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

H1: Manual traversing

4.12 Retraction in the tool direction (JOG retract)

4.12.8

State diagram

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Operating mode

OMC Operating mode change

Figure 4-8

State diagram: JOG retract

4.12.9

System data

The following system data is available for JOG retract:

Meaning

System variable $VA_

NC/PLC interface

OPI variable

Retraction data available

DB21, ... DBX377.5

retractState, bit 0

JOG retract active

DB21, ... DBX377.4

retractState, bit 1

Retraction axis

retractState, bits 2 - 3

Position restored, 1st measuring system

$AA_POSRES

DB31, ... DBX71.4

aaPosRes

Position restored, 2nd measuring system

$AA_POSRES

DB31, ... DBX71.5

aaPosRes

References

OPI and system variable

Lists Book 2 List Manual, Section "Variables".

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H1: Manual traversing

4.12 Retraction in the tool direction (JOG retract)

4.12.10

Supplementary conditions

Incremental measuring systems

The user must ensure that machine axes with incremental measuring systems are clamped

with sufficient speed in the event of a power failure to prevent a change to the last position,

known and saved by the control. Otherwise the assumed position when the control is restarted

differs greatly to the actual position of the machine axis. Drive-autonomous retraction must

also not be activated for these axes.

A detailed description of the automatic restoration of actual positions after the next start of the

control (Power On) can be found in:

References:

Basic Functions Function Manual, Section "R1 Referencing" > "Automatic restoration of the

machine reference"

Drive-autonomous retraction

The "Drive-autonomous retraction" function must not be activated for machine axes involved

in the retraction movement.

Axis couplings

Axis couplings are not restored with the selection of JOG retract.

Tapping using G63

JOG retract is not possible for tapping with compensating chuck and speed-controlled spindle

without encoder (G63).

Transformations

If a transformation is selected through JOG retract, the active measuring systems of all

machine axes involved in the transformation must be in the "referenced" or "restored" state.

OEM transformations such as parallel kinematics for hexapods, can only be traversed with

referenced measuring systems. Traversing with restored axis positions is not possible.

Tool orientation via directly programmed orientation axes

JOG retract cannot generate a retraction movement in the tool direction if the tool orientation

is not performed via NC functions, but through direct programming of the orientation axes.

NCU link

JOG retract is also possible in conjunction with NCU-wide traversing of axes (see Section

"NCU link (Page 80)"). The state of axis containers is not changed through JOG retract. Any

adjustments required for a retraction in the tool direction must be made by the user, e.g. in

mode MDA, before the JOG retract movement.

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H1: Manual traversing

4.13 Use of handwheels in automatic mode

4.13

Use of handwheels in automatic mode

4.13.1

Handwheel override in automatic mode

4.13.1.1

General functionality

Function

With this function it is possible to traverse axes or to change their velocities directly with the

handwheel in automatic mode (Automatic, MDA).

The handwheel override is activated in the NC part program using the NC language elements

FD (for path axes) and FDA (for positioning axes) and is non-modal.

With positioning axes, it is possible to activate the handwheel override modally using traverse

command POSA. When the programmed target position is reached, the handwheel override

becomes inactive again.

Additional axes can be traversed simultaneously or using interpolation in the same NC block.

The concurrent-positioning-axes function can also be activated by the PLC user program.

Distinction

Depending on the programmed feedrate, a distinction is made between the following for

handwheel override:

● Path definition

Axis feedrate = 0 (FDA = 0)

● Velocity override

Axis feedrate > 0 (FD or FDA > 0)

The table below shows which axis types can be influenced by the "handwheel override in

automatic mode" function.

Axes that can be influenced by the "handwheel override in automatic mode" function

Axis type

Velocity override

Path definition

Positioning axis

FDA[AXi] > 0 ;

FDA[AXi] = 0

acts axially

Concurrent posi-

Parameter "Handwheel override active" = 1 and

Parameter "Handwheel over-

tioning axis

axis feedrate > 0 from FC18

ride active" = 1 and axis fee-

drate = 0 from FC18

Path axis

FD > 0 ;

Not possible

acts on path velocity

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H1: Manual traversing

4.13 Use of handwheels in automatic mode

Path definition

With axis feedrate = 0 (e.g. FDA[AXi] = 0), the traversing movement of the positioning axis

towards the programmed target position is controlled entirely by the user rotating the assigned

handwheel.

The direction in which the handwheel is turned determines the traversing direction of the axis.

The programmed target position cannot be exceeded during handwheel override. The axis

can also be moved toward the programmed target position from the opposite direction,

whereby the movement is only restricted by the axial position limitations.

A block change occurs when:

● The axis has reached the programmed target position

● The distance-to-go is deleted by axial interface signal

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

From this moment on, the path default is deactivated and any further handwheel pulses have

no effect.

After this, incrementally programmed positions refer to the point of interruption and not to the

last programmed position.

Velocity override

With regard to the velocity override, a distinction is made between axis feedrate and path

feedrate.

● Axis-velocity override (FDA[AXi] > 0):

The positioning axis is moved to the target position at the programmed axial feedrate. Using

the assigned handwheel, it is possible to increase the axis velocity or to reduce it to a

minimum of zero depending on the direction of rotation. The resulting axis feedrate is limited

by the maximum velocity. However, the axis cannot be traversed in the opposite direction

to that programmed.

The block change is performed as soon as the axis reaches the programmed target position.

This causes the velocity override to be deactivated automatically and any further handwheel

pulses have no effect.

Similarly, this also applies to concurrent positioning axes, where the target position and the

velocity are defined by the PLC.

● Path-velocity override (FD > 0):

The path axes programmed in the NC block traverse to the target position at the

programmed feedrate. If the velocity override is active, the programmed path velocity is

overridden by the velocity generated with the handwheel of the 1st geometry axis. The

block change is performed as soon as the programmed target position is reached.

The path velocity is increased or reduced to a minimum of zero depending on the direction

of rotation of the handwheel. However, it is not possible to reverse the direction of

movement with handwheel override.

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H1: Manual traversing

4.13 Use of handwheels in automatic mode

Application example

The "Handwheel override in automatic mode" function is frequently used on grinding machines.

For example, the user can position the reciprocating grinding wheel on the workpiece using

the handwheel (path default). After scratching, the traversing movement is terminated and the

block change is initiated (by activating DB31, ... DBX2.2 (delete distance-to-go)).

Preconditions

In order to activate "Handwheel override in automatic mode", the following requirements must

have been met:

● A handwheel must be assigned to the axis in question.

● Pulse weighting exists for the assigned handwheel.

Handwheel assignment

The assignment of the connected handwheels to the axes is analogous to the "Manual

traversing using a handwheel (Page 161)" via the user interface or via the PLC user interface

with one of the following interface signals:

● Machine axes:

- DB31, ... DBX4.0 - 2 (activate handwheel)

● Geometry axes:

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

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

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

If handwheel override is programmed for an axis to which no handwheel is assigned, a

distinction is made between the following cases:

● For velocity override:

The axes traverse at the programmed velocity.

A self-acknowledging alarm is output (without response).

● For path definition:

No traversing movement is performed because the velocity is zero.

A self-acknowledging alarm is output (without response).

Note

For the velocity override for path axes, only the handwheel of the 1st geometry axis is

applied to the path velocity.

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H1: Manual traversing

4.13 Use of handwheels in automatic mode

Handwheel weighting

The travel path of the axis that is generated by rotating the handwheel by one detent position

is dependent on several factors (see Section "Manual traversing using a handwheel

(Page 161)"):

● Selected increment size:

MD11330 $MN_JOG_INCR_SIZE_TAB[5] (increment size for INC/handwheel)

SD41010 $SN_JOG_VAR_INCR_SIZE (size of the variable increment for JOG)

● Weighting of an increment:

MD31090 $MA_JOG_INCR_WEIGHT

● Number of handwheel pulses per detent position:

MD11320 $MN_HANDWH_IMP_PER_LATCH

For example, the axis traverses by 0.001 mm per handwheel detent position if machine function

INC1 and the default setting of the above machine data are selected.

In the case of velocity override, the velocity results from the traverse path covered using the

handwheel within a certain period of time.

Example

Assumptions:

The operator turns the handwheel with 100 pulses/second.

The selected machine function is INC100.

The default setting is made for the above machine data for handwheel weighting.

⇒ Handwheel traverse path per second:

10 mm

⇒ Velocity override:

0.6 m/min

PLC interface signals

As soon as the handwheel override takes effect, the following interface signals to the PLC are

set to signal 1:

● For positioning axes / concurrent positioning axes / command axes / reciprocating axes:

DB31, ... DBX62.1 (handwheel override active)

● For path axes:

DB21, ... DBX33.3 (handwheel override active)

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H1: Manual traversing

4.13 Use of handwheels in automatic mode

For the path input, depending on the traversing direction, the appropriate interface signals are

output to the PLC:

● Machine axes:

- DB31, ... DBX64.6 / 7 (travel command "minus"/"plus")

● Geometry axes:

- DB21, ... DBX40.6 - 7 (geometry axis 1: Travel command "minus"/"plus")

- DB21, ... DBX46.6 - 7 (geometry axis 2: Travel command "minus"/"plus")

- DB21, ... DBX52.6 - 7 (geometry axis 3: Travel command "minus"/"plus")

Limitations

The axial limitations (software limit switch, hardware limit switch, working area limitation) are

effective in conjunction with handwheel override. With path default, the axis can be traversed

with the handwheel in the programmed traversing direction only as far as the programmed

target position.

The resulting velocity is limited by the axial machine data:

MD32000 $MA_MAX_AX_VELO(maximum axis velocity)

NC Stop/override = 0

If the feedrate override is set to 0% or an NC Stop is initiated while the handwheel override is

active, the following applies:

● For path definition:

The handwheel pulses arriving in the meantime are summated and stored. If NC Start or

the feedrate override > 0%, the saved handwheel pulses become effective (i.e. are

traversed).

However, if the handwheel is first deactivated [via IS DB21, ... DBX12/16/20.0-2 (geometry

axes 1/2/3: Activate handwheel)] then the stored handwheel pulses are deleted.

● For velocity specification:

The handwheel pulses arriving in the meantime are not summated and are not active.

4.13.1.2

Programming and activating handwheel override

General information

When the handwheel override is programmed with NC language elements FD (for path axes)

and FDA (for positioning axes), the following points must be observed:

● FDA and FD function non-modally.

Exception for positioning axes: If traverse instruction POSA is programmed, the handwheel

override can also act modally because this positioning axis does not affect the block

transition.

● When the handwheel override is activated with FDA or FD, a target position must be

programmed in the NC block for the positioning axis or for a path axis. When the

programmed target position is reached, the handwheel override becomes inactive again.

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H1: Manual traversing

4.13 Use of handwheels in automatic mode

● It is not possible to program FDA and FD or FA and F in the same NC block.

● The positioning axis must not be an indexing axis.

Positioning axis

Syntax for handwheel override:

FDA[AXi] = [feedrate value]

Example 1:

Activate velocity override

N10 POS[U]=10 FDA[U]=100 POSA[V]=20 FDA[V]=150 . . .

POS[U]=10

Target position of positioning axis U

FDA[U]=100

Activate velocity override for positioning axis U; axis velocity of U = 100 mm/

min

POSA[V]=20

Target position of positioning axis V (modally)

FDA[V]=150

Activate velocity override for positioning axis V; axis velocity of V = 150 mm/

min

Example 2:

Activate path default and velocity override in the same NC block

N20 POS[U]=100 FDA[U]= 0 POS[V]=200 FDA[V]=150 . . .

POS[U]=100

Target position of positioning axis U

FDA[U]= 0

Activate path default for positioning axis U;

POS [V]=200

Target position of positioning axis V

FDA[V]=150

Activate velocity override for positioning axis V; axis velocity of V =

150 mm/min

Path axis

Syntax for handwheel override:

FD = [feedrate value]

In order to activate "Handwheel override in automatic mode", the following requirements must

have been met:

● Active movement commands from group 1: G01, G02, G03, CIP

● Exact stop active (G60)

● Linear feedrate in mm/min or inch/min active (G94)

These requirements are checked by the control and an alarm is output if any of them is not

met.

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H1: Manual traversing

4.13 Use of handwheels in automatic mode

Example 3:

Activate velocity override

N10 G01 X10 Y100 Z200 FD=1500 . . .

X10 Y100 Z200

Target position of path axes X, Y and Z

FD=1500

Activate velocity override for path axes; path velocity = 1500 mm/

min

Concurrent positioning axis

The handwheel override for concurrent positioning axes is activated from the PLC via FC18

by setting the appropriate interface signal:

DB31, ... DBX62.1 (handwheel override active)

If the velocity parameter (F_Value) is transferred with the value 0, then the activated handwheel

override acts as distance input, i.e. in this case, the feed is not derived from the axial machine

data (see also Chapter "P2: Positioning axes (Page 683)"):

MD32060 $MA_POS_AX_VELO (initial setting for positioning axis velocity)

References:

Function Manual, Basic Functions, Basic PLC Program (P3)

4.13.1.3

Special features of handwheel override in automatic mode

Velocity display

The velocity display for handwheel override shows the following values:

● Set velocity

= programmed velocity

● Actual velocity

= resultant velocity including handwheel override

Effect on transverse axes

If the axis is defined as a transverse axis and DIAMON is active, the handwheel pulses are

interpreted and traversed as diameter values while handwheel override is active.

