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SINUMERIK 840D sl. Service - Functions. Manual (2018-2020) - page 25

Continuous-path mode, exact stop, LookAhead

6.4 Dynamic adaptations

6.4.4

Interaction between the "smoothing of the path velocity" and "adaptation of

the path dynamic response" functions

The following examples serve to illustrate the interaction between the "smoothing of the path

velocity" and "adaptation of the path dynamic response" functions in continuous-path mode.

Example 1

Acceleration mode: BRISK

The path involves the three axes X = AX1, Y = AX2, Z = AX3.

The following parameters are assumed:

MD20465 $MC_ADAPT_PATH_DYNAMIC[0] = 3

MD20460 $MC_LOOKAH_SMOOTH_FACTOR = 80.0

MD32440 $MA_LOOKAH_FREQUENCY[AX1] = 20

T_AX1 = 1/20 Hz = 50 ms

MD32440 $MA_LOOKAH_FREQUENCY[AX2] = 20

T_AX2 = 1/20 Hz = 50 ms

MD32440 $MA_LOOKAH_FREQUENCY[AX3] = 20

T_AX3 = 1/20 Hz = 50 ms

Y_%

Y

Y

W

W

W

W

W

W

Figure 6-11

Path velocity profile optimized for time without smoothing or dynamic adaptation response

Y_%

Y

W

W

W

W

W

W

Figure 6-12

Path velocity profile with smoothing of the path velocity and adaptation of dynamic path

response

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6.4 Dynamic adaptations

7LPH LQ ,32 F\FOHV

① Path velocity characteristic

② Limiting the path velocity due to the axis dynamics or the programmed feedrate

③ Block change markings

The parameter assignment is changed as follows:

MD20465 $MC_ADAPT_PATH_DYNAMIC[1] = 4

MD20460 $MC_LOOKAH_SMOOTH_FACTOR = 1.0

This results in a path velocity profile with adaptation of the dynamic path response and with

minimum, and thus virtually deactivated, smoothing of the path velocity:

7LPH LQ ,32 F\FOHV

① More stable path velocity thanks to reduced jerk on path

The smoothing factor is set to 0% instead of 1% (in accordance with the default!):

MD20460 $MC_LOOKAH_SMOOTH_FACTOR = 0.0

A smoothing factor of 100% comes into effect with this parameter assignment.

This gives rise to a path velocity profile with smoothing of the path velocity and adaptation of

dynamic path response:

7LPH LQ ,32 F\FOHV

① More stable path velocity thanks to reduced jerk on path

② Dispensing with accelerations and braking, effect of path smoothing

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6.4 Dynamic adaptations

6.4.5

Dynamic response mode for path interpolation

Function

Technology-specific, dynamic response settings can be saved in machine data and can be

activated in the part program via the commands from G group 59 (dynamic response mode for

path interpolation).

Command

Activates the dynamic response settings for:

DYNNORM

Standard dynamic response settings

DYNPOS

Positioning mode, tapping

DYNROUGH

Roughing

DYNSEMIFIN

Semi-finishing

DYNFINISH

Finishing

DYNPREC

Smooth finishing

Note

The dynamic response of the path axes alone is determined by the commands from G group 59

(dynamic response mode for path interpolation). They have no effect on:

• Positioning axes

• PLC axes

• Command axes

• Motions based on axis coupling

• Overlaid motions with handwheel

• JOG motions

• Reference point approach (G74)

• Fixed-point approach (G75)

• Rapid traverse motion (G0)

The standard dynamic response setting (DYNNORM) always takes effect for these axis motions.

Application

By switching the dynamic response settings, roughing can be optimized in terms of time and

smoothing can be optimized in terms of the surface, for example.

Parameter assignment

Axis-specific dynamic response settings:

• MD32300 $MA_MAX_AX_ACCEL[<n>] (axis acceleration)

• MD32310 $MA_MAX_ACCEL_OVL_FACTOR[<n>] (overload factor for axial jumps in velocity)

• MD32431 $MA_MAX_AX_JERK[<n>] (maximum axial jerk for path motion)

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6.4 Dynamic adaptations

MD20606 $MC_PREPDYN_SMOOTHING_ON[<n>] = <value>

Index <n>

Dynamic response mode

<Value>

Free-form surface mode: Basic func-

tions

0

Standard dynamic response set-

0

Off

tings (DYNNORM)

1

On

1

Positioning mode, tapping (DYN-

0

Off

POS)

1

On

2

Roughing (DYNROUGH)

0

Off

1

On

3

Semi-finishing (DYNSEMIFIN)

0

Off

1

On

4

Finishing (DYNFINISH)

0

Off

1

On

5

Smooth-finishing (DYNPREC)

0

Off

1

On

Note

Due to the additional memory requirement, the function should only be activated in the relevant

processing channels.

Parameterization

Change in the contour sampling factor

The secant error which occurs during the interpolation of curved contours is dependent on the

following factors:

• Curvature

• Interpolator clock cycle (indicated in MD10071 $MN_IPO_CYCLE_TIME)

• Velocity with which the relevant contour is traversed

The maximum possible secant error is defined for each axis in the machine data:

MD33100 $MA_COMPRESS_POS_TOL (max. deviation with compression)

If the set interpolator clock cycle is not sufficiently small, the max. path velocity may be reduced

in the case of contours with higher levels of curvature. This is necessary for ensuring that the

surface of the workpiece is also produced with an adequate degree of precision in cases such as

these.

By changing the contour sampling factor, the time interval with which a curved contour is

sampled in the interpolator (contour sampling time) can be set differently than the interpolator

clock cycle. A contour sampling time which is shorter than the interpolator clock cycle can

prevent a reduction in path velocity in the case of contours with a higher level of curvature.

The contour sampling factor is set with machine data:

MD10682 $MN_CONTOUR_SAMPLING_FACTOR

The effective contour sampling time is calculated as follows:

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6.4 Dynamic adaptations

T

s

= f * T₁

with: T_s

= effective contour sampling time

T₁

= interpolator clock cycle

f

= contour sampling factor (value from MD10682)

The default contour sampling factor is "1", i.e. the contour sampling time equals the interpolator

clock cycle.

The contour sampling factor can be both greater or less than "1".

If a value less than "1" is set, monitoring of contour sampling precision is deactivated.

The set sampling time must not be below the configured minimum contour sampling time:

MD10680 $MN_MIN_CONTOUR_SAMPLING_TIME

Note

MD10680 is specifically set for every control model, and cannot be changed.

Velocity limiting

The mode of velocity limiting due to curvatures can be specified for each dynamic response

mode with the following machine data:

MD22450 $MC_DYN_LIM_MODE [<n>] = <Value>

where index <n>

0

for DYNNORM

=

1

for DYNPOS

2

for DYNROUGH

3

for DYNSEMIFIN

4

for DYNFINISH

5

for DYNPREC

<Val-

Meaning

ue>

= 0

Velocity limitation is based on the axis-specific accelerations of the geometry axes involved in

the path

This setting increases path velocity as faster speeds are possible in a diagonal direction.

= 1

Velocity limit is based on the geometric curvatures of the geometry axes involved in the path

This setting limits the path velocity at positions with diagonal and axis-parallel tangents

equally. The course of path velocity is thus smoother. This setting should therefore be selected

for finishing.

MD22450 affects limiting of the path velocity with:

• "Programmable contour accuracy" function

• Maximum axis acceleration (MD32300 $MA_MAX_AX_ACCEL)

• Contour sampling factor (MD10682 $MN CONTOUR_SAMPLING_FACTOR)

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6.5 Compressor functions

The compressor functions with their most important properties/attributes that are available are

listed in the following table:

Compressor

Function

Continuity at block

Notes about use

transitions

COMPON

COMPON creates from

Continuous velocity

up to 10 consecutive

linear blocks, type "G01

X... Y... Z... F..." a poly-

nomial block.

COMPCURV

the same as COMPON

Continuous velocity

and acceleration

COMPCAD

COMPCAD can create a

Continuous velocity

COMPCAD is very processor and memory-intensive. It is

polynomial block

and acceleration

therefore recommended that COMPCAD only be used

from any number of

where measures to improve surface quality were not

consecutive linear

successful in the CAD/CAM program.

blocks.

