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

K9: collision avoidance, internal

7.1

Function description

7.1.1

Options

The function "Collision avoidance" is an option that requires a license. The following versions

are available:

● Collision avoidance ECO (machine): 6FC5800-0AS03-0YB0

Properties:

- Protection: Machine - Machine

- HMI visualization

- Only for single-channel control configurations.

- Protection area elements: geometric primitives

● Collision avoidance (machine, working area): 6FC5800-0AS02-0YB0

Properties:

- as for Collision avoidance ECO

- Protection area elements: Files in STL and NPP format

7.1.2

Characteristics

The "Collision avoidance" function is used to prevent collisions of machine parts and tool

cutting edges while the machine axes are being traversed. To do this, the function cyclically

calculates the clearance to the protection areas enveloping the bodies to be protected. If two

protection areas approach one another to within a configurable safety clearance, an alarm is

displayed and the NC program stopped before the relevant traversing block (AUTOMATIC,

MDI mode) or the traversing motion is stopped (JOG mode).

Sequence

The collision avoidance is set up in the following sequence:

1. Release of the "Collision avoidance" function by setting the corresponding option

(Page 273).

2. Setting the machine data for the basic parameterization of the functions:

- Kinematic chain, section "Machine data (Page 197)"

- Geometric machine modeling, section "Machine data (Page 234)"

- Collision avoidance, section "Machine data (Page 285)"

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3. Writing of the machine kinematic structure through kinematic elements.

See Chapter "K7: Kinematic chain (Page 191)".

4. Writing of the protection areas and protection area elements as enveloping geometry of

the machine parts, tools and workpieces to be protected. Assignment of the protection area

to elements of the kinematic chain.

See Chapter "K8: Geometric machine modeling (Page 225)".

5. Definition of collision pairs, i.e. of two protection areas that are to be monitored for collision.

See Chapter "$NP_COLL_PAIR (Page 288)".

6. Triggering a recalculation of the kinematic and geometric model.

See Chapter "Request recalculation of the machine model of the collision avoidance

(PROTA) (Page 294)".

7. Activation of the protection areas to be monitored.

See Chapter "Setting the protection zone status (PROTS) (Page 295)".

8. Optional: Use of the extended functions and system variables

Limits of the collision avoidance

The function cannot guarantee complete protection against a collision when traversing

machine parts, tools of workpieces. On the one hand, the collision protection can only be as

good as the parameterized kinematic and geometric model or the machine and the protection

areas. On the other hand, bodies that have not been modeled cannot be monitored at all. For

this reason, it remains the responsibility of the machine operator to ensure that a traversing

motion is executed collision-free even when the collision protection is activated.

States of protection areas

Whether a protection area is taken into account for collisions, depends on the state of the

protection area:

State

Meaning

Active

The protection area is taken into account for collisions.

Inactive

The protection area is not taken into account for collisions.

Preactivated

The protection area is taken into account for collisions. A collision alarm is only issued

when it has also been activated by a protection area-specific NC/PLC interface signal.

State after control ramp-up

After the control has powered up, all protection areas are in the state corresponding to their

respective setting in $NP_INIT_STAT. See Section "$NP_INIT_STAT (Page 244)".

State change

The state of a protection areas can be changed by:

● The PROTS() (Page 295) procedure

● Change of the initialization state to $NP_INIT_STAT followed by recalculation of the

machine model through the PROTA() (Page 294)procedure.

Special functions

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7.1 Function description

Requirements

The following requirements must be satisfied so that the protection areas of a collision pair

can be monitored:

● Axes or spindles: referenced/synchronized

The position measurement system for the axes or spindles which move a protection area

must be referenced or synchronized. If this has not been done the corresponding protection

area is in an "inactive" state.

● External motion

With traversing motions that are not performed by the NC, e.g. PLC axis or manually moved

axis, the current axis position must be known in the NC.

7.1.3

Reaction of the control to a risk of collision

The collision avoidance takes the following parameterizable limit values into account for the

collision detection:

● Collision tolerance

● Safety clearance

;

① Protection area 1 (static)

② Protection area 2 (can be moved in X and Y direction)

③ Current clearance

④ Safety clearance

⑤ Collision tolerance / 2

⑥ Collision clearance = safety clearance + collision tolerance

Figure 7-1

Current clearance, collision tolerance and safety clearance

Collision tolerance and safety clearance

Safety clearance

The safety clearance defines a clearance up to which two active protection areas, monitored

for collision, can approach one another. The collision avoidance ensures that this clearance

is not violated and that the collision is displayed.

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7.1 Function description

The safety clearance can be set specifically for each collision pair via a system variable

(Page 289).

For all collision pairs for which no specific safety clearance is set via a system variable, the

general value that can be set via MD10622 $MN_COLLISION_SAFETY_DIST (Page 285)

applies.

Collision tolerance

The collision tolerance defines an NC-wide additional clearance valid to the safety clearance.

Two active protection areas monitored for collision may therefore approach each other up to

the collision clearance (safety clearance + collision tolerance). Ideally, the collision avoidance

stops the traversing motion of the protection areas exactly at the collision clearance and

displays the collision. However, it is permissible that the collision tolerance is not complied with

exactly or that a brief violation does not result in collision detection and the traversing motion

is not stopped.

The collision tolerance is set the same for all collision pairs via MD10619

$MN_COLLISION_TOLERANCE (Page 285).

Note

Difference between collision tolerance and safety clearance

The collision tolerance can be violated and is permissible. The safety clearance is always

maintained.

Responses in the AUTOMATIC operating mode

Collision detection during preprocessing

In automatic mode, the traversing blocks of the active program are already checked during the

preprocessing. If a collision is already detected there, this results in the following reactions:

● Stop of the traversing motions in the channel

● NC/PLC interface signal: DB21,

DBX377.0 = 1 (collision avoidance: stop)

● Display of alarm 26260 with the block number of the relevant traversing block

● Cancellation of the program processing

Critical approach

Even in automatic mode, superimposed or asynchronous motions can occur that cannot be

considered in advance. For this reason, the traversing velocity is reduced or the traversing

motion is totally stopped at a critical approach of protection areas:

● Axes-specific NC/PLC interface signal when the traversing velocity is reduced:

DB31,

DBX77.0 == 1 (collision avoidance: velocity reduction)

● Channel-specific NC/PLC interface signal at a stop of the traversing motion:

DB21,

DBX377.0 == 1 (collision avoidance: stop)

Preactivated protection areas

If during the block processing in the preprocessing, it is determined in a traversing block that

two protection areas, of which at least one is only preactivated, would collide if they were active,

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7.1 Function description

this does not yet produce the same reactions as described above in the "Collision detection

during preprocessing". The reactions only occur when both protection areas are active.

If the block at the activation time is already being traversed in the main run, a collision is

detected based on the collision calculation during preprocessing and the above reactions

triggered. The collision is detected irrespective of whether the protection areas are actually

colliding at the activation time.

Responses in the JOG operating mode

If two protection areas approach one another when traversing in the JOG mode, the traversing

velocity is continuously braked down to standstill when the collision clearance is reached.

Alarm 26280 is output when the collision clearance is reached.

If the collision location is exited in the opposite direction, a continuously higher traversing

velocity is possible depending on the clearance of the protection areas.

Traversing motion is always canceled when the collision clearance is reached. Continuation

of the traversing motion always requires a new travel request (e.g. by pressing a traversing

key), irrespective of the traversing direction.

Responses in the MDI operating mode

If two protection areas approach one another when traversing in the MDI mode, the traversing

velocity is continuously braked down to standstill when the collision clearance is reached.

Alarm 26260 is output when the collision clearance is reached.

Special functions

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7.1.4

State diagram: Protection area

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Protection area

Operating mode

①

UpdateAllCaSysVar(SB) function

All system variables of the collision avoidance are read into NC-internal variables:

int... = $N...

Special functions

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7.1 Function description

② UpdateAllCaSysVarExeptInitStat(SB) function

As with the UpdateAllCaSysVar(SB) function, but the $NP_INIT_STAT system variable is not

read in. Internally in the NC, the last value of the intInitStat initialization status is therefore re-

tained.

③ CheckIntNckCaSysVarImages(SB) function

The NC-internal variables read in from the system variables are checked for consistency.

Return value when an error is detected: FALSE; if error-free: TRUE.

④ UpdateCaSysVarInitStat(SB) function

Only the system variable $NP_INIT_STAT is read into the NC-internal variable intInitStat.

⑤ The internal structure of the "Tool protection area" state is the same as the "Machine protection

area" state.

⑥ The internal structure of the "JOG mode" state is the same as the "AUTO/MDA mode" state.

7.1.5

Tools

Modeling

Protection areas for tools can be modeled automatically from the collision avoidance and be

updated automatically following a tool change with some limitations. The following conditions

must be fulfilled for this purpose:

● The protection area for the tool is modeled as an automatic tool protection area (type:

TOOL). See system variable $NP_PROT_TYPE (Page 238)

● The tool is managed by the control tool management.

● The tool data stored in the tool management matches the actual geometric dimensions of

the tool.

● The collision avoidance recognizes the completion of the tool change. Normally, by

programming the corresponding tool offset number Dx, with x = 0, 1, 2, 3, ...

● The collision avoidance recognizes the automatic tool protection area for which the tool

was changed.

● If the tool path refers to a normalized tool, the tool radius of the actual tool is specified as

either positive or negative deviations referred to the normalized tool. In this case, collision

avoidance calculates with the following values:

- Positive value: Tool radius = specified value, however, as a minimum, the value of the

parameterized collision tolerance

- Negative value: Tool radius = value of the parameterized collision tolerance

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Change to the machine model

If a tool which is located in a magazine or tool adapter modeled in the active machine model

of the collision avoidance is changed in the machine then the machine model must be updated.

This is the case where one of the following actions is carried out, for example:

● A tool is loaded / unloaded in a tool magazine modeled in the machine model.

Example: Tool change in a revolver (circular) magazine.

Update: The machine model update must be explicitly requested by the user using

PROTA once the tool change has completed.

● The tool that is in a tool holder is changed.

Example: Tool change in the tool holder of the main spindle.

Update: The machine model is automatically updated following the tool change (standard:

M6) with output of the programmed tool offset number Dx in the main run.

Tool changes

The collision avoidance only updates the active machine model after a tool change without an

explicit request by PROTA if a tool offset is selected (output of the programmed tool offset

number Dx at the NC/PLC interface).

However, at the control, tool changes can be made, which are not associated with a tool offset

selection. However, for these changes the active machine model is not updated. These types

of tool changes include, for example:

● Loading/unloading a tool at the user interface.

SINUMERIK Operate: Operating area "Parameter" > "Tool list" > Vertical softkey: "Loading"

or "Unloading"

● Carrying out a tool change via the PLC user program

● Directly writing to the tool buffer memory using the system variable $TC_MPP6[9998,

<location>]

● SETMS(<spindle number>): Changing the master spindle in the channel

● TMMVTL: PI service "Prepare magazine location for loading, unload tool"

Reference Function Manual Basic Functions; Chapter: "P3: Basic PLC program for

SINUMERIK 840D sl" > "Component descriptions" > "PI services" > "PI service: TMMVTL"

● MVTOOL: Command to move a tool

Reference Function Manual Tool Management; Chapter "Programming > "NC language

commands" > "MVTOOL - language command to move a tool"

If such a change is carried out, then the machine manufacturer must be requested to update

the machine module via the PLC user program. Examples of options include:

● A new channel reset is requested if the channel is in the "reset" state. When the reset

response is appropriately set (MD20110 $MC_RESET_MODE_MASK), then the actual tool

offset number Dxis output again.

● Starting an ASUB or manufacturer's cycle, which includes the output of the tool offset

number Dx and the request to update the machine model (PROTA).

Tool wear

Minimal tool changes do not have to be taken into account in the machine model, as generally

they are far less than the collision clearance.

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If a tool change occurs, which is relevant for collision avoidance, e.g. diameter changes for

grinding tools, then these must be taken into account by explicitly requesting that the machine

model is updated (PROTA).

No change to the machine model

The active machine model does not change if a fully modeled machine part with tools, e.g. a

tool magazine, is moved in the machine.

