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SINUMERIK 840D sl. Service - Functions. Manual (2018-2020) - page 15

Manual traversing

15.15 Start-up: Handwheels

Handwheel slot

The PROFIBUS module must be configured in addition to the parameterization of handwheels in

the NC machine data in STEP 7. Among others the logical address of the handwheel slot is

specified.

The handwheel slot is situated at the following slot of the PROFIBUSmodule:

PROFIBUS module

Slot

Machine control panel MCP 483

2

Machine control panel MCP 310

2

Handwheel connection module

1

Example

Parameterization of 5 handwheels, connected via 4 machine control panels "MCP 483". Two

handwheels can be connected to a machine control panel"MCP 483".

Handwheel num-

Machine data set

Connection

ber

(Index)

in NC

1

0

1st MCP, 1. Handwheel in handwheel slot

2

1

1st MCP, 2. Handwheel in handwheel slot

3

2

2nd MCP, 1. Handwheel in handwheel slot

5

4

3rd MCP, 1. Handwheel in handwheel slot

6

5

4th MCP, 2. Handwheel in handwheel slot

The 4th handwheel in the NC is not used (machine data gap).

Note

Machine data gaps are allowed when parameterizing handwheels in NC machine data.

Machine control panels have been configured in SIMATIC STEP 7, HW Config as follows:

Slot

DP ID

Article No./designation

I address

O address

1st MCP

1

55

Standard+Handwheel

0 ... 7

0 ... 7

2

2AE

→ Standard+Hand-

288 ... 291

wheel

3

1

→ Standard+Hand-

wheel

2nd MCP

1

55

Standard+Handwheel

8 ... 15

8 ... 15

2

2AE

→ Standard+Hand-

304 ... 307

wheel

3

1

→ Standard+Hand-

wheel

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15.15 Start-up: Handwheels

Slot

DP ID

Article No./designation

I address

O address

3rd MCP

1

55

Standard+Handwheel

16 ... 23

16 ... 23

2

2AE

→ Standard+Hand-

320 ... 323

wheel

3

1

→ Standard+Hand-

wheel

4th MCP

1

55

Standard+Handwheel

24 ... 29

24 ... 29

2

2AE

→ Standard+Hand-

330 ... 333

wheel

3

1

→ Standard+Hand-

wheel

Parameterizing in the NC machine data:

Machine data

Val-

Meaning

ue

1st handwheel in the NC

MD11350 $MN_HANDWHEEL_SEGMENT[ 0]

5

Hardware segment: PROFIBUS

MD11351 $MN_HANDWHEEL_MODULE[ 0]

1

Reference to logical base address of the handwheel slot of the 1st

MCP

MD11352 $MN_HANDWHEEL_INPUT[ 0]

1

1st handwheel in the handwheel slot

2nd handwheel in the NC

MD11350 $MN_HANDWHEEL_SEGMENT[ 1]

5

Hardware segment: PROFIBUS

MD11351 $MN_HANDWHEEL_MODULE[ 1]

1

Reference to logical base address of the handwheel slot of the 1st

MCP

MD11352 $MN_HANDWHEEL_INPUT[ 1]

2

2nd handwheel in the handwheel slot

3rd handwheel in the NC

MD11350 $MN_HANDWHEEL_SEGMENT[ 2]

5

Hardware segment: PROFIBUS

MD11351 $MN_HANDWHEEL_MODULE[ 2 ]

2

Reference to logical base address of the handwheel slot of the 2nd

MCP

MD11352 $MN_HANDWHEEL_INPUT[ 2 ]

1

1st handwheel in the handwheel slot

4th handwheel in the NC

MD11350 $MN_HANDWHEEL_SEGMENT[ 3 ]

0

No handwheel parameterized

MD11351 $MN_HANDWHEEL_MODULE[ 3 ]

0

No handwheel parameterized

MD11352 $MN_HANDWHEEL_INPUT[ 3 ]

0

No handwheel parameterized

5th handwheel in the NC

MD11350 $MN_HANDWHEEL_SEGMENT[ 4 ]

5

Hardware segment: PROFIBUS

MD11351 $MN_HANDWHEEL_MODULE[ 4 ]

6

Reference to logical base address of the handwheel slot of the 3rd

MCP

MD11352 $MN_HANDWHEEL_INPUT[ 4 ]

1

1st handwheel in the handwheel slot

6th handwheel in the NC

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Manual traversing

15.15 Start-up: Handwheels

Machine data

Val-

Meaning

ue

MD11350 $MN_HANDWHEEL_SEGMENT[ 5 ]

5

Hardware segment: PROFIBUS

MD11351 $MN_HANDWHEEL_MODULE[ 5 ]

5

Reference to logical base address of the handwheel slot of the 4th

MCP

MD11352 $MN_HANDWHEEL_INPUT[ 5 ]

2

2nd handwheel in the handwheel slot

Logical base addresses:

Machine data

Value

Meaning

MD11353 $MN_HANDWHEEL_LOGIC_ADDRESS [ 0 ]

288

Logical base address handwheel slot 1st MCP

MD11353 $MN_HANDWHEEL_LOGIC_ADDRESS [ 1 ]

304

Logical base address handwheel slot 2nd MCP

MD11353 $MN_HANDWHEEL_LOGIC_ADDRESS [ 4 ]

330

Logical base address handwheel slot 4th MCP

MD11353 $MN_HANDWHEEL_LOGIC_ADDRESS [ 5 ]

320

Logical base address handwheel slot 3rd MCP

15.15.3

Connection via Ethernet

Parameterization

The parameters for handwheels connected via Ethernet modules, e.g. machine control panel

"MCP 483C IE", "HT 8", or "HT 2", are assigned in the following NC machine data:

• MD11350 $MN_HANDWHEEL_SEGMENT[< x - 1 >] = 7

When connected via Ethernet modules, the segment always has to be entered as 7

(Ethernet).

• MD11351 $MN_HANDWHEEL_MODULE[< x - 1 >] = 1

When connected via Ethernet modules, the module always has to be entered as 1.

• MD11352 $MN_HANDWHEEL_INPUT[< x - 1 >] = y

with y = 1, 2, 3, ... (handwheel interface at the Ethernet bus)

with x = 1, 2, 3, ... (handwheel number in the NC)

Handwheel interfaces at the Ethernet Bus

The handwheel interfaces at the Ethernet bus are numbered on the basis of the following

definitions:

• The sequence of the operator component interfaces is: MCP1, MCP2, BHG

• Each operator component interface has two handwheel interfaces

• Operator components: MCP 483C IE

A maximum of two handwheels can be connected to an MCP 483C IE via connections X60

and X61 . The assignment of the connections in the operator component interface is:

- Connection X60: 1st handwheel in the operator component interface MCP1 /MCP2

- Connection X61: 2nd handwheel in the operator component interface MCP1 /MCP2

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Manual traversing

15.15 Start-up: Handwheels

• Operator components: HT 8

The handwheel of the HT 8 is always assigned to the 1st handwheel of operator component

interface MCP1 /MCP2 .

• Operator components: HT 2

The handwheel of the HT 2 is always assigned to the 1st handwheel of operator component

interface BHG .

Operator component interface ->

MCP1

MCP2

BHG

Handwheel interface ¹⁾

1

2

1

2

1

2

FB1 parameters ²⁾

MCP1BusAdr

MCP2BusAdr

BHGRecGDNo

Assignment of the handwheels ³⁾

MCP 483C IE

X60

X61

X60

X61

-

-

HT 8

x

-

x

-

-

-

HT 2

-

-

-

-

x

-

Handwheel interface at the Ethernet bus (y) ⁴⁾ ->

1

2

3

4

5

6

1) Numbering of the handwheel interfaces within an operator component interface

2) Assignment of the operator component to the interface via the corresponding FB1 parameter

3) Assignment of the handwheels of the respective operator components to the handwheel interfaces

4) Numbering of the handwheel interfaces at the Ethernet bus -> MD11352 $MN_HANDWHEEL_INPUT[< x - 1 >] = y

Example

Parameterization of 3 handwheels, connected via the following operator components:

Operator component interface ->

MCP1

MCP2

BHG

Operator component

HT 8

MCP 483C

HT 2

FB1 parameters

MCP1BusAdr := 39

MCP2BusAdr := 192

BHGRecGDNo := 40

Handwheel interface

x

-

-

X61

x

-

Handwheel interface at Ethernet bus ->

1

2

3

4

5

6

Table 15-1

NC machine data for the handwheel assignment

Machine data

Value

Description

HT 8: Handwheel number in the NC = 1

MD11350 $MN_HANDWHEEL_SEGMENT[ 0 ]

7

Segment: Ethernet

MD11350 $MN_HANDWHEEL_MODULE[ 0 ]

1

Module: Ethernet

MD11350 $MN_HANDWHEEL_INPUT[ 0 ]

1

Handwheel interface at Ethernet bus

MCP 483C IE: Handwheel number in the NC = 2

MD11350 $MN_HANDWHEEL_SEGMENT[ 1 ]

7

Segment: Ethernet

MD11350 $MN_HANDWHEEL_ MODULE [ 1 ]

1

Module: Ethernet

MD11350 $MN_HANDWHEEL_ INPUT [ 1 ]

4

Handwheel interface at Ethernet bus

HT 2: Handwheel number in the NC = 3

MD11350 $MN_HANDWHEEL_SEGMENT[ 2 ]

7

Segment: Ethernet

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15.15 Start-up: Handwheels

Machine data

Value

Description

MD11350 $MN_HANDWHEEL_ MODULE [ 2 ]

1

Module: Ethernet

MD11350 $MN_HANDWHEEL_ INPUT [ 2 ]

5

Handwheel interface at Ethernet bus

Table 15-2

FB1 parameters (excerpt)

Parameter

Value

Remark

MCPNum

:= 2

// Number of connected MCPs

// MCP1 = HT 8

MCP1In

// MCP1 parameters

MCP1BusAdr

:= 39

// Via switches S1 and S2 on the connecting

device

// Set "IP address"

// MCP2 = MCP 483C IE

MCP2In

// MCP2 parameters

MCP2BusAdr

:= 192

// Via switch S2 on the MCP 483C

// Set "IP address"

MCPBusType

:= b#16#55

// Bus type: Ethernet

// HHU = HT 2

HHU

:= 5

// Bus type: Ethernet

BHGIn

// HHU Parameter ...

