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

Oscillation

19.3 Oscillation controlled by synchronized actions

• Conditions for motion-synchronized actions (frequency WHEN / WHENEVER)

• Activation through motion block

- Assign oscillation axis and infeed axes to one another OSCILL

- Specify infeed response POSP

Note

By setting the axial override in the action component of the motion-synchronized action to zero

(DO $AA_OVR[<axis>]=0), then the oscillating/infeed axis can be stopped if the associated

condition (frequency WHEN / WHENEVER) is fulfilled.

An override of 100% automatically becomes active if the condition is no longer fulfilled.

Main run evaluation

It is possible to compare the synchronization conditions in the Interpolator clock cycle in the

main run with the current actual values ($$ variable on the right of comparison conditions). With

normal system variable comparison, the expressions are evaluated in the first run.

You can find a complete description of the synchronized actions in:

Further information

Function Manual Synchronized Actions

Examples

Example 1: unchanged reversal positions

For motion-synchronized actions, the reversal positions $SA_OSCILL_REVERSE_POS are used at

the preprocessing level. If the corresponding setting data change, then the modified values are

not active in the program.

Program code

Comment

$SA_OSCILL_REVERSE_POS1[Z]=-10

; Preprocessing var.: reversal position 1

$SA_OSCILL_REVERSE_POS2[Z]=10

; Preprocessing var.: reversal position 2

G0 X0 Z0

WAITP(Z)

; Synchronized action 1: Reversal point 1 fallen below ⇒

; Stop infeed axis with override 0%

; Preprocessing var. Reversal position 1 is used

ID=1 WHENEVER $AA_IM[Z] < $SA_OSCILL_REVERSE_POS1[Z] DO $AA_OVR[X]=0

; Synchronized action 2: Reversal point 2 exceeded ⇒

; Stop infeed axis with override 0%

; Preprocessing var. reversal position 2 is used

ID=2 WHENEVER $AA_IM[Z] > $SA_OSCILL_REVERSE_POS2[Z] DO $AA_OVR[X]=0

OS[Z]=1 FA[X]=1000 POS[X]=40

; Activate oscillation

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Oscillation

19.3 Oscillation controlled by synchronized actions

Program code

Comment

OS[Z]=0

; Deactivate oscillation

M30

Example 2: changing reversal positions

For the motion-synchronized actions, as reversal position, main run variable $

$AA_OSCILL_REVERSE_POSx is used. If the corresponding setting data change, then the

modified values are active in the program.

Program code

Comment

$SA_OSCILL_REVERSE_POS1[Z]=-10

; Preprocessing var.: reversal position 1

$SA_OSCILL_REVERSE_POS2[Z]=10

; Preprocessing var.: reversal position 2

G0 X0 Z0

WAITP(Z)

; Synchronized action 1: Reversal point 1 fallen below ⇒

; Stop infeed axis with override 0%

; Main run var. Reversal position 1 is used

ID=1 WHENEVER $AA_IM[Z] < $$SA_OSCILL_REVERSE_POS1[Z] DO $AA_OVR[X]=0

; Synchronized action 2: Reversal point 2 exceeded ⇒

; Stop infeed axis with override 0%

; Main run var. reversal position 2 is used

ID=2 WHENEVER $AA_IM[Z] > $$SA_OSCILL_REVERSE_POS2[Z] DO $AA_OVR[X]=0

OS[Z]=1 FA[X]=1000 POS[X]=40

; Activate oscillation

OS[Z]=0

; Deactivate oscillation

M30

19.3.1

Infeed at reversal point 1 or 2

Function

As long as the oscillation axis has not reached the reversal point, the infeed axis does not move.

Application

Direct infeed in reversal point

Programming

Reversal point 1

WHENEVER $AA_IM[Z] <> $SA_OSCILL_REVERSE_POS1[Z]

DO $AA_OVR[X] = 0 $AA_OVR[Z] = 100

Reversal point 2

WHENEVER $AA_IM[Z] <> $SA_OSCILL_REVERSE_POS2[Z]

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Oscillation

19.3 Oscillation controlled by synchronized actions

DO $AA_OVR[X] = 0 $AA_OVR[Z] = 100

Explanation of system variables

• $AA_IM[ Z ]: Current position of oscillating axis Z in the MCS

• $SA_OSCILL_REVERSE_POS1[ Z ]: Position of the reversal point1 of the oscillation axis

• $AA_OVR[ X ]: Axial override of the infeed axis

• $AA_OVR[ Z ]: Axial override of the oscillation axis

Infeed

The absolute infeed value is defined by the POSP instruction (see Section "Definition of infeeds

POSP (Page 857)").

Assignment

The assignment between the oscillation axis and the infeed axis is defined by the OSCILL

instruction (see Section "Assignment of oscillation and infeed axes OSCILL (Page 857)").

19.3.2

Infeed in reversal point range

Reversal range 1

Function

No infeed takes place provided the oscillation axis has not reached the reversal range (position

at reversal point 1 plus contents of variables ii1). This applies on the condition that reversal point

1 is set to a lower value than reversal point 2. If this is not the case, then the condition must be

changed accordingly.

Application

The purpose of this synchronized action is to prevent the infeed movement from starting until

the oscillation movement has reached reversal range 1 (see "Figure 19-1 Arrangement

oscillating axis, infeed axis (Page 849)").

Programming

WHENEVER $AA_IM[Z] > $SA_OSCILL_REVERSE_POS1[Z] + ii1

DO $AA_OVR[X] = 0

Explanation of system variables:

• $AA_IM[ Z ]: Current position of oscillating axis Z

• $SA_OSCILL_REVERSE_POS1[ Z ]: Position of reversal point 1 of the oscillation axis

• $AA_OVR[ X ]: Axial override of the infeed axis

• ii1: Magnitude of reversal range (user variable)

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Oscillation

19.3 Oscillation controlled by synchronized actions

Reversal range 2

Function

The infeed axis stops until the current position (value) of the oscillation axis is lower than the

position at reversal point2 minus the contents of variable ii2. This applies on condition that the

setting for reversal point position 2 is higher than that for reversal point position 1. If this is not

the case, then the condition must be changed accordingly.

Application

The purpose of this synchronized action is to prevent the infeed movement from starting until

the oscillation movement has reached reversal range 2 (see "Figure 19-1 Arrangement

oscillating axis, infeed axis (Page 849)").

Programming

WHENEVER $AA_IM[Z] < $SA_OSCILL_REVERSE_POS2[Z] - ii2

DO $AA_OVR[X] = 0

Explanation:

• $AA_IM[ Z ]: Current position of oscillating axis Z

• $SA_OSCILL_REVERSE_POS2[ Z ]: Position of reversal point 2 of the oscillation axis

• $AA_OVR[ X ]: Axial override of the infeed axis

• ii2: Magnitude of reversal range 2 (user variable)

Infeed

The absolute infeed value is defined by the POSP instruction (see Section "Definition of infeeds

POSP (Page 857)").

Assignment

The assignment between the oscillation axis and the infeed axis is defined by the OSCILL

instruction (see Section "Assignment of oscillation and infeed axes OSCILL (Page 857)").

See also

Oscillation controlled by synchronized actions (Page 848)

19.3.3

Infeed at both reversal points

General procedure

The functions described above for infeed at the reversal point and in the reversal range can be

freely combined.

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Oscillation

19.3 Oscillation controlled by synchronized actions

Combinations

Infeed at two sides

• Reversal point 1 - reversal point 2

• Reversal point 1 - reversal range 2

• Reversal range 1 - reversal point 2

• Reversal range 1 - reversal range 2

One-sided infeed

• Reversal point 1

• Reversal point 2

• Reversal range 1

• Reversal range 2

(See Section "Infeed at reversal point 1 or 2 (Page 851)" and "Infeed in reversal point range

(Page 852)")

19.3.4

Stop oscillation movement at the reversal point

Function

Reversal point 1:

Every time the oscillation axis reaches reversal position 1, it must be stopped by means of the

override and the infeed movement started.

Application

The synchronized action is used to hold the oscillation axis stationary until partial infeed has

been executed. This synchronized action can be omitted if the oscillation axis need not wait at

reversal point 1 until partial infeed has been executed. At the same time, this synchronized

action can be used to start the infeed movement if this has been stopped by a previous

synchronized action which is still active.

Programming

WHENEVER $AA_IM[oscillation axis] ==

$SA_OSCILL_REVERSE_POS1[oscillation axis]

DO $AA_OVR[oscillation axis] = 0

$AA_OVR[infeed axis] = 100

Explanation of system variables

$AA_IM[ oscillation axis ]: Current position of oscillation axis

$SA_OSCILL_REVERSE_POS1[ oscillation axis ]: Reversal point 1 of the oscillation

axis

$AA_OVR[ oscillation axis]: Axial override of the oscillation axis

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Oscillation

19.3 Oscillation controlled by synchronized actions

$AA_OVR[infeed axis ]: Axial override of the infeed axis

Function

Reversal point 2:

Every time the oscillation axis reaches reversal position 2, it must be stopped by means of the

override 0 and the infeed movement started.

Application

The synchronized action is used to hold the oscillation axis stationary until partial infeed has

been executed. This synchronized action can be omitted if the oscillation axis need not wait at

reversal point 2 until partial infeed has been executed. At the same time, this synchronized

action can be used to start the infeed movement if this has been stopped by a previous

synchronized action which is still active.

Programming

WHENEVER $AA_IM[oscillation axis] ==

$SA_OSCILL_REVERSE_POS2[oscillation axis]

DO $AA_OVR[oscillation axis] = 0

$AA_OVR[infeed axis] = 100

Explanation of system variables

• $AA_IM[ oscillation axis ]: Current position of oscillation axis

• $SA_OSCILL_REVERSE_POS2[ oscillation axis ]: Reversal point 2 of the

oscillation axis

• $AA_OVR[ oscillation axis ]: Axial override of the oscillation axis

• $AA_OVR[ infeed axis ]: Axial override of the infeed axis

19.3.5

Oscillation movement restarting

Function

The oscillation axis is started via the override whenever the distance-to-go for the currently

traversed path section of the infeed axis = 0, i.e. partial infeed has been executed.

Application

The purpose of this synchronized action is to continue the movement of the oscillation axis on

completion of the part infeed movement. If the oscillation axis need not wait for completion of

partial infeed, then the motion-synchronous action with which the oscillation axis is stopped at

the reversal point must be omitted.

Programming

WHENEVER $AA_DTEPW[infeed axis] == 0

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Oscillation

19.3 Oscillation controlled by synchronized actions

DO $AA_OVR[oscillation axis]=100

Explanation of system variables

• $AA_DTEPW[ infeed axis ]: axial remaining travel distance for the infeed axis in the

workpiece coordinate system (WCS): Path distance of the infeed axis

• $AA_OVR[ oscillation axis ]: Axial override for oscillation axis

19.3.6

Do not start partial infeed too early

Function

The functions described above prevent any infeed movement outside the reversal point or the

reversal range. On completion of an infeed movement, however, restart of the next partial

infeed must be prevented.

Application

A channel-specific flag is used for this purpose. This flag is set at the end of the partial infeed

(partial distance-to-go == 0) and is deleted when the axis leaves the reversal range. The next

infeed movement is then prevented by a synchronized action.

Programming

WHENEVER $AA_DTEPW[infeed axis]==0 DO $AC_MARKER[index]=1

Reversal point 1

WHENEVER $AA_IM[Z] <> $SA_OSCILL_REVERSE_POS1[Z] DO

$AC_MARKER[index]=0

WHENEVER $AC_MARKER[index]==1 DO $AA_OVR[infeed axis]=0

Explanation of system variables

• $AA_DTEPW[ infeed axis ]: axial remaining travel distance for the infeed axis in the

workpiece coordinate system (WCS): Path distance of the infeed axis

• $AC_MARKER[ index ]: Channel-specific marker with index

• $AA_IM[ oscillation axis ]: Current position of oscillation axis

• $SA_OSCILL_REVERSE_POS1[ oscillation axis ]: Reversal point 1 of the

oscillation axis

• $AA_OVR[ infeed axis ]: Axial override for infeed axis

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Oscillation

19.3 Oscillation controlled by synchronized actions

19.3.7

Assignment of oscillation and infeed axes OSCILL

Function

One or several infeed axes are assigned to the oscillation axis with command OSCILL. Oscillation

motion starts.

The PLC is informed of which axes have been assigned via the NC/PLC interface. If the PLC is

controlling the oscillation axis, it must now also monitor the infeed axes and use the signals for

the infeed axes to generate the reactions on the oscillation axis via 2 stop bits of the interface.

