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

M1: Kinematic transformation

8.6 Cartesian PTP travel

The following table lists which version can be practically used for which transformation:

transformation

PTP

PTPG0

PTPWOC

TRAORI

TRANSMIT

RCTRA

ROBX

NOTICE

Risk of collision

For PTP travel it must be observed that in part there are significantly different tool movements

than with CP!

This must especially be considered for PTPG0, because subprograms can be created with

it independently of the active transformation. With active front-end transformation

(TRANSMIT), however, entirely different collision risks may occur than with an orientation

transformation (TRAORI).

For PTP travel with active front-end transformation (TRANSMIT), machine axes basically

travel the shortest path. Minor displacements of the block end point can cause the rotary axis

to rotate by +179.99° instead of + -179.99°. This results in a completely different motion, even

though the block end point has hardly changed.

PTP/CP switchover in the NC program

The switchover between the Cartesian path movement (CP) and the Cartesian PTP travel in

the NC program is done via the commands of the G group 49 (see "Activating/deactivating

Cartesian PTP travel (PTP, PTPG0, PTPWOC, CP) (Page 490)").

PTP/CP switchover in JOG mode

You can also switch between the Cartesian path movement (CP) and the Cartesian PTP travel

in JOG mode.

Switchover is carried out using the NC/PLC interface signal:

DB21, ... DBX29.4 (activate PTP travel)

Note

DB21, ... DBX29.4 is only effective in JOG mode when the transformation is active.

The active type of motion is reported via the following NC/PLC interface signal:

DB21, ... DBX317.6 (PTP travel active)

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8.6 Cartesian PTP travel

8.6.2

Commissioning

8.6.2.1

Response after POWER ON

After Power On, traversing mode CP is automatically effective for axis traversal with

transformation.

The default can be switched over to Cartesian PTP travel via the following machine data:

MD20150 $MC_GCODE_RESET_VALUES[48] (initial setting of G group 49)

Value

Meaning

CP (default setting)

PTP

PTPG0

PTPWOC

8.6.2.2

Response after reset/part program end

Which command from G group 49 takes effect after a reset/part program end depends on the

setting in the machine data:

MD20152 $MC_GCODE_RESET_MODE[48] (reset behavior of G group 49)

Value

Meaning

The default command in MD20150 $MC_GCODE_RESET_VALUES[48] becomes ef-

fective (default setting).

The command that was active before the reset/part program end remains effective.

8.6.2.3

Consideration of the SW limits during PTP travel

Function

With Cartesian PTP travel, a rotary axis is normally traversed according to the strategy

"shortest path" if no position information has been programmed via the operation TU

(Page 495). To prevent a software limit switch being overtraveled when the target position is

behind the software limit switch, the user can use the "Consideration of the SW limits during

PTP travel" function. The rotary axis is then traversed with the strategy "long path" instead of

"shortest path" if overtravel of the software limit switch would happen, i.e. the opposite

traversing direction as with the "shortest path" strategy.

Requirement

The function can only be used when the relevant axis has been referenced.

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M1: Kinematic transformation

8.6 Cartesian PTP travel

Activation

The "Consideration of the SW limits during PTP travel" function can be activated separately

for each axis.

This setting is made via bit 14 in the axial machine data:

MD30455 $MA_MISC_FUNCTION_MASK

Bit 14

= 0

With Cartesian PTP travel, the strategy "shortest path" is retained for software

limit switch overtravel of a rotary axis (basic setting).

= 1

The strategy "long path" is used when during Cartesian PTP travel a rotary axis

with the strategy "shortest path" would overtravel the software limit switch.

Supplementary conditions

Modulo rotary axes

With modulo rotary axes, the strategy "long path" can only be used when the software limit

switch monitoring has been selected for the relevant axis:

DB31, ... DBX12.4 (modulo rotary axis: Activate traversing range limits) = 1

Example

Axis 6 is to traverse from +150° t +240°. The software limit switch is at +200°.

If for axis 6, bit 14 in MD30455 $MA_MISC_FUNCTION_MASK is set to "1", axis 6 is traversed

to -120°.

8.6.2.4

Displaying STAT and TU

In the SINUMERIK Operate user interface, in the "Machine" operating area, users can track

the actual values of STAT (Page 491) and TU (Page 495):

Precondition: The display of STAT and TU is activated when commissioning SINUMERIK

Operate.

References:

Commissioning Manual SINUMERIK Operate; Chapter "Adapt the Machine operating area" >

"Display STAT and TU"

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8.6 Cartesian PTP travel

8.6.3

Programming

8.6.3.1

Activating/deactivating Cartesian PTP travel (PTP, PTPG0, PTPWOC, CP)

The Cartesian point-to-point or PTP travel is activated/deactivated in the NC program using

G group 49 commands.

The commands are modal. The default setting is travel with Cartesian path motion (CP).

Contrary to CP, for active PTP travel, only the Cartesian target point is transformed, and the

machine axes are traversed in synchronism.

In order that the Cartesian target point can be uniquely converted into machine axis values,

in addition to position and angular data, information is also necessary that identifies the axis

positions. This data is retrieved from the adjustable addresses STAT (Page 491) andTU

(Page 495).

Precondition

Transformation TRAORI, TRANSMIT, RCTRA or ROBX is active.

Syntax

PTP / PTPG0 / PTPWOC

Meaning

PTP:

Activating point-to-point motion PTP

The programmed Cartesian position in G0 and G1 blocks is approached with synchro-

nous axis motion.

PTPG0:

Activating point-to-point motion PTPG0

Only in G0 blocks is the programmed Cartesian position approached with synchronous

axis motion. In G1 blocks, a switchover is made to CP path motion.

PTPWOC:

Activate point-to-point movement PTPWOC (only possible if orientation transformation

is active)

Just the same as PTP, however, without any compensatory motion, which is caused

by motion of rotary axes and orientation axes.

CP:

Deactivating point-to-point motion and activating path motion CP

Cartesian path motion is executed with CP.

Note

PTPWOC

It does not make any sense to use PTPWOC in combination with a RCTRA or ROBX

transformation!

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M1: Kinematic transformation

8.6 Cartesian PTP travel

Examples

See:

● Example 1: PTP travel of a 6-axis robot with ROBX transformation (Page 498)

● Example 2: PTP travel for generic 5-axis transformation (Page 499)

● Example 3: PTPG0 and TRANSMIT (Page 499)

8.6.3.2

Specify the position of the joints (STAT)

Position data with Cartesian coordinates and specification of the tool orientation are not

sufficient to uniquely identify the machine position, as several joint positions are possible for

the same tool orientation. Depending on the kinematics involved, there can be as many as 8

different joint positions. These different joint positions are transformation-specific.

In an order to avoid any ambiguity, the joint positions are specified under the STAT address.

Note

The control takes into account programmed STAT values only for PTP motions. They are

ignored with CP motions because a change of position is not normally possible while traversing

with an active transformation. When traversing with active CP, the position for the target point

is taken from the starting point.

Syntax

STAT=<Value>

Meaning

STAT:

Adjustable address to specify joint positions

<Value>:

Binary or decimal value

Contains one bit for each possible position. The significance of the bits is defined by

the particular transformation.

The use of STAT is to be illustrated by the example of a 6-axis articulated robot with milling

spindle. The kinematic transformation is to be realized using the ROBX robot transformation

(precondition: Compile cycle "RMCC/ROBX Transformation Extended Robotics" is loaded and

active).

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8.6 Cartesian PTP travel

Axes A1, A2 and A3 are the main axes of the articulated robot. The axes A4, A5 and A6, which

are also designated as head or hand/wrist axes, are positioned in the working area with the

main axes. The additional motion options of the hand/wrist axes enable the milling spindle to

be orientated in space as required for the particular machining task. Various articulated joint

positions are possible to achieve the same tool orientation.

The articulated joint positions required for machining are selected by programming bit 0 ... 2

of the adjustable STAT address:

Bit 0

Position of the intersection points of the hand/wrist axes (A4, A5, A6)

= 0

Basic range (shoulder right)

The robot is in the basic range if the X value

of the intersection point of the hand/wrist ax-

es is positive in relation to to the A1 coordi-

nate system.

= 1

Overhead range (shoulder left)

%LW

The robot is in the overhead range if the X

value of the intersection point of the hand/

wrist axes is negative in relation to the A1

coordinate system.

;

Example: The intersection point of

the hand/wrist axes lies in the basic

range

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M1: Kinematic transformation

8.6 Cartesian PTP travel

Bit 1

Position of axis 3

The angle at which the value of bit 1 changes depends on the particular robot type. The

following applies to robots whose axes 3 and 4 intersect:

= 0

A3 <0° (elbow down)

= 1

A3 ≥0° (elbow up)

Note:

For robots with an offset between axes 3 and 4, the

angle at which the value of bit 1 changes depends on

the magnitude of this offset.

Offset between A3 and A4

Bit 2

Position of axis 5

= 0

A5 ≥0° (no handflip)

= 1

A5 <0° (handflip)

Program example:

Program code

Comment

N14 T="T8MILLD20" D1

; $TC_DP3[1,1]=132.95

N16 ORIMKS

N17 G1 PTP X1665.67 Y0 Z1377.405 A=0 B=0 C=0 STAT=... F2000

; The STAT value defines

the articulated joint

positions (see below)

STAT=1 ('B001')

→ Shoulder left

→ Elbow down

→ No handflip

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8.6 Cartesian PTP travel

The following applies if the rotary axis must rotate through 180º or the contour for CP would

go through the pole:

Bit 0

Only relevant for $MC_TRANSMIT_POLE_SIDE_FIX_1/2 = 1 or 2:

= 0

Rotary axis traverses through +180º or rotates clockwise.

= 1

Rotary axis rotates through -180º or rotates counterclockwise.

Bit 1

Only relevant for $MC_TRANSMIT_POLE_SIDE_FIX_1/2 = 0:

= 0

The axis traverses through the pole. The rotary axis does not rotate.

= 1

The axis rotates around the pole. Bit 0 of STAT is relevant.

8.6.3.3

Specify the sign of the axis angle (TU)

In order that rotary axes can also approach axis angles exceeding +180° or less than -180°

without requiring a special traversing strategy (e.g. intermediate point), the sign of the axis

angle must be specified under the adjustable address TU.

Note

The control only takes into account programmed TU values for PTP motion. CP motion is

ignored.

Syntax

TU=<Value>

Meaning

TU:

Adjustable address to specify axis angle signs

<Value>:

Binary or decimal value

For each axis that is involved in the transformation, there is a bit that indicates the sign

of the axis angle (θ), and therefore the traversing direction.

Bit

= 0

Axis angle sign: +

Axis angular range: 0° ≤ θ < 360°

= 1

Axis angle sign: -

Axis angular range: - 360° < θ < 0°

Example: 6-axis articulated robot

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8.6 Cartesian PTP travel

Bit

Meaning

Value

Axis angle

sign

Bit 0 ¹⁾

Sign for the axis angle of A1

= 0

≥ 0°

= 1

< 0°

Bit 1 ¹⁾

Sign for the axis angle of A2

= 0

≥ 0°

= 1

< 0°

Bit 2 ¹⁾

Sign for the axis angle of A3

= 0

≥ 0°

= 1

< 0°

Bit 3 ¹⁾

Sign for the axis angle of A4

= 0

≥ 0°

= 1

< 0°

Bit 4 ¹⁾

Sign for the axis angle of A5

= 0

≥ 0°

= 1

< 0°

Bit 5 ¹⁾

Sign for the axis angle of A6

= 0

≥ 0°

= 1

< 0°

The actual TU bit numbers obtained from the channel axis numbers of the robot axes! In the example,

robot axes (A1 to A6) are the first six axes in the channel; as a consequence, TU bits 0 ... 5 are used.

For another channel axis assignment of the robot axes, the TU bit numbers of the robot axes would

correspondingly change (e.g.: robot axes are the 3rd to 8th channel axis, i.e. TU bits 2 ... 7 are used

for the robot axes).

TU=19 (corresponds to TU='B010011) would therefore signify:

Bit

Value

Axis angle

= 1

①

θ_A1 < 0°

= 1

①

θ_A2 < 0°

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8.6 Cartesian PTP travel

= 0

①

θ_A3 ≥ 0°

= 0

①

θ_A4 ≥ 0°

= 1

①

θ_A5 < 0°

= 0

①

θ_A6 ≥ 0°

Note

In the case of axes with a traversing range > ±360°, the axis always moves along the shortest

path because the axis position cannot be specified uniquely by the TU information.

If no TU is programmed for a position, then depending on MD30455

$MA_MISC_FUNCTION_MASK, the shorter or longer path is traversed (see Chapter "Taking

into account the software limits for PTP travel (Page 488)" in the Extended Functions Function

Manual).

TRANSMIT

For PTP travel with TRANSMIT active, the address of TU has no meaning!

Example

The rotary axis position shown in the following diagram can be approached in the negative or

positive direction. The angular position is programmed under address A1. The traversing

direction is only absolutely clear when TU is specified.

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8.6 Cartesian PTP travel

8.6.3.4

Example 1: PTP travel of a 6-axis robot with ROBX transformation

In the following application example, Cartesian PTP travel and the associated NC commands

are shown in the form of an example.

