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

B3: Distributed systems - 840D sl only

3.1

Brief description

3.1.1

Several operator panels on several NCUs (T:M:N)

Under certain circumstances, a single operator control and monitoring station may not be

sufficient for complex plants and machines. Therefore, several operator control and monitoring

stations in a SINUMERIK system network (Ethernet) can be connected to several numerical

controls (NCU) via a PCU in such a way that they enable flexible and distributed operation and

monitoring of the entire system.

The following figure provides an overview of the components that currently can be connected

in a system network to form an operator control and monitoring system T:1:N. Meanings:

● T: Thin Client Unit (TCU) or HT8 handheld unit (connected to the PCU)

● M: Man Machine Control (MMC), e.g. PCU 50.x with SINUMERIK Operate

● N: Numeric Control Unit (NCU), e.g. NCU 7x0.3 PN

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Extended Functions

Function Manual, 12/2018, A5E40874029B AB

B3: Distributed systems - 840D sl only

3.1 Brief description

Figure 3-1

Example of a T:1:N network

T: Thin Client Unit (TCU) or HT8 handheld unit

The graphic information of the PCU user interface is transferred via the TCU to the operator

panel front (OP) and displayed there. TCU and operator panel front together form an operator

station.

● Maximum number

In principle, any number of operator stations, only limited by the amount of available address

space, can be operated in the system network.

● Online

A maximum of four operator stations per PCU can be online simultaneously.

● Operating focus

At any one time, only one of the operator stations on the PCU that are online, can have the

operating focus. Entries with regard to the user interface can only be made via this operator

station. The user interfaces on the other online operator stations are darkened to indicate

that they do not have operating focus. Only a message is displayed on operator stations

that are not online.

The operating focus can be switched between the online operator stations.

● HT8 handheld unit

A HT8 handheld unit combines a TCU, an operator panel front and a machine control panel

in a single device.

M: PCU with SINUMERIK Operate

Several operator stations and several NCUs can be connected to a PCU with SINUMERIK

Operate user interface. The data of the channels of different NCUs can be displayed on the

operator stations through suitable configuring of the channel menu.

N: SINUMERIK 840D sl

● Internal SINUMERIK Operate user interface

Because of the existing external SINUMERIK Operate user interface on the PCU in the

system network, the NCU-integrated internal SINUMERIK Operate user interface must be

switched off. The internal SINUMERIK Operate user interface must not be switched off only

when it is used with a limited range of functions, exclusively within the scope of tool

management. Detailed information on this can be found in the Commissioning Manual

"Operator Components and Networking (IM5)", Section "Network configuration" >

"Application example"

● Machine control panel (MCP)

For a flexible switchover of the machine control panels, only one MCP can be connected

to one NCU. The switchover of the MCPs is user-specifically via the PLC user program

(function block FB 9).

Extended Functions

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3.1 Brief description

Installation and connection

References

● TCU, MCP, PCU:

SINUMERIK 840D sl Operator Components and Networking Manual

● NCU:

SINUMERIK 840D sl NCU 7x0.3 PN Manual

● Machine control panel (MCP)

FB 9: MtoN Control Unit Switchover

● Switch SCALANCE:

Communication with SIMATIC System Manual

Configuration, commissioning and parameter assignment

References

● Structure of the system network and commissioning of a TCU:

Operator Components and Networking Commissioning Manual (IM5)

● Configuration of the channel menu

SINUMERIK Operate Commissioning Manual (IM9), Section "Channel menu"

Programming

References

● MCP:

Basic Functions Function Manual, Section "P3 Basic PLC program for SINUMERIK 840D

sl" > "Block descriptions" > "FB 9: MtoN control unit switchover"

Boundary conditions

Currently, only one PCU (M) can be configured for each T:M:N network ⇒ T:1:N

3.1.2

NCU link

3.1.2.1

Link communication

The NCU-link communication allows an interpolator clock-synchronous cross-NCU data

exchange for the following applications:

● Cross-NCU data exchange via link variables $A_DLx

● Cross-NCU traversing of axes and spindles using link axes and container link axes

● Cross-NCU master value coupling of axes and spindles using lead link axes

Extended Functions

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3.1 Brief description

Safety Integrated

If axis-specific Safety Integrated Functions are active for a link axis, data that is not safety-

related is exchanged between the local safety axis (link axis on NCUx) and the channel that

is traversing it (NCUy) via the NCU link. This also enables Safety Integrated-supporting

functions for link axes, such as velocity/speed monitoring-dependent setpoint limiting and

higher-order stop functions (STOP D/E).

Link module

The link communication requires optional link modules. A link module is an optional PROFINET

module for isochronous real-time communication (IRT) via Ethernet. The link module occupies

the option slot of the NCU.

Quantity structure

As standard, a maximum of three NCUs can be interconnected to form a link group.

Note

For a specific project, on request to your local regional Siemens representative, further NCUs

can be integrated to form a link group.

3.1.2.2

Link variables

Link variables are global system user variables that for configured link communication can be

used by all NCUs of the network. Link variables can read and written in part programs, cycles

and synchronized actions.

The reading and writing of link variables is performed in the main run. A channel

synchronization is therefore performed implicitly with regard to the link variables so that all

channels read the same value in the same interpolator cycle. By comparison, global user data

(GUD) can also be used cross-channel like the link variables. However, as GUD variables are

preprocessed, no implicit channel synchronization is performed here. If necessary, GUD

variables must therefore be synchronized by the user through specific programming.

Note

On systems without an NCU link, link variables can also be used as additional NCU global

user data alongside standard global user data (GUD).

3.1.2.3

Link axes

Link axes enable the creation of distributed control systems, in which the setpoints of the

machine axes are not created by channels of the NCU to which the machine axes are physically

connected, but by channels of an arbitrary NCU of the link group.

Extended Functions

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3.1 Brief description

Fixed assignment for link axes

The assignment, on which NCU the setpoints for which machine axis are created, is fixed for

link axes through the machine data configuration.

Variable assignment for container link axes

The assignment, on which NCU the setpoints for which machine axis are created, is variable

for container link axes. A container link axis can therefore be traversed alternatively by each

NCU of the link group. See Section "Axis container (Page 101)".

Irrespective of the assignment described above, the logical machine axis can be made known

to the link axis of several channels on the NCU generating the setpoint and then functionally

handled as a local logical machine axis, e.g. master value for position/feed couplings, NCU-

local axis interchange.

3.1.2.4

Lead link axes

If in conjunction with the coupling functions of the generic coupling, all interpolators, i.e. the

setpoint-creating/processing channels, the leading and following axes/spindles, are on the

same NCU, the use of a lead link axis is not required. The machine axes of the leading and/

or following axes/spindles can also be connected link axes to different NCUs.

Application

A lead link axis is always required when not all interpolators of a coupling group are on the

same NCU. The lead link axis provides an image of the leading axis/spindle or the master

value for the local interpolators, on another NCU. Starting from this master value, the setpoints

of the following axes/spindles are then generated by the interpolators on this NCU.

Further application

A lead link axis is also used if more machine axes are involved in a coupling than are available

absolutely or relatively on an NCU for the coupling.

References

Special Functions Function Manual, Section "Axis couplings (M3)" > "Generic coupling"

3.1.2.5

Dependencies

In order that several axes can be traversed in an interpolatary relationship, it is essential that

the setpoints generated by the interpolator of the traversing channel be transferred to the

position control at the same time.

During the transfer of the setpoints via the NCU link, for example, for a link axis there is a delay

of one interpolator cycle in relation to the setpoint of a local axis. The delay must be

compensated by a suitable increase of the buffer between the interpolator and the position

controller :

Extended Functions

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3.1 Brief description

MD18720 $MN_MM_SERVO_FIFO_SIZE = <value> = <default value + compensation

value>

Function

Compensation value

Link axis

One interpolator cycle must be compensated on all NCUs with axes that in-

terpolate with a link or container link axis.

Container-link axis

Compensation value = 1

Lead-link axis

Two interpolator cycles must be compensated on the NCU of the leading axis

that generates the setpoints for the lead link axis.

Compensation value = 2

Note

In contrast to lead link axes, link and container link axes require another compensation value

(MD18720 $MN_MM_SERVO_FIFO_SIZE). With simultaneous use of link or container link

axes and lead link axes within a link group, the delays cannot be compensated.

3.1.2.6

Application example: Rotary indexing machine

On the basis of rotary cycle machine with two NCUs, the application of the "NCU Link" function

is shown as example. The principal units of the rotary indexing machine are:

● MTR rotary axis for the rotary table

● MS1 - MS4 spindles

● Machining stations 1 and 2, each with the X1 and Z1 linear axes

● Loading and unloading station

All of the machine axes remain permanently assigned to their particular NCU. The same axes

(X and Z) and spindles (S1) are always addressed in the machining program of the relevant

NCU.

The workpiece status is represented schematically after each machining step.

For each machining step, the rotary table (MTR) advances one position counter-clockwise.

This so assigns the spindles to another station for each machining step. The changing

relationships of the spindles defined in the channels to the machine axes are represented as

an axis container in the NCU.

If the machine axis of a spindle is not contained on its own NCU, the spindle setpoints are

transferred by link communication to the associated NCU and output there at the machine axis.

Extended Functions

Function Manual, 12/2018, A5E40874029B AB

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3.1 Brief description

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Extended Functions

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3.2 NCU link

Parameterization (schematic)

General

Programmed channel axes in the part programs of both NCUs: X, Z, S1

NCU1

Machine axes defined in the NCU:

Local:

X1, Z1

Axis container:

MS1, MS2

NCU2

Machine axes defined in the NCU:

Local:

X1, Z1

Axis container:

MS3, MS4

Initial setting

Rotation of the MTR (rotary table) rotary axis

by one position

(Fig. 1)

(Fig. 2)

NCU1

Machining station 1: X1, Z1, MS2

Diagram showing the channel axes programmed in the part program:

X → X1 and Z → Z1

S1 → MS2

S1 → MS1

NCU2

Machining station 2: X1, Z1, MS2

Diagram showing the channel axes programmed in the part program:

X → X1 and Z → Z1

S1 → MS3

S1 → MS2 (link axis)

3.2

NCU link

3.2.1

Link communication

3.2.1.1

General information

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Link communication (principle)

Extended Functions

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3.2 NCU link

The NCU-link communication cycle allows an interpolator clock-synchronous cross-NCU data

exchange for the following applications:

● Cross-NCU link variables $A_DLx

All the NCUs involved with the NCU-link communication have a common view of the link

variables because they are exchanged via the NCU link interpolator cycle clock-

synchronous between the NCU of the link group.

● Cross-NCU traversing of axes and spindles using link axes and container-link axes

If single or interpolation axis traversal is made from a channel of an NCU, NCU-link setpoints

can also be transferred to axes physically connected to another NCU of the link group.