Example: Revolver magazine on a lathe

The revolver magazine on a lathe is fully modeled in the machine model of the collision

avoidance:

● The geometry of the magazine and the tools located inside it

● The motions of the magazine through the machine axes

A rotation of the revolver magazine then does not represent a change to the machine model:

● since no tools are changed inside the machine model the geometries of all the protection

areas remain unchanged.

● As the motions of the protection areas by the machine axes are fully captured by the collision

avoidance via the kinematic chain.

Supplementary conditions

Several spindles in the channel

For configurations with several spindles in the channel, the collision avoidance function

assumes that a tool change takes place in the master spindle of the channel (S1). As a result

only the automatic tool protection area of the master spindle is updated through the collision

avoidance once the tool change has taken place.

Unsupported tool configurations

Tool configurations in accordance with ISO modes 4 and 5 (H numbers) along with "flat D

numbers" are not supported by the collision avoidance.

7.1.6

Boundary conditions

Channel assignment

All of the machine components relevant for collision avoidance must be located in the first

channel of the NC:

● All axes and spindles of the kinematic chain.

See Chapter "K7: Kinematic chain (Page 191)"

● All tools of the automatic tool protection areas of the geometric machine modeling.

See Chapter "K8: Geometric machine modeling (Page 225)"

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Allowance for the following error

The collision avoidance uses the position setpoints of the relevant machine axes for the

clearance calculation of the protection areas. However, the actual positions of the machine

axes differ from the position setpoint by the following error. For this reason, there is also a

difference between the position setpoint and the actual position for the protection areas. This

difference must be taken into account by the user through configuration of a suitably large

safety clearance or enlargement of the protection area.

Compensations

The various compensation functions of the NC - for instance, temperature, spindle and pitch

error and sag compensation - ensure that positions programmed in the workpiece coordinate

system are actually assumed in the machine coordinate system. The collision avoidance takes

into account the position corrections made by the compensation functions.

WARNING

Risk of collision

If compensations are used for other purposes, e.g. in order to implement axis couplings in

the machine coordinate system, the collision avoidance working with position setpoints can

no longer be performed reliably. There is a risk of collision.

Actual value offset in the machine coordinate system with PRESETON

With active collision avoidance and use of an actual value offset in the machine coordinate

system with PRESETON, it is the sole responsibility of the user to ensure that the geometric

model of the collision avoidance remains consistent.

WARNING

Risk of collision

If an actual value offset is made in the machine coordinate system with PRESETON and the

geometric model of the collision avoidance not adapted accordingly, the collision avoidance

working with position setpoints can no longer be performed reliably. There is a risk of collision.

Block search

For the following types of block search there are no collision calculations carried out:

● Type 1: Block search without calculation

● Type 2: Block search with calculation at the contour

● Type 4: Block search with calculation at block end point

With the following type of block search collision calculations are carried out (in the

preprocessing) for:

● Type 5: Block search with calculation in "Program test" (SERUPRO) mode

Special functions

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7.2 Commissioning

AUTOMATIC modes: Incomplete protection area data for collision

When a large number of protection areas have been configured, in exceptional cases, the

following behavior can occur:

● Several protection areas have approached one another, down to the collision tolerance

● Only two protection areas are specified in Alarm 26260 "Collision two protection areas" that

is displayed.

● The collision of the other protection areas is only displayed when manually traversing the

axes after changing into the JOG mode.

7.2

Commissioning

7.2.1

General

7.2.1.1

Overview

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

● Machine data

- Specification of the quantity structure

- Specification of general properties of the collision pairs

● System variables

- Parameterization of the collision pairs and their properties

7.2.1.2

Structure of the system variables

The system variables are structured according to the following scheme:

$NP_<name>[<index_1>,<index_2>]

Note

Index_2 is not available for all system variables.

General

The system variables to describe the protection areas 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.

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Data type

STRING

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

● Maximum string length: 31 characters

● No distinction is made between upper and lower case

Example: "Axis1" is identical to "AXIS1"

● Spaces and special characters are permitted

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

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

not be used for user-defined names.

Note

Leading space

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

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

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

Index_1

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

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

($MN_MM_MAXNUM_3D_PROT_AREAS - 1)

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

Index_2

For system variables that define a collision pair, the protection areas of the collision pair are

addressed via index_2.

●

0 → 1. Protection area

●

1 → 2. Protection area

See also

Deletion of components (DELOBJ) (Page 215)

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7.2.2

Machine data

7.2.2.1

Collision tolerance

The collision tolerance (accuracy of the collision check) for all protection areas of the NC

monitored for collision is set with the machine data. If the clearance of two safety areas is less

than the collision clearance, i.e. the sum of safety clearance (Page 285) and collision tolerance,

then there is a collision.

MD10619 $MN_COLLISION_TOLERANCE = <collision tolerance>

Accuracy of automatic generated protection areas

The collision tolerance also determines the accuracy of the protection area bodies of protection

areas produced automatically, e.g. automatic tool protection areas. The accuracy of the

protection area bodies approached using triangle areas is 1/3 of the collision tolerance.

Effects

The smaller the collision tolerance is set, the greater the number of triangular areas required

for the modelling of the automatically generated protection areas and the computation time

required for the collision detection.

Recommended setting

Collision tolerance ≈ 1 mm

See also

Reaction of the control to a risk of collision (Page 275)

7.2.2.2

Safety clearance

The safety clearance for all protection areas of the NC monitored for collision is set with the

machine data. The collision avoidance ensures that the safety clearance is not violated.

MD10622 $MN_COLLISION_SAFETY_DIST = <safety clearance>

Note

Collision pair-specific safety clearance

If a specific safety clearance has been set for a collision pair via the system variable

$NP_SAFETY_DIST (Page 289), this has priority over the NC-specific safety clearance set in

the machine data.

See also

Reaction of the control to a risk of collision (Page 275)

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7.2.2.3

Maximum memory space

The maximum value of the memory space in KB that can be allocated to the collision avoidance

is set with the machine data.

MD18896 $MN_MM_MAXNUM_3D_COLLISION = <value>

Value

Meaning

The maximum value of the memory space is determined automatically by the control using

the following machine data:

● MD18890 $MN_MM_MAXNUM_3D_PROT_AREAS

● MD18892 $MN_MM_MAXNUM_3D_PROT_AREA_ELEM

● MD18894 $MN_MM_MAXNUM_3D_FACETS_INTERN

● MD18895 $MN_MM_MAXNUM_3D_FACETS

> 0

Maximum value = parameterized value [KB]

Note

Only one > 0 value must be entered in the machine data when one of the following alarms is

displayed:

● Alarm 26262 "Insufficient memory space for the collision check of two protection areas"

● Alarm 26263 "Insufficient memory space for determining the clearance of two protection

areas"

Used memory space

Various system variables are available to determine the memory space used by the collision

avoidance. See section "Memory requirement (Page 291)".

7.2.2.4

Maximum number of collision pairs

The maximum number of possible collision pairs has an impact on:

● Length m of the system variable fields (e.g. $NP_COLL_PAIR[ m, ... ] )

● The user memory required for collision avoidance

● The size of the commissioning archive

The maximum number of collision pairs can be restricted with machine data:

MD18898 $MN_MM_MAXNUM_3D_COLL_PAIRS = <value>

<Val-

Meaning

ue>

The following applies to the maximum number of possible collision pairs MCP:

MCP = maximum value of the machine data

x > 0

The following applies to the maximum number of possible collision pairs MCP:

MCP = x, with 0 < x ≤ maximum value of the machine data

A value greater than the maximum permissible value of the machine data is limited internally to the

maximum value. No feedback regarding this is sent to the user.

Special functions

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7.2.2.5

Protection levels for collision avoidance On/Off

The protection level for switching the collision avoidance On/Off is set with the machine data

via the user interface. The protection level can be specified according to operating mode and

protection area type.

Machine data = <protection level>

Number

Identifier: $MN_

Meaning: Protection level for switching the colli-

sion avoidance On/Off

MD51160

ACCESS_WRITE_CA_MACH_JOG

Machine protection areas, JOG/MDI operating

mode

MD51161

ACCESS_WRITE_CA_MACH_AUTO

Machine protection areas, AUTOMATIC mode,

MD51162

ACCESS_WRITE_CA_TOOL

Tool protection areas

References

A detailed description of protection levels can be found in:

Function Manual, Basic Functions, Section: "A2: Various NC/PLC interface signals and

functions" > "Functions" > "Access protection via password and keyswitch"

7.2.3

System variables

7.2.3.1

Overview

A collision pair is parameterized with the following system variables:

Name

Meaning

$NP_COLL_PAIR

Name of a collision pair protection area

$NP_SAFETY_DIST

Safety clearance of the protection area pair

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 collision

avoidance. To do this, set the system variables of the collision avoidance 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.

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7.2.3.2

$NP_COLL_PAIR

Function

The names of the two protection areas, which form a collision pair, is entered in a system

variable. The two protection areas can be in any sequence.

Collision pairs

As the collision check requires a lot of computation time, it does not make sense to monitor

all parameterized protection areas for collision with one another through the collision

avoidance. Examples in which a collision check does not make sense:

● Protection areas that cannot collide because of the construction

● Protection areas that have been defined without anchoring to the kinematic chain

The user must define which parameterized protection areas can actually collide on the machine

and define them as collision pairs. Only these protection areas are monitored by the collision

avoidance.

To define a collision pair, the names of the two protection areas must be entered in two system

variables with the same collision pair index. One protection area under the protection area

index 0, the other under the protection area index 1.

Part of a collision pair

Using the COLLPAIR() (Page 293) function, a check can be made as to whether two protection

areas are parameterized as collision pair.

Syntax

$NP_COLL_PAIR[<m>,] = "<name>"

Meaning

$NP_COLL_PAIR:

Name of the first or second protection area of a collision pair

Data type:

STRING

Default value:

"" (empty string)

<m>:

System variable or collision pair index

Data type:

INT

Range of values:

0, 1, 2, ... (M -1) ¹⁾

:

Protection area index

Data type:

INT

Range of values:

0 (first protection area), 1 (second protection area)

<name>:

Protection area name

Data type:

STRING

M = n * (n - 1) / 2

where n = $MN_MM_MAXNUM_3D_PROT_AREAS

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7.2 Commissioning

Example

Two protection areas defined with the names "Rotary table" and "Tool in spindle" are to be

checked for collision. The two protection areas are to be mutually monitored for collision. The

definition for this is in the seventh collision pair:

Program code

Comment

N100 $NP_COLL_PAIR[6,0] = "Rotary ta-

; 7th collision pair,

ble"

; 1st Protection area

N110 $NP_COLL_PAIR[6,1] = "Tool in spin-

; 7th collision pair,

dle"

; 2nd Protection area

Supplementary conditions

● When forming a collision pair, it should be observed that every protection area of this pair

has at least one protection area element that is marked with $NP_USAGE (Page 253) =

"C" or "A". Otherwise, with the protection area, it is not permissible to perform a collision

or clearance calculation (Page 296).

● The protection areas of a collision pair are only checked for collision when both protection

areas are in the "Protection area monitored" state. See Chapter "State diagram: Protection

area (Page 278)".

7.2.3.3

$NP_SAFETY_DIST

Function

The collision pair-specific safety clearance is entered in the system variable. The collision

avoidance ensures that this safety clearance is not violated.

If a value not equal to 0.0 is entered in the system variable, the general safety clearance from

MD10622 $MN_COLLISION_SAFETY_DIST (Page 285) is not taken into account for this

collision pair.

If the value 0.0 is entered in the system variable, the safety clearance set in the machine data

applies.

Syntax

$NP_SAFETY_DIST[<m>] = <value>

Meaning

$NP_SAFETY_DIST:

Safety clearance of the collision pair

Data type:

REAL

Default value:

0.0

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<m>:

System variable or protection area index

Data type:

INT

Range of values:

0, 1, 2, ... (M -1) ¹⁾

<value>:

Safety clearance

Data type:

REAL

Range of values:

0.0 ≤ x ≤ +max. REAL value

Unit:

mm or inch depending on the current dimensions set-

ting

M = n * (n - 1) / 2

where n = $MN_MM_MAXNUM_3D_PROT_AREAS

Example

The safety clearance for the protection areas of the seventh collision pair should be 1.0 mm

(input system: metric).