Figure 8-16

6-axis articulated robot with milling spindle

N1 G90

N2 T=“T8MILLD20“ D1 M6

N3 TRAORI

;$P_UIFR[1]=CTRANS(X,1500,Y,0,Z,400):CROT(X,0,Y,0,Z,-90)

N4 G54

N5 M3 S20000

N6 ORIWKS

N7 ORIVIRT1

N8 CYCLE832(0.01,_FINISH,1)

;HOME

N9 TRAFOOF

N10 G0 RA1=0.0000 RA2=-90.0000 RA3=90.0000 A=0.0000 B=90.0000 C=0.0000

N11 TRAORI

N12 G54

N13 G0 PTP X1369.2426 Y956.7528 Z502.5517 A=135.5761 B=-33.2223 C=161.1435

STAT='B010' TU='B001011'

N14 G0 X1355.1242 Y1014.9394 Z424.9695 A=135.8491 B=-33.1439 C=160.9941

STAT='B010' TU='B001011'

N15 G1 CP X1354.8361 Y1016.1269 Z423.3862 A=136.0635 B=-33.0819 C=160.8770

F1000

N16 G1 X1336.4283 Y1016.1269 Z426.6311 A=136.0484 B=-32.2151 C=160.9643

F2000

N17 G1 X1317.9831 Y1016.1269 Z429.6730 A=136.0175 B=-31.3394 C=161.0655

;HOME

N18 TRAFOOF

N19 G0 RA1=0.0000 RA2=-90.0000 RA3=90.0000 A=0.0000 B=90.0000 C=0.0000

N20 M30

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M1: Kinematic transformation

8.6 Cartesian PTP travel

8.6.3.5

Example 2: PTP travel for generic 5-axis transformation

Assumption: Right-angled CA kinematics used as basis.

Program code

Comment

TRAORI

;Transformation CA kinematics ON

PTP

; Activate PTP traversal

N10 A3=0 B3=0 C3=1

; rotary axis positions C=0 A=0

N20 A3=1 B3=0 C3=1

; rotary axis positions C=90 A=45

N30 A3=1 B3=0 C3=0

; rotary axis positions C=90 A=90

N40 A3=1 B3=0 C3=1 STAT=1

; rotary axis positions C=270 A=-45

Select clear approach position of rotary axis position:

In block N40, the rotary axes - as a result of the programming of STAT=1 - travel the longer

distance from their start point (C=90, A=90) to the end point (C=270, A=-45). On the other

hand, with STAT=0, the rotary axes would travel along the shortest path to the end point (C=90,

A=45).

8.6.3.6

Example 3: PTPG0 and TRANSMIT

Traversing around the pole with PTPG0 and TRANSMIT

PTP

* ;

;

Program code

Comment

N001 G0 X30 Z0 F10000 T1 D1 G90

;Initial setting absolute dimension

N002 SPOS=0

N003 TRANSMIT

;TRANSMIT transformation

N010 PTPG0

; for each G0 block, automatically PTP -

and then CP again.

N020 G0 X30 Y20

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M1: Kinematic transformation

8.6 Cartesian PTP travel

Program code

Comment

N030 X-30 Y-20

N120 G1 X30 Y20

N110 X30 Y0

M30

Traversing from the pole with PTPG0 and TRANSMIT

PTP

N070 X20 Y2

N060 X0 Y0

-30

-20

-10

;

-10

-20

-30

N050 X10 Y0

Programming

Comment

N001 G0 X90 Z0 F10000 T1 D1 G90

;Initial setting

N002 SPOS=0

N003 TRANSMIT

;TRANSMIT transformation

N010 PTPG0

; for each G0 block, automatically PTP -

and then CP again.

N020 G0 X90 Y60

N030 X-90 Y-60

N040 X-30 Y-20

N050 X10 Y0

N060 X0 Y0

N070 X-20 Y2

N170 G1 X0 Y0

N160 X10 Y0

N150 X-30 Y-20

M30

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M1: Kinematic transformation

8.6 Cartesian PTP travel

8.6.4

Supplementary conditions

Tool radius compensation (TRC)

With PTP/PTPWOC, no tool radius compensation (TRC) can be active, because PTP/

PTPWOC creates contours other than those calculated by the TRC.

The response is different for PTPG0. Here, with active TRC, an internal switchover to CP takes

place so that the TRC is performed correctly.

Smooth approach and retraction (SAR)

If PTP/PTPWOC is active, SAR cannot be used, because SAR needs a contour to design the

approach and retraction and to be able to approach or retract tangentially.

With PTPG0, on the other hand, SAR is possible because the blocks required for SAR are

traversed with CP. The G0 blocks up to the actual approach contour are executed with PTP

travel and therefore quickly. The same applies to the retract blocks.

Chipping cycles

With active PTP/PTPWOC, chipping cycles such as CONTPRON or CONTDCON cannot be

applied because the chipping require a contour to be able to construct the cut segmentation.

With PTPG0, on the other hand, chipping cycles are possible because the blocks required for

the chipping cycles are traversed with CP.

Chamfer and rounding

Chamfer and rounding are ignored during PTP travel.

Axis overlay

An axis superimposing in the interpolation may not change during the PTP sequence. This

applies, for example, to LIFTFAST, fine tool offset, coupled motion TRAILON and tangential

follow-up TANGON.

NC block compression

In the PTP blocks, an active compressor function (COMPON, COMPCURV, COMPCAD or

COMPSURF) is automatically deselected.

Blending

Blending with G643 is not possible with the PTP travel. In the PTP blocks with an active G643,

there is an automatic switchover to G642.

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M1: Kinematic transformation

8.7 Cartesian manual traversing (option)

In addition, the following special features should be noted:

● Blending is always done in the machine coordinate system and it thus high-performance

in terms of time. The criteria for G642 is always interpreted in the machine coordinate

system and not as usual in the Cartesian basic coordinate system.

● Smoothing G641 is determined as a function of the fictitious path calculated from the

machine axis coordinates.

Path feedrate

An F value input with G1 refers to the fictitious path calculated from the machine axis

coordinates.

Mode change

Cartesian PTP travel only makes sense in the modes AUTOMATIC and MDI.

When changing the mode to JOG, the current setting is retained:

● If PTP travel is set, the axes will traverse in MCS.

● If CP is set, the axes will traverse in WCS.

After returning to the AUTOMATIC or MDI mode, the status that was active before the switch

to JOG mode is restored.

Block search

If the face end transformation (TRANSMIT) is active, different machine axis positions for the

same Cartesian position can result if a program section is executed with block search.

REPOS

The setting for Cartesian PTP travel is not altered during repositioning. If PTP was set in the

interruption block, then repositioning also takes place with PTP.

8.7

Cartesian manual traversing (option)

Note

The "Handling transformation package" option is necessary for the "Cartesian manual travel"

function.

Extended Functions

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M1: Kinematic transformation

8.7 Cartesian manual traversing (option)

Function

The "Cartesian manual travel" function, as a reference system for JOG mode, allows axes to

be set independently of each other in the following Cartesian coordinate systems:

● Basic coordinate system (BCS)

● Workpiece coordinate system (WCS)

● Tool coordinate system (TCS)

Adjustment and activation is done using machine data:

MD21106 $MC_CART_JOG_SYSTEM (coordinate systems for Cartesian JOG)

Bit

Meaning

Basic coordinate system

Workpiece coordinate system

Tool coordinate system

Note

The workpiece coordinate system has been shifted and rotated compared to the basic

coordinate system via frames.

Reference:

Function Manual Basic Functions; Axes, Coordinate Systems, Frames (K2)

Representation of the reference points in the coordinate system:

Workpiece zero

Tool carrier reference point

Selecting reference systems

For JOG motion, one of the three reference systems can be specified separately not only for

the translation (coarse offset) with geometry axes, but also for the orientation with orientation

axes via the following setting data:

SD42650 $SC_CART_JOG_MODE

If more than one bit is set for the translation or orientation reference system, or when an attempt

is made to set a reference system which was not released by the MD21106

$MC_CART_JOG_SYSTEM, the alarm 14148 "Reference system for Cartesian manual travel

not allowed" will be generated.

Translation

A translation movement can be used to move the tool center point (TCP) in parallel and 3-

dimensional to the axes of the reference system. The traversing movement is made via the

VDI signals of the geometry axes.

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8.7 Cartesian manual traversing (option)

Machine data MD24120$MC_TRAFO_GEOAX_ASSIGN_TAB_x[n] is used to assign the

geometry axes. Simultaneous traversing in more than one direction permits the execution of

movements that lie parallel to the directions of the reference system.

Translation in the BCS

The basic coordinate system (BCS) describes the Cartesian zero of the machine.

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Figure 8-17

Cartesian manual travel in the basic coordinate system (translation)

Translation in the WCS

The workpiece coordinate system (WCS) lies in the workpiece zero. The workpiece coordinate

system can be shifted and rotated relative to the basic coordinate system via frames. As long

as no frame rotation is active, traversing motion corresponds to the translation of motion in the

basic coordinate system.

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8.7 Cartesian manual traversing (option)

Figure 8-18

Cartesian manual travel in the workpiece coordinate system (translation)

Translation in the TCS

The tool coordinate system (TCS) is at the tool center point. Its direction depends on the current

setting of the machine, since the tool coordinate system moves during the motion.

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Figure 8-19

Cartesian manual travel in the tool coordinate system (translation)

Translation and orientation simultaneously in the TCS

If translation and orientation movements are executed at the same time, the translation is

always traversed corresponding to the current orientation of the tool. This permits infeed

movements that are made directly in the tool direction or movements that run perpendicular

to tool direction.

Orientation

The tool can be aligned to the component surface via an orientation movement. The orientation

movement is given control from the PLC via the VDI signals of the orientation axes (DB21, ...

DBB321).

Several orientation axes can be traversed simultaneously. The virtual orientation axes execute

rotations around the fixed axes of the relevant reference system.

The rotations are identified according to the RPY angles.

● A angle: Rotation around the Z axis

● B angle: Rotation around the Y axis

● C angle: Rotation around the X axis

Programming rotations:

The user can define how rotations are to be executed using the current G commands of group

50 for orientation definition

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8.7 Cartesian manual traversing (option)

Specifying ORIEULER, ORIRPY, ORIVIRT1 and ORIVIRT2.

With ORIVIRT1, rotation is executed according to MD21120 $MC_ORIAX_TURN_TAB_1. The

orientation axes are assigned to the channel axes via machine data: MD24585

$MC_TRAFO5_ORIAX_ASSIGN_TAB_1.

The direction of rotation is determined according to the "right hand rule". The thumb points in

the direction of the rotary axis. The finger stipulates the positive direction of rotation.

Orientation in the WCS

The rotations are made around the defined directions of the workpiece coordinate system. If

frame rotation is active, the movements correspond to the rotations in the basic coordinate

system.

Orientation in the BCS

The rotations are made around the defined directions of the basic coordinate system.

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Figure 8-20

Cartesian manual travel in the basic coordinate system, orientation angle A

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Figure 8-21

Cartesian manual travel in the basic coordinate system, orientation angle B

Extended Functions

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8.7 Cartesian manual traversing (option)

;

Figure 8-24

Cartesian manual travel in the tool coordinate system, orientation angle B

;

Figure 8-25

Cartesian manual travel in the tool coordinate system, orientation angle C

Supplementary conditions

The "Cartesian manual travel" function can only be executed if the transformation is active in

the NC: DB21, ... DBX33.6 == 1 ("transformation active")

The following supplementary conditions must be observed:

● "Handling transformation package" option with 5-axis or 6-axis transformation is set

● Virtual orientation axes must be defined via the following machine data:

MD24585 $MC_TRAFO5_ORIAX_ASSIGN_TAB_1[n]

● DB21, ... DBX29.4 == 0 (activate PTP travel)

● MD21106 $MC_CART_JOG_SYSTEM > 0

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8.7 Cartesian manual traversing (option)

Table 8-2

Conditions for Cartesian manual travel

Transformation in pro-

Prog. traversing type

DB21, ... DBX29.4

DB21, ... DBX33.6

gram active (TRAORI..)

"Activate PTP travel"

"Transformation active"

FALSE

Not active

TRUE

PTP

TRUE

PTP

The G command PTP/CP currently active in the program does not affect Cartesian manual

travel. The NC/PLC interface signals are interpreted in the channel DB for geometry and

orientation axes.

Activation

The reference system for Cartesian manual travel is set as follows:

● The Cartesian manual travel function is activated with the following machine data:

MD21106 $MC_CART_JOG_SYSTEM > 0

The BCS, WCS or TCS reference systems are enabled via MD21106

$MC_CART_JOG_SYSTEM.

● JOG traverse motion via SD42650 SC_CART_JOG_MODE

Standard behavior as before: Bits 0 to 2 = 0, bits 8 to 10 = 0.

Reference system for translation via bits 0-2 and the reference system for orientation via

bits 8-10.

If not all of the bits are set to 0, the process uses the new function. The reference systems

for translation and orientation may be set independently.

SD42650 $SC_CART_JOG_MODE (only set one bit):

SD42650 $SC_CART_JOG_MODE

Bit 11 -

Bit 10

Bit 9

Bit 8

Bit 7 -

Bit 2

Bit 1

Bit 0

bit 15

bit 3

Reserved

Orienta-

Reserved

Transla-

tion in the

TCS

WCS

BCS

TCS

WCS

BCS

Combining reference systems

The table below shows all the combination options for reference systems.

SD42650 $SC_CART_JOG_MODE

Reference system for

Bit 10

Bit 9

Bit 8

Bit 2

Bit 1

Bit 0

Orientation

Translation

0/1

Standard

BCS

WCS

BCS

TCS

WCS

BCS

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8.8 Activating transformation machine data via part program/softkey

SD42650 $SC_CART_JOG_MODE

Reference system for

WCS

TCS

BCS

TCS

WCS

TCS

8.8

Activating transformation machine data via part program/softkey

8.8.1

Function

Transformation MD can now be activated by means of a program command softkey, i.e. these

can, for example, be written from the parts program, thus altering the transformation

configuration completely.

Up to ten different transformations can be set in the control system. The transformation type

is set in the following machine data:

MD24100 $MC_TRAFO_TYPE_1

up to

MD24460 $MC_TRAFO_TYPE_10.

Characteristics

The transformation MDs are activated using the "Setting machine data effective".

