO

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Bit 2 = 0 Gear step change for programmed gear step is not performed subsequently on
REPOS after deselection of functions DryRun, Program Test and SERUPRO.
Bit 2 = 1 Gear step change for programmed gear step is performed after deselection of
functions DryRun and SERUPRO if possible.

Gear step change suppression

If a gear step change is suppressed, if necessary, the interpolator will limit the programmed
spindle speed to the permissible speed range of the active gear step.
NC/PLC IS:
DB31,... DBX83.2 (Setpoint speed increased)
and
DB31,...DBX83.1 (Setpoint speed limited) generated as a result of this limit
are suppressed.
Monitoring by the PLC program is not necessary during DryRun and in dry run feedrate.
When the gear step change is suppressed, no new gear step setpoint is output to the PLC
with NC/PLC IS:
DB31,...DBX82.0-82.2 (Gear step setpoint)
.
The gear step change request:
DB31,...DBX82.3 (Change gear)
is also suppressed.
This ensures that no gear step change information has to be processed by the PLC program.

Determining the last active gear step

System variable:
$P_GEAR
returns the gear step programmed in the part program (which may not have been output to
the PLC).
System variable:
$AC_SGEAR
can be used to read the last active gear step from the part program, synchronized actions
and operator panel interface.
The DryRun function can be deselected within a running part program. Once it has been
deselected, the correct gear step requested by the part program must be identified and
selected.
It cannot be assured that the remainder of the part program will run without errors until the
correct gear step has been activated. Any necessary gear step change is performed in the
system REPOS started on deselection if the spindle is in speed control mode. A complete
gear step change dialog takes place with the PLC and the last programmed gear step is
activated.
If there is a mismatch between the gear step programmed in the part program and the actual
gear step returned via the VDI interface with REPOS, no gear step change takes place.
The same applies to the SERUPRO function.

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Detailed Description
2.5 Programming

Further explanations regarding set search execution SERUPRO can be found under:
Literature:
/FB1/ Function Manual, Basic Functions; Mode group, Channel,
Program Mode (K1)

Constraints
If the gear step change is suppressed, the output spindle speed moves within the speed
range specified by the current gear step.
The following restrictions apply to the subsequent activation of a gear step change with
REPOS:
• The gear step change is not activated subsequently if the spindle in the deselection or
target block is a command spindle (synchronized action) or PLC spindle (FC18).
• If the gear step cannot be activated because the spindle is in position or axis mode or a
link is active, alarm 22011"Channel%1 block%3 spindle% Change to programmed gear
step not possible" is signaled.

Example
Gear step change in DryRun

1. Activate 1st gear step (GS) for output state;

N00 M3 S1000 M41 ; 1. GS is selected
M0 ; Part program stops

PI service: Activate dry run feedrate (DryRun);

; (Configuring)
N10 M42 ; 2. 2nd GS requested, no gear step change
takes place
N11 G0 X0 Y0 Z0 ; Positioning axes
N12 M0 ; Part program stops

PI service: Deactivate dry run feedrate (DryRun);

; REORG and REPOS are performed
; now the gear step change to the 2nd gear step
takes place
N20 G1 Z100 F1000 ;
... ;
N99 M30 ; Part program end

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2.5.6 External programming (PLC, HMI)

SD43300 and SD42600

The revolutional feedrate behaviour can be selected externally via the axial setting data:
SD43300 $SA_ASSIGN_FEED_PER_REV_SOURCE (Rotational feedrate for spindles)
in JOG operating mode using the channel-specific setting data
SD42600 $SC_JOG_FEED_PER_REV_SOURCE (Revolutional fedrate control in JOG
mode)
.
The following settings can be made via the setting data:

>0: The machine axis number of the rotary axis/spindle from which the revolutional feedrate
shall be derived.
-1: The revolutional feedrate is derived from the master spindle of the channel in which the
axis/spindle is active in each case.
0: Function is deselected.

FPRAON (S2)
Revolutional feedrate for spindle S2 ON, derived from the master spindle

FPRAON (S2, A)
Revolutional feedrate for spindle S2 ON, derived from axis A.
The revolutional feedrate value must be specified with FA[Sn].

FPRAOF (S2)
Revolutional feedrate for spindle S2 OFF.

SPI(n)
It is also possible to program SPI(n) instead of SPI(Sn).

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2.6 Spindle monitoring

2.6 Spindle monitoring

2.6.1 Speed ranges

Permissible speed ranges for the spindle

The spindle monitoring functions and the currently active functions (G94, G95, G96,
G961, G97, G971, G33, G34, G35, G331, G332, etc.) define the permissible speed
ranges of the spindle.

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2.6.2 Axis/spindle stationary (n < n min)

Spindle monitoring with stationary axis/spindle

Only if the axis/spindle is stationary, i.e., the actual spindle speed falls below a specifiable
value in machie data:
MD36060 $MA_STANDSTILL_VELO_TOL (maximum velocity/speed "Axis/spindle
stationary")
and no longer generates any setpoints, is it possible to perform certain functions on the
machine, such as tool change, open machine doors, path feed enable, etc.
If the spindle is stationary,
• NC/PLC IS:
DB31, ... DBX61.4 axis/spindle stationary)
is set to 1.
• The next machining block is released
and machine data:
MD35510 $MA_SPIND_STOPPED_AT_IPO_START
is set to 0.
Exception:
MD35510 $MA_SPIND_STOPPED_AT_IPO_START =1
Path interpolation is not influenced, the traveled path axis is not stopped.
Monitoring is effective in all spindle modes and in axis mode.

2.6.3 Spindle in setpoint range

Function
"Spindle in setpoint range" spindle monitoring checks whether:
• The programmed spindle speed is reached.
• The spindle is stationary (NC/PLC IS:
DB31, ... DBX61.4 (axis/spindle stationary)).
• The spindle is still in the acceleration or deceleration phase.
In spindle control mode, the setpoint speed
(programmed speed ∗ spindle offset including active limitations)
is compared with the actual speed.
If the actual speed deviates from machine data:
MD35150 $MA_SPIND_DES_VELO_TOL
by more than the spindle speed tolerance:

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• Axial NC/PLC IS:

DB31, ... DBX83.5 (Spindle in setpoint range)
is set to 0.
• The next machining block is not enabled.
• Machine data:
MD35500 $MA_SPIND_ON_SPEED_AT_IPO_START
is set to 1.
Exception:
MD35500 $MA_SPIND_ON_SPEED_AT_IPO_START = 0
Path interpolation is not influenced, the traveled path axis is not stopped.

Tolerance range for setpoint speed

MD35150 $MA_SPIND_DES_VELO_TOL = 0.1
The spindle actual speed may deviate +/- 10% from the setpoint speed.
The spindle setpoint speed is derived from the programmed speed taking the current limits
into account.
Any limitation or increase of the programmed speed
is indicated either by axial NC/PLC IS:
DB31, ... DBX83.1 (Set speed limited)
or
DB31, ... DBX83.2 S (Set speed increased)
and does not prevent the axis reaching the speed tolerance range.
If the spindle lies inside the tolerance range,
axial NC/PLC IS:
DB31, ... DBX83.5 (Spindle in setpoint range)
is set to 1 at the VDI interface.
Special case:
If the speed tolerance is set to 0, axial NC/PLC IS:
DB31, ... DBX83.5 (Spindle in setpoint range)
is permanently set to 1 and no path control is performed.

Speed change
Path control only takes place at the start of the traverse block and only if a speed change
has been programmed. If the speed tolerance range is violated, e.g., due to an overload, the
path movement is not automatically brought to a standstill.

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2.6.4 Minimum/maximum Speed of gear step

Minimum speed
The minimum gear step speed is entered in machine data:
MD35140 $MA_GEAR_STEP_MIN_VELO_LIMIT
.
This setpoint speed cannot be undershot by programming an S value, which is too small.
NC/PLC IS:
DB31, ... DBX83.2 (Setpoint speed increased) (Programmed speed too low) is set.
The minimum gear step speed is effective only in speed mode and can only be undershot
by:
• Spindle override 0%
• M5
• S0
• NC/PLC IS DB31, ... DBX4.3 )Spindle stop)
• Withdraw NC/PLC IS:
DB31, ... DBX2.1 (Controller enable).

• NC/PLC IS DB21, ... DBX7.7 (Reset)

• NC/PLC IS DB31, ... DBX2.2 (Delete distance-to-go/Spindle reset)
• NC/PLC IS DB31, ... DBX18.5 (Oscillation speed)
• NC/PLC IS DB21, ... DBX7.4 (NC STOP axes plus spindles)
• NC/PLC IS DB31, ... DBX1.3 (Axis/Spindle disable)
• NC/PLC IS DB31, ... DBX16.7 (Delete S value)

Maximum speed
The maximum gear step speed is entered in machine data:
MD35130 $MA_GEAR_STEP_MAX_VELO_LIMIT
.
When the gear step is engaged, this setpoint speed cannot be exceeded.
When the programmed spindle speed is limited, NC/PLC IS:
DB31, ... DBX83.1 (Setpoint speed limited) (programmed speed too high)
is set.

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2.6.5 Maximum encoder limit frequency

Caution
The maximum encoder frequency limit of the actual spindle position encoder is monitored by
the control (the limit can be exceeded). It is the responsibility of the machine tool
manufacturer to ensure that the configuration of the spindle motor, gearbox, measuring
gearbox, encoder and machine data prevents the maximum speed of the actual spindle
position encoder being exceeded.

Maximum encoder frequency exceeded.

If the spindle speed reaches a speed (large S value programmed), which exceeds the
maximum encoder limit frequency (the maximum mechanical speed limit of the encoder must
not be exceeded), the synchronization is lost. The spindle continues to rotate, but with
reduced functionality.
With the following functions, the spindle speed is reduced until the active measurement
system is operating below the encoder limit frequency again:
• Thread cutting (G33, G34, G35)
• Tapping without compensating chuck (G331, G332)
• Revolutional feedrate (G95)
• Constant cutting rate (G96, G961, G97, G971)
• SPCON (position-controlled spindle operation)
When the encoder limit frequency is exceeded
NC/PLC IS:
DB31, ... DBX60.4 (Homed/Synchronized 1)
or
DB31, ... DBX60.5 (Homed/Synchronized 2)
are reset for the measurement system in question and NC/PLC IS:
DB31, ... DBX60.2 (encoder limit frequency 1 exceeded)
or
DB31, ... DBX60.3 (encoder limit frequency 2 exceeded)
are set.
If the spindle is in axis mode, the maximum encoder limit frequency must not be exceeded.
The maximum velocity (MD32000 $MA_MAX_AX_VELO) must lie below the maximum
encoder limit frequency; otherwise, alarm 21610 is output and the axis is brought to a
standstill.

Spindles (S1)
2-76 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.6 Spindle monitoring

Maximum encoder limit frequency unudershot

If the maximum encoder frequency limit has been exceeded and the speed subsequently
falls below the maximum encoder limit frequency (smaller S value programmed, spindle
offset switch changed, etc.), the spindle is automatically synchronized with the next zero
mark or the next Bero signal. The new synchronization will always be carried out for the
active position measuring system that has lost its synchronization and whose max. encoder
limit frequency is currently undershot.

Special points to be noted

If the following functions are active, the maximum encoder frequency cannot be exceeded:
• Spindle positioning mode, axis mode
• Thread cutting (G33, G34, G35)
• Tapping without compensating chuck G331, G332 (does not apply to G63)
• Revolutional feedrate (G95)
• Constant cutting rate (G96, G961, G97, G971)
• SPCON

2.6.6 End point monitoring

End point monitoring

During positioning (the spindle is in positioning mode), the system monitors the distance
from the spindle (with reference to the actual position) to the programmed spindle position
setpoint (end point).
For this to work, in machine data:
MD36000 $MA_STOP_LIMIT_COARSE (Exact stop limit coarse)
and
MD36010 $MA_STOP_LIMIT_FINE (Exact stop limit fine)
two limit values can be defined as an incremental path starting from the spindle position
setpoint.
Regardless of the two limit values, the positioning of the spindle is always as accurate as
defined by the connected spindle measurement encoder, the backlash, the transmission
ratio, etc.

Exact stop window dependent on parameter set

Various parameter-set-dependent exact stop windows can be configured.
This makes it possible to work to different levels of accuracy in axis mode and spindle
positioning. The exact stop window can be configured separately for each gear step for
spindle positioning.

Spindles (S1)
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-77
Detailed Description
2.6 Spindle monitoring

6SLQGOHVSHHG

3RVLWLRQVHWSRLQW

3RVLWLRQ
([DFWVWRSOLPLWILQH
([DFWVWRSOLPLWFRDUVH

Figure 2-12 Exact stop zones of a spindle

DB31, ... DBX60.7 and DB31, ... DBX60.6 (position reached with exact stop coarse / fine)
The two limit values defined by machine data:
MD36000 $MA_STOP_LIMIT_COARSE (Exact stop limit coarse)
and
MD36010 $MA_STOP_LIMIT_FINE (Exact stop limit fine)
are output to the PLC using NC/PLC IS:
DB31, ... DBX60.7 (Position reached with exact stop coarse)
and
DB31, ... DBX60.6 (Position reached with exact stop fine).

Block change for SPOS and M19

When positioning the spindle with SPOS or M19 the block is changed
dependent on end point monitoring with NC/PLC IS:
DB31, ... DBX60.6 (Position reached with exact stop fine).
All other functions programmed in the block must have achieved their end criterion (e.g., all
auxiliary functions acknowledged by the PLC).
With SPOSA, the block change does not depend on the monitoring of the end point.

Spindles (S1)
2-78 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Constraints
No supplementary conditions apply.
3

Spindles (S1)
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 3-1
Constraints

Spindles (S1)
3-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Examples 4
4.1 Example of automatic gear step selection (M40)

Example
To illustrate the contents of the new block search variables:
Assumptions about automatic gear step selection (M40):

S0...500 1. Gear step

S501..1000 2. Gear step
S1001..2000 3. Gear step

Content of system variables:

$P_SEARCH_S ; Collected S value
$P_SEARCH_DIR ; Collected direction of rotation
$P_SEARCH_GEAR ; Collected gear step

Collected S value: Direction of Gear step:

rotation:
; 0/last speed -5 40/last GS
N05 G94 M40 M3 S1000 ; 1000 3 40
N10 G96 S222 : 222 3 40
N20 G97 ; f (PlanAxPosPCS)* 3 40
N30 S1500 ; 1500 3 40
N40 SPOS=0** ; 1500 -19 40
N50 M19** ; 1500 -19 40
N60 G94 G331 Z10 S300 ; 300 -19 40
N70 M42 ; 300 -19 42
N80 M4 ; 300 4 42
N90 M70 ; 300 70 42
N100 M3 M40 ; 300 3 40
N999 M30
* f (PlanAxPosPCS): The speed depends on the current position of the transverse axis in the
workpiece coordinate system.
** ($P_SEARCH_SPOS and $P_SEARCH_SPOSMODE are programmed)

Spindles (S1)
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 4-1
Examples
4.1 Example of automatic gear step selection (M40)

Spindles (S1)
4-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Data lists 5
5.1 Machine data

5.1.1 NC-specific machine data

Number Identifier: $MN_ Description

10192 GEAR_CHANGE_WAIT_TIME Wait time for acknowledgment of a gear stage change
during reorganization
10714 M_NO_FCT_EOP M function for spindle active after RESET
12060 OVR_SPIND_IS_GRAY_CODE Spindle override with Gray coding
12070 OVR_FACTOR_SPIND_SPEED Evaluation of spindle speed override switch
12080 OVR_REFERENCE_IS_PROG_FEED Override reference velocity

5.1.2 Channelspecific machine data

Number Identifier: $MC_ Description

20090 SPIND_DEF_MASTER_SPIND Initial setting for master spindle on channel
20092 SPIND_ASSIGN_TAB_ENABLE Enabling/disabling of spindle converter
20850 SPOS_TO_VDI Output of auxiliary function "M19" to the
VDI interface
22400 S_VALUES_ACTIVE_AFTER_RESET S function active after RESET

5.1.3 Axis/spindlespecific machine data

Number Identifier: $MA_ Description

30300 IS_ROT_AX Rotary axis
30310 ROT_IS_MODULO Modulo conversion

Spindles (S1)
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 5-1
Data lists
5.1 Machine data

Number Identifier: $MA_ Description

31044 ENC_IS_DIRECT2 Encoder on intermediate gear
31050 DRIVE_AX_RATIO_DENOM Denominator load gearbox
31060 DRIVE_AX_RATIO_NUMERA Numerator load gearbox
31064 DRIVE_AX_RATIO2_DENOM Intermediate gear denominator
31066 DRIVE_AX_RATIO2_NUMERA Intermediate gear numerator
31070 DRIVE_ENC_RATIO_DENOM Measuring gear denominator
31080 DRIVE_ENC_RATIO_NUMERA Measuring gear numerator
31122 BERO_DELAY_TIME_PLUS BERO delay time in plus direction
31123 BERO_DELAY_TIME_MINUS BERO delay time in minus direction
32200 POSCTRL_GAIN KV factor
32800 EQUIV_CURRCTRL_TIME Equivalent time constant current control circuit for
feedforward control
32810 EQUIV_SPEEDCTRL_TIME Equivalent time constant speed control circuit for
feedforward control
32910 DYN_MATCH_TIME Time constant for dynamic matching
34040 REFP_VELO_SEARCH_MARKER Reference point creep speed
34060 REFP_MAX_MARKER_DIST Monitoring of zero mark distance
34080 REFP_MOVE_DIST Reference point distance/destination point for
distancecoded system
34090 REFP_MOVE_DIST_CORR Reference point offset/absolute offset, distancecoded
34100 REFP_SET_POS Reference point value
34200 ENC_REFP_MODE Homing mode
35000 SPIND_ASSIGN_TO_MACHAX Assignment of spindle to machine axis
35010 GEAR_STEP_CHANGE_ENABLE Gear step change options
expandable at fixed position
35012 GEAR_STEP_CHANGE_POSITION Gear step change position
35020 SPIND_DEFAULT_MODE Basic spindle setting
35030 SPIND_DEFAULT_ACT_MASK Activate initial spindle setting
35035 SPIND_FUNCTION_MASK Setting of spindle-specific functions
35040 SPIND_ACTIVE_AFTER_RESET Spindle active after reset
35100 SPIND_VELO_LIMIT Maximum spindle speed
35110 GEAR_STEP_MAX_VELO[n] Maximum speed for gear change
35120 GEAR_STEP_MIN_VELO[n] Minimum speed for gear change
35130 GEAR_STEP_MAX_VELO_LIMIT[n] Maximum speed of gear step
35140 GEAR_STEP_MIN_VELO_LIMIT[n] Minimum speed of gear step
35150 SPIND_DES_VELO_TOL Spindle speed tolerance
35160 SPIND_EXTERN_VELO_LIMIT Spindle speed limitation via PLC
35200 GEAR_STEP_SPEEDCTRL_ACCEL[n] Acceleration in speed control mode
35210 GEAR_STEP_POSCTRL_ACCEL[n] Acceleration in position control mode
35220 ACCEL_REDUCTION_SPEED_POINT Speed limit for reduced acceleration
35230 ACCEL_REDUCTION_FACTOR Reduced acceleration
35300 SPIND_POSCTRL_VELO position control activation speed

Spindles (S1)
5-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Data lists
5.2 Setting data

Number Identifier: $MA_ Description

35350 SPIND_POSITIONING_DIR Positioning direction of rotation for a nonsynchronized
spindle
35400 SPIND_OSCILL_DES_VELO Oscillation speed
35410 SPIND_OSCILL_ACCEL Oscillation acceleration
35430 SPIND_OSCILL_START_DIR Oscillation start direction
35440 SPIND_OSCILL_TIME_CW Oscillation time for M3 direction
35450 SPIND_OSCILL_TIME_CCW Oscillation time for M4 direction
35500 SPIND_ON_SPEED_AT_IPO_START Feed enable with spindle in setpoint range
35510 SPIND_STOPPED_AT_IPO_START Feed enable with stationary spindle
35590 PARAMSET_CHANGE_ENABLE Parameter set definition possible from PLC
36060 STANDSTILL_VELO_TOL Threshold velocity "Axis/spindle stationary"
36200 AX_VELO_LIMIT Threshold value for velocity monitoring.

5.2 Setting data

5.2.1 Channelspecific setting data

Number Identifier: $SC_ Description

42600 JOG_FEED_PER_REF_SOURCE Revolutional feedrate control in JOG mode
42800 SPIND_ASSIGN_TAB Spindle number converter
42900 MIRROR_TOOL_LENGTH Mirror tool length offset
42910 MIRROR_TOOL_WEAR Mirror wear values of tool length compensation
42920 WEAR_SIGN_CUTPOS Mirror wear values of machining plane
42930 WEAR_SIGN Invert sign of all wear values
42940 TOOL_LENGTH_CONST Retain the assignment of tool length components
when changing the machining plane (G17 to G19)

5.2.2 Axis/spindle-specific setting data

Number Identifier: $SA_ Description

43200 SPIND_S Specification of the spindle speed
43202 SPIND_CONSTCUT_S Specification of the constant cutting rate for the
master spindle
43210 SPIND_MIN_VELO_G25 Progr. Spindle speed limitation G25

Spindles (S1)
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 5-3
Data lists
5.3 Signals

Number Identifier: $SA_ Description

43220 SPIND_MAX_VELO_G26 Progr. Spindle speed limitation G26
43230 SPIND_MAX_VELO_LIMS Progr. spindle speed limitation G96/G961
43240 M19_SPOS Spindle position for spindle positioning
with M19
43250 M19_SPOSMODE Spindle positioning approach mode for
spindle positioning with M19
43300 ASSIGN_FEED_PER_REF_SOURCE Rotational feedrate for positioning axes/spindles

5.3 Signals

5.3.1 Signals to axis/spindle

DB number Byte.bit Description

31, ... 0.7 - 0.0 Feedrate override H to A
31, ... 1.3 Axis/spindle disable
31, ... 1.4 Followup mode
31, ... 1.5 Position measuring system 1
31, ... 1.6 Position measuring system 2
31, ... 1.7 Override active
31, ... 2.1 Servo enable
31, ... 2.2 Spindle reset/delete distancetogo
31, ... 3.6 Velocity/spindle speed limitation
31, ... 3.7 Program test Axis/Spindle Enable
31, ... 16.2-16.0 Actual gear step A to C
31, ... 16.3 Gear changed
31, ... 16.4 Resynchronize spindle 1
31, ... 16.5 Resynchronize spindle 2
31, ... 16.6 no n-monitoring with gear change
31, ... 16.7 Delete S value
31, ... 17.0 Feedrate override for spindle valid
31, ... 17.4 Resynchronize spindle during positioning 1
31, ... 17.5 Resynchronize spindle during positioning 2
31, ... 17.6 Invert M3/M4
31, ... 18.4 Oscillation via PLC
31, ... 18.5 Oscillation enable (oscillation speed)
31, ... 18.6 Oscillation rotation direction clockwise (Set rotation direction clockwise)
31, ... 18.7 Oscillation rotation direction counterclockwise (Set rotation direction counterclockwise)

Spindles (S1)
5-4 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Data lists
5.3 Signals

DB number Byte.bit Description

31, ... 19.7 - 19.0 Spindle offset H to A
31, ... 30.0 Spindle stop
31, ... 30.1 Spindle start CW
31, ... 30.2 Spindle start CCW
31, ... 30.3 Automatic gear step change
31, ... 30.4 Spindle positioning
31, ... 60.0 Spindle/No Axis
31, ... 60.2 Encoder limit frequency exceeded 1
31, ... 60.3 Encoder limit frequency exceeded 2
31, ... 60.4 Homed/synchronized 1
31, ... 60.5 Homed/synchronized 2
31, ... 60.6 Position reached with exact stop coarse
31, ... 60.7 Position reached with exact stop fine
31, ... 61.4 Axis/spindle stationary (n < nmin)
31, ... 61.5 Position controller active
31, ... 61.6 Speed control loop active
31, ... 61.7 Current controller active
31, ... 82.2-82.0 Set gear step A to C
31, ... 82.3 Change gear
31, ... 83.0 Speed limit exceeded
31, ... 83.1 Setpoint speed limited
31, ... 83.2 Setpoint speed increased
31, ... 83.5 Spindle in setpoint range
31, ... 83.7 Actual direction of rotation clockwise

5.3.2 Signals from axis/spindle

DB number Byte.bit Description

31, ... 84.3 Rigid tapping active
31, ... 84.4 active spindle mode synchronous mode
31, ... 84.5 Active spindle positioning mode
31, ... 84.6 Active spindle mode oscillation mode
31, ... 84.7 Active spindle control mode
31, ... 85.5 Spindle actually reached in position
31, ... 86 and 87 M function for spindle
31, ... 88-91 S function for spindle

Spindles (S1)
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 5-5
Data lists
5.3 Signals

Spindles (S1)
5-6 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Index
DBX30.4, 2-62
DBX4.3, 2-43, 2-72
$ DBX60.0, 2-21
DBX60.2, 2-74
$AA_S[n], 2-5
DBX60.3, 2-74
$AC_SGEAR, 2-67
DBX60.4, 2-74
$P_GEAR, 2-67
DBX60.4/60.5, 2-38, 2-44, 2-45, 2-47, 2-48
DBX60.5, 2-74
DBX60.6, 2-9, 2-16, 2-19, 2-75, 2-76
C DBX60.7, 2-16, 2-19, 2-51, 2-75
Constant cutting rate setting, 2-63 DBX61.4, 2-5, 2-33, 2-62, 2-71
DBX61.5, 2-4, 2-44, 2-48
DBX64.6, 2-62
D DBX64.7, 2-62
DBX68.0-68.3, 2-60
DB 31, ...
DBX7.7, 2-73
DBB16-19, 2-21
DBX82.0-82.2, 2-31, 2-33, 2-34, 2-35, 2-37, 2-41,
DBB68ff., 2-58
2-44, 2-47, 2-50
DBB82-91, 2-21
DBX82.3, 2-33, 2-34, 2-35, 2-41, 2-44, 2-45, 2-47,
DBX1.3, 2-73
2-50
DBX1.5, 2-27
DBX83.1, 2-5, 2-15, 2-35, 2-36, 2-72, 2-73
DBX1.6, 2-27
DBX83.2, 2-72
DBX16.0-16.2, 2-6, 2-31, 2-34, 2-36, 2-37, 2-38,
DBX83.5, 2-5, 2-6, 2-9, 2-71, 2-72
2-44, 2-48
DBX84.0, 2-61, 2-64
DBX16.3, 2-2, 2-34, 2-37, 2-38, 2-43, 2-44, 2-45,
DBX84.5, 2-47, 2-51
2-48, 2-51
DBX84.6, 2-2, 2-41, 2-44, 2-47, 2-50, 2-51
DBX16.4, 2-28
DBX84.7, 2-4, 2-34, 2-48
DBX16.5, 2-28
DB21, ...
DBX16.7, 2-73
DBB194, 2-58
DBX17.0, 2-50
DBB202, 2-58
DBX17.4, 2-26
DBB68ff., 2-58
DBX17.4/17.5, 2-47
DBX35.4, 2-60
DBX17.5, 2-26
DBX35.6, 2-60
DBX17.6, 2-63
DBX35.7, 2-60
DBX18.4, 2-42, 2-43, 2-48
DBX6.1, 2-36
DBX18.5, 2-6, 2-33, 2-34, 2-42, 2-43, 2-44, 2-48,
DBX7.4, 2-37, 2-73
2-73
DBX7.7, 2-21
DBX18.6, 2-43
DB2x
DBX18.7, 2-43
DBX6.1, 2-9
DBX2.1, 2-48, 2-73
DB31, ...
DBX2.2, 2-5, 2-20, 2-37, 2-73
DBX16.3, 2-6
DBX20.1, 2-38
DBX30.1, 2-63, 2-64
DBX30.0, 2-62
DBX30.2, 2-63
DBX30.1, 2-62, 2-63
DBX61.4, 2-6
DBX30.2, 2-63, 2-64
DB31,...
DBX30.3, 2-62

Spindles (S1)
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 Index-1
Index

DBX82.0-82.2, 2-67 MD34040, 2-26

DBX82.3, 2-67 MD34060, 2-18
DBX83.1, 2-66 MD34080, 2-26
DBX83.2, 2-66 MD34090, 2-26
DB31... MD34100, 2-26
DBX61.4, 2-10 MD34200, 2-26
DBX83.5, 2-11 MD35000, 2-52, 2-54, 2-57
Dry run feedrate (DryRun), 2-66 MD35010, 2-28, 2-29, 2-41, 2-44, 2-47, 2-52
MD35012, 2-31, 2-47, 2-49
MD35020, 2-23
G MD35030, 2-23
MD35035, 2-61, 2-62, 2-65, 2-66, 2-66
Gear step change from NC, 2-29
MD35040, 2-4, 2-20
Gear steps, 2-28
MD3510, 2-51
MD35110, 2-31, 2-32
MD35120, 2-31, 2-32
I MD35130, 2-31, 2-36, 2-73
Intermediate gear, 2-39 MD35140, 2-31, 2-72
Invert M3/M4, 2-63 MD35150, 2-9, 2-11, 2-71
MD35200, 2-4, 2-14, 2-17, 2-20, 2-31, 2-51
MD35210, 2-4, 2-14, 2-15, 2-18, 2-19, 2-20, 2-31, 2-32,
M 2-51
MD35300, 2-12, 2-13, 2-14, 2-15, 2-18, 2-19, 2-50,
Manual specification of a gear step, 2-36
2-57
MD10192, 2-40
MD35310, 2-47, 2-50
MD10240, 2-64
MD35350, 2-17, 2-50
MD11410, 2-34
MD35400, 2-42, 2-43
MD20070, 2-54
MD35410, 2-41, 2-44
MD20090, 2-55
MD35430, 2-42
MD20092, 2-54
MD35440, 2-42
MD20094, 2-21
MD35450, 2-42
MD20110, 2-56
MD35500, 2-6, 2-9, 2-10, 2-71
MD20112, 2-56
MD35510, 2-10, 2-71
MD20850, 2-8, 2-12
MD35590, 2-30, 2-33
MD22000, 2-8
MD36000, 2-16, 2-19, 2-75
MD22010, 2-8
MD36010, 2-16, 2-19, 2-75
MD22020, 2-8
MD36012, 2-22
MD22030, 2-8
MD36060, 2-5, 2-10, 2-71
MD31040, 2-16, 2-47
MD36200, 2-22
MD31044, 2-39
MD36302, 2-13
MD31050, 2-22, 2-44
Motion settings, 2-62
MD31060, 2-22, 2-38
MD31064, 2-39
MD31066, 2-39
MD31122, 2-26
N
MD31123, 2-26 Nonacknowledged gear step change, 2-40
MD32000, 2-74
MD32200, 2-22
MD32452, 2-22 P
MD32610, 2-22
Program testing and SERUPRO, 2-66
MD32620, 2-23
MD32800, 2-22
MD32810, 2-22
MD32910, 2-22

Spindles (S1)
Index-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Index

S Speed default, 2-63

SPI(n, 2-57
SD41200, 2-65
Spindle commands, 2-61
SD42600, 2-68
Spindle job, 2-60
SD42800, 2-52, 2-53, 2-54
Spindlespecific functions, 2-65
SD43200, 2-60, 2-61, 2-62, 2-62, 2-63, 2-65
SPOS [n], 2-6
SD43202, 2-62, 2-63
Star/delta switchover with FC17, 2-38
SD43240, 2-8, 2-56
SD43250, 2-8
SD43300, 2-68
Special spindle interface, 2-59
T
Specify gear step, 2-29 Tolerance range for setpoint speed, 2-72
Specify gear step from the PLC, 2-33, 2-36

Spindles (S1)
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 Index-3
Index

Spindles (S1)
Index-4 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Brief Description 1

Detailed description 2

Supplementary conditions 3
SINUMERIK
840D sl/840Di sl/840D/840Di/810D
Examples 4
Feeds (V1) 5
Data lists

Function Manual

Valid for

Control
SINUMERIK 840D sl/840DE sl
SINUMERIK 840Di sl/840DiE sl
SINUMERIK 840D powerline/840DE powerline
SINUMERIK 840Di powerline/840DiE powerline
SINUMERIK 810D powerline/810DE powerline

Software Version
NCU System Software for 840D sl/840DE sl 1.3
NCU system software for 840Di sl/DiE sl 1.0
NCU system software for 840D/840DE 7.4
NCU system software for 840Di/840DiE 3.3
NCU system software for 810D/810DE 7.4

03/2006 Edition
6FC5397-0BP10-1BA0
Safety Guidelines
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent
damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are
graded according to the degree of danger.

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

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

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

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

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

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

Prescribed Usage
Note the following:

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

Trademarks
All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this
publication may be trademarks whose use by third parties for their own purposes could violate the rights of the
owner.

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

Siemens AG Order No.: 6FC5397-0BP10-1BA0 Copyright © Siemens AG 2006.

Automation and Drives Edition 05/2006 Technical data subject to change
Postfach 48 48
90437 NÜRNBERG
GERMANY
Table of contents
1 Brief Description ..................................................................................................................................... 1-1
2 Detailed description ................................................................................................................................ 2-1
2.1 Path feedrate F .......................................................................................................................... 2-1
2.1.1 General ...................................................................................................................................... 2-1
2.1.2 Type of feedrate G93, G94, G95 ............................................................................................... 2-3
2.1.3 Type of feedrate G96, G961, G962, G97, G971........................................................................ 2-5
2.1.4 Feedrate with G33, G34, G35 (thread cutting) .......................................................................... 2-9
2.1.4.1 General ...................................................................................................................................... 2-9
2.1.4.2 Programmable run-in and run-out path for G33, G34 and G35............................................... 2-11
2.1.4.3 Linear progressive/degressive thread-lead change with G34 and G35................................... 2-13
2.1.4.4 Stop for thread cutting.............................................................................................................. 2-16
2.1.5 Feedrate for G331/G332, rigid tapping .................................................................................... 2-20
2.1.6 Feedrate for G63, tapping with compensation chuck .............................................................. 2-20
2.2 Feedrate FA for positioning axes ............................................................................................. 2-21
2.3 Feedrate control ....................................................................................................................... 2-22
2.3.1 General .................................................................................................................................... 2-22
2.3.2 Feedrate disable and feedrate/spindle stop............................................................................. 2-23
2.3.3 Feedrate override on machine control panel ........................................................................... 2-25
2.3.4 Programmable feedrate override ............................................................................................. 2-30
2.3.5 Dry run feedrate ....................................................................................................................... 2-30
2.3.6 Multiple feedrate values in one block....................................................................................... 2-32
2.3.7 Fixed feedrate values (840D, 810D)........................................................................................ 2-38
2.3.8 Feedrate for chamfer/rounding FRC, FRCM ........................................................................... 2-39
2.3.9 Non-modal feedrate FB............................................................................................................ 2-40
2.3.10 Programmable singleaxis dynamic response .......................................................................... 2-41
3 Supplementary conditions ...................................................................................................................... 3-1
3.1 General boundary conditions ..................................................................................................... 3-1
3.2 Supplementary conditions for feedrate programming................................................................ 3-1
4 Examples................................................................................................................................................ 4-1
4.1 Feedrate programming for chamfer/rounding FRC, FRCM ....................................................... 4-1
5 Data lists................................................................................................................................................. 5-1
5.1 Machine data.............................................................................................................................. 5-1
5.1.1 NC-specific machine data .......................................................................................................... 5-1
5.1.2 Channelspecific machine data ................................................................................................... 5-2
5.1.3 Axis/spindlespecific machine data ............................................................................................. 5-2
5.2 Setting data ................................................................................................................................ 5-3
5.2.1 Channelspecific setting data ...................................................................................................... 5-3
5.2.2 Axis/spindle-specific setting data ............................................................................................... 5-3
5.3 Signals ....................................................................................................................................... 5-4
5.3.1 Signals to channel...................................................................................................................... 5-4

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Table of contents

5.3.2 Signals from channel.................................................................................................................. 5-4

5.3.3 Signals to axis/spindle................................................................................................................ 5-5
Index................................................................................................................................................ Index-1

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Brief Description 1
Types of feedrate
The feedrate determines the machining speed (axis or path velocity) and is observed in
every type of interpolation, even where allowance is made for tool offsets on the contour or
on the tool center point path (depending on G commands).
The following types of feedrate allow optimum adaptation to the various technological
applications (turning, milling, drilling, etc.):
• Rapid traverse feedrate (G0)
• Inverse-time feedrate (G93)
• Linear feedrate (G94)
• Revolutional feedrate (G95)
• Constant cutting rate (G96, G961)
• Constant speed (G97, G971)
• Feedrate with thread cutting (G33, G34, G35)
• Feedrate for tapping with compensating chuck (G63)
• Feedrate for rigid tapping (G331, G332)
• Feedrate for chamfer/rounding FRC, FRCM
• Non-modal feedrate FB

Programmable run-in/run-out path for G33

The thread run-in and run-out paths can be programmed. The thread axis is accelerated and
decelerated within the defined distance.

Note
If a very short distance is specified, the axis can be overloaded.

Axis assignment for feedrates

Feedrates can be assigned variably to axes according to technological requirements.
The following assignments are supported:
• Separate feedrates for working plane and infeed axis
• Variable axis assignment for path feedrate
• Feedrate for positioning axes

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Brief Description

Feedrate control
The programmed feedrate can be modified for adaptation to changes in technological
conditions during machining or for test purposes.
• Via the machine control panel
• Via the operator panel
• Via the PLC
• Via a program command

Feedrate interpolation
To permit flexible definition of the feedrate characteristic, the feedrate programming
according to DIN 66205 has been extended by linear and cubic characteristics.
The cubic profiles can be programmed directly or as interpolating spline.
You can program the following feedrate profiles:
• FNORM
Behavior as per DIN 66025 (default setting).
An F value programmed in the block is applied over the entire path of the block, and is
subsequently regarded as a fixed modal value.
• FLIN
An F value programmed in the block is positioned from the current value at the start of the
block to the end of the block linearly across the path distance and applies as a modal
value thereafter.
• FCUB
The F values programmed non-modally (relative to the end of the block) are connected by
a spline. The spline starts and ends at a tangent to the previous or subsequent define
feedrate. If the F address is missing in a block, the last F value programmed is used
instead.
• FPO
The F address [syntax: F=FPO (...,...,...)] designates the feedrate response over a
polynomial from the current value to the end of the block in which it has been
programmed. The end value then applies as a modal value.
Machine data:
MD20172 $MC_COMPRESS_VELO_TOL
supports the definition of a tolerance for the path feedrate, if FLIN and FCUB are used in
conjunction with compression COMPON.
For more information about programmable feedrate paths, please see
References:
/PGA/ Programming Guide, Advanced.

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 Brief Description

Feedrate for chamfer/rounding FRC, FRCM

The machining conditions can change significantly during surface transitions to
chamfer/rounding. The chamfer/rounding contour elements therefore need their own
optimized feedrate values in order to achieve the required surface finish.
You can program the feedrate for the chamfer/rounding with FRC (non-modal) or FRCM
(modal).

Non-modal feedrate FB
A separate feedrate can be specified for a single block with the FB command. During this
block the previously active path feedrate is overwritten, after the block the previously active
modal path feedrate becomes active once more.

Programmable singleaxis dynamic response

The dynamic response of single axes can be changed directly via the programming:
• Percentage acceleration correction (ACC) in the part program and in synchronized actions
• Programmable movement end criterion: FINEA (Exact stop fine), COARSEA (Exact stop
coarse), IPOENDA (Interpolator stop) in the part program and in synchronized actions
• Programmable servo parameter set (SCPARA) in the part program and in synchronized
actions.

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Detailed description 2
2.1 Path feedrate F

2.1.1 General

Path feedrate F
The path feedrate represents the geometrical total of the velocity components in the
participating axes. It is therefore generated from the individual motions of the interpolating
axes.
The default uses the axial velocities of the geometry axes which have been programmed.
The FGROUP command can be used to include other geometry and/or synchronized axes in
the calculation of the path feedrate.
The path feedrate F determines the machining speed and is observed in every type of
interpolation even where allowance is made for tool offsets. The value programmed under
the address F remains in the program until a new F value or a new type of feedrate is
programmed.

Value range for path feedrate F

Reference:
/PG/ Fundamentals Programming Guide
/FB1/ Function Manual, Basic Functions; Velocities, Setpoint/ Actual Value Systems, Closed-
Loop Control (G2)

F value at PLC interface

The F value of the current path feedrate is always entered in the channelspecific PLC
interface for auxiliary functions (DB21, ... DBB158 bis 193).
The related interface signals (modification signal, F value) are described in:
References:
/FB1/ Function Manual Basic Functions; Auxiliary Function Output to PLC (H2)

Feedrate with transition circle

For further information, see:
References:
PG/ Fundamentals Programming Guide

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Detailed description
2.1 Path feedrate F

Feedrate for internal radius and external radius path sections

For circular blocks or spline blocks with curvature in the same direction and tool radius offset
activated (G41/G42), the programmed feedrate can act on the center point path or on the
contour (depending on the internal radius or external radius path sections).
A group of G commands is provided for this purpose:
• CFTCP
Programmed feedrate acting on the center point path.
• CFC
Programmed feedrate acting on the contour.
• CFCIN
Programmed feedrate acting only on the contour with a concave spline.
References:
/PG/ Fundamentals Programming Guide

Maximum tool path velocity

The maximum path velocity results from the maximum velocities of the linear or rotary axes
involved (MD32000 $MA_MAX_AX_VELO), i.e. the axis with the lowest maximum velocity
determines the maximum path velocity. This cannot be exceeded.
If G0 is programmed, traversing is at the path velocity resulting from the MD32000
$MA_MAX_AX_VELO limitation.

Limit velocity for path axes

In addition, the FL[x]=... command can be used to program a limit velocity for path axes
(geometry and synchronized axes).
References:
/PG/ Fundamentals Programming Guide
This enables separate feedrates to be programmed for the working plane and infeed axis.
This means that a feedrate is specified for both pathrelated interpolation and for the infeed
axis. The axis perpendicular to the selected machining plane is designated as the infeed
axis. The infeed axisspecific feedrate can be programmed to limit the axis velocity and
therefore the path velocity. No coordinate rotations through frames should be included, i.e.,
the infeed axis must be an axis of the standard coordinate system. This function can be used
to compensate for the fact that a cutter has a lower cutting performance on the face side
than across the cutter circumference.
Programming example:

. .. .. G94 .... Selection of feedrate type (mm/min)

X30 Y20 F200 Path feedrate = 200 mm/s
FL[Z]=50 Z-30 Max. feedrate for Z axis: 50 mm/s

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 Detailed description
2.1 Path feedrate F

2.1.2 Type of feedrate G93, G94, G95

Effectivity
The feedrate types G93, G94, G95 are active for the G functions of group 1 (except G0) in the
automatic modes.
G94 or G95 can be used for traversing in JOG mode.
References:
/FB2/ Function Manual, Extended Functions; Jog With/Without Handwheel (H1)

Reciprocal feedrate (G93) (applies only to 840D/810D)

The inverse-time feedrate is used when it is easier to program the duration, rather than the
feedrate, for retraction of a block.
The inverse-time feedrate is calculated from the following formula:

Y
)   )>PLQ@
V

Where F: Inverse-time feedrate

v: Required path velocity in mm/min or inch/min
s: Path length in mm/inch
Programming example:

N10 G1 G93X100 Y200 F2 ; The programmed path is traversed in 0.5 min.

Note
G93may not be used when G41/G42 is active. If the block length varies greatly from block to
block, a new F value should be programmed in each block for G93.

Linear feedrate (G94)

The linear feedrate is programmed in the following units relative to a linear or rotary axis:
• [mm/min, degrees/min] on standard metric systems
• [inch/min, degrees/min] on standard imperial systems

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Detailed description
2.1 Path feedrate F

Revolutional feedrate (G95)

The revolutional feedrate is programmed in the following units relative to a master spindle:
• [mm/rev] on standard metric systems
• [inch/rev] on standard imperial systems
• [degrees/rev] on a rotary axis
The path velocity is calculated from the actual speed of the spindle according to the following
formula:

9 Q )

Where V: Path velocity

n: Master spindle speed
F: Programmed revolutional feedrate

Note
The programmed F value is deleted when the system switches between the feedrate types
G93, G94 and G95 .

In JOG mode, the response of the axis/spindle also depends on the setting data:
SD41100 $SN_JOG_REV_IS_ACTIVE (revolutional feed rate for JOG active)

• If this setting data is active, an axis/spindle is always moved with revolutional feedrate
machine data:
MD32050 $MA_JOG_REV_VELO (revolutional feedrate with JOG)
or
MD32040 $MA_JOG_REV_VELO_RAPID
(revolutional feedrate with JOG with rapid traverse overlay)
depending on the master spindle.
• If the setting data is not active, then the axis/spindle responds as a function of the setting
date:
SD43300 $SA_ASSIGN_FEED_PER_REV_SOURCE
(revolutional feedrate for position axes/ spindles).
• If the setting data is not active, the response of a geometry axis on which a frame with
rotation acts depends on the channel-specific setting data:
SD42600 $SC_JOG_FEED_PER_REV_SOURCE
(in JOG mode revolutional feedrate for geometry axes, on which the frame with rotation
acts).

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 Detailed description
2.1 Path feedrate F

"Revolutional feedrate active" DB31, ... DBX62.2

A programmed, active revolutional feedrate (G95) is displayed using this interface signal.

Alarms
• If no F value is programmed, alarm 10860 "No feedrate programmed" is issued.
The alarm is not generated with G0 blocks.
• If a negative path velocity is programmed, alarm 14800 "Programmed path velocity
smaller than or equal to zero" is output.
• If a revolutional feedrate (G95) is programmed but no master spindle has been defined,
alarm 10810 "No master spindle defined" is output.

2.1.3 Type of feedrate G96, G961, G962, G97, G971

Constant cutting rate (G96, G961)

The constant cutting rate is used on turning machines to keep the cutting conditions
constant, independently of the work diameter of the workpiece. This allows the tool to be
operated in the optimum cutting performance range and therefore increases its service life.
Selection of G96, G961:
When programming G96, G961, the corresponding S value is interpreted as the cutting rate
in m/min or ft/min along the transverse axis. If the workpiece diameter decreases during
machining, the speed is increased until the constant cutting speed is reached.
When G96, G961 is first selected in the part program, a constant cutting rate must be
entered in mm/min or ft/min. When the command is reselected, a constant cutting rate may
be entered.
With G96, the control system will automatically switch to revolutional feedrate
(as with G95), i.e. the programmed feedrate F is interpreted in mm/rev or inch/rev.
When programming G961, linear feedrate is selected automatically (as with G94). A
programmed feedrate F is interpreted in mm/min or inch/min.
Based on the programmed cutting rate SSpeed , either (SG96) or (SG961) and the partoriented
actual value of the transverse axis (radius r), the control system uses the following formula to
determine the spindle speed:

6 6SHHG
Q 
   U

π = Circle constant

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Detailed description
2.1 Path feedrate F

Diameter programming and reference axis for several transverse axes in one channel:
One or more transverse axes are permitted and can be activated simultaneously or
separately:
• Programming and displaying in the HMI operator interface in the diameter
• Assignment of the specified reference axis with SCC[AX] for a constant cutting rate G96,
G961, G962
References:
/FB1/ Function Manual Basic Functions; Transverse Axes (P1)
Example

Example
SG96 = 230 m/min
• where r = 0.2 m ! n = 183.12 rpm
• where r = 0.1 m ! n = 366.24 rpm
⇒ The smaller the workpiece diameter, the higher the speed.
For G96, G961 or G962 a geometry axis must be defined as the transverse axis.
The transverse axis, whose position affects the speed of the mater spindle, is defined using
channel-specific machine data:
MD20100 $MC_DIAMETER_AX_DEF (geometry axis with transverse axis function )

The function G96, G961 or G962requires that the machine zero and the workpiece zero of
the transverse axis are in the turning center of the spindle.

Constant speed (G97, G971)

G97, G971 deactivates the "Constant cutting rate function" (G96, G961) and saves the last
calculated spindle speed. With G97, the feedrate is interpreted as a revolutional feedrate (as
with G95).
When programming G971, linear feedrate is selected (as with G94). The feedrate F is
interpreted in mm/min or inch/min.
When G97, G971 is active, an S value can be reprogrammed to define a new spindle speed.
This will not modify the cutting rate programmed in G96, G961.
G97, G971 can be used to avoid speed variations in movements along the transverse axis
without machining (e.g., cutting tool).

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 Detailed description
2.1 Path feedrate F

Note
G96, G961 is only active during workpiece machining (G1, G2, G3, spline interpolation, etc.,
where feedrate F is active).
The response of the spindle speed for active G96, G961 and G0blocks can be defined in the
channelspecific machine data:
MD20750 ALLOW_G0_IN_G96 (G0 logic for G96, G961)

When constant cutting rate G96, G961 is selected, no gear stage change can take place.
The spindle speed override switch acts on the spindle speed calculated.
A DRF offset in the transverse axis does not affect the spindle speed setpoint calculation.
At the start of machining (after G0) and after NC Stop, G60, G09, ... the path start waits for
"nAct= nSet".
The interface signals "nAct = nSet" and "Set speed limited" are not modified by internal
speed settings.
When the speed falls below the minimum speed or if the signal "Axis/spindle stationary" is
recognized, "nAct =nSet" is reset.
A path operation, which has started (G64, rounding), is not interrupted.

Spindle speed limitation with G96, G961

For the function "Constant cutting rate", in setting data:
SD43230 $SA_SPIND_MAX_VELO_LIMS
(spindle speed limitation with G96/G961)
and in the part program (for the master spindle) with the programming command LIMS, a
maximum spindle speed can be set.
The most recently changed value (LIMS or SD) is active.
LIMS is effective with G96, G961, G97 and can be specified on up to four speed limitations in
the part program in one block. Spindle number Sn=1, 2, 3, or 4 of the master spindle that is
possible in the particular instance can be programmed in part progam instruction LM[Sn].

Note
When the block is loaded in the main run, all programmed values are transferred to to setting
data SD43230 $SA_SPIND_MAX_VELO_LIMS.

The speed limit set with LIMS remains stored after the control is switched off, depending on
the machine data:
MD10710 PROG_SD_RESET_SAVE_TAB[n] (setting data to be updated)
.
When G96, G961, G97 are reactivated, this spindle speed limitation is also activated.
The maximum permissible spindle speed defined by means of G26 or setting data:
SD43220 $SA_SPIND_MAX_VELO_G26 (maximum spindle speed)
, cannot be exceeded.

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Detailed description
2.1 Path feedrate F

In the event of incorrect programming that would cause one of the speed limits (G26 or
SD43220 $SA_SPIND_MAX_VELO_G26) to be exceeded, the "Programmed speed too
high" interface signal (DB31, ... DBX83.1) is set.
In order to ensure smooth rotation with large part diameters, the spindle speed is not
permitted to fall below a minimum level.
This speed is defined using setting data:
SD43210 $SA_SPIND_MIN_VELO_G25 (minimum spindle speed)
and can be set for each gear step with the machine data:
MD35140 $MA_GEAR_STEP_MIN_VELO_LIMIT (minimum velocity of the gear step)
.
The minimum spindle speed can be changed in the part program with G25. In the event of
programming that would mean one of the spindle limits (G25 or SD43220
$SA_SPIND_MAX_VELO_G25) is not reached, the "Set speed too low" interface signal
(DB31, ... DBX83.2) is set.

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Figure 2-1 Spindle speed limitations

The various spindle speed limits are illustrated in the figure above. For more information and
for information on the effect of the setting data see:
References:
/FB1/ Function Manual Basic Functions; Spindles (S1);
Section: Spindle Monitoring Functions, Setting Data

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 Detailed description
2.1 Path feedrate F

Master spindle switchover with G96, G961

If the master spindle is switched over when G96, G961 are active, the speed of the former
master spindle is retained. This corresponds to a transition from G96 to G97. The master
spindle newly defined with SETMS executes the "Constant cutting rate" function generated in
this way.

Alarms
Constant cutting rate G96, G961, G962
• If no F value is programmed, alarm 10860 "No feedrate programmed" is output. The
alarm is not generated with G0 blocks.
• If a negative path velocity is programmed, alarm 14800 "Programmed path velocity
smaller than or equal to zero" is output.
• If, with an active G96, G961 or G962, no transverse axis is defined in the machine data:
MD20100 $MC_DIAMETER_AX_DEF (geometry axis with transverse axis function),
alarm 10870 "No transverse axis defined" is issued.
• If a negative maximum spindle speed is programmed with the LIMS program command
when G96, G961 are active, alarm 14820 "Negative maximum spindle speed
programmed for G96, G961" is output.
• If no constant cutting rate is programmed when G96, G961 is selected for the first time,
alarm 10900 "No S value programmed for constant cutting rate" is output.

2.1.4 Feedrate with G33, G34, G35 (thread cutting)

2.1.4.1 General

Application of G33
The function G33 can be used to machine threads with constant lead of the following type:
References:
/PA/ Programming Guide, Fundamentals
/PAZ/ Programming Guide, Cycles

Speed S, feedrate F, thread lead

A revolutional feedrate [mm/revolution] is used for G33 threads. The revolutional feedrate is
defined by programming the thread lead increase [mm/revolution].
The speed of the axes for the thread length is calculated from the programmed spindle
speed S and the thread lead.
Feedrate F [mm/min] = speed S [rev/min] * thread lead [mm/rev]

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Detailed description
2.1 Path feedrate F

At the end of the acceleration ramp, the position coupling between the spindle actual value
(spindle setpoint with SPCON on master spindle) and the axis setpoint is established. At this
moment, the position of the axis in relation to the zero mark of the spindle (including zero
mark offsets) is as if the axis had accelerated abruptly at the start of the block when the
thread start position (zero mark plus SF) was crossed. Compensation is made for the
following error of the axis.

Minimum spindle speed

In order to ensure smooth rotation at low speeds, the spindle speed is not permitted to fall
below a minimum level.
This speed is defined using setting data:
SD43210 $SA_SPIND_MIN_VELO_G25 (minimum spindle speed)
and can be set for each gear step with the machine data:
MD35140 $MA_GEAR _STEP_MIN_VELO_LIMIT (minimum velocity for gear step change)
.
The minimum spindle speed can be changed in the part program with G25.

NC STOP, single block

NC STOP and single block (even at the block boundary) are only active after completion of
thread chaining. All subsequent G33 blocks and the first subsequent nonG33 block are
traversed like a single block.

Premature abortion without destruction

Thread cutting can be aborted without destruction before the end point is reached. This can
be done by activating a retraction motion.

Thread cutting with ROT frame

With ROT frame and G33, G34, G35, alarm 10607 "Thread with frame not executable" is
activated if the rotation causes a change in the thread length and thus the lead. Rotation
around the thread axis is permissible.
Alarm 10607 "Thread with frame not executable" can be suppressed by setting bit 12 in
machine data:
MD11410 $MN_SUPPRESS_ALARM_MASK
, if the ROTstatement is used intentionally in the application.
All other frames are accepted by the NC without alarm. Attention is drawn to the lead-
changing effect of SCALE.

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 Detailed description
2.1 Path feedrate F

2.1.4.2 Programmable run-in and run-out path for G33, G34 and G35

Application

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Figure 2-2 Runin or runout path too short

• Short run-in path

Due to the collar on the thread runin, little room is left for the tool (T) start ramp.
This must therefore be set shorter via DITS.
• Short run-out path
Due to the collar on the thread run-out, little room is left for the tool deceleration ramp,
leading to the risk of collision between the workpiece and the tool edge. The tool braking
ramp can be set shorter via DITE. Due to the inertia of the mechanical system, however,
a collision can nevertheless occur.
Remedy: Program a shorter thread, reduce the spindle speed.
The programmed runin and runout path only increases the rate of acceleration on the path. If
one of the two paths is set larger than the thread axis needs with active acceleration, the
thread axis is accelerated or decelerated with maximum acceleration.

Activation
The DITS and DITE functions are always active during thread cutting.
Example:

N...
N59 G90 G0 Z100 X10 SOFT M3 S500
N60 G33 Z50 K5 SF=180 DITS=1 DITE=3 ; Start of corner rounding with Z=53
N61 G0 X20

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Detailed description
2.1 Path feedrate F

SD42010
Only paths, and not positions, are programmed with DITS and DITE.
The part program instructions are related to the setting data:
SD42010 $SC_THREAD_RAMP_DISP[0,1],
, which defines the following acceleration response of the axis on thread cutting:
• SD42010 ≤ 0 to –1
Identical with previous response.
Starting/braking of the feedrate axis at configured acceleration rate.
Jerk according to current BRISK/SOFT programming.
• SD42010 = 0
Abrupt starting/braking of the feedrate axis on thread cutting.
• SD42010 ≥ 0
The thread run-up/deceleration distance is specified.
To avoid technology alarm 22280, the acceleration limits of the axis must be observed in
case of very small run-in and run-out paths.

Note
DITE acts at the end of the thread as a rounding clearance. This achieves a smooth
change in the axis movement.

Compatibility
Machine data:
MD20650 $MC_THREAD_START_IS_HARD
is dispensed with and is replaced by:
SD42010 $SC_THREAD_RAMP_DISP[0]
or
SD42010 $SC_THREAD_RAMP_DISP[1]
.
The response of the new setting data with:
SD42010 $SC_THREAD_RAMP_DISP[0] = 0
or
SD42010 $SC_THREAD_RAMP_DISP[1] = 0
is identical to the previous machine data setting:
MD20650 $MC_THREAD_START_IS_HARD = 1.
The response with:
SD42010 $SC_THREAD_RAMP_DISP[0] = -1
or
SD42010 $SC_THREAD_RAMP_DISP[1] = -1
is identical to the previous machine data setting:
MD20650 $MC_THREAD_START_IS_HARD = 0 (default).

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 Detailed description
2.1 Path feedrate F

Constraints
When a block containing command DITS and/ or DITE is loaded in the interpolator, the path
programmed in DITS is transferred to setting data:
SD42010 $SC_THREAD_RAMP_DISP[0]
and the path programmed in DITE is transferred to setting data:
SD42010 $SC_THREAD_RAMP_DISP[1]
.
The programmed run-in path is handled according to the current setting (inches, metric).
If no run-in/deceleration path is programmed before or in the first thread block, the value is
determined by the current value in setting data:
SD42010 $SC_THREAD_RAMP_DISP[0,1 ]
.
In the event of RESET, the setting data:
SD42010 $SC_THREAD_RAMP_DISP[0,1]
is set to "-1".

2.1.4.3 Linear progressive/degressive thread-lead change with G34 and G35

Application G34, G35

The functions can be used to produce selfshearing threads.

Functionality
The thread lead increase (G34) defines the numerical increase in the lead value. A larger
pitch results in a larger distance between the threads on the workpieces. The velocity of the
thread axis thus increases assuming that the spindle speed is constant.
The opposite naturally applies to decreasing thread lead (G35).
The following definitions have been made for the thread-lead changes with respect to the
new G codes:
• G34: Increase in thread lead corresponds to progressive change.
• G35: Decrease in thread lead corresponds to degressive change.
Both functions G34 and G35 imply the functionality of G33 and additionally provide the option
of programming an absolute lead change value for the thread under F. If the start and end
lead of a thread is known, the thread-lead change can be determined using the following
equation:

_NH ದN D _
) 
 O*

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Detailed description
2.1 Path feedrate F

The identifiers have the following meanings:

F: The thread-lead change to be programmed [mm/rev2
ke: Thread lead of axis target point coordinate, thread axis [mm/rev]
ka : Initial thread lead (programmed under I, J or K) [mm/rev]
lG: Thread length [mm]
The absolute value of F must be applied to G34 or G35 according to the desired lead
increase or lead decrease.
When the thread length lG, lead change F and initial lead ka are known, the lead increase at
the end of block ke can be determined as follows by modifying the formula:
• G34 (progressive lead):

NH N D )  O *

• G35 (degressive lead):


NH N D )  O *

Note
If the formula results in a negative root expression, the thread cannot be machined!
In this case, the NC signals alarm 10605 or alarm 22275.

Sample program
Thread cutting G33 with degressive thread lead G35

N1608 M3 S10 ; Spindle speed

N1609 G0 G64 Z40 X216 ; Approach starting point
N1610 G33 Z0 K100 SF=R14 ; Thread with constant pitch 100 mm/rev

N1611 G35 Z-220 K100 F17.045455 ; Thread lead decrease 17.045455 mm/rev2

; Thread lead at end of block 50 mm/rev

N1612 G33 Z-240 K50 ; Traverse thread block without jerk

N1613 G0 X218 ;
N1614 G0 Z40 ;
N1616 M17 ;

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2.1 Path feedrate F

Suppress special alarms

Any lead changes that would overload the thread axis when G34 is active or would result in
an axis standstill when G35 is active are detected in advance during block preparation.
Alarm 10604 "Thread lead increase too high" or alarm 10605 "Thread lead decrease too
high" are output if bit 10 in machine data:
MD11410 SUPPRESS_ALARM_MASK
is not set.
During thread cutting, certain practical applications require a correction of the spindle speed.
In this case, the operator will base his correction on the permissible velocity of the thread
axis.
The output of the alarm generated during monitoring (10604 or 10605) can be suppressed
by setting bit 10 in machine data:
MD11410 SUPPRESS_ALARM_MASK.

Block preparation continues as normal when alarms are suppressed.

The following situations are monitored cyclically when the thread is machined (interpolation):
• Exceeding of maximum velocity of thread axis
• Reaching of axis standstill with G35.
In these cases,
alarm 22270 "Maximum velocity of thread axis reached"
or
alarm 22275 "Zero velocity of thread axis reached"
is output.

Alarms
Thread cutting G33, G34, G35
• The following alarms are output when programming is incorrect:

Alarm 10604 "Thread lead increase too high"

Alarm 10605 "Thread lead decrease too high"
Alarm 10607 "Thread with frame (ROT) cannot be executed"
Alarm 16005 "Illegal lift-off path"
Alarm 16710 "Master spindle not programmed"
Alarm 16720 "Thread lead is zero"
Alarm 16730 "Incorrect parameters"
Alarm 16740 "No geometry axis programmed"

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Detailed description
2.1 Path feedrate F

• If the spindle speed is too high when G33, G34, G35 are active, e.g., spindle override set
to 200%, alarm 22270 "Spindle speed for thread cutting too high" is output.
Alarm 22270 is output when the rapid traverse speed of the thread axis is exceeded. It is
possible to reduce the spindle speed using the spindle override switch to prevent serious
alarms.
References:
/FB1/ Function Manual, Basic Functions; Diagnostic Tools (D1);
Chapter: General Machine Data
/DA/ Diagnostics Guide

2.1.4.4 Stop for thread cutting

Stop for thread cutting

Note
The nondestructive interrupt function should only be used for thread cutting, not for tapping
with G33.

Retraction movement
The retraction motion (liftfast) for thread cutting is controlled by the following keywords:
• LFON
⇒ Enable liftfast for thread cutting.
• LFOF
⇒ Disable liftfast for thread cutting.
These G functions can always be programmed.
The default setting for NC Reset and/or NC Start is specified in machine data:
MD20150 GCODE_RESET_VALUES.

The following sources can initiate a retraction motion during thread cutting:
• Fast inputs (programming with SETINTLIFTFAST for "LIFTFAST" option)
• NC Stop
• Alarms that implicitly initiate the NC stop.

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 Detailed description
2.1 Path feedrate F

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',/)

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7KUHDGFXWWLQJ DFWLRQBPRWLRQ 7KUHDGFXWWLQJ

Figure 2-3 Interruption of G33 through retraction motion

Retraction path
The retraction path can be configured in machine data:
MD21200 LIFTFAST_DIST.

If required, this path in the part program can be changed by writing DILF at any point.
Following an NC reset, the value entered in machine data:
MD21200 LIFTFAST_DIST
(default value) is always active.

Retraction direction
The method for defining the retraction direction is controlled in conjunction with the variable
ALF using the following keywords:
• LFTXT
The plane of the retraction movement is determined by the path tangent and the tool
direction. This G code (default setting) is used to program the response on a fast lift.
For information about ALF programming, refer to:
References:
/PGA/ Programming Guide, Operations Planning
/FB1/ Function Manual, Basic Function; Mode Group, Channel, Program Operation (K1);
Chapter: Asynchronous Subroutines (ASUBs), Interrupt Routines
• LFWP
The plane of the retraction movement is the active working plane selected with G codes
G17, G18 or G19. The direction of the retraction plane is independent of the path tangent.
This allows a fast lift to be programmed parallel to the axis.
These G functions can always be programmed.

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Detailed description
2.1 Path feedrate F

The default setting for NC Reset and/or NC Start is specified in machine data::
MD20150 GCODE_RESET_VALUES.

In the plane of the retraction movement, ALF is used, as before, to program the direction in
discrete steps of 45 degrees. With LFTXT, retraction in the tool direction was defined for
ALF=1.
With LFWP the direction in the working plane is derived from the following assignment:

G17: X/Y plane ALF=1 Retraction in X direction

ALF=3 Retraction in Y direction
G18: Z/X plane ALF=1 Retraction in Z direction
ALF=3 Retraction in X direction
G19: Y/Z plane ALF=1 Retraction in Y direction
ALF=3 Retraction in Z direction

Note
The extension for programming the plane of the retraction movement can be used
independently of thread cutting.

Retraction speed
Retraction is performed at maximum axis velocity.
This can be configured in machine data:
MD32000 MAX_AX_VELO.

Retraction acceleration, jerk

Acceleration is performed at maximum possible values.
This can be configured in machine data:
MD32300 MAX_AX_ACCEL.

Example

N55 M3 S500 G90 G18 ; Set active machining plane

...
N65 MSG ("thread cutting")
MM_THREAD:
N67 $AC_LIFTFAST=0 ; Reset before beginning of
thread
N68 G0 Z5
N69 X10
N70 G33 Z30 K5 LFON DILF=10 LFWP ALF=7 ; Enable fast retraction for

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 Detailed description
2.1 Path feedrate F

thread cutting
; Retraction path = 10 mm
; Retraction plane Z/X
(due to G18)
; Retraction direction -X
(with ALF=3; retraction
direction +X)
N71 G33 Z55 X15
N72 G1 ; Deactivate thread cutting
N69 IF $AC_LIFTFAST GOTOB MM_THREAD ; If thread cutting
; was aborted
N90 MSG ("")
...
N70 M30
N55 M3 S500 G90 G0 X0 Z0
...
N87 MSG ("tapping")
N88 LFOF ; Deactivate fast retraction
before tapping
N89 CYCLE... ; Thread drilling cycle with G33
N90 MSG ("")
...
N99 M3012.97

Control system response

At POWER ON and RESET, the retraction path is set as configured (MD), as is the state of
LFON or LFOF and LFTXT or LFWP using machine data:
MD20150 GCODE_RESET_VALUES
from the corresponding G group.

Smoothed actual values

If lowresolution encoders are being used, smoothed actual values can be applied for
constant coupled path and axis motions.
Machine data:
MD34990 ENC_ACTVAL_SMOOTH_TIME
can be used to change the time constant for more effectively smoothed actual values for:
• Thread cutting with feedrate for G33, G34, G35
• Revolutional feedrate for G95, G96, G97, FRAPON
• Display of actual positions and actual speed/velocity
The larger the time constant, the better the smoothing of the actual values and the longer the
overtravel.

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Detailed description
2.1 Path feedrate F

2.1.5 Feedrate for G331/G332, rigid tapping

Application
G331 (tapping) and G332 (tapping retraction) can be used to tap a thread without a
compensating chuck (rigid tapping) if the spindle is technically capable of operating in
position control mode.
Speed S, feedrate F, thread lead
A revolutional feedrate [mm/revolution] is used for G331and G332. The revolutional feedrate
is defined by programming the thread lead increase [mm/revolution].
The speed of the axes for the thread length is calculated from the programmed spindle
speed S and the thread lead.
Feedrate F [mm/min] = speed S [rev/min] * thread lead [mm/rev]

Note
For further information about programming G63/G331/G332, please see:
References:
/PG/ Programming Guide, Fundamentals
/PAZ/ Programming Guide, Cycles

Inhibiting stop events for G331/G332

During tapping, a stop can be prevented if the block contains a path movement or a G4.
For this purpose, bit 0 must be set to 0 in machine data:
MD11550 $MN_STOP_MODE_MASK
.
The stop, which was activated previously, is possible again after G331/G332 has been
executed.

2.1.6 Feedrate for G63, tapping with compensation chuck

Application
G63 is a subfunction for tapping threads using a tap with compensating chuck. An encoder
(position encoder) is not required.
Speed S, feedrate F, thread lead
With G63, a speed S must be programmed for the spindle and a feedrate F for the infeed
axis (axis for thread length).
The feedrate F must be calculated by the programmer on the basis of the speed S and the
thread lead.
Feedrate F [mm/min] = speed S [rev/min] * thread lead [mm/rev]

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 Detailed description
2.2 Feedrate FA for positioning axes

2.2 Feedrate FA for positioning axes

Syntax
FA[<positioning axis>] = <feedrate value>

Functionality
The velocity of a positioning axis is programmed with axisspecific feedrate FA.
• Effectiveness: Modal
• Special points to be noted
– No more than 5 axis-specific feedreates can be programmed in each part program
block.
– The feedrate is always G94.
– If no axial feedrate FA is programmed, the axial default:
MD32060 $MA_POS_AX_VELO (initial setting for positioning axis velocity) takes
effect.
Parameter: Positioning axis
• Value range: Identifier of channel axes
MD20080 $MC_AXCONF_CHANAX_NAME_TAB
Parameter: Feed value
• Value range
0.001...999,999.999 mm/min, degrees/min or 0.001, ...39 999,9999 inch/min
For more information about the value range of the axial feedrate see:
References:
/PG/ Fundamentals Programming Guide
/FB1/ Function Manual Basic Functions; Velocities, Setpoint/ Actual Value Systems,
Closed-Loop Control (G2)
• NC/PLC interface (channel-specific)
The feedrate is output at the channel-specific NC/PLC interface:
DB21, ... DBB158 - DBB193
For a description of the channel-specific NC/PLC interface signals (modification signal,
machine axis number of positioning axis, etc.) see:
References:
/FB1/Function Manual, Basic Functions; Various Interface Signals and Functions (A2)
• NC/PLC interface (axis-specific)
The feed value is output at the axis-specific NC/PLC interface:
DB31, ... DBB78 - DBB81

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Detailed description
2.3 Feedrate control

Note
Maximum axis velocity
The maximum axis velocity is not exceeded:
MD32000 $MA_MAX_AX_VELO (maximum axis velocity)
F function output to the NC/PLC interface
Output of the F functions to the NC/PLC interface is not recommended. Activating the
output of F functions to the NC/PLC interface can cause a drop in velocity in continuous-
path mode. The output of F functions to the NC/PLC interface can be suppressed:
MD22240 $MC_AUXFU_F_SYNC_TYPE (output time of the F functions)
For a detailed description please refer to:
References:
/FB1/ Function Manual, Basic Functions; Auxiliary Functions (H2)

RESET response
After end of program or NC-RESET, the feedrate value takes effect depending on machine
data:
MD22410 $MC_F_VALUES_ACTIVE_AFTER_RESET = <value>

Value Meaning
0 After NC RESET the default values are effective.
1 After NC RESET the last FA values to be programmed are effective.

2.3 Feedrate control

2.3.1 General

Programming and controlling the feedrate

The figure below shows the options for feedrate programming and control.

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 Detailed description
2.3 Feedrate control

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Figure 2-4 Programming and controlling the feedrate

2.3.2 Feedrate disable and feedrate/spindle stop

General
The feedrate disable or feedrate/spindle stop brings the axes to a standstill with adherence
to the braking characteristics and the path contour (exception: G33 block).
References:
/FB1/ Function Manual, Basic Function; Continuous-Path Mode, Exact Stop and Look Ahead
(B1)

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Detailed description
2.3 Feedrate control

"Feedrate disable" DB21, ... DBX6.0

Interface signal "Feedrate disable" (DB21, ... DBX6.0) shuts down all axes (geometry and
auxiliary axes) of a channel in all modes.

Activation of channel-specific feedrate disable

If G33, G34, G35 active: Not effective
If G63 active: Effective
If G331, G332 active: Effective

"Feed stop" DB21, ...DBX12.3 geometry axes

Interface signals "Feed stop" (DB21, ... DBX12..3 and the following signals) for geometry
axes 1, 2, and 3 stop the geometry axes of a channel in JOG mode.

"Feed stop" DB31, ...DBX4.3 axisspecific

The axis-specific "Feed stop" interface signal (DB31, ... DBX4.3) is used to stop the relevant
machine axis.
In automatic mode:
• If the "Feed stop" is performed for a path axis, all the axes traversed in the current block
and all axes participating in the axis group are stopped.
• If the "Feed stop" is performed for a positioning axis, only this axis is stopped.
Only the current axis is stopped in JOG mode.

Activation of axis-specific function "Feed stop"

If G33, G34, G35 active: Effective
(causes contour deviations)
If G63 active: Effective
If G331, G332 active: Effective

Axis/spindle disable" DB31, ... DBX1.3

Activating "Axis/spindle disable" (DB 31, ...DBX1.3) disables the axial PLC interlocks "No
controller enable" and "Feed stop".
The axial and channelspecific override, however, is active.

"Spindle stop" DB31, ... DBX4.3

IS "Spindle stop" (DB31, ... DBX4.3) is used to stop the relevant spindle.

