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SINUMERIK 840D sl. Service - Functions. Manual (2018-2020) - page 41

P2: Positioning axes

12.4 Positioning axis dynamic response

Rapid traverse override

Rapid traverse override applies only to path axes. Positioning axes have no rapid traverse

interpolation (only axial linear interpolation G01) and therefore no rapid traverse override.

Revolutional feedrate

In JOG mode the behavior of the axis/spindle also depends on the setting of SD41100

JOG_REV_IS_ACTIVE (revolutional feedrate when JOG active).

● If this setting data is active, an axis/spindle is always moved with revolutional feedrate

MD32050 $MA_JOG_REV_VELO (revolutional feedrate with JOG) or MD32040

$MA_JOG_REV_VELO_RAPID (revolutional feedrate with JOG with rapid traverse overlay)

as a function of the master spindle.

● If the setting data is not active, the behavior of the axis/spindle depends on SD43300

$SA_ASSIG_FEED_PER_REV_SOURCE (revolutional feedrate for positioning axes/

spindles)

● If the setting data is not active, the behavior of a geometry axis on which a frame with

rotation is effective depends on the channel-specific setting data SD42600

$SC_JOG_FEED_PER_REV_SOURCE. (In the operating mode JOG, revolutional feedrate

for geometry axes on which a frame with rotation is effective.)

Maximum axial acceleration

With positioning axis motions, one of the two following maximum values is effective depending

on the set positioning axis dynamic response mode:

● MD32300 $MA_MAX_AX_ACCEL [0] (maximum axial acceleration for path motions in the

dynamic response mode DYNNORM)

● MD32300 $MA_MAX_AX_ACCEL [1] (maximum axial acceleration for path motions in the

dynamic response mode DYNPOS)

The positioning axis dynamic response mode is set in the NC-specific machine data:

MD18960 $MN_POS_DYN_MODE = <mode>

<mode>

Meaning

0

Effective maximum axial acceleration: MD32300 $MA_MAX_AX_ACCEL[ 0 ]

1

Effective maximum axial acceleration: MD32300 $MA_MAX_AX_ACCEL[ 1 ]

Maximum axial jerk

When traversing positioning axes with active jerk limitation, the value from one of the following

machine data takes effect as maximum axial jerk:

● MD32430 $MA_JOG_AND_POS_MAX_JERK (maximum axial jerk for positioning axis

motions)

● MD32431 $MA_MAX_AX_JERK [0] (maximum axial jerk for path motions in the dynamic

response mode DYNNORM)

● MD32431 $MA_MAX_AX_JERK [1] (maximum axial jerk for path motions in the dynamic

response mode DYNPOS)

Extended Functions

698

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P2: Positioning axes

12.5 Programming

The machine data to be used is determined by the set positioning axis dynamic response mode:

MD18960 $MN_POS_DYN_MODE = <mode>

<mode>

Meaning

The following is effective as maximum axial jerk for positioning axis motions:

0

MD32430 $MA_JOG_AND_POS_MAX_JERK

With active G75 (fixed-point approach): MD32431 $MA_MAX_AX_JERK[0]

1

MD32431 $MA_MAX_AX_JERK[1]

12.5

Programming

12.5.1

General

Note

For the programming of position axes, please observe the following documentation:

References:

Programming Manual Basics; Section: "feed rate control" and "spindle motion"

Note

The maximum number of positioning axes that can be programmed in a block is limited to the

maximum number of available channel axes.

Definition

Positioning axes are defined using the following parameters:

● Axis type: Positioning axis type 1, type 2 or type 3

● End point coordinates (in absolute dimensions or in incremental dimensions)

● Feedrate for linear axes in [mm/min], for rotary axes in [degrees/min]

Example: Positioning axis type 1

Program code

Comment

POS[Q1]=200 FA[Q1]=1000

; Axis Q1 with feedrate 1000mm/min at Position 200.

Example: Positioning axis type 2

Program code

Comment

POSA[Q2]=300 FA[Q2]=1500

; Axis Q2 with feedrate 1,500mm/min at Position 300.

Extended Functions

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699

P2: Positioning axes

12.6 Block change

SD43300 $SA_ASSIGN_FEED_PER_REV_SOURCE(revolutional feed rate for position axes/

spindles)

SD42600 JOG_FEED_PER_REV_SOURCE (control of revolutional feed rate in JOG)

The following settings are possible:

Value

Description

0

No revolutional feed rate selected

>0

The revolutional feed rate is derived from the round axis/spindle with the machine axis index

specified here.

-1

The revolutional feed rate is derived from the master spindle of the channel in which the

axis/spindle is active.

-2

The revolutional feed rate is derived from the rotary axis/spindle with the machine axis index

0.

-3

The revolutional feed rate is derived from the master spindle of the channel in which the

axis/spindle is active. No revolutional feed rate is selected if the master spindle is at a

standstill.

12.6

Block change

Since path and positioning axes are interpolated separately, they reach their programmed end

positions at different instants in time. If path and positioning axes are programmed in a block

together, then the block change behavior depends on the programmable type of positioning

axes.

Type 1: Block-related positioning axis

Properties:

● The block change is performed as soon as all path and positioning axes have reached

their respective programmed end-of-motion criterion:

- Path axes: G601, G602, G603

- Positioning axes: FINEA, COARSA, IPOENDA

● Programming the positioning axis: POS[<axis>]

Extended Functions

702

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P2: Positioning axes

12.6 Block change

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Figure 12-1

Block change for path axis and positioning axis type 1

Note

Continuous path mode

Continuous path mode across block limits (G64) is only possible if the positioning axes reach

their end-of-motion criterion before the path axes (in the diagram above, this is not the case).

Type 2: Modal positioning axis (across blocks)

Properties:

● The block change is performed as soon as all path axes have reached their programmed

end-of-motion criterion (G601, G602, G603)

● Programming the positioning axis: POSA[<axis>]

● The positioning axis traverses beyond the block limits to its programmed end position. It is

not permissible that the positioning axis is programmed again before reaching its end-of-

motion criterion.

Extended Functions

Function Manual, 12/2018, A5E40874029B AB

703

P2: Positioning axes

12.6 Block change

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Figure 12-2

Block change for path axis and positioning axis type 2

12.6.1

Settable block change time

Type 3: Conditional block-related positioning axis

Properties:

● The block change is performed as soon as all path and positioning axes have reached

their respective programmed end-of-motion criterion:

- Path axes: G601, G602, G603

- Positioning axes: IPOBRKA

● Programming the positioning axis:

- N(x) IPOBRK(<axis>[,<instant in time>]) ;own block

- N(x+1) POS[<axis>]

Extended Functions

704

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P2: Positioning axes

12.6 Block change

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Figure 12-3

Block change for path axis and positioning axis type 3

Block change criterion: "Braking ramp" (IPOBRKA)

If, when activating the block change criterion "brake ramp", a value is programmed for the

optional parameter <instant in time>, then this becomes effective for the next positioning

motion and is written into the setting data synchronized to the main run. If no value is specified

for the block change instant in time, then the actual value of the setting data is effective.

