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SINUMERIK 840D sl. Service - Functions. Manual (2018-2020) - page 33

B3: Distributed systems - 840D sl only

3.4 Data lists

Signal name

SINUMERIK 840D sl

MMC2_TYP

DB19.DBB132

PLC writes PAR_MMC_TYP to MMCx_TYP, if HMI goes

online.

MMC2_MSTT_ADR

DB19.DBB133

PLC writes PAR_MSTT_ADR to MMCx_MSTT_ADR, if HMI

goes online.

MMC2_STATUS

DB19.DBB134

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

quests/acknowledgements.

MMC2_Z_INFO

DB19.DBB135

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

edgement, error messages, ...)

MMC2_SHIFT_LOCK

DB19.DBX136.0

HMI switchover lock

MMC2_MSTT_SHIFT_LOCK

DB19.DBX136.1

MCP switchover lock

MMC2_ACTIVE_REQ

DB19.DBX136.2

HMI requests active operator mode

MMC2_ACTIVE_PERM

DB19.DBX136.3

Enable from PLC to change the operator mode

MMC2_ACTIVE_CHANGED

DB19.DBX136.4

HMI has changed the operator mode

MMC2_CHANGE_DENIED

DB19.DBX136.5

HMI active/passive switchover denied

3.4.3.4

Signals from axis/spindle

Signal name

SINUMERIK 840D sl

SINUMERIK 828D

NCU link: Axis active

DB31, ... DBX60.1

-

Axis-specific alarm

DB31, ... DBX61.1

DB390x, DBX1.1

Axis ready

DB31, ... DBX61.2

DB390x, DBX1.2

Axis container: Rotation active

DB31, ... DBX62.7

-

3.4.4

System variables

System variable

Description

$AN_AXCTSWE[axis]

Supplies the slots of the axis container of the specified axis which are en-

abled for the next axis container rotation

$AN_LAI_AX_IS_AXCTAX

Contains the container axes of the logical machine axis image as bit field

$AN_LAI_AX_IS_LINKAX

Contains the link axes of the logical machine axis image as bit field

$AN_LAI_AX_IS_LEADLINKAX

Contains the lead-link axes of the logical machine axis image as bit field

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B3: Distributed systems - 840D sl only

3.4 Data lists

System variable

Description

$AN_LAI_AX_TO_MACHAX[axis]

For the specified axis of the logical machine axis image, supplies the NCU-

ID and the axis number of the associated machine axis

$AN_LAI_AX_TO_IPO_NC_CHANAX[axis]

For the specified axis of the logical machine axis image, supplies the chan-

nel and channel axis number and/or the NCU and global axis number

$AN_IPO_CHANAX[global axis number]

For the specified global axis number, supplies the channel and channel

axis number

$AA_MACHAX[axis]

For the specified axis, supplies the NCU-ID and the machine axis number

$AA_IPO_NC_CHANAX[axis]

For the specified axis, supplies the channel and channel axis number or

NCU-ID and the global axis number

$VA_IPO_NC_CHANAX[axis]

For the specified machine axis, supplies the channel and channel axis

number or NCU-ID and global axis number

A more detailed description of system variables can be found in

References:

System Variables List Manual

Extended Functions

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H1: Manual traversing

4.3 Parameter assignment (general)

1&8

1&

3/&

2

%DVLF

3/&

1

3/&

XVHU

0&3

SURJUDP

SURJUDP

3

① The operator selects, for example, the "Continuous traversing" machine function on the machine control panel for a

machine axis.

The input signals of the MCP are transferred cyclically from the basic PLC program in the data blocks of the MCP

input interface.

② The PLC user program reads the input signals of the MCP. The input signals can be linked with any other signals in

accordance with the current machine or machining situation. Finally, the PLC user program writes the corresponding

request signals to the NC in the respective axis-specific NC/PLC interface.

The basic PLC program transfers the request signals in the internal input interface to the NC.

③ After activation of the requested function, the NC writes the feedback in the internal output interface to the PLC. The

basic PLC program cyclically transfers the output signals in the respective axis-specific NC/PLC interface

References

Detailed information on the configuration and integration of machine control panels in the PLC

user program can be found in the Basic Functions manual:

● SINUMERIK 840D sl: "P3: Basic PLC program for SINUMERIK 840D sl"

● SINUMERIK 828D: "P4: PLC for SINUMERIK 828D"

4.3

Parameter assignment (general)

Feedrate behavior

In JOG mode, it is possible to traverse an axis/spindle manually also at a revolutional feedrate

(as for G95) specific to the current speed of the master spindle.

The setting is made via the setting data:

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H1: Manual traversing

4.3 Parameter assignment (general)

SD41100 $SN_JOG_REV_IS_ACTIVE (JOG: revolutional/linear feedrate)

Bit

Value

Meaning

0

0

The behavior of the axis/spindle depends on the setting data:

SD43300 $SA_ASSIGN_FEED_PER_REV_SOURCE (revolutional feedrate for

positioning axes/spindles)

The behavior of a geometry axis on which a frame with rotation acts, or of an

orientation axis, depends on the channel-specific setting data:

SD42600 $SC_JOG_FEED_PER_REV_SOURCE (control of the revolutional fee-

drate in JOG)

1

For a JOG movement, it is always traversed with revolutional feedrate as a function

of the master spindle.

1

0

For rapid traverse as well, the axis/spindle, geometry axis or orientation axis is

traversed with revolutional feedrate (selection see Bit 0).

1

For rapid traverse, the axis/spindle, geometry axis or orientation axis is always

traversed without revolutional feedrate.

2

0

For manual traversing using the handwheel in the JOG mode, the axis/spindle,

geometry axis or orientation axis is traversed with the revolutional feedrate (se-

lection see bit 0).

