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

K7: Kinematic chain

5.2 Commissioning

Meaning

$NK_OFF_DIR:

Direction vector (X; Y; Z)

Data type:

REAL

Range of values:

Direction vector: 1*10^-6 < |Vector | ≤ max. REAL value

Default value:

(0.0, 0.0, 0.0)

<n>:

System variable or element index

Data type:

INT

Range of values:

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

<k>:

Coordinate index

Data type:

INT

Range of values:

0: X coordinate (abscissa)

1: Y coordinate (ordinate)

2: Z coordinate (applicate)

<value>:

Coordinate value

Data type:

REAL

Range of values:

- max. REAL value ≤ x ≤ + max. REAL value

Example

; The linear axis of the 9th element moves along the direction vector. The direction vector is

the unit vector (1; 0; 0), rotated around Z with γ=90° in the X/Y plane, and around X with

α=10° in the Y/Z plane referred to the world coordinate system. The following values result

from this for the individual components (x, y, z) of the direction vector:

● x = cos(γ) * cos(α) = cos(90) * cos(10) = 0.0

● y = sin(γ) * cos(α) = sin(90) * cos(10) ≈ 0.985

● z = sin(α) = sin(10) ≈ 0.174

]

[

;

Figure 5-6

Direction vector, general

Program code

Comment

; 9th kinematic element

N100 $NK_OFF_DIR[8,0] = COS(90)*COS(10)

; 0 = X component

N110 $NK_OFF_DIR[8,1] = SIN(90)*COS(10)

; 1 = Y component

N120 $NK_OFF_DIR[8,2] = SIN(10)

; 2 = Z component

Special functions

Function Manual, 12/2018, A5E40874099B AB

203

K7: Kinematic chain

5.2 Commissioning

$NK_AXIS

Function

The name of the machine axis (MD10000 $MN_AXCONF_MACHAX_NAME_TAB) that is to

be assigned to the element should be entered in the system variable.

The output coordinate system of the element results from the input coordinate system offset

by the current position setpoint of the machine axis in the MCS and the offset specified in

$NK_A_OFF. The position setpoint of the machine axis contains all the active work offsets and

corrections.

In accordance with the AXIS_LIN type entered in $NK_TYPE, the machine axis must be a

linear axis:

MD30300 $MA_IS_ROT_AX = 0

Syntax

$NK_AXIS[<n>] = <name>

Meaning

$NK_AXIS:

Machine axis name

Data type:

STRING

Range of values:

Machine axis name

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)

<value>:

Machine axis name

Data type:

STRING

Range of values:

Machine axis names

Example

The 9th kinematic element is assigned the machine axis with the name V1 as linear axis.

Program code

Comment

N100 $NK_AXIS[8] = "V1"

; 9th kin. element

; axis = machine axis V1

$NK_A_OFF

Function

An additional work offset can be entered in the system variable for the assigned machine axis

($NK_AXIS). This work offset is only effective within the kinematic chain.

Syntax

$NK_A_OFF[<n>] = <value>

Special functions

204

Function Manual, 12/2018, A5E40874099B AB

K7: Kinematic chain

5.2 Commissioning

Meaning

$NK_A_OFF:

Work offset

Data type:

REAL

Range of values:

- max. REAL value ≤ x ≤ ± max. REAL value

Default value:

0.0

<n>:

System variable or element index

Data type:

INT

Range of values:

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

<value>:

Offset value

Data type:

REAL

Range of values:

- max. REAL value ≤ x ≤ ± max. REAL value

Example

The linear axis zero point of the 9th kinematic element is moved by 30.0 mm compared to the

modelled kinematics.

The unit in which the numerical value is interpreted depends on the current input system (inch/

metric).

Program code

Comment

N100 $NK_A_OFF[8] = 30.0

; 9th kin. element

; Work offset = 30.0 mm

5.2.3.7

Type-dependent variables for $NK_TYPE = "AXIS_ROT"

$NK_OFF_DIR

Function

The direction vector around which the rotary axis $NK_AXIS assigned to the element rotates,

should be entered in the system variable. The output coordinate system is therefore calculated

from the input coordinate system, rotated by the current position value of the rotary axis and

the offset specified in $NK_A_OFF around the direction vector $NK_OFF_DIR.

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, in accordance with the "right-hand rule", the

thumb points in the direction of the vector when the rotary axis turns in the positive direction.

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

Special functions

Function Manual, 12/2018, A5E40874099B AB

205

K7: Kinematic chain

5.2 Commissioning

Note

Spindle

If the assigned machine axis is a spindle, its position is taken into account in different ways

specific to the function:

● Collision avoidance: Indeterminate position

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

- Bit x == 0 → indeterminate position

- Bit x == 1 → current position value + $NK_A_OFF,

Syntax

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

Meaning

$NK_OFF_DIR:

Direction vector (X; Y; Z)

Data type:

REAL

Range of values:

Direction vector: 1*10^-6 < |Vector | ≤ max. REAL value

Default value:

(0.0, 0.0, 0.0)

<n>:

System variable or element index

Data type:

INT

Range of values:

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

<k>:

Coordinate index

Data type:

INT

Range of values:

0: X coordinate (abscissa)

1: Y coordinate (ordinate)

2: Z coordinate (applicate)

<value>:

Coordinate value

Data type:

REAL

Range of values:

- max. REAL value ≤ x ≤ + max. REAL value

Example

The rotary axis of the 9th element rotates around the direction vector. The direction vector is

the unit vector (1; 0; 0), rotated around Z with γ=90° in the X/Y plane, and around X with

α=10° in the Y/Z plane referred to the world coordinate system. The following values result

from this for the individual components (x, y, z) of the direction vector:

● x = cos(γ) * cos(α) = cos(90) * cos(10) = 0.0

● y = sin(γ) * cos(α) = sin(90) * cos(10) ≈ 0.985

● z = sin(α) = sin(10) ≈ 0.174

Special functions

206

Function Manual, 12/2018, A5E40874099B AB

K7: Kinematic chain

5.2 Commissioning

]

[

;

Figure 5-7

Direction vector, general

Program code

Comment

; 9th kinematic element

N100 $NK_OFF_DIR[8,0] = COS(90)*COS(10)

; 0 = X component

N110 $NK_OFF_DIR[8,1] = SIN(90)*COS(10)

; 1 = Y component

N120 $NK_OFF_DIR[8,2] = SIN(10)

; 2 = Z component

$NK_AXIS

Function

The name of the machine axis (MD10000 $MN_AXCONF_MACHAX_NAME_TAB) that is to

be assigned to the element should be entered in the system variable.

The output coordinate system of the element results from the input coordinate system rotated

through the current position setpoint of the machine axis in the MCS and the offset specified

in $NK_A_OFF. The position setpoint of the machine axis contains all the active work offsets

and corrections.

The machine axis type must correspond to the type entered in $NK_TYPE:

In accordance with the AXIS_ROT type entered in $NK_TYPE, the machine axis must be a

rotary axis:

MD30300 $MA_IS_ROT_AX = 1

Syntax

$NK_AXIS[<n>] = <name>

Meaning

$NK_AXIS:

Machine axis name

Data type:

STRING

Range of values:

Machine axis name

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)

Special functions

Function Manual, 12/2018, A5E40874099B AB

207

K7: Kinematic chain

5.2 Commissioning

<value>:

Machine axis name

Data type:

STRING

Range of values:

Machine axis names

Example

The 9th kinematic element is assigned the machine axis with the name B1 as rotary axis.

Program code

Comment

N100 $NK_AXIS[8] = "B1"

; 9th kin. element

; axis = machine axis B1

$NK_A_OFF

Function

An additional work offset can be entered in the system variable for the assigned machine axis

($NK_AXIS). This work offset is only effective within the kinematic chain.

Syntax

$NK_A_OFF[<n>] = <value>

Meaning

$NK_A_OFF:

Work offset

Data type:

REAL

Range of values:

- max. REAL value ≤ x ≤ ± max. REAL value

Default value:

0.0

<n>:

System variable or element index

Data type:

INT

Range of values:

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

<value>:

Offset value

Data type:

REAL

Range of values:

- max. REAL value ≤ x ≤ ± max. REAL value

Example

The rotary axis zero point of the 9th kinematic elements is moved through 30.0° compared to

the modelled kinematics.

Program code

Comment

N100 $NK_A_OFF[8] = 30.0

; 9th kin. element

; Work offset = 30.0°

Special functions

208

Function Manual, 12/2018, A5E40874099B AB

K7: Kinematic chain

5.2 Commissioning

5.2.3.8

Type-dependent variables for $NK_TYPE = "ROT_CONST"

$NK_OFF_DIR

Function

The direction vector around which the constant rotation is performed should be entered in the

system variable. The output coordinate system is therefore calculated from the input coordinate

system, rotated through the angle specified in $NK_A_OFF around the direction vector

$NK_OFF_DIR.

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, in accordance with the "right-hand rule", the

thumb points in the direction of the vector when the rotary axis turns in the positive direction.

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

Syntax

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

Meaning

$NK_OFF_DIR:

Direction vector (X; Y; Z)

Data type:

REAL

Range of values:

Direction vector: 1*10^-6 < |Vector | ≤ max. REAL value

Default value:

(0.0, 0.0, 0.0)

<n>:

System variable or element index

Data type:

INT

Range of values:

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

<k>:

Coordinate index

Data type:

INT

Range of values:

0: X coordinate (abscissa)

1: Y coordinate (ordinate)

2: Z coordinate (applicate)

<value>:

Coordinate value

Data type:

REAL

Range of values:

- max. REAL value ≤ x ≤ + max. REAL value

Example

The output coordinate system of the 9th Elements therefore arises from the input coordinate

system, rotated through the angle specified in $NK_A_OFF around the direction vector. The

direction vector is the unit vector (1; 0; 0), rotated around Z with γ=90° in the X/Y plane, and

Special functions

Function Manual, 12/2018, A5E40874099B AB

209

K7: Kinematic chain

5.2 Commissioning

around X with α=10° in the Y/Z plane referred to the world coordinate system. The following

values result from this for the individual components (x, y, z) of the direction vector:

● x = cos(γ) * cos(α) = cos(90) * cos(10) = 0.0

● y = sin(γ) * cos(α) = sin(90) * cos(10) ≈ 0.985

● z = sin(α) = sin(10) ≈ 0.174

]

[

;

Figure 5-8

ROT_CONST

Program code

Comment

; 9th kinematic element

N100 $NK_OFF_DIR[8,0] = COS(90)*COS(10)

; 0 = X component

N110 $NK_OFF_DIR[8,1] = SIN(90)*COS(10)

; 1 = Y component

N120 $NK_OFF_DIR[8,2] = SIN(10)

; 2 = Z component

$NK_A_OFF

Function

The angle through which the output coordinate system is rotated compared with the input

coordinate system around the direction vector $NK_OFF_DIR should be entered in the system

variable.

Syntax

$NK_A_OFF[<n>] = <value>

Meaning

$NK_A_OFF:

Angle of rotation

Data type:

REAL

Range of values:

- max. REAL value ≤ x ≤ + max. REAL value

Default value:

0.0

<n>:

System variable or element index

Data type:

INT

Range of values:

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

Special functions

210

Function Manual, 12/2018, A5E40874099B AB

K7: Kinematic chain

5.2 Commissioning

<value>:

Angle

Data type:

REAL

Range of values:

- max. REAL value ≤ x ≤ + max. REAL value

Example

The angle of rotation of the 9th kinematic element is 30.0°.

Program code

Comment

N100 $NK_A_OFF[8] = 30.0

; 9th kin. element

; Angle of rotation = 30.0°

5.2.3.9

Type-dependent variables for $NK_TYPE = "OFFSET"

$NK_OFF_DIR

Function

The offset vector by which the output coordinate system is moved compared to the input

coordinate system should be entered in the system variable.

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

system.

Syntax

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

Meaning

$NK_OFF_DIR:

Offset vector (X; Y; Z)

Data type:

REAL

Range of values:

(- max. REAL value) ≤ x ≤ (+ max. REAL value)

Default value:

(0.0, 0.0, 0.0)

<n>:

System variable or element index

Data type:

INT

Range of values:

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

<k>:

Coordinate index

Data type:

INT

Range of values:

0: X coordinate (abscissa)

1: Y coordinate (ordinate)

2: Z coordinate (applicate)

<value>:

Coordinate value

Data type:

REAL

Range of values:

(- max. REAL value) ≤ x ≤ (+ max. REAL value)

Special functions

Function Manual, 12/2018, A5E40874099B AB

211

K7: Kinematic chain

5.2 Commissioning

Example

The output coordinate system of the 9th element is obtained from the input coordinate system,

offset through the offset vector (x, y, z) with the following coordinates referred to the world

coordinate system:

● x = 10.0

● y = 20.0

● z = 30.0

]

[

;

Figure 5-9

Offset vector

Program code

Comment

; 9th kinematic element

N100 $NK_OFF_DIR[8,0] = 10.0

; 0 = X component

N110 $NK_OFF_DIR[8,1] = 20.0

; 1 = Y component

N120 $NK_OFF_DIR[8,2] = 30.0

; 2 = Z component

5.2.3.10

Type-dependent variables for $NK_TYPE = "SWITCH"

$NK_SWITCH_INDEX

Function

The switch is emulated using system variables $NK_SWITCH_INDEX and

$NK_SWITCH_POS (see the following paragraph)

Index i must be entered in $NK_SWITCH_INDEX, with which the switch is closed and opened

via system variable $NK_SWITCH[].

