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

F2: Multi-axis transformations

2.13 Examples

Machine data

; machine kinematics CA' with tool orientation in zero position in the z direction

$MC_TRAFO_TYPE_1 = 148

$MC_TRAFO_GEOAX_ASSIGN_TAB_1[0]=1

$MC_TRAFO_GEOAX_ASSIGN_TAB_1[1]=2

$MC_TRAFO_GEOAX_ASSIGN_TAB_1[2]=3

; angle of second rotary axis

$MC_TRAFO5_NUTATOR_AX_ANGLE_1 = 45

Program

Program code

Comment

; Definition of tool T1

$TC_DP1[1,1] = 120

; Type

$TC_DP2[1,1] = 0

;

$TC_DP3[1,1] = 20

; Z length offset vector G17

$TC_DP4[1,1] = 8.

; Y

$TC_DP5[1,1] = 5.

; X

TRAORI(1)

; Activation of transformation

ORIMKS

; Orientation reference to MCS

G0 X1 Y0 Z0 A0 B0 F20000 G90 G64 T1 D1 G17

; Programming of direction vector

G1 G90

a3 = 0 b3 = 1 c3 = 0

; Programming in Euler angles

G1 G90

a2 = 0 b2 = 0 X0

; Programming of rotary axis motion

G1 X10 Y5 Z20 A90 C90

m30

References:

Programming Manual, Fundamentals

Special functions

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F2: Multi-axis transformations

2.13 Examples

2.13.4

Example for orientation axes

Example 1:

3 orientation axes for the 1st orientation transformation for kinematics with 6 transformed axes.

Rotation must be done in the following sequence:

● firstly about the Z axis.

● then about the Y axis and

● finally about the Z axis again.

The tool vector must point in the X direction.

Program code

Comment

CHANDATA(1)

$MC_TRAFO5_TOOL_VECTOR_1=0

; Tool vector in X direction

$MC_TRAFO5_ORIAX_ASSIGN_TAB_1[0]=4

; Channel index of first orientation axis

$MC_TRAFO5_ORIAX_ASSIGN_TAB_1[1]=5

; Channel index of second orientation ax-

$MC_TRAFO5_ORIAX_ASSIGN_TAB_1[2]=6

; Channel index of third orientation axis

$MC_ORIAX_TURN_TAB_1[0]=3

; Z direction

$MC_ORIAX_TURN_TAB_1[1]=2

; Y direction

$MC_ORIAX_TURN_TAB_1[2]=3

; Z direction

CHANDATA(1)

M17

;VWDUW

;WDUJHW

;

Figure 2-26

3 orientation axes for the 1st orientation transformation for kinematics with 6 transformed

axes

Example 2:

Special functions

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F2: Multi-axis transformations

2.13 Examples

3 orientation axes for the 2nd orientation transformation for kinematics with 5 transformed

axes. Rotation must be done in the following sequence:

● firstly about the X axis.

● then about the Y axis and

● finally about the Z axis.

The tool vector must point in the Z direction.

Program code

Comment

CHANDATA(1)

$MC_TRAFO5_TOOL_VECTOR_2=2

; Tool vector in Z direction

$MC_TRAFO5_ORIAX_ASSIGN_TAB_1[0]=4

; Channel index of first orientation axis

$MC_TRAFO5_ORIAX_ASSIGN_TAB_1[1]=5

; Channel index of second orientation axis

$MC_TRAFO5_ORIAX_ASSIGN_TAB_1[2]=0

; Channel index of third orientation axis

$MC_ORIAX_TURN_TAB_1[0]=1

; X direction

$MC_ORIAX_TURN_TAB_1[1]=2

; Y direction

$MC_ORIAX_TURN_TAB_1[2]=3

; Z direction

CHANDATA(1)

M17

;

Figure 2-27

3 orientation axes for the 2nd orientation transformation for kinematics with 5 transformed

axes

The rotation through angle C2 about the Z" axis is omitted in this case, because the tool vector

orientation can be determined solely from angles A2 and B2 and no further degree of freedom

is available on the machine.

References:

Programming Manual, Production Planning

Special functions

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F2: Multi-axis transformations

2.13 Examples

2.13.5

Examples for orientation vectors

2.13.5.1

Example for polynomial interpretation of orientation vectors

Orientation vector in Z-X plane

The orientation vector is programmed directly in the examples below. The resulting movements

of the rotary axes depend on the particular kinematics of the machine.

Program code

Comment

N10 TRAORI

N20 POLY

; Polynomial interpolation is possible.

N30 A3=0 B3=0 C3=1

; Orientation in +Z direction (start vector)

N40 A3=1 B3=0 C3=0

; Orientation in +X direction (end vector)

In N40, the orientation vector is rotated in the Z-X plane which is spanned by the start and end

vector. Here, the PHI angle is interpolated in a line in this plane between the values 0 and 90

degrees (large circle interpolation).

The additional specification of the polynomials for the two angles PHI and PSI means that the

interpolated orientation vector can lies anywhere between the start and end vector.

PHI angle using polynomial PHI

In contrast to the example above, the PHI angle is interpolated using the polynomial PHI(u) =

(90-10)u + 10*u² between the values 0 and 90 degrees.

The angle PSI is not equal to zero and is interpolated according to the following polynomial:

PSI(u) = -10*u + 10*u²

The maximum "tilt" of the orientation vector from the plane between the start and end vector

is obtained in the middle of the block (u = 1/2).

Program code

Comment

N10 TRAORI

N20 POLY

; Polynomial interpolation is possible.

N30 A3=0 B3=0 C3=1

; Orientation in +Z direction (start vector)

N40 A3=1 B3=0 C3=0

PO[PHI]=(10) ; in +X direction (end vector)

PO[PSI]=(10)

Special functions

138

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F2: Multi-axis transformations

2.13 Examples

2.13.5.2

Example of rotations of orientation vector

Rotations with angle of rotation THETA

In the following example, the angle of rotation is interpolated in linear fashion from starting

value 0 degrees to end value 90 degrees. The angle of rotation changes according to a

parabola or a rotation can be executed without a change in orientation. tool orientation is

rotated from the Y direction to the X direction.

Program code

Comment

N10 TRAORI

; Activation of orientation transformation

N20 G1 X0 Y0 Z0 F5000

;

; Tool orientation

N30 A3=0 B3=0 C3=1 THETA=0

; In Z direction with angle of rotation 0

N40 A3=1 B3=0 C3=0 THETA=90

; In X direction and rotation

; By 90 degrees

N50 A3=0 B3=1 C3=0 PO[THT]=(180,90)

; In Y direction and rotation

; To 180 degrees

N60 A3=0 B3=1 C3=0 THETA=IC(-90)

; Remains constant and rotation

; To 90 degrees

N70 ORIROTT

; Angle of rotation relative to

; change in orientation.

N80 A3=1 B3=0 C3=0 THETA=30

; Rotation vector in angle

; 30 degrees to X-Y plane.

N40 Linear interpolation of angle of rotation from starting value 0 degrees to end value 90

degrees.

N50 The angle of rotation changes from 90 degrees to 180 degrees in accordance with the

parabola.

θ(u) = 90 + u²

N60 A rotation can also be programmed without a change in orientation taking place.

N80 Tool orientation is rotated from the Y direction to the X direction. The change in orientation

takes place in the X-Y plane and the rotation vector describes an angle of 30 degrees to this

plane.

2.13.6

Examples for generic axis transformations

The following example is based on a machine with rotatable tool on which the first rotary axis

is a C axis and the second a B axis (CB kinematics). The basic orientation defined in the

machine data is the bisecting line between the X and Z axes.

Relevant machine data is as follows:

CHANDATA(1)

$MC_TRAFO_TYPE_1 = 24

; General 5-axis transformation

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F2: Multi-axis transformations

2.13 Examples

; Rotatable tool

$MC_TRAFO5_AXIS1_1[0] = 0.0

$MC_TRAFO5_AXIS1_1[1] = 0.0

$MC_TRAFO5_AXIS1_1[2] = 1,0

; 1. Rotary axis is parallel to Z.

$MC_TRAFO5_AXIS2_1[0] = 0.0

$MC_TRAFO5_AXIS2_1[1] = 1,0

$MC_TRAFO5_AXIS2_1[2] = 0.0

; 2. Rotary axis is parallel to Y.

$MC_TRAFO5_BASE_ORIENT_1[0] = 1.0

$MC_TRAFO5_BASE_ORIENT_1[1] = 0,0

$MC_TRAFO5_BASE_ORIENT_1[2] = 1.0

M30

Example program:

Program code

Comment

N10

$TC_DP1[1,1] = 120

; End mill

N20

$TC_DP3[1,1]= 0

; Length offset vector

N30

N40

; Definition of tool carrier

N50

$TC_CARR7[1] = 1

; Component of the 1st rotary axis

; In the X direction

N60

$TC_CARR11[1] = 1

; Component of the 2nd rotary axis

; In the Y direction

N70

$TC_CARR13[1] = -45

; Angle of rotation of 1st axis

N80

$TC_CARR14[1] = 0

; Angle of rotation of 2nd axis

N90

N100

X0 Y0 Z0 B0 C0 F10000 ORIWKS G17

N110

TRAORI()

; Selection of basic transformation orientation

; from the machine data

N120

C3=1

; Orientation parallel to Z

; Set → B-45 C0

N130

T1 D1

; Basic orientation is now parallel to Z

N140

C3=1

; Orientation parallel to Z

; Set → B0 C0

N150

G19

; Basic orientation is now parallel to X

N160

C3=1

; Orientation parallel to Z

; Set → B-90 C0

N170

G17 TCARR=1 TCOABS

; Basic orientation is now angle-

; halving Y-Z

N180

A3=1

; Orientation parallel to X

; Set → B-90 C-135

N190

B3=1 C3=1

; Orientation parallel to

; basic orientation → B0 C0

N200

TRAORI(,2.0, 3.0, 6.0)

; Pass basic orientation in call

N210

A3=2 B3=3 C3=6

; Orientation parallel to

Special functions

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F2: Multi-axis transformations

2.13 Examples

Program code

Comment

; basic orientation → B0 C0

N220

TOFRAME

; Z axis points in the direction

; of the orientation

N230

G91 Z7

; 7 mm in new Z direction

; Traverse → X2 Y3 Z6

N240

C3=1

; Orientation parallel to

; New Z axis → B0 C0

N250

M30

2.13.6.1

Example of a generic 6-axis transformation

Call with parameterization using parameters

Activation of a 6-axis transformation with subsequent orientation changes and traversing:

Program code

Comment

N10 A0 B0 X0 Y0 Z0

N20 TRAORI(1, ,,, 0,0,0, 0,1,0)

; Selection using parameters:

; parameters 5, 6, 7: Orientation vector

; Parameters 8, 9, 10: Orientation normal vec-

tor

N30 T1 D1 X10 Y20 Z30 A3=0.5

; Orientation change, rotation

C3=1 BN3=1 ORIPLANE ORIWKS

; and traversing motion

N40 B3=0.5 C3=1 AN3=-1

; Rotation, constant orientation

M30

Call with parameterization using tool data

Defining a tool, where the orientation, with an orientation vector of (1.0 ; 0.0 ; 0.5) deviates

from the standard. For G17, the orientation vector is in the X-Z plane, and starting from the X

axis in the direction of the Z vector, inclined by 26.565 degrees:

tan^-1($TC_DPV5[ 2, 2 ] / $TC_DPV3[ 2, 2 ]) = tan^-1(0.5 / 1.01) = tan^-1(0.5) = 26.565°

The orientation normal vector is also specified. As only $TC_DPVN4[2,2] is not equal to zero,

it points in the Y direction. Orientation vector and orientation normal vector are perpendicular

to one another. Orthogonalization is not necessary. The programmed orientation normal vector

is not modified.