BHGRecGDNo

:= 40

// Via switches S1 and S2 on the connecting

device

// Set "IP address"

Filter time

Since the handwheel pulses on the Ethernet bus are not transferred deterministically, filtering

(smoothing) of the handwheel pulse transfer process may be necessary for highly dynamic

drives. The filter time is parameterized using the following machine data:

• MD11354 $MN_HANDWHEEL_FILTER_TIME[< x - 1 >] = <filter time>

with x = 1, 2, 3, ... (handwheel number in the NC) and filter time = 0.0 ... 2.0 s

The filter time specifies the time it takes for the handwheel pulses transferred to the control to

be sent on to the interpolator for traversing purposes. With a filter time of 0.0 s, the handwheel

pulses are sent on to the interpolator within a single interpolation cycle. This can result in jerky

axis traversing.

The recommended filter time is: 0.2 - 0.5 s

Axes and spindles

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Manual traversing

15.16 Data lists

Zero speed detection

A stationary state is detected by the Ethernet modules to which the handwheel is connected. If

a handwheel does not transfer any handwheel pulses for a defined period of time, the module

detects this to be a stationary state and transfers it to the NC/PLC interface:

NC/PLC interface signal

Value

Meaning

DB10, DBX245.0

0

Handwheel 1 is operated.

1

Handwheel 1 is stationary

DB10 DBX245.1

0

Handwheel 2 is operated.

1

Handwheel 2 is stationary.

DB10 DBX245.2

0

Handwheel 3 is operated.

1

Handwheel 3 is stationary.

DB10 DBX245.3

0

Handwheel 4 is operated.

1

Handwheel 4 is stationary.

DB10 DBX245.4

0

Handwheel 5 is operated.

1

Handwheel 5 is stationary.

DB10 DBX245.5

0

Handwheel 6 is operated.

1

Handwheel 6 is stationary.

By evaluating the signal, it is possible to reduce the overtravel of an axis traversed via the

handwheel, due to the handwheel pulses that have been collected in the control but not yet

transferred to the interpolator for traversing purposes. To do this, deletion of the distance-to-go

must be triggered for the relevant axis or in the channel when a stationary state is detected:

• DB31,... DBX2.2 = 1 (axial delete distance-to-go)

• DB21,... DBX6.2 = 1 (channel-specific deletion of distance-to-go)

15.16

Data lists

15.16.1

Machine data

15.16.1.1

General machine data

Number

Identifier: $MN_

Description

10000

AXCONF_MACHAX_NAME_TAB[n]

Machine axis name

10720

OPERATING_MODE_DEFAULT

Setting of the operating mode after Power On

10721

OPERATING_MODE_EXTENDED

Extended setting of the operating mode after Power On

10735

JOG_MODE_MASK

Settings for JOG mode

11300

JOG_INC_MODE_LEVELTRIGGRD

INC and REF in inching mode

11310

HANDWH_REVERSE

Defines movement in the opposite direction

11320

HANDWH_IMP_PER_LATCH[n]

Handwheel pulses per locking position

11324

HANDWH_VDI_REPRESENTATION

Coding of the handwheel number (NCK/PLC interface)

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15.16 Data lists

Number

Identifier: $MN_

Description

11330

JOG_INCR_SIZE_TAB[n]

Increment size for INC/handwheel

11340

ENC_HANDWHEEL_SEGMENT_NR

Third handwheel: Bus segment

11342

ENC_HANDWHEEL_MODULE_NR

Third handwheel: Logical drive number

11344

ENC_HANDWHEEL_INPUT_NR

Third handwheel: Encoder interface

11346

HANDWH_TRUE_DISTANCE

Handwheel path or velocity specification

11350

HANDWHEEL_SEGMENT[n]

Handwheel segment

11351

HANDWHEEL_MODULE[n]

Handwheel module

11352

HANDWHEEL_INPUT[n]

Handwheel connection

11353

HANDWHEEL_LOGIC_ADDRESS[n]

Logical handwheel slot address (STEP 7)

17900

VDI_FUNCTION_MASK

Function mask for VDI signals

15.16.1.2

Channel-specific machine data

Number

Identifier: $MC_

Description

20060

AXCONF_GEOAX_NAME_TAB

Geometry axis in channel

20100

DIAMETER_AX_DEF

Geometry axes with transverse axis functions

20110

RESET_MODE_MASK

Initial setting after reset / program end

20150

GCODE_RESET_VALUES

Reset position of the G groups

20151

GCODE_RESET_MODE

Reset behavior of the G groups

20360

TOOL_PARAMETER_DEF_MASK

Definition of the tool parameters

20620

HANDWH_GEOAX_MAX_INCR_SIZE

Limitation of the geometry axes

20622

HANDWH_GEOAX_MAX_INCR_VSIZE

Path-velocity override

20624

HANDWH_CHAN_STOP_COND

Definition of the manual traversing behavior using a

handwheel, channel-specific

20700

REFP_NC_START_LOCK

NC start disable without reference point

21150

JOG_VELO_RAPID_ORI

Conventional rapid traverse for orientation axes

21155

JOG_VELO_ORI

Conventional velocity for orientation axes

21158

JOG_JERK_ORI

Maximum jerk when manually traversing orientation

axes

21159

JOG_JERK_ORI_ENABLE

Jerk limitation for manual traversing of orientation axes

activated

21160

JOG_VELO_RAPID_GEO

Conventional rapid traverse for geometry axes

21165

JOG_VELO_GEO

Conventional speed for geometry axes

21166

JOG_ACCEL_GEO

Maximum acceleration when manually traversing ge-

ometry axes

21168

JOG_JERK_GEO

Maximum jerk when manually traversing geometry axes

Axes and spindles

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15.16 Data lists

15.16.1.3

Axis/spindlespecific machine data

Number

Identifier: $MA_

Description

30450

IS_CONCURRENT_POS_AX

Default setting at reset: Neutral axis or channel axis

30600

FIX_POINT_POS[n]

Fixed point positions of the axis

30610

NUM_FIX_POINT_POS

Number of fixed point positions of an axis

31090

JOG_INCR_WEIGHT

Weighting of an increment for INC/handwheel

32000

MAX_AX_VELO

Maximum axis velocity

32010

JOG_VELO_RAPID

Rapid traverse in jog mode

32020

JOG_VELO

Axis velocity in job mode

32040

JOG_REV_VELO_RAPID

Revolutional feedrate in JOG mode with rapid traverse override

32050

JOG_REV_VELO

Revolutional feedrate for JOG

32060

POS_AX_VELO

Reset position for positioning-axis velocity

32080

HANDWH_MAX_INCR_SIZE

Limitation of the selected increment size

32082

HANDWH_MAX_INCR_VELO_SIZE

Limitation of the selected increment for velocity override

32084

HANDWH_STOP_COND

Behavior, handwheel travel

32090

HANDWH_VELO_OVERLAY_FACTOR

Ratio of JOG velocity to handwheel velocity (with DRF)

32300

MAX_AX_ACCEL

Maximum axis acceleration

32420

JOG_AND_POS_JERK_ENABLE

Basic setting of axis-specific jerk limitation

32430

JOG_AND_POS_MAX_JERK

Maximum axis-specific jerk for single-axis movements

32431

MAX_AX_JERK

Maximum axis-specific jerk during path movements

34210

ENC_REFP_STATE

Measuring system status

35130

GEAR_STEP_MAX_VELO_LIMIT[n]

Maximum velocity for gear stage

15.16.2

Setting data

15.16.2.1

General setting data

Number

Identifier: $SN_

Description

41010

JOG_VAR_INCR_SIZE

Size of the variable increment for incremental manual

traversing or manual traversing using a handwheel

41050

JOG_CONT_MODE_LEVELTRIGGRD

Jog/continuous mode for continuous manual traversing

41100

JOG_REV_IS_ACTIVE

JOG: Revolutional/linear feedrate

41110

JOG_SET_VELO

Axis velocity in JOG mode

41120

JOG_REV_SET_VELO

Revolutional feedrate of axes in JOG mode

41130

JOG_ROT_AX_SET_VELO

Axis velocity of the rotary axes in JOG mode

41200

JOG_SPIND_SET_VELO

Velocity for spindle in JOG mode

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Manual traversing

15.16 Data lists

15.16.2.2

Channel-specific setting data

Number

Identifier: $SC_

Description

42690

JOG_CIRCLE_CENTRE

Center of circle

42691

JOG_CIRCLE_RADIUS

Circle radius

42692

JOG_CIRCLE_MODE

Jog circle mode

42693

JOG_CIRCLE_START_ANGLE

Start angle for circular travel in JOG

42694

JOG_CIRCLE_END_ANGLE

End angle for circular travel in JOG

15.16.2.3

Axis/spindle-specific setting data

Number

Identifier: $SA_

Description

43320

JOG_POSITION

JOG position

15.16.3

System variable

15.16.3.1

System variable

Identifier

Description

$AA_POSRES

Axis state "Position restored"

15.16.4

OPI variable

15.16.4.1

OPI variable

Identifier

Description

retractState, bit 0

Retraction data available

retractState, bit 1

JOG retract active

retractState, bits 2 - 3

Retraction axis

aaPosRes

Axis state "Position restored".