1

For manual traversing using the handwheel in the JOG mode, the axis/spindle,

geometry axis or orientation axis is always traversed with the revolutional feedrate.

3

0

For manual traversing using the handwheel in the DRF mode, the axis/spindle is

traversed with the revolutional feedrate (selection see bit 0).

1

For manual traversing using the handwheel in the DRF mode, the axis/spindle is

always traversed without the revolutional feedrate.

Note

If a master spindle has not been defined and the axis is to be manually traversed at a

revolutional feedrate, alarm 20055 is output or alarm 20065 for geometry axes.

Velocity

The system data that determines the velocity of the manual traversing depends on the active

feedrate behavior.

Extended Functions

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H1: Manual traversing

4.3 Parameter assignment (general)

Maximum axis-specific acceleration for JOG motion

The maximum acceleration for manual traversing of an axis is defined in machine data:

MD32300 $MA_MAX_AX_ACCEL [0] (maximum axis-specific acceleration for path motions in

the dynamic response mode DYNNORM)

Note

Only the dynamic response mode DYNNORM is always effective for JOG mode.

Basic setting of axis-specific jerk limitation

Acceleration with jerk limitation can be specified as the axis-specific basic setting for JOG

mode:

MD32420 $MA_JOG_AND_POS_JERK_ENABLE== TRUE

Maximum axis-specific jerk

For JOG motions with active jerk limitation, the value from the following machine data takes

effect as maximum axis-specific jerk:

MD32430 $MA_JOG_AND_POS_MAX_JERK (maximum axis-specific jerk)

Note

MD32430 $MA_JOG_AND_POS_MAX_JERK acts only when the axis-specific jerk limitation

in JOG mode has been enabled for the machine axes to be traversed:

MD32420 $MA_JOG_AND_POS_JERK_ENABLE [<axis>] == TRUE

This is also possible by programming SOFTA(<Axis1>,<Axis2>, ...) in the part program.

Maximum acceleration when manually traversing spindles

As a spindle often uses many gear stages in speed-control mode and position-control mode,

the acceleration associated with the current gear stage is always applied to the spindle in JOG

mode.

References:

Function Manual Basic Functions; Spindles (S1)

Maximum acceleration when manually traversing geometry axes

The maximum acceleration when manually traversing geometry axes can be specified for each

channel via the machine data:

MD21166 $MC_JOG_ACCEL_GEO [<geometry axis>]

With <geometry axis> = 0, 1, 2

Note

With MD21166 $MC_JOG_ACCEL_GEO [<geometry axis>], there is no direct limitation to

MD32300 $MA_MAX_AX_ACCEL.

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H1: Manual traversing

4.3 Parameter assignment (general)

Note

When a transformation is active, MD32300 $MA_MAX_AX_ACCEL determines the maximum

possible axis-specific acceleration.

Maximum jerk when manually traversing geometry axes

The maximum jerk when manually traversing geometry axes in the SOFT acceleration mode

(acceleration with jerk limitation) can be specified for each channel via the machine data:

MD21168 $MC_JOG_JERK_GEO [<geometry axis>]

With <geometry axis> = 0, 1, 2

Note

MD21168 $MC_JOG_JERK_GEO acts only when the axis-specific jerk limitation in JOG mode

has been enabled for the base machine axes:

MD32420 $MA_JOG_AND_POS_JERK_ENABLE [<axis>] == TRUE

With MD21168 = 0, instead of the channel-specific jerk limitation, the axis-specific limit value

from MD32430 $MA_JOG_AND_POS_MAX_JERK is effective.

Maximum jerk when manually traversing orientation axes

The maximum jerk when manually traversing orientation axes can be specified for each

channel via the machine data:

MD21158 $MC_JOG_JERK_ORI [<orientation axis>]

For MD21158 to take effect, the channel-specific jerk limitation for the manual traversing of

orientation axes must be enabled via the following machine data:

MD21159 $MC_JOG_JERK_ORI_ENABLE == TRUE

See also

Manual traversing of geometry axes/orientation axes (Page 178)

Manual traversing of the spindle (Page 176)

Extended Functions

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H1: Manual traversing

4.4 Continuous manual traversing

4.4

Continuous manual traversing

4.4.1

Function

For continuous manual traversing, the plus and minus traversing keys are selected to move

the relevant axis in the appropriate direction. If both traversing keys are pressed

simultaneously, there is no traversing movement, or, if an axis is in motion, it is stopped.

Note

When the control is switched on, axes can be traversed to the limits of the machine because

they have not yet been referenced. Hardware limit switches might be triggered as a result. The

software limit switches and the working-area limitation are not operative.

Continuous traversing in jog mode

In jog mode, the axis traverses as long as the traversing key is pressed. With the release of

the traversing key, the axis is decelerated to standstill. The movement is completed when the

parameterized exact stop criterion of the axis is reached.

If the axis reaches a traversing range limit before the traversing key is released (working area

limitation, software limit switch, etc.), the axis is stopped at the limit.

Continuous traversing in continuous mode

In continuous mode, traversing of the axis is started by pressing the traversing key. The

traversing movement is continued even after the traversing key is released.

WARNING

Risk of collision

In continuous mode, several axes can be started by pressing the respective traversing key.

Any interlocks must be implemented by the user / machine manufacturer via the PLC user

program.

The traversing movement can be interrupted and continued by the operator at any time or

aborted. If the axis reaches a traversing range limit before canceling the traversing movement

(working area limitation, software limit switch, etc.), the axis is stopped at the limit.

