Content      ..     65      66      67      68     ..

SINUMERIK 840D sl. Service - Functions. Manual (2018-2020) - page 67

M3: Coupled axes

10.2 Curve tables - 840D sl only

Overwriting curve tables

Curve tables that are not active in a master value coupling and are locked with CTABLOCK()

may be overwritten.

Deleting curve tables

Curve tables that are not active in a master value coupling and are locked with CTABLOCK()

may be overwritten.

10.2.4

Commissioning

10.2.4.1

Memory configuration

A defined storage space is available for the curve tables in the static and dynamic NC memory,

which is defined through the following machine data:

Static NC memory

MD18400 $MN_MM_NUM_CURVE_TABS

Defines the number of curve tables that can be stored in the

static NC memory.

MD18402 $MN_MM_NUM_CURVE_SEGMENTS

Defines the number of curve table segments that can be stored

in the static NC memory.

MD18403 $MN_MM_NUM_CURVE_SEG_LIN

Defines the maximum number of linear segments in the static

NC memory.

MD18404 $MN_MM_NUM_CURVE_POLYNOMS

Defines the number of curve table polynomes that can be stored

in the static NC memory.

Dynamic NC memory

MD18406 $MN_MM_NUM_CURVE_TABS_DRAM

Defines the number of curve tables that can be stored in the

dynamic NC memory.

MD18408 $MN_MM_NUM_CURVE_SEGNENTS_DRAM

Defines the number of curve table segments that can be stored

in the dynamic NC memory.

MD18409 $MN_MM_NUM_CURVE_SEG_LIN_DRAM

Defines the maximum number of linear segments in the dynam-

ic NC memory.

MD18410 $MN_MM_NUM_CURVE_POLYNOMS_DRAM

Defines the number of curve table polynomes that can be stored

in the dynamic NC memory.

Note

A curve table with linear segments can be stored efficiently in the memory only if:

MD18403 > 0 or MD18409 > 0

If no memory areas are created with this machine data, then the linear segments are stored

as polynomial segments.

Special functions

Function Manual, 12/2018, A5E40874099B AB

411

M3: Coupled axes

10.2 Curve tables - 840D sl only

10.2.4.2

Tool radius compensation

MD20900

Tool radius compensation can produce segments for which the following axis or leading axis

have no movement. A missing movement of the following axis does not normally represent

any problem. As against this, a missing movement of the leading axis requests a specification

as to how such discontinuities are to be handled, i.e., whether or not a curve table should be

generated in these cases. This specification is done in the machine data settings:

MD20900 $MC_CTAB_ENABLE_NO_LEADMOTION (curve tables with discontinuity of the

following axis)

Value

Description

0

No curve tables that contain a discontinuity in the following axis are produced. Alarm 10949

is output and program processing is aborted.

1

Curve tables with a discontinuity in the following axis can be generated. If a segment contains

a discontinuity in the following axis, Alarm 10955 is output but program processing is continued.

2

Curve tables with a discontinuity in the following axis can be created without an alarm being

output.

Note

In the case of a curve table that contains segments without leading axis movement (this means

that the following axis jumps at this point), the following axis can only make a jump within its

dynamic limits (max. velocity and max. acceleration). This means that there is always a

deviation from the programmed curve.

10.2.4.3

Specification of memory type

MD20905

If there is no memory specification while defining or deleting a curve table, the memory type

can be determined through the following machine data:

MD20905 $MC_CTAB_DEFAULT_MEMORY_TYPE (default memory type for curve tables)

Value

Description

0

Curve tabels are normally created in the static NC memory.

1

Curve tabels are normally created in the dynamic NC memory.

Special functions

412

Function Manual, 12/2018, A5E40874099B AB

M3: Coupled axes

10.2 Curve tables - 840D sl only

Identifying the segment associated with master value X

Example of reading the segment starting and end values for determining the curve segment

associated with master value X = 30 using CTABSSV and CTABSEV:

Program code

Comment

N10 DEF REAL STARTPOS

; Beginning of the definition for the

start position of the curve table

N20 DEF REAL ENDPOS

N30 DEF REAL GRADIENT

N100 CTABDEF(Y,X,1,0)

; Start of table definition

N110 X0 Y0

; Start position, 1st table segment

N120 X20 Y10

; End position, 1st table segment =

; Start position 2nd table segment

N130 X40 Y40

N140 X60 Y10

; 3. Curve segment

N150 X80 Y0

; 4. Curve segment

N160 CTABEND

; End of table definition

N200 STARTPOS=CTABSSV(30.0,1,GRADIENT)

; Start position Y in segment 2 = 10.

N210 ENDPOS=

; End position Y in segment 2 = 40

CTABSEV(30.0,1,GRADIENT)

; Segment 2 belongs to LW X = 30.0

<

(QG

1

1

1

1

6WDUW

;

;

Figure 10-2

Determining the curve segment associated with master value X = 30

Reading values at start and end

The values of the following axes and of the master axis at the start and end of a curve table

can be read with the following calls:

R10 =CTABTSV(n, degrees, F axis), following value at the beginning of the curve table

R10 =CTABTEV(n, degrees, F axis), following value at the beginning of the curve table

R10 =CTABTSP(n, degrees, F axis), following value at the beginning of the curve table

Special functions

Function Manual, 12/2018, A5E40874099B AB

421

M3: Coupled axes

10.2 Curve tables - 840D sl only

<

0D[LPXP

YDOXH

1

1

1

(QG

1

YDOXH

6WDUWLQJ

YDOXH

0LQLPXP

YDOXH

;