Program code

Comment

N100 $TC_DP1[2,2]=120

; End mill

N110 $TC_DP3[2,2]= 20

; Length offset vector

N120 $TC_DPV[2,2]= 0

; Tool cutting edge orientation

; Orientation vector tool cutting edge

N130 $TC_DPV3[2,2]= 1

; X component

N140 $TC_DPV4[2,2]= 0

; Y component

N150 $TC_DPV5[2,2]= 0.5

; Z component

; Orientation normal vector

Special functions

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F2: Multi-axis transformations

2.13 Examples

Program code

Comment

N160 $TC_DPVN3[2,2]= 0

; X component

N170 $TC_DPVN4[2,2]= 1

; Y component

N180 $TC_DPVN5[2,2]= 0

; Z component

N200 TRAORI( )

; Call with basic orientation

N210 A3=5 C3=10 BN3=1

; Bring rotary axes into the initial state

N220 C3=1

; Orientation in the Z direction ⇒

; Tool rotated through 26.565 degrees

N230 THETA=IC(90)

; Orientation normal vector incremental

; Rotated through 90 degrees. Vector points in nega-

tive X direction

N240 M30

2.13.6.2

Example of a generic 7-axis transformation

Activation of a 7-axis transformation with subsequent orientation changes and traversing:

Program

Comment

N10 TRAFOOF

N20 a0 b0 c0 x0 y0 z0 e=0

N30 $MC_TRAFO5_AXIS1_1[2] = 1

;

1. Rotary axis shows in Z direction

N40 $MC_TRAFO5_AXIS1_2[0] = 1

;

2. Rotary axis shows in X direction

N50 $MC_TRAFO5_AXIS1_3[2] = 1

;

3. Rotary axis shows in Z direction

N60 $MC_TRAFO7_EXT_AXIS1_1[0] = 1

;

7. Axis shows in X direction

N70 $MC_TRAFO_BASE_ORIENT_1[2] = 1

;

Orientation vector

N80 $MC_TRAFO_BASE_ORIENT_NORMAL_1[1] = 1

;

Orientation normal vector

N90 NEWCONF

N100 traori()

N110 G1 t1 d1 x10 y0 z50 c3=1 an3=1 bn3=1

orivect oriwks G19 F10000

N120 G2 y50 z0 b3=1 e=DC(90) CR=50

;

1. Quadrant

N130 G2 y0 z-50 c3=-1 e=DC(180) CR=50

;

2. Quadrant

N140 G2 y-50 z0 b3=-1 e=DC(270) CR=50

;

3. Quadrant

N150 G2 y0 z50 c3=1 e=DC(0) CR=50

;

4. Quadrant

N200 M30

Note

While traversing the quadrant in the example, only the 7th axis turns by 360 degrees. The

machine remains in the fixed position.

Special functions

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F2: Multi-axis transformations

2.14 Data lists

2.13.6.3

Example for the modification of rotary axis motion

The machine is a 5-axis machine of machine type 1 (two-axis swivel head with CA kinematics)

on which both rotary axes rotate the tool (transformation type 24). The first rotary axis is a

modulo axis parallel to Z (C axis); the second rotary axis is parallel to Y (B axis) and has a

traversing range from -5 degrees to +185 degrees.

To allow modification at any time, the following machine data has the value 2:

MD21180 $MC_ROT_AX_SWL_CHECK_MODE (check software limits for orientation axes)

N10 X0 Y0 Z0 B0 C0

N20 TRAORI( )

; basic orientation 5-axis transformation

N30 B-1 C10

; Rotary axis positions B-1 and C10

N40 A3=-1 C3=1 ORIWKS

; large circle interpolation in WCS

N50 M30

At the start of block N40 in the example program, the machine is positioned at rotary axis

positions B-1 C10. The programmed end orientation can be achieved with either of the axis

positions B-45 C0 (1st solution) or B45 C180 (2nd solution).

The first solution is selected initially, because it is nearest to the starting orientation and, unlike

the second solution, can be achieved using large circle interpolation (ORIWKS). However, this

position cannot be reached because of the axis limits of the B axis.

The second solution is therefore used instead, i.e. the end position is B45 C180. The end

orientation is achieved by axis interpolation. The programmed orientation path cannot be

followed.

2.14

Data lists

2.14.1

Machine data

2.14.1.1

General machine data

Number

Identifier: $MN_

Description

10620

EULER_ANGLE_NAME_TAB

Name of Euler angles or names of orientation axes

10630

NORMAL_VECTOR_NAME_TAB

Name of normal vectors

10640

DIR_VECTOR_NAME_TAB

Name of direction vectors

10642

ROT_VECTOR_NAME_TAB

Name of rotation vectors

10644

INTER_VECTOR_NAME_TAB

Name of intermediate vector components

10646

ORIENTATION_NAME_TAB

Identifier for programming a 2nd orientation path

10648

NUTATION_ANGLE_NAME

Name of orientation angle

10670

STAT_NAME

Name of position information

Special functions

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F2: Multi-axis transformations

2.14 Data lists

Number

Identifier: $MN_

Description

10672

TU_NAME

Name of position information of the axes

10674

PO_WITHOUT_POLY

Permits programming of PO[ ] without POLY having to

be active

2.14.1.2

Channelspecific machine data

Number

Identifier: $MC_

Description

20150

GCODE_RESET_VALUES[n]

Reset G groups

20152

GCODE_RESET_MODE[n]

Setting after RESET/end of part program

20482

COMPRESS_MODE

Mode of the compressor

20621

HANDWH_ORIAX_MAX_INCR_SIZE

Limitation of handwheel increment

20623

HANDWH_ORIAX_MAX_INCR_VSIZE

Orientation velocity overlay

21094

ORIPATH_MODE

Setting for path relative orientation

21100

ORIENTATION_IS_EULER

Angle definition for orientation programming

21102

ORI_DEF_WITH_G_CODE

Definition of orientation angles A2, B2, C2

21104

ORI_IPO_WITH_G_CODE

Definition of interpolation type for orientation

21106

CART_JOG_SYSTEM

Coordinate system for Cartesian JOG

21108

POLE_ORI_MODE

Behavior during large circle interpolation at pole position

21120

ORIAX_TURN_TAB_1[n]

Assignment of rotation of orientation axes about the ref-

erence axes, definition 1 [n = 0..2]

21130

ORIAX_TURN_TAB_2[n]

Assignment of rotation of orientation axes about the ref-

erence axes, definition 2 [n = 0..2]

21132

ORI_DISP_IS_MODULO[n]

Modulo display of the orientation axes positions [n = 0..2]

21134

ORI_DISP_MODULO_RANGE

Size of the module range for the display of the orienta-

tion axes

21136

ORI_DISP_MODULO_RANGE_START

Starting position of the module range for the display of

the orientation axes

21150

JOG_VELO_RAPID_ORI[n]

Rapid traverse in jog mode for orientation axes in the

channel [n = 0..2]

21155

JOG_VELO_ORI[n]

Orientation axis velocity in jog mode [n = 0..2]

21160

JOG_VELO_RAPID_GEO[n]

Rapid traverse in jog mode for geometry axes in the

channel [n = 0..2]

21165

JOG_VELO_GEO[n]

Geometry axis velocity in jog mode [n = 0..2]

21170

ACCEL_ORI[n]

Acceleration for orientation axes [n = 0..2]

21180

ROT_AX_SWL_CHECK_MODE

Check software limits for orientation axes

21186

TOCARR_ROT_OFFSET_FROM_FR

Offset of TOCARR rotary axes

21190

TOFF_MODE

Operation of online offset in tool direction

21194

TOFF_VELO

Speed of online offset in tool direction

21196

TOFF_ACCEL

Acceleration of online offset in tool direction

24100

TRAFO_TYPE_1

Definition of transformation 1 in channel

24110

TRAFO_AXES_IN_1[n]

Axis assignment for transformation 1 [axis index]

Special functions

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F2: Multi-axis transformations

2.14 Data lists

Number

Identifier: $MC_

Description

24120

TRAFO_GEOAX_ASSIGN_TAB_1[n]

Assignment geometry axis to channel axis for transfor-

mation 1 [geometry no.]

24200

TRAFO_TYPE_2

Definition of transformation 2 in channel

24210

TRAFO_AXES_IN_2[n]

Axis assignment for transformation 2 [axis index]

24220

TRAFO_GEOAX_ASSIGN_TAB_2[n]

Assignment geometry axis to channel axis for transfor-

mation 2 [geometry no.]

24300

TRAFO_TYPE_3

Definition of transformation 3 in channel

24310

TRAFO_AXES_IN_3[n]

Axis assignment for transformation 3 [axis index]

24320

TRAFO_GEOAX_ASSIGN_TAB_3[n]

Assignment geometry axis to channel axis for transfor-

mation 3 [geometry no.]

24400

TRAFO_TYPE_4

Definition of transformation 4 in channel

24410

TRAFO_AXES_IN_4[n]

Axis assignment for transformation 4 [axis index]

24420

TRAFO_GEOAX_ASSIGN_TAB_4[n]

Assignment geometry axis to channel axis for transfor-

mation 4 [geometry no.]

24430

TRAFO_TYPE_5

Definition of transformation 5 in channel

24432

TRAFO_AXES_IN_5[n]

Axis assignment for transformation 5 [axis index]

24434

TRAFO_GEOAX_ASSIGN_TAB_5[n]

Assignment geometry axis to channel axis for transfor-

mation 5 [geometry no.]

24440

TRAFO_TYPE_6

Definition of transformation 6 in channel

24442

TRAFO_AXES_IN_6[n]

Axis assignment for transformation 6 [axis index]

24444

TRAFO_GEOAX_ASSIGN_TAB_6[n]

Assignment geometry axis to channel axis for transfor-

mation 6 [geometry no.]

24450

TRAFO_TYPE_7

Definition of transformation 7 in channel

24452

TRAFO_AXES_IN_7[n]

Axis assignment for transformation 7 [axis index]

24454

TRAFO_GEOAX_ASSIGN_TAB_7[n]

Assignment geometry axis to channel axis for transfor-

mation 7 [geometry no.]

24460

TRAFO_TYPE_8

Definition of transformation 8 in channel

24462

TRAFO_AXES_IN_8[n]

Axis assignment for transformation 8 [axis index]

24464

TRAFO_GEOAX_ASSIGN_TAB_8[n]

Assignment geometry axis to channel axis for transfor-

mation 8 [geometry no.]

24470

TRAFO_TYPE_9

Definition of transformation 9 in channel

24472

TRAFO_AXES_IN_9[n]

Axis assignment for transformation 9 [axis index]

24474

TRAFO_GEOAX_ASSIGN_TAB_9[n]

Assignment geometry axis to channel axis for transfor-

mation 9 [geometry no.]

24480

TRAFO_TYPE_10

Definition of transformation 10 in channel

24482

TRAFO_AXES_IN_10[n]

Axis assignment for transformation 10 [axis index]

24484

TRAFO_GEOAX_ASSIGN_TAB_10[n]

Assignment geometry axis to channel axis for transfor-

mation 10 [geometry no.]

24500

TRAFO5_PART_OFFSET_1[n]

Offset vector for 5-axis transformation 1 [n = 0.. 2]

24510

TRAFO5_ROT_AX_OFFSET_1[n]

Position offset of rotary axis 1/2 for 5-axis transformation

1 [axis no.]

24520

TRAFO5_ROT_SIGN_IS_PLUS_1[n]

Sign of rotary axis 1/2 for 5-axis transformation 1 [axis

no.]

24530

TRAFO5_NON_POLE_LIMIT_1

Definition of pole range for 5-axis transformation 1

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2.14 Data lists

Number

Identifier: $MC_

Description

24540

TRAFO5_POLE_LIMIT_1

End angle tolerance with interpolation through pole for

5-axis transformation 1

24550

TRAFO5_BASE_TOOL_1[n]

Vector of base tool for activation of 5-axis transformation

1 [n = 0.. 2]

24558

TRAFO5_JOINT_OFFSET_PART_1[n]

Vector of kinematic offset in table for 5-axis transforma-

tion 1 [n = 0.. 2]

24560

TRAFO5_JOINT_OFFSET_1[n]

Vector of kinematic offset for 5-axis transformation 1 [n

= 0.. 2]

24561

TRAFO6_JOINT_OFFSET_2_3_1[n]

Vector of kinematic offset for 6-axis transformation

2_3_1

24562

TRAFO5_TOOL_ROT_AX_OFFSET_1[n]

Offset of focus of 1st 5-axis transformation with swiveled

linear axis.

24564

TRAFO5_NUTATOR_AX_ANGLE_1

Angle of 2nd rotary axis for the universal milling head

24570

TRAFO5_AXIS1_1[n]

Vector for the first rotary axis and the first orientation

transformation. [n = 0.. 2]

24572

TRAFO5_AXIS2_1[n]

Vector for the second rotary axis and the first transfor-

mation [n = 0.. 2]

24673

TRAFO5_AXIS3_1[n]

Direction of third rotary axis for general 6-axis transfor-

mation

(Transformer type 24, 40, 56, 57)

24574

TRAFO5_BASE_ORIENT_1[n]

Basic orientation for the first transformation [n = 0.. 2]

24576

TRAFO6_BASE_ORIENT_NORMAL_1[n]

Tool normal vector for the first transformation [n = 0.. 2]

24580

TRAFO5_TOOL_VECTOR_1

Tool vector direction for the first 5-axis transformation 1

24582

TRAFO5_TCARR_NO_1

TCARR number for the first 5-axis transformation 1

24585

TRAFO5_ORIAX_ASSIGN_TAB_1[n]

Assignment of orientation axes to channel axes for ori-

entation transformation 1 [n = 0.. 2]

24590

TRAFO5_ROT_OFFSET_FROM_FR_2

Offset of transf. rotary axes from WO

24594

TRAFO7_EXT_ROT_AX_OFFSET_1

Angle offset of the 1st external rotary axis

24595

TRAFO7_EXT_AXIS1_1

Direction of the 1st external rotary axis

24600

TRAFO5_PART_OFFSET_2[n]

Offset vector for 5-axis transformation 2 [n = 0.. 2]

24610

TRAFO5_ROT_AX_OFFSET_2[n]

Position offset of rotary axis 1/2 for 5-axis transformation

2 [axis no.]