These axes are designated as link axes.

● Cross-NCU master value coupling of axes and spindles using lead-link axes

NCU1 traverses axis X1 (leading axis), the setpoints are transferred to a link axis of NCU2

(lead-link axis) via the NCU link. Coupling of axis X2 is realized in NCU2 on this lead-link

axis. This means axis X2 is indirectly the following axis of X1.

Data transfer

Depending on the active functions, the following cyclic and non-cyclical data transmissions

occur between the NCUs involved with the link communication:

● High-priority, cyclic data transfer:

- Setpoints, actual values and status signals of the axes

- NCU status signals

● High-priority, non-cyclic, non-displaceable data transfer:

- Non-safety-related data as part of the Safety Integrated function

- States of the container axes during an axis container rotation

● Low-priority, non-cyclic, displaceable data transfer (listed in order of decreasing priority):

- Link variables

- Warm restart requirements

- Activation of axis container rotations

- Changes in NCU-global machine and setting data

- Activation of the axial machine data for link axes

- Alarms

Displacement

If for low-priority, non-cyclic, displaceable data transmission not all requirements can be sent

in a single interpolator cycle, the request with higher priority displaces that with a lower priority.

The requirements with lower priority are then sent at a later point in time.

Extended Functions

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3.2 NCU link

Quantity structure: NCU 7x0.3 PN

As standard, a maximum of three NCUs can be interconnected to form a link group.

Note

For a specific project, on request to your local regional Siemens representative an NCU-link

group with more than three NCUs is possible. Without project-specific supplements, more than

three NCUs are rejected with Alarm 380020.

NCU link and Safety Integrated

The following figure shows a constellation with two NCUs and two machine axes, of which the

MA2 machine axis of the NCU2 is traversed as link axis for NCU1. The Safety Integrated

function monitors the safety-related aspects of both axes.

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NCU link and Safety Integrated

The safety-related input signals (F_DI) of both NCUs can be acquired, linked via the safe

programmable logic (SPL) and exchanged using the safety-related CPU-CPU communication

(FSend/FRecv).

Extended Functions

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3.2 NCU link

As part of the Safety Integrated function, the NCU-link communication permits the single-

channel non-safety-related transfer of link axis data for Safety Integrated-supporting functions.

Examples:

● Interpolatory braking for an implicit Stop D of all traversing axes, including the link axes, in

the channel.

● Reduce the speed of all axes traversing in the channel, including link axes, for a change

of the safe speed.

Safety Integrated acceptance test and NCU link

The Acceptance Test wizard (ATW) is generally used to perform the acceptance test

separately for each NCU. Only alarms on the home NCU of the axis are displayed for link axes.

To make the ATW also check alarms for link axes, the ATW must be told the safety-relevant

NCU connected via the NCU link. For this purpose, these must be entered in the

NETNAMES.INI file on the PG/PCU on which the ATW runs.

Example: Entries in the NETNAMES.INI file for NCU link with two safety-relevant NCUs

Adapt file: NETNAMES.INI (excerpt)

[own]

owner = HMI_1

[conn HMI_1]

conn_1= NCU_1

conn_2= NCU_2

[param HMI_1]

mmc_address = 1

[param network]

[param NCU_1]

nck_address= 192.168.214.2,LINE=10,NAME=/NC,SAP=030d,PROFILE=CLT1__CP_L4_INT

plc_address= 192.168.214.2,LINE=10,NAME=/PLC,SAP=0201,PROFILE=CLT1__CP_L4_INT

ADDRESS2=

192.168.214.2,LINE=10,NAME=/CP,SAP=0501,PROFILE=CLT2__CP_L4_INT

ADDRESS10=

192.168.214.2,LINE=10,NAME=/

DRIVE_00_000,SAP=0201,SUBNET=0000-00000000:000,PROFILE=CLT2__CP_L4_INT

ADDRESS11=

192.168.214.2,LINE=10,NAME=/DRIVE_03_003,SAP=0900,PROFILE=CLT2__CP_L4_INT

ADDRESS12=

192.168.214.2,LINE=10,NAME=/DRIVE_03_011,SAP=0B00,PROFILE=CLT2__CP_L4_INT

ADDRESS13=

192.168.214.2,LINE=10,NAME=/DRIVE_03_012,SAP=0C00,PROFILE=CLT2__CP_L4_INT

ADDRESS14=

192.168.214.2,LINE=10,NAME=/DRIVE_03_013,SAP=0D00,PROFILE=CLT2__CP_L4_INT

ADDRESS15=

192.168.214.2,LINE=10,NAME=/DRIVE_03_014,SAP=0E00,PROFILE=CLT2__CP_L4_INT

ADDRESS16=

192.168.214.2,LINE=10,NAME=/DRIVE_03_015,SAP=0F00,PROFILE=CLT2__CP_L4_INT

name=Machine_1

[param NCU_2]

nck_address= 192.168.214.1,LINE=10,NAME=/NC,SAP=030d,PROFILE=CLT1__CP_L4_INT

plc_address= 192.168.214.1,LINE=10,NAME=/PLC,SAP=0201,PROFILE=CLT1__CP_L4_INT

ADDRESS2=

192.168.214.1,LINE=10,NAME=/CP,SAP=0501,PROFILE=CLT2__CP_L4_INT

ADDRESS10=

192.168.214.1,LINE=10,NAME=/

DRIVE_00_000,SAP=0201,SUBNET=0000-00000000:000,PROFILE=CLT2__CP_L4_INT

ADDRESS11=

192.168.214.1,LINE=10,NAME=/DRIVE_03_003,SAP=0900,PROFILE=CLT2__CP_L4_INT

ADDRESS12=

192.168.214.1,LINE=10,NAME=/DRIVE_03_011,SAP=0B00,PROFILE=CLT2__CP_L4_INT

ADDRESS13=

192.168.214.1,LINE=10,NAME=/DRIVE_03_012,SAP=0C00,PROFILE=CLT2__CP_L4_INT

ADDRESS14=

192.168.214.1,LINE=10,NAME=/DRIVE_03_013,SAP=0D00,PROFILE=CLT2__CP_L4_INT

ADDRESS15=

192.168.214.1,LINE=10,NAME=/DRIVE_03_014,SAP=0E00,PROFILE=CLT2__CP_L4_INT

ADDRESS16=

192.168.214.1,LINE=10,NAME=/DRIVE_03_015,SAP=0F00,PROFILE=CLT2__CP_L4_INT

name=Machine_2

Extended Functions

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3.2 NCU link

References

The "Safety Integrated" function is described in detail in:

Function Manual for Safety Integrated

3.2.1.2

Link module

The NCU-link communication takes place via link modules A link module is an optional

PROFINET module for isochronous real-time communication (IRT) via Ethernet. The link

module can be used only for the NCU-link communication. It is not possible to use a link module

for general PROFINET communication.

The option slot is required on the NCU module for the link module.

Note

There is only one option slot on the NCU module. This prevents the parallel use of an NCU-

link module and other optional modules.

Link module and NCU modules

The Communication Board Ethernet CBE30-2 is available as link module for the "NCU710.3

PN", "NCU720.3 PN" and "NCU730.3 PN" NCU modules. The option slot is required on the

NCU module for the link module.

References

Manual NCU7x0.3 PN; "Connectable components" > "CBE30-2" section

3.2.1.3

Parameter assignment: NC system cycles

As basic requirement for link communication, the following system cycle clocks must be set

the same in all NCUs involved in the NCU group:

● Basic system cycle clock

● Position control cycle clock

● Interpolator cycle clock

Basic system cycle clock

The DP cycle set for isochronous communication in the STEP 7 project is used as basic system

cycle clock. The current basic system cycle clock is displayed in machine data:

Extended Functions

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3.2 NCU link

MD10050 $MN_SYSCLOCK_CYCLE_TIME

Note

Manual alignment across several communications buses

If several isochronous communication buses (PROFIBUS 1 ... n, PROFINET 1 ... m) have

been configured on an NCU, the same DP cycle time in STEP 7 HW Config must be set for

each communication bus.

Depending on the position control cycle clock

For the SINUMERIK 840D sl, the ratio between the basic system cycle clock and the position

control cycle clocks is fixed (1:1) and cannot be changed. Because only certain position control

cycle clocks can be set for the NCU link, only these position control cycle clocks can be set

as the basic system cycle clock or DP cycle time. See the next paragraph "Position control

cycle clock".

Position control cycle clock

The position control cycle clock is set as a ratio to the basic system cycle clock. For the

SINUMERIK 840D sl, the ratio is fixed (1:1) and cannot be changed. The current position

control cycle clock is displayed in the machine data:

MD10061 $MN_POSCTRL_CYCLE_TIME

Note

Permitted position control cycle clocks

For the NCU link, depending on the number of NCUs in the link group, only the following

position control cycle clocks [ms] are set:

●

2 NCU: 2.0, 2.5, 3.0, 3.5, 4.0

●

3 NCU: 3.0, 3.5, 4.0

See Section "Configuration (Page 87)".

Interpolator cycle clock

The interpolator cycle clock is set as a ratio of the basic system cycle clock. The setting is

made via the following machine data:

MD10070 $MN_IPO_SYSCLOCK_TIME_RATIO

The actual interpolator cycle clock is displayed in machine data:

MD10071 $MN_IPO_CYCLE_TIME

Extended Functions

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3.2 NCU link

Notes on setting

Cycle clock settings

It is recommended that the following settings are made:

● The default 90% setting for the CPU time share of the NC should be retained:

MD10185 $MN_NCK_PCOS_TIME_RATIO

● The system cycle clocks must be set so that the average system utilization caused by the

interpolator and the position controller does not exceed 60% in normal program operation.

As maximum value, 90% should be not be exceeded.

Note:

In special circumstances, maximum values > 100% can be displayed.

Lowest cyclic communication load

The lowest cyclic communication load during the Link communication results for a cycle ratio

of interpolator clock to position controller clock cycle of 1: 1. With activated "Dynamic Servo

Control (DSC)" drive function, this is generally the most effective setting.

Disadvantage: No telegram repetitions are possible for the link communication.

Time frame of the NC/PLC interface update

The following setting is active during the run-up of all NCUs involved in the link group:

MD18000 $MN_VDI_UPDATE_IN_ONE_IPO_CYCLE = 1

This causes the NC/PLC interface to be read and written completely in just one interpolation

cycle.

System utilization

The system utilization is displayed on the SINUMERIK Operate user interface, under:

"Diagnostics" operating area > "ETC key (">") > "System utilization"

Interpolator clock cycle and link variables

When parameterizing the system clock cycles, in addition to the maximum system utilization

values in the "worst-case" scenario, the expected maximum CPU time loading at the

interpolator level as a result of transferring link variables in productive operation must be taken

into account.