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 Detailed description
2.3 Feedrate control

Activation of the "Spindle stop" function

If G33, G34, G35 active: Effective
(may cause contour deviations depending on
dynamic characteristics)
If G63 active: Effective
If G331, G332 active: Not effective

2.3.3 Feedrate override on machine control panel

General
The operator can use the feedrate override switch to increase or decrease the path feedrate
relative to the programmed percentage with immediate effect. The feedrates are multiplied
by the override values.
An override between 0 and 200% can be programmed for the path feedrate.
The rapid traverse override switch is used to reduce the traversing velocity when testing a
part program.
An override between 0 and 100% can be programmed for the rapid traverse.
The feedrate can be changed axisspecifically for positioning axes. The override can be
between 0 and 200%.
The spindle override can be used to modify the spindle speed and the cutting rate (with G96,
G961). The override can be between 0 and 200%.
The override is not permitted to exceed the machinespecific acceleration and speed limits or
generate a contour error.
The feedrate override can be changed separately for path and positioning axes.
The overrides act on the programmed values or on the limits (e.g., G26, LIMS for spindle
speed).
A sequence of G63 blocks is traversed without taking into account the feedrate override. A
sequence of G63 blocks consists of directly consecutive blocks with G code G63. It starts
with the first G63 block and finishes with the first path motion block, which is not a G63 block.

Channel-specific "Feedrate override" DB21, ...DBB4 / "Rapid traverse override" DB21, ...DBB5
One enable signal and one byte is provided on the PLC interface for the override factor for
each of the feedrate types.
IS "Feedrate override" (DB21, ... DBB4)
IS "Feedrate override active" (DB21, ... DBX6.7)
IS "Rapid traverse override" (DB21, ... DBB5)
IS "Rapid traverse override active" (DB21, ... DBX6.6)

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Detailed description
2.3 Feedrate control

The interface for the override can be provided by the PLC in binarycoded or Graycoded
format.
Machine data:
MD12020 OVR_FEED_IS_GRAY_CODE (path feedrate override switch Gray-coded)
and
MD12040 OVR_RAPID_IS_GRAY_CODE (rapid traverse override switch Gray-coded)
are used to define whether binary or Gray coding is active.
The following permanent assignment applies to binary coding:

Code Override factor

00000000 0,00 ≙ 0%
00000001 0,01 ≙ 1%
00000010 0,02 ≙ 2%
00000011 0,03 ≙ 3%
00000100 0,04 ≙ 4%
. .
. .
. .
01100100 1,00 ≙ 100%
. .
. .
. .
11001000 2,00 ≙ 200%
With Gray coding, the override factors corresponding to the switch setting are entered in
machine data:
MD12030 OVR_FACTOR_FEEDRATE [n]
(analysis of path feedrate override switch)
or
MD12050 OVR_FACTOR_RAPID_TRA [n] (analysis of rapid traverse override switch).

An active feedrate override acts on all path axes assigned to the current channel.
An active rapid traverse override acts on all axes moving with rapid traverse and assigned to
the current axis.
If no dedicated rapid traverse override switch is used, the system can be switched between
rapid traverse override and feedrate override. In this case, feedrate overrides above 100%
are limited to 100% rapid traverse override.
The override, which is to be active, can be selected from the PLC or operator panel. When
rapid traverse override is activated via the operator front panel, interface signal "Feedrate
override for rapid traverse selected" (DB21, ... DBX25.3) is transferred by the PLC basic
program to interface signal "Rapid traverse override active" (DB21, ... DBX6.6) and interface
signal "Feedrate override" (DB21, ... DBB4) is copied to IS "Rapid traverse override" (DB21,
... DBB5).
If selected via the PLC, interface signal "Rapid traverse override active" (DB21, ...DBX6.6)
must be set by the PLC user program and the interface signal of the feedrate override
(DB21, ... DBB4) must be copied to the interface signal of the rapid traverse override (DB21,
... DBB5).

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2.3 Feedrate control

Activation of channel-specific feedrate and rapid traverse override

If G33, G34, G35 active: Not effective
If G63 active: Not effective
If G331, G332 active: Not effective

Reference speed for path feedrate override

The reference velocity for the path feedrate override specified via the machine control panel
can be set to a value other than the default value.
The selection is made via machine data:
MD12082 OVR_REFERENCE_IS_MIN_FEED
.

Axisspecific "Feedrate override" DB31, ...DBB0

One enable signal and one byte for the feedrate override factor are available on the PLC
interface for each positioning axis.
IS "Feedrate override" (DB31, ... DBB0)
IS "Override active" (DB31, ... DBX1.7)
The interface for the feedrate override can be provided by the PLC in binarycoded or Gray-
coded format.
Machine data:
MD12000 OVR_AX_IS_GRAY_CODE (axis feedrate override switch Graycoded)
is used to define whether binary or Gray coding is active.
The following permanent assignment applies to binary coding:

Code Override factor

00000000 0,00 ≙ 0%
00000001 0,01 ≙ 1%
00000010 0,02 ≙ 2%
00000011 0,03 ≙ 3%
00000100 0,04 ≙ 4%
. .
. .
. .
01100100 1,00 ≙ 100%
. .
. .
. .
11001000 2,00 ≙ 200%
With Gray coding, the override factors corresponding to the switch setting are entered in
machine data:
MD12010 OVR_ FACTOR_AX_ SPEED [n] (analysis of axis feedrate override switch).

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2.3 Feedrate control

Activation of axis-specific feedrate override

If G33, G34, G35 active: Not effective
If G63 active: Not effective
(the override is set to a fixed value of 100% in the
NC)
If G331, G332 active: Not effective
(the override is set to a fixed value of 100% in the
NC)

Spindle override" DB31, ...DBB0"

One enable signal and one byte is provided on the PLC interface for the override factor for
each of the spindles.
IS "Spindle override" (DB31, ... DBB19)
IS "Override active" (DB31, ... DBX1.7)
The interface for the spindle override can be provided by the PLC in binarycoded or Gray-
coded format.
Machine data:
MD12060 OVR_SPIND_IS_GRAY_CODE (spindle override switch is Graycoded)
is used to define whether binary or Gray coding is active.
The following permanent assignment applies to binary coding:

Code Override factor

00000000 0,00 ≙ 0%
00000001 0,01 ≙ 1%
00000010 0,02 ≙ 2%
00000011 0,03 ≙ 3%
00000100 0,04 ≙ 4%
. .
. .
. .
01100100 1,00 ≙ 100%
. .
. .
. .
11001000 2,00 ≙ 200%
With Gray coding, the override factors corresponding to the switch setting are entered in
machine data:
MD12070 OVR_FACTOR_SPIND_SPEED [n] (analysis of spindle override switch).

Activation of spindle override

If G33, G34, G35 active: Effective
(if the spindle is in position control mode, the
override switch may be activated)

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2.3 Feedrate control

Activation of spindle override

If G63 active: Not effective
(the override is set to a fixed value of 100% in the
NC)
If G331, G332 active: Effective

Limiting the override factor

On a binary-coded interface, the maximum possible override factors for path feedrate, axis
feedrate and spindle speed can be further limited with machine data:
MD12100 OVR_FACTOR_LIMIT_BIN (limit of binary-coded override switch)

Override active DB21, ...DBX6.6 / DB21, ... DBX6.7 / DB31, ... DBX1.7
The override values set with the selector switch on the machine control panel are
immediately active for all operating modes and machine functions, provided that IS "Rapid
traverse override active", (DB21, ... DBX6.6) "Feedrate overide active" (DB21, ... DBX6.7)
and "Override active" (DB31, ... DBX1.7) are set.
An override factor of 0% acts as a feedrate disable.

Override inactive
When the override is inactive (i.e., the above interface signals are set to “0”), the override
factor “1” is used internally on the NC (i.e., the override is 100%). In this case, the value
entered in the PLC interface has no effect.
Exceptions are the zero setting for a binary interface and the 1st switch setting for a Gray-
coded interface. In these cases, the override factors entered in the PLC interface are used.
With a binary interface, the override factor = 0. With a Graycoded interface, the value
entered in the machine data for the 1st switch setting is output as the override value. This
should be initialized with "0" .
An override factor of 0% acts as a feedrate disable.

Spindle override reference

An entry is made in machine data:
MD12080 OVR_REFERENCE_IS_PROG_FEED (override reference velocity)
to indicate whether the spindle override relates to the speed limited using MD or SD or to the
programmed speed.

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2.3.4 Programmable feedrate override

Function
The programmable feedrate override can be used to change the velocity level of path and
positioning axes by means of a command in the part program.
A separate feedrate override can be programmed for positioning axes.

Programming
The feedrate override can be changed with the following commands:

OVR= .... Feedrate change for path feedrate F

OVRA[X1]= ... Feedrate change for positioning feedrate FA
The programmable range is between 0 and 200%.
The default setting is 100%.

Effectivity
Interface signals "Rapid traverse and feedrate override" (DB21, ... DBB6) and "Axis-specific
override active" (DB31, ... DBX1.7) do not apply to the programmable feedrate override. The
programmable feedrate override remains active when these signals are deactivated.
The active override is calculated from the product of the programmable feedrate override
and the feedrate override from the machine control panel.
The default setting is 100%. It is active if no feedrate override has been programmed or
following a RESET, if machine data:
MD22410 F_VALUES_ACTIVE_AFTER_RESET (F function active via RESET)
is not set.
OVR is not active with G33,G34,G35.

2.3.5 Dry run feedrate

Application
The dry run feedrate is used when testing part programs without machining the workpiece in
order to allow the program or program sections to execute with an increased path feedrate,
for example.

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"Dry run feedrate selected" DB21, .... DBX24.6

The dry run feedrate can be activated from the PLC or the operator panel.
When activated from the operator panel, interface signal "Dry run feedrate selected" (DB21,
... DBX24.6) is set and transferred by the PLC basic program to interface signal "Activate dry
run feedrate" (DB21, ... DBX0.6).
When selected on the PLC, the "Activate dry run feedrate" interface signal is required to be
set by the PLC user program.
The execution of the program is triggered with G94.
The dry run feedrate also takes precedence over the feedrates for G93,G95 and
G33,G34,G35.
In this case, the programmed feedrate is compared to the dry run feedrate in:
SD42100 DRY_RUN_FEED
and the axis is then traversed at the higher of the two feedrates.

Dry run feedrate change "Dry run feedrate active" DB21, .... DBX318.6.
The dry run feedrate (SD42100 DRY_RUN_FEED = 1) can be changed via the operator
panel in the operating area "Parameters".
The interface signal "Dry run feedrate active" (DB21, ... DBX318.6) is set if the selection has
been accepted by the NCK. DRY is displayed in the operator panel status bar to indicate an
active dry run feedrate if
• selection takes place when the program stops at the end of a block or if the machine data
• MD10704 DRY_RUN_MASK = 1 has been set during execution of the program.
If MD10704 DRYRUN_MASK = 0 has been set a dry run feedrate may only be activated/
deactivated at the end of a block.
If the dry run feedrate is no longer selected, the interface signal "Dry run feedrate active"
(DB21, ... DBX318.6) is reset.

Evaluation
The effect of:
SD42100 DRY_RUN_FEED
can be controlled via another setting data:
SD42101 DRY_RUN_FEED_MODE
.

SD42101 Effectivity
DRY_RUN_FEED_MODE
As long as the "Activate dry run feedrate" interface signal is set, instead
of the programmed feedrates, the feedrate value set in
SD42100 DRY_RUN_FEED
is effective as follows:
0 The maximum value from SD42100 DRY_RUN_FEED and the
programmed velocity is effective. This is the same as the default setting.
1 The minimum value from SD42100 DRY_RUN_FEED and the
programmed velocity is effective.

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Effectivity
2 Setting data SD42100 DRY_RUN_FEED is effective directly, regardless
of the programmed velocity.
3 -9 reserved
10 As for configured value 0 except for thread cutting (G33,G34,G35) and
tapping (G33,G34,G35). These functions are executed as
programmed.
11 As for configured value 1 except for thread cutting (G33,G34,G35) and
tapping (G33,G34,G35). These functions are executed as
programmed.
12 As for configured value 2 except for thread cutting (G33,G34,G35) and
tapping (G33,G34,G35). These functions are executed as
programmed.
A dry run feedrate can be selected in the automatic modes and activated on interruption of
an automatic mode or end of a block. Using machine data:
MD10704 DRYRUN_MASK = 1
, the dry run feedrate can also be activated during execution of the program (in the part
program block).

Note
Activation during machining triggers an internal reorganization task on the control which
causes the axes to be stopped for a short time. This can affect the surface finish of the
workpiece being machined.

With MD10704 DRYRUN_MASK = 2

, the dry run feedrate can be activated/ deactivated at any time without the axes stopping.
The function only becomes effective with a block which comes later in the program run.

2.3.6 Multiple feedrate values in one block

Application
The functionality described in the following is used primarily for grinding, but is not restricted
to it.
References:
/FB2/ Function Manual, Extended Functions; Grinding (W4)
/FB2/ Function Manual, Extended Functions; Oscillation (P5)

Functionality
The function "Multiple feedrates in one block" can be used to activate 6 different feedrate
values of an NC block, a dwell time or a retraction motion synchronously, depending on the
external digital and/or analog inputs.

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Retraction
Retraction by the programmed amount is initiated in the IPO cycle.

Signals
The HW input signals are combined in one input byte for the function "Multiple feedrate in
one block". A permanent functional assignment applies within the byte:

Table 2-1 Input byte for "Multiple feedrates in one block"

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Input no. I7 I6 I5 I4 I3 I2 I1 I0
Feedrate address F7 F6 F5 F4 F3 F2 ST SR

I7 to I2 Activation of feedrates F7 to F2
I1 Activation of dwell time ST (in seconds)
I0 Activation of retraction motion SR

Priorities
The signals are scanned in ascending order starting at I0.
Therefore, the retraction motion (SR) has the highest priority and the feedrate F7 the lowest
priority.
SR and ST end the feedrate motions that were activated with F2 - F7.
SR also ends ST, i.e., the complete function.
The highest-priority signal determines the current feedrate.
Machine data:
MD21230 MULTFEED_STORE_MASK
(store input signals for the "Multiple feedrates in one block" function)
can be used to define the response on loss of the highest-priority input in each case (F2 -
F7).
The endofblock criterion is satisfied when:
• The programmed end position is reached
• The retraction motion ends (SR)
• The dwell time elapses (ST)

Delete distance-to-go
A retraction motion or dwell time causes the distancetogo to be deleted.

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Hardware assignment
The channel-specific machine data:
MD21220 MULTFEED_ASSIGN_FASTIN
(assignment of the input byte of the NCK I/Os for "Multiple feedrates in one block")
can be used to assign up to two digital input bytes or comparator input bytes to the NCK I/O.
Machine data:
MD21220 MULTFEED_ASSIGN_FASTIN
can also be used to invert the input bits.
If a 2nd byte is entered, the contents of the 1st and 2nd byte are ORed before being used.

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Figure 2-5 Signal routing for "Multiple feeds in one block"

The assignment of the digital input bytes and parameterization of the comparators are
described in:
References:
/FB1/ Function Manual, Basic Functions; Various Interface Signals (A2)

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Programming path motion

The path feedrate is programmed under the address F and remains valid until an input signal
is present. This value acts modally.
F2=... to F7=... can be used in addition to the path feedrate to program up to 6 further
feedrates in the block.
The numerical expansion indicates the bit number of the input that activates the feedrate
when changed:
e.g., F7=1000 ; 7 corresponds to input bit 7.
Bits 2 to 7 are permissible for numerical expansion of the feedrate. The programmed values
act nonmodally. The path feedrate programmed under F applies in the next block.
Dwell (sparking out time) and retraction path are programmed under separate addresses in
the block:

ST=... dwell (for grinding sparking out time)

SR=... Retraction path
These addresses apply nonmodally.

Programming axial motion

The axial feedrates are programmed under address FA and remain valid until an input signal
is present. They act modally.
FMA[2,x]=... to FMA[7,x]=... can be used to program up to 6 further feedrates per
axis in the block.
The first expression in square brackets indicates the bit number of the input that activates
the feedrate when changed. The second expression indicates the axis to which the feedrate
applies.
Example:

FMA[3,Y]=1000 ;axial feedrate for Y axis,

;corresponds to input bit 3

Bits 2 to 7 are permissible for the numerical expansion of the axial feedrate. The values
programmed under FMA are active nonmodally. The feedrate programmed under FA applies
to the next block.
Dwell (sparking out time) and retraction path can also be defined for a single axis:

STA[x]=... ;dwell (sparking out time), axis-specific

SRA[x]=... ;retraction path, axis-specific
The expression in square brackets indicates the axis for which the sparking out time and
retraction path apply.

STA[X]=2.5 ;sparking out time 2.5 seconds

SRA[X]=3.5 ;retraction path 3.5 (unit e.g.,: mm)

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2.3 Feedrate control

These addresses apply nonmodally.

If feedrates, a sparking out time (dwell) or retraction path are programmed for an axis on
account of an external input, this axis must not be programmed as a POSA axis in this block
(positioning axis beyond end of block).
When the input for the sparking out time or retraction path is activated, the distancetogo for
the path axes or the particular single axis is deleted and the dwell or retraction is started.

Note
The unit for the retraction path refers to the current valid unit of measurement (mm or inch).
The reverse stroke is always made in the opposite direction to the current motion. SR/SRA
always programs the value for the reverse stroke. No sign is programmed.
It is also possible to poll the status of an input for synchronous commands of various axes.
Look Ahead is also active for multiple feedrates in one block. In this way, the current
feedrate is restricted by the Look Ahead value.

Application
Typical applications include:
• Analog or digital calipers
Depending on whether the external inputs are analog or digital, various feedrate values, a
dwell and a retraction path can be activated. The limit values are defined via the setting
data.
• Switching from infeed to working feedrate via proximity switch

Example
Internal grinding of a conical ring, where the actual diameter is determined using calipers
and, depending on the limits, the feedrate value required for roughing, finishing or fine
finishing is activated. The position of the calipers also provides the end position. Thus, the
block end criterion is determined not only by the programmed axis position of the infeed axis
but also by the calipers.

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Figure 2-6 Calipers

Part program

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Note
The axial feedrate/path feedrate (F value) is the 100% feedrate.
Feedrates smaller than or equal to the axial feedrate/path feedrate can be implemented with
"Multiple feedrate values in one block" (F2 to F7 values).
The "Multiple feedrate values in one block" functionality is only available in conjunction with
the "Synchronized actions" function.
References:
/FB1/ Function Manual, Basic Functions; Various Interface Signals and Functions (A2)

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2.3.7 Fixed feedrate values (840D, 810D)

Function
The machine data can be used to define 4 fixed feedrate values, which can be activated via
the interface signal. The function is possible in AUTOMATIC and JOG modes.

Behavior in AUTOMATIC mode

The fixed feedrate, which has been selected, is used instead of the programmed feedrate.
The following MDs and interface signals can be used to select fixed feedrates for
path/geometry axes:
• MD12202 $MN_PERMANENT_FEED[n] (fixed feedrates for linear axes)
• MD12204 $MN_PERMANENT_ROT_AX_FEED[n] (fixed feedrates for rotary axes)
• IS "Activate fixed feedrate x for path/geometry axes" (DB21, ... DBX29.0- 29.3)
The contour travels at the activated fixed feedrate, instead of using the programmed
feedrate.

Behavior in JOG mode

The fixed feedrate selected via the interface signal is applied during travel instead of the
JOG velocities set.
The travel direction is specified via the interface signal.
The following MDs and interface signals can be used to select fixed feedrates for
path/geometry axes and for machine data:
• MD12202 $MN_PERMANENT_FEED[n] (fixed feedrates for linear axes)
• MD12204 $MN_PERMANENT_ROT_AX_FEED[n] (fixed feedrates for rotary axes)
• IS "Activate fixed feedrate x for machine axes" (DB31, ... DBX3.2-3.5)
The axis travels at the activated fixed feedrate, instead of at the JOG velocity/JOG- rapid
traverse velocity set in MD.

Constraints
• The fixed feedrate is not active for spindles, positioning axes and tapping.
• During travel at fixed feedrate, the override is determined by machine data:
MD12200 $MN_RUN_OVERRIDE_0 (travel with override 0)
• When fixed feedrate is selected, it is not possible to activate DRF offset.
• The fixed feedrates are always linear feedrate values. Revolutional feedrates are
converted to linear feedrates internally.

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Interface signals

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Figure 2-7 Overview of interface signals for fixed feedrate

2.3.8 Feedrate for chamfer/rounding FRC, FRCM

General
The machining conditions can change significantly during surface transitions to
chamfer/rounding. The chamfer/rounding contour elements therefore need their own
optimized feedrate values in order to achieve the required surface finish.

Function
You can program the feedrate for the chamfer/rounding with FRC (non-modal) or FRCM
(modal).
The feedrate value is interpreted according to the type of feedrate active:

G94, G961, G971: Feedrate in mm/min, inch/min or o/min

G95, G96, G97: Revolutional feedrate in mm/rev or inch/rev
The FRC/FRCM value is applied depending upon the machine data:
MD20201 CHFRND_MODE_MASK

Bit 0 = 0: FRC/FRCM from following block (default setting)

Bit 1 = 0: FRC/FRCM from preceding block (recommended setting)
Reason: The feedrate type (G94,G95,G96,G961 etc.) and thus the conversion to the
internal format must be consistent within the block for F and FRC/FRCM.

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Empty blocks
When chamfer or rounding is active, the possible number of blocks containing no traversing
information is limited.
The maximum number is defined in machine data:
MD20200 CHFRND_MAXNUM_DUMMY_BLOCKS.

The possible blocks without traversing information in the compensation plane are pure
dummy commands and are called empty blocks. For this reason, they may only be written
between two blocks with traversing information.

Constraints
• Feedrate interpolation FLIN and FCUB is not possible for chamfer/rounding.
• FRC/FRCM has no effect if a chamfer is being machined with G0; the command can be
programmed according to the F value without error message.
• FRC is only effective if a chamfer/rounding is programmed in the same block or if RNDM
has been activated.
• FRC overwrites the F or FRCM value for chamfer/rounding in the current block.
• FRC/FRCM must be set to a value greater than zero.
• FRCM=0 activates the feedrate programmed in F for the chamfer/rounding.
• If FRCM is programmed, the FRCM value must be reprogrammed, equivalent to F, on a
G94 ↔ G95 change, etc. If only F is reprogrammed and FRCM > 0 before the feedrate type
is changed, error message 10860 (no feedrate programmed) appears.

2.3.9 Non-modal feedrate FB

General
A separate feedrate can be specified for a single block with the command FB (Feed Block).
For this block the previously active path feedrate is overwritten. After this block, the
previously active modal path feedrate becomes active once more.

Function
The non-modal feedrate is programmed with FB=<value>.
The feedrate value is interpreted according to the type of feedrate active:

G94, G961, G971: Feedrate in mm/min, inch/min or o/min

G95, G96, G97: Revolutional feedrate in mm/rev or inch/rev

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Constraints
• The programmed value of FB=<value> must be greater than zero.
• If no traversing motion is programmed in the block (e.g.,: computation block), FB has no
effect.
• If no explicit feedrate for chamfering/rounding is programmed, then the value of FB also
applies for any contour element chamfering/rounding in this block.
• The path velocity profile programmed with FLIN or FCUB does not act with the rotational
feedrate for G95 and with constant cutting speed for G96/G961 and G97/G971.
• Feedrate interpolations FLIN, FCUB, .. are possible without restriction.
• Simultaneous programming of FB and FD (handwheel travel with feedrate overlay) or F
(modal path feedrate) is not possible.

2.3.10 Programmable singleaxis dynamic response

Single axes
Single axes can be programmed:

In the part program POS[Axis]=...

POSA[Axis]=...
SPOS[Axis]=...
SPOSA[Axis]=...
OS[Axis]=...
OSCILL[Axis]=...
In synchronized actions (command axes) EVERY ... DO
POS[Axis]=...
SPOS [Spindle] = .....
MOV[Axis]=...
In the PLC FC15/FC16 and FC18

Dynamic response of an axis/spindle

The dynamic response of an axis is dependent on:
• the preset feed value (MD32060 POS_AX_VELO)
Can be programmed in the part program with FA[axis]= ..., or a feed
overrideOVRA[axis]= ... in percent.
Programmable in synchronized actions using FA[Axis]= ....
Modifiable from the PLC by entering FRate, or overwriting the axial override.

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• The acceleration value (MD32300 MAX_AX_ACCEL)

Programmable indirectly in the part program by overwriting the machine data with
subsequent NewConfig, or directly using a percentage acceleration override
ACC[Axis]= ....
Modifiable indirectly in synchronized actions by overwriting the MD (no NewConfig
possible) or by executing an ASUB, or programmable directly using a percentage
acceleration override ACC[Axis]= ... (cannot be preset by the PLC).
The PLC has the same options as synchronized actions.
• The acceleration characteristics
Programmable in the part program using BRISKA(axis), SOFTA(axis), DRIVEA(axis) and
JERKA(axis).
Not programmable in synchronized actions (only directly using an ASUB).
Cannot be preset by the PLC (only indirectly using an ASUB).
• The selected servo parameter set
A parameter set describes the most important setting options for control purpose in the
servo.
It comprises, e.g., the following axis-specific/spindle-specific machine data:

31050 DRIVE_AX_RATIO_DENOM[n] Parameter set n for 0 to 5

31060 DRIVE_AX_RATIO_NUMERA[n] Parameter set n for 0 to 5
32200 POSCTRL_GAIN[n] Parameter set n for 0 to 5
32452 BACKLASH_FACTOR[n] Parameter set n for 0 to 5
32610 VELO_FFW_WEIGHT[n] Parameter set n for 0 to 5
32800 EQUIV_CURRCTRL_TIME[n] Parameter set n for 0 to 5
32810 EQUIV_SPEEDCTRL_TIME[n] Parameter set n for 0 to 5
32910 DYN_MATCH_TIME[n] Parameter set n for 0 to 5
36012 STOP_LIMIT_FACTOR[n] Parameter set n for 0 to 5
36200 AX_VELO_LIMIT[n] Parameter set n for 0 to 5
For more information about parameter sets and programming, please refer to:
References:
/FB1/ Function Manual, Basic Functions; Velocities, Setpoint/Actual Value Systems, Closed-
Loop Control (G2)
/PG/ Programming Guide, Fundamentals; Path Response and Feedrate Control

Dynamic criteria and feedforward control

With dynamic response criteria, it must be distinguished from where they were set:
• In the part program
or
• From a main-run interpolation (synchronized action or PLC default)

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Note
Changes in the dynamic response made in a part program do not affect command axis or
PLC axis movements.
Changes from synchronized actions do not affect the movements from a part program.

Travel with feedforward control ON/OFF

The type of feedforward control and the path axes to which feedforward is to be applied are
determined:
• Programmable in the part program with FFWON/ FFWOF for axes selected using machine
data.
• Only indirectly programmable in synchronized actions (ASUB).
• Only indirectly programmable from the PLC (ASUB).

Percentage acceleration override

ACC[Axis]
ACC[Axis]= 0 .. 200 can be used to modify the acceleration set in machine data:
MD32300 MAX_AX_ACCEL
in a range between 0% and 200% in part programs and synchronized actions.

ACC[Axis]= <value> Wher Axis = Channel axis name (X, Y ....), spindle (S1, ...)
e Value = Percent of MD32300 MAX_AX_ACCEL
(0 <= value <= 200)
The current acceleration value can be called with the system variables $AA_ACC[Axis]. It is
determined by:
$AA_ACC[Axis]= Content(MD32300 MAX_AX_ACCEL[Axis]) * ACC[Axis]/100
MD 32320 DYN_LIMIT_RESET_MASK can be used to control maintaining the ACC value in
the event of channel RESET/M30.

Note
The acceleration offset programmed with ACC[...] is always considered as specified
above for the output in $AA_ACC. However, $AA_ACC is not output in the part program at
the same time as in a synchronized action.
The value described in the part program is only considered in the system variable $AA_ACC
as described in the part program, if ACC has not been changed in the meantime by a
synchronized action.
The value described in the synchronized action is only considered in the system variable
$AA_ACC as described in the synchronized action, if ACC has not been changed in the
meantime by a part program.

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Main run axes

Main run axes (MR axes) are axes that are interpolated by the main run and can be:
• Command axes (activated by synchronized actions)
• PLC axes (started by PLC via function block)
• Asynchronous oscillating axes (setting data or from part program)
• Neutral axes

Note
Depending on whether $AA_ACC is programmed in a part program or in a synchronized
action, the ACC value is output for the NC axes or the main run axes.
Variable $AA_ACC must always be queried in the mode in which the acceleration was
written (either part program or synchronized action).

Examples

In the part program

...
N80 G01 POS[X]=100 FA[X]=1000 ACC[X]=90 IPOENDA[X]
...

Or via a synchronized action

...
N100 EVERY $A_IN[1] DO POS[X]=50 FA[X]=2000 ACC[X]=140 IPOENDA[X]
...

Acceleration factor written in part program:

...
ACC[X]=50
RO $AA_ACC[X]

IF (RO <> $MA_ MAX_AX_ACCEL[X] * 0,5

SETAL(61000)
ENDIF

Acceleration factor is set by the synchronized action:

WHEN TRUE DO ACC[X]=25 $R1 = $AA_ACC[X]
G4 F1

IF (RO <> $MA_ MAX_AX_ACCEL[X] * 0.25

SETAL(61001)
ENDIF

M30

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end-of-motion criterion for single axes

Similar to the block change criterion for path interpolation (G601, G602 and G603) it is also
possible to program the movement end criterion for singleaxis interpolation in a part program
or in synchronized actions for main run axes: command/PLC axes.

Programmable criterion end-of-motion on reaching

FINEA[Axis] "Exact stop fine"
COARSEA[Axis] "Exact stop coarse"
IPOENDA[Axis] "Interpolator stop" (IPO stop)
Axis: Channel axis name (X, Y ....), spindle (S1, ...)
The end-of-motion criterion set will affect how quickly or slowly part program blocks and
technology cycle blocks with singleaxis movements are completed.
The same applies for PLC positioning instructions via FC15/16/18.
The set end-of-motion criterion can be scanned with system variable $AA_MOTEND[Axis].

$AA_MOTEND[Axis] = 1 end-of-motion with "Exact stop fine"

$AA_MOTEND[Axis] = 2 end-of-motion with "Exact stop coarse"
$AA_MOTEND[Axis] = 3 end-of-motion with "IPO stop"

Note
Depending on whether $AA_MOTEND is programmed in a part program or a synchronized
action, the MOTEND value is output for the NC axes or the main-run axes.

The last programmed value is retained following a RESET.

Example:

...
N80 G01 POS[X]=100 FA[X]=1000 ACC[X]=90 IPOENDA[X]
...

Or via a synchronized action

...
N100 EVERY $A_IN[1] DO POS[X]=50 FA[X]=2000 ACC[X]=140 IPOENDA[X]
For more information about block changes and end-of-motion criteria for FINEA, COARSEA
and IPOENDA, please refer to:
References:
/FB2/ Function Manual, Extended Functions; Positioning Axes (P2);
Chapter: Block change

Feeds (V1)
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Detailed description
2.3 Feedrate control

Programmable servo parameter set

SCPARA[Axis] = ...
SCPARA[axis]= ... can be used to program the parameter set (consisting of MDs) in the
part program and in synchronized actions (previously, this could only be done via the PLC).

SCPARA[Axis]= Wher Axis = Channel axis name (X, Y ....), spindle (S1, ...)
<value>
e Value = Desired parameter set (1≤ value ≤ 6)
DB3n DBB9 bit3
To prevent conflicts between the PLC user request and NC user request, a further bit is
defined on the PLC→NCK interface:
DB3n DBB9 bit3 "Parameter set selection by SCPARA disabled".
The PLC user is thereby able to set up a structured sequence when using PLC parameter
switchover and entries from synchronized actions or part programs simultaneously.
On a change of bit 3 (0 ⇒ 1 or 1 ⇒ 0), the entry is written to bits 0 - 2.

Note
If parameter set selection via SCPARA is disabled, there is no error message if the latter is
programmed nevertheless.

The current parameter set can be scanned by system variable $AA_SCPAR[Axis].

Example:

...
N100 SCPARA[X]=3 ; The 3rd parameter set is selected for axis X.
...

Constraints
• Different end-of-motion criteria will affect how quickly or slowly part program blocks are
completed. This can have side effects for technology cycles and PLC user parts.
• The PLC user program must be expanded if the servo parameter set is to be changed
both inside a part program or synchronous action and the PLC.
• After POWER ON, the following initial settings are made:

Percentage acceleration override for all singleaxis 100%

interpolations
end-of-motion criterion for all singleaxis interpolations FINEA
Servo parameter set defined by the NC 1
• When the operating mode is changed from AUTO ⇒ JOG, the programmed dynamic
response changes remain valid.

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 Detailed description
2.3 Feedrate control

• In the event of a RESET, the last programmed value remains for the part program
specifications. The settings for main-run interpolations do not change.
• Block search:
The last end-of-motion criterion programmed for an axis is collected and output in an
action block. The last block with a programmed end-of-motion criterion that was
processed in the search run serves as a container for all programmed end-of-motion
criteria for all axes.
Example:

N01 G01 POS[X]=20 POS[Y]=30 IPOENDA[X] IPOENDA[Y]

N02 POS[Z]=55 FINEA[Z]
N03 $A_OUT[1]=1
N04 POS[X]=100 COARSEA[X]
N05 ......
TARGET: ; Block search target

• In this example, N04 serves as a container for all programmed end-of-motion criteria.
Two action blocks are saved. The digital output (N03) is issued in the first action block
and in the second, COARSEA is set for the X axis, IPOENDA for the Y axis and FINEA for
the Z axis.
The same applies to the programmed servo parameter set. The last programmed
acceleration override is effective from the first approach block.

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Supplementary conditions 3
3.1 General boundary conditions

Several feeds in one block

The "Several feeds in one block" function is only available in conjunction with the:
"Synchronized Actions" function.
References:
/FBSY/ Description of Functions Synchronized Actions

3.2 Supplementary conditions for feedrate programming

Unit of measurement
The applicable unit of measurement for feedrates is based on the value entered in machine
data:
MD12240 SCALING_SYSTEM_IS_METRIC
(standard control system metric/imperial)
and the type of axis entered in machine data:
MD30300 IS_ROT_AX
(rotary or linear axis).

Standard setting for feedrate type

G94 is displayed on the screen as the standard setting.
The initial setting (standard programming setting) for the feedrate type is only displayed
when the part program starts up.
The initial setting is set in machine data:
MD20150 GCODE_RESET_VALUES (initial setting for G groups).

Feeds (V1)
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Supplementary conditions
3.2 Supplementary conditions for feedrate programming

Activation of the F values

Machine data:
MD22140 F_VALUES_ACTIVE_AFTER_RESET (F function active via RESET)
can be used to define whether the following most recently programmed F values are to
remain active following a RESET.
• Programmed path feedrate: F=...
• Programmed feedrate change for path feedrate: OVR=...
• Programmed positioning feedrate: FA=...
• Programmed feedrate change for positioning feedrate: OVRA[U]=...
For more detailed information about syntax, please see:
References:
/PG/ Programming Guide, Fundamentals

Position spindle
If G95,G96,G961,G97,G971,G33,G34,G35 is active, spindle positioning should not be
performed, because the derived path feedrate following spindle positioning = 0.
⇒ If the programmed axis position has not yet been reached, the block cannot be completed.

Feeds (V1)
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Examples 4
4.1 Feedrate programming for chamfer/rounding FRC, FRCM

Example 1: Following block feedrate

MD20201 CHFRND_MODE_MASK Bit0 = 0
(apply feedrate from following block; default setting)

N10 G0 X0 Y0 G17 F100 G94

N20 G1 X10 CHF=2 ; Chamfer N20-N30 with F=100 mm/min
N30 Y10 CHF=4 ; Chamfer N30-N40 with FRC=200 mm/min
N40 X20 CHF=3 FRC=200 ; Chamfer N40-N60 with FRCM=50 mm/min
N50 RNDM=2 FRCM=50
N60 Y20 ; Modal rounding N60-N70 with
FRCM=50 mm/min
N70 X30 ; Modal rounding N70-N80 with
FRC=100 mm/min
N80 Y30 CHF=3 FRC=100 ; Chamfer N80-N90 with
FRCM=50 mm/min (modal)
N90 X40 ; Modal rounding N90-N100 with
F=100 mm/min (deselect FRCM)
N100 Y40 FRCM=0 ; Modal rounding N100-N120 with G95
FRC=1 mm/rev
N110 S1000 M3
N120 X50 G95 F3 FRC=1
...
M02

Example 2: Preceding block feedrate

MD20201 CHFRND_MODE_MASK Bit0 = 1
(apply feedrate from preceding block; recommended setting)

N10 G0 X0 Y0 G17 F100 G94

N20 G1 X10 CHF=2 ; Chamfer N20-N30 with F=100 mm/min
N30 Y10 CHF=4 FRC=120 ; Chamfer N30-N40 with FRC=120 mm/min
N40 X20 CHF=3 FRC=200 ; Chamfer N40-N60 with FRC=200 mm/min
N50 RNDM=2 FRCM=50
N60 Y20 ; Modal rounding N60-N70 with
FRCM=50 mm/min
N70 X30 ; Modal rounding N70-N80 with
FRCM=50 mm/min

Feeds (V1)
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Examples
4.1 Feedrate programming for chamfer/rounding FRC, FRCM

N80 Y30 CHF=3 FRC=100 ; Chamfer N80-N90 with

FRC=100 mm/min (modal)
N90 X40 ; Modal rounding N90-N100 with
FRCM=50 mm/min
N100 Y40 FRCM=0 ; Modal rounding N100-N120 with
F=100 mm/min
N110 S1000 M3
N120 X50 CHF=4 G95 F3 FRC=1 Chamfer N120-N130 with G95
FRC=1 mm/rev
N130 Y50 Modal rounding N130-N140
with F=3 mm/rev
N140 X60
...
M02

Feeds (V1)
4-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Data lists 5
5.1 Machine data

5.1.1 NC-specific machine data

Number Identifier: $MN_ Description

10704 DRYRUN_MASK Activating the dry run feed
10710 PROG_SD_RESET_SAVE_TAB Setting data to be updated
11410 SUPPRESS_ALARM_MASK Mask for suppressing special alarms
11550 STOP_MODE_MASK Inhibit stop events in program section
12000 OVR_AX_IS_GRAY_CODE Axis feed override switch Graycoded
12010 OVR_FACTOR_AX_SPEED Evaluation of the axis feed override switch
12020 OVR_FEED_IS_GRAY_CODE Path feed override switch Graycoded
12030 OVR_FACTOR_FEEDRATE Evaluation of the path feed override switch
12040 OVR_RAPID_IS_GRAY_CODE Rapid traverse override switch Graycoded
12050 OVR_FACTOR_RAPID_TRA Evaluation of the rapid traverse override switch
12060 OVR_SPIND_IS_GRAY_CODE Spindle override switch Graycoded
12070 OVR_FACTOR_SPIND_SPEED Evaluation of the spindle override switch
12080 OVR_REFERENCE_IS_PROG_FEED Override reference velocity
12082 OVR_REFERENCE_IS_MIN_FEED Defining the reference for the path override
12100 OVR_FACTOR_LIMIT_BIN Limit for binarycoded override switch
12200 RUN_OVERRIDE_0 Traversing with override 0
12202 PERMANENT_FEED Fixed feedrates for linear axes
12204 PERMANENT_ROT_AX_FEED Fixed feedrates for rotary axes
12240 SCALING_SYSTEM_IS_METRIC Basic system metric

Feeds (V1)
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 5-1
Data lists
5.1 Machine data

5.1.2 Channelspecific machine data

Number Identifier: $MC_ Description

20100 DIAMETER_AX_DEF Geometry axes with transverse axis functions
20172 COMPRESS_VELO_TOL Maximum permissible deviation from path feed for
compression
20150 GCODE_RESET_VALUES Reset G groups
20200 CHFRND_MAXNUM_DUMMY_BLOCKS Maximal number of dummy blocks for chamfer/radii
20201 CHFRND_MODE_MASK Feed for chamfer/rounding
20660 THREAD_AUTO_LIFTFASTANGLE Determination of retraction angle (thread cutting)
20750 ALLOW_GO_IN_G96 G0 logic in G96
21200 LIFTFAST_DIST Traversing path for fast retraction from the contour
21220 MULTFEED_ASSIGN_FASTIN Assignment of input bytes of NCK I/Os for "Multiple
feeds in one block"
21230 MULTFEED_STORE_MASK Store input signals for the "Multiple feeds in one
block" function
22240 AUXFU_F_SYNC_TYPE Output timing of F functions
22410 F_VALUES_ACTIVE_AFTER_RESET F function active after RESET

5.1.3 Axis/spindlespecific machine data

Number Identifier: $MA_ Description

30300 IS_ROT_AX Rotary axis
32000 MAX_AX_VELO Maximum axis velocity
32060 POS_AX_VELO Initial setting for positioning-axis velocity
32300 MAX_AX_ACCEL Axis acceleration
32320 DYN_LIMIT_RESET_MASK Reset behavior of dynamic limits
34990 ENC_ACTIVAL_SMOOTH_TIME Smoothing time constant for actual values
35100 SPIND_VELO_LIMIT Maximum spindle speed
35130 GEAR_STEP_MAX_VELO_LIMIT Maximum speed of gear step
35140 GEAR_STEP_MIN_VELO_LIMIT Minimum speed of gear step
35160 SPIND_EXTERN_VELO_LIMIT Spindle-speed limitation via PLC

Feeds (V1)
5-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Data lists
5.2 Setting data

5.2 Setting data

5.2.1 Channelspecific setting data

Number Identifier: $SC_ Description

42000 THREAD_START_ANGLE Start angle for thread
42010 THREAD_RAMP_DISP Runin and runout path of feed axis with thread cutting
42100 DRY_RUN_FEED Dry run feed
42101 DRY_RUN_FEED_MODE Dry run feed mode
42110 DEFAULT_FEED Default value for path feed
42600 JOG_FEED_PER_REV_SOURCE In the JOG mode, revolutional feedrate for geometry
axes on which a frame with rotation acts
43300 ASSIGN_FEED_PER_RES_SOURCE Revolutional feedrate for positioning axes

5.2.2 Axis/spindle-specific setting data

Number Identifier: $SA_ Description

43210 SPIND_MIN_VELO_G25 Minimum spindle speed
43220 SPIND_MAX_VELO_G26 Maximum spindle speed
43230 SPIND_MAX_VELO_LIMS Spindle-speed limitation with G96

Feeds (V1)
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 5-3
Data lists
5.3 Signals

5.3 Signals

5.3.1 Signals to channel

DB number Byte.Bit Description

21, ... 0.6 Activate dry run feed
21, ... 4 Feed override
21, ... 5 Rapid traverse override
21, ... 6.0 Feed disable
21, ... 6.6 Rapid traverse override active
21, ... 6.7 Feed override active
21, ... 12.3 Feed stop, geometry axis 1
21, ... 16.3 Feed stop, geometry axis 2
21, ... 20.3 Feed stop, geometry axis 3

5.3.2 Signals from channel

DB number Byte.Bit Description

21, ... 24.6 Dry run feed selected
21, ... 25.3 Feed override for rapid traverse selected
21, ... 29.0 Activate fixed feedrate 1 for path/geometry axes
29.1 Activate fixed feedrate 2 for path/geometry axes
29.2 Activate fixed feedrate 3 for path/geometry axes
29.3 Activate fixed feedrate 4 for path/geometry axes
21, ... 318.6 Dry run feedrate active

Feeds (V1)
5-4 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Data lists
5.3 Signals

5.3.3 Signals to axis/spindle

DB number Byte.Bit Description

31, ... 0 Feed/spindle override
31, ... 1.7 Override active
31, ... 3.2 Activate fixed feedrate 1 for machine axis
3.3 Activate fixed feedrate 2 for machine axis
3.4 Activate fixed feedrate 3 for machine axis
3.5 Activate fixed feedrate 4 for machine axis
31, ... 4.3 Feed stop/spindle stop
31, ... 62.2 Revolutional feedrate active
31, ... 81 F function for positioning axis
31, ... 83.1 Programmed speed too high

Feeds (V1)
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 5-5
Index
Feed disable, 2-23
Feed override, 2-25, 2-29
A Feedrate control, 2-22
Feedrate/spindle stop, 2-23
Acceleration correction
feedrates in one block, 2-32
in the part program/synchronized action, 2-42
G93, G94, G95, 2-3
Axis/spindle disable ?DB31, ... DBX1.3, 2-24
Path feedrate F, 2-1
Rigid tapping G331/G332, 2-20
Spindle override, 2-28
C Thread cutting G33, 2-9
CFC, 2-2 Fixed feedrate values, 2-37
CFCIN, 2-2
CFTCP, 2-2
Constant cutting rate (G96), 2-5 G
Constant cutting rate G96, G961, G962
G96, G961, G97, G971, 2-5
Geometry axis as transverse axis, 2-6
Interrupts, 2-9
Constant speed G97, G971, 2-6
I
Inverse-time feedrate (G93), 2-3
D
Deletion of distance-to-go, 2-33
Diameter programming for one or more transverse
L
axes, 2-5 Linear feedrate (G94), 2-3
Dry run feedrate, 2-30
Dynamic response of an axis/spindle, 2-40
M
Masterslave switchover with G96, G961, 2-9
E MD10704, 2-31
end-of-motion criterion MD10710, 2-7
Programmable in program/synchronized action, MD11410, 2-10, 2-15
2-44 MD11550, 2-20
MD12000, 2-27
MD12010, 2-27
F MD12020, 2-26
MD12030, 2-26
Feed disable, 2-23
MD12040, 2-26
Feedrate disable DB21, ... DBX6.0, 2-24
MD12050, 2-26
Feedrate FB
MD12060, 2-28
Non-modal, 2-39
MD12070, 2-28
Feedrate for chamfer/rounding, 2-38
MD12080, 2-29
Feedrate override switch, 2-25
MD12082, 2-27
Feedrate/spindle stop, 2-23
MD12100, 2-29
Feedrates
MD12200, 2-38
Dry run feedrate, 2-30

Feeds (V1)
Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 Index-1
Index

MD12202, 2-37 Programmable servo parameter set

MD12204, 2-37 In the part program/synchronized action, 2-45
MD12240, 3-1 Programmable singleaxis dynamic response, 1-3, 2-40
MD20100, 2-6, 2-9
MD20150, 2-16, 2-18, 2-19, 3-1
MD20172, 1-2 R
MD20200, 2-39
Rapid traverse override switch, 2-25
MD20201, 2-39, 4-1
Reference axis for G96, G961, G962, 2-5
MD20650, 2-12
Revolutional feedrate (G95), 2-3
MD20750, 2-7
IS revolutional feedrate active, 2-4
MD21200, 2-17
Run-in and run-out paths, programmable, 2-11
MD21220, 2-33
Run-up axes, 2-43
MD21230, 2-33
MD22140, 3-1
MD22410, 2-30
MD30300, 3-1
S
MD32000, 2-18 SD41100, 2-4
MD32040, 2-4 SD42010, 2-11, 2-12, 2-13
MD32050, 2-4 SD42100, 2-30, 2-31
MD32060, 2-40 SD42101, 2-31
MD32300, 2-18, 2-41, 2-42 SD42600, 2-4
MD34990, 2-19 SD43210, 2-8, 2-10
MD35140, 2-8, 2-10 SD43220, 2-7
Multiple feedrate values in one block, 2-32 SD43300, 2-4
Servo parameter set, 2-41
Programmable, 2-45
N Single axes, 2-40
Singleaxis dynamic response, 2-40
Non-modal feedrate FB, 2-39
Singleaxis dynamic response?, 1-3
Spindle override factor, 2-28
Spindle speed limitation with G96, G961, 2-7
P
Parameter set
Servo, 2-41 T
Programmable end-of-motion criterion, 2-44
Types of feedrate, 1-1
Programmable runin and runout paths, 2-11

Feeds (V1)
Index-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Short description 1

Detailed Description 2

Supplementary conditions 3
SINUMERIK
840D sl/840Di sl/840D/840Di/810D
Examples 4
Tool compensation (W1) 5
Data lists

Function Manual

Valid for

Control
SINUMERIK 840D sl/840DE sl
SINUMERIK 840Di sl/840DiE sl
SINUMERIK 840D powerline/840DE powerline
SINUMERIK 840Di powerline/840DiE powerline
SINUMERIK 810D powerline/810DE powerline

Software Version
NCU system software for 840D sl/840DE sl 1.3
NCU system software for 840Di sl/DiE sl 1.0
NCU system software for 840D/840DE 7.4
NCU system software for 840Di/840DiE 3.3
NCU system software for 810D/810DE 7.4

03/2006 Edition
6FC5397-0BP10-1BA0
Safety Guidelines
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent
damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are
graded according to the degree of danger.

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

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

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

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

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

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

Prescribed Usage
Note the following:

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

Trademarks
All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this
publication may be trademarks whose use by third parties for their own purposes could violate the rights of the
owner.

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

Siemens AG Order No.: 6FC5397-0BP10-1BA0 Copyright © Siemens AG 2006.

Automation and Drives Edition 05/2006 Technical data subject to change
Postfach 48 48
90437 NÜRNBERG
GERMANY
Table of contents
1 Short description..................................................................................................................................... 1-1
2 Detailed Description................................................................................................................................ 2-1
2.1 Tool ............................................................................................................................................ 2-1
2.1.1 General ...................................................................................................................................... 2-1
2.1.2 Compensation memory structure............................................................................................... 2-3
2.1.3 Calculating the tool compensation ............................................................................................. 2-5
2.1.4 Address extension for NC addresses T and M .......................................................................... 2-5
2.1.5 Free assignment of D numbers.................................................................................................. 2-7
2.1.6 Compensation block in case of error during tool change ........................................................ 2-13
2.1.7 Definition of the effect of the tool parameters .......................................................................... 2-15
2.2 Flat D number structure ........................................................................................................... 2-16
2.2.1 General .................................................................................................................................... 2-16
2.2.2 Creating a new D number (compensation block)..................................................................... 2-17
2.2.3 Read D number from the PLC ................................................................................................. 2-18
2.2.4 D number programming ........................................................................................................... 2-18
2.2.5 Programming the T number ..................................................................................................... 2-22
2.2.6 Programming M6 ..................................................................................................................... 2-22
2.2.7 Program test............................................................................................................................. 2-23
2.2.8 Tool management or "Flat D numbers" ................................................................................... 2-23
2.3 Tool cutting edge ..................................................................................................................... 2-24
2.3.1 General .................................................................................................................................... 2-24
2.3.2 Tool type (tool parameters)...................................................................................................... 2-26
2.3.3 Cutting edge position (tool parameter 2) ................................................................................. 2-29
2.3.4 Geometry tool length compensation (tool parameters 3 to 5) ................................................. 2-31
2.3.5 Geometry tool radius compensation (tool parameters 6 to 11) ............................................... 2-33
2.3.6 Wear tool length compensation (tool parameters 12 to 14)..................................................... 2-34
2.3.7 Wear tool radius compensation (tool parameters 15 to 20)..................................................... 2-35
2.3.8 Base-dimension/adapter-dimension tool length compensation (tool parameters 21 to 23) .... 2-35
2.3.9 Technology - tool clearance angle (tool parameter 24) ........................................................... 2-37
2.3.10 Tools with a relevant tool point direction.................................................................................. 2-38
2.4 Tool: Tool radius compensation 2D (TRC) .............................................................................. 2-40
2.4.1 General .................................................................................................................................... 2-40
2.4.2 Selecting the TRC (G41/G42).................................................................................................. 2-41
2.4.3 Approach and retraction behavior (NORM/KONT/KONTC/KONTT) ....................................... 2-42
2.4.4 Smooth approach and retraction.............................................................................................. 2-47
2.4.5 Deselecting the TRC (G40)...................................................................................................... 2-61
2.4.6 Compensation at outside corners ............................................................................................ 2-61
2.4.7 Compensation at inside corners .............................................................................................. 2-65
2.4.8 Collision detection and bottleneck detection............................................................................ 2-68
2.4.9 Blocks with variable compensation value ................................................................................ 2-69
2.4.10 Keep tool radius compensation constant................................................................................. 2-71
2.4.11 Alarm behavior ......................................................................................................................... 2-74
2.4.12 Intersection procedure for polynomials.................................................................................... 2-75
2.4.13 G461/G462 Approach/retract strategy expansion ................................................................... 2-75

Tool compensation (W1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 iii
Table of contents

2.5 Toolholder with orientation capability....................................................................................... 2-79

2.5.1 General..................................................................................................................................... 2-79
2.5.2 Kinematic interaction and machine design .............................................................................. 2-86
2.5.3 Oblique machining with 3 + 2 axes .......................................................................................... 2-94
2.5.4 Machine with rotary work table................................................................................................. 2-95
2.5.5 Procedure when using toolholders with orientation capability ................................................. 2-98
2.5.6 Programming.......................................................................................................................... 2-102
2.5.7 Supplementary conditions and control system response for orientation ............................... 2-103
2.6 Incrementally programmed compensation values ................................................................. 2-106
2.6.1 G91 extension ........................................................................................................................ 2-106
2.6.2 Machining in direction of tool orientation................................................................................ 2-107
2.7 Basic tool orientation.............................................................................................................. 2-109
2.8 Special handling of tool compensations................................................................................. 2-112
2.8.1 Relevant setting data ............................................................................................................. 2-112
2.8.2 Mirror tool lengths (SD42900 $SC_MIRROR_TOOL_LENGTH) ........................................... 2-113
2.8.3 Mirror wear lengths (SD42920 $SC_WEAR_SIGN_CUTPOS).............................................. 2-114
2.8.4 Tool length and plane change (SD42940 $SC_TOOL_LENGTH_CONST) .......................... 2-116
2.8.5 Tool type (SD42950 $SC_TOOL_LENGTH_TYPE) .............................................................. 2-117
2.8.6 Temperature offsets in tool direction (SD42960 $SC_TOOL_TEMP_COMP)....................... 2-118
2.8.7 Tool lengths in the WCS, allowing for the orientation ............................................................ 2-118
2.8.8 Tool length offsets in tool direction ........................................................................................ 2-119
2.9 Sum offsets and setup offsets................................................................................................ 2-123
2.9.1 General................................................................................................................................... 2-123
2.9.2 Description of function............................................................................................................ 2-124
2.9.3 Activation................................................................................................................................ 2-127
2.9.4 Examples................................................................................................................................ 2-133
2.9.5 Upgrades for Tool Length Determination............................................................................... 2-134
2.10 Working with tool environments ............................................................................................. 2-134
2.10.1 General................................................................................................................................... 2-134
2.10.2 Saving with TOOLENV........................................................................................................... 2-135
2.10.3 Delete tool environment ......................................................................................................... 2-137
2.10.4 How many environments and which ones are saved? .......................................................... 2-138
2.10.5 Read T, D, DL from a tool environment ................................................................................. 2-139
2.10.6 Read tool lengths, tool length components............................................................................ 2-140
2.11 Tool lengths L1, L2, L3 assignment: LENTOAX .................................................................... 2-145
3 Supplementary conditions....................................................................................................................... 3-1
3.1 Flat D number structure ............................................................................................................. 3-1
3.2 SD42935 expansions ................................................................................................................. 3-2
4 Examples................................................................................................................................................ 4-1
4.1 Toolholder with orientation capability......................................................................................... 4-1
4.1.1 Example: Toolholder with orientation capability......................................................................... 4-1
4.1.2 Example of toolholder with orientation capability with rotary table ............................................ 4-2
4.1.3 Basic tool orientation example ................................................................................................... 4-4
4.1.4 Calculation of compensation values on a location-specific and workpiece-specific basis ........ 4-5
4.2 Examples 3-6: SETTCOR function for tool environments ......................................................... 4-7
5 Data lists................................................................................................................................................. 5-1
5.1 Machine data.............................................................................................................................. 5-1
5.1.1 NC-specific machine data .......................................................................................................... 5-1
5.1.2 Channelspecific machine data ................................................................................................... 5-1
5.1.3 Axis/spindlespecific machine data ............................................................................................. 5-3

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 Table of contents

5.2 Setting data ................................................................................................................................ 5-3

5.2.1 Channelspecific setting data ...................................................................................................... 5-3
5.3 Signals ....................................................................................................................................... 5-4
5.3.1 Signals from channel ................................................................................................................. 5-4
Index................................................................................................................................................ Index-1

Tool compensation (W1)

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Short description 1
Calculating tool compensation data
The SINUMERIK 840D/810D controls can be used to calculate the following tool
compensation data:
• Length compensation
• Radius compensation
• Storage of tool data in a flexible tool compensation memory:
– Tool identification with T numbers from 0 to 32000
– Definition of a tool with a maximum of 9 cutting edges
– Cutting edge described by up to 25 tool parameters

Type
Geometry: Length Wear: Length Base/adapter dimension
Geometry: Radius Wear: Radius
Technology

• Tool selection selectable: Immediate or via selectable M function

• Tool radius compensation:
– Selection and deselection strategy configurable: Normal or contourrelated
– Compensation active for all interpolation types:
Linear
Circle
Helical
Spline
Polynomial
Involute
– compensation at outside corners selectable:
transition circle/ellipse (G450) or equidistant intersection (G451)
– Parameterdriven adaptation of G450/G451 functions to the contour
– Free traversing on outer corners with G450 and DISC parameter
– Number of dummy blocks without axis motion selectable in the compensation plane

Tool compensation (W1)

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Short description

– Collision detection selectable:

Possible contour violations are detected predictively, if:
- Path is shorter than tool radius
- Width of an inside corner is shorter than the tool diameter
– Keep tool radius compensation constant
– Intersection procedure for polynomials

Toolholder with orientation capability

This function permits the machining of inclined surfaces with allowance for tool length
compensation, provided that the kinematics of the toolholder (without NC axes) permits a
static orientation of the tool. The more complex 5Axis transformation is not required for this
case.
References:
/FB3/Functions Manual, Special Functions; 3- to 5Axis Transformation (F2)
Appropriate selection of the tool data and toolholder data describes the kinematics for the
control such that it can make allowance for the tool length compensation.
The control can take some of the description data direct from the current frame.

Note
Please refer to the following documentation for further information on tools and tool
compensations and a full technical description of the general and specific programming
features for tool compensation (TLC and TRC):
References:
/PG/ Programming Manual Fundamentals

Flat/Unique D number structure

Compensations can be selected via unique D numbers with management function.

Special handling of tool compensations

The evaluation of signs can be controlled for tool length and wear by the setting data:
SD42900 $SC_MIRROR_TOOL_LENGTH (Sign change tool length when mirroring).
SD42960 $SC_TOOL_TEMP_COMP (Temperature compens. regarding tool).
The same applies to the response of the wear components when mirroring geometry axes or
changing the machining plane via setting data.
References:
/PG/ Programming Manual Fundamentals; Tool compensations

Tool compensation (W1)

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 Short description

G461/G462
In order to enable the solid machining of inside corners in certain situations with the
activation and deactivation of tool radius compensation, commands G461 und G462 have
been introduced and the approach/retraction strategy has thus been extended for tool radius
compensation.
• G461
If no intersection is possible between the last TRC block and a previous block, the control
calculates an intersection by extending the offset curve of this block with a circle whose
center point coincides with the end point of the noncorrected block, and whose radius is
equal to the tool radius.
• G462
If no intersection is possible between the last TRC block and a previous block, the control
calculates an intersection by inserting a straight line at the end point of the last block with
tool radius compensation (the block is extended by its end tangent).

Changing from G40 to G41/42

The change from G40 to G41/G42 and vice versa is no longer treated as a tool change for
tools with relevant tool point direction (turning and grinding tools).

Tool compensation environments

Functions, which enable the following actions in relation to the current states of tool data, are
available in SW 7.1:
• Save
• Deletion
• Read
• Modify
Some of the functions were previously implemented in measuring cycles. They are now
universally available.
A further function can be used to determine information about the assignment of the tool
lengths of the active tool to the abscissa, ordinate and applicate.

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Short description

Tool compensation (W1)

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Detailed Description 2
2.1 Tool

2.1.1 General

Select tool
A tool is selected in the program with the T function.
Whether the new tool will be loaded immediately by means of the T function depends on the
setting in the machine data:
$MC_TOOL_CHANGE_MODE (new tool compensation with M function) determines whether
the new tool is loaded immediately on execution of the T function.

Change tool immediately

MD22550 $MC_TOOL_CHANGE_MODE = 0
The new tool is changed immediately with the T function.
This setting is used mainly for turning machines with tool revolver.

Change tool with M06

MD22550 $MC_TOOL_CHANGE_MODE = 1
The new tool is prepared for changing with the T function.
This setting is used mainly on milling machines with a tool magazine, in order to bring the
new tool into the tool change position without interrupting the machining process.
The old tool is removed from the spindle and the new tool is loaded into the spindle with the
entered M function in the machine data:
MD22560 $MC_TOOL_CHANGE_M_CODE (M function for tool change).
This tool change must be programmed with the M function M06, in accordance with DIN
66025.

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Detailed Description
2.1 Tool

The next tool is preselected with the machine data:

MD20121 $MC_TOOL_PRESEL_RESET_VALUE (Preselected tool at RESET).
Its tool length compensation values must be considered at RESET and powerup according
machine data:
MD20110 $MC_RESET_MODE_MASK (Determination of control default settings after
RESET/TP end).

Value range of T
The T function accepts the following whole numbers:
• From T0 (no tool)
• To T32000 (tool number 32000).

Tool cutting edge

Each tool can have up to 9 cutting edges. The 9 tool cutting edges are assigned to the D
functions D1 to D9.

7

'

'

'









'

Figure 2-1 Example of a tool T... with 9 cutting edges (D1 to D9)

D function
The tool cutting edge is programmed with D1 (edge 1) to D9 (edge 9). The tool cutting edge
always refers to the currently active tool. An active tool cutting edge (D1 to D9) without an
active tool (T0) is inactive. Tool cutting edge D0 deselects all tool compensations of the
active tool.

Tool compensation (W1)

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 Detailed Description
2.1 Tool

Selection of the cutting edge when changing tool

When a new tool (new T number) has been programmed and the old one replaced, the
following options are available for selecting the cutting edge:
• The cutting edge number is programmed.
• The cutting edge number is defined by the machine data:
MD20270 $MC_CUTTING_EDGE_DEFAULT (Basic setting of tool cutting edge without
programming).

=0 No automatic cutting edge selection in accordance with M06

<>0 Number of the cutting edge, which is selected in accordance with M06
= -1 The cutting edge number of the old tool is retained and is also selected for the new tool,
in accordance with M06.

Activating the tool compensations

D1 to D9 activate the tool compensation for a cutting edge on the active tool. Tool length
compensation and tool radius compensation can be activated at different times:
• Tool length compensation (TLC) is performed on the first traversing motion of the axis, on
which the TLC is to act.
This traversing motion must be a linear interpolation (G0,G1, POS,POSA) or polynomial
interpolation (POLY). If the POS/POSA axis is one of the active geometry axes, tool
length compensation is applied with the first axis motion, in which it is operative.
• Tool radius compensation (TRC) becomes active when G41/G42 is programmed in the
active plane (G17, G18 or G19).
The selection of tool radius compensation with G41/G42 is only permitted in a program
block with G0 (rapid traverse) or G1 (linear interpolation).

2.1.2 Compensation memory structure

Tool compensation memory size

Each channel can have a dedicated tool compensation memory (TO unit).
Which tool compensation memory exists for the relevant channel is set with the machine
data:
MD28085 $MC_MM_LINK_TOA_UNIT (Assignment of TO unit to a channel).
The maximum number of tool cutting edges for all tools managed by the NCK is set with the
machine data:
MD18100 $MN_MM_NUM_CUTTING_EDGES_IN_TOA (number of tool cutting edges in
NCK).

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Detailed Description
2.1 Tool

Tools
The TO memory consists of tools numbered T1 to T32000.
Each tool can be set up via TOA files or individually, using the "New tool" soft key.
Compensation values not required must be assigned the value zero. (this is the default
setting when the offset memory is created): The individual values in the compensation
memory (tool parameters) can be read and written from the program using system variables.

Note
The tools (T1 to T32000) do not have to be stored in ascending order or contiguously in the
tool compensation memory, and the first tool does not have to be assigned number T1.

Tool cutting edges

Each tool can have up to 9 cutting edges (D1 to D9). The first cutting edge (D1) is set up
automatically when a new tool is loaded in the tool compensation memory. Other cutting
edges (up to 8) are set up consecutively and contiguously using the "New cutting edge" soft
key. A different number of tool cutting edges can assigned to each tool in this way.

&KDQQHO  HWF &KDQQHO  HWF

   
 

7 7

7 7

7 7

7 7

' '

' '

' '

 
 
 
 

' '

Figure 2-2 Example of a tool compensation memory structure for 2 channels

Tool compensation (W1)

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 Detailed Description
2.1 Tool

2.1.3 Calculating the tool compensation

D No.
The D no. is sufficient for calculating the tool compensations (can be set via MD).

'1R '3 '3 '3   '3

'

'

'Q

2IIVHWYDOXH

Example:
The above compensation block is to be calculated in the NC.
Part program call:

...
Dn

2.1.4 Address extension for NC addresses T and M

MD20096
Whether also with tool management not activated, the address extension of T and M is to be
interpreted as spindle number, can be set through the machine data:
MD20096 $MC_T_M_ADDRESS_EXT_IS_SPINO (spindle number as address extension).
The same rules then apply to the reference between the D number and T number as when
the "Tool management" function is active.

Tool compensation (W1)

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Detailed Description
2.1 Tool

Effect on the D number

A compensation data set is determined by the D number.
The D address cannot be programmed with an address extension.
The evaluation of the D address always refers to the currently active tool.
The programmed D address refers to the active tool in relation to the master spindle (same
as for tool management function), when machine data is set:
MD20096 $MC_T_M_ADDRESS_EXT_IS_SPINO = TRUE (spindle number as address
extension).

Effect on the T number

If the "Tool management" function is active, the values programmed with reference to the
master spindle (or master toolholder) are displayed as programmed/active T numbers.
If tool management is not active, all programmed T values are displayed as
programmed/active, regardless of the programmed address extension.
Only the T value programmed in relation to the master spindle as programmed/active is
shown with the machine data setting:
MD20096 $MC_T_M_ADDRESS_EXT_IS_SPINO = TRUE (spindle number as address
extension).

Example
The example below shows the effect of the machine data.
Two spindles are considered. Spindle 1 is the master spindle. M6 was defined as the tool
change signal.

T1 = 5
M1 = 6
T2 = 50
M2 = 6
D4

• If tool management is active, D4 refers to tool "5".

T2=50 defines the tool for the secondary spindle, whose tool does not influence the path
compensation. The path is determined exclusively by the tool programmed for the master
spindle.
• D4 relates to tool "50" without active tool management and with the machine data:
MD20096 $MC_T_M_ADDRESS_EXT_IS_SPINO = FALSE (meaning of address
extension on T, M tool change).
The address extensions of neither T nor M are evaluated in the NCK.
Each tool change command defines a new path compensation.

Tool compensation (W1)

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 Detailed Description
2.1 Tool

• D4 relates to tool "5" (as when tool management is active) without active tool
management and with the machine data:
MD20096 $MC_T_M_ADDRESS_EXT_IS_SPINO = TRUE.
Address extension 1 (T1= ..., M1= ...) addresses the master spindle.

Note
Previously, when tool management was not activated, each tool change command
(programmed with T or M) caused the tool compensation to be recalculated in the path.
The address extension is not defined further by this operation. The meaning of the
extension is defined by the user (in the PLC user program).

2.1.5 Free assignment of D numbers

"Relative" D numbers
In the NCK, it is possible to manage the D numbers as "relative" D numbers for the tool
compensation data sets. The corresponding D numbers are assigned to each T number. The
maximum number of D numbers was previously limited to 9.

Functions
Expansions to functions when assigning D numbers:
• Machine data:
MD18105 $MN_MM_MAX_CUTTING_EDGE_NO
is used to define the maximum permissible D number.
The default value is 9, in order to maintain compatibility with existing applications.
• The number of cutting edges (or compensation data sets) can also be defined on a tool-
specific basis using machine data:
MD18106 $MN_MM_MAX_CUTTING_EDGE_PERTOOL.

This allows you to customize the number of cutting edges to be configured for each tool
to the actual number of real cutting edges for monitoring purposes.
• It is also possible to rename D numbers in the NCK and thus to allocate any D numbers
to the cutting edges.

Note
In addition to relative D number allocation, the D numbers can also be assigned as "flat"
or "absolute" D numbers (1-32000) without a reference to a T number (within the "Flat D
number structure" function).

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Detailed Description
2.1 Tool

Cutting edge number CE

When you rename D numbers, the information in the tool catalog detailing the numbers
defined for these cutting edges is lost. It is, therefore, impossible to determine, following
renaming, which cutting edge of the catalog is being referenced.
Since this information is required for retooling procedures, a cutting edge number CE has
been introduced for each cutting edge. This number remains stored when the D number is
renamed.
The D number identifies the cutting edge compensation in the part program. This
compensation number D is administered separately from the cutting edge number CE (the
number in the tool catalog). Any number can be used. The number is used to identify a
compensation in the part program and on the display.
The CE number identifies the actual physical cutting edge during retooling. The cutting edge
number CE is not evaluated by the NCK on compensation selection during a tool change
(only available via the OPI).
The cutting edge number CE is defined with system variable $TC_DPCE[t,d]:
• t stands for the internal T number.
• d stands for the D number.
Write accesses are monitored for collisions, i.e., all cutting edge numbers of a tool must be
different. The variable $TC_DPCE is a component of the cutting edge parameter data set
$TC_DP1 to $TC_DP25.
It is only practical to parameterize $TC_DPCE if the maximum cutting edge number
(MD18105) is greater than the maximum number of cutting edges per tool (MD18106).
In this case, the default cutting edge number is the same as the classification number of the
cutting edge. Compensations of a tool are created starting at number 1 and are incremented
up to the maximum number of cutting edges per tool (MD18106).
If
MD18105 ≤ MD18106,
the CE cutting edge number is equal to the D number
(for compatibility with the previous response).
A read operation returns CE=D. A write operation is ignored without an alarm message.

Note
The compensation values $TC_DP1 to $TC_DP25 of the active tool compensation can be
read with system variable $P_AD[n], where n=1 to 25. The CE cutting edge number of the
active compensation is returned with n=26.

Commands
If the maximum cutting edge number (MD18105) is greater than the maximum number of
cutting edges per tool (MD18106), the following commands are available:

• CHKDNO Checks the uniqueness of the available D numbers.

The D numbers of all tools defined within a TO unit may not occur more than
once. No allowance is made for replacement tools.

Tool compensation (W1)

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 Detailed Description
2.1 Tool

• GETDNO Determines the D number for the cutting edge of a tool.

If no D number matching the input parameters exists, d=0.
If the D number is invalid, a value greater than 32000 is returned.
• SETDNO Sets or changes the D number of the CE cutting edge of tool T.
If there is no data block for the specified parameter, the value FALSE is
returned. Syntax errors generate an alarm. The D number cannot be set
explicitly to 0.
• GETACTTD Determines the associated T number for an absolute D number.
There is not check for uniqueness. If several D numbers within a TO unit are
the same, the T number of the first tool found in the search is returned.
This command is not suitable for use with "flat" D numbers, because the value
1 is always returned in this case (no T numbers in database).
• DZERO Marks all D numbers of the TO unit as invalid.
This command is used for support during retooling.
Compensation data sets tagged with this command are no longer verified by
the CHKDNO language command. These data sets can be accessed again by
setting the D number once more with SETDNO.

Note
If the maximum cutting edge number is smaller than the maximum number of cutting edges
per tool (MD18105 < MD18106), the language commands described do not affect the
system.
This relation is preset in the NCK as standard, in order to maintain compatibility with existing
applications.
The individual commands are described in detail in:
References:
/PG/Programming Guide, Fundamentals.

Activation
In order to work with unique D numbers and, therefore, with the defined language
commands, it must be possible to name D numbers freely for the tools.
The following conditions must be fulfilled for this purpose:
• MD18105 > MD18106
• The "Flat D number" function is not activated
(→ MD18102 $MN_MM_TYPE_OF_CUTTING_EDGE).

Examples
MD18105 $MN_MM_MAX_CUTTING_EDGE_NO = 1
A maximum of one compensation can be defined per tool
(with D number = 1).

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Detailed Description
2.1 Tool

Note
When the "Flat D numbers" function is active, only one D compensation can be defined in
the TO unit.

MD18105 $MN_MM_MAX_CUTTING_EDGE_NO = 9999

Tools can be assigned unique D numbers.
For example:
• D numbers 1, 2, 3 are assigned to T number 1
• D numbers 10, 20, 30, 40, 50 are assigned to T number 2
• D numbers 100, 200 are assigned to T number 3
• etc.
CHKDNO; MD18105 $MN_MM_MAX_CUTTING_EDGE_NO = 9999
The following data are to be checked for unique D numbers:
• T number 1 with D numbers 1, 2, 3
• T number 2 with D numbers 10, 20, 30, 40, 50
• T number 3 with D numbers 100, 200, 30
(typing error during definition: 30 was entered instead of 300)

CHKDNO The FALSE state is returned when the above constellation is checked
because D=30 has been entered twice.
CHKDNO (2, 3, 30) The FALSE state is returned when the specified D number 30 is
checked because D=30 has been entered twice.
CHKDNO (2, 3, 100) The TRUE state indicates that D=100 has been entered just once.
CHKDNO (1, 3) The TRUE state is returned although there is a conflict between the
D=30 of the third tool and D=30 of the second tool.

