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SINUMERIK 840D sl. Service - Functions. Manual (2018-2020) - page 47

Axis monitoring functions

7.7 Working area limitation monitoring

<value>

Meaning

1

The reference system is the WCS.

3

The reference system is the SZS.

Activation of working area limits

The working area limits of a working area limitation group are activated in the part program with

the G command WALCS<n>.

wit <n> = Number of the working area limitation group

h:

Value range:

1 ... 10

Deactivation of working area limits

The working area limits of a working area limitation group active in the channel are deactivated

in the part program with the G command WALCS0.

Change working area limits

The working area limits can be changed at any time via the system variables mentioned above.

Changes take effect with the next activation of the working area limitation group (WALCSn).

Data storage

The system variables of the working area limits are stored retentively in the static memory of the

NC.

Note

For the storage of the limiting values for the linear axes, the default setting is considered for the

system of units (MD10240 $MN_SCALING_SYSTEM_IS_METRIC).

Data backup

The system variables of the working area limits can be backed up in separate files:

• _N_CHx_WAL

To save the system variable values for channel x.

• _N_COMPLETE_WAL

To save the system variable values for all channels.

Note

The system variables of the working area limits are part of the "_N_INITIAL_INI" file.

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7.7 Working area limitation monitoring

Behavior in JOG mode

Initial situation:

• In JOG mode, several geometry axes traverse simultaneously (e.g. using several

handwheels).

• A rotating frame is active between the basic coordinate system (BCS) and the reference

coordinate system of the working area limitation (WCS or SZS).

Behavior when a working area limitation responds:

• The traversing motions of the geometry axes that are not affected are continued.

• The affected geometry axis is stopped at the working area limit.

Setting the initial setting

The working area limitation group that is to take effect at ramp up, reset or part program end and

part program start is predefined channel-specifically via the machine data:

MD20150 $MC_GCODE_RESET_VALUE[59] = <n>

wit <n> = Number of the working area limitation group

h:

Value range:

1 ... 10

The following setting determines whether the pre-selected working area limitation acts for ramp

up and reset or part program end:

MD20152 $MC_GCODE_RESET_MODE[59] = <value>

<value>

Meaning

0

The working area group takes effect in accordance with MD20150 (default setting).

1

The last active working area group remains active.

7.7.4

Example: Working area limitation in WCS/SZS

Assumption

Channel axes

Four axes are defined in the channel:

• Linear axes: X, Y, Z

• Rotary axis: A (not modulo)

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Axis monitoring functions

7.9 Parking the passive position measuring system

with <n> = 0 (position measuring system 1) or 1 (position measuring system 2)

Value

Meaning

1

Only the position from the previous active position measuring system is transferred.

The position measuring system is not referenced:

DB31, ... DBX60.4 (referenced/synchronized, position measuring system 1) == 0

or

DB31, ... DBX60.5 (referenced/synchronized, position measuring system 2) == 0

2

Position and "Referenced" status are transferred from the previously active position measuring

system.

The position measuring system is referenced:

DB31, ... DBX60.4 (referenced/synchronized, position measuring system 1) == 1

or

DB31, ... DBX60.5 (referenced/synchronized, position measuring system 2) == 1

Note

Position and "Referenced" status of the previously active position measuring system are only

transferred for incremental position measuring systems, depending on MD34210

$MA_ENC_REFP_STATE[<n>] - and only when the "Park passive position measuring system"

function is active (MD31046 $MA_ENC_PASSIVE_PARKING[<n>] = 1).

The transferred position has the accuracy of the previous active position measuring system. The

position measuring system should be referenced if this accuracy is not adequate.

WARNING

Incorrect synchronization of the position measuring system caused by offset of the actual

machine axis position

If changes have been made to the position measuring system during "parking" that require a

change to the parameterized machine data, for example, another encoder has been mounted,

the position measuring system must be completely remeasured and referenced See Function

Manual "Axes and Spindles", Section "R1: Referencing".

7.9.2

Supplementary conditions

Interaction with "dual position feedback"

The "Park passive position measuring system" function cannot be used in conjunction with the

"dual position feedback" function (MD32960 $MA_POSCTRL_DUAL_FEEDBACK_TIME > 0).

Interaction with "position difference input"

The "Park passive position measuring system" function cannot be used in conjunction with the

"position difference input" function (MD32950 $MA_POSCTRL_DAMPING > 0).

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Axis monitoring functions

7.9 Parking the passive position measuring system

Execution

6SLQGOH 63

$GDSWHU KHDG $

*HDUER[

0RWRU

(

(

$GDSWHU KHDG $

*HDUER[

6SLQGOH 63

$GDSWHU KHDG $

(

*HDUER[

0RWRU

$GDSWHU KHDG %

(

(

6SLQGOH 63

$GDSWHU KHDG %

$FWLYH HQFRGHU

0RWRU

3DVVLYH HQFRGHU

(

3DUNHG HQFRGHU

① Before changing an attachment head, the user must deactivate all position measuring systems of

the machine axis using the "Parking a machine axis (Page 186)" function:

DB31, ... DBX1.5 (position measuring system 1) = 0

DB31, ... DBX1.6 (position measuring system 2) = 0

The controller then resets the status signals for the position measuring systems:

DB31, ... DBX102.5 (position measuring system 1 activated) == 0

DB31, ... DBX102.6 (position measuring system 2 activated) == 0

② The user waits for the status signals and only now removes the attachment head "A" from the

spindle. This electrically disconnects the encoder cable between the attachment head "A" and

coupling. The absence of encoder E2 does not generate any NC or drive faults.

Monitoring and compensating

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Axis monitoring functions

7.9 Parking the passive position measuring system

Execution

6SLQGOH 63

$GDSWHU KHDG %

0RWRU

(

$GDSWHU KHDG %

6SLQGOH 63

$GDSWHU KHDG %

0RWRU

$GDSWHU KHDG $

(

*HDUER[

(

6SLQGOH 63

$GDSWHU KHDG $

*HDUER[

$FWLYH HQFRGHU

0RWRU

3DVVLYH HQFRGHU

(

(

3DUNHG HQFRGHU

① Using the "Park machine axis" function, the user deactivates position measuring system 1:

DB31, ... DBX1.5 (position measuring system 1) = 0

The controller then resets the status signal for the position measuring system:

DB31, ... DBX102.5 (position measuring system 1 activated) == 0

② The user waits for the status signal and only now removes the attachment head "B" from the

spindle.

③ Attachment head "A" is now mounted on the spindle.