The protection level is now 7/7 (KEYSWITCH_0), which means that data can be modified from

the NC program without any particular authorization.

If the machine data are activated (regardless whether via the NEWCONF NC program

command, the HMI or implicitly following reset or end of program) - and no transformation has

been selected (activated) - then the machine data listed above can be altered without restriction

and then activated.

Of particular relevance is that new transformations can be configured or existing

transformations replaced by one of a different type or deleted, since the modification options

are not restricted to re-parameterization of existing transformations.

8.8.2

Constraints

Changing machine data

The machine data which involve an active transformation may not be altered; any attempt to

do so will generate an alarm.

Extended Functions

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M1: Kinematic transformation

8.8 Activating transformation machine data via part program/softkey

Generally, these are all machine data, which are assigned a transformation via the associated

transformation data group. Machine data, which although contained in the group of an active

transformation, but are not used, can be changed (however, this could hardly be considered

an operation that makes sense). For example, it would be possible to change machine data

MD24564 $MC_TRAFO5_NUTATOR_AX_ANGLE_n for an active transformation with

MD24100 $MC_$MC_TRAFO_TYPE = 16 (5-axis transformation with rotatable tool and two

mutually perpendicular rotary axes A and B) since this particular machine data is not involved

in the transformation.

Please note that machine data MD21110 $MC_X_AXIS_IN_OLD_X_Z_PLANE may not be

altered for an active orientation transformation.

Note

For a program interruption (Repos, delete distance to go, ASUPs etc.) to restart, several blocks

are also required in the control, which were already executed. That it is prohibited to change

machine data of an active transformation also refers to these blocks.

Example:

Two orientation transformations are set via machine data, e.g. MD24100

$MC_TRAFO_TYPE_1 = 16, MD24200 $MC_TRAFO_TYPE_2 = 18.

When executing "Activate machine data", it is assumed that the second transformation is

active. In this case, all machine data that relate only to the first transformation may be changed,

e.g.:

MD24500 $MC_TRAFO5_PART_OFFSET_1

but not, for instance:

MD24650 $MC_TRAFO5_BASE_TOOL_2

MD21110 $MC_X_AXIS_IN_OLD_X_Z_PLANE

Furthermore, another transformation (TRANSMIT) can be set, for example with MD24300

$MC_TRAFO_TYPE_3 = 256 and can be parameterized with additional machine data.

Defining geometry axes

Geometry axes must be defined before the control system powers up using the following

machine data:

MD24120 $MC_TRAFO_GEOAX_ASSIGN_TAB_X[n]

MD20050 $MC_AXCONF_GEOAX_ASSIGN_TAB[n]

Changing the assignment

The assignment of a transformation data set to a transformation is determined by the sequence

of entries in MD24100 $MC_TRAFO_TYPE_X. The first entry in the table is assigned to the

first transformation data set, and accordingly the second entry to the second data set. It is not

permissible (and not possible) to change this assignment for an active transformation.

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8.8 Activating transformation machine data via part program/softkey

Example:

Three transformations are set. two orientation transformations and one transmit

transformation, e.g.

MD24100 $MC_TRAFO_TYPE_1 = 16

; orientation transformation 1: Orientation transformation data set

MD24200 $MC_TRAFO_TYPE_2 = 256 : Transmit transformations

MD24300 $MC_TRAFO_TYPE_3 = 18

; orientation transformation 2: Orientation transformation data set

The first data set for orientation transformations is assigned to the first transformation (at the

same time, the first orientation transformation) - and the second transformation data set to the

third transformation (at the same time, the the second orientation transformation).

If the third transformation is active when executing the "Activate machine data" function, then

it is not permissible to change the first transformation into a transformation of another group

(e.g. TRACYL) since, in this case, the third transformation would then not become the second

orientation transformation, but the first.

In the above example, however, it is permissible to set another orientation transformation for

the first transformation (e.g. using MD24100 $MC_TRAFO_TYPE_1 = 32) or a transformation

from another group as the first transformation (e.g. using $MD24100 $MC_TRAFO_TYPE_1

= 1024, TRAANG), if the second transformation is changed into an orientation transformation

at the same time, e.g. with MD24200 $MC_TRAFO_TYPE_2 = 48.

8.8.3

Control response to power ON, mode change, RESET, block search, REPOS

With the aid of the following machine data it is possible to select a transformation automatically

in response to RESET (i.e. at end of program as well) and/or on program start:

MD20110 $MC_RESET_MODE_MASK

MD20112 $MC_START_MODE_MASK

and

MD20140 $MC_TRAFO_RESET_VALUE

This may result in the generation of an alarm, for example, at the end or start of a program, if

the machine data of an active transformation has been altered.

To avoid this problem when re-configuring transformations via an NC program, we therefore

recommend that NC programs are structured as follows:

Program code

Comment

N10 TRAFOOF()

; Select a possibly still active trans-

formation

N20$MC_TRAFO5_BASE_TOOL_1[0]=0

; Enter machine data

N30$MC_TRAFO5_BASE_TOOL_1[0]=3

N40$MC_TRAFO5_BASE_TOOL_1[0]=200

N130 NEWCONF

; Newly entered machine data

; Transfer

Extended Functions

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M1: Kinematic transformation

8.8 Activating transformation machine data via part program/softkey

Program code

Comment

N140 M30

8.8.4

List of machine data affected

The machine data that can be activated are listed below.

All transformations

Machine data which are relevant for all transformations:

● MD24100 $MC_TRAFO_TYPE_1 to MD24480 $MC_TRAFO_TYPE_10

● MD24110 $MC_TRAFO_AXES_IN_1 to MD24482 $MC_TRAFO_AXES_IN_10

● MD24120 $MC_TRAFO_GEOAX_ASSIGN_TAB_1 to

MD24484 $MC_TRAFO_GEOAX_ASSIGN_TAB_10

Orientation transformations

Machine data that are relevant for orientation transformations:

● MD24550 $MC_TRAFO5_BASE_TOOL_1 and

MD24650 $MC_TRAFO5_BASE_TOOL_2

● MD24558 $MC_TRAFO5_JOINT_OFFSET_1 and

MD24658 $MC_TRAFO5_JOINT_OFFSET_2

● MD24500 $MC_TRAFO5_PART_OFFSET_1 and

MD24600 $MC_TRAFO5_PART_OFFSET_2

● MD24510 $MC_TRAFO5_ROT_AX_OFFSET_1 and

MD24610 $MC_TRAFO5_ROT_AX_OFFSET_2

● MD24520 $MC_TRAFO5_ROT_SIGN_IS_PLUS_1 and

MD24620 $MC_TRAFO5_ROT_SIGN_IS_PLUS_2

● MD 24530: TRAFO5_NON_POLE_LIMIT_1 and

MD24630 $MC_TRAFO5_NON_POLE_LIMIT_2

● MD24540 $MC_TRAFO5_POLE_LIMIT_1 and

MD24640 $MC_TRAFO5_POLE_LIMIT_2

● MD24570 $MC_TRAFO5_AXIS1_1 and

MD24670 $MC_TRAFO5_AXIS1_2

● MD24572 $MC_RAFO5_AXIS2_1 and

MD24672 $MC_TRAFO5_AXIS2_2

● MD24574 $MC_TRAFO5_BASE_ORIENT_1 and

MD24674 $MC_TRAFO5_BASE_ORIENT_2

● MD24562 $MC_TRAFO5_TOOL_ROT_AX_OFFSET_1 and

MD24662 $MC_TRAFO5_TOOL_ROT_AX_OFFSET_2

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M1: Kinematic transformation

8.8 Activating transformation machine data via part program/softkey

● MD24564 $MC_TRAFO5_NUTATOR_AX_ANGLE_1 and

MD24664 $MC_TRAFO5_NUTATOR_AX_ANGLE_2

● MD24566 $MC_TRAFO5_NUTATOR_VIRT_ORIAX_1 and

MD24666 $MC_TRAFO5_NUTATOR_VIRT_ORIAX_2

Transmit transformations

Machine data that are relevant for transmit transformations:

● MD24920 $MC_TRANSMIT_BASE_TOOL_1 and

MD24970 $MC_TRANSMIT_BASE_TOOL_2

● MD24900 $MC_TRANSMIT_ROT_AX_OFFSET_1 and

MD24950 $MC_TRANSMIT_ROT_AX_OFFSET_2

● MD24910 $MC_TRANSMIT_ROT_SIGN_IS_PLUS_1 and

MD24960 $MC_TRANSMIT_ROT_SIGN_IS_PLUS_2

● MD24911 MC_RANSMIT_POLE_SIDE_FIX_1 and

MD24961 $MC_TRANSMIT_POLE_SIDE_FIX_2

Tracyl transformations

Machine data that are relevant for Tracyl transformations:

● MD24820 $MC_TRACYL_BASE_TOOL_1 and

MD24870 $MC_TRACYL_BASE_TOOL_2

● MD24800 $MC_TRACYL_ROT_AX_OFFSET_1 and

MD24850 $MC_TRACYL_ROT_AX_OFFSET_2

● MD24810 $MC_TRACYL_ROT_SIGN_IS_PLUS_1 and

MD24870 $MC_TRACYL_ROT_SIGN_IS_PLUS_2

● MD24808 $MC_TRACYL_DEFAULT_MODE_1 and

MD24858 $MC_TRACYL_DEFAULT_MODE_2

Inclined axis transformations

Machine data that are relevant for inclined axis transformations:

● MD24710 $MC_TRAANG_BASE_TOOL_1 and

MD24760 $MC_TRAANG_BASE_TOOL_2

● MD24700 $MC_TRAANG_ANGLE_1 and

MD24750 $MC_TRAANG_ANGLE_2

● MD24720 $MC_TRAANG_PARALLEL_VELO_RES_1 and

MD24770 $MC_TRAANG_PARALLEL_VELO_RES_2

● MD24721 $MC_TRAANG_PARALLEL_ACCEL_RES_1 and

MD24771 $MC_TRAANG_PARALLEL_ACCEL_RES_2

Extended Functions

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M1: Kinematic transformation

8.8 Activating transformation machine data via part program/softkey

Chained transformations

Machine data that are relevant for chained transformations:

● MD24995 $MC_TRACON_CHAIN_1 and

MD24996 $MC_TRACON_CHAIN_2

● MD24997 $MC_TRACON_CHAIN_3 and

MD24998 $MC_TRACON_CHAIN_4

Persistent transformation

Machine data that are relevant for persistent transformations:

● MD20144 $MC_TRAFO_MODE_MASK

● MD20140 $MC_TRAFO_RESET_VALUE

● MD20110 $MC_RESET_MODE_MASK and

MD20112 $MC_START_MODE_MASK

Not transformation-specific

Machine data that are not transformation-specific. They are not uniquely assigned to a specific

transformation data set - or are also of significance outside an active transformation:

● MD21110 $MC_X_AXIS_IN_OLD_X_Z_PLANE

● MD21090 $MC_ MAX_LEAD_ANGLE

● MD21092 $MC_ MAX_TILT_ANGLE

● MD21100 $MC_ORIENTATION_IS_EULER

8.8.5

Example

It would be permissible in the following example to reconfigure (write) a machine data affecting

the second transformation (e.g. MD24650 $MC_TRAFO5_BASE_TOOL_2[2]) in block N90,

since writing a machine data alone does not activate it. However, if the program remained

otherwise unchanged, an alarm would occur in block N130, because an attempt would then

be made to modify an active transformation.

Example program:

Program code

Comment

N40 TRAORI(2)

; Select 2nd orientation transformation

N50 X0 Y0 Z0 F20000 T1 T1

N60 A50 B50

N70 A0 B0

N80 X10

N90 $MC_TRAFO5_BASE_TOOL_1[2] = 50

; Overwrite a machine data item of the

1st orientation transformation

N100 A20

N110 X20

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8.9 Data lists

Program code

Comment

N120 X0

N130 NEWCONF

; Accept new machine data

N140 TRAORI(1)

; Selection of the 1st orientation

transformation MD is effective

N150 G19 X0 Y0 Z0

N160 A50 B50

N170 A0 B0

N180 TRAFOOF

N190 M30

8.9

Data lists

8.9.1

Machine data

8.9.1.1

TRANSMIT

Channelspecific machine data

Number

Identifier: $MC_

Description

20110

RESET_MODE_MASK

Definition of control basic setting after run-up and RESET/part

program end

20140

TRAFO_RESET_VALUE

Basic transformation position

22534

TRAFO_CHANGE_M_CODE

M code for transformation changeover

24100

TRAFO_TYPE_1

Definition of the 1st transformation in channel

24110

TRAFO_AXES_IN_1

Axis assignment for the 1st transformation

24120

TRAFO_GEOAX_ASSIGN_TAB_1

Geo-axis assignment for 1st transformation

24200

TRAFO_TYPE_2

Definition of the 2nd transformation in channel

24210

TRAFO_AXES_IN_2

Axis assignment for the 2nd transformation

24220

TRAFO_GEOAX_ASSIGN_TAB_2

Geo-axis assignment for 2nd transformation

24300

TRAFO_TYPE_3

Definition of the 3rd transformation in channel

24310

TRAFO_AXES_IN_3

Axis assignment for the 3rd transformation

24320

TRAFO_GEOAX_ASSIGN_TAB_3

Geo-axis assignment for 3rd transformation

24400

TRAFO_TYPE_4

Definition of the 4th transformation in channel

24410

TRAFO_AXES_IN_4

Axis assignment for the 4th transformation

24420

TRAFO_GEOAX_ASSIGN_TAB_4

Geo-axis assignment for 4th transformation

24430

TRAFO_TYPE_5

Definition of the 5th transformation in channel

24432

TRAFO_AXES_IN_5

Axis assignment for the 5th transformation

24434

TRAFO_GEOAX_ASSIGN_TAB_5

Geo-axis assignment for 5th transformation

24440

TRAFO_TYPE_6

Definition of the 6th transformation in channel

Extended Functions

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8.9 Data lists

Number

Identifier: $MC_

Description

24442

TRAFO_AXES_IN_6

Axis assignment for the 6th transformation

24444

TRAFO_GEOAX_ASSIGN_TAB_6

Geo-axis assignment for 6th transformation

24450

TRAFO_TYPE_7

Definition of the 7th transformation in channel

24452

TRAFO_AXES_IN_7

Axis assignment for the 7th transformation

24454

TRAFO_GEOAX_ASSIGN_TAB_7

Geo-axis assignment for 7th transformation

24460

TRAFO_TYPE_8

Definition of the 8th transformation in channel

24462

TRAFO_AXES_IN_8

Axis assignment for the 8th transformation

24464

TRAFO_GEOAX_ASSIGN_TAB_8

Geo-axis assignment for 8th transformation

24900

TRANSMIT_ROT_AX_OFFSET_1

Deviation of rotary axis from zero position in degrees (1st

TRANSMIT)