Figure 10-3

Determining the minimum and maximum values of the table

10.2.7

Activation/deactivation

Activation

The coupling of real axes to a curve table is activated through this command:

LEADON (<Following axis>, <Leading axis>, <n>)

with <n> =Number of the curve table

Activation is possible:

● In the part program

● in the definition of a synchronous action

Example:

N1000 LEADON(A,X,3)

; Axis A follows the master value X according to the rule

of motions defined in Curve Table No. 3

Deactivation

The switch off of the coupling to a curve table takes place through the following command:

LEADON (<Following axis>, <Leading axis>)

Special functions

Function Manual, 12/2018, A5E40874099B AB

423

M3: Coupled axes

10.2 Curve tables - 840D sl only

%_N_TAB_1_NOTPERI_MPF

N21 PO[X]=(147.754,-0.116,0.103) PO[Y]=(3.359,-0.188,0.277)

N22 PO[X]=(174.441,0.578,-0.206) PO[Y]=(0.123,1.925,0.188)

N23 PO[X]=(185.598,-0.007,0.005) PO[Y]=(-0.123,0.430,-0.287)

N24 PO[X]=(212.285,0.040,-0.206) PO[Y]=(-3.362,-2.491,0.190)

N25 PO[X]=(227.395,-0.193,0.103) PO[Y]=(-6.818,-0.641,0.276)

N26 PO[X]=(254.098,0.355,-0.053) PO[Y]=(-11.710,0.573,0.723)

N26 PO[X]=(254.098,0.355,-0.053) PO[Y]=(-11.710,0.573,0.723)

N27 PO[X]=(310.324,0.852,-0.937) PO[Y]=(-7.454,11.975,-1.720)

N28 PO[X]=(328.299,-0.209,0.169) PO[Y]=(-3.197,0.726,-0.643)

N29 PO[X]=(360.031,0.885,-0.413) PO[Y]=(0.000,-3.588,0.403)

CTABEND

N30 M30

Definition of a periodic curve table

Table No: 2

Master value range: 0 - 360

The following axis traverses from N70 to N90, a movement from 0 to 45 and back to 0.

N10 DEF REAL DEPPOS

N20 DEF REAL GRADIENT

N30 CTABDEF(Y,X,2,1)

N40 G1 X=0 Y=0

N50 POLY

N60 PO[X]=(45.0)

N70 PO[X]=(90.0) PO[Y]=(45.0,135.0,-90)

N80 PO[X]=(270.0)

N90 PO[X]=(315.0) PO[Y]=(0.0,-135.0,90)

N100 PO[X]=(360.0)

N110 CTABEND

N130 G1 F1000 X0

; Testing the curve by coupling Y to X

N140 LEADON(Y,X,2)

N150 X360

N160 X0

N170 LEADOF(Y,X)

N180 DEPPOS = CTAB(75.0,2,GRADIENT)

; Reading the table position at master

value 75.0 from the curve table with

Table No. 2

N190 G0 X75 Y=DEPPOS

; Positions of leading and following

axis

N200 LEADON(Y,X,2)

; No synchronization of the following

axis is required after the coupling

is activated

N210 G1 X110 F1000

N220 LEADOF(Y,X)

Special functions

430

Function Manual, 12/2018, A5E40874099B AB

M3: Coupled axes

10.3 Master value coupling - 840D sl only

6'

6$B/($'B6&$/(B,1B326>)$@

6'

6$B/($'B6&$/(B287B326>)$@

7KH LQSXW YDOXH LV PXOWLSOLHG

7KH RXWSXW YDOXH LV PXOWLSOLHG 6HWWLQJ GDWD LV

HIIHFWLYH RXWVLGH RI WKH WDEOH GHILQLWLRQ DOVR LQ

WKH QHJDWLYH GLUHFWLRQ

)$

PP

PP

)$

PP

PP

/$

/$

PP

PP

PP

PP

PP

PP

7DEOH GHILQLWLRQ IRU H[DPSOH

PP

&7$%'() )$ /$ &7$%15

/$

)$

/$

)$

&7$%(1'

PP

:LWK ,1 6&$/( LV QRW DFWLYH

RXWVLGH 7$%

:LWK 287 6&$/( LV DFWLYH RXWVLGH 7$%

Figure 10-4

Master value coupling offset and scaling (multiplied)

6'

B 6$B/($'B2))6(7B,1B326>)$@

6'

6$B/($'B2))6(7B287B326>)$@

7KH FDOFXODWHG SRVLWLRQ RI WKH IROORZLQJ D[LV LV

7KH FDOFXODWHG SRVLWLRQ RI WKH IROORZLQJ D[LV LV

RIIVHW ZLWK WKH VSHFLILHG LQFUHPHQWV

RIIVHW ZLWK WKH VSHFLILHG LQFUHPHQWV ,I WKH 7$% LV

PRYHG RXWVLGH RI WKH )$ /($'21 SRVLWLRQ .23

FDQQRW EH VZLWFKHG RQ 6HWWLQJ GDWD LV HIIHFWLYH

RXWVLGH RI WKH WDEOH GHILQLWLRQ DOVR LQ WKH

QHJDWLYH GLUHFWLRQ

)$

PP

PP

PP

)$

PP

PP

PP

PP

QHZ /$

ZLWK ಱ

ಯ

/$

/$

PP

PP

PP

PP

PP

PP

PP

PP

:LWK ,1 2))6(7 LV QRW DFWLYH RXWVLGH 7$%

:LWK 287 2))6(7 DFWLYH RXWVLGH 7$%

Figure 10-5

Master value coupling offset and scaling (with increment offset)

Special functions

Function Manual, 12/2018, A5E40874099B AB

433

M3: Coupled axes

10.3 Master value coupling - 840D sl only

Boundary conditions:

● No reference point is required to activate the coupling.