Dry-run feedrate

With active dry run

DB21, ... DBX0.6 (activate dry-run feedrate) = 1,

the dry-run feedrate is always effective

SD42100 $SC_DRY_RUN_FEED.

In this way, the axis is traversed to the programmed target position at dry-run feedrate without

any influence from the handwheel despite the active handwheel override with path default

(FDA[AXi] = 0), i.e., the path default is ineffective.

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H1: Manual traversing

4.13 Use of handwheels in automatic mode

DRF active

When "Handwheel override in automatic mode" is activated, it is important to check whether

the "DRF" function is active (DB21, ... DBX0.3 = 1).

If this were the case, the handwheel pulses would also cause a DRF offset of the axis. The

user must, therefore, first deactivate DRF.

Feedrate override

The feedrate override does not affect the velocity of the movements produced by the

handwheel (exception: 0%). It only affects the programmed feedrate.

With path default and fast handwheel movements, the axis may not be able to follow the

handwheel rotation synchronously (especially in the case of a large handwheel-pulse

weighting), causing the axis to overtravel.

4.13.2

Contour handwheel/path input using handwheel (option)

"Contour handwheel" function

When the function is activated, the path and synchronized axes can be controlled via a

handwheel in AUTOMATIC and MDI modes.

Preconditions

It is not permissible that fixed feedrate, dry run feedrate, thread cutting, or tapping are selected.

Availability

For SINUMERIK 840D sl and SINUMERIK 828D, the "contour handwheel" function is available

as an option that is under license.

Input mode (path or velocity input)

Either the distance or the velocity can be entered via the handwheel:

● Path definition

The traversing velocity obtained as a result of the path defined by the handwheel pulses

each IPO clock cycle, is limited by the control system to the maximum permissible velocity.

The handwheel pulses that are not immediately executed are collected, and traversed

through at a later point in time. As a consequence, it is possible that the axes continue to

run. No pulses are lost.

● Velocity specification

Based on the handwheel pulses for each IPO clock cycle, the velocity is specified at which

the axes will be traversed. Traversing motion is immediately stopped as soon as no pulses

are received from the handwheel in an IPO clock cycle. The axes do not continue to run .

The input mode is set with machine data:

MD11346 $MN_HANDWH_TRUE_DISTANCE

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H1: Manual traversing

4.13 Use of handwheels in automatic mode

Path velocity

The path velocity in mm/min depends on:

● Handwheel pulses in each IPO clock cycle

● Pulse evaluation of the handwheel using machine data:

MD11322 $MN_CONTOURHANDWH_IMP_PER_LATCH

● Active increment (INC1, 10, 100, ...)

● Distance weighting of an increment of the first available geometry axis:

MD31090 $MA_JOG_INCR_WEIGHT

The path velocity is independent of:

● Programmed feedrate mode (mm/min, mm/rev.)

● Programmed path velocity

● Rapid traverse velocity for G0 blocks

● Override (with the exception of 0% override)

Traversing direction

The traversing direction depends on the direction of rotation of the handwheel:

● Clockwise rotation: Traversing the axes in the programmed direction.

If the block change criterion (IPO end) is reached, the program advances to the next block

(response identical to G60).

● Counterclockwise: Traversing the axes opposite to the programmed direction.

In this case, traversing is only possible up to the start of the actual block. Pulses are not

collected if the handwheel continues to rotate.

Activation of the function

The function can be activated via interface signals or in the NC program:

● Activation via interface signal

DB21, ... DBX30.0 - 2

● Activation via the NC program

Command FD=0 . The contour handwheel is switched on non-modally. This means in the

following block, the programmed velocity F... from the block before the contour

handwheel again applies when the contour handwheel is activated.

Note

An alarm is displayed if no feedrate was programmed in the previous NC blocks.

"Simulated contour handwheel" function

When the "Contour handwheel" function is active, using the "Simulated contour handwheel"

function, the handwheel or the handwheel pulses are simulated.

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H1: Manual traversing

4.13 Use of handwheels in automatic mode

Activation

The function is activated via interface signal:

DB21, ... DBX30.3 = 1

The feedrate is then no longer specified by the handwheel pulses, but by feedrate F...

programmed in the NC program.

Specifying the direction of rotation

The direction of rotation of the simulated handwheel is specified using the interface signal:

DB21, ... DBX30.4

override

When the "Simulated contour handwheel" function is active, the override is effective as for NC

program execution.

Stopping traversing motion

If the "Simulated contour handwheel" function is deselected, or the direction of rotation

switched over, then the actual traversing motion is stopped along a braking ramp.

Supplementary conditions

● Velocity limiting

- When the "Contour handwheel" function is activated via interface signal (DB21, ...

DBX30.0 - 2), the path velocity that can be entered via the handwheel is limited to:

Max. path velocity = (programmed path velocity F...) * (MD12030

$MN_OVR_FACTOR_FEEDRATE[ 30 ] + reserve for dynamic operations)

- When the "Contour handwheel" function is activated using command FD=0 in the NC

program, the path velocity that can be entered via the handwheel is limited to the

maximum axis velocities defined in machine data (MD32000 $MA_MAX_AX_VELO).

● Acceleration and velocity limit values

When traversing the axes using the "Contour handwheel" function, the axis-specific limit

values for acceleration, defined in machine data (e.g. MD32300 $MA_MAX_AX_ACCEL),

and velocity (MD32000 $MA_MAX_AX_VELO) are maintained.

● Interruption of traversing movement

If, while traversing using the "Contour handwheel" function, an NC stop is initiated (DB21, ...

DBX7.3 or 4), then the function remains selected. The handwheel pulses received during

an NC stop are not evaluated. Requirement: MD32084

$MA_HANDWH_CHAN_STOP_COND, bit 2 == 1

● DRF

An active DRF function (DB21, ... DBX0.3) additionally has a path override action.

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4.13 Use of handwheels in automatic mode

● Channel-specific delete distance-to-go

Channel-specific delete distance-to-go (DB21, ... DBX6.2) causes the motion, initiated by

the contour handwheel, to be canceled. The axes are braked and the program is restarted

with the next NC block.

● Mold making

Executing mold making programs using the contour handwheel does not produce a suitable

surface quality or constant cutting speed.

4.13.3

DRF offset

4.13.3.1

DRF offset

Function

The "DRF offset" function (differential resolver function) can be used to set an additive

incremental zero offset in respect of geometry and auxiliary axes in the basic coordinate system

in AUTOMATIC mode via an electronic handwheel.

The handwheel assignment, i.e. the assignment of the handwheel from which the increments

for the DRF offset are to be derived, to the geometry or auxiliary axes that are to be moved by

this, must be performed via the appropriate machine axes. The appropriate machine axes are

those to which the geometry or auxiliary axis is mapped.

The DRF offset is not displayed in the axis actual-value display.

Applications

The DRF offset can be used, for example, in the following application cases:

● Offsetting tool wear within an NC block

Where NC blocks have very long processing times, it becomes necessary to offset tool

wear manually within the NC block (e.g. large surface-milling machines).

● Highly precise offset during grinding

● Simple temperature compensation

Note

The zero offset introduced via the DRF offset is always effective in all modes and after a

RESET. It can, however, be suppressed non-modally in the part program.

Velocity reduction

The velocity generated using the handwheel for DRF can be reduced with respect to the JOG

velocity:

MD32090 $MA_HANDWH_VELO_OVERLAY_FACTOR (ratio of JOG velocity to handwheel

velocity (DRF))

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H1: Manual traversing

4.13 Use of handwheels in automatic mode

DRF active

DRF must be active to allow the DRF offset to be modified by means of traversal with the

handwheel. The following requirements must be fulfilled:

● AUTOMATIC mode

● DB21, ... DBX0.3 (activate DRF) = 1

The DRF offset can be activated/deactivated for specific channels using the "program control"

function on the HMI user interface.

The HMI software then sets interface signal:

DB21, ... DBX24.3 (DRF selected) =1.

The PLC program (basic PLC program or user program) transfers this interface signal to

interface signal

DB21, ... DBX0.3 (activate DRF) once the corresponding logic operation has been performed.

Control of DRF offset

The DRF offset can be modified, deleted or read:

User:

● Traversing with the handwheel

Part program:

● Reading via axis-specific system variable $AC_DRF[<axis>]

● Deleting via parts-program command (DRFOF) for all axes in a

channel

● Non-modal suppression via parts-program command (SUPA)

References:

Programming Manual, Fundamentals

PLC user program:

● Reading the DRF offset (axis-specific)

References:

Function Manual, Basic Machine; PLC Basic Program (P3)

HMI user interface:

● Display of the DRF offset (axis-specific)

Note

If DRF offset is deleted, the axis is not traversed!

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H1: Manual traversing

4.13 Use of handwheels in automatic mode

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Control of DRF offset

Display

The axis actual-position display (ACTUAL POSITION) does not change while an axis is being

traversed with the handwheel via DRF. The current axis DRF offset can be displayed in the

DRF window.

Reference point approach

In phase 1 of the machine-axis reference point approach, the DRF offset for the corresponding

geometry or auxiliary axis is deleted.

During the machine-axis reference point approach, a DRF offset for the corresponding

geometry or auxiliary axis cannot be performed simultaneously.

Reset response

PowerOn-Reset: The DRF offset is deleted.

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4.13 Use of handwheels in automatic mode

4.13.3.2

Commissioning

Function

The "DRF offset" function (differential resolver function) can be used to set an additive

incremental zero offset in respect of geometry and auxiliary axes in the basic coordinate system

in AUTOMATIC mode via an electronic handwheel.

The handwheel assignment, i.e. the assignment of the handwheel from which the increments

for the DRF offset are to be derived, to the geometry or auxiliary axes that are to be moved by

this, must be performed via the appropriate machine axes. The appropriate machine axes are

those to which the geometry or auxiliary axis is mapped.

The DRF offset is not displayed in the axis actual-value display.

Applications

The DRF offset can be used, for example, in the following application cases:

● Offsetting tool wear within an NC block

Where NC blocks have very long processing times, it becomes necessary to offset tool

wear manually within the NC block (e.g. large surface-milling machines).

● Highly precise offset during grinding

● Simple temperature compensation

Note

The zero offset introduced via the DRF offset is always effective in all modes and after a

RESET. It can, however, be suppressed non-modally in the part program.

Velocity reduction

The velocity generated using the handwheel for DRF can be reduced with respect to the JOG

velocity:

MD32090 $MA_HANDWH_VELO_OVERLAY_FACTOR (ratio of JOG velocity to handwheel

velocity (DRF))

DRF active

DRF must be active to allow the DRF offset to be modified by means of traversal with the

handwheel. The following requirements must be fulfilled:

● AUTOMATIC mode

● DB21, ... DBX0.3 (activate DRF) = 1

The DRF offset can be activated/deactivated for specific channels using the "program control"

function on the HMI user interface.

The HMI software then sets interface signal:

DB21, ... DBX24.3 (DRF selected) =1.

Extended Functions

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H1: Manual traversing

4.13 Use of handwheels in automatic mode

The PLC program (basic PLC program or user program) transfers this interface signal to

interface signal

DB21, ... DBX0.3 (activate DRF) once the corresponding logic operation has been performed.

Control of DRF offset

The DRF offset can be modified, deleted or read:

User:

● Traversing with the handwheel

Part program:

● Reading via axis-specific system variable $AC_DRF[<axis>]

● Deleting via parts-program command (DRFOF) for all axes in a

channel

● Non-modal suppression via parts-program command (SUPA)

References:

Programming Manual, Fundamentals

PLC user program:

● Reading the DRF offset (axis-specific)

References:

Function Manual, Basic Machine; PLC Basic Program (P3)

HMI user interface:

● Display of the DRF offset (axis-specific)

Note

If DRF offset is deleted, the axis is not traversed!

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4.13 Use of handwheels in automatic mode

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Display

The axis actual-position display (ACTUAL POSITION) does not change while an axis is being

traversed with the handwheel via DRF. The current axis DRF offset can be displayed in the

DRF window.

Reference point approach

In phase 1 of the machine-axis reference point approach, the DRF offset for the corresponding

geometry or auxiliary axis is deleted.

During the machine-axis reference point approach, a DRF offset for the corresponding

geometry or auxiliary axis cannot be performed simultaneously.

Reset response

PowerOn-Reset: The DRF offset is deleted.

Extended Functions

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H1: Manual traversing

4.13 Use of handwheels in automatic mode

4.13.3.3

Programming: Deselecting overlays axis-specifically (CORROF)

The following axis-specific overlays (overrides) are deleted with the CORROF procedure:

● Additive work offsets (DRF offsets) set via handwheel traversal

● Position offsets programmed via the $AA_OFF system variable

A preprocessing stop is initiated through the deletion of an overlay (override) value and the

position component of the deselected overlaid movement is transferred to the position in the

basic coordinate system. Whereby, no axis is traversed.