④ The user activates position measuring system 2:

DB31, ... DBX1.6 (position measuring system 2) = 1

As a consequence, position measuring system 1 is also simultaneously activated; This is because

the "Park passive position measuring system" function is not active for position measuring system

1 (motor measuring system!). Position measuring system 1 becomes a passive position measuring

system.

The controller then sets the status signals for the position measuring systems:

DB31, ... DBX102.5 (position measuring system 1 activated) == 1

DB31, ... DBX102.6 (position measuring system 2 activated) == 1

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Axis monitoring functions

7.9 Parking the passive position measuring system

Execution

6SLQGOH 63

$GDSWHU KHDG $

*HDUER[

*HDUER[

0RWRU

(

(

(

$GDSWHU KHDG $

*HDUER[

6SLQGOH 63

$GDSWHU KHDG $

(

*HDUER[

*HDUER[

0RWRU

(

$GDSWHU KHDG %

(

(

6SLQGOH 63

$GDSWHU KHDG %

*HDUER[

$FWLYH HQFRGHU

0RWRU

3DVVLYH HQFRGHU

(

(

3DUNHG HQFRGHU

① Before changing an attachment head, the user must deactivate all position measuring systems of

the machine axis using the "Parking a machine axis (Page 186)" function:

DB31, ... DBX1.5 (position measuring system 1) = 0

DB31, ... DBX1.6 (position measuring system 2) = 0

The controller then resets the status signals for the position measuring systems:

DB31, ... DBX102.5 (position measuring system 1 activated) == 0

DB31, ... DBX102.6 (position measuring system 2 activated) == 0

② The user waits for the status signals and only now removes the attachment head "A" from the

spindle. This electrically disconnects the encoder cable between the attachment head "A" and

coupling. The absence of encoder E3 does not generate any NC or drive faults.

Monitoring and compensating

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Axis monitoring functions

7.9 Parking the passive position measuring system

Execution

6SLQGOH 63

$GDSWHU KHDG %

*HDUER[

0RWRU

(

(

$GDSWHU KHDG %

6SLQGOH 63

$GDSWHU KHDG %

*HDUER[

0RWRU

$GDSWHU KHDG $

(

(

*HDUER[

(

6SLQGOH 63

$GDSWHU KHDG $

*HDUER[

*HDUER[

$FWLYH HQFRGHU

0RWRU

3DVVLYH HQFRGHU

(

(

(

3DUNHG HQFRGHU

① Using the "Park machine axis" function, the user deactivates position measuring system 1:

DB31, ... DBX1.5 (position measuring system 1) = 0

The controller then resets the status signal for the position measuring system:

DB31, ... DBX102.5 (position measuring system 1 activated) == 0

② The user waits for the status signal and only now removes the attachment head "B" from the

spindle.

③ Attachment head "A" is now mounted on the spindle.

④ The user activates position measuring system 2:

DB31, ... DBX1.6 (position measuring system 2) = 1

As a consequence, position measuring system 1 is also simultaneously activated; This is because

the "Park passive position measuring system" function is not active for position measuring system

1. Position measuring system 1 becomes a passive position measuring system.

The controller then sets the status signals for the position measuring systems:

DB31, ... DBX102.5 (position measuring system 1 activated) == 1

DB31, ... DBX102.6 (position measuring system 2 activated) == 1

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Axis monitoring functions

7.9 Parking the passive position measuring system

Execution

*HDUER[

7DEOH

0RWRU

%DOO VFUHZ

/LQHDU VFDOH

(

(

*HDUER[

7DEOH

0RWRU

%DOO VFUHZ

/LQHDU VFDOH

(

(

*HDUER[

7DEOH

0RWRU

%DOO VFUHZ

/LQHDU VFDOH

(

(

(

0RWRU HQFRGHU

$FWLYH HQFRGHU

(

'LUHFW OLQHDU HQFRGHU

3DVVLYH HQFRGHU

7UDYHUVLQJ PRWLRQ

3DUNHG HQFRGHU

① Before the table reaches the end of the linear position measuring system, a switchover must be

made to the motor measuring system. The user does this by activating both position measuring

systems:

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

DB31, ... DBX1.6 (position measuring system 2) = 1

Using the "Park passive position measuring system" function, the linear position measuring sys-

tem, which is passive after the measuring system switchover, is parked by the control.

The control resets the status signal:

DB31, ... DBX102.6 (position measuring system 2 activated) == 0

The user waits for the status signal before continuing to traverse in the range outside the linear

position measuring system.

② Traversing through the range outside the linear position measuring system with the motor meas-

uring system.

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Axis monitoring functions

7.10 Switching over encoder data sets

MD31700 $MA_ENC_EDS_ACTIVE (activate EDS use)

Value

Meaning

0

Encoder data set switchover EDS is not used.

1.

Encoder data set switchover EDS is used.

A machine data item is provided for each of the drive parameters p0408, p0418, and p0419,

which must be parameterized in accordance with the active encoder data set:

• MD31710 $MA_ENC_RESOL_EDS (encoder pulses per revolution for EDS use)

• MD31720 $MA_ENC_PULSE_MULT_EDS (encoder multiplication (high resolution) for EDS

use)

• MD31730 $MA_ABS_INC_RATIO_EDS (absolute encoder: ratio between absolute resolution

and incremental resolution for EDS use)

Effectiveness

If MD31700 $MA_ENC_EDS_ACTIVE = 1, the following machine data no longer take effect:

• MD30260 $MA_ABS_INC_RATIO (absolute encoder: ratio between absolute resolution and

incremental resolution)

• MD31020 $MA_ENC_RESOL (encoder pulses per revolution)

• MD31025 $MA_ENC_PULSE_MULT (encoder multiplication (high resolution))

The drive data switchover in DB3x.DBX21.0 - 4 also switches over the encoder data sets.

Switchover is performed in the parked state (see chapters "Parking a machine axis (Page 186)"

and "Parking the passive position measuring system (Page 188)").

Note

If MD31700 $MA_ENC_EDS_ACTIVE = 1, no plausibility check between the values set in the drive

and control is performed.

NC/PLC interface signal:

• DB31, ... DBX21.7 (pulse enable)

• DB31, ... DBX21.6 (integrator inhibit, speed controller)

• DB31, ... DBX21.5 (motor selection)

• DB31, ... DBX21.0 - 4 (request for switchover of a motor and/or drive data set)

The interface can be flexibly parameterized using: DB31,

DBX130.0 - 4

Supplementary conditions

SINUMERIK supplementary conditions:

• Only machine data for rotary encoders are available.