● A defined following axis cannot be traversed in the JOG mode (not even if the "Synchronized

run fine" or. "synchronized run coarse" interface signal is not there).

● An activated coupling must first be deactivated with LEADOF before it can be activated again

with LEADON. The settings in the following machine data are to be considered in this

connection:

MD20112 MC_START_MODE_MASK (definition of initial control system settings with NC-

START)

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

End)

&283/,1* 21 DQG V\QFKURQRXV ZLWK )$ SRVLWLRQ

/HDGLQJ D[LV

/HDGLQJ D[LV

7UDYHUVLQJ GLUHFWLRQ

7UDYHUVLQJ GLUHFWLRQ

&283/,1* 21

&283/,1* 21

)ROORZLQJ D[LV

)ROORZLQJ D[LV

.23 LV RQO\ VZLWFKHG RQ ZKHQ WKH /$ LV

.23 LV RQO\ VZLWFKHG RQ ZKHQ WKH /$ LV

ZLWKLQ WKH WDEOH UDQJH RI WKH )$

ZLWKLQ WKH WDEOH UDQJH RI WKH )$

2YHUOD\LQJ DIWHU &283/,1* 21 ZLWK KDQGZKHHO '5)

/HDGLQJ D[LV

,Q WKH FRXSOHG VWDWH WKH IROORZLQJ D[LV FDQ EH

RYHUODLG ZLWK %$ $872 '5)

2YHUULGH

)ROORZLQJ D[LV

Figure 10-6

Activating master value coupling

Switch off

An axis master value coupling is deactivated with the model language command LEADOF.

When the axis master value coupling is deactivated, the following axis becomes the command

axis and a stop command is generated implicitly for the following axis. The stop command can

be overwritten by another command with a synchronous action.

Syntax:

LEADON(<FA>,<LA>)

Special functions

436

Function Manual, 12/2018, A5E40874099B AB

M3: Coupled axes

10.3 Master value coupling - 840D sl only

Meaning:

<FA>

Following axis as geometry-, channel- or machine axis name (X, Y, Z,...)

<LA>

Leading axis as geometry-, channel- or machine axis name (X, Y, Z,...)

Software axis is also possible:

MD30130 $MA_CTRLOUT_TYPE=0 (setpoint output type)

Example:

Program code

Comment

LEADOF(Y,X,1)

; Switching off of master value coupling between the leading

axis X and the following axis Y.

Note

Activating / deactivating the axis master value coupling with LEADON / LEADOF is permissible

both in the part program and in synchronous actions.

References:

Function Manual, Synchronized Actions

Coupling type

The coupling type is defined by the following axis-specific setting data:

SD43100 $SA_LEAD_TYPE[<LA>] (type of master value)

<LA>: Leading axis as geometry axis name, channel axis name or machine axis name (X, Y,

Z,...)

Value

Meaning

0

Actual value coupling (this type of coupling must be used for external leading axes)

1

Setpoint coupling (default setting)

2

Simulated master value (note virtual axis, not evaluated for FA)

Switch-over between actual and setpoint value coupling is possible at any time (preferably in

the idle phase).

Special functions

Function Manual, 12/2018, A5E40874099B AB

437

M3: Coupled axes

10.3 Master value coupling - 840D sl only

System variables of the master value

The following master value system variables can only be read from part program and from

synchronous actions:

System variable

Meaning

$AA_LEAD_V[ax]

Velocity of the leading axis

$AA_LEAD_P[ax]

Position of the leading axis

$AA_LEAD_P_TURN

Master value position

Portion that is deducted during modulo reaction.

The actual (not modulo-reduced) position of the leading axis is:

$AA_LEAD_P_TURN + $AA_LEAD_P

The speeds and positions of simulated master values (when $SA_LEAD_TYPE[ax]=2) can be

written in and read from the part program and synchronous actions.

System variable

Meaning

$AA_LEAD_SV[ax]

Simulated master value velocity per IPO cycle

$AA_LEAD_SP[ax]

Simulated position in MCS

System variables of the following axis

For the following axis, the following system variables can be read in the part program and

synchronized action:

System variable

Meaning

$AA_SYNC[ax]

Condition of the coupling between following and leading axes

Value

Meaning

0

not synchronized

1

"Coarse synchronous operation" ¹⁾

2

"Fine synchronous operation" ²⁾

3

"Coarse synchronous operation" ¹⁾ AND "Fine synchronous opera-

2)

tion"

Corresponds to:

1)

● MD37200 $MA_COUPLE_POS_TOL_COARSE

● DB31, ... DBX98.1 (coarse synchronous operation)

2)

● MD37210 $MA_COUPLE_POS_TOL_FINE

● DB31, ... DBX98.0 (fine synchronous operation)

$AA_IN_SYNC[ax]

Condition of the synchronization between following and leading axes

Value

Meaning

0

Synchronization not started or ended.

1

Synchronization is running, i. e., the following axis is synchronized.

$AA_IN_SYNC[ax] corresponds to the NC/PLC interface signal:

DB31, ... DBX99.4 (synchronization running)

Special functions

438

Function Manual, 12/2018, A5E40874099B AB

M3: Coupled axes

10.4 Electronic gear (EG)

EG cascading

The following axis of an EG can be the leading axis of another EG. For a sample configuration

file, see Chapter "Examples".