The position value that can be read via the $AA_IM system variable (current MCS setpoint of

the axis) does not change in the machine coordinate system.

The position value that can be read via the $AA_IW system variable (current WCS setpoint of

the axis) changes in the workpiece coordinate system because it now contains the deselected

component of the overlaid movement.

Note

CORROF can be programmed in an NC program.

CORROF must not be programmed in a synchronized action.

Syntax

CORROF(<Axis>,"<String>"[,<Axis>,"<String>"])

Meaning

CORROF:

Procedure for the deselection of the following offsets and overlays of an axis:

● DRF offset

● Position offsets ($AA_OFF)

Effective-

Modal

ness:

<Axis>:

Axis identifier (channel, geometry or machine axis identifier)

Data type:

AXIS

<String>:

Character string for the definition of the overlay type

Data type:

BOOL

Value

Meaning

DRF

DRF offset

AA_OFF

Position offset ($AA_OFF)

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H1: Manual traversing

4.13 Use of handwheels in automatic mode

Examples

Example 1: Axis-specific deselection of a DRF offset (1)

A DRF offset is generated in the X axis by DRF handwheel traversal. No DRF offsets are

operative for any other axes in the channel.

Program code

Comment

N10 CORROF(X,"DRF")

; CORROF has the same effect as DRFOF here.

Example 2: Axis-specific deselection of a DRF offset (2)

A DRF offset is generated in the X and Y axes by DRF handwheel traversal. No DRF offsets

are operative for any other axes in the channel.

Program code

Comment

; Only the DRF offset of the X axis is deselected; the DRF offset of the Y axis is

retained.

; With DRFOF, both offsets would have been deselected.

N10 CORROF(X,"DRF")

Example 3: Axis-specific deselection of a $AA_OFF position offset

Program code

Comment

; A position offset == 10 is interpolated for the X axis.

N10 WHEN TRUE DO $AA_OFF[X]=10 G4 F5

; The position offset of the X axis is deselected: $AA_OFF[X]=0

; The X axis is not traversed.

; The position offset is added to the current position of the X axis.

N80 CORROF(X,"AA_OFF")

Example 4: Axis-specific deselection of a DRF offset and a $AA_OFF position offset (1)

A DRF offset is generated in the X axis by DRF handwheel traversal. No DRF offsets are

operative for any other axes in the channel.

Program code

Comment

; A position offset of 10 is interpolated for the X axis.

N10 WHEN TRUE DO $AA_OFF[X]=10 G4 F5

; Only the DRF offset and the position offset of the X axis are deselected.

; The DRF offset of the Y axis is retained.

N70 CORROF(X,"DRF",X,"AA_OFF")

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4.13 Use of handwheels in automatic mode

Example 5: Axis-specific deselection of a DRF offset and a $AA_OFF position offset (2)

A DRF offset is generated in the X and Y axes by DRF handwheel traversal. No DRF offsets

are operative for any other axes in the channel.

Program code

Comment

; A position offset == 10 is interpolated for the X axis.

N10 WHEN TRUE DO $AA_OFF[X]=10 G4 F5

; The DRF offset of the Y axis and the position offset of the X axis are deselected.

; The DRF offset of the X axis is retained.

N70 CORROF(Y,"DRF",X,"AA_OFF")

Further information

$AA_OFF_VAL

Once the position offset has been deselected by means of $AA_OFF, system variable

$AA_OFF_VAL (integrated distance of axis overlay) for the corresponding axis will equal zero.

$AA_OFF in JOG mode

Also in JOG mode, if $AA_OFF changes, the position offset will be interpolated as an overlaid

movement if this function has been enabled via machine data MD 36750

$MA_AA_OFF_MODE.

$AA_OFF in synchronized action

If a synchronized action which immediately resets $AA_OFF

(DO $AA_OFF[<axis>]=<value>) is active when the position offset is deselected using the

CORROF(<axis>,"AA_OFF"), then $AA_OFF will be deselected and not reset, and alarm

21660 will be displayed. However, if the synchronized action becomes active later, e.g. in the

block after CORROF, $AA_OFF will remain set and a position offset will be interpolated.

Automatic channel axis exchange

If an axis that is active in another channel has been programmed for a CORROF, it will be fetched

into the channel with an axis exchange (requirement: MD30552 $MA_AUTO_GET_TYPE > 0)

and the position offset and/or the DRF offset deselected.

4.13.4

Double use of the handwheel

Alarm 14320

The double use of a handwheel for DRF and velocity or distance overlay, including contour

handwheel, is suppressed and is displayed using the self-clearing alarm 14320 (Handwheel

%1 used twice (%2) in channel %3 axis %4), if, different influences can act on an axis as a

result of the handwheel.

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H1: Manual traversing

4.13 Use of handwheels in automatic mode

This means that an overlaid movement can only be executed when no DRF offset (triggered

by the same handwheel) is active for the axes in the basic coordinate system that are involved

in the movement, i.e., the DRF movement must have been terminated.

If an overlaid movement has been started, no DRF offset can be started for any of the axes

involved that are supplied by the same handwheel. Such a DRF movement is only possible

when the movement with overlay has reached its end point or has been aborted by delete

distance-to-go or RESET.

If the handwheel override and DRF offset are to be active simultaneously, this is possible with

activation of two separate handwheels.

Example: Path override

Assumption:

Channel 1 and geometry axis X correspond to machine axis 3 and geometry axis Y

corresponds to machine axis 5 and handwheel 2 is selected for the first geometry axis.

If block X10 Y10 FD=0 is processed in the main run, neither machine axis 3 nor machine

axis 5 can be traversed with DRF via handwheel 2. If handwheel 2 is assigned to machine

axis 3 while the channel-specific DRF signal is active, then alarm 14320 (Handwheel 2 used

twice (8) in channel 1 axis X) is signaled.

If machine axis 3 or machine axis 5 is traversed with DRF using the 2nd handwheel, then

motion X10 Y10 FD=0 cannot be executed and alarm 14320 (handwheel 2 used twice (3) in

channel 1 axis X) or alarm 14320 (handwheel 2 used twice (3) in channel 1 axis Y) is signaled.

Example: Velocity override of positioning axis

Assumption:

Channel 1: Channel axis A corresponds to machine axis 4 and handwheel 1 is assigned to

this axis.

If block POS[A]=100 FDA[A]=0 is processed in the main run, machine axis 4 cannot be

traversed with DRF. This means that if the channel-specific DRF signal is active, alarm 14320

(Handwheel 1 used twice (6) in channel 1 axis A) is signaled.

If machine axis 4 is traversed with DRF, then no POS[A]=100 FDA[A]=0 movement can be

executed while a DRF movement is being performed. Alarm 14320 (Handwheel 1 used twice

(1) in channel 1 axis A) is signaled.

Example: Distance overlay PLC axis (840D sl)

Assumption:

Channel 1: Handwheel 2 is assigned to machine axis 4.

If an axis movement with path override of the 4th machine axis triggered by FC18 is processed

in the main run, machine axis 4 cannot be traversed with DRF. This means that if the channel-

specific DRF signal is active, alarm 14320 (Handwheel 2 used twice (9) in channel 1 axis A)

is signaled.

If machine axis 4 is traversed with DRF, then no axis movement with path override triggered

by FC18 can be executed while a DRF movement is being performed. Alarm 14320

(Handwheel 2 used twice (4) in channel 1 axis A) is signaled.

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4.14 Monitoring functions

4.14

Monitoring functions

Limitations

For manual traversing and manual traversing using a handwheel, the following limits apply:

● Working area limitation (the axis must be referenced).

● Software limit switches 1 and 2 (axis must be referenced)

● Hardware limit switches

The control ensures that the traversing movement is aborted as soon as the first valid limitation

has been reached. Velocity control ensures that deceleration is initiated early enough for the

axis to stop exactly at the limit position (e.g. software limit switch). Only when the hardware

limit switch is triggered does the axis stop abruptly with "rapid stop".

Alarms are triggered when the various limitations are reached (alarms 16016, 16017, 16020,

16021). The control automatically prevents further movement in this direction. The traversing

keys and the handwheel have no effect in this direction.

Note

The software limit switches and working-area limitations are only active if the axis has first

been referenced.

If a work offset (DRF offset) via handwheel is active for axes, the software limit switches for

these axes are monitored during the main run in JOG mode. This means that the jerk limitation

has no effect when the software limit switches are approached. After acceleration in

accordance with MD32300 $MA_MAX_AX_ACCEL (maximum axis acceleration) the velocity

is reduced at the software limit switch.

For further information on working area limitations and hardware and software limit switches,

see:

References:

Function Manual, Axis Monitoring, Protection Zones (A3)

Retract axis

The axis can be retracted from a limit position by moving it in the opposite direction.

Note

Machine manufacturer

The function for retracting an axis that has approached the limit position depends on the

machine manufacturer. Please refer to the machine manufacturer's documentation!

Maximum velocity and acceleration

The velocity and acceleration used when manually traversing are defined by the startup

engineer for specific axes using machine data. The control limits the values acting on the axes

to the maximum velocity and acceleration specifications.

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H1: Manual traversing

4.15 Start-up: Handwheels

References:

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

Controls (G2)

Function Manual Basic Functions; Acceleration (B2)

4.15

Start-up: Handwheels

4.15.1

General information

In order to operate handwheels of a SINUMERIK control system, they have to be

parameterized via NC machine data.

If the handwheels are not directly connected to the control, additional measures are required,

e.g. connection via PROFIBUS- or Ethernet-MCP or handwheel module, inserting and

configuring the module with SIMATIC STEP 7, HW-Config.

Note

Currently only six handwheels can be parameterized in a SINUMERIK control system.

Connection options

SINUMERIK 840D sl

For SINUMERIK 840D sl, handwheels can be connected via the following components:

● PROFIBUS (Page 237) module

● Ethernet (Page 239) module

Note

Several handwheels, which are connected via different components, can be connected to one

SINUMERIK 840D sl at the same time.

SINUMERIK 828D

For SINUMERIK 828D, handwheels can be connected via the following components:

● PPU (Page 235)

● Machine control panel (MCP) via PROFIBUS (Page 235)

Note

Several handwheels, which are connected via different components, can be connected to one

SINUMERIK 828D at the same time.

Extended Functions

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4.15 Start-up: Handwheels

4.15.2

Connection via PPU (only 828D)

Parameter assignment

Handwheels directly connected to terminal X143 of the PPU are parameterized using the

following NC machine data:

● MD11350 $MN_HANDWHEEL_SEGMENT[<Handwheel_No._in_NCK - 1>] = 2

When directly connected to the PPU, a 2 (8xxD_HW) must always be entered as handwheel

segment.

● MD11351 $MN_HANDWHEEL_MODULE[< Handwheel_No._in_NCK - 1 >] = 1

When directly connected to the PPU, a 1 must always be entered.

● MD11352 $MN_HANDWHEEL_INPUT[< Handwheel_No_in_NCK - 1 >] = <Handwheel

connection >

The number of the handwheel has to be entered: 1 or 2

Note

Two handwheels can be connected to a PPU (terminal X143).

Example

Parameter assignment of two handwheels connected via terminal X143 of the PPU.

Machine data

Value

Meaning

1st handwheel:

MD11350 $MN_HANDWHEEL_SEGMENT[0]

Hardware segment: 8xxD_HW

MD11351 $MN_HANDWHEEL_MODULE[0]

---

MD11352 $MN_HANDWHEEL_INPUT[0]

1st handwheel connection of X143

2nd handwheel:

MD11350 $MN_HANDWHEEL_SEGMENT[1]

Hardware segment: 8xxD_HW

MD11351 $MN_HANDWHEEL_MODULE[1]

---

MD11352 $MN_HANDWHEEL_INPUT[1]

2nd handwheel connection of X143

4.15.3

Connection via PROFIBUS (828D)

Parameter assignment

For the SINUMERIK 828D, in addition to the connection of two handwheels to the PPU

interface, terminal X143, a third handwheel can also be connected via a machine control panel,

e.g. MCP 483C PN, interface X60.

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4.15 Start-up: Handwheels

The parameter assignment of the third handwheel is performed in the following NC machine

data:

● MD11350 $MN_HANDWHEEL_SEGMENT[ 2 ] = 5

● MD11351 $MN_HANDWHEEL_MODULE[ 2 ] = 1

● MD11352 $MN_HANDWHEEL_INPUT[ 2 ] = 1

Requirement

Operation of the control with default data (machine data, STEP 7 configuration).

Example

Parameterization of three handwheels, connected via PPU and an "MCP 483C PN" machine

control panel.