SD43600 $SA_IPOBRAKE_BLOCK_EXCHANGE

The time at which the block change can be realized is specified as a percentage of the braking

ramp:

●

100% = start of the braking ramp

●

0% = end of the braking ramp, the same significance as block change criterion IPOENDA

Programming

IPOBRKA(<axis>[,<instant in time>])

IPOBRKA:

Block change criterion: Deceleration ramp

Effective:

Modal

<axis>:

Channel axis name (X, Y,

)

Extended Functions

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705

P2: Positioning axes

12.6 Block change

References: Parameter Manual, Book 2

Note

Information about other programmable end-of-motion criteria FINEA, COARESA, IPOENDA

can be found in:

References: Function Manual, Basic Functions

● Spindles (S1), Section "Spindle modes"

● Feedrates (V1), Programmable dynamic response of single axis section

Supplementary conditions

Premature block change

A premature block change is not possible in the following cases:

● Oscillating axis

During oscillation with partial infeed, the block-specific oscillation motion must remain active

until the axis with partial infeed has reached its final position.

● Handwheel

For handwheel input, the last set end-of-motion criterion applies.

Changing the axis state

The axis for which a block change occurred within the braking ramp can only be programmed

in the following block in the same axis state.

When the axis state changes, e.g. to POSfollowed by SPOS, the last programmed end-of-motion

criterion FINEA, COARSEA, IPOENDA is active. This also applies in the following cases:

● a positioning axis becomes a path axis

● if the program waits for the end of the positioning movement: WAITP, M30, end of the

technology cycle, preprocessing stop

● Velocity override is deactivated or activated

Note

For further information about programming positioning axes, see:

References:

Programming Manual, Fundamentals, Section "Feedrate control and spindle motion"

Programming Manual, Advanced, Section "Special motion commands"

Examples

Block change criteria "braking ramp" in the part program

Program code

Comment

; Default setting is effective.

Extended Functions

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707

P2: Positioning axes

12.6 Block change

Program code

Comment

N10 POS[X]=100

; Positioning motion from X to position 100.

; Block change criterion: "Exact stop fine"

N20 IPOBRKA(X,100)

; Block change criterion: "Braking ramp", 100% = start of the

braking ramp.

N30 POS[X]=200

; The block is changed as soon as the X axis starts to brake.

N40 POS[X]=250

; Axis X does not brake at position 200, but moves further to

position 250. As soon as the axis starts to brake, the

block is changed.

N50 POS[X]=0

; Axis X brakes and returns to position 0,

the block change is realized at position 0 and "exact stop

fine".

N60 X10 F100

; Axis X traverses as path axis to position 10.

N70 M30

Block change criterion "braking ramp" in synchronized action

In the technology cycle:

Program code

Comment

FINEA

; End-of-motion criterion: "Exact stop fine"

N10 POS[X]=100

; The technology cycle block change is realized if the X axis

has reached position 100 and "exact stop fine" is reached.

N20 IPOBRKA(X,100)

; Block change criterion, activate "braking ramp",

100% = start of the braking ramp.

N30 POS[X]=200

; The technology cycle block is changed as soon as the X axis

starts to brake.

N40 POS[X]=250

; Axis X does not brake at position 200, but moves further to

position 250. As soon as the axis starts to brake, the

block change is realized in the technology cycle.

N50 POS[X]=0

; Axis X brakes and returns to position 0,

the block change is realized at position 0 and "exact stop

fine".

N60 M17

Block change criterion "braking ramp" and "tolerance window" in the part program

Program code

Comment

; Default setting is effective.

N10 POS[X]=100

; Positioning motion from X to position 100.

; Block change criterion: "Exact stop fine"

N20 IPOBRKA(X,100)

; Block change criterion: "Braking ramp", 100% = start of the

braking ramp.

N21 ADISPOSA(X,1,0.5)

; Tolerance window: 1 = setpoint position, tolerance = 0.5

N30 POS[X]=200

; The block is changed as soon as the X axis starts to brake.

N40 POS[X]=250

; Axis X does not brake at position 200, but moves further to

position 250. As soon as the axis starts to brake, the

block is changed.

Extended Functions

708

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P2: Positioning axes

12.7 Control by the PLC

● Cancel or set controller enable for the machine axis

● Relinquish control of machine axis to NC

Examples of NC responses

PLC actions as response of the NC are listed in the table below.

PLC actions

NC response

Machine axis AX1 is the channel axis in channel

1, start as PLC axis using FC18

Initiate NC stop axes and spindles

AX1 is stopped.

DB21, ... DBX7.4 = 1 (NC stop axes plus spindle)

DB21, ... DBX7.1 = 1 initiate (NC start)

AX1 continues to traverse.

The PLC wants to control AX1,

Checking AX1 is relinquished to the PLC. DB31, ...

DBX63.1 = 1 (PLC controls the axis)

DB31, ... DBX28.7 = 1 (PLC controls axis)

Initiate NC stop for axes and spindles

AX1 is not stopped.

DB21, ... DBX7.4 = 1 ("NC stop axes plus spindle")

Initiate axial stop

AX1 is stopped

DB31, ... DBX63.2 ==1 (axis stop active)

DB31, ... DBX28.6 = 1 (stop along braking ramp)

Initiate axial continuation

AX1 traverses further

DB31, ... DBX63.2 == 0 (axis stop active)

DB31, ... DBX28.2 = 1 (continue)

Initiate NC RESET

No effect on AX1

DB21, ... DBX7.7 = 1 initiate (reset)

Initiate axial reset

AX1 is stopped and the traversing motion is inter-

rupted:

DB31, ... DBX28.1 = 1 (reset)

● DB31, ... DBX63.2 = 0 (axis stop active)

● Read-in axial machine data

● DB31, ... DBX63.0 = 1 (reset executed)

● DB31, ... DBX63.2 = 0 (axis stop active)

Start machine axis AX1 as PLC axis via FC 18

DB31, ... DBX63.0 = 0 (reset executed)

Withdraw controller enable for AX1:

Alarm 21612 "Axis %1 measuring system change"

is displayed

DB31, ... DBX2.1 = 0 (controller enable)

Initiate axial continuation

● Alarm 21612 "Axis %1 measuring system

DB31, ... DBX28.2 = 1 (continue)

change" is deleted

● DB21, ... DBX40.7 = 1(traversing command

plus)

● AX1 does not traverse due to a missing

controller enable signal.