/$

=

1

/$

&DVFDGLQJ DOVR SRVVLEOH

=

1

/$.

=1

/$

/$.

=

=1

1

/$.

=1

/$.

/$

=1

=

/$.

1

ಯ6RIWZDUHರ D[LV

=1

/$

=

1

Figure 10-7

Block diagram of an electronic gearbox

Synchronous positions

To start up the EG axis group, an approach to defined positions for the following axis can first

be requested.

Synchronous positions are specified with:

EGONSYN (see below for details)

EGONSYNE (extended EGONSYN call).

Synchronization

If a gear is started with EGON(), EGONSYN() or EGONSYNE() see below, the actual position

of the following axis is only identical to the setpoint position defined by the rule of motion of

the gear specified by the positions of the leading axes at this time if the part program developer

makes sure that it is. The control then uses the motion of the following axis to ensure that the

setpoint and actual positions of the following axes correspond as quickly as possible if the

leading axes are moved further. This procedure is called synchronization. After synchronization

of the following axis, the term synchronous gearing is used.

Special functions

446

Function Manual, 12/2018, A5E40874099B AB

M3: Coupled axes

10.4 Electronic gear (EG)

Difference < .. TOL_COARSE

As long as the synchronism difference is smaller than the following machine data, IS "Coarse

synchronism" DB 31, ... DBX 98.1 is at the interface and IS "Fine synchronism" DB31, ...

DBX99.4 is deleted:

MD37200 $MN_COUPLE_POS_TOL_COARSE

Difference > .. TOL_FINE

If the synchronism difference is smaller than the following machine data, then NST

"synchronous traverse fine" DB31, ... DBX98.0 is at the interface:

MD37210 $MA COUPLE_POS_TOL_FINE

Synchronism difference for EG cascades

Synchronism difference for EG cascades is the deviation of the actual position of the following

axis from setpoint position that results fro the rule of motion for the real axes involved.

Example:

/$

/$

)$

(*

)$

(*

)$

(*

/$

/$

)$L ൺ )ROORZLQJ D[LV IURP (*L

/$L ൺ UHDO OHDGLQJ D[LV

Figure 10-8

Three-level EG cascade

According to the definition given, the synchronism difference of following axis FA3 in the

example below is determined by the value of following axis FA3_Act and the value of leading

axis FA2_Act and LA2_Act, but not by LA1_Act and FA1_Act.

If FA2 is not a real axis, the actual value FA2_Act is not available. In this case, the setpoint of

the axis derived solely from the leading axis value FA1_Act must be used instead of the actual

value of the setpoint of the axis.

Other signals

If an EGON(), EGONSYN() or EGONSYNE() block is encountered in the main run, the signal

"Coupling active" is set for the following axis. If the following axis is only overlaid, the signals

"Coupling active" and "Axis override" are set. If EGON(), EGONSYN() or EGONSYNE() is

active and the following axis is also overlaid, the signals "Coupling active" and "Axis override"

are also set.

IS "following spindle active" DB31, ... DBX 99.1: Coupling active,

IS "overlaid movement" DB31, ... DBX98.4: axis is overlaid,

Special functions

Function Manual, 12/2018, A5E40874099B AB

449

M3: Coupled axes

10.4 Electronic gear (EG)

Approach response with FA at standstill

In this case, the time-optimized and path-optimized traversing modes are identical.

The table below shows the target positions and traversed paths with direction marker (in

brackets) for the particular approach modes:

Programmed

Position of the fol-

Traversing

Traversing mode

Traversing mode

Traversing mode

synchronized posi-

lowing axis before

mode NTGT/

DCT/DCP

ACP

ACN

tion FaSysPos

EGONSYNE

NTGP

110

150

182 (+32)

110 (-40)

110 (+320)

110 (-40)

110

350

326 (-24)

110 (+120)

110 (+120)

110 (-240)

130

0

346 (-14)

130 (+130)

130 (+130)

130 (-230)

130

30

58 (+28)

130 (+100)

130 (+100)

130 (-260)

130

190

202 (+12)

130 (-60)

130 (+300)

130 (-60)

190

0

334 (-26)

190 (-170)

190 (+190)

190 (-170)

230

0

14 (+14)

230 (-130)

230 (+230)

230 (-130)

Approach response for moving FA

The following axis moves at almost maximum velocity in the positive direction when the

coupling is activated by EGONSYNE. The programmed synchronized position of the following

axis is 110, the current position 150. This produces the two alternative synchronized positions

110 and 182 (see table above).

In the case of traversing mode NTGP (path-optimized), synchronized position 182 is selected

independent of the current velocity. This has the shortest distance from the current position of

the following axis. Traversing mode NTGT (time-optimized) considers the current speed of the

following axis and produces a deceleration on account of the limit for the maximum axis speed

to reach synchronism in the shortest possible time (see Figure).

Y

17*3

Y_PD[

17*7

W

Figure 10-9

Reaching the next tooth gap, FA path-optimized (top) vs. time-optimized (bottom)

Special functions

Function Manual, 12/2018, A5E40874099B AB

455

M3: Coupled axes

10.4 Electronic gear (EG)

10.4.7

Interaction between rotation feedrate (G95) and electronic gearbox

The FPR( ) part program command can be used to specify the following axis of an electronic

gear as the axis, which determines the rotational feedrate. The following behavior is applicable

in this case:

● The feedrate is determined by the setpoint velocity of the following axis of the electronic

gear.