Program code

Comment

N100 $NP_SAFETY_DIST[6] = 1.0

; 7. collision pair,

; safety clearance = 1.0

See also

Reaction of the control to a risk of collision (Page 275)

7.2.4

Extend system variables

7.2.4.1

Overview

Further information on the internal states and values of the collision avoidance can be read

via the following system variables:

● State data (Page 291)

● Memory requirement (Page 291)

● Braking distance estimations (Page 292)

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7.2 Commissioning

7.2.4.2

State data

The state data of the collision avoidance can be read via the following system variables (OPI

variables)

System variable

OPI variable

Meaning

$AN_COLL_STATE[<m>]

anCollState[<m>]

Current state of a protection area (active/inactive) with

regard to the collision avoidance

$AN_COLL_STATE_COND[<m>]

anCollStateCond[<m>]

Monitoring state (bit-coded) of a protection area

$AN_COLL_IPO_ACTIVE

anCollIpoActive

Activation state of the collision avoidance in the main

run (active/inactive)

$AN_COLL_IPO_LIMIT

anCollIpoLimit

Velocity reduction through collision avoidance in the

main run (active/inactive)

$AN_COLL_LOAD[] ¹⁾

anCollLoad[] ¹⁾

Computation time requirement for the collision avoid-

ance function

$AN_ACTIVATE_COLL_CHECK[<j>]

anActivateColl-

Current state of the NC/PLC interface with index <j>

Check[<j>]

for each 8 bytes:

DB10, DBX234.0 - DBX.241.7 (activate protection

areas)

$AN_COLL_CHECK_OFF

anCollCheckOff

Current state of the NC/PLC interface:

DB10 DBX58.0 - 7 (disable protection area group)

$AA_COLLPOS[<a>]

aaCollPos

Position of axis <a> in the machine coordinate system

(MCS) when the last collision alarm occurred

$AC_COLLPOS[<k>]

acCollPos

Vector <k> for the collision position in the world coor-

dinate system when the last collision alarm occurred

a: Axis name

i: 0 = function 1, 1 = function 2, 2 = function 3, ...

j: Index 0, 1, 2, ... for one bit field each of 8 bytes.

k: Coordinate index k = 1, 2, 3 for X, Y, Z coordinates

m: System variable or protection area index 0, 1, 2, ... (MD18890 $MN_MM_MAXNUM_3D_PROT_AREAS - 1)

1) The system variable can be reset by writing the value 0. Every other value is rejected with an error message.

References

● For a detailed description of the system variables, refer to:

List Manual, System Variables

● A detailed description of the interface signals can be found in:

List Manual, Interface signals

7.2.4.3

Memory requirement

The data for the memory requirement of the collision avoidance can be read via the following

system variables (OPI variables).

System variable

OPI variable

Meaning

$AN_COLL_MEM_AVAILABLE

anCollMemAvailable

Size of the memory space in KB reserved for the collision

avoidance.

$AN_COLL_MEM_USE_MIN ¹⁾

anCollMemUseMin ¹⁾

Minimum value of the memory space used for the collision

avoidance as a percentage of the reserved memory.

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System variable

OPI variable

Meaning

$AN_COLL_MEM_USE_MAX ¹⁾

anCollMemUseMax ¹⁾

Maximum value of the memory space used for the collision

avoidance as a percentage of the reserved memory.

$AN_COLL_MEM_USE_ACT ¹⁾

anCollMemUseAct ¹⁾

Actual value of the memory space used for the collision avoid-

ance as a percentage of the reserved memory.

1) The system variable can be reset by writing the value 0. Every other value is rejected with an error message.

References

For a detailed description of the system variables, refer to:

List Manual, System Variables

7.2.4.4

Braking distance estimations

The estimated total braking distance (linear approximation) and the proportional braking

distances of superimposed motions for an axis can be read via the following system variables

(OPI variables). The estimation only takes the current state of the axis into account. It returns,

e.g. the braking distance 0.0 for an axis that is just at the reversal point as part of a circular

path.

Note

The system variables are used for support in the development of user-specific functions as

part of the collision avoidance, and similar functions.

Table 7-1

Basic coordinate system (BCS)

System variable

OPI variable

Meaning

Total braking distance

$AA_DTBREB[<a>]

aaDtbreb

Estimated, linearly approximated total braking dis-

tance

Proportional braking distances for superimposed motions

$AA_DTBREB_CMD[<a>]

aaDtbrebCmd

Command component

$AA_DTBREB_CORR[<a>]

aaDtbrebCorr

Correction component

$AA_DTBREB_DEP[<a>]

aaDtbrebDep

Coupling component

<a>: Axis name

Table 7-2

Machine coordinate system (MCS)

System variable

OPI variable

Meaning

Total braking distance

$AA_DTBREM[<a>]

aaDtbrem

Estimated, linearly approximated total braking dis-

tance

Proportional braking distances for superimposed motions

$AA_DTBREM_CMD[<a>]

aaDtbremCmd

Command component

$AA_DTBREM_CORR[<a>]

aaDtbremCorr

Correction component

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7.3 Programming

System variable

OPI variable

Meaning

$AA_DTBREM_DEP[<a>]

aaDtbremDep

Coupling component

<a>: Axis name

References

For a detailed description of the system variables, refer to:

List Manual, System Variables

7.3

Programming

7.3.1

Check for collision pair (COLLPAIR)

The COLLPAIR() function determines whether two protection areas form a collision pair.

Syntax

[<RetVal> =] COLLPAIR(<Name_1>,<Name_2>[,<NoAlarm>)])

Meaning

COLLPAIR:

Check whether part of a collision pair

<RetVal>:

Function return value

Data type:

INT

Value:

≥ 0

The two protection zones form a collision pair.

Return value == collision pair index m (see

$NP_COLL_PAIR (Page 288))

-1

Either two strings have not been specified or at least

one of the two is the zero string.

-2

The protection zone specified in the first parameter has

not been found.

-3

The protection zone specified in the second parameter

has not been found.

-4

Neither of the two specified protection zones has been

found.

-5

Both specified protection zones have been found, but

not together in a collision pair.

<Name_1>:

Name of the first protection zone

Data type:

STRING

Range of val-

Parameterized protection zone names

ues:

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7.3 Programming

<Name_2>:

Name of the second protection area

Data type:

STRING

Range of val-

Parameterized protection zone names

ues:

<NoAlarm>:

Alarm suppression (optional)

Data type:

BOOL

Value:

FALSE (Default)

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

program processing is stopped and an alarm

displayed.

TRUE

In the event of an error, the program process-

ing is not stopped and no alarm displayed.

Application: User-specific reaction corre-

sponding to the return value

See also

State diagram: Protection area (Page 278)

7.3.2

Request recalculation of the machine model of the collision avoidance (PROTA)

If system variables of the kinematic chain $NK_..., the geometric machine modeling or the

collision avoidance $NP_... are written in the part program, the PROTA procedure must

subsequently be called so that the change becomes effective in the NC-internal machine model

of the collision avoidance.

Syntax

PROTA[(<Par>)]

Meaning

PROTA:

Request recalculation of the machine model of the collision avoidance

● Triggers a preprocessing stop.

● Must be alone in the block.

<Par>:

Parameter (optional)

Data type:

STRING

Value:

---

No parameters.

The machine model is recalculated. The states of the pro-

tection areas are retained.

"R"

The machine model is recalculated. The protection areas

are set to their initialization status corresponding to

$NP_INIT_STAT (Page 244).

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7.3 Programming

Supplementary conditions

Simulation

The PROTA procedure must not be used in part programs in conjunction with the simulation

(simNC).

Example: Avoiding the PROTA call while the simulation is active.

Program code

Comment

IF $P_SIM == FALSE

; IF simulation not active

PROTA

THEN recalculate collision model

ENDIF

; ENDIF

See also

Setting the protection zone status (PROTS) (Page 295)

7.3.3

Setting the protection zone status (PROTS)

The PROTS() procedure sets the state of protection areas to the specified value.

Syntax

PROTS(<State>[,<Name_1>,...,<Name_n>])

Meaning

PROTS:

Sets the state of protection areas

● Must be alone in the block.

<State>:

Status to which the specified protection zones are to be set

Data type:

CHAR

Value:

"A"or "a"

Status: Active

"I"or "i"

Status: Inactive

"P"or "p"

Status: Preactivated or PLC-controlled ¹⁾

"R"or "r"

Status: NC-internal value of the initialization

status ²⁾

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<Name_1> ...

Name of one or more protection areas that are to be set to the specified status

<Name_n>:

(optional)

If no name is specified, the specified status is set for all defined protection zones.

Data type:

STRING

Range of values:

Parameterized protection zone names

Note

The maximum number of protection areas that can be specified as parameters

depends only on the maximum possible number of characters per program line.

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

²⁾ The status is set to the NC-internal value of the initialization status, i.e. to the value that the system

variable $NP_INIT_STAT (Page 244) had at the time of the last PROTA( ) (Page 294) call.

7.3.4

Determining the clearance of two protection zones (PROTD)

The PROTD() function calculates the clearance of two protection areas.

Function properties:

● The clearance calculation is performed independent of the protection area status (activated,

deactivated, preactivated).

● To calculate the clearance of two protection areas, only protection area elements are used,

which are marked with $NP_USAGE (Page 253) = "C" or "A". Protection area elements of

the protection area, which are marked with $NP_USAGE = "V", are not taken into

consideration.

● Protection areas, where all protection area elements of the protection area are marked with

$NP_USAGE = "V", cannot be used for the clearance calculation.

● The clearance calculation is performed with the positions valid at the end of the previous

block.

● Overlays that are included in the main run calculation (e.g. DRF offset or external zero

offset) are included in the clearance calculation with the values valid at the function

interpretation time.

Note

Synchronization

When using the PROTD() function, it is the sole responsibility of the user to synchronize

the main run and preprocessing, if required, with the STOPRE preprocessing stop.

Collision

If there is a collision between the specified protection areas, the function returns a clearance

of 0.0. There is a collision if both the protection areas touch or intersect each other.

The safety clearance for the collision check (MD10622 $MN_COLLISION_SAFETY_DIST) is

not taken into account in the clearance calculation.

Syntax

[<RetVal> =] PROTD([<Name_1>],[<Name_2>],VAR <Vector>[,<System>])

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7.3 Programming

Meaning

PROTD:

Calculates the clearance of the two specified protection areas.

● Must be alone in the block.

<RetVal>:

Function return value: Absolute clearance value of the two protection areas or 0.0

with collision (see above: Collision paragraph)

Data type:

REAL

Range of values:

0.0 ≤ x ≤ +max. REAL value

<Name_1>,

Names of the two protection areas whose clearance is to be calculated (optional)

<Name_2>:

Data type:

STRING

Range of values:

Parameterized protection area names

Default value:

"" (empty string)

If no protection areas have been specified, the function calcu-

lates the current smallest clearance from all the activated and

preactivated protection areas in the collision model.

<Vector>:

Return value: 3-dimensional clearance vector from protection area <Name_2> to

protection area <Name_1> with:

● <Vector>[0]: X coordinate in the world coordinate system

● <Vector>[1]: Y coordinate in the world coordinate system

● <Vector>[2]: Z coordinate in the world coordinate system

For collision: <Vector> == zero vector

Data type:

VAR REAL [3]

Range of values:

<Vector> [n]: 0.0 ≤ x ≤ ±max. REAL value

<System>:

Measuring system (inch/metric) for clearance and clearance vector (optional)

Data type:

BOOL

Value:

FALSE (Default)

Measuring system corresponding to the cur-

rently active G command from G group 13

(G70, G71, G700, G710).

TRUE

Measuring system corresponding to the set

basic system:

MD52806 $MN_ISO_SCALING_SYSTEM

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7.4 Example

7.4

Example

7.4.1

Specifications

General Information

The basic procedure when parameterizing collision avoidance using a part program is shown

using a simplified 3-axis milling machine as example. All of the system variables relevant for

collision avoidance are written to the part program:

● Kinematic chain $NK_...

● Geometric machine modeling $NP_...

● Collision avoidance $NP_...

The machine model is subsequently activated in the part program, so that after executing the

part program, the collision avoidance has been completely parameterized in the 3-axis milling

machine and is active.

Option and machine data

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

No.

Option data: $ON_

Value

MD19830

COLLISION_MASK

No.