Syntax

$NK_SWITCH_INDEX[<n>] =

Meaning

$NK_SWITCH_

Index i, via which the switch is addressed using system variable

INDEX:

$NK_SWITCH[]

Data type:

INT

Range of values:

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

-1: The state of the switch is always CLOSED

Default value:

-1

Special functions

212

Function Manual, 12/2018, A5E40874099B AB

K7: Kinematic chain

5.2 Commissioning

<n>:

System variable or element index

Data type:

INT

Range of values:

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

:

Index value

Data type:

INT

Example

The 9th element of the kinematic chain is a switch, which is activated by system variable

$NK_SWITCH[ 2 ].

Program code

Comment

; 9th element

N100 $NK_SWITCH_INDEX[8] = 2

; Index 2

$NK_SWITCH_POS

Function

A switch is emulated by system variables $NK_SWITCH_INDEX (see the previous paragraph)

and $NK_SWITCH_POS.

In $NK_SWITCH_POS, value p (close value) should be entered, where the switch is brought

into the CLOSED position by system variable $NK_SWITCH[].

Independent of $NK_SWITCH[], the switch has the following states:

● CLOSED: The close value p of the switch, specified in $NK_SWITCH_POS is the same as

the actual value of $NK_SWITCH[].

$NK_SWITCH_POS[<n>] == $NK_SWITCH[]

The previous element of the kinematic chain is connected with the output, i.e. the following

element of the switch specified in $NK_NEXT.

● OPEN: The close value of the switch, specified in $NK_SWITCH_POS, is not the same as

the actual value of $NK_SWITCH[].

$NK_SWITCH_POS[<n>] ≠ $NK_SWITCH[]

The previous element of the kinematic chain is notconnected with the output, i.e. the

following element of the switch specified in $NK_NEXT.

The close value can be freely selected.

Note

Parallel element $NK_PARALLEL

The connection to a parallel element specified in $NK_PARALLEL is not influenced by the

switch. This means that the previous element is always connected to the element in the branch

parallel with the switch.

Syntax

$NK_SWITCH_POS[<n>] =

Special functions

Function Manual, 12/2018, A5E40874099B AB

213

K7: Kinematic chain

5.2 Commissioning

Meaning

$NK_SWITCH_

Close value

POS:

Data type:

INT

Range of values:

0 ≤ x ≤ positive max. INT value

Default value:

<n>:

System variable or element index

Data type:

INT

Range of values:

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

:

Value for switch position CLOSED

Data type:

INT

Example

The 9th element of the kinetic chain is a switch, which is closed if $NK_SWITCH[ 3 ] == 1

Program code

Comment

; 9th element

N110 $NK_SWITCH_POS[8] = 1

; switch position = 1

See also

$NK_SWITCH (Page 214)

$MN_MAXNUM_KIN_SWITCHES (Page 197)

$MN_MM_MAXNUM_KIN_CHAIN_ELEM (Page 197)

5.2.3.11

$NK_SWITCH

Function

The switch variable comprises an array of switch positions i. The actual switch positions p

should be entered in this array.

Function

To parameterize (Page 212) a switch_i in a kinematic chain, switch_iwith index i must be

connected to the switch variable and its switch position p for the CLOSED state assigned to it.

$NK_SWITCH_INDEX[<n>] =

$NK_SWITCH_POS[<n>]

=

Switch_i can then be closed and opened via index i of the switch variable:

Close: $NK_SWITCH[] =

Open: $NK_SWITCH[] ≠

As many switches as required can be connected with an index of the switch variable.

Special functions

214

Function Manual, 12/2018, A5E40874099B AB

K7: Kinematic chain

5.3 Programming

Syntax

$NK_SWITCH[] =

Meaning

$NK_SWITCH:

Switch variable with switch positions i

Data type:

INT

Value range:

-1 ≤x ≤ positive max. INT value

Note

-1: Initial state OPEN

:

Switch index

Data type:

INT

Range of values:

0, 1, 2, ... (MD18882 $MN_MM_MAX_NUM_KIN_SWITCHES

- 1)

:

Switch setting

Data type:

INT

Value range:

-1 ≤x ≤ positive max. INT value

-1: Initial state OPEN

Example

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

Program code

Comment

N100 $NK_SWITCH[3] = 1

; actual switch position

; for switch [3] = 1

5.3

Programming

5.3.1

Deletion of components (DELOBJ)

The DELOBJ() function "deletes" components by resetting the assigned system variables to

their default values:

● Elements from kinematic chains

● Protection areas, protection area elements and collision pairs

● Transformation data

Syntax

[<RetVal>=] DELOBJ(<CompType>[,,,<NoAlarm>)])

[<RetVal>=] DELOBJ(<CompType>,<Index1>[,,<NoAlarm>])

[<RetVal>=] DELOBJ(<CompType>[,<Index1>][,<Index2>][,<NoAlarm>])

Special functions

Function Manual, 12/2018, A5E40874099B AB

215

K7: Kinematic chain

5.3 Programming

Meaning

DELOBJ:

Deletion of elements from kinematic chains, protection areas, protection area ele-

ments, collision pairs and transformation data

<CompType>:

Component type to be deleted

Data type:

STRING

Value: "KIN_CHAIN_ELEM"

Meaning: System variables of all kinematic elements: $NK_...

Value: "KIN_CHAIN_SWITCH"

Meaning: System variable $NK_SWITCH[]

Value: "KIN_CHAIN_ALL"

Meaning: All kinematic elements and switches.

Is the same as the successive call of DELOBJ with "KIN_CHAIN_ELEM" and

"KIN_CHAIN_SWITCH"

Value: "PROT_AREA"

Meaning: System variables of the protection areas:

● $NP_PROT_NAME

● $NP_CHAIN_NAME

● $NP_CHAIN_ELEM

● $NP_1ST_PROT

Value: "PROT_AREA_ELEM"

Meaning: System variables of the protection area elements of machine protection

areas and/or automatic tool protection areas:

● $NP_NAME

● $NP_NEXT

● $NP_NEXTP

● $NP_COLOR

● $NP_D_LEVEL

● $NP_USAGE

● $NP_TYPE

● $NP_FILENAME

● $NP_PARA

● $NP_OFF

● $NP_DIR

● $NP_ANG

Value: "PROT_AREA_COLL_PAIRS"

Meaning: System variables of the collision pairs:

● $NP_COLL_PAIR

● $NP_SAFETY_DIST

Value: "PROT_AREA_ALL"

Meaning: All protection areas, protection area elements and collision pairs (system

variable $NP_... )

Is the same as the successive call of DELOBJ with "PROT_AREA,"

"PROT_AREA_ELEM," and "PROT_AREA_COLL_PAIRS"

Value: "TRAFO_DATA"

Meaning: System variables of all transformations $NT_...

Special functions

216

Function Manual, 12/2018, A5E40874099B AB

K7: Kinematic chain

5.3 Programming

<Index1>:

Index of the first component to be deleted (optional)

Data type:

INT

Default value:

-1

Range of val-

-1 ≤ x ≤ (maximum number of configured components -1)

ues:

Value

Meaning

0, 1, 2,

Index of the component to be deleted.

-1

All components of the specified type are deleted. <Index2> is not

evaluated.

<Index2>:

Index of the last components to be deleted (optional)

If <Index2> is not programmed, only the system variables of the component refer-

enced in <Index1> are deleted.

Data type:

INT

Default value:

Only the system variables of the component referenced in <In-

dex1> are deleted.

Range of val-

<Index1> < x ≤ (max. number of configured components -1)

ues:

<NoAlarm>:

Alarm suppression (optional)

Data type:

BOOL

Default value:

FALSE

Value

Meaning

FALSE

In the event of an error (<RetVal> < 0), program processing is

stopped and an alarm displayed.

TRUE

In the event of an error, the program processing is not stopped

and no alarm displayed.

Application: User-specific reaction corresponding to the return

value

<RetVal>:

Function return value

Data type:

INT

Range of val-

0, -1, -2, ... -7

ues:

Value

Meaning

No error occurred.

-1

Call of the function without parameters. At least parameter

<CompType> must be specified.

-2

<CompType> identifies an unknown component

-3

<Index1> is less than -1

-4

<Index1> is greater than the configured number of components

-5

<Index1> has a value not equal to -1 when deleting a component

group

-6

-7

<Index2> is greater than the configured number of components

Special functions

Function Manual, 12/2018, A5E40874099B AB

217

K7: Kinematic chain

5.3 Programming

5.3.2

Index determination by means of names (NAMETOINT)

User-specific names are entered in the system variable arrays of type STRING. Based on the

identifier of the system variables and the name, the NAMETOINT() function determines the

index value belonging to the name under which it is stored in the system variable array.

Syntax

<RetVal> = NAMETOINT(<SysVar>,<Name>[,<NoAlarm>])

Meaning

NAMETOINT:

Determining the system variable index

<SysVar>:

Name of the system variable array of typeSTRING

Data type:

STRING

Range of val-

Name of all NC system variable arrays of type STRING

ues:

<Name>:

Character string or name for which the system variable index is to be determined.

Data type:

STRING

<NoAlarm>:

Alarm suppression (optional)

Data type:

BOOL

Default value:

FALSE

Value

Meaning

TRUE

In the event of an error, the program processing is not stopped

and no alarm displayed.

Application: User-specific reaction corresponding to the return

value

FALSE

In the event of an error (<RetVal> < 0), program processing is

stopped and an alarm displayed.

<RetVal>:

System variable index or error message

Data type:

INT

Range of val-

-1 ≤ x ≤ (max. number of configured components -1)

ues:

Value

Meaning

≥ 0

The sought name has been found under the specified system

variable index.

-1

The sought name has not been found or an error has occurred.

Example

Program code

Comment

DEF INT INDEX

$NP_PROT_NAME[27]="Cover"

INDEX = NAMETOINT("$NP_PROT_NAME","Cover")

; INDEX == 27

Special functions

218

Function Manual, 12/2018, A5E40874099B AB

K7: Kinematic chain

5.4 Example

5.4

Example

5.4.1

Specifications

General Information

The principle approach when parameterizing a kinematic chain with three switches using a

part program is shown using as example a 5-axis machine with three different tool heads,

which are used alternately. All of the system variables, relevant for kinematic chain, are written

to the part program:

● Kinematic chain $NK_...

Option and machine data

The following option and machine data must be set for the example:

● MD19830 $ON_COLLISION_MASK.Bit 0 = 1

● MD18880 $MN_MM_MAXNUM_KIN_CHAIN_ELEM = 15

Kinematic chain

Schematic representation of the machine kinematics

& $ $;,6

2))6(7

& $

;,6

+($'

; $;,6

+($'

Special functions

Function Manual, 12/2018, A5E40874099B AB

219

K7: Kinematic chain

5.4 Example

Elements of the kinematic chain

5RRW

; $;,6

<$;,6

= $;,6

& $;,6

2))6(7

$;,6B/,1

2))

$;,6B527

2))6(7

'2&.B3B

+($'

6:,7&+

2))6(7

'2&.B3B

+($'

6:,7&+

2))6(7

& $ $;,6

$ $;,6

722/ 5()

'2&.B3B

+($'

2))

$;,6B527

2))6(7

6:,7&+

2))6(7

The kinematic chain starts with an element of the type "Offset". When completely

parameterizing the collision avoidance, these are assigned to all static protection areas of the

machine

The offset element is followed by the kinematic elements of the linear machine axes X, Y and

Z - as well as the offset and kinematic elements of rotary axes C and A.

The offset element for the reference point of the tool heads is followed by three switches to

switch on and switch off the tool heads. As a result of $NK_INDEX = 3 all three switches refer

to the same switch variable $NK_SWITCH[ 3 ]. As a result of the different switch positions (1,

2, 3), only the subchain of the active tool head is active.