COMPSURF

the same as COMPCAD

Continuous velocity

Using COMPSURF, even better results can be obtained

and acceleration

than with COMPCAD. However, just the same as for

COMPCAD, COMPSURF takes up a lot of computation

time and memory space.

By using COMPSURF, for example for inclined line-by-

line finishing programs, poor data quality and/or irreg-

ular point distribution in the CAD/CAM program, signif-

icantly improved workpiece surfaces can be achieved.

In addition, COMPSURF facilitates a direction-independ-

ent identical smoothing of the milling paths that can be

deactivated; this significantly increases the surface qual-

ity for bidirectional milling tools.

If commands which are not traversing instructions are programmed in and between the

traversing blocks to be compressed (e.g. auxiliary function outputs, commands for activating

the absolute or chain dimensional notations, etc.), the compression process is interrupted. To

ensure that blocks can be compressed in the part program, only G0, G1, G2, G3, axis positions,

orientation vectors and feedrate values may be programmed. All other commands or G codes

will interrupt the compression and this can lead to a slowing down of the part program execution

for short paths.

The maximum tolerable deviation of the calculated path to the programmed positions can be

specified in machine data for all compressor functions (see "Parameterization (Page 492)").

Unlike COMPON and COMPCURV, the parameterized tolerances are not used in different

directions in neighboring paths with COMPCAD and COMPSURF.

Compression of circular and rapid traverse blocks

In addition to the compression of linear blocks, all compressor functions also allow rapid traverse

blocks (G0 blocks) to be compressed. On the other hand, circular blocks can only be compressed

using the COMPCAD compressor function.

The compression of circular and/or rapid traverse blocks is set for specific channels using the

hundreds position in machine data:

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6.5 Compressor functions

MD20482 $MC_COMPRESSOR_MODE = <value>

Value

Meaning

0xx

Circular blocks and G0 blocks are not compressed. This is compatible with earlier SW versions.

1xx

Circular blocks are linearized and compressed by COMPCAD.

Advantage:

The compressor function operates more precisely and therefore creates generally better

surfaces.

Disadvantage:

The compressor function is more sensitive to defects in the NC programs. For reasons of

compatibility it might therefore be necessary to keep the setting 0xx.

2xx

G0 blocks are compressed - it is possible that a different tolerance becomes effective (see

"Tolerances for rapid traverse movements (Page 505)").

Advantage:

As a result that the tolerance has been set higher and the compression of G0 infeed motion,

these can be more quickly and more fluidly executed.

3xx

Combination of the two previous options: Circular blocks as well as G0 blocks are compressed.

Activation / deactivation

Compressor functions COMPON, COMPCURV, COMPCAD and COMPSURF are activated/

deactivated using the G commands of G group 30 (see "Programming (Page 494)").

6.5.1.2

Commissioning

Parameterization

Axis-specific machine data

Number

Identifier $MA_

Meaning

MD33100

COMPRESS_POS_TOL

Maximum permissible axis-specific path deviation

with compression

Channel-specific machine data

Number

Identifier $MC_

Meaning

MD20170

COMPRESS_BLOCK_PATH_LIMIT

Maximum traversing length of an NC block that can

be compressed

MD20171

SURF_BLOCK_PATH_LIMIT

Maximum traversing length of a compressible NC

block for compression with COMPSURF

MD20172

COMPRESS_VELO_TOL

Maximum permissible deviation from path feed for

compression

MD20173

SURF_VELO_TOL

Maximum permissible deviation from path feed for

compression with COMPSURF

MD20482

COMPRESSOR_MODE

Principle of operation of the compressor

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6.5 Compressor functions

Number

Identifier $MC_

Meaning

MD20485

COMPRESS_SMOOTH_FACTOR

Smoothing factor for compression with COMPCAD

for the particular dynamic response mode

MD20486

COMPRESS_SPLINE_DEGREE

Spline degree for compression with COMPCAD for

the particular dynamic response mode

MD20487

COMPRESS_SMOOTH_FACTOR_2

Smoothing factor for rotary axes for compression

with COMPCAD for the particular dynamic re-

sponse mode

MD28071

MM_NUM_SURF_LEVELS

Dimensioning the COMPSURF function (DRAM)

MD28072

MM_MAXNUM_SURF_GROUPS

Dimensioning the COMPSURF function regarding

axis groups (DRAM)

Channel-specific setting data

Number

Identifier $SC_

Meaning

SD42470

CRIT_SPLINE_ANGLE

Corner angle limit for compression with COMPCAD

SD42471

MIN_CURV_RADIUS

Minimum radius of curvature for compression with

COMPCAD

SD42472

MIN_SURF_RADIUS

Minimum radius of curvature for compression with

COMPSURF

SD42473

ACTNUM_SURF_GROUPS

Number of axis groups for COMPSURF

SD42475

COMPRESS_CONTUR_TOL

Maximum permissible contour deviation with com-

pression

SD42476

COMPRESS_ORI_TOL

Maximum deviation of the tool orientation for com-

pression

Note:

Only for active orientation transformation!

SD42477

COMPRESS_ORI_ROT_TOL

Maximum deviation of the tool rotation for com-

pression

Note:

Only for 6-axis machines with rotatable tool!

Note

Corner limit angle and compressor function COMPCAD

The corner limit angle for the compressor function COMPCAD set via the setting data SD42470

$SC_CRIT_SPLINE_ANGLE is only used as an approximate measure for corner detection. By

evaluating the plausibility, the compressor can also identify flatter block transitions as corners

and larger angles as outliers.

Recommended settings for tool and mold making with Advanced Surface / Top Surface

Compressor functions are very important in milling of free-form surfaces in tool and mold

making. If they are used as part of the option "Advanced Surface" or "Top Surface" for which a

license is required, please observe the setting recommendations! A special test program is

provided via the SIOS portal for checking the set machine and setting data.

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6.5 Compressor functions

→ Test program for Advanced Surface / Top Surface (https://

support.industry.siemens.com/cs/ww/en/view/109738423)

6.5.1.3

Programming

Activating/deactivating NC block compression (COMPON, COMPCURV, COMPCAD, COMPSURF,

COMPOF)

The functions to compress linear blocks (and dependent on the parameterization, also circular

and/or rapid traverse blocks) are activated/deactivated using G commands of G group 30. The

commands are modal.

Syntax

COMPON / COMPCURV / COMPCAD / COMPSURF

COMPOF

Meaning

COMPON:

Activating the compressor function COMPON

COMPCURV:

Activating the compressor function COMPCURV

COMPCAD:

Activating the compressor function COMPCAD

COMPSURF:

Activating the compressor function COMPSURF

COMPOF:

Deactivating the currently active compressor function

Note

The smoothing function G642 and jerk limitation SOFT further improve the surface quality.

These commands must be written at the beginning of the program.

Example: COMPCAD

Program code

Comment

N10 G00 X30 Y6 Z40

N20 G1 F10000 G642

; Activation: Smoothing function G642

N30 SOFT

; Activation: Jerk limitation SOFT

N40 COMPCAD

; Activation: Compressor function COMPCAD

N50 FIFOCTRL

N24050 Z32.499

; 1. traversing block

N24051 X41.365 Z32.500

; 2. traversing block

N99999 X... Z...

; last traversing block

COMPOF

; compressor function off.

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6.5 Compressor functions

MD20488 $MC_SPLINE_MODE, bit <n> = <value>

Bit

<Value>

Spline type

Compressing short spline blocks

0

0

BSPLINE

Not active

1

BSPLINE

Active

1

0

BSPLINE/ORICURVE

Not active

1

BSPLINE/ORICURVE

Active

2

0

CSPLINE

Not active

1

CSPLINE

Active

Boundary conditions

• If commands that are not traverse commands, e.g. auxiliary function outputs, are

programmed in and between the traversing blocks to be compressed, the spline blocks

cannot be combined.

• The maximum number of blocks that can be combined into a program section in succession,

depends on the parameterized size of the block memory available in the block preparation.