Interrupt traversing movement

The operator can interrupt traversing via the operator controls of the machine control panel

(MCP) in the following ways:

● Feedrate override = 0%

● Feedrate stop

● NC stop or NC stop axis/spindle

If the cause of the interruption is removed, the axis continues to traverse.

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H1: Manual traversing

4.5 Incremental manual traversing

● When the first valid limit is reached

CAUTION

Traversing range limit inactive

Software limit switches and working-area limitations are only activated after reference

point approach.

● Deselection or change of the current increment (e.g. change from INC100 to INC10)

● When faults occur (e.g. on cancellation of the servo enable)

WARNING

Risk of collision

If "continuous" mode is selected, several axes can by started by pressing and releasing the

relevant direction key. Any interlocks must be implemented via the PLC!

Note

While an axis is moving, a change of mode from JOG to AUTOMATIC or MDI is not permitted

within the control.

Interface signals

Selection

Incremental traversing in JOG mode must be activated via the PLC interface:

● Machine axes:

- DB31, ... DBX5.0 - 5 (request machine function "INC1" to "INCvar")

● Geometry axes:

- DB21, ... DBX13.0 - 5 (geometry axis 1: Request machine function "INC1" to "INCvar")

- DB21, ... DBX17.0 - 5 (geometry axis 2: Request machine function "INC1" to "INCvar")

- DB21, ... DBX21.0 - 5 (geometry axis 3: Request machine function "INC1" to "INCvar")

● Orientation axes:

- DB21, ... DBX321.0 - 5 (orientation axis 1: Request machine function "INC1" to

"INCvar")

- DB21, ... DBX325.0 - 5 (orientation axis 2: Request machine function "INC1" to

"INCvar")

- DB21, ... DBX329.0 - 5 (orientation axis 3: Request machine function "INC1" to "INCvar")

Extended Functions

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H1: Manual traversing

4.6 Manual traversing using a handwheel

The acknowledgement that the handwheel direction of rotation has been inverted by the NC

is realized for each axis using the IS "Handwheel direction of rotation inversion active":

● Machine axes:

- DB31, ... DBX67.0 (handwheel direction of rotation inversion active)

● Geometry axes:

- DB21, ... DBX43.0 (geometry axis 1: Handwheel direction of rotation inversion active)

- DB21, ... DBX49.0 (geometry axis 2: Handwheel direction of rotation inversion active)

- DB21, ... DBX55.0 (geometry axis 3: Handwheel direction of rotation inversion active)

● Orientation axes:

- DB21, ... DBX335.0 (orientation axis 1: Handwheel direction of rotation inversion active)

- DB21, ... DBX339.0 (orientation axis 2: Handwheel direction of rotation inversion active)

- DB21, ... DBX343.0 (orientation axis 3: Handwheel direction of rotation inversion active)

● Contour handwheel:

- DB21, ... DBX39.5 (contour handwheel: Handwheel direction of rotation inversion

active)

Note

It is only permissible to change the inversion signal at standstill. If the change is made while

motion setpoints are being output by the interpolator, then the signal change is rejected and

an alarm is output; further, motion is stopped taking into account the actual acceleration value.

Abort/interruption of the traversing motion

The following NC/PLC interface signals abort the traversing motion. The setpoint/actual-value

difference is deleted.

NC/PLC interface signal

Scope

Effect

DB21, ... DBX7.7 (NC reset)

Geometry axis / machine axis

Abort

DB21, ... DBX12.0 - 2 (geometry axis 1: Activate hand-

Geometry axis

1 → 0

Abort

wheel)

DB21, ... DBX16.0 - 2 (geometry axis 2: Activate hand-

wheel)

DB21, ... DBX20.0 - 2 (geometry axis 3: Activate hand-

wheel)

DB21, ... DBX6.2 (delete distance-to-go)

Geometry axis / machine axis

0 → 1

Abort

DB31, ... DBX2.2 (delete distance-to-go / spindle reset)

Geometry axis / machine axis

0 → 1

Abort

DB31, ... DBX4.2 (activate handwheel)

Machine axis

1 → 0

Abort

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

Geometry axis / machine axis

0 → 1

Abort

DB31, ... DBX1.5 (position measuring system 1)

Geometry axis / machine axis

0 → 1

Abort

DB31, ... DBX1.6 (position measuring system 2)

Geometry axis / machine axis

0 → 1

Abort

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H1: Manual traversing

4.6 Manual traversing using a handwheel

Fixed increments

The parameter assignment of the fixed increment sizes is performed via NC-specific machine

data:

MD11330 $MN_JOG_INCR_SIZE_TAB[1 ... 5] = <number of increments 1 ... 5>

Variable increment

The parameter assignment of the variable increment size is performed via NC-specific setting

data:

SD41010 $SN_JOG_VAR_INCR_SIZE = <number of increments>

Distance evaluation of one increment

The distance evaluation of one increment for fixed and variable increment sizes is performed

via the axis-specific machine data:

MD31090 $MA_JOG_INCR_WEIGHT = <distance>

Note

Input of a negative value results in a reversal of the handwheel direction of rotation.

Limitation of the increment size

The machine operator can limit the size of the selected increment:

● For machine axes, using the axis-specific machine data:

MD32080 $MA_HANDWH_MAX_INCR_SIZE (limiting the selected increment)

● For geometry axes, using the channel-specific machine data:

MD20620 $MC_HANDWH_GEOAX_MAX_INCR_SIZE (limitation of handwheel increment

for geometry axes)

● For orientation axes, using the channel-specific machine data:

MD20621 $MC_HANDWH_ORIAX_MAX_INCR_SIZE (limitation of handwheel increment

for orientation axes)

Representation of the handwheel number in the NC/PLC interface signals

The representation of the handwheel number in the NC/PLC interface signals is defined using

machine data:

MD11324 $MN_HANDWH_VDI_REPRESENTATION

Value

Meaning

0

Bit-coded representation (basic setting)

→ Three handwheels can be represented.