Machine data: $MN_

Value

MD10619

COLLISION_TOLERANCE

MD18880

MM_MAXNUM_KIN_CHAIN_ELEM

MD18890

MM_MAXNUM_3D_PROT_AREAS

MD18892

MM_MAXNUM_3D_PROT_AREA_ELEM

MD18893

MM_MAXNUM_3D_T_PROT_ELEM

MD18894

MM_MAXNUM_3D_FACETS_INTERN

1000

MD18895

MM_MAXNUM_3D_FACETS

3000

MD18896

MM_MAXNUM_3D_COLLISION

MD18897

MM_MAXNUM_3D_INTERFACE_IN

MD18899

PROT_AREA_TOOL_MASK

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7.4 Example

Dimension drawing

The dimensions of the protection area elements as well as their position (vectors to the center

point of the protection area element) referred to the machine zero point are specified in the

following dimension drawing.

9_=$

9₆

9₇

;

9₇

Vectors to the center point of the protection area elements

v_tool

Tool adapter (0;0;25)

v_ZA

Z axis (0;200;130)

v_S

Column (0;570;350)

v_T

Table (0;0;-50)

Kinematic chain

The kinematic chain (see next diagram) starts with an "Offset" type element. These are

assigned to all static protection areas of the machine. In the example, this is only the "Column"

protection area.

The kinematic elements of the machine axes follow the offset element:

● Z axis and X axis traverse independently of one another ⇒ $NK_PARALLEL

● The Y axis traverses dependent on the X axis ⇒ $NK_NEXT

The various protection areas of the geometric machine modeling are assigned the kinematic

elements of the machine axes

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7.4 Example

7.4.2

Part program of the machine model

Program code

;***********************************************************

;************************* Example ************************

; milling machine: 3 linear axes, 1 spindle

;

table

=> X1, Y1

;

Z axis, tool adapter, tool => Z1

;***********************************************************

; status: February 11, 2013, 15:34

;

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

; Collision machine data used

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

; MD10619 $MN_COLLISION_TOLERANCE = 1

;

; MD18880 $MN_MM_MAXNUM_KIN_CHAIN_ELEM

100

; MD18890 $MN_MM_MAXNUM_3D_PROT_AREAS

; MD18892 $MN_MM_MAXNUM_3D_PROT_AREA_ELEM =

; MD18893 $MN_MM_MAXNUM_3D_T_PROT_ELEM

100

; MD18894 $MN_MM_MAXNUM_3D_FACETS_INTERN

= 1000

; MD18895 $MN_MM_MAXNUM_3D_FACETS

= 3000

; MD18896 $MN_MM_MAXNUM_3D_COLLISION

; MD18897 $MN_MM_MAXNUM_3D_INTERFACE_IN

; MD18899 $MN_PROT_AREA_TOOL_MASK

;

; MD19830 $ON_COLLISION_MASK = 1

; option

;

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

; Definitions

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

DEF INT RETVAL = 0

; return value of the delete function

;

DEF INT C_NKE = 0

; index for kinematic elements

DEF INT C_NPC = 0

; index for protection areas

DEF INT C_NPE = 0

; index for protection area elements

DEF INT C_NPP = 0

; index for collision pairs

;

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7.4 Example

Program code

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

; initialization of the collision data

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

MSG("protection areas")

G4 F3

; reset all parameters to their initial setting

;

RETVAL = DELOBJ("KIN_CHAIN_ELEM")

IF (RETVAL <> 0)

MSG("error: DELOBJ KIN_CHAIN_ELEM")

G4 F5

ENDIF

;

RETVAL = DELOBJ("PROT_AREA_ALL")

IF RETVAL <> 0

MSG("error: DELOBJ PROT_AREA_ALL")

G4 F5

ENDIF

;

RETVAL = DELOBJ("PROT_AREA_COLL_PAIRS")

IF RETVAL <> 0

MSG("error: DELOBJ PROT_AREA_COLL_PAIRS")

G4 F5

ENDIF

;

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

; kinematic chain

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

; KE1: ROOT

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

$NK_NAME[C_NKE]

= "ROOT"

$NK_NEXT[C_NKE]

= "X axis"

$NK_PARALLEL[C_NKE]

= ""

$NK_TYPE[C_NKE]

= "OFFSET"

;

$NK_OFF_DIR[C_NKE, 0] = 0.0

; X

$NK_OFF_DIR[C_NKE, 1] = 0.0

; Y

$NK_OFF_DIR[C_NKE, 2] = 0.0

; Z

;

$NK_AXIS[C_NKE]

= ""

$NK_A_OFF[C_NKE]

= 0.0

;

C_NKE = C_NKE + 1

; next kinematic element

;

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7.4 Example

Program code

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

; kinematic element: X axis

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

$NK_NAME[C_NKE]

= "X axis"

$NK_NEXT[C_NKE]

= "Y axis"

$NK_PARALLEL[C_NKE]

= "Z axis"

$NK_TYPE[C_NKE]

= "AXIS_LIN"

;

$NK_OFF_DIR[C_NKE, 0] = 1.0

; X

$NK_OFF_DIR[C_NKE, 1] = 0.0

; Y

$NK_OFF_DIR[C_NKE, 2] = 0.0

; Z

;

$NK_AXIS[C_NKE]

= "X1"

$NK_A_OFF[C_NKE]

= 0.0

;

C_NKE = C_NKE + 1

; next kinematic element

;

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

; kinematic element: Y axis

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

$NK_NAME[C_NKE]

= "Y axis"

$NK_NEXT[C_NKE]

= ""

$NK_PARALLEL[C_NKE]

= ""

$NK_TYPE[C_NKE]

= "AXIS_LIN"

;

$NK_OFF_DIR[C_NKE, 0] = 0.0

; X

$NK_OFF_DIR[C_NKE, 1] = 1.0

; Y

$NK_OFF_DIR[C_NKE, 2] = 0.0

; Z

;

$NK_AXIS[C_NKE]

= "Y1"

$NK_A_OFF[C_NKE]

= 0.0

;

C_NKE = C_NKE + 1

; next kinematic element

;

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

; kinematic element: Z axis

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

$NK_NAME[C_NKE]

= "Z axis"

$NK_NEXT[C_NKE]

= ""

$NK_PARALLEL[C_NKE]

= ""

$NK_TYPE[C_NKE]

= "AXIS_LIN"

;

$NK_OFF_DIR[C_NKE, 0] = 0.0

; X

$NK_OFF_DIR[C_NKE, 1] = 0.0

; Y

$NK_OFF_DIR[C_NKE, 2] = 1.0

; Z

;

$NK_AXIS[C_NKE]

= "Z1"

$NK_A_OFF[C_NKE]

= 0.0

;

C_NKE = C_NKE + 1

; next kinematic element

;

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7.4 Example

Program code

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

; protection areas with protection area elements

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

; protection area 1: Column

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

$NP_PROT_NAME[C_NPC]

= "Column"

$NP_PROT_TYPE[C_NPC]

= "MACHINE"

$NP_CHAIN_ELEM[C_NPC] = "ROOT"

$NP_1ST_PROT[C_NPC]

= "SBE column"

$NP_PROT_COLOR[C_NPC] = 'HFFA0A0A4'

; AARRGGBB

$NP_BIT_NO[C_NPC]

= -1

$NP_INIT_STAT[C_NPC]

= "A"

;

C_NPC = C_NPC + 1

; next protection area

;

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

; protection area element 1.1: SBE column

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

$NP_NAME[C_NPE]

= "SBE column"

$NP_NEXT[C_NPE]

= ""

$NP_NEXTP[C_NPE]

= ""

$NP_TYPE[C_NPE]

= "BOX"

;

cube dimensions

$NP_PARA[C_NPE,0]

= 160.0

; length

$NP_PARA[C_NPE,1]

= 140.0

; width

$NP_PARA[C_NPE,2]

= 800.0

; height

;

center point

$NP_OFF[C_NPE,0]

0.0

; X

$NP_OFF[C_NPE,1]

= 570.0

; Y: xxx rear table edge

$NP_OFF[C_NPE,2]

= 350.0

; Z: Lower edge equal to lower edge table

;

$NP_DIR[C_NPE,0]

0.0

$NP_DIR[C_NPE,1]

0.0

$NP_DIR[C_NPE,2]

0.0

;

$NP_ANG[C_NPE]

0.0

;

$NP_COLOR[C_NPE]

$NP_D_LEVEL[C_NPE]

$NP_USAGE[C_NPE]

= "V"

; V = visualize only

$NP_FILENAME[C_NPE] = ""

;

C_NPE = C_NPE + 1

; next protection area element

;

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7.4 Example

Program code

;++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

; protection area 2: Tool adapter

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

$NP_PROT_NAME[C_NPC]

= "Tool adapter"

$NP_PROT_TYPE[C_NPC]

= "MACHINE"

$NP_CHAIN_ELEM[C_NPC] = "Z axis"

$NP_1ST_PROT[C_NPC]

= "SBE tool adapter"

$NP_PROT_COLOR[C_NPC] = 'HFF0000FF'

; AARRGGBB

$NP_BIT_NO[C_NPC]

= -1

$NP_INIT_STAT[C_NPC]

= "A"

;

C_NPC = C_NPC + 1

; next protection area

;

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

; protection area element 2.1: SBE tool adapter

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

$NP_NAME[C_NPE]

= "SBE tool adapter"

$NP_NEXT[C_NPE]

= ""

$NP_NEXTP[C_NPE]

= ""

$NP_TYPE[C_NPE]

= "CYLINDER"

;

cylinder dimensions

$NP_PARA[C_NPE,0]

= 50.0

; height

$NP_PARA[C_NPE,1]

= 60.0

; radius

$NP_PARA[C_NPE,2]

0.0

;

center point

$NP_OFF[C_NPE,0]

0.0

; X

$NP_OFF[C_NPE,1]

0.0

; Y

$NP_OFF[C_NPE,2]

= 25.0

; Z: Half height

;

$NP_DIR[C_NPE,0]

0.0

$NP_DIR[C_NPE,1]

0.0

$NP_DIR[C_NPE,2]

0.0

;

$NP_ANG[C_NPE]

= 0.0

;

$NP_COLOR[C_NPE]

= 0

$NP_D_LEVEL[C_NPE]

= 0

$NP_USAGE[C_NPE]

= "A"

$NP_FILENAME[C_NPE] = ""

;

C_NPE = C_NPE + 1

; next protection area element

;

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K9: collision avoidance, internal

7.4 Example

Program code

; ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

; protection area 3: Tool

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

$NP_PROT_NAME[C_NPC]

= "Tool"

$NP_PROT_TYPE[C_NPC]

= "TOOL"

$NP_CHAIN_ELEM[C_NPC] = "Z axis"

$NP_1ST_PROT[C_NPC]

= ""

$NP_PROT_COLOR[C_NPC] = 'HFFFF0000'

; AARRGGBB

$NP_BIT_NO[C_NPC]

= -1

$NP_INIT_STAT[C_NPC]

= "A"

;

only relevant for type "TOOL"

$NP_INDEX[C_NPC,0]

= 1

; tool location No. / spindle No.