MD18106 $MN_MM_MAX_CUTTING_EDGE_PERTOOL = 1
Only tools with just one cutting edge are used. The value 1 of the machine data inhibits the
definition of a second cutting edge for a tool.
MD18106 $MN_MM_MAX_CUTTING_EDGE_PERTOOL = 12
A maximum of 12 cutting edges can be defined per tool.

Tool compensation (W1)

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 Detailed Description
2.1 Tool

Programming examples
Renaming a D number
The D number of cutting edge CE = 3 is to be renamed from 2 to 17. The following
specifications apply:
• Internal T number T = 1
• D number = 2
• Tool with one cutting edge with:

$TC_DP2[ 1, 2 ] = 120
$TC_DP3[ 1, 2 ] = 5.5
$TC_DPCE[ 1, 2 ] = 3 ;Cutting edge number CE

• MD18105 $MN_MM_MAX_CUTTING_EDGE_NO = 20
Within the part program, this compensation is programmed as standard with T1, ....D2.
You assign the current D number of cutting edge 3 to a variable (DNoOld) and define the
variable DNoNew for the new D number:

def int DNoOld, DNoNew = 17

DNoOld = GETDNO( 1, 3 )
SETDNO( 1, 3, DNoNew )

The new D value 17 is then assigned to cutting edge CE=3.

Now the data for the cutting edge are addressed via D number 17, both via the system
variable and in programming with the NC address D.
This compensation is now programmed in the part program with T1, ....D17 and the data are
addressed as follows:

$TC_DP2[ 1, 17 ] = 120
$TC_DP3[ 1, 17 ] = 5.5
$TC_DPCE[ 1, 17 ] = 3 ;Cutting edge number CE

Note
If a further cutting edge has been defined for the tool, e.g.,
$TC_DPCE[ 1, 2 ] = 1 ; = CE,
D number 2 of cutting edge 1 cannot have the same name as the D number of cutting edge
3, i.e.,
SETDNO( 1, 1, 17)
returns the status = FALSE.

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Detailed Description
2.1 Tool

DZERO - Invalidate D numbers

The activation of this command invalidates all D numbers of the tools in the TO unit. It is no
longer possible to activate a compensation until valid D numbers are again available in the
NCK. The D numbers must be reassigned using the SETDNO command.
The following tools must be defined (all with cutting edge number 1):

T1, D1 D no. of cutting edge CE=1

T2, D10 D no. of cutting edge CE=1
T3, D100 D no. of cutting edge CE=1

The following command is then programmed:

DZERO

If one of the compensations is now activated (e.g., with T3 D100), an alarm is generated,
because D100 is not currently defined.
The D numbers are redefined with:

SETDNO( 1, 1, ;T=1, cutting edge 1 receives the (new) D number 100

100 )
SETDNO( 2, 1, 10 ;T=2, cutting edge 1 receives the (old) D number 10
)
SETDNO( 3, 1, 1 ;T=3, cutting edge 1 receives the (new) D number 1
)

Note
In the event of a power failure, the DZERO command can leave the NCK in an undefined
state with reference to the D numbers. If this happens, repeat the DZERO command when the
power is restored.

Operating principle of a retooling program

Let us assume you want to ensure that the required tools and cutting edges are available.
The status of the toolholding magazine of the NCK is arbitrary. The D numbers in the part
programs for the new machining operation generally do not match the D numbers of the
actual cutting edges. The retooling program can have the following appearance:

DZERO ; All D numbers of the TO unit are tagged as invalid.

.... ; One or more loops over the locations of the magazine(s)
to check the tools and their cutting edge numbers.
If a tool is found, which is still enabled ($TC_TP8)
and has the required cutting edge number CE (GETDNO),
the new D number is allocated to the cutting edge
(SETDNO).
.... ; Loading and unloading operations are performed.

Tool compensation (W1)

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 Detailed Description
2.1 Tool

It is possible to work with the tool status "to be

unloaded" and "to be loaded".
CHKDNO ; Loading/unloading and the operation for renaming D
numbers are complete.
Individual tools and/or D numbers can be checked, and
collisions can be handled automatically according to
the return value.

2.1.6 Compensation block in case of error during tool change

MD22550
If a tool preparation has been programmed in the part program and the NCK detects an error
(e.g., the data set for the programmed T number does not exist in the NCK), the user can
assess the error situation and perform appropriate tasks, in order to subsequently resume
machining.
The tool change may be programmed independently, depending on the machine data:
MD22550 $MC_TOOL_CHANGE_MODE (new tool compensation with M function).
MD22550 $MC_TOOL_CHANGE_MODE = 0

T= "T no." ; Tool preparation + tool change in one NC block,

; i.e., when T is programmed a new D compensation becomes
; active in the NCK (see
; machine data MD20270 $MC_CUTTING_EDGE_DEFAULT)

MD22550 $MC_TOOL_CHANGE_MODE = 1

T= "T no." ; Tool preparation

M06 ;Change tool
; (the number of the tool-change M code can be changed),
; i.e., when M06 is programmed a new D compensation becomes
; active in the NCK (see
; machine data MD20270 $MC_CUTTING_EDGE_DEFAULT)

The following problems can occur if tool management is not active:

• D compensation data set missing
• Error in part program

Note
The "tool not in magazine" problem cannot be detected since the NCK did not have
access to any magazine information during tool compensation.

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Detailed Description
2.1 Tool

D compensation data set missing

Program execution is interrupted at the block containing the invalid D value (regardless of
the value of machine data MD22550). The operator must either correct the program or
reload the missing data set.
To do this, he needs the D number for the flat D number function, or otherwise the T number
as well. These parameters are transferred when the alarm is triggered.

Error in part program

The options for intervention in the event of an error depend on how the tool change was
programmed, defined via the machine data:
MD22550 $MC_TOOL_CHANGE_MODE (new tool compensation with M function).
Tool change with T programming (MD22550 = 0)
In this case, the "Compensation block" function available in the NCK is used. The NC
program stops at the NC block in which a programmed T value error was detected. The
"Compensation block" is executed again when the program is resumed.
The operator can intervene as follows:
• Correct the part program.
• Reload the missing cutting edge compensation data from the HMI.
• Include the missing cutting edge compensation data in the NCK using "Overstore".
Following operator intervention, the START key is pressed and the block, which caused the
error, is executed again. If the error was corrected, the program is continued. Otherwise, an
alarm is output again.
Tool change with T and M06 programming (MD22550 = 1)
In this case, an error is detected in the NC block containing the tool preparation (T
programming), however this error is to be ignored initially. Processing continues until the tool
change request (usually M06) is executed. The program is to stop at this point.
The programmed T address can contain any number of program lines ahead of the M06
command, or the two instructions can appear in different (sub)programs. For this reason, it is
not usually possible to modify a block or a compensation block, which has already been
executed.
The operator has the same options for intervention as with = 0.
Reloading of missing data is possible. In this case, however, T must be programmed with
"Overstore".
If a program error has occurred, the line with the error cannot be corrected (Txx); only the
line at which the program stopped and which generated the alarm can be edited. Only when
machine data:
MD22562 $MC_TOOL_CHANGE_ERROR_MODE Bit0 = 1 (response on errors in tool
change).
The sequence is as follows:

Txx ; Error! Data set with xx does not exist.

; Detect state; detect xx;
; continue in program
....

Tool compensation (W1)

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 Detailed Description
2.1 Tool

M06 ; Detect bit memory "xx missing" → output alarm,

; stop program
; Correct block with, e.g., Tyy M06, start,
; block Tyy M06 interpreted and OK.
; Machining continues.

The following occurs when this part of the program is executed again:

Txx ; Error! Data set with xx does not exist,

; Detect state; detect xx;
; continue in program
....
Tyy M06 ; Detect bit memory "xx missing" → cancel without further
response,
; as Tyy M06 is correct → program does not stop (correct).

If necessary, the original point of the T call can be corrected after the end of the program. If
the tool change logic on the machine cannot process this, the program must be aborted and
the point of the error corrected.
If only one data set is missing, it is transferred to the NCK, Txx is programmed in "Overstore"
and the program is subsequently resumed.
As in the case of "missing D number", the required parameter (T number) can be accessed
by the user for "missing T number" via the appropriate alarm (17191).

Note
In order to enable program correction, it stops immediately at the faulty Txx block.
The program text operation is also stopped when machine data:
MD22562 $MC_TOOL_CHANGE_ERROR_MODE Bit0=1 (response on errors in tool
change).

2.1.7 Definition of the effect of the tool parameters

MD20360
The effect of the tool parameters on the transverse axis in connection with diameter
programming can be controlled selectively with the machine data:
MD20360 $MC_TOOL_PARAMETER_DEF_MASK (definition of tool parameters).
Details are described with the mentioned MD

Tool compensation (W1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-15
Detailed Description
2.2 Flat D number structure

DRF handwheel traversal with half distance

During DRF handwheel traversal, it is possible to move a transverse axis through only half
the distance of the specified increment as follows:
Specify the distance with handwheel via the machine data:
MD11346 $MN_HANDWHEEL_TRUE_DISTANCE = 1 (handwheel path or speed
specification).
Define the DRF offset in the transverse axis as a diameter offset with the machine data:
MD20360 $MC_TOOL_PARAMETER_DEF_MASK Bit 9 = 1 (definition of tool parameters).
Deselecting an axial DRF compensation (DRFOF) also deletes an existing tool compensation
(handwheel override in tool direction).

Note
For further information about superimposed movements with the handwheel, please refer to:
References:
/FB2/Function Manual, Extended Functions; Jog With/Without Handwheel (H1)
/PG/ Programming Manual Fundamentals (The Programming Guide describes the complete
technical descriptions in order to deselect the DRF offset by axis.)

2.2 Flat D number structure

2.2.1 General

Simple tool management

Simple tool management (no replacement tools, no magazines) using D numbers is possible
for turning machines.
The function is available in the basic level of tool management (without tool management
function activated). Grinding tools cannot be defined using this function.

Tool compensation (W1)

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 Detailed Description
2.2 Flat D number structure

Activation
Which type of D number management is valid may be set via the machine data:
MD18102 $MN_MM_TYPE_OF_CUTTING_EDGE (type of D number programming).

Value = 0 As previously = default setting

Value = 1 Flat D number structure with absolute direct D programming
Cutting edges can be deleted individually via PI command or NC programming command.
Cutting edges with a specific number can also be created selectively using HMI.

2.2.2 Creating a new D number (compensation block)

Programming
Tool compensations can be programmed with system variables $TC_DP1 to $TC_DP25.
The contents have the same meaning as before.
The syntax changes: no T number is specified.
• "Flat D number" function active:
$TC_DPx[d] = value ;where x=parameter no., d=D number
i.e., data with this syntax can only be loaded to the NCK if the "Flat D number" function is
activated.
• "Flat D number" function inactive:
$TC_DPx[t][d] = value ;where t=T number, d=D number
A D number can only be assigned once for each tool, i.e., each D number stands for exactly
one compensation data block.
A new data block is stored in the NCK memory when a D number that does not exist is
created for the first time.
The maximum number of D or offset data blocks (max. 600) is set via the machine data:
MD18100 $MN_MM_NUM_CUTTING_EDGES_IN_TOA (tool compensations in TO area).

Data backup
Data backup is carried out in the same format, i.e., a backup file created with the "Flat D
number" function cannot be loaded on the NCK of a control that has not activated the
function.
This also applies in reverse for transfer.

D range
1 - 99 999 999

Tool compensation (W1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-17
Detailed Description
2.2 Flat D number structure

2.2.3 Read D number from the PLC

Reading from system variables

The programmer has various options for specifying the D number in the part program.
One option is to read it from the system variables: $A_DNO[n] ; (n=1,...9). ("DNO" stands for
D number.)

Example
Compensation selection in the part program
D9 is written in the program. With $A_DND[9], the absolute D number stored in the 9th table
location at the time of the call is read.
System variable $A_DNO[n]; (n=1 to 9)
Meaning The variable reads the value of the nth position from a table containing the D
numbers.
The variable is typically used for indirect D programming (via parameters):
D=$A_DNO[1]
The variable reads a field element (=the actual D number) in the D number table
of VDI. The PLC writes the matching D number for this T number to the field after
the NCK has output the auxiliary function T to the PLC.
Field elements have the value zero if no D number has been defined for them.
A maximum of 9 different D numbers can be stored from the PLC for 1 T in the
VDI interface.
D number values can range between 0 and 32000, i.e., the table may contain
gaps.
Data type INT
Value range 99 999 999
Indices n=1-9.
Index n indicates the position in the D number table that is to be read.
Access Read in part program
Preprocessor yes
stop
Synchronized Read in synchronized actions
action
Validity Only relevant in conjunction with the "Flat D numbers" function or tool
management on PLC.

2.2.4 D number programming

MD18102
How the D number is programmed can be set via the machine data:
MD18102 $MN_MM_TYPE_OF_CUTTING_EDGE (type of D number programming).
D0 still contains the previous meaning, "Deselection of active compensation in NCK".

Tool compensation (W1)

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 Detailed Description
2.2 Flat D number structure

Address extension of D
It is not possible to extend the address of D. Only one active compensation data block is
possible for the tool path at a given time.

Direct, absolute programming

Programming in the part program is carried out as before. Only the value range of the
programmed D number is increased.
Example 1:
MD22550 $MC_TOOL_CHANGE_MODE = 0 (new tool compensation with M function).
MD18102 $MN_MM_TYPE_OF_CUTTING_EDGE = 1 (type of D number programming).
MD20270 $MC_CUTTING_EDGE_DEFAULT = –1 (Basic setting of tool cutting edge without
programming).

...
D92
X0 Traverse with compensations from D92
T17 Outputs T=17 to the PLC
X1 Traverse with compensations from D92
D16
X2 Traverse with compensations from D16
D32000
X3 Traverse with compensations from D32000
T29000 Outputs T=29000 to the PLC
X4 Traverse with compensations from D32000
D1
X5 Traverse with compensations from D1
...

Example 2:
MD22550 = 0

T1
T2
T3
D777 No wait, D777 is activated,
T3 = programmed and active tool in display
D777 = programmed and active compensation

Note
The tool change and the assignment of a D compensation to an actual tool are not the
responsibility of NCK.

Tool compensation (W1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-19
Detailed Description
2.2 Flat D number structure

Indirectly parameterized program

D=$A_DNO[n]
Meaning: Select the D number entered at position n (=1 to 9) in the VDI D number table.
The $A_DNO variable is read during runup with advance forced synchronization with the
main run.
The D numbers available in the VDI interface can be read with $A_DND.

Note
Before the NCK main run reads the D number, it must be ensured beyond doubt that the
PLC has written the D numbers that match the previously programmed T value. This
mechanism (in the NCK) usually initiates a wait for PLC in the NCK.

Indirect indexed programming

Dn or D=n
Meaning: Select the D number entered at position n (=1 to 9) in the VDI D number table.
Although this syntax is identical to the conventional one, it activates the compensation block
for the D number determined for index n internally.
Example of indirect D programming sequence:
MD20270 (Basic setting of tool cutting edge without programming) is = 0.
MD22550 (new tool compensation with M function) is = 0.
Spindle no. 2 is not the master spindle

Part program Action

T4 Tool change command: NCK outputs the value 4 as T auxiliary function. PLC
evaluates it and provides the associated absolute D numbers in the VDI. The
PLC only does this if the address extension received is the number of the
master spindle. A simple communication protocol allows the NCK to detect
whether the associated D numbers are available for the subsequent
programmed D.
X1
...
D1 The NCK feed is synchronized with the main run, checks whether the new D
numbers are present in the VDI (and waits if necessary) and accepts the
desired (absolute) D number at position 1 (D1), e.g., the number 4711.The
NCK now determines the compensation block 4711 and calculates the
geometry. The NC copies the entire content of the D number table to the VDI
interface (each time a tool change command is detected).
D=$P_DNO[2] Contents correspond to the programming of D2 (for indirect programming)
D3 The NC accesses the absolute D number of location 3; a synchronized action is
not required, because a new T has not been programmed.
T2 = 12000000 The NC does not detect a tool change, because spindle no. 2 is not the number
of the master spindle.
D4 The NC accesses the absolute D number of location 4; a synchronized action is
not required, because a new T has not been programmed.

Tool compensation (W1)

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 Detailed Description
2.2 Flat D number structure

Before outputting the T number to the PLC, the NCK stores the status of the VDI with
reference to the queued D number(s). A counter is contained in the VDI for this purpose. The
PLC increments the counter each time the D number is refreshed. If necessary the next D
number request from the NCK waits until the counter value has changed. The VDI then
contains the new D number table, which belongs to the previously programmed value.

Note
D can only be programmed without an address extension. D always refers to the master
spindle. T can be programmed with an address extension. PLC only has to write the D
compensations to VDI for T values or M6 commands with reference to the master spindle.
The NCK assumes that this is the case when performing synchronization actions during
reading of the D numbers from the VDI.

Example

MD22550 TOOL_CHANGE_MODE = 1
MD22560 TOOL_CHANGE_M_CODE = 6 ; i.e., tool change with M6 programming
Spindle number 3 is not the master
spindle
T1
M6 ; Tool change command
T3
T3 = 11
D = 2 ; Wait until the counter in the VDI has
changed; this is the signal that the PLC
has written the D values for T1 to the D
number table (e.g., at position 2 = 4711;
then activate compensation 4711 in NCK).
T3 = programmed T
T1 = active T in the display

Delete D no. via part program

• With flat D number
$TC_DP1[d] = 0
Compensation data set is deleted from NCK with number d.
The memory is then free for the definition of another D number.
• Without flat D number
$TC_DP1[t][d] = 0=
Cutting edge d of tool t is deleted.
• $TC_DP1[0] = 0
Delete all D compensations from NCK.
Active compensation data blocks (D numbers) cannot be deleted. It may, therefore, be
necessary to program D0 before deleting.

Tool compensation (W1)

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Detailed Description
2.2 Flat D number structure

Tool MDs
The following machine data affect the way tools and cutting edges (D numbers) work in the
NCK:
• MD20270 $MC_CUTTING_EDGE_DEFAULT (Basic setting of tool cutting edge without
programming)
• MD20130 $MC_CUTTING_EDGE_RESET_VALUE (tool cutting edge length compens.
During ramp-up)
• MD20120 $MC_TOOL_RESET_VALUE (tool cutting edge length compens. During ramp-
up)
• MD20121 $MC_TOOL_PRESEL_RESET_VALUE (Preselected tool at RESET)
• MD22550 $MC_TOOL_CHANGE_MODE (new tool compensation with M function)
• MD22560 $MC_TOOL_CHANGE_M_CODE (M function for tool change)
• MD20110 $MC_RESET_MODE_MASK (Determination of control default settings after
RESET/TP end)
• MD20112 $MC_START_MODE_MASK (Definition of the control default settings in case
of NC START)

2.2.5 Programming the T number

When the "Flat D number structure" function is active, NC address T continues to be
evaluated, i.e., the programmed T number and the active T number are displayed. However,
the NC determines the D number without reference to the programmed T value.
The NC detects 1 master spindle per channel (via the spindle number, which can be set
using MD). Compensations and the M6 command (tool change) are only calculated in
reference to the master spindle.
An address extension T is interpreted as a spindle number (e.g., T2 = 1; tool 1 to be selected
on spindle 2); a tool change is only detected if spindle 2 is the master spindle.

2.2.6 Programming M6

MD22550 and MD22560

The NC detects 1 master spindle per channel (via the spindle number, which can be set
using MD). Compensations and the M6 command (tool change) are only calculated in
reference to the master spindle.
Whether the tool change command is performed with an M function is defined via the
machine data:
MD22550 $MC_TOOL_CHANGE_MODE (new tool compensation with M function).

Tool compensation (W1)

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 Detailed Description
2.2 Flat D number structure

T is used as the tool preparation command.

The name of the M function for the tool change is defined via the machine data:
MD22560 $MC_TOOL_CHANGE_M_CODE (M function for tool change).
The default is M6. An address extension of M6 is interpreted as a spindle number.

Example
Two spindles are defined, spindle 1 and spindle 2, and the following applies:

MD20090 = 2 ; Spindle no. 2 is the master spindle.

M6 ; Tool change desired, command refers implicitly to the master
spindle
M1 = 6 ; No tool change, since spindle no. 2 is the master spindle
M2 = 6 ; Tool is changed, since spindle no. 2 is the master spindle

2.2.7 Program test

MD20110
To have the active tool and the tool compensation included as follows, can be defined via the
machine data:
MD20110 $MC_RESET_MODE_MASK, Bit 3 (Definition of control default settings after
RESET/TP end).

Bit 3=1 From the last test program to finish in test mode
Bit 3=0 From the last program to finish before activation of the program test

Prerequisite
Bits 0 and 6 of MD20110 must be enabled.

2.2.8 Tool management or "Flat D numbers"

Tool management
NCK active tool management works on the basis of the following assumptions:
1. Tools are managed in magazines.
2. Cutting edges are monitored; limits reached cause the tool to be disabled.
3. Idea behind replacement tools: Tools are programmed for selection only the on the basis
of their identifier. NCK then selects the concrete tool according to the strategy.

Tool compensation (W1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-23
Detailed Description
2.3 Tool cutting edge

This means that it only makes sense to employ tool management when specific tools have
been defined and these are to be utilized by the NCK.

Flat D number
Flat D number means that tool management is carried out outside the NCK and there is no
reference made to T numbers.

No mixture of tool management and flat D no.

It does not make sense to mix or distribute the tool management functions over the NCK and
PLC, since the main reason for tool management on the NCK is to save time.
This only works if the tasks that are timecritical are carried out on the NCK. This is not the
case for "Flat D number", however.

Note
Activation of both of the functions "Flat D number structure" and "Tool management" is
monitored. If both are activated at the same time, "Tool management" takes priority.

2.3 Tool cutting edge

2.3.1 General

Tool cutting edge

The following data are used to describe a tool cutting edge uniquely:
• Tool type (end mill, drill, etc.)
• Geometrical description
• Technological description

Tool parameter
The geometrical description, the technological description and the tool type are mapped to
tool parameters for each tool cutting edge.
Milling cutter types 111, 120, 121, 130, 155, 156 and 157 3D are given special treatment for
face milling by evaluating tool parameters (1 - 23).
For more information about various tool types, see:
Section "Tool type (tool parameters)" and:

Tool compensation (W1)

2-24 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.3 Tool cutting edge

References:
/PG/Programming Manual, Fundamentals; Tool Compensation (W1) / Section "List of Tool
Types"
/FB3/ Function Manual Special Functions; 3D Tool Radius Compensation (W5)
The following tool parameters are available for the relevant tool types:

Tool parameter Meaning Note Reserved for

expansions
1 Tool type
2 Cutting edge position for turning tools or
for milling/grinding tools with
2D TRC contour tool
Geometry tool length compensation
3 Length 1
4 Length 2
5 Length 3
Geometry tool radius compensation
6 Radius 1/Length 1 for 3D face milling
7 Length 2 for 3D face milling
8 Radius 1 for 3D face milling
9 Radius 2 for 3D face milling
10 Angle 1 / for 3D face milling
Minimum limit angle with 2D TRC contour tool
11 Angle 2 / for 3D face milling
maximum limit angle with 2D TRC contour tool
Wear tool length compensation
12 Length 1
13 Length 2
14 Length 3
Wear tool radius compensation
15 Radius 1/Length 1 for 3D face milling
16 Length 2 for 3D face milling
17 Radius 1 for 3D face milling
18 Radius 2 for 3D face milling
19 Angle 1 / for 3D face milling
minimum limit angle with 2D TRC contour tool.
20 Angle 2 / for 3D face milling
maximum limit angle with 2D TRC contour tool.
Tool base dimension/adapter dimension tool length compensation
21 Basic length 1
22 Basic length 2
23 Basic length 3
Technology
24 Undercut angle only for turning tools

Tool compensation (W1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-25
Detailed Description
2.3 Tool cutting edge

Tool parameter Meaning Note Reserved for

expansions
25 Reserved*

* "Reserved" means that this tool parameter on the 840D/810D is not used (reserved for
expansions).

2.3.2 Tool type (tool parameters)

Meaning
A 3digit number is used to define the tool type. The operator/machine setter/programmer
selects the tool type. This determines further components such as geometry, wear and tool
base dimensions in advance. The tool type has no significance in the turning tool groups.
Nonlisted numbers are also permitted, in particular with grinding tools (400-499).

Tool compensation (W1)

2-26 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.3 Tool cutting edge

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Tool compensation (W1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-27
Detailed Description
2.3 Tool cutting edge

Special points to be noted

• The tool type must be specified for each tool cutting edge.
• Only the values specified can be used for the tool type.
• Tool type 0 (zero) means that no valid tool has been defined.

Tool compensation data for slotting saw type

The following compensation data (TOA data) can be specified for the slotting saw tool type
(type 700):

Geometry Wear Base

Length compensation
Length 1 $TC_DP3 $TC_DP12 $TC_DP21 mm
Length 2 $TC_DP4 $TC_DP13 $TC_DP22 mm
Length 3 $TC_DP5 $TC_DP14 $TC_DP23 mm
Saw blade compensation
Diameter d $TC_DP6 $TC_DP15 mm
Slot width b $TC_DP7 $TC_DP16 mm
Projection k $TC_DP8 $TC_DP17 mm

Tool compensation (W1)

2-28 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.3 Tool cutting edge

/

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Figure 2-4 Geometry of slotting saw (analogous to angle head cutter)

The width of the saw blade is accounted for with G40 to G42:

G40 No saw blade compensation

G41 Saw blade compensation left
G42 Saw blade compensation right

2.3.3 Cutting edge position (tool parameter 2)

Tool radius compensation for turning tools

The control also needs the following parameters in order to calculate the tool radius
compensation for turning tools (tool type 5xx):
• Cutting edge position (tool parameter 2)
• Cutting edge radius (tool parameter 8)

Tool compensation (W1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-29
Detailed Description
2.3 Tool cutting edge

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Figure 2-5 Dimensions for turning tools: Turning tool

Length of cutting edge

The cutting edge position describes the position of the tool tip P in relation to the cutting
edge center point S. The cutting edge position is entered in tool parameter 2 (shown as P2 in
the figure).

; 3  3  3  3  3  3  3  3  3 

3 3 6

6 =

Figure 2-6 Tool parameter 2c (P2): Machining behind the turning center

6
=
3
3 6
3  3  3  3  3  3  3  3  3 
;

Figure 2-7 Tool parameter 2 (P2): Machining in front of the turning center

Tool compensation (W1)

2-30 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.3 Tool cutting edge

= = = = =

3  3  3  3 

3 
3 3 6
3  3  3  3 
6

; ; ; ; ;

Figure 2-8 Tool parameter 2 (P2): Cutting edge position for vertical boring and turning mills

Special feature
• If the cutting edge center point S is used instead of point P as a reference point to
calculate the tool length compensation, the identifier 9 must be entered for the cutting
edge position.
• The identifier 0 (zero) is not permitted as a cutting edge position.

2.3.4 Geometry tool length compensation (tool parameters 3 to 5)

Tool length 1 to 3
The lengths of the tools for tool length compensation are entered as tool lengths 1 to 3 (tool
parameters 3 to 5). The following length specifications must be entered as a minimum for
each tool type:

Tool type 12x, 140, 145, 150: Tool length 1

Tool type 13x: Tool length 1 to 3 (depending on plane G17-G19)
Tool type 2xx: Tool length 1
Tool type 5xx: Tool length 1 to 3

Note
All three tool parameters 3 to 5 (tool length 1 to 3) are always calculated in the three
geometry axes, irrespective of the tool type.
If more tool lengths than the minimum required are entered in tool parameters 3 to 5 for one
tool type (only tool length 1 is required for tool type 2xx), these additional tool lengths are
calculated in the geometry axes without an alarm.

Tool compensation (W1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-31
Detailed Description
2.3 Tool cutting edge

Note
For information about entering tool dimensions (lengths) in tool parameters 3 to 4 (tool
lengths 1 to 3) and how these are calculated in the three geometry axes, please refer to:
References:
/BA/ Operator's Guide

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Figure 2-9 Twist drill (tool type 200) with tool length (tool parameter 3)

Special feature
The active size of the tool is only defined when the geometry tool length compensation (tool
parameters 3 to 5) and the wear tool length compensation (tool parameters 12 to 14) are
added together. The base-dimension/adapter-dimension tool length compensation is also
added in order to calculate the total tool length compensation in the geometry axes.

Tool compensation (W1)

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 Detailed Description
2.3 Tool cutting edge

2.3.5 Geometry tool radius compensation (tool parameters 6 to 11)

Tool geometry
Geometry tool radius compensation defines the shape of the tool.

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Figure 2-10 Description of the tool geometry

Note
The tool description as given in the figure is required only for 3D face milling.
References:
/PGA/ Programming Manual Production Planning Transformations / Section "3-, 4- and 5-
Axis Transformation (TRAORI)
Otherwise,
On SINUMERIK 840D/810D, only tool parameter 6 (tool radius 1) is used as standard from
tool parameters 6 to 11. For 2D TRC with contour tools, additionally to the tool parameters
10 and 11, a minimum or maximum limit angle can be defined for the cutting edge
compensation when using multiple tool cutting edges.
Please refer to the following documentation for information about entering tool shapes
(radius for tool radius compensation) in tool parameters 6 to 11 and how these are
calculated by tool radius compensation in the three geometry axes:
References:
/PG/ Programming Manual Fundamentals; Tool compensations "2½ D Tool Compensation"
/FB3/ Function Manual Special Functions; 3D Tool Radius Compensation (W5)

Tool compensation (W1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-33
Detailed Description
2.3 Tool cutting edge

Tool length 1 Not used

Tool length 2 Not used
Tool radius 1 The tool radius must be entered for the following tool types in tool parameter 6
(tool radius 1):
Tool type 1xx Milling tools
Tool type 5xx Turning tools
A tool radius does not have to be entered for drilling tools (tool type 2xx).
The cutting edge position (tool parameter 2) also has to be entered for turning
tools (tool type 5xx).
Tool radius 2 Not used
Tool angle 1
Tool angle 2

2D TRC with contour tools

For the definition of contour tools with multiple tool cutting edges, the minimum and
maximum limit angle can be entered. Both limit angles each relate to the vector of the cutting
edge center point to the cutting edge reference point and are counted clockwise.

Tool angle 1 Minimum limit angle per tool cutting edge

Tool angle 2 Maximum limit angle per tool cutting edge
References:
/PGA/, Programming Manual Production Planning; Tool Compensations / Section
"Compensation Memory"

2.3.6 Wear tool length compensation (tool parameters 12 to 14)

Meaning
While geometry tool length compensation (tool parameters 3 to 5) is used to define the size
of the tool, wear tool length compensation can be used to correct the change in the active
tool size. The active tool size can change due to:
• Differences between the tool fixture on the tool measurement machine and the tool fixture
on the machine tool
• Tool wear caused during service life by machining
• Definition of a finishing allowance.

Tool compensation (W1)

2-34 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.3 Tool cutting edge

Active tool size

The geometry tool compensation (tool parameters 3 to 5) and the wear tool length
compensation (tool parameters 12 to 14) are added together (geometry tool length 1 is
added to wear tool length 1, etc.) to arrive at the size of the active tool.

2.3.7 Wear tool radius compensation (tool parameters 15 to 20)

Meaning
While geometry tool radius compensation (tool parameters 6 to 11) is used to define the
shape of the tool, wear tool radius compensation can be used to correct the change in the
active tool shape.
The active tool size can change due to:
• Tool wear caused during service life by machining
• Definition of a finishing allowance.

Active tool shape

The geometry tool radius compensation (tool parameters 6 to 11) and the wear tool radius
compensation (tool parameters 15 to 20) are added together (geometry tool radius 1 is
added to wear tool radius 1, etc.) to arrive at the shape of the active tool.

2.3.8 Base-dimension/adapter-dimension tool length compensation (tool parameters 21

to 23)

Meaning
Tool base dimension/adapter dimension can be used when the reference point of the
toolholder (tool size) differs from the reference point of the toolholder.
This is the case when:
• The tool and the tool adapter are measured separately but are installed on the machine in
one unit (the tool size and adapter size are entered separately in a cutting edge).
• The tool is used in a second tool fixture located in another position (e.g., vertical and
horizontal spindle).
• The tool fixtures of a tool turret are located at different positions.

Tool compensation (W1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-35
Detailed Description
2.3 Tool cutting edge

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Figure 2-11 Example applications for base-dimension/adapter-dimension TLC

Basic length 1 to 3
In order that the discrepancy between the toolholder reference point F and the toolholder
reference point F' can be corrected on the three geometry axes (three dimensional), all 3
basic lengths are active irrespective of the tool type. In other words, a twist drill (tool type
200) with a tool length compensation (length 1) can also have a tool base dimension/adapter
dimension in 3 axes.

Note
Please refer to the following documentation for more information about base-
dimension/adapter-dimension tool length compensation:
References:
/PG/Programming Manual Fundamentals

Tool compensation (W1)

2-36 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.3 Tool cutting edge

2.3.9 Technology - tool clearance angle (tool parameter 24)

Meaning
Certain turning cycles, in which traversing motions with tool clearance are generated,
monitor the tool clearance angle of the active tool for possible contour violations.

Value range
The angle (0 to 90° with no leading sign) is entered in tool parameter 24 as the tool
clearance angle.

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Figure 2-12 Tool clearance angle of the turning tool during relief cutting

Longitudinal/face
The tool clearance angle is entered in different ways according to the type of machining
(longitudinal or face). If a tool is to be used for both longitudinal and face machining, two
cutting edges must be entered for different tool clearance angles.

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Figure 2-13 Tool clearance angle for longitudinal and face machining

Tool compensation (W1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-37
Detailed Description
2.3 Tool cutting edge

Note
If a tool clearance angle (tool parameter 24) of zero is entered, relief cutting is not monitored
in the turning cycles.
Please refer to the following documentation for a detailed description of the tool clearance
angle:
References:
/PGZ/ Programming Guide Cycles

2.3.10 Tools with a relevant tool point direction

Up to SW 4.x
The change from G40 to G41/G42 or vice versa is treated as a tool change for tools with
relevant tool point direction. This causes a preprocessor stop when a transformation (e.g.,
TRANSMIT) is active, and may lead to deviations from the intended part contour.

SW 5 and higher
The following changes have been made:
1. The change from G40 to G41/G42 or vice versa is no longer treated as a tool change.
Therefore, a preprocessor stop no longer occurs with Transmit.
2. The straight line between the tool edge center points at the block start and block end is
used to calculate intersection points with the approach and retraction block. The
difference between the tool edge reference point and the tool edge center point is
superimposed on this movement.
For approach and/or retraction with KONT, the movement is superimposed in the linear
subblock of the approach or retraction movement. Therefore, the geometric conditions for
tools with or without relevant tool point direction are identical. Deviations from previous
behavior occur only in relatively rare cases where the approach or retraction block does
not intersect with an adjacent motion block:

Tool compensation (W1)

2-38 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.3 Tool cutting edge

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Figure 2-14 Retraction behavior for tool with relevant tool point direction

1. In circle blocks and in motion blocks containing rational polynomials with a denominator
degree > 4, it is not permitted to change a tool with active tool radius compensation in
cases where the distance between the tool edge center point and the tool edge reference
point changes. With other types of interpolation, a change is permitted even when a
transformation (e.g., Transmit) is active, in contrast to previous versions.
2. For tool radius compensation with variable tool orientation, the transformation from the
tool edge reference point to the tool edge center point can no longer be performed by
means of a simple zero compensation. Tools with a relevant tool point direction are
therefore not permitted for 3D peripheral milling (an alarm is output).

Note
The subject is irrelevant with respect to face milling as only defined tool types without
relevant tool point direction are permitted for this operation anyway. (A tool with a type,
which has not been explicitly approved, is treated as a ball end mill with the specified radius.
A tool point direction parameter is ignored.)

Tool compensation (W1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-39
Detailed Description
2.4 Tool: Tool radius compensation 2D (TRC)

2.4 Tool: Tool radius compensation 2D (TRC)

2.4.1 General

Note
For tool radius compensation (TRC) please refer to:
References:
/PG/Programming Manual Fundamentals
Only the Programming Guide contains a complete technical description of the tool radius
compensation (TRC) and its special aspects.

Why TRC?
The contour (geometry) of the workpiece programmed in the part program should be
independent of the tools used in production. This makes it necessary to draw the values for
the tool length and tool radius from a current compensation memory. Tool radius
compensation can be used to calculate the equidistant path to the programmed contour from
the current tool radius.

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Figure 2-15 Workpiece contour (geometry) with equidistant path

Tool compensation (W1)

2-40 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.4 Tool: Tool radius compensation 2D (TRC)

TRC on the plane

TRC is active on the current plane (G17 to G19) for the following types of interpolation:

• Linear interpolation ... G0,G1

• Circular interpolation ... G2, G3, CIP
• Helical interpolation ... G2,G3
• Spline interpolation ... ASPLINE, BSPLINE, CSPLINE
• Polynomial interpolation ... POLY

2.4.2 Selecting the TRC (G41/G42)

Direction of compensation
TRC calculates a path, which is equidistant to the programmed contour. Compensation can
be performed on the left- or righthand side of the programmed contour in the direction of
motion.

• G41 ... TRC on the lefthand side of the contour in the direction of motion
• G42 ... TRC on the righthand side of the contour in the direction of motion
• G40 ... Deselection of TRC

Intermediate blocks
In general, only program blocks with positions on geometry axes in the current plane are
programmed when TRC is active. However, dummy blocks can still also be programmed
with active TRC. Dummy blocks are program blocks, which do not contain any positions on a
geometry axis in the current plane:
• Positions on the infeed axis
• Auxiliary functions,
• etc.
The maximum number of dummy blocks can be defined in the machine data:
MD20250 $MC_CUTCOM_MAXNUM_DUMMY_BLOCKS (Max. no. of dummy blocks with no
traversing movements for TRC).

Special points to be noted

• TRC can only be selected in a program block with G0 (rapid traverse) or G1 (linear
interpolation).
• A tool must be loaded (T function) and the tool cutting edge (tool compensation) (D1 to
D9) activated no later than in the program block with the tool radius compensation
selection.

Tool compensation (W1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-41
Detailed Description
2.4 Tool: Tool radius compensation 2D (TRC)

• Tool radius compensation is not selected with a tool cutting edge/tool compensation of
D0.
• If only one geometry axis is programmed on the plane when tool radius compensation is
selected, the second axis is automatically added on the plane (last programmed position).
• If no geometry axis is programmed for the current plane in the block with the tool radius
compensation selection, no selection takes place.
• If tool radius compensation is deselected (G40) in the block following tool radius
compensation selection, no selection takes place.
• If tool radius compensation is selected, the approach behavior is determined by the
NORM/KONT instructions.

2.4.3 Approach and retraction behavior (NORM/KONT/KONTC/KONTT)

NORM and KONT

The NORM and KONT instructions can be used to control approach behavior (selection of tool
radius compensation with G41/42) and retraction behavior (deselection of tool radius
compensation with G40):

NORM ... Normal setting at start point/end point (initial setting)

KONT ... Follow contour at start point/end point
KONTC ... Approach/retraction with constant curvature
KONTT .. Approach/retraction with constant tangent

Special points to be noted

• KONT only differs from NORM when the tool start position is behind the contour.

Tool compensation (W1)

2-42 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.4 Tool: Tool radius compensation 2D (TRC)

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Figure 2-16 Example for selecting TRC with KONT or NORM in front of and behind the contour

• KONT and G450/G451 (corner behavior at outer corners) has a general effect and
determines the approach and retraction behavior with TRC.
• When tool radius compensation is deselected, the retraction behavior is determined by
the NORM/KONT instructions.

Supplementary conditions
The approach and retraction blocks are polynomials in the following two variants. Therefore,
they are only available for control variants, which support polynomial interpolation.
• KONTT
With KONTT, approach and retraction to/from the contour is with a constant tangent. The
curvature at the block transition is not usually constant.
• KONTC
With KONTC, not only the tangent but also the curvature is constant at the transition, with the
result that a jump in acceleration can no longer occur on activation/deactivation.
Although KONTC includes the KONTT property, the constant tangent version KONTT is
available on its own, because the constant curvature required by KONTC can produce
undesired contours.

Tool compensation (W1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-43
Detailed Description
2.4 Tool: Tool radius compensation 2D (TRC)

Axes
The continuity condition is observed in all three axes. It is thus possible to program a
simultaneous path component perpendicular to the compensation plane for
approach/retraction.
Only linear blocks are permitted for the original approach and retraction blocks with
KONTT/KONTC. These programmed linear blocks are replaced in the control by the
corresponding polynomial curves.

Exception
KONTT and KONTC are not available in 3D variants of tool radius compensation (CUT3DC,
CUT3DCC, CUT3DF).
If they are programmed, the control switches internally to NORM without an error message.

Example for KONTC

The two figures below show a typical application for approach and retraction with constant
curvature:
The full circle is approached beginning at the circle center point. The direction and curvature
radius of the approach circle at the block end point are identical to the values of the next
circle. Infeed takes place in the Z direction in both approach/retraction blocks
simultaneously.
The associated NC program segment is as follows:

$TC_DP1[1,1]=121 ; Milling tool

$TC_DP6 [1,1] = 10 ; Radius 10 mm
N10 G1 X0 Y0 Z60 G64 T1 D1 F10000
N20 G41 KONTC X70 Y0 Z0
N30 G2 I-70 ; Full circle
N40 G40 G1 X0 Y0 Z60
N50 M30

Explanation:
In this example, a full circle with a radius of 70 mm is machined in the X/Y plane. Since the
tool has a radius of 10 mm, the resulting tool center point path describes a circle with a
radius of 60 mm. The start/end points are at X0 Y0 Z60, with the result that a movement
takes place in the Z direction at the same time as the approach/retraction movement in the
compensation plane.

Tool compensation (W1)

2-44 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.4 Tool: Tool radius compensation 2D (TRC)





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Figure 2-17 Approach and retraction with constant curvature during inside machining of a full circle.
Projection in the X-Y plane.

Tool compensation (W1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-45
Detailed Description
2.4 Tool: Tool radius compensation 2D (TRC)
















Figure 2-18 Approach and retraction with constant curvature during inside machining of a full circle.
3D representation.

KONTT and KONTC compared

The figure below shows the differences in approach/retraction behavior between KONTT and
KONTC. A circle with a radius of 20 mm about the center point at X0 Y-40 is compensated
with a tool with an external radius of 20 mm. The tool center point therefore moves along a
circular path with radius 40 mm. The end point of the approach blocks is at X40 Y30. The
transition between the circular block and the retraction block is at the zero point. Due to the
extended continuity of curvature associated with KONTC, the retraction block first executes a
movement with a negative Y component. This will often be undesired. This response does
not occur with the KONTT retraction block. However, with this block, an acceleration step
change occurs at the block transition.
If the KONTT or KONTC block is the approach block rather than the retraction block, the
contour is exactly the same, but is simply machined in the opposite direction, i.e., the
approach and retraction behavior are symmetrical.

Tool compensation (W1)

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 Detailed Description
2.4 Tool: Tool radius compensation 2D (TRC)






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Figure 2-19 Differences between KONTT and KONTC

Note
The figure shows that a straight line bordering on the contour quadrant, e.g., to X20 Y-20,
would be violated with KONTC on retraction/approach to X0, Y0.

2.4.4 Smooth approach and retraction

Meaning
The SAR (Smooth Approach and Retraction) function is used to achieve a tangential
approach to the start point of a contour, regardless of the position of the start point.
The approach behavior can be varied and adapted to special needs using a range of
additional parameters.
The two functions, smooth approach and smooth retraction, are largely symmetrical. The
following section is, therefore, restricted to a detailed description of approach; special
reference is made to differences affecting retraction.

Tool compensation (W1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-47
Detailed Description
2.4 Tool: Tool radius compensation 2D (TRC)

Approach movement
A maximum of 4 sub-movements:
• Start point of the movement P0
• Intermediate points P1, P2 and P3
• End point P4
Points P0, P3 and P4 are always defined. Intermediate points P1 and P2 can be omitted,
according to the parameters defined and the geometrical conditions.

Retraction movement
On retraction, the points are traversed in the reverse direction, i.e., starting at P4 and ending
at P0.

Parameters
The response of the smooth approach and retraction function is determined by up to 9
parameters:
• Non-modal G code for defining the approach and retraction contour
This G code cannot be omitted.
– G147: Approach with a straight line
– G148: Retraction with a straight line
– G247: Approach with a quadrant
– G248: Retraction with a quadrant
– G347: Approach with a semicircle
– G348: Retraction with a semicircle

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Figure 2-20 Approach behavior depending on G147 to G347 and DISR (with simultaneous activation
of tool radius compensation)

Tool compensation (W1)

2-48 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.4 Tool: Tool radius compensation 2D (TRC)

• Modal G code for defining the approach and retraction contour

This G code is only relevant if the approach contour is a quadrant or semicircle. The
approach and retraction direction can be determined as follows:
– G140:
Defining the approach and retraction direction using active tool radius compensation.
((G140 is the initial setting.)
With positive tool radius:
- G41 active → approach from left
- G42 active → approach from right
If no tool radius compensation is active (G40), the response is identical to G143. In
this case, an alarm is not output. If the radius of the active tool is 0, the approach and
retraction side is determined as if the tool radius were positive.
– G141:
Approach contour from left, or retract to the left.
– G142:
Approach contour from right, or retract to the right.
– G143:
Automatic determination of the approach direction, i.e., the contour is approached
from the side where the start point is located, relative to the tangent at the start point
of the following block (P4).

Note
The tangent at the end point of the preceding block is used accordingly on retraction.
If the end point is not programmed explicitly on retraction, i.e., if it is to be determined
implicitly, G143 is not permitted on retraction, since there is a mutual dependency
between the approach side and the position of the end point. If G143 is programmed
in this case, an alarm is output. The same applies if, when G140 is active, an
automatic switchover to G143 takes place as a result of an inactive tool radius
compensation.

Tool compensation (W1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-49
Detailed Description
2.4 Tool: Tool radius compensation 2D (TRC)

• Modal G code (G340, G341), which defines the subdivision of the movement into
individual blocks from the start point to the end point

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G340: The approach characteristic from P0 to P4 is shown in the figure.

If G247 or G347 is active (quadrant or semicircle) and start point P3 is outside the
machining plane defined by the end point P4, a helix is inserted instead of a circle.
Point P2 is not defined or coincides with P3.
The circle plane or the helix axis is determined by the plane, which is active in the
SAR block (G17 - G19), i.e., the projection of the start tangent is used by the
following block, instead of the tangent itself, to define the circle.
The movement from point P0 to point P3 takes place along two straight lines at the
velocity valid before the SAR block.
G341: The approach characteristic from P0 to P4 is shown in the figure.
P3 and P4 are located within the machining plane, with the result that a circle is
always inserted instead of a helix with G247 or G347.

Note
Active, rotating frames are included in all cases where the position of the active plane G17 -
G19 (circle plane, helix axis, infeed movements perpendicular to the active plane) is relevant.

Tool compensation (W1)

2-50 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.4 Tool: Tool radius compensation 2D (TRC)

• DISR: Specifies the length of a straight approach line or the radius of an approach arc.
On approach/retraction along a straight line, DISR specifies the distance from the cutter
edge to the start point of the contour, i.e., the length of the straight line with active TRC is
calculated as the total of the tool radius and the programmed value of DISR.
An alarm is output on approach and retraction with straight lines:
– If DISR is negative and the amount is greater than the tool radius (the length of the
resulting approach line is less than or equal to zero).
With circles, DISR always specifies the radius of the tool center path. If tool radius
compensation is activated, a circle is generated internally, the radius of which is
dimensioned such that the tool center path is derived, in this case also, from the
programmed radius.
An alarm is output on approach and retraction with circles:
– If the radius of the circle generated internally is zero or negative
– If DISR is not programmed
Or
– If the radius value ≤ 0.
• DISCL: Specifies the distance from point P2to the machining plane.
If the position of point P2 is to be specified by an absolute reference on the axis
perpendicular to the circle plane, the value must be programmed in the form DISCL =
AC( ....).
If DISCL is not programmed, points P1, P2 and P3 are identical with G340 and the
approach contour is mapped from P1 to P4.
The system checks that the point defined by DISCL lies between P1 and P3, i.e., in all
movements, which have a component perpendicular to the machining plane (e.g., infeed
movements, approach movements from P3 to P4), this component must have the same
leading sign. It is not permitted to change direction. An alarm is output if this condition is
violated.
On detection of a direction reversal, a tolerance is permitted that is defined by the
machine data:
MD20204 $MC_WAB_CLEARANCE_TOLERANCE (direction reversal on SAR).
However, if P2 is outside the range defined by P1 and P3 and the deviation is less than or
equal to this tolerance, it is assumed that P2 is in the plane defined by P1 and/or P3.
Example:
An approach is made with G17 starting at position Z=20 of point P1. The SAR plane
defined by P3 is at Z=0. The point defined by DISCL must, therefore, lie between these
two points. MD20204=0.010. If P2 is between 20.000 and 20.010 or between 0 and -
0.010, it is assumed that the value 20.0 or 0.0 is programmed. The alarm is output if the Z
position of P2 is greater than 20.010 or less than -0.010.
Depending on the relative position of start point P0 and end point P4 with reference to the
machining plane, the infeed movements are performed in the negative (normal for
approach) or positive (normal for retraction) direction, i.e., with G17 it is possible for the Z
component of end point P4 to be greater than that of start point P0.

Tool compensation (W1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-51
Detailed Description
2.4 Tool: Tool radius compensation 2D (TRC)

• Programming the end point P4 (or P0 for retraction) generally with X... Y... Z....

1. Possible programming of end point P4 for approach:

End point P4 can be programmed in the actual SAR block.
P4 can be determined by the end point of the next traversing block.
Further blocks (dummy blocks) can be inserted between the SAR block and the next
traversing block without moving the geometry axes.
The end point is deemed to have been programmed in the actual SAR block for approach if
at least one geometry axis is programmed on the machining plane (X or Y with G17). If only
the position of the axis perpendicular to the machining plane (Z with G17) is programmed in
the SAR block, this component is taken from the SAR block, but the position in the plane is
taken from the following block. In this case, an alarm is output if the axis perpendicular to
the machining plane is also programmed in the following block.
Example:

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$TC_DP1[1,1]=120 ; Milling tool T1/D1

$TC_DP6 [1,1] = 7 ; Tool with 7 mm radius

N10 G90 G0 X0 Y0 Z30 D1 T1

N20 X10
N30 G41 G147 DISCL=3 DISR=13 Z=0 F1000
N40 G1 X40 Y-10
N50 G1 X50
...
...

Tool compensation (W1)

2-52 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.4 Tool: Tool radius compensation 2D (TRC)

N30/N40 can be replaced by:

N30 G41 G147 DISCL=3 DISR=13 X40 Y-10 Z0 F1000
or:
N30 G41 G147 DISCL=3 DISR=13 F1000
N40 G1 X40 Y-10 Z0

2. Possible programming of end point P0 for retraction:

The end position is always taken from the SAR block, no matter how many axes have been
programmed. We distinguish between the following situations:
1 No geometry axis is programmed in the SAR block.
In this case, the contour ends at point P2 (or at point P1, if P1 and P2 coincide). The position in
the axes, which describe the machining plane, is determined by the retraction contour (end
point of the straight line or arc). The axis component perpendicular to this is defined by DISCL.
If, in this case, DISCL = 0, the movement takes place completely within the plane.
2 Only the axis perpendicular to the machining plane is programmed in the SAR block.
In this case, the contour ends at point P1. The position of the two other axes is determined in
the same way as in 1.

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Retraction with SAR with simultaneous deactivation of TRC

If the SAR retraction block is also used to deactivate tool radius compensation, in the case of 1.
and 2., an additional path from P1 to P0 is inserted such that no movement is produced when
tool radius compensation is deactivated at the end of the retraction contour, i.e., this point
defines the tool center point and not a position on a contour to be corrected.
3 At least one axis of the machining plane is programmed. The second axis of the machining
plane can be determined modally from its last position in the preceding block. The position of
the axis perpendicular to the machining plane is generated as described in 1. or 2., depending
on whether this axis is programmed or not. The position generated in this way defines the end
point P0.
No special measures are required for deselection of tool radius compensation, because the
programmed point P0 already directly defines the position of the tool center point at the end of
the complete contour.
The start and end points of the SAR contour (P0 and P4) can coincide on approach and
retraction.

Tool compensation (W1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-53
Detailed Description
2.4 Tool: Tool radius compensation 2D (TRC)

• Velocity of the preceding block (typically G0).

All movements from point P0 to point P2 are performed at this velocity, i.e., the movement
parallel to the machining plane and the part of the infeed movement up to the safety
clearance.
• Programming the feedrate with FAD
– FAD programmed with G340:
Feedrate from P2 or P3 to P4.
– FAD programmed with G341:
Feedrate of the infeed movement perpendicular to the machining plane from P2 to P3.
If FAD is not programmed, this part of the contour is traversed at the velocity, which is
active modally from the preceding block, in the event that no F command defining the
velocity is programmed in the SAR block.
– Programmed response:

FAD=0 or negative → Alarm Output

FAD=... → Programmed value acts in accordance with the active G code
of group 15 (feed type; G93, G94, etc.)
FAD=PM(...) → Programmed value is interpreted as linear feed (like G94),
irrespective of the active G code of group 15
FAD=PR(...) → Programmed value is interpreted as revolutional feed (like
G95), irrespective of the active G code of group 15

Example:

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3 3
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3 )

3

3 ) ) ;

Tool compensation (W1)

2-54 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.4 Tool: Tool radius compensation 2D (TRC)

$TC_DP1[1,1]=120 ; Milling tool T1/D1

$TC_DP6 [1,1] = 7 ; Tool with 7 mm radius

N10 G90 G0 X0 Y0 Z20 D1 T1

N20 G41 G341 G247 DISCL=AC(5) DISR=13FAD 500 X40 Y-10 Z=0 F2000
N30 X50
N40 X60
...

• Programming feed F
This feed value is effective from point P3 (or from point P2, if FAD is not programmed). If
no F command is programmed in the SAR block, the speed of the preceding block is
valid. The velocity defined by FAD is not used for following blocks.

Velocities
In both approach diagrams below, it is assumed that no new velocity is programmed in the
block following the SAR block. If this is not the case, the new velocity comes into effect after
point P4.

3 3 33 3

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2QO\)SURJUDPPHG

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5DSLGWUDYHUVHLI*LVDFWLYHRWKHUZLVHZLWKWKHROGRUQHZ)FRPPDQG
9HORFLW\RISUHFHGLQJEORFN ROG)FRPPDQG
,QIHHGYHORFLW\SURJUDPPHGZLWK)$'
1HZPRGDOYHORFLW\SURJUDPPHGZLWK)

Figure 2-22 Velocities in the SAR subblocks on approach with G340

Tool compensation (W1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-55
Detailed Description
2.4 Tool: Tool radius compensation 2D (TRC)

3 3 3 3 3

1RYHORFLW\SURJUDPPHG

2QO\)SURJUDPPHG

2QO\)$'SURJUDPPHG

)DQG)$'SURJUDPPHG

5DSLGWUDYHUVHLI*LVDFWLYHRWKHUZLVHZLWKWKHROGRUQHZ)FRPPDQG
9HORFLW\RISUHFHGLQJEORFN ROG)FRPPDQG
,QIHHGYHORFLW\SURJUDPPHGZLWK)$'
1HZPRGDOYHORFLW\SURJUDPPHGZLWK)

Figure 2-23 Velocities in the SAR subblocks on approach with G341

During retraction, the rolls of the modally active feedrate from the previous block and the
programmed feedrate value in the SAR block are interchanged, i.e., the actual retraction
contour (straight line, circle, helix) is traversed with the old feedrate value and a new velocity
programmed with the F word applies from point P2 up to P0.
If even retraction is active and FAD is programmed, the path from P3 to P2 is traversed with
FAD, otherwise it is traversed with the old velocity. The last F command programmed in a
preceding block always applies for the path from P4 to P2. G0 has no effect in these blocks.
Traversing from P2 to P0 takes place with the F command programmed in the SAR block or,
if no F command is programmed, with the modal F command from a preceding block. This
applies on the condition that G0 is not active.
If rapid traverse is to be used on retraction in the blocks from P2 to P0, G0 must be activated
before the SAR block or in the SAR block itself. If an additional F command is programmed
in the actual SAR blocks, it is then ineffective. However, it remains modally active for
following blocks.

Tool compensation (W1)

2-56 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.4 Tool: Tool radius compensation 2D (TRC)

3 3 3 3 3

1RYHORFLW\SURJUDPPHG

2QO\)SURJUDPPHG

2QO\)$'SURJUDPPHG

)DQG)$'SURJUDPPHG

5DSLGWUDYHUVHLI*LVDFWLYHRWKHUZLVHZLWKWKHROGRUQHZ)FRPPDQG

9HORFLW\RISUHFHGLQJEORFN ROG)FRPPDQG
5HWUDFWLRQYHORFLW\SURJUDPPHGZLWK)$'
1HZPRGDOYHORFLW\SURJUDPPHGZLWK)

Figure 2-24 Velocities in the SAR subblocks on retraction

System variables
Points P3 and P4 can be read in the WCS as system variables during approach.

$P_APR: Read P3 (start point) in WCS

$P_AEP: Read P4 (contour start point) in WCS
$P_APDV =1 If the content of $P_APR and $P_AEP is valid, i.e., if these contain the
position values belonging to the last SAR approach block programmed.
=0 The positions of an older SAR approach block are read.

Changing the WCS between the SAR block and the read operation has no effect on the
position values.

Supplementary conditions
• Any further NC commands (e.g., auxiliary function outputs, synchronous axis movements,
positioning axis movements, etc.) can be programmed in a SAR block.
These are executed in the first subblock on approach and in the last subblock on
retraction.
• If the end point P4 is taken not from the SAR block but from a subsequent traversing
block, the actual SAR contour (straight line, quadrant or semicircle) is traversed in this
block.
The last subblock of the original SAR block does not then contain traversing information
for geometry axes. It is always output, however, because further actions (e.g., single
axes) may have to be executed in this block.

Tool compensation (W1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-57
Detailed Description
2.4 Tool: Tool radius compensation 2D (TRC)

• At least two blocks must always be taken into consideration:

– The SAR block itself
– The block, which defines the approach or retraction direction
Further blocks can be programmed between these two blocks.
The number of possible dummy blocks is limited with the machine data:
MD20202 $MC_WAB_MAXNUM_DUMMY_BLOCKS (Maximum number of blocks with no
traversing motions with SAR).
• If tool radius compensation is activated simultaneously in an approach block, the first
linear block of the SAR contour is the block, in which activation takes place.
The complete contour generated by the SAR function is treated by tool radius
compensation as if it has been programmed explicitly (collision detection, calculation of
intersection, approach behavior NORM/KONT).
• The direction of the infeed movement and the position of the circle plane or the helix axis
are defined exclusively by the active plane (G17 - G19) - rotated with an active frame
where appropriate.
• On approach, a preprocessor stop must not be inserted between the SAR block and the
following block, which defines the direction of the tangent.
Whether programmed explicitly or inserted automatically by the controller, a preprocessor
stop results, in this case, in an alarm.

Response with REPOS

If an SAR cycle is interrupted and repositioned, it resumes at the point of interruption on RMI.
With RME, the contact point is the end point of the last SAR block; with RMB, it is the start
point of the first SAR block.
If RMI is programmed together with DISPR (reapproach at distance DISPR in front of
interruption point), the reapproach point can appear in a subblock of the SAR cycle before
the interruption subblock.

Example 1
The following conditions must be true:
• Smooth approach is activated in block N20
• X=40 (end point); Y=0; Z=0
• Approach movement performed with quadrant (G247)
• Approach direction not programmed, G140 is valid, i.e., because TRC is active (G42) and
compensation value is positive (10), the contour is approached from the right
• Approach circle generated internally (SAR contour) has radius 20, so that the radius of
the tool center path is equal to the programmed value DISR=10
• Because of G341, the approach movement takes place with a circle in the plane, resulting
in a start point at (20, -20, 0)
• Because DISCL=5, point P2 is at position (20, -20, 5) and, because of Z30, point P1 is in
N10 at (20, -20, 30)

Tool compensation (W1)

2-58 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.4 Tool: Tool radius compensation 2D (TRC)

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Figure 2-25 Contour example 1

Part program:

$TC_DP1[1,1]=120 ;Tool definition T1/D1

$TC_DP6 [1,1] = 10 ; Radius
N10 G0 X0 Y0 Z30
N20 G247 G341 G42 NORM D1 T1 Z0 FAD=1000 F=2000 DISCL=5 DISR=10
N30 X40
N40 X100
N50 Y-30
...

Example 2
The following conditions must be true for approach:
• Smooth approach is activated in block N20
• Approach movement performed with quadrant (G247)
• Approach direction not programmed, G140 is valid, i.e., because TRC is active (G41), the
contour is approached from the left
• Contour offset OFFN=5 (N10)
• Current tool radius=10, and so the effective compensation radius for TRC=15; the radius
of the SAR contour is thus equal to 25, with the result that the radius of the tool center
path is equal to DISR=10
• The end point of the circle is obtained from N30, since only the Z position is programmed
in N20
• Infeed movement
– From Z20 to Z7 (DISCL=AC(7)) with rapid traverse
– Then on to Z0 with FAD=200
– Approach circle in X/Y plane and following blocks with F1500. (For this velocity to be
active in the following blocks, the active G code G0 must be overwritten in N30 with
G1. Otherwise, the contour would continue to be machined with G0.)

Tool compensation (W1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-59
Detailed Description
2.4 Tool: Tool radius compensation 2D (TRC)

The following conditions must be true for retraction:

• Smooth retraction is activated in block N60
• Retraction movement performed with quadrant (G248) and helix (G340)
• FAD not programmed, since irrelevant for G340
• Z=2 in the start point; Z=8 in the end point, since DISCL=6
• When DISR=5, the radius of SAR contour=20; that of the tool center point path=5
• After the circle block, the retraction movement leads from Z8 to Z20 and the movement is
parallel to the XY plane up to the end point at X70 Y0.

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Figure 2-26 Contour example 2

Part program:

$TC_DP1[1,1]=120 ;Tool definition T1/D1

$TC_DP6 [1,1] = 10 ; Radius
N10 G0 X0 Y0 Z20 G64 D1 T1 OFFN = 5 (P0app)
N20 G41 G247 G341 Z0 DISCL = AC(7) DISR = 10 F1500 FAD=200 (P3app)
N30 G1 X30 Y-10 (P4app)
N40 X40 Z2
N50 X50 (P4ret)
N60 G248 G340 X70 Y0 Z20 DISCL = 6 DISR = 5 G40 F10000 (P3ret)
N70 X80 Y0 (P0ret)
N80 M 30

Tool compensation (W1)

2-60 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.4 Tool: Tool radius compensation 2D (TRC)

Note
The contour generated in this way is modified by tool radius compensation, which is
activated in the SAR approach block and deactivated in the SAR retraction block.
The tool radius compensation allows for an effective radius of 15, which is the sum of the
tool radius (10) and the contour offset (5). The resulting radius of the tool center path in the
approach block is therefore 10, and 5 in the retraction block.

2.4.5 Deselecting the TRC (G40)

G40 instruction
TRC is deselected with the G40 instruction.

Special points to be noted

• TRC can only be deselected in a program block with G0 (rapid traverse) or G1 (linear
interpolation).
• If D0 is programmed when tool radius compensation is active, compensation is not
deselected and error message 10750 is output.
• If a geometry axis is programmed in the block with the tool radius compensation
deselection, then the compensation is deselected even if it is not on the current plane.

2.4.6 Compensation at outside corners

G450/G451
The G functions G450/G451 can be used to control the response with discontinuous block
transitions at outside corners:

G450 ... Discontinuous block transitions with transition circle

G451 ... Discontinuous block transitions with intersection of equidistant paths

Tool compensation (W1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-61
Detailed Description
2.4 Tool: Tool radius compensation 2D (TRC)

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Figure 2-27 Example of a 90 degree outside corner with G450 and G451

G450 transition circle

With the G function G450 active, on outside corners, the center point of the tool travels a
circular path along the tool radius. The circular path starts with the normal position
(perpendicular to the path tangent) at the end point of the previous path section (program
block) and ends in normal position at the start point of the new path section (program block).
Where outside corners are very flat, the response with G450 (transition circle) and G451
(intersection) becomes increasingly similar → refer to very flat outside corners.
If pointed outside corners are desired, the tool must be retracted from the contour → see
DISC.

DISC
The G450 transition circle does not produce sharp outside contour corners because the path
of the tool center point through the transition circle is controlled so that the cutting edge
stops at the outside corner (programmed position). When sharp outside corners are to be
machined with G450, the DISC instruction can be used to program an overshoot. Thus, the
transition circle becomes a conic and the tool cutting edge retracts from the outside corner.
The range of values of the DISC instruction is 0 to 100, in increments of 1.

DISC = 0 ... Overshoot disabled, transition circle active

DISC = 100 ... Overshoot large enough to theoretically produce a response similar to
intersection (G451).

Which max. value can be programmed with DISC can be set via the machine data:
MD20220 $MC_CUTCOM_MAX_DISC (max. value for DISC).
Values greater than 50 are generally not advisable with DISC.

Tool compensation (W1)

2-62 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.4 Tool: Tool radius compensation 2D (TRC)

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Figure 2-28 Example: Overshoot with DISC=25

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Figure 2-29 Overshoot with DISC depending on contour angle

G451 intersection
If G function G451 is active, the position (intersection) resulting from the path lines (straight
line, circle or helix only) located at a distance of the tool radius to the programmed contour
(center-point path of the tool), is approached. Spines and polynomials are never extended.

Very pointed outside corners

Where outside corners are very pointed, G451 can result in excessive idle paths. Therefore,
the system switches automatically from G451 (intersection) to G450 (transition circle, with
DISC where appropriate) when outside corners are very pointed.

Tool compensation (W1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-63
Detailed Description
2.4 Tool: Tool radius compensation 2D (TRC)

The contour angle which can be traversed following this automatic switchover (intersection →
transition circle) can be defined in the following machine data:
MD20210 $MC_CUTCOM_CORNER_LIMIT (Max. angle for intersection calculation with tool
radius compensation).

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&RQWRXUDQJOH

Figure 2-30 Example of automatic switchover to transition circle

Very flat outside corners

Where outside corners are very flat, the response with G450 (transition circle) and G451
(intersection) becomes increasingly similar. In this case, it is no longer advisable to insert a
transition circle. One reason why it is not permitted to insert a transition circle at these
outside corners with 5-axis machining is that this would impose restrictions on speed in
contouring mode (G64). Therefore, the system switches automatically from G450 (transition
circle, with DISC where appropriate) to G451 (intersection) when outside corners are very
flat.
The contour angle which can be traversed following this automatic switchover (transition
circle → intersection) can be defined in the machine data:
MD20230 $MC_CUTCOM_CURVE_INSERT_LIMIT (Max. angle for intersection calculation
with tool radius compensation).

Tool compensation (W1)

2-64 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.4 Tool: Tool radius compensation 2D (TRC)

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QRWDWUDQVLWLRQFLUFOHEXWDQLQWHUVHFWLRQ

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Figure 2-31 Example of automatic switchover to intersection

2.4.7 Compensation at inside corners

Intersection
If two consecutive blocks form an inside corner, an attempt is made to find a point at which
the two equidistant paths intersect. If an intersection is found, the programmed contour is
shortened to the intersection (first block shortened at end, second block shortened at
beginning).

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FRQWRXU

Figure 2-32 Example of a shortened contour

Tool compensation (W1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-65
Detailed Description
2.4 Tool: Tool radius compensation 2D (TRC)

No intersection
In certain cases, no intersection is found between two consecutive blocks for inside corners
(see figure below).

Predictive contour calculation

If no intersection is found between two consecutive blocks, the control automatically checks
the next block and attempts to find an intersection with the equidistant paths of this block
(see figure below: intersection S). This automatic check of the next block (predictive contour
calculation) is always performed until a number of blocks defined via machine data has been
reached.
This maximum number of blocks used for the predictive check can be entered in the
machine data:
MD20240 $MC_CUTCOM_MAXNUM_CHECK_BLOCKS (blocks for predictive contour
calculation for TRC).
If no intersection is found within the number of blocks defined for the check, program
execution is interrupted and an alarm is output.

Figure 2-33 If there is no intersection between N30 and block N40, the intersection between block
N30 and block N50 is calculated.

Tool compensation (W1)

2-66 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.4 Tool: Tool radius compensation 2D (TRC)

Multiple intersections
→ see also "Collision detection"
It can be the case with inside corners that multiple intersections of the equidistant paths are
found in several consecutive blocks. In these cases, the last intersection is always used as
the valid intersection (see figure below).
This maximum number of blocks used for the predictive check can be entered in the
machine data:
MD20240 $MC_CUTCOM_MAXNUM_CHECK_BLOCKS (blocks for predictive contour
calculation for TRC).

6
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6DQG6DUH
6 6 QRWDSSURDFKHG

Figure 2-34 Example: Inside corner with TRC without contour violation (predicting 3 blocks)

Special points to be noted

Where multiple intersections with the next block are found, the intersection nearest the start
of the next block applies.

Tool compensation (W1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-67
Detailed Description
2.4 Tool: Tool radius compensation 2D (TRC)

2.4.8 Collision detection and bottleneck detection

Collision detection
Collision detection (bottleneck detection) examines whether the equidistant paths of non-
consecutive blocks intersect. If an intersection is found, the response is the same as for
inside corners with multiple intersections: The last intersection to be found is valid:
The maximum number of blocks used for the predictive check can be entered in the machine
data:
MD20240 $MC_CUTCOM_MAXNUM_CHECK_BLOCKS (blocks for predictive contour
calculation for TRC).

Programming
Collision detection can be activated or deactivated in the program:

CDON ... Collision detection ON

CDOF ... Collision detection OFF
CDOF2 ... Collision detection OFF

With CDOF, the search for an intersection initially examines two consecutive blocks. Other
blocks are not included in the search. If an intersection is found between adjacent blocks, no
further blocks are examined. With outside corners, an intersection can always be found
between two consecutive blocks.
Predictive examination of more than two adjacent blocks is thus possible with CDON and
CDOF.

Note
CDOF2 is only effective for 3D peripheral milling and has the same meaning as CDOF for all
other types of machining (e.g., 3D face milling).

Omission of block
If an intersection is detected between two blocks, which are not consecutive, none of the
motions programmed between these blocks on the compensation plane are executed. All
other motions and executable instructions (M commands, traversal of positioning axes, etc.)
contained in the omitted blocks are executed at the intersection position in the sequence, in
which they are programmed in the NC program.

Tool compensation (W1)

2-68 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.4 Tool: Tool radius compensation 2D (TRC)

Warning 10763
If a block has been omitted as a result of the collision or bottleneck detection functions,
warning 10763 is output. The program is not interrupted.
This warning is suppressed if bit 1 is enabled in machine data:
MD11410 $MN_SUPPRES_ALARM_MASK (Mask for suppressing special alarm outputs).

Special points to be noted

When the intersections of non-consecutive blocks are checked, it is not the programmed
original contours that are examined, but the associated calculated equidistant paths. This
can result in a "bottleneck" being falsely detected at outside corners. The reason for this is
that the calculated tool path does not run equidistant to the programmed original contour
when DISC>0.

2IIVHWFXUYHZKHQ',6&!
FRQLFVHFWLRQ

2IIVHWFXUYHZKHQ
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Figure 2-35 Bottleneck detection and outside corners

2.4.9 Blocks with variable compensation value

Supplementary conditions
A variable compensation value is permissible for all types of interpolation (including circular
and spine interpolation).
It is also permitted to change the sign (and, therefore, the compensation side).

Tool compensation (W1)

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Detailed Description
2.4 Tool: Tool radius compensation 2D (TRC)

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Figure 2-36 Tool radius compensation with variable compensation value

Calculation of intersection
When the intersections in blocks with variable compensation value are calculated, the
intersection of the offset curves (tool paths) is always calculated based on the assumption
that the compensation value is constant.
If the block with the variable compensation value is the first of the two blocks to be examined
in the direction of travel, then the compensation value at the block end is used for the
calculation; the compensation value at the block start is used otherwise.

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Figure 2-37 Intersection calculation with variable compensation value

Restrictions
If the compensation radius is programmed as being larger than the programmed circle radius
for machining on the inside of the circle, the machining operation is rejected with alarm
10758 "Curvature radius with variable compensation value too small".

Tool compensation (W1)

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2.4 Tool: Tool radius compensation 2D (TRC)

Maintain stability of closed contour

If a radius of two circles is increased slightly, a third block may be necessary in order to
maintain the stability of the closed contour. This is the case if two adjacent blocks, which
represent two possible intersection points for a closed contour, are skipped due to the
compensation.
A stable closed contour can be achieved by choosing the first intersection point instead of
the second. With setting:
SD42496 $SC_CUTCOM_CLSD_CONT ≠ 0 (response of TRC for closed contour).
In that case, the second intersection point is always reached, even if the block is skipped. A
third block is then not required.

