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SINUMERIK 840D sl. Service - Functions. Manual (2018-2020) - page 70

T3: Tangential control - 840D sl only

13.3 Limit angle

Geometry axis switchover

Before geometry axis switchover can be performed for an existing coupling, the coupling must

first be deleted.

Program code

Comment

N10 GEOAX(2,Y1)

; 2nd geometry axis = machine axis Y1

N20 TANG(A, X, Y)

; Define tangential coupling for following axis A

N30 TANGON(A, 90)

; Activate tangential coupling for following axis A

N40 G2 F8000 X0 Y0 I0 J50

; Motion block

N50 TANGOF(A)

; Deactivate tangential coupling for following axis A

N60 TANGDEL(A)

; Delete tangential coupling for following axis A

N70 GEOAX(2, Y2)

; 2nd geometry axis = machine axis Y2

N80 TANG(A, X, Y)

; Define new tangential coupling for following axis A

N90 TANGON(A, 90)

; Activate new tangential coupling for following axis

A

13.3

Limit angle

For alternating traversing motion, the direction of the path tangent jumps through 180° at the

reversal point. The alignment of the following axis also jumps through 180 °. This behavior is

generally not practical (see Fig., ②). Instead, for return motion, the following axis should be

traversed with the same alignment as for the forward motion (see Fig., ③).

r

r

<

r

r

&

|

;

① Initial position and positive direction of rotation of the following/rotary axis C

② Forward and reverse motion with the same offset angle 270°

③ Forward and reverse motion with alternating offset angles, 270° and -270°

Special functions

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13.5 Examples

Program code

Comment

N20 TANGON(C,90)

Example 2: Plane change

Program code

Comment

; Define tangential coupling:

;

- Following axis A, leading axes X and Y

;

- Coupling factor: 1.0

;

- Coordinate system: BCS

;

- Optimization type: "S"

N10 TANG(A,X,Y)

; Activate tangential coupling:

;

- Offset angle: 0°

N20 TANGON(A)

N30 X10 Y20

; Traverse leading axes

N80 TANGOF(A)

; Deactivate tangential coupling

N90 TANGDEL(A)

; Delete tangential coupling

; Define NEW tangential coupling:

;

- Following axis A, leading axes X and Z

;

- Coupling factor: 1.0

;

- Coordinate system: BCS

;

- Optimization type: "S"

TANG(A,X,Z)

TANGON(A)

Example 3: Geometry axis switchover

Program code

Comment

N10 GEOAX(2,Y1)

; 2nd geometry axis: Y1

; Define tangential coupling:

;

- Following axis A, leading axes X and Y

;

- Coupling factor: 1.0

;

- Coordinate system: BCS

;

- Optimization type: "S"

N20 TANG(A,X,Y)

; Activate tangential coupling:

;

- Offset angle: 90°

N30 TANGON(A,90)

N40 G2 F8000 X0 Y0 I0 J50

; Traverse circle

Special functions

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13.5 Examples

Program code

Comment

N50 TANGOF(A)

; Deactivate tangential coupling

N60 TANGDEL(A)

; Delete tangential coupling

N70 GEOAX(2,Y2)

; 2nd geometry axis: Y2

; Define NEW tangential coupling:

;

- Following axis A, leading axes X and Y

;

- Coupling factor: 1.0

;

- Coordinate system: BCS

;

- Optimization type: "S"

N80 TANG(A,X,Y)

; Activate tangential coupling:

;

- Offset angle: 90°

N90 TANGON(A,90)

Example 4: Optimization type "P"

Program code

Comment

N100 G0 C0

N110 G1 X1000 Y500 F50000

N120 TRAORI

; Activate transformation

N130 G642

; Activate smoothing

N171 TRANS X50 Y50

; Work offset WCS

; Define tangential coupling:

;

- Following axis C, leading axes X and Y

;

- Coupling factor: 1.0

;

- Coordinate system: BCS

;

- Optimization type: "P"

N180 TANG(C,X,Y,1,,"P")

; Activate tangential coupling:

;

- Offset angle: 0°

;

- Rounding clearance 5.0 mm

;

- Angular tolerance 2.0°

N190 TANGON(C,0,5.0,2.0)

N210 G1 X1310 Y500

N215 G1 X1420 Y500

N220 G3 X1500 Y580 I=AC(1420) J=AC(580)

N230 G1 X1500 Y760

N240 G3 X1360 Y900 I=AC(1360) J=AC(760)

N250 G1 X1000 Y900

N280 TANGOF(C)

; Deactivate tangential coupling

N290 TRAFOOF

; Deactivate transformation

Special functions

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13.6 Data lists

Example 5: Corner in space

Program code

; Comment

; Define tangential coupling:

;

- Following axis A, leading axes X and Y

;

- Coupling factor: 1.0

;

- Coordinate system: BCS

;

- Optimization type: "S" (standard)

TANG(A,X,Y,1.0,"B")

TLIFT(A)

; Activate intermediate block generation

G1 G641 X0 Y0 Z0 A0

; Go to initial position

; Activate tangential coupling:

;

- Offset angle: 0°

TANGON(A,0)

N4 X10

; Traverse leading axis X

N5 Z10

; Traverse geometry axis Z

N6 Y10

; Traverse leading axis Y

M30

By traversing the geometry axes in blocks N4 and N6, a discontinuous characteristic is

obtained, i.e. a corner in the contour of the leading axes of the tangential coupling. By

programming TLIFT(), an intermediate block is inserted in front of N6, in which following axis

A is rotated through 90° in the tangential direction of the Y axis. Only then is the Y axis traversed

in N6.

13.6

Data lists

13.6.1

Machine data

13.6.1.1

NC-specific machine data

Number

Identifier: $MN_

Description

11450

SEARCH_RUN_MODE

Block search parameterization

13.6.1.2

Axis/spindlespecific machine data

Number

Identifier: $MA_

Description

37400

EPS_TLIFT_TANG_STEP

Tangential angle for corner recognition

37402

TANG_OFFSET

Default angle for tangential follow-up control

Special functions

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13.6 Data lists

13.6.2

Setting data

13.6.2.1

Channel-specific setting data

Number

Identifier $SC_

Description

42121

AX_ADJUST_FEED

Path feed in adjustment motion of the tangential axes

13.6.3

System variables

Identifier

Description

$AC_BLOCKTYPE

Current block is an intermediate block generated by TLIFT

Special functions

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14.2 Commissioning

14.2

Commissioning

System requirements

● SINUMERIK 840D sl with SINUMERIK Operate

● CNC software as of version 4.7 SP1

● "Automatic post optimization with AST" option is set.