• Traversing range extension for absolute-value encoders

MD30270 $MA_ENC_ABS_BUFFERING = 0 is not permissible.

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Axis monitoring functions

7.11 Data lists

Further information

Function Manual SINAMICS S120 Drive Functions;

Basic information about the drive system > Data sets

• DDS: Drive data set

• EDS: Encoder data set

Other machine data

In addition to the machine data of the axis monitoring function, the following additional

machine data should be set or checked:

All machine axes

• MD31030 $MA_LEADSCREW_PITCH (leadscrew pitch)

• MD31050 $MA_DRIVE_AX_RATIO_DENOM (denominator load gearbox)

• MD31060 $MA_DRIVE_AX_RATIO_NUMERA (numerator load gearbox)

• MD31070 $MA_DRIVE_ENC_RATIO_DENOM (denominator measuring gearbox)

• MD31080 $MA_DRIVE_ENC_RATIO_NUMERA (numerator measuring gearbox)

• MD32810 $MA_EQUIV_SPEEDCTRL_TIME (equivalent time constant speed control loop for

feedforward control)

• Encoder resolution: see Function Manual "Axes and Spindles", Section "G2: Velocities,

setpoint/actual value systems, closed-loop control".

Machine axes with analog speed setpoint interface

• MD32260 $MA_RATED_VELO (rated motor speed)

• MD32250 $MA_RATED_OUTVAL (rated output voltage)

7.11

Data lists

7.11.1

Machine data

7.11.1.1

NC-specific machine data

Number

Identifier: $MN_

Description

10604

WALIM_GEOAX_CHANGE_MODE

Working area limitation during switchover of geometry

axes

10710

PROG_SD_RESET_SAVE_TAB

Setting data to be updated

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7.11 Data lists

7.11.1.2

Channelspecific machine data

Number

Identifier: $MC_

Description

20150

GCODE_RESET_VALUES

Initial setting of the G groups

21020

WORKAREA_WITH_TOOL_RADIUS

Allowance for tool radius with working area limitation

24130

TRAFO_INCLUDES_TOOL_1

Tool handling with active 1st transformation

24230

TRAFO_INCLUDES_TOOL_2

Tool handling with active 2nd transformation

24330

TRAFO_INCLUDES_TOOL_3

Tool handling with active 3rd transformation

24426

TRAFO_INCLUDES_TOOL_4

Tool handling with active 4th transformation

24436

TRAFO_INCLUDES_TOOL_5

Tool handling with active 5th transformation

24446

TRAFO_INCLUDES_TOOL_6

Tool handling with active 6th transformation

24456

TRAFO_INCLUDES_TOOL_7

Tool handling with active 7th transformation

24466

TRAFO_INCLUDES_TOOL_8

Tool handling with active 8th transformation

24476

TRAFO_INCLUDES_TOOL_9

Tool handling with active 9th transformation

24486

TRAFO_INCLUDES_TOOL_10

Tool handling with active 10th transformation

25106

TRAFO_INCLUDES_TOOL_11

Tool handling with active 11th transformation

25116

TRAFO_INCLUDES_TOOL_12

Tool handling with active 12th transformation

25126

TRAFO_INCLUDES_TOOL_13

Tool handling with active 13th transformation

25136

TRAFO_INCLUDES_TOOL_14

Tool handling with active 14th transformation

25146

TRAFO_INCLUDES_TOOL_15

Tool handling with active 15th transformation

25156

TRAFO_INCLUDES_TOOL_16

Tool handling with active 16th transformation

25166

TRAFO_INCLUDES_TOOL_17

Tool handling with active 17th transformation

25176

TRAFO_INCLUDES_TOOL_18

Tool handling with active 18th transformation

25186

TRAFO_INCLUDES_TOOL_19

Tool handling with active 19th transformation

25196

TRAFO_INCLUDES_TOOL_20

Tool handling with active 20th transformation

28600

MM_NUM_WORKAREA_CS_GROUPS

Number of coordinate system-specific working area lim-

itations

7.11.1.3

Axis/spindlespecific machine data

Number

Identifier: $MA_

Description

30200

NUM_ENCS

Number of encoders

30240

ENC_TYPE

Encoder type of the actual value acquisition (actual position value)

30260

ABS_INC_RATIO

Absolute encoder: ratio between absolute value and incremental value

resolution

30270

ENC_ABS_BUFFERING

Absolute encoder: Traversing range extension

30310

ROT_IS_MODULO

Modulo conversion for rotary axis / spindle

30800

WORK_AREA_CHECK_TYPE

Type of checking of working area limits

31020

ENC_RESOL

Encoder pulses per revolution

31025

ENC_PULSE_MULT

Encoder multiplication (high resolution)

31046

ENC_PASSIVE_PARKING

Parking the passive position measuring system

31700

ENC_EDS_ACTIVE

Activate EDS use

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Axis monitoring functions

7.11 Data lists

Number

Identifier: $MA_

Description

31710

ENC_RESOL_EDS

Encoder pulses per revolution for EDS use

31720

ENC_PULSE_MULT_EDS

Encoder multiplication (high resolution) for EDS use

31730

ABS_INC_RATIO_EDS

Absolute encoder: Ratio between the absolute resolution and the in-

cremental resolution for EDS use

32200

POSCTRL_GAIN [n]

K_V factor

32250

RATED_OUTVAL

Rated output voltage

32260

RATED_VELO

Rated motor speed

32300

MAX_AX_ACCEL

Maximum axis acceleration

32800

EQUIV_CURRCTRL_TIME

Equivalent time constant current control loop for feedforward control

32810

EQUIV_SPEEDCTRL_TIME

Equivalent time constant speed control loop for feedforward control

32910

DYN_MATCH_TIME [n]

Time constant for dynamic response adaptation

34210

ENC_REFP_STATE

Encoder status

35160

SPIND_EXTERN_VELO_LIMIT

Spindle speed limitation via PLCC

36000

STOP_LIMIT_COARSE

Exact stop coarse

36010

STOP_LIMIT_FINE

Exact stop fine

36020

POSITIONING_TIME

Delay time exact stop fine

36030

STANDSTILL_POS_TOL

Zero speed tolerance

36040

STANDSTILL_DELAY_TIME

Delay time zero-speed monitoring

36050

CLAMP_POS_TOL

Clamping tolerance with IS "Clamping active"