● The setpoint velocity is calculated from the speeds of the leading spindles and modulo axes

(which are not path axes) and from their associated coupling factors.

● Velocity components from other leading axes and overlaid motions of the following axis are

not taken into account.

References: /V1/, Feeds

10.4.8

Response to POWER ON, RESET, operating mode change, block search

Function

Behavior regarding electronic gearbox

Coupling state

Configuration

Mode change

Is retained

Is retained

End of part program

Is retained

Is retained

Reset

Is retained

Is retained

Power On ¹⁾

Is not retained

Is not retained

1) No coupling is active after Power On.

Block search

A search while a coupling is active (EG) is possible under the following supplementary

conditions:

● Simulation is exclusively with setpoint coupling.

● No cross-channel leading axes may be disabled.

● Axis movements for which all real positions are known to the NC.

If it is technically not sensible or not possible to permit the target block for a block search with

calculation or SERUPRO within a part program section with active coupling, this section can

be locked for "continue machining at the contour".

Programming

● IPTRLOCK()

● IPTRUNLOCK()

References

(K1) Mode group, channel, program operation, reset response , Section "Block search type 5

SERUPRO" > "Lock program section for continue machining at the contour"

Special functions

458

Function Manual, 12/2018, A5E40874099B AB

M3: Coupled axes

10.4 Electronic gear (EG)

10.4.9

System variables for electronic gearbox

Application

The following system variables can be used in the part program to scan the current states of

an EG axis group and to initiate appropriate reactions if necessary:

Table 10-1

System variables, R means: Read access possible

Name

Type

Access

Preprocessing

Meaning, value

Cond. Index

stop

part

Sync

part pro-

Sync

pro-

act.

gram

act.

gram

$AA_EG_

INT

R

R

Type of coupling:

Axis name

TYPE[a,b]

0: actual value

a: Following axis

1: Setpoint value coupling

b: Leading axis

$AA_EG_

REAL

R

R

Numerator of coupl. factor

Axis name

NUMERA[a,b]

KF

a: Following axis

KF = numerator/denomina-

b: Leading axis

tor

preset: 0

Number of curve table

when $AA_EG_DE-

NOM[a,b] is 0.

$AA_EG_

REAL

R

R

Denominator of coupl. fact.

Axis name

DENOM[a,b]

KF

a: Following axis

KF = numerator/denomina-

b: Leading axis

tor

preset: 1

Denominator must be posi-

tive.

Denominator is 0, if instead

of the numerator

$AA_EG_NUMERA[a,b]

the number of a curve table

is specified.

$AA_EG_

REAL

R

R

Synchronized position for

Axis name

SYN[a,b]

specified leading axis

a: Following axis

Default: 0

b: Leading axis

$AA_EG_

REAL

R

R

Synchronized position for

Axis name

SYNFA[a]

specified following axis

a: Following axis

Default: 0

Special functions

Function Manual, 12/2018, A5E40874099B AB

459

M3: Coupled axes

10.4 Electronic gear (EG)

Name

Type

Access

Preprocessing

Meaning, value

Cond. Index

stop

part

Sync

part pro-

Sync

pro-

act.

gram

act.

gram

$P_EG_BC[a]

STRING

R

R

Block change criterion for

Axis name

EG activation calls: EGON,

a: Following axis

EGONSYN:

"NOC": immediately

"FINE": Synchronoous tra-

verse fine

"COARSE": Synchronous

traverse coarse

"IPOSTOP": Setpoint-

based synchronism

$AA_EG_

INT

R

R

Number of leading axes de-

Axis name

NUM_LA[a]

fined with EGDEF. 0 if no

a: Following axis

axis has been defined as a

following axis with EGDEF.

$AA_EG_

AXIS

R

R

Axis name of leading axis

Axis name

AX[n,a]

whose index n has been

n: Index of leading axis in

specified.

the EG coupling 0 ... 4

a: Following axis

$AA_EG_

BOOL

R

R

Determine power-on state

Axis name

ACTIVE[a,b]

of a leading axis:

a: Following axis

0: Switched off

b: Leading axis

1: activated

$VA_EG_

REAL

R

R

R

Actual value of synchron-

Axis name

SYNCDIFF[a]

ism difference. A compari-

a: Following axis

son of machine data

MD37200 $MA_COU-

PLE_POS_TOL_COARSE

and MD37210 $MA_COU-

PLE_POS_TOL_FINE pro-

duces interface signals.

10.4.10

Examples

10.4.10.1

Example using linear couplings

Use of axes

The following diagram shows the configuration of a typical gear hobbing machine. The machine

comprises five numerically closed loop controlled axes and an open loop controlled main

spindle. These are:

● The rotary motion of the workpiece table (C) and hobbing cutter (B).

● The axial axis (Z) for producing the feed motion over the entire workpiece width.

● The tangential axis (Y) for moving the hobbing cutter along its axis.

Special functions

460

Function Manual, 12/2018, A5E40874099B AB

M3: Coupled axes

10.4 Electronic gear (EG)

● The radial axis (X) for infeeding the cutter to depth of tooth.

● The cutter swivel axis (A) for setting the hobbing cutter in relation to the workpiece as a

function of cutter lead angle and angle of inclination of tooth.