24620

TRAFO5_ROT_SIGN_IS_PLUS_2[n]

Sign of rotary axis 1/2 for 5-axis transformation 2 [axis

no.]

24630

TRAFO5_NON_POLE_LIMIT_2

Definition of pole range for 5-axis transformation 2

24640

TRAFO5_POLE_LIMIT_2

End angle tolerance with interpolation through pole for

5-axis transformation 2

24650

TRAFO5_BASE_TOOL_2[n]

Vector of base tool with activation of 5-axis transforma-

tion 2 [n = 0.. 2]

24658

TRAFO5_JOINT_OFFSET_PART_2[n]

Vector of kinematic offset in table for 5-axis transforma-

tion 2 [n = 0.. 2]

24660

TRAFO5_JOINT_OFFSET_2[n]

Vector of kinematic offset for 5-axis transformation 2 [n

= 0.. 2]

24661

TRAFO6_JOINT_OFFSET_2_3_2[n]

Vector of kinematic offset for 6-axis transformation

2_3_2

Special functions

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F2: Multi-axis transformations

2.14 Data lists

Number

Identifier: $MC_

Description

24662

TRAFO5_TOOL_ROT_AX_OFFSET_2[n]

Offset of focus of 2nd 5-axis transformation with swiv-

eled linear axis.

24664

TRAFO5_NUTATOR_AX_ANGLE_2

Angle of the 2nd rotating axis for the universal milling

head

24670

TRAFO5_AXIS1_2[n]

Vector for the first rotary axis and the second orientation

transformation [n = 0.. 2]

24672

TRAFO5_AXIS2_2[n]

Vector for the second rotary axis and the first transfor-

mation [n = 0.. 2]

24673

TRAFO5_AXIS3_2[n]

Direction of third rotary axis for generic 6-axis transfor-

mation (type 24, 40, 56, 57)

24674

TRAFO5_BASE_ORIENT_2[n]

Basic orientation for the second transformation [n = 0..

24676

TRAFO6_BASE_ORIENT_NORMAL_2[n]

Tool normal vector for the second transformation [n = 0..

24680

TRAFO5_TOOL_VECTOR_2

Tool vector direction for the second 5-axis transforma-

tion 2

24682

TRAFO5_TCARR_NO_2

TCARR number for the second 5-axis transformation 2

24685

TRAFO5_ORIAX_ASSIGN_TAB_2[n]

Assignment of orientation axes to channel axes for ori-

entation transformation 2 [n = 0.. 2]

24694

TRAFO7_EXT_ROT_AX_OFFSET_2

Angle offset of the 2nd external rotary axis

24695

TRAFO7_EXT_AXIS1_2

Direction of the 2nd external rotary axis

25294

TRAFO7_EXT_ROT_AX_OFFSET_3

Angle offset of the 3rd external rotary axis

25295

TRAFO7_EXT_AXIS1_3

Direction of the 3rd external rotary axis

25394

TRAFO7_EXT_ROT_AX_OFFSET_4

Angle offset of the 4th external rotary axis

25395

TRAFO7_EXT_AXIS1_4

Direction of the 4th external rotary axis

28580

MM_ORIPATH_CONFIG

Configuration for path relative orientation ORIPATH

2.14.2

Setting data

2.14.2.1

General setting data

Number

Identifier: $SN_

Description

41110

JOG_SET_VELO

Geometry axes

41130

JOG_ROT_AX_SET_VELO

Orientation axes

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F2: Multi-axis transformations

2.14 Data lists

2.14.2.2

Channelspecific setting data

Number

Identifier $SC_

Description

42475

COMPRESS_CONTOUR_TOL

Maximum contour deviation for the compressor

42476

COMPRESS_ORI_TOL

Maximum angular deviation of the tool orientation for the

compressor

42477

COMPRESS_ORI_ROT_TOL

Maximum angular deviation when rotating the tool for

the compressor

42650

CART_JOG_MODE

Coordinate system for Cartesian manual travel

42660

ORI_JOG_MODE

Definition of virtual kinematics for JOG

42670

ORIPATH_SMOOTH_DIST

Smoothing path of the orientation

42672

ORIPATH_SMOOTH_TOL

Tolerance when smoothing the orientation

42970

AA_OFF_LIMIT

Upper limit for offset value $AA_TOFF

2.14.3

Signals

2.14.3.1

Signals to channel

Signal name

SINUMERIK 840D sl

SINUMERIK 828D

Activate PTP traversal

DB21, … .DBX29.4

2.14.3.2

Signals from channel

Signal name

SINUMERIK 840D sl

SINUMERIK 828D

Transformation active

DB21,

DBX33.6

DB330x.DBX1.6

Number of the active G commands of

DB21,

DBB232

G group 25

PTP traversal active

DB21,

DBX317.6

Online tool length compensation (TOFF) active

DB21,

DBX318.2

Online tool length compensation (TOFF): Compensation

DB21,

DBX318.3

motion active

Special functions

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G1: Gantry axes

3.1

Brief description

For gantry machines, each of various machine elements, such as the gantry and the transverse

beams, are moved by several axes that operate in parallel. The axes that together move a

machine part, are designated as gantry axes or gantry grouping. Because of the mechanical

structure, the gantry axes are rigidly connected with each other and so must always be

traversed synchronously by the control.

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Example: Gantry-type milling machine with gantry and transverse beams

Guide axis

The guide axis of the gantry grouping is the axis that represents the gantry grouping. Only this

axis is programmed to perform the traversing movements of the gantry grouping.

Synchronous axes

The synchronous axes of the gantry grouping are the axes that because of their coupling with

the guide axis are also automatically traversed by the control. A guide axis can be assigned

any number of synchronous axes.

Synchronization difference

The synchronous operation difference is the deviation of the axial actual value of a

synchronous axis from its ideal position referred to the actual value of the guide axis. The

control continually monitors the synchronous operation difference. A message is displayed if

the alarm limit is exceeded. The complete gantry grouping is stopped when the alarm limit is

exceeded. The limit values can be parameterized as machine data.

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G1: Gantry axes

3.2 "Gantry axes" function

3.2

"Gantry axes" function

3.2.1

Definition of a gantry grouping

Definition

The axes of a gantry grouping are specified via the following axial machine data:

MD37100 $MA_GANTRY_AXIS_TYPE[AX1] = xy

Tens decimal place: Type of gantry axis (guide or synchronous axis)

Ones decimal place: ID of the gantry grouping

A maximum of eight gantry groupings (gantry grouping ID: 1 - 8) can be defined. The gantry

grouping ID must be unique in all channels or in all NCUs in accordance with the assigned

axis.

In principle, a gantry grouping can be assigned any number of synchronous axes.

Example

Definition of a gantry grouping with ID=1, guide axis AX1 and synchronous axis AX2

● MD37100 $MA_GANTRY_AXIS_TYPE[AX1] = 01 (guide axis)

● MD37100 $MA_GANTRY_AXIS_TYPE[AX2] = 11 (synchronous axis)

Supplementary conditions

The following supplementary conditions apply to a gantry grouping:

● A gantry grouping must not contain a spindle.

● A synchronous axis must not be a concurrent POS axis.

● A synchronous axis must not belong to a transformation.

● A synchronous axis must not be a following axis of another axis coupling.

● A synchronous axis must not be a guide axis of another axis coupling.

● All axes of a gantry grouping must be of the same axis type, linear or rotary: MD30300

$MA_IS_ROT_AX (rotary axis/spindle)

Note

Drive optimization

At a SINAMICS S120 drive unit, a maximum of three drives can be optimized or measured

at the same time (speed controller optimization / function generator). Therefore, for a

coupling with more than three coupled drives at the same time, we recommend that these

are distributed over several drive units.

Special functions

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G1: Gantry axes

3.2 "Gantry axes" function

3.2.2

Monitoring the synchronism difference

Limit values for monitoring

2 limit values can be specified for the synchronism difference.

Gantry warning limit

The gantry warning limit is set using the following machine data:

MD37110 $MA_GANTRY_POS_TOL_WARNING (gantry warning limit)

The "Alarm limit exceeded" message is displayed if the synchronism difference exceeds the

gantry warning limit. In addition, the NC/PLC-interface signal is set:

DB31, ... DBX101.3 = 1 (gantry warning limit exceeded)

After the alarm limit has been fallen below, the message and interface signal are automatically

reset.

Note

Gantry warning limit

If the "Alarm limit exceeded" message is not to be displayed, then a value of 0 should be

entered into MD37110.

Gantry trip limit

The gantry trip limit is set using the following machine data:

● for the synchronized gantry grouping:

MD37120 $MA_GANTRY_POS_TOL_ERROR

● for the non-synchronized gantry grouping:

MD37130 $MA_GANTRY_POS_TOL_REF

Alarm 10653 "Error limit exceeded" is displayed if the synchronism difference exceeds the

gantry trip limit. In addition, the NC/PLC-interface signal is set:

DB31, ... DBX101.2 = 1 (gantry trip limit exceeded)

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The alarm is also displayed if the gantry grouping is jammed (no controller enable, gantry

grouping in the "Hold" state).

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G1: Gantry axes

3.2 "Gantry axes" function

3.2.3

Extended monitoring of the synchronism difference

Activation of the extended monitoring

An extended monitoring of the synchronism difference can be activated using the following

machine data:

MD37150 $MA_GANTRY_FUNCTION_MASK, Bit 0 = 1

For the extended monitoring, a synchronism difference between the leading and synchronous

axis, obtained when tracking or when the gantry grouping is opened, is taken into account.

The extended monitoring becomes active after the NC boots after the first referencing

(incremental encoder) or synchronization (absolute encoder).

Exceeding the gantry trip limit

If, when the extended monitoring is active, the trip limit of the synchronism difference is

exceeded, Alarm 10653 "Error limit exceeded" is displayed.

In order to be able to reset the alarm, proceed as follows:

1. Deactivating extended monitoring:

MD37150 $MA_GANTRY_FUNCTION_MASK, Bit 0 = 0

2. Deleting the synchronism difference displayed in the machine data:

MD37135 $GANTRY_ACT_POS_TOL_ERROR = 0

3. Cancel alarm

4. Re-reference or re-synchronize the axes of the gantry grouping

5. Reactivating extended monitoring:

MD37150 $MA_GANTRY_FUNCTION_MASK, Bit 0 = 1

3.2.4

Referencing and synchronization of gantry axes

Application

In cases where an incremental measuring system is being used for the guide axis or the

synchronous axis, the measuring systems must be referenced during NC run-up, while

maintaining the axis coupling.

After every axis in the gantry grouping has approached its reference point, any misalignment

that may exist between the axes must be eliminated (gantry synchronization process). Once

this has been done, the NC/PLC interface signal is set:

DB31, ... DBX101.5 = 1 (gantry grouping is synchronized)

For the sequence when referencing or synchronizing gantry axes, see Chapter "Referencing

and synchronization of gantry axes (Page 154)".

Special functions

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G1: Gantry axes

3.2 "Gantry axes" function

3.2.5

Control dynamics

Use case

From the user perspective, a gantry grouping is exclusively traversed via the leading axis. The

NC generates the setpoints of the synchronous axes directly from the setpoints of the leading

axis in time synchronism and outputs these to them. To minimize the synchronous operation

differences, the control system dynamics of all axes of a gantry grouping must be set identical

(see Section "Start-up of gantry axes (Page 164)").

Note

Identical control dynamics must be set for all axes of a gantry grouping.

Disturbance characteristic

If faults occur, which cause an axis of the gantry to be stopped, then the complete gantry

grouping is always stopped.

3.2.6

Opening the gantry grouping

Description

The axis coupling within a gantry grouping can be opened (dissolved) using the following

machine data:

MD37140 $MA_GANTRY_BREAK_UP = 1 (invalidate gantry grouping)

CAUTION

No synchronous operation

If the gantry axes remain mechanically coupled, there is a risk of damage to the machine

when the leading or synchronous axes are traversed in this operating state!

When the setting becomes active, the axes of the gantry grouping can be individually traversed

in the JOG, AUTOMATIC and MDA modes.

The monitoring functions of the synchronism difference and/or the alarm and trip limits are not

active.

The NC/PLC interface signal "Gantry grouping is synchronized" is reset:

DB31, ... DBX101.5 = 0

Special functions

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G1: Gantry axes

3.3 Referencing and synchronization of gantry axes

3.3

Referencing and synchronization of gantry axes

3.3.1

Introduction

Misalignment after starting

Immediately after the machine is switched on, the leading and synchronous axes may not be

ideally positioned in relation to one another (e.g. misalignment of a gantry). Generally speaking,

this misalignment is relatively small so that the gantry axes can still be referenced.

In special cases (e.g. gantry axes were stopped owing to a disturbance, power failure or

EMERGENCY STOP), the dimensional offset must be checked for permissible tolerance

values and a compensatory motion executed if necessary before the axes are traversed.