Machines with several HMI components

The "Automatic post optimization with AST" function can always be assigned to an HMI.

In order to change the actual assignment, in the HMI intended for the function, window

≫Automat. servo optimization: options≪ must be called, and option ≫Assign this HMI for

"Call AST from the part program" ≪ selected.

Special functions

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14.3 Programming

14.3

Programming

14.3.1

Overview

Predefined cycles for automatic post optimization with AST

SIEMENS provides machinery builders (OEMs) the following cycles so that they can program

their own optimization cycles:

● CYCLE751 - Open/execute/close optimization session (Page 627)

● CYCLE752 - Add axis to an optimization session (Page 628)

● CYCLE753 - Select optimization mode (Page 631)

● CYCLE754 - Add/remove data set (Page 632)

● CYCLE755 - Backup/restore data (Page 633)

● CYCLE756 - Activate optimization results (Page 634)

● CYCLE757 - Save optimization data (Page 635)

● CYCLE758 - Change a parameter value (Page 639)

● CYCLE759 - Read parameter value (Page 641)

Internally, each of these cycles calls CYCLE750, which contains the MMC command with the

actual function call.

Data handling

Archived in standard directories

Automatic servo optimization (AST) uses three standard directories in the file system to save

specific data:

Directory path

To archive the following files

/user/sinumerik/nck/data/optimization

● XML files with axis and/or path-specific optimization data, which

are automatically generated for the user interface-based

automatic servo optimization.

● XML files with axis and/or path-specific optimization data, which

are automatically generated for automatic post optimization with

AST using CYCLE757.

/user/sinumerik/nck/data/optimization/restore

● Backup files that are generated by the automatic post

optimization with AST using CYCLE755.

/user/sinumerik/nck/data/optimization/data

● CSV files that are generated by the automatic post optimization

with AST using CYCLE757.

Addressing using relative path data

The starting point for addressing an optimization file with relative path data is the data-specific

standard directory in the file system. When addressing an XML file with axis-specific

Special functions

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14.3 Programming

Parameter

No.

Parameters

1

<S_I_SESSIONCOMMAND>

Data type:

INT

Value:

0

Not defined

1

Open new optimization session

Note:

Multiple sessions cannot be open concurrently. Opening a new session closes the current session

automatically.

2

Close current optimization session

3

Execute optimization functions of the current session with immediate transfer of the optimization

results

The scope of the optimization functions (measurement of the speed control loop, measurement of

the position control loop, optimization of the path interpolation) to be executed depends on the axis-

specific optimization strategies set from the user interface.

The optimization results are transferred immediately (update the axis and drive parameters, update

the optimization files).

4

Execute optimization functions of the current session without immediate transfer of the optimization

results

Unlike 3, the optimization results are not transferred immediately. Transfer can be realized later in

the optimization session using CYCLE756.

14.3.3

CYCLE752 - Add axis to an optimization session

After opening the optimization session, CYCLE752 specifies which axes should be

reoptimized. If a reoptimization of the path interpolation is provided, CYCLE752 also specifies

the axes required for the comparison of the path interpolation.

Syntax

CYCLE752(<S_I_AXIS>, <S_I_ACTIONREQUEST>, <S_B_ISPATHMEMBER>,

<S_SZ_FILENAME>)

Parameters

No.

Parameters

1

<S_I_AXIS>

Meaning:

Machine axis number

Specifies the axis to be added to the optimization session.

Note:

For gantry or master-slave couplings, only the leading or master axis of the coupling group should be

specified.

Data type:

INT

Special functions

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14.3 Programming

No.

Parameters

2

<S_I_ACTIONREQUEST>

Meaning:

Specifies whether the stored optimization data (optimization strategy and optimization results) should

be used or the axis with AST default settings reoptimized for the axis to be added.

Note:

If the axis has already been optimized and the optimization data has been saved in an optimization

file, this data is normally accessed first. CYCLE753 can then specify the further procedure.

Data type:

INT

Value:

0

Not defined

1

Reoptimization with AST default settings

The axis should be remeasured and reoptimized with the AST default settings. The selected

AST settings are not considered on the user interface.

2

Optimization data from a user-defined optimization file

The stored optimization data from the specified user-defined optimization file (see <S_SZ_FIL-

ENAME> parameter) is used for the axis.

Note:

This setting is only possible if the axis has already been optimized once, and the results have

been saved to a user-defined optimization file.

3

Optimization data from the standard optimization file

The stored optimization data from the axis-specific standard optimization file is used for the axis.

The selected AST settings are not considered on the user interface.

Note:

For the user interface-based automatic servo optimization, the standard optimization files are

automatically generated to backup optimization information and data (optimization strategy,

measuring and optimization results) and saved in the file system under /user/sinumerik/nck/data/

optimization. There is a standard optimization file for every axis - and a standard optimization

file for the path interpolation.

For example, the setting <S_I_ACTIONREQUEST> = 2 or 3 is used in the following cases:

● The axis should be post-optimized using the saved strategy and measurement settings. To do this,

the saved optimization data is loaded with CYCLE752 and the deployed optimization mode defined

with CYCLE753.

● On completion of the reoptimization of the individual axes, the path interpolation must be

reoptimized.

● Saved optimization results (values for NC and drive parameters) should be restored.

3

<S_B_ISPATHMEMBER>

Meaning:

Consideration of the axis for the last optimization step (optimization of the path interpolation)

Data type:

BOOL

Value:

0 (FALSE)

Do not consider the axis for the optimization of the path interpolation

1 (TRUE)

Consider the axis for the optimization of the path interpolation

All axes, which are added using CYCLE752( , , TRUE, ), are taken into account when

optimizing path interpolation. This is realized within the scope of the optimization, e.g.

started using CYCLE751(3).

Special functions

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14.3 Programming

No.

Parameters

4

<S_SZ_FILENAME>

Meaning:

Address of the user-defined, axis-specific optimization file (only relevant for <S_I_ACTIONREQUEST>

= 2!)

If the file was generated via the program-based automatic post-optimization with AST using CY-

CLE757, then as default setting, the file is in directory /user/sinumerik/nck/data/optimization and it is

not necessary to specify a directory path.

However, the more frequent use case is that the file is generated via the user interface-based automatic

servo optimization, and was saved in directory /user/sinumerik/hmi/log/optimization. In addition to the

file name, the address must also include the directory path (unless the file was subsequently copied

to the standard directory /user/sinumerik/nck/data/optimization). See also "Example 6: Measuring an

axis without optimization (Page 663)".