Special functions

220

Function Manual, 12/2018, A5E40874099B AB

K7: Kinematic chain

5.4 Example

5.4.2

Part program of the machine model

Program code

;===========================================================

; Definitions

;===========================================================

N10 DEF INT KIE_CNTR ; COUNTER FOR ELEMENTS OF THE KIN. CHAINS

N20 DEF INT RETVAL

;

;===========================================================

; Initialization of collision data

;===========================================================

; Reset all parameters to their initial values:

N30 RETVAL = DELOBJ("KIN_CHAIN_ELEM")

N40 KIE_CNTR = 0

;

;===========================================================

; Kinematic chain

;===========================================================

; KE1: OFFSET: Root

; ----------------------------------------------------------

N50 $NK_TYPE[KIE_CNTR] = "OFFSET"

N60 $NK_NAME[KIE_CNTR] = "ROOT"

N70 $NK_NEXT[KIE_CNTR] = "X-AXIS"

N80 KIE_CNTR = KIE_CNTR + 1

;

; ----------------------------------------------------------

; Kinematic element: LINEAR AXIS: X axis

; ----------------------------------------------------------

N90 $NK_TYPE[KIE_CNTR] = "AXIS_LIN"

N100 $NK_NAME[KIE_CNTR] = "X-AXIS"

N110 $NK_NEXT[KIE_CNTR] = "Y-AXIS"

N120 $NK_AXIS[KIE_CNTR] = "X1"

;

N130 $NK_OFF_DIR[KIE_CNTR,0] = 1.0

; X

N140 KIE_CNTR = KIE_CNTR + 1

;

; ----------------------------------------------------------

; Kinematic element: LINEAR AXIS: Y axis

; ----------------------------------------------------------

N150 $NK_TYPE[KIE_CNTR] = "AXIS_LIN"

N160 $NK_NAME[KIE_CNTR] = "Y-AXIS"

N170 $NK_NEXT[KIE_CNTR] = "Z-AXIS"

N180 $NK_AXIS[KIE_CNTR] = "Y1"

;

N190 $NK_OFF_DIR[KIE_CNTR,1] = 1.0

; Y

N200 KIE_CNTR = KIE_CNTR + 1

;

; ----------------------------------------------------------

; Kinematic element: LINEAR AXIS: Z axis

; ----------------------------------------------------------

N210 $NK_TYPE[KIE_CNTR] = "AXIS_LIN"

N220 $NK_NAME[KIE_CNTR] = "Z-AXIS"

N230 $NK_NEXT[KIE_CNTR] = "C-AXIS-OFFSET"

N240 $NK_AXIS[KIE_CNTR] = "Z1"

;

Special functions

Function Manual, 12/2018, A5E40874099B AB

221

K7: Kinematic chain

5.4 Example

Program code

N250 $NK_OFF_DIR[KIE_CNTR,2] = 1.0

; Z

N260 KIE_CNTR = KIE_CNTR + 1

;

; ----------------------------------------------------------

; Kinematic element: OFFSET: C axis

; ----------------------------------------------------------

N270 $NK_TYPE[KIE_CNTR] = "OFFSET"

N280 $NK_NAME[KIE_CNTR] = "C-AXIS-OFFSET"

N290 $NK_NEXT[KIE_CNTR] = "C-AXIS"

;

N300 $NK_OFF_DIR[KIE_CNTR,2] = 600.0

; Z direction

N310 KIE_CNTR = KIE_CNTR + 1 ;

;

; ----------------------------------------------------------

; Kinematic element: ROTARY AXIS: C axis

; ----------------------------------------------------------

N320 $NK_TYPE[KIE_CNTR] = "AXIS_ROT"

N330 $NK_NAME[KIE_CNTR] = "C-AXIS"

N340 $NK_NEXT[KIE_CNTR] = "C-A-OFFSET"

N350 $NK_AXIS[KIE_CNTR] = "C1"

;

N360 $NK_OFF_DIR[KIE_CNTR,2] = 1.0

; Z direction

N370 KIE_CNTR = KIE_CNTR + 1

;

; ----------------------------------------------------------

; Kinematic element: OFFSET: C-A axis

; ----------------------------------------------------------

N380 $NK_TYPE[KIE_CNTR] = "OFFSET"

N390 $NK_NAME[KIE_CNTR] = "C-A-OFFSET"

N400 $NK_NEXT[KIE_CNTR] = "A-AXIS"

;

N410 $NK_OFF_DIR[KIE_CNTR,0] = 20.0

; X direction

N420 $NK_OFF_DIR[KIE_CNTR,1] = -5.0

; Y direction

N430 KIE_CNTR = KIE_CNTR + 1

;

; ----------------------------------------------------------

; Kinematic element: ROTARY AXIS: A axis

; ----------------------------------------------------------

N440 $NK_TYPE[KIE_CNTR] = "AXIS_ROT"

N450 $NK_NAME[KIE_CNTR] = "A-AXIS"

N460 $NK_NEXT[KIE_CNTR] = "TOOL-REF"

N470 $NK_AXIS[KIE_CNTR] = "A1"

;

N480 $NK_OFF_DIR[KIE_CNTR,0] = 1.0

; X direction

N490 KIE_CNTR = KIE_CNTR + 1

;

; ----------------------------------------------------------

; Kinematic element: OFFSET: Tool reference

; ----------------------------------------------------------

N500 $NK_TYPE[KIE_CNTR] = "OFFSET"

N510 $NK_NAME[KIE_CNTR] = "TOOL-REF"

N520 $NK_NEXT[KIE_CNTR] = "DOCKING_POINT 1"

;

N530 $NK_OFF_DIR[KIE_CNTR,2] = -200.0

; Z direction

N540 KIE_CNTR = KIE_CNTR + 1

;

Special functions

222

Function Manual, 12/2018, A5E40874099B AB

K7: Kinematic chain

5.4 Example

Program code

; ----------------------------------------------------------

; Kinematic element: Switch 3/1

; ----------------------------------------------------------

N550 $NK_TYPE[KIE_CNTR] = "SWITCH"

N560 $NK_NAME[KIE_CNTR] = "DOCKING_POINT 1"

N570 $NK_NEXT[KIE_CNTR] = "HEAD 1"

N580 $NK_PARALLE[KIE_CNTR] = "DOCKING_POINT 2"

;

N590 $NK_SWITCH_INDEX[KIE_CNTR] = 3

; Index 3

N600 $NK_SWITCH_POS[KIE_CNTR] = 1

; switch position 1

N610 KIE_CNTR = KIE_CNTR + 1

;

; ----------------------------------------------------------

; Kinematic element: Switch 3/2

; ----------------------------------------------------------

N620 $NK_TYPE[KIE_CNTR] = "SWITCH"

N630 $NK_NAME[KIE_CNTR] = "DOCKING_POINT 2"

N640 $NK_NEXT[KIE_CNTR] = "HEAD 2"

N650 $NK_PARALLE[KIE_CNTR] = "DOCKING_POINT 3"

;

N660 $NK_SWITCH_INDEX[KIE_CNTR] = 3

; Index 3

N670 $NK_SWITCH_POS[KIE_CNTR] = 2

; switch position 2

N680 KIE_CNTR = KIE_CNTR + 1

;

; ----------------------------------------------------------

; Kinematic element: Switch 3/3

; ----------------------------------------------------------

N690 $NK_TYPE[KIE_CNTR] = "SWITCH"

N700 $NK_NAME[KIE_CNTR] = "DOCKING_POINT 3"

N710 $NK_NEXT[KIE_CNTR] = "HEAD 3"

N720 $NK_PARALLE[KIE_CNTR] = ""

N730 $NK_SWITCH_INDEX[KIE_CNTR] = 3

; Index 3

N740 $NK_SWITCH_POS[KIE_CNTR] = 3

; switch position 3

N750 KIE_CNTR = KIE_CNTR + 1

;

; ----------------------------------------------------------

; Kinematic element: OFFSET: HEAD 1

; ----------------------------------------------------------

N760 $NK_TYPE[KIE_CNTR] = "OFFSET"

N770 $NK_NAME[KIE_CNTR] = "HEAD 1"

N780 $NK_NEXT[KIE_CNTR] = ""

;

N790 $NK_OFF_DIR[KIE_CNTR,0] = 100

; X direction

N800 $NK_OFF_DIR[KIE_CNTR,1] = -30

; Y direction

N810 KIE_CNTR = KIE_CNTR + 1

;

; ----------------------------------------------------------

; Kinematic element: OFFSET: HEAD 2

; ----------------------------------------------------------

N820 $NK_TYPE[KIE_CNTR] = "OFFSET"

N830 $NK_NAME[KIE_CNTR] = "HEAD 2"

N840 $NK_NEXT[KIE_CNTR] = ""

;

N850 $NK_OFF_DIR[KIE_CNTR,2] = -230

; Z direction

N860 KIE_CNTR = KIE_CNTR + 1

;

Special functions

Function Manual, 12/2018, A5E40874099B AB

223

K7: Kinematic chain

5.5 Data lists

Program code

; ----------------------------------------------------------

; Kinematic element: OFFSET: HEAD 3

; ----------------------------------------------------------

N870 $NK_TYPE[KIE_CNTR] = "OFFSET"

N880 $NK_NAME[KIE_CNTR] = "HEAD 3"

N890 $NK_NEXT[KIE_CNTR] = ""

;

N900 $NK_OFF_DIR[KIE_CNTR,0] = 50

; X direction

N910 $NK_OFF_DIR[KIE_CNTR,1] = -20

; Y direction

N920 $NK_OFF_DIR[KIE_CNTR,2] = -90

; Z direction

N930 KIE_CNTR = KIE_CNTR + 1

End

5.5

Data lists

5.5.1

Machine data

5.5.1.1

NC-specific machine data

Number

Identifier: $MN_

Description

16800

ROOT_KIN_ELEM_NAME

Name of the first element in the kinematic chain

18880

MM_MAXNUM_KIN_CHAIN_ELEM

Maximum number of elements for kinematic chains

18882

MM_MAX_NUM_KIN_SWITCHES

Maximum number of switches for kinematic chains

5.5.2

System variables

Identifier

Description

$NK_NAME

Name of the kinematic element

$NK_NEXT

Name of the next element in the kinematic chain

$NK_PARALLEL

Name of the first element of a parallel branching kinematic chain before the

element

$NK_TYPE

Type of the kinematic element

$NK_OFF_DIR

Depends on $NK_TYPE: Offset or direction vector

$NK_AXIS

Name of the assigned machine axis or object name

$NK_A_OFF

Work offset in the element for linear or rotary axes

$NK_SWITCH_INDEX

Index i, via which the switch is addressed using system variable

$NK_SWITCH[]

$NK_SWITCH_POS

Switch position CLOSED

$NK_SWITCH

Switch variable

Special functions

224

Function Manual, 12/2018, A5E40874099B AB

K8: Geometric machine modeling

6.1

Function description

6.1.1

Features

This section describes how the geometry of machine parts can be mapped based on protection

areas and parameterized in the control using system variables for NC functions such as

"collision avoidance".

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

"NC data" via SINUMERIK Operate using the commissioning archive.

By assigning a protective area to an element of the kinematic chain (Page 191) described in

the previous section, the position and motion of the machine part can be clearly described

within the machine space.

Note

Graphic 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.

Protection area

The protection areas are the central element when geometrically modeling a machine. The

geometric dimensions of a machine part, its reference to the kinematic chain and additional

general features are described by a protection area.

A protection area has the following parameters:

● Name of the protection area

● Name of the kinematic element to which the protection area is assigned

● Type of the protection area

● Name of the first protection area element

Special functions

Function Manual, 12/2018, A5E40874099B AB

225

K8: Geometric machine modeling

6.1 Function description

● Color and transparency of the protection area

● Detail level for the protection area

● Number of NC/PLC interface bits of the protection area

● Initialization status of the protection area

● Address of the geometric data of the machine element to the protected

(only relevant for automatic protection areas)

Each parameter is mapped by a system variable. The individual parameters and/or system

variables are described in detail in Chapter "System variables: Protection areas (Page 235)".

Kinematic chain

The corresponding protection area is assigned to an element of the kinematic chain

(Page 191) in order to map the position and motion of a machine part. The geometric data of

the protection area relates then to the local coordinate system of this kinematic element.

Type of the protection area

The following types of protection areas are available:

● Machine protection areas (type: "MACHINE")

Machine protection areas are used for general machine modeling. They are used to map

stationary and moving machine parts whose geometry is defined once upon commissioning

and no longer changes when the machine is in operation.

● Automatic tool protection areas (type: "TOOL")

Automatic tool protection areas are used to map tools. The geometry of the tool is not

provided directly with this but is produced automatically by the control when the tool is

activated.

See section "Automatic tool protection areas (Page 228)".

Protection area element

Using a protection area element, the geometrical element used is described regarding its

geometrical and general properties.

A protection area element has the following parameters:

● Name of the protection area element

● Name of the following protection area element

● Name of the following protection area element parallel to $NP_NEXT

● Color and transparency of the protection area element

● Detail level for the protection area element

● Use of the protection area element

● Type of the protection area element

● File name of the STL file that contains the geometric data of the protection area element

(only relevant for type "FILE")

● Geometrical parameters of the protection area body

(only relevant for types, "BOX", "SPHERE" or "CYLINDER")

Special functions

226

Function Manual, 12/2018, A5E40874099B AB

K8: Geometric machine modeling

6.1 Function description

● Offset vector of the protection area element local coordinate system

● Direction vector for the rotation of the protection area element local coordinate system

● Angle for the rotation of the protection area element local coordinate system

Each parameter is mapped by a system variable. The individual parameters or system

variables are described in detail in:

● Chapter "System variables: Protection area elements for machine protection areas

(Page 247)"

● Chapter "System variables: Protection area elements for automatic tool protection areas

(Page 268)"

Protection area, protection area elements and kinematic chain

Using an example of a protection area with two protection area elements, the following diagram

shows the interrelationship between the protection area, its protection area elements and the

assignment to an element of the kinematic chain.

.LQHPDWLF FKDLQ

]

[

]

[

*HRPHWULF PDFKLQH PRGHOLQJ

;

0DFKLQH FRRUGLQDWH V\VWHP

:RUOG FRRUGLQDWH V\VWHP

e₁

Kinematic element 1, type "OFFSET", continuous offset

e₂

Kinematic element 2, type "AXIS_LIN", machine axis AX1

s₁

Protection area

se₁

Protection area element 1, type "FRAME", offset

se₂

Protection area element 2, type "BOX"

se₃

Protection area element 3, type "CYLINDER"

Figure 6-1

Protection area, protection area elements and kinematic chain

Special functions

Function Manual, 12/2018, A5E40874099B AB

227

K8: Geometric machine modeling

6.1 Function description

6.1.2

Automatic tool protection areas

Unlike machine protection areas whose geometry is defined once during the machine modeling

and then no longer changes, the geometry of a tool protection area can change with every tool

change. As a result the geometry of an automatic tool protection area is not described directly

when the machine model is created, and instead the address (magazine number, magazine

location, etc.) is provided under which the tool data is stored. The following actions are then

carried out automatically by the control.