To execute this compensatory motion, the gantry grouping must be invalidated by means of

the following machine data:

MD37140 $MA_GANTRY_BREAK_UP (invalidate gantry grouping)

Gantry synchronization process

All gantry axes must first be referenced and then synchronized after the control system is

switched on. During gantry synchronization, all gantry axes approach the reference position

of the gantry grouping in the decoupled state. The reference position of the gantry grouping

for referencing the gantry axes corresponds to the reference position of the leading axis:

MD34100 $MA_REFP_SET_POS (reference point value/destination point for distancecoded

system)

Otherwise, the reference position is the current actual position of the leading axis.

These operations for referencing and synchronizing the gantry axes are executed

automatically in accordance with a special flowchart.

Referencing process

The flowchart for referencing gantry axes using an incremental measuring system is as follows:

Section 1:

Referencing of the leading axis

The axis-specific referencing of the gantry axis will be started by the active machine function

REF upon the leading axis' interface signal from the PLC user program:

DB31, ... DBX4.7/4.6 (traversing key plus/minus)

The leading axis approaches the reference point (operational sequence as for reference point

approach).

References:

Function Manual Basic Functions; Reference Point Approach (R1)

Special functions

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3.3 Referencing and synchronization of gantry axes

The appropriate synchronous axes traverse in synchronism with the leading axis. Interface

signal "Referenced/synchronized" of the leading axis is output to indicate that the reference

point has been reached.

Section 2:

Referencing of the synchronous axes

As soon as the leading axis has approached its reference point, the synchronous axis is

automatically referenced (as for reference point approach).

References:

Function Manual Basic Functions; Reference Point Approach (R1)

The dependency between the leading axis and synchronous axis is inverted in the control for

this phase so that the leading axis now traverses in synchronism with the synchronous axis.

IS "Referenced/synchronized" of the synchronous axis is output to indicate that the reference

point has been reached. The gantry axis dependency then reverts to its previous status. If a

further synchronous axis is defined in the grouping, then this is also referenced in the way

described above.

Section 3:

Gantry synchronization process

Once all axes in the gantry grouping have been referenced, they must be synchronized with

the defined reference position. The actual position of each gantry axis is first compared to the

defined reference position of the leading axis.

Special functions

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G1: Gantry axes

3.3 Referencing and synchronization of gantry axes

The next step in the operating sequence depends on the difference calculated between the

actual values of the leading and synchronous axes:

● difference is smaller than the gantry warning limit:

MD37110 $MA_GANTRY_POS_TOL_WARNING (gantry warning limit)

The gantry synchronization process is started automatically. The message

"Synchronization in progress gantry grouping x" is output during this process.

The message "Synchronization running gantry grouping x" can be suppressed with:

MD37150 $MA_GANTRY_FUNCTION_MASK Bit 2 = 1

All gantry axes traverse at a specific position value in the decoupled state at the velocity

set in the machine data:

MD34040 $MA_REFP_VELO_SEARCH_MARKER (creep velocity)

The position value is defined by the leading axis:

MD34100 $MA_REFP_SET_POS (reference point/destination point for distance-

coordinated system)

The absolute encoders and distanced-coded encoders of the leading axis will be set to the

current actual position of the leading axis or to the reference point by the following machine

data:

MD34330 $MA_REFP_STOP_AT_ABS_MARKER (Distancecoded linear measuring

system without destination point)

For this operation, the axes traverse at the same velocity as set for reference point

approach:

MD34070 $MA_REFP_VELO_POS (reference point positioning velocity)

As soon as all gantry axes have reached their target position (ideal position), IS "Gantry

grouping is synchronized" is set to "1" followed by re-activation of the gantry axis coupling.

The position actual value of all axes in the gantry grouping must now be identical. The

gantry synchronization process is now complete.

● Difference is higher than the gantry warning limit for at least one synchronous axis:

IS "Gantry synchronization read to start" is set to "1" and the message "Wait for

synchronization start of gantry grouping x" is output. The gantry synchronization process

is not started automatically in this case, but must be started explicitly by the operator or

from the PLC user program. The process is initiated by IS "Start gantry synchronization"

on the leading axis. The signal is set on the leading axis. The operational sequence is then

the same as that described above.

The following flowchart illustrates the referencing and synchronization processes.

Special functions

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G1: Gantry axes

3.3 Referencing and synchronization of gantry axes

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Special functions

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157

G1: Gantry axes

3.3 Referencing and synchronization of gantry axes

Figure 3-2

Flowchart for referencing and synchronization of gantry axes

Synchronization process

A synchronization process is always required in the following cases:

● after the reference point approach of all axes included in a grouping,

● if the axes become de-synchronized (s below).

Operational sequence failure

If the referencing process described above is interrupted as a result of disturbances or a

RESET, proceed as follows:

● Abort within section 1 or 2:

Restart reference point with leading axis (see section 1)

● Abort in section 3:

In cases where the gantry axes have not yet been referenced (IS "Referenced/

Synchronized" = 1), the gantry synchronization process can be started again with IS

"Synchronize gantry grouping".

Restart gantry synchronization

Synchronization of the gantry axes can be started with IS "Start gantry synchronization" under

the following conditions only:

● JOG/REF mode must be active. The following interface signal must be set:

DB11, ... DBX5.2 = 1 (active machine function REF)

● DB31, ... DBX 101.5 = 0 (gantry grouping is synchronized)

● All grouping axes operate within the tolerance windows:

DB31, ... DBX 101.4 = 1(gantry synchronization process ready to start)

● Axes are not referenced in the relevant NC channel

DB21, ... DBX33.0 = 0 (referencing active)

If the gantry synchronization process is not started from the referencing process by means of

IS "Start gantry synchronization process", then the reference position is not specified as target

position for the synchronous axes:

MD34100 $MA_REFP_SET_POS (reference point value/destination point for distancecoded

system)

Special functions

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G1: Gantry axes

3.3 Referencing and synchronization of gantry axes

Instead, the actual position of the leading axis is specified as the target position and is

approached in the uncoupled state.

Note

For the leading axis, automatic synchronization can be locked using the following NC/PLC

interface signal:

DB31, ... DBX29.5 = 1 (no automatic synchronization process)

This always makes sense if no axis enabling signal has yet been issued for the axes. In this

case, the synchronization process should also be started explicitly with the NC/PLC interface

signal:

DB31, ... DBX29.4 = 1 (start gantry synchronization process)

Loss of synchronization

The gantry grouping becomes desynchronized as a result of:

● "Tracking" the gantry axes

● Loss of the reference position of a gantry axis, e.g. by "Parking" (no measuring system

active)

● Re-referencing of gantry axis

● The gantry grouping is opened (dissolved) by:

MD37140 $MA_GANTRY_BREAK_UP = 0 (invalidate gantry axis grouping)

The corresponding NC/PLC interface signal is reset:

● DB31, ... DBX60.4 or DBX60.5 == 0 (referenced/synchronized 1 or 2 respectively)

● DB31, ... DBX 101.5 == 0 (gantry grouping is synchronized)

If, in operation, gantry grouping synchronization is lost due to a fault, then synchronization can

be restarted using the NC/PLC interface signal:

DB31, ... DBX29.4 == 1 (start gantry synchronization process)

Requirement is that the following applies to all axes of the gantry grouping:

DB31, ... DBX60.4 or DBX60.5 = 1 (referenced/synchronized 1 or 2 respectively)

In this case, the synchronizing axes traverse the current actual position of the leading axis in

the decoupled state.

If, when the gantry grouping is traversing, the signal "Emergency Stop" (DB10, DBX56.2) is

set and again reset, and the gantry axes have drifted apart less than the standstill tolerance

of the synchronous axes, then these are automatically resynchronized. Automatic

synchronization can be suppressed using the NC/PLC interface signal for the leading axis:

DB31, ... DBX29.5 = 1 (no automatic synchronization process)

Special functions

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G1: Gantry axes

3.3 Referencing and synchronization of gantry axes

Selecting the reference point

To ensure that the shortest possible paths are traversed when the gantry axes are referenced,

the reference point values from leading and synchronous axes should be the same in the

machine data:

MD34100 $MA_REFP_SET_POS (reference point value/destination point for distancecoded

system)

Allowance for deviations in distance between the zero mark and the reference point must be

made for specific axes via the machine data:

MD34080 $MA_REFP_MOVE_DIST (reference point distance)

MD34090 $MA_REFP_MOVE_DIST_CORR (reference point offset/absolute offset)

Referencing direction selection

The zero mark search direction of the synchronous axis can be defined via the machine data:

MD37150 $MA_GANTRY_FUNCTION_MASK, Bit 1

Bit

Value

Meaning

Zero mark search direction of the synchronous axis analog to machine data:

MD34010 $MA_REFP_CAM_DIR_IS_MINUS

Zero mark search direction of the synchronous axis the same as the leading axis

During referencing, the reference point value of the leading axis is specified as the target

position for all axes in the grouping for the synchronization compensatory motion. This position

is then approached without axis coupling. The absolute encoders and distanced-coded

encoders of the leading axis will be set to the current actual position of the leading axis or to

the reference point by the following machine data:

MD34330 $MA_REFP_STOP_AT_ABS_MARKER (Distancecoded linear measuring system

without destination point)

If only one reference cam is used for the leading and synchronous axes, then this must be

taken into account in the PLC user program.

3.3.2

Automatic synchronization

Automatic synchronization can take place:

● in the referencing mode (see Section "Introduction (Page 154)")

● in other modes, as described below:

If a gantry grouping is switched to follow-up mode, monitoring of the actual values between

the leading and synchronized axes is disabled. The grouping is no longer synchronized as a

result. Independent of axes positions, the following interface signal will be set to 0 (from leading

axis)

DB31, ... DBX101.5 (gantry grouping is synchronous)

If the gantry grouping is switched from follow-up mode to position control mode, axis

synchronism is automatically restored provided the actual-value monitor does not detect a

Special functions

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G1: Gantry axes

3.3 Referencing and synchronization of gantry axes

difference between the positions of the leading and synchronized axes greater than the setting

in the machine data:

MD36030 $MA_STANDSTILL_POS_TOL (standstill tolerance)

In this case, a new setpoint is specified for the synchronized axis (axes) without interpolation.

The positional difference detected earlier is then corrected by the position controller. The

correction causes only the synchronized axis (axes) to move.

The motional sequence of the synchronized axis (axes) is analogous to the situation in which

the grouping switches from the "Hold" state to position control mode. In this case, the position

specified by the position controller before the grouping is halted is set again on condition that

the zero speed monitor has not activated alarm 25040 (with follow-up as alarm reaction) in the

meantime.

The same tolerance window is used for this mode of automatic synchronization as for the zero

speed monitoring function:

MD36030 $MA_STANDSTILL_POS_TOL (standstill tolerance)

Parameter rate dependence loads with machine data:

MD36012 $MA_STOP_LIMIT_FACTOR (exact stop coarse/fine and standstill factor)

Note

The following interface signal blocks automatic synchronization in all modes except the

referencing mode:

DB31, ... DBX29.5 (no automatic synchronization)

Should the automatic synchronization be activated at this point, then the following interface

signal must be reset:

DB31, ... DBX29.5 = 0 (no automatic synchronization)

Then switch one of the axes in the gantry grouping from follow-up mode to position-controlled

mode. This is achieved with the interface signals:

DB31, ... DBX1.4 = 1 (follow-up mode)

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

3.3.3

Points to note

2nd position measuring system per gantry axis

Different types of position measuring systems can be mounted on the gantry axes of a

grouping. Furthermore, each gantry axis is capable of processing two position measuring

systems, it being possible to switch over from one system to the other at any time:

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

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

The maximum tolerance for position actual value switchover should be set to a lower value

than the gantry warning limit:

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3.3 Referencing and synchronization of gantry axes

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

The two position measuring systems must, however, have been referenced beforehand. The

relevant measuring system must be selected before referencing is initiated. The operational

sequence is then the same as that described above.

Channelspecific referencing

Gantry axes can also be referenced by channel with the following interface signal:

DB21, ... DBX1.0 (activate referencing)

The value of the leading axis' machine data is used for the axis sequence for channel-specific

referencing:

MD34110 $MA_REFP_CYCLE_NR (Axis sequence for channel-specific referencing)

After the reference point of the leading axis has been reached, the synchronized axes are

referenced first as described above.

Referencing from part program with G74

The referencing and synchronization process for gantry axes can also be initiated from the

part program by means of command G74. In this case, only the axis name of the leading axis

may be programmed. The operational sequence is analogous to that described for axis-specific

referencing.

Position measuring system with distancecoded reference marks

In order that reference point approach operations do not have to travel through large distances,

it is possible to use just one position measuring system - or a position measuring system as

2nd measuring system with distance-coded reference marks for gantry axes. In this way the

measuring system is referenced after traversal of a short path (e.g. 20 mm). The procedure

for referencing the gantry axes is the same as that described for the normal incremental

measuring system.

References:

Function Manual Basic Functions; Reference Point Travel (R1)

Absolute encoder

During the course of the synchronization compensatory motion, all axes in the gantry axis

grouping traverse to the reference point value of the leading axis defined in the machine data:

MD34100 $MA_REFP_SET_POS (reference point value/destination point for distancecoded

system)

The absolute encoders and distanced-coded encoders of the leading axis will be set to the

current actual position of the leading axis or to the reference point by the following machine

data:

MD34330 $MA_REFP_STOP_AT_ABS_MARKER (Distancecoded linear measuring system

without destination point)

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3.3 Referencing and synchronization of gantry axes

Activation of axis compensations

Compensation functions can be activated for both the leading axis and the synchronized axes.