$

=

<

%

;

&

; 5DGLDO D[LV

< 7DQJHQWLDO D[LV PDVWHU GULYH

< 7DQJHQWLDO D[LV PDVWHU GULYH

$ 0LOOLQJ VZLYHO D[LV

& :RUNSLHFH URWDWLRQDO D[LV IROORZLQJ GULYH

% 0LOOLQJ URWDWLRQDO D[LV 0DLQ VSLQGOH 0DLQ GULYH

Figure 10-10

Definition of axes on a gear hobbing machine (example)

The functional interrelationships on the gear hobbing machine are as follows:

%

=

<

/$

/$

/$

:RUNSLHFH ZLGWK

/RQJLWXGLQDO D[LV

RI FXWWHU

5RWDWLRQ RI FXWWHU

&

)$

5RWDU\ D[LV RI ZRUNSLHFH JHDU WRRWK

In this case, the workpiece table axis (C) is the following axis which is influenced by three

master drives.

Special functions

Function Manual, 12/2018, A5E40874099B AB

461

M3: Coupled axes

10.4 Electronic gear (EG)

10.4.10.2

Extended example with non-linear components

Introduction

The following example extends the example (see "Figure 10-10 Definition of axes on a gear

hobbing machine (example) (Page 461)") with the following:

● Machine error compensations which are not linearly dependent on the Z axis, and

● a Z-axis dependent component with tooth geometry.

This can be used to create a slightly convex tooth surface, so that the centre of the tooth

is stressed more than the edges during operation.

/HDGLQJ D[HV

/$

=

=

&

;

=

;

1

*

&

<

<

&RPSHQVDWLRQ I =

=

1

*

&

$

$

=

1

*

%

%

$FFRUGLQJ WR %DVH ([DPSOH

)ROORZLQJ D[LV

=

&

1

&

*HDU JHRPHWU\

=

&

=

2&

1

=

1

*

*

6RIWZDUH D[LV

Figure 10-11

Extended example with non-linear machine fault compensation and non-linear components on the tooth

geometry

Special functions

464

Function Manual, 12/2018, A5E40874099B AB

M3: Coupled axes

10.4 Electronic gear (EG)

Program code

Comment

Y, <SynPosC99_Y>,

; Switch-on of leading axis Y

R1 * π, 1, &

Z, <SynPosC99_Z>,

; Switch-on of leading axis Z

10, 1)

; "&" character means: command continued in

next line, no LF nor comment permissible in

program

; 2. Gear stage

N900

EGDEF(C, C99, 1, Z,

; declaration of following C99 of step 1 as

1)

leading axis of step 2,

; Setpoint value coupling

N910

; Declaration of path via C4, setpoint cou-

pling

N920

EGONSYN(C, "NOC",

; Switch-on of software axis C99

<SynPosC>, C99,

<SynPosC_C99>, 1,

1, &

Z, <SynPosC_Z>, 4,

; and of leading axis Z via C4

0)

N999

M30

Machine data

Only one section is specified, which extends beyond the necessary geometry/channel

configuration and machine axis parameters.

$MN_NUM_EG = 5

; Maximum number of gearboxes

$MN_MM_NUM_CURVE_TABS = 5

; Maximum number of curve tables

$MN_MM_NUM_CURVE_SEGMENTS = 50

; Maximum number of curve segments

$MN_MM_NUM_CURVE_POLYNOMS = 100

; Maximum number of curve polynomials

Setting data

If the scaling described in Section "Electronic gear (EG) (Page 442) is used, the function value

from the following machine data changes according to the displacement:

MD43108 $SD_LEAD_SCALE_OUT_POS[4] = 1.2 ; scaling for table C4

System variables

In accordance with the above definitions, the following values are entered in the associated

system variables by the control.

Reference:

List Manual, System Variables

Special functions

466

Function Manual, 12/2018, A5E40874099B AB

M3: Coupled axes

10.5 Generic coupling

This structure is based on the following considerations:

● Functional scope and required application knowledge increase from the basic version to

the optional CP_EXPERT version.

● The number of required couplings (following axes, following spindles) and their properties

are decisive in the selection of versions.

- Example of simultaneous operation:

If sequential operation of 1 x synchronous spindle pair for part transfer from the main to

the supplementary spindle and the 1 x multi-edge turning is required, then the CP-BASIC

option is suitable and sufficient. However, if it cannot be excluded that both operations

can overlap (multi-edge turning running when part transfer is started), the CP-

COMFORT option would be required.

- Example of property:

If a coupled axis grouping with a leading axis is required, the base version is sufficient.

For coupled motion groups with two leading axes, one of the optional versions is

required.

● Individual versions are independent of each other. They can be combined and can be

activated simultaneously.

Table 10-2

Quantity structure, which is dependent on the execution of coupling modules that can be simultaneously activated

Typ

CP versions allow one or more different CPSETTYPE

Base ver-

CP-

CP-BA-

CP-COM-

CP-EX-

e

coupling objects simultaneously:

sion

STATIC

SIC

FORT

PERT

A

Coupled motion

4

-

4

4

8

B

Synchronous spindle with |1|:1 coupling

-

1

-

-

-

C

o./u. Synchronous spindles, multi-edge turning

-

-

1

4

8

o./u. Master value coupling / curve tables interpolation

o./u. MCS coupling

D

o./u. Electronic gearbox "plain"

-

-

-

1

8

o./u. Free generic coupling "basic"

E

o./u. Electronic gear

-

-

-

-

5

o./u. Free generic coupling

o./u. stands for over/under

Table 10-3

Scaling of availability of coupling properties

Type A

Type B

Type C

Type D

Type E

20

1

13

9

5

Maximum number of CPSETTYPE-related functionalities (per

type)

TRAIL - coupled motion

20

-

13

9

5

Maximum number of coupled motion groups with the following

properties:

→ refer to CPSETTYPE="TRAIL"¹⁾

1

2

2

2

Maximum number of master values

-

-

+

+

Coupling between a spindle and an axis

Special functions

Function Manual, 12/2018, A5E40874099B AB

471

M3: Coupled axes

10.5 Generic coupling

Type A

Type B

Type C

Type D

Type E

+

+

+

+

Coupling between a rotary axis and a linear axis

-

+

+

+

From part program and synchronous actions

+

+

+

+

Superimposition / speed difference permitted

-

-

-

+

Cascading permitted

BCS

BCS /

BCS /

BCS /

Coordinate reference (default): CPFRS="BCS")

MCS

MCS

MCS

Synchronous spindle with |1|:1 coupling

-

1

-

-

-

Maximum number of synchronous spindles / multi-edge turning

with the following properties:

→ refer to CPSETTYPE="COUP"¹⁾

1

Maximum number of master values

-

From part program and synchronous actions

-

Superimposition / speed difference permitted

-

Cascading permitted

MCS

Coordinate reference fix (CPFRS="MCS")

COUP - synchronous spindle/multi-edge turning

-

-

13

9

5

Maximum number of synchronous spindles / multi-edge turning

with the following properties:

→ refer to CPSETTYPE="COUP"¹⁾

1

1

1

Maximum number of master values

-

-

-

From part program and synchronous actions

+

+

+

Superimposition / speed difference permitted

-

-

-

Cascading permitted

MCS

MCS

MCS

Coordinate reference fix (CPFRS="MCS")

LEAD - master value coupling / curve tables interpolation

-

-

13

9

5

Maximum number of master value couplings / curve tables inter-

polation with the following properties:

→ refer to CPSETTYPE="LEAD"¹⁾

1

1

1

Maximum number of master values

+

+

+

From part program and synchronous actions

+

+

+

Superimposition / speed difference permitted

-

-

+

Cascading permitted

BCS /

BCS /

BCS /

Coordinate reference (default): CPFRS="BCS")

MCS

MCS

MCS

EG - electronic gearbox

-

-

-

9

5

Maximum number of electronic gearboxes

with the following properties:

→ refer to CPSETTYPE="EG"¹⁾

3

5

Maximum number of master values

-

-

From part program and synchronous actions

+

+

Superimposition / speed difference permitted

-

+

Cascading permitted

BCS /

BCS /

Coordinate reference (default): CPFRS="BCS")

MCS

MCS

Special functions

472

Function Manual, 12/2018, A5E40874099B AB

M3: Coupled axes

10.5 Generic coupling

Type A

Type B

Type C

Type D

Type E

-

+

Non-linear coupling law (CPLCTID) permitted

CP - free generic coupling

-

-

-

9

5

Maximum number of free generic couplings

with the following properties:

Default (corresponds to CPSETTYPE="CP"¹⁾)

3

5

Maximum number of master values

+

+

From part program and synchronous actions

+

+

Superimposition / speed difference permitted

-

+

Cascading permitted

BCS /

BCS /

Coordinate reference (default): CPFRS="BCS")

MCS

MCS

-

+

Non-linear coupling law (CPLCTID) permitted

¹⁾ Refer to " Coupling types (CPSETTYPE) (Page 521) ".

Note

Existing coupling options (Master value coupling, Electronic gearbox and Synchronous

spindle) are not taken into consideration by generic coupling. Simultaneous operation of

existing coupling options and generic coupling is only possible if the couplings refer to different

axes/spindles.

Memory configuration

Memory space reserved in dynamic NC memory for generic coupling is defined in machine

data:

MD18450 $MN_MM_NUM_CP_MODULES (maximum allowed number of CP coupling

modules)

MD18452 $MN_MM_NUM_CP_MODUL_LEAD (maximum allowed number of CP master

values)

Note

Recommendation: Expected maximum values, which can be expected simultaneously for this

machine in its maximum configuration, should already be set during commissioning.

Hardware requirements

Systems with more than 6 axes are required when using the "CP-EXPERT" option.

Special functions

Function Manual, 12/2018, A5E40874099B AB

473

M3: Coupled axes

10.5 Generic coupling

10.5.2

Fundamentals

10.5.2.1

Coupling module

With the help of a coupling module, the motion of one axis (→ following axis) can be interpolated

depending on other axes (→ leading axes).

Coupling rule

The relationships between leading axis/values and a following axis are defined by a coupling

rule (coupling factor or curve table). The individual motion components from the individual

leading axes/values have an additive effect.

The relationship is demonstrated by the following example (following axis with two leading

axes):

&RXSOLQJ UXOH

/HDGLQJ D[LV

/$

.)

&RXSOLQJ UXOH

/HDGLQJ D[LV

/$

.)

)$_'HS

)$_'HS

)ROORZLQJ D[LV

)$_&PG

)$_7RWDO

FA_Total

Total setpoint value of the following axis

FA_Cmd

Setpoint value set in part program

= independent motion component of the following axis

FA_DEP1

Dependent motion component of leading axis 1

FA_DEP2

Dependent motion component of leading axis 2

LA₁

Setpoint or actual value of the 1st leading axis

LA₂

Setpoint or actual value of the 2nd leading axis

SynPosLA₁

Synchronized position of the 1st leading axis

SynPosLA₂

Synchronized position of the 2nd leading axis

KF₁

Coupling factor of the 1st leading axis

KF₂

Coupling factor of the 2nd leading axis

Special functions

474

Function Manual, 12/2018, A5E40874099B AB

M3: Coupled axes

10.5 Generic coupling

In order to be uniquely assigned, keywords are furnished with the prefix "CP", for Coupling).