MD28070 $MC_MM_NUM_BLOCKS_IN_PREP (number of blocks for block preparation)

Example

To achieve a higher path velocity when executing the traversing blocks, compression for short

spline blocks is activated for BSPLINE interpolation:

MD20488 $MC_SPLINE_MODE, Bit 0 = 1

Program code

Comment

N10 G1 G64 X0 Y0 Z0 F1000

; Initial setting

N20 G91 F10000 BSPLINE

; Activation: B spline

N30 X0.001 Y0.001 Z0.001

; From here: Combine short spline blocks

N40 X0.001 Y0.001 Z0.001

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6.6 Contour/Orientation tolerance

Channel-specific orientation tolerance for smoothing orientation using ORISON

SD42678 $SC_ORISON_TOL (tolerance for smoothing the orientation)

6.6.2

Programming

6.6.2.1

Programming contour/orientation tolerance (CTOL, OTOL, ATOL)

Addresses CTOL, OTOL and ATOL can be used to adapt the machining tolerances - parameterized

using machine and setting data - for compressor functions, smoothing and orientation

smoothing in the part program.

The programmed tolerance values are valid until they are reprogrammed or deleted by assigning

a negative value. Further, they are deleted at the end of the program or a reset The

parameterized tolerance values become effective again after deletion.

Syntax

CTOL=<Value>

OTOL=<Value>

ATOL[<Axis>]=<Value>

Meaning

CTOL:

Address to program the contour tolerance

Applications:

• All compressor functions

• All rounding types except G641 and G644

Preprocessing stop:

No

Effective:

Modal

<Value>:

The value for the contour tolerance is specified as a length.

Type:

REAL

Unit:

inch/mm (dependent on the current dimensions

setting)

Value range:

≥ 0:

Tolerance value

< 0:

The programmed tolerance value is de-

leted

⇒ The tolerance value parameterized in

the machine or setting data becomes ef-

fective again.

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6.6 Contour/Orientation tolerance

OTOL:

Address to program the orientation tolerance

Applications:

• All compressor functions

• ORISON orientation smoothing

• All smoothing types except G641, G644 and OSD

Preprocessing stop:

No

Effective:

Modal

<Value>:

The value for the orientation tolerance is specified as an angle.

Type:

REAL

Unit:

degrees

Value range:

≥ 0:

Tolerance value

< 0:

The programmed tolerance value is de-

leted

⇒ The tolerance value parameterized in

the machine or setting data becomes ef-

fective again.

ATOL:

Address for programming an axis-specific tolerance

Applications:

• All compressor functions

• ORISON orientation smoothing

• All smoothing types except G641, G644 and OSD

Preprocessing stop:

No

Effective:

Modal

<Axis>:

Name of the channel axis to which the programmed tolerance will

apply

<Value>:

The value for the axis tolerance will be specified as a length or an

angle dependent on the axis type (linear or rotary axis).

Type:

REAL

Unit:

For linear axes:

inch/mm (dependent on

the current dimensions set-

ting)

For rotary axes:

degrees

Value range:

≥ 0:

Tolerance value

< 0:

The programmed tolerance value is de-

leted

⇒ The tolerance value parameterized in

the machine or setting data becomes ef-

fective again.

Note

The channel-specific tolerance values programmed with CTOL and OTOL have higher priority

than the axis-specific tolerance values programmed with ATOL.

Note

Scaling frames

Scaling frames affect programmed tolerances in the same way as axis positions; in other words,

the relative tolerance remains the same.

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6.7 Rapid traverse movements

6.7.1.2

Interpolation response of path axes for rapid traversing movements

Liner/non-linear interpolation

Path axes can be traversed in linear or non-linear interpolation mode in rapid traverse

movement.

=

<

;

① Path for rapid traverse with linear interpolation

② Single axis movements for rapid traverse with non-linear interpolation

Linear interpolation

Properties:

• The path axes are interpolated together.

• The tool movement programmed with G0 is executed at the highest possible velocity (rapid

traverse).

• The rapid traverse velocity is defined separately for each axis.

• If the rapid traverse movement is executed simultaneously on several axes, the rapid traverse

speed is determined by the axis which requires the most time for its section of the path.

Linear interpolation is always performed in the following cases:

• For a G command combination with G0 that does not allow positioning axis motion, e.g.:

G40, G41, G42, G96, G961 and MD20750 $MC_ALLOW_G0_IN_G96 == FALSE

• With a combination of G0 and G64.

• When a compressor or transformation is active.

• In point-to-point (PTP) travel mode.

• When a contour handwheel is selected (FD = 0).

• In case of an active frame with rotation of geometry axes.

• If nibbling is active for geometry axes.

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6.7 Rapid traverse movements

Non-linear interpolation

Properties:

• Each path axis interpolates as a single axis (positioning axis) independently of the other axes

at the axis-specific rapid traverse velocity.

• The channel-specific "Delete distance-to-go" command via the PLC and synchronized action

is applied to all positioning axes that were programmed as path axes.

In non-linear interpolation, with reference to the axis-specific jerk, one of the following two

settings applies alternatively:

• Positioning axis commands BRISKA, SOFTA, DRIVEA

• Machine data:

- MD32420 $MA_JOG_AND_POS_JERK_ENABLE

- MD32430 $MA_JOG_AND_POS_MAX_JERK

The existing system variables which refer to the distance-to-go ($AC_PATH, $AC_PLTBB and

$AC_PLTEB) are supported.

CAUTION

Risk of collision

Since the tool movement for non-linear interpolation can differ from the tool movement for

linear interpolation, synchronous actions relative to the coordinates of the path movement

may not become active.

Selection of interpolation type

The type of interpolation which is to be in effect for rapid traverse movements is preset by

machine data (see "Parameter assignment (Page 506)").

Independently of the default setting, the desired interpolation response can also be set in the

part program (see "Switch on/off linear interpolation for rapid traverse movements (RTLION,

RTLIOF) (Page 509)").

6.7.1.3

Tolerances for rapid traverse movements

Tolerances for rapid traverse movements (G0 tolerances) can have different settings for the

workpiece processing tolerances.

Advantage

Greater G0 tolerances allow a faster traversing of G0 blocks.

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6.7 Rapid traverse movements

Interpolation response for rapid traverse movements

The interpolation response for rapid traverse movements is channel-specifically preset for via the

machine data:

MD20730 $MC_G0_LINEAR_MODE = <Value> (interpolation behavior with G0)

<Val-

Meaning

ue>

0

In the rapid traversing mode (G0) the non-linear interpolation is active.

Path axes are traversed as positioning axes.

1

In the rapid traversing mode (G0) the linear interpolation is active.

The path axes are interpolated together.

G0 tolerances

Relative G0 tolerance

Tolerances for rapid traverse movements can be set relative to the workpiece processing

tolerances via a channel-specific tolerance factor:

MD20560 $MC_G0_TOLERANCE_FACTOR (tolerance factor for G0)

The tolerance factor can be both greater or less than 1.0. If the factor is equal to 1.0 (default

value), then the same tolerances are active for rapid traverse movements as for non-rapid

traverse movements. Normally, the tolerance factor is set to > 1.0.

Absolute G0 tolerances

Alternatively, the channel-specific tolerances for rapid traverse movements can also be set

absolute and separate for contour tolerance and orientation tolerance:

• MD20561 $MC_G0_TOLERANCE_CTOL_ABS (contour tolerance for G0 movements) =

<Value>

<Value>

Meaning

= 0 (default)

The contour tolerance for G0 movements is determined by the relative G0 tol-

erance.

> 0

The contour tolerance for G0 movements is defined with the value of MD20651.

• MD20562 $MC_G0_TOLERANCE_OTOL_ABS (orientation tolerance for G0 movements) =

<Value>

<Value>

Meaning

= 0 (default)

The orientation tolerance for G0 movements is determined by the relative G0

tolerance.

> 0

The orientation tolerance for G0 movements is defined with the value of

MD20652.