Axes and spindles

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Travel to fixed stop

16.2 Detailed description

16.2

Detailed description

16.2.1

Programming

Function

Travel to fixed stop

The "Travel to fixed stop" function is controlled via the FXS, FXST and FXSW commands.

The activation can also be performed without traversing motion of the relevant axis. The torque

is immediately limited. The fixed stop is monitored as soon as the axis is traversed.

Note

Synchronized actions

The "Travel to fixed stop" function can also be controlled via synchronized actions.

Further information

Function Manual Synchronized Actions

Travel with limited torque/force

Travel with limited torque/force can be controlled via the FOCON, FOCOF and FOC commands

(see Section "Traveling with limited torque/force FOC (Page 808)").

Syntax

FXS[<Axis>]=<Request>

FXST[<Axis>]=<Clamping torque>

FXSW[<Axis>]=<Window width>

Meaning

Parameter

Meaning

FXS:

"Travel to fixed stop" function, effectiveness: modal

<Request>:

0 = switch off

1 = switch on

FXST:

Set clamping torque

<Clamping torque>:

Clamping torque in % of the maximum drive torque.

SINAMICS S120: p2003

FXSW:

Set monitoring window

<Window width>:

Width of the tolerance window around the fixed stop

Unit: mm, inch or degrees

<Axis>:

Name of the channel axis, type: AXIS

Axes and spindles

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Travel to fixed stop

16.2 Detailed description

Changes to the torque limiting (FXST)

The torque limit value can be changed in each block. The change becomes effective before

executing the traversing motion programmed in the block. The torque limitation acts in addition

to the acceleration limitation (ACC).

Ramp-shaped change

A time can be set using the machine data, within which the torque limit value is linearly changed:

MD37012 $MA_FIXED_STOP_TORQUE_RAMP_TIME (time until the new torque limit is reached)

Changes to the monitoring window (FXSW)

The monitoring window can be changed in each block. The change becomes effective before

executing the traversing motion programmed in the block.

When the monitoring window is changed, not only does the window width change, but also the

reference point of the window to the actual axis position.

"Travel to fixed stop" when the continuous-path mode is active (G64)

The following machine data can be used to set that with the selection of the (FXS) function

during active continuous-path mode (G64), no exact stop is triggered at the block change (G60):

MD37060 $MA_FIXED_STOP_ACKN_MASK (monitoring PLC acknowledgements for travel to

fixed stop)

Bit

Value

Meaning

0

0

Start of the traversing motion without acknowledgement by the PLC

1

Start of the traversing motion after acknowledgement by the PLC

Boundary conditions

• The traversing motion to the fixed stop can be programmed as a path- or block-related or

modal positioning axis motion.

• Travel to fixed stop can be selected for several machine axes simultaneously.

• For a machine axis, which is traversed to a fixed stop, it is not permissible that transformation,

coupling and frame functions are active:

• The travel path and the activation of the function must be programmed in one block in the

part program.

• If "Travel to fixed stop" is activated via synchronized actions, the travel path and the activation

of the function can be programmed in separate blocks.

Axes and spindles

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Travel to fixed stop

16.2 Detailed description

16.2.2

Functional sequence

16.2.2.1

Selection

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Figure 16-1

Example of travel to fixed stop

Procedure

The NC detects that the function "Travel to fixed stop" is selected via the command FXS[x]=1

and signals the PLC using the IS DB31, ... DBX62.4 ("Activate travel to fixed stop") that the

function has been selected.

If the machine data:

MD37060 $MA_FIXED_STOP_ACKN_MASK (monitoring PLC acknowledgements for travel to

fixed stop)

is set correspondingly, the system waits for the acknowledgement of the PLC using the IS

DB31, ... DBX3.1 ("Enable travel to fixed stop").

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 (clamping torque specified via FXST[<axis>]) 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 since the start of the program, then the value

is valid in the axis-specific machine data:

MD37010 $MA_FIXED_STOP_TORQUE_DEF (default for fixed stop clamping torque)

is entered.

Axes and spindles

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Travel to fixed stop

16.2 Detailed description

16.2.2.2

Fixed stop is reached

Detecting the fixed stop

Detecting the fixed stop or identifying that the machine axis has reached the fixed stop can be

set using the following machine data:

MD37040 $MA_FIXED_STOP_BY_SENSOR = <value> (fixed stop detection via sensor)

<value>

Meaning

0

The fixed stop has been reached when the contour deviation of the machine axis has excee-

ded the value set in the machine data:

MD37030 $MA_FIXED_STOP_THRESHOLD (threshold for fixed stop detection)

1

An external sensor detects when the fixed stop has been reached and informs the control via

the following axial NC/PLC interface signal:

DB31, ... DBX1.2 == 1 (sensor for fixed stop)

2

The fixed stop has been reached, if one of the conditions, specified under <value> == 0 OR

<value> == 1 applies.

Ineffective NC/PLC interface signals

When the axis is in the "Fixed stop reached" state, the following NC/PLC interface signals have no

effect:

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

• DB31, ... DBX2.1 (controller enable)

Actions when the fixed stop is reached

The following actions are executed when the fixed stop is reached:

• The torque in the drive is increased up to the programmed clamping torque (FXST)

• The remaining distance to go is deleted

• The position setpoint is tracked

• The NC/PLC interface signal is set: DB31, ... DBX62.5 = 1 ("fixed stop reached")

• Executing a block change:

- Executing a block change when the fixed stop is reached: MD37060

$MA_FIXED_STOP_ACKN_MASK, Bit 1 = 0

The block change is immediately executed after reaching the fixed stop.

- Block change is only executed after the acknowledgment by the PLC user program:

MD37060 $MA_FIXED_STOP_ACKN_MASK, Bit 1 = 1

After reaching the fixed stop, the block is not changed until acknowledgment by the PLC

user program:

DB31, ... DBX1.1 == 1 (acknowledge fixed stop reached)

In order to also maintain the clamping torque after the block change, the NC still outputs a

setpoint for the machine axis.

• Activating the fixed stop monitoring or the monitoring window

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Travel to fixed stop

16.2 Detailed description

Overview

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9$B);6

Figure 16-2

Fixed stop is reached

16.2.2.3

Fixed stop is not reached

Alarm suppression

Alarms for various causes of breakage can be suppressed using the machine data:

MD37050 $MA_FIXED_STOP_ALARM_MASK = <value>

Value

Description: Suppressed alarms

0

Alarm 20091 "Fixed stop not reached"

2

Alarm 20091 "Fixed stop not reached"

Alarm 20094 "Fixed stop aborted"

3

Alarm 20094 "Fixed stop aborted"

8

Alarm 25042 "FOC: Standstill monitoring"

16

Only initiate alarm 20095 if the brake test torque is less than the holding torque.

Axes and spindles

Function Manual, 10/2020, 6FC5397-4GP40-0BA1

795

Travel to fixed stop

16.2 Detailed description

Actions in the case of a fault or breakage

The following actions are executed when a fault occurs or for a breakage:

• The NC/PLC interface signal is reset: DB31, ... DBX62.4 = 0 (activate travel to fixed stop)

• Depending on the setting in the machine data, the system waits for acknowledgment:

- MD37060 $MA_FIXED_STOP_ACKN_MASK

- DB31, ... DBX3.1 == 0 (enable travel to fixed stop)

• Withdrawing torque limits

• Executing a block change

Overview

)ROORZLQJ HUURU

W

'%

'%;

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VWRS

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9$B);6

Figure 16-3

Fixed stop is not reached

16.2.2.4

Deselection

The "travel to fixed stop" function is deselected using the command FXS[<axis>] = 0 in a

block of an NC program.