Handwheel number

Machine data set

Connection

in NC

(Index)

PPU, 1. Handwheel in handwheel slot

PPU, 2. Handwheel in handwheel slot

MCP, 1. Handwheel in handwheel slot

Parameterizing in the NC machine data:

Machine data

Val-

Meaning

1st handwheel in the NC

MD11350 $MN_HANDWHEEL_SEGMENT[0]

Hardware segment: 8xxD_HW

MD11351 $MN_HANDWHEEL_MODULE[0]

---

MD11352 $MN_HANDWHEEL_INPUT[0]

1st handwheel in the handwheel slot

2nd handwheel in the NC

MD11350 $MN_HANDWHEEL_SEGMENT[1]

Hardware segment: 8xxD_HW

MD11351 $MN_HANDWHEEL_MODULE[1]

---

MD11352 $MN_HANDWHEEL_INPUT[1]

2nd handwheel in the handwheel slot

3rd handwheel in the NC

MD11350 $MN_HANDWHEEL_SEGMENT[2]

Hardware segment: PROFIBUS

MD11351 $MN_HANDWHEEL_MODULE[2]

Reference to logical base address of the handwheel slot of the

MCP

MD11352 $MN_HANDWHEEL_INPUT[2]

1st handwheel in the handwheel slot

Extended Functions

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H1: Manual traversing

4.15 Start-up: Handwheels

4.15.4

Connection via PROFIBUS (840D sl)

Parameterization

The parameter assignment of handwheels connected via PROFIBUS modules (e.g. "MCP 483"

machine control panel) is performed with the following NC machine data:

● MD11350 $MN_HANDWHEEL_SEGMENT[<Handwheel_No._in_NCK - 1>] = 5

When connected via PROFIBUSmodule, the hardware segment has always to be entered

as 5 (PROFIBUS).

● MD11351 $MN_HANDWHEEL_MODULE[<Handwheel_No._in_NCK - 1>] = <Index + 1>

The reference to the MD11353 $MN_HANDWHEEL_LOGIC_ADDRESS[<Index>]

has to be entered, which contains the logical base address of the handwheel.

● MD11352 $MN_HANDWHEEL_INPUT[<Handwheel_No._in_NCK - 1>] =

<Number_in_handwheel_slot>

A handwheel slot can contain several handwheels. The number of the handwheel within

the handwheel slot has to entered: 1, 2, ...

● MD11353 $MN_HANDWHEEL_LOGIC_ADDRESS[<Index>] = <logical base address>

The logical base address of the handwheel slot, specified in SIMATIC STEP 7, HW Config,

has to be entered.

Handwheel slot

The PROFIBUS module must be configured in addition to the parameterization of handwheels

in the NC machine data in STEP 7. Among others the logical address of the handwheel slot

is specified.

The handwheel slot is situated at the following slot of the PROFIBUSmodule:

PROFIBUS module

Slot

Machine control panel MCP 483

Machine control panel MCP 310

Handwheel connection module

Example

Parameterization of five handwheels, connected via four machine control panels "MCP 483".

Two handwheels can be connected to a machine control panel"MCP 483".

Handwheel number

Machine data set

Connection

in NC

(Index)

1st MCP, 1. Handwheel in handwheel slot

1st MCP, 2. Handwheel in handwheel slot

2nd MCP, 1. Handwheel in handwheel slot

3rd MCP, 1. Handwheel in handwheel slot

4th MCP, 2. Handwheel in handwheel slot

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H1: Manual traversing

4.15 Start-up: Handwheels

The 4th handwheel in the NC is not used (gap in machine data).

Note

Machine data gaps are allowed when parameterizing handwheels in NC machine data.

Machine control panels have been configured in SIMATIC STEP 7, HW Config as follows:

Slot

DP ID

Article No./designation

I address

O address

1st MCP

Standard+Handwheel

0 ... 7

2AE

→ standard+handwheel

288 ... 291

→ standard+handwheel

2nd MCP

Standard+Handwheel

8 ... 15

2AE

→ standard+handwheel

304 ... 307

→ standard+handwheel

3rd MCP

Standard+Handwheel

16 ... 23

2AE

→ standard+handwheel

320 ... 323

→ standard+handwheel

4th MCP

Standard+Handwheel

24 ... 29

2AE

→ standard+handwheel

330 ... 333

→ standard+handwheel

Parameterizing in the NC machine data:

Machine data

Val-

Meaning

1st handwheel in the NC

MD11350 $MN_HANDWHEEL_SEGMENT[0]

Hardware segment: PROFIBUS

MD11351 $MN_HANDWHEEL_MODULE[0]

Reference to logical base address of the handwheel slot of the

1st MCP

MD11352 $MN_HANDWHEEL_INPUT[0]

1st handwheel in the handwheel slot

2nd handwheel in the NC

MD11350 $MN_HANDWHEEL_SEGMENT[1]

Hardware segment: PROFIBUS

MD11351 $MN_HANDWHEEL_MODULE[1]

Reference to logical base address of the handwheel slot of the

1st MCP

MD11352 $MN_HANDWHEEL_INPUT[1]

2nd handwheel in the handwheel slot

3rd handwheel in the NC

MD11350 $MN_HANDWHEEL_SEGMENT[2]

Hardware segment: PROFIBUS

MD11351 $MN_HANDWHEEL_MODULE[2]

Reference to logical base address of the handwheel slot of the

2nd MCP

MD11352 $MN_HANDWHEEL_INPUT[2]

1st handwheel in the handwheel slot

4th handwheel in the NC

Extended Functions

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H1: Manual traversing

4.15 Start-up: Handwheels

Machine data

Val-

Meaning

MD11350 $MN_HANDWHEEL_SEGMENT[3]

No handwheel parameterized

MD11351 $MN_HANDWHEEL_MODULE[3]

No handwheel parameterized

MD11352 $MN_HANDWHEEL_INPUT[3]

No handwheel parameterized

5th handwheel in the NC

MD11350 $MN_HANDWHEEL_SEGMENT[4]

Hardware segment: PROFIBUS

MD11351 $MN_HANDWHEEL_MODULE[4]

Reference to logical base address of the handwheel slot of the

3rd MCP

MD11352 $MN_HANDWHEEL_INPUT[4]

1st handwheel in the handwheel slot

6th handwheel in the NC

MD11350 $MN_HANDWHEEL_SEGMENT[5]

Hardware segment: PROFIBUS

MD11351 $MN_HANDWHEEL_MODULE[5]

Reference to logical base address of the handwheel slot of the

4th MCP

MD11352 $MN_HANDWHEEL_INPUT[5]

2nd handwheel in the handwheel slot

Logical base addresses:

Machine data

Value

Meaning

MD11353 $MN_HANDWHEEL_LOGIC_ADDRESS [0]

288

Logical base address handwheel slot 1st MCP

MD11353 $MN_HANDWHEEL_LOGIC_ADDRESS [1]

304

Logical base address handwheel slot 2nd MCP

MD11353 $MN_HANDWHEEL_LOGIC_ADDRESS [4]

330

Logical base address handwheel slot 4th MCP

MD11353 $MN_HANDWHEEL_LOGIC_ADDRESS [5]

320

Logical base address handwheel slot 3rd MCP

4.15.5

Connected via Ethernet (only 840D sl)

Parameter assignment

The parameters for handwheels connected via Ethernet modules, e.g. machine control panel

"MCP 483C IE", "HT 8", or "HT 2", are assigned in the following NC machine data:

● MD11350 $MN_HANDWHEEL_SEGMENT[< x - 1 >] = 7

When connected via Ethernet modules, the segment always has to be entered as 7

(Ethernet).

● MD11351 $MN_HANDWHEEL_MODULE[< x - 1 >] = 1

When connected via Ethernet modules, the module always has to be entered as 1.

● MD11352 $MN_HANDWHEEL_INPUT[< x - 1 >] = y

with y = 1, 2, 3, ... (handwheel interface at the Ethernet bus)

with x = 1, 2, 3, ... (handwheel number in the NC)

Extended Functions

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H1: Manual traversing

4.15 Start-up: Handwheels

Handwheel interfaces at the Ethernet Bus

The handwheel interfaces at the Ethernet bus are numbered on the basis of the following

definitions:

● The sequence of the operator component interfaces is: MCP1, MCP2, BHG

● Each operator component interface has two handwheel interfaces

● Operator components: MCP 483C IE

A maximum of two handwheels can be connected to an MCP 483C IE via connections

X60 and X61 . The assignment of the connections in the operator component interface is:

- Connection X60: 1st handwheel in the operator component interface MCP1 /MCP2

- Connection X61: 2nd handwheel in the operator component interface MCP1 /MCP2

● Operator components: HT 8

The handwheel of the HT 8 is always assigned to the 1st handwheel of operator component

interface MCP1 /MCP2 .

● Operator components: HT 2

The handwheel of the HT 2 is always assigned to the 1st handwheel in the operator

component interface BHG .

Operator component interface ->

MCP1

MCP2

BHG

Handwheel interface ¹⁾

FB1 parameters ²⁾

MCP1BusAdr

MCP2BusAdr

BHGRecGDNo

Assignment of the handwheels ³⁾

MCP 483C IE

X60

X61

X60

X61

HT 8

HT 2

Handwheel interface at the Ethernet bus (y) ⁴⁾->

1) Numbering of the handwheel interfaces within an operator component interface

2) Assignment of the operator component to the interface via the corresponding FB1 parameter

3) Assignment of the handwheels of the respective operator components to the handwheel interfaces

4) Numbering of the handwheel interfaces at the Ethernet bus -> MD11352 $MN_HANDWHEEL_INPUT[< x - 1 >] = y

Example

Parameterization of 3 handwheels, connected via the following operator components:

Operator component interface ->

MCP1

MCP2

BHG

Operator component

HT 8

MCP 483C

HT 2

FB1 parameters

MCP1BusAdr := 39

MCP2BusAdr := 192

BHGRecGDNo := 40

Handwheel interface

X61

Handwheel interface at Ethernet bus ->

Extended Functions

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H1: Manual traversing

4.15 Start-up: Handwheels

Table 4-1

NC machine data for the handwheel assignment

Machine data

Value

Description

HT 8: Handwheel number in the NC = 1

MD11350 $MN_HANDWHEEL_SEGMENT[ 0 ]

Segment: Ethernet

MD11350 $MN_HANDWHEEL_MODULE[ 0 ]

Module: Ethernet

MD11350 $MN_HANDWHEEL_INPUT[ 0 ]

Handwheel interface at Ethernet bus

MCP 483C IE: Handwheel number in the NC = 2

MD11350 $MN_HANDWHEEL_SEGMENT[ 1 ]

Segment: Ethernet

MD11350 $MN_HANDWHEEL_ MODULE [ 1 ]

Module: Ethernet

MD11350 $MN_HANDWHEEL_ INPUT [ 1 ]

Handwheel interface at Ethernet bus

HT 2: Handwheel number in the NC = 3

MD11350 $MN_HANDWHEEL_SEGMENT[ 2 ]

Segment: Ethernet

MD11350 $MN_HANDWHEEL_ MODULE [ 2 ]

Module: Ethernet

MD11350 $MN_HANDWHEEL_ INPUT [ 2 ]

Handwheel interface at Ethernet bus

Table 4-2

FB1 parameters (excerpt)

Parameter

Value

Remark

MCPNum

:= 2

// Number of connected MCPs

// MCP1 = HT 8

MCP1In

// MCP1 parameters...

MCP1BusAdr

:= 39

// Via switches S1 and S2 on the connecting

device

// Set "IP address"

// MCP2 = MCP 483C IE

MCP2In

// MCP2 parameters...

MCP2BusAdr

:= 192

// Via switch S2 on the MCP 483C

// Set "IP address"

MCPBusType

:= b#16#55

// Bus type: Ethernet

// HHU = HT 2

HHU

:= 5

// Bus type: Ethernet

BHGIn

// HHU Parameter ...

BHGRecGDNo

:= 40

// Via switches S1 and S2 on the connecting

device

// Set "IP address"

Extended Functions

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241

H1: Manual traversing

4.15 Start-up: Handwheels

Filter time

Since the handwheel pulses on the Ethernet bus are not transferred deterministically, filtering

(smoothing) of the handwheel pulse transfer process may be necessary for highly dynamic

drives. The filter time is parameterized using the following machine data:

● MD11354 $MN_HANDWHEEL_FILTER_TIME[< x - 1 >] = <filter time>

with x = 1, 2, 3, ... (handwheel number in the NC) and filter time = 0.0 ... 2.0 s

The filter time specifies the time it takes for the handwheel pulses transferred to the control to

be sent on to the interpolator for traversing purposes. With a filter time of 0.0 s, the handwheel

pulses are sent on to the interpolator within a single interpolation cycle. This can result in jerky

axis traversing.

The recommended filter time is: 0.2 - 0.5 s

Zero speed detection

A stationary state is detected by the Ethernet modules to which the handwheel is connected.

If a handwheel does not transfer any handwheel pulses for a defined period of time, the module

detects this to be a stationary state and transfers it to the NC/PLC interface:

NC/PLC interface signal

Value

Meaning

DB10, DBX245.0

Handwheel 1 is operated.

Handwheel 1 is stationary

DB10 DBX245.1

Handwheel 2 is operated.

Handwheel 2 is stationary.

DB10 DBX245.2

Handwheel 3 is operated.

Handwheel 3 is stationary.

DB10 DBX245.3

Handwheel 4 is operated.

Handwheel 4 is stationary.

DB10 DBX245.4

Handwheel 5 is operated.

Handwheel 5 is stationary.

DB10 DBX245.5

Handwheel 6 is operated.

Handwheel 6 is stationary.