WARNING

Open-loop control failure due to CPU time overflow at the interpolator level

If, when parameterizing the NC, the interpolator clock cycle was set to short, then as a result

of the additional CPU time load due to transferring link variables, in productive operation CPU

time overflow can occur at the interpolator level.

References: Diagnostics Manual; Chapter "NC alarms" > Alarm 4240 "CPU time overflow at

the IPO or position controller level".

Extended Functions

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3.2 NCU link

3.2.1.4

Parameter assignment: Link communication

NC-specific machine data

Number

Identifier $MN_

Meaning

MD12510

NCU_LINKNO

Unique numerical identification of the NCU within the link group. The

identifiers must be assigned without any gaps in ascending ordering

starting from 1.

Value range: 1, 2, ... Maximum NCU number

Note:

The NCU to which the value 1 is assigned as NCU identification is the

master NCU of the link group. The parameterization of link axes and axis

containers may only be made with the machine and setting data of the

master NCU.

MD18780

MM_NCU_LINK_MASK.Bit 0

Activation of the link communication

MD18781

NCU_LINK_CONNECTIONS

Number of internal link connections

Note:

It is recommended to retain the default value 0 (determination of the

number by the NC).

MD18782

MM_LINK_NUM_OF_MODULES

Number of NCUs to be connected with one another via NCU link.

3.2.1.5

Configuration

The NC system software supplies specific configurations for each supported combination of

NCU number and position controller cycle of a link group (see section "Parameter assignment:

NC system cycles (Page 84)").

During the system startup, the appropriate configuration will be loaded (as specified by the

values parameterized in the machine data):

● MD18782 $MN_MM_LINK_NUM_OF_MODULES (number of NCUs of the line group))

● MD10061 $MN_POSCTRL_CYCLE_TIME (position controller cycle)

Note

For applications, in which the standard configurations that have been supplied cannot be used,

please contact your local Siemens sales person.

3.2.1.6

Wiring the NCUs

The numerical sequence of the NCUs within a link group is defined in the NCUs using the

following machine data:

MD12510 $MN_NCU_LINKNO = <NCU number>, with NCU number = 1 ... max. NCU number

Cabling

Starting from the NCU1, the NCU link modules should be wired up in the NCU number

sequence according to the following schematic: NCU(n), Port 0 → NCU(n+1), Port 1

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3.2 NCU link

1&8 /LQN YLD 352),1(7

1&8

/LQN PRGXOH

1&8

1&8Q

Figure 3-6

Wiring schematic, NCU link

3.2.1.7

Activation

The link communication is activated using the following machine data:

MD18780 $MN_ MM_NCU_LINK_MASK, Bit 0 = 1

Note

Activation time

It is recommended to activate the link communication only after complete commissioning of

the entire functionality on all participating NCUs has been done.

3.2.2

Link variables

Complex systems with several NCUs require for the complete system coordination of the

manufacturing processes a cyclic exchange of user-specific data between the NCUs. The data

exchange is performed via the link communication and a special memory area, the link

variables memory available for each NCU.

The size and data structure of the link variables memory can be specified for each specific

user. The data stored in the link variables memory is addressed using a special $A_DLx link

variables.

Link variables are therefore system-global user variables that can be read and written in part

programs and cycles by all NCUs involved in a link group if link communication has been

configured. Unlike global user variables (GUD), link variables can also be used in synchronized

actions.

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3.2 NCU link

1&8 /LQN YLD 352),1(7

1&8

/LQN

PRGXOH

/LQN PR

GXOH

&KDQQHO

/LQN YDULDEOH

PHPRU\

$B'/[> @

Figure 3-7

Link variables

Link variabls as NCU-global user variables

Note

If an NCU Is not a node of a link group or the link variables are not required for communication

via NCU link, the link variables can be used as the NCU-global user variables.

3.2.2.1

Properties of the link variables memory

Parameterizing the memory size

The size of the link variables memory in bytes is set with the following machine data:

MD18700 $MN_MM_SIZEOF_LINKVAR_DATA (size of the link variables memory)

The setting for the size of the link variables memory should be identical for all NCUs involved

in the link group. If the memory sizes are different, the largest value assigned is used.

Initialization

After an NCU is powered up, the link variables memory is initialized with 0.

Structure

From the point of view of the system, the link variables memory is an unstructured memory

area that is available for link communication purposes. The link variables memory is structured

by the user/machine manufacturer alone. Depending on how the data structure is defined, the

link variables memory is accessed by means of data format-specific link variables.

System-wide alignment

Once a link variables memory has been written to, the changes that have been made to the

data are transferred to the link variables memories of all other NCUs involved in the link group.

The link variables memories are usually updated by means of link communication within two

interpolation cycles.

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3.2 NCU link

3.2.2.2

Properties of the link variables

The link variables memory is accessed via the following data format-specific link variables:

Data type ¹⁾

Designation

Data format ²⁾

Bytes ²⁾

Index i ³⁾

Value range

UINT

$A_DLB[ i ]

BYTE

i = n * 1

0 ... 255

INT

$A_DLW[ i ]

WORD

i = n * 2

-32768 ... 32767

INT

$A_DLD[ i ]

DWORD

i = n * 4

-2147483648 ... 2147483647

REAL

$A_DLR[ i ]

REAL

i = n * 8

±(2,2*10^-308 … 1,8*10⁺³⁰⁸)

1) Data type of link variables when used in part program/cycle

2) Data format of link variables or number of bytes addressed by the link variables in the link variables memory

3) The following must be noted for index i:

●

Index i is a byte index that relates to the beginning of the link variables memory.

●

The index must be selected so that the bytes addressed in the link variables memory are located on a data format limit

⇒ index i = n * bytes, where n = 0, 1, 2, etc.

- $A_DLB[i]: i = 0, 1, 2, ...

- $A_DLW[i]: i = 0, 2, 4, ...

- $A_DLD[i]: i = 0, 4, 8, ...

- $A_DLR[i]: i = 0, 8, 16, ...

Write

A link variable is written with main-run synchronism.

Read

A preprocessing stop is initiated when a link variable is read.

Checks

The following checks are performed for the link variables and link variables memory:

● Observance of the value range limits

● Access to format limit

● Observance of defined memory area in link variables memory

The user/machine manufacturer is solely responsible for preventing the following errors:

● Accessing with incorrect data format

● Accessing the wrong address (index i)

● Reciprocal overwriting of the same data item by multiple channels of a single NCU or

different NCUs

● Reading a data item before it has been updated by a channel of its own NCU or of a different

NCU

Note

Data consistency

The user/machine manufacturer is solely responsible for ensuring data consistency within

the link variables memory, both on a local-NCU basis and across NCUs.

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3.2.2.3

Write elements

In the case of write access to the link variables memory (e.g. $A_DLB[4] = 21), what is known

as a link variables write element is required for managing the write process within the system.

The maximum number of write elements that are available for each interpolation cycle is set

by means of the following machine data:

MD28160 $MC_MM_NUM_LINKVAR_ELEMENTS

The maximum number of write elements thus restricts the number of link variables that can be

written during each interpolation cycle.

3.2.2.4

Dynamic response during write

The link variables are written with main-run synchronism. The new value may be read by the

other channels in its own NCU no later than the next interpolation cycle. It can be read in the

next part program block in its own channel.

The channels of the other NCUs in the link group normally see the new value after two

interpolation cycles. However, the limited bandwidth can lead to delays in transferring write

requests to the other NCUs in the link group (message delays). Causes for a message delay

can be:

● Writing a large number of link variables in an interpolation cycle

● Writing link variables and a the request for an axis container rotation in the same interpolator

cycle

● Writing link variables and transferring an alarm in the same interpolation cycle

3.2.2.5

System variable

NC-specific system variable

Identifier

Meaning

$AN_LINK_TRANS_RATE_LAST

The number of write requests that were still free in

the last interpolator cycle.

$AN_LINK_TRANS_RATE_LAST_SUM[<n>]

The number of write requests that were still free in

the last interpolator cycle in the send direction to

the specified NC <n> (NCU number).

$AN_LINK_CONN_SIZE_LINKVAR

The number of bytes to be transferred for a write

request of a link variable.

$AN_LINK_CONN_SND[<n>]

The maximum number of bytes that can be trans-

ferred per interpolator cycle from the current NCU

to the specified NCU.

$AN_LINK_CONN_RCV[<n>]

The maximum number of bytes that can be trans-

ferred per interpolator cycle from the specified

NCU to the current NCU.

<n>: NCU number according to MD12510 $MN_NCU_LINKNO of the relevant NCU

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3.2 NCU link

Note for: $AN_LINK_CONN_SIZE_LINKVAR

The writing of a link variable causes the number of bytes specified in

$AN_LINK_CONN_SIZE_LINKVAR to be transferred via the not-cyclic link communication.

The number is independent of the format of the link variables.

The maximum number of write requests that can be transferred to the specified NCU for each

interpolator cycle is calculated as:

Max. number of write requests = $AN_LINK_CONN_SND[<n>] /

$AN_LINK_CONN_SIZE_LINKVAR

Channelspecific system variable

Identifier

Meaning

$A_LINK_TRANS_RATE ¹⁾

Number of write requests that still can be transfer-

red in the current interpolator cycle.

1) Application example, refer to Section: "Synchronization of a write request (Page 92)"

3.2.2.6

Synchronization of a write request

If certain applications require the new value of a link variable to be transferred to the other

NCUs in the link group in precisely two interpolation cycles, writing to the link variable must be

made in a synchronized action. In the synchronized action, writing to the link variable is only

executed if in the actual interpolator cycle, the write request can still be executed. The

$A_LINK_TRANS_RATE system variable contains the number of write requests that can still

be transferred in the current interpolator cycle.

In the following example, a link variable, data type WORD (2 bytes) and a link variable, data

type DWORD (4 bytes), are written:

Program example

N120 WHEN $A_LINK_TRANS_RATE > 0 DO $A_DLW[0] = 9

N125 WHEN $A_LINK_TRANS_RATE > 0 DO $A_DLD[2] = 7

N130 G4 F1

The synchronized action in N120 is performed only when the write request can be transferred

in the same interpolator cycle to the other NCU of the link group. In this case, the

$A_LINK_TRANS_RATE system variable is also decremented in the same interpolator cycle

so that the updated value is available for the synchronized action in the following N125 block.

3.2.2.7

Example: Structure of the link variables memory

The following data are defined for the link communication:

Data format

Number

Bytes per data

Bytes required

BYTE

WORD

DWORD

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3.2 NCU link

Data format

Number

Bytes per data

Bytes required

REAL

required size of the link variables memory:

Memory structure

The data is arranged in the link variables memory as follows, with the data format limits taken

into account:

/LQN YDULDEOH PHPRU\

01B00B6,=(2)B/,1.9$5B'$7$

,QGH[

%<7(

:25'

':25'

Figure 3-8

Example: Structure of the link variables memory

Note

Memory structure

The data in the link variables memory is always arranged randomly and may therefore appear

different (although the data format limits will still be taken into account).