Axes and spindles

796

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Travel to fixed stop

16.2 Detailed description

Actions when deselecting the function

When deselecting the function, the following actions are executed:

• A preprocessing stop is initiated (STOPRE)

• The NC/PLC interface signals are reset

- DB31, ... DBX62.4 = 0 (activate travel to fixed stop)

- DB31, ... DBX62.5 = 0 (fixed stop reached)

• Depending on the machine data, the system waits for acknowledgment from the PLC user

program:

- MD37060 $MA_FIXED_STOP_ACKN_MASK

- DB31, ... DBX3.1 == 0 (enable travel to fixed stop)

- DB31, ... DBX1.1 == 0 (acknowledge fixed stop reached)

• Exiting the follow-up mode

• Axis resumes closed-loop position control

Pulse enable

The pulse enable or pulse inhibit can be canceled via:

• Drive: Via terminal EP (enable pulses)

• NC/PLC interface signal: DB31, ... DBX21.7 ("pulse enable")

The behavior at the fixed stop can be set via the following machine data:

MD37002 $MA_FIXED_STOP_CONTROL, bit 0 and bit 1 (sequence control for traversing to fix

stop)

Bit

Val-

Meaning

ue

0

Behavior for pulseinhibit at the fixed stop

0

"Travel to fixed stop" is aborted

1

"Travel to fixed stop" is interrupted, i.e. the drive is without power.

1

Behavior for pulseenable at the fixed stop

0

The torque is injected suddenly.

1

The torque is linearly ramped-up over the time specified in the machine data:

MD37012 $MA_FIXED_STOP_TORQUE_RAMP_TIME

Special case: Deleting the pulse enable during deselection

If, during deselection, the function in state: "Waiting for PLC acknowledgements" the pulse

enable is deleted, the torque limit is reduced to 0. In this phase, if pulse enable is set again torque

is no longer established in the drive. Once the deselection has been completed the axis can be

traversed normally again.

Axes and spindles

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797

Travel to fixed stop

16.2 Detailed description

Overview

D

Y

D_PD[

Y_PD[

D_UHG

Y_UHG

Y_UHG

Y_PD[

Y

W

D

Y

D_PD[

Y_PD[

D_UHG

Y_UHG

Y_UHG

Y_PD[

Y

W

D

Y

D_PD[

Y_PD[

D_UHG

Y_UHG

Y_UHG

Y_PD[

Y

W

① Traversing block with deselection FXS[<axis>]=0

Figure 16-4

Fixed stop deselection

Axes and spindles

798

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Travel to fixed stop

16.2 Detailed description

SERUPRO: $AA_FXS (desired state)

During SERUPRO, $AA_FXS supplies the following values depending on the activation status of

the "Travel to fixed stop" function:

Activation status of the "travel to fixed stop"

System variable $AA_FXS ==

function

"Deactivated"

0 (axis not at fixed stop)

"Activated"

3 ("Travel to fixed stop" selection is active)

Note

During SERUPRO, the system variable $AA_FXS only supplies the values 0 and 3. As a result,

based on $AA_FXS, the program sequence can be changed with SERUPRO compared to the

normal program execution for program branches.

SERUPRO: $VA_FXS (actual state)

During SERUPRO, the variable $VA_FXS always supplies the real state of axis on the machine.

Example

The current state of the "Travel to fixed stop" function can be determined in the SERUPRO ASUP

via the system variables $AA_FXS and $VA_FXS, and the appropriate response initiated:

Program code: FXS_SERUPRO_ASUP.MPF

Comment

N100 WHEN ($AA_FXS[X]==3) AND ($VA_FXS[X]==0) DO

; Reference=="Selection not active" AND

FXS[X]=1

; Actual=="Axis not at fixed stop"

; => "Switch on"

N200 WHEN ($AA_FXS[X]==0) AND ($VA_FXS[X]==1) DO

; Reference=="Axis not at fixed stop" AND

FXS[X]=0

; Actual=="Fixed stop successfully approached"

; => "Switch on"

N1020 REPOSA

; Repositioning linearly with all axes

Displaying the REPOS offset

Once the search target has been found, for each axis, the actual state regarding the "Travel to

fixed stop" is displayed using the following NC/PLC interface signals:

• DB31, ... DBX62.4 (activate travel to fixed stop)

• DB31, ... DBX62.5 (fixed stop reached)

Example:

If the axis is at the fixed stop and the target block is available after deselection of FXS, the new

target position is displayed via DB31, ... DBX62.5 (fixed stop reached) as the REPOS offset.

Axes and spindles

800

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Travel to fixed stop

16.2 Detailed description

REPOS and FXS

With REPOS, the functionality of FXS is repeated automatically and called FXS-REPOS in the

following. This sequence is comparable to the FXS_SERUPRO_ASUP.MPF program. 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 executed in the SERUPRO ASUP automatically takes care of

$AA_FXS[ <axis> ] = $VA_FXS[ <axis> ].

This deactivates FXS-REPOS for axis X.

Deactivating FXS-REPOS

FXS-REPOS is deactivated by:

• An FXS synchronized action which refers to REPOSA

• $AA_FXS[X] = $VA_FXS[X] in the SERUPRO_ASUP

Note

A SERUPRO ASUP without FXS treatment or no SERUPRO ASUP results automatically in FXS-

REPOS.

CAUTION

Speed too high for FXS-REPOS

FXS-REPOS traverse all path axes together to the target position. Axes with and without FXS

treatment thus traverse together with the G command and feedrate valid in the target block.

As a result, the fixed stop may be approached in rapid traverse(G0) or higher velocity.

FOC-REPOS

FOC-REPOS behaves in the same way as FXS-REPOS.

A changing torque characteristic during the program preprocessing cannot be implemented

with FOC-REPOS.

Example

Axis X is traversed from position 0 to 100. FOC is switched on every 20 millimeters for 10

millimeters. The resulting torque characteristic is generated with non-modal FOC and cannot be

traced by FOC-REPOS. Axis X is traversed by FOC-REPOS with or without FOC in accordance with

the last programming before the target block.

For FXS "Travel to fixed stop" programming examples, see the Basic Functions Function Manual.

Axes and spindles

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801

Travel to fixed stop

16.2 Detailed description

16.2.4

Behavior for reset and function abort

NC reset

As long as the function is still not in the "Successful travel to fixed stop" state, the travel to fixed

stop can be aborted with NC reset.

Even when the fixed stop has already has been approached, but the specified stop torque not yet

fully reached, then the function can still be aborted with NC reset. The position setpoint of the

axis is synchronized with the current actual position.

As soon as the function is in the "Successful travel to fixed stop" state, the function also remains

active after the NC reset.

Function abort

A function abort can be triggered by the following events:

• Emergency stop

CAUTION

Dangerous machine situations possible for travel to limit stop

It must be ensured that no dangerous machine situations occur while travel to fixed stop is

active when an "Emergency stop" is triggered or reset.

For example, behavior when setting and canceling the pulse enable:

MD37002 $MA_FIXED_STOP_CONTROL, bit 0 (behavior for pulse disable at the stop)

• Bit 0 = 0: Travel to fixed stop is aborted

• Bit 0 = 1: Travel to fixed stop is interrupted, i.e. the drive is without power

Once the pulse disable is canceled again, the drive presses with the stop torque again.

Note

NC and drive have no power during "Emergency stop", i.e. the PLC must react.

• Functional state: "Fixed stop not reached"

• Functional state: "Fixed stop aborted"

• Aborted by the PLC user program:

DB31, ... DBX62.4 = 0 ("Activate travel to fixed stop")

• Cancellation of the pulse enable and machine data parameterization:

MD37002 $MA_FIXED_STOP_CONTROL, bit 0 = 0 (see above)

16.2.5

Behavior with regard to other functions

Measurement with delete distance-to-go

"Travel to fixed stop" (FXS) cannot be programmed in a block with "Measurement with delete

distance-to-go" (MEAS). Except when on function acts on a path axis while the other acts on a

positioning axis or both functions act on positioning axes.

Axes and spindles

802

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Travel to fixed stop

16.2 Detailed description

16.2.7

System variables

Reference/actual state

The reference and actual state of the "travel to fixed stop" function can be read using the

following system variables:

• $AA_FXS = <value> (status, "Travel to fixed stop" reference state)

• $VA_FXS = <value> (status, "Travel to fixed stop" actual state)

<val-

Description

ue>

0

Axis is not at fixed stop

1

Fixed stop was successfully approached

2

Approach to fixed stop failed

3

Selection "Travel to fixed stop" is active.

4

Fixed stop was detected.

5

Travel to fixed stop deselection active

Additional information

If errors occurred when traversing to the fixed stop ($VA_FXS == 2), then additional information

is displayed in the following system variables:

• $VA_FXS_INFO = <value> (additional information when "traveling to fixed stop")

<val-

Description

ue>

0

No additional information available

1

No approach motion programmed

2

Programmed end position reached, motion stopped

3

Cancellation using a reset, DB21, ... DBX7.7 == 1

4

Monitoring window was exited

5

Torque reduction rejected by drive

6

PLC has withdrawn the enable, DB31, ... DBX3.1 == 0 (travel to fixed stop enabled)

Application example for $AA_FXS

In order that a block change is executed, no alarm should be triggered when a fault occurs. The

cause is then determined using the system variable $VA_FXS_INFO and a specific response

initiated.