By evaluating the signal, it is possible to reduce the overtravel of an axis traversed via the

handwheel, due to the handwheel pulses that have been collected in the control but not yet

transferred to the interpolator for traversing purposes. To do this, deletion of the distance-to-

go must be triggered for the relevant axis or in the channel when a stationary state is detected:

● DB31,... DBX2.2 = 1 (axial delete distance-to-go)

● DB21,... DBX6.2 = 1 (channel-specific deletion of distance-to-go)

Extended Functions

242

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H1: Manual traversing

4.16 Data lists

4.16

Data lists

4.16.1

Machine data

4.16.1.1

General machine data

Number

Identifier: $MN_

Description

10000

AXCONF_MACHAX_NAME_TAB[n]

Machine axis name

10720

OPERATING_MODE_DEFAULT

Setting of the operating mode after Power On

10721

OPERATING_MODE_EXTENDED

Extended setting of the operating mode after Power On

10735

JOG_MODE_MASK

Settings for JOG mode

11300

JOG_INC_MODE_LEVELTRIGGRD

INC and REF in inching mode

11310

HANDWH_REVERSE

Defines movement in the opposite direction

11320

HANDWH_IMP_PER_LATCH[n]

Handwheel pulses per locking position

11324

HANDWH_VDI_REPRESENTATION

Coding of the handwheel number (NCK/PLC interface)

11330

JOG_INCR_SIZE_TAB[n]

Increment size for INC/handwheel

11340

ENC_HANDWHEEL_SEGMENT_NR

Third handwheel: Bus segment

11342

ENC_HANDWHEEL_MODULE_NR

Third handwheel: Logical drive number

11344

ENC_HANDWHEEL_INPUT_NR

Third handwheel: Encoder interface

11346

HANDWH_TRUE_DISTANCE

Handwheel path or velocity specification

11350

HANDWHEEL_SEGMENT[n]

Handwheel segment

11351

HANDWHEEL_MODULE[n]

Handwheel module

11352

HANDWHEEL_INPUT[n]

Handwheel connection

11353

HANDWHEEL_LOGIC_ADDRESS[n]

Logical handwheel slot address (STEP 7)

17900

VDI_FUNCTION_MASK

Function mask for VDI signals

4.16.1.2

Channel-specific machine data

Number

Identifier: $MC_

Description

20060

AXCONF_GEOAX_NAME_TAB

Geometry axis in channel

20100

DIAMETER_AX_DEF

Geometry axes with transverse axis functions

20110

RESET_MODE_MASK

Initial setting after reset / program end

20150

GCODE_RESET_VALUES

Reset position of the G groups

20151

GCODE_RESET_MODE

Reset behavior of the G groups

20360

TOOL_PARAMETER_DEF_MASK

Definition of the tool parameters

20620

HANDWH_GEOAX_MAX_INCR_SIZE

Limitation of the geometry axes

20622

HANDWH_GEOAX_MAX_INCR_VSIZE

Path-velocity override

20624

HANDWH_CHAN_STOP_COND

Definition of the manual traversing behavior using a

handwheel, channel-specific

20700

REFP_NC_START_LOCK

NC start disable without reference point

Extended Functions

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243

H1: Manual traversing

4.16 Data lists

Number

Identifier: $MC_

Description

21150

JOG_VELO_RAPID_ORI

Conventional rapid traverse for orientation axes

21155

JOG_VELO_ORI

Conventional velocity for orientation axes

21158

JOG_JERK_ORI

Maximum jerk when manually traversing orientation ax-

21159

JOG_JERK_ORI_ENABLE

Jerk limitation for manual traversing of orientation axes

activated

21160

JOG_VELO_RAPID_GEO

Conventional rapid traverse for geometry axes

21165

JOG_VELO_GEO

Conventional speed for geometry axes

21166

JOG_ACCEL_GEO

Maximum acceleration when manually traversing ge-

ometry axes

21168

JOG_JERK_GEO

Maximum jerk when manually traversing geometry ax-

4.16.1.3

Axis/spindlespecific machine data

Number

Identifier: $MA_

Description

30450

IS_CONCURRENT_POS_AX

Default setting at reset: Neutral axis or channel axis

30600

FIX_POINT_POS[n]

Fixed point positions of the axis

30610

NUM_FIX_POINT_POS

Number of fixed point positions of an axis

31090

JOG_INCR_WEIGHT

Weighting of an increment for INC/handwheel

32000

MAX_AX_VELO

Maximum axis velocity

32010

JOG_VELO_RAPID

Rapid traverse in jog mode

32020

JOG_VELO

Axis velocity in job mode

32040

JOG_REV_VELO_RAPID

Revolutional feedrate in JOG mode with rapid traverse override

32050

JOG_REV_VELO

Revolutional feedrate for JOG

32060

POS_AX_VELO

Reset position for positioning-axis velocity

32080

HANDWH_MAX_INCR_SIZE

Limitation of the selected increment size

32082

HANDWH_MAX_INCR_VELO_SIZE

Limitation of the selected increment for velocity override

32084

HANDWH_STOP_COND

Behavior, handwheel travel

32090

HANDWH_VELO_OVERLAY_FACTOR

Ratio of JOG velocity to handwheel velocity (with DRF)

32300

MAX_AX_ACCEL

Maximum axis acceleration

32420

JOG_AND_POS_JERK_ENABLE

Basic setting of axis-specific jerk limitation

32430

JOG_AND_POS_MAX_JERK

Maximum axis-specific jerk for single-axis movements

32431

MAX_AX_JERK

Maximum axis-specific jerk during path movements

34210

ENC_REFP_STATE

Measuring system status

35130

GEAR_STEP_MAX_VELO_LIMIT[n]

Maximum velocity for gear stage

Extended Functions

244

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H1: Manual traversing

4.16 Data lists

4.16.2

Setting data

4.16.2.1

General setting data

Number

Identifier: $SN_

Description

41010

JOG_VAR_INCR_SIZE

Size of the variable increment for incremental manual

traversing or manual traversing using a handwheel

41050

JOG_CONT_MODE_LEVELTRIGGRD

Jog/continuous mode for continuous manual traversing

41100

JOG_REV_IS_ACTIVE

JOG: Revolutional/linear feedrate

41110

JOG_SET_VELO

Axis velocity in JOG mode

41120

JOG_REV_SET_VELO

Revolutional feedrate of axes in JOG mode

41130

JOG_ROT_AX_SET_VELO

Axis velocity of the rotary axes in JOG mode

41200

JOG_SPIND_SET_VELO

Velocity for spindle in JOG mode

4.16.2.2

Channel-specific setting data

Number

Identifier: $SC_

Description

42690

JOG_CIRCLE_CENTRE

Center of circle

42691

JOG_CIRCLE_RADIUS

Circle radius

42692

JOG_CIRCLE_MODE

Jog circle mode

42693

JOG_CIRCLE_START_ANGLE

Start angle for circular travel in JOG

42694

JOG_CIRCLE_END_ANGLE

End angle for circular travel in JOG

4.16.2.3

Axis/spindle-specific setting data

Number

Identifier: $SA_

Description

43320

JOG_POSITION

JOG position

4.16.3

Signals

4.16.3.1

Signals from NC

Signal name

SINUMERIK 840D sl

SINUMERIK 828D

Handwheel 1 is operated

DB10.DBB68

DB2700.DBB12

Handwheel 2 is operated

DB10.DBB69

DB2700.DBB13

Handwheel 3 is operated

DB10.DBB70

DB2700.DBB14

Handwheel 4 is operated

DB10.DBB242

Handwheel 5 is operated

DB10.DBB243

Extended Functions

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245

H1: Manual traversing

4.16 Data lists

Signal name

SINUMERIK 840D sl

SINUMERIK 828D

Handwheel 6 is operated

DB10.DBB244

Ethernet handwheel is stationary

DB10.DBX245.0 - 5

4.16.3.2

Signals from HMI

Signal name

SINUMERIK 840D sl

SINUMERIK 828D

Channel number for geometry axis, handwheel 1

DB10.DBX97.0 - 3

Channel number for geometry axis, handwheel 2

DB10.DBX98.0 - 3

Channel number for geometry axis, handwheel 3

DB10.DBX99.0 - 3

Axis number handwheel 1

DB10.DBX100.0 - 4

Define handwheel 1 as contour handwheel

DB10.DBX100.5

Handwheel 1 selected

DB10.DBX100.6

Machine axis handwheel 1

DB10.DBX100.7

Axis number handwheel 2

DB10.DBX101.0 - 4

Define handwheel 2 as contour handwheel

DB10.DBX101.5

Handwheel 2 selected

DB10.DBX101.6

Machine axis handwheel 2

DB10.DBX101.7

Axis number handwheel 3

DB10.DBX102.0 - 4

Define handwheel 3 as contour handwheel

DB10.DBX102.5

Handwheel 3 selected

DB10.DBX102.6

Machine axis handwheel 3

DB10.DBX102.7

4.16.3.3

Signals to mode group

Signal name

SINUMERIK 840D sl

SINUMERIK 828D

Mode Group1: JOG mode

DB11.DBX0.2

DB3000.DBX0.2

Mode group2: JOG mode

DB11.DBX20.2

Mode group3: JOG mode

DB11.DBX40.2

Mode group4: JOG mode

DB11.DBX60.2

Mode group5: JOG mode

DB11.DBX80.2

Mode group6: JOG mode

DB11.DBX100.2

Mode group7: JOG mode

DB11.DBX120.2

Mode group8: JOG mode

DB11.DBX140.2

Mode group9: JOG mode

DB11.DBX160.2

Mode group10: JOG mode

DB11.DBX180.2

Extended Functions

246

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H1: Manual traversing

4.16 Data lists

4.16.3.4

Signals from mode group

Signal name

SINUMERIK 840D sl

SINUMERIK 828D

Mode Group1: Active mode JOG

DB11.DBX6.2

DB3100.DBX0.2

Mode group2: Active mode JOG

DB11.DBX26.2

Mode group3: Active mode JOG

DB11.DBX46.2

Mode group4: Active mode JOG

DB11.DBX66.2

Mode group5: Active mode JOG

DB11.DBX86.2

Mode group6: Active mode JOG

DB11.DBX106.2

Mode group7: Active mode JOG

DB11.DBX126.2

Mode group8: Active mode JOG

DB11.DBX146.2

Mode group9: Active mode JOG

DB11.DBX166.2

Mode group10: Active mode JOG

DB11.DBX186.2

4.16.3.5

Signals to channel

Signal name

SINUMERIK 840D sl

SINUMERIK 828D

Activate DRF

DB21,

DBX0.3

DB320x.DBX0.3

Geometry axis 1:

Activate handwheel

DB21,

DBX12.0 - 2

DB320x.DBX1000.0 - 2

Traversing key lock

DB21,

DBX12.4

DB320x.DBX1000.4

Rapid traverse override

DB21,

DBX12.5

DB320x.DBX1000.5

Travel key "minus"

DB21,

DBX12.6

DB320x.DBX1000.6

Travel key "plus"

DB21,

DBX12.7

DB320x.DBX1000.7

Request machine function

DB21,

DBX13.0 - 6

DB320x.DBX1001.0 - 6

Invert handwheel direction of ro-

DB21,

DBX15.0

DB320x.DBX1003.0

tation

Geometry axis 2:

Activate handwheel

DB21,

DBX16.0 - 2

DB320x.DBX1004.0 - 2

Traversing key lock

DB21,

DBX16.4

DB320x.DBX1004.4

Rapid traverse override

DB21,

DBX16.5

DB320x.DBX1004.5

Travel key "minus"

DB21,

DBX16.6

DB320x.DBX1004.6

Travel key "plus"

DB21,

DBX16.7

DB320x.DBX1004.7

Request machine function

DB21,

DBX17.0 - 6

DB320x.DBX1005.0 - 6

Invert handwheel direction of ro-

DB21,

DBX19.0

DB320x.DBX1007.0

tation

Geometry axis 3:

Activate handwheel

DB21,

DBX20.0 - 2

DB320x.DBX1008.0 - 2

Traversing key lock

DB21,

DBX20.4

DB320x.DBX1008.4

Rapid traverse override

DB21,

DBX20.5

DB320x.DBX1008.5

Travel key "minus"

DB21,

DBX20.6

DB320x.DBX1008.6

Travel key "plus"

DB21,

DBX20.7

DB320x.DBX1008.7

Request machine function

DB21,

DBX21.0 - 6

DB320x.DBX1009.0 - 6

Invert handwheel direction of ro-

DB21,

DBX23.0

DB320x.DBX1011.0

tation

Extended Functions

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247

H1: Manual traversing

4.16 Data lists

Signal name

SINUMERIK 840D sl

SINUMERIK 828D

Activate contour handwheel

DB21,

DBX30.0 - 2

DB320x.DBX14.0 - 2

Simulation contour handwheel: Activation

DB21,

DBX30.3

DB320x.DBX14.3

Simulation contour handwheel: Negative direction

DB21,

DBX30.4

DB320x.DBX14.4

JOG circular travel

DB21,

DBX30.6

DB320x.DBX14.6

Invert contour handwheel direction of rotation

DB21,

DBX31.5

DB320x.DBX15.5

Orientation axis 1:

Activate handwheel

DB21,

DBX320.0 - 2

Traversing key lock

DB21,

DBX320.4

Rapid traverse override

DB21,

DBX320.5

Travel key "minus"