Application

The axes whose response has already been defined by synchronous conditions are assigned to

one another for activation of oscillation mode. The oscillation movement is started.

Programming

OSCILL[oscillation axis] = (infeed axis1, infeed axis2, infeed axis3)

Infeed axis2 and infeed axis3 in brackets plus their delimiters can be omitted if they are not

required.

19.3.8

Definition of infeeds POSP

Function

The control receives the following data for the infeed axis:

• Total infeed

• Part infeed at reversal point/reversal point range

• Part infeed response at end

Application

This instruction must be given after activation of oscillation with OSCILL to inform the

controller of the required infeed values at the reversal points/reversal point ranges.

Programming

POSP[infeed axis] = (end position, part section, mode)

End position: End position for the infeed axis after all partial infeeds have been traversed.

Part section: Part infeed at reversal point/reversal point range

Mode 0: For the last two part steps, the remaining path up to the target point is divided into two

equally large residual steps (default setting).

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Oscillation

19.3 Oscillation controlled by synchronized actions

Mode 1: The part length is adjusted such that the total of all calculated part lengths corresponds

exactly to the path up to the target point.

19.3.9

External oscillation reversal

For example, keys on the PLC can be used to change the oscillation area or instantaneously

reverse the direction of oscillation.

The edge-triggered PLC input signal DB31, ... DBX28.0 (oscillation reversal) is used to brake the

current oscillation motion and then traverse in the opposite direction. The braking phase is

signaled via the PLC output signal DB31, ... DBX100.2 (oscillation reversal active).

The braking position of the axis can be accepted as the new reversal position by means of the

PLC signal DB31, ... DBX28.4 (change reversal position).

The PLC input signal DB31, ... DBX28.3 (select reversal point) is ignored, but rather the change

affects the last initiated external oscillation reversal command.

No change in the reversal points applied via handwheel or JOG keys may be active for the

relevant axis. If handwheel or JOG key changes are currently active, display alarm 20081

(Braking position cannot be accepted as reversal position - handwheel active) will be generated.

The alarm is automatically reset when the conflict has been eliminated.

Hold time

No stop time is applied for a change of direction due to an external oscillation reversal. The axis

waits for the exact stop fine signal. Any configured exact stop condition is fulfilled.

Infeed motion

With non-modal oscillation, no infeed movement is performed for a change of direction due to

an external oscillation reversal as the reversal position has not been reached and consequently

the appropriate synchronized action is not fulfilled.

System variables

The braking position can be scanned via system variable $AA_OSCILL_BREAK_POS1, when

approach to reversal position 1 is aborted or via

$AA_OSCILL_BREAK_POS2 when approach to reversal position 2 is aborted.

If the relevant reversal point is approached again, the position of the reversal point can be

scanned in $AA_OSCILL_BREAK_POS1 or $AA_OSCILL_BREAK_POS2.

In other words, only after an External oscillation reversal command is there a difference

between the values in $AA_OSCILL_BREAK_POS1 and $AA_OSCILL_REVERSE_POS1 or the

values in $AA_OSCILL_BREAK_POS2 and $AA_OSCILL_REVERSE_POS2.

External oscillation reversal can therefore be detected by a synchronized action (see Section

"Examples (Page 859)").

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Oscillation

19.5 Examples

Special cases

If the PLC input signal "oscillation reversal" is activated as the axis is approaching the start

position, the approach movement is aborted and the axis continues by approach interruption

position 1.

If the PLC input signal "oscillation reversal" is set during a stop period, the stop timer is

deactivated; if exact stop fine has not yet been reached, the axis waits for the exact stop fine

reached signal before continuing its motion.

If the PLC input signal "oscillation reversal" is activated as the axis is approaching the end

position, the approach movement is aborted and oscillation is terminated.

For an example of the external oscillation reversal command (see Section "Change reversal

position via synchronized action with "external oscillation reversal" (Page 869)").

19.4

Marginal conditions

Availability of the "Oscillation" function

The function is an option ("oscillation functions"), which must be assigned to the hardware

through the license management.

19.5

Examples

Requirements

The examples given below require components of the NC language specified in the sections

entitled:

• Asynchronous oscillation

and

• Oscillation controlled by synchronized actions.

19.5.1

Example of asynchronous oscillation

Task

The oscillation axis Z must oscillate between -10 and 10. Approach reversal point 1 with exact

stop coarse and reversal point 2 without exact stop. The oscillation axis feedrate must be 5000.

3 sparking-out strokes must be executed at the end of the machining operation followed by

approach by oscillation axis to end position 30. The feedrate for the infeed axis is 1000, end of

the infeed in X direction is at 15.

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Oscillation

19.5 Examples

Program section

Program code

Comment

OSP1[Z]=-10

; Reversal point 1

OSP2[Z]=10

; Reversal point 2

OST1[Z]=-1

; Stop time at reversal point 1: Exact stop coarse

OST2[Z]=-2

; Stop time at reversal point 2: without exact stop

FA[Z]=5000

; Infeed for oscillating axis

OSNSC[Z]=3

; three spark-out strokes

OSE[Z]=-3

; End position

OS1 F500 X15

; start oscillation, infeed X axis

; with infeed 500, feed target 15

Z axis

-10

End position

3 sparking-out strokes

X axis

Figure 19-2

Sequences of oscillation movements and infeed, example 1

19.5.2

Example 1 of oscillation with synchronized actions

Task

Direct infeed must take place at reversal point 1; the oscillation axis must wait until the partial

infeed has been executed before it can continue traversal. At reversal point 2, the infeed must

take place at a distance of -6 from reversal point 2; the oscillation axis must not wait at this

reversal point until partial infeed has been executed. Axis Z is the oscillation axis and axis X is the

infeed axis (see Section "Oscillation controlled by synchronized actions (Page 848)).

Note

The setting data OSCILL_REVERSE_POS_1/2 are values in the machine coordinate system;

therefore comparison is only suitable with $AA_IM[n].

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Oscillation

19.5 Examples

Program section

Program code

Comment

; Example 1: Oscillation with synchronized actions

OSP1[Z]=10 OSP2[Z]=60

; explain reversal points 1 and 2

OST1[Z]=-2 OST2[Z]=0

; Reversal point 1: without exact stop

; Reversal point 2: Exact stop fine

FA[Z]=5000 FA[X]=250

; Feed for oscillating axis, feedrate, infeed axis

OSCTRL[Z]=(1+8+16,0)

; Switch off oscillation motion at reversal point 1

; After delete DTG spark-out and approach end position

; After DTG, approach relevant reversal position

;

OSNSC[Z]=3

; 3 sparking-out strokes

OSE[Z]=0

; End position = 0

WAITP(Z)

; enable oscillation for the Z axis

;

; motion-synchronous actions:

;

; always, when

the current position of the oscillating axis in the

;

Machine Coordinate System

; not equal to

reversal position 1

; then

set the marker with index 1 to value 0

;

(Reset marker 1)

WHENEVER $AA_IM[Z]<>$SA_OSCILL_REVERSE_POS1[Z] DO $AC_MARKER[1]=0

;

; always, when

the current position of the oscillating axis in the

;

Machine Coordinate System

; less than

the beginning of reversal range 2

;

(here: reversal point 2 -6),

; then

set the axial override of the infeed axis to 0%.

; and

set the marker with index 2 to value 0

;

(Reset marker 2)

WHENEVER $AA_IM[Z]<$SA_OSCILL_REVERSE_POS2[Z]-6 DO $AA_OVR[X]=0 $AC_MARKER[2]=0

;

; always, when

the current position of the oscillating axis in the

;

Machine Coordinate System

; equal to

reversal position 1,

; then

set the axial override of the oscillation axis to 0%

;

; and

Set the axial override of the infeed axis to

;

100% (so that the previous synchronized action

;

is cancelled!)

WHENEVER $AA_IM[Z]==$SA_OSCILL_REVERSE_POS1[Z] DO $AA_OVR[Z]=0 $AA_OVR[X]=100

;

; always, when

the distance-to-go of the partial infeed is

; equal to

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Oscillation

19.5 Examples

Program code

Comment

; then

set the marker with index 2 to value 1

; and

set the marker with index 1 to value 1

WHENEVER $AA_DTEPW[X]==0 DO $AC_MARKER[2]=1 $AC_MARKER[1]=1

;

; always, when

the flag with index 2 is

; equal to

; then

Set the axial override of the infeed axis to

;

0%, this prevents a premature infeed

;

(oscillation axis has not exited the

;

reversal point 1).

;

WHENEVER $AC_MARKER[2]==1 DO $AA_OVR[X]=0

;

; always, when

the flag with index 1 is

; equal to

; then

Set the axial override of the infeed axis to

;

0%, this prevents a premature infeed

;

(oscillation axis has not exited the

;

reversal point range 2).

; and

Set the axial override of the infeed axis to

;

100% ('Start' oscillation)

WHENEVER $AC_MARKER[1]==1 DO $AA_OVR[X]=0 $AA_OVR[Z]=100

;

; if the current position of the oscillating axis in the MCS is

; equal to

reversal position 1,

; then

Set the axial override of the infeed axis to

;

100%

; and

Set the axial override of the infeed axis to

;

0% (so that the second synchronized action

;

is cancelled once!)

WHEN $AA_IM[Z]==$SA_OSCILL_REVERSE_POS1[Z] DO $AA_OVR[Z]=100 $AA_OVR[X]=0

;

;------------------------------------------

OSCILL[Z]=(X)

; Assign axis X to the oscillation axis Z as

POSP[X]=(5,1,1)

; infeed axis, this should

; infeed to end position 5 in steps

; from 1 and the sum of all part lengths should

; give exactly the end position

M30

; End of program

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Oscillation

19.5 Examples

Z axis

1.0

2.0

3.0

4.0

X axis

5.0

Approach reversal position 1 and 3 sparking-out strokes

Approach end position

Figure 19-3

Sequences of oscillation movements and infeed, example 1

19.5.3

Example 2 of oscillation with synchronized actions

Task

No infeed must take place at reversal point 1. At reversal point 2, the infeed must take place at

distance ii2 from reversal point 2; the oscillation axis must wait at this reversal point until partial

infeed has been executed. Axis Z is the oscillation axis and axis X the infeed axis.

Program section

Example 2: Oscillation with synchronized actions

Program code

Comment

DEF INT ii2

; Define variable for reversal area 2

;

OSP1[Z]=10 OSP2[Z]=60 ; explain reversal points 1 and 2

OST1[Z]=0 OST2[Z]=0

; Reversal point 1: Exact stop fine

;

Reversal point 2: Exact stop fine

FA[Z]=5000 FA[X]=100

; Feed for oscillating axis, feed for infeed axis

OSCTRL[Z]=(2+8+16,1)

; Switch off oscillation motion at reversal point 2

;

After delete distance-to-go, spark-out and end position

;

Approach appropriately after delete distance-to-go

;

Approach reversal position

OSNSC[Z]=3

; 3 sparking-out strokes

OSE[Z]=70

; End position = 70

ii2=2

; Set reversal point range

WAITP(Z)

; permit oscillation for Z axis

;

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Oscillation

19.5 Examples

Program code

Comment

; motion-synchronous actions:

; always, when

the current position of the oscillating axis in the

;

Machine Coordinate System

; less than

the start of reversal area 2

; then

set the axial override of the feed axis

;

to 0%

; and

set the marker with index 0 to value 0

WHENEVER $AA_IM[Z]<$SA_OSCILL_REVERSE_POS2[Z]-ii2 DO $AA_OVR[X]=0 $AC_MARKER[0]=0

;

; always, when

the current position of the oscillating axis in the

;

Machine Coordinate System

; greater or equal to

reversal position 2

; then

set the axial override of the oscillating axis

;

to 0%

WHENEVER $AA_IM[Z]>=$SA_OSCILL_REVERSE_POS2[Z] DO $AA_OVR[Z]=0

;

; always, when

the distance-to-go of the partial infeed is

; equal to

; then

set the marker with index 0 to value 1

WHENEVER $AA_DTEPW[X] == 0 DO $AC_MARKER[0]=1

;

; always, when

the flag with index 0 is

; equal to

; then

set the axial override of the infeed axis to 0%

;

to prevent a new premature infeed

;

(oscillation axis has not yet exited the reversal point

range 2,

;

but the infeed axis is ready for a

;

new infeed)

; and

set the axial override of the oscillation axis to 100%

;

(this cancels the 2nd synchronized action)

;

WHENEVER $AC_MARKER[0]==1 DO $AA_OVR[X]=0 $AA_OVR[Z]=100

;

OSCILL[Z]=(X)

; Start the axes

POSP[X]=(5,1,1)

;

The oscillating axis Z is assigned axis X as

;

an infeed axis

;

Axis X should travel to end position 5 in

;

increments of 1

;

M30

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Oscillation

19.5 Examples

Z axis

1.0

2.0

3.0

4.0

Approach end position

5.0

Approach reversal position 2 and 3 sparking-out strokes

X axis

Figure 19-4

Sequences of oscillation movements and infeed, example 2

19.5.4

Examples for starting position

19.5.4.1

Define starting position via language command

Program code

Comment

WAITP(Z)

; enable oscillation for the Z axis

OSP1[Z]=10 OSP2[Z]=60

; explain reversal points 1 and 2

OST1[Z]=-2 OST2[Z]=0

; Reversal point 1: without exact stop

; Reversal point 2: Exact stop fine

FA[Z]=5000 FA[X]=2000

; Infeed for oscillating axis,

; feedrate for infeed axis

OSCTRL[Z]=(1+8+16,0)

; Switch off oscillation motion at reversal point 1

; after delete DTG spark-out and approach end position,

; After DTG, approach relevant reversal position

;

OSNSC[Z]=3

; 3 sparking-out strokes

OSE[Z]=0

; End position = 0

OSB[Z]=0

; Start position = 0

OS[Z]=1 X15 F500

; Start oscillation, continuous infeed

OS[Z]=0

; Deactivate oscillation

WAITP(Z)

; wait for completion of the oscillation motion

M30

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Oscillation

19.5 Examples

Explanation

When the Z axis starts oscillation, it first approaches the starting position (position = 0 in the

example) and then begins the oscillation motion between the reversal points 10 and 60. When

the X axis has reached its end position 15, the oscillation finishes with 3 sparking out strokes and

approach of end position 0.