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6.7 Rapid traverse movements

6.7.3

Programming

6.7.3.1

Activating rapid traverse (G0)

The traversing of the path axes at rapid traversing velocity is activated with the G command G0.

Syntax

G0 X… Y… Z…

G0 RP=… AP=…

Meaning

G0:

Traversing the axis with rapid traverse velocity

Effective:

Modal

X... Y... Z...:

Specifying the end point in Cartesian coordinates

RP=... AP=... :

Specifying the end point in polar coordinates

Examples

Example 1: Milling

<

;

Program code

Comment

N10 G90 S400 M3

; Absolute dimension input, spindle clockwise

N20 G0 X30 Y20 Z2

; Approach the starting position

N30 G1 Z-5 F1000

; Tool infeed

N40 X80 Y65

; Traversing along a straight line

N50 G0 Z2

N60 G0 X-20 Y100 Z100 M30

; Retract tool, end of program

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6.7 Rapid traverse movements

Example 2: Turning

;

=

Program code

Comment

N10 G90 S400 M3

; Absolute dimension input, spindle clockwise

N20 G0 X25 Z5

; Approach the starting position

N30 G1 G94 Z0 F1000

; Tool infeed

N40 G95 Z-7.5 F0.2

N50 X60 Z-35

; Traversing along a straight line

N60 Z-50

N70 G0 X62

N80 G0 X80 Z20 M30

; Retract tool, end of program

6.7.3.2

Switch on/off linear interpolation for rapid traverse movements (RTLION, RTLIOF)

Independently of the default setting (MD20730 $MC_G0_LINEAR_MODE), the interpolation

response for rapid traverse movements can also be set in the part program using the commands

of the G group 55.

Syntax

RTLIOF

RTLION

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6.7 Rapid traverse movements

Meaning

RTLIOF:

G command for switching off the linear interpolation

⇒ In the rapid traversing mode (G0), the non-linear interpolation is active. All of

the path axes reach their end points independently of one another.

Effective:

Modal

RTLION:

G command for switching on the linear interpolation

⇒ In the rapid traversing mode (G0), the linear interpolation is active. All of the

path axes reach their end points simultaneously.

Effective:

Modal

Note

Preconditions for RTLIOF

To ensure, with RTLIOF non-linear interpolation, the following conditions must be fulfilled:

• No transformation (TRAORI, TRANSMIT, etc.) active.

• G60 active (stop at the block end).

• No compressor active (COMPOF).

• No tool radius compensation active (G40).

• No contour handwheel selected.

• No nibbling active.

If one of these conditions is not met, linear interpolation is as with RTLION.

Example

Program code

Comment

; Linear interpolation is the default:

; MD20730 $MC_GO_LINEAR_MODE == TRUE

N30 RTLIOF

; Switch off linear interpolation.

N40 G0 X0 Y10

; G0 blocks are traversed using non-linear inter-

polation.

N50 G41 X20 Y20

; TRC active ⇒ G0 blocks are traversed using lin-

ear interpolation.

N60 G40 X30 Y30

; TRC not active ⇒ G0 blocks are traversed using

non-linear interpolation.

N70 RTLION

; Switch on linear interpolation.

Further information

Reading the current interpolation behavior

The current interpolation behavior can be read via the system variables $AA_G0MODE.

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6.7 Rapid traverse movements

Meaning

STOLF:

Address for programming a temporarily effective tolerance factor for rapid traverse motion

<Value>:

G0 tolerance factor

Type:

REAL

Value:

≥ 0:

The G0 tolerance factor can be greater or less than 1.0. If

the factor is equal to 1.0 (default value), then the same

tolerances are active for rapid traverse motion as for non-

rapid traverse motion. Normally, the tolerance factor is set

to > 1.0.

The programmed G0 tolerance factor remains effective un-

til it is overwritten by renewed STOLF programming, re-

placed by CTOLG0/OTOLG0 programming or deleted by

channel or end of program reset.

< 0:

the programmed tolerance factor is deleted

⇒ The tolerance value preset in the machine data becomes

effective again.

CTOLG0:

Address for programming a temporarily effective contour tolerance factor for rapid traverse

motion

<Value>:

Absolute value for the contour tolerance

Type:

REAL

Value:

≥ 0:

The programmed absolute value for the contour tolerance

remains effective until it is overwritten by renewed CTOLG0

programming, replaced by STOLF programming or deleted

by channel or end of program reset.

< 0:

the programmed tolerance value is deleted

⇒ The tolerance value preset in the machine data becomes

effective again.

OTOLG0:

Address for programming a temporarily effective orientation tolerance factor for rapid tra-

verse motion

<Value>:

Absolute value for the orientation tolerance

Type:

REAL

Value:

≥ 0:

The programmed absolute value for the orientation toler-

ance remains effective until it is overwritten by renewed

OTOLG0 programming, replaced by STOLF programming or

deleted by channel or end of program reset.

< 0:

the programmed tolerance value is deleted

⇒ The tolerance value preset in the machine data becomes

effective again.

Note

The last programmed address always has priority, as shown in the following examples:

• When CTOLG0 is programmed with active STOLF, the tolerance value programmed with

CTOLG0 is applied to smooth the contour.

• When OTOLG0 is programmed with active STOLF, the tolerance value programmed with

OTOLG0 is applied to smooth the orientation.

• After programming STO again, the tolerance factor for the contour and orientation tolerance

is applied.

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6.10 Data lists

6.10

Data lists

6.10.1

Machine data

6.10.1.1

General machine data

Number

Identifier: $MN_

Description

10110

PLC_CYCLE_TIME_AVERAGE

Average PLC acknowledgment time

10680

MIN_CONTOUR_SAMPLING_TIME

Minimum contour sampling time

10682

CONTOUR_SAMPLING_FACTOR

Contour sampling factor

10712

NC_USER_CODE_CONF_NAME_TAB

List of reconfigured NC commands

12030

OVR_FACTOR_FEEDRATE

Evaluation of the path feedrate override switch

12100

OVR_FACTOR_LIMIT_BIN

Limit for binary-coded override switch

18360

MM_EXT_PROG_BUFFER_SIZE

FIFO buffer size for execution from external source

(DRAM)