1

Binary-coded representation

→ Six handwheels can be represented.

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H1: Manual traversing

4.6 Manual traversing using a handwheel

Output of the NC/PLC interface signals "travel command plus" / "travel command minus"

The output behavior of the NC/PLC interface signals "travel command plus" / "travel command

minus" is specified with the machine data:

MD17900 $MN_VDI_FUNCTION_MASK

Value

Meaning

0

The NC/PLC interface signals "Travel command plus" / "Travel command minus" are already

output when a travel request is active (default setting).

1

The NC/PLC interface signals "Travel command plus" / "Travel command minus" are only

output when the axis actually moves (i.e. if setpoints are output to the servo).

Velocity

The following axis velocities, effective during JOG, are also used for manually traversing using

the handwheel:

● SD41110 $SN_JOG_SET_VELO (axis velocity for JOG)

● SD41130 $SN_JOG_ROT_AX_SET_VELO (axis velocity for rotary axes for JOG mode)

● MD32020 $MA_JOG_VELO (conventional axis velocity)

Note

Because of the limited feedrate, the axis is not able to follow the handwheel rotation

synchronously, especially in the case of a large pulse weighting, and therefore overtravels.

Acceleration

As for manual travel (see "Parameter assignment (general) (Page 147) ").

Movement in the opposite direction

The behavior at a reversal of the traversing direction (by turning the handwheel in the opposite

direction) can be set in the machine data:

MD11310 $MN_HANDWH_REVERSE (threshold for direction change handwheel)

Value

Meaning

= 0

If the handwheel is moved in the opposite direction, the resulting distance is computed and

the calculated end point is approached as fast as possible.

If this end point is located before the point where the moving axis can decelerate in the current

direction of travel, the unit is decelerated and the end point is approached by moving in the

opposite direction. If this is not the case, the newly calculated end point is approached imme-

diately.

> 0

If the handwheel is moved in the opposite direction by at least the number of pulses indicated

in the machine data, the axis is decelerated as fast as possible and all pulses received until

the end of the interpolation are ignored.

This means that another movement takes place only after the axis reaches standstill (setpoint

side).

Extended Functions

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H1: Manual traversing

4.6 Manual traversing using a handwheel

Response at software limit switches, working area limitation

When axes are traversed in JOG mode, they can traverse only up to the first active limitation

before the corresponding alarm is output.

Depending on the setting in the machine data:

MD11310 $MN_HANDWH_REVERSE (threshold for direction change, handwheel)

the behavior is then as follows (as long as the axis has still not arrived at the end point from

the setpoint side):

● The distance resulting from the handwheel pulses forms a fictitious end point which is used

for subsequent calculations.

If this fictitious end point is, for example, 10 mm behind the limit, these 10 mm must be

traversed in the opposite direction before the axis traverses again. If a movement in the

opposite direction is to be performed immediately after a limitation is reached, the fictitious

distance-to-go can be deleted via delete distance-to-go or deselection of the handwheel

assignment.

● All handwheel pulses leading to an end point behind the limitation are ignored. Any

movement of the handwheel in the opposite direction leads to an immediate movement in

the opposite direction, i.e. away from the limit.

Feedrate behavior

In JOG mode, the feedrate behavior of the axis/spindle also depends on the setting data:

SD41100 $SN_JOG_REV_IS_ACTIVE (JOG: Revolutional/linear feedrate)

SD41100 $SN_JOG_REV_IS_ACTIVE

Active

An axis/spindle is always traversed with revolutional feedrate

MD32050 $MA_JOG_REV_VELO (revolutional feedrate for JOG)

or

MD32040 $MA_JOG_REV_VELO_RAPID

(revolutional feedrate for JOG with rapid traverse override)

depending on the master spindle.

Not active

The behavior of the axis/spindle depends on the setting data:

SD43300 $SA_ASSIGN_FEED_PER_REV_SOURCE

(revolutional feedrate for positioning axes/spindles)

The behavior of a geometry axis on which a frame with rotation acts,

depends on the channel-specific setting data:

SD42600 $SC_JOG_FEED_PER_REV_SOURCE

(control of the revolutional feedrate in JOG)

Effect of the NC/PLC interface stop signals

The effect of the NC/PLC interface stop signals on manual traversing using a handwheel (abort

or interruption of the traversing motion) can be set using machine data:

MD20624 $MC_HANDWH_CHAN_STOP_COND (definition of the handwheel traversing

behavior, channel-specific)

Extended Functions

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H1: Manual traversing

4.6 Manual traversing using a handwheel

MD32084 $MA_HANDWH_STOP_COND (behavior when manually traversing using a

handwheel)

NC/PLC interface signal

Scope

MD20624 $MC_HANDWH_CHAN_STOP_COND

Bit == 0

Bit == 1

DB11 DBX0.5 (mode group

Geometry axis / machine axis

Interruption until NC start

Abort

stop)

DB11 DBX0.6 (mode group

Geometry axis / machine axis

Interruption until NC start

Abort

stop, axes plus spindle)

DB21, ... DBX7.3 (NC Stop)

Geometry axis / machine axis

Interruption until NC start

Abort

DB21, ... DBX7.4 (NC stop,

Geometry axis / machine axis

Interruption until NC start

Abort

axes plus spindle)

DB21, ... DBX6.0 (feedrate

Geometry axis / machine axis

Interruption

Abort

disable)