36052

STOP_ON_CLAMPING

Special functions for clamped axis

36060

STANDSTILL_VELO_TOL

Maximum velocity/speed "Axis/spindle stationary"

36100

POS_LIMIT_MINUS

1st software limit switch minus

36110

POS_LIMIT_PLUS

1st software limit switch plus

36120

POS_LIMIT_MINUS2

2nd software limit switch minus

36130

POS_LIMIT_PLUS2

2nd software limit switch plus

36200

AX_VELO_LIMIT

Threshold value for velocity monitoring

36210

CTRLOUT_LIMIT

Maximum speed setpoint

36220

CTRLOUT_LIMIT_TIME

Delay time for speed-setpoint monitoring

36300

ENC_FREQ_LIMIT

Encoder limit frequency

36302

ENC_FREQ_LIMIT_LOW

Encoder limit frequency for encoder resynchronization

36310

ENC_ZERO_MONITORING

Zero mark monitoring

36312

ENC_ABS_ZEROMON_WARNING

Zero-mark monitoring warning threshold

36400

CONTOUR_TOL

Tolerance band contour monitoring

36500

ENC_CHANGE_TOL

Maximum tolerance for position actual value switchover

36510

ENC_DIFF_TOL

Measuring system synchronism tolerance

36600

BRAKE_MODE_CHOICE

Braking behavior at hardware limit switch

36610

AX_EMERGENCY_STOP_TIME

Maximum duration of the braking ramp for faults

36620

SERVO_DISABLE_DELAY_TIME

Cutout delay controller enable

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7.11 Data lists

7.11.2

Setting data

7.11.2.1

Axis/spindlespecific setting data

Number

Identifier: $SA_

Description

43400

WORKAREA_PLUS_ENABLE

Working area limitation active in positive direction

43410

WORKAREA_MINUS_ENABLE

Working area limitation active in negative direction

43420

WORKAREA_LIMIT_PLUS

Working area limitation plus

43430

WORKAREA_LIMIT_MINUS

Working area limitation minus

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Contour tunnel monitoring

8.1 Brief description

Example

The following figure is a diagram of the monitoring area shown by way of a simple example.

<

=

;

① Contour (path of the tool tip

② "Tunnel" laid around the contour (tolerance tube)

③ Permissible tolerance

Figure 8-1

Position of the contour tunnel around the programmed path

As long as the calculated actual position of the tool tip remains inside the sketched tunnel,

motion continues in the normal way. If the calculated actual position violates the tunnel, an

alarm is triggered (in the default setting) and the axes are stopped by "Ramp Stop". This response

to the violation of the tunnel can be disabled (alarm triggered but movement continued) or

intensified (rapid stop) by means of a machine data setting.

Analysis

The calculated distance between the programmed path and the actual values can be routed to

an analog output to analyze the progression of the contour errors during normal operation

(quality control).

8.1.2

Programmable contour accuracy

Function

As an alternative to the function described in "Contour tunnel monitoring", i.e. monitoring of the

machining accuracy and stopping machining if excessive deviations occur, another function is

offered. With this function, the selected accuracy is always achieved with the path velocity being

reduced if necessary. Detailed information about this function can be found under the subject

"Programmable contour accuracy".

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Contour tunnel monitoring

8.2 Contour tunnel monitoring

8.2

Contour tunnel monitoring

Aim of the monitoring function

The aim of the monitoring function is to stop the movement of the axes if axis deviation causes

the distance between the tool tip (actual value) and the programmed path (setpoint) to exceed a

defined value (tunnel radius).

Tunnel size

The radius of the contour tunnel being monitored around the programmed path must be

defined to implement the monitoring function:

MD21050 $MC_CONTOUR_TUNNEL_TOL (Response threshold for Contour tunnel monitoring)

If the machine data is set to 0.0, monitoring is not performed. The value of the machine data is

transferred to the control for new configurations.

Parameterizable deceleration behavior

The deceleration behavior for the monitoring response can be set via the following machine

data:

MD21060 $MC_CONTOUR_TUNNEL_REACTION (Reaction upon response of contour tunnel

monitoring)

Value

Meaning

0

Display alarm and continue machining

1

Deceleration according to the deceleration ramps (default setting)

2

Rapid stop (speed setpoint = 0)

Encoder switchover

Switching between two encoder systems usually causes a sudden change in the actual position

of the tool tip. This change resulting from encoder switchover must not be so large as to cause

the tool tip to violate the monitoring tunnel. The radius defined in MD21050 must be higher

than the allowed tolerance on actual value switchover:

MD36500 $MA_ENC_CHANGE_TOL (Max. tolerance for position actual value switchover)

Activation

The monitoring will only become active if the following conditions are met:

• MD21050 is higher than 0.0.

• At least two geometry axes have been defined.

Shutting down

Monitoring can be stopped by enabling the machine data setting:

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Contour tunnel monitoring

8.3 Programmable contour accuracy

MD21050 = 0.0.

Analysis output

The values of deviation of the actual value of the tool tip from the programmed path can - for

analysis purposes - be output on a fast analog output (accuracy monitoring).

The assignment of an analog output to output the contour error is programmed in machine data:

MD21070 $MC_CONTOUR_ASSIGN_FASTOUT

Value

Meaning

0

No output (default setting)

1

Output to output 1

2

Output to output 2

…

…

8

Output to output 8

Scale

The tunnel radius set in MD21050 corresponds to a voltage of 10 V at the output.

8.3

Programmable contour accuracy

Function

The function "Programmable contour accuracy" limits the contour errors caused by control

behavior and jerk filter to a specified value by reducing the path velocity on curved contours by

the necessary amount. It allows the user to set a compromise between accuracy and productivity

of a machining.

Note

The "LookAhead" function ensures that the velocity necessary for maintaining the required

contour accuracy is not exceeded at any point along the path.

Configuration

The mode of operation and parameterization of the function is determined by the machine data:

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Contour tunnel monitoring

8.3 Programmable contour accuracy

MD20470 $MC_CPREC_WITH_FFW (programmable contour accuracy)

Value

Meaning

0

The "Programmable contour accuracy" function has no effect when feedforward control is also

active.

1

The "Programmable contour accuracy" function also acts for feedforward control.

With active feedforward control, the reduction of the path velocity is calculated on the basis of

the effective K_V factor with feedforward control.

2

Like 1, the function, however, is parameterized with MD32415 $MA_EQUIV_CPREC_TIME (time

constant for the programmable contour accuracy).