Set controller enable for AX1

AX1 moves to the programmed end point.

DB31, ... DBX2.1 = 1 (controller enable)

Extended Functions

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P2: Positioning axes

12.7 Control by the PLC

PLC actions

NC response

Initiate axial reset

● Stop AX1

DB31, ... DBX28.1 = 1 (reset)

● Read-in axial machine data

● DB31, ... DBX63.0 = 0 (reset)

PLC relinquishes control of AX1 to the NC from

● NC accepts control of machine axis

DB31, ... DBX28.7 = 0 (PLC controls axis)

● DB31, ... DBX63.1 = 0 (PLC controls the axis)

● DB31, ... DBX63.0 = 0 (reset)

12.7.3

Control response of PLC-controlled axes

Response for a channel reset, activate machine data, block search and MD30460

Table 12-1

Control response to

PLC-controlled axis

Mode change and NC program control

work independently of axis.

Channel RESET

No axial machine data are effective and a travers-

ing movement is not aborted.

NEWCONF

No axial machine data are effective.

Block search Type 5 SERUPRO

are processed during SERUPRO to simulate the

normal procedure, e.g. PLC takes over or relin-

quishes control of this axis which is also traversing

via the PLC.

All block search variants

The PLC takes over control of the axis before the

of types 1, 2, 4 and 5

approach block and is responsible for positioning

this axis.

NC-controlled retraction activated with

has no effect and acts only on the specified PLC-

$AC_ESR_TRIGGER.

controlled axis.

machine data:

which is not controlled

MD30460 $MA_BASE_FUNKTION_MASK

exclusively by the PLC

Bit 4 = 0

cannot be changed directly with axis replacement

command GET (axis) or AXTOCHAN(axis, chan-

nel) to an axis controlled by the NC program, see

* Note on axis replacement.

Bit 4 = 1

cannot be requested for the NC program. GET or

AXTOCHAN from the NC program or a synchron-

ized action, or programming the axis in the NC

program, are rejected with alarm 26075.

MD30460 $MA_BASE_FUNKTION_MASK

For the PLC-controlled axis

Extended Functions

714

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P2: Positioning axes

12.8 Response with special functions

Control response to

PLC-controlled axis

Bit 6 = 1

channel-specific

IS DB 21, ... DBX6.0 ("feed disable") is not effec-

tive. This axis is not stopped when feed disable is

activated, but continues to move.

Bit 7 = 1

the axis is not taken into account when

IS DB 21, ... DBX36.3 ("all axes stationary") is

generated. This signal is output with 1 even if all

other axes in the channel are stationary and only

the PLC-controlled axis is active.

* Note on axis replacement

This replacement of a "neutral axis" by an "NC program axis" does not take place until the PLC

has really relinquished control of the axis in accordance with use case "Relinquish control of

axis". Waiting for this axis interchange is displayed on the HMI operator panel front.

12.8

Response with special functions

12.8.1

Dry run (DRY RUN)

The dry run feedrate is also effective for positioning axes unless the programmed feedrate is

larger than the dry run feedrate.

Activation of the dry run feed entered in SD42100 $SA_DRY_RUN_FEED can be controlled

with SD42101 $SA_DRY_RUN_FEED_MODE. See

References:

Function Manual, Basic Functions; Feedrates (V1)

12.8.2

Single block

Positioning axis type 1

Single-block mode is effective with positioning axes of type 1.

Positioning axis type 2

Positioning axes of type 2 also continue across block limits in single block mode.

Positioning axis type 3

Positioning axes of type 3 also continue across block limits in single block mode.

Extended Functions

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715

P2: Positioning axes

12.9 Examples

12.9

Examples

12.9.1

Motion behavior and interpolation functions

In the following example, the two positioning axes Q1 and Q2 represent two separate units of

movement. There is no interpolation relationship between the two axes. In the example, the

positioning axes are programmed as type 1 (e.g. in N20) and type 2 (e.g. in N40).

Program example

Program code

N10 G90 G01 G40 T0 D0 M3 S1000

N20 X100 F1000 POS[Q1]=200 POS[Q2]=50 FA[Q1]=500

FA[Q2]=2000

N30 POS[Q2]=80

N40 X200 POSA[Q1] = 300 POSA[Q2]=200] FA[Q1]=1500

N45 WAITP[Q2]

N50 X300 POSA[Q2]=300

N55 WAITP[Q1]

N60 POS[Q1]=350

N70 X400

N75 WAITP[Q1, Q2]

N80 G91 X100 POS[Q1]=150 POS[Q2]=80

N90 M30

;