24910

TRANSMIT_ROT_SIGN_IS_PLUS_1

Sign of rotary axis for TRANSMIT (1st TRANSMIT)

24911

TRANSMIT_POLE_SIDE_FIX_1

Limitation of working range in front of/behind pole, 1st trans-

formation

24920

TRANSMIT_BASE_TOOL_1

Distance of tool zero point from origin of geo-axes (1st

TRANSMIT)

24950

TRANSMIT_ROT_AX_OFFSET_2

Deviation of rotary axis from zero position in degrees (2nd

TRANSMIT)

24960

TRANSMIT_ROT_SIGN_IS_PLUS_2

Sign of rotary axis for TRANSMIT (2nd TRANSMIT)

24961

TRANSMIT_POLE_SIDE_FIX_2

Limitation of working range in front of/behind pole, 2nd trans-

formation

24970

TRANSMIT_BASE_TOOL_2

Distance of tool zero point from origin of geo-axes (2nd

TRANSMIT)

8.9.1.2

TRACYL

Channelspecific machine data

Number

Identifier: $MC_

Description

20110

RESET_MODE_MASK

Definition of control basic setting after run-up and RESET/part

program end

20140

TRAFO_RESET_VALUE

Basic transformation position

20144

TRAFO_MODE_MASK

Selection of the kinematic transformation function

24100

TRAFO_TYPE_1

Definition of the 1st transformation in channel

24110

TRAFO_AXES_IN_1

Axis assignment for the 1st transformation

24120

TRAFO_GEOAX_ASSIGN_TAB_1

Geo-axis assignment for 1st transformation

24130

TRAFO_INCLUDES_TOOL_1

Tool handling with active transformation 1.

24200

TRAFO_TYPE_2

Definition of the 2nd transformation in channel

24210

TRAFO_AXES_IN_2

Axis assignment for the 2nd transformation

24220

TRAFO_GEOAX_ASSIGN_TAB_2

Geo-axis assignment for 2nd transformation

24230

TRAFO_INCLUDES_TOOL_2

Tool handling with active transformation 2.

24300

TRAFO_TYPE_3

Definition of the 3rd transformation in channel

24310

TRAFO_AXES_IN_3

Axis assignment for the 3rd transformation

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8.9 Data lists

Number

Identifier: $MC_

Description

24320

TRAFO_GEOAX_ASSIGN_TAB_3

Geo-axis assignment for 3rd transformation

24330

TRAFO_INCLUDES_TOOL_3

Tool handling with active transformation 3.

24400

TRAFO_TYPE_4

Definition of the 4th transformation in channel

24410

TRAFO_AXES_IN_4

Axis assignment for the 4th transformation

24420

TRAFO_GEOAX_ASSIGN_TAB_4

Geo-axis assignment for 4th transformation

24426

TRAFO_INCLUDES_TOOL_4

Tool handling with active transformation 4.

24430

TRAFO_TYPE_5

Definition of the 5th transformation in channel

24432

TRAFO_AXES_IN_5

Axis assignment for the 5th transformation

24434

TRAFO_GEOAX_ASSIGN_TAB_5

Geo-axis assignment for 5th transformation

24436

TRAFO_INCLUDES_TOOL_5

Tool handling with active transformation 5.

24440

TRAFO_TYPE_6

Definition of the 6th transformation in channel

24442

TRAFO_AXES_IN_6

Axis assignment for the 6th transformation

24444

TRAFO_GEOAX_ASSIGN_TAB_6

Assignment geometry axes for 6th transformation

24446

TRAFO_INCLUDES_TOOL_6

Tool handling with active transformation 6.

24450

TRAFO_TYPE_7

Definition of the 7th transformation in channel

24452

TRAFO_AXES_IN_7

Axis assignment for the 7th transformation

24454

TRAFO_GEOAX_ASSIGN_TAB_7

Geo-axis assignment for 7th transformation

24456

TRAFO_INCLUDES_TOOL_7

Tool handling with active transformation 7.

24460

TRAFO_TYPE_8

Definition of the 8th transformation in channel

24462

TRAFO_AXES_IN_8

Axis assignment for the 8th transformation

24464

TRAFO_GEOAX_ASSIGN_TAB_8

Geo-axis assignment for 8th transformation

24466

TRAFO_INCLUDES_TOOL_8

Tool handling with active transformation 8.

24470

TRAFO_TYPE_9

Definition of the 9th transformation in channel

24472

TRAFO_AXES_IN_9

Axis assignment for the 9th transformation

24474

TRAFO_GEOAX_ASSIGN_TAB_9

Geo-axis assignment for 9th transformation

24476

TRAFO_INCLUDES_TOOL_9

Tool handling with active transformation 9.

24480

TRAFO_TYPE_10

Definition of the 10th transformation in channel

24482

TRAFO_AXES_IN_10

Axis assignment for the 10th transformation

24484

TRAFO_GEOAX_ASSIGN_TAB_10

Geo-axis assignment for 10th transformation

24486

TRAFO_INCLUDES_TOOL_10

Tool handling with active transformation 10.

24800

TRACYL_ROT_AX_OFFSET_1

Deviation of rotary axis from zero position in degrees (1st

TRACYL)

24808

TRACYL_DEFAULT_MODE_1

Selection of TRACYL mode (1st TRACYL)

24810

TRACYL_ROT_SIGN_IS_PLUS_1

Sign of rotary axis for TRACYL (1st TRACYL)

24820

TRACYL_BASE_TOOL_1

Distance of tool zero point from origin of geo-axes (1st TRAC-

YL)

24850

TRACYL_ROT_AX_OFFSET_2

Deviation of rotary axis from zero position in degrees (2nd

TRACYL)

24858

TRACYL_DEFAULT_MODE_2

Selection of TRACYL mode (2nd TRACYL)

24860

TRACYL_ROT_SIGN_IS_PLUS_2

Sign of rotary axis for TRACYL (2nd TRACYL)

Extended Functions

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8.9 Data lists

Number

Identifier: $MC_

Description

24870

TRACYL_BASE_TOOL_2

Distance of tool zero point from origin of geo-axes (2nd TRAC-

YL)

22534

TRAFO_CHANGE_M_CODE

M code for transformation changeover

8.9.1.3

TRAANG

Channelspecific machine data

Number

Identifier: $MC_

Description

20110

RESET_MODE_MASK

Definition of control basic setting after run-up and RESET/part

program end

20140

TRAFO_RESET_VALUE

Basic transformation position

20144

RAFO_MODE_MASK

Selection of the kinematic transformation function

20534

TRAFO_CHANGE_M_CODE

M code for transformation changeover

24100

TRAFO_TYPE_1

Definition of the 1st transformation in channel

24110

TRAFO_AXES_IN_1

Axis assignment for the 1st transformation

24120

TRAFO_GEOAX_ASSIGN_TAB_1

Geo-axis assignment for 1st transformation

24200

TRAFO_TYPE_2

Definition of the 2nd transformation in channel

24210

TRAFO_AXES_IN_2

Axis assignment for the 2nd transformation

24220

TRAFO_GEOAX_ASSIGN_TAB_2

Geo-axis assignment for 2nd transformation

24300

TRAFO_TYPE_3

Definition of the 3rd transformation in channel

24310

TRAFO_AXES_IN_3

Axis assignment for the 3rd transformation

24320

TRAFO_GEOAX_ASSIGN_TAB_3

Geo-axis assignment for 3rd transformation

24400

TRAFO_TYPE_4

Definition of the 4th transformation in channel

24410

TRAFO_AXES_IN_4

Axis assignment for the 4th transformation

24420

TRAFO_GEOAX_ASSIGN_TAB_4

Geo-axis assignment for 4th transformation

24430

TRAFO_TYPE_5

Definition of the 5th transformation in channel

24432

TRAFO_AXES_IN_5

Axis assignment for the 5th transformation

24434

TRAFO_GEOAX_ASSIGN_TAB_5

Geo-axis assignment for 5th transformation

24440

TRAFO_TYPE_6

Definition of the 6th transformation in channel

24442

TRAFO_AXES_IN_6

Axis assignment for the 6th transformation

24444

TRAFO_GEOAX_ASSIGN_TAB_6

Geo-axis assignment for 6th transformation

24450

TRAFO_TYPE_7

Definition of the 7th transformation in channel

24452

TRAFO_AXES_IN_7

Axis assignment for the 7th transformation

24454

TRAFO_GEOAX_ASSIGN_TAB_7

Geo-axis assignment for 7th transformation

24460

TRAFO_TYPE_8

Definition of the 8th transformation in channel

24462

TRAFO_AXES_IN_8

Axis assignment for the 8th transformation

24464

TRAFO_GEOAX_ASSIGN_TAB_8

Geo-axis assignment for 8th transformation

24700

TRAANG_ANGLE_1

Angle of inclined axis in degrees (1st TRAANG)

24710

TRAANG_BASE_TOOL_1

Distance of tool zero point from origin of geometry axes (1st

TRAANG)

Extended Functions

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8.9 Data lists

Number

Identifier: $MC_

Description

24720

TRAANG_PARALLEL_VELO_RES_1

Velocity reserve of parallel axis for compensatory motion (1st

TRAANG)

24721

TRAANG_PARALLEL_VELO_RES_2

Velocity reserve of parallel axis for compensatory motion (2nd

TRAANG)

24750

TRAANG_ANGLE_2

Angle of inclined axis in degrees (2nd TRAANG)

24760

TRAANG_BASE_TOOL_2

Distance of tool zero point from origin of geometry axes (2nd

TRAANG)

24770

TRAANG_PARALLEL_ACCEL_RES_1

Axis acceleration reserve of parallel axis for compensatory

motion (1st TRAANG)

24771

TRAANG_PARALLEL_ACCEL_RES_2

Axis acceleration reserve of parallel axis for compensatory

motion (2nd TRAANG)

8.9.1.4

Chained transformations

Channelspecific machine data

Number

Identifier: $MC_

Description

24995

TRACON_CHAIN_1

Transformation chain of the first chained transformation

24996

TRACON_CHAIN_2

Transformation chain of the second chained transformation

24997

TRACON_CHAIN_3

Transformation chain of the third chained transformation

24998

TRACON_CHAIN_4

Transformation chain of the fourth chained transformation

8.9.1.5

Non transformation-specific machine data

Channelspecific machine data

Number

Identifier: $MC_

Description

21110

X_AXIS_IN_OLD_X_Z_PLANE

Coordinate system for automatic Frame definition

21090

MAX_LEAD_ANGLE

Maximum permissible lead angle for orientation programming

21092

MAX_TILT_ANGLE

Maximum permissible side angle for orientation programming

21100

ORIENTATION_IS_EULER

Angle definition for orientation programming

8.9.2

Signals

8.9.2.1

Signals to channel

Signal name

SINUMERIK 840D sl

SINUMERIK 828D

Activate PTP traversing

DB21, … .DBX29.4

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M5: Measurement

9.1

Brief description

Measurement level 1: Channel-specific measurement

Function

Up to two switching probes can be connected simultaneously to the CNC. In the case of

channel-specific measurement, the measurement process for an NC channel is always

activated from the part program running in the relevant channel. All of the axes programmed

in the measurement block take part in the measurement process. It is possible to program a

trigger event (rising or falling edge) and a measurement mode with or without deletion of

distance-to-go for each measurement process. The results of measurements can be read in

the part program or with synchronized actions in both the machine and the workpiece

coordinate system. It is possible to test the deflection of the probe by scanning a system

variable and outputting it to the PLC interface and deriving responses in the part program. An

extended functionality is available with measurement level 2.

Benefits

● Influencing the process during machining

● Ensuring machining precision

Measurement level 2: Axis-specific measurement (option; order code M32)

Article no.: 6FC5800-0AM32-0YB0

Function

While the measurement function in motion blocks in the part program is limited to one block,

you can activate measurement functions from synchronized actions at any time, independent

of the part program. The measurement events can be assigned to the axes in the NC block

(axis-specific measurement). In the case of simultaneous measurement, up to four trigger

events can be evaluated per position controller cycle. Measured values are read as a function

of the three parameters: probe, axis and measuring edge.

In the case of continuous (cyclic) measurement, the measurement results are written to a FIFO

variable. Endless measurement can be achieved by reading out the FIFO values cyclically.

Measurement results can be logged in the form of a file.

Benefits

● Influencing the process during machining

● Ensuring machining precision

● Logging of the measurement results

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M5: Measurement

9.1 Brief description

Workpiece and tool measurement

Function

Measuring functions for the workpiece and tool measurement can execute either channel-

specifically including all axes programmed in the measurement block as well as axis-

specifically from the part program or from synchronized actions beyond NC block limits.

