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

K3: Compensations

5.10 Friction compensation with adaptive characteristics

5.10.2

Commissioning

5.10.2.1

Activating the function

Activating friction compensation

Friction compensation is activated axis-specifically with:

MD32500 $MA_FRICT_COMP_ENABLE[<axis>] = TRUE

Activating friction compensation with adaptive characteristics

Friction compensation with adaptive characteristics can be applied to the set or actual position

of the machine axis, depending on the dynamics of the axis. The function is activated axis-

specifically with:

MD32490 $MA_FRICT_COMP_MODE = <mode>

<mode>

Meaning

For axes with high dynamics and active feedforward control¹⁾.

The velocity or torque setpoint pulse is applied if the set position of the machine axis has

reached the trigger point.

For axes with low dynamics and inactive feedforward control¹⁾.

The velocity or torque setpoint pulse is applied if the actual position of the machine axis has

reached the trigger point.

1) Feedforward control: MD32620 FFW_MODE (feedforward control mode)

Note

Commissioning

We urgently recommend performing guided commissioning using the commissioning functions

of the SINUMERIK Operate user interface (Page 349) and not changing the generated values

in the machine data subsequently.

5.10.2.2

Commissioning functions of the SINUMERIK Operate user interface

Commissioning of the friction compensation with adaptive characteristics is performed in the

"friction compensation" window:

Operating area: "Commissioning" > "NC" > "Friction compensation"

Note

Softkey "Friction compensation"

The "friction compensation" softkey is only displayed if the friction compensation with adaptive

characteristics is active (Page 349) for at least one machine axis.

The parameters for the axis-specific velocity and torque setpoint pulses are determined and

stored retentively in machine data. Friction compensation by means of velocity setpoint pulse

is normally sufficient.

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5.10 Friction compensation with adaptive characteristics

Determination of the characteristic parameters for the velocity setpoint pulses is performed

with guidance by the operator interface.

The characteristic parameters for the torque setpoint pulse required only in exceptional cases

must be determined manually.

Note

Friction compensation - axis selection dialog

For the selection of an axis on an NCU other than the currently selected NCU, a switchover is

no longer possible once the "Friction compensation" dialog is opened.

To clear the switchover lock, you must first exit the "Friction compensation" dialog.

References

The description of friction compensation with adaptive characteristics via the SINUMERIK

Operate user interface can be found in: Commissioning Manual, CNC Commissioning: NC,

PLC, drive; Section "Commissioning NC" > "Friction compensation with adaptive

characteristics"

Function

The characteristic parameters are determined using a circularity test for up to nine different

acceleration values (Page 351). One or two machine axes are alternately continuously

traversed via an circularity test program generated automatically by the control and the result

is displayed in a circle diagram.

The traversing movements of the circularity program (radius, path velocity, and direction of

rotation) are already set in the following setting data. If necessary, they can be modified via

the data list (see below paragraph "Further parameters").

Parameters

Axis type

Setting Data

Radius

Linear axis

SD55820 $SCS_FRICT_OPT_RADIUS

Rotary axis

SD55821 $SCS_FRICT_OPT_RADIUS_ROT

Path velocity

Linear axis

SD55822$SCS_FRICT_OPT_FEED[ 0 ... 8 ]

Rotary axis

SD55823 $SCS_FRICT_OPT_FEED_ROT[ 0 ... 8 ]

Direction of rota-

---

SD55828 $SCS_FRICT_OPT_DIR_MINUS

tion ¹⁾

1) Only effective in the circularity test with two axes

Measuring step

After the start of the circularity test program, in each of the up to nine measuring steps of a

measurement series, the axes are traversed with the path velocity that is defined in the setting

data or with the corresponding acceleration. The deviations of the actual positions from the

ideal path are acquired and displayed as a set or actual circular path. The parameters of the

velocity setpoint pulse can be varied by the commissioning engineering while the circularity

test continues to be performed constantly. The resulting changes are automatically updated

in the result graphics.

If the circularity tests is only performed with a single axis, the result is also displayed as a circle.

For this purpose, the determined contour deviations of the axis are displayed one horizontally

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K3: Compensations

5.10 Friction compensation with adaptive characteristics

and once vertically. If the circularity test is performed with two axes, both axes must be

geometry axes of the same channel.

Completion

After optimization of the compensation parameters for the entire measurement series has been

completed, the maximum values, characteristics interpolation points, and weighting factors

are calculated by the control and written into the following machine data:

Maximum value

Machine data

Amplitude

MD32571 $MA_FRICT_VELO_STEP

Decay time

MD32574 $MA_FRICT_V_PULSE_DECAY_TIME

Active time

MD32573 $MA_FRICT_V_PULSE_CONST_TIME

Characteristic interpolation points

Machine data

Acceleration of the friction compensa-

MD32581 $MA_FRICT_ADAPT_TABLE_ACCEL[ 0 ... 9 ]

tion characteristics

Weighting factors

Machine data

Amplitude upper / lower

MD32582 $MA_FRICT_ADAPT_V_STEP_PLUS[ 0 ... 9 ]

MD32583 $MA_FRICT_ADAPT_V_STEP_MINUS[ 0 ... 9 ]

Decay time upper / lower

MD32586 $MA_FRICT_ADAPT_V_DECAY_PLUS[ 0 ... 9 ]

MD32587 $MA_FRICT_ADAPT_V_DECAY_MINUS[ 0 ... 9 ]

Action time upper / lower

MD32584 $MA_FRICT_ADAPT_V_CONST_PLUS[ 0 ... 9 ]

MD32585 $MA_FRICT_ADAPT_V_CONST_MINUS[ 0 ... 9 ]

Additional parameters

With the vertical softkey "Data list," further machine and setting data are displayed for

parameterization of the friction compensation with adaptive characteristics, e.g. also the

parameters for the torque setpoint pulse. The setting these parameters is described in the

following sections.

5.10.2.3

Parameterization of the acceleration at the characteristic interpolation points

From the channel-specific setting data of the circularity test (circle radius and traversing

velocity), the control calculates the acceleration values of the characteristic interpolation points.

Channel-specific setting data

The channel-specific setting data for circle radius and velocities apply to all machine axes with

active friction compensation with adaptive characteristics that are channel axes of the channel

in question. They are already assigned typical values. In necessary, they can be adapted

machine-specifically.

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5.10 Friction compensation with adaptive characteristics

Circle radius

A circle is traversed with the parameterized radius in the automatically generated circularity

tests program:

● Linear axes

SD55820 $SCS_FRICT_OPT_RADIUS = <radius>

● Rotary axes

SD55821 $SCS_FRICT_OPT_RADIUS_ROT = <radius>

Traversing velocities

In the circularity test, the machine axes are traversed in each of the up to nine measurement

sections with the velocity parameterized in the setting data:

● Linear axes

SD55822$SCS_FRICT_OPT_FEED[ 0 ... 8 ] = <velocity 1 ... 9>

● Rotary axes

SD55823 $SCS_FRICT_OPT_FEED_ROT[ 0 ... 8 ] = <velocity 1 ... 9>

Note

● If fewer than nine characteristic interpolation points ( 1 ... n ) are required, the velocity zero

must be entered in each of the corresponding array elements for all unneeded characteristic

interpolation points ( (n+1) ... 9 ).

● If the velocity is equal to zero in an array element, no following array element must contain

a velocity that is not equal to zero.

Direction of rotation

In the circularity test with two axes, the direction of rotation of the circle is defined with:

SD55828 $SCS_FRICT_OPT_DIR_MINUS = <direction of rotation>

Axis-specific machine data

The acceleration a at the characteristic interpolation point n is calculated by the control from

the setting data for the circle radius r and the path velocity v_n-1: a_n = v_n-12 / r

6&6B)5,&7B237B)(('> Q

0$B)5,&7B$'$37B7$%/(B$&&(/> Q @

6&6B)5,&7B237B5$',86

where n = 1, 2, 3, ... 9

For acceleration a at characteristic interpolation point n = 0, the value zero is always entered:

MD32581 $MA_FRICT_ADAPT_TABLE_ACCEL[ 0 ] = 0

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5.10 Friction compensation with adaptive characteristics

5.10.2.4

Velocity setpoint pulse

Determination of the characteristic parameters for the velocity setpoint pulses and calculation

of the corresponding machine data is fully supported by the user interface (Page 349). We

therefore advise against determining the characteristic parameters or writing the machine data

manually.

Axis-specific machine data

Velocity setpoint pulse

PP PLQ _ PLQ

Figure 5-29

Basic pulse shape

The numbers (①, ②, ...) stated in the following tables refer to the figure above.

Acceleration-independent parameters

No.

Machine data

Description

①

Trigger time or acceleration of the axes from stand-

still

③

MD32572 $MA_FRICT_V_PULSE_DE-

Delay time

LAY_TIME

④

MD32575

Time constant T of the rise time,

$MA_FRICT_V_PULSE_SMOOTH_TIME

after 5 * T ⇒ output value ≈ input value

Maximum values of the acceleration-dependently adaptable parameters

No.

Machine data

Description

②

MD32571 $MA_FRICT_VELO_STEP

Amplitude

⑤

MD32573

Active time

$MA_FRICT_V_PULSE_CONST_TIME

⑥

MD32574 $MA_FRICT_V_PULSE_DE-

Decay time

CAY_TIME

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5.10 Friction compensation with adaptive characteristics

Weighting factors for acceleration-dependent adaptation of the maximum values

Table 5-1

Lower reversal point

Machine data

Description

MD32582

Weighting factor for the amplitude

$MA_FRICT_ADAPT_V_STEP_PLUS[ 0 ... 9 ]

MD32584

Weighting factor for the action time

$MA_FRICT_ADAPT_V_CONST_PLUS[ 0 ... 9 ]

MD32586 $MA_FRICT_ADAPT_V_DE-

Weighting factor for the decay time

CAY_PLUS[ 0 ... 9 ]

Table 5-2

Upper reversal point

Machine data

Description

MD32583 $MA_FRICT_ADAPT_V_STEP_MI-

Weighting factor for the amplitude

NUS[ 0 ... 9 ]

MD32585 $MA_FRICT_ADAPT_V_CONST_MI-

Weighting factor for the action time

NUS[ 0 ... 9 ]

MD32587 $MA_FRICT_ADAPT_V_DECAY_MI-

Weighting factor for the decay time

NUS[ 0 ... 9 ]

Calculation of the characteristic parameters

The commissioning engineer must determine the optimum values for amplitude, action time,

and decay time for the velocity setpoint pulse for different acceleration values during the

circularity test (Page 349). On completion of the circularity test, the control will calculate the

resulting characteristic parameters (maximum values, characteristic interpolation points, and

weighting factors) and write them into the corresponding machine data.