Data type:

STRING [100]

Note

Gantry/master-slave coupling

For gantry or master-slave couplings, with CYCLE752, only the leading or master axis of the

coupling group is specified. The AST software automatically adds the coupled following or

slave axes.

AST then automatically measures all axes of a coupling group - and optimizes them with

identical controller settings. The position controller gains are set the same, the integral time in

the speed controller is selected the same and the effective speed controller gain (relative to

the overall moment of inertia) is selected the same. The current setpoint filters can be optimized

differently.

Coupled axes must be referenced (homed) before the automatic optimization!

Note

Premeasurement

The decision for performing a premeasurement depends on the available axis optimization

data.

● Cases in which the control unit performs a premeasurement for determining the measuring

parameters:

- The optimization strategy envisages a premeasurement; data from an earlier

premeasurement is not available.

- The optimization data does not specify any optimization strategy.

● Cases in which no premeasurement is performed:

- The optimization strategy envisages a premeasurement; data from an earlier

premeasurement is available.

- The optimization strategy does not envisage any premeasurement (the optimization

strategy takes precedence over the "Perform premeasurement for determining the

excitation" option selected from the user interface).

Special functions

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14.3 Programming

14.3.4

CYCLE753 - Select optimization mode

CYCLE753 must be programmed when different strategy settings should act for the axis than

those stored as standard or selected from the user interface. For example, this the case when

an axis with user-defined strategy and measuring settings from a stored optimization file should

be remeasured and reoptimized.

Syntax

CYCLE753(<S_I_AXIS>, <S_I_ACTION>, <S_B_SAVEBOOTFILES>)

Parameters

No.

Parameters

1

<S_I_AXIS>

Meaning:

Machine axis number

Data type:

INT

2

<S_I_ACTION>

Meaning:

Specifies the optimization mode for the specified axis.

Data type:

INT

Value:

0

Not defined

1

Match the path interpolation

The axis (path axis) should not be remeasured and reoptimized, but rather considered and

adapted only for the optimization of the path interpolation.

The stored results from the optimization file are used for the axis. The optimization of the path

interpolation means that the axis-specific machine data and drive parameters can change.

2

Reoptimization with a different optimization strategy based on stored measurements

The axis should be reoptimized based on the results from an earlier measurement and currently

valid optimization strategy changed from the user interface or CYCLE758.

This mode is used, for example, to eliminate known periodic disturbance frequencies (see "Ex-

ample 5: Reoptimize the speed control loop to eliminate known periodic disturbance frequen-

cies. (Page 661)").

3

Measurement and reoptimization (→ Mode for changed mechanics/loading!)

The mechanics/loading has changed. The axis should be remeasured and reoptimized using

the user-defined strategy and measuring settings from an optimization file. The strategy and

measuring settings can be adapted from the user interface or with CYCLE758.

3

<S_B_SAVEBOOTFILES>

Meaning:

Save updated drive parameter values as persistent data

Data type:

BOOL

Value:

0 (FALSE)

No

1 (TRUE)

Yes (default)

Special functions

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14.3 Programming

14.3.5

CYCLE754 - Add/remove data set

If the optimization results rather than the current data set should overwrite a specific axis or

drive data set, the data set to be overwritten must be added to the data set list with CYCLE754.

This list involves an invisible internal function list used to define data sets to be optimized. As

default setting, only the currently selected data set is included in it. CYCLE754 must also be

used to remove a data set from the list.

Note

Adding or removing an axis or drive data set using CYCLE754 only refers to the data set list,

i.e an axis or drive data set removed from the list still remains in the control or in the drive.

Syntax

CYCLE754(<S_I_AXIS>, <S_I_ACTIONREQUEST>, <S_I_DATASETTYPE>,

<S_I_INDEX>)

Parameters

No.

Parameters

1

<S_I_AXIS>

Meaning:

Machine axis number

Data type:

INT

2

<S_I_ACTIONREQUEST>

Meaning:

Specifies whether the specified axis or drive data set should be added to or removed from the data

set list.

Data type:

INT

Value:

0

Not defined

1

Add a data set

2

Remove a data set

3

Remove all data sets from the list

Note:

If the list is empty, the optimization results can be written only to the active data set.

3

<S_I_DATASETTYPE>

Meaning:

Data set type

Data type:

INT

Value:

0

Not defined

1

Axis data set (servo parameter set)

2

Drive data set (DDS)

Special functions

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14.3 Programming

No.

Parameters

4

<S_I_INDEX>

Meaning:

Data set index

Specifies the data set to be added and into which the optimization results should be written or should

be removed from the list.

Note:

The following applies to the axisdata set index: <n> = parameter set number - 1

Example: Index 0 ≙ parameter set 1

Data type:

INT

Range of values:

-1, 0, 1, ... <MAX_INDEX>

-1

active data set

14.3.6

CYCLE755 - Backup/restore data

Using CYCLE755, backup files can be created in the file system that permit the backup of the

actual data, and therefore facilitate specific data restoration at any time during the optimization

session. Data restoration is also called using CYCLE755. Further, CYCLE755 is used to query

the existence of a backup file as well as to delete backup files.

Note

The backup files are no longer required after the optimization session has been successfully

completed. This is the reason that these should be deleted again at the end of the optimization

session with CYCLE755.

Typical examples for using CYCLE755 include:

● Undoing data changes, which are only to be temporarily valid.

● Restoring data after an interrupted optimization session.

A program that queries the existence of a backup file, and for a positive result, restores the

data from this file, can be used to return to a defined initial state after an optimization session

has been interrupted.

Syntax

CYCLE755(<S_I_ACTIONREQUEST>, <S_SZ_NAME>, <S_SZ_GUD_BOOL_NAME>)

Special functions

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14.3 Programming

Parameters

No.

Parameters

1

<S_I_ACTIONREQUEST>

Data type:

INT

Value:

0

Not defined

1

Backup data for a later restore

This setting saves the data values at the time of the cycle call in the specified file.

The following parameters define the content of the data backup:

● the currently valid optimization strategy

● the axes currently added to the optimization session

● the current list of parameter sets to be written

2

Restore data

This setting restores the data from the specified file.

Requirements:

● The optimization session is still active.

● The axis and data set selection at the time of the backup is still available.

3

Delete backup file

4

Querying the existence of a backup file

The result of the query is saved to a channel-global user variable (GUD), type BOOL (see pa-

rameter <S_SZ_GUD_BOOL_NAME>).