The jerk filter is correctly taken into account. The SD42450 $SC_CONTPREC setting data deter-

mines the permissible contour errors (see "Parameterization").

3

Like for 2, but any contour accuracy programmed with CTOL has priority over SD42450

$SC_CONTPREC.

The jerk filter is correctly taken into account. The programmed CTOL contour tolerance deter-

mines the permissible contour errors (see "Parameterization"). $SC_CONTPREC is only relevant

if CTOL was not programmed.

4

The "Programmable contour accuracy" function is active irrespective of the feedforward control

and jerk filter. Only MD32415 $MA_EQUIV_CPREC_TIME is considered in the calculation of the

contour error. All time constants that affect the contour error must be added together and

entered in MD32415 $MA_EQUIV_CPREC_TIME.

5

Like for 4, but any programmed contour accuracy with CTOL has priority over SD42450

$SC_CONTPREC.

For the MD20470 = 2 or 3 functional versions, the control assumes that there is a jerk filter time

constant (MD32410 $MA_AX_JERK_TIME) for which the setting of the control section with

feedforward control produces a negligible contour error. This value must be entered in the

machine data MD32415 $MA_EQUIV_CPREC_TIME (see "Parameterization").

To calculate the contour error based on the set jerk filter type (MD32402 $MA_AX_JERK_MODE),

the following value is used:

• For active feedforward control, the difference:

MD32410 $MA_AX_JERK_TIME - MD32415 $MA_$MA_EQUIV_CPREC_TIME

• Without feedforward control, the complete value from MD32410 $MA_AX_JERK_TIME

This procedure allows the commissioning engineer to first change from an initially precise, but

possibly excessively hard, setting by increasing the jerk filter time constants to a softer setting

with a controlled loss of accuracy.

If function "Programmable contour accuracy" is used in combination with jerk filter type "FIR low

pass" (MD32402 $MA_AX_JERK_MODE = 5), memory space must be made available for the

characteristic curve approximation of FIR filters during commissioning with the memory-

configuring machine data MD38020 $MA_MM_CPREC_FIR_POINTS. If no memory is made

available (MD38020 = 0), the function cannot be executed and alarm 10990 is output.

Restrictions:

• The function does not use the "band stop" jerk filter type (MD32402 $MA_AX_JERK_MODE

= 3).

• The MD20470 = 2 or 3 functional versions are primarily intended for use with feedforward

control. If one of the two functional versions is active for switched off feedforward control,

a contour error that results from the K_v factor is added. This reduces the path velocity

significantly faster.

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Contour tunnel monitoring

8.5 Data lists

MD21050 $MC_CONTOUR_TUNNEL_TOL = 0.0

8.5

Data lists

8.5.1

Machine data

8.5.1.1

Channelspecific machine data

Number Identifier: $MC_

Description

20110

RESET_MODE_MASK

Determination of basic control settings after Reset / TP

End

20112

START_MODE_MASK

Definition of the initial control settings after part pro-

gram start

20470

CPREC_WITH_FFW

Programmable contour accuracy

21050

CONTOUR_TUNNEL_TOL

Response threshold for contour tunnel monitoring

21060

CONTOUR_TUNNEL_REACTION

Reaction to response of contour tunnel monitoring

21070

CONTOUR_ASSIGN_FASTOUT

Assignment of an analog output for output of the con-

tour error

8.5.1.2

Axis/spindlespecific machine data

Number

Identifier: $MA_

Description

32402

AX_JERK_MODE

Filter type for axial jerk limitation

32410

AX_JERK_TIME

Time constant for axial jerk filter

32415

EQUIV_CPREC_TIME

Time constant for the programmable contour accuracy

36500

ENC_CHANGE_TOL

Maximum tolerance for position actual value switchover

8.5.2

Setting data

8.5.2.1

Channelspecific setting data

Number Identifier: $SC_

Description

42450

CONTPREC

Contour accuracy

42460

MINFEED

Minimum path feed for CPRECON

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Compensations

9.2 Temperature compensation

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Compensation equation

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

and temperature T according to the following equation:

ΔK_x = K₀ (T) + tanβ (T) * (P_x - P₀)

The meaning is as follows:

ΔK_x:

Temperature compensation value of axis at position P_x

K₀:

Position-independent temperature compensation value of axis

P_x:

Actual position of axis

P₀:

Reference position of axis

tanβ:

Coefficient for the position-dependent temperature compensation (corresponds to

the gradient of the approximated error line)

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Figure 9-1

Approximated error line for temperature compensation

Effectiveness

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

activated:

1. The compensation type is selected (MD32750, see "Commissioning (Page 223)").

2. The parameters for the compensation type are defined (see "Commissioning (Page 223)").

3. The axis is referenced.

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

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Compensations

9.2 Temperature compensation

9.2.2

Commissioning

Temperature-dependent parameters

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

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

• Position-independent temperature compensation value K₀:

SD43900 $SA_TEMP_COMP_ABS_VALUE

• Reference position P₀ for position-dependent temperature compensation:

SD43920 $SA_TEMP_COMP_REF_POSITION

• Gradient tanβ for position-dependent temperature compensation:

SD43910 $SA_TEMP_COMP_SLOPE

Temperature compensation type and activation

The temperature compensation type is selected and the temperature compensation activated

using the axis-specific machine data:

MD32750 $MA_TEMP_COMP_TYPE (temperature compensation type)

Bit

Value

Meaning

Associated parameters

0

Position independent temperature compensation

SD43900

0

Not active

1

Active

1

Position-dependent temperature compensation

SD43920, SD43910

0

Not active

1

Active

2

Temperature compensation in tool direction

MD20390

$MC_TOOL_TEMP_COMP_ON (Ac-

0

Not active

tivate temperature compensation

1

Active

tool length)

Maximum compensation value per IPO clock cycle

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

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

machine data:

MD32760 $MA_COMP_ADD_VELO_FACTOR (velocity increase as a result of compensation)

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

$MA_MAX_AX_VELO).

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

compensation.

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Compensations

9.2 Temperature compensation

9.2.3

Example

9.2.3.1

Commissioning the temperature compensation for the Z axis of a lathe

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

on a lathe.

Determining the error characteristic of the Z axis

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

follows:

• Uniform temperature increase by traversing the axis across the whole Z axis traversing range

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

• Measuring the axis position in increments of 100 mm

• Measuring the actual temperature at the leadscrew

• Executing a traversing measuring cycle every 20 minutes

The mathematical and technological relationships and the resulting parameters for temperature

compensation are derived from the recorded data. The calculated deviation errors for a specific

temperature, which refer to the actual position of the Z axis displayed by the NC, are represented

in graphic form in the diagram below.