Requirement: MD37050 $MA_FIXED_STOP_ALARM_MASK = 0 (when traveling to fixed stop, no

alarm initiated)

Program code

Comment

X300 Y500 F200 FXS[X1]=1 FXST[X1]=25 FXSW[X1]=5

; Travel to fixed stop

IF $AA_FXS[X1] == 2 GOTOF FXS_ERROR

; IF fixed stop == reached

Axes and spindles

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Travel to fixed stop

16.2 Detailed description

16.2.9

Travel with limited torque/force FOC

Function

Using the "Force Control" function to traverse with limited torque/force, when traversing, the

maximum permissible torque/force can be limited to a percentage of the maximum possible axis

torque. The limit value can be changed at any time, also while the axis is traversing. The changes

can be realized in the interpolator clock cycle, dependent on distance, time or on any other

variable. The "Force Control" function can also be programmed in synchronized actions. The

function can be permanently activated, or block related.

Note

The current torque/force actual value from SINAMICS (VA_TORQUE) is required for optimum

utilization of the "Force Control" function to detect when the torque limit is reached. This actual

value is only included in the transfer of telegrams upwards of telegram number 116.

For drives which do not provide these values, but do allow a torque reduction (MOM_RED),

detection of the stop is limited to evaluation of the contour violation. There is no guarantee that

the desired torque limit will be reached.

Optimum use of travel to fixed stop and Force Control is therefore assured for all drives based on

SINAMICS S120. For all other drives (e.g. SINAMICS S210), check whether the applications can

be executed in a practical manner with the desired quality.

Programming

Syntax

FOCON[<axis>]

FOCOF[<axis>]

FOC[<axis>]

Meaning

Parameter

Meaning

FOCON:

Activate torque/force limiting

FOCOF:

Deactivate torque/force limiting

FOC:

Activate non-modal torque/force limiting

<Axis>:

Channel axis name, type: AXIS

Example

Program code

Comment

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%,

N40 FOCOF[X]

; Disable torque limit

Axes and spindles

808

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Travel to fixed stop

16.2 Detailed description

Parameterization

Machine data

• MD37010 $MA_FIXED_STOP_TORQUE_DEF (default for fixed stop clamping torque)

The value specified in the machine data is effective after activating the function, as long as

no explicit value is programmed using FXST.

• MD36042 $MA_FOC_STANDSTILL_DELAY_TIME (delay time standstill monitoring for active

torque/force limiting)

Permanent activation (FOCON/FOCOF)

Permanent activation of the "Force Control" function after POWER ON or RESET can be set using

the machine data:

MD37080 $MA_FOC_ACTIVATION_MODE, bit 0 and bit 1 (basic setting of the modal force/

torque limiting)

Bit

Value

Meaning

0

0

The "Force Control" function is not active after POWER ON.

1

The "Force Control" function is active after POWER ON.

1

0

The "Force Control" function is not active after RESET.

1

The "Force Control" function is active after RESET.

If a limiting torque or force is programmed using FXST = <value> before activation, then this

is effective from activation onwards.

If a limiting torque or force was not programmed using FXST = <value> before activation,

then the value specified in the machine data is effective as standard.

MD37010 $MA_FIXED_STOP_TORQUE_DEF (default for fixed stop clamping torque)

Block-related activation (FOC)

The function for the actual block is activated using the FOC command.

Activating the function using a synchronized action takes effect up to the end of the current part

program block.

Priority of FXS before FOC

Activating the "Travel to fixed stop" function FXS has a higher priority than the "Force Control"

function. If "Travel to fixed stop" is active at the same time as "Force Control", then the first is

executed.

Deselecting the "Travel to fixed stop" function FXS cancels the clamping. A "Force Control"

function that is at same time permanently active, remains active.

System variable

Status of the "Force Control" function

The status of the "Force Control" function can be read using system variable $AA_FOC.

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Travel to fixed stop

16.2 Detailed description

Changing the status of the "Travel to fixed stop" function FXS does not change the status of the

"Force Control" function.

$AA_FOC

Value

Meaning

0

FOC not active

1

FOC modal active

2

FOC non-modal active

Status of torque limiting

The actual status of the torque limiting can be read using system variable

$VA_TORQUE_AT_LIMIT.

$VA_TORQUE_AT_LIMIT

Value

Meaning

0

actually effective torque < torque limit value

1

actually effective torque == torque limit value

Restrictions

the "Force Control" function has 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 NC/PLC interface to check that the active

torque limit has been reached.

• If the acceleration limitation is not adapted accordingly, an increase in the following error

occurs during the traversing motion.

• If the acceleration limitation is not adapted accordingly, the end-of-block position is possibly

reached later than specified in the machine data:

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 for 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.

Further information:

Function Manual Basic Functions; Distributed systems; Multiple control panels on multiple NCUs

The status of the machine axis is kept in the case of a container rotation, 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 rotation.

Axes and spindles

810

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Travel to fixed stop

16.3 Examples

16.3

Examples

Example 1: Travel to fixed stop with static synchronized actions

Travel to fixed stop (FXS) is initiated when requested via R parameter ($R1) in a static

synchronized action.

Program code

Comment

N10 IDS=1 WHENEVER

; Static synchronized action 1:

(($R1==1) AND

; R1==1 (FXS for Y requested) AND

($AA_FXS[Y]==0)) DO

; Avoidance of multiple selection

; $AA_FXS[Y]==0 (axis not at limit): =>

$R1=0 FXS[Y]=1

; reset $R1, activate FXS for Y

FXST[Y]=10

; Limit torque: 10%

FA[Y]=200

; Axial feedrate Y: 200

POS[Y]=150

; Positioning movement Y

N11 IDS=2 WHENEVER

; Static synchronized action 2:

($AA_FXS[Y]==4) DO

; $AA_FXS[Y]==4 (limit detected): =>

FXST[Y]=30

; Limit torque:

30%

N12 IDS=3 WHENEVER

; Static synchronized action 3:

($AA_FXS[Y]==1) DO

; $AA_FXS[Y]==1 (limit reached successfully): =>

FXST[Y]=$R0

; Limit torque: Value from R parameter $R0

N13 IDS=4 WHENEVER

; Static synchronized action 4:

(($R3==1) AND

; R3==1: Deselection of FXS for Y requested

($AA_FXS[Y]==1)) DO

; $AA_FXS[Y]==1 (limit reached successfully): =>

FXS[Y]=0

; Deselect FXS

FA[Y]=1000 POS[Y]=0

; Positioning movement Y

N20 FXS[Y]=0 G0 G90 X0 Y0

; Set initial settings: FXS deselected,

X and Y at initial position

N30 RELEASE(Y)

; Release Y for movements in synchronized actions

N60 GET(Y)

Include axis Y back into the path group

Note

Avoidance of multiple selection for FXS

To avoid a multiple selection, we recommend that prior to activating FXS, query either the

$AA_FXS==0 system variable or a user-specific flag. See above, program example N10

Axes and spindles

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811

Travel to fixed stop

16.4 Data lists

Example 2: Traveling to fixed stop with block-related synchronized actions

"Travel to fixed stop" is activated from a specific position of the traversing motion of the following

block

Program code

Comment

N10 G0 G90 X0

; Starting position

N20 WHEN $AA_IW[X]>17 DO FXS[X]=1

; Synchronized action: Actual position of

X axis > 17

; => activate FXS for axis X

N30 G1 F200 X100

; Traversing motion for axis X

Note

A block-related synchronized action is processed in the following main program block.

16.4

Data lists

16.4.1

Machine data

16.4.1.1

Axis/spindlespecific machine data

Number

Identifier: $MA_

Description

36042

FOC_STANDSTILL_DELAY_TIME

Delay time, standstill monitoring for active torque/

force limiting

37000

FIXED_STOP_MODE

Travel to fixed stop mode

37002

FIXED_STOP_CONTROL

Sequence monitoring for travel to fixed stop

37010

FIXED_STOP_TORQUE_DEF

Fixed stop clamping torque default setting

37012

FIXED_STOP_TORQUE_RAMP_TIME

Time until the modified torque limit is reached

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.