2.4.10 Keep tool radius compensation constant

Meaning
The "Keep tool radius compensation constant" function is used to suppress tool radius
compensation for a number of blocks, whereby a difference between the programmed and
the actual tool center path traveled set up by tool radius compensation in the previous blocks
is retained as the compensation.
It can be an advantage to use this method when several traversing blocks are required
during line milling in the reversal points, but the contours produced by the tool radius
compensation (follow strategies) are not wanted.

Activation
The "Keep tool radius compensation constant" function is activated with the G code
CUTCONON (CUTter compensation CONstant ON) and deactivated with the G code
CUTCONOF (CUTter compensation CONstant OFF).
CUTCONON and CUTCONOF form a modal G-code group.
The initial setting is CUTCONOF.
The function can be used independently of the type of tool radius compensation (21/2D, 3D
face milling, 3D circumferential milling).

Normal case
Tool radius compensation is normally active before the compensation suppression and is still
active when the compensation suppression is deactivated again.
In the last traversing block before CUTCONON, the offset point in the block end point is
approached. All following blocks, in which compensation suppression is active, are traversed
without compensation. However, they are offset by the vector from the end point of the last
offset block to its offset point. These blocks can have any type of interpolation (linear,
circular, polynomial).
The deactivation block of the compensation suppression, i.e., the block that contains
CUTCONOF, is compensated normally. It starts in the offset point of the start point. One linear

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2.4 Tool: Tool radius compensation 2D (TRC)

block is inserted between the end point of the previous block, i.e., the last programmed
traversing block with active CUTCONON, and this point.
Circular blocks, for which the circle plane is perpendicular to the compensation plane
(vertical circles), are treated as though they had CUTCONON programmed. This implicit
activation of compensation suppression is automatically canceled in the first traversing block
that contains a traversing motion in the compensation plane and is not such a circle. Vertical
circle in this sense can only occur during circumferential milling.
Example:

N10 ; Definition of tool d1

N20 $TC_DP1[1,1] = 110 ; Type
N30 $TC_DP6[1,1]= ; Radius
N40
N50 X0 Y0 Z0 G1 G17 T1 D1 F10000
N60
N70 X20 G42 NORM
N80 X30
N90 Y20
N100 X10 CUTCONON ; Activate compensation suppression
N110 Y30 KONT ; On deactivation of contour suppression,
insert bypass circle, if necessary
N120 X-10 CUTCONOF
N130 Y20 NORM ; No bypass circle on deactivation of TRC
N140 X0 Y0 G40
N150 M30

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Figure 2-38 Sample program for contour suppression

Tool compensation (W1)

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2.4 Tool: Tool radius compensation 2D (TRC)

Special cases
• If tool radius compensation is not active (G40), CUTCONON has no effect. No alarm is
produced. The G code remains active, however.
This is significant if tool radius compensation is to be activated in a later block with G41 or
G42.
• It is permissible to change the G code in the 7th G-code group (tool radius compensation;
G40/G41/G42) with CUTCONON active. A change to G40 is active immediately.
The offset used for traversing the previous blocks is traveled.
• If CUTCONON or CUTCONOF is programmed in a block without traversing in the active
compensation plane, activation is delayed until the next block that has such a traversing
motion.
• If CUTCONON is programmed with active tool radius compensation and not canceled
before the end of the program, the traversing blocks are traversed with the last valid
compensation.
The same applies for reprogramming of G41 or G42 in the last traversing block of a
program.
• If tool radius compensation is activated with G41 or G42 and CUTCONON is also already
active, activation of compensation is delayed until the next traversing block with
CUTCONOF.
• When reapproaching the contour with CUTCONOF, the 17th G-code group (approach and
retraction behavior with tool compensation; NORM/KONT is evaluated, i.e., a bypass circle
is inserted if necessary for KONT. A bypass circle is inserted under the same conditions
as for activation of tool radius compensation with G41 or G42.
• The number of blocks with suppressed tool radius compensation is restricted:
MD20252 $MC_CUTCOM_MAXNUM_SUPPR_BLOCKS (Maximum number of blocks
with compensation suppression).
If it is exceeded, machining is aborted and an error message issued.
The restriction is necessary because the internal block processing in the last block before
CUTCONON must be resumed when repositioning.
• The response after reprogramming G41 or G42 when tool radius compensation is already
active is similar to compensation suppression.
The following deviations apply:
– Only linear blocks are permissible
– A single traversing block that contains G41 or G42 is modified so that it ends at the
offset point of the start point in the following block. Thus it is not necessary to insert a
dummy block. The same applies to the last block in a sequence of traversing blocks
where each contains G41 or G42.
– The contour is always reapproached with NORM, independent of the G code of the 17th
group (approach and retraction behavior with tool compensation; NORM/KONT).
• If G41/G42 is programmed several times in consecutive traversing blocks, all blocks are
machined as for CUTCONON, except for the last one.

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2.4 Tool: Tool radius compensation 2D (TRC)

• The type of contour suppression is evaluated only in the first traversing block of a
sequence of consecutive traversing blocks.
If both CUTCONON and G41 or G42 are programmed in the first block, the response to
deactivating contour suppression is determined by CUTCONON.
Changing from G41 to G42 or vice versa makes sense in this case as a means of
changing the compensation side (left or right of the contour) when restarting.
A change of compensation side (G41/G42) can also be programmed in a later block, even
if contour suppression is active.
• Collision detection and bottleneck detection is deactivated for all blocks with active
contour suppression.

2.4.11 Alarm behavior

Alarm during preprocessing

If a tool radius compensation alarm is output during preprocessing, main-run machining
stops at the next block end reached, i.e., usually at the end of the block currently being
interpolated (if Look Ahead is active, once the axes have come to a stop).

Alarms for preprocessing stop and active tool radius compensation

Tool radius compensation generally requires at least one of the following traversing blocks
(even more for bottlenecks) to determine the end point of a block. Since the preprocessing
stop of such a block is not available, traversing continues to the offset point in the last block.
Correspondingly, the offset point in the start point is approached in the first block after a
preprocessing stop.
The contour obtained may deviate considerably from the one that would result without
preprocessing stop. Contour violations in particular are possible.
Therefore the following setting data was introduced:
SD42480 $MC_STOP_CUTCOM_STOPRE (alarm response for TRC and preprocessing
stop).
The response of the tool radius compensation remains unchanged compared to the previous
status, and/or an alarm is output for preprocessing stop during active tool radius
compensation and the program is halted, depending on the value.
The user can acknowledge this alarm and continue the NC program with NC start or abort it
with reset.

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2.4.12 Intersection procedure for polynomials

Function
If two curves with active tool radius compensation form an outside corner, depending on the
G code of the 18th group (corner behavior with tool compensation; G450/G451) and
regardless of the type of curves involved (straight lines, circles, polynomials):
• Either a conic is inserted to bypass the corner
Or
• The curves involved are extrapolated to form an intersection.
If no intersection is found with G451 activated, or if the angle formed by the two curves is too
steep, switchover to insert mode is automatic.
The intersection procedure for polynomials is released with the machine data:
MD20256 $MC_CUTCOM_INTERS_POLY_ENABLE (Intersection process possible for
polynomials).

Note
If this machine data is set to inactive, a block (can be very short) is always inserted (even if
transitions are almost tangential). These short blocks always produce unwanted drops in
speed during G64 operation.

2.4.13 G461/G462 Approach/retract strategy expansion

Function
In certain special geometrical situations, extended approach and retraction strategies,
compared with the previous implementation, are required in order to activate or deactivate
tool radius compensation (see figure below).

Note
The following example describes only the situation for deactivation of tool radius
compensation. The response for approach is virtually identical.

Example

G42 D1 T1 ; Tool radius 20 mm

...
G1 X110 Y0
N10 X0
N20 Y10
N30 G40 X50 Y50

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Detailed Description
2.4 Tool: Tool radius compensation 2D (TRC)

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Figure 2-39 Retraction behavior with G460

The last block with active tool radius compensation (N20) is so short that an intersection no
longer exists between the offset curve and the preceding block (or a previous block) for the
current tool radius. An intersection between the offset curves of the following and preceding
blocks is therefore sought, i.e., between N10 and N30 in this example. The curve used for
the retraction block is not a real offset curve, but a straight line from the offset point at the
end of block N20 to the programmed end point of N30. The intersection is approached if one
is found. The colored area in the figure is not machined, although the tool used would be
capable of this.

G460
With G460, the approach/retraction strategy is the same as before.

G461
If no intersection is possible between the last TRC block and a preceding block, the offset
curve of this block is extended with a circle whose center point lies at the end point of the
uncorrected block and whose radius is equal to the tool radius.

Tool compensation (W1)

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 Detailed Description
2.4 Tool: Tool radius compensation 2D (TRC)

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Figure 2-40 Retraction behavior with G461

The control attempts to cut this circle with one of the preceding blocks. If CDOF is active, the
search is terminated when an intersection is found, i.e., the system does not check for more
intersections with even earlier blocks.
If CDON is active, the search for more intersections continues after the first intersection is
found.
An intersection point, which is found in this way, is the new end point of a preceding block
and the start point of the deactivation block. The inserted circle is used exclusively to
calculate the intersection and does not produce a traversing movement.

Note
If no intersection is found, alarm 10751 (collision danger) is output.

G462
If no intersection is possible between the last TRC block and a preceding block, a straight
line is inserted, on retraction with G462 (initial setting), at the end point of the last block with
tool radius compensation (the block is extended by its end tangent).

Tool compensation (W1)

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Detailed Description
2.4 Tool: Tool radius compensation 2D (TRC)

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Figure 2-41 Retraction behavior with G462

The search for the intersection is then identical to the procedure for G461.
With G462, the corner generated by N10 and N20 in the sample program is not machined to
the full extent actually possible with the tool used. However, this behavior may be necessary
if the part contour (as distinct from the programmed contour), to the left of N20 in the
example, is not permitted to be violated even with y values greater than 10 mm.
If KONT is active (travel round contour at start or end point), behavior will differ according to
whether the end point is in front of or behind the contour.

End point in front of contour

If the end point is located in front of the contour, the retraction behavior is the same as for
NORM. This feature does not change, even if the last contour block with G451 is extended
with a straight line or a circle. Additional circumnavigation strategies to avoid a contour
violation in the vicinity of the contour end point are therefore not required.

End point behind contour

If the end point is behind the contour, a circle or straight line is always inserted depending on
G450/G451. In this case, G460-G462 has no effect.
If, in this situation, the last traversing block has no intersection with a preceding block, an
intersection with the inserted contour element or with the linear section from the end point of
the circumnavigation circle to the programmed end point can result.
If the inserted contour element is a circle (G450), and it intersects with the preceding block,
this is the same as the intersection, which would be produced with NORM and G461. In
general, however, a remaining section of the circle still has to be traversed. An intersection
calculation is no longer required for the linear section of the retraction block.
In the second case (if no intersection is found between the inserted contour element and the
preceding blocks), the intersection between the retraction straight line and a preceding block
is approached.
Therefore, when G461 or G462 is active, behavior deviating from G460 can only arise if
NORM is active or if behavior with KONT is identical to NORM due to the geometrical conditions.

Tool compensation (W1)

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2.5 Toolholder with orientation capability

Note
The approach behavior is symmetrical to the retraction behavior.
The approach/retraction behavior is determined by the state of the G command in the
approach/retraction block. The approach behavior can therefore be set independently of the
retraction behavior.

Example:
Program for using G461 during approach:

N10 $TC_DP1[1,1]=120 ; Tool type mill

N20 $TC_DP6[1,1]=10 ; Radius
N30 X0 Y0 F10000 T1 D1
N40 Y20
N50 G42 X50 Y5 G461
N60 Y0 F600
N70 X30
N80 X20 Y-5
N90 X0 Y0 G40
N100 M30

2.5 Toolholder with orientation capability

2.5.1 General

Introduction
The orientation of the tool can vary (e.g., due to retooling) for a single class of machine tools.
When the machine is operating, the orientation that has been set is permanent, however,
and cannot be changed during traversing. For this reason, kinematic orientation
transformation (3-, 4- or 5axis transformations, TRAORI) is neither necessary nor does it
make sense for such machines. However, it is necessary to take account of the changes in
the tool length components caused by changing the orientation, without having to trouble the
user with mathematics involved. The control performs these calculations.

Required data
The following requirements must be met if the control is to take tool compensations into
account for toolholders with orientation capability:
• Tool data (geometry, wear, etc.)
• Toolholder data (data for the geometry of the toolholder with orientation capability)

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2.5 Toolholder with orientation capability

Toolholder selection
A toolholder defined in the control must be specified for the "Toolholder with orientation
capability" function. The NC program command below is used for this purpose:
TCARR = m
m: Number of the toolholder
The toolholder has an associated toolholder data block, which describes its geometry.
Activating the toolholder and its block has an immediate effect, i.e., from the next traversing
block onwards.

Assignment tool/toolholder
The tool that was active previously is assigned to the new toolholder.
From the point of view of the control, toolholder number m and tool numbers T can be
combined freely. In the real application, however, certain combinations can be ruled out for
machining or mechanical reasons. The control does not check whether the combinations
make sense.

Description of the kinematics of the toolholder

The kinematics of the toolholder with orientation capability is described with a total of 33
parameter sets.
The data of the data block can be edited by the user.

Toolholder with orientation capability

Example: Cardan toolholder with two axes for the tool orientation

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Figure 2-42 Cardan toolholder with two axes

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2.5 Toolholder with orientation capability

Processing toolholder data blocks

Two options are available:
• Explicit entry in the toolholder data block from the part program
• Automatic acceptance of certain values (angles) from a frame
A requirement for this is that TCOFR (Tool Carrier Orientation FRame) is also specified
when the toolholder is selected.
The tool orientation used to calculate the tool length is determined again from the frame
active at this time when a toolholder is changed.

Orientation in Z direction
The G function TOFRAME defines a frame such that the Z direction in this frame is the same
as the current tool orientation.

If Then
No toolholder is active The Z direction in the new frame is
Toolholder without orientation change is active • The same as the old Z direction with
G17
• The same as the old Y direction with
G18
• The same as the old X direction with
G19

TCOABS for active frame

The absolute toolholder orientation is set using:
TCOABS (Tool Carrier Orientation ABSolute)
The orientation taken into account for the tool length compensation is independent of the
orientation of the active frame.
Only one of the instructions TCOABS or TCOFR can be valid.

Frame change
The user can change the frame following selection of the tool. This does not have any effect
on the tool length compensation components.
Angles in the toolholder data:
The programmed angles of rotation stored in the toolholder data are not affected by the
angle of rotation defined by the frames. When changing from TCOFR to TCOABS, the original
(programmed) angles of rotation in the toolholder data are reactivated.

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2.5 Toolholder with orientation capability

Tool compensation types

TRC takes account of the current tool orientation when CUT2D or CUT3DFS is active.
All other tool compensation types
These are all the compensation types of G-code group 22, with the exception of CUT3DC and
CUT3DF. The response remains the same with respect to the plane used for compensation.
This is determined independent of the tool orientation from the active frame.
For CUT2DF and CUT3DFF, the compensation plane used for TRC is determined from the
frame independently of the current tool orientation. The active plane (G17/G18/G19) is
considered.
CUT3DC and CUT3DF
3D tool compensation for circumferential milling
3D tool compensations for face milling with active 5-axis transformation are not affected by
the "Toolholder with orientation capability" function.
The orientation information is determined by the active kinematic 5-axis transformation.

Limited toolholder orientation

An alarm is output if an orientation that cannot be reached with the defined toolholder
kinematic is specified by the frame.
The following kinematics cannot achieve any orientation:
• If the two rotary axes, which are necessary to define the kinematic, are not perpendicular
to each other and if the tool axis, which defines the tool direction, does not stand
perpendicular to the second rotary axis
Or
• Fewer than two axes have been defined.
Non-rotary toolholders
The tool orientation used internally is dependent only on the basic orientation of the tool and
the active plane (G17 - G19).

Ambiguities
With two axes, a particular tool orientation defined by the frame can generally be set with two
different rotary angle pairs. Of these two, the control selects the setting with which the rotary
angle is as close as possible to the programmed rotary angle.
Storing angles in the toolholder data
In virtually any case where ambiguities may arise, it is necessary to store the approximate
angle expected from the frame in the toolholder data.

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2.5 Toolholder with orientation capability

parameter sets
A complete set of parameters for a toolholder with orientation capability consists of 33
values.
The following system variables are available:
• $TC_CARR1 to $TC_CARR33
• In addition, $TC_CARR34 to $TC_CARR65 are freely available for the user and for fine
offsets.
The meaning of the individual parameters is distinguished as follows:
Machine kinematics:
$TC_CARR1 to $TC_CARR20 and $TC_CARR23
$TC_CARR18 to $TC_CARR20 define a further vector l4,, which is needed to describe the
machine with extended kinematics (both tool and workpiece can be rotated).
$TC_CARR21 and $TC_CARR22 contain the channel-axis identifiers of the rotary axes, the
positions of which can be used to determine the orientation of the toolholder with orientation
capability, if necessary.
Kinematic type:
$TC_CARR23 using letter T, P or M
The following three options are available for the kinematic type, for which both upper and
lower case text are permissible:

T: Only the Tool can be rotated (basic value).

P: Only the workpiece (Part) can be rotated.
M: Both tool and workpiece can be rotated (Mixed mode).

Any character other than the three mentioned here will result in the alarm 14153 if it is tried
to activate the toolholder with orientation capability.
Rotary axis parameters:
$TC_CARR24 to $TC_CARR33
The system variables in $TC_CARR24 to $TC_CARR33 can be used to define offsets, angle
compensations, Hirth tooth system, and axis limits.

Note
The system variables are available with and without active tool management.

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2.5 Toolholder with orientation capability

Components and presetting of the chain/data block

The values $TC_CARR1 to $TC_CARR20 and $TC_CARR24 to $TC_CARR33 in the
toolholder data block are of NC language format type REAL.
The values $TC_CARR21 and $TC_CARR22 for the axis identifier of the first rotary axis (v1)
and the second rotary axis (v2) are of NC language format type AXIS. They are all preset to
zero.
The value $TC_CARR23 is initialized with the uppercase letter "T" (only tool can be rotated).
$TC_CARRn[m]
$TC_CARR[0]= 0 has a special meaning

System variables for toolholders with orientation capability

$TC_CARRn[m]

n: Parameters 1 to 33
m: Number of toolholder with orientation capability 1...value of MD18088
$MN_MM_NUM_TOOL_CARRIER

Description NCK variables Language Preassignmen

format t
x component of offset vector l1 $TC_CARR1 REAL 0
y component of offset vector l1 $TC_CARR2 REAL 0
z component of offset vector l1 $TC_CARR3 REAL 0
x component of offset vector l2 $TC_CARR4 REAL 0
y component of offset vector l2 $TC_CARR5 REAL 0
z component of offset vector l2 $TC_CARR6 REAL 0
x component of rotary axis v1 $TC_CARR7 REAL 0
y component of rotary axis v1 $TC_CARR8 REAL 0
z component of rotary axis v1 $TC_CARR9 REAL 0
x component of rotary axis v2 $TC_CARR10 REAL 0
y component of rotary axis v2 $TC_CARR11 REAL 0
z component of rotary axis v2 $TC_CARR12 REAL 0
Angle of rotation α1(in degrees) $TC_CARR13 REAL 0
Angle of rotation α2 (in degrees) $TC_CARR14 REAL 0
x component of offset vector l3 $TC_CARR15 REAL 0
y component of offset vector l3 $TC_CARR16 REAL 0
z component of offset vector l3 $TC_CARR17 REAL 0
x component of offset vector l4 $TC_CARR18 REAL 0
y component of offset vector l4 $TC_CARR19 REAL 0
z component of offset vector l4 $TC_CARR20 REAL 0
Axis identifier of the rotary axis v1 $TC_CARR21 AXIS 0

Tool compensation (W1)

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2.5 Toolholder with orientation capability

Description NCK variables Language Preassignmen

format t
Axis identifier of the rotary axis v2 $TC_CARR22 AXIS 0
Kinematic type $TC_CARR23 CHAR T
Offset of rotary axis v1 $TC_CARR24 REAL 0
Offset of rotary axis v2 $TC_CARR25 REAL 0
Angle offset of rotary axis v1 (Hirth tooth) $TC_CARR26 REAL 0
Angle offset of rotary axis v2 (Hirth tooth) $TC_CARR27 REAL 0
Angle increment of rotary axis v1 (Hirth tooth) $TC_CARR28 REAL 0
Angle increment of rotary axis v2 (Hirth tooth) $TC_CARR29 REAL 0
Minimum position of rotary axis v1 (SW limit) $TC_CARR30 REAL 0
Minimum position of rotary axis v2 (SW limit) $TC_CARR31 REAL 0
Maximum position of rotary axis v1 (SW limit) $TC_CARR32 REAL 0
Maximum position of rotary axis v2 (SW limit) $TC_CARR33 REAL 0

System variables for the user and for fine offsets

• $TC_CARR34 to $TC_CARR40
Contain parameters, which are freely available to the user.
• $TC_CARR41 to $TC_CARR65
Contain fine offset parameters that can be added to the values in the basic parameters.
The fine offset value assigned to a basic parameter is obtained when the value 40 is
added to the parameter number.
• $TC_CARR47 to $TC_CARR54 and $TC_CARR61 to $TC_CARR63
Not defined and produce an alarm if read or write access is attempted.

Description NCK variables Language Preassignmen

format t
Toolholder name * $TC_CARR34 String[32] ""
Axis name 1 ** $TC_CARR35 String[32] ""
Axis name 2 ** $TC_CARR36 String[32] ""
Identifier ** $TC_CARR37 INT 0
Position component X ** $TC_CARR38 REAL 0
Position component Y ** $TC_CARR39 REAL 0
Position component Z ** $TC_CARR40 REAL 0
x comp. fine offset of offset vector l1 $TC_CARR41 REAL 0
y comp. fine offset of offset vector l1 $TC_CARR42 REAL 0
z comp. fine offset of offset vector l1 $TC_CARR43 REAL 0
x comp. fine offset of offset vector l2 $TC_CARR44 REAL 0
y comp. fine offset of offset vector l2 $TC_CARR45 REAL 0
z comp. fine offset of offset vector l2 $TC_CARR46 REAL 0
x comp. fine offset of offset vector l3 $TC_CARR55 REAL 0
y comp. fine offset of offset vector l3 $TC_CARR56 REAL 0
z comp. fine offset of offset vector l3 $TC_CARR57 REAL 0

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Detailed Description
2.5 Toolholder with orientation capability

Description NCK variables Language Preassignmen

format t
x comp. fine offset of offset vector l4 $TC_CARR58 REAL 0
y comp. fine offset of offset vector l4 $TC_CARR59 REAL 0
z comp. fine offset of offset vector l4 $TC_CARR60 REAL 0
Offset of fine offset of rotary axis v1 $TC_CARR64 REAL 0
Offset of fine offset of rotary axis v2 $TC_CARR65 REAL 0
Remarks:
* A toolholder with orientation capability cannot subsequently be assigned a number with system
variable $TC_CARR34, only a name.
** System variables $TC_CARR35 to $TC_CARR40 refer to the intended use of the toolholder with
orientation capability within the measuring cycles and can also be used for other purposes.

2.5.2 Kinematic interaction and machine design

Representation of the kinematic chain

The concept of the kinematic chain is used to describe the kinematic interaction between a
reference point and the tool tip.
The chain specifies all the data required for the toolholder data block in a schematic. To
describe the concrete case with a particular kinematic, the relevant components of the chain
must be assigned real vectors, lengths and angles. The chain represents the maximum
constellation. In simpler applications, individual components can be zero (e.g., kinematics
with one or no rotary axis).
The machine does not have to have axes that rotate the tool and/or workpiece table. The
function can be used even if the orientations are set manually by handwheels or
reconfiguration.
The machine design is described by the following parameters:
• Two rotary axes (v1 and v2), each with one angle of rotation (α1 or α2), which counts
positively for clockwise rotation facing the direction of the rotation vector.
• Up to four offset vectors (l1 to l4) for relevant machine dimensions (axis distances,
distances to machine or tool reference points).

Zero vectors
Vectors v1 and v2 can be zero. The associated angle of rotation (explicitly programmed or
calculated from the active frame) must then also be zero, since the direction of the rotating
axis is not defined. If this condition is not satisfied, an alarm is produced when the toolholder
is activated.

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2.5 Toolholder with orientation capability

Less than two rotating axes

The option not to define a rotating axis makes sense when the toolholder to be described
can only rotate the tool in one plane. A sensible minimum data block may, therefore, contain
only one single entry not equal to 0 in the toolholder data; namely, a value in one of the
components of v1 or v2 for describing a rotating axis parallel to the axis where the angle of
rotation α1 or α2 is determined from one frame.

Further special cases

Vectors v1 and v2 can be colinear. However, the degree of freedom for orientation is lost, i.e.,
this type of kinematic is the same as one where only one rotary axis is defined. All possible
orientations lie on one cone sheath. The conical sheath deforms to a straight line if tool
orientation t and v 1 and/or v2 become colinear. Change of orientation is, therefore, not
possible in this special case. The cone sheath deforms to a circular surface (i.e., all
orientations are possible in one plane), if tool orientation t and v1 or v2 are perpendicular to
each other.
It is permissible for the two vectors v1 and v2 to be zero. A change in orientation is then no
longer possible. In this special case, any lengths l1 and l2, which are not equal to zero, act as
additional tool length compensations, in which the components in the individual axes are not
affected by changing the plane (G17 - G19).

Kinematics data expansions

• Possibility of direct access to existing machine axes in order to define the toolholder
setting via the rotary axis positions.
• Extension of the kinematics with rotary workpiece and on kinematics with rotary tool and
rotary workpiece.
• Possibility to permit only discrete values in a grid for the rotary axis positions (Hirth tooth
system).
The extensions are compatible with earlier software versions and encompass the kinematic
data blocks from $TC_CARR18 to $TC_CARR23.

Machine with rotary tool

On machines with rotary tool there is no change in the definition of the kinematics compared
to older software versions. The newly introduced vector l4, in particular, has no significance.
Should the contents of l4 not be zero, this is ignored.
The term "Toolholder with orientation capability" is actually no longer really appropriate for
the new kinematic types, with which the table can also be rotated, either alone or additionally
to the tool. However, it has been kept for reasons of compatibility.
The kinematic chains used to describe the machine with rotary tool (general case) are shown
in the figure below:

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Detailed Description
2.5 Toolholder with orientation capability

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Figure 2-43 Kinematic chain to describe a tool with orientation

Vectors, which describe offsets in the rotary head, are positive in the direction from the tool
tip to the reference point of the toolholder.
The following kinematic type is defined for machines with a rotary tool:
$TC_CARR23 using letter T

Machine with rotary workpiece

On machines with rotary workpiece, the vector l1 has no significance. If it contains a value
other than zero, this is ignored. The kinematic chain for machines with rotary workpiece is
shown in the figure below.

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Figure 2-44 Kinematic chain to describe a rotary table

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2.5 Toolholder with orientation capability

Vectors, which describe offsets in the rotary table, are positive in the direction from the
machine reference point to the table.
The following kinematic type is defined for machines with a rotary workpiece:
$TC_CARR23 using letter P

Note
On machines with rotary workpiece it is generally useful if the selected machine reference
point and the reference point of the table are identical. Selecting the reference points in this
way has the advantage that the position of the workpiece zero in the initial state (i.e., with
rotary axes not turned) does not change when the rotary table is activated. The (open)
kinematic chain (see figure) is then closed.
In this special case, therefore, the following formula applies: l2 = - (l3 + l4)

Machines with extended kinematics

On machines with extended kinematics (both tool and workpiece are rotary), it is only
possible to turn each of the components with one axis.
The kinematic of the rotary tool is described with the first rotary axis (v1) and the two vectors
l1 and l2, that of the rotary table with the second rotary axis (v2) and the two vectors l3 and l4.
The two kinematic chain components for machines with rotary tool and rotary workpiece are
shown in the figure below.

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Figure 2-45 Kinematic sequence with extended kinematics

The following kinematic type is defined for machines with a rotary tool and rotary workpiece:
$TC_CARR23 using letter M (extended kinematics)

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2.5 Toolholder with orientation capability

Note
On machines with extended kinematics it is generally useful, as with machines where only
the table can be rotated, for the machine reference point and the reference point of the table
to be identical. The (open) chain component to describe the table (see figure) is then closed.
In this special case, the following formula applies: l3 = - l4

Rotary tool types T and M

For machine kinematics with a rotary tool (types T and M), the toolholder component with
orientation capability, which describes the tool or head component (as opposed to the table
component), acts, in conjunction with the active tool, as a new overall tool.

Fine offset
The offset vectors l1 to l4 and the offsets of the rotary axes v1 and v2 can be represented as
the sum of a basic value and a fine offset. The fine offset parameters assigned to the basic
values are achieved by adding a value of 40 to the index of the basic value.
Example:
The parameter $TC_CARR5 is assigned to the fine offset $TC_CARR45.

Note
For more information about the meaning of system variables $TC_CARR41 to
$TC_CARR65, which are available for the fine offset, please refer to:
References:
/PGA/Programming Guide, Production Planning; Tool Compensations.

Activation
The fine offset values are added to the basic values if
SD42974 $SC_TOCARR_FINE_CORRECTION = 1.

Supplementary conditions
The amount is limited to the permissible fine offset.
The maximum permissible value is defined:

For: With machine data:

• The components of vectors l1 to l4: MD20188 $MC_TOCARR_FINE_LIM_LIN
• The offsets of the two rotary axes v1 and v2: MD20190 $MC_TOCARR_FINE_LIM_ROT

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2.5 Toolholder with orientation capability

An illegal fine offset value is only detected when:

• A toolholder with orientation capability, which contains such a value, is activated
and
• Setting data:
SD42974 $SC_TOCARR_FINE_CORRECTION
is enabled simultaneously.

Description of a rotation
A data block for describing a rotation comprises one vector v1 /v2 to describe the direction of
rotation of the rotary axis in its initial state and an angle α1/α2. The angle of rotation is
counted positively for clockwise rotation facing the direction of the rotation vector.
The two toolholder angles α1 and α2 are determined using a frame, independent of the
active plane currently selected (G17 - G19).
The tool orientation in the initial state (both angles α1 and α2 are zero) is (as in the default
case):
• G17: Parallel to Z
• G18: Parallel to Y
• G19: Parallel to Z

Assigning data to the toolholder

Example of a machine with rotary toolholder
The following settings are obtained at the mill head shown for a machine with toolholder with
orientation capability of kinematic type T:

Component of the offset vector l1 = (-200, 0, 0)

Component of the offset vector l2 = (0, 0, 0)
Component of offset vector l3 = (-100, 0, 0)
Component of rotary axis v1 = (1, 0, 0)
Component of rotary axis v2 = (-1, 0, 1)
Tool base dimension of tool (0, 0, 250)
reference point

Note
The tool reference point for the tool base dimension is defined by the reference point at the
machine.
For more information about the reference points in the working area, please refer to:
References:
/FB1/Functions Manual, Basic Functions; Axes, Coordinate Systems, Frames (K2).

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Detailed Description
2.5 Toolholder with orientation capability

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Figure 2-46 Assignment of the toolholder data

Suitable assumptions were made for the following values in the data block:
• The two rotary axes intersect at one point.
All components of l2 are therefore zero.
• The first rotary axis lies in the x/z plane, the second rotary axis is parallel to the x axis.
These conditions define the directions of v1 and v2 (the lengths are irrelevant, provided
that they are not equal to zero).
• The reference point of the toolholder lies 200 mm in the negative x direction viewed from
the intersection of the two rotary axes.
This condition defines l1.

Specify associated data block values

The following associated data block values are specified for the toolholder shown on a
machine with rotary toolholder:

Description NCK variables Value

x component of offset vector l1 $TC_CARR1 - 200
y component of offset vector l1 $TC_CARR2 0
z component of offset vector l1 $TC_CARR3 0
x component of offset vector l2 $TC_CARR4 0
y component of offset vector l2 $TC_CARR5 0
z component of offset vector l2 $TC_CARR6 0
x component of rotary axis v1 $TC_CARR7 1
y component of rotary axis v1 $TC_CARR8 0

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2.5 Toolholder with orientation capability

Description NCK variables Value

z component of rotary axis v1 $TC_CARR9 0
x component of rotary axis v2 $TC_CARR10 -1
y component of rotary axis v2 $TC_CARR11 0
z component of rotary axis v2 $TC_CARR12 1
Angle of rotation α1 (in degrees) $TC_CARR13 0
Angle of rotation α2 (in degrees) $TC_CARR14 0
x component of offset vector l3 $TC_CARR15 -100
y component of offset vector l3 $TC_CARR16 0
z component of offset vector l3 $TC_CARR17 0

Explanation
The toolholder kinematic chosen in the example is such that the two rotary axes form an
angle of 45 degrees, which means that the orientation cannot take just any value. In
concrete terms, this example does not permit the display of orientations with negative X
components.

x component of the tool base dimension: 0

y component of the tool base dimension: 0
z component of the tool base dimension: 250

Note
The required data cannot be determined unequivocally from the geometry of the toolholder,
i.e., the user is free to a certain extent to decide the data to be stored. Thus, for the example,
it is possible to specify only one z component for the tool base dimension up to the second
axis. In this case, l2 would no longer be zero, but would contain the components of the
distance between this point on the second axis and a further point on the first axis. The point
on the first axis can also be selected freely. Depending on the point selected, l1 must be
selected such that the reference point (which can also be selected freely) is reached.
In general: vector components that are not changed by rotation of an axis can be distributed
over any vectors "before" and "after" rotation.

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2.5 Toolholder with orientation capability

2.5.3 Oblique machining with 3 + 2 axes

Description of function
Inclined machining with 3 + 2 axes describes an extension of the concept of toolholders with
orientation capability and applies this concept to machines with a rotary table, on which the
orientation of tool and table can be changed simultaneously.
The "Inclined machining with 3 + 2 axes" function is used to machine surfaces with any
rotation with reference to the main planes
X/Y (G17), Z/X (G18) and Y/Z (G19
).
It is possible to produce any orientation of the tool relative to the workpiece by rotating either
the tool, the workpiece or both the tool and the workpiece.
The software automatically calculates the necessary compensating movements resulting
from the tool lengths, lever arms and the angle of the rotary axis. It is always assumed that
the required orientation is set first and not modified during a machining process such as
pocket milling on an inclined plane.
Furthermore, the following 3 functions are described, which are required for oblique
machining:
• Position programming in the direction of the tool orientation independent of an active
frame
• Definition of a frame rotation by specifying the solid angle
• Definition of the component of rotation in tool direction in the programmed frame while
maintaining the remaining frame components

Demarcation to 5-axis transformation

If the required functionality specifies that the TCP (Tool Center Point) does not vary in the
event of reorientation with reference to the workpiece, even during interpolation, the 5axis
software is required.
For more information about 5-axis transformation, please refer to:
References:
/FB3/Functions Manual, Special Functions; 3- to 5-Axis Transformation (F2).

Specification of the toolholder with orientation capability

The toolholder with orientation capability is represented by a general 5axis kinematic
sequence described by a data block in the tool compensation memory with a total of 33
REAL values. For toolholders that have two rotary axes for setting the orientation (e.g., a
millhead), 31 of these values are constant.

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2.5 Toolholder with orientation capability

In the current SW version, a data block in the tool compensation memory is described with a
total of 47 REAL values. For toolholders that have two rotary axes for setting the orientation,
45 of these values are constant.
The remaining two values are variable and are used to specify the orientation. The constant
values describe offsets and directions and setting options for the rotary axes; the variable
values describe the angles of the rotary axes.

2.5.4 Machine with rotary work table

System variables
To date, the angles stored in $TC_CARR13 and $TC_CARR14 were used for the calculation
of the active tool length with TCOABS. This still applies if $TC_CARR21 and $TC_CARR22
do not refer to rotary axes. If $TC_CARR21 or $TC_CARR22 contains a reference to a rotary
axis in the channel, the axis position of the relevant axis at the start of the current block is
used as the angle, rather than the entry in $TC_CARR13 or $TC_CARR14.
A mixed operating mode is permissible, i.e., the angles can be determined from the entry in
the system variables $TC_CARR13 or $TC_CARR14 for one axis, and from the position of a
channel axis for the other.
This makes it possible for machines, on which the axes used to set the toolholder with
orientation capability are known within the NC, to access their position directly, whereas it
was previously necessary, for example, to read system variable $AA_IM[axis] and write the
result of the read operation to $TC_CARR13/14. In particular, this removes the implicit
preprocessing stop when reading the axis positions.

MD20180
If machine data:
MD20180 $MC_TOCARR_ROT_ANGLE_INCR[i] is zero,
the rotary axis position is used with its programmed or calculated value.
If the machine data is not zero, however, the position used is the nearest grid point obtained
for a suitable integer value n from the equation:
φ = $MC_TOCARR_ROT_ANGLE_OFFSET[i] + n * $MC_TOCARR_ROT_ANGLE_INCR[i]
when n is an integer.
This functionality is required if the rotary axes need to be indexed and cannot, therefore,
assume freely-defined positions (e.g., with Hirth tooth systems). System variable
$P_TCANG[i] delivers the approximated valued and system variable $P_TCDIFF[i] the
difference between the exact and the approximated value.

Frame orientation TCOFR

With TCOFR (determination of the angle from the orientation defined by an active frame), the
increments are scaled after determination of the angle from the active frame rotation. If the
requested orientation is not possible due to the machine kinematic, the machining is aborted
with an alarm. This also applies if the target orientation is very close to an achievable
orientation. In particular the alarm in such situations cannot be prevented through the angle
approximation.

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2.5 Toolholder with orientation capability

TCARR frame offset

A frame offset as a result of a toolholder change becomes effective immediately on selection
of TCARR=.... A change in the tool length, on the other hand, only becomes effective
immediately if a tool is active.

TCOFR/TCOABS frame rotation

A frame rotation does not take place on activation and a rotation, which is already active, is
not changed. As in case T (only the tool can be rotated), the position of the rotary axes used
for the calculation is dependent on the G code TCOFR/TCOABS and determined from the
rotation component of an active frame or from the entries $TC_CARRn.
Activation of a frame changes the position in the workpiece coordinate system accordingly,
without compensating movement by the machine itself. The ratios are shown in the figure
below:

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Figure 2-47 Zero offset on activation of a rotary table with TCARR

Example
On the machine in the figure, the rotary axis of the table is pointing in the positive Y direction.
The table is rotated by +45 degrees. PAROT defines a frame, which similarly describes a
rotation of 45 degrees about the Y axis. The coordinate system is not rotated relative to the
actual environment (marked in the figure with "Position of the coordinate system after
TCARR"), but is rotated by -45 degrees relative to the defined coordinate system (position
after PAROT). If this coordinate system is defined with ROT Y-45, for example, and if the
toolholder is then selected with active TCOFR, an angle of +45 degrees will be determined for
the rotary axis of the toolholder.

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Rotary table
With rotary tables (kinematic types P and M), activation with TCARR similarly does not lead to
an immediate rotation of the coordinate system (see figure), i.e., even though the zero point
of the coordinate system is offset relative to the machine, while remaining fixed relative to
the zero point of the workpiece, the orientation remains unchanged in space.

Activation of kinematic types P and M

With kinematics of type P and M the selection of a toolholder activates an additive frame
(table offset of the toolholder with orientation capability), which takes into account the zero
point offset as a result of the rotation of the table.
The zero offset can be written to a dedicated system frame $P_PARTFR.
For this, bit 2 must be enabled in machine data:
MD28082 $MC_MM_SYSTEM_FRAME_MASK.

The basic frame identified by machine data:

MD20184 $MC_TOCARR_BASE_FRAME_NUMBER
is then no longer required for the zero offset.

Activation of kinematic type M

With kinematics of type M (tool and table are each rotary around one axis), the activation of
a toolholder with TCARR simultaneously produces a corresponding change in the effective
tool length (if a tool is active) and the zero offset.

Rotations
Depending on the machining task, it is necessary to take into account not only a zero offset
(whether as frame or as tool length) when using a rotary toolholder or table, but also a
rotation. However, the activation of a toolholder with orientation capability never leads
directly to a rotation of the coordinate system.

TOROT
If only the tool can be rotated, a frame whose Z axis points in the direction of the tool can be
defined with TOFRAME or TOROT.

PAROT
If the coordinate system needs to be fixed relative to the workpiece, i.e., not only offset
relative to the original position but also rotated according to the rotation of the table, then
PAROT can be used to activate such a rotation in a similar manner to the situation with a
rotary tool.
With PAROT, the translations, scalings and mirrorings in the active frame are retained, but
the rotation component is rotated by the rotation component of a toolholder with orientation
capability corresponding to the table.

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PAROT and TOROT take into account the overall change in orientation in cases where the
table or the tool are oriented with two rotary axes. With mixed kinematics only the
corresponding component caused by a rotary axis is considered. It is possible, therefore,
when using TOROT, for example, to rotate a workpiece such that an oblique plane lies
parallel to the X/Y plane fixed in space, whereby rotation of the tool must be taken into
account in machining where any holes to be drilled, for example, are not perpendicular to
this plane.
Language command PAROT is not rejected if no toolholder with orientation capability is
active. This causes no changes in the programmed frame.

Note
For more information about the TCARR and TOROT functions, as well as PAROT in relation to
channel-specific system frames, please refer to:
References:
/FB1/Functions Manual, Basic Functions; Axes, Coordinate systems, Frames (K2).

2.5.5 Procedure when using toolholders with orientation capability

Creating a toolholder
The number of toolholder data sets available in the NCK is defined by the machine data:
MD18088 $MN_MM_NUM_TOOL_CARRIER

1. The value is calculated as follows:

MD18088 $MN_MM_NUM_TOOL_CARRIER =
"number of TO units" * "number of toolholder data sets of a TO unit"
MD18088/"number of TO units" is permanently allocated to each TO unit.

Note
For more information about defining and assigning a TO unit via machine data:
MD28085 $MC_MM_LINK_TOA_UNIT,
see:
References:
/FB/Description of Functions, Extended Functions; Memory Configurations (S7).

2. Zero setting of toolholder data:

You can use the command
$TC_CARR1[0] = 0
to zero all values of all data sets.
Individual toolholder data sets can be deleted selectively with the NC command DELTC or
the PI service _N_DELTCAR.

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3. Accessing the data of a toolholder:

– Part program
→ $TC_CARRn[m] = value
This describes the previous value of the system variables n for toolholder m with the
new value "value".
→ value = $TC_CARRn[m]
With "def real value" - the parameters of a toolholder m can be read if they have
already been defined (e.g., set MD18088). Otherwise, an alarm is signaled.
– OPI interface
The parameters of a toolholder with orientation capability can be read and written with the
NCKHMI (OPI) variable services using system variable $P_TCANG[<n>].
4. Data backup:
The system variables specified above are saved as part of the general NCK data backup.

Selecting the toolholder

A toolholder with number m is selected with the NC program command TCARR = m (TCARR
Tool Carrier).
TCARR = 0 deselects an active toolholder.
New tool or new toolholder
When a new tool is activated, it is always treated as if it was mounted on the active
toolholder.
A new toolholder is activated immediately when it is programmed. It is not necessary to
change tools or reprogram the active tool. The toolholder (number) and tool (number) are
independent and can be used in any combination.

Toolholder from G code of group 42

Absolute tool orientation TCOABS (Tool Carrier Orientation ABSolute):
Tool orientation is determined explicitly if the corresponding values are entered in system
variable $TC_CARR13 or $TC_CARR14 and G code TCOABS is activated in G-code group
42.
Frame tool orientation TCOFR (Tool Carrier Orientation FRame):
Tool orientation can also be determined automatically from the current orientation of an
active frame when selecting a tool, if one of the following G codes is active in G-code group
42 when the toolholder is selected:
• TCOFR or TCOFRZ
The toolholder with orientation capability is set so that the tool points in the Z direction.
• TCOFRX
The toolholder with orientation capability is set so that the tool points in the X direction.
• TCOFRY
The toolholder with orientation capability is set so that the tool points in the Y direction.

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The effect of TCOFR is such that, when machining on an inclined surface, tool
compensations are considered implicitly as if the tool were standing vertically on the surface.

Note
The tool orientation is not bound strictly to the frame orientation. When a frame is active and
G code TCOABS is active, you can select a tool, whereby the orientation of the tool is
independent of the orientation of the active frame.
Following tool selection, you can change the frame, which does not affect the components of
tool length compensation. It is then no longer certain that the tool is positioned perpendicular
to the machining plane. You should therefore first check that the intended tool orientation is
maintained on an inclined surface.
When TCOFR, etc., is active, the tool orientation used in the tool length calculation is always
determined from the active frame each time the toolholder is changed.

Toolholder from G code of group 53

The G codes of group 53 (TOFRAME, TOROT, etc.) can be used to define a frame such that
an axis direction (Z, Y or X) in this frame is equal to the current tool orientation.
The G code of group 6 (G17 - G19), which is active at the time TOFRAME is called,
determines the tool orientation.
If no toolholder is active, or if a toolholder is active but does not cause the tool orientation to
change, the Z direction in the new frame is:
• The same as the old Z direction with G17
• The same as the old Y direction with G18
• The same as the old X direction with G19.
These directions are modified accordingly for rotating toolholders. The same applies to the
new X and Y directions.
Instead of TOFRAME or TOROT, one of the G codes TOFRAMEX, TOFRAMEY, TOROTX, or
TOROTY can be used. The meanings of the axes are interchanged accordingly.

Group change
Changing the G code from group 42 (TCOABS, TCOFR, etc.) causes recalculation of the tool
length components.
The (programmed) angles of rotation stored in the toolholder data are not affected, with the
result that the angles originally stored in the toolholder data are reactivated on a change
from TCOFR to TCOABS.
Read rotary angle (α1 or α2):
The angles currently used to calculate the orientation can be read via system variable
$P_TCANG[n] where n = 1 or n = 2.
If two permissible solutions (i.e., a second valid pair of angles) are available for a particular
orientation, the values can be accessed with $P_TCANG[3] or $P_TCANG[4]. The number of
valid solutions 0 to 2 can be read with $P_TCSOL.

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Tool radius compensation with CUT2D or CUT3DFS:

The current tool orientation is included in the tool radius compensation if either CUT2D or
CUT3DFS is active in G-code group 22 (tool compensation type).
For nonrotating toolholders, the behavior depends solely on the active plane of G code group
6 (G17 - G19) and is, therefore, identical to the previous behavior.
All other tool compensation types:
The behavior for all other tool compensation types is unchanged.
For CUT2DF and CUT3DFF in particular, the compensation plane used for TRC is determined
from the active frame, independent of the current tool orientation. Allowance is made for the
active plane (G17 - G19) and the behavior is, therefore, the same as before.
The two remaining G codes of group 22, CUT3DC and CUT3DF, are not affected by the
toolholder functionality because the tool orientation information in these cases is made
available by the active kinematic transformation.

Two rotary axes

Two general solutions exist for two rotary axes. The control itself chooses these two solution
pairs such that the orientation angles resulting from the frame are as close as possible to the
specified angles.
The two following options are available for specifying the angles:
1. If $TC_CARR21 or $TC_CARR22 contains a reference to a rotary axis, the position of
this axis at the start of the block in which the toolholder is activated is used to specify the
angle.
2. If $TC_CARR21 or $TC_CARR22 does not contain a reference to a rotary axis, the
values contained in $TC_CARR13 or $TC_CARR14 are used.

Example
The control first calculates an angle of 10 degrees for one axis. The specified angle is 750
degrees. 720 degrees (= 2 * 360 degrees) are then added to the initial angle, yielding a final
angle of 730 degrees.

Rotary axis offset

Rotary axis offsets can be specified with system variables $TC_CARR24 and $TC_CARR25.
A value not equal to zero in one of these parameters means that the initial state of the
associated rotary axis is the position specified by the parameter (and not position zero). All
angle specifications then refer to the coordinate system displaced by this value.
When the machining plane is changed (G17 - G19), only the tool length components of the
active tool are interchanged. The components of the toolholder are not interchanged. The
resulting tool length vector is then rotated in accordance with the current toolholder and, if
necessary, modified by the offsets belonging to the toolholder.
The two toolholder angles α1and α2 are determined using a frame, independent of the active
plane currently selected (G17 - G19).

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2.5 Toolholder with orientation capability

Limit values
Limit angles (software limits) can be specified for each rotary axis in the system variable set
($TC_CARR30 to $TC_CARR33) used to describe the toolholder with orientation capability.
These limits are not evaluated if both the minimum and maximum value is zero.
If at least one of the two limits is not equal to zero, the system checks whether the previously
calculated solution is within the permissible limits. If this is not the case, an initial attempt is
made to reach a valid setting by adding or subtracting multiples of 360 degrees to or from
the invalid axis position. If this is impossible and two different solutions exist, the first solution
is discarded and the second solution is used. The second solution is treated the same as the
first with reference to the axis limits.
If the first solution is discarded and the second used instead, the contents of $P_TCANG[1/2]
and $P_TCANG[3/4] are swapped, hence the solution actually used is also stored in
$P_TCANG[1/2] in this case.
The axis limits are monitored even if the axis angle is specified instead of being calculated.
This is the case if TCOABS is active when a toolholder with orientation capability is activated.

2.5.6 Programming

Selecting the toolholder

A toolholder is selected with the number m of the toolholder with:
TCARR = m

Access to toolholder data blocks

The following access is possible from the part program:
The new "value" is written to parameter n for toolholder m with:
$TC_CARRn[m] = value
The parameters of toolholder m can be read with:
value = $TC_CARRn[m] (value must be a REAL variable),
as long as the toolholder data set has already been defined.
The toolholder data set number must lie within the range defined by machine data:
MD18088 $MN_MM_NUM_TOOL_CARRIER
(total number of definable toolholder data blocks).

This number of toolholder data sets, divided by the number of active channels, can be
defined for a channel.
Exception:
If non-standard settings are selected via machine data:
MD28085 $MC_MM_LINK_TOA_UNIT.

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Canceling all toolholder data blocks

All values of all toolholder data sets can be deleted from within the part program using one
command.
$TC_CARR1[0] = 0
Values not set by the user are preset to 0.

Activation
A toolholder becomes active when both a toolholder and a tool have been activated. The
selection of the toolholder alone has no effect. The effect of selecting a toolholder depends
on the G code TCOABS/TCOFR (modal G-code group for toolholders).
Changing the G code in the TCOABS/TCOFR group causes recalculation of the tool length
components when the toolholder is active. With TCOABS, the values stored in the toolholder
data for both angles of rotation α1and α2are used to determine the tool orientation.
With TCOFR, the two angles are determined from the current frame. The values stored in the
toolholder data are not changed, however. These are also used to resolve the ambiguity that
can result when the angle of rotation is calculated from one frame. Here, the angle that
deviates least from the programmed angle is selected from the various possible angles.

Note
For more information about programming tool compensations with toolholder kinematics and
system variables, please refer to:
References:
/PGA/Programming Guide, Production Planning.

2.5.7 Supplementary conditions and control system response for orientation

Full orientation
For a given data set that describes a certain kinematic, all the conceivable special
orientations can only be displayed when the following conditions are satisfied:
• The two vectors v1 and v2, that describe the rotary axes, must be defined (i.e., must not be
equal to zero).
• The two vectors v1 and v2 must be perpendicular to each other.
• The tool orientation must be perpendicular to the second rotary axis.

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Non-defined orientation
If these conditions are not satisfied and an orientation that cannot be achieved by an active
frame is requested with TCOFR, an alarm is output.
Vector/angle of rotation dependencies
If vector v1 or v2, which describes the direction of a rotary axis, is set to zero, the associated
angle of rotation α1 or α2 must also be set to zero. Otherwise, an alarm is produced. The
alarm is not output until the toolholder is activated, i.e., when the toolholder is changed.
Tool fine compensation combined with orientation
Tool fine compensations and toolholders cannot be combined. The activation of tool fine
compensation when a toolholder is active, and vice versa the activation of the toolholder
when tool fine compensation is active, produces an alarm.

Automatic toolholder selection, RESET

Machine data:
MD20126 $MC_TOOL_CARRIER_RESET_VALUE
can be used to select a toolholder automatically on RESET or program start, and is treated
in the same way as the controlled selection of a tool via machine data:
MD20120 $MC_TOOL_RESET_VALUE

Behavior on RESET or during program start is controlled via bit 6 in machine data:
MD20110 $MC_RESET_MODE_MASK
or
MD20112 $MC_START_MODE_MASK;
this is the same bit that is used in tool selection.
References:
/FB1/Function Manual, Basic Functions; Mode Group, Channel, Program Operation, Reset
Response (K1)
SW 6.3 and higher
If TCOABS was active for the last selection before reset, the behavior is unchanged
compared to previous versions. A different active G code causes the toolholder with
orientation capability to be activated with the frame that was active before the last reset.
Modified toolholder data ($TC_CARR...) are also considered. If these data are unchanged,
the toolholder is activated in exactly the same state as before reset. If the toolholder data
were changed after the toolholder selection before reset, selection corresponding to the last
frame is not always possible. In this case, the toolholder with orientation capability is
selected according to the G-Code (group 42) values valid at this time and the active frame.

MD22530 output of auxiliary functions to PLC

Machine data:
MD22530 $MC_TOCARR_CHANGE_M_CODE
can be set so that, optionally, a constant or an M code is output when the toolholder is
selected. The number of the code is derived from the toolholder number.
References:
/FB1/Function Manual, Basic Functions; Output of Auxiliary Functions to PLC (H2)

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2.5 Toolholder with orientation capability

Toolholder kinematics
The following supplementary conditions must be met for toolholder kinematics:
• Tool orientation in initial state, both angles α1 and α2 zero, as per default setting, even if:
- G17 parallel to Z
- G18 parallel to Y
- G19 parallel to Z
• A permissible position in terms of the axis limits must be achievable.
• For any possible orientation to be set, the two rotary axes must be perpendicular to each
other.
For machines, on which the table is rotated by both axes, the tool orientation must also
be perpendicular to the first rotary axis.
For machines with mixed kinematics, the tool orientation must be perpendicular to the
axis, which rotates the tool, i.e., also the first rotary axis.
The following applies to orientations specified in a frame:
• The orientation specified in a frame must be achievable with the defined toolholder
kinematics, otherwise an alarm is output.
This situation can occur if the two rotary axes required to define the kinematics are not
perpendicular to each other.
This applies if fewer than two rotary axes are defined and is the case:
– With kinematic type T with rotary tool, if the tool axis, which defines the tool direction,
is not perpendicular to the second axis.
– With kinematic types M and P with rotary workpiece, if the tool axis, which defines the
tool direction, is not perpendicular to the first axis.
• Rotary axes, which require a frame with a defined tool orientation in order to reach a
specific position, are only determined unambiguously in the case of one rotary axis. Two
general solutions exist for two rotary axes.
• In all cases where ambiguities may arise, it is particularly important that the approximate
angles expected from the frame are stored in the tool data, and that the rotary axes are in
the vicinity of the expected positions.

Response with ASUP, REPOS

The toolholder can be changed in an asynchronous subprogram (ASUB). When the
interrupted program is resumed with REPOS, the approach motion of the new toolholder is
taken into account and the program continues with this motion. The treatment here is
analogous to tool change in an ASUB.
References:
/FB1/Function Manual, Basic Functions; Mode Group, Channel, Program Operation, Reset
Response (K1)

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2.6 Incrementally programmed compensation values

2.6.1 G91 extension

Prerequisites
Incremental programming with G91 is defined such that the compensation value is traversed
additively to the incrementally programmed value when a tool compensation is selected.

Applications
For applications such as scratching, it is necessary only to traverse the path programmed in
the incremental coordinates. The activated tool compensation is not traversed.

Sequence
Selection of a tool compensation with incremental programming
• Scratch workpiece with tool tip.
• Save the actual position in the basic frame (set actual value) after reducing it by the tool
compensation.
• Traverse incrementally from the zero position.

Activation
With setting data:
SD42442 $SC_TOOL_OFFSET_INCR_PROG,
it is possible to define whether a changed tool length is traversed with FRAME and
incremental programming of an axis, or whether only the programmed path is traversed.

Zero offset/frames G91

With setting data:
SD42440 $SC_FRAME_OFFSET_INCR_PROG,
it is possible to define whether a zero offset is traversed as standard with value = 1 with
FRAME and incremental programming of an axis, or whether only the programmed path is
traversed with value = 0.
References:
/FB1/Functions Manual, Basic Functions; Axes, Coordinate Systems, Frames (K2),
Chapter: "Frames"

Supplementary condition
If the behavior is set such that the offset remains active even after the end of the program
and RESET (MD20110 $MC_RESET_MODE_MASK, bit6=1), and if an incremental path is
programmed in the first part program block, the compensation is always traversed additively
to the programmed path.

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Note
With this configuration, part programs must always begin with absolute programming.

2.6.2 Machining in direction of tool orientation

Typical application
On machines with toolholders with orientation capability, traversing should take place in the
tool direction (typically, when drilling) without activating a frame (e.g., using TOFRAME or
TOROT), on which one of the axes points in the direction of the tool.
This is also true of machines on which a frame defining the oblique plane is active during
oblique machining operations, but the tool cannot be set exactly perpendicular because an
indexed toolholder (Hirth tooth system) is restricting the setting of the tool orientation.
In these cases it is then necessary - contrary to the motion actually requested perpendicular
to the plane - to drill in the tool direction, as the drill would otherwise not be guided in the
direction of its longitudinal axis, which, among other things, would lead to breaking of the
drill.

MOVT
The end point of such a motion is programmed with MOVT= .... The programmed value is
effective incrementally in the tool direction as standard. The positive direction is defined from
the tool tip to the toolholder. The content of MOVT is thus generally negative for the infeed
motion (when drilling), and positive for the retraction motion. This corresponds to the
situation with normal paraxial machining, e.g., with G91Z ....
If the motion is programmed in the form MOVT=AC( ...), MOVT functions absolutely. In this
case a plane is defined, which runs through the current zero point, and whose surface
normal vector is parallel to the tool orientation. MOVT then gives the position relative to this
plane:

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2.6 Incrementally programmed compensation values

7RRO =

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0297 $& 

Figure 2-48 Definition of the position for absolute programming of a motion in tool direction

The reference to this auxiliary plane serves only to calculate the end position. Active frames
are not affected by this internal calculation.
Instead of MOVT= ... it is also possible to write MOVT=IC( ...) if it is to be plainly visible
that MOVT is to function incrementally. There is no functional difference between the two
forms.

Supplementary conditions
The following supplementary conditions apply to programming with MOVT:
• It is independent of the existence of a toolholder with orientation capability. The direction
of the motion is dependent on the active plane. It runs in the direction of the vertical axes,
i.e., with G17 in Z direction, with G18 in Y direction and with G19 in X direction. This
applies both where no toolholder with orientation capability is active and for the case of a
toolholder with orientation capability without rotary tool or with a rotary tool in its basic
setting.
• MOVT acts similarly for active orientation transformation (345axis transformation).
• If in a block with MOVT the tool orientation is changed simultaneously (e.g., active 5axis
transformation by means of simultaneous interpolation of the rotary axes), the orientation
at the start of the block is decisive for the direction of movement of MOVT. The path of the
tool tip (TCP - Tool Center Point) is not affected by the change in orientation.
• Linear or spline interpolation (G0, G1, ASPLINE, BSPLINE, CSPLINE) must be active.
Otherwise, an alarm is produced. If a spline interpolation is active, the resultant path is
generally not a straight line, since the end point determined by MOVT is treated as if it had
been programmed explicitly with X, Y, Z.
• A block with MOVT must not contain any programming of geometry axes (alarm 14157).

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2.7 Basic tool orientation

Application
Normally, the orientation assigned to the tool itself depends exclusively on the active
machining plane. For example, the tool orientation is parallel to Z with G17, parallel to Y with
G18 and parallel to X with G19.
Different tool orientations can only be programmed by activating a 5axis transformation. The
following system variables have been introduced in order to assign a separate orientation to
each tool cutting edge:

System variable Description of tool orientation Format Preassignment

$TC_DPV[t, d] Tool cutting edge orientation INT 0
$TC_DPV3[t, d] L1 component of tool orientation REAL 0
$TC_DPV4[t, d] L2 component of tool orientation REAL 0
$TC_DPV5[t, d] L3 component of tool orientation REAL 0

Indexing: Same as tool system variable $TC_DPx[t, d]

t: T number of cutting edge
d: D number of cutting edge

Identifiers $TC_DPV3 to $TC_DPV5 are analogous to identifiers $TC_DP3 to $TC_DP5 of

the tool length components.

MD18114
The system variables for describing the tool orientation are only available if machine data is
not equal to zero:
MD18114 $MN_MM_ENABLE_TOOL_ORIENT (Assign orientation to cutting edges).

MD18114 $MN_MM_ENABLE_TOOL_ORIENT
Value = 1 Only system variable $TC_DPV[t, d] is available.
Value = 2 All four system variables are available.

Define direction vector

If all four system variables contain 0, the orientation is defined only by the active plane (as
before).
If system variable $TC_DPV[t, d] is equal to zero, the other three parameters - if available -
define a direction vector. The amount of the vector is insignificant.

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2.7 Basic tool orientation

Example:

$TC_DPV[1, 1] = 0
$TC_DPV3[1, 1] = 1.0
$TC_DPV4[1, 1] = 0.0
$TC_DPV5[1, 1] = 1.0

In this example, the basic orientation points in the direction of the bisector in the L1L3 plane,
i.e., the basic orientation in the bisector for a milling tool and active plane G17 lies in the Z/X
plane.

Basic orientation of tools

Basic orientation of: With :

Turning and grinding tools G18
Milling tools G17

The active tool orientation is unchanged in these cases and is equivalent to the original
settings in $TC_DPVx[t, d].
The basic orientation is always the direction perpendicular to the plane in which tool radius
compensation is performed. With turning tools, in particular, the tool orientation generally
coincides with the longitudinal tool axis.
The setting data specified below are effective only if the basic orientation of the tool is
defined by an entry in at least one of the system variables $TC_DPVx[t, d].
They have no effect if the tool orientation is only determined by the plane selection G17 -
G19 and is compatible with previous behavior.
The plane of the basic orientation for a cutting edge is treated either like a milling tool or like
a turning tool, irrespective of the entry in $TC_DP1, if the following setting data is not equal
to zero:
SD42950 $SC_TOOL_LENGTH_TYPE (allocation of the tool length components
independent of tool type).

Plane change
A change of plane causes a change in orientation.
The following rotations are initiated:

When changing from: Rotations

G17 ⇒ G18: Rotation through -90 degrees about the Z axis
G18 ⇒ G19: followed by rotation through -90 degrees about the X
axis
G19 ⇒ G17:
G17 ⇒ G19: Rotation through 90 degrees about the X axis
G18 ⇒ G17: followed by rotation through 90 degrees about the Z
axis
G19 ⇒ G18:
These rotations are the same as those that have to be performed in order to interchange the
components of the tool length vector on a change of plane.

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2.7 Basic tool orientation

The basic orientation is also rotated when an adapter transformation is active.

If the following setting data is not equal to zero, the tool orientation is not rotated on a
change of plane:
SD42940 $SC_TOOL_LENGTH_CONST (change of tool length components on change of
planes).

Tool length components

The components of the tool orientation are treated the same as the components of the tool
length, with respect to setting data:
SD42900 $SC_MIRROR_TOOL_LENGTH (Sign change tool wear when mirroring).
SD42950 $SC_TOOL_LENGTH_TYPE (allocation of the tool length components
independent of tool type).
Therefore the components are changed respectively and assigned to the geometry axis.

System variable $TC_DPV[t, d]

The purpose of system variable $TC_DPV[t, d] is to allow the simple specification of certain
basic orientations (parallel to coordinate axes) that are required frequently. The permissible
values are shown in the table below. The values in the first and second/third columns are
equivalent.

$TC_DPV[t, d] Basic orientation

Milling tools * Turning tools *
≤ 0 or > 6 ($TC_DPV5[t, d], ($TC_DPV3[t, d],
$TC_DPV4[t, d], $TC_DPV5[t, d],
$TC_DPV3[t, d],) ** $TC_DPV4[t, d],) **
1 (0, 0, V) (0, V, 0)
2 (0, V, 0) (0, 0, V)
3 (V, 0, 0) (V, 0, 0)
4 (0, 0, -V) (0, -V, 0)
5 (0, -V, 0) (0, 0, -V)
6 (-V, 0, 0) (-V, 0, 0)

* Turning tools in this context are any tools whose tool type ($TC_DP1[t, d]) is between 400 and
599. All other tool types refer to milling tools.
** If all three values $TC_DPV3[t, d], $TC_DPV4[t, d], $TC_DPV5[t, d] are equal to zero in this
case, the tool orientation is determined by the active machining plane (default).
V Stands for a positive value in the corresponding system variables.
Example:
For milling tools:
$TC_DPV[t, d] = 2 is equal to:
$TC_DPV3[t, d] = 0, $TC_DPV4[t, d] = 0, $TC_DPV5[t, d] = V.

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2.8 Special handling of tool compensations

Supplementary conditions
If the "Scratch" function is used in the RESET state, the following must be noted with respect
to the initial setting:
• The wear components are evaluated depending on the initial settings of the G-code
groups TOWSTD, TOWMCS and TOWWCS.
• If a value other than the initial setting is needed to ensure correct calculation, scratching
may be performed only in the STOP state.

Note
"Special handling of tool compensations" pays particular attention to tool compensations
with evaluation of sign for tool length with wear and temperature fluctuations.
The following are taken into account:
• Tool type
• Transformations for tool components
• Assignment of tool length components to geometry axes independently of tool type

2.8 Special handling of tool compensations

2.8.1 Relevant setting data

SD42900- 42960
Setting data SD42900 - SD42940 can be used to make the following settings with reference
to tool compensation:
• Sign of the tool length
• Sign of the wear
• Behavior of the wear components when mirroring geometry axes
• Behavior of the wear components when changing the machining plane via setting data
• Allocation of the tool length components independent of actual tool type
• Transformation of wear components into a suitable coordinate system for controlling the
effective tool length

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Note
In the following description, the wear includes the total values of the following components:
• Wear values: $TC_DP12 to $TC_DP20
• Sum offset, consisting of:
– Wear values: $SCPX3 to $SCPX11
– Setup values: $ECPX3 to $ECPX11

For detailed information about sum and tool compensations, please refer to:
References:
/FBW/Description of Functions, Tool Management
/PG/Programming Guide, Fundamentals; Tool Compensations.

Required setting data

• SD42900 $SC_MIRROR_TOOL_LENGTH
(mirroring of tool length components and components of the tool base dimension)
• SD42910 $SC_MIRROR_TOOL_WEAR
(mirroring of wear values of tool length components)
• SD42920 $SC_WEAR_SIGN_CUTPOS
(sign evaluation of the wear components)
• SD42930 $SC_WEAR_SIGN
(inverts the sign of the wear dimensions)
• SD42940 $SC_TOOL_LENGTH_CONST
(allocation of the tool length components to the geometry axes)
• SD42950 $SC_TOOL_LENGTH_TYPE
(allocation of the tool length components independent of tool type)
• SD42935 $SC_WEAR_TRANSFORM
(transformation of wear values)
• SD42960 $SC_TOOL_TEMP_COMP
(tool length offsets)

2.8.2 Mirror tool lengths (SD42900 $SC_MIRROR_TOOL_LENGTH)

Activation
Tool length mirroring is activated by:
SD42900 $SC_MIRROR_TOOL_LENGTH <> 0 (TRUE)

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Function
The following components are mirrored by inverting the sign:
• Tool lengths: $TC_DP3, $TC_DP4, $TC_DP5
• Tool base dimensions: $TC_DP21, $TC_DP22, $TC_DP23
Mirroring is performed for all tool base dimensions whose associated axes are mirrored.
Wear values are not mirrored.

Mirror wear values

The following setting data should be set in order to mirror the wear values:
SD42910 $SC_MIRROR_TOOL_WEAR <> 0
Inverting the sign mirrors the wear values of the tool length components whose associated
axes are mirrored.

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Figure 2-49 Application example: Double-spindle turning machine

2.8.3 Mirror wear lengths (SD42920 $SC_WEAR_SIGN_CUTPOS)

Activation
Wear length mirroring is activated by:
SD42920 $SC_WEAR_SIGN_CUTPOS <> 0 (TRUE)

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Function

Length of cutting edge Length 1 Length 2

1 --- ---
2 --- Inverted
3 Inverted Inverted
4 Inverted ---
5 --- ---
6 --- ---
7 --- Inverted
8 Inverted ---
9 --- ---

In the case of tool types without a relevant cutting edge position, the wear length is not
mirrored.

Note
Activating the
Mirror tool lengths (SD42900 <> 0)
and
Mirror wear lengths (SD42920 <> 0)
functions can disable mirroring (sign inversion) in one or a number of components.

SD42930 $SC_WEAR_SIGN
Setting data not equal to zero:
Inverts the sign of all wear dimensions. This affects both the tool length and other variables
such as tool radius, rounding radius, etc.
Entering a positive wear dimension makes the tool "shorter" and "thinner".

Activation of modified setting data

When the setting data described above are modified, the tool components are not
reevaluated until the next time a tool edge is selected. If a tool is already active and the data
of this tool are to be reevaluated, the tool must be selected again.
Example:

N10 $SC_WEAR_SIGN = 0 ; No sign inversion of the wear values

N20 $TC_DP1[1,1] = 120 ; End mill
N30 $TC_DP6[1,1] = 100 ; Tool radius 100 mm
N40 $TC_DP15[1,1] = 1 ; Wear dimension of tool radius 1 mm, resulting

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tool radius 101 mm

N100 T1 D1 G41 X150 Y20
....
N150 G40 X300N10
....
N200 $SC_WEAR_SIGN = 1 ; Sign inversion for all wear values; the new
radius of 99 mm is activated on a new
selection (D1). Without D1, the radius would
continue to be 101 mm.
N300 D1 G41 X350 Y-20
N310 ....

The same applies in the event that the resulting tool length is modified due to a change in
the mirroring status of an axis. The tool must be selected again after the mirror command, in
order to activate the modified tool length components.

2.8.4 Tool length and plane change (SD42940 $SC_TOOL_LENGTH_CONST)

Plane change
The assignment of tool length components (length, wear and tool base dimension) to
geometry axes does not change when the machining plane is changed (G17–G19).

Assignment of tools
The assignment of tool length components to geometry axes for turning and grinding tools
(tool types 400 to 599) is generated from the value of setting data:
SD42940 $SC_TOOL_LENGTH_CONST
in accordance with the following table:

Layer Length 1 Length 2 Length 3

17 Y X Z
*) X Z Y
19 Z Y X
-17 X Y Z
-18 Z X Y
-19 Y Z X

*) Each value not equal to 0, which is not equal to one of the six listed values, is evaluated as value
18.

Tool compensation (W1)

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2.8 Special handling of tool compensations

The following table shows the assignment of tool length components to geometry axes for all
other tools (tool types < 400 or > 599):

Layer Length 1 Length 2 Length 3

*) Z Y X
18 Y X Z
19 X Z Y
-17 Z X Y
-18 Y Z X
-19 X Y Z

*) Each value not equal to 0, which is not equal to one of the six listed values, is evaluated as value
17.

Note
For representation in tables, it is assumed that geometry axes 1 to 3 are named X, Y, Z. The
axis order and not the axis identifier determines the assignment between a compensation
and an axis.
Three tool length components can be arranged on the 6 different types above.

2.8.5 Tool type (SD42950 $SC_TOOL_LENGTH_TYPE)

Definition of the assignment between tool length components (length, wear and tool base
dimension) and geometry axes independent of tool type.
Setting data not equal to zero: (the default definition is applied)
A distinction is made between turning and grinding tools (tool types 400 to 599) and other
tools (milling tools).
The value range is from 0 to 2. Any other value is interpreted as 0.
The assignment of tool length components is always independent of the actual tool type.
• Value = 1: Always as for milling tools
• Value = 2: Always as for turning tools

Tool compensation (W1)

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2.8 Special handling of tool compensations

Toolholder with orientation capability

Setting data SD42900 - SD42950
Setting data SD42900 - SD42950 have no effect on the components of an active toolholder
with orientation capability. The calculation with a toolholder with orientation capability always
allows for a tool with its total resulting length (tool length + wear + tool base dimension). The
calculation of the resulting total length allows for all modifications caused by the setting data.

Note
When toolholders with orientation capability are used, it is common to define all tools for a
non-mirrored basic system, even those, which are only used for mirrored machining. When
machining with mirrored axes, the toolholder is then rotated such that the actual position of
the tool is described correctly. All tool length components then automatically act in the
correct direction, dispensing with the need for control of individual component evaluation via
setting data, depending on the mirroring status of individual axes.
The use of toolholders with orientation capability is also practical if the physical
characteristics of the machine type prevents tools, which are permanently installed with
different orientations, from being rotated. Tool dimensioning can then be performed uniformly
in a basic orientation, where the dimensions relevant for machining are calculated according
to the rotations of a virtual toolholder.

2.8.6 Temperature offsets in tool direction (SD42960 $SC_TOOL_TEMP_COMP)

Note
Temperature offset in the tool direction is operative only as an option with generic 5axis
transformation, types 24 and 56.