19.5.4.2

Start oscillation via setting data

Program code

Comment

WAITP(Z)

STOPRE

$SA_OSCILL_REVERSE_POS1[Z]=-10

;

reversal position 1 = -10

$SA_OSCILL_REVERSE_POS2[Z]=30

;

reversal position 2 = 30

$SA_OSCILL_START_POS[Z] = -50

;

Start position = -50

$SA_OSCILL_CTRL_MASK[Z] = 512

;

Approach start position,

;

on switch-off, stop at the next

;

reversal point

;

do not approach any end position

;

no sparking-out strokes for DTG

$SA_OSCILL_VELO[ Z ] = 5000

;

Infeed for oscillating axis

$SA_OSCILL_IS_ACTIVE[ Z ] = 1

;

starting

$SA_OSCILL_DWELL_TIME1[ Z ] = -2

;

without wait for exact stop

$SA_OSCILL_DWELL_TIME2[ Z ] = 0

;

wait for fine exact stop

STOPRE

X30 F100

$SA_OSCILL_IS_ACTIVE[ Z ] = 0

;

Stop

WAITP(Z)

M30

Description

When the Z axis starts oscillation, it first approaches the starting position (position = -50 in the

example) and then begins the oscillation motion between the reversal points -10 and 30. When

the X axis has reached its end position 30, the oscillation finishes at the next approached reversal

point.

19.5.4.3

Non-modal oscillation (starting position = reversal point 1)

Oscillation with synchronized actions

Program code

Comment

N701

; Oscillation with synchronized actions,

; start position == reversal point 1

;

Axes and spindles

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Oscillation

19.5 Examples

Program code

Comment

N702 OSP1[Z]=10 OSP2[Z]=60

; explain reversal points 1 and 2

N703 OST1[Z]=0 OST2[Z]=0

; Reversal point 1: Exact stop coarse

; Reversal point 2: Exact stop fine

N704 FA[Z]=5000 FA[X]=2000

; Infeed for oscillating axis,

; feedrate for infeed axis

N705 OSCTRL[Z]=(1+8+16.0)

; switch off oscillation motion at

; reversal point 1 after DTG spark-out

; and approach end position

; After DTG, approach relevant

; reversal position

;

N706 OSNSC[Z]=3

; 3 sparking-out strokes

N707 OSE[Z]=0

; End position = 0

N708 OSB[Z]=10

; Start position = 10

N709 WAITP(Z)

; enable oscillation for the Z axis

;

; motion-synchronous actions:

; set marker with index 2 on 1 (initialization)

WHEN TRUE DO $AC_MARKER[2]=1

;

; always, when

the marker with index 2 equals 0

;

and the current position of the oscillating axis

;

does not equal the reversal position 1

; then

set the marker with index 1 to 0.

;

WHENEVER ($AC_MARKER[2] == 0) AND $AA_IW[Z]>$SA_OSCILL_REVERSE_POS1[Z])

DO $AC_MARKER[1]=0

; always, when

the current position of the oscillating axis

;

is less than the start of reversal range 2

;

; then

set the axial override of the feed axis

;

to 0 and set the marker with index 0 to

;

WHENEVER $AA_IW[Z]<$SA_OSCILL_REVERSE_POS2[Z]-6 DO $AA_OVR[X]=0 $AC_MARKER[0]=0

;

; always, when

the current position of the oscillating axis

;

is equal to the reversal position 1,

; then

set the axial override of the oscillating axis

;

to 0 and set the axial override of the

;

infeed axis to 100% (so that the

;

previous synchronized action is cancelled!)

WHENEVER $AA_IW[Z]==$SA_OSCILL_REVERSE_POS1[Z] DO $AA_OVR[Z]=0 $AA_OVR[X]=100

;

; always, when

the distance-to-go of the partial infeed equals

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Oscillation

19.5 Examples

Program code

Comment

;

; then

Set the marker with index 0 to 1 and

;

set the marker with index 1 to 1 and

WHENEVER $AA_DTEPW[X]==0 DO $AC_MARKER[0]=1 $AC_MARKER[1]=1

;

; always, when

the marker with index 0 equals 1,

; then

set the axial override of the feed axis

;

to 0 to prevent a new premature

;

infeed!

WHENEVER $AC_MARKER[0]==1 DO $AA_OVR[X]=0

;

; always, when

the marker with index 1 equals 1,

; then

set the axial override of the feed axis

;

to 0 (to prevent a new premature

;

infeed!) and set the

;

axial override of the oscillation axis to 100%

;

(so that the previous

;

synchronized action is canceled!)

WHENEVER $AC_MARKER[1]==1 DO $AA_OVR[X]=0 $AA_OVR[Z]=100

;

; When

the current position of the oscillating axis

;

is equal to the reversal position 1,

; then

reset the marker with index 2,

;

release the first synchronized action (no

;

infeed when reaching the start position

;

reversal position 1)

WHEN $AA_IW[Z]==$SA_OSCILL_REVERSE_POS1[Z] DO $AC_MARKER[2]=0

;

;----------------------------------

N750 OSCILL[Z]=(X) POSP[X]=(5,1,1)

; Assign axis X to the oscillation axis Z as infeed axis,

; this should infeed to end position 5

; in substeps of 1 and the sum of all sublengths

; should be exactly the same as the end position.

;

N780 WAITP(Z)

; release the Z axis

;

N790 X0 Z0

N799 M30

; End of program

Description

The starting position matches reversal point 1. The WHEN

synchronized actions (see above)

prevent an infeed when the starting position is reached.

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Oscillation

19.6 Data lists

19.5.5

Example of external oscillation reversal

19.5.5.1

Change reversal position via synchronized action with "external oscillation reversal"

Program code

Comment

DEFINE BREAKPZ AS $AA_OSCILL_BREAK_POS1[Z]

DEFINE REVPZ AS $SA_OSCILL_REVERSE_POS1[Z]

WAITP(Z)

; enable oscillation for the Z axis

OSP1[Z]=10 OSP2[Z]=60

; explain reversal points 1 and 2

OSE[Z]=0

; End position = 0

OSB[Z]=0

; Start position = 0

; At external reversal of oscillation for

; oscillation reversal point 1, adapt this

WHENEVER BREAKPZ <> REVPZ DO $$SA_OSCILL_REVERSE_POS1 = BREAKPZ

OS[Z]=1 X150 F500

; Start oscillation, continuous infeed

OS[Z]=0

; Deactivate oscillation

WAITP(Z)

; wait for completion of the oscillation motion

M30

19.6

Data lists

19.6.1

Machine data

19.6.1.1

General machine data

Number

Identifier: $MN_

Description

10710

PROG_SD_RESET_SAVE_TAB

Oscillations to be saved from SD

11460

OSCILL_MODE_MASK

Control screen form for asynchronous oscillation

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Oscillation

19.6 Data lists

19.6.2

Setting data

19.6.2.1

Axis/spindle-specific setting data

Number Identifier: $SA_

Description

43700

OSCILL_REVERSE_POS1

Position at reversal point 1

43710

OSCILL_REVERSE_POS2

Position at reversal point 2

43720

OSCILL_DWELL_TIME1

Stop time at reversal point 1

43730

OSCILL_DWELL_TIME2

Stop time at reversal point 2

43740

OSCILL_VELO

Feed velocity of oscillation axis

43750

OSCILL_NUM_SPARK_CYCLES

Number of sparking-out strokes

43760

OSCILL_END_POS

Position after sparking-out strokes/at end of oscillation move-

ment

43770

OSCILL_CTRL_MASK

Control screen form for oscillation

43780

OSCILL_IS_ACTIVE

Oscillation movement ON/OFF

43790

OSCILL_START_POS

Position that is approached after oscillation before reversal

point 1, if activated in SD43770:

19.6.3

System variables

19.6.3.1

Main run variables for motion-synchronous actions

Main run variable_read

The following variables are provided for main run variable_read:

$A_IN[<arith. expression>]

digital input (Boolean)

$A_OUT[<arith. expression>]

digital output (Boolean)

$A_INA[<arith. expression>]

analog input (Boolean)

$A_OUTA[<arith. expression>]

analog output (Boolean)

$A_INCO[<arith. expression>]

comparator inputs (Boolean)

$AA_IW[<axial expression>]

actual position PCS axis (real)

$AA_IB[<axial expression>]

actual position BCS axis (real)

$AA_IM[<axial expression>]

Actual position MCS axis (IPO setpoints) (real)

With $AA_IM[S1] setpoints for spindles can be eval-

uated. Modulo calculation is used for spindles and

rotary axes, depending on machine data

$MA_ROT_IS_MODULO and $MA_DISPLAY_IS_MOD-

ULO.

$AA_OSCILL_BREAK_POS1

Breaking position after external oscillation reversal

when approaching reversal point 1

$AA_OSCILL_BREAK_POS2

Breaking position after external oscillation reversal

when approaching reversal point 2

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Oscillation

19.6 Data lists

$AC_TIME

Time from the start of the block (real) in seconds

(including the times for the internally generated in-

termediate blocks)

$AC_TIMES

Time from the start of the block (real) in seconds

(without times for the internally generated inter-

mediate blocks)

$AC_TIMEC

Time from the start of the block (real) in IPO steps

(including steps for the internally generated inter-

mediate blocks)

$AC_TIMESC

Time from the start of the block (real) in IPO steps

(without steps for the internally generated inter-

mediate blocks)

$AC_DTBB

Distance from beginning of block in BCS

(Distance to begin, baseCoor) (real)

$AC_DTBW

Distance from beginning of block in PCS

(Distance to begin, workpieceCoor) (real)

$AA_DTBB[<axial expression>]

axial distance from beginning of block in BCS

(Distance to begin, baseCoor) (real)

$AA_DTBW[<axial expression>]

axial distance from beginning of block in PCS

(Distance to begin, workpieceCoor) (real)

$AC_DTEB

Distance to end of block in BCS (Distance to end)

(Distance to end, baseCoor) (real)

$AC_DTEW

Distance to end of block in PCS

(Distance to end, workpieceCoor) (real)

$AA_DTEB[<axial expression>]

axial distance to end of movement in BCS

(Distance to end, baseCoor) (real)

$AA_DTEW[<axial expression>]

axial distance to end of movement in PCS

(Distance to end, workpieceCoor) (real)

$AC_PLTBB

Distance from beginning of block in BCS

(Path Length from begin, baseCoor) (real)

$AC_PLTEB

Distance to end of block in BCS (Distance to end)

(Path Length to end, baseCoor) (real)

$AC_VACTB

Path speed in BCS

(Velocity actual, baseCoor) (real)

$AC_VACTW

Path speed in PCS

(Velocity actual, workPieceCoor) (real)

$AA_VACTB[<axial expression>]

Axis velocity in BCS

(Velocity actual, baseCoor) (real)

$AA_VACTW[<axial expression>]

Axis velocity in PCS

(Velocity actual, workPieceCoor) (real)

$AA_DTEPB[<axial expression>]

axial distance-to-go for oscillation infeed in BCS

(Distance to end, pendulum, baseCoor) (real)

$AA_DTEPW[<axial expression>]

axial distance-to-go for oscillation infeed in PCS

(Distance to end, pendulum, workpieceCoor) (real)

$AC_DTEPB

Path distance-to-go for oscillation infeed in BCS

(not P2) (Distance to end, pendulum, baseCoor) (re-

al)

$AC_DTEPW

Path distance-to-go for oscillation infeed in PCS

(not P2) (Distance to end, pendulum, workpiece-

Coor) (real)

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Oscillation

19.6 Data lists

$AC_PATHN

(Path parameter normalized) (real)

Normalized path parameter: 0 for beginning of block

to 1 for end of block

$AA_LOAD[<axial expression>]

Drive utilization

$AA_POWER[<axial expression>]

Drive efficiency in W

$AA_TORQUE[<axial expression>]

Drive torque setpoint in Nm

$AA_CURR[<axial expression>]

Actual current value of axis

$AC_MARKER[<arithmetic_expression>] (int)

Flag variables: Can be used to set up complex condi-

tions in synchronized actions:

8 bit memories (Index 0 - 7) are available.