Additional properties:

● Measuring in JOG

● Two probes can be connected simultaneously

● Measuring in space with frame

● Adaptable measurement types with/without deletion of distance-to-go

● Display and logging of measurement parameters and results (with measuring cycles)

● Measurement results can be read in the machine or workpiece coordinate system

● Cyclic measurement with synchronized actions parallel to the workpiece machining

Benefits

● Ensuring machining precision

● Reduction of the idle times

● Elimination of error sources

● Automation of production processes

Measuring cycles (option; order code P28)

Article no.: 6FC5800-0AP28-0YB0

Function

Measuring cycles are subprograms for resolving specific measuring tasks on tools or

workpieces that can be adapted to specific measuring situations via predefined parameters.

Benefits

● Almost all measuring tasks that have to be resolved in a turning/milling machine can be

handled

● Reliable quality of the manufactured parts through automatic measurement directly in the

machine

● Fast programming even for complex measuring tasks thanks to input screens with graphic

support

● Superior workpiece accuracy and optimum transparency of the quality data

References

For detailed information on the measuring cycles, see Measuring Cycles Programming Manual.

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M5: Measurement

9.2 Probes that can be used

9.2

Probes that can be used

Hardware requirement

In order to measure tool and workpiece dimensions, a touch trigger probe is required that

supplies a constant bounce-free signal (rather than a pulse) when deflected.

Probe types

A distinction is made between the following probe types according to the number of possible

deflection directions:

● Multidirectional probe (3D)

Suitable for all tool and workpiece measurements on turning and milling machines.

● Bidirectional probe

Suitable for workpiece measurement on milling machines and machining centers (treated

like monodirectional probes) and turning machines.

Not suitable for tool measurement.

● Monodirectional probe

Suitable for workpiece measurement on milling machines and machining centers with minor

restrictions.

Not suitable for workpiece measurement on turning machines.

Not suitable for tool measurement.

① Multidirectional probe (3D)

② Bidirectional probe

③ Monodirectional probe

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M5: Measurement

9.3 Measurement level 1: Channel-specific measurement

Requirements for the use of monodirectional probes

The following requirements apply for the use of monodirectional probes in milling machines

and machining centers:

● The spindle must be capable of being positioned with the SPOS function.

● The probe switching signal must be transmittable through 360°.

The probe must also be mechanically aligned in the spindle to permit measurements in the

following directions at the 0° spindle position:

Plane

Measuring direction

G17 (X-Y)

Positive X direction

G18 (Z-X)

Positive Z direction

G19 (Y-Z)

Positive Y direction

Note

The complete measurement takes longer because the spindle needs to be positioned several

times with SPOS during the measuring cycle.

9.3

Measurement level 1: Channel-specific measurement

In the case of channel-specific measuring, the measuring process for an NC channel is always

activated from the part program running in the relevant channel. One trigger event (positive or

negative edge of the probe) and one measuring mode with deletion of distance-to-go (MEAS)

or without deletion of distance-to-go (MEAW) are programmed in a measuring block. All the

axes programmed in the measuring block then take part in the measuring process.

As soon as a measuring block becomes active, the probe is moved to the workpiece. On the

probe's switching edge, the positions for all axes programmed in the measuring block are

measured and written to the appropriate memory cell for each axis.

The results of measurements can be read in the part program or with synchronized actions in

both the machine and the workpiece coordinate systems.

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9.3 Measurement level 1: Channel-specific measurement

;

Syntax

MEAS=<TE> G... X... Y... Z...

MEAW=<TE> G... X... Y... Z...

Meaning

MEAS:

Measurement with delete distance-to-go

Effectiveness:

Non-modal

MEAW:

Measurement without delete distance-to-go

Effectiveness:

Non-modal

Application:

For measuring tasks in which the programmed position is to

be approached in every case.

<TE>:

Trigger event to initiate measurement

Type:

INT

Range of val-

-2, -1, 1, 2

ues:

Value:

(+)1

Positive edge of probe 1 (on measuring input 1)

-1

Negative edge of probe 1 (on measuring input 1)

(+)2

Positive edge of probe 2 (on measuring input 2)

-2

Negative edge of probe 2 (on measuring input 2)

Note:

There is a maximum of 2 probes (dependent on configuration level).

G...:

Type of interpolation, e.g. G0, G1, G2 or G3

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

End points in Cartesian coordinates

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M5: Measurement

9.3 Measurement level 1: Channel-specific measurement

Note

MEAS and MEAW are non-modal, and programmed together with motion operations. The

feedrate and interpolation type (G0, G1, etc.) as well as the number of axes must be adapted

for the respective measuring task.

Example

Program code

Comment

N10 MEAS=1 G1 F1000 X100 Y730 Z40

; Measuring block with probe at first

measuring input and linear interpola-

tion. A preprocessing stop is automati-

cally generated.

Further information

Query status

If an evaluation is required in the program, whether a probe has been deflected or has switched,

the status can be queried through the following system variables:

System variable

Meaning

Data type

Value

$A_PROBE[<n>]

Probe state

INT

Probe not deflected.

Probe deflected.

$AC_MEA[<n>]

Switching status of the probe

INT

Probe has not switch-

$AC_MEA[<n>] is automati-

cally reset at the beginning of

Probe has switched.

a measurement.

<n> = number of the probe

Reading measured values

For channel-specific measuring, the positions of all traversing path and positioning axes of the

block are acquired (maximum number of axes depends on the control configuration). For

MEAS, the motion is braked in a defined fashion after the probe has been triggered.

Note

If a geometry axis is programmed in a measuring block, the measured values are stored for

all current geometry axes.

If an axis participating in a transformation is programmed in a measuring block, the measured

values are stored for all axes participating in this transformation.

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9.4 Measurement level 2: Axis-specific measurement (option)

Reading measurement results

The measured values of the axes acquired by probes can be read through the following system

variables in the part program and in synchronized actions.

System variable

Meaning

$AA_MM[<Axis>]

Probe measured value in the machine coordinate system

$AA_MW[<Axis>]

Probe measured value in the workpiece coordinate system

9.4

Measurement level 2: Axis-specific measurement (option)

With axis-specific measuring, activation can take place in the part program or in synchronized

actions. If two measuring systems are available for the axis, both can be used for the

measurement.

The following measuring methods are available:

● Measurement with delete distance-to-go (MEASA)

● Measurement without delete distance-to-go (MEAWA)

● Continuous measurement without delete distance-to-go (MEAC)

With MEASA or MEAWA for the programmed axis, up to four measured values are acquired

for each measurement and are then saved in system variables in accordance with the trigger

event.

With continuous measurement with MEAC, the measurement results are stored in FIFO

variables.

Syntax

MEASA[<Axis>]=(<Mode>,<TE1>,...,<TE4>)

MEAWA[<Axis>]=(<Mode>,<TE1>,...,<TE4>)

MEAC[<Axis>]=(<Mode>,<MeasMem>,<TE1>,...,<TE4>)

Note

MEASA and MEAWA are non-modal; and can be programmed together in one block. If, on

the contrary, MEASA/MEAWA are programmed with MEAS/MEAW in one block, there is an

error message.

Meaning

MEASA:

Axis-specific measurement with deletion of distance-to-go

Effectiveness:

Non-modal

MEAWA:

Axes-specific measurement without delete distance-to-go

Effectiveness:

Non-modal

MEAC:

Axis-specific, continuous measurement without delete distance-to-go

Effectiveness:

Non-modal

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M5: Measurement

9.4 Measurement level 2: Axis-specific measurement (option)

<Axis>:

Name of channel axis used for measurement

<Mode>:

Two-digit (xx) number indicating the operating mode (measuring mode and meas-

uring system)

Units decade: Measuring mode

Specifies whether the trigger events are to be activated in chronological or pro-

grammed order.

Cancel measuring job.

Up to 4 different trigger events can be activated simultaneously.

Up to 4 trigger events that can be activated successively.

Up to 4 different trigger events can be activated in succession, but there

is no monitoring of trigger event 1 at the start (alarms 21700/21703 are

suppressed).

Note:

MEAC does not support this mode.

Tens decade: Measuring system

Specifies the measuring system with which measuring is to be performed.

0x (or no specification)

Active measuring system

Measuring system 1

Measuring system 2

Both measuring systems

<TE>:

Trigger event to initiate measurement

Type:

INT

Range of val-

-2, -1, 1, 2

ues:

(+)1

Positive edge of probe 1

-1

Negative edge of probe 1

(+)2

Positive edge of probe 2

-2

Negative edge of probe 2

Note:

If the measuring process is performed with two measuring systems, a maximum

of two trigger events can be programmed (positive or negative edge). The meas-

ured values of both measuring systems are acquired for both the trigger events.

<MeasMem>:

Number of FIFO (circular buffer)

Examples

Example 1: Axis-specific measurement with delete distance-to-go in mode 1 (evaluation in

chronological sequence)

a) Measuring with one measuring system

Program code

Comment

N100 MEASA[X]=(1,1,-1) G01 X100 F100

; Measuring in mode 1 with active measur-

ing system. Wait for measuring signal

with positive/negative edge from probe 1

for travel path to X=100.

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9.4 Measurement level 2: Axis-specific measurement (option)

Program code

Comment

N110 IF $AC_MEA[1]==FALSE GOTOF END

; Check that the measurement was success-

ful.

N120 R10=$AA_MM1[X]

; Save measured value acquired at the

first programmed trigger event (positive

edge).

N130 R11=$AA_MM2[X]

; Save measured value acquired at the sec-

ond programmed trigger event (negative

edge).

N140 END:

b) Measuring with two measuring systems

Program code

Comment

N200 MEASA[X]=(31,1,-1) G01 X100 F100

; Measuring in mode 1 with both measuring

systems. Wait for measuring signal with

positive/negative edge from probe 1 for

travel path to X=100.

N210 IF $AC_MEA[1]==FALSE GOTOF END

; Check that the measurement was success-

ful.

N220 R10=$AA_MM1[X]

; Save measured value of measuring system

1 at positive edge.

N230 R11=$AA_MM2[X]

; Save measured value of measuring system

2 at positive edge.

N240 R12=$AA_MM3[X]

; Save measured value of measuring system

1 at negative edge.

N250 R13=$AA_MM4[X]

; Save measured value of measuring system

2 at negative edge.

N260 END:

Example 2: Axis-specific measurement with delete distance-to-go in mode 2 (evaluation in

programmed sequence)

Program code

Comment

N100 MEASA[X]=(2,1,-1,2,-2) G01 X100 F100

; Measuring in mode 2 with active measur-

ing system. Wait for measuring signal in

the sequence positive edge probe 1, nega-

tive edge probe 1, positive edge probe 2,

negative edge probe 2 while traversing

path to X=100.

N110 IF $AC_MEA[1]==FALSE GOTOF PROBE2

; Check that the measurement with probe 1

is successful.

N120 R10=$AA_MM1[X]

; Save measured value acquired at the

first programmed trigger event (positive

edge of probe 1).

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M5: Measurement

9.4 Measurement level 2: Axis-specific measurement (option)

Program code

Comment

N130 R11=$AA_MM2[X]

; Save measured value acquired at the sec-

ond programmed trigger event (positive

edge of probe 1).

N140, PROBE2:

N150 IF $AC_MEA[2]==FALSE GOTOF END

; Check that the measurement with probe 2

is successful.

N160 R12=$AA_MM3[X]

; Save measured value acquired at the

third programmed trigger event (positive

edge of probe 2).

N170 R13=$AA_MM4[X]

; Save measured value acquired at the

fourth programmed trigger event (positive

edge of probe 2).

N180 END:

Example 3: Axis-specific, continuous measurement in mode 1 (evaluation in chronological

sequence)

a) Measurement of up to 100 measured values

Program code

Comment

N110 DEF REAL MEASVALUE[100]

N120 DEF INT loop=0

N130 MEAC[X]=(1,1,-1) G01 X1000 F100

; Measuring in mode 1 with active measur-

ing system, save measured values under

$AC_FIFO1, wait for measuring system with

negative edge from probe 1 on the travel

path to X=1000.

N135 STOPRE

N140 MEAC[X]=(0)

; Terminate measurement when axis posi-

tion is reached.

N150 R1=$AC_FIFO1[4]

; Save number of accumulated measured val-

ues in parameter R1.

N160 FOR loop=0 TO R1-1

N170 MEASURED VALUE[loop]=$AC_FIFO1[0]

; Read-out measured values from $AC_FIFO1

and save.

N180 ENDFOR

b) Measurement with delete distance-to-go after 10 measured values

Program code

Comment

N10 WHEN $AC_FIFO1[4]>=10 DO MEAC[x]=(0) DELDTG(x)

; Delete distance-to-go.

N20 MEAC[x]=(1,1,1,-1) G01 X100 F500

N30 MEAC [X]=(0)

N40 R1 = $AC_FIFO1[4]

; Number of measured values.

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9.4 Measurement level 2: Axis-specific measurement (option)

c) Measurement of a positive/negative tooth flank with 2 probes

Program code

Comment

N110 DEF REAL MEASVALUE[16]

N120 DEF INT loop=0

N130 MEAC[X]=(1,1,-1,2) G01 X100 F100

; Measurement in mode 1 with active meas-

uring system, save measured values under

$AC_FIFO1, wait for measuring signal in

the sequence negative edge of probe 1,

positive edge of probe 2 while traversing

the travel path to X=100.

N140 STOPRE

; Preprocessing stop.

N150 MEAC[X]=(0)

; Terminate measurement when axis posi-

tion is reached.

N160 R1=$AC_FIFO1[4]

; Save number of accumulated measured val-

ues in parameter R1.

N170 FOR loop=0 TO R1-1

N180 MEASURED VALUE[loop]=$AC_FIFO1[0]

; Read-out measured values from $AC_FIFO1

and save.