2.8.7 Tool lengths in the WCS, allowing for the orientation

Change tool or working plane

The values displayed for the tool correspond to the expansion in the WCS. If a toolholder
with an inclined clamping position is to be used, you should make sure that the
transformation used supports the toolholder. If this is not the case, incorrect tool dimensions
will be displayed. When changing the working plane from G17 to G18 or G19, you should
ensure that the transformation can also be used for these working planes. If the
transformation is only available for G17 machining, the dimensions continue to be displayed
for a tool in the Z direction after the plane change.

Tool compensation (W1)

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2.8 Special handling of tool compensations

When transformation is deactivated, the basic tool is displayed in the x, y or z direction,

according to the working plane. Allowance is made for a programmed toolholder. These tool
dimensions are not altered when traversing without a transformation.

2.8.8 Tool length offsets in tool direction

Temperature compensation in real time

On 5axis machines with a moving tool, temperature fluctuations can occur in the machining
heads. These can result directly in expansion fluctuations, which are transmitted to the tool
spindle in the form of linear expansion. A typical case on 5axis heads, for example, is
thermal expansion in the direction of the longitudinal spindle axis.
It is possible to compensate this thermal expansion even when the tool is orientated by
assigning the temperature compensation values to the tool rather than to the machine axes.
In this way, linear expansion fluctuations can be compensated even when the tool orientation
changes.
Using the orientation transformation whose direction is determined by the current tool
orientation, it is possible to overlay motions in real time and rotate them simultaneously. At
the same time, the compensation values are adjusted continuously in the tool coordinate
system.
Compensation applies to the "Temperature compensation" option and is active only when
the axis to be compensated is really referenced.

Activation
Temperature compensation in the tool direction is an option, which must be enabled
beforehand.
It is activated by setting machine data:
MD20390 $MC_TOOL_TEMP_COMP_ON
to a value other than zero.
Bit 2 must also be enabled in machine data:
MD32750 $MA_TEMP_COMP_TYPE[<axis index>]
for each affected channel axis.
This can be more than three axes in cases where more than three channel axes in
succession can be temporarily assigned to geometry axes as a result of geometry axis
replacement of transformation switchover. If this bit is not set for a particular channel axis,
the compensation value cannot be applied in the axis. This does not have any effect on other
axes. In this case, an alarm is not output.

Applicability
Temperature compensation in the tool direction is operative only with generic 5axis
transformations with:
• Transformation type 24
Two axes rotate the tool

Tool compensation (W1)

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2.8 Special handling of tool compensations

• Transformation type 56
One axis rotates the tool, the other axis rotates the workpiece without temperature
compensation
In generic 5axis transformation with:
• Transformation type 40
The tool orientation is constant with a rotary workpiece, which means that the movement
of the rotary axes on the machine does not affect the temperature compensation
direction.
Temperature compensation in the tool direction also works in conjunction with orientation
transformations (not generic 5axis transformations) with:
• Transformation type 64 to 69
Rotating linear axis

Note
Temperature compensation can be activated with all other types of transformation.
It is not affected by a change in tool orientation.
The axes move as if no orientation transformation with temperature compensation were
active.

Supplementary conditions
Temperature compensation in the tool direction is an option, which must be enabled in
advance and is available:
• For generic 5-axis transformation
• For transformation with rotated linear axis for transformation types 64 to 69

Limit values
Compensation values are restricted to maximum values via machine data:
MD20392 $MC_TOOL_TEMP_COMP_LIMIT[0]
to
MD20392 $MC_TOOL_TEMP_COMP_LIMIT[2].

The limit value default setting is 1 mm. If a temperature compensation value higher than this
limit is specified, it will be limited without an alarm.

SD42960
The three temperature compensation values together form a compensation vector and are
contained in the setting data:
SD42960 $SC_TOOL_TEMP_COMP[0]
to
SD42960 $SC_TOOL_TEMP_COMP[2].

Tool compensation (W1)

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2.8 Special handling of tool compensations

The setting data are userdefined, e.g., using synchronized actions or from the PLC. The
compensation values can, therefore, also be used for other compensation purposes.
In the initial state or when orientation transformation is deactivated, all three compensation
values apply in the direction of the three geometry axes (in the typical order X, Y, Z). The
assignment of components to geometry axes is independent of the tool type (turning, milling
or grinding tools) and the selected machining plane G17 to G19. Changes to the setting data
values take effect immediately.

Toolholder with orientation capability

If a toolholder with orientation capability is active, the temperature compensation vector is
rotated simultaneously to any change in orientation. This applies independently of any active
orientation transformation.
If a toolholder with orientation capability is active in conjunction with a generic 5axis
transformation or a transformation with rotating linear axis, the temperature compensation
vector is subjected to both rotations.

Note
While transformations with rotating linear axes take changes in the tool vector (length) into
account, they ignore its change in orientation, which can be effected by a toolholder with
orientation capability.

Temperature compensation values immediately follow any applied change in orientation.

This applies in particular when an orientation transformation is activated or deactivated.
The same is true when the assignment between geometry axes and channel axes is
changed. The temperature compensation value for an axis is reduced to zero
(interpolatively), for example, when it ceases to be a geometry axis after a transformation
change. Conversely, any temperature compensation value for an axis, which changes over
to geometry axis status, is applied immediately.

Examples
Temperature compensation in tool direction
Example of a 5axis machine with rotating tool, on which the tool can be rotated about the C
and B axes.
In its initial state, the tool is parallel to the Z axis. If the B axis is rotated through 90 degrees,
the tool points in the X direction.
Therefore, a temperature compensation value in:
SD42960 $SC_TOOL_TEMP_COMP[2]
is also effective in the direction of the machine X axis if transformation is active.
If the transformation is deactivated with the tool in this direction, the tool orientation is, by
definition, parallel again to the Z axis and thus different to its actual orientation. The
temperature offset in the X axis direction is therefore reduced to zero and reapplied
simultaneously in the Z direction.
Example of a 5axis machine with rotating tool (transformation type 24). The relevant
machine data are listed below:

Tool compensation (W1)

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2.8 Special handling of tool compensations

The first rotary axis rotates around Z C axis

The second rotary axis rotates around Y B axis
The essential machine data are shown in the table below:

MD20390 TOOL_TEMP_COMP_ON = TRUE ; Temperature compensation active

Option ; Activate option
MD32750 TEMP_COMP_TYPE[ AX1 ] = 4 ; Compensation in tool direction
MD32750 TEMP_COMP_TYPE[ AX2 ] = 4 ; Compensation in tool direction
MD32750 TEMP_COMP_TYPE[ AX3 ] = 4 ; Compensation in tool direction

; Assignment of transformation type 24:

MD24100 TRAFO_TYPE_1 = 24 ; Transformer type 24 in first channel
MD24110 TRAFO_AXES_IN_1[0] = 1 ; First axis of the transformation
MD24110 TRAFO_AXES_IN_1[1] = 2 ; Second axis of the transformation
MD24110 TRAFO_AXES_IN_1[2] = 3 ; Third axis of the transformation
MD24110 TRAFO_AXES_IN_1[3] = 5 ; Fifth axis of the transformation
MD24110 TRAFO_AXES_IN_1[4] = 4 ; Fourth axis of the transformation

MD24120 TRAFO_GEOAX_ASSIGN_TAB_1[0] = 1 ; Geo axis for channel axis 1

MD24120 TRAFO_GEOAX_ASSIGN_TAB_1[1] = 2 ; Geo axis for channel axis 2
MD24120 TRAFO_GEOAX_ASSIGN_TAB_1[2] = 3 ; Geo axis for channel axis 3

MD24570 TRAFO5_AXIS1_1[0] = 0.0 ;

MD24570 TRAFO5_AXIS1_1[1] = 0.0 ; Direction
MD24570 TRAFO5_AXIS1_1[2] = 1.0 ; First rotary axis is parallel to Z

MD24572 TRAFO5_AXIS1_2[0] = 0.0 ; Direction

MD24572 TRAFO5_AXIS1_2[1] = 1.0 ; Second rotary axis is parallel to Y
MD24572 TRAFO5_AXIS1_2[2] = 0.0 ;

MD25574 TRAFO5_BASE_ORIENT_1[0] = 0.0 ;

MD25574 TRAFO5_BASE_ORIENT_1[1] = 0.0 ; Basic tool orientation
MD25574 TRAFO5_BASE_ORIENT_1[2] = 1.0 ; In Z direction

NC program
Temperature compensation values in the NC program
The compensation values assigned to axes X and Z are not zero and are applied for
temperature compensation with respect to tool length. The machine axis positions reached in
each case are specified as comments in the program lines.

SD42960 TOOL_TEMP_COMP[0] = -0.3 ; First compensation value

SD42960 TOOL_TEMP_COMP[1] = 0.0 ;
SD42960 TOOL_TEMP_COMP[2] = -1.0 ; Second compensation value

Tool compensation (W1)

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2.9 Sum offsets and setup offsets

; Position setpoints of the

machine axes
N10 g74 x0 y0 z0 a0 b0 ; X Y Z
N20 x20 y20 z20 f10000 ; 20.30 20.00 21.00
N30 traori() ; 20.30 20.00 21.00
N40 x10 y10 z10 b90 ; 11.00 10.00 9.70
N50 trafoof ; 10.30 10.00 11.00
N60 x0 y0 z0 b0 c0 ; 0.30 0.00 1.00
N70 m30

With the exception of block N40, temperature compensation always acts in the original
directions, as the tool is pointing in the basic orientation direction. This applies particularly in
block N50. The tool is actually still pointing in the direction of the X axis because the B axis is
still at 90 degrees. However, because the transformation is already deactivated, the applied
orientation is parallel to the Z axis again.

MD20390 TOOL_TEMP_COMP_ON = TRUE ; Temperature compensation active

Option ; Activate option
MD32750 TEMP_COMP_TYPE[ AX1 ] = 4 ; Compensation in tool direction
MD32750 TEMP_COMP_TYPE[ AX2 ] = 4 ; Compensation in tool direction
MD32750 TEMP_COMP_TYPE[ AX3 ] = 4 ; Compensation in tool direction

For more information about temperature compensation, please refer to:

References:
/FB2/Functions Manual, Extended Functions; Compensations (K3).
For more information about generic 5-axis transformation, please refer to:
References:
/FB3/Functions Manual, Special Functions; 3- to 5-axis Transformation (F2).

2.9 Sum offsets and setup offsets

2.9.1 General

Sum offsets
Sum offsets can be treated as programmable process compensations during machining and
are composed of all the error sizes (including the wear), which cause the workpiece to
deviate from the specified dimensions.
Sum offsets are a generalized type of wear. They are part of the cutting edge data. The
parameters of the sum offset refer to the geometrical data of a cutting edge.
The compensation data of a sum offset are addressed by a DL number (DL: location-
dependent; compensations with reference to the location of use).

Tool compensation (W1)

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2.9 Sum offsets and setup offsets

In contrast, the wear values of a D number describe the physical wear of the cutting edge,
i.e., in special situations, the sum offset can match the wear of the cutting edge.
Sum offsets are intended for general use, i.e., with active or inactive tool management or
with the flat D number function.
Machine data are used to classify the sum offsets into:
• Sum offset fine
• Sum offset coarse (setup offset)

Setup offset
The setup offset is the compensation to be entered by the setup engineer before machining.
These values are stored separately in the NCK. The operator subsequently only has access
to the "sum offset fine" via HMI.
The "sum offset fine" and "sum offset coarse" are added internally in the NCK. This value is
referred to below as the sum offset.

Note
The function is enabled via the machine data setting:
MD18080 $MN_MM_TOOL_MANAGEMENT_MASK, Bit 8=1 (Gradual memory reservation
for tool management).

If kinematic transformations (e.g., 5axis transformations) are active, the tool length is
calculated first after allowing for the various wear components. ´The total tool length is then
used in the transformation. Unlike the case of a toolholder with orientation capability, the
wear values are thus always included in the transformation irrespective of the G code of
group 56.

2.9.2 Description of function

Sum offsets
Several sum offsets (DL numbers) can be defined per D number. This allows you to
determine, for example, workpiecelocationdependent compensation values and assign them
to a cutting edge. Sum offsets have the same effect as wear, i.e., they are added to the
compensation values of the D number. The data are permanently assigned to a D number.

Attitudes
You can define the following settings in machine data:
• Activate sum offset
• Define maximum quantity of DL data sets to be created in NCK memory
• Define maximum quantity of DL numbers to be assigned to a D number

Tool compensation (W1)

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2.9 Sum offsets and setup offsets

• Define whether the sum offsets (fine/coarse) are to be saved during data backup
• Define the sum offset to be activated, if:
– A new cutting edge compensation is activated
– An operator panel reset is performed
– An operator panel start is performed
– The end of the program has been reached
The name is oriented to the logic of the corresponding machine data for tools and cutting
edges.
The "setup offset" and "sum offset fine" can be read and written via system variables and
corresponding OPI services.

Note
When tool management is active, a machine data can be used to define whether the sum
offset of a tool activated during a programmed tool change remains unchanged or is set to
zero.

Summary of compensation parameters $TC_DPx

The following general system variables were previously defined for describing a cutting
edge:

$TC_DP1 Tool type

$TC_DP2 Length of cutting edge

Parameters for geometry and wear

Tool geometry compensations are assigned to system variables $TC_DP3 to $TC_DP11.
System variables $TC_DP12 to $TC_DP20 allow you to name a wear for each of these
parameters.

Geometry Wear Length compensations

$TC_DP3 $TC_DP12 Length 1
$TC_DP4 $TC_DP13 Length 2
$TC_DP5 $TC_DP14 Length 3
Geometry Wear Radius compensation
$TC_DP6 $TC_DP15 Radius
$TC_DP7 $TC_DP16 Corner radius (tool type 700; slotting saw)
Geometry Wear Further compensations
$TC_DP8 $TC_DP17 Length 4 (tool type 700; slotting saw)
$TC_DP9 $TC_DP18 Length 5
$TC_DP10 $TC_DP19 Angle 1 (angle between face of tool and torus surface)
$TC_DP11 $TC_DP20 Angle 2 (angle between tool longitudinal axis and upper
end of torus surface)

Tool compensation (W1)

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2.9 Sum offsets and setup offsets

Tool base dimension/adapter dimension

$TC_DP21 Adapter length 1

$TC_DP22 Adapter length 2
$TC_DP23 Adapter length 3

Technology

System variable Clearance angle

$TC_DP24 • The clearance angle is stored here for ManualTurn; tool type 5xx.
Same meaning as in standard cycles for turning tools.
• The tip angle of the drill is stored here for ShopMill; tool type 2xx.
• Used in standard cycles for turning tools; tool type 5xx. This is the
angle at the secondary cutting edge for these tools.
$TC_DP25 • The value for the cutting rate is stored here for ManualTurn.
• A bitcoded value for various states of tool types 1xx and 2xx is stored
here for ShopMill.

Parameters of the sum and setup offsets ($TC_SCPxy, $TC_ECPxy)

The numbering of the parameters is oriented to the numbering of system variables $TC_DP3
to $TC_DP11.
The effect of the parameters is similar to the wear (additive to the tool geometry). Up to six
sum/setup parameters can be defined per cutting edge parameter.

Tool geometry Sum/setup parameters, length compensations Tool wear

parameter, to which the parameters
compensation is added.
$TC_DP3 Length 1 $TC_DP12
$TC_SCP13, $TC_SCP23,$TC_SCP33,
$TC_SCP43,$TC_SCP53,$TC_SCP63
$TC_ECP13, $TC_ECP23,$TC_ECP33,
$TC_ECP43,$TC_ECP53,$TC_ECP63
The numbers in bold, 1, 2, ... 6, designate the
parameters of a maximum of six (location-dependent
or similar) compensations that can be programmed
with DL =1 to 6 for the parameter specified in column
one.
$TC_DP4 Length 2 $TC_DP13
$TC_SCP14, $TC_SCP24,$TC_SCP34,
$TC_SCP44,$TC_SCP54,$TC_SCP64
$TC_ECP14, $TC_ECP24,$TC_ECP34,
$TC_ECP44,$TC_ECP54,$TC_ECP64
$TC_DP5 Length 3, $TC_DP14
etc.
Radius compensation
$TC_DP6 Radius $TC_DP15

Tool compensation (W1)

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2.9 Sum offsets and setup offsets

Tool geometry Sum/setup parameters, length compensations Tool wear

parameter, to which the parameters
compensation is added.
$TC_DP7 Corner radius $TC_DP16
Further compensations
$TC_DP8 Length 4 $TC_DP17
$TC_DP9 Length 5 $TC_DP18
$TC_DP10 Angle 1, $TC_DP19
etc.
$TC_DP11 Angle 2 $TC_DP20
$TC_SCP21, $TC_SCP31,$TC_SCP41,
$TC_SCP51,$TC_SCP61,$TC_SCP71
$TC_ECP21, $TC_ECP31,$TC_ECP41,
$TC_ECP51,$TC_ECP61,$TC_ECP71
The numbers in bold, 2, 3, ... 7, designate the
parameters of a maximum of six (location-dependent
or similar) compensations that can be programmed
with DL =1 to 6 for the parameter specified in column
one.

Supplementary conditions
The maximum number of DL data sets of a cutting edge and the total number of sum offsets
in the NCK are defined by machine data. The default value is zero, i.e., no sum offsets can
be programmed.
Activate the "monitoring function" to monitor a tool for wear or for "sum offset".
The additional sum/setup data sets use additional buffered memory. 8 bytes are required per
parameter.
A sum-offset data set requires: 8 bytes * 9 parameters = 72 bytes
A setup data set requires an equal amount of memory. A certain number of bytes is also
required for internal administration data.

2.9.3 Activation

Function
The function must be activated via the machine data:
MD18108 $MN_MM_NUM_SUMCORR (sum offsets in TO area).
System variables $TC_ECPx and $TC_SCPx and setup and sum offsets ("fine") defined via
the OPI interface can be activated in the part program.
This is done by programming the language command DL="number".
When a new D number is activated, either a new DL number is programmed, or the DL
number defined via the following machine data becomes active:
MD20272 $MC_SUMCORR_DEFAULT (default setting sum offset withour program).

Tool compensation (W1)

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2.9 Sum offsets and setup offsets

DL programming
The sum offset is always programmed relative to the active D number with the command:
DL = "n"
The sum offset "n" is added to the wear of the active D number.

Note
If you use "setup offset" and "sum offset fine", both compensations are combined and added
to the tool wear.

The sum offset is deselected with the command:

DL = 0

Note
DL0 is not allowed. If compensation is deselected (D0 and T0), the sum offset also becomes
ineffective.
Programming a sum offset that does not exist triggers an alarm, similar to programming a D
compensation that does not exist.
Thus, only the defined wear remains part of the compensation (defined in system variables
$TC_DP12 to $TC_DP20).
Programming a sum offset when a D compensation is active (also applies to deselection)
has the same effect on the path as programming a D command. An active radius
compensation will, therefore, lose its reference to adjacent blocks.

Configuration
MD18112 $MN_MM_KIND_OF_SUMCORR, bit 4=0: (Properties of sum offset in the TO
area) default setting:
Only one set of sum offsets exists per DL number.
We refer in general to the sum offset.
This describes the data represented by $TC_SCPx.

Tool compensation (W1)

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 Detailed Description
2.9 Sum offsets and setup offsets

6XPRIIVHW
7&B6&3>W@
7&B6&3>W@

'RIIVHW
6XPRIIVHW
7&B'3>W@ 7&B6&3>W@
7&B'3>W@ 7&B6&3>W@
7&B'3>W@
7&B'3>W@

Figure 2-50 MD18112 $MN_MM_KIND_OF_SUMCORR, bit 4 = 0

Tool T = t is active. With the data in the figure, the following is programmed:

D2 ; Cutting edge offsets, i.e., $TC_DP3 to $TC_DP11 + wear

($TC_DP12 to $TC_DP20) + adapter dimension
...
DL=1 ; Sum offset 1 is added to the previous D2 compensations, i.e.,
$TC_SCP13 to $TC_SCP21.
...
DL=2 ; Sum offset 2 is added to the D2 compensation instead of sum
offset 1, i.e., $TC_SCP23 to $TC_SCP31.
...
DL=0 ; Deselection of sum offset;
only the data of D2 remain active.

MD18112 $MN_MM_KIND_OF_SUMCORR, bit 4=1: Setup offsets are available

The sum offset is now composed of the "sum offset fine" (represented by $TC_SCPx) and
the setup offset (represented by $TC_ECPx). Two data sets therefore exist for one DL
number. The sum offset is calculated by adding the corresponding components ($TC_ECPx
+ $TC_SCPx).

Tool compensation (W1)

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Detailed Description
2.9 Sum offsets and setup offsets

6HWXSRIIVHW 6XPRIIVHW
ILQH
7&B(&3>W@ 7&B6&3>W@
7&B(&3>W@ 7&B6&3>W@

'RIIVHW
7&B'3>W@ 6HWXSRIIVHW 6XPRIIVHW
ILQH
7&B'3>W@
7&B(&3>W@ 7&B6&3>W@
7&B'3>W@
7&B(&3>W@ 7&B6&3>W@
7&B'3>W@
7&B'3&(>W@

Figure 2-51 MD18112 $MN_MM_KIND_OF_SUMCORR, bit 4 = 1 "setup offsets" + "sum offsets fine"

Tool T = t is active. With the data in the figure, the following is programmed:

D2 ; Cutting edge compensations, i.e., $TC_DP3 to $TC_DP11 + wear

($TC_DP12 to $TC_DP20) + adapter dimension
...
DL=1 ; Sum offset 1 is added to the previous D2 compensations, i.e.,
$TC_ECP13 + $TC_SCP13 to $TC_ECP21 + $TC_SCP21.
...
DL=2 ; Sum offset 2 is added to the D2 compensation instead of sum
offset 1; i.e., $TC_ECP23 + $TC_SCP23,...$TC_ECP31 + $TC_SCP31
...
DL=0 ; Deselection of sum offset. Only the data of D2 remain active.

Reading/writing in the part program

The individual sets of sum offset parameters are differentiated according to the number
ranges of system variable $TC_SCP.
The meaning of the individual variables is similar to geometry variables $TC_DP3 to
$TC_DP11. Only length 1, length 2 and length 3 are enabled for the basic functionality
(variables $TC_SCP13 to $TC_SCP15 for the first sum offset of the cutting edge).

R5 = $TC_SCP13[ t, d ] ; Sets the value of the R parameter to the value

of the first component of sum offset 1 for
cutting edge (d)
on tool (t).
R6 = $TC_SCP21[ t, d ] ; Sets the value of the R parameter to the value
of the last component of sum offset 1 for
cutting edge (d) on tool (t).
R50 = $TC_SCP23[ t, d ] ; Sets the value of the R parameter to the value
of the first component of sum offset 2 for
cutting edge (d) on tool (t).
$TC_SCP43[ t, d ] = 1.234 ; Sets the value of the first component of sum
offset 4 for cutting edge (d) on tool (t) to the
value 1.234.

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The above statements also apply to the setup offsets (if the NCK is configured with this
option), i.e.,

R5 = $TC_ECP13[ t, d ] ; Sets the value of the R parameter to the value

of the first component of setup offset 1 for
cutting edge (d) on tool (t).
R6 = $TC_ECP21[ t, d ] ; Sets the value of the R parameter to the value
of the last component of setup offset 1 for
cutting edge (d) on tool (t).
Etc.

When working with setup offsets, "sum offsets fine" are written with the $TC_SCPx system
variables.

Creating a new sum offset

If the compensation data set (x) does not yet exist, it is created on the first write operation to
one of its parameters (y).

$TC_SCPxy[ t, d ] = r.r ; Parameter y of sum offset x is assigned the

value "r.r.". The other parameters of x have a
value of zero.

When working with setup offsets, "sum offsets fine" are written with the $TC_SCPx system
variables.

Note
When working with setup offsets, the data set for the setup offset is created when a data set
is created for "sum offset fine", if a data set did not already exist for [t, d].

Creating a new setup offset

If the compensation data set (x) does not yet exist, it is created on the first write operation to
one of its parameters (y).

$TC_ECPxy[ t, d ] = r.r ; The value "r.r" is assigned to the parameter y

of setup offset x. The other parameters of x
have the value zero.

Note
When working with setup offsets, the data set for the "sum offset fine" is created when a data
set is created for setup offsets, if a data set did not already exist for [t, d].

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DELDL - Delete sum offset

Sum offsets are generally only relevant when machining with a cutting edge at a certain time
at a certain location of the workpiece. You can use the NC language command DELDLto
delete sum offsets from cutting edges (in order to release memory).

status = DELDL( t, d ) ; Deletes all sum offsets for cutting edge d on tool
t.
; t, d are optional parameters.

If d is not specified, all sum offsets of all cutting edges of tool t are deleted.
If d and t are not specified, all sum offsets for the cutting edges on all tools of the TO unit are
deleted (for the channel, in which the command is programmed).
When working with setup offsets, the DELDL command deletes both the setup offset and the
"sum offsets fine" of the specified cutting edge(s).

Note
The memory used for the data sets is released after deletion.
The deleted sum offsets can subsequently no longer be activated or programmed.

Sum offsets and setup offsets on active tools cannot be deleted (similar to the deletion of D
compensations or tool data).
The "status" return value indicates the result of the deletion command:

0: Deletion was successful

-1: Deletion was not (one cutting edge) or not completely (several cutting edges) successful

Data backup
The data are saved during a general tool-data backup (as a component of the D number
data sets).
It is advisable to save the sum offsets, in order to allow the current status to be restored in
the event of an acute problem. Machine data settings can be made to exclude sum offsets
from a data backup (settings can be made separately for "setup offsets" and "sum offsets
fine").

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Note
Sum offsets behave in the same way as D compensations with reference to block search
and REPOS. The behavior on Reset and PowerOn can be defined by machine data.
If the setting of the following machine data indicates that the last active tool compensation
number (D) is to be activated after PowerOn, the last active DL number is then no longer
active:
MD20110 $MC_RESET_MODE_MASK (Determination of control default settings after Reset
/ TP end)

2.9.4 Examples

Example 1
That no compensation and no sum offset will come into effect must be defined during tool
change via machine data:
• MD20270 $MC_CUTTING_EDGE_DEFAULT=0 (Basic setting of tool cutting edge without
programming)
• MD20272 $MC_SUMCORR_DEFAULT=0 (default setting sum offset without program).

T5 M06 ; Tool number 5 is loaded - no compensation active.

D1 DL=3 ; Compensation D1 + sum offset 3 of D1 are activated.
X10
DL=2 ; Compensation D1 + sum offset 2 are activated.
X20
DL=0 ; Sum offset deselection, only compensation D1 is now active.
D2 ; Compensation D2 is activated - the sum offset is not included
in the compensation.
X1
DL=1 ; Compensation D2 + sum offset 1 are activated.
X2
D0 ; Compensation deselection
X3
DL=2 ; No effect - DL2 of D0 is zero (same as programming T0 D2).

Example 2
During tool change it has to be defined that offset D2 and sum offset DL=1 are activated via
the machine data:
MD20270 $MC_CUTTING_EDGE_DEFAULT=2 (Basic setting of tool cutting edge without
programming)
MD20272 $MC_SUMCORR_DEFAULT=1 (default setting sum offset without program):

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T5 M06 ; Tool number 5 is loaded - D2 + DL=1 are active (= values of

machine data)
D1 DL=3 ; Compensation D1 + sum offset 3 of D1 are activated.
X10
DL=2 ; Compensation D1 + sum offset 2 are activated.
X20
DL=0 ; Sum offset deselection, only compensation D1 is now active.
D2 ; Compensation D2 is activated - sum offset DL=1 is activated.
X1
DL=2 ; Compensation D2 + sum offset 2 are activated.
D1 ; Compensation D1 + sum offset 1 are activated.

2.9.5 Upgrades for Tool Length Determination

2.10 Working with tool environments

2.10.1 General

Functions
The current states of tool data can be processed using the functions below, which are
generally available:
• Save
• Deletion
• Read
• Modify
A further function can be used to determine information about the assignment of the tool
lengths of the active tool to the abscissa, ordinate and applicate.

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2.10.2 Saving with TOOLENV

Scope of a tool environment

The TOOLENV memory function is used to save any current states needed for the evaluation
of tool data stored in the memory.
The individual data are as follows:
• The active G code of group 6 (G17,G18,G19)
• The active G code of group 56 (TOWSTD, TOWMCS, TOWWCS, TOWBCS, TOWTCS, TOWKCS)
• The active transverse axis
• Machine data: MD18112 $MN_MM_KIND_OF_SUMCORR (Properties of sum offsets in
the TO area)
• Machine data: MD20360 $MC_TOOL_PARAMETER_DEF_MASK (definition of tool
parameters).
• Setting data: SD42900 $SC_MIRROR_TOOL_LENGTH (Sign change tool length when
mirroring)
• Setting data: SD42910 $SC_MIRROR_TOOL_WEAR (Sign change tool wear when
mirroring)
• Setting data: SD42920 $SC_WEAR_SIGN_CUTPOS (Sign of wear for tools with cutting
edge systems)
• Setting data: SD42930 $SC_WEAR_SIGN (sign of wear)
• Setting data: SD42935 $SC_WEAR_TRANSFORM (transformations for tool components)
• Setting data: SD42940 $SC_LENGTH_CONST (change of tool components on change of
planes)
• Setting data: SD42950 $SC_TOOL_LENGTH_TYPE (allocation of the tool length
components independent of tool type)
• The orientation component of the current complete frame (rotation and mirroring, no work
offsets or scales)
• The orientation component and the resulting length of the active toolholder with
orientation capability
• The orientation component and the resulting length of an active transformation
• In addition to the data describing the environment of the tool, the T number, D number
and DL number of the active tool are also stored, so that the tool can be accessed later in
the same environment as the TOOLENV call, without having to name the tool again.

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Not in the tool environment

The value of the machine data determines whether the adapter length or the tool base
dimension is included in the tool length calculation:
MD18104 $MN_MM_NUM_TOOL_ADAPTER (tool adapter in TO area).
Since a change to this machine data only takes effect after Power On, it is not saved in the
tool environment.

Note
Resulting length of toolholders with orientation capability and transformations:
Both toolholders with orientation capability and transformations can use system variables or
machine data, which act as additional tool length components, and which can be subjected
partially or completely to the rotations performed. The resulting additional tool length
components must also be stored when TOOLENV is called, because they represent part of
the environment, in which the tool is used.

Adapter transformation:
The adapter transformation is a property of the tool adapter and thus of the complete tool. It
is, therefore, not part of a tool environment, which can be applied to another tool.
By saving the complete data necessary to determine the overall tool length, it is possible to
calculate the effective length of the tool at a later point in time, even if the tool is no longer
active or if the conditions of the environment (e.g., G codes or setting data) have changed.
Similarly, the effective length of different tool can be calculated assuming that it would be
used under the same conditions as the tool, for which the status was saved.

TOOLENV function
Saving a tool environment
The TOOLENV function is a predefined subprogram. It must, therefore, be programmed in a
separate block.

Syntax:
Status = TOOLENV(_NAME)

Value/parameter:
Status INT
0: Function OK
-1: No memory reserved for tool environments:
MD18116 $MN_MM_NUM_TOOL_ENV = 0 (number of tool environments in TO
area).
i.e. the "tool environments" functionality is not available.
-2: No more free memory locations for tool environments available.

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-3: Null string illegal as name of a tool environment.

-4: No parameter (name) specified.

_NAME STRING
Name, under which the current data set is stored.
If a data set of the same name already exists, it is overwritten. In this case, the status is
0.

2.10.3 Delete tool environment

DELTOOLENV function
This function can be used to delete sets of data used to describe tool environments. Deletion
means that the set of data stored under a particular name can no longer be accessed (an
access attempt triggers an alarm).
The DELTOOLENV function is a predefined subprogram.
It must, therefore, be programmed in a separate block.

Syntax:
There are two call formats:
Status = DELTOOLENV()
Status = DELTOOLENV(_NAME)

Value/parameter:
Status INT
0: Function OK
-1: No memory reserved for tool environments:
MD18116 $MN_MM_NUM_TOOL_ENV = 0 (number of tool environments in TO
area).
i.e. the "tool environments" functionality is not available.
-2: A tool environment with the specified name does not exist.

_NAME STRING
Name of data set to be deleted

The first call format deletes all data sets.

The second call format deletes the data set with the specified name.
Data sets can only be deleted using the DELTOOLENV command, by an INITIAL.INI
download or by a cold start (NCK powerup with default machine data). There are no further
automatic deletion operations (e.g., on RESET).

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2.10.4 How many environments and which ones are saved?

$P_TOOLENVN
This system variable returns the number of available data sets for describing tool
environments. (Data sets defined by TOOLENV and not yet deleted.)
The value range is from 0 to machine data:
MD18116 $MN_MM_NUM_TOOL_ENV (number of tool environments in TO area).
This system variable can be accessed even if no tool environments are possible (MD18116
= 0). In this case, the return value is 0.

Syntax:
_N = $P_TOOLENVN

Data type:
_N INT
Number of defined TOOLENV

$P_TOOLENV
This system variable returns the number of the nth data set for describing a tool
environment.
The assignment of numbers to data sets is not fixed, but can be changed as a result of
deleting or creating data sets. The data sets are numbered internally. The range is from 1 to
$P_TOOLENVN.

Syntax:
_NAME = $P_TOOLENV[i]

Data type:
_NAME STRING
Name of the data set with number i
i INT
Number of the data set.
If an index, which does not refer to a defined data set, is passed, alarm 17020 (illegal
array index1) is output.

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2.10.5 Read T, D, DL from a tool environment

GETTENV function
The GETTENV function is used to read the T, D and DL numbers stored in a tool
environment.
The GETTENV function is a predefined subprogram. It must therefore be programmed in a
separate block.

Syntax:
Status = GETTENV(_NAME, _TDDL)

Value/parameter:
Status INT
0: Function OK
-1: No memory reserved for tool environments:
MD18116 $MN_MM_NUM_TOOL_ENV = 0 (number of tool environments in TO
area).
i.e. the "tool environments" functionality is not available.
-2: A tool environment with the name specified in _NAME does not exist.

_NAME STRING
Name of the tool environment, from which the T, D and DL numbers can be read

_TDDL[3] INT
This integer array contains:
- in "_TDDL[0]" the T number of the tool,
- in "_TDDL[1]" the D number of the tool,
- in "_TDDL[2]" the DL number of the tool,
whose tool environment in the data set is stored with the name "_NAME".
It is possible to omit the first parameter in the GETTENV function call (e.g., GETTENV(,
_TDDL)) or to pass a null string as the first parameter (e.g., GETTENV("", _TDDL)). In
both of these two special cases, the T, D and DL numbers of the active tool are returned in
_TDDL.

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2.10.6 Read tool lengths, tool length components

GETTCOR function
The GETTCOR function is used to read out tool lengths or tool length components.
The parameters can be used to specify, which components are considered, and the
conditions, under which the tool is used.
The GETTCOR function is a predefined subprogram. It must therefore be programmed in a
separate block.

Syntax:
Status = GETTCOR(_LEN, _COMP, _STAT, _T, _D, _DL)
All parameters can be omitted with the exception of the first parameter (_LEN).

Value/parameter:
Status INT
0: Function OK
-1: No memory reserved for tool environments:
MD18116 $MN_MM_NUM_TOOL_ENV = 0 (number of tool environments in TO
area).
i.e. the "tool environments" functionality is not available.
-2: A tool environment with the name specified in _STAT does not exist.
-3: Invalid string in parameter _COMP.
Causes of this error can be invalid characters or characters programmed twice.
-4: Invalid T number
-5: Invalid D number
-6: Invalid DL number
-7: Attempt to access non-existent memory module
-8: Attempt to access a non-existent option (programmable tool orientation, tool
management).
-9: The _COMP string contains a colon (identifier for the specification of a coordinate
system), but it is not followed by a valid character denoting the coordinate
system.

_LEN[11] REAL
Result vector
The vector components are arranged in the following order:
Tool type (LEN[0])
Length of cutting (LEN[1])

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edge
Abscissa (LEN[2])
Ordinate (LEN[3])
Applicate (LEN[4])
Tool radius (LEN[5])
The coordinate system defined in _COMP and _STAT is used as the reference
coordinate system for the length components. If no coordinate system is defined in
_COMP, the tool lengths are represented in the machine coordinate system.
The assignment of the abscissa, ordinate and applicate to the geometry axes depends
on the active plane in the tool environment, i.e., with G17, the abscissa is parallel to X,
with G18 it is parallel to Z, etc.
Components LEN[6] to LEN[10] contain the additional parameters, which can be used
to specify the geometry description of a tool (e.g., $TC_DP7 to $TC_DP11 for the
geometry and the corresponding components for wear or sum and setup offsets).
These 5 additional elements and the tool radius are only defined for components E, G,
S, and W. Their evaluation does not depend on _STAT. The corresponding values in
LEN[5] to LEN[10] can thus only be not equal to zero if at least one of the four specified
components is involved in the tool length calculation. The remaining components do not
influence the result. The dimensions refer to the control's basic system (inch or metric).

_COMP STRING
This string consists of two substrings, which are separated from one another by a colon.
The individual characters (letters) of the first substring identify the tool length
components to be taken into account when calculating the tool length.
The second substring identifies the coordinate system, in which the tool length is to be
output. It consists of only one single relevant character.
The order of the characters in the strings, and their notation (upper or lower case), is
arbitrary. Any number of blanks or white spaces can be inserted between the
characters.
The letters in the substrings cannot be programmed twice. The meanings in the first
substring are as follows:
-: (Minus symbol, only allowed as first character): The complete tool length is
calculated, minus the components specified in the next string.
C: Adapter or tool base dimension (whichever of the two alternative components is
active for the tool in use)
E: Setup offsets
G: Geometry
K: Kinematic transformation (is only evaluated for generic 3, 4 and 5-axis
transformation)
S: Sum offsets
T: Toolholder with orientation capability
W: Wear
If the first substring is empty (except for white spaces), the complete tool length is
calculated allowing for all components. This applies even if the _COMP parameter is not

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specified.
An optional programmable colon must be followed by a single character specifying the
coordinate system, in which the tool length components are to be evaluated. If no
coordinate system is specified, the evaluation is performed in the MCS (machine
coordinate system). If any rotations are to be taken into account, they are specified in
the tool environment defined in _STAT.
The characters have the following meanings:
B: Basic coordinate system (BCS)
K: Tool coordinate system of kinematic transformation (KCS)
M: Machine coordinate system (MCS)
T: Tool coordinate system (TCS)
W: Workpiece coordinate system (WCS)

_STAT STRING
Name of the data set for describing a tool environment.
If the value of this parameter is the null string ("") or is not specified, the current status is
used.

_T INT
Internal T number of tool
If this parameter is not specified, or if its value is 0, the tool stored in _STAT is used.
If the value of this parameter is -1, the T number of the active tool is used. It is also
possible to specify the number of the active tool explicitly.

Note
If _STAT is not specified, the current status is used as the tool environment. Since _T = 0
refers to the T number saved in the tool environment, the active tool is used in that
environment, i.e., parameters _T = 0 and _T = -1 have the same meaning in this special
case.

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_D INT
Cutting edge of the tool. If this parameter is not specified, or if its value is 0, the D
number used is based on the source of the T number. If the T number from the tool
environment is used, the D number of the tool environment is also read, otherwise the D
number of the currently active tool is read.

_DL INT
Number of the local compensation. If this parameter is not specified, the DL number
used is based on the source of the T number. If the T number from the tool environment
is used, the D number of the tool environment is also read, otherwise the D number of
the currently active tool is read.
Any rotations and component exchanges initiated by the adapter transformation, toolholder
with orientation capability and kinematic transformation, are part of the tool environment.
They are thus always performed, even if the corresponding length component is not
supposed to be included. If this is undesirable, tool environments must be defined, in which
the corresponding transformations are not active. In many cases (i.e., any time a
transformation or toolholder with orientation capability is not used on a machine), the data
sets stored for the tool environments automatically fulfill these conditions, with the result that
the user does not need to make special provision.

MD20360 $MC_TOOL_PARAMETER_DEF_MASK
The two least significant bits of this machine data specify how the wear (bit 0) and tool length
(bit 1) are to be evaluated if a diameter axis is used for turning and grinding tools.
If the bits are set, the associated entry is weighted with the factor 0.5. This weighting is
reflected in the tool length returned by GETTCOR.
Example:
MD20360 $MC_TOOL_PARAMETER_DEF_MASK = 3 (definition of tool parameters).
MD20100 $MC_DIAMETER_AX_DEF="X" (Geometry axis with face axis funtion)
X is diameter axis (standard turning machine configuration):

N30 $TC_DP1[1.1] = 500

N40 $TC_DP2[1.1] = 2
N50 $TC_DP3[1.1] = 3.0 ; Geometry L1
N60 $TC_DP4[1,1]= 4.0
N70 $TC_DP5[1,1]= 5.0
N80 $TC_DP12[1,1]= 12.0 ; Wear L1
N90 $TC_DP13[1,1]= 13.0
N100 $TC_DP14[1,1]= 14.0
N110 t1 d1 g18
N120 r1 = GETTCOR(_LEN, "GW")
N130 r3 = _LEN[2] ; 17.0 (= 4.0 + 13.0)
N140 r4 = _LEN[3] ; 7.5 (= 0.5 * 3.0 + 0.5 * 12.0)
N150 r5 = _LEN[4] ; 19.0 (= 5.0 + 14.0)
N160 m30

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Kinematic transformation, toolholder with orientation capability

If a toolholder with orientation capability is taken account of during the tool length calculation,
the following vectors are included in that calculation:

Type Vectors
M l1 and l2
T l1, l2 and l3
P Tool length is not influenced by the toolholder with orientation capability.
In generic 5-axis transformation, the following machine data are included in the tool length
calculation for transformer types 24 and 56:

Transforme Machine data

r type
24 MD24550/24650 $MC_TRAFO5_BASE_TOOL_1/2
MD24560/24660 $MC_TRAFO5_JOINT_OFFSET_1/2
MD24558/24658 $MC_TRAFO5_PART_OFFSET_1/2
56 MD24550/24650 $MC_TRAFO5_BASE_TOOL_1/2
MD24560/24660 $MC_TRAFO5_JOINT_OFFSET_1/2
Transformation type 56 corresponds to type M for a toolholder with orientation capability.
With this 5-axis transformation in the software versions used up to now, the vector MD
24560/24660 is equivalent to the sum of the two vectors l1 and l3 for a toolholder with
orientation capability type M.
Only the sum is relevant for the transformation in both cases. The way, in which the two
individual components are composed, is insignificant. When calculating the tool length,
however, it is relevant which component is assigned to the tool and which is assigned to the
tool table.
This explains the introduction of new machine data:
MD24558/24658 $MC_TRAFO5_JOINT_OFFSET_PART_1/2 (vector kinematic offset in
table).
It is equivalent to the vector l3.
The following machine data no longer corresponds to the sum of l1 and l3, but only to vector
l1.
MD24560/24660 $MC_TRAFO5_JOINT_OFFSET_1/2 (vector of kinematic offset of the first
5-axis transf. in the channel).
The new response is identical to the current response, if the following machine data equals
zero:
MD24558/24658 $MC_TRAFO5_JOINT_OFFSET_PART_1/2 (vector kinematic offset in
table).

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GETTCOR examples

GETTCOR(_LEN): Calculates the tool length of the currently active tool in the machine
coordinate system allowing for all components.
GETTCOR(_LEN; "CGW : Calculates the tool length for the active tool, consisting of the adapter
W" ): or tool base dimension, geometry and wear. Further components,
such as toolholder with orientation capability or kinematic
transformation, are not considered. The workpiece coordinate system
is used for the output.
GETTCOR(_LEN, "-K :B" ): Calculates the complete tool length of the active tool without allowing
for the length components of an active kinematic transformation.
Output in the basic coordinate system.
GETTCOR(_LEN, ":M", Calculates the complete tool length in the machine coordinate system
"Testenv1",,3): for the tool stored in the tool environment named "Testenv1". The
calculation is performed for cutting edge number D3, regardless of the
cutting edge number stored.

Compatibility
The GETTCOR function is used in conjunction with the TOOLENV and SETTCOR functions to
replace parts of the functionality, which were previously implemented externally in the
measuring cycles.
Only some of the parameters, which actually determine the effective tool length, were
implemented in the measuring cycles. The above functions can be configured to reproduce
the behavior of the measuring cycles in relation to the tool length calculation.

2.11 Tool lengths L1, L2, L3 assignment: LENTOAX

LENTOAX function
The "LENTOAX" function provides information about the assignment of tool lengths L1, L2
and L3 of the active tool to the abscissa, ordinate and applicate. The assignment of
abscissa, ordinate and applicate to the geometry axes is affected by frames and the active
plane (G17 - G19).
Only the geometry component of a tool ($TC_DP3[x,y] to $TC_DP5[x,y]) is considered, i.e., a
different axis assignment for other components (e.g., wear) has no effect on the result.
The "LENTOAX" function is a predefined subprogram. It must therefore be programmed in a
separate block.

Syntax:
Status = LENTOAX(_AXIND, _MATRIX, _COORD)
The first two parameters must always be programmed; the last parameter can be
omitted.

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Value/parameter:
Status INT
0: Function OK, information in _AXIND sufficient for description (all tool length
components are parallel to the geometry axes).
1: Function is OK, however, the content of _MATRIX must be evaluated for a correct
description (the tool length components are not parallel to the geometry axes).
-1: Invalid string in parameter _COORD.
-2: No tool active.

_AXIND[3] INT array

Indices 0 to 2 are assigned to the abscissa (0), ordinate (1) and applicate (2) (e.g.,
_AXIND[0] contains the number of the tool length components, which are effective in
the direction of the abscissa).
The content has the following meaning:
0: Assignment exists (axis does not exist)
1 to 3: Number of the length effective in the corresponding coordinate axis. The
or sign is negative if the tool length component is pointing in the negative
-1 to -3: coordinate direction.

_MATRIX[3][3] REAL array

Matrix, which represents the vector of the tool lengths (L1=1, L2=1, L3=1) to the vector
of the coordinate axes (abscissa, ordinate, applicate), i.e., the tool length components
are assigned to the columns in the order L1, L2, L3 and the axes are assigned to the
lines in the order abscissa, ordinate, applicate.
All elements are always valid in the matrix, even if the geometry axis belonging to the
coordinate axis is not available, i.e., if the corresponding entry in _AXIND is 0.

_COORD STRING
Specifies the coordinate system used for the assignment.
MCS or M: The tool length is represented in the machine coordinate system.
BCS or B: The tool length is represented in the basic coordinate system.
WCS or W: The tool length is represented in the workpiece coordinate system
(default).
KCS or K: The tool length is represented in the tool coordinate system of the
kinematic transformation.
TCS or T: The tool length is represented in the tool coordinate system.
The notation of the characters in the string (upper or lower case) is arbitrary.

Tool compensation (W1)

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 Detailed Description
2.11 Tool lengths L1, L2, L3 assignment: LENTOAX

Further explanations
If the tool length components are parallel to the geometry axes, the axis indices assigned to
length components L1 to L3 are returned in the _AXIND array.
If a tool length component points in the negative axis direction, the associated axis index
contains a minus sign. In this case, the return value (status) is 0. If an axis does not exist,
the associated return value is 0. The assignment can also be read from the _MATRIX
parameter. Six of the nine matrix elements are then zero, and three elements contain the
value +1 or -1.

Note
In the TCS, all tool length components are always parallel or antiparallel to the axes.
The components can only be antiparallel when mirroring is active and the following setting
data is activated:
SD42900 $SC_MIRROR_TOOL_LENGTH (Sign change tool length when mirroring).

If not all length components are parallel or antiparallel to the geometry axes, the index of the
axis, which contains the largest part of a tool length component, is returned in _AXIND. In
this case (if the function does not return an error for a different reason), the return value is 1.
The mapping of tool length components L1 to L3 onto geometry axes 1 to 3 is then
described completely by the contents of the 3rd parameter _MATRIX.
The _COORD parameter can be used to specify, which coordinate system is to be used for
the geometry axes. If the _COORD parameter is not specified (notation LENTOAX(_AXIND,
_MATRIX)), the WCS is used (default).
Example:
Standard situation: milling tool with G17
L1 applies in Z (applicate), L2 applies in Y (ordinate), L3 applies in X (abscissa).
Function call in the form:
Status = LENTOAX(_AXIND, _MATRIX, "WCS")
The result parameter _AXIND contains the values:
_AXIND[0] = 3
_AXIND[1] = 2
_AXIND[2] = 1
Or, in short: ( 3, 2, 1)
In this case, the associated matrix _MATRIX is:

Tool compensation (W1)

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Detailed Description
2.11 Tool lengths L1, L2, L3 assignment: LENTOAX

A change from G17 to G18 or G19 does not alter the result, because the assignment of the
length components to the geometry axes changes in the same way as the assignment of the
abscissa, ordinate and applicate.
A frame rotation of Z through 60 degrees is now programmed with G17 active, e.g., rot
Z60. The direction of the applicate (Z direction) remains unchanged; the main component of
L2 now lies in the direction of the new X axis; the main component of L1 now lies in the
direction of the negative Y axis. The return axis is thus 1, and _AXIND contains the values
(2, -3, 1).
In this case, the associated matrix _MATRIX is:

Note
For further information to the above mentioned coordinate systems, please refer to:
References:
/PGA/ Programming Guide Advanced; Section: "Tool offsets"

Tool compensation (W1)

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Supplementary conditions 3
3.1 Flat D number structure

Grinding tools
Grinding tools (tool types 400-499) cannot be defined using the simple tool management
structure (flat D numbers).

Block search
T number output to PLC triggers a synchronization process in the NCK: with absolute,
indirect D programming, the PLC returns the D values via VDI. The NCK waits until the
output of a T number is followed by a response from the PLC: "I have written the D number".
With block search without calculation, this process of synchronization must be deactivated
until the first valid T number has been output again. That means that the NCK must not wait
on D programming.

Note
At what point the auxiliary functions can be output to PLC after block search is complete, can
be controlled with the machine data:
$MC_AUXFU_AT_BLOCK_SEARCH_END (auxiliary function output after block search)
Automatic on end or on NC start.

REORG
The (only) writable variable $A_MONIFACT, which is defined here, is stored by main-run
data. Since the write process takes place synchronously to the main run, no special
measures are required for Reorg.

Tool compensation (W1)

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Supplementary conditions
3.2 SD42935 expansions

3.2 SD42935 expansions

SD42935
Which of the wear components are to be transformed and which are not to be transformed in
conjunction with the functions TOWMCS and TOWWCS can be defined via the setting data:
SD42935 $SC_WEAR_TRANSFORM (transformation of wear values)

Tool compensation (W1)

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Examples 4
4.1 Toolholder with orientation capability

4.1.1 Example: Toolholder with orientation capability

Requirement
The following example uses a toolholder, which is described fully by a rotation about the Y
axis. It is therefore sufficient to enter only one value to define the rotary axis (block N20).
Blocks N50 to N70 describe an end mill with radius 5 mm and length 20 mm.
Block N90 defines a rotation of 37 degrees about the Y axis.
Block N120 activates the tool radius compensation and all settings are made to describe the
compensation in the following blocks with a rotation of 37 degrees about the Y axis.

N10 ; Definition of toolholder 1

N20 $TC_CARR8[1] = 1 ; Component of the first rotary axis in
the Y direction
N30
N40 ; Definition of tool-compensation memory
T1/D1
N50 $TC_DP1[1,1] = 120 ; End mill
N60 $TC_DP3[1,1] = 20 ; Length 1
N70 $TC_DP6[1,1] = 5 ; Radius
N80
N90 ROT Y37 ; 37-degree rotation about y axis
N100
N110 X0 Y0 Z0 F10000
N120 G42 CUT2DF TCOFR TCARR = 1 T1 D1 X10
N130 X40
N140 Y40
N150 X0
N160 Y0
N170 M30

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Examples
4.1 Toolholder with orientation capability

4.1.2 Example of toolholder with orientation capability with rotary table

Use of the MOV command

For use of the MOVT command it is assumed that the program is running on a 5axis machine,
on which the tool rotates about the Y axis in case of a rotation of the B axis:

N10 TRAORI()
N20 X0 X0 Z0 B45 F2000 ; Setting the tool orientation
N30 MOVT=-10 ; Infeed movement 10 mm in tool
direction
; (under 45 degrees in the Y-Z plane)
N40 MOVT=AC(20) ; Retraction in tool direction at
distance of
; 20 mm from the zero point

Machine with rotary table

Complete definition for the use of a toolholder with orientation capability with rotary table:

N10 $TC_DP1[1,1]=120
N20 $TC_DP3[1,1]= 13 ; Tool length 13 mm

; Definition of toolholder 1:

N30 $TC_CARR1[1] = 0 ; X component of 1st offset vector

N40 $TC_CARR2[1] = 0 ; Y component of 1st offset vector
N50 $TC_CARR3[1] = 0 ; Z component of 1st offset vector

N60 $TC_CARR4[1] = 0 ; X component of 2nd offset vector

N70 $TC_CARR5[1] = 0 ; Y component of 2nd offset vector
N80 $TC_CARR6[1] = -15 ; Z component of 2nd offset vector

N90 $TC_CARR7[1] = 1 ; X component of 1st axis

N100 $TC_CARR8[1] = 0 ; Y component of 1st axis
N110 $TC_CARR9[1] = 0 ; Z component of 1st axis

N120 $TC_CARR10[1] = 0 ; X component of 2nd axis

N130 $TC_CARR11[1] = 1 ; Y component of 2nd axis
N140 $TC_CARR12[1] = 0 ; Z component of 2nd axis

N150 $TC_CARR13[1] = 30 ; Angle of rotation of 1st axis

N160 $TC_CARR14[1] =-30 ; Angle of rotation of 2nd axis

N170 $TC_CARR15[1] = 0 ; X component of 3rd offset vector

N180 $TC_CARR16[1] = 0 ; Y component of 3rd offset vector
N190 $TC_CARR17[1] = 0 ; Z component of 3rd offset vector

N200 $TC_CARR18[1] = 0 ; X component of 4th offset vector

N210 $TC_CARR19[1] = 0 ; Y component of 4th offset vector

Tool compensation (W1)

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 Examples
4.1 Toolholder with orientation capability

N220 $TC_CARR20[1] = 15 ; Z component of 4th offset vector

N230 $TC_CARR21[1] = A ; Reference for 1st axis

N240 $TC_CARR22[1] = B ; Reference for 2nd axis
N250 $TC_CARR23[1] = "P" ; Toolholder type

N260 X0 Y0 Z0 A0 B45 F2000

N270 TCARR=1 X0 Y10 Z0 T1 TCOABS
N280 PAROT
N290 X0 Y0 Z0
N300 G18 MOVT=AC(20)
N310 G17 X10 Y0 Z0
N320 MOVT=-10
N330 PAROTOF
N340 TCOFR
N350 X10 Y10 Z-13 A0 B0
N360 ROTS X-45 Y45
N370 X20 Y0 Z0 D0
N380 Y20
N390 X0 Y0 Z20
N400 M30

The definition of the toolholder with orientation capability is given in full. The components
which contain the value 0 need not actually be given, as they are preset to zero in any case.
The toolholder is activated in N270.
As $TC_CARR21 and $TC_CARR22 refer to the machine axes A and B and TCOABS is
active, the values in $TC_CARR13 and $TC_CARR14 are ignored, i.e., the axis position A0
B45 is used for the rotation.
The rotation of the 4th offset vector (length 15 mm in Z direction) around the B axis causes
an offsetting of the zero point by X10.607 [= 15 * sin(45)] and Z-4.393 [= -15 * (1. This zero
offset is taken into account by an automatically written basic or system frame so that the
position X10.607 Y10.000 Z8.607 is approached. In the Z direction the tool selection leads to
an additional offset of 13 mm; the Y component is not affected by the table rotation.
N280 defines a rotation in accordance with the rotation of the table of the toolholder with
orientation capability. The new X direction thus points in the direction of the bisecting line in
the 4th quadrant, the new Z axis in the direction of the bisecting line in the 1st quadrant.
The zero point is approached in N290, i.e., the machine position X10.607 Y0 Z-4.393, since
the position of the zero point is not changed by the rotation.
N300 traverses in Y to the position Y33.000, since G18 is active and the Y component is not
affected by the active frame. The X and Z positions remain unchanged.
The position X17.678 Y0 Z1.536 is approached in N310.
N320 changes only the Z position to the value -8.464 as a result of the MOVT command. As
only the table can be rotated, the tool orientation remains unchanged parallel to the machine
Z direction, even if the Z direction of the active frame is rotated by 45 degrees.
N330 deletes the basic or system frame; thus the frame definition from N280 is undone.
In N340, TCOFR specifies that the toolholder with orientation capability is to be aligned
according to the active frame. Since a rotation is no longer active in N330 due to the
PAROTOF command, the initial state is applied. The frame offset becomes zero.

Tool compensation (W1)

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Examples
4.1 Toolholder with orientation capability

N350 thus approaches the position X10 X10 Z0 (= Z-13 + tool length). Note: Through the
simultaneous programming of both rotary axes A and B the actual position of the toolholder
with orientation capability is made to match that used in N340. The position approached by
the three linear axes is dependent on this position, however.
In N360, solid angles are used to define a plane whose intersecting lines in the XZ and in the
YZ plane each form an angle of +45 degrees or -45 degrees with the X or Y axis. The plane
defined in such a way therefore has the following position: the surface normal points towards
the solid diagonals.
N370 traverses to the position X20 Y0 Z0 in the new coordinate system. Since the tool is
deselected with D0 at the same time, there is no longer an additional offset in Z. Since the
new X axis lies in the old XZ plane, this block reaches the machine position X14.142 Y0 Z-
14.142.
N380 only traverses on the Y axis in the rotated coordinate system. This leads to a motion of
all three machine axes. The machine position is X5.977 Y16.330 Z-22.307.
N390 approaches a point on the new Z axis. Relative to the machine axes this is thus on the
solid diagonal. All three axes thus reach the position 11.547.

4.1.3 Basic tool orientation example

Basic orientation in the bisector

A milling tool is defined with length L1=10, whose basic orientation is in the bisector of the
X/Z plane.

N10 $TC_DP1[1,1]=120
N20 $TC_DP3[1,1]=10
N30 $TC_DPV [1,1] = 0
N40 $TC_DPV3[1,1] = 1
N50 $TC_DPV4[1,1] = 0
N60 $TC_DPV5[1,1] = 1
N70 g17 f1000 x0 y0 z0 t1 d1
N80 movt=10
N80 m30

Description of example:
In N10 to N60, a milling tool is defined with length L1=10 (N20). The basic orientation is in
the bisector of the XZ plane N40 to N60.
In N70, the tool is activated and the zero position is approached. As a result of the tool length
the machine positions X0 Y0 Z10 are thus obtained in this block.
In N80 an incremental traversing motion is performed from 10 into tool direction. The
resulting axis positions are thus X7.071 Y0 Z17.071.

Tool compensation (W1)

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 Examples
4.1 Toolholder with orientation capability

4.1.4 Calculation of compensation values on a location-specific and workpiece-specific

basis

Tool with adapter

A tool with adapter and toolholder with orientation capability is defined in the following
program example. In order to simplify the overview, only length L1 is different to zero for the
additive and insert offsets and for the adapter. The offset vectors of the toolholder with
orientation capability are all zero.

N10 $TC_TP2[1] = "MillingTool" ; Name of identifier

N20 $TC_TP7[1]=9 ; Location types
N30 $TC_TP8[1]=2 ; Status: enabled and not blocked

; D corr. D=1

N40 $TC_DP1[1,1]=120 ; Tool type - milling

N50 $TC_DP3[1,1]=; tool length compensation
vector
N60 $TC_DP12[1,1]= ; wear
N70 $TC_SCP13[1,1]=0.1 ; Sum offset DL=1
N80 $TC_ECP13[1,1]=0.01 ; Insert offset DL=1
N90 $TC_ADPTT[1]=5 ; Adapter transformation
N100 $TC_ADPT1[1]=0.001 ; Adapter dimension

; Magazine data
N110 $TC_MAP1[1]=3 ; Magazine type: Revolver
N120 $TC_MAP2[1]="Revolver" ; Magazine identifier
N130 $TC_MAP3[1]=17 ; Status of magazine
N140 $TC_MAP6[1]=1 ; Dimension - line
N150 $TC_MAP7[1]=2 ; Dimension - column -> 2 positions
N160 $TC_MPP1[1,1]=1 ; Location type
N170 $TC_MPP2[1,1]=9 ; Location types
N180 $TC_MPP4[1,1]=2 ; Location state
N190 $TC_MPP7[1,1]=1 ; Bring adapter into position
N200 $TC_MPP6[1,1]=1 ; T number "MillingTool"
N210 $TC_MAP1[9999]=7 ; Magazine type: buffer
N220 $TC_MAP2[9999]="buffer" ; Magazine identifier
N230 $TC_MAP3[9999]=17 ; Status of magazine
N240 $TC_MAP6[9999]=1 ; Dimension - line
N250 $TC_MAP7[9999]=1 ; Dimension - column -> 1 position
N260 $TC_MPP1[9999.1]=2 ; Location type
N270 $TC_MPP2[9999.1]=9 ; Location types
N280 $TC_MPP4[9999.1]=2 ; Location state
N290 $TC_MPP5[9999,1]=1 ; Spindle no. 1
N300 $TC_MDP2[1,1]=0 ; Distance from spindle to mag. 1

; Definition of toolholder 1
N310 $TC_CARR10[1] = 1 ; Component of 2nd rotary axis in X
direction
N320 $TC_CARR14[1] = 45 ; Angle of rotation of 2nd axis

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Examples
4.1 Toolholder with orientation capability

N330 $TC_CARR23[1] = "T" ; Tool mode

N340 Stopre
N350 $SC_WEAR_TRANSFORM = 'B101'
N360 T0 D0 DL=0
N370 ROT X30
N380 G90 G1 G17 F10000 X0 Y0 Z0
N390 T="MillingTool" X0 Y0 Z0 TOWSTD ; X 0.000 Y11.110 Z 0.001
N400 T="MillingTool" X0 Y0 Z0 TOWMCS ; X 0.000 Y10.100 Z 1.011
N410 T="MillingTool" X0 Y0 Z0 TOWWCS ; X 0.000 Y 9.595 Z 0.876
N420 TCARR=1 X0 Y0 Z0 ; X 0.000 Y 6.636 Z 8.017
N430 G18 X0 Y0 Z0 ; X10.100 Y-0.504 Z 0.876
N440 m30

Explanations regarding the example above

Starting at block N390, various methods are used to approach position X0 Y0 Z0. The
machine positions reached are specified in the blocks in comments. After the program a
description is given of how the positions were reached.
N390: Adapter transformation 5 (block N90) transforms length L1 into length L2. Only the
actual adapter dimension is not subject to this transformation. The Y value (L2 with G17)
results from the sum of the tool length (10), tool wear (1), sum offset (0.1), and insert offset
(0.01). The adapter dimension (0.001) is in Z (L1).
N400: In block N350, bits 0 and 2 are enabled in setting data:
SD42935 $SC_WEAR_TRANSFORM (transformations for tool components).
This means that the tool wear and the insert offset are not subject to the adapter
transformation because of TOWMCS in block N400. The sum of these two compensations is
1.01. The Z position is, therefore, increased by this amount and the Y position is reduced by
this amount compared with block N390.
TOWWCS is active in N410. The sum of the tool wear and the insert offset is thus effective in
the active workpiece coordinate system. In block N370, a rotation through 30 degrees is
activated about the X axis. The original compensation value of 1.01 in the Z direction thus
yields a new Z component of 0.875 ( = 1.01 * cos(30)) and a new Y component of -0.505 ( =
1.01 * sin(30)). This yields the dimension specified in the program comment when added to
the sum of the tool length, sum offset and adapter dimension produced in block N390.
In addition, a toolholder with orientation capability is activated in block N420. This executes a
rotation through 45 degrees about the X axis (see N310 - N330). Since all offset vectors of
the toolholder are zero, there is no additional zero offset. The toolholder with orientation
capability acts on the sum of the tool length, sum offset and adapter dimension. The
resulting vector component is X0 Y7.141 Z7.142. The sum of the tool wear and insert offset
evaluated in the WCS is then added as in block N410.
G18 is activated in N430. The components of the sum of the tool length, sum offset and
adapter dimension are interchanged accordingly. The toolholder with orientation capability
continues to act on this new vector (rotation through 45 degrees about X axis). The resulting
vector component is X10.100 Y0.0071 Z0.0071. The vector generated from the tool wear
and insert offset (X0 Y–0.505 Z0.875) is not affected by the plane change. The sum of the
two vectors yields the dimension specified in the comment in N430.

Tool compensation (W1)

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 Examples
4.2 Examples 3-6: SETTCOR function for tool environments

4.2 Examples 3-6: SETTCOR function for tool environments

Example 3:

N10 def real _CORVAL[3]

N20 $TC_DP1[1,1] = 120 ; Milling tool
N30 $TC_DP3[1,1] = 10.0 ; Geometry L1
N40 $TC_DP12[1,1] = 1.0 ; Wear L1
N50 _CORVAL[0] = 0.333
N60 t1 d1 g17 g0
N70 r1 = settcor(_CORVAL, "GW", 0, 2, 2)
N80 t1 d1 x0 y0 z0 ; ==> MCS position X0.000 Y0.000
Z0.333
N90 M30

_CORCOMP is 2, therefore, the compensation effective in the Z direction is entered in the

geometry component (the old value is overwritten) and the wear value is deleted. The
resulting total tool length is thus:
L1 = 0.333 + 0.0 = 0.333.

Example 4:

N10 def real _CORVAL[3]

N20 $TC_DP1[1,1] = 120 ; Milling tool
N30 $TC_DP3[1,1] = 10.0 ; Geometry L1
N40 $TC_DP12[1,1] = 1.0 ; Wear L1
N50 _CORVAL[0] = 0.333
N60 t1 d1 g17 g0
N70 r1 = settcor(_CORVAL, "GW", 0, 3, 2)
N80 t1 d1 x0 y0 z0 ;==> MCS position X0.000 Y0.000
Z11.333
N90 M30

_CORCOMP is 3, therefore, the wear value and compensation value are added to the
geometry component and the wear component is deleted. The resulting total tool length is
thus L1 = 11.333 + 0.0 = 11.333.

Example 5:

N10 def real _CORVAL[3]

N20 $TC_DP1[1,1] = 120 ; Milling tool
N30 $TC_DP3[1,1] = 10.0 ; Geometry L1
N40 $TC_DP12[1,1] = 1.0 ; Wear L1
N50 _CORVAL[0] = 0.333
N60 t1 d1 g17 g0
N70 r1 = settcor(_CORVAL, "GW", 0, 3, 0)
N80 t1 d1 x0 y0 z0 ;==> MCS position X0.333 Y0.000
Z11.000
N90 M30

Tool compensation (W1)

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Examples
4.2 Examples 3-6: SETTCOR function for tool environments

_CORCOMP is 3, as in the previous example, but the compensation is now effective on the
geometry axis with index 0 (X axis). The tool components L3 are assigned to this geometry
axis due to G17 with a milling tool. Calling SETTCOR thus does not affect tool parameters
$TC_DP3 and $TC_DP12. Instead, the compensation value is entered in $TC_DP5.

Example 6:

N10 def real _CORVAL[3]

N20 $TC_DP1[1,1] = 500 ; Turning tool
N30 $TC_DP3[1,1] = 10.0 ; Geometry L1
N40 $TC_DP4[1,1] = 15.0 ; Geometry L2
N50 $TC_DP12[1,1] = 10.0 ; Wear L1
N60 $TC_DP13[1,1] =0.0 ; Wear L2
N70 _CORVAL[0] = 5.0
N80 rot y 30
N90 t1 d1 g18 g0
N100 r1 = settcor(_CORVAL, "GW", 0, 3, 1)
N110 t1 d1 x0 y0 z0 ; ==> MCS position X24.330
Y0.000 Z17.500
N120 M30

The tool is a turning tool. A frame rotation is activated in N80, causing the basic coordinate
system (BCS) to be rotated in relation to the workpiece coordinate system (WCS). In the
WCS, the compensation value (N70) acts on the geometry axis with index 1, i.e., on the X
axis because G18 is active. Since "_CORRMODE = 3", the tool wear in the direction of the X
axis of the WCS must become zero once N100 has been executed. The contents of the
relevant tool parameters at the end of the program are thus:

$TC_DP3[1,1] : 21.830 ; Geometry L1

$TC_DP4[1,1] : 21.830 ; Geometry L2
$TC_DP12[1,1] : 2.500 ; Wear L1
$TC_DP13[1,1] : -4.330 ; Wear L2

The total wear including _CORVAL is mapped onto the X' direction in the WCS. This
produces point P2. The coordinates of this point (measured in X/Y coordinates) are entered
in the geometry component of the tool. The difference vector P2 - P1 remains in the wear.
The wear thus no longer has a component in the direction of _CORVAL.

Tool compensation (W1)

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 Examples
4.2 Examples 3-6: SETTCOR function for tool environments

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Figure 4-1 Tool length compensation, example 6

If the sample program is continued after N110 with the following instructions:

N120 _CORVAL[0] = 0.0

N130 r1 = settcor(_CORVAL, "GW", 0, 3, 0)
N140 t1 d1 x0 y0 z0 ; ==> MCS position X24.330 Y0.000
Z17.500

The remaining wear is included completely in the geometry because the compensation is
now effective in the Z' axis (parameter _GEOAX is 0). Since the new compensation value is
0, the total tool length and thus the position approached in N140 may not change. If
_CORVAL were not equal to 0 in N120, a new total tool length and thus a new position in
N140 would result, however, the wear component of the tool length would always be zero,
i.e., the total tool length is subsequently always contained in the geometry component of the
tool.
The same result as that achieved by calling the SETTCOR function with the _CORCOMP = 0
parameter twice can also be reached by calling _CORRCOMP = 1 (vectorial compensation)
just once:
N10 def real _CORVAL[3]
N20 $TC_DP1[1,1] = 500 ; Turning tool
N30 $TC_DP3[1,1] = 10.0 ; Geometry L1
N40 $TC_DP4[1,1] = 15.0 ; Geometry L2
N50 $TC_DP12[1,1] = 10.0 ; Wear L1
N60 $TC_DP13[1,1] =0.0 ; Wear L2
N70 _CORVAL[0] = 0.0
N71 _CORVAL[1] = 5.0

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Examples
4.2 Examples 3-6: SETTCOR function for tool environments

N72 _CORVAL[2] = 0.0

N80 rot y 30
N90 t1 d1 g18 g0
N100 r1 = settcor(_CORVAL, "GW", 1, 3, 1)
N110 t1 d1 x0 y0 z0 ; ==> MCS position X24.330 Y0.000
Z17.500
N120 M30

In this case, all wear components of the tool are set to zero immediately after the first call of
SETTCOR in N100.

Example 7:

N10 def real _CORVAL[3]

N20 $TC_DP1[1,1] = 500 ; Turning tool
N30 $TC_DP3[1,1] = 10.0 ; Geometry L1
N40 $TC_DP4[1,1] = 15.0 ; Geometry L2
N50 $TC_DP12[1,1] = 10.0 ; Wear L1
N60 $TC_DP13[1,1] =0.0 ; Wear L2
N70 _CORVAL[0] = 5.0
N80 rot y 30
N90 t1 d1 g18 g0
N100 r1 = settcor(_CORVAL, "GW", 3, 3)
N110 t1 d1 x0 y0 z0 ; ==> MCS position X25.000 Y0.000
Z15.000

As opposed to example 6, parameter _CORCOMP = 3, and so the _GEOAX parameter can

be omitted. The value contained in _CORVAL[0] now acts immediately on the tool length
component L1, the rotation in N80 has no effect on the result, the wear components in
$TC_DP12 are included in the geometry component together with _CORVAL[0], with the
result that the total tool length is stored in the geometry component of the tool, due to
$TC_DP13, after the first SETTCOR call in N100.

Example 8:

N10 def real _CORVAL[3]

N20 $TC_DP1[1,1] = 500 ; Turning tool
N30 $TC_DP3[1,1] = 10.0 ; Geometry L1
N40 $TC_DP4[1,1] = 15.0 ; Geometry L2
N50 $TC_DP5[1,1] = 20.0 ; Geometry L3
N60 $TC_DP12[1,1]= 10.0 ; Wear L1
N70 $TC_DP13[1,1] =0.0 ; Wear L2
N80 $TC_DP14[1.1] =0.0 ; Wear L3
N90 $SC_WEAR_SIGN = TRUE
N100 _CORVAL[0] = 10.0
N110 _CORVAL[1] = 15.0
N120 _CORVAL[2] = 5.0
N130 rot y 30
N140 t1 d1 g18 g0
N150 r1 = settcor(_CORVAL, "W", 1, 1)
N160 t1 d1 x0 y0 z0 ; ==> MCS position X7.990 Y25.000
Z31.160

Tool compensation (W1)

4-10 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Examples
4.2 Examples 3-6: SETTCOR function for tool environments

In N90 the setting data is enabled:

SD42930 $SC_WEAR_SIGN (sign of wear).
i.e. the wear must be valued with a negative sign.
The compensation is vectorial (_CORCOMP = 1), and the compensation vector must be
added to the wear (_CORMODE = 1). The geometric conditions in the Z/X plane are shown
in the figure below:

;
;
 5HVXOWLQJZHDUFRPSRQHQW

*HRPHWU\
/ / 
3

3
 B&259$/< ;  = 

 3   =
:HDU/ / 
QHJDWLYHHYDOXDWLRQ 2ULJLQDOWRROOHQJWK

Figure 4-2 Tool length compensation, example 8

The geometry component of the tool remains unchanged due to _CORMODE = 1. The
compensation vector defined in the WCS (rotation about y axis) must be included in the wear
component such that the total tool length in the figure refers to point P2. Therefore, the
resulting wear component of the tool is given in relation to the distance between points P1
and P2.
However, since the wear is evaluated negatively, due to setting data SD42930, the
compensation determined in this way has to be entered in the compensation memory with a
negative sign. The contents of the relevant tool parameters at the end of the program are
thus:

$TC_DP3[1,1] : 10.000 ; Geometry L1 (unchanged)

$TC_DP4[1,1] : 15.000 ; Geometry L2 (unchanged)
$TC_DP5[1,1] : 10.000 ; Geometry L3 (unchanged)

$TC_DP12[1,1] : 2.010 ; Wear L1

;(= 10 -15*cos(30) + 10*sin(30))
$TC_DP13[1,1] : -16.160 ; Wear L2
;(= -15*sin(30) - 10*cos(30))
$TC_DP14[1,1] : -5.000 ; Wear L3

The effect of setting data SD42930 on the L3 component in the Y direction can be
recognized without the additional complication caused by the frame rotation.