Reset sets the bit memories to 0.

Example:

WHEN

DO $AC_MARKER[0]=2

WHEN

DO $AC_MARKER[0]=3

WHEN $AC_MARKER[0]==3 DO $AC_OVR=50

Can be read and written independently of synchro-

nous actions in the parts program:

IF $AC_MARKER == 4 GOTOF SPRUNG

$AC_PARAM[<arithmetic_expression>] (real)

Floating-decimal parameter for synchronous ac-

tions. Serves as intermediate saving and evaluation

in synchronous actions.

50 Parameters (Index 0 - 49) are available.

$AA_OSCILL_REVERSE_POS1

[<axial expression>] (real)

$AA_OSCILL_REVERSE_POS2

current oscillation reversal points 1 and 2:

[<axial expression>] (real)

The current setting data from

$SA_OSCILL_REVERSE_POS1 or

$SA_OSCILL_REVERSE_POS2 is read.

This enables setting data changes at the reversal po-

sitions during active oscillation, i.e. during an active

synchronous action.

Conditions

Conditions for motion-synchronous actions are formulated:

Main run variable comparison operator expression

For details, see:

Further information

Function Manual Synchronized Actions

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Software cams, position switching signals

20.1

Brief description

Function

The "Software cams" function generates position-dependent switching signals for axes that

supply an actual position value (machine axes) and for simulated axes.

These cam signals can be output to the PLC and also to the NC I/O.

The cam positions at which signal outputs are set can be defined and altered via setting data. The

setting data can be read and written via HMI, PLC and part program.

Activation

The "Software cams" function can be activated and used in all operating modes. The function

remains active in the event of reset or Emergency Stop.

Field of application

Output cam signals can be used, for example:

• To activate protection zones

• To initiate additional movements as a function of position

• As reversing signals for hydraulically controlled oscillation axes

Axis types

Software cams can be used on linear and modulo rotary axes that are defined as machine axes.

Cam range/cam pair

Cams are always assigned in pairs to axes. A pair consists of a plus and a minus cam. 32 cam pairs

are available.

The plus and minus cams each simulate a mechanical cam which is actuated at a defined point

(cam position) in a specific approach direction when the axis reaches the cam position.

Cam ranges are assigned to the plus and minus cams as follows:

• Cam range plus:

All positions ≥ plus cam

• Cam range minus:

All positions ≤ minus cam

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Software cams, position switching signals

20.2 Cam signals and cam positions

Linear axes

The switching edges of the cam signals are generated as a function of the axis traversing

direction:

• The minus cam signal switches from 1 to 0 when the axis traverses the minus cam in the

positive axis direction.

• The plus cam signal switches from 0 to 1 when the axis traverses the plus cam in the positive

direction.

Machine axis[m]

Machine

cam position

Machine axis[n]

zero

(minus cam)

(plus cam)

[mm, inch]

Plus cam signal

Minus cam signal

Cam range

minus

plus

Figure 20-1

Software cams for linear axis (minus cam < plus cam)

Note

If the axis is positioned exactly at the output cam position (plus or minus), the defined output

flickers. If the axis moves one increment further, the output becomes a definite zero or one.

Flickering of the actual position causes the signals to flicker in this manner.

The actual position is evaluated.

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Software cams, position switching signals

20.2 Cam signals and cam positions

Modulo rotary axes

The switching edges of the cam signals are generated as a function of the rotary axis traversing

direction:

• The plus cam signal switches from 0 to 1 when the axis traverses the minus cam in a positive

axis direction and from 1 back to 0 when it traverses the plus cam.

• The minus cam signal changes level in response to every positive edge of the plus cam signal.

Note

The described response of the plus cam applies on conditionthat:

plus cam - minus cam < 180 degrees

< 180¡˘

Machine axis[m]

Minus

Plus

Minus

Plus

cam

Machine

0¡˘

120¡˘

180¡˘

0¡˘

120¡˘

180¡˘

Machine axis[n]

zero

(modulo rotary

axis) [degrees]

Plus cam

signal

Minus cam

signal

Figure 20-3

Software cams for modulo rotary axis (plus cam - minus cam < 180 degrees)

The signal change of the minus cam makes it possible to detect traversal of the cam even if the

cam range is set so small that the PLC cannot detect it reliably.

Both cam signals can be output to the PLC and to the NC I/O. Separate output of the plus and

minus cam signals makes it easy to detect whether the axis is within or outside the plus or minus

cam range.

If this condition (plus cam - minus cam < 180 degrees) is not fulfilled or if the minus cam is set

to a greater value than the plus cam, then the response of the plus cam signal is inverted. The

response of the minus cam signal remains unchanged.

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Software cams, position switching signals

20.2 Cam signals and cam positions

Machine axis[m]

> 180¡˘

Minus

Plus

Minus

Plus

cam

0¡˘

90¡˘

290¡˘

0¡˘

90¡˘

290¡˘

Machine axis[n]

Machine

zero

(modulo rotary

axis) [degrees]

Plus

cam signal

Minus

cam signal

Figure 20-4

Software cams for modulo rotary axis (plus cam - minus cam > 180 degrees)

20.2.2

Generation of cam signals with gated output

The plus and minus cam output signals are gated in the case of:

• timer-controlled cam signal output to the four onboard outputs on the NCU

• Output to the NCK I/O, if the 2nd byte in the following machine data was not specified (= "0"):

MD10470 SW_CAM_ASSIGN_FASTOUT_2

MD10473 SW_CAM_ASSIGN_FASTOUT_4

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Software cams, position switching signals

20.2 Cam signals and cam positions

Linear axes

Machine axis

Machine zero

cam position

Cam position

Machine axis

(minus cam)

(plus cam)

[mm, inch]

Plus cam signal:

Minus cam signal:

Cam range

minus

plus

Digital output

Figure 20-5

Position switching signals for linear axis (minus cam < plus cam)

Machine axis

Machine zero

Cam position

Machine axis

(plus cam)

(minus cam)

[mm, inch]

Plus cam signal:

Minus cam signal:

Cam range

minus

plus

Digital output

Figure 20-6

Position switching signals for linear axis (plus cam < minus cam)

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Software cams, position switching signals

20.2 Cam signals and cam positions

Modulo rotary axis

The default signal response for modulo rotary axes is dependent on the cam width:

<180¡˘

Machine axis[m]

Minus

Plus

Minus

Plus

cam

Machine

0¡˘

120¡˘

180¡˘

0¡˘

120¡˘

180¡˘

Machine axis[n]

zero

(modulo rotary

axis) [degrees]

Plus

cam signal

Minus

cam signal

Digital

output

Figure 20-7

Software cams for modulo rotary axis (plus cam - minus cam < 180 degrees)

Axes and spindles

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Software cams, position switching signals

20.2 Cam signals and cam positions

Machine axis[m]

> 180¡˘

Minus

Plus

Minus

Plus

cam

0¡˘

90¡˘

290¡˘

0¡˘

90¡˘

290¡˘

Machine axis[n]

Machine

(modulo rotary

zero

axis) [degrees]

Plus

cam signal

Minus

cam signal

Digital

output

Figure 20-8

Software cams for modulo rotary axis (plus cam - minus cam > 180 degrees)

Suppression of signal inversion

With the following setting, selection of signal inversion for

"plus cam - minus cam > 180 degrees" can be suppressed.

MD10485 SW_CAM_MODE bit 1=1

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Software cams, position switching signals

20.2 Cam signals and cam positions

0DFKLQH D[LV >P@

0LQXV

3OXV

0LQXV

3OXV

FDP

0DFKLQH D[LV

0DFKLQH

>Q@

]HUR SRLQW

PRGXOR URWDU\

D[LV >GHJUHHV@

3OXV

FDP VLJQDO

0LQXV

FDP VLJQDO

'LJLWDO

RXWSXW

Figure 20-9

Software cams for modulo rotary axis (plus cam - minus cam > 180 degrees) and suppression of signal inversion

20.2.3

Cam positions

Setting cam positions

The positions of the plus and minus cams are defined using general setting data:

• SD41500 SW_CAM_MINUS_POS_TAB_1[n]

Position of minus cams 1 - 8

• SD41501 SW_CAM_PLUS_POS_TAB_1[n]

Position of plus cams 1 - 8

• SD41502 SW_CAM_MINUS_POS_TAB_2[n]

Position of minus cams 9 - 16

• SD41503 SW_CAM_PLUS_POS_TAB_2[n]

Position of plus cams 9 - 16

• SD41504 SW_CAM_MINUS_POS_TAB_3[n]

Position of minus cams 17 - 24

• SD41505 SW_CAM_PLUS_POS_TAB_3[n]

Position of plus cams 17 - 24

• SD41506 SW_CAM_MINUS_POS_TAB_4[n]

Position of minus cams 25 - 32

• SD41507 SW_CAM_PLUS_POS_TAB_4[n]

Position of plus cams 25 - 32

Note

Owing to the grouping of cam pairs (eight in each group), it is possible to assign different access

authorization levels (e.g. for machine-related and workpiece-related cam positions). The

positions are entered in the machine coordinate system. No check is made with respect to the

maximum traversing range.

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Software cams, position switching signals

20.2 Cam signals and cam positions

Dimension system metric/inch

With the setting:

MD10260 CONVERT_SCALING_SYSTEM = 1

, the cam positions no longer refer to the configured basic dimension system, but to the

dimension system set in the following machine data:

MD10270 POS_TAB_SCALING_SYSTEM (measuring system of position tables)

Value

Meaning

Metric

inch

MD10270 therefore defines the dimension system for position data from setting data SD41500

… SD41507.

A switchover with G70/G71 or G700/G710 has no effect.

Sensing of cam positions

To set the cam signals, the actual position of the axes is compared to the cam position.

Writing/reading of cam positions

The setting data can be read and written via HMI, PLC and part program.

Accesses from the part program are not synchronous to machining.

Synchronization can only be achieved by means of a programmed block preprocessing stop

(STOPRE command).

It is possible to read and write the cam positions with FB2 and FB3 in the PLC user program.

Axis/cam assignment

A cam pair is assigned to a machine axis using the general machine data:

MD10450 SW_CAM_ASSIGN_TAB[n] (assignment of software cams to machine axes)

Note

Changes to an axis assignment take effect after the next NC power-up.

Cam pairs to which no axis is assigned are not active.

A cam pair can only be assigned to one machine axis at a time.

Several cam pairs can be defined for one machine axis.

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Software cams, position switching signals

20.2 Cam signals and cam positions

20.2.4

Lead/delay times (dynamic cam)

Function

To compensate for any delays, it is possible to assign two lead or delay times with additive action

to each minus and plus cam for the cam signal output.

The two lead or delay times are entered in a machine data and a setting data.

Note

The input of negative time values causes a delay in the output of cam signals.