DB21,

DBX320.6

Travel key "plus"

DB21,

DBX320.7

Request machine function

DB21,

DBX321.0 - 6

Invert handwheel direction of ro-

DB21,

DBX323.0

tation

Orientation axis 2:

Activate handwheel

DB21,

DBX324.0 - 2

Traversing key lock

DB21,

DBX324.4

Rapid traverse override

DB21,

DBX324.5

Travel key "minus"

DB21,

DBX324.6

Travel key "plus"

DB21,

DBX324.7

Request machine function

DB21,

DBX325.0 - 6

Invert handwheel direction of ro-

DB21,

DBX327.0

tation

Orientation axis 3:

Activate handwheel

DB21,

DBX328.0 - 2

Traversing key lock

DB21,

DBX328.4

Rapid traverse override

DB21,

DBX328.5

Travel key "minus"

DB21,

DBX328.6

Travel key "plus"

DB21,

DBX328.7

Request machine function

DB21,

DBX329.0 - 6

Invert handwheel direction of ro-

DB21,

DBX331.0

tation

4.16.3.6

Signals from channel

Signal name

SINUMERIK 840D sl

SINUMERIK 828D

DRF selected

DB21,

DBX24.3

DB170x.DBX0.3

Handwheel override active (path axes)

DB21,

DBX33.3

DB330x.DBX1.3

Contour handwheel active

DB21,

DBX37.0-2

DB330x.DBX5.0-2

Contour handwheel: Handwheel direction of rotation inver- DB21,

DBX39.5

DB330x.DBX7.5

sion active

Extended Functions

248

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H1: Manual traversing

4.16 Data lists

Signal name

SINUMERIK 840D sl

SINUMERIK 828D

Geometry axis 1:

Handwheel active

DB21,

DBX40.0 - 2

DB330x.DBX1000.0 - 1

Travel request "minus"

DB21,

DBX40.4

DB330x.DBX1000.4

Travel request "plus"

DB21,

DBX40.5

DB330x.DBX1000.5

Travel command "minus"

DB21,

DBX40.6

DB330x.DBX1000.6

Travel command "plus"

DB21,

DBX40.7

DB330x.DBX1000.7

Active machine function

DB21,

DBX41.0 - 6

DB330x.DBX1001.0 - 6

Handwheel direction of rotation

DB21,

DBX43.0

DB330x.DBX1003.0

inversion active

Geometry axis 2:

Handwheel active

DB21,

DBX46.0 - 2

DB330x.DBX1004.0 - 1

Travel request "minus"

DB21,

DBX46.4

DB330x.DBX1004.4

Travel request "plus"

DB21,

DBX46.5

DB330x.DBX1004.5

Travel command "minus"

DB21,

DBX46.6

DB330x.DBX1004.6

Travel command "plus"

DB21,

DBX46.7

DB330x.DBX1004.7

Active machine function

DB21,

DBX47.0 - 6

DB330x.DBX1005.0 - 6

Handwheel direction of rotation

DB21,

DBX49.0

DB330x.DBX1007.0

inversion active

Geometry axis 3:

Handwheel active

DB21,

DBX52.0 - 2

DB330x.DBX1008.0 - 1

Travel request "minus"

DB21,

DBX52.4

DB330x.DBX1008.4

Travel request "plus"

DB21,

DBX52.5

DB330x.DBX1008.5

Travel command "minus"

DB21,

DBX52.6

DB330x.DBX1008.6

Travel command "plus"

DB21,

DBX52.7

DB330x.DBX1008.7

Active machine function

DB21,

DBX53.0 - 6

DB330x.DBX1009.0 - 6

Handwheel direction of rotation

DB21,

DBX55.0

DB330x.DBX1011.0

inversion active

Orientation axis 1:

Handwheel active

DB21,

DBX332.0 - 2

Travel request "minus"

DB21,

DBX332.4

Travel request "plus"

DB21,

DBX332.5

Travel command "minus"

DB21,

DBX332.6

Travel command "plus"

DB21,

DBX332.7

Active machine function

DB21,

DBX333.0 - 6

Handwheel direction of rotation

DB21,

DBX335.0

inversion active

Orientation axis 2:

Handwheel active

DB21,

DBX336.0 - 2

Travel request "minus"

DB21,

DBX336.4

Travel request "plus"

DB21,

DBX336.5

Travel command "minus"

DB21,

DBX336.6

Travel command "plus"

DB21,

DBX336.7

Active machine function

DB21,

DBX337.0 - 6

Handwheel direction of rotation

DB21,

DBX339.0

inversion active

Extended Functions

Function Manual, 12/2018, A5E40874029B AB

249

H1: Manual traversing

4.16 Data lists

Signal name

SINUMERIK 840D sl

SINUMERIK 828D

Orientation axis 3:

Handwheel active

DB21,

DBX340.0 - 2

Travel request "minus"

DB21,

DBX340.4

Travel request "plus"

DB21,

DBX340.5

Travel command "minus"

DB21,

DBX340.6

Travel command "plus"

DB21,

DBX340.7

Active machine function

DB21,

DBX341.0 - 6

Handwheel direction of rotation

DB21,

DBX343.0

inversion active

JOG retract active

DB21,

DBX377.4

DB330x.DBX4005.4

JOG retract retraction data available

DB21,

DBX377.5

DB330x.DBX4005.5

JOG circular travel active

DB21,

DBX377.6

DB330x.DBX4005.6

4.16.3.7

Signals to axis/spindle

Signal name

SINUMERIK 840D sl

SINUMERIK 828D

Feedrate override

DB31,

DBB0

DB380x.DBB0

Override active

DB31,

DBX1.7

DB380x.DBX1.7

Delete distance-to-go/spindle reset

DB31,

DBX2.2

DB380x.DBX2.2

Activate handwheel

DB31,

DBX4.0 - 2

DB380x.DBX4.0 - 2

Traversing key lock

DB31,

DBX4.4

DB380x.DBX4.4

Rapid traverse override

DB31,

DBX4.5

DB380x.DBX4.5

Travel key "minus"

DB31,

DBX4.6

DB380x.DBX4.6

Travel key "plus"

DB31,

DBX4.7

DB380x.DBX4.7

Request machine function

DB31,

DBX5.0 - 6

DB380x.DBX5.0 - 6

Invert handwheel direction of rotation

DB31,

DBX7.0

DB380x.DBX7.0

JOG fixed point approach

DB31,

DBX13.0 - 2

DB380x.DBX1001.0 - 2

JOG travel to position

DB31,

DBX13.3

DB380x.DBX1001.3

4.16.3.8

Signals from axis/spindle

Signal name

SINUMERIK 840D sl

SINUMERIK 828D

Position reached with coarse/fine exact stop

DB31,

DBX60.6 - 7

DB390x.DBX0.6 - 7

Handwheel override active

DB31,

DBX62.1

DB390x.DBX2.1

Handwheel active

DB31,

DBX64.0 - 2

DB390x.DBX4.0 - 2

Travel request "minus"

DB31,

DBX64.4

DB390x.DBX4.4

Travel request "plus"

DB31,

DBX64.5

DB390x.DBX4.5

Travel command "minus"

DB31,

DBX64.6

DB390x.DBX4.6

Travel command "plus"

DB31,

DBX64.7

DB390x.DBX4.7

Active machine function

DB31,

DBX65.0 - 6

DB390x.DBX5.0 - 6

Handwheel direction of rotation inversion active

DB31,

DBX67.0

DB390x.DBX7.0

Extended Functions

250

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H1: Manual traversing

4.16 Data lists

Signal name

SINUMERIK 840D sl

SINUMERIK 828D

Position restored, measuring system 1/2

DB31,

DBX71.4 - 5

DB390x.DBX11.4 - 5

JOG approach fixed point active

DB31,

DBX75.0 - 2

DB390x.DBX1001.0 - 2

JOG approach fixed point reached

DB31,

DBX75.3 - 5

DB390x.DBX1001.3 - 5

JOG travel to position active

DB31,

DBX75.6

DB390x.DBX1001.6

JOG position reached

DB31,

DBX75.7

DB390x.DBX1001.7

4.16.4

System variable

4.16.4.1

System variable

Identifier

Description

$AA_POSRES

Axis state "Position restored"

4.16.5

OPI variable

4.16.5.1

OPI variable

Identifier

Description

retractState, bit 0

Retraction data available

retractState, bit 1

JOG retract active

retractState, bits 2 - 3

Retraction axis

aaPosRes

Axis state "Position restored".

Extended Functions

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5.1

Introduction

Accuracy errors

The accuracy of machine tools is impaired as a result of deviations from the ideal geometry,

power transmission faults and measuring system errors. Temperature differences and

mechanical forces often result in great reductions in precision when large workpieces are

machined.

Compensation functions

Some of these deviations can usually be measured during commissioning and then

compensated for during operation on the basis of values read by the positional actual-value

encoder and other sensory devices. State-of-the-art CNC controls have compensation

functions that are active on an axis for axis basis.

Parameterization

These compensation functions can be set for each machine individually with axis-specific

machine data.

Activation

The compensations are active in all operating modes of the control as soon as the input data

are available. Any compensations that require the position actual value are not activated until

the axis reaches the reference point.

Position display

The normal actual-value and setpoint position displays ignore the compensation values and

show the position values of an ideal machine. The compensation values are output in the

"Diagnosis" operating area of the "Axis/Spindle Service" window.

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5.2 Temperature compensation

5.2

Temperature compensation

5.2.1

Function

Deformation due to temperature effects

Heat generated by the drive equipment or high ambient temperatures (e.g. caused by sunlight,

drafts) cause the machine base and parts of the machinery to expand. This expansion

depends, among other things, on the temperature and on the thermal conductivity of the

machine parts.

Effects

Due to the thermal expansion of the machinery, the actual positions of the axes change

depending on temperature. This has a negative impact on the precision of the workpieces

being machined.

Temperature compensation

By activating the "temperature compensation" function, actual value changes due to

temperature effects can be compensated on an axis-by-axis basis.

Sensor equipment

To provide effective temperature compensation, a number of temperature sensors for acquiring

a temperature profile are needed in addition to the actual position data from existing encoders.

Since temperature-dependent changes occur relatively slowly, the PLC can acquire and

preprocess the temperature profile in a minutes cycle, for example.

Error curves

In order to implement temperature compensation, the actual-value offsets over the positioning

range of the axis must be measured at a given temperature (T) and plotted. This produces an

error curve for this temperature value. Error curves must be produced for different

temperatures.

Error curve characteristic

If an axis position reference point P₀ is selected, an offset in the reference point (corresponds

to the "position-independent component" of the temperature compensation) can be observed

as the temperature changes, and because of the change in length an additional offset in the

other position points, which increases with the distance to the reference point (corresponds to

the "position-dependent component" of the temperature compensation).

The error curve for a given temperature T can generally be represented with sufficient accuracy

by a straight line with a temperature dependent gradient and reference position:

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5.2 Temperature compensation

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Compensation equation

The compensation value ∆K_x is calculated on the basis of current actual position P_x of this axis

and temperature T according to the following equation:

ΔK_x = K₀ (T) + tanβ (T) * (P_x - P₀)

The meaning is as follows:

ΔK_x:

Temperature compensation value of axis at position P_x

K₀:

Position-independent temperature compensation value of axis

P_x:

Actual position of axis

P₀:

Reference position of axis

tanβ:

Coefficient for the position-dependent temperature compensation (corresponds to

the gradient of the approximated error line)

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Approximated error line for temperature compensation

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5.2 Temperature compensation

Activation

The following conditions must be fulfilled so that the temperature compensation can be

activated:

1. The compensation type is selected (MD32750, see "Commissioning (Page 257)").

2. The parameters for the compensation type are defined (see "Commissioning (Page 257)").

3. The axis is referenced.

DB31, ... DBX60.4 or 60.5 =1 (referenced/synchronized 1 or 2)

As soon as these conditions are fulfilled, the temperature compensation value for the position

actual value is added to the setpoint in all modes and the machine axis traverses through this

distance. If the compensation value ∆K_x is positive, the axis moves in the negative direction.

If the reference position is then lost, e.g. because the encoder frequency has been exceeded

(DB31, ... DBX60.4 or 60.5 = 0), compensation processing is deactivated.

Clock cycle

The compensation values are determined in the interpolator clock cycle.

Display

The total compensation value calculated from the temperature and sag compensation

functions belonging to the actual position is output in the "Diagnosis" operating area of the

"Axis/Spindle Service" window.

Parameter adaptation for temperature changes

Since the approximated error line applies only to the instantaneous temperature value, the

parameters of the error lines that are newly generated when the temperature rises or falls must

be sent to the NC again. Only in this way can expansion due to heat always be correctly

compensated.

When temperature T changes, the parameters which are temperature-dependent, i.e. (K₀,

tanβ and P₀) also change and can thus always be overwritten by the PLC or by means of a

synchronized action.

It is thus possible for the machine-tool manufacturer to emulate the mathematical and

technological relationship between the axis positions and temperature values via the PLC user

program and thus calculate the various parameters for the temperature compensation. The

temperature parameters are transferred to the NC using the variable services (FB2 (GET)

"Read data" and FB3 (PUT) "Write data").