$NP_INDEX[C_NPC,1]

= 9998

; magazine No. / -

$NP_INDEX[C_NPC,2]

= 1

; TOA area

;

C_NPC = C_NPC + 1

; next protection area

;

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K9: collision avoidance, internal

7.4 Example

Program code

; ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

; protection area 4: Z axis

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

$NP_PROT_NAME[C_NPC]

= "Z axis"

$NP_PROT_TYPE[C_NPC]

= "MACHINE"

$NP_CHAIN_ELEM[C_NPC] = "Z axis"

$NP_1ST_PROT[C_NPC]

= "SBE Z axis"

$NP_PROT_COLOR[C_NPC] = 'HFFA0A0A4'

; AARRGGBB

$NP_BIT_NO[C_NPC]

= -1

$NP_INIT_STAT[C_NPC]

= "A"

;

C_NPC = C_NPC + 1

; next protection area

;

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

; protection area element 4.1: SBE horizontal column

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

$NP_NAME[C_NPE]

= "SBE Z axis"

$NP_NEXT[C_NPE]

= ""

$NP_NEXTP[C_NPE]

= ""

$NP_TYPE[C_NPE]

= "BOX"

;

$NP_PARA[C_NPE,0]

= 160.0

$NP_PARA[C_NPE,1]

= 600.0

$NP_PARA[C_NPE,2]

= 160.0

;

$NP_OFF[C_NPE,0]

0.0

$NP_OFF[C_NPE,1]

= 200.0

$NP_OFF[C_NPE,2]

= 130.0

;

$NP_DIR[C_NPE,0]

= 0.0

$NP_DIR[C_NPE,1]

= 0.0

$NP_DIR[C_NPE,2]

= 0.0

;

$NP_ANG[C_NPE]

= 0.0

;

$NP_COLOR[C_NPE]

= 0

$NP_D_LEVEL[C_NPE]

= 0

$NP_USAGE[C_NPE]

= "A"

$NP_FILENAME[C_NPE] = ""

;

C_NPE = C_NPE + 1

; next protection area element

;

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K9: collision avoidance, internal

7.4 Example

Program code

; ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

; protection area 5: Table

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

$NP_PROT_NAME[C_NPC]

= "Table"

$NP_PROT_TYPE[C_NPC]

= "MACHINE"

$NP_CHAIN_ELEM[C_NPC] = "Y axis"

$NP_1ST_PROT[C_NPC]

= "SBE table"

$NP_PROT_COLOR[C_NPC] = 'HFF00FF00'

; AARRGGBB

$NP_BIT_NO[C_NPC]

= -1

$NP_INIT_STAT[C_NPC]

= "A"

;

C_NPC = C_NPC + 1

; next protection area

;

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

; protection area element 5.1: SBE table

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

$NP_NAME[C_NPE]

= "SBE table"

$NP_NEXT[C_NPE]

= ""

$NP_NEXTP[C_NPE]

= ""

$NP_TYPE[C_NPE]

= "BOX"

;

$NP_PARA[C_NPE,0]

= 1000.0

$NP_PARA[C_NPE,1]

= 500.0

$NP_PARA[C_NPE,2]

= 100.0

;

$NP_OFF[C_NPE,0]

0.0

$NP_OFF[C_NPE,1]

0.0

$NP_OFF[C_NPE,2]

= -50.0

;

$NP_DIR[C_NPE,0]

= 0.0

$NP_DIR[C_NPE,1]

= 0.0

$NP_DIR[C_NPE,2]

= 0.0

;

$NP_ANG[C_NPE]

= 0.0

;

$NP_COLOR[C_NPE]

= 0

$NP_D_LEVEL[C_NPE]

= 0

$NP_USAGE[C_NPE]

= "A"

$NP_FILENAME[C_NPE] = ""

;

C_NPE = C_NPE + 1

; next protection area element

;

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K9: collision avoidance, internal

7.5 Data lists

Program code

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

; collision pairs

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

$NP_COLL_PAIR[C_NPP, 0] = "Tool adapter"

$NP_COLL_PAIR[C_NPP, 1] = "Table"

;

C_NPP = C_NPP + 1

; next collision pair

;

$NP_COLL_PAIR[C_NPP, 0] = "Tool"

$NP_COLL_PAIR[C_NPP, 1] = "Table"

;

C_NPP = C_NPP + 1

; next collision pair

;

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

; activating the machine model

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

PROTA

PROTS("A")

;

;========================= ENDE ===========================

7.5

Data lists

7.5.1

Machine data

7.5.1.1

NC-specific machine data

Number

Identifier: $MN_

Description

MD10619

COLLISION_TOLERANCE

Collision tolerance

MD10622

COLLISION_SAFETY_DIST

Safety clearance

MD18896

MM_MAXNUM_3D_COLLISION

Memory location for the collision avoidance

7.5.2

System variables

Identifier

Description

$NP_COLL_PAIR

Name of the first or second protection area of a collision pair

$NP_SAFETY_DIST

Safety clearance of the collision pair

$AN_COLL_STATE

Current state of a protection area with regard to the collision avoidance

$AN_COLL_STATE_COND

Monitoring state (bit-coded) of a protection area

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7.5 Data lists

Identifier

Description

$AN_COLL_IPO_ACTIVE

Activation state of the collision avoidance in the main run

$AN_COLL_IPO_LIMIT

Velocity reduction through collision avoidance in the main run

$AN_COLL_LOAD

Computation time requirement for the collision avoidance function

$AN_ACTIVATE_COLL_CHECK

Current state of the NC/PLC interface DB10, DBX234.0 - DBX.241.7 (activate

protection areas)

$AN_COLL_CHECK_OFF

Current state of the NC/PLC interface DB10, DBB58 (switch off protection

area groups depending on the operating mode)

$AA_COLLPOS

Position of an axis in the MCS when the last collision alarm occurred

$AC_COLLPOS

Vector for the collision position in the world coordinate system when the last

collision alarm occurred

$AN_COLL_MEM_AVAILABLE

Size of the memory space in KB reserved for the collision avoidance.

$AN_COLL_MEM_USE_MIN

Minimum value of the memory space used for the collision avoidance as a

percentage of the reserved memory.

$AN_COLL_MEM_USE_MAX

Maximum value of the memory space used for the collision avoidance as a

percentage of the reserved memory.

$AN_COLL_MEM_USE_ACT

Actual value of the memory space used for the collision avoidance as a per-

centage of the reserved memory.

$AA_DTBREB

Estimated, linearly approximated total braking distance (BCS)

$AA_DTBREB_CMD

Command component (BCS)

$AA_DTBREB_CORR

Correction component (BCS)

$AA_DTBREB_DEP

Coupling component (BCS)

$AA_DTBREM

Estimated, linearly approximated total braking distance (MCS)

$AA_DTBREM_CMD

Command component (MCS)

$AA_DTBREM_CORR

Correction component (MCS)

$AA_DTBREM_DEP

Coupling component (MCS)

7.5.3

Signals

7.5.3.1

Signals to NC

Signal name

SINUMERIK 840D sl

SINUMERIK 828D

Collision avoidance: Deactivate protection area group (PLC DB10.DBX58.0 - 7

DB2600.DBX2.0 - 7

→ NC)

Collision avoidance: Activate protection area (PLC → NC)

DB10.DBX234.0 - DBX241.7

DB2600.DBX4.0 - DBX11.7

7.5.3.2

Signals from NC

Signal name

SINUMERIK 840D sl

SINUMERIK 828D

Collision avoidance: Protection area active

DB10.DBX226.0 - DBX233.7

DB2700.DBX20.0 - DBX27.7

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311

K11 Collision avoidance, external

8.1

Description of the function

8.1.1

Options

The function "Collision avoidance, external" is an option that requires a license:

● Collision avoidance ADVANCED (machine, workpiece): 6FC5800-0AS04-0YB0

8.1.2

Characteristics

The function "Collision avoidance, external" provides a proprietary data interface at the

Industrial Ethernet interface X120 of the NCU module. The following data are transferred in

real time via this interface:

● Setpoint and actual values of the machine axes for monitoring and visualizing machine

movements

● Status data and input data for influencing traversing movements

● Signals for monitoring the external application

Based on these data, an independent application for machine visualization and collision

avoidance can be implemented by a SINUMERIK product partner on an external computer.

8.2

Commissioning

8.2.1

Machine data

8.2.1.1

Functions of external collision avoidance

The functions of external collision avoidance are enabled with machine data:

MD16900 $MN_COLLISION_EXT_FUNKTION_MASK.Bit x = 1

Bit

Meaning

Activate UDP interface

1 - 31

reserved

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K11 Collision avoidance, external

8.2 Commissioning

8.2.1.2

Preview time

The preview time is set with machine data:

MD16901 $MN_COLLISION_EXT_PREVIEW_TIME = <preview time>

8.2.1.3

Preview time step

The size of a time step for calculating the movement preview is set in machine data:

MD16902 $MN_COLLISION_EXT_PREVIEW_STEP = <preview time>

8.2.1.4

Timeout time

The time within which the external application must have reported back to the control for sign-

of-life monitoring is set in machine data:

MD16903 $MN_COLLISION_EXT_TIMEOUT = <timeout time>

If the external application does not report back within the set time, alarm 26300 "Sign of life

failure of the external collision avoidance" is displayed.

Special functions

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K12 transformation definitions with kinematic chains

9.1

Function description

9.1.1

Characteristics

In this chapter, a description is provided as to how transformations are mapped using a

kinematic chain and parameterized in the control system using system variables. 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.

Transformations via kinematic chains

The machine kinematics relevant to kinematic transformations is described by two kinematic

chains:

● One chain points from the machine zero point (zero point of the world coordinate system)

to the workpiece reference point (part segment).

● The other chain points from the machine zero point to the tool reference point (tool

segment).

One of the two chains can also be empty (for pure table or tool kinematics).

=HUR SRLQW RI WKH WRRO

FRRUGLQDWH V\VWHP

7RRO FKDLQ

=HUR SRLQW RI WKH

ZRUNSLHFH FRRUGLQDWH

V\VWHP

:RUNSLHFH FKDLQ

=HUR SRLQW RI WKH ZRUOG

FRRUGLQDWH V\VWHP

Figure 9-1

Definition of a transformation via kinematic chains

Both kinematic chains are merged internally into a single kinematic chain, which, by definition,

begins at the workpiece reference point and ends at the tool reference point.

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315

K12 transformation definitions with kinematic chains

9.1 Function description

Definition of the kinematic transformation

The definition of kinematic transformations via kinematic chains is used to standardize the

definition of the previous transformation types.

The following transformations are taken into consideration:

● TRAORI

- TRAORI_DYN; dynamic orientation transformation

- TRAORI_STAT; static orientation transformation

● TRANSMIT_K; face side transformation

● TRACYL_K; peripheral surface transformation

● TRAANG_K; oblique angle transformation

See also

System variables (Page 198)

K7: Kinematic chain (Page 191)

9.1.2

Definition of kinematic transformations

Transformations with kinematic chains are defined in two steps:

● Definition of the machine kinematics

● Definition of the transformation

Defining machine kinematics

The machine kinematics (geometry of the machine) is described via kinematic chains. For

detailed information, see K7: Kinematic chain (Page 191).

The system variables that are relevant to this are described under System variables

(Page 198). These system variables are structured according to the scheme $NK_... Important

system variables include:

System variable

$NK_NAME

Name of the current element

$NK_NEXT

Name of the next element

$NK_PARALLEL

Defines a parallel kinematic chain. As a result, the second chain can be defined parallel

to the first chain.

$NK_TYPE

Defines the type of the element, e.g. AXIS_LIN, AXIS_ROT, OFFSET, ROT_CONST,

SWITCH

$NK_OFF_DIR

Defines the rotation vector relative to the machine axis

$NK_AXIS

Name of the machine axis

$NK_A_OFF

Defines the work offset of the assigned machine axis.

Special functions

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K12 transformation definitions with kinematic chains

9.1 Function description

Defining transformation

The description of the machine kinematics with kinematic chains is not sufficient to completely

specify a kinematic transformation. The transformations can be completely defined via system

variables with the $NT_... prefix. The system variables available for the transformation are

divided into the following parts:

● System variables that are relevant for all transformations.

● System variables that are only relevant for specific transformations.

You can find a complete list under System variables for general transformation types

(Page 337). Among other things, the following general system variables are available:

System variable

Description

$NT_NAME

Name of the transformation dataset.

$NT_TRAFO_INDEX

Identifier for alternative transformation activation; a transformation defined with kinematic

chains can also be activated using the conventional language commands (e.g. TRAORI)

instead of the TRAFOON method.

$NT_TRAFO_TYPE

Type of transformation (TRAORI_DYN, TRAORI_STAT, TRAANG_K, TRANSMIT_K,

TRACYL_K)

$NT_T_CHAIN_LAST_ELEM

Name of the last element of the kinematic chain to the tool.

$NT_P_CHAIN_LAST_ELEM

Name of the last element of the kinematic chain to the workpiece.

$NT_T_CHAIN_FIRST_ELEM

Name of the first element in the tool chain

$NT_P_CHAIN_FIRST_ELEM

Name of the first element of the workpiece chain

$NT_GEO_AX_NAME

Names of the elements of the geometry axes. With $NT_GEO_AX_NAME, a maximum of

3 linear axes are referenced. The linear axes carry out the compensating movements

which result from the kinematic transformation.

$NT_ROT_AX_NAME

Names of the elements of the orientation axes. With $NT_ROT_AX_NAME, a maximum

of 3 linear axes are referenced.

$NT_CLOSE_CHAIN_T

Reference element for closing the kinematic chain to the workpiece.

$NT_ROT_AX_OFFSET

Position offset of a/the rotary axis for the active transformation.

$NT_CNTRL

Control word

An orientation transformation is defined, for example, via the elements displayed in the graphic.