N190 ENDFOR

Further information

Measuring job

A measuring job can be programmed in the part program or from a synchronized action. Please

note that only one measuring job can be active at any given time for each axis.

Note

The feed must be adjusted to suit the particular measuring task

In the case of MEASA and MEAWA, the correctness of results can be only guaranteed for

feedrates at which no more than one trigger event of the same type and no more than 4 trigger

events of different types occur in each position control cycle.

In the case of continuous measurement with MEAC, the ratio between interpolator cycle and

the position control cycle must not exceed 1:8.

Trigger event

A trigger event comprises the number of the probe and the trigger criterion (positive or negative

edge) of the measuring signal.

Up to 4 trigger events of the addressed probe can be processed for each measurement; in

other words, up to two probes each with two measuring signal edges. The processing

sequence and the maximum number of trigger events depend on the selected mode.

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M5: Measurement

9.4 Measurement level 2: Axis-specific measurement (option)

If the measuring operation is performed with two measuring systems, a maximum of two trigger

events can be programmed (positive or negative edge). The measured values of both probes

are acquired for both of the trigger events.

Note

With the use of PROFIBUS telegram 391 (default setting for PROFIBUS communication) only

one measured value is possible for each trigger event and position control cycle.

For MEAC, the number of measured values per trigger event can be increased by using

PROFIBUS telegram 395 (Page 529) to a total of 8 measured values for a positive edge and

8 measured values for a negative edge for each trigger event and position control cycle:

● One probe: 8 measured values for a positive and 8 for a negative edge

● Two probes: 4 measured values for a positive and 4 for a negative edge for each probe

This means that higher feed rates or higher speeds can be reached by using PROFIBUS

telegram 395.

Operating mode

The first digit (tens decade) of the operating mode selects the required measuring system. If

only one measuring system is installed, but a second is programmed, the installed system is

automatically selected.

The second digit (units decade) selects the desired measuring mode. The measuring process

is thus adapted to the options supported by the relevant control:

● Mode 1

Trigger events are evaluated in the chronological sequence in which they occur. When this

mode is selected, only one trigger event can be programmed for six-axis modules. If more

than one trigger event is specified, the mode selection is switched automatically to mode

2 (without message).

● Mode 2

Trigger events are evaluated in the programmed sequence.

● Mode 3

Trigger events are evaluated in the programmed sequence but there is no monitoring of

trigger event 1 at the start.

Measurement with and without delete distance-to-go

When command MEASA is programmed, the distance-to-go is not deleted until all required

measured values have been acquired.

MEAWA is used for special measuring tasks in which a programmed position always has to

be approached.

Note

MEASA cannot be programmed in synchronized actions. As an alternative, MEAWA plus

delete distance-to-go can be programmed as a synchronized action.

If the measuring job with MEAWA is started from synchronized actions, the measured values

will only be available in the machine coordinate system.

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9.4 Measurement level 2: Axis-specific measurement (option)

Geometry axes/transformations

If axial measurement is to be started for a geometry axis, the same measuring job must be

programmed explicitly for all remaining geometry axes. The same applies to axes involved in

a transformation.

Examples:

N10 MEASA[Z]=(1,1) MEASA[Y]=(1,1) MEASA[X]=(1,1) G0 Z100

N10 MEASA[Z]=(1,1) POS[Z]=100

Query status

If an evaluation is required in the program, whether a probe has been deflected or has switched,

the status can be queried through the following system variables:

System variable

Meaning

Data type

Value

$A_PROBE[<n>]

Probe state

INT

Probe not deflected.

Probe deflected.

$AC_MEA[<n>]

Switching status of the probe

INT

Probe has not switch-

$AC_MEA[<n>] is automati-

cally reset at the beginning of

Probe has switched

a measurement.

(all trigger events pro-

grammed in the

measuring block

have taken place).

<n> = number of the probe

Note

If measurement is started from synchronized actions, $AC_MEA is no longer updated. In this

case, the NC/PLC interface signal DB31, … DBX62.3 or the equivalent variable

$AA_MEAACT[<Axis>] must be queried.

$AA_MEAACT==1: Measurement active

$AA_MEAACT==0: Measurement not active

Probe limitation

In the NC program or synchronized action, the probe limiting status can be read using system

variable $A_PROBE_LIMITED when using PROFIBUS telegram 395:

$A_PROBE_LIMITED[<n>] == 0: Probe limitation inactive/reset

$A_PROBE_LIMITED[<n>] == 1: Probe limitation active

<n> = probe number

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9.4 Measurement level 2: Axis-specific measurement (option)

Measurement results for MEASA / MEAWA

The values measured by probes can be read through the following system variables in the part

program and in synchronized actions.

System variable

Meaning

$AA_MM1[<Axis>]

Probe measured value for trigger event 1 in the machine coordinate system

$AA_MM4[<Axis>]

Probe measured value for trigger event 4 in the machine coordinate system

$AA_MW1[<Axis>]

Probe measured value for trigger event 1 in the workpiece coordinate system

$AA_MW4[<Axis>]

Probe measured value for trigger event 4 in the workpiece coordinate system

<Axis> = measuring axis

If a measuring job is executed by two measuring systems, each of the two possible trigger

events is acquired from both measuring systems. The assignment of system variables is then

as follows:

$AA_MM1[<Axis>]

$AA_MW1[<Axis>]

Measured value from measuring sys-

tem 1 on trigger event 1

$AA_MM2[<Axis>]

$AA_MW2[<Axis>]

Measured value from measuring sys-

tem 2 on trigger event 1

$AA_MM3[<Axis>]

$AA_MW3[<Axis>]

Measured value from measuring sys-

tem 1 on trigger event 2

$AA_MM4[<Axis>]

$AA_MW4[<Axis>]

Measured value from measuring sys-

tem 2 on trigger event 2

Continuous measurement (MEAC)

The measured values for MEAC are available in the machine coordinate system and stored

in the programmed FIFO[<n>] memory (circular buffer). If two probes are configured for the

measurement, the measured values of the second probe are stored separately in the FIFO[<n>

+1] memory configured specifically for this purpose (defined in machine data).

The FIFO memory is a circular buffer in which measured values are written to $AC_FIFO

variables according to the circular principle.

Note

FIFO contents can be read only once from the circular buffer. If this measured data is to be

used several times, it must be buffered in the user data.

If the number of measured values for the FIFO memory exceeds the maximum value defined

in machine data, the measurement is automatically terminated.

An endless measuring process can be implemented by reading out measured values cyclically.

In this case, data must be read out at least with the same frequency as new measured values

are input.

References:

Function Manual Synchronized Actions; "Detailed description" Chapter > "Parameters

($AC_FIFO)"

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9.4 Measurement level 2: Axis-specific measurement (option)

Protection against programming errors

The following programming errors are detected and indicated as errors:

● MEASA/MEAWA programmed with MEAS/MEAW in the same block

Example:

N01 MEAS=1 MEASA[X]=(1,1) G01 F100 POS[X]=100

● MEASA/MEAWA with number of parameters <2 or >5

Example:

N01 MEAWA[X]=(1) G01 F100 POS[X]=100

● MEASA/MEAWA with trigger event not equal to 1/ -1/ 2/ -2

Example:

N01 MEASA[B]=(1,1,3) B100

● MEASA/MEAWA with invalid mode

Example:

N01 MEAWA[B]=(4,1) B100

● MEASA/MEAWA with trigger event programmed twice

Example:

N01 MEASA[B]=(1,1,-1,2,-1) B100

● MEASA/MEAWA and missing geometry axis

Example:

N01 MEASA[X]=(1,1) MEASA[Y]=(1,1) G01 X50 Y50 Z50 F100; GEO axis X/

Y/Z

● Inconsistent measuring job with geometry axes

Example:

N01 MEASA[X]=(1,1) MEASA[Y]=(1,1) MEASA[Z]=(1,1,2) G01 X50 Y50 Z50

F100

Telegram selection

By default, the axis-specific measurement is implemented with PROFIBUS telegram 391.

PROFIBUS telegram 395 is used for measuring with several measured values per trigger event

and the position controller cycle.

The telegram selection is made from the STEP 7 HW Config in the "DP Slave Properties" >

"Configuration" dialog.

The following settings are also required:

● Drive parameters:

CU: p0922 = 395; setting for the telegram selection

CU: p0684 = 16; setting of the measuring procedure

CU: p0680; configuration of the central probe terminal

● PROFIBUS connection:

MD13211 $MN_MEAS_CENTRAL_SOURCE = 2 (telegram integration without handshake)

Extended Functions

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M5: Measurement

9.5 Workpiece and tool measurement

9.5

Workpiece and tool measurement

9.5.1

Fundamentals

9.5.1.1

Introduction

Preset actual value is performed via an HMI operator action or via measuring cycles. The

calculated frame should be written to SETFRAME system frame. The set position of an axis

in the WCS can be altered during preset actual value.

The term scratching refers to both the workpiece and tool measurement.

In workpiece measurement, a probe is moved to the clamped workpiece in the same way as

a tool and the measured values are acquired. Because of the broad selection of different

measurement types, all the measuring tasks to be resolved in a milling or turning machine can

be managed without a problem. For example, the position of the workpiece can be measured

in relation to an edge, a corner or a hole. To determine the zero position of the workpiece or

a hole, set positions can be added to the measured positions in the WCS. The resulting offsets

can be entered in a selected frame.

In the tool measurement, the length or radius of a tool can be measured using a measured

reference part.

The measurements can be performed via an HMI operator action or via measuring cycles.

The calculation is performed in the NC when a PI service is activated by means of an HMI

operator action or via an NC command from the measuring cycles. A tool and a plane can be

selected as a basis for the calculation. The calculated frame is entered in the result frame.

Communication with the NC takes place via predefined system variables. The input variables

must be written by the HMI or the cycles. The output variables contain the calculated results.

9.5.1.2

Input variables

Validity bits of the input variables

Each input variable implicitly sets the corresponding validity bit in $AC_MEAS_VALID system

variable when writing. If the validity bits are not reset, the variable values remain valid for the

next calculation. For this reason, the validity bits of all input variables should be declared as

invalid before each measurement by setting $AC_MEAS_VALID to 0:

$AC_MEAS_VALID = 0

Note

A channel reset or end of program reset does not reset the validity bits.

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Bit

System variable

Meaning

$AA_MEAS_POINT1[<Axis>]

1st measuring point for all channel axes

$AA_MEAS_POINT2[<Axis>]

2nd measuring point for all channel axes

$AA_MEAS_POINT3[<Axis>]

3rd measuring point for all channel axes

$AA_MEAS_POINT4[<Axis>]

4th measuring point for all channel axes

$AA_MEAS_SETPOINT[<Axis>]

Set position of an axis

$AC_MEAS_WP_SETANGLE

Set angle for the workpiece position angle; -90 <

α < 180

$AC_MEAS_CORNER_SETANGLE

Set angle of intersection of the workpiece corner;

0 < φ < 180

$AC_MEAS_T_NUMBER

Tool selection

$AC_MEAS_D_NUMBER

Cutting edge selection

$AC_MEAS_DIR_APPROACH

Direction of approach to the workpiece

$AC_MEAS_ACT_PLANE

Specification of the working plane and infeed di-

rection

$AC_MEAS_FRAME_SELECT

Frame selection for the workpiece measurement

$AC_MEAS_TYPE

Measurement type selection

$AC_MEAS_FINE_TRANS

Fine offset correction

$AA_MEAS_SETANGLE[<Axis>]

Set angle of an axis

$AA_MEAS_SCALEUNIT

Unit of measurement for input and output values

$AA_MEAS_TOOL_MASK

Tool position taking the tool lengths into account

$AA_MEAS_P1_COORD

Coordinate system of the 1st measuring point

$AA_MEAS_P2_COORD

Coordinate system of the 2nd measuring point

$AA_MEAS_P3_COORD

Coordinate system of the 3rd measuring point

$AA_MEAS_P4_COORD

Coordinate system of the 4th measuring point

$AA_MEAS_SET_COORD

Coordinate system of the set position

$AA_MEAS_CHSFR

Frame selection for system frames

$AA_MEAS_NCBFR

Frame selection for global basic frames

$AA_MEAS_CHBFR

Frame selection for channel basic frames

$AA_MEAS_UIFR

Frame selection for settable frames

$AA_MEAS_PFRAME

Frame selection for programmable frames

$AC_MEAS_INPUT[<n>]

Measuring input parameters

$AC_MEAS_GFR

Frame selection for grinding frames

$AC_MEAS_ORIWKS

Transformation behavior of the measuring inter-

face

Note

All axis actual values of the appropriate measuring point are invalidated by:

$AC_MEAS_LATCH = 0

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M5: Measurement

9.5 Workpiece and tool measurement

Measuring points

A maximum of four measuring points are available for all channel axes for the measurements:

System variable

Meaning

Data type

$AA_MEAS_POINT1[<Axis>]

1st measuring point for all chan-

REAL

nel axes

$AA_MEAS_POINT2[<Axis>]

2nd measuring point for all chan-

REAL

nel axes

$AA_MEAS_POINT3[<Axis>]

3rd measuring point for all chan-

REAL

nel axes

$AA_MEAS_POINT4[<Axis>]

4th measuring point for all chan-

REAL

nel axes

The measured points are normally available as actual values in the WCS. A measuring point

is marked as valid as soon as an axis value has been written from it. Each individual measuring

point can be written or picked up directly.