Lead or delay time in machine data

The first lead or delay time is entered in the following general machine data:

• MD10460 SW_CAM_MINUS_LEAD_TIME[n]

(lead or delay time at the minus

cams)

• MD10461 SW_CAM_PLUS_LEAD_TIME[n]

(lead or delay time at the plus

cams)

For example, the following can be entered into the machine data:

• Constant internal delay times between actual value sensing and cam signal output (e.g. as

determined by an oscilloscope)

• Constant external delay times

Lead or delay time in setting data

The second lead or delay time is entered into the following general setting data:

• SD41520 SW_CAM_MINUS_TIME_TAB_1[n]

(lead or delay time at the minus

cams 1 - 8)

• SD41521 SW_CAM_PLUS_TIME_TAB_1[n]

(lead or delay time at the plus

cams 1 - 8)

• SD41522 SW_CAM_MINUS_TIME_TAB_2[n]

(lead or delay time at the minus

cams 9 - 16)

• SD41523 SW_CAM_PLUS_TIME_TAB_2[n]

(lead or delay time at the plus

cams 9 - 16)

• SD41524 SW_CAM_MINUS_TIME_TAB_3[n]

(lead or delay time at the minus

cams 17 - 24)

• SD41525 SW_CAM_PLUS_TIME_TAB_3[n]

Lead or delay time on plus cams 17

- 24

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20.3 Output of cam signals

• SD41526 SW_CAM_MINUS_TIME_TAB_4[n]

(lead or delay time at the minus

cams 25 - 32)

• SD41527 SW_CAM_PLUS_TIME_TAB_4[n]

(lead or delay time at the plus

cams 25 - 32)

Delay times which may change during machining must, for example, be entered in the setting

data.

20.3

Output of cam signals

20.3.1

Activating

The status of the cam (cam signals) can be output to the PLC as well as to the NC I/O.

Activation of cam signal output

The output of cam signals of an axis is activated via the NC/PLC interface signal:

DB31, ... DBX2.0 (cam activation)

Check-back signal to PLC

The successful activation of all cams of an axis is signaled back to the PLC using the following NC/

PLC interface signal:

DB31, ... DBX62.0 (cams active)

Note

The activation can be linked with other conditions by the PLC user (e.g. axis referenced, reset

active).

20.3.2

Output of cam signals to PLC

Output to PLC

The status of the cam signals for all machine axes with activated software cams is output to the

PLC.

The status is output in the IPO cycle and is transferred to the PLC asynchronously.

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20.3 Output of cam signals

Minus cam signals

The status of the minus cam signals is entered into the following NC/PLC interface signals:

DB10 DBX110.0 to 113.7 (minus cam signal 1 to 32)

Plus cam signals

The status of the plus cam signals is entered into the following NC/PLC interface signals:

DB10 DBX114.0 to 117.7 (plus cam signals 1 to 32)

Note

If no measuring system has been selected or NC/PLC interface signal DB31, ... DBX2.0 (cam

activation) is set to 0, then the following NC/PLC interface signals are also set to 0:

• DB10 DBX110.0-113.7 (minus cam signals 1-32)

• DB10 DBX114.0-117.7 (plus cam signals 1-32)

• DB31, ... DBX62.0 (cams active)

20.3.3

Output of cam signals to NCK I/Os in position control cycle

Signal output in position control cycle

For cams assigned to an HW byte via machine data MD10470 to MD10473 (see Section

"Hardware assignment"), the signal is output in the position control cycle.

The 4 onboard outputs on the NCU and a total of 32 optional external NC outputs are available

as the digital outputs of the NC I/Os.

Further information

See Function Manual Basic Functions; Digital and analog NC I/O.

Hardware assignment

The assignment to the hardware bytes used is made for each eight cam pairs in the following

general machine data:

• MD10470 SW_CAM_ASSIGN_FASTOUT_1

Hardware assignment for the output of

cams1 - 8 to NC I/O

• MD10471 SW_CAM_ASSIGN_FASTOUT_2

Hardware assignment for the output of

cams 9 - 16 to NC I/O

• MD10472 SW_CAM_ASSIGN_FASTOUT_3

Hardware assignment for the output of

cams 17 - 24 to NC I/O

• MD10473 SW_CAM_ASSIGN_FASTOUT_4

Hardware assignment for the output of

cams 25 - 32 to NC I/O

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20.3 Output of cam signals

Note

It is possible to define one HW byte for the output of eight minus cam signals and one HW byte

for the output of eight plus cam signals in each machine data.

In addition, the output of the cam signals can be inverted with the two machine data.

If the 2nd byte is not specified (= "0"), then the 8 cams are output as a logic operation of the

minus and plus cam signals via the 1st HW byte using the 1st inversion screen form.

Status query in the part program

The status of the HW outputs can be read in the part program with main run variable $A_OUT[n]

(n = no. of output bit).

Switching accuracy

Signals are output to the NC I/O or onboard outputs in the position control cycle.

As a result of the time scale of the position control cycle, the switching accuracy of the cam

signals is limited as a function of the velocity.

The following applies:

Delta pos = V_act * position control cycle

With: Delta pos =

switching accuracy (depending on position control cycle)

V_act =

Current axis velocity

Example:

V_act = 20 m/min, PC cycle = 4 ms

Delta pos = 1.33 mm

V_act = 2000 rpm, PC cycle = 2 ms

Delta pos = 24 degrees

20.3.4

Timer-controlled cam signal output

Timer-controlled output

A significantly higher degree of accuracy can be achieved by outputting the cam signals

independently of the position control cycle using a timer interrupt.

The following machine data can be used to select the timer-controlled output to the 4 NCU

onboard outputs for 4 cam pairs:

MD10480 SW_CAM_TIMER_FASTOUT_MASK (screen form for the output of cam signals via

timer interrupts on the NCU)

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20.3 Output of cam signals

In this case, the minus and plus signals of a cam pair are logically combined for output as one

signal.

Signal generation

Previously, it had to be specified in which way the signals to be logically combined should be

generated. This is realized using bit 1 in machine data:

MD10485 SW_CAM_MODE (behavior of the software cams)

Bit

Value

Signal generation

Inversion of the signal behavior of the plus cam when:

plus cam - minus cam ≥ 180 degrees

No inversion of the signal behavior of the plus cam when:

plus cam - minus cam ≥ 180 degrees

Note

This function operates independently of the HW assignment selected in MD10470 ... MD10473.

The onboard byte may not be used a multiple number of times.

Restrictions

The following applies to the mutual position of the cam positions:

Only one timer-controlled output takes place per interpolation cycle.

If signal changes for more than one cam pair are active in the same interpolation cycle, the

output is prioritized:

The cam pair with the lowest number (1...32) determines the output time for all active signals,

i.e. the signal change of the other cam pairs takes place at the same time.

PLC interface

The NC image of the onboard outputs and the status of the plus and minus cams is displayed at

the PLC interface.

However, these signals are irrelevant or correspondingly inaccurate for the timer-controlled

cam output version, as described in the following paragraphs. The signals for the plus and minus

cams are generated (once) in synchronism with the interpolator clock cycle and transmitted

together to the PLC.

Pulses shorter than an interpolator clock cycle are therefore not visible in the PLC.

The onboard outputs are set and reset asynchronously to the interpolator clock cycle for each

interrupt. The status of the onboard outputs is detected and transmitted to the PLC in

synchronism with the update time of the PLC interface.

Depending on the current status at the moment the PLC interface is updated, pulses shorter than

one interpolator clock cycle are not visible or are displayed stretched by one or several IPO cycles.

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20.3 Output of cam signals

Further settings

The following bit must be set to "0" if the behavior described here is to be activated:

MD10485 SW_CAM_MODE bit 0 = 0

20.3.5

Independent, timer-controlled output of cam signals

Independent, timer-controlled cam output

Each switching edge is output separately per interrupt due to the timer-controlled, independent

(of interpolator clock cycle) cam output.

The mutual influence of the cam signals is no longer applicable as a result of:

• single output per interpolator clock cycle

• output time determined by highest priority cam pair (lowest cam pair number)

A total of 8 timer-controlled cam outputs per interpolator clock cycle can be configured for

setting/resetting the 4 onboard outputs. The signal states of the plus and minus cams are also

made available as standard on the PLC interface for the timer-controlled variant. However, these

signals are not relevant or are correspondingly inaccurate with a timer-controlled output.

Signal generation

Previously, it had to be specified in which way the signals to be logically combined should be

generated. This is realized using bit 1 in machine data:

MD10485 SW_CAM_MODE (behavior of the software cams)

Bit

Value

Signal generation

Inversion of the signal behavior of the plus cam when:

plus cam - minus cam ≥ 180 degrees

No inversion of the signal behavior of the plus cam when:

plus cam - minus cam ≥ 180 degrees

Settings

Cam pairs are assigned to onboard outputs using machine data:

MD10480 SW_CAM_TIMER_FASTOUT_MASK (screen form for the output of cam signals via

timer interrupts on the NCU)

In addition, this type of processing must be explicitly selected:

MD10485 SW_CAM_MODE bit 0 = 1

Note

This function operates independently of the HW assignment selected in MD10470 … MD10473.

The onboard byte may not be used a multiple number of times.

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20.4 Position-time cams

20.4

Position-time cams

The term "position-time cam" refers to a pair of software cams that can supply a pulse of a certain

duration at a defined axis position.

Solution

The position is defined by a pair of software cams.

The pulse duration is defined by the lead/delay time of the plus cam.

Machine data can be used to specify that cam pairs with "minus cam position = plus cam

position" should be processed as position-time cams.

Properties of position-time cams

• The pulse duration is independent of the axis velocity and travel direction reversal.

• The pulse duration is independent of changes in the axis position (Preset).

• Activation (rising signal edge) takes place only when the cam position is crossed.

Moving the axis position (e.g. preset) does not trigger activation.

• A lead/delay time is operative for the minus cam and causes a time displacement of the pulse.

• Activation (ON edge) and pulse duration are independent of the travel direction.

• The cam is not deactivated if the cam position is crossed again when the cam is active

(direction reversal).

• The cam time (pulse width) is not interrupted and the cam time not restarted when the cam

position is crossed again.

This behavior is particularly relevant with respect to modulo axes, i.e. if the cam time is

greater than the modulo range crossing time, the cam is not switched in every revolution.

Settings

The following settings must be made to program a position-time cam:

• Position

The position must be defined by a cam pair with which the minus cam position is equal to the

plus cam position.

This is defined using setting data:

SD41500 SW_CAM_MINUS_POS_TAB_1

SD41507 SW_CAM_PLUS_POS_TAB_4.

• Pulse duration

The pulse duration is calculated by adding together the associated entries for the cam pair in:

MD10461 SW_CAM_PLUS_LEAD_TIME[n]

SD41521 SW_CAM_PLUS_TIME_TAB_1[n]...

SD41527 SW_CAM_PLUS_TIME_TAB_4[n]

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20.6 Data lists

• Offset

The time displacement of the position-time cam is calculated by adding together the

associated entries for the cam pair in:

MD10460 SW_CAM_MINUS_LEAD_TIME[n]

SD41520 SW_CAM_MINUS_TIME_TAB_1[n]...

SD41526 SW_CAM_MINUS_TIME_TAB_4[n]

• Mode

MD10485 SW_CAM_MODE

Bit 2 = 1 must be set in the machine data to ensure that all cam pairs with the same values

for minus cam and plus cam positions are treated as position-time cams.

20.5

Boundary conditions

Availability of function "Software cams, position switching signals"

The function is an option ("position-switching signals/cam controller"), which must be assigned

to the hardware through the license management.

20.6

Data lists

20.6.1

Machine data

20.6.1.1

General machine data

Number

Identifier: $MN_

Description

10260

CONVERT_SCALING_SYSTEM

Basic system switchover active

10270

POS_TAB_SCALING_SYSTEM

System of units for positioning tables

10450

SW_CAM_ASSIGN_TAB[n]

Assignment of software cams to machine axes

10460

SW_CAM_MINUS_LEAD_TIME[n]

Lead or delay time at the minus cams 1-16

10461

SW_CAM_PLUS_LEAD_TIME[n]

Lead or delay time at the plus cams 1-16

10470

SW_CAM_ASSIGN_FASTOUT_1

Hardware assignment for the output of cams

1-8 to NC I/O

10471

SW_CAM_ASSIGN_FASTOUT_2

Hardware assignment for the output of cams

9-16 to NC I/O

10472

SW_CAM_ASSIGN_FASTOUT_3

Hardware assignment for the output of cams

17-24 to NC I/O

10473

SW_CAM_ASSIGN_FASTOUT_4

Hardware assignment for the output of cams

25-32 to NC I/O

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20.6 Data lists

Number

Identifier: $MN_

Description

10480

SW_CAM_TIMER_FASTOUT_MASK

Screen form for the output of the cam signals via timer

interrupts on the NCU

10485

SW_CAM_MODE

Behavior of the software cams

20.6.2

Setting data

20.6.2.1

General setting data

Number

Identifier: $SN_

Description

41500

SW_CAM_MINUS_POS_TAB_1[n]

Position of minus cams 1 -8

41501

SW_CAM_PLUS_POS_TAB_1[n]

Position of plus cams 1 -8

41502

SW_CAM_MINUS_POS_TAB_2[n]

Position of minus cams 9 -16

41503

SW_CAM_PLUS_POS_TAB_2[n]

Position of plus cams 9 -16

41504

SW_CAM_MINUS_POS_TAB_3[n]

Position of minus cams 17 -24

41505

SW_CAM_PLUS_POS_TAB_3[n]

Position of plus cams 17 -24

41506

SW_CAM_MINUS_POS_TAB_4[n]

Position of minus cams 25 -32

41507

SW_CAM_PLUS_POS_TAB_4[n]

Position of plus cams 25 -32

41520

SW_CAM_MINUS_TIME_TAB_1[n]

Lead or delay time on minus cams 1 -8

41521

SW_CAM_PLUS_TIME_TAB_1[n]

Lead or delay time on plus cams 1 -8

41522

SW_CAM_MINUS_TIME_TAB_2[n]

Lead or delay time on minus cams 9 -16

41523

SW_CAM_PLUS_TIME_TAB_2[n]

Lead or delay time on plus cams 9 -16

41524

SW_CAM_MINUS_TIME_TAB_3[n]

Lead or delay time on minus cams 17 -24

41525

SW_CAM_PLUS_TIME_TAB_3[n]

Lead or delay time on plus cams 17 -24

41526

SW_CAM_MINUS_TIME_TAB_4[n]

Lead or delay time on minus cams 25 -32

41527

SW_CAM_PLUS_TIME_TAB_4[n]

Lead or delay time on plus cams 25 -32

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Extended stop and retract

21.1

Brief description

The extended stop and retract function - subsequently called ESR - offers the possibility of

flexibly responding when a fault situation occurs as a function of the process:

• Extended stop

Assuming that the specific fault situation permits it, all of the axes, enabled for extended

stopping, are stopped in an orderly fashion.