Compensation values are applied separately for each individual gantry axis. These values

must therefore be defined and entered for the leading axis and the synchronized axes during

start-up.

The compensations do not become operative internally in the control until the axis is referenced

or the gantry grouping synchronized. The following applies:

Compensation type

Takes effect when

PLC interface signal

Backlash compensation

Axis is referenced

"Referenced/Synchronized"

LEC

Axis is referenced

"Referenced/synchronized"

Sag compensation

Gantry grouping is synchron-

"Gantry grouping is synchronized"

ized

Temperature compensation

Gantry grouping is synchron-

"Gantry grouping is synchronized"

ized

If a movement by the synchronized axis (axes) is caused by an active compensation, a travel

command is displayed for the synchronized axis (axes) independently of the leading axis.

Monitoring functions effective

Analogous to normal NC axes, the following monitoring functions do not take effect for gantry

axes until the reference point is reached (IS "Referenced/Synchronized"):

● Working area limits

● Software limit switch

● Protection zones

The axial machine data values are used as monitoring limit values for the synchronized axes

as well.

Multi-channel block search

The cross-channel block search in Program Test mode (SERUPRO "Search Run by Program

test") can be used to simulate the traversal of gantry axis groupings.

Note

Further information regarding multi-channel block search SERUPRO can be found under:

References:

Function Manual, Basic Functions; Mode Group, Channel, Program Mode (K1),

Section: Program test

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3.4 Start-up of gantry axes

3.4

Start-up of gantry axes

General

Owing to the forced coupling which is normally present between guide and synchronous gantry

axes, the gantry grouping must be started up as if it were an axis unit. For this reason, the

axial machine data for the guide and synchronous axes must always be defined and entered

jointly.

If the synchronous axis is overloaded due to a weaker dynamic response than the guide axis,

alarm 10656 is displayed.

Special points to be noted with regard to starting up gantry axes are described below.

Traversing direction

As part of the start-up procedure, a check must be made to ensure that the direction of rotation

of the motor corresponds to the desired traversing direction of the axis. Correct with the

following axial machine data:

MD32100 $MA_AX_MOTION_DIR (traversing direction)

Entering gantry trip limits

For the monitoring of the actual position values of the synchronous axis in relation to the actual

position of the guide axis, the limit values for termination, as well as for the guide and

synchronous axes, should be entered corresponding to the specifications of the machine

manufacturer:

● MD37120 $MA_GANTRY_POS_TOL_ERROR (gantry trip limit)

● MD37130 $MA_GANTRY_POS_TOL_REF (gantry shutdown limit when referencing)

Note

The control must then be switched off and then on again because the gantry axis definition

and the trip limit values only take effect after power ON.

Response to setpoint changes and disturbances

Since digital drives respond well to disturbances and setpoint changes, there is no need for a

compensatory control between the gantry axes. However, the gantry axes can only operate

in exact synchronism if the parameters for the control circuits of the guide and synchronous

axes are set to the same dynamic response value.

To ensure the best possible synchronism, the guide axis and synchronous axis must be

capable of the same dynamic response to setpoint changes. The axial control loops (position,

speed and current controllers) should each be set to the optimum value so that disturbances

can be eliminated as quickly and efficiently as possible. The dynamic response adaptation

function in the setpoint branch is provided to allow differing dynamic responses of axes to be

matched without loss of control quality.

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3.4 Start-up of gantry axes

Axial optimization

The following control parameters must be set to the optimum axial value for both the guide

axis and the synchronous axis:

● MD32200 $MA_POSCTRL_GAIN (servo gain factor)

● MD32620 $MA_FFW_MODE (feedforward control parameter)

● MD32610 $MA_VELO_FFW_WEIGHT (feedforward control factor for acceleration/speed)

● MD32650 $MA_AX_INERTIA (inertia for torque feedforward control)

● MD32800 $MA_EQUIV_CURRCTRL_TIME (equivalent time constant current control loop

for feedforward control)

● MD32810 $MA_EQUIV_SPEEDCTRL_TIME (equivalent time constant speed control loop

for feedforward control)

References

Extended Functions Function Manual; Compensations (K3)

Same settings

The following control parameters must be set to the same value for the guide axis and

synchronous axis:

● MD33000 $MA_FIPO_TYPE (fine interpolator type)

● MD32400 $MA_AX_JERK_ENABLE (axial jerk limitation)

● MD32410 $MA_AX_JERK_TIME (time constant for the axial jerk filter)

● MD32420 $MA_JOG_AND_POS_JERK_ENABLE (basic position of axial jerk limitation)

● MD32430 $MA_JOG_AND_POS_MAX_JERK (axial jerk)

References

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

Control (G2)

Dynamics matching

The guide axis and the coupled synchronous axis must be capable of the same dynamic

response to setpoint changes. The same dynamic response means: The following errors are

equal in magnitude when the axes are operating at the same speed.

The dynamic response adaptation function in the setpoint branch makes it possible to obtain

an excellent match in the response to setpoint changes between axes which have different

dynamic characteristics (control loops). The difference in equivalent time constants between

the dynamically "weakest" axis and the other axis in each case must be specified as the

dynamic response adaptation time constant.

Example

When the speed feedforward control is active, the dynamic response is primarily determined

by the equivalent time constant of the "slowest" speed control loop.

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3.4 Start-up of gantry axes

Guide axis

MD32810 $MA_EQUIV_SPEEDCTRL_TIME [n] = 5 ms (equivalent time constant speed

control loop for feedforward control)

Synchronous axis

MD32810 $MA_EQUIV_SPEEDCTRL_TIME [n] = 3 ms

● Time constant of dynamic response adaptation for synchronous axis:

MD32910 $MA_DYN_MATCH_TIME [n] = 5 ms - 3 ms = 2 ms (time constant of dynamic

response adaptation)

The dynamic response adaptation must be activated axially with the machine data:

MD32900 $MA_DYN_MATCH_ENABLE (dynamic response adaptation)

Check of dynamic response adaptation:

The following errors of the guide and synchronous axes must be equal in magnitude when the

axes are operating at the same speed!

For the purpose of fine tuning, it may be necessary to adjust servo gain factors or feedforward

control parameters slightly to achieve an optimum result.

Referencing gantry axes

The positions of the guide and synchronous axes reference points must first be set to almost

identical values.

To ensure that the synchronization compensatory motion of the gantry axes is not started

automatically, the gantry warning limit must be set to 0 at the first start-up before referencing:

MD37100 $MA_GANTRY_POS_TOL (gantry axis definition)

This will prevent a warning message being output during traversing motion.

In cases where an excessively high additional torque is acting on the drives due to

misalignment between the guide and synchronous axes, the gantry grouping must be aligned

before the axes are traversed. After this, the gantry axes must be referenced. For further

details, see:

● Section "Referencing and synchronization of gantry axes (Page 154)"

● References: Basic Functions Function Manual; Reference Point Approach (R1)

After the guide and synchronous axes have been referenced, the difference between them

must be determined by comparing the actual position value (HMI: operating area "Diagnostics"

> "Service axes") and taken into account as the reference point offset:

● MD34080 $MA_REFP_MOVE_DIST (reference point distance)

● MD34090 $MA_REFP_MOVE_DIST_CORR (reference point offset / absolute offset)

The differences in distance between the zero mark and reference point must also be calculated

for each gantry axis and adjusted. They are to be customized, via the following machine data,

in such a way that the actual position values of the guide and synchronous axes are identical

after execution of the compensatory motion:

● MD34080 $MA_REFP_MOVE_DIST (reference point distance)

● MD34090 $MA_REFP_MOVE_DIST_CORR (reference point offset / absolute offset)

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3.4 Start-up of gantry axes

Synchronizing gantry axes

The gantry synchronization is activated via the NC/PLC interface signal (see Section

"Referencing and synchronization of gantry axes (Page 152)"):

DB31, ... DBX29.4 = 1 (start synchronization of gantry)

The completion of the synchronization is displayed via the NC/PLC interface signal:

DB31, ... DBX101.5 == 1 (gantry grouping is synchronous)

Once the axes have been synchronized, check that the dimensional offset between the guide

and the synchronous axes is 0. If required, make corrections in the machine data mentioned

above.

Input of gantry warning limit

Once the reference point values for the guide and synchronous axes have been optimized so

that the gantry axes are perfectly aligned with one another after synchronization, the warning

limit values for all axes must be entered in the following machine data:

MD37110 $MA_GANTRY_POS_TOL_WARNING (gantry warning limit)

To do this, the value must be increased incrementally until it is just below the alarm (limit

exceeded) response limit. It is particularly important to check the acceleration phases.

This limit value also determines the position deviation value at which gantry synchronization

is automatically started in the control.

Calculating and activating compensations

In cases where the gantry axes require compensation (backlash, sag, temperature or

leadscrew error), the compensation values for the guide axis and the synchronous axis must

be calculated and entered in the appropriate parameters or tables.

References

Extended Functions Function Manual; Compensations (K3)

Function generator / measuring function

The activation of the function generator and measuring function for a synchronous axis is

aborted with an error message. If an activation of the synchronous axis is absolutely necessary,

e.g. to measure the machine, the guide and the synchronous axes must be temporarily

interchanged.

Special cases

If individual axes have to be activated, the gantry groups must be temporarily canceled. As

the second axis no longer travels in synchronism with the first axis, the activated axis must not

be allowed to traverse beyond the positional tolerance.

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3.5 Parameter assignment: Response to faults

If the gantry grouping is canceled, the following points must be noted:

● Always activate the traversing range limits and set them to the lowest possible values

(position tolerance).

● Synchronize the gantry grouping first if possible and then execute a POWER-ON-RESET

without referencing the axes again. This ensures that the traversing range limits always

refer to the same position (i.e. that which was valid on power ON).

● Avoid using the step-change function. Position step changes are only permissible if they

stay within the permitted tolerance.

● Always use an offset of 0 for the function generator and measuring function in contrast to

the recommendations for normal axes.

● Set the amplitudes for function generator and measuring function to such low values that

the activated axis traverses a shorter distance than the position tolerance allows. Always

activate the traversing range limits as a check (see above).

References

Drive Functions Function Manual; Speed Control Loop (DD2)

Start-up support for gantry groupings

The start-up functions of the function generator and measuring are parameterized via the PI

service. The traversing movement starts for all parameterized axes with NC start in JOG mode.

A window is displayed in the "Measuring function and function generator in gantry grouping"

user interface. Two amplitude values, each with an offset and bandwidth, must be entered in

this window. The first amplitude value applies to the measuring axis and the second to the

other coupled axes.

3.5

Parameter assignment: Response to faults

Pulse suppression

The behavior of the gantry grouping with regard to faults that trigger pulse suppression can

be set with the following axis-specific machine data:

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3.6 PLC interface signals for gantry axes

MD30455 $MA_MISC_FUNCTION_MASK, bit 9 = <value>

<value>

Meaning

When a fault occurs that triggers the pulse suppression (e.g. measuring-circuit fault), the

pulses in all other axes of the gantry grouping will also be suppressed.

Result: Coast down of all axes of the gantry grouping.

When a fault occurs that triggers the pulse suppression (e.g. measuring-circuit fault), the

pulses for only this axis will be suppressed. The other axes of the gantry grouping will be

stopped. The pulses for these axes are also then suppressed. To ensure that the pulses

these axes are not suppressed in advance, especially for axes to be held at the standstill

position (vertical axes), the following drive parameters must be taken into account:

● p1135[0...n] OFF3 ramp-down time

● p1217 holding brake application time

● p1227 zero speed detection monitoring time

● p1228 pulse suppression, delay time

For a detailed description of drive parameters, refer to:

References:

SINAMICS S120/S150 Parameter Manual

3.6

PLC interface signals for gantry axes

Special IS for gantry axes

The special NC/PLC interface signals of the coupled gantry axes are taken via the axial NC/

PLC interface of the leading or synchronized axes. The table below shows all special gantry

NC/PLC interface signals along with their codes and indicates whether the IS is evaluated on

the leading axis or the synchronized axis.

NC/PLC interface signal

Direction of transfer

DB31, ...

Leading axis

Synchronous axis

DBX...

Start gantry synchronization

PLC → NC

29.4

No automatic synchronization

PLC → NC

29.5

Gantry axis

NC → PLC

101.7

Gantry leading axis

NC → PLC

101.6

Gantry grouping is synchronized

NC → PLC

101.5

Gantry synchronization ready to

NC → PLC

101.4

start

Gantry warning limit exceeded

NC → PLC

101.3

Gantry trip limit exceeded

NC → PLC

101.2

Effect of axial interface signals on gantry axes

a) Axial interface signals from the PLC to the axis (PLC → NC)

The axial interface signals from the PLC to the axis are always referred to all gantry axes in

the grouping. In this case, all gantry axes (leading and synchronized axis) have equal priority.