6.10.1.2

Channelspecific machine data

Number

Identifier: $MC_

Description

20150

GCODE_RESET_VALUES

Basic setting of the groups

20170

COMPRESS_BLOCK_PATH_LIMIT

Maximum traversing length of an NC block that can be

compressed

20171

SURF_BLOCK_PATH_LIMIT

Maximum traversing length of a compressible NC block

for compression with COMPSURF

20172

COMPRESS_VELO_TOL

Maximum permissible deviation from path feed for com-

pression

20173

SURF_VELO_TOL

Maximum permissible deviation from path feed for com-

pression with COMPSURF

20400

LOOKAH_USE_VELO_NEXT_BLOCK

LookAhead following block velocity

20430

LOOKAH_NUM_OVR_POINTS

Number of override switch points for LookAhead

20440

LOOKAH_OVR_POINTS

Override switch points for LookAhead

20443

LOOKAH_FFORM

Activating the extended LookAhead

20450

LOOKAH_RELIEVE_BLOCK_CYCLE

Relief factor for the block cycle time

20455

LOOKAH_FUNCTION_MASK

Special LookAhead functions

20460

LOOKAH_SMOOTH_FACTOR

Smoothing factor for LookAhead

20462

LOOKAH_SMOOTH_WITH_FEED

Smoothing with programmed feed

20465

ADAPT_PATH_DYNAMIC

Adaptation of path dynamic response

20480

SMOOTHING_MODE

Rounding behavior with G64x

20482

COMPRESSOR_MODE

Principle of operation of the compressor

20484

COMPRESSOR_PERFORMANCE

Compressor performance

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6.10 Data lists

Number

Identifier: $MC_

Description

20485

COMPRESS_SMOOTH_FACTOR

Smoothing factor for compression with COMPCAD for

the particular dynamic response mode

20486

COMPRESS_SPLINE_DEGREE

Spline degree for compression with COMPCAD for the

particular dynamic response mode

20487

COMPRESS_SMOOTH_FACTOR_2

Smoothing factor for rotary axes for compression with

COMPCAD for the particular dynamic response mode

20488

SPLINE_MODE

Setting for spline interpolation

20490

IGNORE_OVL_FACTOR_FOR_ADIS

G641/G642 independent of the overload factor

20550

EXACT_POS_MODE

Exact-stop conditions with G0/G1

20552

EXACT_POS_MODE_G0_TO_G1

Exact stop criterion for rapid traverse transitions in the

continuous path mode

20560

G0_TOLERANCE_FACTOR

G0 tolerance factor

20561

G0_TOLERANCE_CTOL_ABS

Contour tolerance for G0 movements

20562

G0_TOLERANCE_OTOL_ABS

Orientation tolerance for G0 movements

20600

MAX_PATH_JERK

Pathrelated maximum jerk

20602

CURV_EFFECT_ON_PATH_ACCEL

Influence of path curvature on path dynamic response

20603

CURV_EFFECT_ON_PATH_JERK

Influence of path curvature on path jerk

20605

PREPDYN_SMOOTHING_FACTOR

Factor for smoothing the curvature

20606

PREPDYN_SMOOTHING_ON

Activation of the curvature smoothing

20730

G0_LINEAR_MODE

Interpolation behavior with G0

28060

MM_IPO_BUFFER_SIZE

Number of NC blocks in IPO buffer (DRAM)

28070

MM_NUM_BLOCKS_IN_PREP

Number of NC blocks for block preparation (DRAM)

28071

MM_NUM_SURF_LEVELS

Dimensioning the COMPSURF function (DRAM)

28072

MM_MAXNUM_SURF_GROUPS

Dimensioning the COMPSURF function regarding axis

groups (DRAM)

28520

MM_MAX_AXISPOLY_PER_BLOCK

Maximum number of axis polynomials per block

28530

MM_PATH_VELO_SEGMENTS

Number of storage elements for limiting path velocity in

block

28533

MM_LOOKAH_FFORM_UNITS

Memory for extended LookAhead

28540

MM_ARCLENGTH_SEGMENTS

Number of storage elements for arc length function

representation per block

28610

MM_PREPDYN_BLOCKS

Number of blocks for velocity preparation

6.10.1.3

Axis/spindlespecific machine data

Number

Identifier: $MA_

Description

32000

MAX_AX_VELO

Maximum axis velocity

32310

MAX_ACCEL_OVL_FACTOR

Overload factor for axial velocity jumps

32431

MAX_AX_JERK

Maximum axial jerk when traversing along the path

32432

PATH_TRANS_JERK_LIM

Maximum axial jerk at the block transition in continu-

ous-path mode

32433

SOFT_ACCEL_FACTOR

Scaling of acceleration limitation for SOFT

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6.10 Data lists

Number

Identifier: $MA_

Description

32434

G00_ACCEL_FACTOR

Scaling of acceleration limitation for G00

32435

G00_JERK_FACTOR

Scaling of axial jerk limitation for G00

32440

LOOKAH_FREQUENCY

Smoothing limit frequency for LookAhead

33100

COMPRESS_POS_TOL

Maximum deviation with compensation

33120

PATH_TRANS_POS_TOL

Maximum deviation when rounding with G645

35240

ACCEL_TYPE_DRIVE

DRIVE acceleration characteristic for axes on/off

36000

STOP_LIMIT_COARSE

Exact stop coarse

36010

STOP_LIMIT_FINE

Exact stop fine

36012

STOP_LIMIT_FACTOR

Exact stop coarse/fine factor and zero speed monitoring

36020

POSITIONING_TIME

Delay time exact stop fine

6.10.2

Setting data

6.10.2.1

Channelspecific setting data

Number

Identifier $SC_

Description

42465

SMOOTH_CONTUR_TOL

Max. contour deviation during rounding

42466

SMOOTH_ORI_TOL

Max. deviation of the tool orientation during rounding

42470

CRIT_SPLINE_ANGLE

Corner angle limit for compression with COMPCAD

42471

MIN_CURV_RADIUS

Minimum radius of curvature for compression with

COMPCAD

42472

MIN_SURF_RADIUS

Minimum radius of curvature for compression with

COMPSURF

42473

ACTNUM_SURF_GROUPS

Number of axis groups for COMPSURF

42475

COMPRESS_CONTUR_TOL

Maximum permissible contour deviation with compres-

sion

42476

COMPRESS_ORI_TOL

Maximum deviation of the tool orientation for compres-

sion

Note:

Only for active orientation transformation!

42477

COMPRESS_ORI_ROT_TOL

Maximum deviation of the tool rotation for compression

Note:

Only for 6-axis machines with rotatable tool!

42676

ORI_SMOOTH_TOL

Tolerance for smoothing of the orientation when

smoothing

42678

ORISON_TOL

Smoothing tolerance of the orientation

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Cross-channel program coordination and channel-by-channel running-in

7.1 Cross-channel program coordination

WAITMC(<MarkNo>, <ChanNo>, <ChanNo>, ...)

SETM(<MarkNo>, <MarkNo>, ...)

CLEARM(<MarkNo>, <MarkNo>, ...)

Meaning

INIT():

Predefined procedure for selecting the NC program that is to be executed in the specified

channel

START():

Predefined procedure for starting the selected program in the respective channel

WAITM():

Predefined procedure to wait for a wait marker to be reached in the specified channels

The specified wait marker is set by WAITM in the same channel. The previous block is

terminated with exact stop. The wait marker is deleted after synchronization.

A maximum of 10 markers can be set simultaneously in each channel.

WAITE():

Predefined procedure to wait for the end of program in one or more other channels

WAITMC(): ¹⁾

Predefined procedure to wait for a wait marker to be reached in the specified channels

In contrast to WAITM, the braking of the axes to exact stop is only initiated if the other

channels have not yet reached the wait marker.

SETM(): ¹⁾

Predefined procedure to set one or more wait markers for the channel coordination

The processing in own channel is not affected by this.

SETM remains valid after a channel reset and NC start.

CLEARM(): ¹⁾

Predefined procedure to delete one or more wait markers for the channel coordination

The processing in own channel is not affected by this.

CLEARM() deletes all wait markers in the channel.

CLEARM(0) only deletes wait marker "0".

CLEARM remains valid after a channel reset and NC start.

<ChanNo>:

Channel number

The number of the own channel does not have to be specified.

Type:

INT

<Prog>:

Absolute or relative path specification (optional) + program name

Type:

STRING

Information relating to path data, see the Programming Manual NC Programming, Chap-

ter "Addressing program memory files".

<AckMode>:

Acknowledgment mode (optional)

Type:

CHAR

Val-

"N"

Without acknowledgment

ues:

The program execution is continued after the command has been sent.

The sender is not informed if the command cannot be executed suc-

cessfully.

"S"

Synchronous acknowledgment

The program execution is stopped until the receiving component has

acknowledged the command. If the acknowledgment is positive, the

next command is executed. If the acknowledgment is negative, an error

message is output.

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Cross-channel program coordination and channel-by-channel running-in

7.1 Cross-channel program coordination

<MarkNo>:

Number of the wait marker

Note

In a multi-channel system, a maximum of 100 wait markers are available (wait markers

0 ... 99).

Only wait marker 0 is available in a single-channel system.

1) For user-specific communication and/or coordination of channels, wait markers can be deployed

using SETM / CLEARM - and also without using the conditional wait command WAITMC. The wait markers

retain their values, even after a channel reset and NC start.

Examples

START using channel names from MD20000

• Parameter assignment

MD10280 $MN_PROG_FUNCTION_MASK, bit 1 = TRUE

$MC_CHAN_NAME[ 0 ] = "MACHINING"; Name of channel 1

$MC_CHAN_NAME[ 1 ] = "INFEED"; Name of channel 2

• Programming

Program code

Comment

START(MACHINING)

; Start of channel 1

START(INFEED)

; Start of channel 2

START using local "channel names" and user variables

Program code

Comment

DEF INT MACHINE = 1

; Definition of user variable for channel 1

DEF INT LOADER = 2

; Definition of user variable for channel 2

START(MACHINE)

; Start of channel 1

START(LOADER)

; Start of channel 2

START using local "channel names", user variables and parameterized channel names

Program code

Comment

DEF INT chanNo1

; Definition of user variable for channel 1

DEF INT chanNo2

; Definition of user variable for channel 2

chanNo1 = CHAN_1

; Assignment of parameterized channel name channel 1

chanNo2 = CHAN_2

; Assignment of parameterized channel name channel 2

START(ChanNo1)

; Start of channel 1

START(ChanNo2)

; Start of channel 2

INIT command with absolute path specification

Selection of program /_N_MPF_DIR/_N_ABSPAN1_MPF in channel 2.