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Figure 9-2

Error curves determined for the Z axis

Specifying parameters

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

measurement results (see diagram above).

Reference position P₀

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Compensations

9.2 Temperature compensation

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

position P₀:

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

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

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

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

of the position-dependent component.

The following parameters are obtained:

• MD32750 $MA_TEMP_COMP_TYPE = 2

(only position-dependent temperature compensation active)

• P₀ = 320 mm → SD43920 $SA_TEMP_COMP_REF_POSITION = 320

(reference position for position-dependent temperature compensation)

Coefficient tanβ (T)

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

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

measured temperature:

TC coefficient

300

[¥ m/1000mm]

TK_max

250

200

150

100

Measured curve

characteristic

50

Straight line

0

T0

Tmax

22

24

26

28

30

32

34

36

38

40

42

Absolute temperature [degrees]

Figure 9-3

Characteristic of coefficient tanβ as a function of measured temperature T

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

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

with

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

T_max = maximum measured temperature; [degrees]

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

Therefore, based on the values from the above diagram:

T₀ = 23°

T_max = 42°

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Compensations

9.3 Backlash compensation

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

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

Positive backlash ⇒

Negative backlash ⇒

The encoder actual value leads the machine

The encoder actual value lags behind the

actual value

machine actual value

*

0

*

0

The table does not move far enough because

The table moves too far because the encoder

the encoder actual value has already changed

actual value has not yet changed (lagging) due

(leading) due to the backlash while the table

to the backlash while the table is already mov-

still remains stationary.

ing.

① Encoder

② moved machine part (table)

③ ballscrew

④ mechanical backlash

⑤ motor

Compensation

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

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

(Page 228).

Effectiveness

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

Requirement:

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

• Absolute encoder: Encoder state == "synchronized"

Displaying the compensation values

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

user interface for each individual axis.

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

axis" >

• "Absolute compensation value measuring system 1"

• "Absolute compensation value measuring system 2"

• "Compensation value from LEC"

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Compensations

9.3 Backlash compensation

Backlash compensation mode

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

MD32454 $MA_BACKLASH_MODE

Bit

Meaning

0

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

= 0

The backlash compensation value is not restored (default setting)

= 1

The backlash compensation is restored.

Precondition

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

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

• DB31,

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

1

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

compensation)

= 0

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

= 1

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

setting).

9.3.2

Dynamic backlash compensation

9.3.2.1

Function

Dynamic backlash

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

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

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

resulting position error is direction-symmetric.

Compensation

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

(MD32456Commissioning: Axis-specific machine data (Page 230), see "") is applied in

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

ramp.

Activation

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

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Compensations

9.4 Nodding compensation

9.4

Nodding compensation

9.4.1

Description of the function

9.4.1.1

Options

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

available:

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

Nodding compensation in one machine axis with one accelerating axis:

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

Nodding compensation in any arbitrary number of machine axes

9.4.1.2

Features

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

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

of the mechanical compliance within the machine.

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

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

machine, position deviations Δ_Z occur in the Z axis.

<

=

=

<

;

Figure 9-4

3-axis traveling column machine

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Compensations

9.4 Nodding compensation

Boundary conditions

• Rotary axes

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

rotary axis.

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

(6FC5800-0AN63-0YB0)

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

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

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

taking into account rotary axis positions as well as comprehensive position tables, are not

available with the system function.

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

NOCO", but not together.

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

parameterize the "Nodding compensation" system function.

9.4.1.3

Position-dependent compliance factor

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

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

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

the characteristic. Positions (P1, P2, P3) and the compliance factors effective there (N1, N2, N3)

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

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

axis by linearly interpolating between the interpolation points.

1

1

1

1

3

3

3

3

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

② Compliance factor of the compensating axis

③ Traversing range limit -

④ Traversing range limit +

Figure 9-5

Compensation characteristic

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Compensations

9.4 Nodding compensation

Actual position: P

Compliance factor: N

P less than P₁ up to traversing range limit minus

N = N₁

P between P₁ and P₂

N = linear interpolation between N₁ and N₂

P equal to P₂

N = N₂

P between P₂ and P₃

N = linear interpolation between N₂ and N₃

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

N = N₃

range limit plus

9.4.1.4

Compensation relationships

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

• On the acceleration of the accelerating axis

• On the position of the adaptation axis

• On the machine compliance

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

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

• Accelerating axis

• Adaptation axis

• Number of positions of the adaptation axis

• Positioning the adaptation axis

• Compliance factors at the positions

Accelerating axes or adaptation axes

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

compensating axis itself.

Total compensation value

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

values of the individual compensation relationships.

9.4.2

Commissioning: Machine data

9.4.2.1

Overview

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

is parameterized.

Number

Name: $MA_

Meaning

MD37302

NOCO_FILTER_TIME

Time constant for smoothing nodding compensation

values (Page 237)

Compensation relationship 1

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Compensations

9.4 Nodding compensation

Number

Name: $MA_

Meaning

MD37310

NOCO_INPUT_AX_1

Machine axis that causes nodding motion (Page 238)

MD37312

NOCO_ADAPT_AX_1

Machine axis, whose position influences nodding mo-

tion (Page 238)

MD37314

NOCO_ADAPT_NUM_1

Number of positions, adaptation characteristic of the

nodding compensation (Page 239)

MD37316

NOCO_ADAPT_POS_1

Positions, adaptation characteristic of the nodding com-

pensation (Page 240)

MD37318

NOCO_COMPLIANCE_1

Compliance factors for nodding compensation

(Page 241)

Compensation relationship 2

MD37320

NOCO_INPUT_AX_2

See MD37310

MD37322

NOCO_ADAPT_AX_2

See MD37312

MD37324

NOCO_ADAPT_NUM_2

See MD37314

MD37326

NOCO_ADAPT_POS_2

See MD37316

MD37328

NOCO_COMPLIANCE_2

See MD37318

Compensation relationship 3

MD37330

NOCO_INPUT_AX_3

See MD37310

MD37332

NOCO_ADAPT_AX_3

See MD37312

MD37334

NOCO_ADAPT_NUM_3

See MD37314

MD37336

NOCO_ADAPT_POS_3

See MD37316

MD37338

NOCO_COMPLIANCE_3

See MD37318

9.4.2.2

Time constant for smoothing nodding compensation values

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

value is smoothed when it is entered.