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3.6 PLC interface signals for gantry axes

For example, all axes in the gantry groupings will be simultaneously shut down when the

following interface signal is set to "0" from the leading axis:

DB31, ... DBX2.1 (servo enable)

The following table shows the effect of individual interface signals (from PLC to axis) on gantry

axes:

NC/PLC interface signal

DB31, ... DBX ...

Effect on

Leading axis

Synchronous axis

Axis/spindle disable

1.3

On all axes in gantry

No effect

grouping

Position measuring system 1/2

1.5 and 1.6

Axial ¹⁾

Controller enable

2.1

On all axes in gantry grouping ²⁾

Delete distance to go (axial)

2.2

Axial

No effect

Clamping in progress

2.3

Axial

Reference point value 1-4

2.4 - 2.7

Axial

Feed stop

4.3

On all axes in gantry grouping

Hardware limit switch plus/minus

12.0 and 12.1

Axial alarm: Brake request on all axes in gantry

grouping

2nd software limit switch plus/minus

12.2 and 12.3

Axial

Ramp-function generator fast stop (RFGFS)

20.1

On all axes in gantry grouping

Select drive parameter set

21.0 - 21.2

Axial

Enable Pulses

21.7

Axial

¹⁾DB31, ... DBX1.5 and 1.6 (position measuring system 1/2)

The switchover between position measuring systems 1 and 2 applies individually for each gantry axis. However, deactivation

of both position measuring systems (known as the parking position) applies as a common signal for all gantry axes.

²⁾DB31, ... DBX2.1 (controller enable)

If the servo enable signal on one gantry axis is canceled, all axes in the gantry grouping are shut down simultaneously. The

method by which shutdown is implemented (e.g. with fast stop) is identical for all gantry axes.

Either the "Follow-up" state (IS of one gantry axis = 1) or the "Stop" state (IS of all gantry axes

= 0) is activated for all gantry axes, depending on interface signal:

DB31, ... DBX1.4 (follow-up mode)

b) Axial interface signals from the axis to the PLC (NC → PLC)

Each of the axial, axis-to-PLC interface signals for the synchronized axis and the leading axis

is always set on an axis-specific basis and output to the PLC.

Example:

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

Exception:

When the leading axis is traversed, the interface signal will also be set for the synchronizing

axis:

DB31, ... DBX64.6 and 64.7 (traverse command plus resp. minus)

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3.7 Miscellaneous points regarding gantry axes

3.7

Miscellaneous points regarding gantry axes

Manual traversing

It is not possible to traverse a synchronous axis directly by hand in JOG mode. Traverse

commands entered via the traversing keys of the synchronous axis are ignored internally in

the control. Rotation of the handwheel for the synchronous axis has no effect either.

Handwheel override

An overriding motion by means of the handwheel can only be applied to the guide axis in

coupled axis mode. In this case, the synchronous axes traverse in synchronism with the guide

axis.

DRF offset

A DRF offset can only be applied to the guide axis. In this case, the synchronous axes traverse

in synchronism with the guide axis.

Programming in part program

Only the guide axis of a gantry axis grouping may be programmed in the part program. An

alarm is generated while programming a synchronous axis, even when a gantry axis grouping

is released (MD37140 $MA_GANTRY_BREAK_UP = 1).

PLC or command axes

Only the guide axis of the gantry grouping can be traversed by the PLC using FC 18 or as a

command axis by means of synchronized actions.

References:

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

● Function Manual, Synchronized Actions

PRESET

The PRESET function can only be applied to the guide axis. All axes in the gantry grouping

are reevaluated internally in the control when PRESET is activated. The gantry axes then lose

their reference and synchronization:

DB31, ... DBX101.5 (gantry grouping is synchronized) = 0

Channel assignment of the gantry axes

Please ensure that for a gantry grouping whose guide axis is known in several channels, its

synchronous axes in these channels are also known. If this is not the case, Alarm 10651 is

output with reason 60XX (XX is the objectionable gantry grouping).

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3.7 Miscellaneous points regarding gantry axes

Axis interchange

All axes in the gantry grouping are released automatically in response to a RELEASE

command (guide axis).

An axis interchange of the guide axis of a closed gantry grouping is only possible, if all axes

of the grouping are known in the channel in which they are to be transferred, otherwise alarm

10658 is signaled.

No automatic axis interchange and no automatic adjustment of the gantry axis conditions are

undertaken while trying to reconnect a gantry grouping is released with

MD37140 $MA_GANTRY_BREAK_UP = 1. The user is responsible for this. A check of the

axis conditions is conducted after the break up and if necessary, a corresponding alarm 10658

is output.

Note

If a gantry grouping is to be closed again, the user must ensure that all axes of the grouping

are in a channel with a corresponding axis condition.

Default for RESET

In an active gantry grouping, the following machine data parameterization is ignored for the

synchronous axes:

MD30450 $MA_IS_CONCURRENT_POS_AX = 1 (Reset default: neutral axis/channel axis)

The state of the guide axis is assumed. The user is informed about the inappropriate

configuration with display alarm 4300.

Display data

The position actual value display shows the actual values of both the guide axis and the

synchronous axes. The same applies to the service display values in the "Diagnosis" operating

area.

Software limit switch

The software limit switch monitor is processed for the guide axis only. If the guide axis crosses

the limit switch, all axes in the gantry grouping are braked to a standstill.

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3.8 Examples

Differences in comparison with the "Coupled motion" function

The main differences between the "gantry axes" and "coupled motion" functions are listed

below:

● The axis coupling between the gantry axes must always be active. Separation of the axis

coupling via part program is therefore not possible for gantry axes. In contrast, the coupled

axis grouping can be separated by means of the part program and the axes then traversed

individually.

● In the "Gantry Axes" function, the difference of the actual position values from the guide

axis and synchronous axis is monitored continuously and the traversing motion is shut down

if there are impermissible deviations. There is no monitoring for the "Coupled motion"

function.

● Gantry axes must remain coupled even during referencing. For this reason, special

procedures are applied for the reference point approach of gantry axes. In contrast, coupled-

motion axes are referenced as individual axes.

● For the gantry axes to traverse without mechanical offset, the synchronous axes must be

set like the guide axes from the control dynamics perspective. In contrast, the "coupled

motion" function permits axes with different dynamic control response characteristics to be

coupled.

References:

Function Manual, Special Functions, Coupled Motion (M3)

Block search with active coupling

Note

For an active coupling, it is recommended to only use block search type 5, "Block search via

program test" (SERUPRO) for a block search.

3.8

Examples

3.8.1

Creating a gantry grouping

Introduction

Setting up gantry grouping, referencing its axes, aligning possible offsets - and finally,

synchronizing the axes involved, are complicated procedures. The individual steps involved

in the process are explained below by an example constellation.

Constellation

Machine axis 1 = gantry leading axis, incremental measuring system

Machine axis 3 = gantry synchronized axis, incremental measuring system

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3.8 Examples

Machine data

The following machine data describes the original values at the beginning of the procedure.

Individual settings must be corrected or added later according to the information below.

Gantry machine data

Axis 1

MD37100 $MA_GANTRY_AXIS_TYPE = 1 (gantry axis definition)

MD37110 $MA_GANTRY_POS_TOL_WARNING =0 (gantry warning limit)

MD37120 $MA_GANTRY_POS_TOL_ERROR = e.g. 1 (gantry trip limit)

MD37130 $MA_GANTRY_POS_TOL_REF = e.g. 100 mm (max. misalignment) (gantry

shutdown limit when referencing)

MD37140 $MA_GANTRY_BREAK_UP = 0 (invalidate gantry axis grouping)

Axis 3

MD37100 $MA_GANTRY_AXIS_TYPE= 11

MD37110 $MA_GANTRY_POS_TOL_WARNING = 0

MD37120 $MA_GANTRY_POS_TOL_ERROR = e.g. 1 mm

MD37130 $MA_GANTRY_POS_TOL_REF = e.g. 100 mm (max. misalignment)

MD37140 $MA_GANTRY_BREAK_UP = 0

Reference point machine data (for first encoder each)

Axis 1

MD34000 $MA_REFP_CAM_IS_ACTIVE = TRUE

MD34010 $MA_REFP_CAM_DIR_IS_MINUS = e.g. FALSE

MD34020 $MA_REFP_VELO_SEARCH_CAM =

MD34030 $MA_REFP_MAX_CAM_DIST = corresponds to max. distance traversed

MD34040 $MA_REFP_VELO_SEARCH_MARKER =

MD34050 $MA_REFP_SEARCH_MARKER_REVERSE = e.g. FALSE

MD34060 $MA_REFP_MAX_MARKER_DIST = Difference betw. cam edge and 0 mark

MD34070 $MA_REFP_VELO_POS =

MD34080 $MA_REFP_MOVE_DIST = 0

MD34090 $MA_REFP_MOVE_DIST_CORR = 0

MD34092 $MA_REFP_CAM_SHIFT = 0

MD34100 $MA_REFP_SET_POS = 0

MD34200 $MA_ENC_REFP_MODE = 1

The reference point machine data (for the first encoder) of axis 3 must be specified analogously.

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3.8 Examples

3.8.2

Setting the NC-PLC interface

Introduction

An automatic synchronization process when referencing axes must be disabled initially to

prevent damaging/destroying grouping axes that are misaligned.

Disabling of automatic synchronization

The PLC user program sets the following for the axis data block of axis 1:

DB31, ... DBX29.4 = 0 (do not start gantry synchronization)

DB31, ... DBX29.5 = 1 (no automatic synchronization process)

The NC sets the following as a confirmation in the axis block of axis 1:

DB31, ... DBB101.4 = 0 (synchronization process not ready to start)

DB31, ... DBB101.6 = 1 (leading axis LA)

DB31, ... DBB101.7 = 1 (gantry axis)

The PLC user program sets for the axis data block of axis 3:

DB31, ... DBX29.4 = 0 (do not start gantry synchronization)

The NC sets the following as a confirmation in the axis block of axis 3:

DB31, ... DBB101.4 = 0 (synchronization process not ready to start)

DB31, ... DBB101.6 = 0 (synchronized axis GA)

DB31, ... DBB101.7 = 1 (gantry axis)

3.8.3

Commencing start-up

Referencing

The following steps must be taken:

● Select "REF" operating mode

● Start referencing for axis 1 (master axis)

● Wait until message "10654 Channel 1 Waiting for synchronization start" appears.

At this point in time, the NC has prepared axis 1 for synchronization and registers this at the

interface signal:

DB31 DB31, ... DBB101.4 = 1 (synchronization process ready to start)

DB31, ... DBB101.6 = 1 (leading axis LA)

Special functions

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175

G1: Gantry axes

3.8 Examples

DB31, ... DBB101.7 = 1 (gantry axis)

In addition, the following steps must be taken:

●

RESET

●

Read off values in machine coordinate system:

e. g.

X = 0.941

Y = 0.000

XF = 0.000

●

Enter the X value of master axis 1 with inverted sign in the machine data of slave axis 3:

MD34090 $MA_REFP_MOVE_DIST_CORR = - 0.941 (reference point offset/absolute

offset)

Note

This machine data is effective after power ON. To avoid having to perform a power ON

now, the value can also be entered in the following machine data:

MD34080 $MA_REFP_MOVE_DIST (reference point distance)

This machine data is then valid after a RESET.

●

Start referencing again for axis 1 (master axis) with the modified machine data

●

Wait until message "10654 Channel 1 Waiting for synchronization start" appears

●

At this point in time, the NC has prepared axis 1 for synchronization and registers this at

the interface signal:

DB31 DB31, ... DBB101.4 = 1 (synchronization process ready to start)

DB31, ... DBB101.6 = 1 (leading axis LA)

DB31, ... DBB101.7 = 1 (gantry axis)

●

Examine actual positions of machine. Case A or B might apply:

GLII

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Figure 3-3

Possible results after referencing axis 1 (master axis)

Special functions

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G1: Gantry axes

3.8 Examples

If Case A applies, the synchronization process can be started immediately (see "start

synchronization process" step). If Case B applies, the offset "diff" must be calculated and taken

into account:

● Measuring of diff

● By using two appropriate, right-angled reference points R' and R" in the machine bed (right

in picture), the difference in position in JOG can be traversed. The diff offset can then be

read as the difference in the position display. The diff offset must be entered in the machine

data of axis 3 (synchronized axis):

MD34100 $MA_REFP_SET_POS

Continue with 1st step (see above).

● Start gantry synchronization. PLC sets:

DB31, ... DBX29.4 = 1 (start synchronization of gantry)

3.8.4

Setting warning and trip limits

If the gantry grouping is set and synchronized, the following machine data must then be set:

MD37110 $MA_GANTRY_POS_TOL_WARNING (gantry warning limit)

MD37120 $MA_GANTRY_POS_TOL_ERROR (gantry trip limit)

Proceed as follows

● Set the machine data for all axes with a large value to begin with:

MD37120 $MA_GANTRY_POS_TOL_ERROR (gantry trip limit)

● Set a very small value in the machine data:

MD37110 $MA_GANTRY_POS_TOL_WARNING (gantry warning limit)

When you put a heavy, dynamic strain on the axes, the self-canceling alarm "10652 channel

%1 axis %2 gantry warning limit exceeded" will be output repeatedly.