Program code

INIT(2,"/_N_WCS_DIR/_N_SHAFT1_WPD/_N_CUT1_MPF")

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Cross-channel program coordination and channel-by-channel running-in

7.1 Cross-channel program coordination

INIT command with program name

Selection of the program with the name "MYPROG". The control searches for the program using

the search path.

Program code

INIT(2,"MYPROG")

Program coordination with WAITM

• Channel 1: The program /_N_MPF_DIR/_N_MPF100_MPF has already been selected and

started.

Program code

Comment

; Program MPF100

N10 INIT(2,"MPF200","N")

; Selection of program MPF200, channel 2

N11 START(2)

; Start of channel 2

N80 WAITM(1,1,2)

; Wait for WAIT marker 1 in channels 1 and

2

N81 ...

; Channel 1, N81 and channel 2, N71 are

; started synchronously

N180 WAITM(2,1,2)

; Wait for WAIT marker 2 in channels 1 and

2

N181 ...

; Channel 1, N181 and channel 2, N271 are

; started synchronously

N200 WAITE(2)

; Wait for end of program in channel 2

N201 ...

; N201 is not started until the end of

program

; MPF200 started in channel 2

N201 M30

; End of program channel 1

• Channel 2: In channel 1, the program MPF200_MPF is selected and started for channel 2

using blocks N10 and N20.

Program code

Comment

;$PATH=/_N_MPF_DIR

; Program MPF200

N70 WAITM(1,1,2)

Wait for WAIT marker 1 in channels 1 and 2

N71 ...

; Channel 1, N81 and channel 2, N71 are

; started synchronously

N270 WAITM(2,1,2)

Wait for WAIT marker 2 in channels 1 and 2

N271 ...

; Channel 1, N181 and channel 2, N271 are

; started synchronously

N400 M30

End of program channel 2

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Cross-channel program coordination and channel-by-channel running-in

7.1 Cross-channel program coordination

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Non-synchronous start of execution of following blocks after WAIT markers

In the case of channel coordination using WAIT markers, execution of the following blocks may

start non-synchronously. This behavior occurs if an action is triggered in one of the channels to

be synchronized immediately before reaching the common WAIT marker; the consequence of

which is implicit repositioning (REPOSA) in this delete distance-to-go.

Assumption: Current axis assignment in channels 1 and 2

• Channel 1: Axes X1 and U

• Channel 2: Axis X2

Table 7-1

Time sequence in channels 1 and 2

Channel 1

Channel 2

Description

Arbitrary processing in channels 1 and 2

N100

Channel 1: reaches the WAIT marker and waits for syn-

WAITM(20,1,2)

chronization with channel 2

Start of the GETD(U) pro-

N200 GETD(U)

Channel 2: Requests axis U from channel 1

cessing:

Channel 1: Processing of GET(U) in the backg14round

• Axis interchange

N210

Channel 2: reaches the WAIT marker. ⇒ This completes

• Delete distance-to-

WAITM(20,1,2)

the synchronization of channels 1 and 2

go

N220 G0 X2=100

Channel 2: Start of processing of N220

• REPOSA

End

N110 G0 X1=100

Channel 1: Staggered start of processing of N110

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Cross-channel program coordination and channel-by-channel running-in

7.1 Cross-channel program coordination

See also

Conditional wait (WAITMC) in the continuous path mode (Page 524)

Programming: Fetching an axis (GET, GETD) (Page 541)

7.1.2

Conditional wait (WAITMC) in the continuous path mode

If in a channel, at the time that WAITMC is being processed, all of the required wait markers of

the other channels have already been received, then in this channel, traversing motion is not

braked, or the further program execution is not stopped, but continued with the processing of

the following block.

WAITMC is in separate block as function call. For the correct execution of WAITMC without

braking, a traversing block must be immediately before WAITMC. For traversing blocks with

G64x, the block with WAITMC is added to the previous block to avoid a drop in velocity. If there

are no traversing blocks, e.g. "IF loops", immediately before WAITMC, the command cannot be

assigned consistently and braking occurs.

Requirement

The following functions must be active in the channel:

• Continuous-path mode (G64, G641, G642, G643, G644 or G645)

• "LookAhead" function

Braking behavior

No braking

Starting with the motion block before the WAITMC call, the wait markers of the other channels

to be synchronized are checked. If these are already available, no braking is performed:

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Change of the path velocity for the conditional waiting with WAITCM: Wait markers for all

channels already available

Short-time braking

If the wait marker for a channel to be synchronized is missing, braking will be started. During

braking, a check is made in each interpolator cycle as to whether the still missing wait markers

have been received in the meantime. If this is the case, then the axis accelerates back to the

programmed velocity:

Basic functions

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Cross-channel program coordination and channel-by-channel running-in

7.1 Cross-channel program coordination

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Figure 7-2

Change of the path velocity for the conditional waiting with WAITCM: The last wait marker

arrives during braking

Braking down to standstill

If the wait marker is not received during the braking phase, then the axis is braked down to

standstill and the system waits. When the wait marker is received, the axis accelerates back to

the programmed velocity.

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Change of the path velocity for the conditional waiting with WAITCM: The last wait marker

arrives after the braking

Block change while braking (IPOBRKA)

If the IPOBRKA (block change criterion "braking ramp") end of motion criterion is active, the

arrival of the last missing wait marker causes a transition to the next block and the axis is

accelerated.

Example 1: Conditional wait in continuous-path mode

The example is schematic, and shows only those commands that are relevant for the

synchronization.

Channel 1

Program code

Comment

N10 INIT(2, "_N_200_MPF","n")

; Select partner program channel 2.

N11 INIT(3,"_N_300_MPF","n")

; Select partner program channel 3.

N15 START(2,3)

; Start programs in channels 2, 3.

; Machining in channel 1.

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Cross-channel program coordination and channel-by-channel running-in

7.1 Cross-channel program coordination

Program code

Comment

N20 WAITMC(7,2,3)

; Conditional wait for marker 7 from channels 2 and

3.

; Further machining in channel 1.

N40 WAITMC(8,2)

; Conditional wait for marker 8 from channel 2.

; Further machining in channel 1.

N70 M30

; End channel 1.

Channel 2

Program code

Comment

N200 ...

; Machining in channel 2.

N210 SETM(7)

; Channel 2 sets wait marker 7.

; Further machining in channel 2.

N250 SETM(8)

; Channel 2 sets wait marker 8.

N260 M30

; End channel 2.

Channel 3

Program code

Comment

N300 ...

; Machining in channel 3.

N350 WHEN <condition> DO SETM(7)

; Set wait marker in a synchronous action.

; Additional machining in channel 3.

N360 M30

; End channel 3.

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Cross-channel program coordination and channel-by-channel running-in

7.1 Cross-channel program coordination

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Conditional wait in path-controlled operation with three involved channels (schematic)

Example 2: WAITMC and read-in disable

Auxiliary function M555 is output in channel 3 while the axis is traversing and creates a read-in

disable. As WAITMC is assigned block N312, the wait marker is set, and channel 2 progresses. The

read-in disable causes the program execution in channel 3 to stop.

Note

For an active G64, WAITMC does not to create a dedicated block, but instead, is added to the

previous block. A drop in velocity must be prevented when continuous-path mode is active.

A WAITMC is therefore fulfilled if the preceding block is stopped, e.g. by a read-in disable.