1. The tool modeling (see "Tool modeling" section below) produces an STL file.

2. A protection area element of the "FILE" type is produced and assigns the STL file.

3. The protection area element is assigned to the protection area (type "TOOL").

Tool definition independent of the tool mounting position

Normally the parameter "$NP_1ST_PROT (Page 239)" remains empty for the definition of a

tool protection area. The name of the protection area element is only entered when the tool is

activated by the control (see above).

In order for there to be a tool definition independently of the tool mounting position, a protection

area element of the "FRAME (Page 254)" type can be assigned via the parameter

"$NP_1ST_PROT" (transformation element). The transformations to align the tool can be

carried out via this additional element. When a tool is activated the name of the internal

protection area element is entered in the parameter "$NP_NEXT (Page 249)" of the

transformation element by the control.

The following rules must be observed:

● The transformation element may only be of the "FRAME" type.

● Only one transformation element may be used for each tool protection area.

● The parameter "$NP_NEXTP" of the transformation element is not evaluated.

Tool reference point

The position of the tool reference point in the machine model is determined by the kinematic

element to which the tool protection area is assigned. In addition the tool reference point can

be offset within the tool protection area by an optional transformation element.

Kinematic transformations

The tool reference point may only be determined via the kinematic chain when defining a

kinematic transformation. Offsets by the transformation element of the tool protection area are

not taken into account.

NOTICE

Determination of the tool reference point for kinematic transformations

Offsets of the tool reference point by the transformation element of the tool protection area

are not taken into account by kinematic transformations.

Special functions

228

Function Manual, 12/2018, A5E40874099B AB

K8: Geometric machine modeling

6.1 Function description

Tool modeling

The model of a tool is created by the control heuristically from the tool data. The tool data used

for this (L1, L2, L3, R) is always the the overall dimensions resulting from the individual

components, e.g. length plus wear, as is also entered in the program processing for tool offset.

Programmable tool offsets

Programmable tool offsets such as OFFN (offset to the programmed contour) are not taken

into account as they may change in any block, even without a tool change.

Special functions

Function Manual, 12/2018, A5E40874099B AB

229

K8: Geometric machine modeling

6.1 Function description

Tool type-dependent model generation

The following tool types are distinguished for the model generation:

●

Milling tool and all other tools that are neither turning tools or grinding tools

- Modeling

The tool is modeled by a cylinder with the height L1 and radius R. If the length L1 is

negative the absolute value of L1 is used for the cylinder height. The sign L1 is taken

into account when positioning the cylinder in the machine model. The cylinder axis is

parallel to L1.

Tool type 110 (ball end mill cutter) and 111 (face cutter) are modeled using half a sphere

or sphere segments.

If the radius is negative the absolute value of the radius is used. If the value for the radius

is less than 1/3 mm, a radius of 1/3 mm is used.

- Positioning

The cylinder is positioned in the machine model using the tool length components L2

and L3.

For milling tools (tool type 100 ... 199) and drilling tools (tool type 200 ... 299) on turning

machines, the cylinder is positioned using the cutting edge position.

Precondition: Cutting edge position == 5 ... 8

●

Grinding tools

- Modeling

Grinding tools (grinding wheel, tool type 400 ... 499) are modeled by a cylinder with the

tool length as the radius and double the tool radius as the height.

- Positioning

The cylinder is positioned in the machine model using the tool lengths L1, L2 and L3.

●

Turning tools

In the case of turning tools only the cutting tips are taken into account in the machine model

but not their connection to the tool reference point.

The following data is taken into account when modeling a cutting tip:

- Tool type

- Cutting edge position

- Cutting edge radius

- Clearance angle

- Holder angle

- Cutting tip length

- Cutting tip width

- Tip thickness (assumption: tip thickness = 10% tip length)

Tool model

A tool is modeled as standard with an accuracy of one third of the collision tolerance

(Page 285). The geometric data of the modeled tool is stored in an internal file in STL format:

● Directory: _N_PROT3D_DIR/_N_TOOL_DIR

● Identifiers: Name of the associated protection area with prefix _N_ and ending with _STL

Special functions

230

Function Manual, 12/2018, A5E40874099B AB

K8: Geometric machine modeling

6.2 Commissioning

The coordinate system of the geometric data always has its origin at the point from which the

tool length offsets point to the tip of the tool.

System variable

All parameters for an automatic tool protection area can be read via System variable

(Page 247).

6.2

Commissioning

6.2.1

General

6.2.1.1

Overview

The commissioning of the "Collision avoidance" function is performed using:

● Machine data

- Specifications for the quantity structure of protection areas, protection area elements,

NC/PLC interface signals, triangles for the geometry modelling

- Creation mode of the machine model

- Creation mode for automatic tool protection areas

● System variables

- Parameterization of the protection areas

- Parameterization of the protection area elements of a protection area

6.2.1.2

Structure of the system variables

The system variables are structured according to the following scheme:

● $NP_<name>[<index_1>]

● $NP_<name>[<index_1>, <index_2>]

General

The system variables to describe the protection areas or protection area elements have the

following properties:

● Prefix: $NP_, (N for NC, P for protection).

● They can be read and written via NC programs.

● They can be stored in archives and loaded to the NC again.

Special functions

Function Manual, 12/2018, A5E40874099B AB

231

K8: Geometric machine modeling

6.2 Commissioning

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

System variables for protection areas

The individual protection areas are addressed via index_1. Index 0 → 1st protection area, index

1 → 2nd protection area, ... m → (m+1) protection area, where m =

($MN_MM_MAXNUM_3D_PROT_AREAS - 1)

All system variables of a protection area have the same index.

System variables for protection areas elements

The individual protection area elements are addressed via index_1. Index 0 → 1st protection

area element, index 1 → 2nd protection area element, ... n → (n+1)th protection area element,

where n = ($MN_MM_MAXNUM_3D_PROT_AREA_ELEM - 1)

All system variables of a protection area element have the same index.

Index_2

Depending on the respective system variables, index_2 has different meanings.

See also

Deletion of components (DELOBJ) (Page 215)

Special functions

232

Function Manual, 12/2018, A5E40874099B AB

K8: Geometric machine modeling

6.2 Commissioning

6.2.1.3

Color chart

The following color chart provides an overview of the RGB color values and the associated

colors. A RGB color value comprises three bytes. One byte per color:

3rd byte

2nd byte

1st byte

Color value for red

Color value for green

Color value for blue

0 - 255_D or 0 - FF_H

))

))&&

))))

))

))&&

))))

))

))&&

))))

))

))&&

))))

&&&

))&&

&&&

)) &&

)) &&))&&&&

))))&&

))

&&))

))))

&&))

))

))&&))

))))))

))

&&))

))))

&&))

))

&&&&))

&&))))

&&&

))&&

&&&&

&& && &&

&& &&

&&&&&&

&&))&&

))

&&&&

&&))

))

&&&&

&&))

))

&&&&

&&))

))

&&&&

&&))

Special functions

Function Manual, 12/2018, A5E40874099B AB

233

K8: Geometric machine modeling

6.2 Commissioning

6.2.2

Machine data

6.2.2.1

Maximum number of protection areas

The maximum number of all types of parameterizable protection areas (Page 238) is specified

with the machine data.

MD18890 $MN_MM_MAXNUM_3D_PROT_AREAS = <number>

6.2.2.2

Maximum number of protection area elements for machine protection areas

The maximum number of parameterizable protection area elements for machine protection

areas is specified using machine data ($NP_PROT_TYPE == "MACHINE" (Page 238)).

MD18892 $MN_MM_MAXNUM_3D_PROT_AREA_ELEM = <number>

6.2.2.3

Maximum number of protection area elements for automatic tool protection areas

The maximum number of protection area elements for automatic tool protection areas is

specified with the machine data. For each automatic tool protection area the control precisely

creates one protection area element. As a consequence, using the value parameterized here,

the maximum possible number of parameterizable automatic tool protection areas

($NP_PROT_TYPE == "TOOL" (Page 238)) is also simultaneously defined.

MD18893 $MN_MM_MAXNUM_3D_T_PROT_ELEM = <number>

6.2.2.4

Maximum number of NC/PLC interface signals for the preactivation of protection areas

The machine data communicates to the control the number of NC/PLC interface signals of

interface DB10, DBX234.0 - DBX241.7 actually used (collision avoidance: activate protection

area) with the machine data. The number of interface signals used increases the memory

space required for each part program block. Counting the number of used NC/PLC interface

signal starts at DB10, DBX234.0

MD18897 $MN_MM_MAXNUM_3D_INTERFACE_IN = <number>

References:

A detailed description of the interface signals is provided in the NC Variables and Interface

Signals Parameter Manual.

6.2.2.5

Maximum number of triangles for machine protection areas

With the machine data, the maximum number of triangles for protection area bodies

($NP_TYPE == "FILE" (Page 254)) of machine protection areas ($NP_PROT_TYPE ==

"MACHINE" (Page 238)) to be provided by the control is defined.

MD18895 $MN_MM_MAXNUM_3D_FACETS = <number>

Special functions

234

Function Manual, 12/2018, A5E40874099B AB

K8: Geometric machine modeling

6.2 Commissioning

6.2.2.6

Maximum number of triangles for automatic tool protection areas

With the machine data, the maximum number of triangles for protection area bodies of

automatic tool protection areas to be provided by the control is defined.

MD18894 $MN_MM_MAXNUM_3D_FACETS_INTERN = <number>

The control system automatically models the protection area bodies based on the geometric

data of the tool active at the time of creation. The number of triangles correspondingly

increases:

● as the geometric complexity of the tool increases.

● as the parameterized collision tolerance decreases.

Note

Protection area bodies and collision tolerance

The protection area bodies of automatic tool protection areas are, as standard, created by the

control with a precision of 1/3 of the collision tolerance (Page 285).

6.2.2.7

Creation mode for automatic tool protection areas

The machine data defines how the control creates protection area bodies of automatic tool

protection areas.

MD18899 $MN_PROT_AREA_TOOL_MASK = <mode>

<Mode>

Bit

Val-

Meaning

Do not apply heuristic model generation

Heuristic model generation using tool data

6.2.3

System variables: Protection areas

6.2.3.1

Overview

A protection area is parameterized with the following system variables:

Name

Meaning

$NP_PROT_NAME

Name of the protection area

$NP_CHAIN_ELEM

Name of the kinematic element to which the protection area is as-

signed

$NP_PROT_TYPE

Type of the protection area

$NP_1ST_PROT

Name of the first protection area element

$NP_PROT_COLOR

Color and transparency of the protection area.

$NP_PROT_D_LEVEL

Detail level for the protection area

Special functions

Function Manual, 12/2018, A5E40874099B AB

235

K8: Geometric machine modeling

6.2 Commissioning

Name

Meaning

$NP_BIT_NO

Number of NC/PLC interface bits of the protection area

$NP_INIT_STAT

Initialization status of the protection area

$NP_INDEX

Address of the geometric data of the machine element to be protected

(only relevant for automatic protection areas)

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 protection

areas. To do this, set the system variables of the protection areas to their default values with

the DELOBJ() (Page 215) function.

Change system variable values

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

immediately visible at 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.

6.2.3.2

$NP_PROT_NAME

Function

Enter the NC-wide unique protection area name in the system variable. The protection area

is referenced via this name, e.g. by a protection area element. The name is also displayed in

the graphical editor of SINUMERIK Operate.

Syntax

$NP_PROT_NAME[<m>] = "<name>"

Meaning

$NP_PROT_NAME:

Name of the protection area

Data type:

STRING

Default value:

"" (empty string)

<m>:

System variable or protection area index

Data type:

INT

Range of values:

0, 1, 2, ... ($MN_MM_3D_MAXNUM_PROT_AREAS - 1)

<name>:

Name of the protection area

Data type:

STRING

Special functions

236

Function Manual, 12/2018, A5E40874099B AB

K8: Geometric machine modeling

6.2 Commissioning

Example

The 6th protection area is assigned the name "Spindle":

Program code

Comment

N100 $NP_PROT_NAME[5] = "Spindle"

; 6. Protection area,

; name = "Spindle"

6.2.3.3

$NP_CHAIN_ELEM

Function

Enter the name of the kinematic element (Page 199) to which the protection area will be

connected in the system variable.

Note

Reference coordinate system

The geometric data of the protection area, starting from the first protection area element

($NP_1ST_PROT (Page 239)), refer to the local coordinate system of the kinematic element,

with which the protection area is connected.

Syntax

$NP_CHAIN_ELEM[<m>] = "<name>"

Meaning

$NP_CHAIN_ELEM:

Name of the kinematic element to which the protection area will be connected

Data type:

STRING

Default value:

"" (empty string)

<m>:

System variable or protection area index

Data type:

INT

Range of values:

0, 1, 2, ... ($MN_MM_3D_MAXNUM_PROT_AREAS - 1)

<name>:

Name of the kinematic element

Data type:

STRING

Range of values:

Names parameterized in $NK_NAME (Page 199)

Example

The 6th protection area is connected to the kinematic element with the name "Z axis":

Program code

Comment

N100 $NP_CHAIN_ELEM[5] = "Z ax-

; 6. Protection area,

is"

; name of the kin. element: "Z axis"

Special functions

Function Manual, 12/2018, A5E40874099B AB

237

K8: Geometric machine modeling

6.2 Commissioning

6.2.3.4

$NP_PROT_TYPE

Function

The protection area type should be entered in the system variable:

● Machine protection area: "MACHINE"

The protection area body is defined using one or several protection area elements.