● Now increase the following machine data:

MD37110 $MA_GANTRY_POS_TOL_WARNING (gantry warning limit)

Repeat this until the alarm no longer appears. The interface indicates the status:

DB31, ... DBX101.2 = 0 (gantry trip limit not exceeded)

DB31, ... DBX101.3 = 0 (gantry warning limit not exceeded)

DB31, ... DBX101.4 = 0 (gantry synchronization run not ready to start)

DB31, ... DBX101.5 = 1 (gantry grouping is synchronized)

DB31, ... DBX101.6 = 1 (gantry guide axis)

DB31, ... DBX101.7 = 1 (gantry axis)

If the monitoring still only triggers very sporadically, it is possible to program a edge memory

bit in the PLC user program.

● Enter the value calculated for the warning limit + a small safety provision in the following

machine data:

MD37120 $MA_GANTRY_POS_TOL_ERROR (gantry trip limit)

Error limit values

Values are entered in the following machine data:

Special functions

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177

G1: Gantry axes

3.9 Data lists

MD37110 $MA_GANTRY_POS_TOL_WARNING (gantry warning limit)

MD37120 $MA_GANTRY_POS_TOL_ERROR (gantry trip limit)

MD37130 $MA_GANTRY_POS_TOL_REF (gantry shutdown limit when referencing)

These should have the following scales of magnitude at the end of the customizing process:

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0$B*$175<B326B72/B(5525

0$B*$175<B326B72/B5()

Note

The same procedure must be followed when starting up a gantry grouping in which the coupled

axes are driven by linear motors and associated measuring systems.

The error limits entered into machine data MD37110 and MD37120 are considered as

additional tolerance values of the actual-value difference of the master and following axis if

the interface bit "Gantry is synchronous" is not present (e.g. to be resynchronized after

canceling alarms without gantry).

3.9

Data lists

3.9.1

Machine data

3.9.1.1

Axis/spindlespecific machine data

Number

Identifier: $MA_

Description

30300

IS_ROT_AX

Rotary axis

32200

POSCTRL_GAIN

K_V factor (servo gain)

32400

AX_JERK_ENABLE

Axial jerk limitation

32410

AX_JERK_TIME

Time constant for axial jerk filter

32420

JOG_AND_POS_JERK_ENABLE

Initial setting for axial jerk limitation

32430

JOG_AND_POS_MAX_JERK

Axial jerk

32610

VELO_FFW_WEIGHT

Feedforward control factor for speed feedforward control

32620

FFW_MODE

Feedforward control type

32650

AX_INERTIA

Moment of inertia for torque feedforward control

Special functions

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G1: Gantry axes

3.9 Data lists

Number

Identifier: $MA_

Description

32800

EQUIV_CURRCTRL_TIME

Equivalent time constant, current control loop for feed-

forward control

32810

EQUIV_SPEEDCTRL_TIME

Equivalent time constant, speed control loop for feed

forward control

32900

DYN_MATCH_ENABLE

Dynamic adjustment

32910

DYN_MATCH_TIME

Time constant for dynamic response adaptation

33000

FIPO_TYPE

Fine interpolator type

34040

REFP_VELO_SEARCH_MARKER

Shutdown velocity

34070

REFP_VELO_POS

Velocity when approaching the reference point

34080

REFP_MOVE_DIST

Reference point approach distance

34090

REFP_MOVE_DIST_CORR

Reference point offset

34100

REFP_SET_POS

Reference point value

34110

REFP_CYCLE_NR

Axis sequence for channel-specific referencing

34330

REFP_STOP_AT_ABS_MARKER

Distance-coded linear measuring system without desti-

nation point

36012

STOP_LIMIT_FACTOR

Factor, exact stop coarse/fine - and zero speed

36030

STANDSTILL_POS_TOL

Standstill tolerance

36500

ENC_CHANGE_TOL

Maximum tolerance for position actual value switchover

37100

GANTRY_AXIS_TYPE

Gantry axis definition

37110

GANTRY_POS_TOL_WARNING

Gantry warning limit

37120

GANTRY_POS_TOL_ERROR

Gantry shutdown limit

37130

GANTRY_POS_TOL_REF

Gantry shutdown limit when referencing

37140

GANTRY_BREAK_UP

Break up gantry axis grouping

3.9.2

Signals

3.9.2.1

Signals from mode group

Signal name

SINUMERIK 840D sl

SINUMERIK 828D

Active machine function REF

DB11 DBX5.2

DB3100.DBX1.2

3.9.2.2

Signals from channel

Signal name

SINUMERIK 840D sl

SINUMERIK 828D

Referencing active

DB21, ... DBX33.0

DB330x.DBX1.0

Special functions

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179

G1: Gantry axes

3.9 Data lists

3.9.2.3

Signals to axis/spindle

Signal name

SINUMERIK 840D sl

SINUMERIK 828D

Start gantry synchronization

DB31, ... DBX29.4

DB380x.DBX5005.4

No automatic synchronization

DB31, ... DBX29.5

DB380x.DBX5005.5

3.9.2.4

Signals from axis/spindle

Signal name

SINUMERIK 840D sl

SINUMERIK 828D

Referenced/synchronized 1, referenced/synchronized 2

DB31, ... DBX60.4/5

DB390x.DBX0.4/5

Gantry trip limit exceeded

DB31, ... DBX101.2

DB390x.DBX5005.2

Gantry warning limit exceeded

DB31, ... DBX101.3

DB390x.DBX5005.3

Gantry synchronization ready to start

DB31, ... DBX101.4

DB390x.DBX5005.4

Gantry grouping is synchronous

DB31, ... DBX101.5

DB390x.DBX5005.5

Gantry guide axis

DB31, ... DBX101.6

DB390x.DBX5005.6

Gantry axis

DB31, ... DBX101.7

DB390x.DBX5005.7

Special functions

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K6: Contour tunnel monitoring

4.1

Brief description

4.1.1

Contour tunnel monitoring - 840D sl only

Function

The absolute movement of the tool tip in space is monitored. The function operates channel

specific.

Model

A round tunnel with a definable diameter is defined around the programmed path of a

machining operation. Axis movements are stopped as an option if the path deviation of the

tool tip is greater than the defined tunnel as the result of axis errors.

Response

In the event of a recognized deviation, the system reacts as quick as possible. However, at

least one interpolator clock cycle will pass, before one of the following reactions will occur:

● An alarm is triggered when the tunnel is violated and the axes continue to traverse.

● Violation of the tunnel triggers an alarm and the axis movements are decelerated.

Braking methods

If the monitoring tunnel is violated, one of the following methods can be used to decelerate:

● Deceleration ramp

● Speed setpoint zero and follow-up mode

Use

The function can be used for 2D and 3D paths. For 2D the monitoring surface is defined by

parallel lines to the programmed path. The monitoring area is defined by 2 or 3 geometry axis.

Monitoring of synchronized axes, positioning axes, etc. that are not geometry axes is

performed directly on the machine axis plane with the "Contour monitoring".

Special functions

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181

K6: Contour tunnel monitoring

4.1 Brief description

Example

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

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Figure 4-1

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).

4.1.2

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".

Special functions

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K6: Contour tunnel monitoring

4.2 Contour tunnel monitoring - 840D sl only

4.2

Contour tunnel monitoring - 840D sl only

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

Display alarm and continue machining

Deceleration according to the deceleration ramps (default setting)

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.

Special functions

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183

K6: Contour tunnel monitoring

4.3 Programmable contour accuracy

Shutting down

Monitoring can be stopped by enabling the machine data setting:

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

No output (default setting)

Output to output 1

Output to output 2

…

Output to output 8

Scale

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

4.3

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:

Special functions

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K6: Contour tunnel monitoring

4.3 Programmable contour accuracy

MD20470 $MC_CPREC_WITH_FFW (programmable contour accuracy)

Value

Meaning

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

active.

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.

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

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

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 rel-

evant if CTOL was not programmed.

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.

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.

Special functions

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185

K6: Contour tunnel monitoring

4.3 Programmable contour accuracy

Note

The MD20470 = 0 or 1 functional versions are no longer recommended. They only provide

compatibility with older software versions.

Parameterization

Contour accuracy

The maximum contour error for the path of the geometry axes on curved contours is determined

by:

● For MD20470 $MC_CPREC_WITH_FFW = 2 with the setting data:

SD42450 $SC_CONTPREC (contour accuracy)

● For MD20470 $MC_CPREC_WITH_FFW = 3 with the contour tolerance programmed with

CTOL.

The smaller the value and the lower the K_v factor of the geometry axes, the greater the path

feedrate on curved contours is lowered.

Minimum path feedrate

The user can use the following setting data to specify a minimum path feedrate for the

"Programmable contour accuracy" function:

SD42460 $SC_MINFEED (minimum path feed with CPRECON)

The feedrate will not limited below this value, unless a lower F value has been programmed

or the dynamic limitations of the axes force a lower path velocity.

Time constant for the programmable contour accuracy

The equivalent time constant for the MD20470 = 2 or 3 functional versions (see "Configuration")

is entered in the machine data:

MD32415 $MA_EQUIV_CPREC_TIME (time constant for the programmable contour

accuracy)

MD32415 must contain that jerk filter time constant (MD32410 $MA_AX_JERK_TIME) for

which the contour error for active feedforward control is negligibly small.

Programming

The "programmable contour accuracy" can be activated and deactivated in the part program

with the CPRECON and CPRECOF modal G commands.

Example:

Program code

Comment

N10 G0 X0 Y0

N20 CPRECON

; Activate the "programmable contour accuracy".

N30 G1 G64 X100 F10000

; Machining with 10 m/min in the continuous-path mode.

N40 G3 Y20 J10

; Automatic feed limitation in circular block.

Special functions

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K6: Contour tunnel monitoring

4.4 Constraints

Program code

Comment

N50 G1 X0

; Feedrate again without limitation (10 m/min).

N100 CPRECOF

; Deactivate the "programmable contour accuracy".

N110 G0 ...

The two CPRECON and CPRECOF modal G commands form G group 39 (programmable

contour accuracy).

Behavior for part program start and after reset / part program end

For part program start and after reset / part program end, the configured control initial setting

acts for the G group 39:

MD20110 $MC_RESET_MODE_MASK (definition of initial control settings after RESET / TP

End)

MD20112 $MC_START_MODE_MASK (definition of the basic setting of the control after part

program start)

Supplementary conditions

Positioning axes

The function considers only the geometry axes of the path. It does not have any effect of the

velocities for the positioning axes.

References

Information about MD32402 $MA_AX_JERK_MODE (filter type for axial jerk limitation) and

MD32410 $MA_AX_JERK_TIME (time constant for the axial jerk filter), see:

● Function Manual, Basic Functions; Acceleration (B2), Section: "Functions" > "Jerk filter

(position setpoint filter, axis-specific)"

Information about CTOL, see:

● Function Manual, Basic Functions; Continuous-Path Mode, Exact Stop, Look Ahead (B1),

Section: "Contour/orientation tolerance"

4.4

Constraints

Availability of the "Contour tunnel monitoring" function

The function is an option ("Contour monitoring with tunnel function"), which must be assigned

to the hardware via the license management.

Special functions

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187

K6: Contour tunnel monitoring

4.5 Data lists

Coupled motion

If coupled motion between two geometry axes is programmed with contour tunnel monitoring,

this always results in activation of the contour tunnel monitoring. In this case, the contour tunnel

monitoring must be switched off before programming the coupled motion:

MD21050 $MC_CONTOUR_TUNNEL_TOL = 0.0

4.5

Data lists

4.5.1

Machine data

4.5.1.1

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 program

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 contour

error

4.5.1.2

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

Special functions

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K7: Kinematic chain

5.1

Function description

5.1.1

Characteristics

This section describes how the kinematic structure of a machine can be mapped using a

kinematic chain and parameterized in the control using system variables for NC functions such

as "collision avoidance" or "kinematic transformation".

The system variables are retentively saved in the NC and can be archived and/or read as "NC

data" via SINUMERIK Operate using the commissioning archive.

For functions such as "collision avoidance" which also require a description of the machine

geometry, see Chapter "K8: Geometric machine modeling (Page 225)".

Note

Graphical editor

As an alternative to writing the system variables in a part program, the machine can be modeled

from the SINUMERIK Operate user interface:

Operating area: "Commissioning" > "NC" > "Machine model"

Changes to the machine model

The direct changes to the machine model at the system variables only become visible at the

user interface after explicitly requesting that the machine model is recalculated by calling the

PROTA() (Page 294) or PROTS() (Page 295) function.

Changes to the machine model made at the user interface are immediately accepted in the

system variables of the NC. The changes only become active after explicitly requesting that

the machine model is recalculated by calling the PROTA() (Page 294) or PROTS()

(Page 295) function.

Kinematic structure

The kinematic structure of a machine comprises the following:

● Number and type of the machine axes: Linear or rotary axes

● Arrangement of the machine axes: Position and orientation

● Dependencies of the machine axes to one another: Which machine axis traverses with

which other machine axis.

