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SINUMERIK 840D sl. Service - Functions. Manual (2018-2020) - page 23

Axes, coordinate systems, frames

4.5 Frames

N2030 TRANSMIT(1)

N2040 TRANS x10 y20 z30

N2041 ATRANS y200

N2050 G0 X20 Y0 Z10

N2051 if $P_IFRAME <> CTRANS(X,1,Y,0,Z,3,CAY,2)

N2052 setal(61000)

N2053 endif

N2054 if $P_ACTFRAME <> CTRANS(X,11,Y,20,Z,33,CAY,2):CFINE(Y,200)

N2055 setal(61002)

N2056 endif

N2060 TRAFOOF

N2061 if $P_IFRAME <> $P_UIFR[1]

N2062 setal(61000)

N2063 endif

N2064 if $P_ACTFRAME <> CTRANS(X,11,Y,2,Z,33):CFINE(Y,0)

N2065 setal(61002)

N2066 endif

4.5.6.4

Selecting and deselecting transformations: TRACYL

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TRACYL expansions:

The machine data below can be used to take the axis-specific complete frame of the TRACYL

rotary axis, i.e. the translation, fine offset, mirroring and scaling, into account in the

transformation:

• MD24805 $MC_TRACYL_ROT_AX_FRAME_1 = 1

• MD24855 $MC_TRACYL_ROT_AX_FRAME_2 = 1

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4.5 Frames

N1220 endif

N1230 if $P_BFRAME <> $P_CHBFR[0]

N1240 setal(61000)

N1250 endif

N1260 if $P_IFRAME <>

TRANS(X,11,Y,2,Z,3,B,4):CROT(X,10,Y,20,Z,30):CMIRROR(X,B)

N1270 setal(61000)

N1280 endif

N1290 if $P_IFRAME <> $P_UIFR[1]

N1300 setal(61000)

N1310 endif

N1320 if $P_ACTFRAME <>

TRANS(X,21,Y,22,Z,33,B,19):CROT(X,10,Y,20,Z,30):CMIRROR(X,B)

N1330 setal(61002)

N1340 endif

N1350

N1360 G00 x0 y0 z0 G90

N1370

N1380 m30

4.5.6.5

Selecting and deselecting transformations: TRAANG

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Frame expansions:

The expansions described below are only valid for the following machine data settings:

• MD10602 $MN_FRAME_GEOAX_CHANGE_MODE = 1

• MD10602 $MN_FRAME_GEOAX_CHANGE_MODE = 2

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4.5 Frames

4.5.6.6

Adapting active frames

The geometry axis constellation can change during the program processing or for RESET. The

number of existent geometry axes varies between zero to three. For non-existent geometry

axes, components in the active frames (e.g. rotations) can cause the active frames for these axis

constellations to become invalid. This is indicated with the "Channel %1 block %2 rotation

programmed for non-existent geometry axis" alarm. The alarm remains pending until the

frames have been changed appropriately.

The automatic adaptation of active frames can be activated with the following machine data:

MD24040 $MC_FRAME_ADAPT_MODE, bit<n> = <value>

Bit

<value>

Meaning

0

1

Rotations in active frames that rotate coordinate axes for which there are no ge-

ometry axes, are deleted from the active frames.

1

1

Shearing angles in active frames are made orthogonal.

2

1

Scaling factors of all geometry axes in the active frames are set to 1.

All rotations in the active frames that could cause coordinate axis motions for non-existent

geometry axes are deleted with the following machine data:

MD24040 $MC_FRAME_ADAPT_MODE = 1

The data management frames are not changed in the process. Only the possible rotations are

accepted for the activation of data management frames.

Example:

No Y axis exists:

• MD20050 $MC_AXCONF_GEOAX_ASSIGN_TAB[0] = 1

• MD20050 $MC_AXCONF_GEOAX_ASSIGN_TAB[1] = 0

• MD20050 $MC_AXCONF_GEOAX_ASSIGN_TAB[2] = 3

• $P_UIFR[1] = CROT(X,45,Y,45,Z,45)

Program code

; Comment

N390 G54 G0 X10 Z10 F10000

IF $P_IFRAME <> CROT(Y,45)

; Only the rotation around Y is transfer-

red

SETAL(61000)

ENDIF

4.5.6.7

Mapped Frames

Overview

The "mapped frames" function supports the cross-channel consistent change of axis-specific

frames inside channel-specific or global data management frames. Using axis-specific machine

data, it is defined between which axes mapping is realized.

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4.5 Frames

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Parameterization: $MA_

① Simple mapping relationship:

MAPPED_FRAME[<AX1>] = "AX4"

AX1(K1) ↔ AX4(K2)

② Chained mapping relationships:

MAPPED_FRAME[<AX1>] = "AX4"

AX1(K1) ↔ AX4(K2) ↔ AX7(K3)

MAPPED_FRAME[<AX4>] = "AX7"

③ Mapping relationship to itself, with AX1 as chan-

MAPPED_FRAME[<AX1>] = "AX1"

nel axis of channels 1, 2 and 3:

AX1(K1+K2+K3)

④ Mapping relationship between two axes, the

MAPPED_FRAME[<AX1>] = "AX4"

channel axes in two channels are:

AX1(K1+K2) ↔ AX4(K3+K4)

⑤ Chained mapping relationships where multiple

MAPPED_FRAME[<AX4>] = "AX7"

channel axes can be written in the same channel:

MAPPED_FRAME[<AX7>] = "AX8"

AX4(K1) ↔ AX7(K2) ↔ AX8(K2) ↔ AX5(K1)

MAPPED_FRAME[<AX8>] = "AX5"

Figure 4-25

Mapping examples

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4.5 Frames

Activating the data management frame

Data management frames can be written in the part program and via the user interface of

SINUMERIK Operate. The following should be noted when activating the data management

frames in the channels written directly and via frame mapping:

• Writing in the part program

The data management frames must be explicitly activated in each channel (G500, G54 ...

G599)

• Writing via user interface

Data management frames are written via the user interface, e.g. by entering new work

offsets. A modified data management frame is immediately active in all of the involved

channels if none of these channels is in the "Channel active" state. The data management

frame is not active in any channel if one of the channels involved is in the "Channel active"

state. The activation must then be explicitly programmed in each channel in the part

program (G500, G54 ... G599). Or, the next time that the channel state changes, it becomes

active after "Channel reset".