4

4

1

1

1

1

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1

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Figure 12-4

Timing of path axes and positioning axes

Extended Functions

716

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P2: Positioning axes

12.10 Data lists

12.10

Data lists

12.10.1

Machine data

12.10.1.1

NC-specific machine data

Number

Identifier: $MN_

Description

18960

POS_DYN_MODE

Type of positioning axis dynamic response

12.10.1.2

Channelspecific machine data

Number

Identifier: $MC_

Description

20730

G0_LINEAR_MODE

Interpolation behavior with G0

20732

EXTERN_G0_LINEAR_MODE

Interpolation behavior with G00

22240

AUXFU_F_SYNC_TYPE

Output timing of F functions

12.10.1.3

Axis/spindlespecific machine data

Number

Identifier: $MA_

Description

30450

IS_CONCURRENT_POS_AX

Concurrent positioning axis

30460

BASE_FUNCTION_MASK

Axis functions

32060

POS_AX_VELO

Feedrate for positioning axis

32300

MAX_AX_ACCEL

Maximum axis acceleration

32430

JOG_AND_POS_MAX_JERK

Maximum axial jerk for positioning axis movements

32431

MAX_AX_JERK

Maximum axial jerk for path movements

37510

AX_ESR_DELAY_TIME1

Delay time for ESR single axis

37511

AX_ESR_DELAY_TIME2

ESR time for interpolatory braking of single axis

12.10.2

Setting data

12.10.2.1

Axis/spindle-specific setting data

Number

Identifier: $SA_

Description

43600

IPOBRAKE_BLOCK_EXCHANGE

Braking ramp block change condition

43610

ADISPOSA_VALUE

Braking ramp tolerance window

Extended Functions

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717

P2: Positioning axes

12.10 Data lists

12.10.3

Signals

12.10.3.1

Signals to channel

Signal name

SINUMERIK 840D sl

SINUMERIK 828D

feed disable

DB21,

DBX6.0

DB320x.DBX6.0

NC Start

DB21,

DBX7.1

DB320x.DBX7.1

NC stop axes plus spindle

DB21,

DBX7.4

DB320x.DBX7.4

Reset

DB21,

DBX7.7

DB320x.DBX7.7

12.10.3.2

Signals from channel

Signal name

SINUMERIK 840D sl

SINUMERIK 828D

All axes stationary

DB21,

DBX36.3

DB330x.DBX4.3

Travel command minus

DB21,

DBX40.6

DB330x.DBX1000.6

Travel command plus

DB21,

DBX40.7

DB330x.DBX1000.7

12.10.3.3

Signals to axis/spindle

Signal name

SINUMERIK 840D sl

SINUMERIK 828D

Feedrate override, axis-specific

DB31,

DBB0

DB380x.DBB0

Controller enable

DB31,

DBX2.1

DB380x.DBX2.1

Delete distance-to-go spindle reset for specific axes

DB31,

DBX2.2

DB380x.DBX2.2

Reset

DB31,

DBX28.1

DB380x.DBX5004.1

Continue

DB31,

DBX28.2

DB380x.DBX5004.2

Stop along braking ramp

DB31,

DBX28.6

DB380x.DBX5004.6

PLC-controlled axis

DB31,

DBX28.7

DB380x.DBX5004.7

12.10.3.4

Signals from axis/spindle

Signal name

SINUMERIK 840D sl

SINUMERIK 828D

Exact stop coarse

DB31,

DBX60.6

DB390x.DBX0.6

Exact stop fine

DB31,

DBX60.7

DB390x.DBX0.7

Axial alarm

DB31,

DBX61.1

DB390x.DBX1.1

Axis ready (AX_IS_READY)

DB31,

DBX61.2

DB390x.DBX1.2

Axis container rotation active

DB31,

DBX62.7

-

Reset executed

DB31,

DBX63.0

DB390x.DBX3.0

PLC-controlled axis

DB31,

DBX63.1

DB390x.DBX3.1

Axis stop active

DB31,

DBX63.2

DB390x.DBX3.2

Extended Functions

718

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P2: Positioning axes

12.10 Data lists

Signal name

SINUMERIK 840D sl

SINUMERIK 828D

Axis/spindle inhibit active

DB31,

DBX63.3

DB390x.DBX3.3

Travel command minus

DB31,

DBX64.6

DB390x.DBX4.6

Travel command plus

DB31,

DBX64.7

DB390x.DBX4.7

Positioning axis

DB31,

DBX76.5

DB390x.DBX1002.5

F function (feedrate) for positioning axis

DB31,

DBB78-81

-

Emergency retraction active

DB31,

DBX98.7

DB390x.DBX5002.7

Extended Functions

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719

P5: Oscillation

13.2 Asynchronous oscillation

Reversal feed

The reversal feed can also be used for oscillation axes.

Reversal points

The positions of the reversal points can be entered via setting data before an oscillation

movement is started or while one is in progress.

● The reversal point positions can be entered by means of manual travel (handwheel, JOG

keys) before or in the course of an oscillation movement, regardless of whether the

oscillation movement has been interrupted or not.

The following applies to alteration of a reversal point position: When an oscillation movement

is already in progress, the altered position of a reversal point does not become effective until

this point is approached again. If the axis is already approaching the position, the correction

will take effect in the next oscillation stroke.

Note

If a reversal point must be altered at the same time as NC/PLC interface signal DB21, …

DBX0.3 ("Activate DRF") is set, the handwheel signals are applied both to the DRF offset and

to the offset of the reversal point, i.e. the reversal point is shifted absolutely by an amount

corresponding to twice the distance.

Stop times

A stop time can be programmed via setting data for every reversal point.

The setting can be changed in the following blocks of the NC program. It is then effectively

block synchronous from the next reversal point.

Stop time can be changed asynchronously via setting data. It is then effective from the instant

that the appropriate reversal point is next traversed.

The following table explains the motional behavior in the exact stop range or at the reversal

point, depending on the stop time input.

Table 13-1

Effect of stop time

Stop time setting

Response

-2

Interpolation continues without wait for exact stop

-1

Wait for coarse exact stop at reversal point

0

Wait for fine exact stop at reversal point

>0

Wait for fine exact stop at reversal point, followed by wait for stop time.

Extended Functions

724

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P5: Oscillation

13.2 Asynchronous oscillation

Deactivate oscillation

One of the following options can be set for termination of the oscillation movement when

oscillation mode is deactivated:

● Termination of oscillation movement at the next reversal point

● Termination of oscillation movement at reversal point 1

● Termination of oscillation movement at reversal point 2

Following this termination process, sparking-out strokes are processed and an end position

approached if programmed.

On switchover from asynchronous oscillation to spark-out and during spark-out, the response

at the reversal point regarding exact stop corresponds to the response determined by the stop

time programmed for the appropriate reversal point. A sparking-out stroke is the motion to the

other reversal point and back (see the table below):

Note

Oscillation with motion-synchronous actions and stop times "OST1/OST2"

Once the set stop times have expired, the internal block change is executed during oscillation

(indicated by the new distances-to-go of the axes). The deactivation function is checked when

the block changes. The deactivation function is defined according to the control setting for the

motional sequence "OSCTRL".

This dynamic response can be influenced by the feed override.

An oscillation stroke may then be executed before the sparking-out strokes are started or the

end position approached.

Although it appears as if the deactivation response has changed, this is not in fact the case.

Table 13-2

Operational sequence for deactivation of oscillation

Function

Inputs

Explanation

Deactivation at defined reversal

Number of sparking-out strokes

The oscillation movement is

point

equals 0,

stopped at the appropriate rever-

no end position active

sal point

Deactivation with specific num-

Number of sparking-out strokes

After the appropriate reversal

ber of sparking-out strokes

is not equal to 0,

point is reached, the number of

no end position is active

sparking-out strokes specified in

the command are processed.

Deactivation with sparking-out

Number of sparking-out strokes

After the appropriate reversal

strokes and defined end position

is not equal 0

point is reached, the number of

(optional)

end position active

sparking-out strokes specified in

the command are processed, fol-

lowed by approach to specified

end position.

Deactivation without sparking-

Number of sparking-out strokes

After the appropriate reversal

out strokes, but with defined end

is equal 0

point is reached, the axis is trav-

position (optional)

end position active

ersed to the specified end posi-

tion.

Extended Functions

Function Manual, 12/2018, A5E40874029B AB

725

P5: Oscillation

13.2 Asynchronous oscillation

NC language

The NC programming language allows asynchronous oscillation to be controlled from the part

program. The following functions allow asynchronous oscillation to be activated and controlled

as a function of NC program execution.

Note

If the setting data is directly written in the part program, then the data change takes effect

prematurely with respect to processing of the part program (at the preprocessing time). It is

possible to re-synchronize the part program and the oscillation function commands by means

of a preprocessing stop (STOPRE).