Initial setting of the modal torque/force limiting

Axes and spindles

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Travel to fixed stop

16.4 Data lists

16.4.2

Setting data

16.4.2.1

Axis/spindle-specific setting data

Number

Identifier: $SA_

Description

43500

FIXED_STOP_SWITCH

Selection of travel to fixed stop

43510

FIXED_STOP_WINDOW

Fixed stop clamping torque

43520

FIXED_STOP_TORQUE

Fixed stop monitoring window

Axes and spindles

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813

Setpoint switchover

17.1 Brief description

Example

;

;

60&

;

;

;

;

'5,9( &/L4

60&

60&

1&8

$FWLYH /LQH

6LQJOH 0RWRU

'RXEOH 0RWRU

0RGXOH

0RGXOH

0RGXOH

1

a 0

0

①

Motor with encoder

②

Mechanical switchover device

③

Gearbox 1

④

Encoder 1 (e.g. for the milling head)

⑤

Gearbox 2

⑥

Encoder 2 (e.g. for the spindle)

Figure 17-1

Setpoint switchover with 2 axes

Axes and spindles

816

Function Manual, 10/2020, 6FC5397-4GP40-0BA1

Setpoint switchover

17.3 Flow diagram

17.3

Flow diagram

$;

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LV DFWLYH

'% '%;

25

25

25

$;

<HV

'ULYH FRQWURO

DFWLYH"

'% '%;

1R

$;

&ORVH EUDNH

5HOLQTXLVK GULYH FRQWURO

'% '%;

6ZLWFKRYHU PHFKDQLFDO V\VWHP

$;

5HTXHVW GULYH FRQWURO

'% '%;

$;

'ULYH FRQWURO

DFWLYH"

1R

'% '%;

<HV

$;

$;

7UDFNLQJ IROORZ XS PRGH

7UDFNLQJ IROORZ XS PRGH

LV VZLWFKHG RYHU

LV VZLWFKHG RYHU

'% '%;

'% '%;

$;

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'% '%;

2SHQ EUDNH

Figure 17-2

Sequence when switching over the setpoint from machine axes AX1 to AX2

Axes and spindles

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819

Setpoint switchover

17.5 Data lists

17.5

Data lists

17.5.1

Machine data

17.5.1.1

Axis/spindlespecific machine data

Number

Identifier: $MA_

Description

30130

CTRLOUT_TYPE

Output type of setpoint

30200

NUM_ENCS

Number of encoders

30220

ENC_MODULE_NR

Actual-value assignment:

Drive number / measurement circuit number

30230

ENC_INPUT_NR

Actual-value assignment:

Input on drive module/measuring circuit module

Axes and spindles

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821

Tangential control

18

Using the "Tangential control" function, a rotary axis is coupled as following axis to two

geometry axes as leading axes, so that the alignment of the following axis is a function of the

path tangent of the leading axes.

<

;

&

|

① Initial position and positive direction of rotation of the following/rotary axes C

② Angle of the path tangent in machining plane X/Y

③ Offset angle = 270° or -90°

④ Rounding clearance and present angular deviation

The path-defining leading axes, geometry axes X and Y and rotary axis C the following axis of the

tangential coupling can be seen in the diagram. The rotary axis is tracked with a programmable

offset angle of 270° with respect to the path tangent. At the block transition from N10 to N20,

the contour has a discontinuous transition or corner. As a result of a dynamic response that is too

low, the following axis cannot follow the path tangent over part of the path (blue). However, the

dynamic response of the following axis is sufficient so that it can precisely follow circular blocks

N20 and N30 further along the contour.

Properties

The tangential coupling sets itself apart as a result of the following features:

• The leading axes of the tangential coupling must be two geometry axes.

• The following axis of the tangential coupling must be a rotary axis.

• The tangential coupling can be defined, activated, deactivated and deleted in the NC

program.

• Tangential control is defined for the basic and the workpiece coordinate system.

• The positive direction of the path tangent is the same as the traversing direction of the path.

• For an offset angle of 0° between the rotary axis and the path tangent, shows the 0° direction.

• The axes of the tangential coupling must be the channel axes of the same channel.

Axes and spindles

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Tangential control

18.2 Programming

Meaning

TANG(...):

Define tangential coupling

<following axis>:

Axis name of the following axis (rotary axis)

Data type:

AXIS

Range of values:

Channel axis names

<leading axis_1>

Axis names of the leading axes (geometry axes) ¹⁾

<leading axis_2>:

Data type:

AXIS

Range of values:

Geometry axis names of the channel

<coupling factor>:

Factor n of the angle change of the following axis for changing the path

tangent of the leading axes:

Angle change_{following axis} = angle change_{path tangent} * n

Data type:

REAL

Default value:

1.0

<coordinate system>:

Active coordinate system ²⁾

Data type:

CHAR

Value:

"B":

Basic coordinate system (default value)

"W":

Workpiece coordinate system (not availa-

ble)

<optimization>:

Optimization type

Data type:

CHAR

Value:

"S":

Standard (default value)

The dynamic response of the rotary axis has

no effect on the leading axes If the dynamic

response of the rotary axis is greater than

required for tracking, this method is suffi-

ciently precise. If the dynamic response of

the rotary axis is not great enough to follow

the change in the path tangent, the orien-

tation of the rotary axis will deviate from

the target orientation along an undefined

rounding clearance.

"P":

The dynamic response of the rotary axis is

considered in the path planning of the lead-

ing axes.

For this purpose, on activation of the tan-

gential coupling with TANGON(), two addi-

tional parameters must be specified:

• Rounding clearance

• Angular tolerance

See Section "Activating the coupling (TAN-

GON) (Page 828)"

Note

With kinematic transformations, we recom-

mend using optimization method "P."

Note

Default values do not have to be programmed explicitly.

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Tangential control

18.2 Programming

1)

Note

As the leading axes for tangential coupling, the geometry axes must be used that travel along the

programmed path in the machine coordinate system (MCS) with reference to the initial position of the

machine. For example, if swivel cycle CYCLE800 is used on a milling machine with a swivel head, de-

pending on how the cycle is configured, interpolation will be performed in the WCS, e.g. with the ge-

ometry axes X and Y. The tangential coupling, however, must be defined with the geometry axes as the

leading axes, which travel along the programmed path in the MCS. For this purpose, the geometry axes

in the non-swiveled condition of the machine must be used as the leading axes.

²⁾ Note

The basic coordinate system (BCS) must not be rotated with respect to the MCS. For example, if the BCS

is rotated with the ROT command or with the swivel cycle CYCLE800, the tangential control is no longer

correct.

18.2.2

Activating intermediate block generation (TLIFT)

If the tangent change of the following axis at any position along the programmed path of the

leading axes exceeds the limit parameterized in machine data MD37400

$MA_EPS_TLIFT_TANG_STEP, further path planning will depend on the set behavior at corners.

Without use of the predefined procedure TLIFT(...), the path is traversed in accordance with the

rounding behavior programmed in connection with TANG(...) (Page 825) and TANGON(...)

(Page 828).

Activating intermediate block generation

If TLIFT(...) is programmed after TANG(...), an intermediate block automatically generated by the

control is inserted at this point when a corner is detected during preprocessing.

When the program is executed, the leading axes are stopped when the intermediate block is

reached. In the intermediate block, the following axis is rotated with maximum axis dynamics

toward the path tangent of the following block. The leading axes are then traversed further on

the programmed path.

Deactivating intermediate block generation

To deactivate intermediate block generation, the tangential coupling must be defined again

using TANG(...), but without subsequent activation of intermediate block generation by means

of TLIFT(...).

Syntax

TLIFT(<following axis>)

Meaning

TLIFT(...):

Activate corner detection with intermediate block calculation

<following axis>:

Axis name of the following axis (rotary axis)

Data type:

AXIS

Range of values:

Channel axis names

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Tangential control

18.2 Programming

Meaning

TANGON(...):

Activate tangential coupling

<following axis>:

Axis name of the following axis (rotary axis)

Data type:

AXIS

Range of values:

Channel axis names

<offset angle>:

Offset angle of following axis with respect to the path tangent

The reference point is the zero point of the rotary axis.

Data type:

REAL

<rounding clearance>:

Maximum permissible rounding clearance

If the rounding clearance is increased due to the dynamic conditions, the

path velocity of the leading axes is reduced.

Data type:

REAL

<angular tolerance>:

Maximum permissible tolerance with respect to the specified angle be-

tween the following axis zero setting and the path tangent

Data type:

REAL

18.2.4

Deactivating the coupling (TANGOF)

Via the predefined procedure TANGOF(...), a tangential coupling defined with TANG(...)

(Page 825) and activated with TANGON(...) (Page 828) is deactivated. The following axis is then

no longer aligned with the path tangent of the leading axis. However, the coupling of the

following axis to the leading axes is retained even after deactivation, which prevents the

following functions, for example:

• Plane change

• Geometry axis switchover

• Definition of a new tangential coupling for the following axis

Final cancellation of the connection of the coupling of the following axis to the leading axes is

not completed until the coupling has been deleted with TANGDEL(...) (Page 830).

Programming

TANGOF(<following axis>)

Meaning

TANGOF(...):

Deactivate a tangential coupling

<following axis>:

Axis name of the following axis (rotary axis)

Data type:

AXIS

Range of values:

Channel axis names

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Tangential control

18.2 Programming

18.2.5

Deleting a coupling (TANGDEL)

A tangential coupling defined with TANG(...) (Page 825) will be retained even after deactivation

of the tangential coupling with TANGOF(...) (Page 829). The existing tangential coupling then

continues to prevent, for example, the following functions:

• Plane change

• Geometry axis switchover

• Definition of a new tangential coupling for the following axis

With the predefined procedure TANGDEL(...), the existing tangential coupling is deleted after

the tangential coupling has been deactivated with TANGOF(...).

Syntax

TANGDEL(<following axis>)

Meaning

TANGDEL(...):

Delete a tangential coupling defined with TANG()

Effective:

Non-modal

<following axis>:

Axis name of the following axis whose tangential coupling is to be de-

leted

Data type:

AXIS

Range of values:

Channel axis names

Examples

Leading axis change

Before a new tangential coupling can be defined with another leading axis for the following axis,

the existing tangential coupling must first be deleted.