Example

The following channels and channel axes are parameterized at a control:

• Channel 1

- Z: Geometry axis

- AX1: Machine axis of geometry axis Z

• Channel 2

- Z: Geometry axis

- AX4: Machine axis of geometry axis Z

The zero point of the Z axis should always be the same in both channels:

• Mapping relationship: $MA_MAPPED_FRAME[AX1] = "AX4"

Part programs in channel 1 and 2

Channel 1

Channel 2

N100 WAIT (10,1,2)

N200 WAIT (10,1,2)

N110 $P_UIFR[1] = CTRANS(Z, 10)

N120 WAIT (20,1,2)

N220 WAIT (20,1,2)

N130 G54

N230 G54

N140 IF ($P_IFRAME[0, Z, TR] <> 10)

N230 IF ($P_IFRAME[0, Z, TR] <> 10)

N150

SETAL(61000)

N250

SETAL(61000)

N160 ENDIF

N260 ENDIF

Description:

N100 / N200

Channel synchronization for consistent writing and mapping of frame data

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4.5 Frames

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Description

Parameterization: $MA_

① Simple mapping relationship:

MAPPED_FRAME[<AX1>] = "AX4"

AX1(K1) ↔ AX4(K2)

② Chained mapping relationships:

MAPPED_FRAME[<AX1>] = "AX4"

AX1(K1) ↔ AX4(K2) ↔ AX7(K3)

MAPPED_FRAME[<AX4>] = "AX7"

③ Mapping relationship to itself, with AX1 as chan-

MAPPED_FRAME[<AX1>] = "AX1"

nel axis of channels 1, 2 and 3:

AX1(K1+K2+K3)

④ Mapping relationship between two axes, the

MAPPED_FRAME[<AX1>] = "AX4"

channel axes in two channels are:

AX1(K1+K2) ↔ AX4(K3+K4)

⑤ Chained mapping relationships where multiple

MAPPED_FRAME[<AX4>] = "AX7"

channel axes can be written in the same channel:

MAPPED_FRAME[<AX7>] = "AX8"

AX4(K1) ↔ AX7(K2) ↔ AX8(K2) ↔ AX5(K1)

MAPPED_FRAME[<AX8>] = "AX5"

Figure 4-26

Mapping examples

Activating the data management frame

Data management frames can be written in the part program. The following should be noted

when activating the data management frames in the channels written directly and via frame

mapping:

• Writing in the part program

The data management frames must be explicitly activated in each channel (G500, G54 ...

G599)

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4.5 Frames

Example

The following channels and channel axes are parameterized at a control:

• Channel 1

- Z: Geometry axis

- AX1: Machine axis of geometry axis Z

• Channel 2

- Z: Geometry axis

- AX4: Machine axis of geometry axis Z

The zero point of the Z axis should always be the same in both channels:

• Mapping relationship: $MA_MAPPED_FRAME[AX1] = "AX4"

Part programs in channel 1 and 2

Channel 1

Channel 2

N100 WAIT (10,1,2)

N200 WAIT (10,1,2)

N110 $P_UIFR[1] = CTRANS(Z, 10)

N120 WAIT (20,1,2)

N220 WAIT (20,1,2)

N130 G54

N230 G54

N140 IF ($P_IFRAME[0, Z, TR] <> 10)

N230 IF ($P_IFRAME[0, Z, TR] <> 10)

N150

SETAL(61000)

N250

SETAL(61000)

N160 ENDIF

N260 ENDIF

Description:

N100 / N200

Channel synchronization for consistent writing and mapping of frame data

N110

Writing of the settable data management frame $P_UIFR[1]:

Moving the zero point of the Z axis to 10 mm

Mapping the axis-specific frame data:

Channel1: Z ≙ AX1 ⇔ channel 2: Z ≙ AX4

N120 / N220

Channel synchronization for consistent activation of new frame data

N130 / N230

Activating the new frame data

N140 / N240

Checking the zero point of the Z axis for: 10 mm

4.5.7

Predefined frame functions

4.5.7.1

Inverse frame

The INVFRAME() function calculates the appropriate inverse frame from a frame.

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4.5 Frames

Program code

Comment

Y0

M30

4.5.7.2

Additive frame in frame chain

Measurements on the workpiece or calculations in the part program or cycle often produce a

frame that is applied additively to the active complete frame. This causes, for example, the WCS

and thus the programming zero point to be displaced and/or possibly rotated. The measured

frame so exists in a frame variable and has not yet been included in the frame chain calculation.

Function description

The ADDFRAME() function calculates from the temporary frame the specified target frame

specified by the <STRING> parameter so that the new active $P_ACTFRAME complete frame

from the chaining of the old active complete frame with the temporary frame gives:

ERG = ADDFRAME(TMPFRAME,"$P_SETFRAME") ⇒ $P_SETFRAME_new = $P_SETFRAME_old

ADD TMPFRAME and $P_ACTFRAME_new = $P_ACTFRAME_old : TMPFRAME

If an active frame has been specified as a target frame, the new complete frame becomes active

at the preprocessing stage.

If the target frame is a data management frame, the frame becomes active only when it is

activated explicitly in the channel, e.g. part program or cycle.

The function returns a return value for which a user-specific response is possible, e.g. in a user

cycle.

Programming

Syntax

INT ADDFRAME(<FRAME>,<STRING>)

Meaning

<FRAME>:

Frame variable with the values to be included additively in the calculation

Type

FRAME

<STRING>:

The name of an active or data management frame:

• Active frames

"$P_CYCFRAME", "$P_ISO4FRAME", "$P_PFRAME", "$P_WPFRAME",

"$P_TOOLFRAME", "$P_IFRAME", "$P_GFRAME", "$P_CHBFRAME[<n>]",

"$P_NCBFRAME[<n>]", "$P_ISO1FRAME", "$P_ISO2FRAME",

"$P_ISO3FRAME", "$P_EXTFRAME", "$P_SETFRAME", "$P_PARTFRAME"

• Data management frames

"$P_CYCFR", "$P_ISO4FR, "$P_TRAFR", "$P_WPFR", "$P_TOOLFR",

"$P_UIFR[<n>]", "$P_GFR", "$P_CHBFR[<n>]", "$P_NCBFR[<n>]",

"$P_ISO1FR, "$P_ISO2FR, "$P_ISO3FR, "$P_EXTFR", "$P_SETFR",

"$P_PARTFR"

Type

STRING

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4.5 Frames

value of the axial system variable $AA_ETRANS[<axis>]. Thereafter, the offset is traversed first

and then the interrupted movement is continued.

Behavior for incremental dimension

In case of active incremental dimension G91 and machine data:

MD42440 $MC_FRAME_OFFSET_INCR_PROG (work offset in frames) = 0

traversing the offset is done in the scope of the external work offset via system frame, despite

opposite configuring of the machine data, with the approach block, although it is specified by a

frame.

Note

The external work offset always acts absolutely.

4.5.8.3

Toolholder

Translations

With kinematics of type "P" and "M", the selection of a toolholder activates an additive frame

(table offset of the orientable toolholder) which takes into account the work offset as a result of

the rotation of the table. The work offset is entered in the system frame $P_PARTFR. In this case

the translatory component of this frame is overwritten. The other frame components are

retained.

The system frame $P_PARTFR must be enabled via the following machine data:

MD28082 $MC_MM_SYSTEM_FRAME_MASK, bit 2 = 1 (system frame for TCARR and PAROT)

Note

Alternatively, the offset can also parameterized via machine data to record the table offset:

MD20184 $MC_TOCARR_BASE_FRAME_NUMBER = <number of the basic frame>

This option is only for compatibility reasons to older software versions. You are strongly

recommended not to use this procedure any longer.

A frame offset as a result of a toolholder change becomes effective immediately on selection of

TCARR=

A change in the tool length, on the other hand, only becomes effective

immediately if a tool is active.

A frame rotation is not executed with the activation, or a rotation which is already active is not

changed. As in case T (only the tool can be rotated), the position of the rotary axes used for the

calculation is dependent on the command TCOFR/TCOABS and determined from the rotation

component of an active frame or from the $TC_CARR entries. Activation of a frame changes the

position in the workpiece coordinate system accordingly, without compensating motion by the

machine itself.