Access via a link variable must be programmed as follows, in accordance with the memory

structure defined:

Program code

Description

$A_DLB[0]

;

BYTE(1)

$A_DLB[1]

;

BYTE(2)

$A_DLW[2]

;

WORD

$A_DLD[4]

;

DWORD(1)

$A_DLD[8]

;

DWORD(2)

$A_DLD[12]

;

DWORD(3)

$A_DLR[16]

;

REAL

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3.2 NCU link

3.2.2.8

Example: Read drive data

Task

A system contains two NCUs (NCU1/NCU2). The NCUs are connected via the NCU link. The

MA2 machine axis of NCU1 (drive 2) travels in interpolation mode as link axis for NCU2. The

actual current value of drive 2 should be transferred for evaluation from NCU1 to NCU2. The

figure below shows the basic design of the system.

1&8 OLQN YLD 352),1(7

1&8

/LQN PRGXOH

/RJ PDFKLQH D[LV LPDJH

01B$;&21)B/2*,&B0$&+$;B7$%

0DFKLQH D[HV

01B$;&21)B0$&+$;B1$0(B7$%

Requirement

The actual current value for drive 2 (NCU1/MA2) can be read via the $VA_CURR system

variable. In the case of PROFIdrive-based drives, the following machine data item needs to

be set for this purpose:

MD36730 $MA_DRIVE_SIGNAL_TRACKING = 1 (acquisition of additional actual drive values)

Setting the machine data makes the following drive actual values available:

● $AA_LOAD, $VA_LOAD (drive capacity utilization in %)

● $AA_POWER, $VA_POWER (drive active power in W)

● $AA_TORQUE, $VA_TORQUE (drive torque setpoint in Nm)

● $AA_CURR, $VA_CURR (actual current value of axis or spindle in A)

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3.2 NCU link

Programming

NCU1

A static synchronized action is used to write cyclically in the interpolation cycle the actual

current value $VA_CURR of axis 2 (NCU1/MA2) via the link variable $A_DLR[0] (REAL value)

to the first 8 bytes of the link variables memory:

Program code

IDS=1 WHENEVER TRUE DO $A_DLR[0]=$VA_CURR[MA2]

NCU2

With a static synchronized action, the transferred actual current value is read cyclically in the

interpolator cycle via link variable $A_DLR[0]. If the actual current value is greater than 23 A,

alarm 61000 is displayed.

Program code

IDS=1 WHEN $A_DLR[0] > 23.0 DO SETAL(61000)

3.2.3

Link axes

3.2.3.1

General information

A link axis is designated as a machine axis for which the setpoints are generated by a different

NCU than that to which the machine axis is physically connected. Link axes in conjunction with

axis containers (see Section "Axis container (Page 101)") permit in complex plants, such as

rotary indexing machines with several NCUs, the alternate use of machine axes of the NCU

of the link group.

The following figure shows as example an MA1 machine axis connected to the NCU1. The

MA2 machine axis is connected to the NCU2. The X and Z channel axes travel in interpolation

mode by a part program that runs in a channel of NCU1. The setpoints are generated in the

NCU1 interpolator. For machine axis MA1, they are forwarded to the position control of the

NCU1. For machine axis MA2, they are transferred via the NCU link to the position control of

the NCU2 and output there to the drive.

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3.2 NCU link

1&8 OLQN

1&8

&KDQQHO

)

;

&KDQQHO D[HV

0&B$;&21)B&+$1$;B1$0(B7$%

/RJ PDFKLQH D[LV LPDJH

01B$;&21)B/2*,&B0$&+$;B7$%

0DFKLQH D[HV

01B$;&21)B0$&+$;B1$0(B7$%

/RFDO D[LV

/LQN D[LV

Figure 3-9

Link axes

Requirement

The use of link axes requires a link communication defined in accordance with "Section Link

communication (Page 80)".

Home NCU

The home NCU of a link axis is the NCU on which it is physically connected as machine axis.

The position control and the exchange of axial NC/PLC interface signals of a link axis always

occurs on the home NCU. The generation of the setpoint can in principle be performed on any

NCU of the link group.

In the above figure:

● NCU1: Home NCU of machine axis MA1

● NCU2: Home NCU of machine axis MA2

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3.2 NCU link

3.2.3.2

Name of a link axis

The name of a link axis is composed of the identifier for the home NCU on which the machine

axis is physically connected and the general machine axis name AXn:

NC<ID>_<axis>

<ID>:

Identification of the NCU of the link group in accordance with:

MD12510 $MN_NCU_LINKNO

See Section "Parameter assignment: Link communication (Page 87)"

<axis>:

General machine axis name: AX1, AX2, AX3, ...

3.2.3.3

Parameterization

Assignment: Geometry axis or special axis to link axis

Direct assignment

A geometry or special axis can be assigned directly to a link axis in the logical machine axis

image by specification of the link axis name:

MD10002 $MA_AXCONF_LOGIC_MACHAX_TAB[ <axis>] = <link axis>

Parameters

Meaning

<axis>:

Machine axis index: 0, 1, 2, … (max. number of machine axes - 1)

<link axis>:

Name of the link axis: NCx_AXy, see Section "Name of a link axis (Page 97)"

Indirect assignment

A geometry or special axis can be assigned to a link axis indirectly in the logical machine axis

image by specification of a container slot. The container slot then contains the actual name of

the link axis, as described above. This is called a container-link axis. See also Section: "Axis

container (Page 101)".

Synchronous setpoint output

A delay of one interpolator cycle results during the transfer of the setpoints of a link axis for

the setpoint-generating NCU to the home NCU. To ensure that the setpoints for the

interpolation of local axes and link axes are output to the drives at exactly the same time, this

delay must be compensated. To do this, on the setpoint-generating NCU, the number of buffer

elements of the buffer between the interpolator and the position controller must be set one

element larger than the number of buffer elements of the home NCU:

MD18720 $MN_MM_SERVO_FIFO_SIZE= 3

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3.2 NCU link

Example

1&8

*HRPHWU\ D[LV QDPH

*HRPHWU\ D[HV XVHG LQ WKH FKDQQHO

&KDQQHO D[LV QDPH

0&B$;&21)B*(2$;B1$0(B7$%

0&B$;&21)B*(2$;B$66,*1B7$%

0&B$;&21)B&+$1$;B1$0(B7$%

&KDQQHO

;

&KDQQHO

VW JHRPHWU\ D[LV > @

;

VW FKDQQHO D[LV > @

;

QG JHRPHWU\ D[LV > @

QG FKDQQHO D[LV > @

UG FKDQQHO D[LV > @

UG JHRPHWU\ D[LV > @

0DFKLQH D[HV XVHG LQ WKH FKDQQHO

/RJLFDO PDFKLQH D[LV LPDJH

0&B$;&21)B0$&+$;B86('

01B$;&21)B/2*,&B0$&+$;B7$%

&KDQQHO

Figure 3-10

Example: Parameterization of link axes

Channel 1

The local AX1/AX2 machine axes of the NCU1 are assigned to the X/Z geometry axes.

Channel 2

The NC2_AX1/NC2_AX2 link axes of the NCU2 are assigned to the X/Z geometry axes.

3.2.3.4

Auxiliary function output for spindles

During program execution and after block search with "search via program test" (SERUPRO),

the pre-defined auxiliary functions S, M3, M4, M5, M19 and M70 are output channel-specific

on the NCU on which the spindle has been programmed and also axis-specific on the home

NCU.

Output of the channel-specific auxiliary functions

● DB21, ... DBW68 (extended address of the M function)

● DB21, ... DBD70 (M function 1)

● DB21, ... DBW98 (extended address of S function 1)

● DB21, ... DBD100 (S function 1)

Output of the axis-specific auxiliary functions

● DB31, ... DBD78 (F function for axis)

● DB31, ... DBW86 (M function for spindle)

● DB31, ... DBD88 (S function for spindle)

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References

Detailed information about the auxiliary function output can be found in:

Function Manual, Basic Functions, "Help function outputs to the PLC (H2)" section

3.2.3.5

Supplementary conditions

Maximum number of machine axes

Even for the use of link axes, as previously, the maximum number of concurrently-usable

geometry and special axes as well as machine axes are still available for each NCU type.

"Lead link axes and "link axes" functions

As the functions "lead link axes" and "link axes" require different settings in machine data

MD18720 $MN_MM_SERVO_FIFO_SIZE, they cannot be used within a link group at the same

time.

Alarms: General behavior

If an error is detected at the position control level of the home NCU of a link axis and the

relevant alarm does not have "NC not ready" as response, the alarm is transferred via the NCU

link to the setpoint-generating NCU and then output.

Alarms: Behavior for emergency stop

If an emergency stop request is activated for an NCU via the NC/PLC interface, all axes

physically connected to this NCU will be switched to the "follow-up" mode. This also affects

link axes whose setpoints are currently generated by other NCUs. Under the assumption that

no further practical machining operations are then possible on these NCUs, an additional alarm

will be generated that stops all dependent axis movements.

Alarm acknowledgement

This additional alarm must be acknowledged by an NC reset. If the original alarm is still active

at this time, although the additional alarm can be acknowledged, an additional self-clearing

alarm will be generated that prevents a traversal of the axes or a program start until the original

alarm has been acknowledged.

Alarms: Response for "NC not ready" alarm response

If an error is detected at the position control level of the home NCU of a link axis and the

relevant alarm does not have "NC not ready" as response, the alarm is transferred to the

setpoint-generating NCU via the NCU link and output there. The alarm output is also made on

the home NCU.

Under the assumption that no further practical machining operations are then possible on the

setpoint-generating NCU, an additional alarm will be generated that stops all dependent axis

movements.

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3.2 NCU link

Alarm acknowledgement

See alarm acknowledgement under "Alarms: Behavior for Emergency Stop"

Alarms: Behavior for "Mode group not ready" alarm response

If an error is detected within a mode group with several channels and the relevant alarm has

"Mode group not ready" as response, this causes the traversing movements in all channels of

the mode group to stop. If the traversing movements are generally independent of each other,

the response via the following machine data item can be changed to "Channel not ready":

MD11412 $MN_ALARM_REACTION_CHAN_NOREADY = TRUE

Effect

In the NC/PLC interface, instead of signal DB11 DBX26.3 (mode group ready), the signal

DB21, DBX36.5 (channel ready), is reset.

Advantage

The alarm response remains limited to the channel in which the error is detected. If required,

the PLC user program can initiate further responses.

Requirement

There is no higher-priority alarm response than "Mode group not ready".

Compensations

The following compensations are not available:

● Link axes: Quadrant error compensation (QEC)

● Container link axes: Sag compensation (CEC)

Switch-off an NCU in a link group

If an NCU in a link group is switched off, the machining on all other NCUs of the link group will

be cancelled and an alarm issued.