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5.10 Friction compensation with adaptive characteristics

Example: Amplitude characteristic for the lower reversal point

● Maximum value

PD[^$PSOLWXGH $PSOLWXGH

$PSOLWXGH

0$B)5,&7B9(/2B67(3

● Weighting factors

$PSOLWXGH> Q @

0$B)5,&7B$'$37B9B67(3B3/86> Q @

0$B)5,&7B9(/2B67(3

● Effective interpolation points

The effective interpolation points of the amplitude characteristics are the interpolation points

to which the following applies:

- MD32581 $MA_FRICT_ADAPT_TABLE_ACCEL[ <interpolation point> ] ≠ 0

(acceleration)

- MD32582 $MA_FRICT_ADAPT_V_STEP_PLUS[ <interpolation point> ] ≠ 0 (weighting

factor)

The amplitude of the velocity setpoint pulse of an effective interpolation point is calculated

as:

$PSOLWXGH> Q @

0D[LPXP YDOXH ZHLJKWLQJ IDFWRU> Q @

0$B)5,&7B9(/2B67(3

0$B)5,&7B$'$37B9B67(3B3/86> Q @

Note

Vertical offset of a characteristic

Subsequent vertical displacement of a characteristics is most easily achieved by changing the

corresponding maximum value in the machine data.

5.10.2.5

Torque setpoint pulse

Determination of the characteristic parameters for the torque setpoint pulses and calculation

of the corresponding machine data is not supported directly by the user interface. We therefore

advise determining the characteristic parameters or writing the machine data manually

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5.10 Friction compensation with adaptive characteristics

Axis-specific machine data

Torque setpoint pulse

Figure 5-30

Basic pulse shape

The numbers (①, ②, ...) stated in the following tables refer to the figure above.

Acceleration-independent parameters

No.

Machine data

Description

①

Trigger time or acceleration of the axes from stand-

still

③

MD32577 $MA_FRICT_T_PULSE_DE-

Delay time

LAY_TIME

④

MD32578

Rise time

$MA_FRICT_T_PULSE_SMOOTH_TIME

Maximum values of the acceleration-dependently adaptable amplitude

No.

Machine data

Description

②

MD32576 $MA_FRICT_TORQUE_STEP

Amplitude

Weighting factors for acceleration-dependent adaptation of the maximum value

Machine data

Description

MD32588 $MA_FRICT_ADAPT_T_STEP[ 0 ... 9 ]

Weighting factor for the amplitude

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5.10 Friction compensation with adaptive characteristics

Commissioning (manual)

Requirement

The circularity test (Page 349) for determining the characteristic parameter was already been

successfully performed completely or at least for the current measuring step.

Note

Determining the characteristic parameters

● The characteristic parameters for the torque setpoint pulse are most simply determined in

the circularity test (Page 349) of the user interface:

● Operating area: "Commissioning" > "NC" > "Friction compensation"

● The machine data are most simply set via the data list of the circularity test:

Operating area: "Commissioning" > "NC" > "Friction compensation" > "Data list" vertical

softkey

Assumption

The circularity tests has been started, measuring step 1 is active.

Recommended procedure

1. Initialization of the weighting factors:

- MD32588 $MA_FRICT_ADAPT_T_STEP[ 0 ] = 1

- MD32588 $MA_FRICT_ADAPT_T_STEP[ 1 ... 9 ] = 0

Note: For all measuring steps, the weighting factor with index 0 is used.

2. Setting the amplitude for the current measuring step:

- MD32576 $MA_FRICT_TORQUE_STEP = <amplitude>

3. Determining the changed contour deviation in the circle diagram.

4. Optimization of the amplitude value by changing in MD32576

$MA_FRICT_TORQUE_STEP and checking in the circle diagram.

5. Recording the amplitude value for this measuring step for subsequent determination of the

maximum value or the weighting factor of the measuring step.

6. Switching on to the next measuring step and continuing with point 2 until the amplitude

values have been determined for all measuring steps.

7. Determining the maximum value from the recorded amplitude values and entering them in

the machine data:

0$B)5,&7B72548(B67(3 PD[^$PSOLWXGH $PSOLWXGH

$PSOLWXGH

8. Calculation of the weighting factors for all active interpolation points from the recorded

amplitude values and entering them in the machine data:

$PSOLWXGH> Q @

0$B)5,&7B$'$37B7B67(3> Q @

0$B)5,&7B72548(B67(3

That completes commissioning of the amplitude characteristic for the torque setpoint pulse.

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5.10 Friction compensation with adaptive characteristics

Optional

Setting the parameters that are independent of acceleration:

● MD32577 $MA_FRICT_T_PULSE_DELAY_TIME

● MD32578 $MA_FRICT_T_PULSE_SMOOTH_TIME

Effective interpolation points

The effective interpolation points of the amplitude characteristics are the interpolation points

to which the following applies:

● MD32581 $MA_FRICT_ADAPT_TABLE_ACCEL[ <interpolation point> ] ≠ 0 (acceleration)

● MD32583 $MA_FRICT_ADAPT_T_STEP[ <interpolation point> ] ≠ 0 (weighting factor)

The amplitude of the torque setpoint pulse of an effective interpolation point is calculated as:

$PSOLWXGH> Q @ 0D[LPXP YDOXH ZHLJKWLQJ IDFWRU> Q @

0$B)5,&7B72548(B67(3

0$B)5,&7B$'$37B7B67(3> Q @

Note

Vertical offset of the characteristic

Subsequent vertical displacement of the amplitude characteristic is most easily achieved by

changing the corresponding maximum value in the machine data.

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5.11 Compensation functions for suspended axes

5.11

Compensation functions for suspended axes

5.11.1

Electronic counterweight

Axis without counterweight

For axes that have a weight load without counterweight, then after the brake is released, the

hanging (suspended) axis drops and the following response is obtained:

%UDNH KROGV =

%UDNH UHOHDVHV FRQWUROOHU HQDEOH SXOVH HQDEOH

$[LV = VDJV

$IWHU VRPH WLPH WKH FRQWURO PDLQWDLQV WKH D[LV DW

WKH SRVLWLRQ

)HHG GULYH

%UDNH

'LVWDQFH

7RUTXH

:HLJKW

Figure 5-31

Drop of a hanging axis without counterweight

"Electronic counterweight" function

A hanging (suspended) axis can almost be completely prevented from dropping (sagging)

using the "electronic counterweight" function.

The electronic counterweight prevents axes with a weight load from sagging when the closed-

loop control is switched on. After releasing the brake, the constant counterweight torque

maintains the position of the vertical axis.

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5.11 Compensation functions for suspended axes

%UDNH KROGV =

%UDNH UHOHDVHV FRQWUROOHU HQDEOH SXOVH HQDEOH

FRXQWHUZHLJKW WRUTXH

$[LV = VWD\V LQ SRVLWLRQ

)HHG GULYH

%UDNH

'LVWDQFH

G] a

7RUTXH

:HLJKW

G] a

Figure 5-32

Lowering of a vertical axis with electronic weight compensation

Commissioning

Note

The "electronic counterweight" is commissioned through the drive!

Reference

For additional information, see the following:

SINAMICS S120 Function Manual Drive Functions

5.11.2

Special function: Reboot delay

Function

For changes, for example, to machine data values to become effective, the NC must be

restarted. This is done, for example, on the user interface by triggering an NC reset. If there

are suspended axes on the machine, failure of the closed-loop control while the control is

starting will result in the axes failing to maintain height.

With the "Reboot delay" function, the request to reboot the NC (NC reset) is communicated to

the NC via the operator interface as previously. Rebooting, during which the closed-loop control

of the axes is deactivated, is then delayed on the NC by a time that can be parameterized.

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5.11 Compensation functions for suspended axes

During this time, user-specific actions, such engaging the holding brakes of the suspended

axes, are performed.

Note

The reboot delay is only effective on a request to reboot the NC (NC reset) via the user

interface.

In the case of a power-on reset by switching the control off and on again, pressing the reset

button on the front of the NCU, or power failure, a parameterized reboot delay time will have

no effect.

Alarm 2900 "Reboot after a delay"

When a reboot request is detected, alarm 2900 "Reboot after a delay" is triggered.

Alarm responses

The following responses are triggered by the alarm 2900:

● The NC/PLC interface signals are reset:

- DB11 DBX6.3 = 0 (mode group ready); all mode groups

- DB21, … DBX36.5 = 0 (channel ready) for all channels

- DB31, … DBX61.2 = 0 (axis ready) for all axes

● Braking the axis / spindles at the current limit.

For further details, see machine data:

- MD36610 $MA_AX_EMERGENCY_STOP_TIME (braking ramp time when errors

occur)

- MD36620 $MA_SERVO_DISABLE_DELAY_TIME (OFF delay of the controller enable)

The NC/PLC interface signal "NC ready" remains set:

DB10 DBX108.7 == 1

Alarm suppression

With the machine data, display of the alarm 2900 "Reboot after a delay" will be suppressed

on the user interface:

MD11410 $MN_SUPPRESS_ALARM_MASKBit 20 = 1

The alarm responses are not affected by this.

Controlling holding brakes

During the reboot operation of the PLC, the PLC outputs defined as 0 are reset. Control of the

holding brakes must therefore be connected on the user side in such a way that the brakes

engage or remain engaged on a control signal == 0 and are released or remain released on

a control signal == 1.

Parameter assignment

The reboot delay time is set in machine data:

MD10088 $MN_REBOOT_DELAY_TIME = <reboot delay time>

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5.12 Data lists

If the parameterized reboot delay time is 0.0, the function is deactivated.

System variables

The time remaining until the NC is rebooted can be read in the system variable:

$AN_REBOOT_DELAY_TIME

While no request for a reboot of the NC (NC reset) has been triggered from the user interface,

the system variable has the value 0.0.

A value greater than 0.0 indicates that a reboot request (NC reset) has been triggered from

the user interface and also the time remaining in the NC or PLC until the reboot.

Application example

Evaluating the system variables in a static synchronized action

Condition part: Check for a value greater than 0.0 because then a request for a reboot of the

NC (NC reset) has been made from the user interface.

Action part: e.g. triggering "safe standstill" as part of the "Safety Integrated" function.