$NP_1ST_PROT (Page 239) refers to the first protection area element.

● Automatic tool protection area: "TOOL"

The control calculates the dimensions of the protection area body from the tool data.

$NP_INDEX (Page 245) refers to the tool.

● Workholder protection area: "FIXTURE"

● Workpiece protection area: "WORKPIECE"

Syntax

$NP_PROT_TYPE[<m>] = "<type>"

Meaning

$NP_PROT_TYPE:

Type of the protection area

Data type:

STRING

Range of values:

"MACHINE", "TOOL", "FIXTURE", "WORKPIECE"

Default value:

"" (empty string)

<m>:

System variable or protection area index

Data type:

INT

Range of values:

0, 1, 2, ... ($MN_MM_3D_MAXNUM_PROT_AREAS - 1)

<Type>:

Type

Data type:

STRING

Example

The 6th protection area is a machine protection area:

Program code

Comment

N100 $NP_PROT_TYPE[5] = "MACHINE"

; 6. Protection area,

; type = "MACHINE"

Special functions

238

Function Manual, 12/2018, A5E40874099B AB

K8: Geometric machine modeling

6.2 Commissioning

6.2.3.5

$NP_1ST_PROT

Function

Enter the name of the first protection area element (Page 248) in the system variable.

1H[W SURWHFWLRQ DUHD HOHPHQW

13B1(;7

)LUVW SURWHFWLRQ DUHD HOHPHQW

13B 67B3527

6WDUW RI WKH HIIHFWLYH SURWHFWLRQ DUHD HOHPHQW FKDLQ

RI WKH SURWHFWLRQ DUHD

Syntax

$NP_1ST_PROT[<m>] = "<name>"

Meaning

$NP_1ST_PROT:

Name of the first protection area element of the protection area

Data type:

STRING

Range of values:

Names parameterized in $NP_NAME (Page 248)

Default value:

"" (empty string)

<m>:

System variable or protection area index

Data type:

INT

Range of values:

0, 1, 2, ... ($MN_MM_3D_MAXNUM_PROT_AREAS - 1)

<name>:

Protection area name

Data type:

STRING

Automatic tool protection areas, $NP_PROT_TYPE == "TOOL"

For automatic tool protection areas, only the following values are permissible for

$NP_1ST_PROT:

● "" (empty string)

● Name of a protection area element, type "FRAME"

Behavior for value == "" (empty string)

When activating the associated tool, the control creates a protection area element for the tool

with a unique, internal name and protection area body generated from the geometric data of

the tool. The name is assigned system variable $NP_1ST_PROT.

● Protection area "TOOL" : $NP_1ST_PROT = "<internal name>"

The coordinates of the tool protection area refer to the local coordinate system of the kinematic

element to which it is assigned.

Special functions

Function Manual, 12/2018, A5E40874099B AB

239

K8: Geometric machine modeling

6.2 Commissioning

Behavior for value == name of a protection area element, type "FRAME"

When activating the associated tool, the control creates a protection area element for the tool

with a unique, internal name and protection area body generated from the geometric data of

the tool. The name is assigned a system variable $NP_NEXT of the protection area element,

type "FRAME", to which $NP_1ST_PROT refers.

● Protection area "TOOL" : $NP_1ST_PROT = "WKZ_Frame" →

- Protection area element "WKZ_Frame" : $NP_NEXT = "<internal name>"

The coordinates of the tool protection area refer to the local coordinate system of the protection

area element, type "FRAME".

Possible applications: Tool definition independent of the position where it is mounted on the

machine.

Example

The 1st protection area element which makes up the 6th protection area has the name "Spindle

head":

Program code

Comment

N100 $NP_1ST_PROT[5] = "Spindle head"

; 6. Protection area,

; 1. Protection area element =

"spindle box"

6.2.3.6

$NP_PROT_COLOR

Function

Enter the protection area element-specific value for alpha/transparency and color (ARGB) in

the system variable. This value is used for the display of the protection area or protection area

element on the user interface. If a separate value is entered for a protection area element in

$NP_COLOR (Page 251), this is used for the display of the protection area element.

Structure

Alpha/transparency and color are specified as a double word in hexadecimal format:

AARRGGBB_H

●

1. - 3. Byte: RGB color value. See Chapter "Color chart (Page 233)".

●

4. Byte: Alpha channel or transparency value

Byte

Meaning

Range of values

Blue

0 - 255_D or 0 - FF_H

Green

Red

Alpha channel or transparency ¹⁾

1) 0 = transparent or not visible, 255_D = FF_H = not transparent or filled

Special functions

240

Function Manual, 12/2018, A5E40874099B AB

K8: Geometric machine modeling

6.2 Commissioning

Syntax

$NP_PROT_COLOR[<m>] = <value>

Meaning

$NP_PROT_COLOR:

Alpha/transparency and color value of the protection area

Data type:

DWORD

Range of values:

00000000_H - FFFFFFFF_H

Default value:

0000000_H (black, not visible)

<m>:

System variable or protection area index

Data type:

INT

Range of values:

0, 1, 2, ... ($MN_MM_3D_MAXNUM_PROT_AREAS - 1)

<value>:

Transparency and color value

Data type:

DWORD

Example

The 6th protection area is to be displayed half transparent and in a green-blue color on the

user interface:

● AA = 7F_H = 127_D ≙ 50% transparency

● RR (red) = 00 ≙ no red component

● GG (green) = FF_H = 255_D ≙ 100% green color component

● BB (blue) = 33_H = 51_D ≙ 20% blue color component

Program code

Comment

N100 $NP_PROT_COLOR[5] = 'H7F00FF33'

; 6. Protection area,

; alpha/transparency and color

value = H7F00FF33

6.2.3.7

$NP_PROT_D_LEVEL

Function

The detail level as of which the protection area or the protection area elements are displayed

on the user interface is specified via the system variable. If a separate value is entered for a

protection area element in $NP_D_LEVEL (Page 252), this is used for the display of the

protection area element.

Detail level

● Lowest detail level: 0

● Highest detail level: 3

If the detail level x is selected for the display on the HMI, all protection areas and protection

area elements are displayed for which the following applies for the detail level D: D ≤ x

Special functions

Function Manual, 12/2018, A5E40874099B AB

241

K8: Geometric machine modeling

6.2 Commissioning

Syntax

$NP_PROT_D_LEVEL[<m>] = <value>

Meaning

$NP_PROT_D_LEVEL:

Detail level for the protection area

Data type:

INT

Range of val-

0 ≤ D ≤ 3

ues:

Default value:

<m>:

System variable or protection area index

Data type:

INT

Range of val-

0, 1, 2, ... ($MN_MM_3D_MAXNUM_PROT_AREAS - 1)

ues:

<value>:

Detail level

Data type:

INT

Example

The 6th protection area is to be displayed as of detail level 3:

Program code

Comment

N100 $NP_PROT_D_LEVEL[5] = 3

; 6. Protection area,

; detail level = 3

6.2.3.8

$NP_BIT_NO

Function

Enter the bit number (0, 1, 2,

63) of the NC/PLC interface signal with which the protection

area is to be connected in system variable $NP_BIT_NO. If the protection area is not to be

connected to an NC/PLC interface signal, enter the value -1.

NC/PLC interface

Activation / deactivation of the protection area can be requested via NC/PLC interface signals

from the PLC user program or this can be used for feedback on the current status to the PLC

user program:

● Requirement: DB10, DBX234.0 - DBX241.7

● Feedback: DB10, DBX226.0 - DBX233.7

Precondition

The status of the protection area must be "preactivated" or "PLC-controlled" in order that the

assigned NC/PLC interface signal of the protection area is taken into account:

$NP_INIT_STAT (Page 244) == "P" (preactivated or PLC-controlled)

Special functions

242

Function Manual, 12/2018, A5E40874099B AB

K8: Geometric machine modeling

6.2 Commissioning

Syntax

$NP_BIT_NO[<m>] = <bit number>

Meaning

$NP_BIT_NO:

Bit number of the interface signal to activate/deactivate the protection area

Data type:

INT

Range of values:

-1, 0, 1, 2, ... ($MN_MM_MAXNUM_3D_INTERFACE_IN - 1)

Default value:

-1 (no interface signal selected)

<m>:

System variable or protection area index

Data type:

INT

Range of values:

0, 1, 2, ... ($MN_MM_3D_MAXNUM_PROT_AREAS - 1)

<Bit number>:

Bit number (0, 1, 2, ... 63) of the 64-bit interface

Data type:

INT

Example

The 6th protection area is assigned to the 18th bit of interface (DB10.DBX236.1):

Program code

Comment

N100 $NP_BIT_NO[5] = 17

; 6. Protection area,

; DB10.DBX236.1

Assignment: Bit number to the interface signal

Bit

DB10,

Bit

DB10,

Bit

DB10,

Bit

DB10,

→

(PLC →

(NC →

→

(PLC →

(NC →

→

(PLC →

(NC →

→

(PLC →

(NC →

NC)

PLC)

NC)

PLC)

NC)

PLC)

NC)

PLC)

DBX234.0

DBX226.0

DBX235.0

DBX227.0

DBX236.0

DBX228.0

DBX237.0

DBX229.0

DBX234.1

DBX226.1

DBX235.1

DBX227.1

DBX236.1

DBX228.1

DBX237.1

DBX229.1

DBX234.2

DBX226.2

DBX235.2

DBX227.2

DBX236.2

DBX228.2

DBX237.2

DBX229.2

DBX234.3

DBX226.3

DBX235.3

DBX227.3

DBX236.3

DBX228.3

DBX237.3

DBX229.3

DBX234.4

DBX226.4

DBX235.4

DBX227.4

DBX236.4

DBX228.4

DBX237.4

DBX229.4

DBX234.5

DBX226.5

DBX235.5

DBX227.5

DBX236.5

DBX228.5

DBX237.5

DBX229.5

DBX234.6

DBX226.6

DBX235.6

DBX227.6

DBX236.6

DBX228.6

DBX237.6

DBX229.6

DBX234.7

DBX226.7

DBX235.7

DBX227.7

DBX236.7

DBX228.7

DBX237.7

DBX229.7

Bit

DB10,

Bit

DB10,

Bit

DB10,

Bit

DB10,

→

(PLC →

(NC →

→

(PLC →

(NC →

→

(PLC →

(NC →

→

(PLC →

(NC →

NC)

PLC)

NC)

PLC)

NC)

PLC)

NC)

PLC)

DBX238.0

DBX230.0

DBX239.0

DBX231.0

DBX240.0

DBX232.0

DBX241.0

DBX233.0

DBX238.1

DBX230.1

DBX239.1

DBX231.1

DBX240.1

DBX232.1

DBX241.1

DBX233.1

DBX238.2

DBX230.2

DBX239.2

DBX231.2

DBX240.2

DBX232.2

DBX241.2

DBX233.2

Special functions

Function Manual, 12/2018, A5E40874099B AB

243

K8: Geometric machine modeling

6.2 Commissioning

Bit

DB10,

Bit

DB10,

Bit

DB10,

Bit

DB10,

→

(PLC →

(NC →

→

(PLC →

(NC →

→

(PLC →

(NC →

→

(PLC →

(NC →

NC)

PLC)

NC)

PLC)

NC)

PLC)

NC)

PLC)

DBX238.3

DBX230.3

DBX239.3

DBX231.3

DBX240.3

DBX232.3

DBX241.3

DBX233.3

DBX238.4

DBX230.4

DBX239.4

DBX231.4

DBX240.4

DBX232.4

DBX241.4

DBX233.4

DBX238.5

DBX230.5

DBX239.5

DBX231.5

DBX240.5

DBX232.5

DBX241.5

DBX233.5

DBX238.6

DBX230.6

DBX239.6

DBX231.6

DBX240.6

DBX232.6

DBX241.6

DBX233.6

DBX238.7

DBX230.7

DBX239.7

DBX231.7

DBX240.7

DBX232.7

DBX241.7

DBX233.7

References

A detailed description of the interface signals is provided in the NC Variables and Interface

Signals Parameter Manual

6.2.3.9

$NP_INIT_STAT

Function

Enter the protection area initialization status in the system variable.