Tool compensation (W1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 4-11
Examples
4.2 Examples 3-6: SETTCOR function for tool environments

Example 9:
2 (tool length must be valued in the diameter axis with the factor 0.5) is the value of machine
data:
MD20360 $MC_TOOL_PARAMETER_DEF_MASK (definition of tool parameters).
X is diameter axis:

N10 def real _LEN[11]

N20 def real _CORVAL[3]
N30 $TC_DP1[1,1]= 500
N40 $TC_DP2[1,1]= 2
N50 $TC_DP3[1,1]= 3.
N60 $TC_DP4[1,1]= 4.
N70 $TC_DP5[1,1]= 5.
N80 _CORVAL[0] = 1.
N90 _CORVAL[1] = 1.
N100 _CORVAL[2] = 1.
N110 t1 d1 g18 g0 x0 y0 z0 ; ==> MCS position X1.5 Y5 Z4
N120 r1 = settcor(_CORVAL, "g", 1, 1)
N130 t1 d1 x0 y0 z0 ; ==> MCS position X2.5 Y6 Z5
N140 r3 = $TC_DP3[1,1] ; = 5. = (3.000 + 2. * 1.000)
N150 r4 = $TC_DP4[1,1] ; = 5. = (4.000 + 1.000)
N160 r5 = $TC_DP5[1.1] ; = 6. = (5.000 + 1.000)
N170 m30

The compensation of the tool length is to be 1 mm in each axis (N80 to N100).

1 mm is thus added to the original length in lengths L2 and L3.
Twice the offset value (2 mm) is added to the original tool length in L1, in order to change the
total length by 1 mm as required. If the positions approached in blocks N110 and N130 are
compared, it can be seen that each axis position has changed by 1 mm.

Tool compensation (W1)

4-12 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Data lists 5
5.1 Machine data

5.1.1 NC-specific machine data

Number Identifier: $MN_ Description

18082 MM_NUM_TOOL Number of tools that the NCK can manage (SRAM)
18088 MM_NUM_TOOL_CARRIER Number of toolholders
18094 MM_NUM_CC_TDA_PARAM Number of TOA data
18096 MM_NUM_CC_TOA_PARAM Number of TOA data, which can be set up per tool
and evaluated by the CC
18100 MM_NUM_CUTTING_EDGES_IN_TOA Tool compensations per TOA module
18102 MM_TYPE_OF_CUTTING_EDGE Activate flat D number management
18105 MM_MAX_CUTTING_EDGE_NO Address extension interpreted as spindle number
18106 MM_MAX_CUTTING_EDGE_PERTOOL Maximum number of cutting edges per tool
18108 MM_NUM_SUMCORR Number of all sum offsets in NCK
18110 MM_MAX_SUMCORR_PER_CUTTEDGE Maximum number of sum offsets per cutting edge
18112 MM_KIND_OF_SUMCORR Properties of sum offsets in the NCK
18114 MM_ENABLE_TOOL_ORIENT Assign orientation to cutting edges
18116 MM_NUM_TOOL_ENV Tool environments in TO area

5.1.2 Channelspecific machine data

Number Identifier: $MC_ Description

20096 T_M_ADDRESS_EXT_IS_SPINO Spindle number as address extension
20110 RESET_MODE_MASK Definition of control basic setting after powerup and
RESET parts program end
20120 TOOL_RESET_VALUE Definition of tool, for which tool length compensation
is selected during powerup or on reset or parts
program end as a function of machine data:
MD20110 RESET_MODE-MASK.

Tool compensation (W1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 5-1
Data lists
5.1 Machine data

Number Identifier: $MC_ Description

20121 TOOL_PRESEL_RESET_VALUE Definition of the preselected tool, for which the tool
length compensation is selected during powerup and
on reset or parts program end as a function of
MD20110.
20126 TOOL_CARRIER_RESET_VALUE Active toolholder on RESET
20130 CUTTING_EDGE_RESET_VALUE Definition of tool cutting edge, for which tool length
compensation is selected during powerup or on reset
or parts program end as a function of machine data:
MD20110 RESET_MODE-MASK.

20132 SUMCORR_RESET_VALUE Number for selecting sum offset

20140 TRAFO_RESET_VALUE Definition of transformation set, which is selected
during powerup or on reset or parts program end as a
function of machine data:
MD20110 RESET_MODE-MASK.

20180 TOCARR_ROT_ANGLE_INCR[i] Value of the minimum incremental step with toolholder

with orientation capability
20182 TOCARR_ROT_ANGLE_OFFSET[i] Offset of the rotary axis with toolholder with
orientation capability
20184 TOCARR_BASE_FRAME_NUMBER Base frame of the table offset for toolholder with
orientation capability with rotary table
20188 TOCARR_FINE_LIM_LIN Limit linear fine offset TCARR
20190 TOCARR_FINE_LIM_ROT Limit rotary fine offset TCARR
20202 WAB_MAXNUM_DUMMY_BLOCKS Maximum number of blocks with no traversing
motions with SAR
20204 WAB_CLEARANCE_TOLERANCE
20210 CUTCOM_CORNER_LIMIT Max. angle for intersection calculation with tool radius
compensation
20220 CUTCOM_MAX_DISC Maximum value for tool radius compensation
20230 CUTCOM_CURVE_INSERT_LIMIT Minimum value for intersection calculation with tool
radius compensation
20240 CUTCOM_MAXNUM_CHECK_BLOCKS Blocks for predictive contour calculation with tool
radius compensation
20250 CUTCOM_MAXNUM_DUMMY_BLOCKS Max. no. of dummy blocks with no traversing
movements
20252 CUTCOM_MAXNUM_SUPPR_BLOCKS Maximum number of blocks with compensation
suppression
20256 CUTCOM_INTERS_POLY_ENABLE Intersection process possible for polynomials
20270 CUTTING_EDGE_DEFAULT Selected cutting edge after tool change
20272 SUMCORR_DEFAULT Number for activating a new cutting edge
compensation
20360 TOOL_PARAMETER_DEF_MASK Defines the effect of tool parameters
20390 TOOL_TEMP_COMP_ON Activation of temperature compensation for tool length
20392 TOOL_TEMP_COMP_LIMIT Maximum temperature compensation for tool length
20610 ADD_MOVE_ACCEL_RESERVE Acceleration reserve for overlaid movements

Tool compensation (W1)

5-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Data lists
5.2 Setting data

Number Identifier: $MC_ Description

21080 CUTCOM_PARALLEL_ORI_LIMIT Limit angle between path tangent and tool orientation
with
3D tool radius compensation
22530 TOCARR_CHANGE_M_CODE M code for change of toolholder
22550 TOOL_CHANGE_MODE New tool compensations with M function
22560 TOOL_CHANGE_M_CODE M function for tool change
22562 TOOL_CHANGE_ERROR_MODE Error response on programmed tool change
24558 TRAFO5_JOINT_OFFSET_PART_1 Vector of kinematic offset in table, transformation 1
24658 TRAFO5_JOINT_OFFSET_PART_2 Vector of kinematic offset in table, transformation 2
28085 MM_LINK_TOA_UNIT Assignment of TO unit to a channel

5.1.3 Axis/spindlespecific machine data

Number Identifier: $MA_ Description

32750 TEMP_COMP_TYPE Temperature compensation type

5.2 Setting data

5.2.1 Channelspecific setting data

Number Identifier: $SC_ Description

42442 TOOL_OFFSET_INCR_PROG Retraction of tool compensations on incremental
programming
42470 CRIT_SPLINE_ANGLE Corner limit angle for the compressor with COMPCAD
(changed in SW 7.1 and higher)
42480 STOP_CUTCOM_STOPRE Alarm response for tool radius compensation and
preprocessing stop
42494 CUTCOM_ACT_DEACT_CTRL Approach/retraction behavior for tool radius
compensation in blocks without travel information
42496 CUTCOM_CLSDT_CONT Maintain stability of approach/retraction behavior for
tool radius compensation in blocks
42900 MIRROR_TOOL_LENGTH Mirror tool length compensation
42910 MIRROR_TOOL_WEAR Mirror wear values of tool length compensation
42920 WEAR_SIGN_CUTPOS Mirror wear values of machining plane
42930 WEAR_SIGN Invert sign of all wear values

Tool compensation (W1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 5-3
Data lists
5.3 Signals

Number Identifier: $SC_ Description

42935 WEAR_TRANSFORM Transformation of wear values
42940 TOOL_LENGTH_CONST Retain the assignment of tool length components
when changing the machining plane
(G17 to G19)
42950 TOOL_LENGTH_TYPE Assignment of the tool length components
independent of tool type
42960 TOOL_TEMP_COMP Temperature compensation value in relation to tool
42974 TCARR_FINE_CORRECTION Fine offset TCARR on/off

5.3 Signals

5.3.1 Signals from channel

DB number Byte.Bit Name

21, ... 61.0 T function 1 change
21, ... 62.0 D function 1 change
21, ... 116-119 T function 1
21, ... 128-129 D function 1
21, ... 214 Active G function of group 7
21, ... 223 Active G function of group 16
21, ... 224 Active G function of group 17
21, ... 225 Active G function of group 18
21, ... 230 Active G function of group 23

Tool compensation (W1)

5-4 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
Index

$ F
$A_DNO[n], 2-17 Flat D number structure, 2-16
$A_MONIFACT, 3-1 D number programming, 2-18
$P_TOOLENV, 2-133 Read D number from the PLC, 2-17
$P_TOOLENVN, 2-132 Frame change, 2-78
$TC_DPCE[t,d], 2-8 Frame rotation, 2-90

A G
Alarm for preprocessing stop, 2-71 G40, 2-40
Assignment tool/toolholder, 2-76 G41, 2-40
G42, 2-40
G450/G451, 2-58
B G451, 2-60
G460, 2-73
Basic orientation of tools, 2-105
G461, 1-2, 2-73
Basic tool orientation, 2-104, 4-4
G462, 1-2, 2-74
G91 extension, 2-101
Zero point offset, 2-102
C GETTCOR, 2-134
Collision detection, 2-64 GETTENV, 2-133
Compatibility
GETTCOR, 2-139
Compensation number, 2-7 I
Constant curvature, 2-42
Incrementally programmed compensation values,
Constant tangent, 2-42
2-101
Cutting edge number, 2-7

D K
Keep tool radius compensation constant, 2-68
D functions, 2-2
Kinematic interaction and machine design, 2-82
D number structure
Kinematic type, 2-79
- flat (without tool management), 2-16
KONT, 2-41
D numbers
KONTC, 2-41
Allocation of free ..., 2-7
KONTT, 2-41
DELTOOLENV, 2-132
Description of a rotation, 2-87
Direction vector, 2-105
DISC, 2-59
L
Length of cutting edge
relevant, 2-37
LENTOAX, 2-139

Tool compensation (W1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 Index-1
Index

Limited toolholder orientation, 2-78 MD24558, 2-138, 2-139

MD24560, 2-138, 2-139
MD24650, 2-138
M MD24658, 2-138, 2-139
MD24660, 2-138, 2-139
Machine kinematics, 2-79
MD28082, 2-92
Machine with rotary tool, 2-83
MD28085, 2-3, 2-94, 2-98
Machine with rotary workpiece, 2-84
MD32750, 2-114
Machines with extended kinematics, 2-85
Machining in direction of tool orientation, 2-102
MD11346, 2-15
MD11410, 2-65
N
MD18080, 2-119 NORM, 2-41
MD18088, 2-80, 2-94, 2-98
MD18100, 2-3, 2-16
MD18102, 2-9, 2-16, 2-18 P
MD18104, 2-130
parameter sets, 2-79
MD18105, 2-7
Polynomial
MD18106, 2-7
Intersection procedure, 2-71
MD18108, 2-122
Position programming, 2-90
MD18112, 2-123, 2-130
Programming, 2-98
MD18114, 2-104
MD18116, 2-131, 2-132, 2-134, 2-135
MD20090, 2-22
MD20096, 2-5, 2-6
R
MD20110, 2-2, 2-21, 2-22, 2-99, 2-102, 2-128 Representation of the kinematic chain, 2-82
MD20112, 2-21, 2-99 Rotary axis parameters, 2-79
MD20120, 2-21, 2-99 Rotation component in tool direction, 2-90
MD20121, 2-1, 2-21
MD20126, 2-99
MD20130, 2-21 S
MD20180, 2-91
SD42442, 2-102
MD20184, 2-93
SD42480, 2-71
MD20188, 2-86
SD42496, 2-67
MD20190, 2-86
SD42900, 1-2, 2-108, 2-130, 2-141
MD20202, 2-55
SD42910, 2-106, 2-108, 2-109, 2-130
MD20204, 2-49
SD42920, 2-108, 2-109, 2-130
MD20210, 2-61
SD42930, 2-108, 2-110, 2-130, 4-11
MD20220, 2-59
SD42935, 2-108, 2-130, 3-2, 4-6
MD20230, 2-61
SD42940, 2-106, 2-108, 2-111, 2-130
MD20240, 2-63, 2-64
SD42950, 2-105, 2-106, 2-108, 2-130
MD20250, 2-40
SD42960, 1-2, 2-108, 2-115, 2-116
MD20252, 2-70
SD42974, 2-86, 2-87
MD20256, 2-71
Selection of the cutting edge when changing tool, 2-2
MD20270, 2-3, 2-13, 2-18, 2-19, 2-21, 2-128
Slotting saw, 2-27
MD20272, 2-122, 2-128
Smooth approach and retraction
MD20360, 2-15, 2-130, 2-137, 4-12
Approach movement, 2-46
MD20390, 2-114
Meaning, 2-45
MD20392, 2-115
Retraction movement, 2-46
MD22530, 2-100
Storing angles in the toolholder data, 2-79
MD22550, 2-1, 2-12, 2-13, 2-18, 2-19, 2-20, 2-21, 2-22
System parameters for toolholders with orientation
MD22560, 2-1, 2-20, 2-21, 2-22
capability, 2-80
MD22562, 2-14, 2-15
System variables for the user and for fine offsets, 2-81
MD24550, 2-138

Tool compensation (W1)

Index-2 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Index

T 2D:collision detection, 2-64

2D:compensation at inside corners, 2-62
T function, 2-1
2D:compensation at outside corners, 2-58
Taking the compensation values into account location-
2D:deselection, 2-58
specifically and workpiecespecifically, 4-5
2D:intersection G451, 2-60
TCARR, 2-91
2D:selection, 2-40
TCOABS, 2-91
2D:smooth approach and retraction, 2-45
TCOFR, 2-91
2D:transition circle, 2-59
TOA, 2-3
2D:variable compensation value, 2-66, 2-89
Tool, 2-1
Modified alarm response, 2-71
Change, 2-1
Tool radius compensation (TRC), 2-39
Change tool with M06, 2-1
Tool type
Cutting edge, 2-24
Slotting saw, 2-27
DISC, 2-59
TOOL_PARAMETER_DEF_MASK, 2-137
Length compensation, 2-30
TOOLENV, 2-129
Length of cutting edge, 2-28
Toolholder
Radius compensation, 2-31
With orientation capability, 2-75
Select, 2-1
Toolholder selection, 2-76
T function, 2-2
Toolholder with orientation capability, 1-2, 2-75, 4-1
Tool base dimension/adapter dimension, 2-34
Toolholder, with orientation capability
Tool cutting edge, 2-2
Control system response on Reset, program start,
Tool radius compensation 2D (TRC), 2-39
REPOS, 2-99
Tool type, 2-25
Programming, 2-90, 2-94, 2-98, 4-2, 4-5
Undercut angle, 2-36
Restrictions, 2-89, 2-99
Wear, 2-33
Supplementary conditions, 2-94
Tool change
Toolholders with orientation capability with rotary
Compensation memory, 2-3
table, 4-2
D function, 2-2
Tools with a relevant tool point direction, 2-37
Tool compensation
Calculation, 2-4
Tool compensation types, 2-78
Tool environments, 2-129
Z
Tool length compensation, 2-30 Zero vectors, 2-82
Tool radius compensation
2D:approach and retraction behavior, 2-41

Tool compensation (W1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 Index-3
Index

Tool compensation (W1)

Index-4 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Brief description 1

Detailed Description 2

SINUMERIK
840D sl/840Di sl/840D/840Di/810D

NC/PLC interface signals (Z1)

Function Manual

Valid for

Control
SINUMERIK 840D sl/840DE sl
SINUMERIK 840Di sl/840DiE sl S
INUMERIK 840D powerline/840DE powerline
SINUMERIK 840Di powerline/840DiE powerline
SINUMERIK 810D powerline/810DE powerline

Software Version
NCU System Software for 840D sl/840DE sl 1.3
NCU system software for 840D sl/DiE sl 1.0
NCU system software for 840D/840DE 7.4
NCU system software for 840Di/840DiE 3.3
NCU system software for 810D/810DE 7.4

03/2006 Edition
6FC5397-0BP10-1BA0
Safety Guidelines
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent
damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are
graded according to the degree of danger.

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

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

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

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

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

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

Prescribed Usage
Note the following:

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

Trademarks
All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this
publication may be trademarks whose use by third parties for their own purposes could violate the rights of the
owner.

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

Siemens AG Order No.: 6FC5397-0BP10-1BA0 Copyright © Siemens AG 2006.

Automation and Drives Edition 05/2006 Technical data subject to change
Postfach 48 48
90437 NÜRNBERG
GERMANY
Table of contents
1 Brief description ...................................................................................................................................... 1-1
2 Detailed Description................................................................................................................................ 2-1
2.1 Various interface signals and functions (A2) ............................................................................. 2-1
2.1.1 Signals from PLC to NC (DB10) ................................................................................................ 2-1
2.1.2 Selection/Status signals from HMI to PLC (DB10) .................................................................... 2-2
2.1.3 Signals from the NC to the PLC (DB10) .................................................................................... 2-3
2.1.4 Signals to Operator Panel (DB19) ............................................................................................. 2-6
2.1.5 Signals from operator control panel (DB19) ............................................................................ 2-14
2.1.6 Signals to channel (DB21, ...) .................................................................................................. 2-20
2.1.7 Signals from channel (DB21, ...) .............................................................................................. 2-21
2.1.8 Signals to axis/spindle (DB31, ...) ............................................................................................ 2-22
2.1.9 Signals from axis/spindle (DB31, ...)........................................................................................ 2-35
2.2 Axis monitoring, protection zones (A3) .................................................................................... 2-55
2.2.1 Signals to channel (DB21, ...) .................................................................................................. 2-55
2.2.2 Signals from channel (DB21, ...) .............................................................................................. 2-56
2.2.3 Signals to axis/spindle (DB31, ...) ............................................................................................ 2-57
2.2.4 Signals from axis/spindle (DB31, ...)........................................................................................ 2-59
2.3 Continuouspath mode, exact stop and LookAhead (B1) ......................................................... 2-60
2.3.1 Signals from channel (DB21, ...) .............................................................................................. 2-60
2.3.2 Signals from axis/spindle (DB31, ...)........................................................................................ 2-60
2.4 Acceleration (B2) ..................................................................................................................... 2-61
2.5 Diagnostic tools (D1)................................................................................................................ 2-61
2.6 Travel to fixed stop (F1) ........................................................................................................... 2-61
2.6.1 Signals to axis/spindle (DB31, ...) ............................................................................................ 2-61
2.6.2 Signals from axis/spindle (DB31, ...)........................................................................................ 2-63
2.7 Velocities, Setpoint/Actual Value Systems, Closed-Loop Control (G2)................................... 2-63
2.8 Help function output to PLC (H2) ............................................................................................. 2-64
2.8.1 Signals to channel (DB21, ...) .................................................................................................. 2-64
2.8.2 Signals from channel (DB21, ...) .............................................................................................. 2-64
2.8.3 Signals from axis/spindle (DB31, ...)........................................................................................ 2-68
2.9 Mode group, channel, program operation, reset response (K1).............................................. 2-69
2.9.1 Signals to NC ........................................................................................................................... 2-69
2.9.2 Signals to mode group (DB11)................................................................................................. 2-69
2.9.3 Signals from the mode group (DB11) ...................................................................................... 2-74
2.9.4 Signals to channel (DB21, ...) .................................................................................................. 2-78
2.9.5 Signals from channel (DB21, ...) .............................................................................................. 2-83
2.9.6 Signals to axis/spindle (DB31, ...) ............................................................................................ 2-95
2.9.7 Signals from axis/spindle (DB31, ...)........................................................................................ 2-96
2.10 Axis types, coordinate systems, frames (K2)........................................................................... 2-97
2.10.1 Signals to axis/spindle (DB31, ...) ............................................................................................ 2-97
2.11 EMERGENCY STOP (N2) ....................................................................................................... 2-98

NC/PLC interface signals (Z1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 iii
Table of contents

2.11.1 Signals to NC (DB10)............................................................................................................... 2-98

2.11.2 Signals from NC (DB10)........................................................................................................... 2-99
2.12 Transverse axes (P1)............................................................................................................... 2-99
2.13 PLC basic program (P3)......................................................................................................... 2-100
2.14 Reference point approach (R1).............................................................................................. 2-100
2.14.1 Signals to channel (DB21, ...) ................................................................................................ 2-100
2.14.2 Signals from channel (DB21, ...) ............................................................................................ 2-101
2.14.3 Signals to axis/spindle (DB31, ...) .......................................................................................... 2-102
2.14.4 Signals from axis/spindle (DB31, ...)...................................................................................... 2-103
2.15 Spindles (S1).......................................................................................................................... 2-104
2.15.1 Signals to axis/spindle (DB31, ...) .......................................................................................... 2-104
2.15.2 Signals from axis/spindle (DB31, ...)...................................................................................... 2-111
2.16 Feeds (V1).............................................................................................................................. 2-117
2.16.1 Signals to channel (DB21, ...) ................................................................................................ 2-117
2.16.2 Signals to axis/spindle (DB31, ...) .......................................................................................... 2-125
2.16.3 Signals from axis/spindle (DB31, ...)...................................................................................... 2-131
2.17 Tool Offset (W1)..................................................................................................................... 2-131
Index................................................................................................................................................ Index-1

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Brief description 1
The section entitled "NC/PLC interface signals" includes a detailed description of NC/PLC
interface signals relevant to function:
• PLC messages (DB2)
• NC (DB10)
• Mode group (DB11)
• OP (DB19)
• NCK channel (DB21-DB30)
• Axis/spindle (DB31-DB61)
• Loading/unloading a magazine (DB71)
• Spindle as change point (DB72)
• Tool turret (DB73)

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Detailed Description 2
2.1 Various interface signals and functions (A2)

2.1.1 Signals from PLC to NC (DB10)

DB10
DBX56.4 - DBX56.7 Key-operated switch positions 0 to 3
Edge evaluation: no Signal(s) updated: cyclic
Significance of signal Access to certain data types can be disabled depending on the key-operated switch position.
Input, changing, deleting data as well as certain operations on the operator panel can be disabled
for certain user groups in this way.
Key-operated switch position 0 offers the fewest access rights and position 3 the most access
rights.
The signals "key-operated switch positions 1 to 3" can either be entered directly from the key-
operated switch on the machine control panel or from the PLC user program.
Only one interface signal may be set in each case. If several positions are set simultaneously
(interface signals), then they are no longer valid and key-operated switch position 3 is automatically
set by the control.
The allocation between the lockable data areas and the key operated switch positions is made by
HMI machine data for protection stages.
The following signal combinations apply:

The following signal combinations apply:

DB10, DBB56
Key-operated switch position Bit 7 Bit 6 Bit 5 Bit 4
0 0 0 0 1
1 0 0 1 0
2 0 1 0 0
3 1 0 0 0

Application Depending on the rights assigned to the operator, programmer or installation engineer, certain
example(s) functions will be disabled by the key-operated switch. Unintentional changes to data (e.g. zero
offsets) or activation of program conditions (e.g. selecting dry run feed rate) by the operator can
therefore be prevented.
Corresponding to .... Disabling using a password

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2.1 Various interface signals and functions (A2)

2.1.2 Selection/Status signals from HMI to PLC (DB10)

DB10
DBX103.0 HMI-Alarm is active
Edge evaluation: no Signal(s) updated: Cyclic
Signal status 1 or At least 1 HMI-Alarm (Alarm-No. 100 000 to 105 999) is active.
edge change 0 → 1
Signal status 0 or No HMI-Alarm is active.
edge change 1 → 0

DB10
DBX103.5 AT box ready
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The AT box for expansion modules is ready.
edge change 0 → 1
Signal state 0 or The AT box is not ready. An expansion module conforming to the AT specification has either no
edge change 1 → 0 functionality or restricted functionality.
References /BH/ Operator Components, Manual, Chapter: "PCU 50 components, spare parts"

DB10
DBX103.6 PCU Temperature limit
Edge evaluation: no Signal(s) updated: cyclic
Signal status 1 or The environment conditions of the limit value are in the permitted tolerance range of 5 to 55 degree
edge change 0 → 1 C.
Signal status 0 or The temperature limit was either fallen below or exceeded.
edge change 1 → 0 The temperature monitor has responded and the PCU is disabled.

DB10
DBX103.7 PCU Battery alarm
Edge evaluation: no Signal(s) updated: cyclic
Signal status 1 or The battery monitor has responded. Power failure can cause the loss of recently changed data and
edge change 0 → 1 a correct device configuration. A corresponding HMI alarm is reported. The PCU buffer battery is to
be tested. An insufficient battery voltage also affects the current time on the operator interface.
Signal status 0 or No PCU battery alarm is active.
edge change 1 → 0
Signal irrelevant for SINUMERIK 840/840Di/810D with PCU 50, PCU 20 or PCU 70
...
References /BH/ Operator Components, Manual, Chapter: "PCU 50 component, replace battery"

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2.1 Various interface signals and functions (A2)

2.1.3 Signals from the NC to the PLC (DB10)

DB10
DBX104.7 NCK-CPU-Ready
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The NCK CPU is ready and registers itself cyclically with the PLC.
edge change 0 → 1 After a correct initial start and the first complete OB1 cycle (initial setting cycle) the PLC and NCK
continuously exchange sign of life signals.
The PLC basic program sets the interface signal "NCK CPU Ready" to 1.
Signal state 0 or The NCK CPU is not ready.
edge change 1 → 0 If a sign of life is not received from the NCK, the PLC/NCK interface is neutralized by the PLC basic
program and the interface signal "NCK CPU Ready" is set to 0.
The following measures are initiated by the PLC basic program:
• Status signals from the NCK to the PLC (user interface) are deleted (cleared)
• Change signals for the help functions are deleted
• Cyclic processing of the user interface PLC to NCK is terminated.
Application Individual PLC outputs can, for example, be set to a defined state from the PLC user program.
example(s)
References /DA/ Diagnostic Guide
/FB1/ Functions Manual Basic Functions; PLC Basic Program (P3)

DB10
DBX108.1 HMI-CPU2-Ready (to BTSS or to MPI)
Edge evaluation: no Signal(s) updated: cyclic
Signal status 1 or The CPU is ready and registers itself cyclically with the NCK.
edge change 0 → 1
Signal status 0 or The CPU is not ready.
edge change 1 → 0

DB10 HMI-CPU1-Ready (HMI to MPI) /

DBX108.2 - HMI-CPU1-Ready (HMI to BTSS, Standard Connection)
DBX108.3
Edge evaluation: no Signal(s) updated: cyclic
Signal status 1 or The CPU is ready and registers itself cyclically with the NCK.
edge change 0 → 1
Signal status 0 or The CPU is not ready.
edge change 1 → 0
Application Appropriate measures can be introduced by the PLC user program, if "HMI-CPU1-Ready" = 0.
example(s)
References /DA/ Diagnostics Guide

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Detailed Description
2.1 Various interface signals and functions (A2)

DB10
DBX108.6 611D-Ready
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or All existing drives signal the status drive ready (summary of axial interface signals "DRIVE ready").
edge change 0 → 1
Signal state 0 or As soon as the drive not ready status is signaled from a drive
edge change 1 → 0 (i.e. IS "DRIVE ready" = 0).
Signal irrelevant for SINUMERIK 840Di
...
Corresponding to .... DB31, ... DBX93.5 (DRIVE ready)

DB10
DBX108.7 NC Ready
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The control system is ready.
edge change 0 → 1 This interface signal is an image of the relay contact "NC Ready".
This signal is set if:
• Relay contact "NC Ready" is closed
• All the voltages in the control have been established
• The control is in the cyclic mode
Signal state 0 or The control is not ready. The relay contact "NC Ready" is open.
edge change 1 → 0 The following faults will cause NC Ready to be canceled:
• Undervoltage and overvoltage monitoring function has responded
• Individual components are not ready (NCK CPU Ready)
• NC CPU watchdog
If the signal "NC Ready" goes to 0 the following measures are introduced by the control if they are
still possible:
• The controller enable signals are withdrawn (this stops the drives)
• The following measures are introduced by the PLC basic program:
– Status signals from NCK to PLC (user interface) are deleted (cleared)
– Change signals for help functions are deleted
– Cyclic processing of the PLC to NCK user interface is terminated
For further information see References!
The control is not ready again until after POWER ON.
Corresponding to .... Relay contact "NC Ready"
References /DA/ Diagnostic Guide
/FB1/ Functions Manual Basic Functions; PLC Basic Program (P3)

DB10
DBX109.0 NCK alarm is active
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or At least one NCK alarm is present.
edge change 0 → 1 This is a group signal for the interface signals
(DB21, ... DBX36.6 (channelspecific NCK alarm is active)
of all existing channels.

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2.1 Various interface signals and functions (A2)

DB10
DBX109.0 NCK alarm is active
Signal state 0 or No NCK alarm is active.
edge change 1 → 0
Corresponding to .... DB21, ... DBX36.6 (channelspecific NCK alarm present)
DB21, ... DBX36.6 (NCK alarm with processing stop present)
References /DA/ Diagnostics Guide

DB10
DBX109.5 Heatsink temperature alarm, NCU 573
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The limit values of the heatsink temperature were exceeded on the NCU 573.
edge change 0 → 1 The heatsink monitoring function has responded and the continuous operation of the operator
panel is no longer assured.
Signal state 0 or The heatsink monitoring function of the NCU 573 has not responded.
edge change 1 → 0

DB10
DBX109.6 Air temperature alarm
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The ambient temperature or fan monitoring function has responded.
edge change 0 → 1 This could be due to the following:
• The temperature monitoring has identified an ambient temperature that is too high (approx. 60
°C). Alarm 2110 "NCK temperature alarm" is output.
• The speed monitoring of the 24 V DC fan used to cool the module has responded. Alarm 2120
"NCK fan alarm" is output.
Measures: Replace the fan and/or ensure that additional ventilation is provided.
When a temperature or fan error responds, a relay contact (terminal 5.1, 5.2 or 5.1, 5.3) in the
infeed/regenerative feedback unit is activated which can be evaluated by the customer.
Signal state 0 or Neither the temperature monitoring nor the fan monitoring has responded.
edge change 1 → 0
Application Appropriate measures can be initiated by the PLC user program if the temperature or fan
example(s) monitoring is activated.
Corresponding to .... When a temperature or fan error responds, a relay contact (terminal 5.1, 5.2 or 5.1, 5.3) in the
infeed/regenerative feedback unit is activated. This can be evaluated.
References /DA/ Diagnostics Guide

DB10
DBX109.7 NCK battery alarm
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The NCK battery voltage monitoring function has responded.
edge change 0 → 1 This could be due to the following:
• The battery voltage is within the pre-warning limit range (approx. 2.7 to 2.9 V). Alarm 2100
"NCK battery warning threshold reached" has been triggered.

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Detailed Description
2.1 Various interface signals and functions (A2)

DB10
DBX109.7 NCK battery alarm
Refer to References for effects and measure.
• The battery voltage is below the pre-warning limit range (≤ 2.6 V).
Alarm 2101 "NCK battery alarm" is signaled in cyclic operation.
Effects: A supply voltage failure - e.g. when the control is switched off - would result in the loss
of battery-buffered data (e.g. part program memory, variables,machine data ...).
Measure: Refer to additional References.
• When the control ran-up, it was identified that the battery voltage was below the pre-warning
limit range (≤ 2.6 V).
Alarm 2102 "NCK battery alarm" is output; NC ready and mode group ready are not issued.
Effects: Some of the batterybuffered data may already have been lost!
Measure: Refer to additional References.
Signal state 0 or The battery voltage is above the lower limit value (normal condition).
edge change 1 → 0
Special cases, The NCK batteries should only be replaced while the NC is switched on to avoid data loss because
errors, ... of no memory backup.
Additional references /DA/ Diagnosic Guide
/IAD/ SINUMERIK 840D, Installation and Start Up Guide
/IAC/ SINUMERIK 810D, Installation and Start Up Guide

2.1.4 Signals to Operator Panel (DB19)

DB19
DBX0.0 Screen bright
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The screen blanking is disabled.
edge change 0 → 1
Signal state 0 or The screen blanking remains in effect.
edge change 1 → 0
Corresponding to .... DB19, DBX0.1 (darken screen)

DB19
DBX0.1 Darken screen
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The screen is switched to "dark" by the PLC user program.
edge change 0 → 1 The automatic screen blanking function is therefore inactive:
i. e. the screen does not automatically become bright (blanking off) when a key on the keyboard is
pressed.
Signal state 0 or The screen is switched to "bright" by the PLC user program.
edge change 1 → 0 With this signal status, screen blanking from the control can be automatically derived from the
keyboard.

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2.1 Various interface signals and functions (A2)

DB19
DBX0.1 Darken screen
If a key is not pressed on the keyboard for a time that is defined using machine data:
MD9006 $MM_DISPLAY_BLACK_TIME (time to blanken the screen),
then the screen is blanked.
The screen is switched to bright again (screen blanking off) the next time a key on the operator
panel is pressed.
Application Screen saver
example(s)
Special cases, Notice:
errors, .... If the interface signal "Darken screen"
DB19, DBX0.1 (darken screen) = 1,
then the keyboard of the operator panel remains operational!
We therefore recommend that this is disabled using the interface signal:
DB19, DBX0.2) (key disable)
.
Corresponding to .... DB19, DBX0.2 (key disable)
MD9006 $MM_DISPLAY_BLACK_TIME (time to darken the screen)

DB19
DBX0.2 Key disable
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The keyboard is disabled for the user.
edge change 0 → 1
Signal state 0 or The keyboard is enabled for the user.
edge change 1 → 0
Application If the screen is blanked using the interface signal:
example(s) DB19, DBX0.1 (darken screen),
then, at the same time, the keyboard should be disabled using the interface signal:
DB19, DBX0.2 (key disable),
in order to prevent the operator from unintentionally entering keyboard commands.
Corresponding to .... DB19, DBX0.1 (darken screen)

DB19
DBX0.3 Clear cancel alarms
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or Clear error key on the machine control panel is pressed.
edge change 0 → 1 All cancel alarms of the NCKs and the operator control panel are then acknowledged. The PLC
application acknowledges the PLC alarms itself.
PowerOn and Reset alarms remain active on the NCK until the cause of the error has been
removed.
Signal state 0 or Clear error key on the machine control panel is not pressed.
edge change 1 → 0
Functionality Only applicable to HMI Advanced or PCU 50.
Corresponding to .... DB19, DBX20.3 (cancel alarm cleared)

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Detailed Description
2.1 Various interface signals and functions (A2)

DB19
DBX0.4 Clear recall alarms
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or Clear error key on the machine control panel is pressed.
edge change 0 → 1 All cancel alarms of the NCKs and the control panel are then acknowledged. The PLC application
acknowledges the PLC alarms itself. POWER On and Reset alarms remain active on the NCK until
the cause of the error has been removed.
Signal state 0 or Clear error key on the machine control panel is not pressed.
edge change 1 → 0
Application Applies to HMI Advanced only
example(s)
Corresponding to .... DB19, DBX20.4 (recall alarm cleared)

DB19
DBX0.7 Actual value in WCS
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The PLC selects the display of actual values in the workpiece coordinate system (WCS). This
edge change 0 → 1 means that when the machine area is selected, the WCS display is activated; i.e. the machine and
the supplementary axes as well as their actual positions and distances to go are displayed in the
WCS in the "Position" window.
The interface signal is only evaluated when it enters the basic machine screen; this means that the
operator, within the machine area, can toggle as required between the particular coordinate
systems using the softkeys "actual values MCS" and "actual values WCS".
Signal state 0 or This means that when the machine area is selected the coordinate system previously selected
edge change 1 → 0 (WCS or MCS) is reactivated and displayed.
Application Using the interface signal:
example(s) DB19, DBX0.7 (actual value in WCS) = 1
each time that the machine area is re-selected, the workpiece coordinate system display frequently
required by the operator (WCS), is selected.
Corresponding to .... DB19, DBX20.7 (change over MCS/WCS)
Additional references Operation Guide (corresponding to the used software)

DB19
DBW2 Higraph first error display
Edge evaluation: no Signal(s) updated: cyclic

DB19
DBW4 Higraph first error display
Edge evaluation: no Signal(s) updated: cyclic

DB19
DBX6.0...7 Analog spindle 1, utilization in percent
Edge evaluation: no Signal(s) updated: cyclic

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2.1 Various interface signals and functions (A2)

DB19
DBX7.0 - DBX7.7 Analog spindle 2, utilization in percent
Edge evaluation: no Signal(s) updated: cyclic

DB19
DBX8.0 - DBX8.7 Channel number of the machine control panel to HMI
Edge evaluation: no Signal(s) updated: cyclic

DB19
DBX10.0 Programming area selection
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or Program area selection active
edge change 0 → 1
Signal state 0 or Program area selection inactive
edge change 1 → 0

DB19
DBX10.1 Alarm area selection
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or Alarm area selection active
edge change 0 → 1
Signal state 0 or Alarm area selection inactive
edge change 1 → 0

DB19
DBX10.2 Tool offset selection
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or Tool offset selection active
edge change 0 → 1
Signal state 0 or Tool offset selection inactive
edge change 1 → 0

DB19 ShopMill control signal

DBX10.7
Edge evaluation: no Signal(s) updated: cyclic

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2.1 Various interface signals and functions (A2)

DB19
DBX12.2 COM2
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or COM2 active
edge change 0 → 1
Signal state 0 or COM2 inactive
edge change 1 → 0
Application Valid for HMI Embedded;
example(s) a file transfer can be initiated via RS-232-C.

DB19
DBX12.3 COM1
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or COM1 active
edge change 0 → 1
Signal state 0 or COM1 inactive
edge change 1 → 0
Application Valid for HMI Embedded;
example(s) a file transfer can be initiated via RS-232-C.

DB19
DBX12.4 RS-232-C Stop
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or RS-232-C stop active
edge change 0 → 1
Signal state 0 or RS-232-C stop inactive
edge change 1 → 0
Application Valid for HMI Embedded;
example(s) a file transfer can be initiated via RS-232-C.

DB19
DBX12.5 RS-232-C external
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or RS-232-C external active
edge change 0 → 1
Signal state 0 or RS-232-C external inactive
edge change 1 → 0
Application Valid for HMI Embedded;
example(s) a file transfer can be initiated via RS-232-C.

DB19
DBX12.6 RS-232-C off
Edge evaluation: no Signal(s) updated: cyclic

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2.1 Various interface signals and functions (A2)

DB19
DBX12.6 RS-232-C off
Signal state 1 or RS-232-C off active
edge change 0 → 1
Signal state 0 or RS-232-C off inactive
edge change 1 → 0
Application Valid for HMI Embedded;
example(s) a file transfer can be initiated via RS-232-C.

DB19
DBX12.7 RS232C on
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or RS232C on active
edge change 0 → 1
Signal state 0 or RS232C on inactive
edge change 1 → 0
Application Valid for HMI Embedded;
example(s) a file transfer can be initiated via RS-232-C.

DB19
DBX13.5 Unload
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or Unload active
edge change 0 → 1
Signal state 0 or Unloading inactive
edge change 1 → 0
Application Valid for HMI Embedded;
example(s) a file transfer can be initiated using the hard disk.

DB19
DBX13.6 Load part program
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or Load active
edge change 0 → 1
Signal state 0 or Loading inactive
edge change 1 → 0
Application Valid for HMI Embedded;
example(s) a file transfer can be initiated using the hard disk.

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Detailed Description
2.1 Various interface signals and functions (A2)

DB19
DBX13.7 Selection
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or Selection active
edge change 0 → 1
Signal state 0 or Selection inactive
edge change 1 → 0
Application Valid for HMI Embedded;
example(s) a file transfer can be initiated using the hard disk.

DB19
DBX14.0 - DBX14.6 PLC index
Edge evaluation: no Signal(s) updated: cyclic
Description This byte for control of the V24 interface describes the PLC index for the standard control file,
which specifies the axis, channel or TO number. This file is handled from the PLC → HMI
correspondling to the contract which is in DB19.DBB12.
Application Valid for HMI Embedded, with reference to DB19.DBB12
example(s) Dependent on:
DB19.DBX14.7=0 → Act. FS: PLC index that specifies axis, channel or TO No.
DB19.DBX14.7=1 → Pas.FS: PLC index for the user control file

DB19
DBX14.7 Active or passive file system
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or Passive file system
edge change 0 → 1
Signal state 0 or Active file system
edge change 1 → 0
Application Valid for HMI Embedded, with reference to DB19.DBB12
example(s)

DB19
DBX15.0 - DBX15.7 PLC line offset
Edge evaluation: no Signal(s) updated: cyclic
Description This byte to control the RS-232-C interface defines the line of the standard or user control file in
which the control file to be transferred is specified.
Application Valid for HMI Embedded, with reference to DB19.DBB12
example(s) Dependent on:
DB19.DBX14.7=0 → Act. FS: PLC line offset in a standard control file
DB19.DBX14.7=1 → Pas. FS: PLC line offset in a user control file

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DB19
DBX16.0 - DBX16.6 PLC index for the user control file
Edge evaluation: no Signal(s) updated: cyclic
Description This byte for controlling file transfer via hard disk defines the index for the control file (job list). This
file is handled from the PLC → HMI correspondling to the contract which is in DB19.DBB12.
Application Valid for HMI Advanced, with reference to DB19.DBB13
example(s) Dependent on:
DB19.DBX14.7=0 → Act. FS: PLC index for the standard control file
DB19.DBX14.7=1 → Pas.FS: PLC index for the user control file

DB19
DBX16.7 Active or passive file system
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or Passive file system
edge change 0 → 1
Signal state 0 or Active file system
edge change 1 → 0
Application with HMI Advanced always 1
example(s)

DB19
DBX17.0 - DBX17.7 PLC line offset in the user control file
Edge evaluation: no Signal(s) updated: cyclic
Description This byte for controlling file transfer via the hard disk defines the line of the user control file in which
the control file to be transferred is located.
Application Valid for HMI Advanced, with reference to DB19.DBB13
example(s) Dependent on:
DB19.DBX14.7=0 → Act. FS: PLC line offset in a standard control file
DB19.DBX14.7=1 → Pas. FS: PLC line offset in a user control file

DB19
DBX44.0 Mode change disable
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or Mode change disable active
edge change 0 → 1
Signal state 0 or Mode change disable active
edge change 1 → 0

DB19
DBX45.0 FC9 Out: Active
Edge evaluation: no Signal(s) updated: cyclic

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DB19
DBX45.1 FC9 Out: Done
Edge evaluation: no Signal(s) updated: cyclic

DB19
DBX45.2 FC9 Out: Error
Edge evaluation: no Signal(s) updated: cyclic

DB19
DBX45.3 FC9 Out: StartError
Edge evaluation: no Signal(s) updated: cyclic

2.1.5 Signals from operator control panel (DB19)

DB19
DBX20.1 Screen is dark
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The screen is darkened.
edge change 0 → 1
Signal state 0 or The screen is not darkened.
edge change 1 → 0
Application Using this IS, the PLC can identify whether the screen was switched dark using the interface
example(s) signal:
DB19, DBX0.1 (darken screen)
or using the machine data:
MD9006 $MM_DISPLAY_BLACK_TIME (screen blanking time)
.
Corresponding to .... MD9006 $MM_DISPLAY_BLACK_TIME (screen blanking time)

DB19
DBX20.3 Cancel alarm cleared
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or Cancel alarm deleted active
edge change 0 → 1
Signal state 0 or Cancel alarm deleted inactive
edge change 1 → 0

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DB19
DBX20.4 Recall alarm cleared
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or Recall alarm deleted inactive
edge change 0 → 1
Signal state 0 or Recall alarm deleted inactive
edge change 1 → 0

DB19
DBX20.6 Simulation selected
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or On entry to simulation = 1
edge change 0 → 1
Signal state 0 or On exit from simulation = 0
edge change 1 → 0
Application Can be evaluated by machine manufacturer in order to activate the test on NC start.
example(s) The following must be set in the drive machine data:
MD1012 $MD_FUNC_SWITCH, bit 2 = 0.

Status "Ext. pulse disable active, terminal 663 open" is then not transmitted to the NC.
Corresponding to .... MD1012 $MD_FUNC_SWITCH, bit 2

DB19
DBX20.7 Switch over MCS/WCS
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The coordinate system is switched over from workpiece coordinate system (WCS) to machine
edge change 0 → 1 coordinate system (MCS) or from MCS to WCS.
After it has been set, the signal is active for 1 PLC cycle.
Signal state 0 or No effect
edge change 1 → 0
Application The interface signal:
example(s) DB19, DBX20.7 (change over MCS/WCS)
must be transferred to the interface signal:
DB19, DBX0.7 (actual value in WCS)
in order that the changeover becomes effective.
Corresponding to .... DB19, DBX0.7 (actual value in WCS)

DB19
DBX22.0 - DBX22.7 displayed channel number from HMI
Edge evaluation: no Signal(s) updated: cyclic

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Detailed Description
2.1 Various interface signals and functions (A2)

DB19
DBX24.0 Error (status RS-232-C from PLC)
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or Error status active
edge change 0 → 1
Signal state 0 or Error status inactive
edge change 1 → 0
Application The actual status of the RS 232 C is sent to the PLC in the acknowledgment byte DB19.DBB24.
example(s)
Corresponding to .... Applies to HMI Embedded

DB19
DBX24.1 O.K. (status RS-232-C from PLC)
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or O.K. status active
edge change 0 → 1
Signal state 0 or O.K. status inactive
edge change 1 → 0
Application The actual status of the RS 232C is sent to the PLC in acknowledgment byte DB19.DBB24.
example(s)
Corresponding to .... Applies to HMI Embedded

DB19
DBX24.2 COM2 (status RS-232-C from PLC)
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or COM2 active
edge change 0 → 1
Signal state 0 or COM2 inactive
edge change 1 → 0
Application The actual status of the RS 232C is sent to the PLC in acknowledgment byte DB19.DBB24.
example(s)
Corresponding to .... Applies to HMI Embedded

DB19
DBX24.3 COM1 (status RS-232-C from PLC)
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or COM1 active
edge change 0 → 1
Signal state 0 or COM1 inactive
edge change 1 → 0
Application The actual status of the RS 232C is sent to the PLC in acknowledgment byte DB19.DBB24.
example(s)
Corresponding to .... Applies to HMI Embedded

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2.1 Various interface signals and functions (A2)

DB19
DBX24.4 RS-232-C stop (status RS-232-C from PLC)
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or RS-232-C stop active
edge change 0 → 1
Signal state 0 or RS-232-C stop inactive
edge change 1 → 0
Application The actual status of the RS 232C is sent to the PLC in acknowledgment byte DB19.DBB24.
example(s)
Corresponding to .... Applies to HMI Embedded

DB19
DBX24.5 RS232C external (status RS232C from PLC)
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or RS-232-C external active
edge change 0 → 1
Signal state 0 or RS-232-C external inactive
edge change 1 → 0
Application The actual status of the RS 232C is sent to the PLC in acknowledgment byte DB19.DBB24.
example(s) The bit "RS-232-C external" is delayed until the transfer of the part program to be externally
executed has been started and the selection has been made. Only then is an "NC Start" possible.
Corresponding to .... Applies to HMI Embedded

DB19
DBX24.6 RS-232-C off (status RS-232-C from PLC)
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or RS-232-C off active
edge change 0 → 1
Signal state 0 or RS-232-C off inactive
edge change 1 → 0
Application The actual status of the RS 232C is sent to the PLC in acknowledgment byte DB19.DBB24.
example(s)
Corresponding to .... Applies to HMI Embedded

DB19
DBX24.7 RS232C on (status RS232C from PLC)
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or RS232C on active
edge change 0 → 1
Signal state 0 or RS232C on inactive
edge change 1 → 0
Application The actual status of the RS 232C is sent to the PLC in acknowledgment byte DB19.DBB24.

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Detailed Description
2.1 Various interface signals and functions (A2)

DB19
DBX24.7 RS232C on (status RS232C from PLC)
example(s)
Corresponding to .... Applies to HMI Embedded

DB19
DBX25.0 - DBX25.7 Error RS232C
Edge evaluation: no Signal(s) updated: cyclic
Description 0 = no error
1 = invalid number for the control file
(value in DB19.DBB14<127 or invalid)
2 = DB19.DBB15 could not be read
3 = control file /BD.DIR/PLC_IN_OUT_xxx.TEA not found
(value in DB19.DBB14 invalid)
4 = invalid index in control file.
(value in DB19.DBB15 incorrect)
5 = selected job list in the control file could not be opened (only HMI Advanced)
6 = error in the job list (job list interpreter returns error) (only HMI Advanced)
7 = job list interpreter signals empty job list (only HMI Advanced)
8 = error during the RS-232-C transmission.
The error text is entered into the DIENSTE PROTOKOLL [SERVICES REPORT].
9 = error when executing job list (only HMI Advanced)
Corresponding to .... Applies to HMI Embedded

DB19
DBX26.1 OK (job list selection from PLC, status)
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or Transfer correctly completed
edge change 0 → 1
Signal state 0 or Transfer completed with error
edge change 1 → 0
Corresponding to .... Valid for HMI Advanced

DB19
DBX26.2 Error (job list selection from PLC, status) (previously bit 0)
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or Transfer completed with error
edge change 0 → 1
Signal state 0 or Transfer correctly completed
edge change 1 → 0
Corresponding to .... Valid for HMI Advanced

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 Detailed Description
2.1 Various interface signals and functions (A2)

DB19
DBX26.3 Active (job list selection from PLC, status)
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or Job in progress
edge change 0 → 1
Signal state 0 or No task in progress
edge change 1 → 0
Corresponding to .... Valid for HMI Advanced

DB19
DBX26.5 Unload (job list selection from PLC, status)
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or Unload active
edge change 0 → 1
Signal state 0 or Unloading inactive
edge change 1 → 0
Corresponding to .... Valid for HMI Advanced

DB19
DBX26.6 Load (job list selection from PLC, status)
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or Load active
edge change 0 → 1
Signal state 0 or Loading inactive
edge change 1 → 0
Corresponding to .... Valid for HMI Advanced

DB19
DBX26.7 Selection (job list selection from PLC, status)
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or Selection active
edge change 0 → 1
Signal state 0 or Selection inactive
edge change 1 → 0
Corresponding to .... Valid for HMI Advanced

DB19
DBX27.0 - DBX27.7 Data transfer error
Edge evaluation: no Signal(s) updated: cyclic
Meaning • 0 = no error
• 1 = invalid number for control file
(value in DB19.DBB16<127 or invalid)

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Detailed Description
2.1 Various interface signals and functions (A2)

DB19
DBX27.0 - DBX27.7 Data transfer error
• 2 = DB19.DBB17 could not be read
• 3 = control file /BD.DIR/PLC_IN_OUT_xxx.TEA not found
(value in DB19.DBB16 invalid)
• 4 = invalid index in control file
(value in DB19.DBB17 incorrect)
• 5 = selected job list in control file could not be opened
• 6 = error in the job list (job list interpreter signals an error)
• 7 = job list interpreter signals an empty job list
• 8 = data transfer error
The error text is entered into the DIENSTE PROTOKOLL [SERVICES REPORT].
• 9 = error while executing the job list
Corresponding to .... Valid for HMI Advanced

DB19
DBX40.0 - DBX40.7 Mode group number
Edge evaluation: no Signal(s) updated: cyclic
Meaning This byte contains the mode group number.

DB19
DBX41.0 - DBX41.7 Channel number (FC9: ChanNo)
Edge evaluation: no Signal(s) updated: cyclic
Meaning This byte contains the channel number (FC9: ChanNo).

DB19
DBX42.0 FC9: Start (measuring in Jog mode)
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or Start active
edge change 0 → 1
Signal state 0 or Start inactive
edge change 1 → 0

2.1.6 Signals to channel (DB21, ...)

DB21, ...
DBX6.2 Delete distancetogo (channelspecific)
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or Delete distancetogo (channelspecific):
edge change 0 → 1 IS "Delete distancetogo (channelspecific)" for path axes is only active in AUTOMATIC mode.

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 Detailed Description
2.1 Various interface signals and functions (A2)

DB21, ...
DBX6.2 Delete distancetogo (channelspecific)
The rising edge of the interface signal is only effective for the axes involved in the geometry
grouping. These are also stopped with a ramp stop and their distancetogo deleted (setpoint - actual
value difference). Any remaining following error is not removed. The next program block is then
started.
IS "Delete distancetogo (channelspecific)" is therefore ignored by positioning axes.
Note:
IS "Delete distancetogo" does not influence the running dwell time in a program block with dwell
time.
Signal state 0 or No effect
edge change 1 → 0
Signal irrelevant for Positioning axes
...
Application To terminate motion because of an external signal (e.g. measuring probe)
example(s)
Special cases, Delete distancetogo (channelspecific)
errors, .... When the axes have been stopped with IS "Delete distancetogo" the next program block is
prepared with the new positions. After a "Delete distance-to-go", geometry axes thus follow a
different contour to the one originally defined in the part program.
If G90 is programmed in the block after "Delete distancetogo" it is at least possible to approach the
programmed absolute position. On the other hand, with G91, the position originally defined in the
part program is no longer reached in the following block.
Corresponding to .... DB21, ... DBX6.2 (delete distance-to-go (axis-specific))

2.1.7 Signals from channel (DB21, ...)

DB21, ...
DBX36.6 Channelspecific NCK alarm is active
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or At least one NCK alarm is present for this channel.
edge change 0 → 1 This means that the group interface signal is also set
DB10 DBX103.0
(NCK alarm is present).
The PLC user program can interrogate whether processing for the channel in question has been
interrupted because of an NCK channel:
DB21, ... DBX36.7 (NCK alarm with processing stop present).
Signal state 0 or No NCK alarm is active for this channel.
edge change 1 → 0
Corresponding to .... DB21, ... DBX36.6 (NCK alarm with processing stop present)
DB10 DBX103.0 (NCK alarm present)
Additional references /DA/ Diagnostics Guide

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Detailed Description
2.1 Various interface signals and functions (A2)

DB21, ...
DBX36.7 NCK alarm with processing stop present
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or At least one NCK alarm - which is causing a processing stop of the part program running in this
edge change 0 → 1 channel - is active.
Signal state 0 or There is no alarm active in this channel that is causing a processing stop.
edge change 1 → 0
Application With this alarm a program interruption because of an NCK alarm can be recognized immediately by
example(s) the PLC user program and the necessary steps introduced.
Corresponding to .... DB21, ... DBX36.6 (channel-specific NCK alarm is present)
Additional references /DA/ Diagnostics Guide

DB21, ...
DBX318.7 Overstore active
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The overstore function is enabled (with the channel-specific PI service "_N_OST_ON"). If the PI
edge change 0 → 1 service is denied, the signal will not change.
Signal state 0 or The overstore function is disabled (with the channelspecific PI service "_N_OST_OFF"). If the PI
edge change 1 → 0 service is denied, the signal will not change.

2.1.8 Signals to axis/spindle (DB31, ...)

DB31, ...
DBX1.0 Drive test travel enable
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or Safety handshake when the function generator is started by the NC.
edge change If an axis is to be traversed without further operator intervention, using:
0→1 DB31, ... DBX61.0 (drive test travel request) = 1 signal,
the NC requests a travel enable signal (permissive signal) from the PLC control.
If all axis travel conditions are fulfilled, PLC acknowledges this with:
DB31, ... DBX1.0 (drive test travel enable) = 1 signal
The PLC always has the master authority in deciding whether an axis can be traversed.
Signal state 0 or The NC does not request permission to move axis from the PLC with:
edge change DB31, ... DBX1.0 (drive test travel enable) = 0 signal
1→0
Additional references /IAD/ SINUMERIK 840D Startup Guide; Chapter: SIMODRIVE 611D
or
/IAC/ SINUMERIK 810D Installation and Start-up Guide

DB31, ...
DBX1.3 Axis/spindle disable
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or (Test status)

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 Detailed Description
2.1 Various interface signals and functions (A2)

DB31, ...
DBX1.3 Axis/spindle disable
edge change 0 → 1 If the interface signal "Axis disable" is output - for this axis - no more position partial setpoints are
- Axis disable output to the position controller; the axis travel is therefore disabled. The position control loop
- Spindle disable remains closed and the remaining following error is reduced to zero.
If an axis is moved with axis disable the actual value position display shows the setpoint position
and the actual velocity value display shows the setpoint velocity even though the machine axis is
not actually moving.
With a RESET the position actual value display is set to the real actual value of the machine.
Travel commands continue to be output to the PLC for this axis.
If the interface signal is canceled again the associated axis can again traverse normally.
If the interface signal "Axis disable" is set for a traversing axis, the axis is stopped with a ramp stop.
If the interface signal "Spindle disable" is set, as for axis disable, for this spindle no more speed
setpoints are output to the speed controller in the openloop control mode and no more position
partial setpoints are output to the position controller in positioning mode. The movement of the
spindle is thus disabled. The speed actual value display displays the speed setpoint value.
Spindle disable can only be canceled per "Reset" or with M2 followed by a program restart.
If interface signal "Spindle disable" is set while a spindle is turning, the spindle is stopped according
to its acceleration characteristic.
Signal state 0 or (Normal conditions).
edge change 1 → 0 The position setpoint values are transferred to the position controller cyclically.
The speed setpoint values are transferred to the speed controller cyclically.
Cancellation of the "Axis/spindle disable" (edge change 1 → 0) does not take effect until the
axis/spindle is stationary (i.e. an interpolation setpoint is no longer ptresent).

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Application The interface signal "Axis disable" and "Spindle disable" is used when running-in and testing a new
example(s) NC part program. In so doing, the machine axes and spindles should not execute any traversing or
rotational movement.
Special cases, If, for an axis/spindle "axis/spindle disable" is present, then the interface signals:
errors, .... DB31, ... DBX2.1 (controller enable),
DB2 ... (feed/spindle stop)
and where relevant
DB31, ... DBX12.0-12.1 (hardware limit switch)
are not effective regarding braking the axis/spindle.
The axis/spindle can however be brought into the "follow up" or "hold" state
(refer to DB31, ... DBX1.4 (followup mode)).

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Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-23
Detailed Description
2.1 Various interface signals and functions (A2)

DB31, ...
DBX1.3 Axis/spindle disable
Notes:
This signal inhibits setpoint output to the drive.
A brief pulse can bring a traversing axis to a standstill. The axis will not move again in this block,
but only when the next block is reached.
Resynchronization takes place automatically on the next traversing command for this axis, i.e. the
axis traverses the remaining distancetogo.

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For response together with synchronized operation, see:

Literature:
/FB2/ Function Manual Expanded Functions; Synchronzed Spindle (S3)
This signal is no longer effective when the coupling for FS/FA is activated. → No. 6
If the signal for the LS/LA is set, it also applies to the FS/FA(s) → No. 7
A workpiece clamped between two spindles (workpiece transfer from front to rearside machining)
cannot be destroyed.

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Corresponding to .... DB21, ... DBX33.7 (program test active)

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 Detailed Description
2.1 Various interface signals and functions (A2)

DB31, ...
DBX1.4 Follow-up mode
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 Followup mode is selected for the axis/spindle by the PLC.
The means that the position setpoint continually tracks the actual value if the controller enable for
the drive is withdrawn.
As soon as the follow-up mode is effective, the interface signal:
DB31, ... DBX61.3 (follow-up mode active)
is set to a 1 signal.
The actual value continues to be acquired and updated. If the axis/spindle is moved from its current
position by an external effect the zero speed and clamping monitoring do not issue an alarm.
When the closedloop control system is reactivated, a controlinternal repositioning operation is
performed (REPOSA: linear approach with all axes) to the last programmed position if a part
program is active.
Signal state 0 Followup mode is not selected (hold).
When "controller enable" is removed the previous position setpoint is kept in the control.
If the axis/spindle is moved out of position during this time a following error occurs between the
position setpoint and the position actual value. This position difference is reduced to zero
immediately by issuing "controller enable" so that the previous setpoint position is restored. Then,
all the other axis movements start from the setpoint position valid before "controller enable" was
removed.
When the position control is switched in again the axis may make a speed setpoint jump.
Zero speed monitoring or clamping monitoring is still active.
In order to disable (switch-out) the zero speed
monitoring, when clamping an axis, the interface signal:
DB31, ... DBX2.3 (clamping operation running)
should be set.
In the "holding state", the interface signal:
DB31, ... DBX61.3 (follow-up mode active)
is set to a 0 signal.
Special cases, If the drive controller enable is withdrawn inside the control due to faults, then the following
errors, .... should be carefully observed:
Before an NC start, after the queued alarms have been successfully deleted
(i.e. inside the control, the controller enable is re-issued), then "holding" should be activated:
DB31, ... DBX1.4 (follow-up mode) = 0
Otherwise, for an NC start and selected follow-up mode, the traversing distance of the previous NC
block would not be executed due to the internal delete distance to go.
Notice:
When changing over from the "follow-up" state to the "hold" state and in the control mode (a
controller enable is issued), a delete distance-to-go command is activated in the control. As a
consequence, for example, an NC block - in which only this axis is traversed - is ended directly.
Corresponding to .... DB31, ... DBX2.1 (controller enable)
DB31, ... DBX2.3 (clamping in progress)
DB31, ... DBX61.3 (follow-up mode active)

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Detailed Description
2.1 Various interface signals and functions (A2)

DB31, ...
DBX1.5 - DBX1.6 Position measuring system 1 (PMS1) / Position measuring system 2 (PMS2)
Edge evaluation: no Signal(s) updated: cyclic
PMS1: Position measuring system 1 is used for the axis/spindle (e.g. for position control, absolute value
Signal state 1 calculation, display). If a position measuring system 2 also exists
PMS2: (MD30200 $MA_NUM_ENCS = 2), this actual value is also acquired.
Signal state 0
PMS1: Position measuring system 2 is used for the axis/spindle (e.g. for position control, absolute value
Signal state 0 calculation, display). If a position measuring system 1 also exists, this actual value is also acquired.
PMS2:
Signal state 1
PMS1: As it is not possible to use both position measuring systems simultaneously for the position control
Signal state 1 of an axis/spindle, the control automatically selects position measuring system 1.
PMS2: If a position measuring system 2 also exists, this actual value is also acquired.
Signal state 1
PMS1: 1. The axis is in the park position.
Signal state 0
This means that the following features are valid:
PMS2:
Signal state 0 – Both position measuring systems are inactive.
– There is no actual value acquisition.
– The position measuring system monitoring functions are disabled
(among others, cable connection of a measured value encoder).
The reference point has no effect:
DB31, ... DBX60.4/5 (referenced/synchronized) has the signal condition 0
As soon as an axis is parked, the interface signals:
DB31, ... DBX61.5 (position controller active),
DB31, ... DBX61.6 (speed controller active)
and
DB31, ... DBX61.7 (current controller active)
are set to a 0.
After parking has been completed the axis must be re-referenced (reference point
approach).
If interface signals PMS1 and PMS2 are set to 0 while the axis is moving, the axis is
stopped with a ramp stop without the controller enable being internally withdrawn.
This is appropriate for the following situations:
– Spindle encoder no longer outputs a signal above a certain speed (no longer supplies any
pulses).
– Spindle encoder is decoupled mechanically because it would not be able to cope with the
speed.
– The spindle can then continue to run in speedcontrolled mode. In order to really bring the
axis/spindle to a stop, the controller enable must always be removed additionally by the
PLC.
2. The spindle does not have a position measuring system and is only speed controlled.
In this case, the interface signal:
DB31, ... DBX2.1 (controller enable)
should be set to a 1 signal.
Application 1. Changing over from position measuring system 1 to positioning measuring system 2 (and vice
example(s) versa).
If the axis in both position measuring systems was referenced and the limit frequency of the
measured value encoder has not been exceeded in the meantime (i.e.

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DB31, ...
DBX1.5 - DBX1.6 Position measuring system 1 (PMS1) / Position measuring system 2 (PMS2)
DB31, ... DBX60.4 and 60.5 (referenced/synchronized 1 and 2) has signal state 1,
then after the changeover, a reference point approach does not have to be repeated.
On switchover, the current difference between position measuring system 1 and 2 is traversed
immediately.
With the machine data:
MD36500 $MA_ENC_CHANGE_TOL (maximum tolerance on position actual value
changeover)
a tolerance bandwidth can be entered - the deviation between the two actual values may lie
within this bandwidth when changing over.
If the actual value difference is greater than the tolerance, a switchover between the two
systems does not take place and alarm 25100 "Measuring system switchover" not possible is
triggered.
2. Parking axis (i.e. no PMS is active):
If the encoder has to be removed - e.g. if a rotary table has to be removed from the machine -
the position measuring system monitoring is switched off in the parking position.
The mounted axis/spindle encoder turns so quickly in certain applications that it can no longer
maintain its electrical characteristics (edge rate-of-rise, etc.).
3. Switch-off measuring system:
When measuring system 1 or 2 is switched off the associated interface signal:
DB31, ... DBX60.4/60.5 (referenced/synchronized 1/2)
is reset.
4. Reference point approach:
Reference point approach of the axis is executed with the selected position measuring system.
Every PMS must be separately referenced.
Special cases, If the state "parking axis" is active, the interface signal:
errors, .... DB31, ... DBX60.4/60.5 (referenced/synchronized 1/2)
is ignored at NC start for this axis.
Corresponding to .... DB31, ... DBX60.4 (referenced / synchronized 1)
DB31, ... DBX60.5 (referenced / synchronized 2)
DB31, ... DBX61.6 (speed controller active)
DB31, ... DBX2.1 (controller enable)
MD36500 $MA_ENC_CHANGE_TOL (Max. tolerance on position actual value switchover)
MD30200 $MA_NUM_ENCS (number of encoders)
Additional references /FB1/ Functions Manual Basic Functions; Speeds, Set-Actual Value System, Control (G2)

DB31, ...
DBX2.1 Controller enable
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 The position control loop of the axis/spindle is closed; the axis/spindle is in closedloop control.
Signal state 1 or When "controller enable" is set by the PLC user program:
edge change • Position control loop of axis is closed.
0→1
• Position actual value is no longer switched to the position setpoint.
• The controller enable of the drive is output.
• The interface signal:
DB31, ... DBX61.5 (position controller active)

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Detailed Description
2.1 Various interface signals and functions (A2)

DB31, ...
DBX2.1 Controller enable
is set to 1.
When "controller enable" has been signaled no new actual value synchronization of the axis
(reference point approach) of the axis is necessary if the maximum permissible limit frequency of
the axis measuring system has not been exceeded during followup mode.
As a function of the interface signal:
DB31, ... DBX1.4 ( followup mode)
it is possible to select whether or not the axis first traverses back to the earlier setpoint position (i.e.
the positional deviation caused by the clamping process is moved through to eliminate the
deviation).
Edge change "Controller enable" will be/is removed:
1 → 0 or The procedure for removing "controller enable" depends on whether the axis/spindle or an axis of
signal state 0 the geometry grouping is stationary or traversing at this point in time.
• Axis/spindle stationary:
– Position control loop of axis is opened.
– When IS "Follow-up mode" = 1 the position actual value is switched to the position setpoint
(i.e. the setpoint position is corrected to the actual value position). The position actual value
of the axis/spindle continues to be acquired by the control.
– The controller enable of the drive is removed.
– The interface signals:
DB31, ... DBX61.5 (position controller active)
DB31, ... DBX61.6 (speed controller active)
DB31, ... DBX61.7 (current controller active)
are set to a 0 signal.
• Axis/spindle traverses:
– The axis is stopped with rapid stop.
– Alarm 21612 "VDI signal controller enable reset during movement" is triggered.
– The position control loop of the axis/spindle is opened.
– Independent of the interface signal:
DB31, ... DBX1.4 (follow-up mode)
At the end of braking the position actual value is switched to the position setpoint
(i.e. the setpoint position is corrected to track the actual value position).
The position actual value of the axis/spindle continues to be acquired by the control.
IS "Followup mode" is set.
– The interface signals:
DB31, ... DBX61.5 (position controller active)
DB31, ... DBX61.6 (speed controller active)
DB31, ... DBX61.7 (current controller active)
are set to 0.
The axis status cannot be changed again until after RESET.
Application Using controller enable when clamping the axis:
example(s) The axis is positioned to the clamping position. As soon as it has stopped it is clamped and then
controller enable is removed. Controller enable is removed because the axis could be mechanically
pressed out of position slightly by clamping and the position controller would continuously have to
work against the clamping.
When clamping is to be stopped, a controller enable signal is first set again and then the axis is
freed from clamping.
Special cases, If an attempt is made to traverse the axis/spindle without controller enable, the axis/spindle remains
errors, .... stationary but sends a traversing/move command to the PLC (axis only). The traversing/move
command is kept and is executed when the controller enable is re-activated.
If the controller enable of a traversing geometry axis is removed the programmed contour cannot be

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 Detailed Description
2.1 Various interface signals and functions (A2)

DB31, ...
DBX2.1 Controller enable
maintained.
Controller enable is automatically cancelled by the control when certain faults occur at the machine,
the position measuring system or the control.
Corresponding to .... DB31, ... DBX61.3 (follow-up mode active)
DB31, ... DBX1.4 (follow-up mode)
DB31, ... DBX61.5 (position controller active)
DB31, ... DBX61.6 (speed controller active)
DB31, ... DBX61.7 (current controller active)
MD36620 $MA_SERVO_DISABLE_DELAY_TIME (switchoff delay controller enable)
MD36610 $MA_AX_EMERGENCY_STOP_TIME (braking ramp time when errors occur)

DB31, ...
DBX2.2 Delete distancetogo (axisspecific) / spindle reset
Edge evaluation: yes Signal(s) updated: cyclic
Signal state 1 or Delete distancetogo (axisspecific):
edge change Depending on the operating mode, the following occurs for IS "delete distancetogo axial":
0→1
• In the JOG mode:
If the interface signal is set for one axis (edge change 0 → 1), this axis is stopped with ramp stop
and its distancetogo deleted (setpoint-actual value difference).
Any remaining following error is removed.
• for AUTOMATIC and MDA:
The rising edge of the interface signals only influences the axes which are not in the geometry
grouping. They are stopped with ramp stop and their distancetogo deleted (setpoint-actual value
difference). The next program block can then be started. IS "delete distancetogo axial" is
therefore ignored by geometry axes.
Note: IS "Delete distancetogo" does not influence the running dwell time in a program block with
dwell time.
Signal state 0 or No effect
edge change
1→0
Application To terminate motion because of an external signal (e.g. measuring probe)
example(s)
Special cases, "Delete distancetogo (axial)"
errors, .... After the axes have been stopped with "Delete distancetogo" the next program block is prepared
with the new positions. The axes thus follow a different contour to the one originally defined in the
part program after a "Delete distancetogo".
If G90 is programmed in the block after "Delete distancetogo" it is at least possible to approach the
programmed absolute position. On the other hand, with G91, the position originally defined in the
part program is not reached in the following block.
Corresponding to .... DB21, ... DBX6.2 (delete distance-to-go, channel-specific)
Additional references /FB1/ Functions Manual Basic Functions; Spindles (S1)

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Detailed Description
2.1 Various interface signals and functions (A2)

DB31, ... Controller parameter set switchover (request)

DBX9.0 - DBX9.2 requested parameter set
Edge evaluation: no Signal(s) updated: On request
Signal state 1 or -
edge change
0→1
Signal state 0 or -
edge change
1→0
Signal irrelevant for MD35590 $MA_PARAMSET_CHANGE_ENABLE = 0
...
Application The binary-coded index of the parameter set to be activated is located in the 3 bits:
example(s) • 0 corresponds to the 1st parameter set
• 1 corresponds to the 2nd parameter set
• etc. (max. 6 parameter sets are possible)
Special cases, Indices 6-7 are mapped onto parameter set 6.
errors, ....
Corresponding to .... DB31, ...DBX69.0-69.2

DB 31, ... Disable parameter set switchover commands from NC

DBX9.3 Locks
Signal state 1 or NC should not initiate any parameter set switchovers.
edge change
0→1
Signal state 0 or Parameter set switchover by the NC is enabled.
edge change
1→0
Corresponding to .... DB31, ... DBX9.0 - DBX9.2

DB31, ...
DBX20.0 Rampup times
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or V/f operation operation is activated using machine data:
edge change MD1014 $MD_U/F_MODE_ENABLE.
0→1
The time entered in the machine data:
MD1126 $MD_U/F_MODE_RAMP_TIME_2
is effective.
Signal state 0 or V/f operation operation is activated using machine data:
edge change MD1014 $MD_U/F_MODE_ENABLE.
1→0
The time entered in the machine data:
MD1125 $MD_U/F_MODE_RAMP_TIME_1
is effective.
Signal irrelevant for SINUMERIK 840Di
...