The ratios are shown in the figure below:

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Axes, coordinate systems, frames

4.5 Frames

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Frame on activation of a rotary table with TCARR

With kinematics of type M (tool and table are each rotary around one axis), the activation of a

toolholder with TCARR simultaneously produces a corresponding change in the effective tool

length (if a tool is active) and the work offset.

Rotations

Depending on the machining task, it is necessary to take into account not only a work offset

(whether as frame or as tool length) when using a rotary toolholder or table, but also a rotation.

However, the activation of an orientable toolholder never leads directly to a rotation of the

coordinate system.

If only the tool can be rotated, a frame can be defined for it using TOFRAME or TOROT.

With rotary tables (kinematics types P and M), activation with TCARR similarly does not lead to

an immediate rotation of the coordinate system, i.e. even though the zero point of the

coordinate system is offset relative to the machine, while remaining fixed relative to the zero

point of the workpiece, the orientation remains unchanged in space.

If the coordinate system needs to be fixed relative to the workpiece, i.e. not only offset relative

to the original position but also rotated according to the rotation of the table, then PAROT can

be used to activate such a rotation in a similar manner to the situation with a rotary tool.

With PAROT, the translations, scalings and mirroring in the active frame are retained, but the

rotation component is rotated by the rotation component of an orientable toolholder

corresponding to the table. The entire programmable frame including its rotation component

remains unchanged.

The rotation component that describes the rotation of the table is then either entered in the

system frame $PARTFR or in the basic frame parameterized with MD20184

$MC_TOCARR_BASE_FRAME_NUMBER:

$MC_MM_SYSTEM_FRAME_MASK, bit 2 = <value>

Value

Meaning

1

Rotation component → $PARTFR

0

Rotation component → MD20184 $MC_TOCARR_BASE_FRAME_NUMBER

As with the note made in the description of the table offset, the second alternative here is not

recommended for use with new systems.

The rotation component of the part frame can be deleted with PAROTOF, irrespective of

whether this frame is in a basic or a system frame.

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4.5 Frames

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Programming with MOVT is independent of the existence of a toolholder that can be oriented.

The direction of the motion is dependent on the active plane.

It runs in the directions of the vertical axes, i.e. with G17 in Z direction, with G18 in Y direction

and with G19 in X direction. This applies when no orientable toolholder is active and for the case

of an orientable toolholder without rotary tool or with a rotary tool in its basic setting.

MOVT acts similarly for active orientation transformation (3-, 4-, 5-axis transformation).

If in a block with MOVT the tool orientation is changed simultaneously (e.g. active 5-axis

transformation by means of simultaneous interpolation of the rotary axes), the orientation at

the start of the block is decisive for the direction of motion of MOVT.

With an active 5-axis transformation, the path of the tool center point (TCP) is not affected by the

change of orientation, i.e. the path remains a straight line and its direction is determined by the

tool orientation at the start of the block.

If MOVT is programmed, linear or spline interpolation must be active (G0,G1, ASPLINE,

BSPLINE, CSPLINE). Otherwise, an alarm is produced.

If a spline interpolation is active, the resultant path is generally not a straight line, since the end

point calculated by MOVT is treated as if it had been programmed explicitly with X, Y, Z.

It is not permissible to program geometry axes in a block with MOVT.

Definition of frame rotations with solid angles

Where a frame is to be defined to describe a rotation around more than one axis, this is achieved

through chaining individual rotations. The subsequent rotation is realized in the newly rotated

coordinate system.

This applies both to programing in one block - and when configuring a frame in several

consecutive blocks:

• One block: N10 ROT X... Y... Z...

• Several consecutive blocks:

N10 ROT Y...

N20 AROT X...

N30 AROT Z...

Solid angle

Often, solid angles are specified in workpiece drawings to define inclined surfaces. Solid angles

are angles which the intersection lines of the inclined plane form with the main planes (X-Y, Y-

Z, Z-X planes) of the workpiece coordinate system (see diagram). The orientation of a plane in

space is defined unambiguously by specifying two solid angles. The third solid angle is derived

from the first two.

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4.5 Frames

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α, β Solid angle of the inclined plane

Figure 4-28

Rotation around the solid angle

In the diagram, the solid angles are shown for an example of a plane in quadrants I to IV. The

inclined plane defines the alignment of the G17 plane after rotating the workpiece coordinate

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4.5 Frames

4.5.11

Positions in the coordinate system

The current setpoint positions in the coordinate systems can be read via the following system

variables: The actual values can be displayed in the WCS, SZS, BZS or MCS via the PLC. There is

an Actual value display softkey in the MCS/WCS. The machine manufacturer can specify on the

PLC which coordinate system corresponds to the workpiece coordinate system on a machine.

The HMI requests the corresponding actual values form the NC.

$AA_IM[axis]

The setpoints in the machine coordinate system can be read for each axis with the $AA_IM[axis]

variable.

$AA_IEN[axis]

The setpoints in the settable zero system (SZS) can be read for each axis with the $AA_IEN[axis]

variable.

$AA_IBN[axis]

The setpoints in the basic zero system (BZS) can be read with the $AA_IBN[axis] variable.

$AA_IW[axis]

The setpoints in the workpiece coordinate system (WCS) can be read with the $AA_IW[axis]

variable.

4.5.12

Control system response

4.5.12.1

POWER ON

Frame

Frame conditions after POWER ON

$P_PFRAME programmable frame

Deleted.

$P_IFRAME settable frame

Is retained, depending on:

• MD24080 $MC_USER_FRAME_POWERON_MASK, bit 0

• MD20152 $MC_GCODE_RESET_MODE[7]

$P_GFRAME grinding frame

Is retained, depending on:

• MD24080 $MC_USER_FRAME_POWERON_MASK, bit 0

• MD20152 $MC_GCODE_RESET_MODE[63]

$P_ACTBFRAME complete basic

Is retained, depending on:

frame

• MD20110 $MC_RESET_MODE_MASK bit 0 and bit 14

Basic frames can be deleted via machine data:

• MD10615 $MN_NCBFRAME_POWERON_MASK

• MD24004 $MC_CHBFRAME_POWERON_MASK

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4.5 Frames

Frame

Frame conditions after POWER ON

System frames:

Retained

$P_PARTFRAME, $P_SETFRAME,

Individual system frames can be deleted via machine data:

$P_ISO1FRAME, $P_ISO2FRAME,

• MD24008 $MC_CHSFRAME_POWERON_MASK

$P_ISO3FRAME, $P_TOOLFRAME,

Deletion of system frames is executed in the data management on

$P_WPFRAME, $P_TRAFRAME,

first priority.

$P_ISO4FRAME, $P_RELFRAME,

$P_CACFRAME

$P_EXTFRAME external work offset

Is retained, but has to be activated again.

DRF offset

Deleted.

4.5.12.2

Mode change

System frames

The system frames are retained and remain active.

JOG mode

In JOG mode, the frame components of the current frame are only taken into account for the

geometry axes if a rotation is active. No other axis-specific frames are taken into account.

PLC and command axes

The response for PLC and command axes can be set via machine data:

MD32074 $MA_FRAME_OR_CORRPOS_NOTALLOWED (frame or HL correction is not

permissible)

4.5.12.3

Channel reset / part program end

Reset behavior of the basic frames

The reset behavior of the basic frames is set via the machine data:

MD20110 $MC_RESET_MODE_MASK (definition of initial control settings after channel reset /

part program end)

Reset behavior of system frames

The system frames are retained in the data management after a channel reset / part program

end.