The status of a protection area is set to the parameterized initialization status in the following

situations:

● When the control ramps up

● When calling the PROTA (Page 294) function after the protection area has been recreated

during operation by writing the protection-area-specific system variables

● When calling the PROTA (Page 294) function with parameter "R"

● When calling the PROTS (Page 295) function with parameter "R"

Syntax

$NP_INIT_STAT[<m>] = "<status>"

Meaning

$NP_INIT_STAT:

Initialization status of the protection area

Data type:

STRING

Range of values:

"A", "a", "I", "i", "P", "p"

Value

Protection area status

"A"or "a"

Activated

"I"or "i"

Inactive

"P"or "p"

Preactivated or PLC-controlled¹⁾

Default value:

"I" (inactive)

Special functions

244

Function Manual, 12/2018, A5E40874099B AB

K8: Geometric machine modeling

6.2 Commissioning

<m>:

System variable or protection area index

Data type:

INT

Range of values:

0, 1, 2, ... ($MN_MM_MAXNUM_3D_PROT_AREAS - 1)

<Status>:

Initialization status

Data type:

STRING

1) The activation/deactivation is performed via: DB10.DBX234.0 - DBX241.7

Example

The initialization status of the 6th protection area is set to "P" (preactivated or PLC-controlled):

Program code

Comment

N100 $NP_INIT_STAT[5] = "P"

; 6. Protection area,

; initialization status = "P"

The current status depends on the state of the interface signal parameterized in

$NP_BIT_NO (Page 242).

6.2.3.10

$NP_INDEX

Function

For automatic protection areas ($NP_PROT_TYPE (Page 238)), the address, under which the

geometric data of the machine part, tool, etc. to be protected is saved, should be entered in

the system variable. The control then automatically creates the geometrical dimensions of the

protection area from the geometric data.

Example

For example, for an automatic tool protection area ($NP_PROT_TYPE == "TOOL") the

geometrical dimensions of the protection area are created based on the tool data.

Syntax

$NP_INDEX[<m>,] = <value>

Meaning

$NP_INDEX:

Address of the geometric data for the automatic protection areas

Data type:

INT[ 3 ]

<m>:

System variable or protection area index

Data type:

INT

Range of values:

0, 1, 2, ... ($MN_MM_MAXNUM_3D_PROT_AREAS - 1)

Special functions

Function Manual, 12/2018, A5E40874099B AB

245

K8: Geometric machine modeling

6.2 Commissioning

:

Index

The meaning of the system variables $NP_INDEX[<m>,], with i = 0, 1, 2, ...

is dependent on the type ($NP_PROT_TYPE) of the automatic protection area.

See type-specific tables.

Data type:

INT

Range of values:

0, 1, 2

<value>:

Address

Data type:

INT

Type: Automatic tool protection area ($NP_PROT_TYPE == "TOOL")

<value>

When tool management is active

Without tool management

Circular magazine: Tool location number

Spindle number

No circular magazine: Spindle number

Magazine number

---

TOA area ¹⁾

1) TOA area "1" can be addressed with 0 as well as also with 1.

Example

The 6th protection area is an automatic tool protection area ($NP_PROT_TYPE == "TOOL").

The geometrical dimensions of the protection area should be generated from the geometric

data of the tool at the following tool location:

● Tool location number: 1

● Magazine number: 9998 (spindle 1)

● TOA area: 1

Tool management is active.

Program code

Comment

; The dimensions of the 6th protection area are based on the tool data

; of the tool located at the following position:

N100 $NP_INDEX[5,0] = 1

; Tool location number = 1

N110 $NP_INDEX[5,1] = 9998

; magazine number = 9998 (spin-

dle 1)

N120 $NP_INDEX[5,2] = 1

; TOA area = 1

See also

$NP_PROT_TYPE (Page 238)

Special functions

246

Function Manual, 12/2018, A5E40874099B AB

K8: Geometric machine modeling

6.2 Commissioning

6.2.4

System variables: Protection area elements for machine protection areas

6.2.4.1

Overview

A protection area element of a machine protection area is parameterized with the following

system variables:

Name

Meaning

$NP_NAME

Name of the protection area element

$NP_NEXT

Name of the following protection area element

$NP_NEXTP

Name of the following protection area element parallel to $NP_NEXT

$NP_COLOR

Color and transparency of the protection area element.

$NP_D_LEVEL

Detail level for the protection area element

$NP_USAGE

Use of the protection area element

$NP_TYPE

Type of the protection area element

$NP_FILENAME

File name of the STL file that contains the geometric data of the pro-

tection area element

(only relevant for $NP_TYPE == "FILE")

$NP_PARA

Geometric parameters of the protection area body

(only relevant for $NP_TYPE == "BOX" or "SPHERE" or "CYLINDER")

$NP_OFF

Offset vector of the protection area element local coordinate system

$NP_DIR

Direction vector for the rotation of the protection area element local

coordinate system

$NP_ANG

Angle for the rotation of the protection area element local coordinate

system

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 protection

area elements. To do this, set the system variables of the protection area elements to their

default values with the DELOBJ() (Page 215) function.

Change system variable values

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

immediately visible at 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.

Special functions

Function Manual, 12/2018, A5E40874099B AB

247

K8: Geometric machine modeling

6.2 Commissioning

6.2.4.2

$NP_NAME

Function

Enter the NC-wide unique protection area element name in the system variable. The protection

area element is referenced via this name. The name is also displayed in the graphical editor

of SINUMERIK Operate.

Syntax

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

Meaning

$NP_NAME:

Name of the protection area element

Data type:

STRING

Default value:

"" (empty string)

<n>:

System variable or protection area element index

Data type:

INT

Range of values:

0, 1, 2, ... ($MN_MM_MAXNUM_3D_PROT_AREA_ELEM -

<name>:

Name of the protection area element

Data type:

STRING

Example

The 19th protection area element is assigned the name "Spindle head":

Program code

Comment

N100 $NP_NAME[18] = "Spindle head"

; 19th protection area element,

; name = "Spindle head"

Special functions

248

Function Manual, 12/2018, A5E40874099B AB

K8: Geometric machine modeling

6.2 Commissioning

6.2.4.3

$NP_NEXT

Function

If a protection area is made up of several protection area elements, they must be linked. To

do this, the name of the following protection area element must be entered in the system

variable $NP_NEXT in every protection area element.

1H[W SURWHFWLRQ DUHD HOHPHQW

13B1(;7

)LUVW SURWHFWLRQ DUHD HOHPHQW

13B 67B3527

6WDUW RI WKH HIIHFWLYH SURWHFWLRQ DUHD HOHPHQW FKDLQ

RI WKH SURWHFWLRQ DUHD

If there is no following protection area element, the name must be entered as an empty string

"".

Offset and rotation

An offset and/or rotation in the current protection area element ($NP_OFF (Page 264),

$NP_DIR (Page 265) and $NP_ANG (Page 267)) affects the following protection area element

specified in $NP_NEXT. This means that the specification of the spatial position and orientation

of the following protection area element is relative to the current protection area element.

Syntax

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

Meaning

$NP_NEXT:

Name of the following protection area element

Data type:

STRING

Range of values:

All names contained in $NP_NAME (Page 248)

Default value:

"" (empty string)

<n>:

System variable or protection area element index

Data type:

INT

Range of values:

0, 1, 2, ... ($MN_MM_MAXNUM_3D_PROT_AREA_ELEM -

<name>:

Protection area name

Data type:

STRING

Special functions

Function Manual, 12/2018, A5E40874099B AB

249

K8: Geometric machine modeling

6.2 Commissioning

Example

The following protection area element with the name "Coolant nozzle 1" is attached to the 19th

protection area element:

Program code

Comment

N100 $NP_NAME[18] = "Coolant nozzle 1"

; 19th protection area element,

; name of the following element:

"Coolant nozzle 1"

6.2.4.4

$NP_NEXTP

Function

The protection area element chain can be branched via the system variable $NP_NEXTP. To

do this, the following protection area elements must be specified in the system variables

$NP_NEXT and $NP_NEXTP in a protection area element. These protection area elements

are then parallel to one another in two separate subchains.

13B1(;73

13B1(;7

13B1(;73

13B1(;7

① Following parallel protection area element

② Following protection area element of the same subchain

Figure 6-2

Protection area elements in parallel subchains

Application example

The separate subchains can be used, for example, to model different machine parts of a

protection area for visualization or collision avoidance. Typically "C" (collision avoidance) is

specified for the protection area element referred to by $NP_NEXT for use in $NP_USAGE

(Page 253), and for the protection area element referred to in $NP_NEXTP, the value “V”

(visualization).

Offset and rotation

An offset and/or rotation in the current protection area element ($NP_OFF (Page 264),

$NP_DIR (Page 265) and $NP_ANG (Page 267)) affects the following protection area element

specified in $NP_NEXTP. This means that the specification of the spatial position and

orientation of the following protection area element is relative to the current protection area

element.

Syntax

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

Special functions

250

Function Manual, 12/2018, A5E40874099B AB

K8: Geometric machine modeling

6.2 Commissioning

Meaning

$NP_NEXTP:

Name of the branching protection area element

Data type:

STRING

Range of values:

All names contained in $NP_NAME (Page 248)

Default value:

"" (empty string)

<n>:

System variable or protection area element index

Data type:

INT

Range of values:

0, 1, 2, ... ($MN_MM_MAXNUM_3D_PROT_AREA_ELEM -

<name>:

Protection area name

Data type:

STRING

Example

The following parallel protection area element with the name "Coolant nozzle 2" is attached to

the 19th protection area element:

Program code

Comment

N100 $NP_NEXTP[18] = "Coolant nozzle 2"

; 19. Protection area element,

; name of the parallel following

element: "Coolant nozzle 2"

6.2.4.5

$NP_COLOR

Function

Enter the protection area element-specific value for alpha/transparency and color (ARGB) in

the system variable. This value is used for the display of the protection area element on the

user interface. If a specific value is not parameterized for a protection area element, the

protection area-specific value from $NP_PROT_COLOR (Page 240) applies.

Structure

Alpha/transparency and color are specified as a double word in hexadecimal format:

AARRGGBB_H

●

1. - 3. Byte: RGB color value. See Chapter "Color chart (Page 233)".

●

4. Byte: Alpha channel or transparency value

Byte

Meaning

Range of values

Blue

0 - 255_D or 0 - FF_H

Green

Red

Alpha channel or transparency ¹⁾

1) 0 = transparent or not visible, 255_D = FF_H = not transparent or filled

Special functions

Function Manual, 12/2018, A5E40874099B AB

251

K8: Geometric machine modeling

6.2 Commissioning

Syntax

$NP_COLOR[<n>] = <name>

Meaning

$NP_COLOR:

Alpha/transparency and color value of the protection area element

Data type:

DWORD

Range of values:

00000000_H - FFFFFFFF_H

Default value:

0000000_H (black, not visible)

<m>:

System variable or protection area element index

Data type:

INT

Range of values:

0, 1, 2, ... ($MN_MM_MAXNUM_3D_PROT_AREA_ELEM -

<value>:

Transparency and color value

Data type:

DWORD

Example

The 19th protection area is to be displayed half transparent and in a green-blue color on the

user interface:

● AA = 7F_H = 127_D ≙ 50% transparency

● RR (red) = 00 ≙ no red component

● GG (green) = FF_H = 255_D ≙ 100% green color component

● BB (blue) = 33_H = 51_D ≙ 20% blue color component

Program code

Comment

N100 $NP_COLOR[18] = 'H7F00FF33'

; 19. Protection area,

; alpha/transparency and color

value = 'H7F00FF33'

6.2.4.6

$NP_D_LEVEL

Function

The detail level as of which the protection area element is displayed on the user interface is

specified via the system variable. If no value different from the default value is assigned for a

protection area element the protection area-specific value takes effect

$NP_PROT_D_LEVEL (Page 241).

Detail level

● Lowest detail level: 0

● Highest detail level: 3

Special functions

252

Function Manual, 12/2018, A5E40874099B AB

K8: Geometric machine modeling

6.2 Commissioning

If the detail level x is selected for the visualization of the machine model, all protection areas

and protection area elements are displayed for which the following applies for the detail level

D: D ≤ x

Syntax

$NP_D_LEVEL[<n>] = <value>

Meaning

$NP_PROT_D_LEVEL:

Detail level for the protection area element

Data type:

INT

Range of val-

0 ≤ D ≤ 3

ues:

Default value:

<m>:

System variable or protection area element index

Data type:

INT

Range of val-

0, 1, 2, ... ($MN_MM_MAXNUM_3D_PROT_AREA_ELEM

ues:

- 1)

<value>:

Detail level

Data type:

INT

Example

The 19th protection area is always to be displayed ⇒ detail level 0:

Program code

Comment

N100 $NP_PROT_D_LEVEL[18] = 0

; 19. Protection area,

; detail level = 0

6.2.4.7

$NP_USAGE

Function

Enter the protection area element usage in the system variable. The usage specifies how the

protection area element is to be considered for the collision avoidance.

● Only visualization, no collision calculation

● Only collision calculation, no visualization

● Visualization and collision calculation

Usage

Meaning

Visualization

The protection area element is displayed in the machine model on the SINUMERIK Operate

user interface

Collision calculation

The protection area element is also taken into account for the collision calculation

Special functions

Function Manual, 12/2018, A5E40874099B AB

253

K8: Geometric machine modeling

6.2 Commissioning

Syntax

$NP_USAGE[<n>] = "<value>"

Meaning

$NP_USAGE:

Use of the protection area element

Data type:

CHAR

Range of values:

"V", "v", "C", "c", "A", "a"

Value

Meaning

"V" or "v"

Only visualization, no collision calculation

"C" or "c"

Only collision calculation, no visualization

"A" or "a"

Visualization and collision calculation

Default value:

"A"

<n>:

System variable or protection area element index

Data type:

INT

Range of values:

0, 1, 2, ... ($MN_MM_MAXNUM_3D_PROT_AREA_ELEM -

<value>:

Usage

Data type:

CHAR

Example

The 19th protection area element is to be displayed at the user interface and included in the

collision calculation:

Program code

Comment

N100 $NP_USAGE[18] = "A"

; 19. Protection area,

; usage = "A"

6.2.4.8

$NP_TYPE

Function

Enter the protection area element type in the system variable.