2

<S_SZ_NAME>

Meaning:

Name of backup file

The file name can be freely selected with the following restriction: it is not permissible that the sequence

of letters "AST" is located at the beginning of the file name.

Specifying a path (absolute or relative) is only required if the file is not to be saved to the standard

directory /user/sinumerik/nck/data/optimization/restore.

Data type:

STRING [100]

3

<S_SZ_GUD_BOOL_NAME>

Meaning:

Name of the GUD, in which the result of the file query should be saved

(only relevant, if <S_I_ACTIONREQUEST> = 4!)

Note:

The specified GUD must be defined in a definition file as a channel-global variable, type BOOL:

DEF CHAN BOOL

Data type:

STRING [50]

14.3.7

CYCLE756 - Activate optimization results

CYCLE756 can be used to activate the optimization results at a specific time / under specific

conditions. The conditions must be queried in the manufacturer cycle. CYCLE756 can also

specify which control parameters should be active: original data, axis-optimum data or path-

optimum data.

Syntax

CYCLE756(<S_I_AXIS>, <S_I_REGULATOR_ROLE>, <S_B_SAVEBOOTFILES>)

Special functions

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14.3 Programming

Parameters

No.

Parameters

1

<S_I_AXIS>

Meaning:

Machine axis number

Data type:

INT

2

<S_I_REGULATOR_ROLE>

Meaning:

Specifies which optimization results should act for the specified axis in the control unit and in the drive.

Note:

If the axis is part of a gantry group or a master-slave coupling, then optimization factors are included

in the optimization results, which would be necessary to adapt the dynamic response of all axes of the

coupling group.

Data type:

INT

Value:

0

Not defined

1

The original data should act for the specified axis.

2

The current optimization results without optimization of the path interpolation should become

active for the specified axis (axis-optimum data)

3

The current optimization results with optimization of the path interpolation should become active

for the specified axis (path-optimum data).

3

<S_B_SAVEBOOTFILES>

Meaning:

Save updated drive parameter values as persistent data

Data type:

BOOL

Value:

0 (FALSE)

No

1 (TRUE)

Yes (default)

Application

Some situations for which CYCLE756 is useful:

● CYCLE751(4) executes the optimization functions of the current session without

transferring the optimization results immediately. The optimization results can be activated

later during the optimization session with CYCLE756. Prior to the activation, the data can

be read and tested with CYCLE758/759.

● CYCLE752 loads the saved optimization data from an optimization file. CYCLE756

activates the loaded data.

14.3.8

CYCLE757 - Save optimization data

Contrary to the user interface-based automatic servo optimization, where optimization data

are automatically saved (standard optimization files), saving optimization data for program-

based automatic post optimization with AST must be explicitly called by programming

CYCLE757.

Special functions

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14.3 Programming

The following user-defined optimization files can be created in CYCLE757:

● Optimization files in the XML format:

- for the axis-specific optimization data

- for the data to optimize path interpolation

● Optimization files in the CSV format with frequency, amplitude and phase of the following

frequency responses:

- measured speed-controlled system

- measured mechanical frequency response

- calculated closed speed controller

- calculated closed position controller

- measured closed speed controller

- measured closed position controller

If a path is not specified, the files are saved in the file system in the following standard

directories:

● XML files: /user/sinumerik/nck/data/optimization

● CSV files: /user/sinumerik/nck/data/optimization/data

NOTICE

Data loss

If CYCLE757 is not programmed, measurement data as well as parameters for assessment

and offline optimization are no longer available after the optimization session has been closed.

However, the optimization (depending on the strategy) is written to the axis and drive

parameters.

Remedy: Save optimization data to be backed up before closing the optimization session with

CYCLE757.

Syntax

CYCLE757(<S_I_AXIS>, <S_SZ_FILENAME>, <S_I_CONTENT_TYPE>,

<S_I_FORMATFILTER>, <S_I_SUPPINFO>)

Parameters

No.

Parameters

1

<S_I_AXIS>

Meaning:

Machine axis number

Data type:

INT

Special functions

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14.3 Programming

No.

Parameters

2

<S_SZ_FILENAME>

Meaning:

Name of the optimization file to be created (with file extension ".xml" or ".csv")

The file name can be freely selected with the following restriction: it is not permissible that the sequence

of letters "AST" is located at the beginning of the file name.

Specifying a path (absolute or relative) is only required if the file is not to be saved to the standard

directory.

Examples:

● AXIS.xml

● PATH.xml

● SPEEDCTRL_PLANT.csv

● POSCTRL_MECHRESP.csv

Special case:

● Empty string (""); only valid, if <S_I_CONTENT_TYPE> = 1 or 2

Entering an empty string means that the data of the program-based automatic post optimization

are written to the standard optimization file for the axis (<S_I_CONTENT_TYPE> = 1) or for the

path interpolation (<S_I_CONTENT_TYPE> = 2).

Notice:

The standard optimization files contain the data of the user interface-based automatic servo

optimization. By programming <S_SZ_FILENAME> = "", these are overwritten by the data of the

program-based automatic post optimization.

Data type:

STRING [100]

Special functions

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No.

Parameters

3

<S_I_CONTENT_TYPE>

Meaning:

Specifies which optimization data should be saved in the created optimization file.

Data type:

INT

Value:

0

Not defined

1

Creates an XML file in which the axis-specific optimization data for the specified axis is saved.

The following data is included:

● Measuring conditions

● Measurement results

● Optimization strategy

● Optimization results

Note:

If the axis is part of a gantry group or a master-slave coupling, then the optimization information

for the axis, includes the optimization information for all other axes of the coupling group.

2

Creates an XML file in which the data for optimization of the path interpolation is saved.

The following data is included:

● List of all involved axes.

● Strategy for optimization of the path interpolation

3

Creates a CSV file, in which the data for the frequency characteristic of the measured speed

controlled system is to be saved.

The data is stored as a 3-column table:

● Column 1: Frequency [Hz]

● Column 2: Linear amplitude

● Column 3: Phase [rad]

4

Creates a CSV file in which the data for the measured mechanical frequency response is saved.

The data is stored as a 3-column table:

● Column 1: Frequency [Hz]

● Column 2: Linear amplitude

● Column 3: Phase [rad]

5

Creates a CSV file, in which the data for the frequency response of the calculated closed speed

controller is saved.

The data is stored as a 3-column table:

Column 1: Frequency [Hz]

Column 2: Linear amplitude

Column 3: Phase [rad]

6

Creates a CSV file, in which the data for the frequency response of the calculated closed position

controller is saved.