DB21, ... DBB4 (feed rate

Geometry axes

Override == 0: Interruption if

Override == 0: Abort if rapid

override)

rapid traverse override is not

traverse override is not active

active

DB31, ... DBX4.5 (rapid tra-

verse override)

DB21, ... DBB5 (rapid tra-

Geometry axes

Rapid traverse override == 0:

Rapid traverse override == 0:

verse override)

Interruption if rapid traverse

Abort if rapid traverse over-

override is active

ride is active

DB31, ... DBX4.5 (rapid tra-

verse override)

DB21, ... DBX12/16/20.3 (ge-

Geometry axis

Interruption

Abort

ometry axis 1/2/3: Feedrate

stop)

NC/PLC interface signal

Scope

MD32084 $MC_HANDWH_CHAN_STOP_COND

Bit == 0

Bit == 1

DB31, ... DBB0 (feed rate

Machine axis, not spindle

Override == 0: Interruption

Override == 0: Abort

override, axial)

DB31, ... DBB19 (spindle

Spindle

Override == 0: Interruption

Override == 0: Abort

override)

DB31, ... DBX4.3 (feedrate

Geometry axis / machine axis

Interruption

Abort

stop / spindle stop)

DB31, ... DBX2.3 (clamping

Geometry axis / machine axis

No effect

Abort

in progress)

DB31, ... DBX2.1 (control sys-

Geometry axis / machine axis

Interruption

Abort

tem enable)

DB31, ... DBX21.7 (pulse en-

Geometry axis / machine axis

Interruption

Abort

able)

Note

Removal of the "Controller enable" and "Pulse enable" during traversing results in a rapid stop

of the axis and a reset alarm.

Extended Functions

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H1: Manual traversing

4.6 Manual traversing using a handwheel

Interruption of a traversing motion

When a stop command is issued, the distance-to-go is saved and the handwheel pulses are

collected. When the stop condition no longer applies, the resulting distance is traversed.

Abort of a traversing motion

When a stop command is issued, the distance-to-go is deleted and the handwheel pulses are

ignored (i.e. not collected) until the stop condition no longer applies.

Behavior in the event of a safe operating stop

Analog to the NC/PLC interface stop signals, the behavior in the event of a stop can also be

adjusted by activating the safe operating stop (SBH):

Stop condition

Scope

MD20624 $MC_HANDWH_CHAN_STOP_COND

Bit 12 == 0

Bit 12 == 1

(Default setting)

Safe operating stop in

Machine axis

Interruption

Abort

the event of active tar-

get velocity limit

In the default setting, Bit 12 is set to "1", i.e. in the event of a stop resulting from activation of

the safe stop, current movements are aborted and new handwheel pulses ignored.

Prerequisite for an interpolatory stop is an active target velocity limit (i.e., MD36933

$MA_SAFE_DES_VELO_LIMIT > 0).

4.6.3

Travel request

The following examples are intended to illustrate the method of operation of the "Travel

request" NC/PLC interface signal.

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H1: Manual traversing

4.6 Manual traversing using a handwheel

Example 1: Manual traversing using handwheel with distance input, the stop condition is no criterion

for cancellation

If, for manual traversing using a handwheel with distance input

(MD11346 $MN_HANDWH_TRUE_DISTANCE == 1 or == 3), an active stop condition is not

a criterion for cancellation (see MD32084 $MA_HANDWH_STOP_COND or

MD20624 $MC_HANDWH_CHAN_STOP_COND); then, the output of NC/PLC interface

signals "Travel request" and "Travel command" corresponds to the behavior shown in the

following diagrams.

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Figure 4-1

Signal-time diagram:Manual traversing using the handwheel with distance input, stop

condition is not a cancellation criterionMD17900 $MN_VDI_FUNCTION_MASK bit 0 = 0

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Signal-time diagram:Manual traversing using the handwheel with distance input, stop

condition is not a cancellation criterionMD17900 $MN_VDI_FUNCTION_MASK bit 0 = 1

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H1: Manual traversing

4.6 Manual traversing using a handwheel

Example 2: Manual traversing using a handwheel, stop condition is a cancellation criterion

If a stop condition is selected as cancellation criterion via machine data

MD32084 $MA_HANDWH_STOP_COND or

MD20624 $MC_HANDWH_CHAN_STOP_COND during manual traversing using a

handwheel, no travel command is output, but the corresponding travel request is output.

When the stop condition is removed, the corresponding "Travel request" NC/PLC interface

signal is reset, as an abort is present. The stop condition is no longer active, but the axis cannot

be traversed as the stop condition has caused an abort.

In addition, either the distance specification (MD11346 $MN_HANDWH_TRUE_DISTANCE

== 1 or == 3) is active or the handwheel is moved continuously, i.e. it provides pulses.

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Signal-time diagram:Manual traversing using a handwheel, stop condition is a cancellation

criterion

If a stop condition is activated during the handwheel travel, the motion is aborted and the

"Travel request" and "Travel command" NC/PLC interface signals are reset.

Example 3: Manual traversing using a handwheel with velocity setpoint, stop condition is a cancellation

criterion

If the handwheel is no longer moved for velocity specification

(MD11346 $MN_HANDWH_TRUE_DISTANCE == 0 or == 2), the "Travel request" NC/PLC

interface signal is reset.

The "Travel request" PLC signal is also reset when the handwheel is deselected.

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H1: Manual traversing

4.7 Manual traversing of the spindle

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Signal-time diagram:Manual traversing using a handwheel with velocity setpoint, stop

condition is a cancellation criterion

Supplementary conditions

NC stop

With NC stop present, no travel command and, therefore, no travel request is output. There is

an exception with DRF travel: If DRF travel is permitted in the NC stop state via machine data

MD20624 $MC_HANDWH_CHAN_STOP_COND (bit 13 == 1), the behavior corresponds to

that of manual traversing using a handwheel.