Special functions

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191

K7: Kinematic chain

5.1 Function description

Kinematic chain

A kinematic structure of a machine is described using a kinematic chain with the following

properties:

● A kinematic chain consists of an arbitrary number of interconnected elements.

● Parallel subchains can branch off from a kinematic chain.

● Only one active kinematic chain is available in the control.

● The active kinematic chain starts with the root element.

● Parameterized elements or subchains that are not connected to the root element or whose

connection points toward the root element, are not part of the currently active kinematic

chain.

● A kinematic chain is defined in the spatially fixed coordinates of the world coordinate system.

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Example of a kinematic chain

Element

An element of a kinematic chain basically describes the transformation with which the local

coordinate system of the previous element is mapped in the local coordinate system of the

current element:

K_n-1 ⇒ T_n ⇒ K_n

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Local element coordinate systems

The following constant transformations are possible:

● Offset (type: OFFSET (Page 211))

● Rotation (type: ROT_CONST (Page 209))

Special functions

192

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K7: Kinematic chain

5.1 Function description

The following changing transformations, based on the current position values of the machine

axis assigned to the element (linear axis / rotary axis), are possible:

● Offset (type: AXIS_LIN (Page 202))

● Rotation (type: AXIS_ROT (Page 205))

A position or orientation change in an element, e.g. through a position change of the associated

machine axis, affects all the following elements of the chain or parallel subchains.

The maximum number of possible elements can be parameterized using machine data

(Page 197).

Parallel subchains

If a parallel subchain branches off from an element e_n, then for the kinematics, the branch is

always before the element. For this reason, a change in element e_n, e.g. a position change of

the associated machine axis, does not affect the subchain branch.

H_O

H_N

H_Q

H_P

Figure 5-3

Parallel subchains branching off from elements e_n and e_n+2

Switch

A switch is a special element that is not kinematically active (type: SWITCH (Page 212)) in a

kinematic chain, which can assume the CLOSED and OPEN states.

In the OPEN state, the connection from the previous to the following element is interrupted.

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Figure 5-4

OPEN state

In the CLOSED state, the previous element is connected to the following element.

Special functions

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193

K7: Kinematic chain

5.1 Function description

H_N

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Figure 5-5

CLOSED state

The switch does not influence the connection to a parallel element.

The maximum number of possible switches can be parameterized usingmachine data

(Page 197).

Note

Local coordinate system

The local coordinate system of a switch is not rotated with respect to the world coordinate

system.

World coordinate system

In order to uniquely describe the kinematic stricture of a machine, all elements of the kinematic

chain - as well as the orientation and offset vectors of the machine axes and the constant

rotation/offsets - are referred to the world coordinate system.

Elements with linear axes do not change the orientation of the following elements. The

orientation and offset vectors of the following elements can therefore refer to the world

coordinate system without further supplementary conditions.

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Elements with rotary axes change the orientation of the following elements. This is the reason

that the orientation and offset vectors of the following elements, for a defined initial position of

the previous orientation changing elements, must be referred to the world coordinate system.

Special functions

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K7: Kinematic chain

5.2 Commissioning

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The origin and orientation of the world coordinate system can be freely selected in chain

elements that are defined before the root element. For the active coordinate system after the

root element, the following conditions must be met:

● Origin of the world coordinate system at the machine zero point

● Orientation of the world coordinate system so that the coordinate axes are arranged in the

positive traversing direction of the machine linear main axes

Direction vectors

Within a kinematic chain, the direction vectors, which are used to specify the alignment of the

machine axes, are always specified in absolute terms, i.e. referred to the world coordinate

system.

5.2

Commissioning

5.2.1

General

5.2.1.1

Overview

The commissioning of the "Kinematic chain" function is performed using:

● Machine data

- Specification of the quantity structure

- Specification of the first element in the kinematic chain

● System variables

- Specification of the kinematic properties of an element

- Connection of the element to the kinematic chain

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5.2.1.2

Structure of the system variables

The system variables are structured according to the following scheme:

● $NK_<Name>[<Index_1>]

● $NK_<Name>[<Index_1>, <Index_2>]

General

The system variables to describe the elements of kinematic chains have the following

properties:

● The prefix for all system variables of the kinematic chain is $NK_, (N for NC, K for kinematic).

● The system variables can be read and written via NC programs.

● The system variables can be stored in archives and loaded to the NC again.

Data type

STRING

All system variables of the STRING data type have the following properties:

● Maximum string length: 31 characters

● No distinction is made between upper and lower case

Example: "Axis1" is identical to "AXIS1"

● Spaces and special characters are permitted

Example: "Axis1" is not identical to "Axis 1"

● Names that start with two underscores "__" are reserved for system purposes and must

not be used for user-defined names.

Note

Leading space

Since spaces are valid and distinct characters, names that start with a space followed by two

underscores "__" can, in principle, be used for user-defined names. However, because they

can be easily mistaken for system names, this procedure is not recommended.

Index_1

The individual elements are addressed via index_1. Index 0 → 1. Element, index 1 → 2.

Element, ... n → (n+1) element, with n = ($MN_MM_MAXNUM_KIN_CHAIN_ELEM - 1)

All system variables of an element have the same index.

Special functions

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Index_2

For system variables that contain a vector, the coordinates of the vector are addressed via

index_2.

●

0 → X axis

●

1 → Y axis

●

2 → Z axis

5.2.2

Machine data

5.2.2.1

Maximum number of elements

The maximum number of elements for kinematic chains is set using machine data.

MD18880 $MN_MM_MAXNUM_KIN_CHAIN_ELEM = <number>

5.2.2.2

Root element

The following machine data is used to specify the root element, i.e. the first element of the

currently active kinematic chain.

MD16800 $MN_ROOT_KIN_ELEM_NAME = "<element_name>"

All parameterized elements and subchains that are connected to the root element in such a

way that the connection starts at the root element, are part of the currently active kinematic

chain.

Parameterized elements or subchains that are not connected to the root element or whose

connection points towards the root element, are not part of the currently active kinematic chain.

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5.2.2.3

Maximum number of switches

The maximum number of switches for kinematic chains is set with the machine data

MD18882 $MN_MM_MAXNUM_KIN_SWITCHES = <number>

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5.2.3

System variables

5.2.3.1

Overview

System variables independent of any element

System variable

Meaning

$NK_SWITCH

Switch variable to open and close the switch

Element-specific system variables

Element-specific system variables are subdivided into variables that are independent of the

type and dependent on the type:

● Variables independent of the type

System variable

Meaning

$NK_NAME

Name of the current element e_n

$NK_NEXT

Name of the next element e_n+1

$NK_PARALLEL

Name of a branching parallel element e_p before the current element

e_n

$NK_TYPE

Type of the element

● Variables dependent on the type

System variable

Meaning

$NK_OFF_DIR

Offset or direction vector

$NK_AXIS

Machine axis or object name

$NK_A_OFF

Work offset for linear axis or rotary axis

$NK_SWITCH_INDEX

Switch index

$NK_SWITCH_POS

Switch position "CLOSED"

For the following types, variables dependent on the type are evaluated:

System variable

Type

OFFSET

AXIS_LIN

AXIS_ROT

ROT_CON

SWITCH

$NK_OFF_DIR

$NK_AXIS

$NK_A_OFF

$NK_SWITCH_INDEX

$NK_SWITCH_POS

Special functions

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The system variables are described in detail in the following sections.

Note

Establish a defined initial state

It is recommended that a defined initial state be generated before parameterizing the kinematic

chain. To do this, the system variables of the kinematic chain should be set to their default

value using function DELOBJ() (Page 215).

Change system variable values

If the value of one of the system variables listed above is changed, then the change becomes

immediately visible on the user interface, e.g. SINUMERIK Operate. The machine model of

the NC is only updated after explicitly requesting that the machine model is recalculated by

calling the PROTA() (Page 294) or PROTS() (Page 295) function.

5.2.3.2

$NK_NAME

Function

Enter the NC-wide unique element name in the system variable. The element is referenced

via this name, e.g. within kinematic chains. The name is also displayed in the graphical editor

of SINUMERIK Operate.

Syntax

$NK_NAME[<n>] = "<name>"

Meaning

$NK_NAME:

Name of the element

Data type:

STRING

Default value:

"" (empty string)

<n>:

System variable or element index

Data type:

INT

Range of values:

0, 1, 2, ... ($MN_MM_MAXNUM_KIN_CHAIN_ELEM - 1)

<name>:

Element name, max. string length: 31 characters

Data type:

STRING

Example

The 9th kinematic element is assigned the name "B axis":

Program code

Comment

N100 $NK_NAME[8] = "B axis"

; 9th kinematic element,

; name = "B axis"

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5.2.3.3

$NK_NEXT

Function

If the element is part of a kinematic chain, the name of the following element should be entered

in the system variable.

Syntax

$NK_NEXT[<n>] = "<name>"

Meaning

NK_NEXT:

Name of the following element

Data type:

STRING

Range of values:

All names contained in $NK_NAME (Page 199)

Default value:

"" "" (empty string)

<n>:

System variable or element index

Data type:

INT

Range of values:

0, 1, 2, ... ($MN_MM_MAXNUM_KIN_CHAIN_ELEM - 1)

<name>:

Element name, max. string length: 31 characters

Data type:

STRING

Example

The 9th kinematic element does not have a following element:

Program code

Comment

N100 $NK_NEXT[8] = ""

; 9. kin. element,

; following element = ""

5.2.3.4

$NK_PARALLEL

Function

The name of the element that branches off before the current element should be entered in

the system variable. The branching element is parallel to the current element. Changes to the

current element, e.g. position changes of the assigned machine axis, have no effect on the

parallel element.

Syntax

$NK_PARALLEL[<n>] = "<name>"

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Meaning

$NK_PARALLEL:

Name of the parallel element

Data type:

STRING

Range of values:

All names contained in $NK_NAME (Page 199)

Default value:

"" "" (empty string)

<n>:

System variable or element index

Data type:

INT

Range of values:

0, 1, 2, ... ($MN_MM_MAXNUM_KIN_CHAIN_ELEM - 1)

<name>:

Element name, max. string length: 31 characters

Data type:

STRING

Example

The "Offset to the rotary table" element is arranged parallel to the 9th kinematic element:

Program code

Comment

N100 $NK_PARALLEL[8] = "Offset to the rotary

; Parallel to the 9th kin. element,

table"

; name = "Offset to the rotary table"

5.2.3.5

$NK_TYPE

Function

The element type should be entered in the system variable:

Type

Description

AXIS_LIN

The element describes a linear machine axis (linear axis) with direction vector

(Page 202)

$NK_OFF_DIR and work offset $NK_A_OFF.

AXIS_ROT

The element describes a rotary machine axis (rotary axis) with direction vector

(Page 205)

$NK_OFF_DIR and work offset $NK_A_OFF or a spindle.

Note

The position of a spindle is considered differently depending on the function used by

the kinematic chain:

● Collision avoidance: Indeterminate position

● Kinematic transformation: Depending on the setting in $NT_CNTRL, bit 1-3, the

position corresponding to $NK_A_OFF or the speed setpoint is taken into

consideration

ROT_CONST

The element describes a constant rotation around direction vector $NK_OFF_DIR

(Page 209)

and angle $NK_A_OFF.

OFFSET

The element describes a constant linear offset with the offset vector $NK_OFF_DIR.

(Page 211)

SWITCH

The element defines a switch, which is switched using system variable

(Page 212)

$NK_SWITCH (Page 214).

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Syntax

$NK_TYPE[<n>] = "<Typ>"

Meaning

$NK_TYPE:

Type of the element

Data type:

STRING

Default value:

"" (empty string)

<n>:

System variable or element index

Data type:

INT

Range of values:

0, 1, 2, ... ($MN_MM_MAXNUM_KIN_CHAIN_ELEM - 1)

<Typ>:

Element name, max. string length: 31 characters

Data type:

STRING

Range of values:

"AXIS_LIN", "AXIS_ROT", "ROT_CONST", "OFFSET",

"SWITCH"

Example

The 9th kinematic element is a rotary axis:

Program code

Comment

N100 $NK_TYPE[8] = "AXIS_ROT"

; 9th kin. element

; type = rotary axis

5.2.3.6

Type-dependent variables for $NK_TYPE = "AXIS_LIN"

$NK_OFF_DIR

Function

The direction vector along which the linear axis $NK_AXIS assigned to the element moves,

should be entered in the system variable. The output coordinate system therefore results from

the input coordinate system, offset by the current position value of the linear axis and the work

offset specified in $NK_A_OFF.

Supplementary conditions:

● The direction vector must be specified as an absolute value, i.e. in relation to the world

coordinate system.

● The direction vector must be specified so that it points in the positive traversing direction

of the machine axis.

● The absolute value of the direction vector must be greater than 1*10^-6.

Syntax

$NK_OFF_DIR[<n>,<k>] = <value>

Special functions

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SINUMERIK 840D sl. Service - Functions. Manual (2018-2020) - page 63