5.12

Data lists

5.12.1

Machine data

5.12.1.1

General machine data

Number

Identifier: $MN_

Description

10050

SYSCLOCK_CYCLE_TIME

Basic system clock cycle

10070

IPO_SYSCLOCK_TIME_RATIO

Factor for interpolator clock cycle

10082

CTRLOUT_LEAD_TIME

Shift of setpoint transfer time

10083

CTRLOUT_LEAD_TIME_MAX

Maximum permissible setting for shift of setpoint trans-

fer time

10088

REBOOT_DELAY_TIME

Reboot delay

18342

MM_CEC_MAX_ POINTS[t]

Maximum number of interpolation points of sag com-

pensation

5.12.1.2

Channelspecific machine data

Number

Identifier: $MC_

Description

20150

GCODE_RESET_VALUES

Reset G groups

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5.12 Data lists

5.12.1.3

Axis/spindlespecific machine data

Number

Identifier: $MA_

Description

32450

BACKLASH

Backlash

32452

BACKLASH_FACTOR

Weighting factor for backlash

32454

BACKLASH_MODE

Backlash compensation mode

32456

BACKLASH_DYN

Compensation value for the dynamic backlash com-

pensation

32457

BACKLASH_DYN_MAX_VELO

Limitation of the dynamic backlash compensation value

change

32490

FRICT_COMP_MODE

Type of friction compensation

32500

FRICT_COMP_ENABLE

Friction compensation active

32510

FRICT_COMP_ADAPT_ENABLE

Friction compensation adaptation active

32520

FRICT_COMP_CONST_MAX

Maximum friction compensation value

32530

FRICT_COMP_CONST_MIN

Minimum friction compensation value

32540

FRICT_COMP_TIME

Friction compensation time constant

32550

FRICT_COMP_ACCEL1

Adaptation acceleration value 1

32560

FRICT_COMP_ACCEL2

Adaptation acceleration value 2

32570

FRICT_COMP_ACCEL3

Adaptation acceleration value 3

32610

VELO_FFW_WEIGHT

Feedforward control factor for velocity/speed feedfor-

ward control

32620

FFW_MODE

Feedforward control mode

32630

FFW_ACTIVATION_MODE

Activate feedforward control from program

32650

AX_INERTIA

Inertia for torque feedforward control

32700

ENC_COMP_ENABLE

Interpolatory compensation

32710

CEC_ENABLE

Enabling of sag compensation

32711

CEC_SCALING_SYSTEM_METRIC

System of units for sag compensation

32720

CEC_MAX_SUM

Maximum compensation value for sag compensation

32730

CEC_MAX_VELO

Change of velocity during sag compensation

32750

TEMP_COMP_TYPE

Temperature compensation type

32760

COMP_ADD_VELO_FACTOR

Velocity increase as a result of compensation

32711

CEC_SCALING_SYSTEM_METRIC

System of units for sag compensation

32800

EQUIV_CURRCTRL_TIME

Equivalent time constant current control loop for feed-

forward control

32810

EQUIV_SPEEDCTRL_TIME

Equivalent time constant speed control loop for feed-

forward control

32910

DYN_MATCH_TIME

Time constant for dynamic response adaptation

36500

ENC_CHANGE_TOL

Maximum tolerance for position actual value switchover

37302

NOCO_FILTER_TIME

Time constant for smoothing nodding compensation

values

37310

NOCO_INPUT_AX_1

Compensation relationship 1:

Machine axis that causes nodding motion

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5.12 Data lists

Number

Identifier: $MA_

Description

37312

NOCO_ADAPT_AX_1

Compensation relationship 1:

Machine axis, whose position influences nodding mo-

tion

37314

NOCO_ADAPT_NUM_1

Compensation relationship 1:

Number of positions, adaptation characteristic of the

nodding compensation

37316

NOCO_ADAPT_POS_1

Compensation relationship 1:

Positions, adaptation characteristic of the nodding com-

pensation

37318

NOCO_COMPLIANCE_1

Compensation relationship 1:

Compliance factor for nodding compensation

37320

NOCO_INPUT_AX_2

Compensation relationship 2:

Machine axis that causes nodding motion

37322

NOCO_ADAPT_AX_2

Compensation relationship 2:

Machine axis, whose position influences nodding mo-

tion

37324

NOCO_ADAPT_NUM_2

Compensation relationship 2:

Number of positions, adaptation characteristic of the

nodding compensation

37326

NOCO_ADAPT_POS_2

Compensation relationship 2:

Positions, adaptation characteristic of the nodding com-

pensation

37328

NOCO_COMPLIANCE_2

Compensation relationship 2:

Compliance factor for nodding compensation

37330

NOCO_INPUT_AX_3

Compensation relationship 3:

Machine axis that causes nodding motion

37332

NOCO_ADAPT_AX_3

Compensation relationship 3:

Machine axis, whose position influences nodding mo-

tion

37334

NOCO_ADAPT_NUM_3

Compensation relationship 3:

Number of positions, adaptation characteristic of the

nodding compensation

37336

NOCO_ADAPT_POS_3

Compensation relationship 3:

Positions, adaptation characteristic of the nodding com-

pensation

37338

NOCO_COMPLIANCE_3

Compensation relationship 3:

Compliance factor for nodding compensation

38000

MM_ENC_COMP_MAX_POINTS

Number of interpolation points with interpolatory com-

pensation

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5.12 Data lists

5.12.2

Setting data

5.12.2.1

General setting data

Number

Identifier: $SN_

Description

41300

CEC_TABLE_ENABLE[t]

Enable evaluation of beam sag compensation

table

41310

CEC_TABLE_WEIGHT[t]

Weighting factor for beam sag compensation ta-

ble

5.12.2.2

Axis/spindle-specific setting data

Number

Identifier: $SA_

Description

43900

TEMP_COMP_ABS_VALUE

Position-independent temperature compensation value

43910

TEMP_COMP_SLOPE

Gradient for position-dependent temperature compen-

sation

43920

TEMP_COMP_REF_POSITION

Reference position for position-dependent temperature

compensation

5.12.3

Signals

5.12.3.1

Signals from NC

Signal name

SINUMERIK 840D sl

SINUMERIK 828D

NC Ready

DB10.DBX108.7

DB2700.DBX2.7

5.12.3.2

Signals from mode group

Signal name

SINUMERIK 840D sl

SINUMERIK 828D

Mode group ready

DB11.DBX6.3

DB3100.DBX0.3

5.12.3.3

Signals from channel

Signal name

SINUMERIK 840D sl

SINUMERIK 828D

Channel ready

DB21,

DBX36.5

DB330x.DBX4.5

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5.12 Data lists

5.12.3.4

Signals to axis/spindle

Signal name

SINUMERIK 840D sl

SINUMERIK 828D

Activate dynamic backlash compensation

DB31,

DBX25.0

DB380x.DBX5001.0

5.12.3.5

Signals from axis/spindle

Signal name

SINUMERIK 840D sl

SINUMERIK 828D

Referenced/synchronized 1

DB31,

DBX60.4

DB390x.DBX0.4

Referenced/synchronized 2

DB31,

DBX60.5

DB390x.DBX0.5

Axis ready

DB31,

DBX61.2

DB390x.DBX1.2

Dynamic backlash compensation active

DB31,

DBX102.0

DB390x.DBX5006.0

Extended Functions

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K5: Cross-channel program coordination and channel-

by-channel running-in

6.1

Cross-channel program coordination

6.1.1

Coordination commands (INIT, START, WAITM, WAITMC, WAITE, SETM,

CLEARM)

In principle, a channel of the NC can execute the program started in it independently of other

channels in its mode group. If, however, several programs in several channels of the mode

group are involved in machining a workpiece, the program sequences in the various channels

must be coordinated with the following coordination commands.

Requirement

All the channels involved in the program coordination must belong to the same mode group:

MD10010 $MC_ASSIGN_CHAN_TO_MODE_GROUP[<Channel>] = <Mode group number>

Channel name instead of channel number

Instead of the channel numbers, the channel names entered in MD20000

$MC_CHAN_NAME[<Channel index>] can be used as parameters of the predefined

procedures for the program coordination. The use of the channel names in the NC programs

first has to be enabled:

MD10280 $MN_PROG_FUNCTION_MASK, bit 1 = TRUE

Note

Minimum distance between commands

At least two traversing block distances must be maintained between the commands INIT,

START, WAITE, WAITM, SETM, CLEARM and the command WAITMC. WAITMC is an executable

block, but is moved into the previous block for optimization, and then deleted as a block.

SETM for example is not an executable block, and is moved into the next block so that if there

were a distance of one block between two commands, both commands would be in the middle

block. As only one block is possible, optimization is not performed with a one block distance

for WAITMC.

This stops the program, and processing is briefly interrupted.

Syntax

INIT(<ChanNo>, <Prog>, <AckMode>)

START(<ChanNo>, <ChanNo>, ...)

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

WAITE(<ChanNo>, <ChanNo>, ...)

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6.1 Cross-channel program coordination

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

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

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

Meaning

INIT():

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

fied channel

START():

Predefined procedure for starting the selected program in the respective channel

WAITM():

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

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

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

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

WAITE():

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

WAITMC():¹⁾

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

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

channels have not yet reached the wait marker.

SETM():¹⁾

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

The processing in the own channel is not affected by this.

SETM remains valid after a channel reset and NC start.

CLEARM():¹⁾

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

The processing in the own channel is not affected by this.

CLEARM() deletes all wait markers in the channel.

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

CLEARM remains valid after a channel reset and NC start.

<ChanNo>:

Channel number

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

Type:

INT

<Prog>:

Absolute or relative path specification (optional) + program name

Type:

STRING

For the path specification, see:

References

Programming Manual, Work Planning, "File and Program Administration" Chapter >

"Program memory" > "Addressing the files of the program memory"

<AckMode>:

Acknowledgment mode (optional)

Type:

CHAR

Val-

"N"

Without acknowledgment

ues:

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

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

cessfully.

"S"

Synchronous acknowledgment

The program execution is stopped until the receiving component has

acknowledged the command. If the acknowledgment is positive, the

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

message is output.

Extended Functions

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6.1 Cross-channel program coordination

<MarkNo>:

Number of the wait marker

Note

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

0 ... 99).

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

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

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

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

Examples

START using channel names from MD20000

● Parameter assignment

MD10280 $MN_PROG_FUNCTION_MASK, bit 1 = TRUE

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

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

● Programming

Program code

Comment

START(MACHINING)

; Start of channel 1

START(INFEED)

; Start of channel 2

START using local "channel names" and user variables

Program code

Comment

DEF INT MACHINE = 1

; Definition of user variable for channel 1

DEF INT LOADER = 2

; Definition of user variable for channel 2

START(MACHINE)

; Start of channel 1

START(LOADER)

; Start of channel 2

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

Program code

Comment

DEF INT chanNo1

; Definition of user variable for channel 1

DEF INT chanNo2

; Definition of user variable for channel 2

chanNo1 = CHAN_1

; Assignment of parameterized channel name channel 1

chanNo2 = CHAN_2

; Assignment of parameterized channel name channel 2

START(ChanNo1)

; Start of channel 1

START(ChanNo2)

; Start of channel 2

INIT command with absolute path specification

Selection of program /_N_MPF_DIR/_N_ABSPAN1_MPF in channel 2.