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① Position deviation

• Blue: Setpoint

• Red: Actual value

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Compensations

9.4 Nodding compensation

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

Note

Deactivating smoothing

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

position controller clock cycle:

Time constant < 0,1 * MD10061 $MN_POSCTRL_CYCLE_TIME

9.4.2.3

Accelerating axis

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

compensating axis, must be entered in the machine data.

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

machine data MD10002 $MN_AXCONF_LOGIC_MACHAX_TAB. The machine axis number is the

corresponding machine data index + 1.

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

Example

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

in the Z axis.

• Compensating axis: AX3 (Z axis)

• Accelerating axis: AX2 (Y axis)

$;

<

$;

=

=

<

;

$;

;

Figure 9-6

Accelerating axis AX2 (Y axis)

MD10002 $MN_AXCONF_LOGIC_MACHAX_TAB[ 0 ] = "AX1"

; X axis

MD10002 $MN_AXCONF_LOGIC_MACHAX_TAB[ 1 ] = "AX2"

; Y axis

MD10002 $MN_AXCONF_LOGIC_MACHAX_TAB[ 2 ] = "AX3"

; Z axis

MD37310 $MA_NOCO_INPUT_AX_1[ AX3 ] = 2

; accelerating axis = Y axis

9.4.2.4

Adaptation axis

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

compensating axis, must be entered in the machine data.

Monitoring and compensating

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Compensations

9.4 Nodding compensation

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

MD10002 $MN_AXCONF_LOGIC_MACHAX_TAB. The machine axis number is the corresponding

machine data index + 1.

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

Note

Activating the position-dependent adaptation

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

one position (MD37314 $MA_NOCO_ADAPT_NUM_1 (Page 239)) are parameterized.

Example

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

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

• Compensating axis: AX3 (Z axis)

• Accelerating axis: AX2 (Y axis)

• Adaptation axis: AX1 (X axis)

$;

<

$;

=

$;

;

①, ②, ③

Axis positions of the adaptation axis AX1 (X axis)

Figure 9-7

Adaptation axis AX1 (X axis)

MD10002 $MN_AXCONF_LOGIC_MACHAX_TAB[ 0 ] = "AX1"

; X axis

MD10002 $MN_AXCONF_LOGIC_MACHAX_TAB[ 1 ] = "AX2"

; Y axis

MD10002 $MN_AXCONF_LOGIC_MACHAX_TAB[ 2 ] = "AX3"

; Z axis

MD37312 $MA_NOCO_ADAPT_AX_1[ AX3 ] = 1

; adaptation axis = X axis

9.4.2.5

Number of positions of the adaptation characteristic

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

machine data for the position-dependent adaptation.

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Compensations

9.4 Nodding compensation

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

Note

Activating the position-dependent adaptation

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

adaptation axis (MD37312 $MA_NOCO_ADAPT_AX_1 (Page 238)) are parameterized.

Example

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

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

• Compensating axis: AX3 (Z axis)

• Accelerating axis: AX2 (Y axis)

• Adaptation axis: AX1 (X axis)

$;

<

$;

=

$;

;

①, ②, ③

Axis positions of the adaptation axis AX1 (X axis)

Figure 9-8

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

MD10002 $MN_AXCONF_LOGIC_MACHAX_TAB[ 0 ] = "AX1"

; X axis

MD10002 $MN_AXCONF_LOGIC_MACHAX_TAB[ 1 ] = "AX2"

; Y axis

MD10002 $MN_AXCONF_LOGIC_MACHAX_TAB[ 2 ] = "AX3"

; Z axis

MD37314 $MA_NOCO_ADAPT_NUM_1[ AX3 ] = 3

; number of axis positions

See also:

• Axis positions: MD37316 $MA_NOCO_ADAPT_POS_1 (Page 240)

• Compliance factors: MD37318 $MA_NOCO_COMPLIANCE_1 (Page 241)

9.4.2.6

Positions of the adaptation characteristic

The positions of the adaptation axis, at which a dedicated compliance factor is parameterized,

must be entered in the machine data for the interpolation points of the adaptation characteristic:

MD37316 $MA_NOCO_ADAPT_POS_1[<index>, <comp. Axis>] = <position>

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Compensations

9.4 Nodding compensation

Example

Interpolation points are parameterized at positions -100.0, 0.0, and 120.0 of adaptation axis

AX1 (X axis) for the adaptation characteristic.

• Compensating axis: AX3 (Z axis)

• Accelerating axis: AX2 (Y axis)

• Adaptation axis: AX1 (X axis)

$;

<

$;

=

$;

;

① Position 1: -100.0

② Position 2. 0.0

③ Position 3. 120.0

Figure 9-9

Axis positions of the adaptation axis AX1 (X axis)

MD10002 $MN_AXCONF_LOGIC_MACHAX_TAB[ 0 ] = "AX1"

; X axis

MD10002 $MN_AXCONF_LOGIC_MACHAX_TAB[ 1 ] = "AX2"

; Y axis

MD10002 $MN_AXCONF_LOGIC_MACHAX_TAB[ 2 ] = "AX3"

; Z axis

MD37316 $MA_NOCO_ADAPT_POS_1[ 0, AX3 ] = -100.0

MD37316 $MA_NOCO_ADAPT_POS_1[ 1, AX3 ] =

0.0

MD37316 $MA_NOCO_ADAPT_POS_1[ 2, AX3 ] =

120.0

See also:

• Number of axis positions: MD37314 $MA_NOCO_ADAPT_NUM_1 (Page 239)

• Compliance factors: MD37318 $MA_NOCO_COMPLIANCE_1 (Page 241)

9.4.2.7

Compliance factors

The compliance factors associated with the particular positions of the adaptation characteristic

(MD37316 $MA_NOCO_ADAPT_POS_1 (Page 240)) must be entered in the machine data.

MD37318 $MA_NOCO_COMPLIANCE_1[<index>, <comp. Achse>] = <compliance factor>

Without position-dependent adaptation

If no position-dependent adaptation is parameterized (MD37312 $MA_NOCO_ADAPT_AX_1

(Page 238) == 0), then the compliance factor must be entered into index 0:

MD37318 $MA_NOCO_COMPLIANCE_1[ 0, <comp. Achse>] = <compliance factor>

Monitoring and compensating

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241

Compensations

9.4 Nodding compensation

Example

At positions -100.0, 0.0, and 120.0 of the traversing range of the adaptation axis (X axis), for the

compensating axis AX3 (Z axis) compliance factors -12 , -25 and -10 μm / m/s² are determined.