References:

Programming Guide

1) Activate, deactivate oscillation:

● OS[oscillation axis] = 1; Activate oscillation for oscillation axis

● OS[oscillation axis] = 0; Deactivate oscillation for oscillation axis

Note

Every axis may be used as an oscillation axis.

2) End of oscillation:

● WAITP(oscillation axis)

Positioning axis command - stops block until oscillation axis is at fine stop and synchronizes

preprocessing and main run. The oscillation axis is entered as positioning axis again and

can then be used normally.

If an axis is to be used for oscillation, it must be released with a WAITP(axis) command

beforehand.

This also applies if oscillation is initiated from the PLC/HMI. In this case, the WAITP(axis)

call is also needed if the axis was programmed beforehand via the NC program. As of SW

version 3.2 it is possible to select via machine data $MA_AUTO_GET_TYPE, whether

WAITP() shall be performed with programming or automatically.

Note

WAITP effectively implements a time delay until the oscillation movement has been

executed. Termination of the movement can be initiated, for example, through a

programmed deactivation command in the NC program or via the PLC or HMI by means

of deletion of distance-to-go.

3) Setting reversal points:

● OSP1[oscillation axis] = position of reversal point 1

● OSP2[oscillation axis] = position of reversal point 2

A position is entered into the appropriate setting data in synchronism with the block in the main

run and thus remains effective until the setting data is next changed.

If incremental traversal is active, then the position is calculated incrementally to the last

appropriate reversal point programmed in the NC program.

Extended Functions

726

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P5: Oscillation

13.2 Asynchronous oscillation

4) Stopping times at reversal points:

● OST1[oscillation axis] = stop time at reversal point 1 in [s]

● OST2[oscillation axis] = stop time at reversal point 2 in [s]

A stop time is entered into the appropriate setting data in synchronism with the block in the

main run and thus remains effective until the setting data is next changed.

The unit for the stop time is identical to the unit selected for the stop time programmed with

G04.

5) Setting feedrate:

● FA[axis] = FValue

Positioning axis infeed.

The feedrate is transferred to the appropriate setting data in synchronism with the block in the

main run. If the oscillation axis is moved with reversal feed, the corresponding dependencies

must be indicated as described in Description of Functions V1.

6) Setting control settings for sequence of movements:

● OSCTRL[oscillating axis] = (set options, reset options)

The set options are defined as follows (the reset options deselect the settings):

Table 13-3

Set/reset options

Option value

Meaning

0

Stop at next reversal point on deactivation of the oscillation movement (default). Can

only be achieved by resetting option values 1 and 2.

1

Stop at reversal point 1 on deactivation of the oscillation movement

2

Stop at reversal point 2 on deactivation of the oscillation movement

3

On deactivation of oscillation movement, do not approach reversal point unless

sparking-out strokes are programmed

4

Approach an end position after spark-out process

8

If the oscillation movement is aborted by delete distance-to-go, the sparking-out

strokes must then be executed and the end position approached (if programmed)

16

If the oscillation movement is terminated by deletion of distance-to-go, the program-

med reversal point must be approached on deactivation of the oscillation movement.

32

Altered feedrate will only take effect from the next reversal point.

64

If feedrate setting is 0, path overlay is active, or otherwise velocity overlay

128

For rotary axis DC (shortest path)

256

Sparking-out stroke as single stroke

512

First approach start position

Note

The option values 0-3 encode the behavior at reversal points at Power OFF. You can choose

one of the alternatives 0-3. The other settings can be combined with the selected alternative

according to individual requirements. A + character can be inserted to create a string of options.

Extended Functions

Function Manual, 12/2018, A5E40874029B AB

727

P5: Oscillation

13.2 Asynchronous oscillation

Without PLC control

If the PLC does not have control over the axis, then the axis is treated like a normal positioning

axis (POSA) during asynchronous oscillation.

Delete distance-to-go

Channel-specific delete distance-to-go is ignored.

Axial delete distance-to-go

● Without PLC control: Stop via braking ramp

● With PLC control: No stop (must be initiated from the PLC)

The following applies to both cases: After the axis is stopped, if necessary, the appropriate

reversal point is approached and the distance-to-go deleted. The sparking-out strokes are then

executed and the end position approached. Provided this has been set in

OSCILL_CTRL_MASK.

The oscillation movement is then completed.

Note

During grinding, the calipers can be put into action via axial delete distance-to-go.

Emergency stop

The emergency stop completes the oscillation movement that must be restarted.

Reset

The oscillation movement is interrupted and deselected with a braking ramp. The options

selected subsequently are not processed (sparking-out strokes, end point approach).

Working area limitation, limit switches

If it is detected during preprocessing that the oscillation movement would violate an active

limitation, then an alarm is output and the oscillation movement not started.

If during an active oscillation movement the oscillation axis overtravels a limitation that has

been activated in the meantime (e.g. 2nd software limit switch), then the axis is decelerated

along a ramp and an alarm output.

CAUTION

Protection areas

No protection areas act for a oscillation movement.

Extended Functions

730

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P5: Oscillation

13.2 Asynchronous oscillation

Follow-up mode

There is no difference to positioning axes.

End of program

If the axis is not controlled by the PLC, then the program end is not reached until the oscillation

movement is terminated (reaction as for POSA:

Positioning across block boundaries).

If the axis is controlled by the PLC, then it continues to oscillate after program end.

Mode change

The following table shows the operating modes in which oscillation can be implemented.

Changeover to an operating mode which allows oscillation does not affect the oscillation

movement. Changeover to inadmissible operating modes is rejected with an alarm. It is not

possible to traverse an axis in oscillation mode while applying control commands from the NC

program or via operator inputs (JOG) simultaneously; an alarm is output if this is attempted.

The following applies: The type of movement first started has priority.

Table 13-4

Operating modes which allow oscillation

Operating mode

Allows oscillation

AUTO

Yes

MDA

Yes

MDA Repos

Yes

MDA Teachin

Yes

MDA Ref

No

JOG

Yes

JOG Ref

No

JOG Repos

Yes

Single-block processing

If the axis is not controlled by the PLC, then it responds to a single block in the same way as

a positioning axis (POSA), i.e. it continues the movement.

Override

The override is specified by the:

NC/PLC interface

Axial override acts on the oscillation axis.

Programming

The override acts on oscillation axes in the same way as on positioning axes.

Extended Functions

Function Manual, 12/2018, A5E40874029B AB

731

P5: Oscillation

13.3 Oscillation controlled by synchronized actions

5. Enable oscillation movement (see Section "Oscillation movement restarting (Page 739)").

6. Do not start partial infeed too early (see Section "Do not start partial infeed too early

(Page 740)").