The machine data below can be used to configure the activation of individual system frames:

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4.5 Frames

MD24006 $MC_CHSFRAME_RESET_MASK, bit<n> = <VALUE> (active system frames after

channel-reset / part program end)

Bit

Value

Meaning

0

1

System frame for actual value setting and scratching is active after channel reset /

part program end.

1

1

System frame for external work offset is active after channel reset / part program

end.

2

---

Is not evaluated.

3

---

Is not evaluated.

4

1

System frame for workpiece reference points is active after channel reset / part

program end.

5

1

System frame for cycles is active after channel reset / part program end.

6

---

Reserved, RESET response depends on MD20110 $MC_RESET_MODE_MASK.

7

1

System frame $P_ISO1FR is active after channel reset / part program end.

8

1

System frame $P_ISO2FR is active after channel reset / part program end.

9

1

System frame $P_ISO3FR is active after channel reset / part program end.

10

1

System frame $P_ISO4FR is active after channel reset / part program end.

11

1

System frame $P_RELFR is active after channel reset / part program end.

For bit<n> = 0, the associated system frame is not active.

Reset behavior of the system frames for TCARR, PAROT, TOROT and TOFRAME

The reset behavior of the system frames for TCARR, PAROT, TOROT and TOFRAME after channel

reset / part program end depends on the reset setting of the G commands.

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4.5 Frames

The setting is made with machine data:

•

MD20110 $MC_RESET_MODE_MASK, bit<n> = <value>

Bit

Value

Meaning

0

0

The current system frame for TCARR and PAROT is retained.

0

1

Additional relevant machine data settings

Effect

MD20152 $MC_GCODE_RESET_MODE[51] = 0 and

PAROTOF

MD20150 $MC_GCODE_RESET_VALUES[51] = 1

MD20152 $MC_GCODE_RESET_MODE[51] = 0 and

PAROT

MD20150 $MC_GCODE_RESET_VALUES[51] = 2

MD20152 $MC_GCODE_RESET_MODE[51] = 1

TCARR

and PAROT are re-

tained.

MD20152 $MC_GCODE_RESET_MODE[52] = 0 and

TOROTOF

MD20150 $MC_GCODE_RESET_VALUES[52] = 1

MD20152 $MC_GCODE_RESET_MODE[52] = 0 and

TOROT

MD20150 $MC_GCODE_RESET_VALUES[52] = 2

MD20152 $MC_GCODE_RESET_MODE[52] = 0 and

TOFRAME

MD20150 $MC_GCODE_RESET_VALUES[52] = 3

MD20152 $MC_GCODE_RESET_MODE[52] = 1

TOROT

and TOFRAME are

retained

Description of the further bits for bit 0 == 1

14

0

Chained complete basic frame is deleted.

1

The complete basic frame results from the following additional machine data:

MD24002 $MC_CHBFRAME_RESET_MASK, bit<n> = 1

n: The nth channel-specific basic frame is calculated into the chained complete

basic frame.

MD10613 $MN_NCBFRAME_RESET_MASK, bit<n> = 1

n: The nth NCU-global basic frame is calculated into the chained complete basic

frame.

TCARR and PAROT are two independent functions, which describe the same frame.

With PAROTOF, the component of TCARR is not activated for channel reset / part program

end.

•

MD20152 $MC_GCODE_RESET_MODE[ ] (RESET response of G groups)

•

MD20150 $MC_GCODE_RESET_VALUES (RESET position of G groups)

Frame states after channel reset / part program end

Frame

Status after channel reset / part program end

$P_PFRAME programmable frame

Deleted.

$P_IFRAME settable frame

Is retained, depending on:

• MD20110 $MC_RESET_MODE_MASK

• MD20152 $MC_GCODE_RESET_MODE[7]

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4.5 Frames

Frame

Status after channel reset / part program end

$P_GFRAME grinding frame

Is retained, depending on:

• MD20110 $MC_RESET_MODE_MASK

• MD20152 $MC_GCODE_RESET_MODE[63]

$P_ACTBFRAME complete basic frame

Is retained, depending on:

• MD20110 $MC_RESET_MODE_MASK bit 0 and bit 14

• MD10613 $MN_NCBFRAME_RESET_MASK

• MD24002 $MC_CHBFRAME_RESET_MASK

System frames:

Are retained, depending on:

$P_PARTFRAME, $P_SETFRAME,

• MD24006 $MC_CHSFRAME_RESET_MASK

$P_ISO1FRAME, $P_ISO2FRAME,

• MD20150 $MC_GCODE_RESET_VALUES[<n>]

$P_ISO3FRAME, $P_TOOLFRAME,

$P_WPFRAME, $P_TRAFRAME,

$P_ISO4FRAME, $P_RELFRAME,

$P_CACFRAME

$P_EXTFRAME external work offset

Retained

DRF offset

Retained

Deletion of system frames

The system frames in the data management can be deleted for channel reset / part program end

with the following machine data:

MD24007 $MC_CHSFRAME_RESET_CLEAR_MASK, bit<n> = <value>

Bit

Value

Meaning

0

1

System frame for actual value setting and scratching is deleted for channel reset /

part program end.

1

1

System frame for external work offset is deleted for channel reset / part program

end.

2

---

Reserved, for TCARR and PAROT see MD20150 $MC_GCODE_RESET_VALUES[ ].

3

---

Reserved, for TOROT and TOFRAME see MD20150 $MC_GCODE_RESET_VALUES[ ].

4

1

System frame for workpiece reference points is deleted for channel reset / part

program end.

5

1

System frame for cycles is deleted for channel reset / part program end.

6

---

Reserved, RESET response depends on MD20110 $MC_RESET_MODE_MASK.

7

1

System frame $P_ISO1FR is deleted for channel reset / part program end.

8

1

System frame $P_ISO2FR is deleted for channel reset / part program end.

9

1

System frame $P_ISO3FR is deleted for channel reset / part program end.

10

1

System frame $P_ISO4FR is deleted for channel reset / part program end.

11

1

System frame $P_RELFR is deleted for channel reset / part program end.

For bit<n> = 0, the associated system frame is not deleted.

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4.5 Frames

4.5.12.4

Part program start

Frame conditions after part program start

Frame

Condition after part program start

$P_PFRAME programmable frame

Deleted.

$P_IFRAME settable frame

Is retained depending on:

MD20112 $MC_START_MODE_MASK

$P_GFRAME grinding frame

Is retained depending on:

MD20112 $MC_START_MODE_MASK

$P_ACTBFRAME complete basic frame

Retained

System frames:

Retained

$P_PARTFRAME, $P_SETFRAME,

$P_ISO1FRAME, $P_ISO2FRAME,

$P_ISO3FRAME, $P_TOOLFRAME,

$P_WPFRAME, $P_TRAFRAME,

$P_ISO4FRAME, $P_RELFRAME, $P_CAC-

FRAME

$P_EXTFRAME external work offset

Retained

DRF offset

Retained

4.5.12.5

Block search

Block search with calculation

Data management frames are also modified when carrying out a block search with calculation.

Cancellation of block search

If a block search is aborted with channel reset, then the following machine data can be used to

set that all data management frames are reset to the value they had before the block search:

MD28560 $MC_MM_SEARCH_RUN_RESTORE_MODE, bit<n>

Bit

Value

Meaning

0

1

All frames in the data management are restored.