Channel 2

Program code

Comment

N112 G18 G64 X200 Z200 F567

; Machining in channel 2

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Cross-channel program coordination and channel-by-channel running-in

7.2 Running-in channel-by-channel

Program code

Comment

N120 WAITMC(1,2,3)

; Conditional wait for wait marker 1

; from channels 2 and 3

; Additional machining in channel 2, as

; WAITMC is added to block N312.

; Additional machining in channel 2

N170 M30

; End of channel 2

Channel 3

Comment

; During traversing read-in disable M555

N300

; Machining in channel 3

N312 G18 G64 D1 X180 Z300 M555

N320 WAITMC(1,2,3)

; Wait because of read-in inhibit

7.2

Running-in channel-by-channel

7.2.1

Function

The "channel-by-channel running-in" function is used to test or run-in the NC programs of one

or more channels that are synchronized with each other. The programmed traversing motion of

the channel axes and/or spindles in the channels, which are in the "Normal operating" state,

results in the machine axes traversing. The following applies to channels that are in the "Program

test" state:

• In the default setting, for axes for normal operation, identical setpoints are generated,

however, these are not output at the machine axes .

• In the default setting, the setpoints for spindles are output at the machine axes.

• The displayed actual values of the inhibited axes/spindles are internally generated from

setpoints.

• The commands for channel synchronization are processed normally.

• The NC/PLC interface signals are processed normally.

• The processing time of the program is the same as in normal operation.

Temporarily when required, the "Program test" state can be exited on an axis-for-axis basis. The

setpoints are then output again on the machine axes so that they are really traversed on the

machine.

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Cross-channel program coordination and channel-by-channel running-in

7.2 Running-in channel-by-channel

Check box channel/spindle

In menu "Program controls": The following behavior can be set for the "Running-in" group using

check box "Channel x" or "Spindle x":

Check box

Selected

Deselected

"Channel x"

Normal operation

Program is only calculated

(channel in test run)

"Spindle x"

Normal operation

No machining at spindle x

(spindle in test run)

NC/PLC interface signals

After deselecting the checkbox for "Channel x", the channel is in the "Program test (PRT)" state.

The following NC/PLC interface signals are set (see below note "Automatic transfer of interface

signals"):

• Channels

- DB21, ... DBX25.7 == 1 (from HMI: program test selected)

- DB21, ... DBX1.7 == 1 (from PLC: activate program test)

- DB21, ... DBX33.7 == 1 (from NC: program test active)

• Axes

- DB31, ... DBX128.0 == 0 (from HMI: suppress program test)

- DB31, ... DBX128.1 == 0 (activate program test from HMI)

- DB31, ... DBX14.0 == 0 (from PLC: suppress program test)

- DB31, ... DBX14.1 == 0 (from PLC: activate program test)

In the default setting, the control boxes for the spindles are selected, i.e. spindles are in normal

operation:

• Spindles

- DB31, ... DBX128.0 == 1 (from HMI: suppress program test)

- DB31, ... DBX128.1 == 0 (from HMI: activate program test)

- DB31, ... DBX14.0 == 1 (from PLC: suppress program test)

- DB31, ... DBX14.1 == 0 (from PLC: activate program test)

Note

Default state of traversing motion

The default state regarding traversing motion after selecting "Program test" in the channel is:

• Axes: Inhibited

• Spindles: Enabled

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7.2 Running-in channel-by-channel

Note

Automatic transfer of the interface signals

The HMI request signals DB21, ... DBX128.0 / .1 are only transferred from the basic PLC program

to the PLC request signals DB21, ... DBX14.0 / .1 if FB1 parameter MMCToIF is set to TRUE. If the

parameters are not set, then the PLC request signals must be set by the PLC user program.

Inhibiting spindle traversing motion

If, during "Program test" spindles of the channel are not to be traversed, then they must be

explicitly inhibited/locked via the PLC user program:

• DB31, ... DBX128.0 = 0 (suppress program test)

• DB31, ... DBX128.1 = 1 (activate program test)

• DB31, ... DBX14.0 = 0 (from PLC: suppress program test)

• DB31, ... DBX14.1 = 1 (from PLC: activate program test)

NOTICE

Spindle traversing motion

Traversing motion of the spindles of the channel is enabled in the "Program test" as default

setting.

Enabling traversing motion of the axes

If, during "Program test" channel axes are to be traversed, then they must be explicitly enabled

via the PLC user program:

• DB31, ... DBX14.0 = 1 (from PLC: suppress program test)

• DB31, ... DBX14.1 = 0 (from PLC: activate program test)

Permissible switching instants

• Channel

Interface signals to deactivate/activate the channel-specific "Program test" state (DB21, ...

DBX25.7 or DBX1.7), may only be switched in the "Reset" or "Interrupted" channel state.

• Axes/spindles

Interface signals to activate/deactivate the axis-specific "Program test" state (DB31, ...

DBX128.0 / .1 or DBX14.0 / .1) may always be switched.

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Cross-channel program coordination and channel-by-channel running-in

7.2 Running-in channel-by-channel

7.2.5

System variables

The "program test" state can be interrogated using system variables:

• For the display in the user interface, in synchronized actions or with a preprocessing stop in

the part program via the system variables:

$AC_ISTEST

"Program test" state for the channel

Supplies TRUE (1), if the "program test" state for the channel is active.

$AA_ISTEST[<n>]

"Program test" state for the axis <n>

Supplies TRUE (1), if the "program test" state for axis <n> is active.

• Without preprocessing stop in the part program via the system variable:

$P_ISTEST

Supplies TRUE (1), if the "program test" state for the channel is active.

Example

The channel runs under "program test" and axis "C" was withdrawn using "suppress program

test". A query using system variables then supplies the following result:

• $AC_ISTEST == TRUE

• $P_ISTEST == TRUE

• $AA_ISTEST[C] == FALSE

7.2.6

Supplementary conditions

Axis interchange

The "axis interchange" function allows that an axis/spindle is known in several channels and can

be programmed by these alternately (see Section "Cross-channel axis interchange (Page 539)").

In conjunction with the functions "program test" and "channel-by-channel running-in", the

following must be observed for an axis interchange:

• If only one of the channels is in the "program test" state, then the interchanged axis is taken

from this channel and is inserted in a channel that is not in the "program test" state. For an

interchanged axis with active axis disable, for a change via the channels with/without

channel state "program test", then the state in the axis itself does not change (see example

3).

• For a program test, for end of part program/reset, for all axes/spindles that do not interpolate,

resynchronization is made at the actual position. As a consequence, for an axis interchange

that is first made after the end of the program, as the axis may only exit the channel at the

end of the program, the simulated position reached is not transferred to the accepting

channel.

Note

The programs should also include a WAIT tag at the end in order that they are simultaneously

exited.

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7.3 Supplementary conditions

7.3.2

Non-synchronous start of traversing motion after WAIT commands

In the case of channel coordination using WAIT commands, a non-synchronous start when

executing the following blocks can occur. This behavior occurs if an action is triggered in one of

the channels immediately before reaching the common synchronization location; the

consequence of which is implicit repositioning (REPOSA) in this delete distance-to-go.