The data is stored as a 3-column table:

Column 1: Frequency [Hz]

Column 2: Linear amplitude

Column 3: Phase [rad]

7

Creates a CSV file, in which the data for the frequency response of the measured closed speed

controller is saved.

The data is stored as a 3-column table:

Column 1: Frequency [Hz]

Special functions

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No.

Parameters

Column 2: Linear amplitude

Column 3: Phase [rad]

8

Creates a CSV file, in which the data for the frequency response of the measured closed position

controller is saved.

The data is stored as a 3-column table:

Column 1: Frequency [Hz]

Column 2: Linear amplitude

Column 3: Phase [rad]

4

<S_I_FORMATFILTER>

Meaning:

Reserved

Data type:

INT

5

<S_I_SUPPINFO>

Meaning:

Reserved

Data type:

INT

14.3.9

CYCLE758 - Change a parameter value

CYCLE758 changes individual strategy and measuring settings prior to the optimization or the

optimization results after the optimization.

Syntax

CYCLE758(<S_I_AXIS>, <S_I_PARAMID>, <S_I_MEASTYPE>, <S_I_MEASINDEX>,

<S_SZ_NEWVALUE>)

Parameters

No.

Parameters

1

<S_I_AXIS>

Meaning:

Machine axis number (not relevant for parameters that affect the optimization of the path interpolation!)

Data type:

INT

2

<S_I_PARAM

ID>

Meaning:

ID number of the parameter whose value should be changed

Parameter IDs, see "List of the parameters for the automatic servo optimization (Page 642)".

Data type:

INT

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14.3 Programming

No.

Parameters

3

<S_I_MEASTYPE>

Meaning:

Measuring type to which the parameter refers (relevant only for measuring parameters!)

Uniquely identifies measuring parameters with the same ID number.

Data type:

INT

Value:

1

Mechanical frequency response

2

Closed position control loop

3

Closed speed control loop

4

Speed-controlled system

5

Speed setpoint step change

4

<S_I_MEASINDEX>

Meaning:

Measurement index to which the parameter refers (relevant only for measuring parameters!)

Uniquely identifies measuring parameters with the same ID number that refer to the same measuring

type. It must be specified only when multiple measurements of a measuring type exist.

Data type:

INT

5

<S_SZ_NEWVALUE>

Meaning:

New parameter value

Data type:

STRING [20]

Value:

The value should be specified as a character string in inverted commas. The character string can

comprise a maximum of 20 characters.

Values are only permissible that correspond to the data type of the parameter to be changed - and

that lie within the valid range.

Examples:

1. The parameter to be changed is of data type BOOL (e.g. <S_I_PARAMID> = 157).

Value range: 0 (= FALSE), 1 (= TRUE)

For <S_SZ_NEWVALUE>, the following permissible character string is obtained: "true", "false",

"TRUE", "FALSE", "0" or "1"

Inadmissible character strings would be, for example: 0, 1, true, false, "2", "my_bool"

2. The parameter to be changed is of data type REAL (e.g. <S_I_PARAMID> = 34).

In this particular case, with <S_SZ_NEWVALUE> theoretically, every real number within the value

range ± (∼ 2.2*10^-308 … ∼ 1.8*10⁺³⁰⁸) can be specified.

Permissible character strings are, for example: "14.1", ".0023"

Inadmissible character strings would be, for example "true", 14.1, "my_real", "R1"

Note

Gantry/master-slave coupling

If the measurement parameters of a specific following or slave axis must be changed, then in

CYCLE758 the corresponding number of this axis must be specified (not the number of the

leading or master axis, as when adding coupled axes with CYCLE752 (Page 628)).

Special functions

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14.3 Programming

14.3.10

CYCLE759 - Read parameter value

CYCLE759 reads the strategy and measuring parameters and the optimized controller

parameters. This is useful for checking the file loaded with CYCLE752 prior to the optimization

or reading the results after the optimization (e.g. determined total inertia, determined gain).

Syntax

CYCLE759(<S_I_AXIS>, <S_I_PARAMID>, <S_I_MEASTYPE>, <S_I_MEASINDEX>,

<S_SZ_GUDRESULT>)

Parameters

No.

Parameters

1

<S_I_AXIS>

Meaning:

Machine axis number (not relevant for parameters that affect the optimization of the path interpolation!)

Data type:

INT

2

<S_I_PARAM

ID>

Meaning:

ID number of the parameter whose value should be read

Parameter IDs, see "List of the parameters for the automatic servo optimization (Page 642)".

Data type:

INT

3

<S_I_MEASTYPE>

Meaning:

Measuring type to which the parameter refers (relevant only for measuring parameters!)

Uniquely identifies measuring parameters with the same ID number.

Data type:

INT

Value:

1

Mechanical frequency response

2

Closed position control loop

3

Closed speed control loop

4

Speed-controlled system

5

Speed setpoint step change

4

<S_I_MEASINDEX>

Meaning:

Measurement index to which the parameter refers (relevant only for measuring parameters!)

Uniquely identifies measuring parameters with the same ID number that refer to the same measuring

type. It must be specified only when multiple measurements of a measuring type exist.

Data type:

INT

5

<S_SZ_GUDRESULT>

Meaning:

Name of the global user variable (GUD) into which the parameter value should be copied.

Note:

The specified GUD must be defined in a definition file. The data type of the GUD must match the data

type of the parameter.

Data type:

STRING [20]

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14.3 Programming

14.3.11

List of the parameters for the automatic servo optimization

The ID of a parameter for the automatic servo optimization whose value should be changed

with CYCLE758 or read with CYCLE759 can be taken from the following table:

ID

Meaning

Unit

Data

Value range

Write

Read

type

with

with

CYCLE758

CYCLE759

Measuring conditions

001

Start position of the axis during a measurement

mm or de-

REAL

-

+

grees

002

Direction sequence during a measurement

INT

1, 2, 3, 4

+

+

●

1 = plus

●

2 = minus

●

3 = plus, then minus

●

4 = minus, then plus

003

Number of measurement repetitions for deter-

INT

0 to

+

+

mining the frequency range averaging

004

Number of time range windows in each time

INT

1 to

+

+

range averaging

005

Settling time: The wait time after the PRBS exci-

s

REAL

0 to

+

+

tation before the first measuring window is ac-

quired

006

Measurement bandwidth

Hz

REAL

Float: 0 ... fs/2

+

+

This value only determines the measurement

bandwidth (i.e. excitation and sampling frequen-

cy). This allows the frequency resolution to be

influenced.