Program code

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

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6.1 Cross-channel program coordination

INIT command with program name

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

using the search path.

Program code

INIT(2,"MYPROG")

Program coordination with WAITM

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

started.

Program code

Comment

; Program MPF100

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

; Selection of program MPF200, channel 2

N11 START(2)

; Start of channel 2

N80 WAITM(1,1,2)

; Wait for WAIT marker 1 in channels 1 and

N81 ...

; Channel 1, N81 and channel 2, N71 are

; started synchronously

N180 WAITM(2,1,2)

; Wait for WAIT marker 2 in channels 1 and

N181 ...

; Channel 1, N181 and channel 2, N271 are

; started synchronously

N200 WAITE(2)

; Wait for end of program in channel 2

N201 ...

; N201 is not started until the end of

program

; MPF200 started in channel 2

N201 M30

; End of program channel 1

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

using blocks N10 and N20.

Program code

Comment

;$PATH=/_N_MPF_DIR

; Program MPF200

N70 WAITM(1,1,2)

Wait for WAIT marker 1 in channels 1 and 2

N71 ...

; Channel 1, N81 and channel 2, N71 are

; started synchronously

N270 WAITM(2,1,2)

Wait for WAIT marker 2 in channels 1 and 2

N271 ...

; Channel 1, N181 and channel 2, N271 are

; started synchronously

N400 M30

End of program channel 2

Extended Functions

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K5: Cross-channel program coordination and channel-by-channel running-in

6.1 Cross-channel program coordination

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Supplementary conditions

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

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

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

channels to be synchronized immediately before reaching the common WAIT marker; the

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

Assumption: Current axis assignment in channels 1 and 2

● Channel 1: Axes X1 and U

● Channel 2: Axis X2

Table 6-1

Time sequence in channels 1 and 2

Channel 1

Channel 2

Description

Arbitrary processing in channels 1 and 2

N100

Channel 1: reaches the WAIT marker and waits for

WAITM(20,1,2)

synchronization with channel 2

Start of the GETD(U)

N200 GETD(U)

Channel 2: Requests axis U from channel 1

processing:

Channel 1: Processing of GET(U) in the backg19round

● Axis interchange

N210

Channel 2: reaches the WAIT marker. ⇒ This com-

● Delete distance-to-

WAITM(20,1,2)

pletes the synchronization of channels 1 and 2

N220 G0 X2=100

Channel 2: Start of processing of N220

● REPOSA

End

N110 G0 X1=100

Channel 1: Staggered start of processing of N110

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6.1 Cross-channel program coordination

See also

K10: Cross-channel axis interchange (Page 387)

Extended Functions

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K5: Cross-channel program coordination and channel-by-channel running-in

6.2 Running-in channel-by-channel

6.2.2

Sequence

Normally, a channel moves a tool in the working area. If several channels are each moving a

tool in the same working area, the tool movements must be synchronized. The following

synchronizations are possible:

● Channel synchronization via the program coordination commands WAITM, WAITMC, WAITE,

START.

● Channel synchronization via the PLC user program and NC/PLC interface signals. For

example, via M function output from the channel to the PLC and read-in disable from the

PLC to the channel.

● Axis interchange: The channel waits until the other channel relinquishes the axis.

● Synchronization by means of global variables in the NC program.

● Cross-channel couplings

● Axis container rotation

● Testing the program including the parallel synchronized actions in the main run and

synchronization of the synchronized actions with the channel.

Under these general conditions, it is almost impossible to just start one channel - it would

remain stationary at the first synchronization location.

Using the "Channel-by-channel running-in", function, all of the required channels can be started

so that only those channels receive the traversing enable signals, whose interaction of the

programmed traversing motion are to be tested. The other channels are then in the "program

test" state.

To do this, before starting the channels, the machine operator must define the channels that

are to be traversed under "Program test". This is made from the user interface in the "Program

controls" menu.

6.2.3

Single-channel view

Selection

"Program test" (PRT) for the channel displayed in the "Machine" basic display is selected via

the user interface, e.g. SINUMERIK Operate:

1. Softkey: Operating area "Machine" > "Program control"

2. "Program controls" menu: Select check box "Program test (PRT)".

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K5: Cross-channel program coordination and channel-by-channel running-in

6.2 Running-in channel-by-channel

NC/PLC interface signals

After selecting program test (PRT), the following NC/PLC interface signals are set (see below

note "Automatic transfer of interface signals"):

● Channels

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

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

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

● Axes

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

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

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

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

● Spindles

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

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

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

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

Note

Default state of traversing motion

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

● Axes: Inhibited

● Spindles: Enabled

Note

Automatic transfer of the interface signals

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

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

to TRUE. If the parameters are not set, then the PLC request signals must be set by the PLC

user program.

Inhibiting spindle traversing motion

If, during "Program test" spindles are not to be traversed, then they must be explicitly inhibited/

locked via the PLC user program:

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

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

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

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

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6.2 Running-in channel-by-channel

NOTICE

Spindle traversing motion

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

setting.

Enabling traversing motion of the axes

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

via the PLC user program:

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

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

Permissible switching instants

● Channel

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

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

● Axes/spindles

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

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

6.2.4

Multi-channel view

Prerequisites

The following preconditions must be satisfied so that in the multi-channel view in menu

"Program controls", the channels and spindles can be displayed:

● Channels

- More than one channel is parameterized (MD10010

$MN_ASSIGN_CHAN_TO_MODE_GROUP[<channel>] ≠ 0)

- Option "programSYNC" (6FC5800-0AP05-0YB0) is set/licensed

● Spindles

- The significance of the spindle, parameterized in the channel, has been defined

(MD52206 $MC_AXIS_USAGE[<spindle>] ≠ 0)

Selection

"Program test" (PRT) for one or several channels parameterized in the control is selected via

the user interface, e.g. SINUMERIK Operate:

1. Softkey: Operating area "Machine" > "Program control"

2. Softkey: "Running-in"

3. "Program controls" menu: Deselect group "Running-in” > Check box "Channel x".

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6.2 Running-in channel-by-channel

Check box channel/spindle

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

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

Check box

Selected

Deselected

"Channel x"

Normal operation

Program is only calculated

(channel in test run)

"Spindle x"

Normal operation

No machining at spindle x

(spindle in test run)

NC/PLC interface signals

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

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

interface signals"):

● Channels

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

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

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

● Axes

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

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

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

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

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

operation:

● Spindles

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

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

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

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

Note

Default state of traversing motion

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

● Axes: Inhibited

● Spindles: Enabled

Extended Functions

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6.2 Running-in channel-by-channel

Note

Automatic transfer of the interface signals

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

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

to TRUE. If the parameters are not set, then the PLC request signals must be set by the PLC

user program.

Inhibiting spindle traversing motion

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

explicitly inhibited/locked via the PLC user program:

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

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

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

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

NOTICE

Spindle traversing motion

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

setting.

Enabling traversing motion of the axes

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

via the PLC user program:

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

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

Permissible switching instants

● Channel

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

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

● Axes/spindles

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

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

Extended Functions

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6.2 Running-in channel-by-channel

6.2.5

System variables

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

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

in the part program via the system variables:

$AC_ISTEST

"Program test" state for the channel

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

$AA_ISTEST[<n>]

"Program test" state for the axis <n>

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

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

$P_ISTEST

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

Example

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

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

● $AC_ISTEST == TRUE

● $P_ISTEST == TRUE

● $AA_ISTEST[C] == FALSE

6.2.6

Supplementary conditions

Axis interchange

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

can be programmed by these alternately (see Section "K10: Cross-channel axis interchange

(Page 387)").

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

following must be observed for an axis interchange:

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

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

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

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

3).

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

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

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

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

accepting channel.

Note

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

simultaneously exited.

Extended Functions

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6.2 Running-in channel-by-channel

6.2.7

Examples

Example 1: Channel 2 is to be tested in a 3-channel system.

Test option 1: Program test without SERUPRO

1. The user decides which axes/spindles should actually be physically traversed. "Suppress

program test" is set for these axes.

2. The "program test" state is selected for channels 1 and 3.

3. Channels 1, 2 and 3 are started via the PLC.

4. "Program test" can be selected again after the end of the program.

5. If the actual setting of "suppress program test" is also practical for other situations (channel

1 or channel 3 are to be tested), then this signal can remain set. This is certainly practical

in many cases.

Test option 2: Program test with SERUPRO

1. The user decides which axes/spindles should actually be physically traversed. "Suppress

program test" is set for these axes.

2. The "program test" state is selected for channels 1 and 3.

3. Channels 1, 2 and 3 are started via the PLC.

4. A fault or an alarm occurs, the user interrupts with RESET.

5. SERUPRO at the interruption location of all 3 channels.

6. Search destination has been reached in all 3 channels.

7. Start all 3 channels.

8. Channels 1 and 3 are now again in "program test" and "channel-by-channel running-in" is

continued.

Example 2: Activating "suppress program test"

A channel is in program test. In operation, "suppress program test" should be initiated for axis

"Y" (at block N1010).

Program code

Comment

N1000 G0 Y1000

N1010 G4 F10

N1020 G0 G91 Y=10

; Incremental traversing.

N1030 M30

With this sequence, the program moves to position 1010, i.e. the simulated component "1000"

of this axis is moved after activating "suppress program test".

Example 3: Program test and axis interchange

Axis X1 from channel 1 and axis X2 from channel 2 are assigned to the 1st machine axis AX1

of the NC.

Channel 1 with "Program test"

Channel 2 without "Program test"

N10010 G0 G90 X0

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6.3 Supplementary conditions

Channel 1 with "Program test"

Channel 2 without "Program test"

N10020 X1=100

N10030 WAITM(91,1,2)

N10040 WAITM(92,1,2)

N10050 M0

N10060 M30

N20010 WAITM(91,1,2)

N20020 G91 G0 X2=10

N20030 WAITM(92,1,2)

N20040 M0

N20050 M30

In block N20040, machine axis AX1 is interchanged to channel 2, the last position of the axis

from channel 1 is taken over and the axis traversed to position 110.

6.3

Supplementary conditions

6.3.1

MDI mode: Path control mode and WAITMC

MDI mode: Continuous path mode and WAITMC

In the MDI mode, when starting to execute the MDI block buffer, it is not permissible that the

WAITMC in conjunction with the path control mode (G64 / G604), is located in the last block of

the MDI block buffer. Otherwise the program will stop with the last but one traversing block,

and can only be canceled with a reset.