In case of cascaded block searches, the frames are set to the status of the previous block search.

SERUPRO

The "SERUPRO" function is not supported.

4.5.12.6

REPOS

There is no special treatment for frames. If a frame is modified in an ASUB, it is retained in the

program. On repositioning with REPOS, a modified frame is included, provided the modification

was activated in the ASUB.

Basic functions

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4.6 Workpiece-related actual-value system

Interrelationships between coordinate systems

The figure below shows the interrelationships between the machine coordinate system (MCS)

and the workpiece coordinate system (WCS).

Frame chain

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WCS: Workpiece Coordinate System

SZS:

Settable Zero System

BZS:

Basic Zero System

BCS:

Basic Coordinate System

MCS: Machine Coordinate System

Figure 4-29

Frame chain

For further information, see "Auxiliary function outputs to PLC (Page 697)" and Function Manual

Tools under Tool offset.

Further information

• NC Programming Programming Manual

• Function Manual Transformations, Kinematics transformation

• Function Manual Axes and Spindles; Axis couplings

• Function Manual Technologies; Tangential control

Basic functions

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4.8 Examples

4.8

Examples

4.8.1

Axes

Axis configuration for a 3axis milling machine with rotary table

1. Machine axis: X1

Linear axis

2. Machine axis: Y1

Linear axis

3. Machine axis: Z1

Linear axis

4. Machine axis: B1

Rotary table (for turning for multiface machining)

5. Machine axis: W1

Rotary axis for tool magazine (tool revolver)

6. Machine axis: C1

(Spindle)

1. Geometry axis: X

(1. channel)

2. Geometry axis: Y

(1. channel)

3. Geometry axis: Z

(1. channel)

1. Special axis: B

(1. channel)

2. Special axis: WZM

(1. channel)

1. spindle: S1/C

(1. channel)

:=0

<

6

&

%

;

=

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4.8 Examples

Parameterization of the machine data

Machine data

Value

MD10000 AXCONF_MACHAX_NAME_TAB[0]

= X1

MD10000 AXCONF_MACHAX_NAME_TAB[1]

= Y1

MD10000 AXCONF_MACHAX_NAME_TAB[2]

= Z1

MD10000 AXCONF_MACHAX_NAME_TAB[3]

= B1

MD10000 AXCONF_MACHAX_NAME_TAB[4]

= W1

MD10000 AXCONF_MACHAX_NAME_TAB[5]

= C1

MD20050 AXCONF_GEOAX_ASSIGN_TAB[0]

= 1

MD20050 AXCONF_GEOAX_ASSIGN_TAB[1]

= 2

MD20050 AXCONF_GEOAX_ASSIGN_TAB[2]

= 3

MD20060 AXCONF_GEOAX_NAME_TAB[0]

=X

MD20060 AXCONF_GEOAX_NAME_TAB[1]

=Y

MD20060 AXCONF_GEOAX_NAME_TAB[2]

=Z

MD20070 AXCONF_MACHAX_USED[0]

= 1

MD20070 AXCONF_MACHAX_USED[1]

= 2

MD20070 AXCONF_MACHAX_USED[2]

= 3

MD20070 AXCONF_MACHAX_USED[3]

= 4

MD20070 AXCONF_MACHAX_USED[4]

= 5

MD20070 AXCONF_MACHAX_USED[5]

= 6

MD20080 AXCONF_CHANAX_NAME_TAB[0]

=X

MD20080 AXCONF_CHANAX_NAME_TAB[1]

=Y

MD20080 AXCONF_CHANAX_NAME_TAB[2]

=Z

MD20080 AXCONF_CHANAX_NAME_TAB[3]

= B

MD20080 AXCONF_CHANAX_NAME_TAB[4]

= WZM

MD20080 AXCONF_CHANAX_NAME_TAB[5]

= S1

MD30300 IS_ROT_AX[3]

= 1

MD30300 IS_ROT_AX[4]

= 1

MD30300 IS_ROT_AX[5]

= 1

MD30310 ROT_IS_MODULO[3]

= 1

MD30310 ROT_IS_MODULO[4]

= 1

MD30310 ROT_IS_MODULO[5]

= 1

MD30320 DISPLAY_IS_MODULO[3]

= 1

MD30320 DISPLAY_IS_MODULO[4]

= 1

MD20090 SPIND_DEF_MASTER_SPIND

= 1

Basic functions

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4.8 Examples

Machine data

Value

MD35000 SPIND_ASSIGN_TO_MACHAX[AX1]

= 0

MD35000 SPIND_ASSIGN_TO_MACHAX[AX2]

= 0

MD35000 SPIND_ASSIGN_TO_MACHAX[AX3]

= 0

MD35000 SPIND_ASSIGN_TO_MACHAX[AX4]

= 0

MD35000 SPIND_ASSIGN_TO_MACHAX[AX5]

= 0

MD35000 SPIND_ASSIGN_TO_MACHAX[AX6]

= 1

4.8.2

Coordinate systems

Configuration of a global basic frame

An NC with two channels is required. The following applies:

• Both channels can then write the global basic frame.

• The other channel recognizes the change when the global basic frame is activated again.

• Both channels can read the global basic frame.

• Both channels can activate the global basic frame independently.

Machine data

Machine data

Value

MD10000 $MN_AXCONF_MACHAX_NAME_TAB[0]

= X1

MD10000 $MN_AXCONF_MACHAX_NAME_TAB[1]

= X2

MD10000 $MN_AXCONF_MACHAX_NAME_TAB[2]

= X3

MD10000 $MN_AXCONF_MACHAX_NAME_TAB[3]

= X4

MD10000 $MN_AXCONF_MACHAX_NAME_TAB[4]

= X5

MD10000 $MN_AXCONF_MACHAX_NAME_TAB[5]

= X6

MD18602 $MN_MM_NUM_GLOBAL_BASE_FRAMES

= 1

MD28081 $MC_MM_NUM_BASE_FRAMES

= 1

Machine data for channel 1

Value

Machine data for channel 1

Value

$MC_AXCONF_CHANAX_NAME_TAB[0]

= X

$MC_AXCONF_CHANAX_NAME_TAB[0]

= X

$MC_AXCONF_CHANAX_NAME_TAB[1]

= Y

$MC_AXCONF_CHANAX_NAME_TAB[1]

= Y

$MC_AXCONF_CHANAX_NAME_TAB[2]

= Z

$MC_AXCONF_CHANAX_NAME_TAB[2]

= Z

$MC_AXCONF_MACHAX_USED[0]

= 1

$MC_AXCONF_MACHAX_USED[0]

= 4

$MC_AXCONF_MACHAX_USED[1]

= 2

$MC_AXCONF_MACHAX_USED[1]

= 5

$MC_AXCONF_MACHAX_USED[2]

= 3

$MC_AXCONF_MACHAX_USED[2]

= 6

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4.8 Examples

Machine data for channel 1

Value

Machine data for channel 1

Value

$MC_AXCONF_GEOAX_NAME_TAB[0]

= X

$MC_AXCONF_GEOAX_NAME_TAB[0]

= X

$MC_AXCONF_GEOAX_NAME_TAB[1]

= Y

$MC_AXCONF_GEOAX_NAME_TAB[1]