Program code

Comment

N10 TANG(A, X, Y, 1)

; Define tangential couping for following axis A: A to

X and Y

N20 TANGON(A)

; Activate tangential coupling for following axis A

N30 X10 Y20

N80 TANGOF(A)

; Deactivate tangential coupling for following axis A

N90 TANGDEL(A)

; Delete tangential coupling for following axis A

N120 TANG(A, X, Z)

; Define new tangential coupling for following axis A

N130 TANGON(A)

; Activate new tangential coupling for following axis A

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Tangential control

18.3 Limit angle

Geometry axis switchover

Before geometry axis switchover can be performed for an existing coupling, the coupling must

first be deleted.

Program code

Comment

N10 GEOAX(2,Y1)

; 2nd geometry axis = machine axis Y1

N20 TANG(A, X, Y)

; Define tangential coupling for following axis A

N30 TANGON(A, 90)

; Activate tangential coupling for following axis A

N40 G2 F8000 X0 Y0 I0 J50

; Motion block

N50 TANGOF(A)

; Deactivate tangential coupling for following axis A

N60 TANGDEL(A)

; Delete tangential coupling for following axis A

N70 GEOAX(2, Y2)

; 2nd geometry axis = machine axis Y2

N80 TANG(A, X, Y)

; Define new tangential coupling for following axis A

N90 TANGON(A, 90)

; Activate new tangential coupling for following axis

A

18.3

Limit angle

For alternating traversing motion, the direction of the path tangent jumps through 180° at the

reversal point. The alignment of the following axis also jumps through 180 °. This behavior is

generally not practical (see Fig., ②). Instead, for return motion, the following axis should be

traversed with the same alignment as for the forward motion (see Fig., ③).

r

r

<

r

r

&

|

;

① Initial position and positive direction of rotation of the following/rotary axis C

② Forward and reverse motion with the same offset angle 270°

③ Forward and reverse motion with alternating offset angles, 270° and -270°

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Tangential control

18.5 Examples

Program code

Comment

N20 TANGON(C,90)

Example 2: Plane change

Program code

Comment

; Define tangential coupling:

;

- Following axis A, leading axes X and Y

;

- Coupling factor: 1.0

;

- Coordinate system: BCS

;

- Optimization type: "S"

N10 TANG(A,X,Y)

; Activate tangential coupling:

;

- Offset angle: 0°

N20 TANGON(A)

N30 X10 Y20

; Traverse leading axes

N80 TANGOF(A)

; Deactivate tangential coupling

N90 TANGDEL(A)

; Delete tangential coupling

; Define NEW tangential coupling:

;

- Following axis A, leading axes X and Z

;

- Coupling factor: 1.0

;

- Coordinate system: BCS

;

- Optimization type: "S"

TANG(A,X,Z)

TANGON(A)

Example 3: Geometry axis switchover

Program code

Comment

N10 GEOAX(2,Y1)

; 2nd geometry axis: Y1

; Define tangential coupling:

;

- Following axis A, leading axes X and Y

;

- Coupling factor: 1.0

;

- Coordinate system: BCS

;

- Optimization type: "S"

N20 TANG(A,X,Y)

; Activate tangential coupling:

;

- Offset angle: 90°

N30 TANGON(A,90)

N40 G2 F8000 X0 Y0 I0 J50

; Traverse circle

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Tangential control

18.5 Examples

Program code

Comment

N50 TANGOF(A)

; Deactivate tangential coupling

N60 TANGDEL(A)

; Delete tangential coupling

N70 GEOAX(2,Y2)

; 2nd geometry axis: Y2

; Define NEW tangential coupling:

;

- Following axis A, leading axes X and Y

;

- Coupling factor: 1.0

;

- Coordinate system: BCS

;

- Optimization type: "S"

N80 TANG(A,X,Y)

; Activate tangential coupling:

;

- Offset angle: 90°

N90 TANGON(A,90)

Example 4: Optimization type "P"

Program code

Comment

N100 G0 C0

N110 G1 X1000 Y500 F50000

N120 TRAORI

; Activate transformation

N130 G642

; Activate smoothing

N171 TRANS X50 Y50

; Work offset WCS

; Define tangential coupling:

;

- Following axis C, leading axes X and Y

;

- Coupling factor: 1.0

;

- Coordinate system: BCS

;

- Optimization type: "P"

N180 TANG(C,X,Y,1,,"P")

; Activate tangential coupling:

;

- Offset angle: 0°

;

- Rounding clearance 5.0 mm

;

- Angular tolerance 2.0°

N190 TANGON(C,0,5.0,2.0)

N210 G1 X1310 Y500

N215 G1 X1420 Y500

N220 G3 X1500 Y580 I=AC(1420) J=AC(580)

N230 G1 X1500 Y760

N240 G3 X1360 Y900 I=AC(1360) J=AC(760)

N250 G1 X1000 Y900

N280 TANGOF(C)

; Deactivate tangential coupling

N290 TRAFOOF

; Deactivate transformation

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Tangential control

18.6 Data lists

Example 5: Corner in space

Program code

; Comment

; Define tangential coupling:

;

- Following axis A, leading axes X and Y

;

- Coupling factor: 1.0

;

- Coordinate system: BCS

;

- Optimization type: "S" (standard)

TANG(A,X,Y,1.0,"B")

TLIFT(A)

; Activate intermediate block generation

G1 G641 X0 Y0 Z0 A0

; Go to initial position

; Activate tangential coupling:

;

- Offset angle: 0°

TANGON(A,0)

N4 X10

; Traverse leading axis X

N5 Z10

; Traverse geometry axis Z

N6 Y10

; Traverse leading axis Y

M30

By traversing the geometry axes in blocks N4 and N6, a discontinuous characteristic is obtained,

i.e. a corner in the contour of the leading axes of the tangential coupling. By programming

TLIFT(), an intermediate block is inserted in front of N6, in which following axis A is rotated

through 90° in the tangential direction of the Y axis. Only then is the Y axis traversed in N6.

18.6

Data lists

18.6.1

Machine data

18.6.1.1

NC-specific machine data

Number

Identifier: $MN_

Description

11450

SEARCH_RUN_MODE

Block search parameterization

18.6.1.2

Axis/spindlespecific machine data

Number

Identifier: $MA_

Description

37400

EPS_TLIFT_TANG_STEP

Tangential angle for corner recognition

37402

TANG_OFFSET

Default angle for tangential follow-up control

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Tangential control

18.6 Data lists

18.6.2

Setting data

18.6.2.1

Channel-specific setting data

Number

Identifier $SC_

Description

42121

AX_ADJUST_FEED

Path feed in adjustment motion of the tangential axes

18.6.3

System variables

Identifier

Description

$AC_BLOCKTYPE

Current block is an intermediate block generated by TLIFT

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Oscillation

19.2 Asynchronous oscillation

Revolutional feedrate

The reversal feed can also be used for oscillation axes.

Reversal points

The positions of the reversal points can be entered via setting data before an oscillation

movement is started or while one is in progress.

• The reversal point positions can be entered by means of manual travel (handwheel, JOG

keys) before or in the course of an oscillation movement, regardless of whether the

oscillation movement has been interrupted or not.

The following applies to alteration of a reversal point position: When an oscillation movement

is already in progress, the altered position of a reversal point does not become effective until this

point is approached again. If the axis is already approaching the position, the correction will take

effect in the next oscillation stroke.

Note

If a reversal point must be altered at the same time as NC/PLC interface signal DB21, … DBX0.3

("Activate DRF") is set, the handwheel signals are applied both to the DRF offset and to the offset

of the reversal point, i.e. the reversal point is shifted absolutely by an amount corresponding to

twice the distance.

Stop times

A stop time can be programmed via setting data for every reversal point.

The setting can be changed in the following blocks of the NC program. It is then effectively block

synchronous from the next reversal point.

Stop time can be changed asynchronously via setting data. It is then effective from the instant

that the appropriate reversal point is next traversed.

The following table explains the motional behavior in the exact stop range or at the reversal

point, depending on the stop time input.

Table 19-1

Effect of stop time

Stop time set-

Response

ting

-2

Interpolation continues without wait for exact stop

-1

Wait for coarse exact stop at reversal point

0

Wait for fine exact stop at reversal point

>0

Wait for fine exact stop at reversal point, followed by wait for stop time.

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Oscillation

19.2 Asynchronous oscillation

Deactivate oscillation

One of the following options can be set for termination of the oscillation movement when

oscillation mode is deactivated:

• Termination of oscillation movement at the next reversal point

• Termination of oscillation movement at reversal point 1

• Termination of oscillation movement at reversal point 2

Following this termination process, sparking-out strokes are processed and an end position

approached if programmed.

On switchover from asynchronous oscillation to spark-out and during spark-out, the response at

the reversal point regarding exact stop corresponds to the response determined by the stop time

programmed for the appropriate reversal point. A sparking-out stroke is the motion to the other

reversal point and back (see the table below):

Note

Oscillation with motion-synchronous actions and stop times "OST1/OST2"

Once the set stop times have expired, the internal block change is executed during oscillation

(indicated by the new distances-to-go of the axes). The deactivation function is checked when

the block changes. The deactivation function is defined according to the control setting for the

motional sequence "OSCTRL".

This dynamic response can be influenced by the feed override.

An oscillation stroke may then be executed before the sparking-out strokes are started or the end

position approached.

Although it appears as if the deactivation response has changed, this is not in fact the case.