Powering up an NCU group

If an NC reset is triggered on an NCU in a link group, it will also be transferred to all other

NCUs of the link group so that all NCUs of the link group perform a warm restart.

Nibbling and punching technologies

The fast inputs/outputs required for the nibbling and punching must be connected and

parameterized on the NCU on which the part program is processed and the axes interpolated.

The commands for "High-speed nibbling and punching", e.g. PONS and SONS, are not available

for link axes.

Extended Functions

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3.2 NCU link

Frames

A link axis is permitted in a Frame command only when it is a geometry axis. The Frame

command changes only the geometry in the channel to which the link axis is currently assigned.

Speed/torque coupling, master-slave

The drives of all axes/spindles of a master-slave group must be connected to the same NCU.

The master axis can, however, be traversed as link axis for the channel of another NCU.

3.2.4

Axis container

3.2.4.1

General information

An axis container is a circular data structure with a parameterized number of elements. These

elements together with axis containers, are designated as slots (Slot 1, Slot 2, ... Slot n). The

slots allow a variable assignment of geometry and/or special axes to machine axes. The entry

in a slot can reference an NCU-local machine axis (container axis) or a link axis (container-link

axis).

The following figure shows an axis container with four slots. The container axes refer in the

current position of the axis container to the following machine axes:

Container axis

Machine axis

CT1_SL1

NCU 1: AX1

CT1_SL2

NCU 1: AX2

CT1_SL3

NCU 2: AX1

CT1_SL4

NCU 2: AX2

$[LV FRQWDLQHU &7

6ORW

Figure 3-11

Example: Axis container CT1 with four slots

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3.2 NCU link

Rules

The following rules must be observed with regard to axis containers:

● All machine axes of an axis container may be assigned to just one channel axis at any one

time.

● Multiple slots of an axis container must not reference the same machine axis.

● At any one time, only one channel is authorized to write to a machine axis, directly or via

a container axis.

● Several geometry and/or special axes of a channel can also be assigned to the container

axes of an axis container.

Assignment: Geometry or special axis → container axis

In the logical machine axis image MD10002 $MN_AXCONF_LOGIC_MACHAX_TAB, a

container axis can be assigned as a machine axis via container and slot to a geometry or

special axis, e.g. CONTAINER "CT1", slot "1":

MD10002 $MN_AXCONF_LOGIC_MACHAX_TAB[ n ] = CT1_SL1

During the traversing of the geometry or special axis, the machine axis assigned at this time

to slot 1 then traverses.

Axis container rotation

An axis container rotation is always performed when all channels involved on the axis container

have granted their enable with a program command. After the axis container rotation, other

machine axes are assigned to the geometry or special axes of the channels.

The setting data specifies the increment of an axis container rotation.

See Section "Parameterization (Page 104)".

Axis container name

The following program commands can be addressed via the axis container name (<axis

container>):

● Program commands:

- AXCTSWE(<axis container>)

- AXCTSWED(<axis container>)

- AXCTSWEC(<axis container>)

Extended Functions

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3.2 NCU link

The following names are possible:

CT<container number>: The number of the axis container is attached to the CT letter

combination.

Example: CT3

<container name>:

Individual name of the axis container set using

MD12750 $MN_AXCT_NAME_TAB

Example: A_CONT3

<axis name>:

Axis name of a container axis which is known in the channel in-

volved.

Implicit wait

There is an implicit wait for the completion of a requested axis container rotation if one of the

following events has occurred:

● Part program language commands which will cause a container axis assigned to this axis

container in this channel to move

● GET(<channel axis name>) on a corresponding container axis

● The next AXCTSWE(<axis container>) for this axis container

Note

Even an IC(0) will result in a wait including synchronization where necessary (block-by-

block change in addressing according to incremental dimension even though an absolute

dimension has been set globally).

Synchronization with axis position

If the new container axis assigned to the channel after a container rotation does not have the

same absolute machine position as the previous axis, then the container is synchronized with

the new position (internal REORG).

Note

SD41700 $SN_AXCT_SWWIDTH[<axis container>] is only updated for a new configuration.

If, after incremental rotation of the RTM/MS, the position of a circuit before the initial position

is reached, the container can be rotated normally in the forward direction to reach the initial

position of the container again. The drum or rotary table must however be turned back to the

original position, so that measuring and supply cables are not twisted.

See also

Programming (Page 110)

3.2.4.8

Supplementary conditions

Axis mode

If a container axis in axis mode or as a positioning spindle (POSA, SPOSA) traverses, the axis

container rotates only after reaching the programmed end position.

Spindle

● A container axis active as a spindle continues to rotate during an axis container rotation.

● The control type of a spindle (speed / position control) refers to the associated machine

axis. The set control type "moves" with the machine axis when an axis container rotates.

● For commands that refer to the master spindle of the channel, a machine axis with the

corresponding spindle number must exist in the channel at the time of execution of the

command:

MD35000 $MA_SPIND_ASSIGN_TO_MACHAX[ <axis>] == number of the master spindle

Note

It is the sole responsibility of the user / machine manufacturer to ensure for spindles as

container axes that an appropriate machine axis must still exist in the channel after an axis

container rotation for the master spindle.

Work offsets

Note

It is the sole responsibility of the user / machine manufacturer to ensure that after an axis

container rotation the effective work offsets in the channel are adapted to the changed machine

axis assignments.

Continuous-path mode

If continuous-path mode is active in the channel and an axis container rotation is performed,

a subsequent programming of a container axis interrupts the continuous-path mode. The

interruption also occurs even when the container axis not a path axis.

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3.2 NCU link

PLC axis

If a container axis whose axis container has been enabled for rotation becomes a PLC axis,

the status change occurs only after completion of the axis container rotation.

Command axis

If a container axis whose axis container has been enabled for rotation traverses as a command

axis, the traversing movement is performed only after completion of the axis container rotation.

Oscillating axis

If a container axis whose axis container has been enabled for rotation becomes an oscillation

axis, the status change occurs only after completion of the axis container rotation.

External work offset

The "external work offset" is based on the machine coordinate system (MCS). Therefore, for

an active "external work offset", one of the container axes rejects the axis container rotation

with alarm 4022.

Axial frames

The axial frame of a channel axis, which is also a container axis, is no longer valid after an

axis container rotation. Since the axis container rotation assigns a new machine axis to the

channel axis, but the axial frame is referred to a machine axis, the rotation also changes the

axial frame. If the two frames do not coincide, a synchronization process (internal REORG) is

performed.

Note

The assignment between a channel axis and a machine axis is altered by the axis container

rotation. The current frames remain unchanged after a rotation. The user is responsible for

ensuring that the correct frames are selected after a rotation by programming basic frame

masks, for example.

Transformation

If a container axis is involved as a spindle in a transformation, the transformation must be

deselected before the enable of the axis container rotation.

Axis couplings

If an axis coupling is active for a container axis, the coupling with COUPOF must be deselected

before the enable of the axis container rotation. After completion of the rotation, the coupling

can be immediately selected again with COUPON. A new define of the coupling is not required.

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3.2 NCU link

Gantry axis

A gantry axis cannot be a container axis.

Travel to fixed limit

If a container axis is at the limit stop, no axis container rotation can be performed.

Drive alarms

If a drive alarm is pending for a container axis, the axis container rotation is not performed.

3.2.5

Lead link axes

3.2.5.1

General information

If, for an axis coupling, the the machine axes of the leading and following axes are not

connected to the same NCU, the coupling must be established using a link axis of the NCU of

the following axis. In this case, the link axis is designated as lead-link axis.

The setpoints of the master axis are transferred synchronously in the interpolator cycle via the

NCU link to the lead-link axis. Similarly, in the opposite direction, the actual values and the

status data of the lead-link and the following axis are transferred to the leading axis.

The lead-link axis is parameterized as local leading axis of the following axis.

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3.2 NCU link

Coupled axes

Lead link axes can be used in conjunction with following axis couplings:

● Master value coupling

● Coupled motion

● Tangential tracking

● Electronic gear (ELG)

● Synchronous spindle

Requirement

The NCU must communicate via the NCU link. See Section "Link communication (Page 80)"

3.2.5.2

Parameterization

Link communication

NC-specific machine data

Number

Identifier $MN_

Meaning

MD12510

NCU_LINKNO

Unique numerical identification of the NCU within the link group. The

identifiers must be assigned without any gaps in ascending ordering

starting from 1.

Value range: 1, 2, ... Maximum NCU number

Note:

The NCU to which the value 1 is assigned as NCU identification is the

master NCU of the link group. The parameterization of link axes and axis

containers may only be made with the machine and setting data of the

master NCU.

MD18780

MM_NCU_LINK_MASK.Bit 0

Activation of the link communication

MD18781

NCU_LINK_CONNECTIONS

Number of internal link connections

Note:

It is recommended to retain the default value 0 (determination of the

number by the NC).

MD18782

MM_LINK_NUM_OF_MODULES

Number of NCUs to be connected with one another via NCU link.

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Setpoint synchronization

NC-specific machine data

Number

Identifier $MN_

Meaning

MD18720

MM_SERVO_FIFO_SIZE

Size of the IPO/SERVO data buffer

The transfer of the setpoints of the leading axis via the NCU link to the

NCU of the lead-link axis produces a deadtime of two interpolator cycles.

The dead time is compensated by parameterizing the sizes of the IPO/

SERVO data buffer on the NCU of the leading axis and the NCU of the

lead-link axis:

● NCU of the leading axis: 4

● NCU of the lead-link axis: 2

Note

With the simultaneous use of lead link axes and cross-NCU axis containers, the axis container

means machine data MD18720 $MN_MM_SERVO_FIFO_SIZE = 3 must be set. This means

a synchronous output of the setpoints for leading and following axis is not possible. The offset

then has the size of one interpolator cycle.

Leading, lead-link and following axis

NC-specific machine data

Number

Identifier $MN_

Meaning

MD10000

AXCONF_MACHAX_NAME_TAB

Machine axis name

MD10002

AXCONF_LOGIC_MACHAX_TAB

Logical machine axis image

Channel-specific machine data

Number

Identifier $MC_

Meaning

MD20070

AXCONF_MACHAX_USED

Used machine axis

Axis-specific machine data

Number

Identifier $MA_

Meaning

MD30554

AXCONF_ASSIGN_MASTER_NCU

Master NCU

If a machine axis can be traversed for several NCUs, one NCU must

be defined as master NCU. The setpoint generation is made after the

startup of the control for this NCU.

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3.2 NCU link

3.2.5.3

System variables to enter a leading value

Leading values can be specified on the NCU of the leading axis using the following system

variable:

● Position leading value: $AA_LEAD_SP[<leading axis>]

● Velocity leading value: $AA_LEAD_SV[<leading axis>]

When making a change, the values are also transferred to the NCU of the following axis per

NCU link.