4.7

Manual traversing of the spindle

Spindle mode

Manual traversing of the spindle is possible both in positioning mode (spindle is in position

control) and in open-loop control mode.

Velocity

The velocity applied for the manual traversing of the spindles is defined by the general setting

data:

SD41200 $SN_JOG_SPIND_SET_VELO (speed of spindle in JOG mode)

If "0" is entered in SD41200, the axis-specific machine data takes effect:

MD32020 $_MA_JOG_VELO (conventional axis velocity)

The maximum speeds of the active gear stage are also considered when manually traversing

a spindle.

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4.9 Approaching a fixed point in JOG

"JOG: position reached <axis>"

To withdraw from the fixed position, you must deactivate the "Approaching fixed point in JOG"

function.

Special features of incremental travel

If, during incremental travel, the fixed point is reached before the increment is completed, then

the increment is considered to have been completed fully. This is the case even when only

whole increments are traveled.

MD11346 $MN_HANDWH_TRUE_DISTANCE = 2 or 3

Special features of modulo rotary axes

Modulo rotary axes can approach the fixed point in both directions. The shortest path (DC) is

not observed during the travel.

Features of spindles

A spindle changes to the positioning mode on actuating the "Approaching fixed point in JOG"

function. The closed loop position control is active and the axis can traverse to the fixed point.

If no zero mark is detected the alarm message in the axis operation is output:

Alarm 17810 "Channel %1 Axis %2 not referenced"

As a spindle must also be a modulo rotary axis at all times, the same conditions apply for

direction observation as for modulo rotary axes (refer to the paragraph "Features of modulo

rotary axes")

4.9.2

Parameterization

Movement in the opposite direction

The behavior while traversing in the opposite direction - i.e. in the direction opposite to

approaching the fixed point - depends on the following setting:

MD10735 $MN_JOG_MODE_MASK, bit 2 (settings for the JOG mode)

Bit

Value

Meaning

2

0

Travel in the opposite direction is not possible (basic setting).

1

Movement in the opposite direction is possible.

Fixed point positions

Up to four fixed point positions can be defined for an axis:

MD30600 $MA_FIX_POINT_POS[0...3] = <fixed point position 1...4>

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H1: Manual traversing

4.9 Approaching a fixed point in JOG

Axis dynamics

The axis-specific acceleration and the axis-specific jerk for "Approaching fixed point in JOG"

are determined by the following machine data:

● When traversing with traverse keys or handwheel:

- MD32300 $MA_MAX_AX_ACCEL [0] (maximum axis-specific acceleration for path

motions in the dynamic response mode DYNNORM)

- MD32430 $MA_JOG_AND_POS_MAX_JERK (maximum axis-specific jerk)

Note

MD32430 $MA_JOG_AND_POS_MAX_JERK is only effective when the axis-specific

jerk limitation for single-axis movements has been enabled for the machine axes to be

traversed:

MD32420 $MA_JOG_AND_POS_JERK_ENABLE [<axis>] == TRUE

● During traversing via the G75 part program command:

- MD32300 $MA_MAX_AX_ACCEL [0/1] (maximum axis-specific acceleration for path

motions in the dynamic response mode DYNNORM/DYNPOS)

Note

The type of positioning axis dynamics (DYNNORM or DYNPOS) is defined by the

machine data:

MD18960 $MN_POS_DYN_MODE = <mode>

- MD32431 $MA_MAX_AX_JERK [0] (maximum axis-specific jerk for path motions in the

dynamic response mode DYNNORM)

Note

MD32431 $MA_MAX_AX_JERK is only effective when the axis-specific jerk limitation

for single-axis movements has been enabled for the machine axes to be traversed:

MD32420 $MA_JOG_AND_POS_JERK_ENABLE [<axis>] == TRUE

Reference:

Function Manual, Basic Functions; Acceleration (B2)

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H1: Manual traversing

4.9 Approaching a fixed point in JOG

4.9.3

Programming

System variables

The following system variables that can be read in the part program and in the synchronous

actions for the "Approach fixed point" function.

System variable

Description

$AA_FIX_POINT_SELECTED [<Axis>]

Number of fixed point to be approached

$AA_FIX_POINT_ACT [<Axis>]

Number of the fixed point on which the axis is cur-

rently located

4.9.4

Supplementary Conditions

Axis is indexing axis

The axis is not traversed and an alarm is output if the axis to be traversed is an indexing axis

and the fixed point position to be approached does not match an indexing position.

Frames active

All active frames are ignored. Traversing is performed in the machine coordinate system.

Offset values active

Active offset values (DRF, external zero offset, synchronized action offset $AA_OFF, online

tool offset) are also traversed. The fixed point is a position in the machine coordinates system.

An alarm is issued if an offset movement (DRF, external zero offset, synchronized action offset

$AA_OFF, online tool offset) is made during a fixed point approach in JOG. The position of

the fixed point to be approached in the machine coordinates system is not reached; instead a

position that would have been reached without active offset movement is reached. The NC/

PLC interface signal DB31, ... DBX75.3-5 corresponding to the fixed point is not output.

Working-area limitations

Working-area limitations (in BCS and WCS) are considered and the axis motion is stopped on

reaching the limits.

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H1: Manual traversing

4.10 Position travel in JOG

4.10.2

Parameter setting

Consideration of axial frames and tool length compensation

The consideration of axial frames and, if an axis is configured as geometry axis, the tool length

compensation, depends on the setting of bit 1 in the machine data:

MD10735 $MN_JOG_MODE_MASK (settings for the JOG mode)

Bit

Value

Meaning

1

0

Axial frames and tool length compensation are not considered.