Type: "FRAME"

A protection area element of the "FRAME" type does not contain any bodies, but defines a

coordinate transformation of the local coordinate system. The coordinate transformation

affects all the following ($NP_NEXT (Page 249)) and/or parallel ($NP_NEXTP (Page 250))

protection area elements. The values of the coordinate transformation are set via:

● Offset: $NP_OFF (Page 264)

● Rotation direction vector: $NP_DIR (Page 265)

● Angle of rotation: $NP_ANG (Page 267)

Special functions

254

Function Manual, 12/2018, A5E40874099B AB

K8: Geometric machine modeling

6.2 Commissioning

No parameters are specified in $NP_PARA (Page 263) for the "FRAME" type.

Type: "BOX"

;

Length in the X direction

Width in the Y direction

Height in the Z direction

A protection area element of the "BOX" type defines a paraxial box in the local coordinate

system of the protection area element. The mid-point of the box is at the origin of the local

coordinate system. At the same time as the definition of the body, the local coordinate system

can be transformed via the following system variables:

● Offset: $NP_OFF (Page 264)

● Rotation direction vector: $NP_DIR (Page 265)

● Angle of rotation: $NP_ANG (Page 267)

The parameters length, width and height are to be entered in $NP_PARA (Page 263)

Type: "SPHERE"

;

Radius of the sphere:

A protection area element of the "SPHERE" type defines a sphere in the local coordinate

system of the protection area element. The mid-point of the sphere is at the origin of the local

coordinate system. At the same time as the definition of the body, the local coordinate system

can be transformed via the following system variables:

● Offset: $NP_OFF (Page 264)

● Rotation direction vector: $NP_DIR (Page 265)

● Angle of rotation: $NP_ANG (Page 267)

Special functions

Function Manual, 12/2018, A5E40874099B AB

255

K8: Geometric machine modeling

6.2 Commissioning

The parameter radius is to be entered in $NP_PARA (Page 263)

Note

Rotation

As the center point of the sphere and the starting point of the direction vector are in the

coordinate origin of the local coordinate system of the protection area element, a rotation using

the direction vector $NP_DIR (Page 265) and angle of rotation $NP_ANG (Page 267) has no

effect on the position of the sphere.

Type: "CYLINDER"

;

Height in the Z direction

Radius in the X/Y plane

A protection area element of the "CYLINDER" type defines a cylinder in the local coordinate

system of the protection area element. The mid-point of the cylinder is at the origin of the local

coordinate system. At the same time as the definition of the body, the local coordinate system

can be transformed via the following system variables:

● Offset: $NP_OFF (Page 264)

● Rotation direction vector: $NP_DIR (Page 265)

● Angle of rotation: $NP_ANG (Page 267)

The parameters height and radius are to be entered in $NP_PARA (Page 263)

Type: "CONE"

;

Height in the Z direction

Radius 1 in the X/Y plane

Radius 2 in the X/Y plane

Special functions

256

Function Manual, 12/2018, A5E40874099B AB

K8: Geometric machine modeling

6.2 Commissioning

A protection area element of the "CONE" type defines a cone in the local coordinate system

of the protection area element. The mid-point of the cone (half cone height on the line of

symmetry of the cone) is at the origin of the local coordinate system. At the same time as the

definition of the body, the local coordinate system can be transformed via the following system

variables:

● Offset: $NP_OFF (Page 264)

● Rotation direction vector: $NP_DIR (Page 265)

● Angle of rotation: $NP_ANG (Page 267)

The parameters height, radius 1, and radius 2 must be entered in $NP_PARA (Page 263)

Type: "TORUS"

;

Major radius (= distance from the center of the circle to the center of the torus in the X/Y plane)

Minor radius (= radius of the circle)

A protection area element of the "TORUS" type defines a filled torus in the local coordinate

system of the protection area element. The shape of a torus can most easily be described by

a circle revolved around an axis that lies in its plane. In contrast to a normal torus, however,

the hole in the middle of a filled torus is filled in. The center of the filled torus lies at the origin

of the local coordinate system. At the same time as the definition of the body, the local

coordinate system can be transformed via the following system variables:

● Offset: $NP_OFF (Page 264)

● Rotation direction vector: $NP_DIR (Page 265)

● Angle of rotation: $NP_ANG (Page 267)

The parameters radius 1 and radius 2 must be entered in $NP_PARA (Page 263)

Type: "FILE"

;

Figure 6-3

Example bodies in STL format

A protection area element of the "FILE" type defines a body whose geometry data is contained

in the specified file in STL format (triangular areas), in the local coordinate system of the

Special functions

Function Manual, 12/2018, A5E40874099B AB

257

K8: Geometric machine modeling

6.2 Commissioning

protection area element. The zero point of the body is at the origin of the local coordinate

system. At the same time as the definition of the body, the local coordinate system can be

transformed via the following system variables:

● Offset: $NP_OFF (Page 264)

● Rotation direction vector: $NP_DIR (Page 265)

● Angle of rotation: $NP_ANG (Page 267)

The parameter is to be entered in $NP_FILENAME (Page 258):

Syntax

$NP_TYPE[<n>] = "<type>"

Meaning

$NP_TYPE:

Type of the protection area element

Data type:

STRING

Range of values:

"FRAME", "BOX", "SPHERE", "CYLINDER", "CONE",

"TORUS", "FILE"

Default value:

"" (empty string)

<n>:

System variable or protection area element index

Data type:

INT

Range of values:

0, 1, 2, ... ($MN_MM_MAXNUM_3D_PROT_AREA_ELEM -

<Type>:

Type designation

Data type:

STRING

Example

The 19th protection area element is a cube:

Program code

Comment

N100 $NP_TYPE[18] = "BOX"

; 19. Protection area element,

; type = "Box"

6.2.4.9

$NP_FILENAME

Function

For protection area elements of the "FILE" type ($NP_TYPE (Page 254)), enter the name of

the file that describes the geometry data of the protection area element in the system variable.

The following file types are currently possible:

● STL files

● NPP files

Special functions

258

Function Manual, 12/2018, A5E40874099B AB

K8: Geometric machine modeling

6.2 Commissioning

STL files

An STL file (file extension .STL) must contain a description of the geometry data of a 3D body

using triangles in the STL format (Standard Tessellation Language).

Search path

A search is made in the directories predefined on the CF card for the file entered in the system

variables in the following sequence:

1. /oem/sinumerik/nck/prot_data/machine/3d_data/mm

2. /oem/sinumerik/nck/prot_data/machine/3d_data/inch

Interpretation of the length specifications

Depending on the storage directory, the length specifications contained in the STL file are

interpreted in mm or inches:

● <path>/mm: Interpretation of the length specifications in millimeters

● <path>/inch: Interpretation of the length specifications in inches

Note

Maximum length of the file name

The maximum file name length, including point and the file extension is 49 characters. For

more than 49 characters, an alarm is displayed when generating an archive.

NPP files

An NPP file (file extension .NPP) must contain a description of the geometry data of one or

several protection area elements using NPP system variables (NC Protection Area Primitives).

All geometrical primitives available in the NC can be defined as protection area elements using

an NPP file (see$NP_TYPE (Page 254)).

Search path

A search is made in the directories predefined on the CF card for the file entered in the system

variables in the following sequence:

1. /oem/sinumerik/nck/prot_data/machine/3d_data/mm

2. /oem/sinumerik/nck/prot_data/machine/3d_data/inch

Interpretation of the length specifications

Depending on the storage directory, the length specifications contained in the NPP file are

interpreted in mm or inches:

● <path>/mm: Interpretation of the length specifications in millimeters

● <path>/inch: Interpretation of the length specifications in inches

Special functions

Function Manual, 12/2018, A5E40874099B AB

259

K8: Geometric machine modeling

6.2 Commissioning

NPP file properties

● An NPP file must start with the following comments lines:

;COLLISION AVOIDANCE DATA

;LOC_NP_ROOT_NAME="<root_name>"

● As <root_name>, the name of the first protection area element contained in the NPP file,

specified there under $NP_NAME, must be entered.

● Comment line are lines that start with the ; character

● NPP files are allowed to contain empty lines

Properties of NPP system variables

NPP system variables contained in the NPP file have the following properties:

● Same name, significance and syntax as the corresponding system variables used in NC

programs

● The system variables of the NC are not overwritten by the NPP system variables.

● Within an NPP file, the indices of NPP system variables must be unique.

● The indices of NPP system variables can be the same in various NPP files.

● The indices and the values assigned in the NPP system variables must be constants.

Supplementary conditions

● The values for $NP_COLOR (Page 251), $NP_D_LEVEL (Page 252), $NP_USAGE

(Page 253) are, for the protection area elements defined in the NPP file, inherited from the

protection area element in which they are integrated. As a consequence, all protection area

elements of an NPP file have the same values for these properties.

● For positioning the protection area elements of an NPP file, the same conditions apply as

for positioning the protection area elements with the system variables of the NC

($NP_TYPE (Page 254): "BOX", "SPHERE" and "CYLINDER").

● No additional STL or NPP files are embedded in an NPP file.

Note

Maximum length of the file name

The maximum file name length, including point and the file extension is 49 characters. For

more than 49 characters, an alarm is displayed when generating an archive.

Syntax

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

Meaning

$NP_FILENAME:

Name of the STL or NPP file

Data type:

STRING

Default value:

"" (empty string)

Special functions

260

Function Manual, 12/2018, A5E40874099B AB

K8: Geometric machine modeling

6.2 Commissioning

<n>:

System variable or protection area element index

Data type:

INT

Value range:

0, 1, 2, ... ($MN_MM_MAXNUM_3D_PROT_AREA_ELEM -

<name>:

Name of the STL or NPP file

Data type:

STRING

Examples

Using an STL file

The geometry data for the 19th protection area element are stored in file

KUEHLDUESE_1.STL:

Program code

Comment

N100 $NP_FILENAME[18] = "KUEHLDU-

; 19th protection area element,

ESE_1.STL"

; file name = "KUEHLDUESE_1.STL"

Using an NPP file

The NPP file "Kopf_A.NPP" file is loaded into the system variables of the NC for the 19th

protection area element. This contains the following three protection area elements "Box-1",

"Sphere-1" and "Cylinder-1".

Program code

Comment

$NP_NAME[18]

= "Head"

; 19th protection area element

$NP_NEXT[18]

= ""

$NP_NEXTP[18] = ""

$NP_TYPE[18]

= "FILE"

$NP_OFF[18,0] =

80.0

$NP_OFF[18,1] = 100.0

$NP_OFF[18,2] = -50.0

$NP_DIR[18,0] =

0.0

$NP_DIR[18,1] =

0.0

$NP_DIR[18,2] =

0.0

$NP_ANG[18]

0.0

$NP_COLOR[18]

= 0

; 1)

$NP_D_LEVEL[18] = 0

; 1)

$NP_USAGE[18]

= "A"

; 1)

$NP_FILENAME[18] = "Kopf_A.npp"

; 1) Active for all protection area elements loaded from file Kopf_A.NPP

Content of file "Kopf_A.NPP"

Program code

Comment

;COLLISION AVOIDANCE DATA

; 1st header

;LOC_NP_ROOT_NAME = "Box-1"

; 2nd header

Special functions

Function Manual, 12/2018, A5E40874099B AB

261

K8: Geometric machine modeling

6.2 Commissioning

Program code

Comment

$NP_NAME[0]

"Box-1"

; 1st protection area element

$NP_NEXT[0]

"Sphere-1"

$NP_NEXTP[0]

"Cylinder-1"

$NP_TYPE[0]

"BOX"

$NP_PARA[0,0]

340

$NP_PARA[0,1]

340

$NP_PARA[0,2]

340

$NP_OFF[0,0]

$NP_OFF[0,1]

$NP_OFF[0,2]

-100

$NP_DIR[0,0]

$NP_DIR[0,1]

$NP_DIR[0,2]

$NP_ANG[0]

$NP_NAME[1]

"Sphere-1"

; 2nd protection area element

$NP_NEXT[1]

$NP_NEXTP[1]

$NP_TYPE[1]

"SPHERE"

$NP_PARA[1,0]

$NP_PARA[1,1]

$NP_PARA[1,2]

$NP_OFF[1,0]

170

$NP_OFF[1,1]

170

$NP_OFF[1,2]

170

$NP_DIR[1,0]

$NP_DIR[1,1]

$NP_DIR[1,2]

$NP_ANG[1]

$NP_NAME[2]

"Cylinder-1"

; 3rd protection area element

$NP_NEXT[2]

$NP_NEXTP[2]

$NP_TYPE[2]

"CYLINDER"

$NP_PARA[2,0]

$NP_PARA[2,1]

$NP_PARA[2,2]

$NP_OFF[2,0]

170

$NP_OFF[2,1]

170

$NP_OFF[2,2]

170

$NP_DIR[2,0]

$NP_DIR[2,1]

$NP_DIR[2,2]

$NP_ANG[2]

Special functions

262

Function Manual, 12/2018, A5E40874099B AB

K8: Geometric machine modeling

6.2 Commissioning

6.2.4.10

$NP_PARA

Function

Enter the dimensions of the protection area body according to the type of the protection area

element ($NP_TYPE (Page 254)) in the system variable.