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 Detailed Description
2.1 Various interface signals and functions (A2)

DB31, ...
DBX20.0 Rampup times
Corresponding to .... MD1014 $MD_U/F_MODE_ENABLE (activate V/f operation)
MD1125 $MD_UF_MODE_RAMP_TIME_1 (ramp-up time 1 for V/f mode)
MD1126 $MD_UF_MODE_RAMP_TIME_2 (ramp-up time 2 for V/f mode)
Additional references /FBA/ SIMODRIVE 611D Functions Manual Drive Functions

DB31, ...
DBX20.1 Rampfunction generator fast stop
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or A fast stop is triggered by the PLC for the drive (611D). Speed setpoint 0 is therefore entered. The
edge change drive is stopped without a ramp function (regenerative braking).
0→1 As soon as the fast stop is recognized by the drive module, the interface signal:
DB31, ... DBX92.1 (Ramp-function generator fast stop active) is returned to the PLC.
Signal state 0 or No rapid stop is requested by the PLC for the drive.
edge change
1→0
Signal irrelevant for SINUMERIK 840Di
...
Corresponding to .... DB31, ... DBX92.1 (ramp-function generator fast stop active)
Additional references /IAD/ SINUMERIK 840D Startup Guide; Chapter: SIMODRIVE 611D

DB31, ...
DBX20.2 Torque limit 2
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or Torque limit 2 is requested by the PLC for the axis/spindle.
edge change For 611D two torque limit values can be set for each axis/spindle, whereby torque limit 2 refers to
0→1 torque limit 1 (reduction factor). Torque limit 2 is selected via the interface. The limit value is defined
using the drive parameters.
As soon as torque limit 2 is active for the drive, the drive signals this using the interface signal:
DB31, ... DBX92.2 (torque limit 2 active)
Signal state 0 or Only torque limit 1 has been selected by the PLC.
edge change
1→0
Signal irrelevant for SINUMERIKI 840Di
...
Application In order to reduce the stress on the mechanics and workpiece, the actual torque limit can be
example(s) reduced using torque limit 2 for certain machining operations.
Corresponding to .... DB31, ... DBX92.2 (torque limit 2 active)
Additional references /IAD/ SINUMERIK 840D Startup Guide; Chapter: SIMODRIVE 611D

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Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-31
Detailed Description
2.1 Various interface signals and functions (A2)

DB31, ...
DBX20.3 Speed setpoint smoothing
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The PLC requests a filter to smooth the speed setpoint value.
edge change In the drive module the interface signal is only effective under the following conditions:
0→1
• Speed setpoint filter 1 is active in the drive
• speed setpoint filter 1 has been configured as a lowpass filter (i.e. not as a bandstop filter)
As soon as these conditions exist whereby the smoothing of the speed setpoint is active, the 611D
or 611U signals this to the PLC using the interface signal:
DB31, ... DBX92.3 (speed setpoint smoothing active).
Signal state 0 or No smoothing of the speed setpoint value is requested by the PLC.
edge change
1→0
Application With this interface signal, speed setpoint smoothing can - for example - be activated from the PLC
example(s) user program for a spindle during speed control to achieve smooth torque output. Speed setpoint
smoothing can therefore be deactivated when the spindle is in positioning mode.
Special cases,
errors, ....
Corresponding to .... DB31, ... DBX92.3 (speed setpoint smoothing active)
Additional references /IAD/ SINUMERIK 840D Startup Guide; Chapter: SIMODRIVE 611D

DB31, ...
DBX21.0 - DBX21.2 Drive parameter set selection A, B, C
Edge evaluation: no Signal(s) updated: cyclic
Meaning With bit combinations A, B and C it is possible to select 8 different drive parameter sets for the
digital drives SIMODRIVE 611D/611U/SINUMERIK 810D.
The following assignment applies:

'ULYHSDUDPHWHUVHW & % $

   
   
   
   
   
   
   
   

The switchable drive parameters are as follows:

• Current setpoint filters (lowpass, bandstop); for adaptation to the mechanics
• Motor speed normalization
• Speed controller parameters

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 Detailed Description
2.1 Various interface signals and functions (A2)

DB31, ...
DBX21.0 - DBX21.2 Drive parameter set selection A, B, C
• Speed setpoint filter
• Speed monitoring data
As soon as the new drive parameter becomes effective, the drive signals this to the PLC using the
interface signals:
DB31, ... DBX93.0, 1 and 2 (active parameter set).
Application Drive parameter switchover can be used for the following:
example(s) • Changing the gear stage
• Changing-over the measuring circuit
Special cases, In principle it is possible to switch over drive parameter sets at any time. However, as torque jumps
errors, .... can occur when switching over speed controller parameters and motor speed normalization,
parameters should only be switched over when in the zero speed state (especially when the axis is
stationary).
Corresponding to .... DB31, ... DBX93.0, 1 and 2 (active drive parameter set)
Additional references /IAD/ SINUMERIK 840D Startup Guide; Chapter: SIMODRIVE 611D
or
/IAC/ SINUMERIK 810D Installation and Start-up Guide

DB31, ...
DBX21.3 - DBX21.4 Motor selection A, B
Edge evaluation: no Signal(s) updated: cyclic
Meaning The PLC can switch between 4 different motors or motor mode types using the motor selection
function.
The following assignment applies:

0RWRUVHOHFWLRQ $SSOLFDWLRQ % $
0RWRU 2SHUDWLQJPRGH  
0RWRU 2SHUDWLQJPRGH  

0RWRU UHVXSWR6:WKHQIRU  
0RWRU '3HUIRUPDQFHRU8FDQEH  
XVHGIRURSHUDWLQJPRGHRU

As soon as a new motor selection is detected, the drive cancels the pulse enable (feedback signal
using the interface signal DB31, ... DBX93.3 and 4 (active motor)).
Using the motor selection, it is possible, for example, to choose mode 1 as star-connected
operation and mode 2 as delta-connection operation for the main spindle drive (MSD).
The drive signals the currently selected motor back to the PLC using the interface signals:
DB31, ... DBX93.3 and 4 (active motor).

Signal irrelevant for SINUMERIK 810D

...
Application Timing for stardelta switchover

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Detailed Description
2.1 Various interface signals and functions (A2)

DB31, ...
DBX21.3 - DBX21.4 Motor selection A, B
example(s)
Special cases, Notice:
errors, .... Before a new motor is selected, the interface signal:
DB31, ... DBX21.5 (motor selected)
must be set to 0!
Corresponding to .... DB31, ... DBX93.3 and 4 (active motor)
DB31, ... DBX21.5 (motor selected)
Additional references /IAD/ SINUMERIK 840D Startup Guide; Chapter: SIMODRIVE 611D

DB31, ...
DBX21.5 Motor selection in progress
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The PLC outputs the interface signal:
edge change DB31, ... DBX21.5 (motor selected)
0→1 to the 611D to confirm that the external contactor has been switched over to the new motor (e.g.
that motor contactor 2 has been energized as part of the star/delta switchover process).
The pulses are then enabled by the drive.
Signal state 0 or The interface signal:
edge change DB31, ... DBX21.5 (motor selected)
1→0 must be reset to 0 by the PLC user program before a new motor is selected! Otherwise the pulses
from the drive might be enabled too early.
Signal irrelevant for SINUMERIK 810D
...
Corresponding to .... DB31, ... DBX93.3 and 4 (active motor)
DB31, ... DBX21.3 and 4 (motor selection A, B)
Additional references /IAD/ SINUMERIK 840D Startup Guide; Chapter: SIMODRIVE 611D

DB31, ...
DBX21.6 Speed controller integrator disable
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The interface signal is used by the 611D/611U to disable the integrator of the speed controller.
edge change The speed controller is thus changed over from a PI to a P controller.
0→1 Note:
If the speed controller integrator disable is activated, equalization processed might take place in
certain applications (e.g. if the integrator was already holding a load while stationary).
The 611D/611U acknowledges the integrator disable to the PLC using the interface signal:
DB31, ... DBX93.6 (speed controller integrator disabled).

Signal state 0 or The integrator of the speed controller is enabled.

edge change
1→0
Signal irrelevant for SINUMERIK 810D
...
Corresponding to .... DB31, ... DBX93.6 (integrator n-controller disabled)
Additional references /IAD/ SINUMERIK 840D Startup Guide; Chapter: SIMODRIVE 611D

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 Detailed Description
2.1 Various interface signals and functions (A2)

DB31, ...
DBX21.7 Pulse enable
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or Pulse enable is signaled by the PLC for this drive (axis/spindle).
edge change The pulses for the drive modules are only enabled if all enable signals (hardware and software) are
0→1 available (see figure for DB31, ... DBX93.5).
In this case, the interface signal:
DB31, ... DBX93.7 (pulses enabled)
is signaled to the PLC with a signal.
For additional information refer to DB31, ... DBX93.7 and references.
Signal state 0 or The pulses are disabled by the PLC for this drive.
edge change If pulse enable is canceled for a moving axis/spindle the axis/spindle is not longer braked in a
1→0 controlled fashion. The axis coasts to rest.
Signal irrelevant for SINUMERIK FM-NC
...
Application Signal relevant to safety
example(s)
Special cases, If pulse enable is canceled for a moving axis/spindle as a result of an EMERGENCY STOP, the
errors, .... axis/spindle only coasts to rest.
Corresponding to .... DB31, ... DBX93.7 (pulses enabled)
Additional references /IAD/ SINUMERIK 840D Startup Guide; Chapter: SIMODRIVE 611D
or
/IAC/ SINUMERIK 810D Installation and Start-up Guide

2.1.9 Signals from axis/spindle (DB31, ...)

DB31, ...
DBX61.0 Drive test travel request
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The control signals that all of the traversing conditions for the drives are fulfilled.
edge change Prerequisites for this are:
0→1
• The mechanical brake of the axis involved was previously released and all other axis traversing
conditions are fulfilled.
With:
DB31, ... DBX61.0 (drive test, travel request) = 1 signal
the appropriate axes can be moved.
• The axis disable:
DB31, ... DBX1.3 (axis/spindle disable) = 1 signal
is not active.
Signal state 0 or The control signals that the axes cannot be moved.
edge change Axes cannot be moved for:
1→0
• DB31, ... DBX61.0 (drive test, travel request) = 0 signal
• in the control when faults are present

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Detailed Description
2.1 Various interface signals and functions (A2)

DB31, ...
DBX61.0 Drive test travel request
This means that the prerequisites specified above are not fulfilled.
Further references /IAD/ SINUMERIK 840D Installation and Startup Guide; Chapter: SIMODRIVE 611D
or
/IAC/ SINUMERIK 810D Installation and Start-up Guide

DB31, ...
DBX61.3 Followup mode active
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The control signals that the followup mode for the axis/spindle is not active.
edge change Prerequisites for this are:
0→1
• The controller enable for the drive has been withdrawn (either by the PLC with "controller enable
" = 0 signal or inside the control for faults; refer to the references)
• Follow-up operation is selected (either by the PLC with IS "follow-up operation" = 1 signal or in
the control, e.g. when withdrawing the controller enable from an axis that is moving)
The position setpoint continually tracks the actual value while the follow-up mode is active.
Zero speed and clamping monitoring are not active.
Signal state 0 or The control signals that followup mode for the axis/spindle is not active.
edge change Zero speed and clamping monitoring are active.
1→0 This means that the above specified prerequisites are not fulfilled.
In the "hold" state, the interface signal:
DB31, ... DBX61.3 (follow-up mode active)
is 0.
Special cases, Notice:
errors, .... A delete distancetogo is triggered internally in the control on transition from "Follow up" to "Hold" (IS
"Followup mode" = 0) or in the closed-loop control mode (IS "Controller enable" = 1).
Corresponding to .... DB31, ... DBX2.1 (controller enable)
DB31, ... DBX1.4 (follow-up mode!)
Additional references /DA/ Diagnostics Guide

DB31, ...
DBX61.4 Axis/spindle stationary
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The current speed of the axis or the actual number of rotations of the spindle lies under the limit
edge change given by the machine data:
0→1 MD36060 $MA_STANDSTILL_VELO_TOL
(Maximum speed/number of rotations for signal "Axis/Spindle stationary").
Signal state 0 or The actual velocity of the axis or the actual spindle speed is greater than the value specified in the
edge change MD (standstill/zero speed range).
1→0 If a travel command is present, e.g. for a spindle, then the signal is always = 0 - even if the actual
speed lies below that specified in MD36060.
If the interface signal:
DB31, ... DBX61.4 (Axis/spindle stationary)
is rereported and no position control is active for the spindle, then the actual number of rotation is
displayed as zero on the operator interface and read as zero by the system variables $AA_S[n].
Application Enable signal for opening a protective device (e.g. open door).

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 Detailed Description
2.1 Various interface signals and functions (A2)

DB31, ...
DBX61.4 Axis/spindle stationary
example(s) The workpiece chuck or the tool clamping device is only opened when the spindle is stationary.
The oscillation mode can be switched-in during gear stage change after the spindle has been
braked down to standstill.
The tool clamping device must have been closed before the spindle can be accelerated.
Corresponding to .... MD36060 $MA_STANDSTILL_VELO_TOL
(maximum velocity/speed for signal "Axis/spindle stationary")

DB31, ...
DBX61.5 Position controller active
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The control signals that the position controller for the axis or spindle is closed.
edge change
0→1
Signal state 0 or The control signals that the position controller for the axis or spindle is open.
edge change If "controller enable" is canceled because of a fault or from the PLC user program the position
1→0 controller is opened and therefore the interface signal
DB31, ... DBX61.5 (position controller active)
is set to 0.
Spindle without position control: Signal "Position controller active" is always "0".
See References for other effects.
Application If the position control is active the axis/spindle is kept in position by the position controller.
example(s) Any brakes or clamps can thus be opened.
The interface signal:
DB31, ... DBX61.5 (position controller active)
can be used as feedback signal for the interface signal:
DB31, ... DBX2.1 (controller enable).

The holding brake of a vertical axis must be activated as soon as the position control is no longer
active.
If a spindle has been technically designed/dimensioned for the purpose, in the part program, it can
be changed-over into the closed-loop position controlled mode as spindle or as axis (withSPCON or
M70).
In these cases, the interface signal "position controller active" is set.
Special cases, Special case for simulation axes (MD30350 $MA_SIMU_AX_VDI_OUTPUT = "1"):
errors, .... The IS "position controller active" is also set for simulation axes as soon as MD = "1".
Corresponding to .... DB31, ... DBX2.1 (controller enable)
DB31, ... DBX1.4 (follow-up mode)
DB31, ... DBX1.5 and 1.6 (position measuring system 1 and 2)
Additional references /DA/ Diagnostics Guide

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Detailed Description
2.1 Various interface signals and functions (A2)

DB31, ...
DBX61.6 Speed controller active
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The control signals that the speed controller is closed for the axis or spindle.
edge change
0→1
Signal state 0 or The control signals that the speed controller is open for the axis or spindle.
edge change The speed controller output is cleared.
1→0
Application If the spindle is not under position control, the interface signal can be used as a feedback for the
example(s) interface signal:
DB31, ... DBX2.1 (controller enable).

Special cases, Special case for simulation axes (MD30350 = "1"):

errors, .... The interface signal:
DB31, ... DBX61.6 (speed controller active)
is also set for simulation axes as soon as:
MD30350 $MA_SIMU_AX_VDI_OUTPUT (output of the axis signals for simulation axes) = "1".
Corresponding to .... DB31, ... DBX61.5 (position controller active)

DB31, ...
DBX61.7 Current controller active
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The control signals that the current controller is closed for the axis or spindle.
edge change
0→1
Signal state 0 or The control signals that the current controller for the axis or spindle is open.
edge change The current controller output (including the feedforward quantities on the manipulated variable for
1→0 the voltage) is cleared.
Corresponding to .... DB31, ... DBX61.5 (position controller active)
DB31, ... DBX61.6 (speed controller active)

DB31, ...
DBX69.0 - DBX69.2 Controller parameter set switchover (A (checkback signal))
Active parameter set
Edge evaluation: no Signal(s) updated: After switchover
Signal state 1 or -
edge change
0→1
Signal state 0 or -
edge change
1→0
Signal irrelevant for MD35590 $MA_PARAMSET_CHANGE_ENABLE = 0
...
Application The binary-coded index of the activated parameter set is located in the 3 bits:
example(s) • 0 corresponds to the 1st parameter set

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 Detailed Description
2.1 Various interface signals and functions (A2)

DB31, ...
DBX69.0 - DBX69.2 Controller parameter set switchover (A (checkback signal))
Active parameter set
• 1 corresponds to the 2nd parameter set
• etc. (max. 6 parameter sets are possible)
Special cases, Index 0 is returned if the switchover function is disabled with:
errors, .... MD35590 $MA_PARASET_CHANGE_ENABLE = 0.

In this case, the 1st parameter set is always active.

Corresponding to .... DB31, ...DBX9.0 - DBX9.2 (controller parameter set switchover (request))

DB31, ...
DBX76.0 Lubrication pulse
Edge evaluation: yes Signal(s) updated: when a change is made
Signal state 1 or If the axis has traversed a distance further than entered in the machine data:
edge change MD33050 $MA_LUBRICATION_DIST (travel distance for lubrication from the PLC)
0→1 then the interface signal:
DB31, ...DBX76.0 (lubrication pulse)
is set for one PLC cycle.
Signal state 0 or IS "Lubrication pulse" is automatically reset to 0 after one PLC cycle.
edge change
1→0
Application The lubrication pump for the axis can be activated with IS "Lubrication pulse".
example(s) Machine bed lubrication therefore depends on the distance traveled.
Corresponding to .... MD33050 $MA_LUBRICATION_DIST (lubrication pulse distance)

DB31, ...
DBX92.0 Setting-up mode active
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or Setting-up mode is active for the drive (611D). The setting-up mode is selected using the terminals
edge change on the infeed/regenerative feedback module.
0→1 The setting-up mode is required for optimizing the machining process.
The following adaptations and additional functions are possible:
• Drive:
– Reducing the speed setpoint limits
– Reducing the current setpoint limits
• I/RF:
– Disabling the closed-loop DC link voltage control
Signal state 0 or Normal operation is active for the drive. The following thus applies:
edge change • The maximum limit values for speed and current setpoint are active
1→0
• DC link voltage control is active
Signal irrelevant for SINUMERIK 840Di, 810D
...
Additional references /IAD/ SINUMERIK 840D Installation and Startup Guide; Chapter: SIMODRIVE 611D

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Detailed Description
2.1 Various interface signals and functions (A2)

DB31, ...
DBX92.1 Rampfunction generator fast stop active
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or PLC receives the signal that the ramp function generator fast stop is active.
edge change The function has been activated by the interface signal:
0→1 DB31, ... DBX20.1 (ramp-function generator fast stop)
The drive is stopped without a ramp function with speed setpoint = 0 and without pulse
suppression.
Signal state 0 or Ramp function generator fast stop is not active for the drive.
edge change
1→0
Signal irrelevant for SINUMERIK 810D
...
Application Bypassing the ramp function generator on the servo side
example(s)
Corresponding to .... DB31, ... DBX20.1 (ramp-function generator fast stop)
Additional references /IAD/ SINUMERIK 840D Installation and Startup Guide; Chapter: SIMODRIVE 611D

DB31, ...
DBX92.2 Torque limit 2 active
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or Drive (611D) sends an acknowledgment to the PLC that torque limit 2 is active in addition to torque
edge change limit 1. The particular limit value is defined using the drive parameters.
0→1
Signal state 0 or Only torque limit 1 is active.
edge change
1→0
Signal irrelevant for SINUMERIK 840Di, 810D
...
Corresponding to .... DB31, ... DBX20.2 (torque limit 2)
Additional references /IAD/ SINUMERIK 840D Installation and Startup Guide; Chapter: SIMODRIVE 611D

DB31, ...
DBX92.3 Speed setpoint smoothing active
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The speed setpoint smoothing requested by the PLC with the interface signal:
edge change DB31, ... DBX20.3 (speed setpoint smoothing)
0→1 is active.
Signal state 0 or No speed setpoint smoothing is active.
edge change
1→0
Signal irrelevant for SINUMERIK 810D
...
Corresponding to .... DB31, ... DBX20.3 (speed setpoint smoothing)
Additional references /IAD/ SINUMERIK 840D Installation and Startup Guide; Chapter: SIMODRIVE 611D

NC/PLC interface signals (Z1)

2-40 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.1 Various interface signals and functions (A2)

DB31, ...
DBX93.0 - DBX93.2 Active drive parameter set A, B, C
Edge evaluation: no Signal(s) updated: cyclic
Meaning The drive module (611D/611U) signals back to the PLC which drive parameter set is currently
active.
With bit combinations A, B and C, 8 different drive parameter sets can be selected for the 611D.
The following assignment applies:

DFWLYHGULYHSDUDPHWHUVHW & % $

   
   
   
   
   
   
   
   

Application Drive parameter switchover can be used for the following:

example(s) • To change the gear stage
• To change over the measuring circuit
Corresponding to .... DB31, ... DBX21.0 - DBX21.2 (drive parameter set selection)
Additional references DB31, ... DBX21.0 - DBX21.2 (drive parameter set selection)
or
/IAD/ SINUMERIK 840D Installation and Start-up Guide; Chapter: SIMODRIVE 611D
or
/IAC/ SINUMERIK 810D Installation and Start-up Guide

DB31, ...
DBX93.3 - DBX93.4 Active motor A, B
Edge evaluation: no Signal(s) updated: cyclic
Meaning The drive module (611D) returns signals to PLC stating which motor selection is currently active.
Motor selection can be used with a main spindle drive (MSD) to switch between star and delta
operation and so reduce the starting current.
The following assignment applies:

NC/PLC interface signals (Z1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-41
Detailed Description
2.1 Various interface signals and functions (A2)

DB31, ...
DBX93.3 - DBX93.4 Active motor A, B

$FWLYHPRWRU $SSOLFDWLRQ % $
0RWRU 06'6WDUPRGH  
0RWRU 06''HOWDPRGH  
0RWRU 5HVHUYHG  
0RWRU 5HVHUYHG  

Signal irrelevant for SINUMERIK 810D

...
Corresponding to .... DB31, ... DBX21.3 and DBX21.4 (motor selection)
DB31, ... DBX21.5 (motor selected)
Additional references /IAD/ SINUMERIK 840D Installation and Startup Guide; Chapter: SIMODRIVE 611D

DB31, ...
DBX93.5 Drive Ready
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or Feedback signal from the drive to the PLC that the drive is ready.
edge change
0→1
Signal state 0 or The drive is not ready.
edge change The drive might be disabled for the following reasons (refer to Fig. 53):
1→0
• Enable terminals not energized (e.g. terminal 63 "Controller and pulse enable"; terminal 663
"Safe operating stop", terminal 64 "Setpoint enable")
• Drive alarm active (e.g. motor temperature has reached switchoff threshold)
• DC link voltage is too low
• Drive has not yet reached cyclic operation
• Hardware fault
• No position measuring system is active ("parking axis" state)
• I/R is not switched on
As soon as the drive is ready for operation it is stopped (depending on the fault state either with
pulse disable or fast stop) or pulse disable is maintained during ramp up.
The interface signals:
DB10 DBX108.6 (611D ready)
DB31, ... DBX61.7 (current controller active)
DB31, ... DBX61.6 (speed controller active)
are also withdrawn.
IS "611D Ready" is not available for the 840Di when used in conjunction with the drive 611U.

NC/PLC interface signals (Z1)

2-42 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.1 Various interface signals and functions (A2)

DB31, ...
DBX93.5 Drive Ready

*DWLQJVHWHQDEOH

6HUYRDQGSXOVHHQDEOH WHUPLQDO

3XOVHHQDEOH VDIHRSHUDWLQJVWRS  WHUPLQDO

6WRUHGKDUGZDUHLQSXW
'ULYHUHDG\
6HWSRLQWHQDEOH WHUPLQDO
,6'ULYHUHDG\

QR'DODUP '&OLQNIDXOW

'&OLQNFRQQHFWHG

5DPSXSFRPSOHWHG
6WDWXVUHDG\IRU
WUDYHUVH WHUPLQDO


Corresponding to .... DB10 DBX108.6 (611D-Ready)

DB31, ... DBX61.7 (current controller active)
DB31, ... DBX61.6 (speed controller active)
Additional references /IAD/ SINUMERIK 840D Installation and Startup Guide; Chapter: SIMODRIVE 611D
or
/IAC/ SINUMERIK 810D Installation and Start-up Guide

DB31, ...
DBX93.6 Speed controller integrator disabled
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The request from the PLC to disable the integrator of the speed controller using interface signal:
edge change DB31, ... DBX21.6 (integrator inhibit, speed controller)
0→1 is active for the drive module.
The speed controller has therefore switched from a PI to a P controller.
Signal state 0 or The integrator of the speed controller is enabled. The speed controller functions as a PI controller.
edge change
1→0
Signal irrelevant for SINUMERIK 810D
...
Corresponding to .... DB31, ... DBX21.6 (integrator disable, n-controller)
Additional references /IAD/ SINUMERIK 840D Installation and Startup Guide; Chapter: SIMODRIVE 611D

NC/PLC interface signals (Z1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-43
Detailed Description
2.1 Various interface signals and functions (A2)

DB31, ...
DBX93.7 Pulses enabled
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The pulse enable for the drive module is available. The axis/spindle can now be traversed.
edge change
0→1
Signal state 0 or The drive module pulses are suppressed. Therefore, the axis/spindle cannot be traversed.
edge change The pulses are suppressed as soon as there is no enable signal (refer to Fig.).
1→0
Also, if the "controller enable of drive" is withdrawn, the drive is stopped with setpoint 0
(regenerative braking).
A timer is started in the drive module and after the configured time has expired:
MD1404 $MD_PULSE_SUPPRESSION_DELAY (timer stage, pulse suppression),
the pulses are inhibited.
If, within this time, the actual speed reaches the shutdown speed:
MD1403 $MD_PULSE_SUPPRESSION_SPEED (pulse suppression),
then at this time, the pulses are inhibited.
If the speed is less than/equal to the speed threshold (MD1403), and if the controller enable of the
drive is withdrawn, then the pulses are immediately suppressed.
Pulse suppression is also triggered if there is no position measuring system ("parking axis" state).
As soon as the pulses are suppressed, then also the interface signals:
DB31, ... DBX61.7 (current controller active)
and
DB31, ... DBX61.6 (speed controller active)
are reset.

1& 3/&167 3/&167

SXOVHHQDEOH SXOVHVHQDEOHG

&HQWUDOSXOVHHQDEOH

WHUPLQDO 3XOVHHQDEOH
VRIWZDUH

3XOVHHQDEOH 3XOVHVHQDEOHG
KDUGZDUH

6DIHRSHUDWLQJVWRS '
,5
WHUPLQDO GULYHPRGXOH
)

3( 3XOVHHQDEOH
,5 ,QIHHGUHJHQHUDWLYH
IHHGEDFNPRGXOH

NC/PLC interface signals (Z1)

2-44 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.1 Various interface signals and functions (A2)

DB31, ...
DBX93.7 Pulses enabled

Pulse enable for 611D drive module

Corresponding to .... DB31, ... DBX21.7 (pulse enable)
MD1404 $MD_PULSE_SUPRESSION_DELAY
MD1403 $MD_PULSE_SUPRESSION_SPEED
Additional references /IAD/ SINUMERIK 840D Installation and Startup Guide; Chapter: SIMODRIVE 611D
or
/IAC/ SINUMERIK 810D Installation and Start-up Guide

DB31, ...
DBX94.0 Motor temperature pre-warning
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The drive module signals a "Motor temperature pre-warning" to the PLC.
edge change In this case, the motor temperature has exceeded the defined warning threshold:
0→1 MD1602 $MD_MOTOR_TEMP_WARN_LIMIT (maximum motor temperature; standard value
120 °C)
(② in the diagram).
If the motor temperature remains too high, after a defined time:
MD1603 $MD_MOTOR_TEMP_ALARM_TIME
(timer state, motor temperature alarm, standard value 240 s)
the drive is regeneratively braked and then the pulses are inhibited (③ in the diagram).
Alarm 300614 is output and the interface signal:
DB10 DBX108.6 (611D ready)
is withdrawn.
If the motor temperature rises still further and the shutdown threshold defined in:
MD1607 $MD_MOTOR_TEMP_SHUTDOWN_LIMIT
(motor temperature shutdown limit, default value 155 °C)
is reached, the drive is stopped immediately (refer to ④ in the diagram).
An alarm is also output and IS "Drive Ready" canceled.
However, if the motor temperature drops back down to below the warning threshold, the IS is reset
to 0 (refer to ② in the diagram).
Exception:
If no temperature sensor signal is measured, this is interpreted as a fault in the motor PTC
thermistor
In this case, the interface signal:
DB31, ... DBX94.0 (motor temperature pre-warning)
is also set.
The procedure continues as described above.
Signal state 0 or The motor temperature is below the warning threshold.
edge change The actual motor temperature is displayed in the axis/spindle service display in the operating area
1→0 "diagnostics".
This display corresponds to the machine data:
MD1702 $MD_MOTOR_TEMPERATURE (motor temperature)

NC/PLC interface signals (Z1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-45
Detailed Description
2.1 Various interface signals and functions (A2)

DB31, ...
DBX94.0 Motor temperature pre-warning

0RWRUWHPSHUDWXUH $ODUP

0'0'B02725B7(03
6KXWGRZQOLPLW
B6+87'2:1B/,0,7 $ODUP



:DUQLQJ :DUQLQJ

0'0'B02725
:DUQLQJWKUHVKROG
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7LPH
'80'
0'0'B02725B7(03
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,60RWRU 
WHPSHUDWXUH
 
SUHZDUQLQJ

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H
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Application As soon as "Motor temperature prewarning" has been signaled, the PLC can, for example, initiate
example(s) controlled shutdown of the drives.
Corresponding to .... DB31, ... DBX93.5 (drive ready)
MD1602 $MD_MOTOR_TEMP_WARN_LIMIT
MD1603 $MD_MOTOR_TEMP_ALARM_TIME
MD1607 $MD_MOTOR_TEMP_SHUTDOWN_LIMIT
Additional references /DA/ Diagnostics Guide
/IAD/ SINUMERIK 840D Installation and Startup Guide; Chapter: SIMODRIVE 611D
or
/IAC/ SINUMERIK 810D Installation and Start-up Guide

DB31, ...
DBX94.1 Heatsink temperature pre-warning
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The drive module sends the warning "heatsink temperature pre-warning" to the PLC.
edge change This triggers the following:
0→1
• Terminal 5 on the infeed/regenerative feedback module is simultaneously activated.

NC/PLC interface signals (Z1)

2-46 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.1 Various interface signals and functions (A2)

DB31, ...
DBX94.1 Heatsink temperature pre-warning
• The drive module is switched off after 20 seconds. The drives are stopped when the impulse
enable is removed. Then alarm 300515 is triggered.
Signal state 0 or The drive module heatsink temperature pre-warning has not responded.
edge change
1→0
Application As soon as "heatsink temperature warning" has been signaled, the PLC can, for example, initiate
example(s) controlled shutdown of the drives.
Additional references /DA/ Diagnostics Guide

DB31, ...
DBX94.2 Ramp-up completed
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The PLC is signaled, that after a new speed setpoint has entered, the speed actual value has
edge change reached the speed tolerance bandwidth:
0→1 MD1426 $MD_SPEED_DES_EQ_ACT_TOL (tolerance bandwidth for nset = nact - signal)
and has remained within this tolerance bandwidth for at least the time defined using machine data:
MD1427 $MD_SPEED_DES_EQ_ACT_DELAY (delay time nset = nact - signal)
refer to the diagram).
Even if the speed actual value leaves the tolerance band (because of speed fluctuations resulting
from changes in load) the "rampup completed" signal remains (1 signal).
Signal state 0 or The conditions described above have not yet been fulfilled. The rampup has therefore not yet been
edge change completed.
1→0

NC/PLC interface signals (Z1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-47
Detailed Description
2.1 Various interface signals and functions (A2)

DB31, ...
DBX94.2 Ramp-up completed

5DPSIXQFWLRQJHQHUDWRU
DFWLYH FRQWUROZRUGVHUYR

DFWLYH

LQDFWLYH
6SHHGVHWSRLQW 7LPH
6SHHGQ QVHW 0'
0'B63(('B'(6B(4B$&7B72/

6SHHGWROHUDQFH
EDQGZLGWK

6SHHGDFWXDOYDOXHQDFW

,65DPSXS
FRPSOHWHG 7LPH


77' 7!7'
WKHUHIRUH VLJQDO
QRVLJQDO WKDWLV
LQWHUORFNHG



,6QDFW 
QVHW 7LPH


77' 7!7' 7!7'
WKHUHIRUH 6LJQDO 6LJQDO
QRVLJQDO


7LPH
7' 0'0'B63(('B'(6B(4B$&7B'(/$<

Corresponding to .... DB31, ... DBX94.6 ("nact = nset")

DB31, ... DBX94.3 ("|MD| = Mdx")
MD1426 $MD_SPEED_DES_EQ_ACT_TOL
MD1427 $MD_SPEED_DES_EQ_ACT_DELAY
Additional references /IAD/ SINUMERIK 840D Installation and Startup Guide; Chapter: SIMODRIVE 611D
or
/IAC/ SINUMERIK 810D Installation and Start-up Guide

NC/PLC interface signals (Z1)

2-48 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.1 Various interface signals and functions (A2)

DB31, ...
DBX94.3 |Md| < Mdx
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or 611D signals to the PLC that the torque setpoint |Md| does not exceed the threshold torque Mdx in
edge change the steady-state condition (i.e. ramp-up completed) (refer to the diagram).
0→1 The threshold torque is set using the machine data:
MD1428 $MD_TORQUE_THRESHOLD_X (threshold torque)
as a % of the actual torque limit value.
The torque threshold characteristic is speeddependent.
While ramping-up, the interface signal:
DB31, ... DBX94.2 (|Md|< Mdx)
remains at 1.
The signal |Md|< Mdx only becomes active after ramp-up has been completed:
DB31, ... DBX94.2 (ramp-up completed) = 1
and the signal interlocking time for the threshold torque:
MD1429 $MD_TORQUE_THRESHOLD_X_DELAY (delay time nd < ndx - signal)
has expired
Signal state 0 or The torque setpoint |Md| is larger than the threshold torque Mdx.
edge change If necessary, the PLC user program can initiate a response.
1→0

NC/PLC interface signals (Z1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-49
Detailed Description
2.1 Various interface signals and functions (A2)

DB31, ...
DBX94.3 |Md| < Mdx

5DPSIXQFWLRQJHQHUDWRU
DFWLYH FRQWUROZRUGVHUYR

DFWLYH

LQDFWLYH
7LPH
6SHHG
6SHHGVHWSRLQWQVHW

6SHHG
WROHUDQFH
EDQG

6SHHGDFWXDOYDOXHQDFW

7LPH
7RUTXH
7KUHVKROGWRUTXH'
0'0'B72548(B7+5(6+2/'B;
IRU-0G-0G[

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FRPSOHWHG


77' 7!7'
WKHUHIRUH VLJQDO
QRVLJQDO WKDWLV
LQWHUORFNHG


,6 7LPH
,0G,0G[


5HPDLQVDFWLYHGXULQJUDPS"XS 7'
LQWHUORFNHGWRDFWLYH


7LPH
7' 0'0'B63(('B'(6B(4B$&7B'(/$<
7' 0'0'B72548(B7+5(6+2/'B;B'(/$<

Corresponding to .... DB31, ... DBX94.2 (ramp-up completed)

NC/PLC interface signals (Z1)

2-50 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.1 Various interface signals and functions (A2)

DB31, ...
DBX94.3 |Md| < Mdx
MD1428 $MD_TORQUE_THRESHOLD_X
MD1429 $MD_TORQUE_THRESHOLD_X_DELAY
MD1427 $MD_SPEED_DES_EQ_ACT_DELAY
Additional references /IAD/ SINUMERIK 840D Installation and Startup Guide; Chapter: SIMODRIVE 611D
or
/IAG/ SINUMERIK 810D Installation and Start-up Guide

DB31, ...
DBX94.4 |nact| < nmin
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The SIMODRIVE 611 D/ 611D signals the PLC that the speed actual value nact is less than the
edge change minimum speed (nmin).
0→1 The minimum speed is defined using the machine data:
MD1418 $MD_SPEED_THRESHOLD_MIN
.
Signal state 0 or The speed actual value is higher than the minimum speed.
edge change
1→0
Corresponding to .... MD1418 $MD_SPEED_THRESHOLD_MIN (minimum speed (nmin for nact< nmin))
Additional references /IAD/ SINUMERIK 840D Installation and Startup Guide; Chapter: SIMODRIVE 611D
or
/IAC/ SINUMERIK 810D Installation and Start-up Guide

DB31, ...
DBX93.5 |nact| < nx
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The 611D/ 611U signals the PLC that the speed actual value nactis less than the threshold speed
edge change (nx).
0→1 The threshold speed is defined using the machine data:
MD1417 $MD_SPEED_THRESHOLD_X
.
Signal state 0 or The speed actual value is higher than the threshold speed.
edge change
1→0
Corresponding to .... MD1417 $MD_SPEED_THRESHOLD_X (threshold speed (nx for nact < nx))
Additional references /IAD/ SINUMERIK 840D Installation and Startup Guide; Chapter: SIMODRIVE 611D
or
/IAC/ SINUMERIK 810D Installation and Start-up Guide

NC/PLC interface signals (Z1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-51
Detailed Description
2.1 Various interface signals and functions (A2)

DB31, ...
DBX94.6 nact= nset
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or SIMODRIVE 611D/611U signals the PLC that after a new speed setpoint has been entered, the
edge change speed actual value nact has reached the speed tolerance bandwidth:
0→1 MD1426 $MD_SPEED_DES_EQ_ACT_TOL (tolerance bandwidth for nset = nact signal)
and has remained within this tolerance bandwidth for at least the time defined using machine data:
MD1427 $MD_SPEED_DES_EQ_ACT_DELAY (delay time for nset = nact signal)
(refer to the diagram).
If the speed actual value then leaves the tolerance bandwidth, then contrary to the signal "ramp-up
completed", the interface signal:
DB31, ... DBX94.6 (nact = nset)
is set to 0.
Signal state 0 or The conditions described above have not yet been fulfilled. The speed actual value is outside the
edge change speed tolerance bandwidth.
1→0
Corresponding to .... DB31, ... DBX94.2 (ramp-up completed)
MD1426 $MD_SPEED_DES_EQ_ACT_TOL
MD1427 $MD_SPEED_DES_EQ_ACT_DELAY
Additional references /IAD/ SINUMERIK 840D Installation and Startup Guide; Chapter: SIMODRIVE 611D
or
/IAC/ SINUMERIK 810D Installation and Start-up Guide

DB31, ...
DBX94.7 Variable signaling function
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 The SIMODRIVE 611D/611U signals the PLC that the threshold value has exceeded the value
being monitored.
With the variable signaling function it is possible to monitor for each axis whether a defined
threshold - that can be entered - is exceeded for any programmable value of SIMODRIVE
611D/611U. A corresponding interface signal is then sent to the PLC.
The parameters for the variables being monitored are set in the following machine data:
• MD1620 $MD_PROG_SIGNAL_FLAGS (bits variable signal function)
• MD1621 $MD_PROG_SIGNAL_NR (signal number variable signal function)
• MD1622 $MD_PROG_SIGNAL_ADDRESS (address variable signal function)
• MD1623 $MD_PROG_SIGNAL_THRESHOLD (threshold variable signal function)
• MD1624 $MD_PROG_SIGNAL_HYSTERESIS (hysteresis variable signal function)
• MD1625 $MD_PROG_SIGNAL_ON_DELAY (on delay variable signal function)
• MD1626 $MD_PROG_SIGNAL_OFF_DELAY (off delay variable signal function)
Monitoring:
The parameterized variable is monitored to check whether it exceeds a defined threshold. In
addition, a tolerance band (hysteresis) can be defined which is considered when scanning for
violation of the threshold value. Further, the "threshold exceeded" signal can be also be logically
combined with an on delay and off delay time (refer to the diagram).
Selection:
The variable to be monitored can be selected by entering a signal number or by entering a symbolic
address.

NC/PLC interface signals (Z1)

2-52 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.1 Various interface signals and functions (A2)

DB31, ...
DBX94.7 Variable signaling function
The machine data:
MD1620 $MD_PROG_SIGNAL_FLAGS (bits, variable signaling function)
can be used to enable and disable the variable signaling function on an axis-for-axis basis.
This machine data can also be used to determined whether the threshold value comparison is to be
signed or unsigned.
For further information see References.
Signal state 0 SIMODRIVE 611D signals the PLC that the threshold value of the variable being monitored has not
been exceeded or that the conditions defined in the above 611DMD are not fulfilled.
If the variable signaling function is disabled (MD1620), signal state "0" is output to the PLC.

7KUHVKROG 7ROHUDQFHEDQG
0' 0'
0'B352*B 0'B352*B6,*1$/
6,*1$/B B+<67(5(6,6
7+5(6+2/'

6LJQDO7KUHVKROGYDOXHH[FHHGHG

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0'0'B352*B6,*1$/B21B'(/$< 0'0'B352*B6,*1$/B2))B'(/$<

Application With the variable signal function the machine tool manufacturer can monitor one additional
example(s) threshold value for specific applications for each axis/spindle and evaluate the result in the PLC
user program.
Example:
The interface signal:
DB31, ... DBX94.7 (variable signaling function)
should be set to a 1 if the motor torque exceeds 50 % of the rated torque.
Corresponding to .... MD1620 $MD_PROG_SIGNAL_FLAGS (bits variable signal function)
MD1621 $MD_PROG_SIGNAL_NR (signal number variable signal function)
MD1622 $MD_PROG_SIGNAL_ADDRESS (address variable signal function)
MD1623 $MD_PROG_SIGNAL_THRESHOLD (threshold variable signal function)
MD1624 $MD_PROG_SIGNAL_HYSTERESIS (hysteresis variable signal function)
MD1625 $MD_PROG_SIGNAL_ON_DELAY (on delay variable signal function)
MD1626 $MD_PROG_SIGNAL_OFF_DELAY (off delay variable signal function)
Additional references /IAD/ SINUMERIK 840D Installation and Startup Guide; Chapter: SIMODRIVE 611D
or
/IAC/ SINUMERIK 810D Installation and Start-up Guide

NC/PLC interface signals (Z1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-53
Detailed Description
2.1 Various interface signals and functions (A2)

DB31, ...
DBX95.0 VDC link < warning threshold
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The drive signals the PLC that the DC link voltage VDC link has dropped below the DC link
edge change undervoltage warning threshold.
0→1 The DC link undervoltage warning threshold is defined using:
MD1604 $MD_LINK_VOLTAGE_WARN_LIMIT
.
The DC link undervoltage warning threshold should be defined to be greater than 400 V, depending
on the application case. If the DC link voltage drops below 280 V, the unit is powered-down by the
hardware.
Signal state 0 or The DC link voltage VDClink is greater than the DC link undervoltage warning threshold.
edge change
1→0
Application If a warning signal is given, measures can be taken by the PLC user program, for example, to stop
example(s) machining (e.g. start tool retraction) or to buffer the DC link voltage.
Corresponding to .... MD1604 $MD_LINK_VOLTAGE_WARN_LIMIT (DC link undervoltage warning threshold)
Additional references /IAD/ SINUMERIK 840D Installation and Startup Guide; Chapter: SIMODRIVE 611digital
or
/IAG/ SINUMERIK 810D Installation and Start-up Guide

DB31, ...
DBX95.7 i2t monitoring
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The drive signals the PLC that the power unit monitoring has responded.
edge change The rated current limit of this i2t monitoring function is defined in drive machine data
0→1 MD1261 $MD_I2T_NOMINAL_REDUCTION.

It is also possible to set the time for which the power unit may be at its limit in machine data:
MD1262 $MD_DIAGNOSIS_I2T

The i2t monitoring function can be used to protect the power unit of digital drives against continuous
overloads.
Signal state 0 or The i2t monitoring function has not responded.
edge change
1→0
Application Further measures can be initiated by the PLC user program, if necessary, when the warning signal
example(s) is activated.
Corresponding to .... MD1261 $MD_I2T_NOMINAL_REDUCTION (i2t limiting, rated power unit current)
MD1262 $MD_DIAGNOSIS_I2T (i2t time at the limit)
MD1263 $MD_LIMIT_I2T (i2t actual limit factor)
MD1264 $MD_LOAD_I2T (i2t actual utilization factor)
Additional references /IAD/ SINUMERIK 840D Installation and Startup Guide; Chapter: SIMODRIVE 611D
or
/IAC/ SINUMERIK 810D Installation and Start-up Guide

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2.2 Axis monitoring, protection zones (A3)

2.2 Axis monitoring, protection zones (A3)

2.2.1 Signals to channel (DB21, ...)

DB21, ...
DBX1.1 Enable protection zones
Edge evaluation: yes Signal(s) updated: cyclic
Signal state 1 or When a positive edge of this signal appears, a protection zone is enabled and the active alarm
edge change cleared. Then, motion can start in the same protection zone. As a result of the start of motion, the
0→1 protection zone is enabled, the IS "machine or channel-specific protection zone violated" is set, and
the axis starts to move.
The enabling signal is canceled if motion is started that does not lead into the enabled protection
zone.
Signal state 0 or No effect
edge change
1→0
Application This allows protection zones to be released:
example(s) • if the current position is within a protection zone (alarm 2 present)
• if motion is to be started towards the protection zone limit
(alarm 1 or 2 present)

DB21, ...
DBX8.0 - DBX9.1 Activate machinespecific protection zone 1 ( ...10)
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The pre-activated, machinerelated protection zone 1 ( ...10) is activated by the PLC user program.
edge change The protection zone is immediately active.
0→1
Only protection zones that have been pre-activated in the part program can be activated.
Signal state 0 or The pre-activated, machinerelated protection zone 1 ( ...10) is de-activated by the PLC user
edge change program.
1→0 The protection zone is immediately deactivated.
Only protection zones that have been activated via the PLC and have been preactivated in the NC
part program can be deactivated.
Application Before a sensor, for example, is moved into the working range, the relevant machinerelated
example(s) protection zone can be activated.

DB21, ...
DBX10.0 - DBX11.1 Activate channelspecific protection zone 1 ( ...10)
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The preactivated, channelspecific protection zone 1 ( ...10) is activated by the PLC user program.
edge change The protection zone is immediately active.
0→1
Only protection zones that have been pre-activated in the part program can be activated.
Signal state 0 or The pre-activated, channelspecific protection zone 1 ( ...10) is de-activated by the PLC user
edge change program.

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2.2 Axis monitoring, protection zones (A3)

DB21, ...
DBX10.0 - DBX11.1 Activate channelspecific protection zone 1 ( ...10)
1→0 The protection zone is immediately de-activated.
Only protection zones that have been activated via the PLC and have been pre-activated in the NC
part program can be de-activated.
Application Before a synchronous spindle, for example, is moved into the working range, the relevant machine-
example(s) related protection zone can be activated.

2.2.2 Signals from channel (DB21, ...)

DB21, ...
DBX272.0 – Machinerelated protection zone 1 ( ...10) pre-activated
DBX273.1
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The machinerelated protection zone 1 ( ...10) is preactivated in the current block.
edge change (Pre-activated in the part program).
0→1 The protection zone can therefore be activated or de-activated in the PLC user program using the
interface signal:
DB21, ... DBX8.0 - DBX9.1 (machine-related protection zone 1 (...10))

Signal state 0 or The machinerelated protection zone 1 ( ...10) is deactivated in the current block.
edge change (De-activated in the part program).
1→0 The protection zone can therefore not be activated or de-activated in the PLC user program using
the interface signal:
DB21, ... DBX8.0 to DBX9.1 (activate machine-related protection zone 1 (...10))

Corresponding DB21, ... DBX8.0 - DBX9.1 (activate machine-related protection zone 1 (...10))
to ....

DB21, ...
DBX274.0 – Channelspecific protection zone 1 (...10) pre-activated
DBX275.1
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The channelspecific protection zone 1 ( ...10) is preactivated in the current block.
edge change (Pre-activated in the part program).
0→1 The protection zone can therefore be activated or de-activated in the PLC user program using the
interface signal:
DB21, ... DBX10.0 - DBX11.1 channel-specific protection zone 1 (...10))

Signal state 0 or The channelspecific protection zone 1 ( ...10) is deactivated in the current block.
edge change (De-activated in the part program.)
1→0 The protection zone can therefore not be activated or de-activated in the PLC user program using
the interface signal:
DB21, ... DBX10.0 - DBX11.1 (channel-specific protection zone 1 (...10))

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2.2 Axis monitoring, protection zones (A3)

DB21, ...
DBX274.0 – Channelspecific protection zone 1 (...10) pre-activated
DBX275.1
Corresponding DB21, ... DBX10.0 - DBX11.1 (activate channel-specific protection zone 1 (...10))
to ....

DB21, ...
DBX276.0 – Machinerelated protection zone 1 (...10) violated
DBX277.1
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The activated, machinerelated protection zone 1 ( ...10) is violated in the current block or in the
edge change current JOG movement.
0→1 The pre-activated, machinerelated protection zone 1 ( ...10) would be violated in the current block if
it would be activated by the PLC.
Signal state 0 The activated, machinerelated protection zone 1 (...10) is not violated in the current block.
or edge change The pre-activated, machinerelated protection zone 1 (...10) would not be violated in the current
1→0 block if it would be activated by the PLC.
Application Before parts are moved into the working zone - this IS can be used to check as to whether the tool
example(s) or workpiece is located in the machinerelated protection zone of the part to be moved in.

DB21, ...
DBX278.0 - Channelspecific protection zone 1 (...10) violated
DBX279.1
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The activated, channelspecific protection zone 1 ( ...10) is violated in the current block.
edge change The pre-activated, channelspecific protection zone 1 ( ...10) would be violated in the current block if
0→1 it would be activated by the PLC.
Signal state 0 or The activated, channelspecific protection zone 1 ( ...10) is not violated in the current block.
edge change The pre-activated, channelspecific protection zone 1 (...10) would not be violated in the current
1→0 block if it would be activated by the PLC.
Application Before parts are moved into the working zone - this IS can be used to check whether the tool or
example(s) workpiece is located in the channelspecific protection zone of the part to be moved-in.

2.2.3 Signals to axis/spindle (DB31, ...)

DB31, ...
DBX2.3 Clamping in progress
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or Clamping in progress.
edge change The clamping monitoring function is activated.
0→1
Signal state 0 or Clamping completed.

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2.2 Axis monitoring, protection zones (A3)

DB31, ...
DBX2.3 Clamping in progress
edge change The clamping monitoring function is replaced by the standstill (zero speed) monitoring.
1→0
Corresponding to .... MD36050 $MA_CLAMP_POS_TOL (Clamping tolerance)

DB31, ...
DBX3.6 Velocity/spindle speed limitation
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The NCK limits the velocity/spindle speed to the limit value set in the machine data:
edge change MD35160 $MA_SPIND_EXTERN_VELO_LIMIT
0→1
Signal state 0 or No limitation active.
edge change
1→0
Corresponding to .... MD35100 $MA_SPIND_VELO_LIMIT (max. spindle speed)
SD43220 $SA_SPIND_MAX_VELO_G26 (prog. spindle speed limiting G26)
MD43230 $SA_SPIND_MAX_VELO_LIMIT (prog. spindle speed limiting G96/G961)

DB31, ...
DBX12.0 - DBX12.1 Hardware limit switches plus and minus
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or A switch can be mounted at each end of the travel range of a machine axis which will cause a
edge change signal "hardware limit switch plus or minus" to be signaled to the NC via the PLC if it is actuated.
0→1 If the signal is recognized as set, alarm 021614 "hardware limit switch + or -" is output and the axis
is decelerated immediately.
The braking/deceleration type is defined using the machine data:
MD36600 $MA_BRAKE_MODE_CHOICE (braking behavior at the hardware limit switch)

If the controller enable is withdrawn at the same time as the "hardware limit switch" signal, then the
axis responds as described in Chapter A2 ("various interface signals").
Signal state 0 or Normal condition - a hardware limit switch has not been actuated.
edge change
1→0
Corresponding to .... MD36600 $MA_BRAKE_MODE_CHOICE (deceleration behavior when the hardware limit switch
responds)

DB31, ...
DBX12.2 - DBX12.3 2nd software limit switch plus or minus
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or 2nd software limit switch for the plus and minus directions is effective.
edge change 1st software limit switch for the plus and minus directions is not effective.
0→1
In addition to the 1st software limit switches (plus and minus), the 2nd software limit switches (plus
and minus) can be activated using these interface signals.
The position is defined using machine data:

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2.2 Axis monitoring, protection zones (A3)

DB31, ...
DBX12.2 - DBX12.3 2nd software limit switch plus or minus
MD36130 $MA_POS_LIMIT_PLUS2 (2nd software limit switch plus)
and
MD36120 $MA_POS_LIMIT_MINUS2 (2nd software limit switch minus)
.
Signal state 0 or 1st software limit switch for the plus and minus directions is effective.
edge change 2nd software limit switch for the plus and minus directions is not effective.
1→0
Corresponding to .... MD36110 $MA_POS_LIMIT_PLUS (1st software limit switch plus)
MD36130 $MA_POS_LIMIT_PLUS2 (2nd software limit switch plus)
MD36100 $MA_POS_LIMIT_MINUS (1st software limit switch minus)
MD36120 $MA_POS_LIMIT_MINUS2 (2nd software limit switch minus)

2.2.4 Signals from axis/spindle (DB31, ...)

DB31, ...
DBX60.2 - DBX60.3 Encoder limit frequency exceeded 1
Encoder limit frequency exceeded 2
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The limit frequency set in the machine data:
edge change MD36300 $MA_ENC_FREQ_LIMIT (encoder limit frequency)
0→1 has been exceeded.
The reference point for the position measuring system involved has been lost (IS:
Referenced/synchronized has a signal state 0). Closed loop position control is no longer possible.
Spindles continue to run with closed-loop speed control. Axes are stopped with a fast stop (with
open-circuit position control loop) along a speed setpoint ramp.
Signal state 0 or The limit frequency set in machine data:
edge change MD36300 $MA_ENC_FREQ_LIMIT
1→0 is no longer exceeded
(encoder frequency < ENC_FREQ_LIMIT_LOW).
For the edge change 1 → 0, the encoder frequency must have fallen below the value of machine
data:
MD36302 $MA_ENC_FREQ_LIMIT_LOW

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Detailed Description
2.3 Continuouspath mode, exact stop and LookAhead (B1)

2.3 Continuouspath mode, exact stop and LookAhead (B1)

2.3.1 Signals from channel (DB21, ...)

DB21, ...
DBX36.3 All axes stationary
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or All axes assigned to the channel are stationary with interpolator end.
edge change No other traversing movements are active.
0→1

2.3.2 Signals from axis/spindle (DB31, ...)

DB31, ...
DBX60.6 Position reached with exact stop coarse
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The axis is in the appropriate exact stop and no interpolator is active for the axis and:
edge change • the control is in the reset mode (reset key or end of program)
0→1
• the axis was last programmed as a positioning axis or positioning spindle (initial setting of
supplementary axis: Positioning axis)
• the path movement was stopped with NC Stop
• the spindle is in the closed-loop positioncontrolled mode (SPCON/SPOS instruction) and is
stationary
• the axis is switched from closed-loop speedcontrolled to closed-loop positioncontrolled mode
with IS "position measuring system"
Signal state 0 or The axis is not in the appropriate exact stop or the interpolator is active for the axis or:
edge change • the path movement was stopped with NC Stop
1→0
• the spindle is in the closed-loop speedcontrolled mode (SPCOF/SPOSA instruction)
• the "followup" mode is active for the axis
• the "parking" mode is active for the axis
• the axis is switched from closed-loop positioncontrolled to closed-loop speedcontrolled mode
with IS "position measuring system"
Signal irrelevant for Rotary axes that are programmed as rounding axes.
...
Corresponding to .... MD36000 $MA_STOP_LIMIT_COARSE (exact stop coarse)

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2.4 Acceleration (B2)

DB31, ...
DBX60.7 Position reached with exact stop fine
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or Refer to DB31, ... DBX60.6 (position reached with exact stop coarse).
edge change
0→1
Signal state 0 or Refer to DB31, ... DBX60.6 (position reached with exact stop coarse).
edge change
1→0
Signal irrelevant for Rotary axes that are programmed as rounding axes.
...
Corresponding to .... MD36010 $MA_STOP_LIMIT_FINE (exact stop fine)

2.4 Acceleration (B2)

No signal descriptions required.

2.5 Diagnostic tools (D1)

No signal descriptions required.

2.6 Travel to fixed stop (F1)

2.6.1 Signals to axis/spindle (DB31, ...)

DB31, ...
DBX1.1 Acknowledge fixed stop reached
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or Significance after the fixed stop has been reached:
edge change DB31, ... DBX62.5 (fixed stop reached) = 1
0→1 → The axis presses against the fixed stop with the clamping torque:
→ The fixed stop monitoring window is activated.
→ A block change is executed.
Signal state 0 Significance after the fixed stop has been reached:
DB31, ... DBX62.5 (fixed stop reached) = 1
→ The axis presses against the fixed stop with the clamping torque.
→ The fixed stop monitoring window is activated.
→ A block change is not executed and the channel message
"Wait: Auxiliary function acknowledgment missing" is displayed.

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Detailed Description
2.6 Travel to fixed stop (F1)

DB31, ...
DBX1.1 Acknowledge fixed stop reached
Edge change Meaning after the fixed stop has been reached:
1→0 IS "Fixed stop reached" DB31, ... DBX62.5 = 1
→ The function is aborted, the alarm "20094 axis %1 Function aborted" is output.
Significance when de-selecting the function FXS=0 via the part program:
→ The torque limiting and the monitoring of the fixed stop monitoring window are canceled.
IS irrelevant MD37060 $MA_FIXED_STOP_ACKN_MASK
for ... (monitoring PLC acknowledgments for travel to fixed stop)
= 0 or 1
Corresponding to .... MD37060 $MA_FIXED_STOP_ACKN_MASK
(monitoring PLC acknowledgments for travel to fixed stop)
DB31, ... DBX62.5 (fixed stop reached)

DB31, ...
DBX1.2 Sensor for fixed stop
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or Fixed stop is reached.
edge change
0→1
Signal state 0 or Fixed stop is not reached.
edge change
1→0
Corresponding to .... The signal is only active if:
MD37040 $MA_FIXED_STOP_BY_SENSOR = 1

DB31, ...
DBX3.1 Enable travel to fixed stop
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or Meaning when FXS function is selected using the part program
edge change (IS "Activate travel to fixed stop" = 1):
0→1 → Travel to fixed stop is enabled and the axis traverses from the start position at the programmed
velocity to the programmed target position.
Signal state 0 Meaning when FXS function is selected using the part program
(IS "Activate travel to fixed stop" = 1):
→ Travel to fixed stop is inhibited.
→ The axis is stationary at the start position with reduced torque.
→ The channel message "wait": Auxiliary function acknowledgment missing" is displayed.
Edge change Meaning before the fixed stop has been reached
1→0 (IS "fixed stop reached" = 0):
→ Travel to fixed stop is aborted.
→ The alarm "20094: Axis%1 Function aborted" is displayed.
Meaning after the fixed stop has been reached
IS "fixed stop reached" = 1):
→ The torque limiting and monitoring of the fixed stop monitoring window are canceled.
Deselection: DB31, ...DBX1.1 (acknowledge fixed stop reached)

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2.7 Velocities, Setpoint/Actual Value Systems, Closed-Loop Control (G2)

DB31, ...
DBX3.1 Enable travel to fixed stop
IS irrelevant MD37060 $MA_FIXED_STOP_ACKN_MASK
for ... (monitoring PLC acknowledgments for travel to fixed stop)
= 0 or 2
Corresponding to .... MD37060 $MA_FIXED_STOP_ACKN_MASK
(monitoring PLC acknowledgments for travel to fixed stop)
DB31, ... DBX62.4 (activate travel to fixed stop)

2.6.2 Signals from axis/spindle (DB31, ...)

DB31, ...
DBX62.4 Activate travel to fixed stop
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The "Travel to fixed stop" function is active.
edge change This signal is used for analog drives in order, for example, to activate the current or torque limitation
0→1 parameterized in the actuator.
Signal state 0 or The "Travel to fixed stop function" is not active.
edge change
1→0

DB31, ...
DBX62.5 Fixed stop reached
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The fixed stop was reached after selecting the FXS function.
edge change This signal is used by analog drives, e.g. to switch the actuator from speedcontrolled to current or
0→1 torquecontrolled mode so that a programmable clamping torque can be set.
Signal state 0 or The fixed stop has still not been reached after selecting the FXS function.
edge change
1→0

2.7 Velocities, Setpoint/Actual Value Systems, Closed-Loop Control (G2)

No signal descriptions required.

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2.8 Help function output to PLC (H2)

2.8 Help function output to PLC (H2)

2.8.1 Signals to channel (DB21, ...)

DB21, ...
DBX30.5 Activate associated M01
Edge evaluation: no Signal(s) updated:
Signal state 1 or PLC signals the NCK that the associated M01 (help function) should be activated.
edge change
0→1
Signal state 0 or De-activate the associated M01 (help function).
edge change
1→0
Corresponding to .... DB21, ... DBX 318.5 (associated M01 active)

2.8.2 Signals from channel (DB21, ...)

DB21, ...
DBB58, M, S, T, D, H, F functions Modification
DBB60 - DBB65
Edge evaluation: no Signal(s) updated: Jobcontrolled by NCK
Signal state 1 or One M, S, T, An D, H, or F function has been output to the interface with a new value together with
edge change the associated change signal at the beginning of an OB1 cycle.
0→1 In this case, the change signal indicates that the appropriate value is valid.
Signal state 0 or At the start of the next OB1 cycle, the PLC basic program resets the change signals.
edge change The value of the data concerned is not valid.
1→0

DB21, ...
DBX59.0 - DBX59.4 M function 1-5 not included in list
Edge evaluation: no Signal(s) updated: Jobcontrolled by NCK
Signal state 1 or M function is greater than 99 (for extended address = 0) or for extended address > 0, not included
edge change in the decoding list.
0→1 This signal is available - together with the associated M change signal - for one OB1 cycle.
Cause:
• Incorrect M function programmed
• M function not configured in the decoding list of the PLC
Remedy, e.g.:
• PLC sets read-in disable
• Output of a PLC alarm

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2.8 Help function output to PLC (H2)

DB21, ...
DBX59.0 - DBX59.4 M function 1-5 not included in list
Signal state 0 or M function less than 99 (for extended address = 0) or for extended address > 0 included in the
edge change decoding list.
1→0

DB21, ...
DBB60 - DBB64, M, S, T, D, H, F functions Additional info "Quick" (fast acknowledgment)
DBB66 - DBB67
Edge evaluation: no Signal(s) updated: Jobcontrolled by NCK
Signal state 1 or One M, S, T, An D, H, or F function has been output to the interface with a new value together with
edge change the associated change signal at the beginning of an OB1 cycle.
0→1 In this case, the additional info "Quick" indicates the quick help function.
Signal state 0 or The change signals are reset by the PLC basic program at the start of the next OB1 cycle.
edge change The value of the data involved is not valid.
1→0

DB21, ... M functions 1 to 5

DBB68 - DBB97 Extended address M functions 1 to 5
Edge evaluation: no Signal(s) updated: Jobcontrolled by NCK
Signal state 1 or Up to 5 M functions programmed in an NC block are simultaneously made available here as soon
edge change as the M change signals are available.
0→1 Value range of M functions: 0 to 9999 9999; integer number
Value range of the extended address: 0 to 99; integer number
The M functions remain valid until they are overwritten by new M functions.
Signal state 0 or • After PLC power-up.
edge change • All help functions are deleted before a new function is entered.
1→0
Application Decoding and evaluation of M functions that are not decoded as standard or via a list.
example(s) Using the extended address, the M function can be assigned to another channel that does not
correspond to that channel in which the program is running.
Special cases, For M00 to M99 the extended address = 0.
errors, ......

DB21, ... S functions 1 to 3

DBB98 - DBB115 Extended address S functions 1 to 3
Edge evaluation: no Signal(s) updated: Jobcontrolled by NCK
Signal state 1 or Up to 3 S functions programmed in an NC block are simultaneously made available here as soon
edge change as the S change signals are available.
0→1 Value range of the spindle speed: 0 to 999 999; integer number
Value range of the extended address: 0 to 6; integer number
The S functions remain valid until they are overwritten by new S functions.
Signal state 0 or • After the PLC has ramped-up.
edge change • All help functions are deleted before a new function is entered.

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2.8 Help function output to PLC (H2)

DB21, ... S functions 1 to 3

DBB98 - DBB115 Extended address S functions 1 to 3
1→0
Application Spindle speed control by the PLC.
example(s) The extended address is used to program for which spindle the S word is valid.
e.g.: S2=500

DB21, ...
DBB118, DBB119 T function 1
Edge evaluation: no Signal(s) updated: Jobcontrolled by NCK
Signal state 1 or The T function programmed in an NC block is made available here
edge change as soon as the T change signal is available.
0→1 Value range of T functions: 0 to 99 999 999; integer number
The T function remains valid until it is overwritten by a new T function.
Signal state 0 or • After the PLC has ramped-up.
edge change • All help functions are deleted before a new function is entered.
1→0
Application Control of automatic tool selection.
example(s)
Special cases, With T0, the current tool is removed from the tool holder but not replaced by a new tool (default
errors, ...... configuration of the machine manufacturer).

DB21, ...
DBB129 D function 1
Edge evaluation: no Signal(s) updated: Jobcontrolled by NCK
Signal state 1 or The D function programmed in an NC block is made available here
edge change as soon as the D change signal is available.
0→1 Value range of D functions: 0 to 999; integer number
The D function remains valid until it is overwritten by a new D function.
Signal state 0 or • After the PLC has ramped-up.
edge change • All help functions are deleted before a new function is entered.
1→0
Application Implementation of protective functions.
example(s)
Special cases, D0 is reserved for deselecting the current tool offset.
errors, ......

DB21, ... H functions 1 to 3

DBB140 - DBB157 Extended address H functions 1 to 3
Edge evaluation: no Signal(s) updated: Jobcontrolled by NCK
Signal state 1 or Up to 3 H functions programmed in an NC block are made available here simultaneously as soon
edge change as the H change signals are available.
0→1 Value range of the H function: Floating point (corresponding to the MC5+format)
Value range of the extended address: 0 to 99; integer number

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2.8 Help function output to PLC (H2)

DB21, ... H functions 1 to 3

DBB140 - DBB157 Extended address H functions 1 to 3
The H functions remain valid until they are overwritten by new H functions.
Signal state 0 or • After the PLC has ramped-up.
edge change • All help functions are deleted before a new function is entered.
1→0
Application Switching functions on the machine.
example(s)

DB21, ... F functions 1 to 6

DBB158 - DBB193 Extended address F functions 1 to 6
Edge evaluation: no Signal(s) updated: Jobcontrolled by NCK
Signal state 1 or Up to 6 F functions (one path feed and up to 5 axis-specific feeds for
edge change positioning axes) are made available here simultaneously as soon as the F change
0→1 signals are available.
Value range of F function: Floating point (corresponding to the MC5+format)
Value range of the extended address: 0 to 18; integer number
The extended address of the F function is generated from the feed type (path feed or axis-specific
feed) and the axis names.
It is coded as follows:

 3DWKIHHGHJ)  HJ) 

WR 0DFKLQHD[LVQXPEHURIWKHSRVLWLRQLQJD[LV HJ)$>;@ 
IRUDQD[LVVSHFLILFIHHG

The F functions remain until they are overwritten by new F functions.

Signal state 0 or • After the PLC has ramped-up.
edge change • All help functions are deleted before a new function is entered.
1→0
Application Control of programmed F word by the PLC, e.g. through overwriting of the set feed rate override.
example(s)
Corresponding to .... MD 22240 $MC_AUXFU_F_SYNC_TYPE (instant in time that the F functions are output)

DB21, ...
DBB194 - DBB206 Dynamic M functions: M0 - M99
Edge evaluation: no Signal(s) updated: Jobcontrolled by NCK
Signal state 1 or The dynamic M signal bits are set by decoded M functions.
edge change
0→1
Signal state 0 or For a general help function output, the dynamic M signal bits are acknowledged by the PLC basic
edge change program after the OB1 has been completely run-through (executed once).
1→0 For a fast help function output, after the PLC identifies the help functions, they are acknowledged in

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2.8 Help function output to PLC (H2)

DB21, ...
DBB194 - DBB206 Dynamic M functions: M0 - M99
the same OB40 cycle.
Application Spindle clockwise/counterclockwise rotation, switch coolant ON/OFF
example(s)

DB21, ...
DBX318.5 Associated M01/M00 active
Edge evaluation: no Signal(s) updated:
Signal state 1 or This bit indicates that an M00 or M01 help function is active if the appropriate associated M00 and
edge change M01 (help functions) were enabled/activated beforehand.
0→1
Signal state 0 or No associated M00/M01 help functions active.
edge change
1→0
Corresponding to .... DB 21; ... DBX30.5 (activate associated M01)

2.8.3 Signals from axis/spindle (DB31, ...)

DB31, ...
DBD78 Value of F help function
Edge evaluation: no Signal(s) updated: Jobcontrolled
The values of the F help functions for positioning axes are stored here. The axis to which each
value applies is determined by the extended address.

DB31, ...
DBD86 Value of M help function
Edge evaluation: no Signal(s) updated: Jobcontrolled
The values for the M3, M4, M5 help functions are sent to the associated interface for the addressed
spindle.

DB31, ...
DBD88 Value of S help function
Edge evaluation: no Signal(s) updated: Jobcontrolled
The values for the S help functions are sent to the associated interface for the addressed spindle.

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2.9 Mode group, channel, program operation, reset response (K1)

2.9 Mode group, channel, program operation, reset response (K1)

2.9.1 Signals to NC

DB number Byte.Bit Description

10 56.1 EMERGENCY STOP

2.9.2 Signals to mode group (DB11)

DB11, ...
DBX0.0 AUTOMATIC mode
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or AUTOMATIK mode is selected by the PLC program.
edge change
0→1
Signal state 0 or AUTOMATIK mode is not selected by the PLC program.
edge change
1→0
Signal irrelevant for DB11, ... DBX0.4 (operating mode, changeover inhibit) = 1
...
Corresponding to .... DB11, ... DBX6.0 (active AUTOMATIC mode)

DB11, ...
DBX0.1 MDA mode
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or MDA mode is selected by the PLC program.
edge change
0→1
Signal state 0 or MDA mode is not selected by the PLC program.
edge change
1→0
Signal irrelevant for DB11, ... D0.4 (operating mode, changeover inhibit) = 1
...
Corresponding to .... DB11, ... DBX6.1 (active MDA mode)

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Detailed Description
2.9 Mode group, channel, program operation, reset response (K1)

DB11, ...
DBX0.2 JOG mode
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or JOG mode is selected by the PLC program.
edge change
0→1
Signal state 0 or JOG mode is not selected by the PLC program.
edge change
1→0
Signal irrelevant for DB11, ... DBX0.4 (operating mode, changeover inhibit) = 1
...
Corresponding to .... DB11, ... DBX6.2 (active JOG mode)

DB11, ...
DBX0.4 Mode changeover inhibit
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The currently active mode (JOG, MDA or AUTOMATIC) of the mode group cannot be changed. The
edge change machine functions that can be selected within a mode group can be changed.
0→1
Signal state 0 or The mode of the mode group can be changed.
edge change
1→0

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DB11, ...
DBX0.5 Mode group stop
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or An NC stop is activated for all the channels of the mode group. The channel status of all the active
edge change channels changes to the channel status "interrupted". All of the channels in channel status "reset"
0→1 remain in the channel status "reset". Programs that are running at this point are immediately
interrupted (at the earliest possible point, even within a block) and the program status changes to

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 Detailed Description
2.9 Mode group, channel, program operation, reset response (K1)

DB11, ...
DBX0.5 Mode group stop
"stopped". All the moving axes of the mode group are decelerated according to their acceleration
characteristics without contour violation. The program can be restarted with NC start. None of the
spindles of that mode group are affected.
Signal state 0 or Channel status and program execution are not affected.
edge change
1→0
Special cases, All the axes of a mode group that are not triggered by a program or a program block (e.g. axes
errors, ... ... traverse because traverse keys are being pressed on the machine control panel) decelerate to rest
with mode group stop.