For more information on handling and supplying FB2 and FB3 see:

Reference:

Function Manual Basic Functions; Basic PLC Program (P3)

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5.2 Temperature compensation

Smooth the compensation value

To prevent overloading of the machine or tripping of monitoring functions in response to step

changes in the temperature compensation parameters, the compensation values are

distributed over several IPO cycles by an internal control function as soon as they exceed the

maximum compensation value specified for each IPO cycle (MD32760, see "Commissioning

(Page 257)").

5.2.2

Commissioning

Temperature-dependent parameters

Error curves for different temperatures can be defined for each axis. For each error curve the

following parameters must be determined and then entered in the setting data:

● Position-independent temperature compensation value K₀:

SD43900 $SA_TEMP_COMP_ABS_VALUE

● Reference position P₀ for position-dependent temperature compensation:

SD43920 $SA_TEMP_COMP_REF_POSITION

● Gradient tanβ for position-dependent temperature compensation:

SD43910 $SA_TEMP_COMP_SLOPE

Temperature compensation type and activation

The temperature compensation type is selected and the temperature compensation activated

using the axis-specific machine data:

MD32750 $MA_TEMP_COMP_TYPE (temperature compensation type)

Bit

Value

Meaning

Associated parameters

Position independent temperature compensation

SD43900

Not active

Active

Position-dependent temperature compensation

SD43920, SD43910

Not active

Active

Temperature compensation in tool direction

MD20390

$MC_TOOL_TEMP_COMP_ON

Not active

(Activate temperature compensa-

Active

tion tool length)

Maximum compensation value per IPO clock cycle

The maximum possible compensation value per IPO cycle, i.e. the maximum distance that can

be traversed in an IPO cycle as a result of the temperature compensation, is limited using

machine data:

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5.2 Temperature compensation

MD32760 $MA_COMP_ADD_VELO_FACTOR (velocity increase as a result of

compensation)

The specified value acts as a factor and is referred to the maximum axis velocity (MD32000

$MA_MAX_AX_VELO).

MD32760 also limits the maximum gradient of the error line (tan ß) of the temperature

compensation.

5.2.3

Example

5.2.3.1

Commissioning the temperature compensation for the Z axis of a lathe

Commissioning of temperature compensation is described below using the example of a Z

axis on a lathe.

Determining the error characteristic of the Z axis

In order to determine the temperature-dependent error characteristic of the Z axis, proceed as

follows:

● Uniform temperature increase by traversing the axis across the whole Z axis traversing

range (in the example: from 500 mm to 1500 mm)

● Measuring the axis position in increments of 100 mm

● Measuring the actual temperature at the leadscrew

● Executing a traversing measuring cycle every 20 minutes

The mathematical and technological relationships and the resulting parameters for

temperature compensation are derived from the recorded data. The calculated deviation errors

for a specific temperature, which refer to the actual position of the Z axis displayed by the NC,

are represented in graphic form in the diagram below.

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5.2 Temperature compensation

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Error curves determined for the Z axis

Specifying parameters

The temperature compensation parameters must now be determined on the basis of the

measurement results (see diagram above).

Reference position P₀

As the diagram above illustrates, there are basically two methods of parameterizing reference

position P₀:

1. P₀= 0 with position-independent temperature compensation value K₀ ≠ 0

2. P₀≠ 0 with position-independent temperature compensation value K₀ = 0

In this case, version 2 is chosen, which means that the position-independent temperature

compensation value is always 0. The temperature compensation value therefore only consists

of the position-dependent component.

The following parameters are obtained:

● MD32750 $MA_TEMP_COMP_TYPE = 2

(only position-dependent temperature compensation active)

● P₀ = 320 mm → SD43920 $SA_TEMP_COMP_REF_POSITION = 320

(reference position for position-dependent temperature compensation)

Coefficient tanβ (T)

In order to determine the dependency of coefficient tanβ of the position-dependent temperature

compensation on the temperature, the error curve gradient is plotted against the measured

temperature:

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5.2 Temperature compensation

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Figure 5-3

Characteristic of coefficient tanβ as a function of measured temperature T

With the appropriate linearization, coefficient tanβ depends on T as follows:

tanβ(T) = (T - T₀) * TK_max* 10^-6/ (T_{max -}T₀)

with

T₀= temperature at which position-dependent error = 0; [degrees]

T_max= maximum measured temperature; [degrees]

TK_max= temperature coefficient at T_max; [µm/1000 mm]

Therefore, based on the values from the above diagram:

T₀= 23°

T_max= 42°

TK_max= 270 µm/1000 mm

and tanß (T) is therefore:

tanβ(T)

= (T - 23) [degrees] * 270 [µm/1000 mm] * 10^-6 / (42 - 23) [degrees]

= (T - 23) [degrees] * 14.21 [µm/1000 mm] * 10^-6

Example:

At a temperature of T = 32.3 degrees, therefore: tanβ = 0.000132

PLC user program

The formula given above must be used in the PLC user program to calculate the coefficient

tanβ (T) which corresponds to the measured temperature; this must then be written to the

following NC setting data:

SD43910 $SA_TEMP_COMP_SLOPE (gradient for position-dependent temperature

compensation)

According to the example above:

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5.3 Backlash compensation

SD43910 $SA_TEMP_COMP_SLOPE = 0.000132

5.3

Backlash compensation

5.3.1

Mechanical backlash compensation

5.3.1.1

Function

Mechanical backlash can occur in moving machine parts in the drive train (machine axes), e.g.

at a ballscrew or in the connection to the measuring system.

Effects

For a machine axis with indirect measuring system, mechanical backlash results in a difference

between the actual position of the NC determined using the measuring system and the actual

position of the machine part. When the direction reverses, the machine axis traverses through

a distance that is incorrect by the amount of the backlash:

Positive backlash ⇒

Negative backlash ⇒

The encoder actual value leads the machine

The encoder actual value lags behind the ma-

actual value

chine actual value

The table does not move far enough because

The table moves too far because the encoder

the encoder actual value has already changed

actual value has not yet changed (lagging) due

(leading) due to the backlash while the table

to the backlash while the table is already mov-

still remains stationary.

ing.

① Encoder

② moved machine part (table

③ ballscrew

④ mechanical backlash

⑤ motor

Compensation

To compensate for the mechanical backlash, the actual value of the machine axis is corrected

every time the axis reverses by the axis-specific compensation value set during

commissioning (Page 262).

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5.3 Backlash compensation

Activation

The mechanical backlash compensation of a machine axis is active in all operating modes.

Precondition:

● Incremental measuring system: Encoder state == "referenced"

● Absolute encoder: Encoder state == "synchronized"

Displaying the compensation values

The compensation values active at the actual position of the machine axis are displayed on

the user interface for each individual axis.

SINUMERIK Operate: "Diagnostics" operating area > ETC key (">") > "Axis diagnostics" >

"Service axis" >

● "Absolute compensation value measuring system 1"

● "Absolute compensation value measuring system 2"

● "Compensation, sag + temperature"

5.3.1.2

Commissioning: Axis-specific machine data

Compensation value

The compensation value of the mechanical backlash is entered in the machine data.

MD32450 $MA_BACKLASH[ <active measuring system> ] = <compensation value>

Measurement

● Traversing the machine axis and/or the machine part to any measurement position at a

high velocity.

● Measuring the actual position of the machine part

● Calculating the backlash compensation value K_L

K_L = "displayed actual position of the machine axis" - "measured actual position of the

machine part"

- K_L > 0 (positive backlash ) ⇒ positive compensation value

- K_L < 0 (negative backlash ) ⇒ negative compensation value

Checking

To check the effect of the compensation, we recommend that the mechanical backlash is

measured after the machine data has been activated.

Circularity test

The circularity test integrated in the user interface can be used to visualize the mechanical

backlash.

SINUMERIK Operate: "Commissioning" operating area > "Optimization/Test" > "Circularity

test"

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5.3 Backlash compensation

Second measuring system

If an axis has a second measuring system, the compensation value must also be determined

for this and entered in the machine data:

MD32450 $MA_BACKLASH[ <measuring system 2> ]

When the measuring system is switched over, the associated compensation value is

automatically used.

Evaluation factor dependent on the parameter set

For a mechanical backlash dependent on the parameter set, the parameter set-specific factor

is entered into the following machine data, which is then applied to the compensation value of

the backlash (MD32450 $MA_BACKLASH).

MD32452 $MA_BACKLASH_FACTOR[ <parameter set 1 ... n> ] = <factor>

Effective compensation value

The effective compensation value K_P of a parameter set is calculated as follows:

K_P = ( MD32450 $MA_BACKLASH[ <active measuring system> ] ) * ( MD32452

$MA_BACKLASH_FACTOR[ <parameter set> ]

Backlash compensation mode

The response of mechanical backlash compensation of a machine axis is set using machine

data:

MD32454 $MA_BACKLASH_MODE

Bit

Meaning

Restores the last effective backlash compensation after the control system has powered up

= 0

The backlash compensation value is not restored (default setting)

= 1

The backlash compensation is restored.

Precondition

The measuring system active after the control powers up must be adjusted and synchronized:

● MD34210 $MA_ENC_REFP_STATE[<active measuring system>] == 2

● DB31,

DBX60.4 - 5 == 1 (measuring system 1 / 2: Referenced, synchronized)

Effect of other compensation functions (temperature compensation, sag or angularity error

compensation)

= 0

The backlash compensation responds to other compensatory motion (default setting).

= 1

The backlash compensation does not respond to other compensatory motion (default

setting).

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5.3 Backlash compensation

5.3.2

Dynamic backlash compensation

5.3.2.1

Function

Dynamic backlash

A dynamic backlash can occur for machine types with sliding guides. Depending on the axial

dynamic response (velocity, jerk, etc.) used to approach an end position, the machine slide

reaches the programmed end position or stops earlier because of the static friction. The

resulting position error is direction-symmetric.

Compensation

To compensate for the dynamic backlash, half the signed compensation value

(MD32456Commissioning: Axis-specific machine data (Page 265), see "") is applied in

accordance with the relevant traversing direction of the axis. Compensation value is applied

as ramp.

Activation

The dynamic backlash compensation is activated by the PLC only in required the situations:

DB31, ... DBX25.0 (activate dynamic backlash compensation)

Note

The machine tool manufacturer specifies in the PLC user program the "required" situations for

the activation of the dynamic backlash compensation. Such situations result with traversal of

the axes with G1, in the JOG mode or with the handwheel.

The NC uses the following interface to return the required activation to the PLC:

DB31, ... DBX102.0 (active dynamic backlash compensation)

Requirement

The axes to be compensated must be homed.

Display

The compensation value that belongs to the current actual position is displayed in the

"Diagnostics" operator area of the "Axis/Spindle Service" window as the total compensation

calculated from LEC, mechanical and dynamic backlash compensation.

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5.3 Backlash compensation

5.3.2.2

Commissioning: Axis-specific machine data

Compensation value

As precondition to commission the dynamic backlash compensation, the mechanical backlash

compensation must have already been commissioned (see Chapter "Commissioning: Axis-

specific machine data (Page 262)").. To determine the compensation value for the dynamic

backlash compensation, the measurement described there should be repeated with low

traversing velocity. The compensation value determined in this way is entered in the machine

data for the corresponding measuring system:

MD32456 $MA_BACKLASH_DYN[ <active measuring system> ] = <compensation value for

dynamic backlash compensation>

Compensation value change

Using the machine data, the velocity with which the compensation value is traversed through

is set as a percentage of the maximum axis velocity (MD32000 $MA_MAX_AX_VELO):

MD32457 $MA_BACKLASH_DYN_MAX_VELO = <percentage of the maximum axis velocity>

5.3.3

Dual position feedback

For the "Dual position feedback" function, contrary to conventional (mechanical or dynamic)

backlash compensation, two measuring systems, which are mechanically coupled through a

gearbox without backlash, are used for the closed-loop position control. The advantages of a

direct measuring system are combined with the advantages of an indirect measuring system:

● Direct measuring system: The closed-loop position control with direct, i.e. encoder on the

load side, "automatically" corrects the backlash.

● Indirect measuring system: The closed-loop position control with indirect, i.e. encoder on

the motor side, is "rugged" and "stable" regarding discontinuous backlash.

Each time the setpoint changes, initially only the encoder data from the indirect measuring

system is used for rugged control without oscillation. With a parameterizable delay time, the

closed-loop control smoothly transitions to monitor the direct measuring system, therefore,

achieving the required accuracy on the load side. The control operations should, at this point

in time, only involve short distances. This is because in the meantime the tooth flanks are in

contact with one another, and the backlash has been moved through.

When using the "Dual position feedback" function, it is not necessary to measure and

mathematically compensate the backlash.