Coordinate system

The local coordinate system in which the position of the protection area body is specified, is

defined by the system variables $NP_OFF (Page 264), $NP_DIR (Page 265), $NP_ANG

(Page 267).

Syntax

$NP_PARA[<n>,] = <value>

Meaning

$NP_PARA:

Parameter values corresponding to the type of the protection area element

Data type:

REAL

Default value:

0.0

<n>:

System variable or protection area element index

Data type:

INT

Value range:

0, 1, 2, ... ($MN_MM_MAXNUM_3D_PROT_AREA_ELEM - 1)

:

Parameter index

Data type:

INT

Value range:

0, 1, 2

Parameter in-

Type of the protection area element

dex

BOX

SPHERE

CYLINDER

CONE

TORUS

Length in X

Radius

Height in Z

Radius 1 ¹⁾

Width in Y

---

Radius ¹⁾

Radius 1 ¹⁾

Radius 2

Height in Z

---

Radius 2 ^{1) 2)}

---

<value>:

Parameter value

Data type:

REAL

Value range:

0.0 < x ≤ max. REAL value

Radius in the X/Y plane

Parameter value 0.0 is permissible.

---: Parameters that are not evaluated

Special functions

Function Manual, 12/2018, A5E40874099B AB

263

K8: Geometric machine modeling

6.2 Commissioning

Example

The 19th protection area element is a cube with the dimensions:

● Length: 50.0 in the X axis

● Width: 100.0 in the Y axis

● Height: 75.5 in the Z axis

Program code

Comment

; 19. protection area element

N100 $NP_TYPE[18] = "BOX"

; type = "BOX"

N120 $NP_PARA[18,0] = 50.0

; length in X

50.0

N130 $NP_PARA[18,1] = 100.0

; width in Y = 100.0

N140 $NP_PARA[18,2] = 75.5

; height in Z

75.5

6.2.4.11

$NP_OFF

Function

The offset vector by which the local coordinate system of the protection area element is moved

compared to the coordinate system of the previous protection area element should be entered

in the system variable.

Syntax

$NP_OFF[<n>,] = <value>

Meaning

$NP_OFF:

Offset vector

Data type:

REAL

Value range:

- max. REAL value ≤ x ≤ + max. REAL value

Default value:

(0.0, 0.0, 0.0)

<m>:

System variable or protection area element index

Data type:

INT

Value range:

0, 1, 2, ... ($MN_MM_MAXNUM_3D_PROT_AREA_ELEM -

:

Coordinate index

Data type:

INT

Value range:

0: X coordinate (abscissa)

1: Y coordinate (ordinate)

2: Z coordinate (applicate)

<value>:

Coordinate value

Data type:

REAL

Value range:

- max. REAL value ≤ x ≤ + max. REAL value

Special functions

264

Function Manual, 12/2018, A5E40874099B AB

K8: Geometric machine modeling

6.2 Commissioning

Example

The local coordinate system of the 19th The local coordinate system of the protection area

element is moved by the following vector compared to the coordinate system of the previous

protection area element:

● X direction: 25.0

● Y direction: 50.0

● Z direction: 37.25

13B2))

]

[

;

X, Y, Z

Coordinate system of the previous protection area element

X', Y', Z' Coordinate system of the current protection area element

Program code

Comment

; 19. protection area element, offset vector

N100 $NP_OFF[18,0] = 25.0

X = 25.0

N110 $NP_OFF[18,1] = 50.0

Y = 50.0

N120 $NP_OFF[18,2] = 37.25

Z = 37.25

6.2.4.12

$NP_DIR

Function

The direction vector through which the local coordinate system of the protection area element

is rotated compared to the coordinate system of the previous protection area element should

be entered in the system variable. The angle of rotation should be entered in $NP_ANG

(Page 267).

Boundary conditions

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

● A work offset parameterized in $NP_OFF (Page 264) is performed before the rotation.

Syntax

$NP_DIR[<n>,] = <value>

Special functions

Function Manual, 12/2018, A5E40874099B AB

265

K8: Geometric machine modeling

6.2 Commissioning

Meaning

$NP_DIR:

Direction vector

Data type:

REAL

Range of values:

- max. REAL value ≤ x ≤ ± max. REAL value

Default value:

(0.0, 0.0, 0.0)

<n>:

System variable or protection area element index

Data type:

INT

Range of values:

0, 1, 2, ... ($MN_MM_MAXNUM_3D_PROT_AREA_ELEM -

:

Coordinate index

Data type:

INT

Range of values:

0 → X; 1 → Y: 2 → Z

<value>:

Coordinate value

Data type:

REAL

Range of values:

- max. REAL value ≤ x ≤ ± max. REAL value

Example

The local coordinate system of the 19th protection area element is rotated around the direction

vector compared to the coordinate system of the previous protection area element. The

direction vector is the unit vector (1; 0; 0), rotated through α=90° in the X/Y plane and β=10°

in the Y/Z plane, in relation to the world coordinate system. The following values result from

this for the individual components of the direction vector:

● X component = cos(α) * cos(β) = cos(90) * cos(10) = 0.0

● Y component = sin(α) * cos(β) = sin(90) * cos(10) ≈ 0.985

● Z component = sin(β) = sin(10) ≈ 0.174

13B',5

]

[

;

Program code

Comment

; 19. protection area element, direction vector

N100 $NP_DIR[18.0] = COS(90) * COS(10)

; 0 = X component

N110 $NP_DIR[18.1] = SIN(90) * COS(10)

; 1 = Y component

N120 $NP_DIR[18.2] = SIN(10)

; 2 = Z component

Special functions

266

Function Manual, 12/2018, A5E40874099B AB

K8: Geometric machine modeling

6.2 Commissioning

6.2.4.13

$NP_ANG

Function

The angle through which the local coordinate system of the protection area element is rotated

around the direction vector ($NP_DIR (Page 265)) compared to the coordinate system of the

previous protection area element should be entered in the system variable.

Syntax

$NP_ANG[<n>] = <value>

Meaning

$NP_ANG:

Angle of rotation

Data type:

REAL

Range of values:

-360° < x ≤ 360°

Default value:

0.0

<n>:

System variable or protection area element index

Data type:

INT

Range of values:

0, 1, 2, ... ($MN_MM_MAXNUM_3D_PROT_AREA_ELEM -

<value>:

Angle

Data type:

REAL

Example

The local coordinate system of the 19th protection area element is rotated by the angle by

δ=45.0° around the direction vector compared to the coordinate system of the previous

protection area element. The direction vector is the unit vector (1; 0; 0), rotated through

α=90° in the X/Y plane and β=10° in the Y/Z plane, in relation to the world coordinate system.

The following values result from this for the individual components of the direction vector:

● X component = cos(α) * cos(β) = cos(90) * cos(10) = 0.0

● Y component = sin(α) * cos(β) = sin(90) * cos(10) ≈ 0.985

● Z component = sin(β) = sin(10) ≈ 0.174

● Angle δ = 45.0°

13B$1*

13B',5

]

[

;

Special functions

Function Manual, 12/2018, A5E40874099B AB

267

K8: Geometric machine modeling

6.2 Commissioning

Program code

Comment

; 19. Protection area element, direction vector and angle of rotation

N100 $NP_DIR[18.0] = COS(90)*COS(10)

; 0 = X component

N110 $NP_DIR[18.1] = SIN(90)*COS(10)

; 1 = Y component

N120 $NP_DIR[18.2] = SIN(10)

; 2 = Z component

N130 $NP_ANG[18] = 45.0

; Angle of rotation δ = 45°

6.2.5

System variables: Protection area elements for automatic tool protection areas

The protection area element of an automatic tool protection area is defined using the

subsequent system variables. The control automatically generates the values of the system

variables from the geometric data of the associated tool, and these can only be read.

Name ¹⁾

Meaning

Analog to ²⁾

$NP_T_NAME[<n>]

Name of the protection area element

$NP_NAME

(Page 248)

$NP_T_TYPE[<n>]

Type of the protection area element

$NP_TYPE

(Page 254)

$NP_T_FILENAME[<n>]

File name of the STL file that contains the geometric

$NP_FILENAME

data of the protection area element

(Page 258)

(only relevant for $NP_T_TYPE == "FILE")

$NP_T_PARA[<n>,]

Geometric parameters of the protection area body

$NP_PARA

(Page 263)

(only relevant for $NP_T_TYPE == "BOX" or

"SPHERE" or "CYLINDER")

$NP_T_OFF[<n>,]

Offset vector of the protection area element local co-

$NP_OFF

ordinate system

(Page 264)

$NP_T_DIR[<n>,]

Direction vector for the rotation of the protection area

$NP_DIR

element local coordinate system

(Page 265)

$NP_T_ANG[<n>]

Angle for the rotation of the protection area element

$NP_ANG

local coordinate system

(Page 267)

1) n = 0, 1, ... ($MN_MM_MAXNUM_3D_T_PROT_ELEM - 1)

2) The system variables of the automatic tool protection areas correspond to those of the machine

protection areas.

Special functions

268

Function Manual, 12/2018, A5E40874099B AB

K8: Geometric machine modeling

6.2 Commissioning

6.2.6

Boundary conditions

Protection area bodies for spindles

For spindles that are not in position-controlled operation, the associated protection area bodies

are only modeled statically. As a result the following boundary conditions must be met when

modeling protection area bodies connected with a spindle as a kinematic element:

● The protection area body must be symmetrical around its axis of rotation.

● The symmetrical axis of the protection area body must lie on the axis of rotation of the

spindle (collinear)

This should be taken into account for all types of protection area bodies:

● The protection area body is a basic geometrical body (sphere, cylinder).

● The protection area body comprises several, geometrical basic bodies.

● The protection area body comprises triangles (STL file).

● The protection area body for an automatic tool protection area is created from the geometric

tool data.

Note

Automatic tool protection areas

Only using tools that are symmetrical around the axis of rotation is recommended for

automatic tool protection areas in connection with spindles.

Following protection areas

The rotational symmetry and collinearity of the protection area body in respect of the axis of

rotation of the spindle must also be complied with for all protection areas that are connected

with elements of the kinematic chain ($NP_NEXT, $NP_NEXTP) following on from the spindle.

Schematic example of such a kinematic chain: ... → (rotary axis/spindle) → (offset) → (linear

axis) → (offset) → ...

Rotary axes

The boundary conditions stated above must also be observed in connection with rotary axes

where these are also operated as spindles.

Tool reference point and kinematic transformation

The position of the associated tool reference point is determined in principle through the

assignment of an automatic tool protection area to an element in the kinematic chain. However,

the position of the tool reference point can be changed through offsets within the automatic

tool protection area via the system variables $NP_T_OFF, $NP_T_DIR and $NP_T_ANG

(Page 268). A change in position for the tool reference point of this type is not captured by the

kinematic transformations. In the context of kinematic transformation it is therefore highly

recommended that no offsets are used for the geometric machine modeling which move the

tool reference point.

Special functions

Function Manual, 12/2018, A5E40874099B AB

269

K8: Geometric machine modeling

6.3 Data lists

6.3

Data lists

6.3.1

Machine data

6.3.1.1

NC-specific machine data

Number

Identifier: $MN_

Description

MD18890 $MN_MM_MAXNUM_3D_PROT_AREAS

Maximum number of protection areas

MD18892 $MN_MM_MAXNUM_3D_PROT_AREA_ELEM

Maximum number of protection area elements

MD18893 $MN_MM_MAXNUM_3D_T_PROT_ELEM

Maximum number of tool protection area elements

MD18897 $MN_MM_MAXNUM_3D_INTERFACE_IN

Maximum number of NC/PLC interface signals for the

preactivation of protection areas

MD18895 $MN_MM_MAXNUM_3D_FACETS

Maximum number of triangles for protection areas

MD18894 $MN_MM_MAXNUM_3D_FACETS_INTERN

Maximum number of triangles for automatic tool pro-

tection areas

MD18899 $MN_PROT_AREA_TOOL_MASK

Creation mode for automatic tool protection areas

6.3.2

System variables

Identifier

Description

$NP_PROT_NAME

Name of the protection area

$NP_CHAIN_ELEM

Name of the kinematic element to which the protection area will be connected

$NP_PROT_TYPE

Type of the protection area

$NP_1ST_PROT

Name of the first protection area element of the protection area

$NP_PROT_COLOR

Transparency and color value of the protection area

$NP_PROT_D_LEVEL

Detail level for the protection area

$NP_BIT_NO

Bit number of the interface signal to activate/deactivate the protection area

$NP_INIT_STAT

Initialization status of the protection area

$NP_INDEX

Array for addressing the effective geometry data

$NP_NAME

Name of the protection area element

$NP_NEXT

Name of the following protection area element

$NP_NEXTP

Name of the branching protection area element

$NP_COLOR

Transparency and color value of the protection area element

$NP_D_LEVEL

Detail level for the protection area element

$NP_USAGE

Usage of the protection area element

$NP_TYPE

Type of the protection area element

$NP_FILENAME

Name of the STL file with the geometry data of the protection area element

body

$NP_PARA

Parameter values corresponding to the type of the protection area element

Special functions

270

Function Manual, 12/2018, A5E40874099B AB

SINUMERIK 840D sl. Service - Functions. Manual (2018-2020) - page 64