Some measurement types also support measuring points lying in a different coordinate system

(BCS, MCS). The entry in which coordinate system of the corresponding measuring point was

measured, can be performed via the following system variables:

System variable

Meaning

Data type

Value

$AA_MEAS_P1_COORD

Coordinate system of the 1st meas-

INT

0: WCS (default)

uring point

1: BCS

$AA_MEAS_P2_COORD

Coordinate system of the 2nd meas-

INT

2: MCS

uring point

3: SZS

$AA_MEAS_P3_COORD

Coordinate system of the 3rd meas-

INT

4: WCS_REL

uring point

5: SZS_REL

$AA_MEAS_P4_COORD

Coordinate system of the 4th meas-

INT

uring point

$AA_MEAS_SET_CO-

Coordinate system of the set position

INT

ORD

Picking up measuring points

The measuring points can be written with the current axis actual values. The positions are

picked up with reference to the selected coordinate system. The positions are picked up in the

WCS if no coordinate system is specified. The picked up measuring points are saved in

$AA_MEAS_POINT1[<Axis>] ... $AA_MEAS_POINT4[<Axis>].

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Picking up a measuring point of all axes

The pick up of all current axis actual values for one measuring point is specified via the

$AC_MEAS_LATCH[0 ... 3] system variable:

System variable

Meaning

Data type

Value

$AA_MEAS_LATCH[0]

Pick up 1st measuring point of all ax-

INT

0: Do not accept

axis actual values

for the measuring

$AA_MEAS_LATCH[1]

Pick up 2nd measuring point of all ax-

INT

point

1: Accept axis ac-

$AA_MEAS_LATCH[2]

Pick up 3rd measuring point of all ax-

INT

tual values for the

measuring point

$AA_MEAS_LATCH[3]

Pick up 4th measuring point of all ax-

INT

Picking up the measuring point of one axis

The pick up of individual axis actual values for one measuring point is specified via the

$AA_MEAS_P1_VALID[<Axis>] ... $AA_MEAS_P4_VALID[<Axis>] system variables:

System variable

Meaning

Data type

Value

$AA_MEAS_P1_VAL-

Pick up 1st measuring point of an axis

INT

0: Do not accept

ID[<Axis>]

axis actual value

for the measuring

$AA_MEAS_P2_VAL-

Pick up 2nd measuring point of an

INT

point

ID[<Axis>]

axis

1: Accept axis ac-

$AA_MEAS_P3_VAL-

Pick up 3rd measuring point of an axis

INT

tual value for the

ID[<Axis>]

measuring point

$AA_MEAS_P4_VAL-

Pick up 4th measuring point of an axis

INT

ID[<Axis>]

Setpoints

The resulting frame is calculated so that the measurement complies with the setpoints specified

by the user.

System variable

Meaning

Data type

Value

$AA_MEAS_SETPOINT[<Axis>]

Set position of an axis

REAL

$AA_MEAS_SETANGLE[<Axis>]

Set angle of an axis

REAL

$AA_MEAS_SP_VALID[<Axis>]

Set position of the axis invalid/valid

INT

Set po-

sition of

the axis

is invalid

Set po-

sition of

the axis

is valid

$AC_MEAS_WP_SETANGLE

Set angle for the workpiece posi-

REAL

-90 < α < 180

tion

$AC_MEAS_CORNER_SETAN-

Set angle of intersection of the

REAL

0 < φ < 180

GLE

workpiece corner

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9.5 Workpiece and tool measurement

System variable

Meaning

Data type

Value

$AC_MEAS_DIR_APPROACH *⁾

Direction of approach to the work-

INT

+ X

piece

- X

+ Y

- Y

+ Z

- Z

^*) The direction of approach is required only for the edge, groove, web and tool measurement.

The following measuring points are irrelevant and not evaluated:

● 2nd measuring point when entering the set angle for the workpiece position.

● 4th measuring point when entering the set angle of intersection

Plane setting

The specification of the working plane to define the tool orientation is performed via the

$AC_MEAS_ACT_PLANE system variable:

System variable

Meaning

Data type

Value

$AC_MEAS_ACT_PLANE

Specification of the work-

INT

● G17 - working plane

ing plane and infeed direc-

X/Y

tion

● Infeed direction Z

● G18 - working plane

Z/X

● Infeed direction Y

● G17 - working plane

Y/Z

● Infeed direction X

If no plane is specified, then the active plane is used for the calculation.

Translational offsets

When measuring workpieces, translational offsets can be entered in the fine offset component

of the selected frame. The $AC_MEAS_FINE_TRANS system variable is used for this purpose:

System variable

Meaning

Data type

Value

$AC_MEAS_FINE_TRAN

Fine offset correction

INT

Translational compen-

sation is entered in the

course offset.

Translational compen-

sation is entered in the

fine offset.

If the $AC_MEAS_FINE_TRANS variable is not written, the compensation value is entered in

the coarse offset and transformed in the time frame. There can also be a fine component in

the translation by virtue of the transformation.

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Irrespective of $AC_MEAS_FINE_TRANS, the compensation is always entered in the coarse

offset when:

MD18600 $MN_MM_FRAME_FINE_TRANS = 0

Frame selection during the workpiece measurement

When a workpiece is measured, the calculated frame is entered in the specified frame. The

frame selection is performed via the $AC_MEAS_FRAME_SELECT system variable:

System variable

Meaning

Data type

$AC_MEAS_FRAME_SELECT

Frame selection during the workpiece measure-

INT

ment

The $AC_MEAS_FRAME_SELECT system variable can assume the following values:

Value

Frame

Meaning

$P_SETFRAME

Active system frame

$P_PARTFRAME

Active system frame

$P_EXTFRAME

Active system frame

10 ... 25

$P_CHBFRAME[0 ... 15]

Active channel-specific basic frames

50 ... 65

$P_NCBFRAME[0 ... 15]

Active NCU-global basic frames

100 ... 199

$P_IFRAME

The calculation is performed with the active setta-

ble frame if the corresponding frame is selected.

If the selected frame is not active, the correspond-

ing data management frame is included in the cal-

culation.

500

$P_TOOLFRAME

Active system frame

501

$P_WPFRAME

Active system frame

502

$P_TRAFRAME

Active system frame

503

$P_PFRAME

Active current programmable frame

504

$P_CYCFRAME

Active system frame

505

$P_RELFRAME (WCS)

Active system frame

506

$P_RELFRAME (SZS)

Active system frame

1010 ... 1025

$P_CHBFRAME[0 ... 15]

Active channel-specific basic frames with active

G500

1050 ... 1065

$P_NCBFRAME[0 ... 15]

Active NCU-global basic frames with active G500

2000

$P_SETFR

System frame in the data management

2001

$P_PARTFR

System frame in the data management

2002

$P_EXTFR

System frame in the data management

2010 ... 2025

$P_CHBFR[0 ... 15]

Channel-specific basic frames in the data man-

agement

2050 ... 2065

$P_NCBFR[0 ... 15]

NCU-global basic frames in the data management

2100 ... 2199

$P_UIFR[0 ... 99]

Settable frames in the data management

2500

$P_TOOLFR

System frame in the data management

2501

$P_WPFR

System frame in the data management

2502

$P_TRAFR

System frame in the data management

2504

$P_CYCFR

System frame in the data management

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Value

Frame

Meaning

2505

$P_RELFR (WCS)

System frame in the data management

2506

$P_RELFR (SZS)

System frame in the data management

3010 ... 3025

$P_CHBFR[0 ... 15]

Channel-specific basic frames with active G500 in

the data management

3050 ... 3065

$P_NCBFR[0 ... 15]

NCU-global basic frames with active G500 in the

data management

The MEASURE( ) function calculates frame $AC_MEAS_FRAME according to the specified

frame.

For the values from 0 to 1065, the calculation is performed using the active frame.

From 2000 to 3065, the calculation is performed with reference to the selected frame in the

data management. The frame selection in the data management is not supported for

measurement types 14 and 15. A frame does not have to be active in order to select it in the

data management. In this case, the calculation is performed as if the frame were active in the

chain.

The measuring point is transformed in the selected system and the selected frame is

determined using the entire frame including the selected frame. Preset actual value is active

only after compensation and activation of the frame.

For the values with active G500 (1010 ... 1025, 1050 ... 1065, 3010 ... 3025, 3050 ... 3065),

the target frame is calculated so that G500 must also be active after this frame is selected in

order to reach the set position.

Conversion into another coordinate system

If a position is to be converted to a position in another coordinate system, the following system

variables can be used to specify the composition of the desired frame chain:

System variable

Meaning

Data type

Value

$AC_MEAS_CHSFR

Frame selection for system frames

INT

Bit mask correspond-

ing to MD28082

$MC_MM_

SYS-

TEM_FRAME_MASK

$AC_MEAS_NCBFR

Frame selection for global basic frames

INT

Bit mask (0 ... FFFF)

$AC_MEAS_CHBFR

Frame selection for channel basic

INT

Bit mask (0 ... FFFF)

frames

$AC_MEAS_UIFR

Frame selection for settable frames

INT

0 ... 99

$AC_MEAS_PFRAME

Frame selection for programmable

INT

Is included in

frames

the calculation.

Is not included

in the calcula-

tion.

The data management frames are read and a new frame is set up for the corresponding values

in the variables.

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9.5 Workpiece and tool measurement

If the system variables are not set, the active frames are retained.

Note

Values should only be written to those system variables whose data management frames are

also to be included in the new frame chain. In the case of the basic frames, only all of the

frames can be exchanged, and not just a particular frame. Active changes via

$P_NCBFRMASK and $P_CHBFRMASK are ignored.

Measuring input parameters

The array system variable $AC_MEAS_INPUT[<n>] is used for the input of further parameters

that are used in the various measurement types

System variable

Meaning

Data type

Value

$AC_MEAS_INPUT[<n>]

Measuring input parame-

INT

<n> = 0 ... 9

ters

The control action of the measuring input parameters is described in the measuring methods.

Tool and cutting edge selection

The tool and cutting edge number of the active tool must correspond to the selected tool. When

T0 and D0 are selected, the active tool is included in the calculation. If no tool is active, the

tool selected by T and D is included in the calculation. However, no tool other than the selected

tool must be active.

System variable

Meaning

Data type

$AC_MEAS_T_NUMBER

Tool selection

INT

$AC_MEAS_D_NUMBER

Cutting edge selection

INT

Measurements with 3D probe

When measuring with the 3D probe, the radius of the tool is already compensated via the

measuring point, and therefore the radius does not have to be included when calculating the

various measurement operations. This property can be specified via the

$AC_MEAS_TOOL_MASK system variable.

System variable

Meaning

Data type

$AC_MEAS_TOOL_MASK

Tool position taking the tool lengths into account

INT

The $AC_MEAS_TOOL_SCREEN system variable can assume the following values:

Value

Meaning

0x0

All tool lengths are considered (default).

0x1

Tool radius is not included in the calculation.

0x2

Tool position in the X direction (G19).

0x4

Tool position in the Y direction (G18).

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Value

Meaning

0x8

Tool position in the Z direction (G17).

0x10

Tool length is not included in the calculation.

0x20

Length of the active tool is included in the coordinate transformation of a position.

0x40

Tool position in the X direction.

0x80

Tool position in the Y direction.

0x100

Tool position in the Z direction.

0x200

Tool length differences are included negatively.

Whether or not the radius of a milling tool is included in the calculation can be determined from

the tool position and approach direction. If the approach direction is not specified explicitly, it

is determined by the selected plane:

Working plane

Approach direction

G17

-Z

G18

-Y

G19

-X

9.5.1.3

Selecting the measurement type

The $AC_MEAS_TYPE system variable is used to select the measurement type.

System variable

Meaning

Data type

$AC_MEAS_TYPE

Measurement type selection

INT

The $AC_MEAS_TYPE system variable can assume the following values:

Value

Meaning

Default setting

Measurement type 1: Measurement of an X edge

Measurement type 2: Measurement of a Y edge

Measurement type 3: Measurement of a Z edge

Measurement type 4: Measurement of a C1 corner

Measurement type 5: Measurement of a C2 corner

Measurement type 6: Measurement of a C3 corner

Measurement type 7: Measurement of a C4 corner

Measurement type 8: Measurement of a hole

Measurement type 9: Measurement of a shaft

10 *⁾

Measurement type 10: Measurement of the tool length

11 *⁾

Measurement type 11: Measurement of the tool diameter

Measurement type 12: Measurement of a groove

Measurement type 13: Measurement of a web

Measurement type 14: Preset actual value for geometry and special axes

Measurement type 15: Preset actual value for special axes only

Measurement type 16: Measurement of an inclined edge

Measurement type 17: Measurement of an angle in an inclined plane

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Value

Meaning

Measurement type 18: Redefining the WCS on the inclined plane

Measurement type 19: 1-dimensional setpoint specification

Measurement type 20: 2-dimensional setpoint specification

Measurement type 21: 3-dimensional setpoint specification

22 *⁾

Measurement type 22: ShopTurn - Measurement of tool lengths with zoom-in function

23 *⁾

Measurement type 23: ShopTurn - Measurement of a tool length with a stored or actual

position

Measurement type 24: Coordinate transformation of a measuring point

Measurement type 25: Measurement of a rectangle

Measurement type 26: Backup of data management frames

Measurement type 27: Restoration of backed up data management data

Measurement type 28: Specification of an additive rotation for taper turning

^*) Measurement types of the tool measurement

The individual measurement types are shown more precisely in Section "Types of workpiece

measurement (Page 553)" or "Measuring types of the tool measurement (Page 591)" and

explained in more detail using an appropriate programming example.

9.5.1.4

Activating the calculation

Activating via an HMI operator action

The calculation is activated by an HMI operator action with PI service _N_SETUDT. This Pl

service can accept one of the following parameter types:

Parameter type

Meaning

Active tool offset

Active basic frames

Active settable frame

Global basic frames

Global settable frames

Calculate workpiece zero or tool lengths

Activate workpiece zero (write scratching)

Activate external work offset

Activate active tool carrier, TCOABS and PAROT

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M5: Measurement

9.5 Workpiece and tool measurement

The change is shown immediately in the Reset state. In the Stop state, the frame is executed

at the next start.