Example

Before an NC start, the MDI block buffer contains the following blocks:

Program code

Comment

N10 G64 G1 G94 F5000 X100

; Continuous path mode in the first block of

the

; MDI block buffer

N20 X200

N30 X300

; Last but one traversing block

N40 X400

; Program execution stops here

N50 WAITMC(...)

; due to WAITMC in N50.

; Cancellation with reset required!

Extended Functions

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6.3 Supplementary conditions

6.3.2

Non-synchronous start of traversing motion after WAIT commands

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

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

of the channels immediately before reaching the common synchronization location; the

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

Assumption: Current axis allocation in channels 1 and 2

● Channel 1: Axes Z1 and W

● Channel 2: Axis Z2

Example 1: Start of traversing motion with time offset

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

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

Table 6-2

Sequence (time) in channels 1 and 2

Channel 1

Channel 2

Description

Any processing in channels 1 and 2

N100 W100

Channel 1: Traversing axis W

Arbitrary processing in channels 1 and 2

N110 WAITM(2,1,2)

N210 WAITM(2,1,2)

Channels 1 and 2: wait for synchronization

Start "AUTOGET(W)":

"AUTOGET(W)" and

wait for axis W from

● Axis replacement

channel 1

Channel 2: Start of traversing motion with time off-

● Delete distance-to-

N220 Z2=100 W100

set

● REPOSA

End

Channel 1: Start of traversing motion

N120 Z1=100

Example 2: Simultaneous start of traversing motion

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

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

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

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

Table 6-3

Sequence (time) in channels 1 and 2

Channel 1

Channel 2

Description

Arbitrary processing in channels 1 and 2

N100 W100

Channel 1: Traversing axis W

Arbitrary processing in channels 1 and 2

RELEASE(W)

Channel 1: Enable axis W ⇒ The axis replacement

in channel 2 no longer affects channel 1

N110 WAITM(2,1,2)

N210 WAITM(2,1,2)

Channels 1 and 2: wait for synchronization

N215 GET(W)

Channel 2: Request axis W. Axis replacement is

optimum from a time perspective, as axis W is al-

ready enabled

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7.1

Overview

Note

Spindles

The following statements and functions regarding the "axis replacement" function for axes also

apply to spindles.

Each axis must be assigned to a channel during control commissioning. The axis can only be

traversed, for example, by part programs or synchronized actions from the channel to which

the axis is assigned. With the "axis replacement" function, it is possible to enable an axis and

to allocate it to another channel, that is, to replace the axis. Only than can the axis be traversed

by another channel.

Axis states

As part of the "axis replacement" function, an axis can have the following states:

● "Channel axis"

A channel axis is an axis that is assigned to a channel. It can be traversed via a part program

or manually.

● "PLC axis"

A PLC axis is an axis that is assigned to the PLC. It can only be traversed by the PLC user

program or function block FC18.

● "Neutral axis"

A neutral axis is an axis that is not currently assigned to a channel or the PLC. Before

traversing, it must first be requested by a channel or the PLC.

● "Axis in another channel"

An axis is in this state if a channel has requested the axis. However, it could not yet be

assigned to it because it is still occupied by another channel.

7.2

Commissioning

Parameter assignment

NC-specific machine data

● General parameterization of the axis replacement form

MD10722 $MN_AXCHANGE_MASK

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K10: Cross-channel axis interchange

7.3 Programming: Releasing an axis (RELEASE)

Channel-specific machine data

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

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

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

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

Axis-specific machine data

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

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

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

The parameterized channel is the master channel of the axis.

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

is not currently assigned to the channel:

- Display an alarm and do not traverse the axis.

- Automatically requesting the axis according to the command GET (Page 389)

- Automatically requesting the axis according to the command GETD (Page 389)

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

System variable

Axis-specific system variable

● Axis type in relation to axis replacement:

$AA_AXCHANGE_TYP[<axis>]

● Axis replacement status of the axis:

$AA_AXCHANGE_STAT[<axis>]

7.3

Programming: Releasing an axis (RELEASE)

Function

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

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

Syntax

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

Meaning

RELEASE:

Release axis for axis interchange

Preprocessing

Yes

stop:

Alone in the

Yes

block:

Extended Functions

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K10: Cross-channel axis interchange

7.4 Programming: Fetching an axis (GET, GETD)

<axis>:

Axis: Channel axis name of the releasing axis

Spindle: Channel axis name of the releasing spindle or conversion of the spindle num-

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

Type:

AXIS

Supplementary conditions

No enable possible

● The axis is involved in a transformation.

● The axis belongs to an axis grouping.

Guide axis of a gantry grouping

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

7.4

Programming: Fetching an axis (GET, GETD)

Requesting axis interchange (GET):

Function

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

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

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

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

Syntax

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

Meaning

GET:

Request of an axis for the current channel

Preprocessing

Yes

stop:

Alone in the

Yes

block:

<axis>:

Axis: Channel axis name of the requested axis

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

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

Type:

AXIS

Supplementary conditions

Axis interchange is delayed in the following situations:

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

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

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7.4 Programming: Fetching an axis (GET, GETD)

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

to follow-up/stop and vice versa).

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

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

Fetching an axis directly (GETD)

Function

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

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

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

released by this channel with RELEASE().

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

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

triggered in this channel (STOPRE):

● "Channel axis" status ⇒ preprocessing stop

● "Neutral axis" status ⇒ no preprocessing stop

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

channel synchronization (Page 367) between the requesting and the relinquishing channel.

NOTICE

Preprocessing stop in the relinquishing channel

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

triggered in this channel (STOPRE):

Syntax

GETD(<axis>)

Meaning

GETD:

Fetching an axis directly into the current channel

Preprocessing

Yes

stop:

Alone in the

Yes

block:

<axis>:

Axes: Channel axis name of the requested axis

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

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

Supplementary condition

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

axis interchange by the PLC user program.

Extended Functions

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7.5 Automatic axis replacement

Supplementary conditions

Channel reset

● If a channel reset is triggered in the channel that requested the axis, axis interchange is

canceled.

● A replaced axis remains assigned to the channel that last requested it even after a channel

reset.

7.5

Automatic axis replacement

Function

Automatic axis replacement or automatic fetching of an axis into the current channel is

performed if the axis is programmed in the part program or synchronized action, but it is not

assigned to the channel at the moment.

Requirement

Parameterization of automatic axis replacement by GET() or GETD():

MD30552 $MA_AUTO_GET_TYPE (Page 387)

Supplementary conditions

See Description (Page 389) of GETD().

Examples

Example 1

Program code

Comment

N1 M3 S1000

; Traversing the main spindle

N2 RELEASE (SPI(1))

; Release to neutral status

N3 S3000

; Programming the main spindle => automatic fetching

; Behavior depending on MD30552 $MA_AUTO_GET_TYPE:

; 0 => Alarm "Wrong axis type"

; 1 => implicit GET(SPI(1))

; 2 => implicit GETD(SPI(1))

Example 2

Program code

Comment

; Machine axis AX1 ≙ channel axis X

N1 RELEASE (AX1)

; Release to neutral status

N2 G04 F2

; Dwell time

N3 G0 X100 Y100

; Programming axis X as a path axis

; Behavior depending on MD30552 $MA_AUTO_GET_TYPE:

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7.6 Axis replacement via PLC

Program code

Comment

; 0 => Alarm "Wrong axis type"

; 1 => implicit GET(AX1)

; 2 => implicit GETD(AX1)

Example 3

Program code

Comment

; Machine axis AX1 ≙ channel axis X

N1 RELEASE (AX1)

; Release to neutral status

N2 G04 F2

; Dwell time

N3 POS (X) = 100

; Programming axis X as a positioning axis

; Behavior depending on MD30552 $MA_AUTO_GET_TYPE:

; 0 => Alarm "Wrong axis type"

; 1 => implicit GET(AX1) *)

; 2 => implicit GETD(AX1) *)

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

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

7.6

Axis replacement via PLC

Function

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

● From an NC channel to the PLC

● From the PLC to an NC channel

● From an NC channel to another NC channel

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

Axis replacement status

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

program via the NC/PLC interface.

Extended Functions

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K10: Cross-channel axis interchange

7.6 Axis replacement via PLC

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

Examples

Example 1

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

GET() in part programs that are executed in each channel:

● Channel 1: RELEASE(<axis>)

● Channel 2: GET(<axis>)

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Example 2

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

program.

Extended Functions

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K10: Cross-channel axis interchange

7.6 Axis replacement via PLC

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

by the PLC user program.

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Extended Functions

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K10: Cross-channel axis interchange

7.8 Axis replacement with and without preprocessing stop

7.7

Axis interchange via axis container rotation

Enabling axis container rotation

When an axis container rotation is enabled, all container axes that can be allocated to a channel

are allocated to this channel using implicitly generated GET or GETD. An axis can only be

relinquished, e.g. to another channel, after container rotation.

Note

The implicit assignment of an axis to a channel is notpossible if the axis in the state "main run

axis" (e.g. is a PLC axis). In order to be able to participate in the axis container rotation, the

axis must first exit the state.

For further explanations on the axis replacement of container axes (see Section "B3:

Distributed systems - 840D sl only (Page 73)").

Example: Axis container rotation with an implicit GET or GETD

Action Channel 1

Action Channel 2

SPOS = 180 positioned

AXCTSWE(CT 1)

; gets spindle in Channel 1

; and allows axis container rotation

Assumption:

The spindle is used in both channels and is also an axis in axis container CT 1.

Activation

Axis interchange using axis container rotation and implicit GET/GETD is activated using

machine data MD10722 $MN_AXCHANGE_MASK, bit 1=1.

7.8

Axis replacement with and without preprocessing stop

Axis replacement extension without preprocessing stop

Instead of a GET block with a preprocessing stop, this GET request only generates an

intermediate block. In the main run, when this block is executed, the system checks whether

the states of the axes in the block match the current axis states. If they do not match, forced

reorganization can be triggered.

The following states of an axis or positioned spindle are checked for:

● The mode, either for the axis or for positioned spindle

● Setpoint position

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7.8 Axis replacement with and without preprocessing stop

The following states of a Spindle in speed mode are checked:

● Spindle mode: Speed mode

● Spindle speed S

● Direction of rotation M3, M4

● Gear stage M40, M41, M42, M43, M44, M45

● Master spindle at constant cutting rate.

In some instances, forced reorganization may be possible. Reorganization of the following

axes is forced in any case.