• Compensating axis: AX3 (Z axis)

• Accelerating axis: AX2 (Y axis)

• Adaptation axis: AX1 (X axis)

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① Compliance factor at position 1: -12 μm / m/s²

② Compliance factor at position 2: -25 μm / m/s²

③ Compliance factor at position 3: -10 μm / m/s²

Figure 9-10

Adaptation axis: AX1 (X axis)

MD10002 $MN_AXCONF_LOGIC_MACHAX_TAB[ 0 ] = "AX1"

; X axis

MD10002 $MN_AXCONF_LOGIC_MACHAX_TAB[ 1 ] = "AX2"

; Y axis

MD10002 $MN_AXCONF_LOGIC_MACHAX_TAB[ 2 ] = "AX3"

; Z axis

MD37318 $MA_NOCO_COMPLIANCE_1[ 0, AX3 ] = -0.000012

MD37318 $MA_NOCO_COMPLIANCE_1[ 1, AX3 ] = -0.000025

MD37318 $MA_NOCO_COMPLIANCE_1[ 2, AX3 ] = -0.000010

See also:

• Number of axis positions: MD37314 $MA_NOCO_ADAPT_NUM_1 (Page 239)

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Compensations

9.4 Nodding compensation

9.4.2.8

Function diagram

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Function diagram of a compensating axis

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243

Compensations

9.5 Interpolatory compensation

The compensation values and additional table parameters are entered in the compensation

tables using special system variables. Data can be loaded in two different ways:

• By starting an NC program with the parameter values.

• By transferring the compensation tables from an external computer to the control.

Note

The respective compensation tables can only be loaded if the corresponding compensation

function is not active for all axes:

• MD32700 $MA_ENC_COMP_ENABLE[<axis>] == 0

• MD32710 $MA_CEC_ENABLE[<axis>] == 0

The compensation data is also retained when the control system is switched off.

Note

When changing machine data:

• MD18342 $MN_MM_CEC_MAX_POINTS

• MD38000 $MA_MM_ENC_COMP_MAX_POINTS

the static user memory is formatted the next time the system is booted (see Function Manual

"Basic Functions", Chapter "S7: Memory configuration").

Interim value calculation

The traversing distance defined via the start and end position within which compensation is to

apply, is divided into several sub-paths of equal size. The number of sub-paths is defined

depending on the error curve and the desired precision. The positions that limit these sub-paths

are referred to as interpolation points below. An interpolation and a compensation value must

be assigned to each interpolation point. Between two interpolation points, the effective

compensation value is determined by linear interpolation.

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① Compensation values of the compensation axis

② Position of basic axis

Figure 9-12

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Compensations

9.5 Interpolatory compensation

•

$AA_ENC_COMP[<e>,<N>,<AXi>] (correction value for interpolation point N of the

compensation table)

<N> = interpolation point (axis position)

For every individual interpolation point the compensation value must be entered in the table.

<N> is limited by the maximum number of interpolation points of the particular

compensation table (MD38000 $MA_MM_ENC_COMP_MAX_POINTS):

0 ≤ N ≤ MD38000 -1

The size of the compensation value is not limited.

Note

The first and last compensation values remain active over the entire traversing range;

i.e. these values should be set to "0" if the compensation table does not cover the entire

traversing range.

•

$AA_ENC_COMP_IS_MODULO[<e>,<AXi>] (compensation with modulo function)

System variable to activate/deactivate the compensation with modulo function:

- $AA_ENC_COMP_IS_MODULO[<e>,<AXi>] = 0: Compensation without modulo function

- $AA_ENC_COMP_IS_MODULO[<e>,<AXi>] = 1: Compensation with modulo function

When compensation with modulo function is activated, the compensation table is repeated

cyclically, i.e. the compensation value at position $AA_ENC_COMP_MAX (≙ interpolation

point $AA_ENC_COMP[<e>,<k>,<AXi>]) is immediately followed by the compensation value

at position $AA_ENC_COMP_MIN (≙ interpolation point $AA_ENC_COMP[<e>,<0>,<AXi>]).

For rotary axes with modulo 360° degrees it is therefore suitable to program 0°

($AA_ENC_COMP_MIN) as the initial position and 360° ($AA_ENC_COMP_MAX) as the end

position.

The compensation values entered for these two positions should be the same as otherwise

the compensation value jumps from MAX to MIN at the transition point and vice versa.

CAUTION

Wrong correction values

When writing the correction values for a correction table, it must be ensured that all

interpolation points within the parameterized range are assigned a value. Correction values

which are not described otherwise contain random values.

Note

Table parameters containing position information are automatically converted when the

system of units is changed (change from MD10240 $MN_SCALING_SYSTEM_IS_METRIC).

The position information is always interpreted in the current measuring system. Conversion

must be implemented externally.

Automatic conversion of the position data can be configured as follows:

MD10260 $MN_CONVERT_SCALING_SYSTEM = 1

External conversion is no longer necessary.

Further information

Function Manual Basic Functions; Velocities, setpoint/actual value systems, closed-loop

control

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249

Compensations

9.5 Interpolatory compensation

9.5.2.3

Example

Sample parameterization of a compensation table:

• Machine axis: X1

• Measuring system: 1

• Starting position: -200 mm

• End position: 600 mm

• Distance between interpolation points: 1 mm

• Number of interpolation points: MD38000 $MA_MM_ENC_COMP_MAX_POINTS = ((600 -

-200) / 1) + 1 = 801

The memory requirement in the static user memory is: 801 * 8 Byte = 6408 Byte

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Program for writing system variables

Program code

Comment

%_N_AX_EEC_INI

CHANDATA(1)

$AA_ENC_COMP[0,0,X1]=0.003

1st compensation value (interpolation point 0):

+3μm

$AA_ENC_COMP[0,1,X1]=0.01

2nd compensation value (interpolation point 1):

+10μm

$AA_ENC_COMP[0,2,X1]=0.012

3rd compensation value (interpolation point 2):

+12μm

$AA_ENC_COMP[0,800,X1]=-0.0

Last compensation value (interpolation point

800): 0μm

$AA_ENC_COMP_STEP[0,X1]=1.0

Distance between interpolation points 1.0 mm

$AA_ENC_COMP_MIN[0,X1]=-200.0

Compensation starts at -200.0 mm

$AA_ENC_COMP_MAX[0,X1]=600.0

Compensation ends at +600.0 mm

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