Note

These system variables have a lower transfer priority than those of the link variables.

3.2.5.4

Supplementary conditions

The following supplementary conditions must be observed:

● The leading axis cannot be a link axis

● The leading axis cannot be a container axis

● The leading axis cannot be a gantry axis

● The leading axis may only be replaced within its own NCU (see Section "K10: Cross-

channel axis interchange (Page 387)")

● Couplings with lead link axes must not be cascaded

● A lead link axis must not be traversed independently of the leading axis

Note

"Lead link axes and "link axes" functions

Because the "lead link axes and "link axes" functions require different settings in machine

data: MD18720 $MN_MM_SERVO_FIFO_SIZE, they cannot be used simultaneously within

a link group.

3.2.5.5

Example

A detailed example for parameterizing and programming an axis coupling with lead-link axis

is provided in the Section: "Examples" > "Lead link axis (Page 135)".

3.2.6

System of units within a link group

For a cross-NCU interpolation, the same system of units must be active on all NCUs of the

link group.

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3.3 Examples

Common system of units changeover via HMI

The following conditions must be fulfilled for all NCUs of the link group in order that a system

of units changeover can be made from the HMI user interface of an NCU of the link group as

well as on all other NCUs of the link group:

● MD10260 $MN_CONVERT_SCALING_SYSTEM = 1

● For all channels:

MD20110 $MC_RESET_MODE_MASK, Bit 0 = 1

● All channels are in the reset state

● No axis is traversed in the JOG or DRF mode or via the PLC

● The function "constant grinding wheel peripheral speed (GWPS)" is not active.

If, on one NCU of the link group, one of the specified conditions is not fulfilled, then the system

of units changeover is not made on any of the NCUs of the link group.

Different systems of units

Different systems of units are possible in spite of an active link group, as long as no cross NCU

interpolation takes place. The system of units settings are made for a specific NCU in the part

program or synchronous action using G commands (G70, G71, G700, G710).

References

Function Manual, Basic Functions; Velocities, Setpoint-Actual Value Systems, Closed-Loop

Control (G2)

3.3

Examples

3.3.1

Link axis

Parameter example for two NCUs each with a link axis

NCU1

Machine data

Note

General link data:

$MN_NCU_LINKNO = 1

Master NCU

$MN_MM_NCU_LINK_MASK = 1

Set NCU-link active

$MN_MM_SERVO_FIFO_SIZE = 3

Size of the data buffer between interpolation and position con-

trol

$MN_MM_LINK_NUM_OF_MODULES = 2

Number of link modules

Logical machine axis image (LAI):

$MN_AXCONF_LOGIC_MACHAX_TAB[0] = "AX1"

Local machine axis

$MN_AXCONF_LOGIC_MACHAX_TAB[1] = "AX2"

Local machine axis

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3.3 Examples

Machine data

Note

$MN_AXCONF_LOGIC_MACHAX_TAB[2] = "NC2_AX3"

Link axis

Machine axis name, unique system-wide as NCU identifier:

$MN_AXCONF_MACHAX_NAME_TAB[0] = "NC1_A1"

$MN_AXCONF_MACHAX_NAME_TAB[1] = "NC1_A2"

$MN_AXCONF_MACHAX_NAME_TAB[2] = "NC1_A3"

Assignment of channel axis to machine axis:

$MC_AXCONF_MACHAX_USED[0] = 1

1. Channel axis to the machine axis of LAI[0]

$MC_AXCONF_MACHAX_USED[1] = 2

2. Channel axis to the machine axis of LAI[1]

$MC_AXCONF_MACHAX_USED[2]=3

3. Channel axis to the machine axis of LAI[2]

NCU2

Machine data

Note

General link data:

$MN_NCU_LINKNO = 2

Slave NCU

$MN_MM_NCU_LINK_MASK = 1

Set NCU-link active

$MN_MM_SERVO_FIFO_SIZE = 3

Size of the data buffer between interpolation and position con-

trol

$MN_MM_LINK_NUM_OF_MODULES = 2

Number of link modules

Logical machine axis image (LAI):

$MN_AXCONF_LOGIC_MACHAX_TAB[0] = "AX1"

Local machine axis

$MN_AXCONF_LOGIC_MACHAX_TAB[1] = "AX2"

Local machine axis

$MN_AXCONF_LOGIC_MACHAX_TAB[2] = "NC1_AX3"

Link axis

Machine axis name, unique system-wide as NCU identifier:

$MN_AXCONF_MACHAX_NAME_TAB[0] = "NC2_A1"

$MN_AXCONF_MACHAX_NAME_TAB[1] = "NC2_A2"

$MN_AXCONF_MACHAX_NAME_TAB[2] = "NC2_A3"

Assignment of channel axis to machine axis:

$MC_AXCONF_MACHAX_USED[0] = 1

1. Channel axis to the machine axis of LAI[0]

$MC_AXCONF_MACHAX_USED[1] = 2

2. Channel axis to the machine axis of LAI[1]

$MC_AXCONF_MACHAX_USED[2]=3

3. Channel axis to the machine axis of LAI[2]

3.3.2

Axis container coordination

The characteristic as a function of time is displayed from top to bottom in the following tables.

The data are valid on condition that only two channels have axes in the container.

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3.3 Examples

3.3.2.1

Axis container rotation without a part program wait

Channel 1

Channel 2

Comment

AXCTWE(C1)

Part program ...

Channel 1 enables the axis container for

rotation.

Part program without movement of a

Part program ...

container axis

AXCTSWE(C1)

Channel 2 enables the axis container for

rotation, container rotates because both

channels have enabled rotation

Part program with movement of a con-

Without wait

tainer axis

3.3.2.2

Axis container rotation with an implicit part program wait

Channel 1

Channel 2

Comment

AXCTWE(C1)

Part program ...

Channel 1 enables the axis container for

rotation.

Part program with movement of a con-

Part program ...

Channel 1 waits implicitly for axis con-

tainer axis

tainer rotation

AXCTSWE(C1)

Channel 2 enables the axis container for

rotation, rotation occurs.

Channel 1 is continued.

3.3.2.3

Axis container rotation by one channel only (e.g. during power up)

Channel 1

Channel 2

Comment

AXCTWED(C1)

In the RESET state

Instantaneous rotation

3.3.3

Evaluating axis container system variables

3.3.3.1

Conditional branch

Channel 1

Comment

N100 AXCTWE(CT1)

Channel 1: Enable of the rotation of axis container CT1

MARKER1:

N200 ...

Part program without movement of a container axis

IF $AC_AXCTSWA[CT1] == 1 GOTOB MARKE1

IF rotation of axis container CT1 still active

THEN continue with MARKER1

ELSE (rotation of axis container CT1 completed)

N300 ...

Part program with movement of a container axis

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3.3 Examples

3.3.3.2

Static synchronized action with $AN_AXCTSWA

Channel 1

Comment

IDS =1 EVERY $AN_AXCTSWA[CT1] == 1 DO M99

Static synchronized action:

Always output auxiliary function M99 at the beginning of an

axis container rotation.

References: Synchronized Actions Function Manual

3.3.3.3

Wait for certain completion of axis container rotation

Note

Although programming system variables $AN_AXCTSWA initiates an implicit preprocessing

stop, the subsequent command sequence cannot be used to uniquely identify the completion

of a requested axis container rotation in the channel:

WHILE ($AN_AXCTSWA[<ID>] == TRUE) ; wait: until the enable for axis

container rotation was canceled

ENDWHILE

While the channel in the command sequence waits for the completion of the axis container

rotation, initiated from another channel, a reorganization could be carried out in the

backg17round. For instance, by transferring a requested axis to another channel. As a

consequence, the system variable would then supply the value FALSE. Even if the axis

container rotation had still not been completed.

Recommended command sequence:

RL = $AN_AXCTAS[<ID>] ; read: actual axis container position

AXCTSWE(<ID>)

; enable: axis container rotation

WHILE (RL == $AN_AXCTAS[<ID>]) ; wait: until the read is not equal

to the actual axis container

; position

ENDWHILE

RL is any random user variable.

Example 1: Explicit waiting using system variable $AN_AXCTAS

Program code

Comment

RL = $AN_AXCTAS[<ID>]

; Reading: actual axis container position

AXCTSWE(<ID>)

; Enable: Axis container rotation

WHILE (RL == $AN_AXCTAS[<ID>])

; Wait: Change the axis container

ENDWHILE

; Position

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3.3 Examples

Example 2: Explicit wait using the WAIT mark

Program code

Comment

CLEARM(9)

; Delete: marker (tag) 9 in the channel

AXCTSWE(<ID>)

; Enable: Axis container rotation

; SynAct: Wait for axis container rotation to have been completed ≙ set: marker (tag)

9 in the channel

WHEN $AN_AXCTSWA[<ID>] == TRUE DO SETM(9)

WAITMC(9, 1)

; Wait: Marker (tag) 9 of channel 1

Example 3: Implicit wait using the container spindle

Program code

Comment

; Program (again) the container spindle

; Internally, before starting the container spindle, the system waits for the end

; of the axis container rotation

M3 S100

; Master spindle of the channel

Example 4: Implicit wait using the container axis

Program code

Comment

; Program the container axis incrementally without traversing path

; Internally, before starting the container axis, the system waits for the end

; of the axis container rotation

X=IC(0)

; Channel axis X

3.3.4

Configuration of a multi-spindle turning machine

Introduction

The following example describes the use of:

● Several NCUs in the NCU link group

● Flexible configuration with axis containers

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3.3 Examples

Machine description

●

Over the circumference of a drum A (front-plane machining), the machine has distributed:

4 main spindles, HS1 to HS4

Each main spindle has the possibility of material feed (bars, hydraulic bar feed, axes:

STN1-STN4).

4 cross slides

- Each slide has two axes.

- Optionally, a powered tool S1-S4 can operate on each slide.

●

Over the circumference of a drum B (back-plane machining), the machine has distributed:

4 counterspindles GS1 to GS4

4 cross slides

- Each slide has two axes.

- Optionally, a powered tool S5-S8 can operate on each slide.

- Each counterspindle can be moved through a linear axis, for example, for transferring

parts from the main spindle for the rear-plane machining in drum B. (Transfer axes.

Axes: ZG1-ZG4).

●

Couplings:

- If drum A rotates, all of the main spindles of this drums are subordinated to a different

group of slides.

- If drum B rotates, all of the counterspindles and all of the transfer axes of this drum are

subordinated to a different group of slides.

- The rotations of drums A and B are autonomous.

- The rotations of drums A and B are limited to 270 degrees.

(range and twisting of supply cables)

Term: Position

Main spindle HS_i and counterspindle GS_i together with their slides characterize a position.