Activation

Replacement without preprocessing and checking of the current states is activated with

machine data MD10722 $MN_AXCHANGE_MASK, Bit 2=1.

Example

Activating an axis replacement without a preprocessing stop

Table 7-1

N010 M4 S1000

N011 G4 F2

N020 M5

N021 SPOS=0

N022 POS[B]=1

N023 WAITP(B)

; Axis b becomes the neutral axis

N030 X1 F10

N031 X100 F500

N032 X200

N040 M3 S500

N041 G4 F2

N050 M5

N099 M30

If the spindle (axis B) is traversed immediately after block N023 as a PLC axis to 180° and

back to 1°, and then again to the neutral axis, block N040 does not trigger a preprocessing

stop nor a reorganization.

Special case: Axis replacement with preprocessing stop

Without a GET or GETD instruction having previously occurred in the main run, the spindle or

the axis can be made available again by RELEASE (axis) or WAITP (axis), for example. A

subsequent GET leads to a GET with a preprocessing stop.

Extended Functions

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K10: Cross-channel axis interchange

7.9 Axis exclusively controlled from the PLC

7.9

Axis exclusively controlled from the PLC

Function

After the control boots, the axis is in the "neutral axis" state. The PLC controls it. To traverse

the axis as competing positioning axis (from the PLC via function block FC18), the axis must

first be explicitly requested from the PLC.

Note

Per machine data, the axis interchange to the PLC can be exclusively restricted to PLC

controlled axes: MD10722 $MN_AXCHANGE_MASK, Bit 3 = 1

The axis cannot be traversed from an NC part program.

Parameter assignment

Parameterizing an axis as axis that is exclusively controlled from the PLC is realized using the

axis-specific machine data:

MD30460 $MA_BASE_FUNCTION_MASK, Bit 4 = 1

Control by PLC

The traversing behavior of an axis exclusively controlled from the PLC is only influenced by

the axial NC/PLC interface signals:

● DB31, ... DBX28.1 (reset)

● DB31, ... DBX28.2 (continue)

● DB31, ... DBX28.6 (stop along braking ramp)

Possible traversing functions

The following traversing functions are possible for axes exclusively controlled from the PLC:

1. Traversing in the JOG mode using the traversing keys and handwheel

2. Referencing the axis

3. Traversing as command axis via static synchronized actions

4. Traversing as asynchronous oscillating axis

5. Traversing as competing positioning axis from the PLC via FC18

After traversing functions 1. to 4. have been completed, the axis automatically goes back into

the "neutral axis" state. After traversing function 5. from the PLC has been completed, the axis

remains in the state "PLC axis". The axis only changes into the "Neutral axis" state after having

been explicitly released by the PLC.

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7.10 Axis permanently assigned to the PLC

7.10

Axis permanently assigned to the PLC

Function

After the control has booted, the axis is in the "neutral axis" state and is controlled from the

NC channel. To traverse the axis as competing positioning axis (from the PLC via function

block FC18), the axis does not have to be explicitly requested from the PLC. Axis interchange

to the PLC is realized automatically using the traversing request via FC18. After the traversing

motion requested via FC18 has been completed, the axis again automatically changes into

the "neutral axis" state.

After the axis has been interchanged, and after the request from the PLC, the axis can also

be controlled from the PLC: "PLC axis" state.

Note

Per machine data, the axis interchange to the PLC can be exclusively restricted to axes that

are permanently assigned to the PLC: MD10722 $MN_AXCHANGE_MASK, Bit 3 = 1

Parameter assignment

Parameterizing an axis as axis that is permanently assigned to the PLC is realized using the

axis-specific machine data:

MD30460 $MA_BASE_FUNCTION_MASK, Bit 5 = 1

Control by the PLC or NC channel

The traversing behavior of an axis permanently assigned to the PLC can either be influenced

by the NC channel or by the PLC:

NC channel: Channel-specific NC/PLC interface signals (selection)

● DB21, ... DBXDBX7.1 (NC start)

● DB21, ... DBXDBX7.3 (NC stop)

● DB21, ... DBXDBX7.7 (reset)

PLC: Axial NC/PLC interface signals

● DB31, ... DBX28.1 (reset)

● DB31, ... DBX28.2 (continue)

● DB31, ... DBX28.6 (stop along braking ramp)

Possible traversing functions

The following traversing functions are possible for an axis permanently assigned to the PLC:

1. Traversing in the JOG mode using the traversing keys and handwheel

2. Referencing the axis

3. Traversing as competing positioning axis from the PLC via FC18

Extended Functions

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7.11 Geometry axis in rotated frame and axis replacement

After traversing functions 1. to 3. have been completed, the axis automatically goes back into

the "neutral axis" state.

7.11

Geometry axis in rotated frame and axis replacement

Replacement expansion via Frame with Rotation

In the JOG mode, a geometry axis with rotated WCS can be traversed as PLC axis or as a

command axis via static synchronized actions. For this purpose, the following machine data

must be set:

MD32074 $MA_FRAME_OR_CORRPOS_NOTALLOWED, bit 10 == 1

Note

Changing the operating mode in the JOG mode

Before changing the operating mode from JOG into another mode, all traversing motion of all

PLC and command axes, which have been linked as geometry axes in the rotated WCS, must

have been concluded. These axes must at least have become neutral axes again, otherwise

alarm 16908 will be output when the operating mode is changed. This alarm is also displayed

when only a single geometry axis is traversed as a PLC or command axis in the rotated

coordinate system.

Such an axis can only become a PLC or command axis within the channel. An axis replacement

in another channel is not permissible.

Prerequisite for changing from JOG to AUTOMATIC

When changing from the JOG to the AUTOMATIC mode, in the "Program interrupted" state,

the end point of geometry axis motion is only accepted if the following machine data is set:

MD 32074: FRAME_OR_CORRPOS_NOTALLOWED, bit 11 == 1

This positions the PLC or command axes in relation to the rotation of the frame.

All axes influenced by a rotating frame are considered as geometry axes grouping and are

handled collectively. In this way, all axes of the

● assigned to the NC program or

● all axes are neutral or

● all axes are active as main run axes (PLC, command, or oscillation axis).

For example, if one axis is programmed with a WAITP, the system waits for all further axes of

the geometry axis grouping, so that these axes can collectively become neutral axes. If one

of the axes becomes a PLC axis in the main run, then all other axes of this grouping become

neutral axes.

Extended Functions

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K10: Cross-channel axis interchange

7.12 Axis replacement from synchronized actions

Supplementary conditions

If MD32074 $MA_FRAME_OR_CORRPOS_NOTALLOWED, bit 10 == 0 and ROT Z45 is

programmed in the NC program, then for the X and Y axes no axis interchange is possible.

This is also analogously valid for the Z axis for e.g. ROT X45 or ROT Y45 - and also in the

JOG operating mode - if a block was interrupted with this type of programming. Although in

this case the NC/PLC interface signals "Axis replacement possible" (DB31, ...DBX68.5) are

set for the X and Y axes, these are however reset.

Only if MD32074 $MA_FRAME_OR_CORRPOS_NOTALLOWED, Bit 10 == 1 and no block

with this programming is being currently traversed, then in the JOG mode, these types of axes

can be interchanged.

7.12

Axis replacement from synchronized actions

Function

As action of a synchronized action, an axis can be requested for the channel (GET(<axis>))

or released for axis replacement (RELEASE(<axis>)).

Note

The axis must be assigned as a channel axis via machine data.

An axis can be transferred directly between channels to a certain channel with command

AXTOCHAN via synchronized actions or in the part program. This axis does not have to be the

same channel and it is not necessary that this channel be in possession of the current

interpolation right for the axis.

Current state and interpolation right of the axis

With which axis type and interpolation right a possible axis replacement is to be performed,

can be read from the following system variable:

<Value> = $AA_AXCHANGE_TYP[<axis>]

<Value>

Meaning

The axis is assigned to the NC program

Axis assigned to PLC or active as command axis or oscillating axis

Another channel has the interpolation right.

Axis is neutral axis.

Neutral axis is controlled by the PLC.

Another channel has the interpolation right, axis is requested for NC program.

Another channel has the interpolation right, axis is requested as neutral axis.

Axis is PLC axis or active as a command axis/oscillating axis; the axis is requested for the

NC program.

Axis is PLC axis or active as a command axis/oscillating axis; the axis is requested as neutral

axis.

Extended Functions

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K10: Cross-channel axis interchange

7.12 Axis replacement from synchronized actions

<Value>

Meaning

Permanently assigned PLC axis, in the neutral axis state.

Permanently assigned PLC axis, controlled by PLC, in the neutral axis state.

A "permanently assigned PLC axis in the neutral axis state" (9) and a "permanently assigned

PLC axis controlled from the PLC in the neutral axis state" (10) is independent of GET and

RELEASE permanently assigned to the PLC. Whether the axis can also be replaced is

displayed in system variable $AA_AXCHANGE_STAT[axis].

State transitions GET, RELEASE from synchronous actions and when GET is completed

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401

K10: Cross-channel axis interchange

7.14 State diagram

Figure 7-3

Transitions from synchronized actions

References

Function Manual, Synchronized Actions; Section: Actions in synchronized actions

7.13

Axis interchange for leading axes (gantry)

Function

A closed gantry grouping is treated regarding its axes always as a unit regarding axis

interchange. This is the reason why for an axis interchange of the leading axis, an axis

interchange is simultaneously made for all synchronous axes of the gantry grouping. In addition

to the preconditions for the leading axis described in the previous chapters, the appropriate

preconditions must also be fulfilled for all synchronous axes of the gantry grouping.

Axial machine data

For an axis interchange, the following axial machine data must be set the same for all axes of

a closed gantry group:

● MD30460 $MA_BASE_FUNCTION_MASK, Bit 4 (control executing components)

● MD30460 $MA_BASE_FUNCTION_MASK, Bit 5 (assignment to components)

Axial NC/PLC interface signals

Within the scope of the axis interchange function, the following axial NC/PLC interface signals

always have the same values for all axes of a closed gantry grouping:

● DB31, ... DBX63.0 (reset executed)

● DB31, ... DBX63.1 (PLC controlled axis)

● DB31, ... DBX63.2 (axis stop active)

Axial system variable

Within the scope of the axis interchange function, the following axial system variables always

have the same values for all axes of a closed gantry group:

● $AA_AXCHANGE_TYP (axis type regarding axis interchange)

● $AA_AXCHANGE_STAT (axis status regarding axis interchange)

● $AA_SNGLAX_STAT (axis type of the individual axis)

7.14

State diagram

The following figure shows the states, events, actions, and state transitions for an axis for

channel 1 in relation to the "axis replacement" function.