DB11, ...
DBX0.6 Mode group stop axes plus spindles
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or An NC stop is activated for all the channels of the mode group. The channel status of all of the
edge change active channels changes to the channel status "interrupted". All of the channels in channel status
0→1 "reset" remain in the channel status "reset". Programs that are running at this point are immediately
interrupted (at the earliest possible point, even within a block) and the program status changes to
"stopped". All the moving axes and spindles of the mode group are decelerated according to their
acceleration characteristics without contour violation. The program can be restarted with NC start.
Signal state 0 or Channel status and program execution are not influenced.
edge change
1→0
Special cases, All the axes and spindles of a mode group that are not triggered by a program or a program block
errors, ...... (e.g. axes traverse because traverse keys are pressed on the machine control panel, spindles are
controlled by the PLC) decelerate to rest with "mode group stop plus spindles".

DB11, ...
DBX0.7 Mode group reset
Edge evaluation: yes Signal(s) updated: cyclic
Signal state 1 or A reset is activated for all the channels of the mode group. All of the channels are then in the
edge change channel status "reset". All of the current programs are then in the program status "aborted". All
0→1 moving axes and spindles are decelerated to zero speed according to their acceleration ramp
without contour violation. The initial settings are set (e.g. for G functions). The alarms for the mode
group are cleared if they are not POWER ON alarms.
Signal state 0 or Channel status and program execution are not influenced by this signal.
edge change
1→0
Corresponding to .... DB21, ... DBX7.7 (channel reset)
DB11, ... DBX6.7 (all channels in the reset state)
Special cases, An alarm which cancels the interface signal
errors, ...... DB11, ... DBX6.3 (mode group ready)
ensures that all of the channels of the mode group are no longer in the reset state.
In order to switch to another operating mode, a mode group reset (DB11, ... DBX0.7) must then be
initiated.

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2.9 Mode group, channel, program operation, reset response (K1)

DB11, ...
DBX1.0 Machine function TEACH IN
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or Machine function TEACH IN is activated in JOG mode for the mode group.
edge change
0→1
Signal state 0 or Machine function TEACH IN is not activated.
edge change
1→0
Signal irrelevant for If JOG mode is not active.
...
Additional references /BA/ Operations Guide HMI (corresponding to the used software)

DB11, ...
DBX1.1 Machine function REPOS
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or Machine function REPOS is activated in JOG mode for the mode group.
edge change
0→1
Signal state 0 or Machine function REPOS is not activated.
edge change
1→0
Signal irrelevant for JOG mode is not active.
...
Application When a fault occurs when executing a part program (e.g. tool breakage), the axis is manually
example(s) moved away from the fault location in the JOG mode in order to be able to replace the tool.
The axis can then be manually returned to the precise previous position using the REPOS machine
function so that the program can be continued in the automatic mode.
Additional references /BA/ Operations Guide HMI (corresponding to the used software)

DB11, ...
DBX1.2 Machine function REF
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or Machine function REF is activated in the JOG mode for the mode group.
edge change
0→1
Signal state 0 or Machine function REF is not activated.
edge change
1→0
Signal irrelevant for If JOG mode is not active.
...
Additional references /FB1/ Functions Manual Basic Functions; Reference Point Travel (R1)

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2.9 Mode group, channel, program operation, reset response (K1)

DB11, ...
DBX1.6 Single block type B
Edge evaluation: no Signal(s) updated:
Signal state 1 or Bit set and DB11, ...DBX1.7 not set: Response across modes
edge change • All channels are stopped.
0→1
• All channels receive a start command.
• Channel KS stops at the end of the block.
• The channels KA receive a STOPATEND.
(comparable with DB21, ... DBX7.2 (NC stop at the block limit).)
• All channels are stopped at a block limit (at some point in time).
(If DB11, ... DBX1.6 and DB11, ... DBX1.7 are set simultaneously, it is impossible to determine
which single block type is required. In this case, the control assumes: No single block across mode
groups).
Signal state 0 or If bit DB11, ...DBX1.6 is not set and bit DB11, ... DBX1.7 is set, single block type A is present.
edge change (If DB11, ... DBX1.6 and DB11, ... DBX1.7 are not set, it is impossible to determine which single
1→0 block type is required. In this case, the control assumes: no single block across mode groups).
Corresponding to .... Single block type A

DB11, ...
DBX1.7 Single block type A
Edge evaluation: no Signal(s) updated:
Signal state 1 or DB11, ... DBX1.7 set and DB11, ...DBX1.6 not set: Response across modes
edge change • All channels are stopped.
0→1
• All channels receive a start (start key).
• Channel KS stops at the end of the block (due to single-block)
• Channels KA receive a STOP command. (comparable to the STOP KEY).
• All channels are stopped. (deceleration phase of all KAs)
(If DB11, ... DBX1.6 and DB11, ... DBX1.7 are set simultaneously, it is impossible to determine
which single block type is required. In this case, the control assumes: no single block across mode
groups).
Signal state 0 or If DB11, ...DBX1.7 is not set and bit DB11, ... DBX1.6 is set, single block type B is present.
edge change (If DB11, ... DBX1.6 and DB11, ... DBX1.7 are not set, it is impossible to determine which single
1→0 block type is required. In this case, the control assumes: no single block across mode groups).
Corresponding to .... Single block type B

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2.9 Mode group, channel, program operation, reset response (K1)

2.9.3 Signals from the mode group (DB11)

DB11, ...
DBX4.0 Selected mode AUTOMATIC
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or AUTOMATIC mode is selected by HMI.
edge change
0→1
Signal status 0 or AUTOMATIC mode is not selected by HMI.
edge change
1→0

DB11, ...
DBX4.1 Selected mode MDA
Edge evaluation: Signal(s) updated: cyclic
Signal state 1 or MDA mode is selected by HMI.
edge change
0→1
Signal status 0 or MDA mode is not selected by HMI.
edge change
1→0

DB11, ...
DBX4.2 Selected JOG mode
Data block Signal(s) from BAG (HMI → PLC)
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or JOG mode is selected by HMI.
edge change
0→1
Signal status 0 or JOG mode is not selected by HMI.
edge change
1→0

DB11, ...
DBX5.0 Selected machine function TEACH IN
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The machine function TEACH IN is selected by HMI within BAG.
edge change
0→1
Signal status 0 or The machine function TEACH IN is not selected by HMI.
edge change
1→0

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2.9 Mode group, channel, program operation, reset response (K1)

DB11, ...
DBX5.0 Selected machine function TEACH IN
Additional /BA/ Operations Guide HMI (corresponding to the used software)
References

DB11, ...
DBX5.1 Selected REPOS machine function
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The machine function REPOS is selected by HMI within BAG.
edge change
0→1
Signal status 0 or The machine function REPOS is not selected by HMI.
edge change
1→0
Application When a fault occurs when executing a part program (e.g. tool breakage), the axis is manually
example(s) moved away from the fault location in the JOG mode in order to be able to replace the tool.
The axis can then be manually returned to the exact previous position using the REPOS machine
function so that the program can be continued in the automatic mode.
Additional references /BA/ Operations Guide HMI (corresponding to the used software)

DB11, ...
DBX5.2 Selected machine function REF
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The machine function REF is selected by HMI within BAG.
edge change
0→1
Signal status 0 or The machine function REF is not selected by HMI.
edge change
1→0
Additional /FB1/ Functions Manual Basic Functions; Reference Point Travel (R1)
References

DB11, ...
DBX6.0 Active mode AUTOMATIC
Data block Signal(s) from the mode group (NCK → PLC)
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or AUTOMATIK mode is active.
edge change
0→1
Signal state 0 or AUTOMATIK mode is not active.
edge change
1→0

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2.9 Mode group, channel, program operation, reset response (K1)

DB11, ...
DBX6.1 Active mode MDA
Edge evaluation: Signal(s) updated: cyclic
Signal state 1 or MDA mode is active.
edge change
0→1
Signal state 0 or MDA mode is not active.
edge change
1→0

DB11, ...
DBX6.2 Active JOG mode
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or JOG mode is active.
edge change
0→1
Signal state 0 or JOG mode is not active.
edge change
1→0

DB11, ...
DBX6.3 Mode group ready
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or This signal is set after power on and all of the voltage have been established. The mode group is
edge change now ready and parts programs can be executed and axes traversed in the individual channels.
0→1
Signal state 0 or The mode group is not ready. Possible causes for this are:
edge change • A critical axis or spindle alarm is present
1→0
• Hardware faults
• The mode group has been incorrectly configured (machine data)
If the mode group ready changes to signal state "0", then:
• the axis and spindle drives are braked down to standstill with the max. braking current.
• the signals from the PLC to the NCk are brought into an inactive state (cleared state).
Special cases, An alarm that withdraws the interface signal
errors, ...... DB11, ... DBX6.3 (mode group ready)
ensures that all channels of the mode group are no longer in the reset state.
In order to switch to another operating mode, a mode group reset (DB11, ... DBX0.7) must be
made.

DB11, ...
DBX6.7 All channels in the reset state
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or All the channels that belong to this mode group are in the "channel status reset" state (DB21, ...
edge change DBX7.7).
0→1

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2.9 Mode group, channel, program operation, reset response (K1)

DB11, ...
DBX6.7 All channels in the reset state
Signal state 0 or At least one of the channels in the mode group is not in "channel status reset" (DB21, ... DBX7.7).
edge change
1→0
Corresponding to .... DB21, ... DBX7.7 (channel state, reset)

DB11, ...
DBX7.0 Active machine function TEACH IN
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or Machine function TEACH IN is active in the mode group.
edge change
0→1
Signal state 0 or Machine function TEACH IN is not active.
edge change
1→0
Additional references /BA/ Operations Guide HMI (corresponding to the used software)

DB11, ...
DBX7.1 Active REPOS machine function
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or Machine function REPOS is active in the mode group.
edge change
0→1
Signal state 0 or Machine function REPOS is not active.
edge change
1→0
Application When a fault occurs when executing a part program (e.g. tool breakage), the axis is manually
example(s) moved away from the fault location in the JOG mode in order to be able to replace the tool.
The axis can then be manually returned to the exact previous position using the REPOS machine
function so that the program can be continued in the automatic mode.
Further references /BA/ Operations Guide HMI (corresponding to the used software)

DB11, ...
DBX7.2 Active machine function REF
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or Machine function REF is active in the mode group.
edge change
0→1
Signal state 0 or Machine function REF is not active.
edge change
1→0
Further references /FB1/ Functions Manual Basic Functions; Reference Point Travel (R1)

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2.9 Mode group, channel, program operation, reset response (K1)

2.9.4 Signals to channel (DB21, ...)

DB21, ...
DBX0.4 Activate single block
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or In AUTOMATIC and MDA modes, the operator must enable processing of each individual part
edge change program block of the part program selected in the channel by reactivating NC START.
0→1
Signal state 0 or No effect.
edge change
1→0
Special cases, • In the case of active tool offset, intermediate blocks are inserted, when necessary. These blocks
errors, ...... must also be enabled using NC START.
• In a series of G33 blocks, a single block is only operative if "dry run feed" is selected.
• In the case of a decoding single block, calculation blocks are not processed in the single step.
Corresponds to .... DB21, ... DBX35.3 (program status interrupted)

DB21, ...
DBX0.5 Activate M01
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or Activation of program control "Conditional stop"M01 is requested.
edge change
0→1
Signal state 0 or Activation of program control "Conditional stop" M01 is not requested.
edge change
1→0
Corresponds to .... DB21, ... DBX24.5 (M01 selected)
DB21, ... DBX32.5 (M0/M01 active)

DB21, ...
DBX1.6 PLC action completed
Edge evaluation: no Signal(s) updated: cyclic
At the end of the block search, concluding action blocks are executed:
DB21, ... DBX32.3 (action block active) == 1 AND
DB21, ... DBX32.6 (last action block active) == 1
Alarm "10208 Channel <Channel Number> Issue NC START to continue program" notifies the user
that he must reactivate NC START to resume the part program starting from the target block.
If other actions are to be executed by the PLC user program prior to the NC START (e.g., tool
change), Search mode can be parameterized as follows:
MD11450 $MN_SEARCH_RUN_MODE = 1
Output of alarm delayed until the existing signal is reset.
Signal state 1 or PLC action is completed.
edge change
0→1
Signal state 0 or PLC action is not yet completed.
edge change

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2.9 Mode group, channel, program operation, reset response (K1)

DB21, ...
DBX1.6 PLC action completed
1→0
Corresponds to .... DB21, ... DBX32.3 (action block active)
DB21, ... DBX32.6 (last action block active)
DB21, ... DBX33.4 (block search active)

DB21, ...
DBX1.7 Activate program test
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or Activation of the program test is requested.
edge change During the program test, all motion commands of axes (not spindles) take place under "Axis
0→1 disable."
Notice!
Due to the axis disable, the assignment of a tool magazine is not changed for the program test. The
user/machine manufacturer must utilize a suitable PLC user program to ensure that the NCK-
internal tool management and the actual assignment of the tool magazine remain consistent. Refer
to the program example included in the PLC Toolbox.
Signal state 0 or Activation of the program test is not requested.
edge change
1→0
Corresponds to .... DB21, ... DBX25.7 (program test selected)
DB21, ...DBX33.7 (program test active)

DB21, ...
DBX2.0 Skip block
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or Skip blocks marked in the part program with an slash (/) are not processed. If there is a series of
edge change skip blocks, the signal is only active if it is present before the first skip block of the series is
0→1 decoded.
Note
The signal should be available prior to the start of the part program.
Signal state 0 or Skip blocks marked in the part program with an slash (/) are processed.
edge change
1→0
Corresponds to .... DB21, ... DBX26.0 (Skip block selected)
DB21, ... DBX35.2 (Program status stopped)

DB21, ...
DBX6.1 Read-in disable
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The main run reads in no more preprocessed part program blocks.
edge change Note
0→1 The signal is only active in AUTOMATIC and MDA modes.
Signal state 0 or The main run reads in preprocessed part program blocks.
edge change

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2.9 Mode group, channel, program operation, reset response (K1)

DB21, ...
DBX6.1 Read-in disable
1→0
Corresponds to .... DB21, ... DBX35.0 (program status running)

DB21, ...
DBX6.4 Program level abort
Edge evaluation: yes Signal(s) updated: cyclic
Signal state 1 or At each edge change 0 → 1 the current program level being processed (subroutine level, ASUB
edge change level, save routine) is immediately aborted. Processing of the part program continues at the next
0→1 higher program level from the exit point.
Signal state 0 or No effect.
edge change
1→0
Special cases, The main program level cannot be aborted with this IS, only with IS "Reset".
errors, ......

DB21, ...
DBX7.0 NC START disable
Edge evaluation: no Signal(s) updated: cyclic

Signal state 1 or The NC START disable prevents a part program from being started with NC START signal DB21, ...
edge change DBX7.1 (NC START) == 1.
0→1
Signal state 0 or NC START disable is not active.
edge change
1→0
Special cases, The start of a part program selected in the channel by part program command START in another
errors, ...... channel (program coordination) is not prevented by the interface signal:
DB21, ... DBX7.0 (NC start disable) == 1.

Corresponds to .... DB21, ... DBX7.1 (NC START)

DB21, ...
DBX7.1 NC START
Edge evaluation: yes Signal(s) updated: cyclic
Signal state 1 or AUTOMATIC mode: The selected NC program is started or continued, or the auxiliary functions that
edge change were saved during the program interruption are output.
0→1 If data are transferred from the PLC to the NC during program status "Program interrupted," then
these data are immediately cleared at NC start.
Operating mode MDA:
The entered block information or part program blocks are released for execution.
Signal state 0 or No effect.
edge change
1→0

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DB21, ...
DBX7.1 NC START
Corresponds to .... DB21, ... DBX7.0 (NC start disable)

DB21, ...
DBX7.2 NC STOP at block limit
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The current NC program is stopped after the current part program block has been completely
edge change processed. Otherwise, as for DB21, ... DBX7.3 (NC stop).
0→1
Signal state 0 or No effect.
edge change
1→0
Corresponds to .... DB21, ... DBX7.3 (NC stop)
DB21, ... DBX7.4 (NC stop, axes plus spindles)
DB21, ... DBX35.2 (program status stopped)
DB21, ... DBX35.6 (channel status interrupted)

DB21, ...
DBX7.3 NC STOP
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or AUTOMATIC or MDA mode:
edge change Processing of the part program active in the channel is stopped.
0→1 The axes (not spindles) are brought to a standstill within the assigned acceleration parameters.
• Program status: stopped
• Channel status: interrupted
JOG mode:
In JOG mode, incompletely traversed incremental paths (INC...) are retracted at the next NC
START.
Note
The signal must be present for at least one PLC cycle (OB1).
Signal state 0 or No effect.
edge change
1→0
Signal irrelevant for • Program status: aborted
... • Channel status: Reset
Special cases, • If data are transferred to the NCK after NC STOP (e.g., tool offset), the data are cleared at the
errors, ...... next NC START.
Corresponds to .... DB21, ... DBX7.2 (NC STOP at block limit)
DB21, ... DBX7.4 (NC STOP axes plus spindles)
DB21, ... DBX35.2 (program status stopped)
DB21, ... DBX35.6 (channel status interrupted)

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2.9 Mode group, channel, program operation, reset response (K1)

DB21, ...
DBX7.4 NC STOP axes plus spindles
Edge evaluation: no Signal(s) updated: cyclic
See DB21, ... DBX7.3 (NC STOP).
In addition, the spindles of the channel are stopped.

DB21, ...
DBX7.7 Reset
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The channel is reset. The initial settings are set (e.g. G functions).
edge change The alarms for the channel are cleared if they are not POWER ON alarms.
0→1 The reset signal must be issued by the PLC (e.g., using a logic operation with the reset key on the
MCP). The signal is only evaluated by the selected channel.
The program status changes to "Aborted", and the channel status changes to "Channel status
reset".
Signal state 0 or No effect.
edge change
1→0
Corresponds to .... DB11, ... DBX0.7 (mode group reset)
DB21, ... DBX35.7 (channel status reset)

DB21, ...
DBX31.0 - DBX31.2 REPOS mode (REPOSPATHMODE)
Edge evaluation: no Signal(s) updated: cyclic
REPOS mode specified by HMI:
Bit:2 1 0
0 0 0 = 0: no REPOS mode active
0 0 1 = 1: Re-approach to block start RMB
0 1 0 = 2: Re-approach to interruption point RMI
0 1 1 = 3: Re-approach to block end point RME
1 0 0 = 4: Re-approach to nearest path point RMN
Corresponds to .... DB21, ...DBX25.0 - DBX25.2 (REPOS mode (REPOSPATHMODE))
DB31, ... DBX10.0 (REPOSDELAY)

DB21, ...
DBX31.4 REPOS mode change (REPOSMODEEDGE)
Edge evaluation: yes Signal(s) updated: cyclic
Signal state 1 or The REPOS mode has changed:
edge change DB21, ... DBX31.0 - DBX31.2 (REPOS mode (REPOSPATHMODE))
0→1
Signal state 0 or REPOS mode has not changed.
edge change
1→0
Corresponds to .... DB21, ... DBX31.0 - DBX31.2 (REPOS mode (REPOSPATHMODE))
DB21, ... DBX319.0 (REPOSMODEEDGEACKN)
DB21, ...DBX31.0 - DBX31.2 (REPOS mode (REPOSPATHMODE))

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 Detailed Description
2.9 Mode group, channel, program operation, reset response (K1)

2.9.5 Signals from channel (DB21, ...)

DB21, ...
DBX32.3 Action block active
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The action block is being executed.
edge change
0→1
Signal state 0 or No action block active.
edge change
1→0
Additional references /BA/ Operations Guide HMI (corresponding to the used software)

DB21, ...
DBX32.4 Approach block active
Edge evaluation: no Signal(s) updated: cyclic
Signal status 1 or The approach block for the progress of the program with "Block search with computation on
edge change contour" is active, as with "Block search with computation on block end point" no approach block is
1→0 created of its own. The axes are automatically positioned on the collected search position if ASUP
exits with REPOSA during "Block search with computation on contour".
Signal status 0 or The search target is found during "Block search with computation on contour".
edge change
1→0
Further references /PGA/Programming Manual Advanced

DB21, ...
DBX32.5 M00/M01 active
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The part program block is processed, the auxiliary functions are output, and:
edge change • M00 is in the RAM
0→1
• M01 is in the RAM and IS "Activate M01" is active
The program status changes to "Stopped".
Signal state 0 or • With DB21, ... DBX7.1 (NC start)
edge change • For a program abort as a result of a reset
1→0

NC/PLC interface signals (Z1)

Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-83
Detailed Description
2.9 Mode group, channel, program operation, reset response (K1)

DB21, ...
DBX32.5 M00/M01 active
Fig.

 0

 'DWDWUDQVIHUWRZRUNLQJPHPRU\  0FKDQJHVLJQDO 3/&F\FOHWLPH

 %ORFNSURFHVVHG  ,600DFWLYH
 1&EORFNZLWK0  ,6&KDQQHOVWDWHDFWLYH HYHQZKHQ
D[HVDUHPRYHGLQ-2*PRGH

Corresponds to .... DB21, ... DBX0.5 (activate M01)

DB21, ... DBX24.5 (M01 selected)

DB21, ...
DBX32.6 Last action block active
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The last action block is being executed.
edge change This means, that all the action blocks on the side of NC have been processed and the actions on
0→1 the side of PLC (ASUP, FC) or the operator such as overstore, mode change according to
JOG/REPOS are possible. In this way the PLC for example can still perform a tool change before
the start of movement.
Signal state 0 or The last action block is not being executed. Action blocks contain the actions collected during
edge change "block search with computation" such as
1→0 • outputting help function H, M00, M01, M..
• Tool programming T, D, DL
• Spindle programming S-Value, M3/M4/M5/M19, SPOS
• Feed programming, F
Additional /FB1/ Functions Manual Basic Functions; K1 Channel, Program Operation, Reset Response
References

NC/PLC interface signals (Z1)

2-84 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.9 Mode group, channel, program operation, reset response (K1)

DB21, ...
DBX33.4 Block search active
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The block search function is active.
edge change It was selected from the operator interface screen and started using the interface signal:
0→1 DB21, ... DBX7.1 (NC start)

Signal state 0 or Search target found.

edge change
1→0
Application The block search function makes it possible to jump to a certain block within a part program and to
example(s) start processing the part program from this block.
Additional references /FB1/ Functions Manual Basic Functions; K1 Channel, Program Operation, Reset Response

DB21, ...
DBX33.5 M02/M30 active
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or • NC block with M02 or M30 (or M17 if a subroutine was started) is completely processed; if
edge change traversing motions are also programmed in this block, the signal is only output when the target
0→1 position is reached.
• The program was interrupted as a result of a reset, and the program status changes to
"Aborted".
• When MDA mode or machine functions REF or PRESET are selected
• After DB10 DBX56.2 (acknowledge EMERGENCY STOP)
Signal state 0 or • No program end or program abort
edge change • Status after activation of control
1→0 • Start of an NC Program
Fig.

 0

 'DWDWUDQVIHUWRZRUNLQJPHPRU\  0FKDQJHVLJQDO 3/&F\FOHWLPH

 %ORFNSURFHVVHG  ,600DFWLYH
 1&EORFNZLWK0

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Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0 2-85
Detailed Description
2.9 Mode group, channel, program operation, reset response (K1)

DB21, ...
DBX33.5 M02/M30 active
Application The PLC can detect the end of program processing with this signal and react appropriately.
example(s)
Special cases, • The M02 and M30 functions have equal priority.
errors, ...... • The interface signal:
DB21, ... DBX33.5 (M02/M30 active)
is available as steady-state signal after the end of the program.
• Not suitable for automatic follow-on functions such as workpiece counting, bar feed, etc.
M02/M30 must be written in a separate block and the word M02/M30 or the decoded M signal
used for these functions.
• Auxiliary functions that could result in a read-in operation being stopped and any S values that
are to be operative beyond M02/M30must not be written in the last block of a program.

DB21, ...
DBX33.6 Transformation active
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The NC command TRAORI (activate transformation) is programmed in the NC part program. This
edge change block has been processed by the NC and the transformation is now activated.
0→1
Signal state 0 or No transformation active.
edge change
1→0
Additional references /PGA/Programming Manual Advanced

DB21, ...
DBX33.7 Program test active
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or Program control program test is active. Axis disable is set internally for all axes (not spindles).
edge change Therefore the machine axes do not move when a part program block or a part program is being
0→1 processed. The axis movements are simulated on the operator interface with changing axis position
values.
The axis position values for the display are generated from the calculated setpoints.
The part program is processed in the normal way.
Signal state 0 or Program control "Program test" is not active.
edge change
1→0
Corresponds to .... DB21, ... DBX1.7 (activate program test)
DB21, ... DBX25.7 (program test selected)

DB21, ...
DBX35.0 Program status running
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The part program was started with the interface signal:
edge change DB21, ... DBX7.1 (NC start)
0→1 and is running.

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 Detailed Description
2.9 Mode group, channel, program operation, reset response (K1)

DB21, ...
DBX35.0 Program status running
The running program was stopped with the interface signal:
DB21, ... DBX6.1 (read-in disable)

Signal state 0 or • Program stopped by M00/M01 or NC stop or operating mode change.

edge change • If single block mode, the block is processed.
1→0 • End of program reached (M02/M30).
• Program aborted due to a reset.
• No actual block in the memory (e.g., for MDA).
• The actual block cannot be executed.
Signal irrelevant for The part program was started with the interface signal:
... DB21, ... DBX7.1 (NC start)
and is running.
Special cases, The interface signal:
errors, ...... DB21, ... DBX35.0 (program status running)
does not change to 0 if workpiece machining is stopped due to the following events:
• A feed disable or spindle disable was output
• DB21, ... DBX6.1 (read-in disable)
• Feed correction to 0%
• The spindle and axis monitoring functions respond
• Position setpoints are entered in the NC program for axes in "follow-up mode," for axes without
"servo enable," or for "parking axes"
Corresponds to .... DB21, ... DBX6.1 (read-in disable)

DB21, ...
DBX35.1 Program status wait
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The running program is waiting for the program command WAIT_M or WAIT_E in an NC block. The
edge change wait condition specified in the WAIT command for the channel or channels has not yet been fulfilled.
0→1
Signal state 0 or Program status wait is not active.
edge change
1→0
Further references /PG/Programming Fundamentals Guide

DB21, ...
DBX35.2 Program status stopped
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The NC part program has been stopped by:
edge change • DB21, ... DBX7.3 (NC stop)
0→1
• DB21, ... DBX7.4 (NC stop, axes plus spindles)
• DB21, ... DBX7.2 (NC stop at the block limit)
• Programmed M00 or M01
Or
• Single block mode

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Detailed Description
2.9 Mode group, channel, program operation, reset response (K1)

DB21, ...
DBX35.2 Program status stopped
Signal state 0 or "Program status stopped" is not present.
edge change
1→0
Corresponds to .... DB21, ... DBX7.3 (NC stop)
DB21, ... DBX7.4 (NC stop, axes plus spindles)
DB21, ... DBX7.2 (NC stop at the block limit)

DB21, ...
DBX35.3 Program status interrupted
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or When the operating mode changes from AUTOMATIC or MDA (in stopped program status) to JOG,
edge change the program status changes to "Interrupted". The program can be continued at the point of
0→1 interruption in AUTOMATIC or MDA mode when NC start is issued.
Signal state 0 or "Program status aborted" is not present.
edge change
1→0
Special cases, The interface signal:
errors, ...... DB21, ... DBX35.3 (program status interrupted)
indicates that the part program can continue to be processed by restarting it.

DB21, ...
DBX35.4 Program status aborted
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The program has been selected but not started, or the current program was aborted with a reset.
edge change
0→1
Signal state 0 or Program status interrupted is not active.
edge change
1→0
Corresponds to .... DB21, ... DBX7.7 (reset)

DB21, ...
DBX35.5 Channel status active
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or In this channel:
edge change • A part program is presently being executed in Automatic or MDA mode
0→1
or
• At least one axis is being traversed in JOG mode.
Signal state 0 or DB21, ... DBX35.3 (Channel status interrupted) or DB21, ... DB35.7 (Channel status reset) is
edge change available.
1→0

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 Detailed Description
2.9 Mode group, channel, program operation, reset response (K1)

DB21, ...
DBX35.6 Channel status interrupted
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The NC part program in AUTOMATIC or MDA mode or a traversing motion in JOG mode can be
edge change interrupted by:
0→1 • DB21, ... DBX7.3 (NC stop)
• DB21, ... DBX7.4 (NC stop, axes plus spindles)
• DB21, ... DBX7.2 (NC stop at the block limit)
• Programmed M00 or M01
Or
• Single block mode
After an NC start the part program or the interrupted traversing movement can be continued.
Signal state 0 or DB21, ... DBX35.3 (Channel status active) or DB21, ... DB35.7 (Channel status reset) is available.
edge change
1→0

DB21, ...
DBX35.7 Channel status reset
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The signal changes to 1 as soon as the channel goes into the reset state, i.e. no processing taking
edge change place.
0→1
Signal state 0 or The signal is set to 0 as soon as processing takes place in the channel, e.g.:
edge change • Execution of a part program
1→0
• Block search
• TEACH IN active
• Overstore active

DB21, ...
DBX36.4 Interrupt processing active
Edge evaluation: Signal(s) updated: cyclic
Signal state 1 or One or several channels in the mode group are not in the required operating state as the result of
edge change an active interrupt routine. The signal is not set if an interrupt routine is running in a program mode.
0→1
Signal state 0 or All channels are operating in the required mode.
edge change
1→0
Corresponds to .... MD11600 $MN_BAG_MASK

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Detailed Description
2.9 Mode group, channel, program operation, reset response (K1)

DB21, ...
DBX36.5 Channel is ready
Edge evaluation: Signal(s) updated: cyclic
Signal state 1 or A channel is ready for a part program processing of machine axes, geometry axes and positioning
edge change axes. These are already allocated corresponding to machine configuration and the current program
0→1 status of the concerned channels.
Signal status 0 or The concerned channel is not ready for a part program processing of machine axes, geometry axes
edge change and positioning axes.
1→0
corresponds to .... MD11600 $MN_BAG_MASK

DB21, ...
DBX37.6 Read-in disable is ignored
Edge evaluation: Signal(s) updated:
The following machine data are used to specify that the read-in disable (DB21, ... DBX6.1) is to be
ignored:
• MD11602 $MN_ASUP_START_MASK, Bit 2 = 1 (start also permitted if read-in disable is active)
• MD20116 $MC_IGNORE_INHIBIT_ASUP (execute interrupt program in spite of read-in disable)
• MD20107 $MC_ PROG_EVENT_IGN_INHIBIT (Prog events ignore read-in disable)
Part program blocks for which read-in disable is ignored are designated as read-in disable-
inoperative.
Signal state 1 Read-in disable is active (DB21, ... DBX6.1==1) AND part program block is read-in disable-
inoperative.
Signal state 0 Read-in disable is not active (DB21, ... DBB6.1 == 0) OR
(read-in disable is active (DB21, ... DBX6.1 == 1) AND part program block is read-in disable-
operative)
Corresponds to .... DB21, ... DBX37.7 (Stop at block end is ignored during single block (SBL))

DB21, ...
DBX37.7 Stop at block end is ignored during single block (SBL)
Edge evaluation: Signal(s) updated:
The following machine data and part program commands are used to specify that the stop at block
end during single block (DB21, ... DBX0.4 == 1) is to be ignored:
• MD10702 $MN_IGNORE_SINGLEBLOCK_MASK (Prevent single block stop)
• MD20117 $MC_IGNORE_SINGLEBLOCK_ASUP (Execute interrupt program completely in
spite of single block)
• MD20106 $MC_PROG_EVENT_IGN_SINGLEBLOCK (Prog events ignore single block)
• SBLOF (suppress single block), SBLON (cancel single block suppression)
Part program blocks for which stop at block end during single block is ignored are designated as
single block-inoperative.
Signal state 1 Single block is active (DB21, ... DBX0.4==1) AND part program block is single block-inoperative.
Signal state 0 Single block is not active (DB21, ... DBB0.4 == 0) OR
(single block is active (DB21, ... DBX0.4 == 1) AND part program block is single block-operative)
Corresponds to .... Read-in disable is ignored. DB21, ... DBX37.6 (read-in disable is ignored)

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2-90 Function Manual, 03/2006 Edition, 6FC5397-0BP10-1BA0
 Detailed Description
2.9 Mode group, channel, program operation, reset response (K1)

DB21, ...
DBB208 - DBB271 Active G function of groups 1 to 60
Edge evaluation: no Signal(s) updated: cyclic
Signal state <> 0 A G function or mnemonic identifier of the G group is active.
The active G function can be determined from the value (starting with 1):
1 = First G function of the G group
2 = Second G function of the G group
3 = Third G function of the G group

Please refer to a listing of the possible G-groups with the relevant functions in the Programming
Fundamentals Guide.
Signal state = 0 No G function or G group mnemonic identifier is active.
Application The active G group is stored in binary code in the relevant byte.
example(s) The following evaluation applies:

%LW        
(YDOXDWLRQ        

([DPSOH *        

Special cases, In contrast to auxiliary functions, G functions are not output to the PLC subject to
errors, ...... acknowledgement, i.e., processing of the part program is continued immediately after the G
function output.
Additional references /PG/Programming Fundamentals Guide

DB21, ...
DBX318.0 ASUB is stopped
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The signal is set to 1 if the control stops automatically prior to the end of the ASUB.
edge change The NST DB21, ... DBX318.0 (ASUP is stopped) is supplied only for the case "Interrupt in a
0→1 program mode and channel status stopped".
Signal status 0 or The NST DB21, ... DBX318.0 (ASUP is stopped) is set to 0 at Start and Reset.
edge change
1→0
Typical sequence of an ASUB with REPOSA:

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Detailed Description
2.9 Mode group, channel, program operation, reset response (K1)

DB21, ...
DBX318.0 ASUB is stopped

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ASUB with REPOSA If the interrupt routine is ended with REPOSA, then the following sequence is typical:
is triggered in the • The part program is stopped using the stop key, stop-all key or as a result of an alarm.
status AUTOMATIC
• The controller assumes program status "Stopped".
mode stopped
• The PLC initiates an ASUB via block FC9.
• Before the re-approach to the contour, the controller stops and goes to program status
"Stopped". NST DB21, ... DBX318.0 (ASUP is stopped) is set.
• The user presses Start. The NST DB21, ... DBX318.0 (ASUP is stopped) is set back, the repeat
approach movement is started.
• At the end of the re-approach motion, the FC9 signal "ASUB done" is set and the path of the
interrupted part program is continued.

DB21, ...
DBX318.1 Block search via program test is active
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or During the processing of the part program block in context of block search (internal channel status:
edge change "Program test"), up to the change of the target block in the main execution (Program status:
0→1 "Stopped").
Signal status 0 or With the change of the target block in the main execution (internal channel status: "Program test" is
edge change de-selected; Stop condition: "Search target found" is displayed).
1→0
Special cases, The block search (SERUPRO) can only be activated in AUTOMATIC mode in program status
errors, ...... "Aborted".

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 Detailed Description
2.9 Mode group, channel, program operation, reset response (K1)

DB21, ...
DBX319.0 REPOSMODEEDGEACKN
Edge evaluation: yes Signal(s) updated: cyclic
Signal state 1 or The interface signal detected by the NCK:
edge change DB21, ... DBX31.4 (REPOSMODEEDGE)
0→1 is acknowledged with the interface signal:
DB21, ... DBX319.0 (REPOSMODEEDGEACKN)
, if level signals from:
DB21, ... DBX31.0 - DBX31.2 (REPOSMODE0-2)
and from:
DB31, ... DBX10.0 (REPOSDELAY)
are taken over in the NC.
The levels relate to the current block in the main run.
Signal state 0 or SERUPRO-ASUP stopped automatically before the REPOS and NST DB21, ... DBX319
edge change (REPOSMODEEDGE) does not affect SERUPRO approach.
1→0
Corresponds to .... DB21, ... DBX31.4 (REPOSMODEEDGE)

DB21, ...
DBX319.1 - Repos Path Mode Ackn 0 - 2
DBX319.3
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 Using the interface signal:
DB21, ... DBX319.1 - DBX319.3 (Repos Path Mode Ackn 0-2)
with the 3 bits, one of the functions for the re-approach point RMB, RMI, RME or RMN can be
acknowledged according to the following coding to the PLC:
DB21, ... DBX319.1 - DBX319.3 = 1 → RMB: Re-approach at the start of the block
DB21, ... DBX319.1 - DBX319.3 = 2 → RMI: Re-approach at the point of interruption
DB21, ... DBX319.1 - DBX319.3 = 3 → RME: Re-approach at the end of the block
DB21, ... DBX319.1 - DBX319.3 = 4 → RMN: Re-approach at the nearest path point
Signal state 0 DB21, ... DBX319.1 - DBX319.3 = 0
→ RMNOTDEF: The ReposMode that is not re-defined is acknowledged to the PLC.
Example of the sequence of REPOS acknowledgments in the part program and signal timing of the
acknowledgement process from the NCK:

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Detailed Description
2.9 Mode group, channel, program operation, reset response (K1)

DB21, ...
DBX319.1 - Repos Path Mode Ackn 0 - 2
DBX319.3

 

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Corresponds to .... DB21, ... DBX31.0 - DBX31.2 (REPOSPATHMODE0-2)

DB21, ... DBX31.4 (REPOSMODEEGGE)
DB21, ... DBX319.0 (REPOSMODEEGGEACKN)
DB31, ... DBX70.2 (Repos Delay Ackn)
Additional references /FB1/ Functions Manual Basic Functions;
BAG, Channel, Program Operation, Reset Response (K1),
Section: " Block search, type 5 SERUPRO for block search"

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 Detailed Description
2.9 Mode group, channel, program operation, reset response (K1)

DB21, ...
DBX319.5 Repos DEFERAL Chan
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or All axes currently controlled by this channel have either no REPOS offset or their REPOS offsets
edge change are invalid.
0→1
Signal state 0 or Miscellaneous.
edge change
1→0
Corresponds to .... DB31, ... DBX70.0 (Repos offset)

DB21, ...
DBB376 PROG-EVENT-DISPLAY
Edge evaluation: no Signal(s) updated: event-driven
Signal state 1 or The event associated with the bit has occurred.
edge change
0→1
Signal state 0 or The event associated with the bit is no longer pending.
edge change
1→0
Bit assignments Bit 0 → part program start from channel status RESET
Bit 1 → end of part program
Bit 2 → operator panel reset
Bit 3 → run-up
Bit 4 → 1st start after the search run
Bit 5 - 7 → reserved, currently always 0 part program
All bits 0 → no PROG-EVENT is active
Signal duration: at least one complete PLC cycle

2.9.6 Signals to axis/spindle (DB31, ...)

DB31, ...
DBX10.0 REPOSDELAY
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The REPOS offset of the axis is first applied with its next programming.
edge change
0→1
Signal state 0 or There is no REPOS offset.
edge change
1→0
Special cases, The signal is not relevant for path axes.
errors, ......
Corresponds to .... DB21, ... DBX31.0 - DBX31.2 (REPOSPATHMODE0-2)
DB31, ... DBX70.2 (REPOS Delay Ackn)
DB31, ... DBX72.0 (REPOSDELAY)

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Detailed Description
2.9 Mode group, channel, program operation, reset response (K1)

2.9.7 Signals from axis/spindle (DB31, ...)

DB31, ...
DBX70.0 REPOS offset
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or A REPOS offset must be applied for the appropriate axis.
edge change
0→1
Signal state 0 or No REPOS offset need be applied for the appropriate axis.
edge change
1→0
Corresponds to .... DB31, ... DBX70.1 (REPOS offset valid)

DB31, ...
DBX70.1 REPOS offset valid
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The range of validity of the REPOS offset is indicated with the value 1.
edge change The REPOS offset was calculated to be valid.
0→1
Signal state 0 or A value of zero indicates that the REPOS offset was calculated to be invalid.
edge change
1→0
Application Updating the REPOS offset in the range of validity:
example(s) Between SERUPRO end and start, the axis can be moved in JOG mode with a mode change. The
user moves the REPOS offset to the zero value.
Corresponds to .... DB31, ... DBX70.0 (REPOS offset)

DB31, ...
DBX70.2 REPOS Delay Ackn
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The axis was programmed within a traversing block, and the REPOS offset was applied.
edge change Note
0→1 A REPOS offset was available for the axis, and REPOSDELAY was active:
DB31, ... DBX10.0 (REPOSDELAY) == 1
This signal behaves the same as:
DB21, ... DBX319.1 - DBX319.3 (Repos Path Mode Ackn)
Signal state 0 or The value zero is used to acknowledge that the REPOS offset is not active for this axis. This signal
edge change is cancelled on activation of the remaining block.
1→0
Corresponds to .... DB31, ... DBX10.0 (REPOSDELAY)
DB31, ... DBX72.0 (REPOSDELAY)

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 Detailed Description
2.10 Axis types, coordinate systems, frames (K2)

DB31, ...
DBX72.0 REPOSDELAY
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or After a block search, a REPOS offset is applied for this axis. However it is not applied using the
edge change approach block, but rather using the next traversing block in which the axis is programmed.
0→1
Signal state 0 or The REPOS offset for this axis is not active.
edge change
1→0
Special cases, The signal is not relevant for path axes.
errors, ......
Corresponds to .... DB21, ... DBX31.0 - DBX31.2 (REPOSPATHMODE)
DB31, ... DBX10.0 (REPOSDELAY)
DB31, ... DBX70.2 (REPOS Delay Ackn)

DB31, ...
DBX76.4 Path axis
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The axis is involved in the path (path axis).
edge change Note
0→1 In conjunction with SERUPRO in status "Target block found", the signal refers to the status of the
axis in the target block.
Signal state 0 or The axis is not involved in the path.
edge change
1→0

2.10 Axis types, coordinate systems, frames (K2)

2.10.1 Signals to axis/spindle (DB31, ...)

DB 31, ...
DBX3.0 External Zero Offset
Edge evaluation: no Signal(s) updated:
Signal state 1 or The preselected value of the external work offest of an axis is used as the new value for calculating
edge change the total work offset between the basic and the workpiece coordinate systems.
0→1
Signal state 0 or The preselected value of the external work offset of an axis is not used as the new value for
edge change calculating the total work offset between the basic and workpiece coordinate systems. The previous
1→0 value is still valid.
Signal irrelevant for $AA_ETRANS[axis] equals zero for all axes.
...
Special cases, Signal zero after ramp-up (power ON).
errors, ......
Corresponding to .... $AA_ETRANS[axis]

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Detailed Description
2.11 EMERGENCY STOP (N2)

2.11 EMERGENCY STOP (N2)

2.11.1 Signals to NC (DB10)

DB10
DBX56.1 EMERGENCY STOP
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The NC is switched to the EMERGENCY STOP state and the EMERGENCY STOP procedure is
edge change started on the NC.
0→1
Signal state 0 or The NC is not in the EMERGENCY STOP state.
edge change The EMERGENCY STOP status is (still) active but can be reset using the interface signals:
1→0 DB10 DBX56.2 (acknowledge EMERGENCY STOP)
and
DB11 DBX0.7 (mode group reset)

Corresponding to .... DB10 DBX56.2 (acknowledge EMERGENCY STOP)

DB10 DBX106.1 (acknowledge EMERGENCY STOP)

DB10
DBX56.2 Acknowledge EMERGENCY STOP
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The EMERGENCY STOP state is only reset if the interface signal:
edge change DB10 DBX56.2 (acknowledge EMERGENCY STOP)
0→1 is set followed by the interface signal:
DB11, ... DBX0.7 (mode group reset).

It must be noted that IS "Acknowledge EMERGENCY STOP" and IS "Reset" must be set (together)
for a long enough period so that the interface signal:
DB10 DBX106.1 (EMERGENCY STOP active)
was reset.
Resetting the EMERGENCY STOP state has the following effects:
• the controller enable is switched in
• Followup mode is canceled for all axes and position control mode resumed
• DB31, ... DBX61.5 set (position controller active)
• DB11, ... DBX6.3 set (mode group ready)
• DB10 DBX106.1 reset (EMERGENCY STOP active)
• Alarm 3000 is canceled
• Part program processing is interrupted for all channels

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 Detailed Description
2.12 Transverse axes (P1)

DB10
DBX56.2 Acknowledge EMERGENCY STOP

,6(0(5*(1&<6723

,6DNQRZOHGJH(0(5*(1&<6723

,6(0(5*(1&<6723DFWLYH"


,65(6(7


 ,6$FNQRZOHGJH(0(5*(1&<6723KDVQRHIIHFW
 ,65HVHWKDVQRHIIHFW
 ,6$FNQRZOHGJH(0(5*(1&<6723DQG5(6(7UHVHW(0(5*(1&<6723DFWLYH

Special cases, The EMERGENCY STOP state cannot be reset using the interface signal:
errors, ...... DB21, ... DBX7.7 (reset).

Corresponding to .... DB10 DBX56.1 (EMERGENCY STOP)

DB10 DBX106.1 (acknowledge EMERGENCY STOP)
DB11 DBX0.7 (mode group reset)

2.11.2 Signals from NC (DB10)

DB10
DBX106.1 EMERGENCY STOP active
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The NC is in the EMERGENCY STOP state.
edge change
0→1
Corresponding to .... DB10 DBX56.1 (EMERGENCY STOP)
DB10 DBX56.2 (acknowledge EMERGENCY STOP)

2.12 Transverse axes (P1)

No signal descriptions required.

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Detailed Description
2.13 PLC basic program (P3)

2.13 PLC basic program (P3)

For specifications of the NC/PLC interface signals see:
Literature:
/FB1/ Functions Manual Basic Functions;
PLC Basic Program powerline (P3 pl) / PLC Basic Program solution line (P3 sl),
Section: "Signal/Data Specifications".

2.14 Reference point approach (R1)

2.14.1 Signals to channel (DB21, ...)

DB21, ...
DBX1.0 Activate referencing
Edge evaluation: yes Signal(s) updated: cyclic
Signal state 1 or The channel specific referencing is started with the interafce signal:
edge change DB21, ... DBX1.0 (Activate referencing)
0→1 .
The control acknowledges the successful start with the interface signal:
DB21, ... DBX33.0 (Referencing active)
With the channel specific referencing each machine axis, which is allocated to a channel, can be
referenced (control internals are simulated by traversing keys plus/minus).
Using the axis-specific machine data:
MD34110 $MA_REFP_CYCLE_NR (axis sequence for channel-specific Referencing)
can determine in which sequence the machine axes are referenced.
If all the axes entered in REFP_CYCLE_NR have reached their reference point,
the interface signal:
DB21, ... DBX36.3 (all axes present)
is set.
Application If the machine axes are to be referenced in a particular sequence, there are the following
example(s) possibilities:
• The operator must observe the correct sequence when starting.
• The PLC must check the sequence when starting or define it itself.
• The function channel specific referencing will be used.
Corresponding to .... DB21, ... DBX33.0 (Referencing active)
DB21, ... DBX36.2 (all reference point required axes are referenced)

DB21, ...
DBX33.0 Referencing active
Edge evaluation: yes Signal(s) updated: cyclic
Signal state 1 or The channel specific referencing was started with the interface signal:
edge change DB21, ... DBX1.0 (activate referencing)
0→1 and the successful start was acknowledged with the interface signal:
DB21, ... DBX33.0 (referencing active)

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 Detailed Description
2.14 Reference point approach (R1)

DB21, ...
DBX33.0 Referencing active
.
The channel specific referencing is operational.
Signal state 0 or • channel specific referencing is completed.
edge change • axis specific referencing is operational
1→0 • no referencing active
Signal irrelevant for Spindles
...
Corresponding to .... DB21, ... DBX1.0 (activate referencing)

2.14.2 Signals from channel (DB21, ...)

DB21, ...
DBX36.2 All axes that have to be referenced are referenced
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or All axes that must be referenced (linear axes and rotary axes) of the channel are referenced.
edge change The machine data:
0→1 MD20700 $MC_REFP_NC_START_LOCK (NC start inhibit without reference point)
is zero.
If two position measuring systems are connected to an axis, that would prevent an NC start, then
the active one must be referenced so that the axis is considered to have been referenced.
An NC Start command for parts program processing is only accepted when this signal is present.
Axes that have to be referenced are axes, if:
MD34110 $MA_REFP_CYCLE_NR _ = -1
and the axis is not in the parked position (position measuring system inactive and the controller
enable withdrawn).
Signal state 0 or One or more axes of the channel have not been referenced.
edge change
1→0
Special cases, The spindles of the channel have no effect on this interface signal.
errors, ......
Corresponding to .... DB31, ... DBX60.4 (referenced / synchronized 1)
DB31, ... DBX60.5 (referenced / synchronized 2)

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Detailed Description
2.14 Reference point approach (R1)

2.14.3 Signals to axis/spindle (DB31, ...)

DB31, ...
DBX2.4 - DBX2.7 Reference point value 1 to 4
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or When the reference cam is reached, the NCK is signaled which coded reference cam is actuated.
edge change The interface signal:
0→1 DB31, ... DBX2.4 - DBX2.7 (reference point values 1 to 4)
must remain set until the reference point is reached,
or until a new coded reference cam is actuated.
If the machine axis has reached the reference point (axis stationary) then using the reference point
value pre-selected using
IS "reference point values 1 to 4" from the machine data:
MD34100 $MA_REFP_SET_POS (reference point value)
is transferred into the control as the new reference position.
Signal state 0 or No effect.
edge change
1→0
Signal irrelevant for Linear measurement systems with distancecoded reference marks
...
Application On a machine tool with large traversing distances, four coded reference cams can be distributed
example(s) over the entire distance traveled by the axis, four different reference points approached and the
time required to reach a valid referenced point reduced.
Special cases, If the machine axis has arrived at the reference point and none of the four "reference point value 1
errors, ...... to 4" interface signals has been set, the value of the reference point is automatically set to 1.
Corresponding to .... MD34100 $MA_REFP_SET_POS (reference point value)

DB31, ...
DBX12.7 Reference point approach delay
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or The machine axis is positioned on the reference cam.
edge change
0→1
Signal state 0 or The machine axis is positioned in front of the reference cam. An appropriately long reference cam
edge change (up to the end of the traversing range) should be used to prevent the machine axis from being
1→0 located behind (after) the referencing cam.
Corresponding to .... DB31, ... DBX2.4 - DBX2.7 (reference point values 1 to 4)

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2.14 Reference point approach (R1)

2.14.4 Signals from axis/spindle (DB31, ...)

DB31, ...
DBX60.4 Referenced/synchronized 1
Edge evaluation: Signal(s) updated:
Signal state 1 or Axes:
edge change When being referenced, if the machine axis has reached the reference point (incremental
0→1 measuring systems) or the target point (for length measuring system with distance-coded reference
marks), then the machine axis is referenced and the following interface signal is set:
DB31, ... DBX60.4 (referenced/synchronized 1)
(depending on which position measuring system is active when referencing).

Spindles:
After power-on, a spindle is synchronized the latest after one spindle revolution (260 degrees) (the
zero mark passed or the Bero responded).
Signal state 0 or The machine axis/spindle with position measuring system 1 is not referenced/synchronized.
edge change
1→0
Corresponding to .... DB31, ... DBX1.5 (position measuring system 1)
Additional references /FB1/ Functions Manual Basic Functions; Spindles (S1)

DB31, ...
DBX60.5 Referenced/synchronized 2
Edge evaluation: Signal(s) updated:
Signal state 1 or Axes:
edge change When being referenced, if the machine axis has reached the reference point (incremental
0→1 measuring systems) or the target point (for length measuring system with distance-coded reference
marks), then the machine axis is referenced and the following interface signal is set:
DB31, ... DBX60.5 (referenced/synchronized 2)
(depending on which position measuring system is active when referencing).

Spindles:
After power-on, a spindle is synchronized the latest after one spindle revolution (260 degrees) (the
zero mark passed or the Bero responded).
Signal state 0 or The machine axis/spindle with position measuring system 2 is not referenced/synchronized.
edge change Axes:
1→0 Alarm 21610 was output.
Spindles:
Encoder limit frequency exceeded.
Corresponding to .... DB31, ... DBX1.6 (position measuring system 2)
MD34102 $MA_REFP_SYNC_ENCS (measuring system calibration) = 0
Additional references /FB1/ Functions Manual Basic Functions; Spindles (S1)

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Detailed Description
2.15 Spindles (S1)

2.15 Spindles (S1)

2.15.1 Signals to axis/spindle (DB31, ...)

DB31, ...
DBX2.2 Spindle reset/delete distancetogo
Edge evaluation: yes Signal(s) updated: cyclic
Edge change Independent of the machine data:
0→1 MD35040 $MA_SPIND_ACTIVE_AFTER_RESET
selects a spindle reset for the various spindle operating modes in the following fashion:
• Control mode:
– Spindle stops
– Program continues to run
– Spindle continues to run with subsequent M and S program commands
• Oscillating mode:
– Oscillation is interrupted
– Axes continue to run
– Program continues with the actual gearbox stage
– With the following M value and higher S value, it is possible that the IS:
DB31, ... DBX83.1 (programmed speed high)
is set.
• Positioning mode:
– Is stopped
• Axis operation:
– Is stopped
Signal state 0 or No effect.
edge change
1→0
Corresponding to .... MD35040 $MA_SPIND_ACTIVE_AFTER_RESET (own spindle reset)
DB21, ... DBX7.7 (reset)
DB31, ... DBX2.2 (delete distance to go): is a different name for the same signal

DB31, ...
DBX16.0 - DBX16.2 Actual gear stage A to C
Edge evaluation: yes Signal(s) updated: cyclic
Signal state 1 If the new gear stage is engaged, the PLC user program sets the interface signals:
(statuscontrolled) DB31, ... DBX16.2 - DBX16.0 (actual gear stage A to C)
and
DB31, ... DBX16.3 (gear is changed over).

This signals the NCK that the correct gear stage has been successfully engaged.
The gear change is considered to have been completed (spindle oscillation mode is deselected),
the spindle accelerates in the new gear stage to the last programmed spindle speed and the next
block in the parts program can be executed.
The actual gear stage is output in coded format.

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 Detailed Description
2.15 Spindles (S1)

DB31, ...
DBX16.0 - DBX16.2 Actual gear stage A to C
For each of the 5 gear stages, there is one set of parameters assigned as follows:

3DUDPHWHUVHW1R 1&3/&LQWHUIDFH 0HDQLQJ

 ದ 'DWDIRUD[LVPRGH
  'DWDIRUVWJHDUVWDJH

  'DWDIRUQGJHDUVWDJH
  'DWDIRUUGJHDUVWDJH
  'DWDIRUWKJHDUVWDJH
  'DWDIRUWKJHDUVWDJH



Special cases, If the PLC user program signals a different actual gear stage back to the NCK than that issued by
errors, ...... the NCK as the setpoint gear stage, the gear stage change is still considered as having been
successfully completed and the actual gear stage A to C is activated.
Corresponding to .... DB31, ... DBX82.0 - DBX82.2 (setpoint gear stage A to C)
DB31, ... DBX82.3 (change over gear stage)
DB31, ... DBX16.3 (gear stage is changed over)
DB31, ... DBX18.5 (oscillation speed)
Parameter sets for gear stages

DB31, ...
DBX16.3 Gear is changed over
Edge evaluation: yes Signal(s) updated: cyclic
Signal state 1 or When the new gear stage is engaged, the PLC user sets the interface signals:
edge change DB31, ... DBX16.0 - DBX16.2 (actual gear stages A to C)
0→1 and
DB31, ... DBX16.3 (gear is changed over).

This signals the NCK that the correct gear stage has been successfully engaged.
The gear stage change is complete (spindle oscillation mode is deselected), the spindle accelerates
in the new gear stage to the last programmed spindle speed and the next block in the parts
program can be executed.
The interface signal:
DB31, ... DBX82.3 (change over gear)
is reset by the NCK - the PLC user then resets the interface signal:
(gear is changed over).

Signal state 0 or No effect.

edge change
1→0
Signal irrelevant for ... spindle modes other than the oscillation mode

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Detailed Description
2.15 Spindles (S1)

DB31, ...
DBX16.3 Gear is changed over
...
Special cases, If the PLC user reports back to the NCK with a different actual gear stage than issued by the NCK
errors, ...... as the setpoint gear stage, the gear change is still considered to have been successfully completed
and the actual gear stage A to C is activated.
Corresponding to .... DB31, ... DBX16.2 - DBX16.0 (actual gear stage A to C)
DB31, ... DBX82.2 - DBX82.0 (setpoint gear stage A to C)
DB31, ... DBX82.3 (change over gear stage)
DB31, ... DBX18.5 (oscillation speed)

DB31, ...
DBX16.4 - DBX16.5 Resynchronizing spindles 2 and 1
Edge evaluation: yes Signal(s) updated: cyclic
Edge change The spindle should be resynchronized, as the synchronization between the position measuring
0→1 system of the spindle and the 0 degree position has been lost.
Signal state 0 or No effect.
edge change
1→0
Signal irrelevant for ... spindle modes other than the control mode.
...
Application The machine has a selector switch to changeover between a vertical and a horizontal spindle. Two
example(s) different position encoders are used (one for the vertical spindle and one for the horizontal spindle),
but only one actual value input is used on the control. When the system switches from the vertical
to the horizontal spindle, the spindle must be resynchronized.
This synchronization is triggered by the IS "re-synchronize spindle 1 or 2".
Corresponding to .... DB31, ... DBX60.4 (referenced / synchronized 1)
DB31, ... DBX60.5 (referenced / synchronized 2)

DB31, ...
DBX16.7 Delete S value
Edge evaluation: yes Signal(s) updated: cyclic
Edge change Control mode:
0→1 • Spindle stops
• Program continues to run
• Spindle continues to run with the following S value, if M3 or M4 were active
Oscillation mode, axis mode, positioning mode:
• Signal has no effect for the corresponding function. However, if the open-loop control mode is
selected again, a new S value must be programmed.
Signal state 0 or No effect.
edge change
1→0
Application Terminating traversing motion on account of an external signal (e.g. sensing probe).
example(s)

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2.15 Spindles (S1)

DB31, ...
DBX17.4 - DBX17.5 Re-synchronize spindle when positioning 2 and 1

Edge evaluation: yes Signal(s) updated: cyclic

Signal state 1 When positioning, the spindle must be re-synchronized.
Signal state 0 or No effect.
edge change
1→0
Signal irrelevant for ... spindle modes other than the positioning mode.
...
Application The spindle has an indirect measuring system and slippage may occur between the motor and the
example(s) clamp. If the signal=1 - when positioning is started, the old reference is deleted and the zero mark is
searched for again before the end position is approached.
Corresponding to .... DB31, ... DBX60.4 (referenced / synchronized 1)
DB31, ... DBX60.5 (referenced / synchronized 2)

DB31, ...
DBX17.6 Invert M3/M4
Edge evaluation: yes Signal(s) updated: cyclic
Signal state 1 or The direction of rotation of the spindle motor changes for the following functions:
edge change • M3
0→1 • M4
• M5
• SPOS/M19/SPOSA from the motion; not effective for SPOS/M19/SPOSA from zero speed
(stationary).
Application The machine has a selector switch to changeover between a vertical and a horizontal spindle. The
example(s) mechanical design is implemented so that for the horizontal spindle, one more gearwheel is
engaged than for the vertical spindle. The direction of rotation must therefore be changed for the
vertical spindle if the spindle is always to rotate clockwise with M3.

DB31, ...
DBX18.4 Oscillation controlled by the PLC
Edge evaluation: yes Signal(s) updated: cyclic
Signal state 1 or If the interface signal:
edge change DB31, ... DBX18.4 (oscillation controlled by thePLC)
0→1 is not set, then automatic oscillation in the NCK is carried-out using the interface signal:
DB31, ... DBX18.5 (oscillation speed).

The two times for the directions of rotation are entered in the machine data:
MD35440 $MA_SPIND_OSCILL_TIME_CW (oscillation time for the M3 direction)
and
MD35450 $MA_SPIND_OSCILL_TIME_CCW (oscillation time for the M4 direction).

If the IS "oscillation via PLC" is set, then with the IS "oscillation speed" a speed is only output in
conjunction with the interface signals:
DB31, ... DBX18.6 - DBX18.7 (setpoint direction of rotation, counter-clockwise and clockwise).

The oscillation, i.e. the continuous change of the direction of rotation, is performed by the PLC user
program using the interface signal "setpoint direction of rotation, counter-clockwise and clockwise"

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Detailed Description
2.15 Spindles (S1)

DB31, ...
DBX18.4 Oscillation controlled by the PLC
(oscillation via the PLC).
Application If the new gear stage cannot be engaged in spite of several attempts by the NCK, the system can
example(s) be switched to oscillation via PLC. Both of the times for the directions of rotation can then be
altered by the PLC user program as required. This ensures that the gear satge is reliably changed -
even with unfavorable gear wheel positions.
Corresponding to .... MD35440 $MA_SPIND_OSCILL_TIME_CW (oscillation time for the M3 direction)
MD35450 $MA_SPIND_OSCILL_TIME_CCW (oscillation time for the M4 direction)
DB31, ... DBX18.5 (oscillation speed)
DB31, ... DBX18.7 (setpoint direction of rotation, counter-clockwise)
DB31, ... DBX18.6 (setpoint direction of rotation, clockwise)

DB31, ...
DBX18.5 Oscillation speed
Edge evaluation: no Signal(s) updated: cyclic
Signal state 1 or If the gear stage is to be changed (DB31, ... DBX82.3 (change over gear) is set), then the spindle
edge change operating mode changes to the oscillation mode.
0→1 Depending on the instant in time that the interface signal:
DB31, ... DBX18.5 (oscillation speed)
is set, the spindle decelerates down to standstill with different deceleration levels:
The IS "Oscillation speed" is set before the interface signal:
DB31, ... DBX82.3 (change over gear)
is set by the NCK.
When oscillating, the spindle is decelerated down to standstill with the deceleration:
MD35410 $MA_SPIND_OSCILL_ACCEL.

Once the spindle is stationary, oscillation is immediately initiated.

The IS "Oscillation speed" is enabled after the IS "Change gear" is set by the NCK and when the
spindle is stationary. The position controller is disabled. The spindle decelerates with the specified
deceleration rate in the speed controlled mode.
After the IS "oscillation speed" is set, the spindle starts to oscillate with the oscillation acceleration
(MD35410).
if the interface signal:
DB31, ... DBX18.4 (oscillation via the PLC)
is not set, then automatic oscillation is executed in the NCK using the IS "Oscillation speed".
The two times for the directions of rotation are entered in the machine data:
MD35440 $MA_SPIND_OSCILL_TIME_CW (oscillation time for the M3 direction)
and
MD35450 $MA_SPIND_OSCILL_TIME_CCW (oscillation time for the M4 direction).

If the IS "oscillation via PLC" is set, then with the IS "oscillation speed" a speed is only output in
conjunction with the interface signals:
DB31, ... DBX18.6 - DBX18.7 (setpoint direction of rotation, counter-clockwise and clockwise).

The oscillation, i.e. the continuous change of the direction of rotation, is performed by the PLC user
program using the interface signal "setpoint direction of rotation, counter-clockwise and clockwise"
(oscillation via the PLC).
Signal state 0 or The spindle does not oscillate.
edge change
1→0

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2.15 Spindles (S1)

DB31, ...
DBX18.5 Oscillation speed
Signal irrelevant for ... All spindle modes except the oscillation mode.
...
Application The oscillation speed is used to make it easier to engage a new gear stage.
example(s)
Corresponding to .... DB31, ... DBX18.4 (oscillation controlled by the PLC)
DB31, ... DBX18.7 (setpoint direction of rotation, counter-clockwise)
DB31, ... DBX18.6 (setpoint direction of rotation, clockwise)

DB31, ...
DBX18.6 - DBX18.7 Setpoint direction of rotation, counter-clockwise/setpoint direction of rotation, clockwise
Edge evaluation: yes Signal(s) updated: cyclic
Signal state 1 or If the interface signal:
edge change DB31, ... DBX18.4 (oscillation by the PLC)
0→1 is set, then the direction of rotation for the oscillation speed
can be entered using the two interface signals:
DB31, ... DBX18.6 - DBX18.7 (setpoint direction of rotation counter-clockwise and clockwise).
The times for the oscillation movement of the spindle motor are defined by setting the interface
signals "direction of rotation setpoint counter-clockwise and clockwise" for a corresponding length of
time.
Signal irrelevant for ... spindle modes other than the oscillation mode
...
Application Refer to DB31, ... DBX18.4 (oscillation controlled by the PLC)
example(s)
Special cases, If both of the interface signals are set simultaneously enabled, no oscillation speed is output.
errors, ...... If an interface signal is not set, then an oscillation speed is not output.
Corresponding to .... DB31, ... DBX18.4 (oscillation controlled by the PLC
DB31, ... DBX18.5 (oscillation speed)

DB31, ...
DBX30.0 Spindle stop
Edge evaluation: yes Signal(s) updated: cyclic
Signal state 1 or DB31, ... DBX30.0 (spindle stop)
edge change (corresponds to M5 spindle stop for master spindle).
0→1
Application A spindle stop is executed if the interface signal:
example(s) DB31, ... DBX61.4 (axis/spindle stationary) = 1
is signaled.
Corresponding to .... DB31, ... DBX17.6 (axis/spindle stationary)

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Detailed Description
2.15 Spindles (S1)

DB31, ...
DBX30.1 Spindle start, clockwise rotation
Edge evaluation: yes Signal(s) updated: cyclic
Signal state 1 or DB31, ... DBX30.1 (spindle start, clockwise)
edge change (corresponds to M3 spindle direction of rotation, clockwise for the master spindle)
0→1
Application With the positive edge of the starting signal "spindle start clockwise", the contents of the setting
example(s) data:
SD43200 $SA_SPIND_S
are read and become effective.
Corresponding to .... DB31, ... DBX18.7 (setpoint direction of rotation, counter-clockwise)
DB31, ... DBX18.6 (setpoint direction of rotation, clockwise)
DB31, ... DBX17.6 (invert M3/M4)

DB31, ...
DBX30.2 Spindle start, counter-clockwise rotation
Edge evaluation: yes Signal(s) updated: cyclic
Signal state 1 or DB31, ... DBX30.2 (spindle start, counter-clockwise)
edge change (corresponds to M4 counter-clockwise spindle direction of rotation for the master spindle)
0→1
Application The contents of the setting date:
example(s) SD43200 $SA_SPIND_S
can be read and become effective with the positive edge of the start signal "spindle start, counter-
clockwise direction of rotation".
Corresponding to .... DB31, ... DBX18.7 (setpoint direction of rotation, counter-clockwise)
DB31, ... DBX18.6 (setpoint direction of rotation, clockwise)
DB31, ... DBX17.6 (invert M3/M4)

DB31, ...
DBX30.3 Select gear step
Edge evaluation: yes Signal(s) updated: cyclic
Signal state 1 or This function is presently being prepared. This is the reason that interface signal is temporarily
edge change reserved.
0→1
Application One parameter set each is provided for each of the 5 gear stages.
example(s) When changing over to the spindle mode, the corresponding parameter set 1 to 5 is selected
according to the gear stage engaged.
A gear stage can be preselected as follows:
• M40 automatically by the programmed spindle speed
• M41 to M45 permanently by the part program
• By the PLC, using function block FC 18
• In the RESET state by writing to the VDI interface
Corresponding to .... MD35010 $MA_GEAR_STEP_CHANGE-ENABLE (the gear stage can be changed)
MD35590 $MA_PARAMSET_CHANGE-ENABLE (a parameter set can be specified by the PLC)
DB31, ... DBX82.3 (change over gear stage)

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2.15 Spindles (S1)

DB31, ...
DBX30.4 Spindle positioning
Edge evaluation: yes Signal(s) updated: cyclic
Signal state 1 or DB31, ... DBX30.4 (spindle positioning)
edge change (corresponds to M19 position for spindle positioning)
0→1
Application If the spindle is to be stopped from direction of rotation (M3 or M4) with orientation, or is to be re-
example(s) oriented from standstill (M5), then the positioning mode is selected with SPOS, SPOSA or M19.
Corresponding to .... MD20850 $MC_SPOS_TO_VDI (for SPOS/SPOSA, "M19" is output to the VSI interface)
SD43240 $SA_M19_SPOS (position for spindle positioning with M19)
DB31, ... DBX84.5 (active spindle operating mode, positioning mode)

2.15.2 Signals from axis/spindle (DB31, ...)

DB31, ...
DBX60.0 Spindle/no axis
Edge evaluation: yes Signal(s) updated: cyclic
Signal state 1 or The machine axis is operated in one of the following spindle modes:
edge change • Control mode
0→1
• Oscillation mode
• Positioning mode
• Rigid tapping
• Synchronous mode
The interface signals to the axis (DB31, ... DBB12 - DBB15) and from the axis
(DB31, ... DBB74 - DBB81) are invalid.
The interface signals to the spindle (DB31, ... DBB16 - DBB19) and from the spindle
(DB31, ... DBB82 - DBB91) are valid.
Signal state 0 or The machine axis is operated as an axis
edge change The interface signals to the axis (DB31, ... DBB12 - DBB15) and from the axis
1→0 (DB31, ... DBB74 - DBB81) are valid.
The interface signals to the spindle (DB31, ... DBB16 - DBB19) and from the spindle
(DB31, ... DBB82 - DBB91) are invalid.
Application If a machine axis operates alternatively as a spindle or rotary axis:
example(s) • Turning machine: Spindle / C axis
• Milling machine: Spindle / rotary axis for rigid tapping
The currently active operating mode
can be identified from interface signal:
DB31, ... DBX60.0 (spindle/no axis).

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2.15 Spindles (S1)

DB31, ...
DBX82.0 - 82.2 Setpoint gear stage A to C
Edge evaluation: yes Signal(s) updated: cyclic
See DB31, ... DB82.3 (change gear).
Signal state 1 or The set gear stage is output in coded format:
edge change
0→1
*HDUVWDJH  &%$
*HDUVWDJH 
*HDUVWDJH 
*HDUVWDJH 
*HDUVWDJH 
*HDUVWDJH 
LQYDOLGYDOXH 
LQYDOLGYDOXH 

Signal irrelevant for ... Other spindle modes except oscillation mode
...
Corresponds to .... DB31, ... DBX82.3 (Change gear)
DB31, ... DBX16.0 - DBX16.2 (Actual gear stage A to C)
DB31, ... DBX16.3 (gear is changed)

DB31, ...
DBX82.3 Change gear stage
Edge evaluation: yes Signal(s) updated: cyclic
Specification of gear stage:
• Manual specification using M function M41 - M45 corresponding to gear stage 1 - 5
If set gear stage <> actual gear stage =>
DB31, ... DBX82.3 (change gear) = 1
DB31, ... DBX82.0 - DBX82.2 (set gear stage) = set gear stage
• Automatic gear step selection depending on the progr. Spindle speed through M-Function M40
For the previously given set speed, gear step change requires =>
DB31, ... DBX82.3 (Change gear) = 1
DB31, ... DBX82.0 - DBX82.2 (Set gear step) = Set gear step
Signal state 1 or New set gear stage was specified AND
edge change set gear stage <> actual gear stage
0→1
Special cases, Signal is not output if: Set gear stage == actual gear stage
errors, ......
Corresponds to .... DB31, ... DBX82.0 - DBX82.2 (Set gear stage A to C)
DB31, ... DBX16.0 - 16.2 (Actual gear stage A to C)
DB31, ... DBX16.3 (gear is changed)

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2.15 Spindles (S1)

DB31, ...
DBX83.0 Speed limit exceeded
Edge evaluation: yes Signal(s) updated: cyclic
Signal state 1 or The actual speed exceeds the maximum spindle speed:
edge change MD35100 $MA_SPIND_VELO_ LIMIT
0→1 by more than the spindle speed tolerance:
MD35150 $MA_SPIND_DES_VELO_TOL
Corresponds to .... MD35150 $MA_SPIND_DES_VELO_TOL (spindle speed tolerance)
MD35100 $MA_SPIND_VELO_LIMIT (maximum spindle speed)

DB31, ...
DBX83.1 Set speed limited (programmed speed too high)
Edge evaluation: yes Signal(s) updated: cyclic
Signal state 1 or The set speed of the spindle that is specified directly (programmed spindle speed) or indirectly
edge change (constant cutting speed) would violate the current maximum limit value. The set speed is therefore
0→1 defined at the maximum limit value.
Limit values:
• Maximum speed of specified gear stage
• Maximum spindle speed
• Speed limited by VDI
• programmed spindle speed limit G26
• programmed spindle speed limit for G96
Signal state 0 or The set speed of the spindle is outside the maximum limit value.
edge change
1→0
Application The interface signal:
example(s) DB31, ... DBX83.1 (set speed limited)
can be used to determine if the programmed speed is unattainable.
The PLC user can accept this state as permissible and enable the path feed, or can disable the
path feed and/or the complete channel, IS:
DB31, ... DBX83.5 (spindle in set range)
is processed.

DB31, ...
DBX83.2 Setpoint speed increased (programmed speed too low)
Edge evaluation: yes Signal(s) updated: cyclic
Signal state 1 or The set speed of the spindle that is specified directly (programmed spindle speed) or indirectly
edge change (constant cutting speed) would violate the current minimum limit value. The set speed is