007

Time for performing an individual measurement

s

REAL

-

+

(without repetition, ramp-up and settling time)

008

Time required to bring the speed offset to the

s

REAL

-

+

setpoint

009

Estimated travelled distance during the maxi-

m or rad

REAL

-

+

mum traversing motion in the repetition se-

quence

010

Estimated total time of the axis motion during the

s

REAL

-

+

measurement

011

Specifies the measurement type:

INT

-

+

●

1 = frequency response of the mechanical

parts

●

2 = closed position control loop

●

3 = closed speed control loop

●

4 = speed-controlled system

●

5 = speed setpoint increment

012

Specifies whether the axis motion lies within the

BOOL

0 (= FALSE)

-

+

traverse range limits

1 (= TRUE)

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14.3 Programming

ID

Meaning

Unit

Data

Value range

Write

Read

type

with

with

CYCLE758

CYCLE759

013

Specifies whether a measurement is performed

BOOL

0 (= FALSE)

-

+

with the maximum bandwidth

1 (= TRUE)

021

Amplitude of the excitation

Nm, N, m/

REAL

Dynamic

+

+

s, rad/s,

m, rad (de-

pendent

on the

measure-

ment

type¹⁾ )

022

Velocity offset

m/s or rad/

REAL

Dynamic

+

+

s (depend-

ing on

measure-

ment

type¹⁾ )

Speed control (controller)

031

Proportional gain for the speed control loop

Nms/rad

REAL

+

+

or Ns/m

032

Integral time for the speed control loop

s

REAL

+

+

033

Motor moment of inertia

kgm²

REAL

-

+

or kg

034

Total moment of inertia of the axis expressed in

kgm²

REAL

+

+

the units of the motor

or kg

035

Specifies whether the reference model is activa-

BOOL

0 (= FALSE)

+

+

ted for the speed control

1 (= TRUE)

036

Frequency of the PT2 reference model

Hz

REAL

+

+

037

Damping of the PT2 reference model

REAL

+

+

038

Ratio of the Kp proportional gain to the moment

1/s

REAL

-

+

of inertia that represents the 1/s bandwidth of the

idealized PT1-equivalent (proportional-control-

led) systems

Position control (controller)

101

Position control loop gain

1000/min

REAL

+

+

102

Specifies whether DSC (dynamic stiffness con-

BOOL

0 (= FALSE)

+

+

trol) is active

1 (= TRUE)

103

Specifies the precontrol type:

INT

0, 1, 2

+

+

●

0 = none

●

1 = speed precontrol

●

2 = speed and torque precontrol

104

Total moment of inertia of the axis as parameter

kg m²

REAL

+

+

for the torque precontrol

or kg

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14.3 Programming

ID

Meaning

Unit

Data

Value range

Write

Read

type

with

with

CYCLE758

CYCLE759

105

Delay of the speed precontrol in the drive (e.g.

s

REAL

+

+

p1429)

106

Equivalent time constant of the speed control

s

REAL

+

+

loop as parameter for the speed precontrol

107

Adapted parameter value 106 for considering

s

REAL

+

+

the following effects:

● Inconsistent delays

● Changes carried out by the NC

108

Equivalent time constant of the current control

s

REAL

+

+

loop as parameter for the torque precontrol

109

Adapted parameter value 108 for considering

s

REAL

+

+

the following effects:

● Inconsistent delays

● Changes carried out by the NC

110

PT1 time constant of the axis to adapt the dy-

s

REAL

+

+

namic response

(MD32910 $MA_DYN_MATCH_TIME)

111

Time constant used for the dynamic response

s

REAL

+

+

adaptation for the axis-specific setpoint phase

filter (MD32895 $MA_DESVAL_DELAY_TIME)

112

Calculated total time constant for the positioning

s

REAL

-

+

response, including precontrol and all prefilters.

This time constant is only intended to provide

users with information. You can use it as a target

time constant for the position controller strategy

for another axis. By forcing the same total time

constant, interpolation fits already after axis op-

timization.

Position control (strategy)

151

Adaptation factor (reduction) for the optimized

REAL

0.1 ... 1.0

+

+

maximum Kv value

152

Not defined

153

Specifies the additional method for maximizing

INT

0 ... 3

+

+

the Kv value:

●

0 = none (standard)

●

1 = PT1 speed filter 2

●

2 = damping of the optimum speed controller

●

3 = PT1 speed filter 1

154

DSC

BOOL

0 (= FALSE)

+

+

1 (= TRUE)

155

Select precontrol type:

INT

0, 1, 2

+

+

●

0 = none

●

1 = speed precontrol

●

2 = speed and torque precontrol

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14.3 Programming

ID

Meaning

Unit

Data

Value range

Write

Read

type

with

with

CYCLE758

CYCLE759

156

Maximum permissible Kv value

1000/min

REAL

0.1 ... 99.0

+

+

157

Specifies whether the precontrol should always

BOOL

0 (= FALSE)

+

+

be active for the axis

1 (= TRUE)

158

Setpoint for the equivalent time of the position

s

REAL

+

+

controller overall response (including precontrol

and setpoint filter)

159

Indicates whether an attempt should be made to

BOOL

0 (= FALSE)

+

+

attain the nominal equivalent time

1 (= TRUE)

160

Specifies the jerk filter technology to be selected:

INT

0 ... 2

+

+

●

0 = keep the existing jerk filter settings in the

machine data

●

1 = deactivates the jerk filter

●

2 = use jerk filter, type 2 (= sliding average

value generation)

161

Time constant (MD32410

s

REAL

0 … 0.5

+

+

$MA_AX_JERK_TIME) for type 2 jerk filter (pa-

rameter 160 = 2)

Speed control (strategy)

201

Setpoint for the amplitude reserve for the optimi-

dB

REAL

+

+

zation

202

Setpoint for the phase reserve for the optimiza-

deg

REAL

+

+

tion

203

Indicates whether the reference model should be

BOOL

0 (= FALSE)

+

+

activated

1 (= TRUE)

204

Specifies the permissible minimum value for the

s

REAL

0.001 ... 1.000

+

+

integral time of the speed control loop

205

Specifies whether the design of band-stop filters

BOOL

0 (= FALSE)

+

+

should deploy a constant reduction (for the case

1 (= TRUE)

that significantly more poles are available as fil-

ter)

206

Optimization aggressiveness of the speed con-

REAL

0 ... 1

+

+

troller

A higher value produces a better optimization re-

sult coupled with a reduction of the robustness

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14.3 Programming

ID

Meaning

Unit

Data

Value range

Write

Read

type

with

with

CYCLE758

CYCLE759

207

Kp upper limit based on the bandwidth of a PT1-

Hz

REAL

+

+

equivalent proportionally-controlled system

Specifying a maximum speed controller band-

width is an additional rule to limit the Kp. In so

doing, the dynamic response of the speed con-

trol is limited in the form of a "Control bandwidth"

(speed controller response in the frequency do-

main). Just as before, amplitude and phase re-

serves must be maintained. As long as the am-

plitude and phase reserve permit a higher Kp,

Kp is calculated under the following assump-

tions:

● The total moment of inertia is a rigid mass.