Special functions

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317

K12 transformation definitions with kinematic chains

9.1 Function description

& D[LV

17B527B$;B1$0(>P F@

% D[LV

17B527B$;B1$0(>P E@

; < = D[HV

%DVH WRRO RIIVHW

17B*(2B$;B1$0(>P [@

17B7B&+$,1B/$67B(/(0

17B*(2B$;B1$0(>P \@

17B*(2B$;B1$0(>P ]@

7RRO UHIHUHQFH SRLQW

:RUNSLHFH UHIHUHQFH

SRLQW

7DEOH RIIVHW

17B3B&+$,1B/$67B(/(0

=HUR SRLQW RI WKH ZRUOG

FRRUGLQDWH V\VWHP

Figure 9-2

Transformation elements in the kinematic chain

See also

Examples (Page 381)

9.1.3

Dynamic orientation transformation TRAORI_DYN

A dynamic orientation transformation is understood to mean a kinematic transformation in

which the movements of any rotary axes are compensated by compensation movements of a

maximum of three linear axes in such a way that the coordinates of the tool tip in the workpiece

coordinate system remain unchanged. The same applies for movements of additional

(redundant) linear axes.

The system variables that are especially used for orientation transformations are described

under Additive system variable for orientation transformation (Page 362).

The different orientation transformations are mapped via the dynamic orientation

transformation:

Special functions

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K12 transformation definitions with kinematic chains

9.1 Function description

5-axis transformation

Different versions are possible for the 5-axis transformation, see 5-axis transformation

(Page 43). Generally this transformation is comprised of up to 3 linear axes and up to 2 rotary

axes.

3 and 4-axis transformation

3 and 4-axis transformations are special cases of the 5-axis transformation, see 3-axis and 4-

axis transformations (Page 57). Possible versions are listed below:

Transformation

Characteristics

3-axis transformation

2 translation axes (linear axes)

1 rotary axis

4-axis transformation

3 translation axes (linear axes)

1 rotary axis

Defining machine kinematics

The corresponding machine kinematics must be defined via a kinematic chain.

Linear axes (geometry axes)

The movements of the rotary axes are compensated via compensating movements of up to

three linear axes. The linear axes are defined via the kinematic chain as an element of the

type "AXIS_LIN". For the transformation, they are referenced with $NT_GEO_AX_NAME. The

geometry axes do not have to be vertical on top of one another and their position relative to

one another can be changed by means of rotary axes. However, the limitation that they cannot

be linearly dependent on one another applies.

The position of linear axes that are not defined as geometry axes is not changed by the

transformation.

Rotary and orientation axes

The rotary axes are defined via the kinematic chain as an element of the type "AXIS_ROT".

For the transformation, they are referenced with $NT_ROT_AX_NAME and are thus

designated as orientation axis. The position of these axes is assumed to be changeable to

achieve a specific orientation.

An offset from zero can be defined using system variable $NT_ROT_AX_OFFSET for the rotary

axes (1, 2, or 3) of the orientation transformation.

All of the other rotary axes are redundant rotary axes and are included in the calculation with

their current position values (constant rotations). Redundant machine axes (real rotary axes)

must be located in the kinematic chain in front of the first orientation axis. Additional redundant

rotary axes (manual rotary axes or rotating machine axes) can be inserted at any point.

The number of rotary axes is restricted to 6.

Special functions

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K12 transformation definitions with kinematic chains

9.1 Function description

Tool orientation

The tool orientation can be specified as vector. The system variables $NT_BASE_ORIENT or

$NT_BASE_ORIENT_NORMAL are available for this. The orientations come into effect if no

tool is selected. If the vectors are not explicitly defined, the default setting is (0, 0, 1).

● $NT_BASE_ORIENT[n, 0 ...2]; defines the basic tool orientation via a vector, as shown in

the following example:

- $NT_BASE_ORIENT[1, 0] = 1.0; component in X-direction

- $NT_BASE_ORIENT[1, 1] = 1.5; component in Y-direction

- $NT_BASE_ORIENT[1, 2] = 100; component in Z-direction

● $NT_BASE_ORIENT_NORMAL[n, 0 ...2] defines a vector which stands vertically on the

basic tool orientation for orientation transformations with three degrees of freedom. If the

vectors are not explicitly defined, the default setting is (0, 1, 0).

● $NT_IGNORE_TOOL_ORIENT[n]; if the system variable is set, the values from the system

variables $NT_BASE_ORIENT and $NT_BASE_ORIENT_NORMAL are also used when a

tool is active.

Treatment of singular points (poles)

If poles (Page 54) are encountered over the course of processing, the behavior at the pole can

be set via two system variables:

● $NT_POLE_LIMIT; defines the end angle tolerance, i.e. the angle by which the polar axis

can deviate from the programmed value for the 5-axis transformation.

● $NT_POLE_TOL; defines the end angle tolerance for interpolation through the pole.

Machine measurement for orientation transformation

With the CORRTRAFO (Page 374) function, measured lever arm lengths and axis directions

can be written in correction elements:

● $NT_CORR_ELEM_T[n, 0 ...3]; names of the correction elements (type "OFFSET") in the

kinematic chain (tool chain) which can be written to by CORRTRAFO.

● $NT_CORR_ELEM_P[n, 0 ...3]; names of the correction elements (type "OFFSET") in the

kinematic chain (workpiece chain) which can be written to by CORRTRAFO.

Real-time velocity monitoring

The machine data $MC_TRAFO_ORI_ONLINE_CHECK_LIM and

$MC_TRAFO_ORI_ONLINE_CHECK_LIMR define the linear or rotary position difference

between the pre-run and main run as of which the real-time velocity monitoring and limiting is

activated. The position differences are formed from the positions of the linear and rotary axes.

Special functions

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K12 transformation definitions with kinematic chains

9.1 Function description

Example of kinematics

The example schematically shows two-axis swivel head kinematics with the axis sequence

CA, as a spatial image and as a kinematic chain.

6ZLYHO KHDG

5RWDU\ D[HV & DQG $

; < = D[HV

ZKHUH

;

7DEOH RIIVHW

:RUNSLHFH UHIHUHQFH

SRLQW

=HUR SRLQW RI WKH ZRUOG

:RUNSLHFH UHIHUHQFH

FRRUGLQDWH V\VWHP

SRLQW

Figure 9-3

TRAORI example

9.1.4

Face end transformation TRANSMIT

In this chapter, a description is provided as to how a end face transformation is mapped using

a kinematic chain and parameterized in the control system using system variables. The

TRANSMIT transformation permits end face machining (drill holes, contours) on turning

machines.

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

data" via SINUMERIK Operate using the commissioning archive.

Special functions

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K12 transformation definitions with kinematic chains

9.1 Function description

The machine kinematics are defined using two kinematic chains, see Definition of kinematic

transformations (Page 316).

The following graphic shows an example of a end face transformation:

X, Y, Z Geometry axes

Machine axis; rotary axis

Machine axis; linear axis, perpendicular to rotary axis

Machine axis; linear axis, parallel to rotary axis

ASM

Machine axis; work spindle

Figure 9-4

TRANSMIT

Supplementary conditions

● There must be exactly one rotary axis (the polar axis), with its name in

$NT_ROT_AX_NAME[n,1].

● One to three entries for linear axes are possible in the system parameters

$NT_GEO_AX_NAME[n,i].

Coordinate systems for end face transformations

The workpiece coordinate system and the basic coordinate system are independent of the

world coordinate system in which the kinematic chains are defined.

● The Z axis is parallel to the polar axis (axis CM - see above) and parallel to the longitudinal

axis, if it is defined.

● The geometry axes X, Y and Z are vertical to one another and form a perpendicular

coordinate system in the order 1st, 2nd and 3rd geometry axis.

● If the longitudinal axis ($NT_GEO_AX_NAME[n, 2]) exists, it must always be parallel to the

rotary axis ($NT_ROT_AX_NAME[n, 1]).

Special functions

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9.1 Function description

● If there are two linear axes, they do not have to be orthogonal to one another.

● If there are three linear axes, two axes must be orthogonal to one another. A third axis can

be at an oblique angle to one of the other two axes. There can only be one axis pair in

which the angle of the two axes is not equal to 90°. An oblique axis cannot be positioned

perpendicularly on another axis.

Kinematic chains for end face transformations

The transmit transformation is activated via the system variable $NT_TRAFO_TYPE =

"TRANSMIT_K".

Definition of the linear axes

● The X-axis is defined via the system variable $NT_GEO_AX_NAME[n,0]. This is the linear

axis of the actual TRANSMIT transformation. In the standard scenario, this axis is vertical

on the polar axis (see above).

● An entry in $NT_GEO_AX_NAME[n, 2] is optional. This axis (typically the Z-axis) is the

longitudinal axis. It must be defined parallel to the rotary axis ($NT_ROT_AX_NAME[n, 1]).

● An entry in $NT_GEO_AX_NAME[n, 1] is optional. This axis (typically the Y-axis) stands

vertically on the radial axis ($NT_GEO_AX_NAME[n, 0]) and the polar axis

($NT_ROT_AX_NAME[n, 1]) in the standard scenario.

This axis (the center offset axis) is generally used to compensate a tool offset in the Y

direction so that machining is possible up to the turning center.

Definition of a rotary axis

● The rotary axis is defined via the system variable $NT_ROT_AX_NAME[n,1]. This axis must

always be available. The direction of rotation of the rotary axis is defined via $NT_CNTRL

Bit 11.

● An offset can be defined via system variable $NT_ROT_AX_OFFSET[n, 0] for the active

TRANSMIT transformation.

Defining the order of the axes

Various settings for the transformation are defined using system variable $NT_CNTRL[n]

(Page 357). With the bits 16-18, it is binary coded how the channel axes that are entered in

$NT_ROT_AX_NAME[n, 1], in $NT_GEO_AX_NAME[n. 0] and in $NT_GEO_AX_NAME[n. 2]

are assigned to the geometry axes. The three binary numbers must correspond to the following

decimal numbers:

Decimal

Order of the geometry axes

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9.1 Function description

Behavior when passing through the pole

The behavior when passing through the pole is defined via the system variable

$NT_POLE_SIDE_FIX

VALUE

Meaning

Pole crossing

The tool center point path (linear axis) must cross the pole on a continuous path.

Rotation around the pole.

The tool center point path must be restricted to a positive traversing range of the linear axis

(in front of turning center).

Rotation around the pole.

The tool center point path must be restricted to a negative traversing range of the linear

axis. (behind turning center).

Offset for the base tool

The system variable $NT_BASE_TOOL_COMP (Page 361) can be used to set whether an

offset is entered for the base tool in the transformation frame ($P_TRAFRAME) upon activation

of the transformation for each separate geometry axis. With the offset, the components of the

base tool are compensated in such as way that no change occurs in the component of the

WCS. For this function, $P_TRAFRAME must be configured via the machine data

$MC_MM_SYSTEM_FRAME_MASK bit 6.

The compensation can, for example, be used for a tool carrier, where the dimensions of the

head part of the tool carrier are not part of the tool length.

The separating point between the base tool and the tool can be defined via the system variable

$NT_T_REF_ELEM. If the system variable is blank, then the separating point is defined at the

end point of the tool chain.

Work offset of the rotary axis

In system variable $NT_ROT_OFFSET_FROM_FRAME (Page 353), you set whether the

offset for orientation axes is to be automatically applied. If a value is defined in the system

variable, then the programmed offset is automatically imported upon switch-on from the work

offset that is active for orientation axes:

Importing the rotary axis offset from the work offset upon selection of the transformation:

●

0 = Axial offset of the rotary axis is not taken into account.

●

1 = axial offset of the rotary axis is taken into account.

●

2 = Axial offset of the rotary axis is taken into account up to the SZS. SZS is the settable

zero system. The SZS frames contain transformed rotations around the rotary axis.

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9.1 Function description

Definition of the last element in the kinematic chain

$NT_CNTRL Bit 19 is used to define that the last element of the kinematic chain is a rotary

axis or a constant rotation. The direction vector of the rotary axis defines the Z direction of the

tool coordinate system. If the system variable $NK_A_OFF of this chain element contains a

value not equal to zero, the tool coordinate system is also rotated about the coordinate axis

with this angle.

If $NT_CNTRL Bit 20 is also defined, the sign of the Z direction of the axis for the determination

of the WCS is inverted.