= Y

$MC_AXCONF_GEOAX_NAME_TAB[2]

= Z

$MC_AXCONF_GEOAX_NAME_TAB[2]

= Z

$MC_AXCONF_GEOAX_ASSIGN_TAB[0]

= 1

$MC_AXCONF_GEOAX_ASSIGN_TAB[0]

= 4

$MC_AXCONF_GEOAX_ASSIGN_TAB[1]

= 2

$MC_AXCONF_GEOAX_ASSIGN_TAB[1]

= 5

$MC_AXCONF_GEOAX_ASSIGN_TAB[2]

= 3

$MC_AXCONF_GEOAX_ASSIGN_TAB[2]

= 6

Part program in the 1st channel

Code (excerpt)

; Comment

N100 $P_NCBFR[0] = CTRANS( x, 10 )

; Activation of the NC-global basic frame

N130 $P_NCBFRAME[0] = CROT(X, 45)

; Activation of the NC-global basic frame with rotation =>

; Alarm 18310, because rotations are not permitted for

; NC-global frames

Part program in the 2nd channel

Code (excerpt)

; Comment

N100 $P_NCBFR[0] = CTRANS( x, 10 )

; The NC-global basic frame is also effective in the 2nd

channel

N510 G500 X10

; Activate basic frame

N520 $P_CHBFRAME[0] = CTRANS( x, 10 )

; Current frame of the 2nd channel is activated with an off-

set

4.8.3

Frames

Example 1

The channel axis is to be switched to a geometry axis by means of a geometry axis interchange.

The intention of the interchange is to give the programmable frame a translation component of

10 in the X axis.

The current settable frame is to be retained:

FRAME_GEOAX_CHANGE_MODE = 1

Program code

Comment

$P_UIFR[1] = CROT(X,10,Y,20,Z,30)

; Frame is retained after geometry axis interchange.

Basic functions

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4.9 Data lists

$MC_TRAFO_AXES_IN_1 [3] = 1

$MC_TRAFO_AXES_IN_1 [4] = 2

Program:

Program code

Comment

$P_NCBFRAME[0] = CTRANS(X,1,Y,2,Z,3,A,4,B,5,C,6)

$P_CHBFRAME[0] = CTRANS(X,1,Y,2,Z,3,A,4,B,5,C,6)

$P_IFRAME = CTRANS(X,1,Y,2,Z,3,A,4,B,5,C,6) : CROT(Z,45)

$P_PFRAME = CTRANS(X,1,Y,2,Z,3,A,4,B,5,C,6) : CROT(X,10,Y,20,Z,30)

TRAORI

; Transformation sets GEOAX(4,5,6)

; $P_NCBFRAME[0] = CTRANS(X,4,Y,5,Z,6,CAX,1,CAY,2,CAZ,3)

; $P_ACTBFRAME = CTRANS(X,8,Y,10,Z,12,CAX,2,CAY,4,CAZ,6)

; $P_PFRAME = CTRANS(X,4,Y,5,Z,6,CAX,1,CAY,2,CAZ,3) : CROT(X,10,Y,20,Z,30)

; $P_IFRAME = CTRANS(X,4,Y,5,Z,6,CAX,1,CAY,2,CAZ,3) : CROT(Z,45)

TRAFOOF

; Deactivating transformation sets GEOAX (1,2,3)

; $P_NCBFRAME[0] = CTRANS(X,1,Y,2,Z,3,A,4,B,5,C,6)

; $P_CHBFRAME[0] = CTRANS(X,1,Y,2,Z,3,A,4,B,5,C,6)

; $P_IFRAME = CTRANS(X,1,Y,2,Z,3,A,4,B,5,C,6) : CROT(Z,45)

; $P_PFRAME = CTRANS(X,1,Y,2,Z,3,A,4,B,5,C,6) : CROT(X,10,Y,20,Z,30)

4.9

Data lists

4.9.1

Machine data

4.9.1.1

Displaying machine data

Number

Identifier: $MM_

Description

SINUMERIK Operate

9242

MA_STAT_DISPLAY_BASE

Numerical basis for display of moving

joint STAT

9243

MA_TU_DISPLAY_BASE

Numerical basis for display of rotary ax-

is position TU

9244

MA_ORIAXES_EULER_ANGLE_NAME

Display of orientation axes as Euler an-

gle

9245

MA_PRESET_FRAMEIDX

Value storage scratching and PRESET

9247

USER_CLASS_BASE_ZERO_OFF_PA

Availability of basic offset in "Parame-

ters" operating area

9248

USER_CLASS_BASE_ZERO_OFF_MA

Availability of basic offset in Machine

operating area

9424

MA_COORDINATE_SYSTEM

Coordinate system for actualvalue dis-

play

Basic functions

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4.9 Data lists

Number

Identifier: $MM_

Description

9440

ACTIVE_SEL_USER_DATA

Active data (frames) are immediately

operative after editing

9449

WRITE_TOA_LIMIT_MASK

Applicability of MD9203 to edge data

and locationdependent offsets

9450

MM_WRITE_TOA_FINE_LIMIT

Limit value for wear fine

9451

MM_WRITE_ZOA_FINE_LIMIT

Limit value for offset fine

4.9.1.2

NC-specific machine data

Number

Identifier: $MN_

Description

10000

AXCONF_MACHAX_NAME_TAB

Machine axis name

10600

FRAME_ANGLE_INPUT_MODE

Sequence of rotation in the frame

10602

FRAME_GEOAX_CHANGE_MODE

Frames and switchover of geometry axes

10610

MIRROR_REF_AX

Reference axis for mirroring

10612

MIRROR_TOGGLE

Change over mirror

10613

NCBFRAME_RESET_MASK

ActiveNCU-global basic frame after reset

10615

NCBFRAME_POWERON_MASK

Reset global basic frames after Power On

10617

FRAME_SAVE_MASK

Behavior of frames for SAVE subprograms

10650

IPO_PARAM_NAME_TAB

Name of interpolation parameters

10660

INTERMEDIATE_POINT_NAME_TAB

Name of intermediate point coordinates for G2/G3

11640

ENABLE_CHAN_AX_GAP

Channel axis gaps are allowed

18600

MM_FRAME_FINE_TRANS

Fine offset for FRAME (SRAM)

18601

MM_NUM_GLOBAL_USER_FRAMES

Number of globally predefined user frames (SRAM)

18602

MM_NUM_GLOBAL_BASE_FRAMES

Number of global basic frames (SRAM)

4.9.1.3

Channel-specific machine data

Number

Identifier: $MC_

Description

20050

AXCONF_GEOAX_ASSIGN_TAB

Assignment geometry axis to channel axis

20060

AXCONF_GEOAX_NAME_TAB

Geometry axis name in channel

20070

AXCONF_MACHAX_USED

Machine axis number valid in channel

20080

AXCONF_CHANAX_NAME_TAB

Channel axis name in the channel

20110

RESET_MODE_MASK

Definition of basic control settings after RESET / TP end

20118

GEOAX_CHANGE_RESET

Allow automatic geometry axis change

20126

TOOL_CARRIER_RESET_VALUE

Active toolholder on RESET

20140

TRAFO_RESET_VALUE

Transformation record on power-up (RESET / TP-End)