NCU assignment

The axes and spindles of a position (for this example) are each assigned to an NCU. One of

the NCUs, the master NCU, also controls the axes for rotating drums A and B. The result is 4

NCUs with a maximum of the following axes:

Number of axes

Per NCU_i the following axes/spindles must be configured:

Slide 1: X_i1, Z_i1

2: X_i2, Z_i2

Spindles: HS_i, GS_i, powered tools: S1, S2

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3.3 Examples

Transfer axis: ZG

Bar feed: STN_i.

For the master NCU, the two axes for rotating drums A and B are added to the above-

mentioned axes. The list shows that it would not be possible to configure the axis number for

a total of 4 positions via an NCU. (Limit 31 axes, 4 + 10 + 2 axes are required).

Axis container

With rotation of drums A/B, HS_i, GS_i, ZG_i and STN_imust be assigned to another NCU and must

therefore be configured as link axes in axis containers.

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3.3 Examples

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Two slides per position can also work together on one spindle.

Note

The axes are given the following names in order to clarify the assignments of axes to slides

and positions:

Xij with i slide (1, 2), j position (A-D)

Zij with i slide (1, 2), j position (A-D)

Whereas the positions and their slides remain in one place, main spindles, counterspindles,

bar feed axes STN and transfer axes ZG move to new positions as the result of rotations of

drums V or H.

For example, the axes to be managed per NC when the slide is taken into account are as

follows for the configurations shown in the above diagrams:

Axes of master NCU

Table 3-1

Axes of master NCU: NCUa

Common axes

Local axes

Remark

TRV (drum V)

Only master NCU

TRH (drum H)

Only master NCU

X1A

Slide 1

Z1A

Slide 1

X2A

Slide 2

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3.3 Examples

Common axes

Local axes

Remark

Z2A

Slide 2

Slide 1

Slide 2

HS1

Axis container required

GS1

Axis container required

ZG1

Axis container required

STN1

Axis container required

Axes of the NCUb to NCUd

The NCUs that are not master NCUs have the same axes with the exception of the axes for

the drive for drums TRV and TRH. The letter designating the position must be replaced

accordingly for the NCU and axis name (a, A → b, B to d, D).

Configuration rules

The following rules were applied for the configuration described below:

● Main spindle, counterspindles and axes that are assigned to different NCUs through drum

rotation while they are operating as illustrated in the above diagram "Main spindle ..." must

be configured in an axis container.

(HS_i, GS_i, ZG_i, STN_i).

● All main spindles of drum A are in the same container (No. 1).

● All bar feed axes of drum A are in the same container (No. 2).

● All counterspindles of drum B are in the same container (No. 3).

● All transfer axes of drum B are in the same container (No. 4).

● The main spindles HS_i and their counterspindles GS_i as well as the transfer axes of the

counterspindle ZG_i and the bar feed axes STN_i of the main spindle are assigned as follows

for reasons of NCU equal load distribution:

NCUa HS1-STN1,

NCUb HS2-STN2, ... etc.

● Slide axes Xij, Zij are purely local axes with fixed NCU assignment.

● Slides are assigned to a dedicated channel of an NCU in each case.

Slides can therefore be moved autonomously.

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3.3 Examples

Configuration options

● Main spindles or counterspindles must be flexibly assigned to the slide.

● The speed of the main spindle and the counterspindle can be defined independently in

each position.

Exceptions:

During the parts change from front-plane machining in drum V to rear-plane machining in

drum H, the speeds of the main spindle and the counterspindle must be synchronized

(synchronous spindle coupling).

In cases where slide 2 also participates in front-plane machining so as to "support" slide 1,

the main spindle speed also applies to slide 2. Similarly if slide 1 participates in rear-plane

machining, the counterspindle speed also applies to slide 1.

Minor changes in speed

Due to the unavoidable time delays incurred in the processing of actual values, abrupt changes

in speed should be avoided during cross-NCU machining operations. See axis data and

signals.

Configuration for NCU1

Uniform use of channel axis names in the part programs:

S4: Main spindle

S3: Counterspindle

X1: Infeed axis

Z1: Longitudinal axis

S1: Driven tool

Z3: Transfer axis

TRV: Drum V for main spindle

TRH: Drum H for counterspindle

STN: Hydraulic bar feed

Axes highlighted in bold characterize the current channel as home channel for the axis in

conjunction with axis replacement.

Table 3-2

NCUa, position: a, channel: 1, slide: 1

Channel axis name

..._MA-

$MN_

Container, slot

Machine axis name

CHAX_USE

AXCONF_LOGIC_MA-

entry (string)

CHAX_TAB

AX1: CT1_SL1

1 1

HS1

NC1_AX1

AX2: CT3_SL1

3 1

GS1

NC1_AX2

AX3:

X1A

AX4:

Z1A

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3.3 Examples

Channel axis name

..._MA-

$MN_

Container, slot

Machine axis name

CHAX_USE AXCONF_LOGIC_MA-

entry (string)

CHAX_TAB

AX5: CT4_SL1

4 1

ZG1

NC1_AX5

AX6:

WZ1A

STN

AX7: CT2_SL1

2 1

STN1

NC1_AX7

TRV

AX11:

TRV

TRH

AX12:

TRH

x2 *

z2 *

Table 3-3

NCUa, position: a, channel: 2, slide: 2

Channel axis name

..._MA-

$MN_

Container, slot

Machine axis name

CHAX_USE

AXCONF_LOGIC_MA-

entry (string)

CHAX_TAB

AX1: CT1_SL1

1 1

HS1

NC1_AX1

AX2: CT3_SL1

3 1

GS1

NC1_AX2

AX5: CT4_SL1

4 1

ZG1

NC1_AX5

STN

AX7: CT2_SL1

2 1

STN1

NC1_AX7

AX8:

X2A

AX9:

Z2A

AX10:

WZ2A

x1 *

z1 *

Note

* due to program coordination via axis positions and 4-axis machining in one position

For the entry in a location of the axis container, the format: "NC1_AX.." is required, with the

meaning NC1 = NCU 1. In the above tables, NCUa is mapped to NC1_..., NCUb to NC2_...,

etc.

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3.3 Examples

Further NCUs

The above listed configuration data must be specified accordingly for NCUb to NCUd. The

following must be observed:

● The axes TRA and TRB are only available for NCUa, channel 1.

● The container numbers are retained for the additional NCUs, as specified for the individual

axes.

● The slot numbers are as follows:

NCUb → 2

NCUc → 3

NCUd → 4.

● The machine axis names are as follows:

NCUb → HS2, GS2, ZG2, STN2

NCUc → HS3, GS3, ZG3, STN3

NCUd → HS4, GS4, ZG4, STN4.

Axis container

The information relating to containers given in Table 7-17 and the container entries of the

similarly configured NCUs, NCUb to NCUd, are specified in the following tables, sorted

according to containers and slots, as they have to be set in machine data:

MD12701 $MN_AXCT_AXCONF_ASSIGN_TAB1[slot]

MD12716 $MN_AXCT_AXCONF_ASSIGN_TAB16[slot]

whereby slots: 1-4 must be set for the 4 positions of a multi-spindle turning machine:

Note

For the machine data entry

$MN_AXC_AXCONF_ASSIGN_TAB_i[slot]

the values (without decimal point and machine axis name) that are entered under initial position

in the above tables must be set.

Table 3-4

Axis containers and their position-dependent contents for drum A

Container

Slot

Initial Situation

Switch 1

Switch 2

Switch 3

Switch 4 =

(TRA 0°)

(TRA 90°)

(TRA 180°)

(TRA 270°)

(TRA 0°)

NC1_AX1, HS1

NC2_AX1, HS2

NC3_AX1, HS3

NC4_AX1, HS4

NC1_AX1, HS1

NC2_AX1, HS2

NC3_AX1, HS3

N4C_AX1, HS4

NC1_AX1, HS1

NC2_AX1, HS2

NC3_AX1, HS3

NC4_AX1, HS4

NC1_AX1, HS1

NC2_AX1, HS2

NC3_AX1, HS3

NC4_AX1, HS4

NC1_AX1, HS1

NC2_AX1, HS2

NC3_AX1, HS3

NC4_AX1, HS4

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3.3 Examples

Container

Slot

Initial Situation

Switch 1

Switch 2

Switch 3

Switch 4 =

(TRA 0°)

(TRA 90°)

(TRA 180°)

(TRA 270°)

(TRA 0°)

NC1_AX7, STN1

NC2_AX7, STN2

NC3_AX7, STN3

NC4_AX7 STN4

NC1_AX7, STN1

NC2_AX7, STN2

NC3_AX7, STN3

NC4_AX7, STN4

NC1_AX7, STN1

NC2_AX7, STN2

NC3_AX7, STN3

NC4_AX7, STN4

NC1_AX7, STN1

NC2_AX7, STN2

NC3_AX7, STN3

NC4_AX7, STN4

NC1_AX7, STN1

NC2_AX7, STN2

NC3_AX7, STN3

NC4_AX7, STN4

Drum movement

0°

+ 90°

- 270°

671

Figure 3-23

Positions of drum A

Table 3-5

Axis containers and their position-dependent contents for drum B

Container

Slot

Initial Situation

Switch 1

Switch 2

Switch 3

Switch 4 =

(TRB 0°)

(TRB 90°)

(TRB 180°)

(TRB 270°)

(TRB 0°)

NC1_AX2, GS1

NC2_AX2, GS2

NC3_AX2, GS3

NC4_AX2, GS4

NC1_AX2, GS1

NC2_AX2, GS2

NC3_AX2, GS3

NC4_AX2, GS4

NC1_AX2, GS1

NC2_AX2, GS2

NC3_AX2, GS3

NC4_AX2, GS4

NC1_AX2, GS1

NC2_AX2, GS2

NC3_AX2, GS3

NC4_AX2, GS4

NC1_AX2, GS1

NC2_AX2, GS2

NC3_AX2, GS3

NC4_AX2, GS4

NC1_AX5, ZG1

NC2_AX5, ZG2

NC3_AX5, ZG3

NC4_AX5 ZG4

NC1_AX5, ZG1

NC2_AX5, ZG2

NC3_AX5, ZG3

NC4_AX5, ZG4

NC1_AX5, ZG1

NC2_AX5, ZG2

NC3_AX5, ZG3

NC4_AX5, ZG4

NC1_AX5, ZG1

NC2_AX5, ZG2

NC3_AX5, ZG3

NC4_AX5, ZG4

NC1_AX5, ZG1

NC2_AX5, ZG2

NC3_AX5, ZG3

NC4_AX5, ZG4

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3.3 Examples

3.3.5

Lead link axis

3.3.5.1

Configuration

/HDG OLQN D[HV

0DVWHU

)ROORZLQJ

D[LV

D[HV

;

/$;

1&8

1&8 Q

&RXSOHG D[HV RQ OHDGLQJ D[LV 1& B$; ZLWK

= /$; RQ 1&8 DQG = /$; RQ 1&8Q DV

OHDG OLQN D[HV

Figure 3-24

NCU2 to NCUn use a lead link axis to enable coupling to the machine axis on NCU1 (NCU1-AX3).