Table 19-2

Operational sequence for deactivation of oscillation

Function

Inputs

Explanation

Deactivation at defined reversal

Number of sparking-out strokes

The oscillation movement is stop-

point

equals 0,

ped at the appropriate reversal

no end position active

point

Deactivation with specific num-

Number of sparking-out strokes

After the appropriate reversal

ber of sparking-out strokes

is not equal to 0,

point is reached, the number of

no end position is active

sparking-out strokes specified in

the command are processed.

Deactivation with sparking-out

Number of sparking-out strokes

After the appropriate reversal

strokes and defined end position

is not equal 0

point is reached, the number of

(optional)

end position active

sparking-out strokes specified in

the command are processed, fol-

lowed by approach to specified

end position.

Deactivation without sparking-

Number of sparking-out strokes

After the appropriate reversal

out strokes, but with defined end

is equal 0

point is reached, the axis is trav-

position (optional)

end position active

ersed to the specified end posi-

tion.

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Oscillation

19.2 Asynchronous oscillation

NC language

The NC programming language allows asynchronous oscillation to be controlled from the part

program. The following functions allow asynchronous oscillation to be activated and controlled

as a function of NC program execution.

Note

If the setting data is directly written in the part program, then the data change takes effect

prematurely with respect to processing of the part program (at the preprocessing time). It is

possible to re-synchronize the part program and the oscillation function commands by means

of a preprocessing stop (STOPRE).

Further information

Programming Manuals

1) Activate, deactivate oscillation:

• OS[oscillation axis] = 1; Activate oscillation for oscillation axis

• OS[oscillation axis] = 0; Deactivate oscillation for oscillation axis

Note

Every axis may be used as an oscillation axis.

2) End of oscillation:

• WAITP(oscillation axis)

Positioning axis command - stops block until oscillation axis is at fine stop and synchronizes

preprocessing and main run. The oscillation axis is entered as positioning axis again and can

then be used normally.

If an axis is to be used for oscillation, it must be released with a WAITP(axis) command

beforehand.

This also applies if oscillation is initiated from the PLC/HMI. In this case, the WAITP(axis) call

is also needed if the axis was programmed beforehand via the NC program. As of SW version

3.2 it is possible to select via machine data $MA_AUTO_GET_TYPE, whether WAITP() shall be

performed with programming or automatically.

Note

WAITP effectively implements a time delay until the oscillation movement has been

executed. Termination of the movement can be initiated, for example, through a

programmed deactivation command in the NC program or via the PLC or HMI by means of

deletion of distance-to-go.

3) Setting reversal points:

• OSP1[oscillation axis] = position of reversal point 1

• OSP2[oscillation axis] = position of reversal point 2

A position is entered into the appropriate setting data in synchronism with the block in the main

run and thus remains effective until the setting data is next changed.

If incremental traversal is active, then the position is calculated incrementally to the last

appropriate reversal point programmed in the NC program.

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Oscillation

19.2 Asynchronous oscillation

4) Stopping times at reversal points:

• OST1[oscillation axis] = stop time at reversal point 1 in [s]

• OST2[oscillation axis] = stop time at reversal point 2 in [s]

A stop time is entered into the appropriate setting data in synchronism with the block in the main

run and thus remains effective until the setting data is next changed.

The unit for the stop time is identical to the unit selected for the stop time programmed with G04.

5) Setting feedrate:

• FA[axis] = FValue

Positioning axis infeed.

The feedrate is transferred to the appropriate setting data in synchronism with the block in the

main run. If the oscillation axis is moved with reversal feed, the corresponding dependencies

must be indicated as described in Description of Functions V1.

6) Setting control settings for sequence of movements:

• OSCTRL[oscillating axis] = (set options, reset options)

The set options are defined as follows (the reset options deselect the settings):

Table 19-3

Set/reset options

Option value

Meaning

0

Stop at next reversal point on deactivation of the oscillation movement (default). Can

only be achieved by resetting option values 1 and 2.

1

Stop at reversal point 1 on deactivation of the oscillation movement

2

Stop at reversal point 2 on deactivation of the oscillation movement

3

On deactivation of oscillation movement, do not approach reversal point unless spark-

ing-out strokes are programmed

4

Approach an end position after spark-out process

8

If the oscillation movement is aborted by delete distance-to-go, the sparking-out

strokes must then be executed and the end position approached (if programmed)

16

If the oscillation movement is terminated by deletion of distance-to-go, the program-

med reversal point must be approached on deactivation of the oscillation movement.

32

Altered feedrate will only take effect from the next reversal point.

64

If feedrate setting is 0, path overlay is active, or otherwise velocity overlay

128

For rotary axis DC (shortest path)

256

Sparking-out stroke as single stroke

512

First approach start position

Note

The option values 0-3 encode the behavior at reversal points at Power OFF. You can choose one

of the alternatives 0-3. The other settings can be combined with the selected alternative

according to individual requirements. A + character can be inserted to create a string of options.

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Oscillation

19.2 Asynchronous oscillation

Delete distance-to-go

Channel-specific delete distance-to-go is ignored.

Axial delete distance-to-go

• Without PLC control: Stop via braking ramp

• With PLC control: No stop (must be initiated from the PLC)

The following applies to both cases: After the axis is stopped, if necessary, the appropriate

reversal point is approached and the distance-to-go deleted. The sparking-out strokes are then

executed and the end position approached. Provided this has been set in OSCILL_CTRL_MASK.

The oscillation movement is then completed.

Note

During grinding, the calipers can be put into action via axial delete distance-to-go.

Emergency stop

The emergency stop completes the oscillation movement that must be restarted.

Reset

The oscillation movement is interrupted and deselected with a braking ramp. The options

selected subsequently are not processed (sparking-out strokes, end point approach).

Working area limitation, limit switches

If it is detected during preprocessing that the oscillation movement would violate an active

limitation, then an alarm is output and the oscillation movement not started.

If during an active oscillation movement the oscillation axis overtravels a limitation that has

been activated in the meantime (e.g. 2nd software limit switch), then the axis is decelerated

along a ramp and an alarm output.

CAUTION

Protection areas

No protection areas act for a oscillation movement.

Follow-up mode

There is no difference to positioning axes.

End of program

If the axis is not controlled by the PLC, then the program end is not reached until the oscillation

movement is terminated (reaction as for POSA:

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Oscillation

19.2 Asynchronous oscillation

Positioning across block boundaries).

If the axis is controlled by the PLC, then it continues to oscillate after program end.

Mode change

The following table shows the operating modes in which oscillation can be implemented.

Changeover to an operating mode which allows oscillation does not affect the oscillation

movement. Changeover to inadmissible operating modes is rejected with an alarm. It is not

possible to traverse an axis in oscillation mode while applying control commands from the NC

program or via operator inputs (JOG) simultaneously; an alarm is output if this is attempted. The

following applies: The type of movement first started has priority.

Table 19-4

Operating modes which allow oscillation

Operating mode

Allows oscillation

AUTO

Yes

MDA

Yes

MDA Repos

Yes

MDA Teachin

Yes

MDA Ref

No

JOG

Yes

JOG Ref

No

JOG Repos

Yes

Single-block processing

If the axis is not controlled by the PLC, then it responds to a single block in the same way as a

positioning axis (POSA), i.e. it continues the movement.

Override

The override is specified by the:

NC/PLC interface

Axial override acts on the oscillation axis.

Programming

The override acts on oscillation axes in the same way as on positioning axes.

Block search

In Block Search the last valid oscillation function is registered and the machine data

OSCILL_MODE_MASK is activated (default) accordingly, either directly after NC start (when

approaching the start position after block search) or after reaching the start position after block

search.

OSCILL_MODE_MASK Bit 0:

0: Oscillation starts after reaching the start position.

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Oscillation

19.3 Oscillation controlled by synchronized actions

5. Enable oscillation movement (see Section "Oscillation movement restarting (Page 855)").

6. Do not start partial infeed too early (see Section "Do not start partial infeed too early

(Page 856)").

x

Oscillation path

Infeed

Grinding disc

Workpiece

z

ii1

ii2

U1

U2

U1

Reversal point 1

U2

Reversal point 2

ii1

Reversal range 1

ii2

Reversal range 2

Figure 19-1

Arrangement oscillating axis, infeed axis

Programming

Before the motion block that contains the assignment between the infeed and the oscillating

axis (see Section "Assignment of oscillation and infeed axes OSCILL (Page 857)"), the infeed

definition (POSP) and the motion-synchronous actions, the parameters for the oscillation must

first be defined (see Section "Influences on asynchronous oscillation (Page 839)"):

Using a WAITP [oscillating axis] (see MD30552 $MA_AUTO_GET_TYPE), the axis for oscillation

is enabled. This means that the oscillating parameters are simultaneously transferred into the

setting data. The symbolic names, e.g. $SA_REVERSE_POS1 can then be used to program the

motion-synchronous actions.

Note

For motion-synchronous actions with $SA_REVERSE_POS values, the comparison values at the

time of interpretation are valid. If setting data is changed afterwards, this has no effect.

For motion-synchronous actions with $AA_REVERSE_POS values, the comparison values within

the interpolation are valid. This ensures a reaction to the modified reversal positions.

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