1

Axial frames and tool length compensation are considered.

Retraction in the opposite direction

The behavior when retracting from a position in the opposite direction depends on the setting

of bit 2 in the machine data:

MD10735 $MN_JOG_MODE_MASK (settings for the JOG mode)

Bit

Value

Meaning

2

0

Retraction in the opposite direction is not possible (default setting).

1

Retraction in the opposite direction is possible.

Position to be approached

The position to be approached is entered in the setting data:

SD43320 $SA_JOG_POSITION (JOG position)

4.10.3

Supplementary Conditions

Axis is indexing axis

The axis is not traversed and an alarm is output if the axis to be traversed is an indexing axis

and the position to be approached does not match an indexing position.

Frames active

All active frames are ignored. Traversing is performed in the machine coordinate system.

Correction values active

Active correction values (DRF, external zero offset, synchronized action offset $AA_OFF,

online tool offset) are also traversed.

An alarm is issued if an offset movement (DRF, external zero offset, synchronized action offset

$AA_OFF, online tool offset) is made during the approach of a variable position in JOG. The

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H1: Manual traversing

4.11 Circular travel in JOG

4.11

Circular travel in JOG

4.11.1

Function

With the "Circular travel in JOG" function, the machine operator can simultaneously traverse

the two geometry axes of the active plane along an arc using the traverse keys or handwheel.

Applications

This function is used for machine tools that are exclusively operated manually.

Preconditions

● The "Circular travel in JOG" function can be activated only in the JOG mode.

The function cannot be activated if the machine functions JOG-REPOS and JOG-REF are

active.

● The axes that participate in traversing must be homed.

● The active plane must not be inclined.

Procedure

Procedure for circular travel in JOG:

1. Plane selection

2. Selection of JOG mode

3. Specification of circle parameters

4. Activation of the function "Circular travel in JOG"

5. Traversing of the geometry axes with traverse keys or handwheel

Plane selection

The geometry axes of the active plane are selected by programming one of the following G

commands:

G command

1st geometry axis of the plane

2nd geometry axis of the plane

G17

X

Y

G18

Z

X

G19

Y

Z

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H1: Manual traversing

4.11 Circular travel in JOG

● Only one movement at a time can be carried out in the active plane: either on the arc or

perpendicular to it.

● Regardless of the movements in the active plane, the 3rd geometry axis can be traversed

perpendicular to the active plane.

Note

The radius can only be reduced to zero, i.e. to the center point of the circle. If the radius is then

enlarged again, traversing occurs back in the direction from where the reducing started.

Note

If the current position is the center point of the circle when the function is activated or after a

change to the center point of the circle, then the following applies:

● For a full circle, traversing takes place in the direction of the 2nd geometry axes.

● For a segment of a circle, travel is in the direction of the angle bisector.

Internal or external machining

Depending on the specification in the setting data SD42692 $SC_JOG_CIRCLE_MODE,

internal or external machining takes place:

● Internal machining

- Traversing is only possible within the defined circle.

- The circle radius in SD42691 $SA_CIRCLE_RADIUS is the maximum radius.

● External machining

- Traversing is only possible outside of the defined circle.

- The circle radius in SD42691 $SA_CIRCLE_RADIUS is the minimum radius.

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H1: Manual traversing

4.11 Circular travel in JOG

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Circular travel in JOG: Internal/external machining

Circle segment machining

By specifying a start and end angle, the working area for the 1st and 2nd geometry axis can

be limited to a circle segment:

SD42693 $SC_JOG_CIRCLE_START_ANGLE (circle start angle)

SD42694 $SC_JOG_CIRCLE_END_ANGLE (circle end angle)

Furthermore, the direction from the start to the end angle must be specified to permit the unique

definition of the circle segment:

SD42692 $SC_JOG_CIRCLE_MODE, bit 0

This bit also specifies the traversing direction along the circular path.

Extended Functions

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H1: Manual traversing

4.11 Circular travel in JOG

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Circular travel in JOG: Circle segment machining

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H1: Manual traversing

4.11 Circular travel in JOG

Allowance for tool radius

If bit 1 is set in the setting data SD42692 $SC_JOG_CIRCLE_MODE, then the tool radius is

considered when monitoring the operating range limits (define circular arc; for circle segment

machining also the limits that arise due to the start and end angle):

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Circular travel in JOG: Circle segment internal machining with tool radius compensation

Note

By taking the tool radius into consideration, the smallest possible radius for the internal

machining in the vicinity of the center point of the circle is also limited.

Axis monitoring

If the current axis positions of the engaged axes are outside of the workspace limits when the

function is activated, then the axes are not traversed and an alarm is output.

Axis positions that are outside of the operating range limits are:

● For internal machining: positions outside of the defined circle

● For external machining: positions within the define circle

● For circle segment machining: Positions outside of the limits that result from the start and

end angles (segment borders)

● For active tool radius compensation: Positions too close to limiting circle

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H1: Manual traversing

4.11 Circular travel in JOG

● For active tool radius compensation and internal machining: Positions too close to center

of circle

● For active tool radius compensation and circle segment machining: Positions too close to

segment borders

Changes to the setting data

Changes in the function-relevant setting data SD42690 to SD42694 that are made during an

active JOG motion only take effect after ending the active JOG motion by triggering a new

JOG motion.

Note

To ensure that changes in the setting data take effect more quickly, the machine operator can

proceed as follows:

1. Cancel the current traverse movement with residual distance deletion.

2. Change setting data.

3. Restart the JOG motion.

Abort/deactivation

If during a JOG motion the function "Circular travel in JOG" is deactivated (DB21, ... DBX30.6

= 0), then the JOG motion is canceled and an alarm is output.