20150

GCODE_RESET_VALUES

Initial setting of the G groups

20152

GCODE_RESET_MODE

RESET response of the G groups

20184

TOCARR_BASE_FRAME_NUMBER

Number of the basic frame for pickup of the table offset

21015

INVOLUTE_RADIUS_DELTA

End point monitoring for evolvents (involutes)

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4.9 Data lists

Number

Identifier: $MC_

Description

22532

GEOAX_CHANGE_M_CODE

M code for replacement of geometry axes

22534

TRAFO_CHANGE_M_CODE

M code for transformation change

24000

FRAME_ADD_COMPONENTS

Frame components for G58 and G59

24002

CHBFRAME_RESET_MASK

RESET response of channel-specific basic frames

24004

CHBFRAME_POWERON_MASK

Reset channel-specific basic frames after Power On

24006

CHSFRAME_RESET_MASK

Active system frames after reset

24007

CHSFRAME_RESET_CLEAR_MASK

Clear system frames on RESET

24008

CHSFRAME_POWERON_MASK

Reset system frames after POWER ON

24010

PFRAME_RESET_MODE

RESET mode for programmable frame

24020

FRAME_SUPPRESS_MODE

Positions for frame suppression

24030

FRAME_ACT_SET

SZS coordinate system setting

24040

FRAME_ADAPT_MODE

Adapting active frames

24050

FRAME_SAA_MODE

Saving and activating data management frames

24805

TRACYL_ROT_AX_FRAME_1

Rotary axis offset TRACYL 1

24855

TRACYL_ROT_AX_FRAME_2

Rotary axis offset TRACYL 2

24905

TRANSMIT_ROT_AX_FRAME_1

Rotary axis offset TRANSMIT1

24955

TRANSMIT_ROT_AX_FRAME_2

Rotary axis offset TRANSMIT2

28080

MM_NUM_USER_FRAMES

Number of settable Frames (SRAM)

28081

MM_NUM_BASE_FRAMES

Number of basic frames

28082

MM_SYSTEM_FRAME_FRAMES

System frames (SRAM)

28560

MM_SEARCH_RUN_RESTORE_MODE

Restore data after a simulation

4.9.1.4

Axis/spindlespecific machine data

Number

Identifier: $MA_

Description

32074

FRAME_OR_CORRPOS_NOTALLOWED

FRAME or HL offset is not permitted

35000

SPIND_ASSIGN_TO_MACHAX

Assignment spindle to machine axis

4.9.2

Setting data

4.9.2.1

Channelspecific setting data

Number

Identifier: $SC_

Description

42440

FRAME_OFFSET_INCR_PROG

Work offsets in frames

42980

TOFRAME_MODE

Frame definition for TOFRAME, TOROT and PAROT

Basic functions

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Axes, coordinate systems, frames

4.9 Data lists

4.9.3

System variables

Identifier

Description

$AA_ETRANS[axis]

External work offset

$AA_IBN[axis]

Actual value in basic zero coordinate system (BZS)

$AA_IEN[axis]

Actual value in settable zero point coordinate system (SZS)

$AA_OFF[axis]

Overlaid motion for programmed axis

$AC_DRF[axis]

Handwheel override of an axis

$AC_JOG_COORD

Coordinate system for manual traversing

$P_ACSFRAME

Active frame between BCS and SZS

$P_ACTBFRAME

Active complete basic frame

$P_ACTFRAME

Active complete frame

$P_BFRAME

1st active basic frame. Corresponds to $P_CHBFRAME[0]

$P_CHBFR[<n>]

Data management frame: Basic frame can be activated via G500, G54...G599

$P_CHBFRAME[<n>]

Active basic frame

$P_CHBFRMASK

Basic frame mask in the channel

$P_CHSFRMASK

System frame mask

$P_CYCFR

Data management frame: System frame for cycles

$P_CYCFRAME

Active system frame for cycles

$P_EXTFR

Data management frame: System frame for work offset external

$P_EXTFRAME

Active system frame for external work offset

$P_IFRAME

Active settable frame

$P_ISO1FR

Data management frame: System frame for ISO G51.1 mirroring

$P_ISO2FR

Data management frame: System frame for ISO G68 2DROT

$P_ISO3FR

Data management frame: System frame for ISO G68 3DROT

$P_ISO4FR

Data management frame: System frame for ISO G51 Scale

$P_ISO1FRAME

Active system frame for ISO G51.1 Mirroring

$P_ISO2FRAME

Active system frame for ISO G68 2DROT

$P_ISO3FRAME

Active system frame for ISO G68 3DROT

$P_ISO4FRAME

Active system frame for ISO G51 Scale

$P_NCBFR[n]

Data management frame: NCU-global basic frame in the data management,

can be activated via G500, G54...G599

$P_NCBFRAME[n]

Active NCU-global basic frame

$P_NCBFRMASK

Global basic frame mask

$P_PARTFR

Data management frame: System frame for TCARR and PAROT

$P_PARTFRAME

Active system frame for TCARR and PAROT with orientable toolholder

$P_PFRAME

Active programmable frame

$P_SETFR

Data management frame: System frame for actual value setting

$P_SETFRAME

Active system frame for actual value setting

$P_TOOLFR

Data management frame: System frame for TOROT and TOFRAME

$P_TOOLFRAME

Active system frame for TOROT and TOFRAME

$P_TRAFRAME

Data management frame: System frame for transformations

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401

Axes, coordinate systems, frames

4.9 Data lists

Identifier

Description

$P_TRAFRAME

Active system frame for transformations

$P_UBFR

1st basic frame in the channel in the data management that is activated af-

ter G500, G54...G599. Corresponds to $P_CHBFR[0].

$P_UIFR[n]

Data management frame: Settable frame, can be activated via G500, G54

to G599

$P_UIFRNUM

Number of active settable frame

$P_WPFR

Data management frame: System frame for the workpiece

$P_WPFRAME

Active system frame for the workpiece

Basic functions

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Kinematic chain

5.1 Function description

Kinematic chain

A kinematic structure of a machine is described using a kinematic chain with the following

properties:

• A kinematic chain consists of an arbitrary number of interconnected elements.

• Parallel subchains can branch off from a kinematic chain.

• Only one active kinematic chain is available in the control.

• The active kinematic chain starts with the root element.

• Parameterized elements or subchains that are not connected to the root element or whose

connection points toward the root element, are not part of the currently active kinematic

chain.

• A kinematic chain is defined in the spatially fixed coordinates of the world coordinate system.

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Element

An element of a kinematic chain basically describes the transformation with which the local

coordinate system of the previous element is mapped in the local coordinate system of the

current element:

K_n-1 ⇒ T_n ⇒ K_n

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Local element coordinate systems

The following constant transformations are possible:

• Offset (type: OFFSET (Page 423))

• Rotation (type: ROT_CONST (Page 421))

Basic functions

404

Function Manual, 10/2020, 6FC5397-2GP40-0BA1

Kinematic chain

5.1 Function description

The following changing transformations, based on the current position values of the machine

axis assigned to the element (linear axis / rotary axis), are possible:

• Offset (type: AXIS_LIN (Page 415))

• Rotation (type: AXIS_ROT (Page 418))

A position or orientation change in an element, e.g. through a position change of the associated

machine axis, affects all the following elements of the chain or parallel subchains.

The maximum number of possible elements can be parameterized using machine data

(Page 409).