Depending on meaning and application position, a third letter is used:

Keyword prefix

Meaning

Example

CP*

Describes the characteristics of the entire coupling.

CPON¹⁾

CPF*

Describes the characteristics of the following axis (Fol-

CPFPOS¹⁾

lowing axis).

CPL*

Describes a property referring to the leading axis (Lead-

CPLON¹⁾,

ing axis) or the coupling rule.

CPLNUM¹⁾

CPM*

Describes a property of the entire coupling for special

CPMRESET¹⁾

states.

¹⁾ For keyword meaning, please refer to the following table "Overview of all keywords and coupling

characteristics".

Overview of all keywords and coupling characteristics

The following table gives an overview of all keywords of the generic coupling and the

programmable coupling characteristics:

Keyword

Coupling characteristics / meaning

Default setting (CPSET-

TYPE="CP")

CPDEF

Creating a coupling module

CPDEL

Deletion of a coupling module

CPLDEF

Definition of a leading axis and creation of a coupling

module

CPLDEL

Deleting a leading axis of a coupling module

CPON

Switching on a coupling module

CPOF

Switching off a coupling module

CPLON

Switching on a leading axis of a coupling module

CPLOF

Switching off a leading axis of a coupling module

CPLNUM

Numerator of the coupling factor

1.0

CPLDEN

Denominator of the coupling factor

1.0

CPLCTID

Number of curve table

Not set

CPLSETVAL

Coupling reference

CMDPOS

CPFRS

Co-ordinate reference system

BCS

CPBC

Block change criterion

NOC

CPFPOS + CPON

Synchronized position of the following axis when

Not set

switching on

CPLPOS + CPON

Synchronized position of the leading axis when

Not set

switching on

CPFMSON

Synchronization mode

CFAST

CPFMON

Behavior of the following axis at switching on

STOP

Special functions

476

Function Manual, 12/2018, A5E40874099B AB

M3: Coupled axes

10.5 Generic coupling

Keyword

Coupling characteristics / meaning

Default setting (CPSET-

TYPE="CP")

CPFMOF

Behavior of the following axis at complete switch-off

STOP

CPFPOS + CPOF

Switch-off position of the following axis when switch-

Not set

ing off

CPMRESET

Coupling response to RESET

NONE

CPMSTART

Coupling behavior at part program start

NONE

CPMPRT

Coupling response when the part program starts un-

NONE

der block search run via program test

CPLINTR

Offset value of the input value of a leading axis

0.0

CPLINSC

Scaling factor of the input value of a leading axis

1.0

CPLOUTTR

Offset value for the output value of a coupling

0.0

CPLOUTSC

Scaling factor for the output value of a coupling

1.0

CPSYNCOP

Threshold value of position synchronism "Coarse"

MD37200

CPSYNFIP

Threshold value of position synchronism "Fine"

MD37210

CPSYNCOP2

Second threshold value for the "Coarse" position

MD37202

synchronism

CPSYNFIP2

Second threshold value for the "Fine" position syn-

MD37212

chronism

CPSYNCOV

Threshold value of velocity synchronism "Coarse"

MD37220

CPSYNFIV

Threshold value of velocity synchronism "Fine"

MD37230

CPMBRAKE

Response of the following axis to certain stop signals

1

and stop commands

CPMVDI

Response of the following axis to certain NC/PLC

0 (for bits 0 to 3, 5)

interface signals

1 (for bits 4, 6)

CPMALARM

Suppression of special coupling-related alarm out-

MD11410

puts

MD11415

CPSETTYPE

Coupling type

CP

Note

Coupling characteristics, which are not explicitly programmed (in part program of synchronous

actions), become effective with their default settings (see right hand column of the table).

Depending on the settings of the keyword CPSETTYPE instead of the default settings

(CPSETTYPE="CP") preset coupling characteristics can become effective (see Section

"Coupling types (Page 521)").

Special functions

Function Manual, 12/2018, A5E40874099B AB

477

M3: Coupled axes

10.5 Generic coupling

10.5.2.3

System variables

The current state of a coupling characteristic set with a keyword, can be read and written to

with the relevant system variable.

Note

When writing in the part program, PREPROCESSING STOP is generated.

Notation

The names of system variables are normally derived from the relevant keywords and a

corresponding prefix.

The first letter of the prefix defines the access location when reading:

System variable prefix

Access location during read

Features

$PA_CP

Reading of channel referenced axis

Use in synchronous actions is not

specific coupling characteristics in

possible.

block preparation (Preparation)

Does not generate an implicit pre-

processing stop.

$AA_CP

Reading of the current state of the

Use in the part program and in syn-

coupling module (across channels).

chronous actions is possible.

Generates an implicit preprocess-

ing stop when used in the part pro-

gram.

Note

The preprocessing value of a $PA_CP.. CP system variable only differs from the values of the

corresponding $AA_CP.. CP system variable during active part program processing.

At the end of the program or with abort, there is an appropriate synchronization of the

preprocessing with the main run states.

System variable list

A list of all system variables which can be used in a generic coupling is contained in the data

lists (see Section "System variables (Page 553)").

For a detailed description of system variables, refer to:

Reference:

Parameter Manual, System Variables

10.5.3

Creating/deleting coupling modules

10.5.3.1

Creating a coupling module (CPDEF)

An axial coupling module is created through the definition of the following axis.

Special functions

478

Function Manual, 12/2018, A5E40874099B AB

Content      ..     65      66      67      68     ..