[

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LL

LL

8

8

U1

Reversal point 1

U2

Reversal point 2

ii1

Reversal range 1

ii2

Reversal range 2

Figure 13-1

Arrangement oscillating axis, infeed axis

Programming

Before the motion block that contains the assignment between the infeed and the oscillating

axis (see Section "Assignment of oscillation and infeed axes OSCILL (Page 741)"), the infeed

definition (POSP) and the motion-synchronous actions, the parameters for the oscillation must

first be defined (see Section "Influences on asynchronous oscillation (Page 723)"):

Using a WAITP [oscillating axis] (see MD30552 $MA_AUTO_GET_TYPE), the axis for

oscillation is enabled. This means that the oscillating parameters are simultaneously

transferred into the setting data. The symbolic names, e.g. $SA_REVERSE_POS1 can then

be used to program the motion-synchronous actions.

Note

For motion-synchronous actions with $SA_REVERSE_POS values, the comparison values at

the time of interpretation are valid. If setting data is changed afterwards, this has no effect.

For motion-synchronous actions with $AA_REVERSE_POS values, the comparison values

within the interpolation are valid. This ensures a reaction to the modified reversal positions.

Extended Functions

Function Manual, 12/2018, A5E40874029B AB

733

P5: Oscillation

13.3 Oscillation controlled by synchronized actions

● Conditions for motion-synchronized actions (frequency WHEN / WHENEVER)

● Activation through motion block

- Assign oscillation axis and infeed axes to one another OSCILL

- Specify infeed response POSP

Note

By setting the axial override in the action component of the motion-synchronized action to zero

(DO $AA_OVR[<axis>]=0), then the oscillating/infeed axis can be stopped if the associated

condition (frequency WHEN / WHENEVER) is fulfilled.

An override of 100% automatically becomes active if the condition is no longer fulfilled.

Main run evaluation

It is possible to compare the synchronization conditions in the Interpolator clock cycle in the

main run with the current actual values ($$ variable on the right of comparison conditions).

With normal system variable comparison, the expressions are evaluated in the first run.

You can find a complete description of the synchronized actions in:

References

Function Manual, Synchronized Actions

Examples

Example 1: unchanged reversal positions

For motion-synchronized actions, the reversal positions $SA_OSCILL_REVERSE_POS are

used at the preprocessing level. If the corresponding setting data change, then the modified

values are not active in the program.

Program code

Comment

$SA_OSCILL_REVERSE_POS1[Z]=-10

; Preprocessing var.: reversal position 1

$SA_OSCILL_REVERSE_POS2[Z]=10

; Preprocessing var.: reversal position 2

G0 X0 Z0

WAITP(Z)

; Synchronized action 1: Reversal point 1 fallen below ≙

; Stop infeed axis with override 0%

; Preprocessing var. Reversal position 1 is used

ID=1 WHENEVER $AA_IM[Z] < $SA_OSCILL_REVERSE_POS1[Z] DO $AA_OVR[X]=0

; Synchronized action 2: Reversal point 2 exceeded ≙

; Stop infeed axis with override 0%

; Preprocessing var. reversal position 2 is used

ID=2 WHENEVER $AA_IM[Z] > $SA_OSCILL_REVERSE_POS2[Z] DO $AA_OVR[X]=0

OS[Z]=1 FA[X]=1000 POS[X]=40

; Activate oscillation

Extended Functions

734

Function Manual, 12/2018, A5E40874029B AB

P5: Oscillation

13.5 Examples

Program section

Program code

Comment

OSP1[Z]=-10

; Reversal point 1

OSP2[Z]=10

; Reversal point 2

OST1[Z]=-1

; Stop time at reversal point 1: Exact stop coarse

OST2[Z]=-2

; Stop time at reversal point 2: without exact stop

FA[Z]=5000

; Infeed for oscillating axis

OSNSC[Z]=3

; three spark-out strokes

OSE[Z]=-3

; End position

OS1 F500 X15

; start oscillation, infeed X axis

; with infeed 500, feed target 15

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Figure 13-2

Sequences of oscillation movements and infeed, example 1

13.5.2

Example 1 of oscillation with synchronized actions

Task

Direct infeed must take place at reversal point 1; the oscillation axis must wait until the partial

infeed has been executed before it can continue traversal. At reversal point 2, the infeed must

take place at a distance of -6 from reversal point 2; the oscillation axis must not wait at this

reversal point until partial infeed has been executed. Axis Z is the oscillation axis and axis X

is the infeed axis (see Section "Oscillation controlled by synchronized actions (Page 732)).

Note

The setting data OSCILL_REVERSE_POS_1/2 are values in the machine coordinate system;

therefore comparison is only suitable with $AA_IM[n].

Extended Functions

744

Function Manual, 12/2018, A5E40874029B AB

P5: Oscillation

13.5 Examples

= D[LV

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Figure 13-3

Sequences of oscillation movements and infeed, example 1

13.5.3

Example 2 of oscillation with synchronized actions

Task

No infeed must take place at reversal point 1. At reversal point 2, the infeed must take place

at distance ii2 from reversal point 2; the oscillation axis must wait at this reversal point until

partial infeed has been executed. Axis Z is the oscillation axis and axis X the infeed axis.

Program section

Example 2: Oscillation with synchronized actions

Program code

Comment

DEF INT ii2

; Define variable for reversal area 2

;

OSP1[Z]=10 OSP2[Z]=60 ; explain reversal points 1 and 2

OST1[Z]=0 OST2[Z]=0

; Reversal point 1: Exact stop fine

;

Reversal point 2: Exact stop fine

FA[Z]=5000 FA[X]=100

; Feed for oscillating axis, feed for infeed axis

OSCTRL[Z]=(2+8+16,1)

; Switch off oscillation motion at reversal point 2

;

After delete distance-to-go, spark-out and end position

;

Approach appropriately after delete distance-to-go

;

Approach reversal position

OSNSC[Z]=3

; 3 sparking-out strokes

OSE[Z]=70

; End position = 70

ii2=2

; Set reversal point range

WAITP(Z)

; permit oscillation for Z axis

;

Extended Functions

Function Manual, 12/2018, A5E40874029B AB

747

P5: Oscillation

13.5 Examples

= D[LV

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Figure 13-4

Sequences of oscillation movements and infeed, example 2

13.5.4

Examples for starting position

13.5.4.1

Define starting position via language command

Program code

Comment

WAITP(Z)

; enable oscillation for the Z axis

OSP1[Z]=10 OSP2[Z]=60

; explain reversal points 1 and 2

OST1[Z]=-2 OST2[Z]=0

; Reversal point 1: without exact stop

; Reversal point 2: Exact stop fine

FA[Z]=5000 FA[X]=2000

; Infeed for oscillating axis,

; feedrate for infeed axis

OSCTRL[Z]=(1+8+16,0)