Extended Functions

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K10: Cross-channel axis interchange

7.14 State diagram

For channel 2, the sub-states "neutral axis" and "PLC axis" are not shown for clarity's sake.

Assumption: The axis is assigned to channel 1 by default:

MD30550 $MA_AXCONF_ASSIGN_MASTER_CHAN[<axis>] = 1

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State diagram: Axis replacement

Extended Functions

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K10: Cross-channel axis interchange

7.15 Boundary conditions

7.15

Boundary conditions

On the transition of an axis from "PLC axis," "neutral axis," or "axis in another channel" status

to "channel axis" status, synchronization with preprocessing stop and synchronization in the

fetching channel are performed. This involves:

● Axis: Accept the actual axis position

● Spindle: Accepting the current speed and current gearbox stage

7.15.1

Axis replacement by PLC

If the part program of the channel is in one of the following sections at the time the axis

replacement (PLC → channel or channel → PLC) is requested by the PLC, axis replacement

will only be performed after this machining section has been exited:

● Continuous-path mode (G64/G640)

● Thread cutting/tapping (G33/G331/G332)

7.15.2

Block search with calculation

On a block search with calculation, only the commands GET, GETD, and RELEASE, which do

not cancel each other out, are output in the action block.

Example

Block search with calculation to target block N700:

Program code

Comment

N100 RELEASE(AX1)

; RELEASE(AX1) is collected

N110 GET(AX2)

; GET(AX2) is collected

N400 GET(AX1)

; GET(AX1) cancels RELEASE(AX1) =>

; RELEASE(AX1) and GET(AX1) are not saved

N700 ...

; Target block ≙ output: GET(AX2)

N710 RELEASE(AX2)

References

Basic Functions Function Manual; Section "K1: Mode Group, Channel, Program Operation,

Reset Response" > "Block search"

Extended Functions

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K10: Cross-channel axis interchange

7.16 Example

7.16

Example

Assumptions

● Channel 1: The following axes are channel axes: 1, 2, 3, 4

● Channel 2: The following axes are channel axes: 4, 5, 6

● Default assignment: Axis 4 (AX4) is assigned to channel 1 by default

Parameter assignment

Channel 1

Axis names in the channel: MD20080

● $MC_AXCONF_CHANAX_NAME_TAB[<channel 1>][ 0 ] = "X" ; 1st channel axis

● $MC_AXCONF_CHANAX_NAME_TAB[<channel 1>][ 1 ] = "Y" ; 1st channel axis

● $MC_AXCONF_CHANAX_NAME_TAB[<channel 1>][ 2 ] = "Z" ; 1st channel axis

● $MC_AXCONF_CHANAX_NAME_TAB[<channel 1>][ 3 ] = "U" ; 1st channel axis

Machine axes used: MD20070

● $MC_AXCONF_MACHAX_USED[<channel 1>][ 0 ] = 1 ; 1st channel axis → axis 1

● $MC_AXCONF_MACHAX_USED[<channel 1>][ 1 ] = 2 ; 2nd channel axis → axis 2

● $MC_AXCONF_MACHAX_USED[<channel 1>][ 2 ] = 3 ; 3rd channel axis → axis 3

● $MC_AXCONF_MACHAX_USED[<channel 1>][ 3 ] = 4 ; 4th channel axis → axis 4

Channel 2

Axis names in the channel: MD20080

● $MC_AXCONF_CHANAX_NAME_TAB[<channel 2>][ 0 ] = "X" ; 1st channel axis

● $MC_AXCONF_CHANAX_NAME_TAB[<channel 2>][ 1 ] = "Y" ; 1st channel axis

● $MC_AXCONF_CHANAX_NAME_TAB[<channel 2>][ 2 ] = "U" ; 1st channel axis

Machine axes used: MD20070

● $MC_AXCONF_MACHAX_USED[<channel 2>][ 0 ] = 5 ; 1st channel axis → axis 5

● $MC_AXCONF_MACHAX_USED[<channel 2>][ 1 ] = 6 ; 2nd channel axis → axis 6

● $MC_AXCONF_MACHAX_USED[<channel 2>][ 2 ] = 4 ; 3rd channel axis → axis 4

Default assignment

Master channel of axis 4 (AX4) → channel 1

AX4 is the standard name of the 4th machine axis according to MD10000

$MN_AXCONF_MACHAX_NAME_TAB[ 3 ]

● MD30550 $MA_AXCONF_ASSIGN_MASTER_CHAN[ AX4 ] = 1

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K10: Cross-channel axis interchange

7.17 Data lists

Program example

Program in channel 1

Program in channel 2

; Traversing axis 4 (AX4)

; Synchronization point with channel 1

G01 F1000 U100

; WAITM(1,1,2)

; Release of AX4

; Request for AX4

RELEASE(AX4)

GET(AX4)

; Selection of program TAUSH2 in channel

; Traversing axis 4 (AX4)

G0 U0

INIT (2,"_N_MPF_DIR\_N_TAUSH2_MPF","S")

; Start program TAUSH2 in channel 2

START(2)

; Synchronization point with channel 2

; Release of AX4

WAITM (1,1,2)

RELEASE(AX4)

M30

7.17

Data lists

7.17.1

Machine data

7.17.1.1

General machine data

Number

Identifier: $MN_

Description

10010

ASSIGN_CHAN_TO_MODE_GROUP[n]

Channel valid in mode group [Channel No.]: 0, 1

10722

AXCHANGE_MASK

Parameterization of the axis replacement response

7.17.1.2

Channel-specific machine data

Basic machine data of channel

Number

Identifier: $MC_

Description

20000

CHAN_NAME

Channel name

20050

AXCONF_GEOAX_ASSIGN_TAB[n]

Assignment of geometry axis to channel axis

[GEOAxisNo.]: 0...2

20060

AXCONF_GEOAX_NAME_TAB[n]

Geometry axis name in the channel

[GEOAxisNo.]: 0...2

20070

AXCONF_MACHAX_USED[n]

Machine axis number valid in channel

[Channel axis No.]: 0...7

Extended Functions

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7.17 Data lists

Number

Identifier: $MC_

Description

20080

AXCONF_CHANAX_NAME_TAB[n]

Channel axis name in the channel

[Channel axis No.]: 0...7

20090

SPIND_DEF_MASTER_SPIND

Initial setting of master spindle in channel

20100

DIAMETER_AX_DEF

Geometry axis with transverse axis function

20110

RESET_MODE_MASK

Determination of basic control settings after Reset/TP

End

20112

START_MODE_MASK

Determination of basic control settings for NC start

20150

GCODE_RESET_VALUES[n]

Initial setting of the G groups

[G group No.]: 0...59

20160

CUBIC_SPLINE_BLOCKS

Number of blocks for C spline

20170

COMPRESS_BLOCK_PATH_LIMIT

Maximum traversing length of NC block for compression

20200

CHFRND_MAXNUM_DUMMY_BLOCKS

Empty blocks with phase/radii

20210

CUTCOM_CORNER_LIMIT

Max. angle for compensation blocks for tool radius com-

pensation

20220

CUTCOM_MAX_DISC

Maximum value for DISC

20230

CUTCOM_CURVE_INSERT_LIMIT

Maximum angle for intersection calculation with tool ra-

dius compensation

20240

CUTCOM_MAXNUM_CHECK_BLOCKS

Blocks for predictive contour calculation with tool radius

compensation

20250

CUTCOM_MAXNUM_DUMMY_BLOCKS

Number of blocks without traversing motion for tool ra-

dius compensation

20270

CUTTING_EDGE_DEFAULT

Initial state of tool cutting edge without programming

20400

LOOKAH_USE_VELO_NEXT_BLOCK

Look Ahead to programmed following block velocity

20430

LOOKAH_NUM_OVR_POINTS

Number of override switch corner values for Look Ahead

20440

LOOKAH_OVR_POINTS[n]

Override switch corner values for Look Ahead

[Corner value No.]: 0...1

20500

CONST_VELO_MIN_TIME

Minimum time with constant velocity

20600

MAX_PATH_JERK

Pathrelated maximum jerk

20610

ADD_MOVE_ACCEL_RESERVE

Acceleration reserve for overlaid motion

20650

THREAD_START_IS_HARD

Acceleration behavior of axis when thread cutting

20700

REFP_NC_START_LOCK

NC start inhibit without reference point

20750

ALLOW_GO_IN_G96

G0 logic in G96

20800

SPF_END_TO_VDI

Subprogram end to PLC

21000

CIRCLE_ERROR_CONST

Circle end point monitoring constant

21010

CIRCLE_ERROR_FACTOR

Circle end point monitoring factor

21100

ORIENTATION_IS_EULER

Angle definition for orientation programming

21110

X_AXIS_IN_OLD_X_Z_PLANE

Coordinate system for automatic frame definition

21200

LIFTFAST_DIST

Traversing path for fast retraction from the contour

21250

START_INDEX_R_PARAM

Number of first channel-specific R parameter

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K10: Cross-channel axis interchange

7.17 Data lists

Auxiliary function settings of the channel

Number

Identifier: $MC_

Description

22000

AUXFU_ASSIGN_GROUP[n]

Auxiliary function group

[aux. func. no. in channel]: 0...49

22010

AUXFU_ASSIGN_TYPE[n]

Auxiliary function type

[aux. func. no. in channel]: 0...49

22020

AUXFU_ASSIGN_EXTENSION[n]

Auxiliary function extension

[aux. func. no. in channel]: 0...49

22030

AUXFU_ASSIGN_VALUE[n]

Auxiliary function value

[aux. func. no. in channel]: 0...49

22200

AUXFU_M_SYNC_TYPE

Output timing of M functions

22210

AUXFU_S_SYNC_TYPE

Output timing of S functions

22220

AUXFU_T_SYNC_TYPE

Output timing of T functions

22230

AUXFU_H_SYNC_TYPE

Output timing of H functions

22240

AUXFU_F_SYNC_TYPE

Output timing of F functions

22250

AUXFU_D_SYNC_TYPE

Output timing of D functions

22260

AUXFU_E_SYNC_TYPE (available soon)

Output timing of E functions

22400

S_VALUES_ACTIVE_AFTER_RESET

S function active after RESET

22410

F_VALUES_ACTIVE_AFTER_RESET

F function active after reset

22500

GCODE_OUTPUT_TO_PLC

G commands to PLC

22550

TOOL_CHANGE_MODE

New tool offset for M function

22560

TOOL_CHANGE_M_CODE

M function for tool change

Channel-specific memory settings

Number

Identifier: $MC_

Description

25000

REORG_LOG_LIMIT

Percentage of IPO buffer for log file enable

28000

MM_REORG_LOG_FILE_MEM

Memory size for REORG (DRAM)