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5.3 Backlash compensation

Preconditions

The following preconditions must be satisfied for an axis to be compensated:

● Direct and indirect measuring system, mechanically coupled:

- MD30200 $MA_NUM_ENCS = 2

- MD31040 $MA_ENC_IS_DIRECT[ 0 ] = 0 or 1

- MD31040 $MA_ENC_IS_DIRECT[ 1 ] = 1 or 0

● Measuring system calibration has been released:

MD34102 $MA_REFP_SYNC_ENCS = 1

● Both measuring systems are referenced:

- DB31, ... DBX60.4 (referenced/synchronized 1 / 2) = 1

- DB31, ... DBX60.5 (referenced/synchronized 1 / 2) = 1

5.3.3.1

Commissioning: Axis-specific machine data

Delay time

The delay time, during which the closed-loop control smoothly transitions from the indirect to

the direct measuring system, is entered in the machine data.

MD32960 $MA_POSCTRL_DUAL_FEEDBACK_TIME = <delay time>

If the delay time is zero, then the function is inactive, and only the active measuring system

(DB31,

DBX1.5 / .6 (position measuring system 1 / 2) ) is active for the position control.

Note

After activating the "Dual position feedback" function, all of the existing measuring system

compensations and monitoring functions remain unchanged and active; this means that they

may have to be deactivated by the user (e.g. backlash compensation values deleted).

5.3.3.2

Supplementary conditions

Referencing and flying measurement

Also when the "Dual position feedback" function is active, the "Referencing" and "Measuring"

functions refer to the active measuring system (DB31,

DBX1.5 / .6 (position measuring

system 1 / 2) ).

References

● Function Manual Basic functions, Chapter "R1 Referencing"

● Function Manual Extended Functions, Chapter "M5 measuring"

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5.4 Nodding compensation

5.4

Nodding compensation

5.4.1

Description of the function

5.4.1.1

Options

The "Nodding compensation" function is an option subject to license. The following versions

are available:

● Nodding compensation ECO: 6FC5800-0AS20-0YB0

Nodding compensation in one machine axis with one accelerating axis:

● Nodding compensation ADVANCED: 6FC5800-0AS21-0YB0

Nodding compensation in any arbitrary number of machine axes

5.4.1.2

Features

Nodding compensation is used to compensate dynamic position deviations in a machine axis

due to this or another machine axis accelerating. The position deviations are obtained as a

result of the mechanical compliance within the machine.

This is demonstrated in the following schematic of a 3-axis traveling column machine, as

example. If the Y axis is accelerated with a_Y, as a result of the mechanical compliance in the

machine, position deviations Δ_Z occur in the Z axis.

;

Figure 5-4

3-axis traveling column machine

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5.4 Nodding compensation

Definition of terms

●

Nodding compensation axes

The machine axes involved in the nodding compensation are designated as follows: //////

- Compensating axis

A machine axis, resulting from other machine axes accelerating, results in position

deviations, which can be compensated by nodding compensation. In the diagram:

Compensating axis ⇒ Z axis

- Accelerating axis

Machine axis, whose acceleration as a result of compliance in the machine, results in

a position deviation in the compensating axis. In the diagram: Accelerating axis ⇒ Y axis

- Adaptation axis

Machine axis, whose position when traversing the accelerating axis influences the

magnitude of the position deviation in the compensating axis. In the diagram: Adaptation

axis ⇒ X axis

●

Compliance factor

Compliance factor N defines the magnitude of the position deviation Δ of the compensating

axis for traversing motion of the accelerating axis with acceleration a. Compliance factor N

is the quotient of position deviation Δ of the compensating axis and the acceleration a of

the accelerating axis that actually causes the deviation: N = Δ / a

Note

References

Determining the compliance factor is described in detail in

● Commissioning Manual, "Commissioning CNC: NC, PLC, drive; Chapter

"Commissioning NC" > "Nodding compensation"

● Online help

The online help for nodding compensation is called from the SINUMERIK Operate user

interface via: "Commissioning" > "NC" > "Nodding compensation" > HELP button on the

front of the operator panel

●

Compensation value

The actual compensation value Δ is obtained by multiplying the actual compliance factor

N with the actual acceleration a of the axis causing the deviation

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5.4 Nodding compensation

Supplementary conditions

● Rotary axes

It is not permissible for the compensating, the accelerating or the adaptation axis to be a

rotary axis.

● Differences to the compile cycle "RMCC/NOCO nodding compensation"

(6FC5800-0AN63-0YB0)

- The functionality of system function "Nodding compensation" is, contrary to compile

cycle "RMCC/NOCO", exclusively limited to compensating nodding motion. The

functions provided beyond this in the compile cycle, such as compensating centrifugal

forces, taking into account rotary axis positions as well as comprehensive position

tables, are not available with the system function.

- Either system function "Nodding compensation” can be used - or compile cycle "RMCC/

NOCO", but not together.

- It is not possible to use the parameterizing data of compile cycle "RMCC/NOCO" to

parameterize the "Nodding compensation" system function.

5.4.1.3

Position-dependent compliance factor

If the machine compliance depends on the position of another machine axis (adaptation axis),

then up to three different positions of the adaptation axis can be selected as interpolation points

of the adaptation characteristic; the effective compliance factors can then be determined from

the characteristic. Positions (P1, P2, P3) and the compliance factors effective there (N1, N2,

N3) must be saved in the machine data of the compensating axis. When traversing the

accelerating axis, the effective compliance factor is calculated depending on the position of

the adaptation axis by linearly interpolating between the interpolation points.

① Traversing range of the adaptation axis with P₁ < P₂ < P₃

② Compliance factor of the compensating axis

③ Traversing range limit -

④ Traversing range limit +

Figure 5-5

Compensation characteristic

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5.4 Nodding compensation

Actual position: P

Compliance factor: N

P less than P₁ up to traversing range limit minus

N = N₁

P between P₁ and P₂

N = linear interpolation between N₁ and N₂

P equal to P₂

N = N₂

P between P₂ and P₃

N = linear interpolation between N₂ and N₃

P greater than or equal to P3 - up to the traversing

N = N₃

range limit plus

5.4.1.4

Compensation relationships

A compensation relationship defines the following dependencies of the compensation value:

● On the acceleration of the accelerating axis

● On the position of the adaptation axis

● On the machine compliance

Up to three compensation relationships can be parameterized in the machine data of a

compensating axis. The following data can be set for each compensation relationship:

● Accelerating axis

● Adaptation axis

● Number of positions of the adaptation axis

● Positioning the adaptation axis

● Compliance factors at the positions

Accelerating axes or adaptation axes

Any linear machine axis of the NC can be used as accelerating axis or adaptation axis. Even

the compensating axis itself.

Total compensation value

The total compensation value acting on the compensating axis is the sum of the compensation

values of the individual compensation relationships.

5.4.2

Commissioning: Machine data

5.4.2.1

Overview

The following table provides an overview with which machine data the nodding compensation

is parameterized.

Number

Name: $MA_

Meaning

MD37302

NOCO_FILTER_TIME

Time constant for smoothing nodding compensation

values (Page 271)

Compensation relationship 1

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5.4 Nodding compensation

Number

Name: $MA_

Meaning

MD37310

NOCO_INPUT_AX_1

Machine axis that causes nodding motion (Page 272)

MD37312

NOCO_ADAPT_AX_1

Machine axis, whose position influences nodding mo-

tion (Page 272)

MD37314

NOCO_ADAPT_NUM_1

Number of positions, adaptation characteristic of the

nodding compensation (Page 273)

MD37316

NOCO_ADAPT_POS_1

Positions, adaptation characteristic of the nodding com-

pensation (Page 274)

MD37318

NOCO_COMPLIANCE_1

Compliance factors for nodding compensation

(Page 275)

Compensation relationship 2

MD37320

NOCO_INPUT_AX_2

See MD37310

MD37322

NOCO_ADAPT_AX_2

See MD37312

MD37324

NOCO_ADAPT_NUM_2

See MD37314

MD37326

NOCO_ADAPT_POS_2

See MD37316

MD37328

NOCO_COMPLIANCE_2

See MD37318

Compensation relationship 3

MD37330

NOCO_INPUT_AX_3

See MD37310

MD37332

NOCO_ADAPT_AX_3

See MD37312

MD37334

NOCO_ADAPT_NUM_3

See MD37314

MD37336

NOCO_ADAPT_POS_3

See MD37316

MD37338

NOCO_COMPLIANCE_3

See MD37318

5.4.2.2

Time constant for smoothing nodding compensation values

Using the machine data, the time constant is set with which the total nodding compensation

value is smoothed when it is entered.

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① Position deviation

● Blue: Setpoint

● Red: Actual value

Extended Functions

Function Manual, 12/2018, A5E40874029B AB

271

K3: Compensations

5.4 Nodding compensation

MD37302 $MA_NOCO_FILTER_TIME[<comp. axis>] = <time constant>

Note

Deactivating smoothing

Smoothing is deactivated - or is not active - if the time constant is set to less than 10 % of the

position controller clock cycle:

Time constant < 0,1 * MD10061 $MN_POSCTRL_CYCLE_TIME

5.4.2.3

Accelerating axis

The number of the machine axis, whose acceleration causes position deviations in the

compensating axis, must be entered in the machine data.

The number of the accelerating axis refers to the machine axes of the NC parameterized in

machine data MD10002 $MN_AXCONF_LOGIC_MACHAX_TAB. The machine axis number

is the corresponding machine data index + 1.

MD37310 $MA_NOCO_INPUT_AX_1[<comp. Achse>] = <machine axis number>

Example

As a result of the machine compliance, when the Y axis accelerates, a position deviation occurs

in the Z axis.

● Compensating axis: AX3 (Z axis)

● Accelerating axis: AX2 (Y axis)

;

Figure 5-6

Accelerating axis AX2 (Y axis)

MD10002 $MN_AXCONF_LOGIC_MACHAX_TAB[ 0 ] = "AX1"

; X axis

MD10002 $MN_AXCONF_LOGIC_MACHAX_TAB[ 1 ] = "AX2"

; Y axis

MD10002 $MN_AXCONF_LOGIC_MACHAX_TAB[ 2 ] = "AX3"

; Z axis

MD37310 $MA_NOCO_INPUT_AX_1[ AX3 ] = 2

; accelerating axis = Y axis

5.4.2.4

Adaptation axis

The number of the machine axis, whose actual position influences the position deviation in the

compensating axis, must be entered in the machine data.

Extended Functions

272

Function Manual, 12/2018, A5E40874029B AB

K3: Compensations

5.4 Nodding compensation

The machine axis number refers to the machine axes of the NC parameterized in machine

data MD10002 $MN_AXCONF_LOGIC_MACHAX_TAB. The machine axis number is the

corresponding machine data index + 1.

MD37312 $MA_NOCO_ADAPT_AX_1[<comp. Achse>] = <machine axis number>

Note

Activating the position-dependent adaptation

The position-dependent adaptation only becomes active if one adaptation axis and more than

one position (MD37314 $MA_NOCO_ADAPT_NUM_1 (Page 273)) are parameterized.

Example

As a result of the machine compliance, when the Y axis accelerates, a position deviation occurs

in the Z axis. Further, the position deviation depends on the position of the X axis.

● Compensating axis: AX3 (Z axis)

● Accelerating axis: AX2 (Y axis)

● Adaptation axis: AX1 (X axis)

;

①, ②, ③

Axis positions of the adaptation axis AX1 (X axis)

Figure 5-7

Adaptation axis AX1 (X axis)

MD10002 $MN_AXCONF_LOGIC_MACHAX_TAB[ 0 ] = "AX1"

; X axis

MD10002 $MN_AXCONF_LOGIC_MACHAX_TAB[ 1 ] = "AX2"

; Y axis

MD10002 $MN_AXCONF_LOGIC_MACHAX_TAB[ 2 ] = "AX3"

; Z axis

MD37312 $MA_NOCO_ADAPT_AX_1[ AX3 ] = 1

; adaptation axis = X axis

5.4.2.5

Number of positions of the adaptation characteristic

The number of axis positions, for which another compliance is effective, must be entered in

the machine data for the position-dependent adaptation.

Extended Functions

Function Manual, 12/2018, A5E40874029B AB

273

K3: Compensations

5.4 Nodding compensation

MD37314 $MA_NOCO_ADAPT_NUM_1[<comp. Axis>] = <number>

Note

Activating the position-dependent adaptation

The position-dependent adaptation only becomes active if more than one position and one

adaptation axis (MD37312 $MA_NOCO_ADAPT_AX_1 (Page 272)) are parameterized.

Example

Interpolation points of the adaptation characteristic are to be parameterized at three positions

along the traversing range of the adaptation axis (X axis).

● Compensating axis: AX3 (Z axis)

● Accelerating axis: AX2 (Y axis)

● Adaptation axis: AX1 (X axis)

;

①, ②, ③

Axis positions of the adaptation axis AX1 (X axis)

Figure 5-8

Number of axis positions of the adaptation axis AX1 (X axis)

MD10002 $MN_AXCONF_LOGIC_MACHAX_TAB[ 0 ] = "AX1"

; X axis

MD10002 $MN_AXCONF_LOGIC_MACHAX_TAB[ 1 ] = "AX2"

; Y axis

MD10002 $MN_AXCONF_LOGIC_MACHAX_TAB[ 2 ] = "AX3"

; Z axis

MD37314 $MA_NOCO_ADAPT_NUM_1[ AX3 ] = 3

; number of axis positions

SINUMERIK 840D sl. Service - Functions. Manual (2018-2020) - page 34