• Retract

The tool currently in use is retracted from the workpiece as quickly as possible.

• Generator operation (SINAMICS drive function "Vdc control")

If a parameterizable value of the DC link voltage is fallen below, e.g. because the line voltage

fails, the electrical energy required for retraction is generated by recovering the braking

energy of the drive intended for this purpose (generator operation).

ESR and active couplings

While stopping and retracting, active couplings are kept for a parameterizable time.

Retracting along a path

A straight line can be programmed as retraction path, as an alternative to purely axial retraction.

21.2

Control-managed ESR

21.2.1

Extended stop and retract (ESR)

Using the "Extended stop/retract (ESR)" function, axes that have been enabled for the function

are stopped and retracted in a defined, delayed fashion. This is done to quickly separate the tool

and workpiece in certain programmable system states.

In order that the energy required for the retraction motion is available in the drives involved -

even when the power fails - then one or several drives can be parameterized as "generators"

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Extended stop and retract

21.2 Control-managed ESR

using the SINAMICS S120 "Vdc control" drive function. Even when the power fails, their kinetic

energy is used to maintain the DC link voltage in order to permit NC controlled retraction motion.

Note

Detailed information on the SINAMICS S120 drive function "Vdc control" can be found in:

Further information

Function Manual SINAMICS S120 Drive Functions

NC-controlled responses

The function provides the following NC-controlled responses:

• "Extended stop":

Programmable, defined, delayed path-related stopping of traversing motion

• "Retraction":

Fastest possible retraction away from the machining plane to a safe retraction position to

separate the tool and workpiece

The responses are independent of each other. Retraction operations and temporary

continuation of axis couplings before stopping can be configured so that they are executed in

parallel from a time perspective. In this case, an axis in generator mode (Vdc control) can

maintain the DC link voltage.

Interaction of NC-controlled responses

The NC controlled responses are initiated via the channel-specific system variable

$AC_ESR_TRIGGER.

Using $AC_ESR_TRIGGER, interpolatory stopping along the path or contour is possible. The NC-

controlled retraction is performed in synchronism by the retraction axes in the channel.

For ESR-enabled axes, only precisely one channel may be assigned and it is not possible to switch

between channels.

For NC-controlled stopping, an existing traversing motion as well as an active electronic

coupling is maintained over an adjustable time (MD21380 $MC_ESR_DELAY_TIME1) even if

there is an alarm with motion stop. After the parameterized time has expired, the axis is braked

down to standstill along the programmed path.

In order to perform retraction outside the AUTOMATIC mode as well, triggering of this function

is linked to the system variable $AC_ESR_TRIGGER. Retraction initiated via $AC_ESR_TRIGGER is

locked, in order to prevent multiple retractions.

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21.2 Control-managed ESR

21.2.2

Drive-independent reactions

Generator operation

Generator operation is a drive function. Using the "Vdc control" function, the SINAMICS S120

drive unit can monitor the DC link group for undervoltage. When an adjustable voltage value is

fallen below, then the drive intended for the purpose is switched into generator operation. The

kinetic energy of the drive is used to buffer the DC link voltage. This allows the axes that are still

moving to be stopped and retracted in an ordering fashion on the NC side.

Note

At the instant that it is switched into generator operation, if an axis is in closed-loop position

control, then additional alarms can occur.

Further information

For detailed information on the SINAMICS S120 drive function "Vdc control", see:

Function Manual SINAMICS S120 Drive Functions

21.2.3

Power failure detection and bridging

DC link voltage limit values

The DC link is monitored against the limit values shown in the following diagram:

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:RUN DUHD

3XOVH UHVLVWRU PRGXOH

Figure 21-1

DC link voltage limit values

The drive and DC link pulses are cancelled at specific voltage levels, which means that the drives

coast-down. If this behavior is not desired, the excess energy can be discharged using a resistor

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Extended stop and retract

21.2 Control-managed ESR

module. The operating range of the resistor module (shown highlighted in the diagram) lies

below the critical voltage level.

Note

The pulse power of the resistor module is greater than the infeed power.

Monitoring the intermediate circuit minimum voltage limit

The DC link voltage can be monitored against a limit value that can be parameterized in the drive:

• p1248 (DC link voltage - lower voltage threshold)

When the limit value is fallen below, the following signal is set in the message word (MELDW)

of the PROFIdrive telegram:

• MELDW.Bit4 = 1 (VDC_min controller is active (Vdc link < p1248))

The signal can be used in the NC to initiate ESR responses.

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Figure 21-2

Monitoring the DC link voltage

21.2.4

NC-controlled extended stop

Axis-specific parameterization

The NC-controlled extended stopping for a machine axis is activated using machine data:

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21.2 Control-managed ESR

MD37500 $MA_ESR_REACTION[<axis>] = 22

Note

Path axes

If NC-controlled extended stopping is parameterized for a path axis, then the corresponding

behavior is also transferred to all other path axes of the channel.

Leading and following axis

During the extended stopping, a following axis of an electronic gearbox follows the leading axes

according to the parameterized/programmed motion principle. That is why independent

braking is not possible for the following axis during the times specified in MD21380

$MC_DELAY_TIME1 and MD21381 $MC_ESR_DELAY_TIME2. MD21380

$MC_DELAY_TIME1MD21381 $MC_ESR_DELAY_TIME2 A prerequisite for correct functioning of

ESR is that all necessary enable signals must be set and remain set.

Channel-specific parameterization

The timing within a channel is parameterized using the following machine data:

• MD21380 $MC_ESR_DELAY_TIME1[<axis>] (delay time ESR axes)

• MD21381 $MC_ESR_DELAY_TIME2[<axis>] (ESR time for interpolatory braking)

Time sequence

After initiating ESR, the axis continues to traverse with the actual speed. After a delay time has

expired (..._TIME1), the axis is braked, interpolating.

The set time (..._TIME 2) is the maximum time available for interpolatory braking. After this time

has expired, a setpoint of 0 is output for the axis, and the follow-up mode is activated.

6SHHG Q

(65 WULJJHUHG

2XWSXW RI VHWSRLQW

=HLW W

MD21380 $MC_ESR_DELAY_TIME1 (delay time, ESR axes)

MD21381 $MC_ESR_DELAY_TIME2 (ESR time for interpolatory braking)

n₁

Actual speed, which could be braked to a standstill within T2

n₂

Actual speed, which could not be braked to a standstill within T2 ⇒ fast braking

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21.2 Control-managed ESR

Note

For safety reasons, the sum of T1 and T2 should not exceed a maximum value of approx. 1

second.

Requirement

To ensure that ESR is carried out, at least one of the axes involved in the movement must be

parameterized as an NC-controlled retraction or stopping axis: MD37500 $MA_ESR_REACTION

> 20

For axes that are not parameterized as NC controlled retraction or stopping axis, fast braking

with subsequent tracking is realized immediately so that extended stopping starts

($AC_ESR_TRIGGER = 1).

Processing of all commands, especially those that result in an axis stop (e.g. Reset, Stop, Stopall),

as well as the standard alarm responses STOPBYALARM and NOREADY, is delayed by the sum of

the parameterized times:

Delay time = MD21380 $MC_ESR_DELAY_TIME1 + MD21381 $MC_ESR_DELAY_TIME2

An NC controlled stop is also active in conjunction with the "Electronic gearbox" function. It

contains the (selective) switchover of the electronic gearbox to actual value coupling if there is

a fault on the leading axes, and also maintains traversing motion and the enable signals during

the delay time for ESR axes: MD21380 $MC_ESR_DELAY_TIME1

For further information see Function Manual Axis and Spindles.

See also

Lift fast with linear relation of axes (Page 929)

21.2.5.3

Parameterization: System variable

Axis-specific function enable

An axis is enabled for retraction on an axis-for-axis basis using system variable:

$AA_ESR_ENABLE[<axis>] = 1

Channel-specific initiation

Retraction motion is initiated on a channel-for-channel basis using system variable:

$AC_ESR_TRIGGER = 1

Retraction is then realized in all channel axes for which the following applies:

$AA_ESR_ENABLE[<axis>] == 1 AND MD37500 $MA_ESR_REACTION[axis] == 21 OR 22

21.2.5.4

Programming (POLF, POLFA, POLFMASK, POLFMLIN)

Syntax

POLF(<axis>)=<position>

POLFA(<axis>,<type>,<position>)

POLFA(<axis>,<type>)

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21.2 Control-managed ESR

POLFMASK(<axis_1>,<axis_2>,...)

POLFMLIN(<axis_1>,<axis_2>,...)

Meaning

POLF:

Address for specifying the target position of the retraction axis

POLF is modal.

<axis>:

Channel axis name of the retraction axis

<position>:

Retraction position

Type:

REAL

The geometry axis is retracted in the WCS. For all other channel

axes in the MCS.

With the same identifiers for geometry and channel/machine

axis, retraction is in the WCS.

POLFA:

Predefined subprogram call for the specification of the retraction position of single

axes

<axis>:

Channel axis name of the retraction axis

<type>:

Position specification mode

Type:

INT

Value:

Mark position value as invalid

Position value is absolute

Position value is incremental (distance)

Note:

If an axis is not a single axis or if the type is missing or type=0,

then a corresponding alarm is output.

<position>:

Retraction position (see above) (optional)

Note:

The position value is also accepted with type=0. Only this value

is marked as invalid and has to be reprogrammed for retraction.

POLFMASK:

Predefined subprogram call for selection of the axes that are to be retracted after

tripping of rapid lift independently of one another.

<axis_1>,…:

Names of the axes that are to be traversed to their positions

defined with POLF during rapid lift.

All the axes specified must be in the same coordinate system.

POLFMASK() without specification of an axis deactivates the rapid lift for all axes that

have been retracted independently of one another.

POLFMLIN:

Predefined subprogram call for selection of the axes that are to be retracted after

tripping of rapid lift in linear relation.

<axis_1>,…:

See above.

POLFMLIN() without specification of an axis deactivates the rapid lift for all axes that

have been retracted in linear relation.

Note

Before rapid retraction to a fixed position can be enabled via POLFMASK or POLFMLIN, a position

must have been programmed with POLF for the selected axes.

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21.2 Control-managed ESR

Note

If axes are enabled one after the other with POLFMASK, POLFMLIN or POLFMLIN, POLFMASK,

then the last definition always applies for the particular axis.

Note

The positions programmed with POLF and the activation by POLFMASK or POLFMLIN are

deleted when the part program is started. This means that the user must reprogram the values

for POLF and the selected axes in POLFMASK or POLFMLIN in each part program.

Note

If, when using the abbreviated form POLFA only the type is changed, then the user must ensure

that either the retraction position or the retraction path contains a practical and sensible value.

In particular, the retraction position and the retraction path have to be set again after a warm

restart.

Example: Retracting an individual axis

Program code

Comment

MD37500 $MA_ESR_REACTION[AX1]=21

; NC-controlled retraction.

$AA_ESR_ENABLE[AX1]=1

POLFA(AX1,1,20.0)

; AX1 is assigned the axial retraction

position 20.0 (absolute).

$AA_ESR_TRIGGER[AX1]=1

; Retraction starts from here.