28010

MM_NUM_REORG_LUD_MODULES

Number of blocks for local user variables for REORG (DRAM)

28020

MM_NUM_LUD_NAMES_TOTAL

Number of local user variables (DRAM)

28030

MM_NUM_LUD_NAMES_PER_PROG

Number of local user variables per program (DRAM)

28040

MM_LUD_VALUES_MEM

Memory size for local user variables (DRAM)

28050

MM_NUM_R_PARAM

Number of channelspecific R parameters (SRAM)

28060

MM_IPO_BUFFER_SIZE

Number of NC blocks in IPO buffer (DRAM)

28070

MM_NUM_BLOCKS_IN_PREP

Number of blocks for block preparation (DRAM)

28080

MM_NUM_USER_FRAMES

Number of settable Frames (SRAM)

28090

MM_NUM_CC_BLOCK_ELEMENTS

Number of block elements for compile cycles (DRAM)

28100

MM_NUM_CC_BLOCK_USER_MEM

Size of block memory for compile cycles (DRAM)

28500

MM_PREP_TASK_STACK_SIZE

Stack size of preparation task (DRAM)

28510

MM_IPO_TASK_STACK_SIZE

Stack size of IPO task (DRAM)

Extended Functions

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K10: Cross-channel axis interchange

7.17 Data lists

7.17.1.3

Axis/spindlespecific machine data

Number

Identifier: $MA_

Description

30460

BASE_FUNCTION_MASK

Axis functions

30550

AXCONF_ASSIGN_MASTER_CHAN

Reset position of channel for axis change

30552

AUTO_GET_TYPE

Definition of automatic GET

30600

FIX_POINT_POS

Fixed value positions of axes with G75

32074

FRAME_OR_CORRPOS_NOTALLOWED

Frame or HL offset are not allowed

33100

COMPRESS_POS_TOL

Maximum deviation with compensation

7.17.2

Setting data

7.17.2.1

Channelspecific setting data

Number

Identifier: $SC_

Description

42000

THREAD_START_ANGLE

Start angle for thread

42100

DRY_RUN_FEED

Dry run feedrate

7.17.3

Signals

7.17.3.1

Signals to channel

Signal name

SINUMERIK 840D sl

SINUMERIK 828D

Activate program test

DB21,

DBX1.7

DB320x.DBX1.7

NC start

DB21,

DBX7.1

DB320x.DBX7.1

NC stop

DB21,

DBX7.3

DB320x.DBX7.3

Reset

DB21,

DBX7.7

DB330x.DBX3.7

Suppress program test

DB21,

DBX14.0

7.17.3.2

Signals from channel

Signal name

SINUMERIK 840D sl

SINUMERIK 828D

Program test selected

DB21,

DBX25.7

DB170x.DBX1.7

Program test active

DB21,

DBX33.7

DB330x.DBX1.7

Extended Functions

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K10: Cross-channel axis interchange

7.17 Data lists

7.17.3.3

Signals to axis/spindle

Signal name

SINUMERIK 840D sl

SINUMERIK 828D

Axis or spindle inhibit

DB31,

DBX1.3

DB380x.DBX1.3

Channel number of the target channel

DB31,

DBX8.0-3

Channel assignment changed

DB31,

DBX8.4

Request PLC axis/spindle

DB31,

DBX8.7

Suppress program test

DB31,

DBX14.0

DB3800.DBX1002.0

Reset

DB31,

DBX28.1

Continue

DB31,

DBX28.2

Stop along braking ramp

DB31,

DBX28.6

7.17.3.4

Signals from axis/spindle

Signal name

SINUMERIK 840D sl

SINUMERIK 828D

Reset executed

DB31,

DBX63.0

PLC-controlled axis

DB31,

DBX63.1

Axis stop active

DB31,

DBX63.2

DB390x.DBX3.2

Number of the actual channel

DB31,

DBX68.0-3

New type requested from PLC

DB31,

DBX68.4

Axis replacement possible

DB31,

DBX68.5

Neutral axis/spindle

DB31,

DBX68.6

PLC axis/spindle

DB31,

DBX68.7

Extended Functions

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M1: Kinematic transformation

8.1

TRANSMIT face end transformation (option)

8.1.1

Function

8.1.1.1

Introduction

Note

The "TRANSMIT and peripheral surface transformation" option that is under license is required

for the function "End face transformation (TRANSMIT)."

The TRANSMIT transformation permits end face machining (drill holes, contours) on turning

machines.

A Cartesian coordinate system can be used to program these machining operations.

The controller transforms the programmed traversing movements of the Cartesian coordinate

system to the traversing movements of the real machine axes.

Standard case:

● Rotary axis

● Infeed axis, perpendicular to rotary axis

● Longitudinal axis, parallel to rotary axis

● The linear axes are perpendicular to one another.

Extended Functions

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M1: Kinematic transformation

8.1 TRANSMIT face end transformation (option)

X, Y, Z

Geometry axes

Machine axis: Rotary axis

Machine axis: Linear axis, perpendicular to rotary axis

Machine axis: Linear axis, parallel to rotary axis

ASM

Machine axis: Main spindle

Other options:

● A tool center offset relative to the turning center is permitted.

● The tool center point path can pass through the turning center point of the rotary axis.

● The rotary axis does not need to be a modulo axis.

Note

For active transformation, the names of the involved machine, channel and geometry axes are

different:

● MD10000 $MN_AXCONF_MACHAX_NAME_TAB (machine axis name)

● MD20080 $MC_AXCONF_CHANAX_NAME_TAB (channel axis name)

● MD20060 $MC_AXCONF_GEOAX_NAME_TAB (geometry axis name)

8.1.1.2

Machining options

The TRANSMIT transformation has a pole at the zero point of the TRANSMIT plane. The pole

is at the intersection of the radial linear axis and the rotary axis. In the vicinity of the pole, small

positional changes in the geometry axes generally result in large changes in position in the

machine rotary axis. The only exceptions are linear motions into or through the pole.

A tool center point path through the pole does not cause the parts program to be aborted.

There are no restrictions with respect to programmable traversing commands or active tool

Extended Functions

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M1: Kinematic transformation

8.1 TRANSMIT face end transformation (option)

radius compensations. Nevertheless, workpiece machining operations close to the pole are

not recommended since these may require sharp feedrate reductions to prevent overloading

of the rotary axis.

New features

A pole is said to exist if the line described by the tool center point intersects the turning center

of the rotary axis.

The following cases are covered:

● Under what conditions and by what methods the pole can be traversed

● The response in pole vicinity

● The response with respect to working area limitations

● Monitoring of rotary axis rotations over 360°.

Pole traversal

The pole can be traversed by two methods:

● Traversal along linear axis

● Traversal into pole with rotation of rotary axis in pole

Traversal along linear axis

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Traversal of x axis through pole

Extended Functions

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413

M1: Kinematic transformation

8.1 TRANSMIT face end transformation (option)

Rotation in pole

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Traversal of x axis into pole (a), rotation (b), exit from pole (c)

Selection of method

The method must be selected according to the capabilities of the machine and the

requirements of the part to be machined. The method is selected by machine data:

MD24911 $MC_TRANSMIT_POLE_SIDE_FIX_1

MD24951 $MC_TRANSMIT_POLE_SIDE_FIX_2

The first MD applies to the first TRANSMIT transformation in the channel and the second MD

correspondingly to the second TRANSMIT transformation.

VALUE

Meaning

Pole traversal

The tool center point path (linear axis) must traverse the pole on a contin-

uous path.

Rotation around the pole.

The tool center point path must be restricted to a positive traversing range

of the linear axis (in front of turning center).

Rotation around the pole.

The tool center point path must be restricted to a negative traversing range

of the linear axis (behind turning center).

Special features relating to pole traversal

The method of pole traversal along the linear axis may be applied in the AUTOMATIC and

JOG modes.

Extended Functions

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M1: Kinematic transformation

8.1 TRANSMIT face end transformation (option)

System response:

Table 8-1

Traversal of pole along the linear axis

Mode

State

Response

AUTOMATIC

All axes involved in the transforma-

High-speed pole traversal

tion are moved synchronously.

TRANSMIT active.

Not all axes involved in the transfor-

Traversal of pole at creep speed

mation are traversed synchronous-

ly (e.g. position axis).

TRANSMIT not active

An applied DRF (external zero off-

Abortion of machining, alarm

set) does not interfere with the op-

eration. Servo errors may occur

close to the pole during application

of a DRF.

JOG

Traversal of pole at creep speed

Special features relating to rotation in pole

Requirement: This method is only effective in the AUTOMATIC mode.

MD24911 $MC_TRANSMIT_POLE_SIDE_FIX_1 = 1 or 2

MD24951 $MC_TRANSMIT_POLE_SIDE_FIX_2 = 1 or 2

Value: 1 Linear axis remains within positive traversing range

Value: 2 Linear axis remains within negative traversing range

In the case of a contour that would require the pole to be traversed along the tool center point

path, the following three steps are taken to prevent the linear axis from traversing in ranges

beyond the turning center:

Step

Action

Linear axis traverses into pole

Rotary axis turns through 180°, the other axes involved in the transformation

remain stationary.

Execution of remaining block. The linear axis now exits from the pole again.

In JOG mode, the motion stops in the pole. In this mode, the axis may exit from the pole only

along the path tangent on which it approached the pole. All other motion instructions would

require a step change in the rotary axis position or a large machine motion in the cases of

minimum motion instructions. They are rejected with alarm 21619.

Traversal close to pole

If a tool center point traverses past the pole, the control system automatically reduces the

feedrate and path acceleration rate such that the settings of the machine axes (MD 32000

$MA_MAX_AX_VELO[AX*] and MD32300 $MA_ MAX_AX_ACCEL[AX*]) are not exceeded.

The closer the path is to the pole, the greater the reduction in the feedrate.

Extended Functions

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415

M1: Kinematic transformation

8.1 TRANSMIT face end transformation (option)

Tool center point path with corner in pole

A tool center point path which includes a corner in the pole will not only cause a step change

in axis velocities, but also a step change in the rotary axis position. These cannot be reduced

by decelerating.

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Figure 8-3

Pole traversal

Requirements:

AUTOMATIC mode,

MD24911 $MC_TRANSMIT_POLE_SIDE_FIX_1 = 0

MD24951 $MC_TRANSMIT_POLE_SIDE_FIX_2 = 0

The control system inserts a traversing block at the step change point. This block generates

the smallest possible rotation to allow machining of the contour to continue.

Extended Functions

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SINUMERIK 840D sl. Service - Functions. Manual (2018-2020) - page 36