Note

The PI service can be executed only in the Reset and Stop states.

In the case of workpiece measurement, the calculated frame is activated immediately with

parameter type 7.

In the case of tool measurement, the PI service must not be sent with parameter type 7, since

a zero point does not have to be activated.

Activation in the Stop state

The new WCS positions are refreshed in the Stop state. With the continuation of the part

program, the distance-to-go of the interrupted block is deleted. Traversing is from the current

position to the end point of the next block. Therefore, it is also possible in the Stop state to

start a spindle in the MDI mode or in the part program and set and scratch an actual value with

M0. Another measurement can also be performed.

Measuring cycles

The activation of the calculation in the measuring cycles is performed via the predefined

MEASURE( ) function.

MEASURE() delivers a result frame that can be read via $AC_MEAS_FRAME. The result is

the translation and rotation from the setpoints recalculated on the selected frame. The result

frame is calculated so that the concatenated sum frame equals the concatenation of the entire

frame (prior to measurement) with the calculated translation and rotation.

NOTICE

No preprocessing limitation

MEASURE() does not trigger an implicit preprocessing stop. MEASURE( ) works with the

frames of the preprocessing block. The user must decide whether a preprocessing stop is

required prior to the calculation.

Note

If no frame is selected, the calculated frame is not transformed. This means that the translation

and rotation result from the specified setpoints and the calculated position of the edge, corner,

groove, etc. Where the function is used more than once, it is always added to the result frame.

The result frame may need to be deleted beforehand.

Synchronization of the measuring processes

The measurement variable occurs only once per channel. The measuring process can be

performed via an operator input in the Stop and Reset states. The operation can overlap with

the measuring cycles in the Stop state. The $AC_MEAS_SEMA variable (semaphore to the

measurement interface) serves to protect against mutual overwriting.

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The $AC_MEAS_SEMA semaphore variable is set to 1 by the measuring cycle at the start of

the cycle and reset to 0 at the end of the cycle.

HMI does not use the measurement interface when the $AC_MEAS_SEMA variable has the

value 1.

9.5.1.5

Output variables

Calculation results

If a set position has been specified, the resulting frame is entered in the $AC_MEAS_FRAME

result frame. This frame can be read and written in the part program. The result frame is

calculated according to the selected frame.

If no frame has been selected, the result frame determines the final translation and rotation in

the WCS. This frame can be entered in the selected frame using the PI service _N_SETUDT

and parameter type 7. Once it has been entered, the result frame is deleted.

The following output variables are available for the results of the calculation:

System variable

Meaning

Data type

$AC_MEAS_FRAME

Result frame

FRAME

$AC_MEAS_WP_ANGLE

Calculated workpiece position angle α

REAL

$AC_MEAS_CORNER_ANGLE

Calculated angle of intersection ϕ

REAL

$AC_MEAS_DIAMETER

Calculated diameter

REAL

$AC_MEAS_TOOL_LENGTH

Calculated tool length

REAL

$AC_MEAS_RESULTS[<n>]

Calculation results

DOUBLE

Which array element is written depends on the

measurement type ($AC_MEAS_TYPE).

9.5.1.6

System of units

System of units, inch/metric

The following input and output variables are evaluated with the inch or metric system of units:

System variable

Meaning

$AA_MEAS_POINT1[<Axis>]

Input variable: 1st measuring point for all channel axes

$AA_MEAS_POINT2[<Axis>]

Input variable: 2nd measuring point for all channel axes

$AA_MEAS_POINT3[<Axis>]

Input variable: 3rd measuring point for all channel axes

$AA_MEAS_POINT4[<Axis>]

Input variable: 4th measuring point for all channel axes

$AA_MEAS_SETPOINT[<Axis>]

Input variable: Set position of an axis

$AC_MEAS_DIAMETER

Output variable: Calculated diameter

$AC_MEAS_TOOL_LENGTH

Output variable: Calculated tool length

$AC_MEAS_RESULTS[<n>]

Output variable: Calculation results

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The system of units in which the input and output values can be read or written can be set via

the $AC_MEAS_SCALEUNIT system variable.

System variable

Meaning

Data type

Value

$AA_MEAS_SCALEUNIT

Unit of measurement

INT

Unit of measurement depends

for input and output

on the active G function of group

values

13:

● With active G70/G700: Inch

● With active G71/G710:

Metric

Unit of measurement unit corre-

sponds to the configuration (de-

fault setting).

The value 1 is always treated as the standard setting when $AC_MEAS_SCALEUNIT is not

written.

Example:

The following should apply for the example:

● $AC_MEAS_SCALEUNIT = 0

● Basic system: Metric

Program code

Comment

G70

$AC_MEAS_POINT1[X]=$AA_IW[X]

; $AA_IW[X] returns basic system

$AC_MEAS_POINT1[X]=10

; 10 mm

G71

$AC_MEAS_POINT1[X]=$AA_IW[X]

; $AA_IW[X] returns basic system

$AC_MEAS_POINT1[X]=10

; 10 mm

G700

$AC_MEAS_POINT1[X]=$AA_IW[X]

; $AA_IW[X] returns inch value

$AC_MEAS_POINT1[X]=10

; 10 inch

G710

$AC_MEAS_POINT1[X]=$AA_IW[X]

; $AA_IW[X] returns metric value

$AC_MEAS_POINT1[X]=10

; 10 mm

Diameter programming

The diameter programming is set via the machine data:

● MD20100 $MC_DIAMETER_AX_DEF (geometry axis with transverse axis function)

● MD20150 $MC_GCODE_RESET_VALUES (reset setting of the G groups)

● MD20360 $MC_TOOL_PARAMETER_DEF_MASK (definition of the tool parameters)

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Example:

MD20100 $MC_DIAMETER_AX_DEF = "X"

; Transverse axis is X.

MD20150 $MC_GCODE_RESET_VALUES[28] = 2 ; DIAMON

MD20360 $MC_TOOL_PARAMETER_DEF_MASK ; Tool length, frames and actual values

= 'B1001010'

in the diameter

The following must be taken into account:

● Axis positions in the MCS are not included in the calculation as diameter value.

● The calculated tool lengths and frame components do not depend on the active G command

DIAMON or DIAMOF.

● The measuring positions and set positions are read and written depending on DIAMON.

● The translations in the frames are included in the calculation as diameter value in the

transverse axis.

Arithmetic and display precision

Position values in mm, inches or degrees are accurately calculated and displayed to six

decimal places.

9.5.1.7

Diagnostics

Error messages

PI service _N_SETUDT

If the client is logged on through DIAGN:errCodeSetNrGent or DIAGN:errCodeSetNrPi,

PI_SETUDT provides the following error codes:

Error code

Meaning

EX_ERR_PI_REJ_MEASOK

Correct calculation.

EX_ERR_PI_REJ_MEASNOTYPE

Measurement type not specified.

EX_ERR_PI_REJ_MEASTOOLERROR

Error while determining the tool.

EX_ERR_PI_REJ_MEASNOPOINT1

Measuring point 1 not available.

EX_ERR_PI_REJ_MEASNOPOINT2

Measuring point 2 not available.

EX_ERR_PI_REJ_MEASNOPOINT3

Measuring point 3 not available.

EX_ERR_PI_REJ_MEASNOPOINT4

Measuring point 4 not available.

EX_ERR_PI_REJ_MEASNOSPECPOINT

No reference point available.

EX_ERR_PI_REJ_MEASNODIR

No approach direction.

EX_ERR_PI_REJ_MEASEQUALPOINTS

Measuring points are identical.

EX_ERR_PI_REJ_MEASWRONGALPHA

Alpha (α) is wrong.

EX_ERR_PI_REJ_MEASWRONGPHI

Phi (ϕ) is wrong.

EX_ERR_PI_REJ_MEASWRONGDIR

Wrong approach direction.

EX_ERR_PI_REJ_MEASNOCROSSING

Straight lines do not intersect.

EX_ERR_PI_REJ_MEASNOPLANE

Planes do not exist.

Extended Functions

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M5: Measurement

9.5 Workpiece and tool measurement

Error code

Meaning

EX_ERR_PI_REJ_MEASWRONGFRAME

No frame or wrong frame selected.

EX_ERR_PI_REJ_MEASNOMEMORY

Insufficient memory available.

EX_ERR_PI_REJ_MEASINTERNALERROR

Internal error.

If the client does not log on, group error number 0xD003 is always generated.

MEASURE( )

The following return values are output via the predefined MEASURE() function:

No.

Return value

Meaning

MEAS_OK

Correct calculation.

MEAS_NO_TYPE

Measurement type not specified.

MEAS_TOOL_ERROR

Error while determining the tool.

MEAS_NO_POINT1

Measuring point 1 not available.

MEAS_NO_POINT2

Measuring point 2 not available.

MEAS_NO_POINT3

Measuring point 3 not available.

MEAS_NO_POINT4

Measuring point 4 not available.

MEAS_NO_SPECPOINT

No reference point available.

MEAS_NO_DIR

No approach direction.

MEAS_EQUAL_POINTS

Measuring points are identical.

MEAS_WRONG_ALPHA

Alpha (α) is wrong.

MEAS_WRONG_PHI

Phi (ϕ) is wrong.

MEAS_WRONG_DIR

Wrong approach direction.

MEAS_NO_CROSSING

Straight lines do not intersect.

MEAS_NO_PLANE

Planes do not exist.

MEAS_WRONG_FRAME

No frame or wrong frame selected.

MEAS_NO_MEMORY

Insufficient memory available.

MEAS_INTERNAL_ERROR

Internal error.

Error while determining the tool

In the case of error code EX_ERR_PI_REJ_MEASTOOLERROR or MEAS_TOOL_ERROR,

the system stores a more detailed specification of the error with the following values in the

$AC_MEAS_TOOL_LENGTH output variable:

No.

Return value

Meaning

TOOL_NO_BLOCK

No block available for the tool calculation.

TOOL_WRONG_T_NUMBER

Wrong T number.

TOOL_WRONG_D_NUMBER

Wrong D number.

TOOL_EVAL_WRONG_TYPE

The tool does not exist.

TOOL_NO_TOOLCORR_BODY

Memory problem.

TOOL_DATA_READ_ERROR

Error while reading the tool data.

TOOL_NO_TOOL_WITH_TRAFO

No tool is selected with an active transformation.

Extended Functions

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M5: Measurement

9.5 Workpiece and tool measurement

Further diagnostic options

Log

If the "/_N_MPF_DIR/_N_MEAS_DUMP_MPF" file is available, a log is written in the file that

should enable the reproduction of the problem. In order to use the log, an empty file with the

name "_N_MEAS_DUMP_MPF" must first be created in the "/_N_MPF_DIR" directory. The

content of the file is retained until it is deleted with $AC_MEAS_VALID = 0.

Trace

For runtime reasons, the trace should only be activated when a problem is detected.

9.5.2

Types of workpiece measurement

9.5.2.1

Measurement type 1, 2, 3: Measurement of an edge

Function

The edge of a clamped workpiece is measured by approaching this edge with a known tool.

Measurement type 1: Measurement of an X edge

;

Figure 9-1

Measurement of an X edge

The values of the following system variables are evaluated for measurement type 1:

Input variable

Meaning

$AC_MEAS_VALID

Validity bits for the input variables

$AA_MEAS_POINT1[<Axis>]

Measuring point 1 for all channel axes

$AA_MEAS_SETPOINT[<Axis>] *⁾

Set position of the X edge

$AC_MEAS_DIR_APPROACH

= 0

+ X

= 1

- X

$AC_MEAS_ACT_PLANE *⁾

Calculation with active plane unless otherwise specified.

Tool radius is only included in the calculation in G17 and G18.

$AC_MEAS_FINE_TRANS *⁾

= 0

Coarse offset

= 1

Fine offset

$AC_MEAS_FRAME_SELECT *⁾

Calculated as additive frame unless otherwise specified.

$AC_MEAS_T_NUMBER *⁾

Calculated with active T unless otherwise specified (T0).

Extended Functions

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M5: Measurement

9.5 Workpiece and tool measurement

Input variable

Meaning

$AC_MEAS_D_NUMBER *⁾

Calculated with active D unless otherwise specified (D0).

$AC_MEAS_TYPE

= 1

Measurement type 1: Measurement of an X edge

^*) Optional

The following output variables are written for measurement type 1:

Output variable

Meaning

$AC_MEAS_FRAME

Result frame with translation

$AC_MEAS_RESULTS[0]

Position of the measured edge

Measurement type 2: Measurement of a Y edge

;

Figure 9-2

Measurement of a Y edge

The values of the following system variables are evaluated for measurement type 2:

Input variable

Meaning

$AC_MEAS_VALID

Validity bits for the input variables

$AA_MEAS_POINT1[<Axis>]

Measuring point 1 for all channel axes

$AA_MEAS_SETPOINT[<Axis>] *⁾

Set position of the Y edge

$AC_MEAS_DIR_APPROACH

= 2

+ Y

= 3

- Y

$AC_MEAS_ACT_PLANE *⁾

Calculation with active plane unless otherwise specified.

Tool radius is only included in the calculation in G17 and G19.

$AC_MEAS_FINE_TRANS *⁾

= 0

Coarse offset

= 1

Fine offset

$AC_MEAS_FRAME_SELECT *⁾

Calculated as additive frame unless otherwise specified.

$AC_MEAS_T_NUMBER *⁾

Calculated with active T unless otherwise specified (T0).

$AC_MEAS_D_NUMBER *⁾

Calculated with active D unless otherwise specified (D0).

$AC_MEAS_TYPE

= 2

Measurement type 2: Measurement of a Y edge

^*) Optional

Extended Functions

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SINUMERIK 840D sl. Service - Functions. Manual (2018-2020) - page 38