21.2.5.5

Boundary conditions

General supplementary conditions

Exceptions

Retraction and/or rapid lift is not executed for the following axes:

• Axes, which are not permanently assigned a channel

• Axes, which are in the open-loop speed-controlled mode (spindles)

• Axes, which are interpolated as positioning spindles (SPOS/SPOSA)

Modulo rotary axes

Modulo rotary axes respond to rapid lift as follows:

• For incremental programming of the target position, the latter is approached without

modulo offset.

• With absolute programming, the target position is approached time-optimized with the use

of modulo offsets. This is almost identical to positioning via the shortest path.

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Utilizing the axis dynamics

The retraction movement is interpolated linearly, using the maximum acceleration and speed of

the axes involved in POLFLIN.

Parallel retraction

Only one linear retraction is permitted in each channel. This means that multiple axis groups,

which approach their retraction positions linearly, cannot be created in the channel.

In parallel with linear retraction, additional axes can also use POLFMASK for independent axis-

specific retraction movement to their programmed retraction positions.

Concurrent retraction

If axes are used in both POLFMASK and in POLFMIN, it should be noted that the last state

programmed is always active for retracting movement. This means that an axis previously

activated with POLFMIN is removed from the linear relationship following programming in

POLFMASK and the retracting movement would then take place as an independent movement

(see the examples in Chapter "Lift fast with linear relation of axes (Page 929)").

Effectiveness of retraction parameters

The parameters valid at the triggering time are decisive for the retraction movement. If one of

these parameters (POLF, POLFMASK, POLFMLIN, Frame, etc.) changes during the retracting

movement (e.g. due to a block change), this change does not affect the retraction movement

that has already started.

Supplementary conditions: Path axes

Alternative extended stopping

If, for a path axis ESR_REACTION=21 (NC-controlled retraction) is configured and enabled with

$AC_ESR_ENABLE=1, then ESR_REACTION=22 (extended stopping) is active for all path axes for

which no ESR_REACTION=21 is configured or enabled.

Rapid retraction/lift without retraction motion enabled

If, for an axis, ESR_REACTION=21 is configured and enabled with $AC_ESR_ENABLE=1, but e.g.

no retraction motion is enabled with POLFMASK, then, for this axis, ESR_REACTION=22 is active

(extended stopping).

Behavior for different enable signals

"NC-controlled retraction" is configured for path axes X and Y:

• MD37500 $MA_ESR_REACTION[X] = 21

• MD37500, $MA_ESR_REACTION[Y] = 21

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1. "Extended stop and retract" and retraction motion is enabled for both path axes:

- $AA_ESR_ENABLE(X) = 1

- $AA_ESR_ENABLE(Y) = 1

- POLFMASK(X,Y)

For rapid lift, X and Y execute the programmed retraction motion.

2. "Extended stop and retract" is only enabled for one path axis, but retraction motion is enabled

for both path axes:

- $AA_ESR_ENABLE(X) = 0

- $AA_ESR_ENABLE(Y) = 1

- POLFMASK(X,Y)

For rapid lift, for axis X, due to the path interrelationship, in spite of the fact that it is not

enabled, "extended stopping" corresponding to ESR_REACTION = 22 is executed.

Axis Y executes the programmed retraction motion.

3. However, for both path axes, "Extended stop and retract" is enabled - but retraction motion

only for one path axis:

- $AA_ESR_ENABLE(X) = 1

- $AA_ESR_ENABLE(Y) = 1

- POLFMASK(Y)

For rapid lift, for axis X, due to the path interrelationship, in spite of the missing enable signal,

retraction motion "extended stopping" corresponding to ESR_REACTION = 22 is executed.

Axis Y executes the programmed retraction motion.

21.2.6

Trigger sources

A distinction must be made between the ESR trigger sources on a user-for-user basis by

evaluating system variables. This is the reason that all system variables are available, which can

be read in synchronized actions.

General trigger sources

• Digital inputs of the NCU module or the internal control image of digital outputs that can be

read back: $A_IN, $A_OUT

• Channel status: $AC_STAT

• NC/PLC interface signals

• System variables written from the PLC: $A_DBB, $A_DBW, $A_DBD

It is not recommended to use these system variables, written by the PLC for time-critical

signals, as in this case, the PLC cycle time is included in the total response time. Nevertheless,

it is an appropriate way for the PLC to influence the sequence or release of the extended stop

and retract function. However, linking-in PLC states in such a fashion does make sense if

these are exclusively input from the PLC (e.g. Emergency-Stop, reset button, stop button)

• Group signals from alarms: $AC_ALARM_STAT

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Axial trigger sources

• $VA_SYNCDIFF[<following axis>] (synchronism difference, on the actual value side)

• $AA_ESR_STAT (axial return signal word: ESR status)

Alarm responses

When ESR is active, the alarm responses NOREADY and STOPBYALARM are delayed by one IPO

cycle. The self-clearing alarm is displayed to indicate this delay:

Alarm 21600 "Monitoring for ESR active".

Note

The display of this alarm can be suppressed by:

MD11410 $MN_SUPPRESS_ALARM_MASK, bit16 = 1

21.2.7

Logic gating functions: Source and reaction linking

The flexible logic operation possibilities of the static synchronized actions can be used to

trigger specific reactions based on sources. Linking all relevant sources using static synchronized

actions is the responsibility of the user/machine manufacturer. They can selectively evaluate the

source system variables as a whole or by means of bit masks, and then make a logic operation

with their desired reactions. The static synchronized actions are effective in all operating modes.

A detailed description of how to use synchronized actions can be found in:

Further information:

• Function Manual Synchronized Actions

• NC Programming Programming Manual

Linking of axial sources with global or channel specific sources can be configured variably with

the aid of $AA_TYP (axis type).

21.2.8

Activation

Option

The function "Extended stop and retract" is an option.

Axis-specific function enable ($AA_ESR_ENABLE)

The axis-specific function enable is realized using the system variable:

$AA_ESR_ENABLE[<axis>] = 1

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Axis-specific enable for extended stopping

An axis is enabled for extended stopping with:

MD37500 $MA_ESR_REACTION[axis] = 22

Axis-specific enable for retraction

An axis is enabled for retraction using:

MD37500 $MA_ESR_REACTION[axis] = 21

Channel-specific trigger ($AC_ESR_TRIGGER)

ESR is triggered on a channel-for-channel basis by setting the following system variable:

$AC_ESR_TRIGGER = 1

ESR is then realized in all channel axes for which the following applies:

$AA_ESR_ENABLE[<axis>] == 1 AND MD37500 $MA_ESR_REACTION[axis] == 21 OR 22

21.2.9

Configuring aids for ESR

Voltage failure

For the following modules, when the line voltage fails, the power supply must be maintained

using suitable measures at least until it is ensured that the axes have come to a stop:

• SINUMERIK 840D sl NCU 7x0

• SINUMERIK NCU I/O modules

• SIMATIC PLC I/O modules

• SINAMICS drive system S120 (booksize)

DC link energy

The energy available in the DC link of the drive units when the line supply fails is calculated as

follows:

E = 1/2 * C * (VDC link_alarm2 - VDC link_min2)

Energy in wattseconds [Ws]

Total capacity of intermediate circuit in Farad [F]

VDClink_alarm: DC link voltage below which an undervoltage is identified.

SINAMICS Parameter: r0296 + p0279

VDClink_min: Lower limit of the DC link voltage for safe and reliable operation,

taking into account the motor-specific EMF.

Note VDC link_min > VDC link_off

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This energy is available for a minimum time of t

min

t_P = E / P_n * η

Energy in wattseconds [Ws]

t_P:

Buffer time in milliseconds [ms]

P_n:

Power in kilowatt [kW]

η:

Efficiency of the drive unit

Example

Assumptions:

• P_n = 16 kW, infeed (ALM) with 3-ph. 380 VAC

• C = C_is - 20% = 20,000 µF - 20% = 16,000 µF = 16 * 10^-3F, for safety, a 20% lower effectively

available capacity is assumed.

• VDC link_alarm = 550 V

• VDC link_min = 350 V

E = 1/2 * 16*10^-3 F * ( (550 V)² - (350 V)²) = 1440 Ws

This energy is available for a time t_min, e.g. for a retraction:

• E = 1440 Ws

• P_n = 16 kW

• η = 0.9 (assumption)

t_Pmin = 1440 Ws / 16 kW * 0.9 = 81 ms

The following table shows a summary of the values for various SINAMICS infeeds (ALMs).

Whereby, the nominal (C_max) and minimum (C_min) capacitance are taken into account.

The total capacitance of the DC link available is made up, taking into account the respective

maximum capacitance C_max (charge limit), from the capacitances of the infeed (ALM), the motor

modules as well as any capacitor modules.

The capacitance specified in the table for the minimum energy content (E_min for C_min) takes into

account a component tolerance of -20% (worst case).

Note

It is recommended that the SIZER configuration tool be used to determine the total capacitance

of the DC link available.

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Table 21-1

SINAMICS infeeds (ALMs): Nominal and minimum buffer times

ALM

Max. capacitance

Energy content

Backup time t_Pmax

Buffer time t_Pminfor

C_max[μF]

E_max for C_max [Ws]

E_min for C_min [Ws]

for P_max [ms]

P_max [ms]

P_max[kW]

20000

1800

1440

101.25

81.00

20000

1800

1440

45.00

36.00

20000

1800

1440

29.46

23.56

20000

1800

1440

20.25

16.20

120

20000

1800

1440

13.50

10.80

Energy balance

When configuring retraction motion, it is always necessary to consider the energy flow (balance)

to find out whether an additional capacitor module or a generator axis (with correspondingly

dimensioned flywheel effect) is required - or not.

Stopping as energy supply

From approx. the third interpolator clock cycle, the speed setpoints of the configured stopping

or retraction axes change. After this time the braking phase starts (if no drive independent

shutdown is projected for this axis).

As soon as the braking process is initiated, the energy released in this manner is available for

retraction motion. An energy balance must be used to ensure that the kinetic energy of the

braking axes is sufficient for retraction.

The energy balance shows the maximum setting for the interpolator clock cycle time, which will

allow a safe emergency retraction to be executed.

Example

With a 16 kW unit under maximum load and minimum intermediate circuit capacity it should be

possible to execute an emergency retraction without generator operation. Interpolator clock

cycle time may theoretically not be more than 4.86 ms, i.e. in this case a maximum of 4 ms could

be set.

If necessary, a more powerful NCU must be chosen in order to achieve optimal conditions.

Generator operation

For cases in which the DC link energy is not sufficient for safe and reliable retraction (minimum

3 IPO cycles), generator operation can be configured for a drive using the SINAMICS "Vdc control"

function. In this case, the mechanical energy of an axis is fed back into the DC link.

The energy stored in an axis can be calculated as follows:

E = 1/2 * J_tot * ω²

J_tot

Total moment of inertia [kg*m²]

Angular velocity at the time of switchover to generator operation [s^-1]

This energy is fed back into the DC link with an efficiency of approx. 90%:

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When using infeeds with a high power rating (55, 80, 120 kW) for generator operation, it is

recommended to use a dedicated axis with additional flywheel effect. For this axis, after the

drive has accelerated to the rated speed, energy is only required to compensate for friction

losses.

However, in principle, any axis can be used for generator operation, if this is not directly involved

in extended stopping and retraction or in couplings that must be specifically maintained.

In order to prevent that the DC link voltage does not become too high when using generator

operation (limit value: pulse cancelation, drive) and as a consequence that the pulses are

canceled for the axes, adequately dimensioned pulsed resistor modules must be used or the

SINAMICS function "Vdc control, overvoltage monitoring".

21.2.10

Control system response

21.2.10.1

Axis behavior depending on the enable signals

Systematic

If an axis is configured as NC-controlled retraction axis:

MD37500, $MA_ESR_REACTION[<axis>] = 21

The following enable signals must be available to execute retraction motion in the case of ESR:

• Axial ESR enable using system variable: $AA_ESR_ ENABLE[<axis>] = 1

• Axial retraction enable using a part program command: POLFMASK(<axis>)

If one of the two enable signals is not available, then in the case of ESR, the axis responds

corresponding to the following table:

Enable signals

Response in the case of ESR

• $AA_ESR_ ENABLE[<axis>] = 1

For the axis, implicit NC-controlled stopping becomes active, corresponding to

MD37500, $MA_ESR_REACTION[<axis>] = 22.

• No enable via POLFMASK

• $AA_ESR_ ENABLE[<axis>] = 0

Axis is a path axis:

For the axis, the ESR response is implicitly changed to NC-controlled stopping.