Example program for TRANSMIT

You will find a simple part program using TRANSMIT under Part program for TRANSMIT

(Page 388).

9.1.5

Cylinder surface transformation TRACYL

In this chapter, a description is provided as to how cylinder surface transformations (TRACYL)

are mapped using a kinematic chain and parameterized in the control system using system

variables.

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

data" via SINUMERIK Operate using the commissioning archive.

The machine kinematics are defined using two kinematic chains, see Definition of kinematic

transformations (Page 316).

The following graphic shows an example of a cylinder surface transformation:

;

Figure 9-5

Cylinder surface transformation (TRACYL)

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9.1 Function description

Activating a transformation with TRAFOON

In addition to the name of the transformation, the reference diameter can also be specified for

TRACYL and a setting as to whether the "Slot side offset" function is active is also possible:

TRAFOON (<transformation name>, <diameter>, <k>)

With k = 1, the slot side offset is carried out, see Activating a transformation (TRAFOON)

(Page 373).

Supplementary conditions

● There must be exactly one rotary axis (the polar axis), with its name in

$NT_ROT_AX_NAME[n,1].

● There can be 1 to 3 entries for linear axes in the system parameters

$NT_GEO_AX_NAME[n,i].

Coordinate systems for cylinder surface transformations

The workpiece coordinate system and the basic coordinate system are independent of the

world coordinate system in which the kinematic chains are defined.

● The Z axis is parallel to the polar axis (axis B - see above) and parallel to the longitudinal

axis, if it is defined.

● The geometry axes X, Y and Z are vertical to one another and form a perpendicular

coordinate system in the order 1st, 2nd and 3rd geometry axis.

● If the longitudinal axis ($NT_GEO_AX_NAME[n, 2]) exists, it must always be parallel to the

rotary axis ($NT_ROT_AX_NAME[n, 1]).

● If there are two linear axes, they do not have to be orthogonal to one another.

● If there are three linear axes, two axes must be orthogonal to one another. A third axis can

be at an oblique angle to one of the other two axes. There can only be one axis pair in

which the angle of the two axes is not equal to 90°. An oblique axis cannot be positioned

perpendicularly on another axis.

Kinematic chains for cylinder surface transformations

The cylinder surface transformation is activated via the system variable $NT_TRAFO_TYPE

= "TRACYL_K".

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9.1 Function description

Definition of the linear axes

● The X-axis is defined via the system variable $NT_GEO_AX_NAME[n,0]. This is the linear

axis of the actual TRACYL transformation. In the standard scenario, this axis is vertical on

the rotary axis (see above). The slot depth is set at this axis.

● An entry in $NT_GEO_AX_NAME[n, 1] is optional. This axis (typically the Y-axis) stands

vertically on the radial axis ($NT_GEO_AX_NAME[n, 0]) and the polar axis

($NT_ROT_AX_NAME[n, 1]) in the standard scenario.

This axis is the slot side offset axis. With this axis, the offset at the extent of the machining

cylinder is compensated when the tool radius compensation is active, so that the slot sides

remain perpendicular to the slot base.

● An entry in $NT_GEO_AX_NAME[n, 2] is optional. This axis (typically the Z-axis) is the

longitudinal axis. It must be defined parallel to the rotary axis ($NT_ROT_AX_NAME[n, 1]).

Definition of a rotary axis

● The rotary axis is defined via the system variable $NT_ROT_AX_NAME[n,1]. This axis must

always be available. The direction of rotation of the rotary axis is defined via $NT_CNTRL

Bit 11.

● An offset can be defined via system variable $NT_ROT_AX_OFFSET[n, 0] for the active

TRACYL transformation.

Defining the order of the axes

Various settings for the transformation are defined using system variable $NT_CNTRL[n]

(Page 356). With the bits 16-18 it is binary coded how the channel axes that are entered in

$NT_ROT_AX_NAME[n, 1], $NT_GEO_AX_NAME[n. 0] and $NT_GEO_AX_NAME[n. 2] are

assigned to the geometry axes. The three binary numbers must correspond to the following

decimal numbers:

Decimal

Order of the geometry axes

Slot side offset

In connection with bit 9 = 1, you can set whether TRACYL is operated with or without slot side

offset upon activation of the transformation via TRAFOON. "Slot side active" corresponds to

transformation type 514.

If you are working with slot side offset, $NT_GEO_AX_NAME[n,1] must contain a reference to

a linear axis (slot side offset axis).

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9.1 Function description

The following settings via $NT_CNTRL are possible with bit 9 and bit 10:

Bit 10

Bit 9

Description

TRACYL without slot side offset

TRACYL with slot side offset

TRACYL with the capability of switching between the functions with and without slot side offset

via a transformation parameter upon activation of the transformation (TRAFOON). The slot

side offset is inactive by default.

TRACYL with the capability of switching between the functions with and without slot side offset

via a transformation parameter upon activation of the transformation (TRAFOON). The slot

side offset is active by default.

Work offset of the rotary axis

Setting is done via the system variable $NT_ROT_OFFSET_FROM_FRAME (Page 353). If a

value is defined in the system variable, then the programmed offset is automatically imported

upon switch-on from the work offset that is active for orientation axes:

Importing the rotary axis offset from the work offset upon selection of the transformation:

●

0 = Axial offset of the rotary axis is not taken into account.

●

1 = axial offset of the rotary axis is taken into account.

●

2 = Axial offset of the rotary axis is taken into account up to the SZS. SZS is the settable

zero system. The SZS frames contain transformed rotations around the rotary axis.

Definition of the last element in the kinematic chain

$NT_CNTRL Bit 19 is used to define that the last element of the kinematic chain is a rotary

axis or a constant rotation. The direction vector of the rotary axis defines the Z direction of the

tool coordinate system. If the system variable $NK_A_OFF of this chain element contains a

value not equal to zero, the tool coordinate system is also rotated about the coordinate axis

with this angle.

If $NT_CNTRL Bit 20 is also defined, the sign of the Z direction of the axis for the determination

of the WCS is inverted.

Example program for TRACYL

You will find a simple part program using TRACYL under Part program for TRACYL

(Page 391).

9.1.6

Oblique angle transformation (inclined axis) TRAANG_K

In this chapter, a description is provided as to how an oblique angle transformation

(TRAANG_K) is mapped using a kinematic chain and parameterized in the control system

using system variables.

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

data" via SINUMERIK Operate using the commissioning archive.

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9.1 Function description

*ULQGLQJ ZKHHO

;

:RUNSLHFH

Geometry axis

Machine axis

Angle of inclined axis

Figure 9-6

TRAANG_K example

The oblique angle transformation is a special case of orientation transformation.

The oblique angle transformation is activated using system variable $NT_TRAFO_TYPE =

"TRAANG_K".

Program example for TRAANG

You will find a simple part program using TRAANG under Part program for TRAANG

(Page 394).

9.1.7

Static orientation transformation TRAORI_STAT

Static orientation transformations differ from dynamic orientation transmissions in that it is not

possible to carry out interpolator compensating movements in such a way that the tool tip

adheres to the path programmed in the NC program in the workpiece coordinate system.

However, all of the functions are available for approaching the correct end points, taking the

required compensation movements into consideration.

A static orientation formation makes sense for machines in which the orientation is fixed once

it is set and cannot be changed during the process, for example when rotating on a milling

machine.

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9.1 Function description

The static orientation transformation is defined with the same system variables as a dynamic

orientation transformation, see Dynamic orientation transformation TRAORI_DYN (Page 318)

and Definition of kinematic transformations (Page 316).

Axes for a static orientation transformation

The orientation axes of static orientation transformations can also be spindles or Hirth-coupled

axes. Spindles behave like constant kinematic rotations, i.e. if a position is to be assigned to

them in the kinematic transformation, this must be entered in the associated system

parameters $NK_A_OFF[n].

The type "Static orientation transformation" is activated via the system variable

§NT_TRAFO_TYPE = TRAORI_STAT.

System variables for the definition of the static orientation transformation

The machine kinematics are defined via the kinematic chain, see Definition of kinematic

transformations (Page 316).

The static orientation transformation is defined via the following system variables:

● System variables for general transformation types (Page 337)

● Additive system variable for orientation transformation (Page 362)

Reference

Information on orientable tool carriers via kinematic chains can be found in the "Basic

Functions" Function Manual in section "Tool offset" under "Orientable tool carriers".

9.1.8

Concatenating transformations (TRACON_K)

In transformations with kinematic chains, non-orthogonal axes can be defined via the kinematic

chain. This means that transformations no longer have to be concatenated with TRACON to

map non-orthogonal axes.

Transformation type "TRACON_K" (Page 341) is used in combination with kinematic chains

in order to chain an "Open Architecture (OA)" transformation with one of the standard

transformations. More detailed information is provided in the "Open Architecture (OA)"

documentation.

References:

A detailed description of concatenation of transformations without kinematic chains is given in

Functional Manual "Extended Functions", Section "Kinematic Transformation", under

"Chained transformations".

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9.1 Function description

9.1.9

Effective transformations upon reset

Active transformation upon reset

The kinematic transformation that is in effect during a reset is defined via the machine data

$MC_TRAFO_RESET_NAME.

If no name has been defined for $MC_TRAFO_RESET_NAME,

$MC_TRAFO_RESET_VALUE is active or no transformation is active upon reset. The contents

of this machine data specifies the number of the conventional transformation to be activated.

Conventional transformations are not defined via kinematic chains, but via machine data.

Furthermore, the machine data $MC_RESET_MODE_MASK Bit 7 acts as it does for

conventional transformations. If bit 7 is set, the active transformation is retained after the reset

or the end of the part program.

9.1.10

Persistent transformations

Persistent transformation

A persistent transformation is a transformation which is retained even when another (different)

transformation is switched off with TRAFOOF. This transformation is identical to the

transformation that is in effect during the reset (Page 331).

If a different transformation is selected, the persistent transformation is replaced by the newly

selected transformation. The newly selected transformation is NOT concatenated with the

persistent transformation.

9.1.11

Migration of kinematic transformations

Conventional transformations

Conventional transformations are understood to mean transformations that are defined via

machine data. These transformation definitions remain valid and can be used without

restrictions.

The variant available as of V4.8. SP2 also allows kinematic transformations to be defined via

kinematic chains and system variables.

Managing data only once

For the parallel use of conventional transformations and transformations via kinematic chains,

the problem occurs in which identical machine kinematics may be parameterized with different

NC data, namely, once with machine data and once with data from the system variables of the

kinematic chains and the transformations. As a result, inconsistencies in the data management

can occur.

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9.1 Function description

Activating a transformation

The following functions are available for the activation of kinematic transformations:

● Syntax for transformations via kinematic chains: TRAFOON (Page 373)(<name>)

● Syntax for conventional transformations: TRAORI(...), TRANSMIT(...), TRACYL(...),

TRAANG(...).

Transformations which have been defined via kinematic chains can be called via the syntax

for conventional transformations.

To this end, the transformation that is to be called must be defined via the system variable

$NT_TRAFO_INDEX (Page 339).

The following also applies:

● If a transformation has been defined conventionally and with a kinematic chain, the

transformation is called via a kinematic chain.

● No check is made to determine whether the called transformation is of a type that is

compatible with the transformation type of the original call.

● Call parameters of a conventional transformation call are forwarded to the transformation

defined with kinematic chains.

Restrictions for TRAANG_K

For a conventional TRAANG transformation (transformation of "oblique axis"), the angle of the

oblique axis is defined opposing the corresponding coordinate axis in a perpendicular

coordinate system by means of machine data (24700 $MC_TRAANG_ANGLE_x).

However, this angle can be changed during a transformation call, e.g. TRAANG(<α>), in a

parameter.

Therefore, specifying the angle parameter is only permitted when this angle is identical to the

angle that results from the definition of the kinematic chain.

Orientation transformations

For orientation transformations, which are parameterized with kinematic chains, the content

of the system variable $P_TRAFO is defined for compatibility reasons.

With an active orientation transformation, $P_TRAFO provides the values that would be

contained in the machine data $MC_TRAFO_TYPE_x for the conventional parameterization

of a corresponding transformation, i.e. the value 24 for "tool" kinematics, the value 40 for

"workpiece" kinematics, and either the value 56 or 57 for mixed kinematics.