; Switch off oscillation motion at reversal point 1

; after delete DTG spark-out and approach end position,

; After DTG, approach relevant reversal position

;

OSNSC[Z]=3

; 3 sparking-out strokes

OSE[Z]=0

; End position = 0

OSB[Z]=0

; Start position = 0

OS[Z]=1 X15 F500

; Start oscillation, continuous infeed

OS[Z]=0

; Deactivate oscillation

WAITP(Z)

; wait for completion of the oscillation motion

M30

Extended Functions

Function Manual, 12/2018, A5E40874029B AB

749

P5: Oscillation

13.6 Data lists

13.5.5

Example of external oscillation reversal

13.5.5.1

Change reversal position via synchronized action with "external oscillation reversal"

Program code

Comment

DEFINE BREAKPZ AS $AA_OSCILL_BREAK_POS1[Z]

DEFINE REVPZ AS $SA_OSCILL_REVERSE_POS1[Z]

WAITP(Z)

; enable oscillation for the Z axis

OSP1[Z]=10 OSP2[Z]=60

; explain reversal points 1 and 2

OSE[Z]=0

; End position = 0

OSB[Z]=0

; Start position = 0

; At external reversal of oscillation for

; oscillation reversal point 1, adapt this

WHENEVER BREAKPZ <> REVPZ DO $$SA_OSCILL_REVERSE_POS1 = BREAKPZ

OS[Z]=1 X150 F500

; Start oscillation, continuous infeed

OS[Z]=0

; Deactivate oscillation

WAITP(Z)

; wait for completion of the oscillation motion

M30

13.6

Data lists

13.6.1

Machine data

13.6.1.1

General machine data

Number

Identifier: $MN_

Description

10710

PROG_SD_RESET_SAVE_TAB

Oscillations to be saved from SD

11460

OSCILL_MODE_MASK

Control screen form for asynchronous oscillation

Extended Functions

Function Manual, 12/2018, A5E40874029B AB

753

P5: Oscillation

13.6 Data lists

13.6.2

Setting data

13.6.2.1

Axis/spindle-specific setting data

Number

Identifier: $SA_

Description

43700

OSCILL_REVERSE_POS1

Position at reversal point 1

43710

OSCILL_REVERSE_POS2

Position at reversal point 2

43720

OSCILL_DWELL_TIME1

Stop time at reversal point 1

43730

OSCILL_DWELL_TIME2

Stop time at reversal point 2

43740

OSCILL_VELO

Feed velocity of oscillation axis

43750

OSCILL_NUM_SPARK_CYCLES

Number of sparking-out strokes

43760

OSCILL_END_POS

Position after sparking-out strokes/at end of oscillation move-

ment

43770

OSCILL_CTRL_MASK

Control screen form for oscillation

43780

OSCILL_IS_ACTIVE

Oscillation movement ON/OFF

43790

OSCILL_START_POS

Position that is approached after oscillation before reversal

point 1, if activated in SD43770:

13.6.3

Signals

13.6.3.1

Signals to axis/spindle

Signal name

SINUMERIK 840D sl

SINUMERIK 828D

External oscillation reversal

DB31,

DBX28.0

DB380x.DBX5004.0

Set reversal point

DB31,

DBX28.3

DB380x.DBX5004.3

Alter reversal point

DB31,

DBX28.4

DB380x.DBX5004.4

Stop at next reversal point

DB31,

DBX28.5

DB380x.DBX5004.5

Stop along braking ramp

DB31,

DBX28.6

DB380x.DBX5004.6

PLC-controlled axis

DB31,

DBX28.7

DB380x.DBX5004.7

13.6.3.2

Signals from axis/spindle

Signal name

SINUMERIK 840D sl

SINUMERIK 828D

Oscillation reversal is active

DB31,

DBX100.2

DB390x.DBX5004.2

Oscillation cannot start

DB31,

DBX100.3

DB390x.DBX5004.3

Error during oscillation movement

DB31,

DBX100.4

DB390x.DBX5004.4

Sparking-out active

DB31,

DBX100.5

DB390x.DBX5004.5

Oscillation movement active

DB31,

DBX100.6

DB390x.DBX5004.6

Oscillation active

DB31,

DBX100.7

DB390x.DBX5004.7

Extended Functions

754

Function Manual, 12/2018, A5E40874029B AB

P5: Oscillation

13.6 Data lists

13.6.4

System variables

13.6.4.1

Main run variables for motion-synchronous actions

Main run variable_read

The following variables are provided for main run variable_read:

$A_IN[<arith. expression>]

digital input (Boolean)

$A_OUT[<arith. expression>]

digital output (Boolean)

$A_INA[<arith. expression>]

analog input (Boolean)

$A_OUTA[<arith. expression>]

analog output (Boolean)

$A_INCO[<arith. expression>]

comparator inputs (Boolean)

$AA_IW[<axial expression>]

actual position PCS axis (real)

$AA_IB[<axial expression>]

actual position BCS axis (real)

$AA_IM[<axial expression>]

Actual position MCS axis (IPO setpoints) (real)

With $AA_IM[S1] setpoints for spindles can be eval-

uated. Modulo calculation is used for spindles and

rotary axes, depending on machine data

$MA_ROT_IS_MODULO and $MA_DIS-

PLAY_IS_MODULO.

$AA_OSCILL_BREAK_POS1

Breaking position after external oscillation reversal

when approaching reversal point 1

$AA_OSCILL_BREAK_POS2

Breaking position after external oscillation reversal

when approaching reversal point 2

$AC_TIME

Time from the start of the block (real) in seconds

(including the times for the internally generated in-

termediate blocks)

$AC_TIMES

Time from the start of the block (real) in seconds

(without times for the internally generated intermedi-

ate blocks)

$AC_TIMEC

Time from the start of the block (real) in IPO steps

(including steps for the internally generated inter-

mediate blocks)

$AC_TIMESC

Time from the start of the block (real) in IPO steps

(without steps for the internally generated intermedi-

ate blocks)

$AC_DTBB

Distance from beginning of block in BCS

(Distance to begin, baseCoor) (real)

$AC_DTBW

Distance from beginning of block in PCS

(Distance to begin, workpieceCoor) (real)

$AA_DTBB[<axial expression>]

axial distance from beginning of block in BCS

(Distance to begin, baseCoor) (real)

$AA_DTBW[<axial expression>]

axial distance from beginning of block in PCS

(Distance to begin, workpieceCoor) (real)

$AC_DTEB

Distance to end of block in BCS (Distance to end)

(Distance to end, baseCoor) (real)