• Enable via POLFMASK(<axis>)

The response corresponds then to a configuration of MD37500, $MA_ESR_RE-

ACTION[<axis>] = 22

Axis is a special axis:

The axis is stopped with rapid stop.

Examples for axes with path relationship

For the subsequent examples, two path axes X and Y are assumed, which are configured as NC-

controlled retraction axes and are programmed for the retraction positions:

• MD37500, $MA_ESR_REACTION[X] = 21

• MD37500, $MA_ESR_REACTION[Y] = 21

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• POLF[X]=<retraction position> LFPOS

• POLF[Y]=<retraction position> LFPOS

Initial situation

Response in the case of ESR

• $AA_ESR_ ENABLE[X] = 1

Retraction motion in X and Y.

• $AA_ESR_ ENABLE[Y] = 1

• POLFMASK(X,Y)

• Program traversing motion: Y

• $AA_ESR_ ENABLE[X] = 0

X does not have ESR enable. As X is a path axis, for X, the ESR response is

implicitly changed to 22 (stopping). This is the reason that X continues to

• $AA_ESR_ ENABLE[Y] = 1

traverse corresponding to the programmed traversing motion.

• POLFMASK(X,Y)

Y executes retraction motion.

• Program traversing motion: X and Y

After the delay time for ESR axes expires, MD21380, $MC_ESR_DELAY_TIME1,

X is stopped with the path acceleration.

• $AA_ESR_ ENABLE[X] = 1

X has no retraction enable (POLFMASK). X does not execute any retraction

motion. As X is a path axis, for X, the ESR response is implicitly changed to 22

• $AA_ESR_ ENABLE[Y] = 1

(stopping). This is the reason that X continues to traverse corresponding to the

• POLFMASK(Y)

programmed traversing motion.

• Program traversing motion: X

Y executes retraction motion.

After the delay time for ESR axes expires, MD21380, $MC_ESR_DELAY_TIME1,

X is stopped with the path acceleration.

• $AA_ESR_ ENABLE[X] = 1

Y has not been enabled for retraction (POLFMASK). see lines above, syntax Y

does not execute retraction motion. As Y is a path axis, for Y, the ESR response

• $AA_ESR_ ENABLE[Y] = 1

is implicitly changed to 22 (stopping). This is the reason that Y continues to

• POLFMASK(X)

traverse corresponding to the programmed traversing motion.

• Program traversing motion: X and Y

X executes retraction motion.

After the delay time for ESR axes expires, MD21380, $MC_ESR_DELAY_TIME1,

Y is stopped with the path acceleration.

Examples for axes without path relationship

For the subsequent examples, path axes X and a command axis B are assumed, which are

configured as NC-controlled retraction axis:

• MD37500, $MA_ESR_REACTION[X] = 21

• MD37500, $MA_ESR_REACTION[B] = 21

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Initial situation

Response in the case of ESR

• $AA_ESR_ ENABLE[X] = 1

B is not enabled for ESR. As B is not a path axis, B is immediately stopped with

a rapid stop.

• $AA_ESR_ ENABLE[B] = 0

X executes retraction motion.

• POLFMASK(X)

• Program traversing motion: X and B

• $AA_ESR_ ENABLE[X] = 1

B is not enabled for retraction (POLFMASK). However, as B is enabled for ESR,

for B, the ESR response is implicitly changed to 22 (stopping). This is the reason

• $AA_ESR_ ENABLE[B] = 1

that B continues to traverse corresponding to the programmed traversing mo-

• POLFMASK(X)

tion.

• Program traversing motion: X and B

Y executes retraction motion.

After the delay time for ESR axes expires, MD21380, $MC_ESR_DELAY_TIME1,

B is stopped with axial acceleration.

21.2.10.2

POWER OFF/POWER ON

If the user-specific retraction logic is programmed within motion synchronized actions, then it

must be observed that this is still not active when the control boots (POWER ON). A retraction

logic, which should be active after POWER ON, must therefore lie in an ASUB started from the PLC

or must be called event-controlled.

Further information

For detailed information about event-driven program calls see:

Function Manual Basic Functions; Mode group, channel, program mode, reset response, event-

driven program calls

21.2.10.3

Operating mode change, NC Stop, reset

Static synchronized actions (IDS keyword) can be used for user-specific retraction logic as the

following system states or state change have no influence on this:

• Operating mode change, e.g. DB11 DBX0.0 (AUTOMATIC)

• NC stop, e.g. DB21, ... DBX7.3 (NC stop)

• Reset, e.g. DB21, ... DBX7.7 (reset)

Note

NC stop and command axes

Traversing command axes is interrupted for an NC stop.

Note

POLF/POLFMASK reset and program commands

For reset, the programmed absolute retraction positions (POLF) and the enable signals for the

retraction axes (POLFMASK) are not deleted.

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21.2.10.4

Part program start, NC start

In order that a defined initial state is available when a part program starts, the programmed

absolute retraction positions and the enable signals of the retraction axes are deleted when the

part program starts.

Note

Retraction positions and enable signals

When a part program starts, the absolute retraction positions (POLF) and the enable signals of

the retraction axes (POLFMASK) must be reprogrammed corresponding to the actual

requirements.

21.2.10.5

Alarm behavior

The alarm response depends on the axis in which a fault occurs:

• Fault in an axis outside the axis grouping of an electronic gear:

This axis switches off "normally". Extended stopping and retraction continue to operate as

before - or are initiated by such a fault.

• Error in a leading axis (LA):

selective switchover to actual value linkage already during stop, otherwise as previously.

• Error in a following axis (FA):

- Carry out retract: Retraction axis may not be a following axis, that is, no conflict.

- Carry out stop: The following axis may react with uncontrollable behavior. Saving the

workpiece/tool must be left to the retraction; however, the stop should not disrupt the

process any further.

• Error in the retraction axis: There is no retraction.

• Emergency Stop

An Emergency Stop is not a fault from a control system point of view, rather the response is

the same as for any other control signal. For safety reasons, Emergency Stop interrupts the

interpolation and all traversing motion, and also cancels the electronic coupling by

withdrawing the controller enable signals.

In applications where the coupling and traversing movements must remain valid after

Emergency Stop, the PLC must delay the Emergency Stop long enough for the required NC

or drive-end reactions to terminate.

The following interface signal is available as feedback signal to the PLC:

IS "ESR reaction not initiated" DB31, ... DBX98.7

If an alarm with cross-channel NOREADY reaction is issued during the active phase of the ESR (i.e.

NOREADY | NCKREACTIONVIEW | BAGREACTIONVIEW), then ESR is triggered in all channels.

21.2.10.6

Block search, REPOS

Extended stop and retract does not affect block search or REPOS motions.

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21.3

ESR executed autonomously in the drive

21.3.1

Fundamentals

Function

Drive-autonomous Extended Stop and Retract (ESR) enables the fast separation of workpiece

and tool independent of the higher-level control (NC).

For this purpose, the following axis-specific functions can be configured in the drive:

• Generator operation

• Extended stop

• Retract

The drive-autonomous responses are automatically initiated in error situations. The triggering

of the drive-autonomous responses can also be realized user-specific via the part programs or

synchronized actions from the higher-level control system.

As the stopping and retraction motion of the drive-autonomous ESR are purely axis-specific, in

contrast to control-managed ESR, couplings are not taken into account.

ESR executed autonomously in the drive can also be used in combination with control-managed

ESR. This also allows stopping and retraction motion in the drives if they are no longer specified

from the control, e.g. as a result of a communication failure.

Note

DRIVE-CLiQ

For possibly occurring DRIVE-CLiQ errors, in order to keep the reaction to the functions of the

drive-autonomous ESR as low as possible, within the scope of ESR, we recommend that the

motor modules involved are not connected through a line-type topology, but instead are directly

connected to the Control Unit (CU).

Link axes

The "Drive-autonomous extended stop and retract (ESR)" function cannot be used in conjunction

with link axes.

Requirements

The following conditions must be fulfilled:

• SINAMICS and SINUMERIK software version: ≥ V4.4

• Servo drive object, PROFIdrive telegram: 102 - 199

• Servo drive object, function module "ESR" active

The function module "Extended stop and retract (ESR)" must be activated via the drive wizard

of SINUMERIK Operate. For a description of the drive wizard, see: SINUMERIK Operate online

help.

• Servo drive object, generator operation (Vdc control) active in a drive

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21.3 ESR executed autonomously in the drive

• Control unit drive object, PROFIdrive telegram: 390, 391

• The 24 V power supply for the modules is buffered via CSM or UPS

21.3.2

Configuring stopping in the drive

Drive integrated shutdown is configured via the following drive parameters:

Parameter

Description

p0888

ESR: Configuration

Value

Meaning

Extended stopping (function integrated in the drive)

Parameter

Description

p0891

ESR: Off ramp

Value

Meaning

OFF3 (default)

The drive is braked along the OFF3 down ramp by immediately entering n_set

= 0 (p1135: OFF3 ramp-down time).

OFF1

By immediately entering n_set = 0, the drive is braked along the ramp gener-

ator down ramp (p1121: ramp-function generator ramp-down time).

Parameter

Description

p0892

ESR: Timer

The drive travels at a constant velocity for the configured time with the speed setpoint

that was present when the fault occurred.

6SHHG Q

$86

7LPH W

Time at which stopping was triggered

Instant in time after the time that was configured in p0892 has expired

OFF3/OFF1

Braking ramp as a function of p0891

Figure 21-3

Response to drive-integrated stopping

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21.3 ESR executed autonomously in the drive

Feedback signal

The stop status is returned to the control (see Section "Feedback of the ESR status (Page 918)").

Further information

For a detailed description of drive parameters, refer to:

SINAMICS S120/S150 List Manual

21.3.3

Configuring retraction in the drive

Drive integrated retraction is configured using the following drive parameters:

Parameter

Description

p0888

ESR: Configuration

Value

Meaning

Extended retraction (function integrated in the drive)

Parameter

Description

p0891

ESR: Off ramp

Value

Meaning

OFF3 (default)

The drive is braked along the OFF3 down ramp by immediately entering n_set

= 0 (p1135: OFF3 ramp-down time).

OFF1

By immediately entering n_set = 0, the drive is braked along the ramp gener-

ator down ramp (p1121: ramp-function generator ramp-down time).

Parameter

Description

p0892

ESR: Timer

The parameter specifies the total time that elapses to reach the speed specified in p0893

followed by constant velocity travel.

This is followed by an OFF1 or OFF3 ramp depending on the parameterization in p0891.

Parameter

Description

p0893

ESR: Speed

The parameter specifies the speed (retraction speed) that is reached when initiating

retraction via an OFF3 ramp.

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21.3 ESR executed autonomously in the drive

6SHHG Q

$86

7LPH W

Instant in time that retraction was initiated

Instant in time when the retraction speed specified in p0893 is reached

Instant in time after the time that was configured in p0892 has expired

Figure 21-4

Behavior for drive-integrated retraction

Feedback signal

The retract status is returned to the control (see Section "Feedback of the ESR status

(Page 918)").

Further information

For a detailed description of drive parameters, refer to:

SINAMICS S120/S150 List Manual

21.3.4

Configuring generator operation in the drive

The generator mode for the drive-autonomous ESR is configured using the following drive

parameters:

Parameter

Description

p0888

ESR: Configuration

Value

Meaning

Generator operation (Vdc controller)

Parameter

Description

p1240

Vdc controller or Vdc monitoring configuration

Value

Meaning

When reaching the lower DC link voltage threshold (p1248) - for ESR - the

motor is braked in order to utilize its kinetic energy to buffer the DC link.

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Parameter

Description

p1248

Lower DC link voltage threshold

Setting the lower threshold for the DC link voltage. For p1240 = 2, this threshold is used

as setpoint limit for the Vdc_min controller.

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p1244

Upper DC link voltage threshold

p1248

Lower DC link voltage threshold

r0208

Rated power unit line supply voltage.

The pulses are canceled if the DC link voltage drops below 0.9*r0208

Instant in time at which generator operation was triggered

Instant in time at which generator operation was exited

Figure 21-5

Configuring_drive_integrated_generator_operation

Generator minimum speed

The lower limit of the motor speed of the generator axis is configured using drive parameter

p2161:

Parameter

Description

p2161

Speed threshold value 3

Speed threshold for the message: |n_act| < speed threshold 3

Feedback signal

The generator operation status is returned to the control (see Section "Feedback of the ESR

status (Page 918)").

Further information

A detailed description of drive parameters and the Vdc control can be found in:

• SINAMICS S120/S150 List Manual

• Function Manual SINAMICS S120 Drive Functions; Servo control > Vdc control

Axes and spindles

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

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SINUMERIK 840D sl. Service - Functions. Manual (2018-2020) - page 16