● The speed control loop can be approximated

as a first order (PT1) lowpass filter.

208

Indicates whether a gain filter for eliminating fre-

BOOL

0 (= FALSE)

+

+

quency-specific periodic disturbances should be

1 (= TRUE)

designed and deployed

209

Frequency of the optional gain filter for eliminat-

Hz

REAL

+

+

ing frequency-specific periodic disturbances

Optimization of path interpolation (strategy)

251

Indicates whether an attempt should be made to

BOOL

0 (= FALSE)

+

+

achieve an agreement with the effective Kp value

1 (= TRUE)

252

Indicates whether an attempt should be made to

BOOL

0 (= FALSE)

+

+

achieve an agreement with the Tn integral time

1 (= TRUE)

253

The maximum proportion with which the Kp val-

REAL

0.1 ... 1.0

+

+

ue may be reduced to order to achieve an agree-

ment with the effective Kp value

254

Specifies whether non-agreements of the Kv val-

BOOL

0 (= FALSE)

+

+

ue between axes are permitted

1 (= TRUE)

255

Indicates whether the axes without precontrol or

BOOL

0 (= FALSE)

+

+

with speed precontrol must have matched refer-

1 (= TRUE)

ence models

256

Specifies the strategy for the path compensation:

INT

0, 1

+

+

●

0 = adapt the equivalent time of the control

loop with controller parameters and/or

MD32800/MD32810

●

1 = use MD32895 (time constant for the axial

setpoint phase filter) for adaptation

257

Specifies whether the precontrol should always

BOOL

0 (= FALSE)

+

+

be active for all axes in the group

1 (= TRUE)

258

Specifies whether the equivalent times should

BOOL

0 (= FALSE)

+

+

be identical for all axes

1 (= TRUE)

Special functions

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14.5 Supplementary conditions

1)

The parameter value unit depends on the measurement type:

● The following measurements were carried out in the drive. This is the reason that the units

refer to the motor side. The resulting axis velocity is obtained, taking into account the

gearbox ratios or spindle pitch. The velocity specified here is only equal to the axis velocity

for linear motors and torque motors (without gearbox). Here, it should be noted that the

axis velocity is specified in the AST screen forms, e.g. mm/min. Here, the numerical values

cannot be taken from the screen forms.

Unit

Parameter 021:

Parameter 022:

Amplitude of the excitation

Velocity offset

Measurement type

Rotary motor

Linear motor

Rotary motor

Linear motor

Speed-controlled system

Nm

N

rad/s

m/s

Closed speed control loop

rad/s

m/s

rad/s

m/s

● The following measurement were carried out via the control. Here, the units refer to the

axis, i.e. to the load side. It may be necessary to convert to SI units.

Unit

Parameter 021:

Parameter 022:

Amplitude of the excitation

Velocity offset

Measurement type

Rotary axis

Linear axis

Rotary axis

Linear axis

Mechanical frequency response

rad/s

m/s

rad/s

m/s

Closed position control loop

rad

m

rad/s

m/s

14.4

Diagnostics

If an error occurs when executing cycles, then an appropriate HMI alarm is output (number

range 150001 to 150004) as well as NC alarm 61840. Based on the block number specified

in alarm 61840, the user can define which NC block with a CYCLE75x call caused the error.

Reference:

For alarm descriptions, refer to the Diagnostics Manual Alarms.

14.5

Supplementary conditions

"Automatic post optimization with AST" for active coupling

The following table lists which coupling function support the "Automatic post optimization with

AST":

Coupling function

"Automatic post optimization with AST" can be used?

Gantry axes

+

Master-slave coupling

+

Coupled motion

-

Special functions

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14.6 Examples

Coupling function

"Automatic post optimization with AST" can be used?

Leading value coupling

-

Electronic gear

-

Synchronous spindle

-

14.6

Examples

14.6.1

Example 1: Measuring an axis with AST default settings

The rotary axis (here: 4th axis) driven with a torque motor depends greatly on the inertia of the

clamped mass. If the load inertia changes, the axis must be measured again. No controller

values for AST should be overwritten; the optimization, however, is determined with new

measurements. The results, such as the complete inertia, can be read with CYCLE759. The

newly calculated values also indicate whether the controlled system has changed. In specific

cases, switching can be made to predefined controller data sets or the acceleration changed.

The AST default setting includes the speed and position controller optimization with "normal"

optimization objective. The determined controller data is, however, not activated in this

example.

Programming

Definition of global user variables (GUD)

To read out the complete moment of inertia, a new type CHAN REAL variable must be defined

in file MGUD.DEF (it is possible that this file must be newly created):

; Definition of GUD to read out the total moment of inertia:

DEF CHAN REAL _AST_R_ESTINERTIA

Optimization cycle

Note

In the following program example, those cycle calls required for the measurement are

highlighted bold.

Any cycle calls not highlighted are optional.

DEF INT myaxiswithnewload=4

; Switch to a safe data set.

; Traverse axis to the safe position / home position.

; Is the optimization strategy set from the user interface?

; Is a destination data set (DDS) available that may be overwritten?

; Open the optimization session.

Special functions

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14.6 Examples

Preparation

● Select optimization strategy 105 from the user interface:

● If necessary, change the optimization objective (fast, moderate, robust) with the "Speed"

softkey.

Programming

Definition of global user variables (GUD)

To read out the complete moment of inertia, a new type CHAN REAL variable must be defined

in file MGUD.DEF (it is possible that this file must be newly created):

; Definition of GUD to read out the total moment of inertia:

DEF CHAN REAL _AST_R_ESTINERTIA

Optimization cycle

Note

In the following program example, those cycle calls required for the reoptimization are

highlighted bold.

Any cycle calls not highlighted are optional.

DEF INT myaxiswithnewload=4

; Switch to a safe data set.