The following example refers to the axis coupling section between Y(LAX2, AX2) as following

axis on NCU2 and Z(LAX3, NC1_AX3) as lead link axis.

Machine data

● The machine data of a leading value axis may only be loaded on the home NCU. From this

NCU, the relevant machine data are distributed to the other NCUs where a lead link axis

has been defined.

● Each lead link axis reduces the maximum number of axes that can be traversed on this

NCU by one axis.

Machine data for NCU1 (leading axis)

Machine data

Meaning

$MN_NCU_LINKNO = 1

1. or master NCU

$MN_MM_NCU_LINK_MASK = 1

NCU link active

$MN_MM_LINK_NUM_OF_MODULES= 2

Number of link modules

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3.3 Examples

Machine data

Meaning

$MN_MM_SERVO_FIFO_SIZE = 4

The size of the data buffer is increased to 4 between interpo-

lation and position control

$MN_AXCONF_LOGIC_MACHAX_TAB[0] = "AX1"

$MN_AXCONF_LOGIC_MACHAX_TAB[1] = "AX2"

$MN_AXCONF_LOGIC_MACHAX_TAB[2] = "AX3"

$MN_AXCONF_MACHAX_NAME_TAB[0] = "XM1"

$MN_AXCONF_MACHAX_NAME_TAB[2] = "YM1"

$MA_AXCONF_ASSIGN_MASTER_NCK[ AX3 ] = 1

$MC_AXCONF_MACHAX_USED[0]=1 ; X

$MC_AXCONF_MACHAX_USED[1]=2 ; Y

$MC_AXCONF_MACHAX_USED[2]=3 ; Z

Machine data for NCU2 (following axis)

Machine data

Meaning

$MN_NCU_LINKNO = 2

2. NCU number

$MN_MM_NCU_LINK_MASK = 1

Activate link

$MN_MM_NUM_CURVE_TABS = 5

Number of curve tables

$MN_MM_LINK_NUM_OF_MODULES= 2

Number of link modules

$MN_MM_NUM_CURVE_SEGMENTS= 50

$MN_MM_NUM_CURVE_POLYNOMS = 100

$MN_MM_SERVO_FIFO_SIZE = 2

Size of the data buffer between interpolation and position

control (standard)

$MN_AXCONF_LOGIC_MACHAX_TAB[0] = "NC1_AX3"

Lead link on NCU1/AX3

$MN_AXCONF_LOGIC_MACHAX_TAB[1] = "AX2"

$MN_AXCONF_LOGIC_MACHAX_TAB[2] = "AX3"

$MC_AXCONF_MACHAX_USED[0]=3

AX3 is machine axis of the 1st channel axis

$MC_AXCONF_MACHAX_USED[1]=2

AX2 is machine axis of the 2nd channel axis

$MC_AXCONF_MACHAX_USED[2]=1

AX3 on NCU1 is machine axis of the 3rd channel axis

3.3.5.2

Programming

Program for NCU1 (leading axis)

NCU1 traverses leading axis Z

Identifier for NCU2, that the leading axis of NCU1 is assigned: Link variable $A_DLB[0] = 1

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3.3 Examples

Identifier for NCU2, that the leading axis of NCU1 has been released: Link variable $A_DLB[0]

= 0

Program code

Comment

N1000 R1 = 0

; Initialize loop counter

N1004 G1 Z0 F1000

; Traverse axis Z to the starting position

N1005 $A_DLB[0] = 1

; Identifier for NCU2: Axis Z is assigned

LOOP10:

;

N1005 R1=R1+1

; Increment loop counter

N1006 Z0.01 G91

; Traversing the leading value axis Z

N1008 Z0.02

; Traversing the leading value axis Z

N1010 Z0.03

; Traversing the leading value axis Z

N1012 IF R1 < 10 GOTOB LOOP10

;

N1098 $A_DLB[0] = 0

; Identifier for NCU2: Axis Z is free

Program for NCU2 (following axis)

The program establishes a connection between leading axis movements on NCU1 and

following axis movements on NCU2 via a curve table. If the table has been defined, NCU2

goes into the wait position (N2006) until NCU1 has assigned axis Z as the leading axis (N1005).

The coupling is activated (N2010) as soon as axis Z has been assigned as leading axis. The

coupling is kept until NCU1 has released axis Z as the leading axis.

Program code

Comment

N2000 CTABDEL(1)

; Initialize table 1

N2001 G04 F.1

;

N2003 G0 Y0 Z0

; Traverse axes Y, Z into the starting position

N2002 CTABDEF(Y, Z, 1, 0)

; Table definition ON

N2003 G1 X0 Y0

;

Intermediate point 1

N2004 G1 X100 Y200

;

Intermediate point 2

N2005 CTABEND

; Table definition OFF

LOOP20:

;

N2006 IF ($A_DLB[0] == 0) GOTOB LOOP20

; Wait for NCU1

N2010 LEADON(Y,Z,1)

;

=> close coupling

LOOP25:

;

N2030 IF ($A_DLB[0] > 0) GOTOB LOOP25

; Keep the coupling until NCU1 no longer traver-

ses the leading value axis

N2090 LEADOF(Y,Z)

;

=> open coupling

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3.4 Data lists

3.4

Data lists

3.4.1

Machine data

3.4.1.1

General machine data

Number

Identifier: $MN_

Description

10002

AXCONF_LOGIC_MACHAX_TAB

Logical NCU machine axis image

10065

POSCTRL_DESVAL_DELAY

Position setpoint delay

10134

MM_NUM_MMC_UNITS

Number of simultaneous MMC communication partners

12510

NCU_LINKNO

NCU number in an NCU group

12520

LINK_TERMINATION

NCU numbers for which bus terminating resistors are

active

12530

LINK_NUM_OF_MODULES

Number of link modules

12701

AXCT_AXCONF_ASSIGN_TAB1

List of axes in the axis container

12716

AXCT_AXCONF_ASSIGN_TAB16

12750

AXCT_NAME_TAB

List of axis container names

12760

AXCT_FUNCTION_MASK

Functions for the axis container

18700

MM_SIZEOF_LINKVAR_DATA

Size of the link variables memory

18720

MM_SERVO_FIFO_SIZE

Size of the data buffer between interpolation and posi-

tion controller

18780

MM_NCU_LINK_MASK, bit 0

Link communication activation

3.4.1.2

Channelspecific machine data

Number

Identifier: $MC_

Description

20000

CHAN_NAME

Channel name

20070

AXCONF_MACHAX_USED

Machine axis number valid in channel

28160

MM_NUM_LINKVAR_ELEMENTS

Number of write elements for the NCU link variables

3.4.1.3

Axis/spindlespecific machine data

Number

Identifier: $MA_

Description

30550

AXCONF_ASSIGN_MASTER_CHAN

Default assignment between an axis and a channel

30554

AXCONF_ASSIGN_MASTER_NCU

Initial setting defining which NCU generates setpoints

for the axis

30560

IS_LOCAL_LINK_AXIS

Axis is a local link axis

32990

POCTRL_DESVAL_DELAY_INFO

Current position setpoint delay

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3.4 Data lists

3.4.2

Setting data

3.4.2.1

General setting data

Number

Identifier: $SA

Description

41700

AXCT_SWWIDTH[container number]

Axis container rotation setting

3.4.2.2

Axis/spindle-specific setting data

Number

Identifier: $SA_

Description

43300

ASSIGN_FEED_PER_REV_SOURCE

Rotational feedrate for positioning axes/spindles

3.4.3

Signals

3.4.3.1

Signals from NC

Signal name

SINUMERIK 840D sl

MCP1 ready

DB10.DBX104.0

MCP2 ready

DB10.DBX104.1

HHU ready

DB10.DBX104.2

NCU link active

DB10.DBX107.6

HMI2-CPU ready (HMI connected to OPI or MPI)

DB10.DBX108.1

HMI1-CPU at MPI ready

DB10.DBX108.2

HMI1-CPU at OPI ready (standard connection)

DB10.DBX108.3

3.4.3.2

Signals from HMI/PLC

Signal name

SINUMERIK 840D sl

ONL_REQUEST

DB19.DBB100

Online request from HMI

ONL_CONFIRM

DB19.DBB102

Acknowledgement from PLC for online request

PAR_CLIENT_IDENT

DB19.DBB104

HMI writes its client identification (bus type, HMI bus ad-

dress)

PAR_MMC_TYP

DB19.DBB106

HMI type according to NETNAMES.INI: Main/secondary

operator panel/alarm server

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3.4 Data lists

Signal name

SINUMERIK 840D sl

PAR_MSTT_ADR

DB19.DBB107

HMI writes address to the MCP to be activated

PAR_STATUS

DB19.DBB108

PLC writes the online enable for the HMI (connection state)

PAR_Z_INFO

DB19.DBB109

PLC writes additional information to the connection state

M_TO_N_ALIVE

DB19.DBB110

Sign of life from the PLC to HMI using M to N block

3.4.3.3

General online interface

Signal name

SINUMERIK 840D sl

MMC1_CLIENT_IDENT

DB19.DBB120

PLC writes PAR_CLIENT_IDENT to MMCx_CLI-

ENT_IDENT, if HMI goes online.

MMC1_TYP

DB19.DBB122

PLC writes PAR_MMC_TYP to MMCx_TYP, if HMI goes

online.

MMC1_MSTT_ADR

DB19.DBB123

PLC writes PAR_MSTT_ADR to MMCx_MSTT_ADR, if HMI

goes online

MMC1_STATUS

DB19.DBB124

Connection state, HMI and PLC write alternating, their re-

quests/acknowledgements.

MMC1_Z_INFO

DB19.DBB125

Additional information, connection state (pos./neg. acknowl-

edgement, error messages, ...)

MMC1_SHIFT_LOCK

DB19.DBX126.0

HMI switchover lock

MMC1_MSTT_SHIFT_LOCK

DB19.DBX126.1

MCP switchover lock

MMC1_ACTIVE_REQ

DB19.DBX126.2

HMI requests active operator mode

MMC1_ACTIVE_PERM

DB19.DBX126.3

Enable from PLC to change the operator mode

MMC1_ACTIVE_CHANGED

DB19.DBX126.4

HMI has changed the operator mode

MMC1_CHANGE_DENIED

DB19.DBX126.5

HMI active/passive switchover denied

MMC2_CLIENT_IDENT

DB19.DBB130

PLC writes PAR_CLIENT_IDENT to MMCx_CLI-

ENT_IDENT, if HMI goes online.

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