The value 57 can only occur with 6-axis transformations if the tool chain contains one

orientation axis and the workpiece chain contains two orientation axes.

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9.1 Function description

9.1.12

Frames for kinematic transformations

Frames for the description of kinematic chains

With the system variables $P_TRAFRAME_T or $P_TRAFRAME_P, frames can be read out

which describe the offset and the rotation of a coordinate system secured at the tool reference

point or at the workpiece reference point, compared to the zero point of the world coordinate

system.

The contents of these frame variables can also be read via the BTSS interface.

The zero point of the world coordinate system is the point from which the kinematic chains

(Page 315) are defined for describing the machine kinematics.

9.1.13

Tool lengths

If the portion of the kinematic chain that leads to the tool is part of the tool, then the tool

reference point and the tool reference position that was set via $NT_T_REF_ELEM are no

longer identical.

The following applies to the NC functions, GETTCORR, SETTCORR and LENTOAX, for which

the tool reference point is important:

The portion of the kinematic chain that lies between the tool reference position and the tool

reference point is handled like an orientable tool carrier, which has been defined via machine

data.

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9.2 Commissioning

9.2

Commissioning

9.2.1

General

9.2.1.1

Overview

The startup of the function "Transformations via kinematic chains" is done by means of:

● Machine data

- Specification of the quantity structure

- Specification of the first element in the kinematic chain

● System variables

- Definition of the transformation type

- Specification of the kinematic properties of an element

- Connection of the element to the kinematic chain

9.2.1.2

Structure of the system variables

The system variables are structured according to the following scheme:

● $NT_<Name>[<Index_1>]

● $NT_<Name>[<Index_1>, <Index_2>]

General

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

properties:

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

transformation).

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

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

Data type

STRING

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

● Maximum string length: 31 characters

● No distinction is made between upper and lower case

Example: "Axis1" is identical to "AXIS1"

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9.2 Commissioning

● Spaces and special characters are permitted

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

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

not be used for user-defined names.

Note

Leading space

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

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

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

Index_1

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

index 2 → 2. Element, ... (n+1) → (n+1) element, with n = ($MN_MM_NUM_KIN_TRAFOS - 1)

All system variables of an element have the same index.

Index_2

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

index_2.

●

0 → X axis

●

1 → Y axis

●

2 → Z axis

9.2.2

Machine data

9.2.2.1

Maximum number of transformations with kinematic chains

The maximum number of transformations that can be defined with kinematic chains is set using

the machine data

MD18866 $MN_MM_NUM_KIN_TRAFOS = <number>

9.2.2.2

Name of the reset transformation

The name of a transformation is specified with the machine data that is selected during run-

up/reset or at the end of the part program.

MD20142 $MC_TRAFO_RESET_NAME = <name>

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9.2 Commissioning

9.2.2.3

Activation limit of the real-time dynamic monitoring (linear axes)

The activation limit of the real-time dynamic monitoring for linear axes is specified with the

machine data. Real-time dynamic limiting is activated when the deviation at a linear axis

participating in the transformation or the effective tool length for an orientation transformation

deviates by more than the defined limit.

MD21198 $MC_ORI_TRAFO_ONLINE_- CHECK_LIM = <value>

9.2.2.4

Activation limit of real-time dynamic monitoring (rotary axes)

The activation limit of real-time dynamic monitoring for rotary axes is specified with the machine

data. Real-time dynamic limiting is activated when the deviation at a linear axis participating

in the transformation or the effective tool length for an orientation transformation deviates by

more than the defined limit.

MD21198 $MC_ORI_TRAFO_ONLINE_- CHECK_LIMR = <value>

9.2.2.5

Correction value for offset vectors for CORRTRAFO

The maximum permitted correction value for offset vectors for CORRTRAFO is parameterized

with the setting data.

SD41610 $SN_CORR_TRAFO_LIN_MAX = <value>

9.2.2.6

Angular deviation for rotation vectors for CORRTRAFO

The maximum permitted angular deviations for rotation vectors for CORRTRAFO is

parameterized with the setting data.

SD41611 $SN_CORR_TRAFO_DIR_MAX = <name>

9.2.3

Use of system variables for kinematic transformations

Usage table

The following table shows which $NT data is relevant for the individual types of transformations.

Variable

BTSS (column

TRAORI_ST

TRAORI_DY

TRANS-

TRAC-

TRAANG

ind.)

MIT_K

YL_K

$NT_NAME[n]

1,200

$NT_TRAFO_INDEX[n]

1295

$NT_TRAFO_TYPE[n]

1201-1203

$NT_T_CHAIN_LAST_ELEM[n]

1204

$NT_P_CHAIN_LAST_ELEM[n]

1207

$NT_T_CHAIN_FIRST_ELEM[n]

1203

$NT_P_CHAIN_FIRST_ELEM[n]

1,206

$NT_T_REF_ELEM[n]

1208

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Variable

BTSS (column

TRAORI_ST

TRAORI_DY

TRANS-

TRAC-

TRAANG

ind.)

MIT_K

YL_K

$NT_GEO_AX_NAME[n,0..2]

1210-1222

0,1,2

$NT_ROT_AX_NAME[n,0..2]

1220-1222

0,1,2

$NT_CLOSE_CHAIN_T[n]

1226

$NT_BASE_ORIENT[n,0..2]

1280-1285

$NT_BASE_ORIENT_NORMAL[n,

1283-1285

0..2]

$NT_ROT_OFF-

1288

SET_FROM_FRAME[n]

$NT_POLE_LIMIT[n]

1286

$NT_POLE_TOL[n]

1,287

$NT_IGNORE_TOOL_ORIENT[n]

1,289

$NT_ROT_AX_POS[n]

1230-1232

$NT_CORR_ELEM_T[n, 0..3]

1235-1238

$NT_CORR_ELEM_P[n, 0..3]

1320-1323

$NT_TRAFO_IN-

1290

CLUDES_TOOL[n]

$NT_POLE_SIDE_FIX[n]

1291

$NT_CNTRL[n]

1294

$NT_AUX_POS[n,0..2]

1300-1302

$NT_IDENT[n, 0..2]

1310-1312

$NT_ROT_AX_CNT[n, 0..1]

1316-1317

$NT_BASE_TOOL_COMP

1396

$NT_ROT_AX_OFFSET[n, 0

1324-1326

"x" affects the transformation.

"-" has no effect on the transformation

"~" has no effect on the transformation in the NCK, but can be properly used for purposes outside of NC.

"Numbers" permitted axis indices (0 to 2)

"Column index"; column index of the variables in the operator panel interface in block N_PA (0x35).

9.2.4

System variables for general transformation types

9.2.4.1

Overview

System variable

Meaning

$NT_NAME

Name of the transformation dataset

$NT_TRAFO_INDEX

Identifier for alternative transformation activation

$NT_TRAFO_TYPE

Transformation type

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System variable

Meaning

$NT_T_CHAIN_LAST_ELEM

Name of the last element of the tool chain

$NT_P_CHAIN_LAST_ELEM

Name of the last element of the workpiece chain

$NT_T_CHAIN_FIRST_ELEM

Name of the first element in the tool chain

$NT_P_CHAIN_FIRST_ELEM

Name of the first element of the workpiece chain

$NT_T_REF_ELEM

Name of the reference element for tool length

$NT_GEO_AX_NAME

Names of the elements of the geometry axes

$NT_ROT_AX_NAME

Names of the elements of the orientation axes

$NT_CLOSE_CHAIN_P

Reference element for closing the kinematic chain to the tool

$NT_CLOSE_CHAIN_T

Reference element for closing the kinematic chain to the work-

piece.

$NT_ROT_OFF-

Importing the rotary axis offset from the work offset upon selection

SET_FROM_FRAME

of the transformation:

$NT_TRAFO_INCLUDES_TOOL

Defines whether the tool length is handled in the transformation

or - if the transformation permits it - outside of the transformation.

$NT_AUX_POS

Auxiliary position for cycles, e.g. retraction position

Note Has no meaning for the transformation

$NT_IDENT

Identification number for user-specific program management

Note Has no meaning for the transformation

$NT_CORR_ELEM_T

Names of a maximum of four correction elements in the kinematic

chain for the tool

$NT_CORR_ELEM_P

Names of a maximum of four correction elements in the kinematic

chain for the workpiece

$NT_CNTRL

Control word

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

Note

Element names

The system does not monitor as to whether the element names of the kinematic chain, which

are referenced to parameterize transformation, were allocated a multiple number of times. If

names such as these are available a multiple number of times, then the system data of the

transformation always refer to the corresponding element with the lowest index.

Establish a defined initial state

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

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

value using function DELOBJ() (Page 215).

Change system variable values

A change to system variable values of the transformation data $NT_... only become effective

when the NEWCONF machine data becomes effective. This can be done using the softkey

on the user interface in the operating area "Commissioning" > "Machine data " > "Set MD

active", in a program using the NEWCONF command or using a program end reset, channel

reset or a warm or cold restart.

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9.2 Commissioning

9.2.4.2

$NT_NAME

Function

The NC-wide unique name of the transformation dataset or transformation must be entered in

the system variable. The transformation is referenced via this name, e.g. upon activation with

TRAFOON. If the zero string ("") is entered as the name, the transformation is considered to

be undefined.

Syntax

$NT_NAME[<n>] = "<Name>"

Meaning

$NT_NAME:

Name of the transformation

Data type:

STRING

Default value:

"" (empty string)

<n>:

System variable or transformation index

Data type:

INT

Range of values:

1, 2, ... (MD18866 $MN_MM_NUM_KIN_TRAFOS - 1)

<name>:

Transformation name, max. string length: 31 characters

Data type:

STRING

Example

The name "5-axis transformation C-B" is assigned to the first transformation with kinematic

chains:

Program code

Comment

N100 $NT_NAME[1] = "5-axis transformation

; 1st transformation,

C-B"

; name = "5-axis transformation C-B"

9.2.4.3

$NT_TRAFO_INDEX

Function

To ensure that a transformation can also be called via the corresponding conventional

command, e.g. the orientation transformation via TRAORI, an NC-wide, unique identifier must

be entered in the system variable. The identifier identifies a transformation with kinematic

chains by means of the transformation type, transformation number and channel number to

which a transformation that is called conventionally with this identifier is diverted

(TRAORI(<identifier>, ...)). The identifier is decimally coded.

Special functions

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339

K12 transformation definitions with kinematic chains

9.2 Commissioning

Syntax

$NT_TRAFO_INDEX[<n>] = <Id>

Meaning

$NT_TRAFO_INDEX:

Identifier, decimally coded (CCBBA)

Data type:

INT

Default value:

Decimal place

Meaning

Ones digit (xxxxA)

Transformation type

The type of the transformation that is parameterized in this dataset:

Value

Meaning

TRAORI

TRANSMIT

TRACYL

TRAANG

TRACON

Value range:

1, 2, 3, 4, 5

$NT_TRAFO_INDEX:

Tens and hundreds

Transformation number

digits (xxBBx)

(continued)

The number <n>, which references the nth channel-specific machine dataset

of this type (MD24100ff or MD25100ff) for a conventional call of a transfor-

mation type, e.g. orientation transformation TRAORI(<n>). The number can

be specified for a conventional call of the first transformation of a type

(e.g. TRAORI, TRAORI(), TRAORI(0), TRAORI(1)). All of the calls refer-

ence the 1st dataset of the transformation type in the channel. The number

must be specified after the call of the second transformation of a type

(e.g. TRAORI(2)).

Value range:

1, 2, 3, ... max. dataset number of the transformation

type

$NT_TRAFO_INDEX:

Thousands and ten-

Channel number

thousands digit

(continued)

The channel number defines which channel the current dataset is valid for.

(CCxxx)

If the conventional transformation call of an orientation transformation

TRAORI takes place, for example, in the second channel, a transformation

with kinematic chains must be parameterized with a channel number equal

to 2.

Value range:

0, 1, 2, 3, ... max. number of channels, 99

●

0 and 1: valid for channel 1

●

2, 3, ...: valid for channel 2, 3, ...

●

99: valid for all channels

<n>:

System variable or transformation index

Data type:

INT

Value range:

1, 2, ... (MD18866 $MN_MM_NUM_KIN_TRAFOS - 1)

<Id>:

Identifier

Data type:

INT

Special functions

340

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SINUMERIK 840D sl. Service - Functions. Manual (2018-2020) - page 65