Note

To avoid the alarm message, the machine user should proceed as follows:

1. Cancel the current traverse movement with residual distance deletion.

2. Deactivating the function after axis standstill.

4.11.2

Parameter setting

Traversing direction of the second geometry axis

The traversing direction of the second geometry axis can be set via the following machine data:

MD10735 $MN_JOG_MODE_MASK (settings for the JOG mode)

Bit

Value

Meaning

6

0

Traversing of the 2nd geometry axis of the active plane to plus increases the radius,

traversing to minus decreases the radius. The traversing movement is independent of

7

0

whether internal or external machining is active.

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H1: Manual traversing

4.11 Circular travel in JOG

Bit

Value

Meaning

6

0

Traversing of the 2nd geometry axis of the active plane to plus always takes place in

the direction of the limiting circle. I.e. the radius is increased for internal machining and

7

1

decreased for external machining.

Bit

Value

Meaning

6

1

Traversing of the 2nd geometry axis of the active plane to minus always takes place

in the direction of the limiting circle. I.e. the radius is increased for internal machining

7

1

and decreased for external machining.

Coordinates of center of circle as radius value

In basic setting, the specified coordinate of an axis is always a diameter value when diameter

programming is active. This can be changed for specifying the center of circle coordinates for

circular traversing in JOG via the following machine data:

MD20360 $MC_TOOL_PARAMETER_DEF_MASK (definition of the tool parameters)

Bit

Value

Meaning

13

0

For circular travel in JOG, the center of circle coordinate is a diameter value (basic

setting).

1

For circular travel in JOG, the center of circle coordinate is always a radius value.

Center of circle

The center of the circle to be traversed is set in the setting data:

SD42690 $SC_JOG_CIRCLE_CENTRE (circle center point)

The coordinate data refers to the WCS. It can be a diameter or radius value (depending on

the setting in the MD20360 Bit 13).

Only the center point coordinates of the geometry axes of the active plane are evaluated, not

the coordinates of the geometry axis that is perpendicular to the plane.

Circle radius

The radius of the maximum circle for internal machining or of the minimum circle for external

machining is set in the setting data:

SD42691 $SC_JOG_CIRCLE_RADIUS (circle radius)

The radius that is specified refers to the WCS.

Internal or external machining

The machining mode (internal or external machining) is defined in the setting data:

Extended Functions

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H1: Manual traversing

4.11 Circular travel in JOG

SD42692 $SC_JOG_CIRCLE_MODE (jog circle mode)

Bit

Value

Meaning

2

0

Internal machining takes place.

The circle radius in SD42691 is the maximum possible radius.

1

External machining takes place.

The circle radius in SD42691 is the minimum possible radius.

Circle segment machining

The start and end angles for defining a circle segment that limits the operating range are set

in the setting data:

SD42693 $SC_JOG_CIRCLE_START_ANGLE (circle start angle)

SD42694 $SC_JOG_CIRCLE_END_ANGLE (circle end angle)

The angle data refers to the abscissa of the active plane.

The direction from the start to the end angle is specified in the setting data:

SD42692 $SC_JOG_CIRCLE_MODE (jog circle mode)

Bit

Value

Meaning

0

0

The direction from the start to the end angle is counterclockwise.

1

The direction from the start to the end angle is clockwise.

Note

If the start and end angle are equal to zero, full circles can be traversed without limitation.

Allowance for tool radius

The consideration of the tool radius can be selected via the following setting data:

SD42692 $SC_JOG_CIRCLE_MODE (jog circle mode)

Bit

Value

Meaning

1

0

When monitoring the operating range limits (define circular arc; for circle segment

machining also the limits that result from the start and end angle), the tool radius is

not considered (basic setting).

1

When monitoring the operating range limits, the tool radius is considered.

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H1: Manual traversing

4.12 Retraction in the tool direction (JOG retract)

4.12.2

Parameterization

4.12.2.1

Automatic selection of JOG retract after Power On

After the control has run up (Power On), the channels of a BAG are as standard in the

parameterized default mode:

MD10720 $MN_OPERATING_MODE_DEFAULT[<mode group>] = <default mode>

The following NC-specific machine data can be used to set which operating mode is selected

after the control run up, if there is retraction data in a BAG channel.

MD10721 $MN_OPERATING_MODE_EXTENDED[<mode group>] = <value>

Value

Meaning

0

Selection of the operating mode corresponding to MD10720 $MN_OPERATING_MODE_DE-

FAULT

1

Selection of JOG mode, if: DB21, ... DBX377.5 == 1 (retraction data available)

4.12.2.2

Enable of the traversing direction

The retraction movement can be limited to the positive direction of travel or enabled for both

travel directions using the following NC-specific machine data:

MD10735 $MN_JOG_MODE_MASK, Bit 8 = <Value>

Value

Meaning

0

Release: Positive traverse direction

1

Release: Positive and negative traverse direction

4.12.2.3

Measuring system status

The current status of the measuring system is displayed via the following axis-specific machine

data or must be set to the desired behavior for selection:

MD34210 $MA_ENC_REFP_STATE[<Axis>] = <Value>

Value ¹⁾

Meaning

Absolute encoder

2

Encoder is calibrated

Incremental encoder

1

Automatic referencing: Enabled, but encoder still not referenced

2

Automatic referencing: Encoder is referenced and in exact stop, automatic referencing

takes effect at next time encoder activation

3

Restoration of the actual position: The last axis position buffered before switching off is

restored, no automatic referencing

1) Only the values relevant for JOG-Retract are stated

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