Extended Functions

Function Manual, 12/2018, A5E40874029B AB

755

P5: Oscillation

13.6 Data lists

$AC_DTEW

Distance to end of block in PCS

(Distance to end, workpieceCoor) (real)

$AA_DTEB[<axial expression>]

axial distance to end of movement in BCS

(Distance to end, baseCoor) (real)

$AA_DTEW[<axial expression>]

axial distance to end of movement in PCS

(Distance to end, workpieceCoor) (real)

$AC_PLTBB

Distance from beginning of block in BCS

(Path Length from begin, baseCoor) (real)

$AC_PLTEB

Distance to end of block in BCS (Distance to end)

(Path Length to end, baseCoor) (real)

$AC_VACTB

Path speed in BCS

(Velocity actual, baseCoor) (real)

$AC_VACTW

Path speed in PCS

(Velocity actual, workPieceCoor) (real)

$AA_VACTB[<axial expression>]

Axis velocity in BCS

(Velocity actual, baseCoor) (real)

$AA_VACTW[<axial expression>]

Axis velocity in PCS

(Velocity actual, workPieceCoor) (real)

$AA_DTEPB[<axial expression>]

axial distance-to-go for oscillation infeed in BCS

(Distance to end, pendulum, baseCoor) (real)

$AA_DTEPW[<axial expression>]

axial distance-to-go for oscillation infeed in PCS

(Distance to end, pendulum, workpieceCoor) (real)

$AC_DTEPB

Path distance-to-go for oscillation infeed in BCS

(not P2) (Distance to end, pendulum, baseCoor) (re-

al)

$AC_DTEPW

Path distance-to-go for oscillation infeed in PCS

(not P2) (Distance to end, pendulum, workpiece-

Coor) (real)

$AC_PATHN

(Path parameter normalized) (real)

Normalized path parameter: 0 for beginning of block

to 1 for end of block

$AA_LOAD[<axial expression>]

Drive utilization

$AA_POWER[<axial expression>]

Drive efficiency in W

$AA_TORQUE[<axial expression>]

Drive torque setpoint in Nm

$AA_CURR[<axial expression>]

Actual current value of axis

$AC_MARKER[<arithmetic_expression>] (int)

Flag variables: can be used to build complex condi-

tions in synchronous actions:

8 Markers (Index 0 - 7) are available.

Reset sets the markers to 0.

Example:

WHEN

DO $AC_MARKER[0]=2

WHEN

DO $AC_MARKER[0]=3

WHEN $AC_MARKER[0]==3 DO $AC_OVR=50

Can be read and written independently of synchro-

nous actions in the parts program:

IF $AC_MARKER == 4 GOTOF SPRUNG

$AC_PARAM[<arithmetic_expression>] (real)

Floating-decimal parameter for synchronous ac-

tions. Serves as intermediate saving and evaluation

in synchronous actions.

50 Parameters (Index 0 - 49) are available.

Extended Functions

756

Function Manual, 12/2018, A5E40874029B AB

R2: Rotary axes

14.1 Brief description

● Assignment: A rotates about X, B rotates about Y and C rotates about Z

● Direction of rotation: The positive rotary-axis direction of a rotation corresponds to a

clockwise rotation when looking in the positive axis direction of the corresponding linear

axis.

<

%

;

=

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$

=

;

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Figure 14-1

Axis identifiers and directions of movement for rotary axes

Units of measurement

The following units of measurement apply as standard to inputs and outputs for rotary axes:

Units of measurement for rotary axes

Physical quantity

Unit

Angular position

Degrees

Programmed angular velocity

Degrees/min

Angular velocity

¹⁾ rev/min

Angular acceleration

¹⁾ rev/sec²

Angular jerk limit

¹⁾ rev/sec³

1) Unit of the axis-specific machine data for rotary axes.

References:

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

Control (G2)

Feedrate

The programmed feedrate F corresponds to an angular velocity (degrees/min) in the case of

rotary axes.

If rotary axes and linear axes traverse a common path with G94 or G95, the feedrate should

be interpreted in the linear-axis unit of measurement (e.g., mm/min, inch/min).

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R2: Rotary axes

14.2 Modulo 360 degrees

The tangential velocity of the rotary axis refers to diameter D

unit

(unit diameter D_unit=360/π). In

the case of unit diameter D=D_unit, the programmed angular velocity in degrees/min and the

tangential velocity in mm/min (or inch/min) are numerically identical.

In general, the following applies for tangential velocity:

F = F_angle * D/D_unit

F

= Tangential velocity [mm/min]

F_angle

= Angular velocity [degrees/min]

D

= Diameter acted on by F [mm]

With D_unit = 360/π

D_E

= Unit diameter [mm]

π

= Circle constant Pi

JOG mode: Revolutional feedrate

In the JOG mode, the response of the rotary axis spindle also depends on the setting data:

SD41100 $SN_JOG_REV_IS_ACTIVE (revolutional feed rate for JOG active)

14.2

Modulo 360 degrees

A 360° modulo rotary axis is a rotary axis whose position is mapped to the range from 0° to

359.999°. As a consequence, in principle, the traversing range of a 360° modulo rotary axis is

infinity. The traversing range limits (software limit switch and working area limits) of 360°

modulo rotary axes are not effective.

In the diagram below, the absolute position of a rotary axis in the positive direction of rotation

is represented as a spiral. The pointer to the spiral indicates the absolute position of the rotary

axis (420°). The point where the pointer intersects with the modulo circle marks the

corresponding 360° modulo position (60°).

r

r

r

r

r

r

r

r

r

r

r

r

r

r

r

Figure 14-2

Modulo_mapping

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R2: Rotary axes

14.2 Modulo 360 degrees

Parameter assignment

Modulo function

The modulo function for a rotary axis is activated using the axis-specific machine data:

MD30310 $MA_ROT_IS_MODULO = 1

Note

For a 360° modulo rotary axis, it is recommended that the position display is also set to 360°

at the user interface.

Modulo range

For a 360° modulo rotary axis, the modulo range must be set to 360° using the axis-specific

machine data:

MD30330 $MA_MODULO_RANGE = 360.0

Starting position of the 360° modulo range

The starting position of the 360° modulo range can be set using the axis-specific machine data:

MD30340 $MA_MODULO_RANGE_START = <Starting position>

As a consequence, the parameterized starting position represents an offset of the modulo

function in the vertical axis. The modulo range still remains 360°.

Examples

● Standard starting position: 0° ⇒ modulo range: 0° - 360°

● Shifted starting position: -180° ⇒ modulo range: -180° to +180°

r

r

r

r

r

r

r

r

r

r

r

r

r

① Absolute position

② Modulo position

③ Shifted starting position (-180°)

Figure 14-3

Standard and shifted starting position (red)

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