Parallel subchains

If a parallel subchain branches off from an element e_n, then for the kinematics, the branch is

always before the element. For this reason, a change in element e_n, e.g. a position change of the

associated machine axis, does not affect the subchain branch.

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Parallel subchains branching off from elements e_n and e_n+2

Switch

A switch is a special element that is not kinematically active (type: SWITCH (Page 425)) in a

kinematic chain, which can assume the CLOSED and OPEN states.

In the OPEN state, the connection from the previous to the following element is interrupted.

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OPEN state

In the CLOSED state, the previous element is connected to the following element.

Basic functions

Function Manual, 10/2020, 6FC5397-2GP40-0BA1

405

Kinematic chain

5.1 Function description

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CLOSED state

The switch does not influence the connection to a parallel element.

The maximum number of possible switches can be parameterized usingmachine data

(Page 409).

Note

Local coordinate system

The local coordinate system of a switch is not rotated with respect to the world coordinate

system.

World coordinate system

In order to uniquely describe the kinematic stricture of a machine, all elements of the kinematic

chain - as well as the orientation and offset vectors of the machine axes and the constant

rotation/offsets - are referred to the world coordinate system.

Elements with linear axes do not change the orientation of the following elements. The

orientation and offset vectors of the following elements can therefore refer to the world

coordinate system without further supplementary conditions.

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Elements with rotary axes change the orientation of the following elements. This is the reason

that the orientation and offset vectors of the following elements, for a defined initial position of

the previous orientation changing elements, must be referred to the world coordinate system.

Basic functions

406

Function Manual, 10/2020, 6FC5397-2GP40-0BA1

Kinematic chain

5.2 Commissioning

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The origin and orientation of the world coordinate system can be freely selected in chain

elements that are defined before the root element. For the active coordinate system after the

root element, the following conditions must be met:

• Origin of the world coordinate system at the machine zero point

• Orientation of the world coordinate system so that the coordinate axes are arranged in the

positive traversing direction of the machine linear main axes

Direction vectors

Within a kinematic chain, the direction vectors, which are used to specify the alignment of the

machine axes, are always specified in absolute terms, i.e. referred to the world coordinate

system.

See also

Machine data (Page 409)

5.2

Commissioning

5.2.1

General

5.2.1.1

Overview

The commissioning of the "Kinematic chain" function is performed using:

• Machine data

- Specification of the quantity structure

- Specification of the first element in the kinematic chain

• System variables

- Specification of the kinematic properties of an element

- Connection of the element to the kinematic chain

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Function Manual, 10/2020, 6FC5397-2GP40-0BA1

407

Kinematic chain

5.2 Commissioning

Index_2

For system variables that contain a vector, the coordinates of the vector are addressed via

index_2.

•

0 → X axis

•

1 → Y axis

•

2 → Z axis

5.2.2

Machine data

5.2.2.1

Maximum number of elements

The maximum number of elements for kinematic chains is set using machine data.

MD18880 $MN_MM_MAXNUM_KIN_CHAIN_ELEM = <number>

5.2.2.2

Root element

The following machine data is used to specify the root element, i.e. the first element of the

currently active kinematic chain.

MD16800 $MN_ROOT_KIN_ELEM_NAME = "<element_name>"

All parameterized elements and subchains that are connected to the root element in such a way

that the connection starts at the root element, are part of the currently active kinematic chain.

Parameterized elements or subchains that are not connected to the root element or whose

connection points towards the root element, are not part of the currently active kinematic chain.

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5.2.2.3

Maximum number of switches

The maximum number of switches for kinematic chains is set with the machine data

MD18882 $MN_MM_MAXNUM_KIN_SWITCHES = <number>

Basic functions

Function Manual, 10/2020, 6FC5397-2GP40-0BA1

409

Kinematic chain

5.2 Commissioning

5.2.3

System variables

5.2.3.1

Overview

System variables independent of any element

System variable

Meaning

$NK_SWITCH

Switch variable to open and close the switch

Element-specific system variables

Element-specific system variables are subdivided into variables that are independent of the type

and dependent on the type:

• Variables independent of the type

System variable

Meaning

$NK_NAME

Name of the current element e_n

$NK_NEXT

Name of the next element e_n+1

$NK_PARALLEL

Name of a branching parallel element e_p before the current element

e_n

$NK_TYPE

Type of the element

• Variables dependent on the type

System variable

Meaning

$NK_OFF_DIR

Offset or direction vector

$NK_AXIS

Machine axis or object name

$NK_A_OFF

Work offset for linear axis or rotary axis

$NK_SWITCH_INDEX

Switch index

$NK_SWITCH_POS

Switch position "CLOSED"

For the following types, variables dependent on the type are evaluated:

System variable

Type

OFFSET

AXIS_LIN

AXIS_ROT

ROT_CONS

SWITCH

T

$NK_OFF_DIR

x

x

x

x

-

$NK_AXIS

-

x

x

-

-

$NK_A_OFF

-

x

x

x

-

$NK_SWITCH_INDEX

-

-

-

-

x

$NK_SWITCH_POS

-

-

-

-

x

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Function Manual, 10/2020, 6FC5397-2GP40-0BA1

Kinematic chain

5.2 Commissioning

The system variables are described in detail in the following sections.

Note

Establish a defined initial state

It is recommended that a defined initial state be generated before parameterizing the kinematic

chain. To do this, the system variables of the kinematic chain should be set to their default value

using function DELOBJ().

Change system variable values

If the value of one of the system variables listed above is changed, then the change becomes

immediately visible on the user interface, e.g. SINUMERIK Operate. The machine model of the

NC is only updated after explicitly requesting that the machine model is recalculated by calling

the PROTA() or PROTS() function.

See also

Deletion of components (DELOBJ) (Page 428)

5.2.3.2

$NK_NAME

Function

Enter the NC-wide unique element name in the system variable. The element is referenced via

this name, e.g. within kinematic chains. The name is also displayed in the graphical editor of

SINUMERIK Operate.

Syntax

$NK_NAME[<n>] = "<name>"

Meaning

$NK_NAME:

Name of the element

Data type:

STRING

Default value:

"" (empty string)

<n>:

System variable or element index

Data type:

INT

Range of values:

0, 1, 2, ... ($MN_MM_MAXNUM_KIN_CHAIN_ELEM - 1)

<name>:

Element name, max. string length: 31 characters

Data type:

STRING

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411

Kinematic chain

5.2 Commissioning

Example

The 9th kinematic element is assigned the name "B axis":

Program code

Comment

N100 $NK_NAME[8] = "B axis"

; 9th kin. element,

; name = "B axis"

5.2.3.3

$NK_NEXT

Function

If the element is part of a kinematic chain, the name of the following element should be entered

in the system variable.

Syntax

$NK_NEXT[<n>] = "<name>"

Meaning

NK_NEXT:

Name of the following element

Data type:

STRING

Range of values:

All names contained in $NK_NAME (Page 411)

Default value:

"" "" (empty string)

<n>:

System variable or element index

Data type:

INT

Range of values:

0, 1, 2, ... ($MN_MM_MAXNUM_KIN_CHAIN_ELEM - 1)

<name>:

Element name, max. string length: 31 characters

Data type:

STRING

Example

The 9th kinematic element does not have a following element:

Program code

Comment

N100 $NK_NEXT[8] = ""

; 9. kin. element,

; following element = ""

Basic functions

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