Assumption: Current axis allocation in channels 1 and 2

• Channel 1: Axes Z1 and W

• Channel 2: Axis Z2

Example 1: Start of traversing motion with time offset

The following command sequences in channels 1 and 2 result in a possible problematical start

of traversing motion with time offset after the synchronization location N110 / N210:

Table 7-2

Sequence (time) in channels 1 and 2

Channel 1

Channel 2

Description

Any processing in channels 1 and 2

N100 W100

Channel 1: Traversing axis W

Arbitrary processing in channels 1 and 2

N110 WAITM(2,1,2)

N210 WAITM(2,1,2)

Channels 1 and 2: wait for synchronization

Start "AUTOGET(W)":

"AUTOGET(W)" and wait

for axis W from channel

• Axis replacement

1

Channel 2: Start of traversing motion with time off-

• Delete distance-to-

N220 Z2=100 W100

set

go

• REPOSA

End

Channel 1: Start of traversing motion

N120 Z1=100

Example 2: Simultaneous start of traversing motion

Start of traversing motion with time offset (delay) in example 1 can be avoided by explicitly

enabling and requesting the axis W to be replaced and by inserting an additional

synchronization location. The following command sequences in channels 1 and 2 result in a

simultaneous start of traversing motion after the synchronization location N120 / N220:

Table 7-3

Sequence (time) in channels 1 and 2

Channel 1

Channel 2

Description

Arbitrary processing in channels 1 and 2

N100 W100

Channel 1: Traversing axis W

Arbitrary processing in channels 1 and 2

RELEASE(W)

Channel 1: Enable axis W ⇒ The axis replacement

in channel 2 no longer affects channel 1

N110 WAITM(2,1,2)

N210 WAITM(2,1,2)

Channels 1 and 2: wait for synchronization

N215 GET(W)

Channel 2: Request axis W. Axis replacement is op-

timum from a time perspective, as axis W is already

enabled

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Cross-channel program coordination and channel-by-channel running-in

7.3 Supplementary conditions

Channel 1

Channel 2

Description

N120 WAITM(9,1,2)

N220 WAITM(9,1,2)

Channels 1 and 2: wait for synchronization

N130 Z1=100

N230 Z2=100 W100

Channels 1 and 2: simultaneous start of traversing

motion

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Cross-channel axis interchange

8.3 Programming: Releasing an axis (RELEASE)

Channel-specific machine data

• Parameterization of which axes belong to the channel or are channel axes:

MD20070 $MC_AXCONF_MACHAX_USED[<channel axis>] = <machine axis>

Note: Assignment of all axes used in the NC must be performed in any case as channel axes

of one or more channels, irrespective of the "axis replacement" function.

Axis-specific machine data

• If an axis is a channel axis in multiple channels, the machine data defines to which channel

the axis is assigned after control startup (power-on reset):

MD30550 $MA_AXCONF_ASSIGN_MASTER_CHAN[<channel>] = <channel number>

The parameterized channel is the master channel of the axis.

• Parameterization of the response if an axis is programmed in a part program and the axis is

not currently assigned to the channel:

- Display an alarm and do not traverse the axis.

- Automatically requesting the axis according to the command GET (Page 541)

- Automatically requesting the axis according to the command GETD (Page 541)

MD30552 $MA_AUTO_GET_TYPE[<axis>] = <response>

System variable

Axis-specific system variable

• Axis type in relation to axis replacement:

$AA_AXCHANGE_TYP[<axis>]

• Axis replacement status of the axis:

$AA_AXCHANGE_STAT[<axis>]

8.3

Programming: Releasing an axis (RELEASE)

Function

An axis that is assigned to the current channel is released for an axis interchange via the

predefined RELEASE() procedure and put into the "neutral axis" state for this purpose.

Syntax

RELEASE(<axis1>[, axis2 ... axis15])

Meaning

RELEASE:

Release axis for axis interchange

Preprocessing

Yes

stop:

Alone in the

Yes

block:

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Cross-channel axis interchange

8.4 Programming: Fetching an axis (GET, GETD)

<axis>:

Axis: Channel axis name of the releasing axis

Spindle: Channel axis name of the releasing spindle or conversion of the spindle number

in the channel axis names by means of SPI(<spindle number>)

Type:

AXIS

Supplementary conditions

No enable possible

• The axis is involved in a transformation.

• The axis belongs to an axis grouping.

Guide axis of a gantry grouping

If the guide axis of a gantry grouping is released, all synchronous axes are also released.

8.4

Programming: Fetching an axis (GET, GETD)

Requesting axis interchange (GET):

Function

With the predefined GET() procedure, an axis is requested for the same channel.

In the channel, to which the axis is currently assigned, the axis must be released in a part

program or synchronized action for axis interchange with RELEASE().

After axis interchange, the axis has "channel axis" status.

Syntax

GET(<axis1>[, axis2 ... axis15])

Meaning

GET:

Request of an axis for the current channel

Preprocessing

Yes

stop:

Alone in the

Yes

block:

<axis>:

Axis: Channel axis name of the requested axis

Spindle: Channel axis name of the requested spindle or conversion of the spindle number

in the channel axis names by means of SPI(<spindle number>)

Type:

AXIS

Supplementary conditions

Axis interchange is delayed in the following situations:

• The axis has not yet been released with RELEASE by the channel to which it is assigned.

• A change of measuring system has not yet been completed.

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Cross-channel axis interchange

8.4 Programming: Fetching an axis (GET, GETD)

• The change of status of the controller enable has not yet been completed (transition of rules

to follow-up/stop and vice versa).

• The NC/PLC interface signal "axis or spindle disable" is pending (DB31, ... DBX1.3 == 1)

• The current traversing movement (interpolation) of the axis has not yet been completed.

Fetching an axis directly (GETD)

Function

An axis that is not assigned to the current channel is required for the following machining section

of a part program. With the predefined procedure GETD(), the axis is fetched directly from the

channel to which the axis is assigned. For this purpose, the axis does not have to be released by

this channel with RELEASE().

After axis interchange, the axis has "channel axis" status.

Depending on the state of the axis in the relinquishing channel, a preprocessing stop is triggered

in this channel (STOPRE):

• "Channel axis" status ⇒ preprocessing stop

• "Neutral axis" status ⇒ no preprocessing stop

To coordinate transfer of the axis between the channels with GETD(), we recommend using

channel synchronization (Page 519) between the requesting and the relinquishing channel.

NOTICE

Preprocessing stop in the relinquishing channel

If the axis in the relinquishing channel has "channel axis" status, a preprocessing stop will be

triggered in this channel (STOPRE):

Syntax

GETD(<axis>)

Meaning

GETD:

Fetching an axis directly into the current channel

Preprocessing

Yes

stop:

Alone in the

Yes

block:

<axis>:

Axes: Channel axis name of the requested axis

Spindles: Channel axis name of the requested spindle or conversion of the spindle num-

ber in the channel axis names by means of SPI(<spindle number>)

Supplementary condition

If the axis has "PLC axis" status in the relinquishing channel, the axis must be released for axis

interchange by the PLC user program.

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8.6 Axis replacement via PLC

Program code

Comment

; 0 => Alarm "Wrong axis type"

; 1 => implicit GET(AX1)

; 2 => implicit GETD(AX1)

Example 3

Program code

Comment

; Machine axis AX1 ≙ channel axis X

N1 RELEASE (AX1)

; Release to neutral status

N2 G04 F2

; Dwell time

N3 POS (X) = 100

; Programming axis X as a positioning axis

; Behavior depending on MD30552 $MA_AUTO_GET_TYPE:

; 0 => Alarm "Wrong axis type"

; 1 => implicit GET(AX1) *)

; 2 => implicit GETD(AX1) *)

*) If the axis has not yet been synchronized, a separate block is generated for automatic fetching

of the axis using (GET() or GETD().

8.6

Axis replacement via PLC

Function

Axis replacement can be requested by the PLC user program via the NC/PLC interface:

• From an NC channel to the PLC

• From the PLC to an NC channel

• From an NC channel to another NC channel

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Figure 8-1

Axis replacement request: DB31, ... DBB8 (PLC → NC)

Axis replacement status

The current status of an axis with regard to axis replacement can be read by the PLC user program

via the NC/PLC interface.

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8.6 Axis replacement via PLC

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Figure 8-2

Axis replacement status: DB31, ... DBB68 (NC → PLC)

Examples

Example 1

Axis replacement of an axis from channel 1 to channel 2 by means of RELEASE() and GET() in

part programs that are executed in each channel:

• Channel 1: RELEASE(<axis>)

• Channel 2: GET(<axis>)

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Example 2

Status change of an axis assigned to channel 1 from "NC axis" to "PLC axis" by the PLC user

program.

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Cross-channel axis interchange

8.6 Axis replacement via PLC

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3/& D[LV LQ .

Example 3

Status change of an axis assigned to channel 1 from "NC axis" via "PLC axis" to "neutral axis" by

the PLC user program.

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'%%

'%

'%%

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FKDQQHO D[LV LQ .

5HTXHVW E\ 3/&

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5HTXHVW E\ 1& UHVHW

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