Special functions

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14.6 Examples

Preparation

● Select optimization strategy 102 from the user interface:

● Press the "Position" softkey to display the window for adaptation of the position controller

strategy and select "User-defined strategy 209":

Special functions

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14.6 Examples

● Select the "Force equivalent time target value" option.

Note

The "Force equivalent time target value" option is set, when in addition to the speed

controller, the position controller is also reoptimized, and despite an equivalent time of the

precontrol specified, the path interpolation should not be reoptimized.

To ensure the correct path interpolation, an equivalent time can be specified. This should

correspond to the equivalent time of the axes previously optimized on the path.

● Take the equivalent time (MD32800 $MA_EQUIV_CURRCTRL_TIME or MD32810

$MA_EQUIV_SPEEDCTRL_TIME depending on MD32620 $MA_FFW_MODE) from the

other axes (here, 3 ms).

● The following parameters must be set in the servo parameter set:

- Precontrol equivalent time (MD32800 $MA_EQUIV_CURRCTRL_TIME) = 3 ms

- Position controller gain (MD32200 $MA_POSCTRL_GAIN)

Note

For the automatic operation, the servo parameter set with the appropriate path-optimum

values must then be selected in the other axes (here: with equivalent time = 3 ms).

Programming

Definition of global user variables (GUD)

To read out the complete moment of inertia, a new type CHAN REAL variable must be defined

in file MGUD.DEF (it is possible that this file must be newly created):

; Definition of GUD to read out the total moment of inertia:

DEF CHAN REAL _AST_R_ESTINERTIA

Optimization cycle

Note

In the following program example, those cycle calls required for the reoptimization are

highlighted bold.

Any cycle calls not highlighted are optional.

DEF INT myaxiswithnewload=4

; Switch to a safe data set.

; Traverse axis to the safe position / home position.

; Strategy settings were made from the user interface: target value for the

equivalent time!

; Is a destination data set (DDS) available that may be overwritten?

Special functions

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14.6 Examples

Preparation

● No equivalent time is forced, namely, the predefined strategies for the position controller

optimization are deployed:

● For the path interpolation, the strategy (all equivalent times identical or use MD32895

$MA_DESVAL_DELAY_TIME) was already chosen for the first optimization.

Special functions

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14.6 Examples

The following selection sets the balancing times (in MD32800

$MA_EQUIV_CURRCTRL_TIME or MD32810 $MA_EQUIV_SPEEDCTRL_TIME) of all

involved axes to the largest time constant:

● The following questions must be answered:

- Which axis parameter set may be reparameterized (for the path interpolation)?

- May the first axis parameter set be overwritten?

- Does the spindle need to be part of the path interpolation?

- If the thread cutting should also run with this axis configuration, parameter set 2 for the

axes and the gear stages in the spindle (parameter set 2 ... 6) may need to be optimized.

● Save the original path data!

Programming

Definition of global user variables (GUD)

To read out the complete moment of inertia, a new type CHAN REAL variable must be defined

in file MGUD.DEF (it is possible that this file must be newly created):

; Definition of GUD to read out the total moment of inertia:

DEF CHAN REAL _AST_R_ESTINERTIA

Optimization cycle

Note

In the following program example, those cycle calls required for the reoptimization are

highlighted bold.

Any cycle calls not highlighted are optional.

DEF INT myaxiswithnewload=4

; Switch to a safe data set.

; Traverse axis to the safe position / home position.

; Strategy settings were made from the user interface: target value for the

equivalent time!

; Is a destination data set (DDS) available that may be overwritten?

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14.6 Examples

Preparation

In the simplest case, only a speed controller optimization is necessary:

● Select optimization strategy 105 from the user interface:

Programming

DEF INT myAxis=4

; Open the optimization session.

CYCLE751(1)

; Add axis.

; The optimization data is loaded from the standard optimization file.

; The axis is not considered for an optimization of the path interpolation.

CYCLE752(myAxis,3,false,)

; The axis dynamic response is not measured again.

; The axis is reoptimized on the basis of the loaded measurement results

and the currently valid optimization strategy.

CYCLE753(myAxis,2,)

; Activate the use of the gain filter.

CYCLE758(myAxis,208,,,"true" )

; Gain filter: set the optimum frequency to 40 Hz.

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14.6 Examples

Preparation

1. Select optimization strategy 109 from the user interface:

2. Measure and check controller settings.

3. Accept measurement results.

4. Save data under a new name (e.g. RESULT_STRATEGY109_AX1.xml) as user-defined

file (so that the standard optimization file is not overwritten).

The user-defined file is saved as standard to directory /user/sinumerik/hmi/log/

optimization.

Programming

Example of a cycle to measure an axis without optimization:

; Release brake

DEF INT AxNr=1

; Open the optimization session.

CYCLE751(1)

; For axis 1, the saved data are used from the user-defined file

RESULT_STRATEGY109_AX1.xml.

CYCLE752(AxNr,2,0,"/user/sinumerik/hmi/log/optimization/

RESULT_STRATEGY109_AX1.xml")

Special functions

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15

15.1

Function

Note

The function "Intelligent Load Control" is an option for SINUMERIK 840D sl that requires a

license.

Article no.: 6FC5800-0AS11-0YB0

,/&

You can use the function Intelligent Load Control (ILC) to adapt dynamic and control

parameters to the actual load of a rotary axis (rotary table, tool spindle, ...) using predefined

adaptation characteristic curves.

This results in the following advantages:

● Shorter machining times

● Increased dynamic response

● Greater accuracy

● Enhanced precision

Input variable and input value

The moment of inertia of the axis that depends on the load is used as the input variable for the

adaptation. The actual value to be determined for the input variable is used as the input value

for calculating the adaptation.

Output variable and adaptation factor.

The control calculates a scaling factor (adaptation factor) for the output variable of the

adaptation (dynamic or closed loop control parameter) based on the input value and the

predefined adaptation characteristic.

Commissioning

When setting up the function, the machine OEM defines the adaptations available on the

machine tool. Dialog boxes on the user interface support the machine OEM in this task:

Operating area "Commissioning" → "NC" → Menu forward key → softkey: "Adaptations"

Special functions

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15.2 Parameterization

References:

For more detailed information see "CNC Commissioning Manual: NC, PLC, Drive".

The settings made in the user interface are entered in the relevant machine data (Page 668).

Activation/deactivation

When the control first runs up, the adaptation settings are inactive. The adaptation is activated/

deactivated by calling CYCLE782. The input value is also calculated or specified with this cycle.

References:

For information on how to operate and program cycle CYCLE782, see:

● Operating Manual Universal/Turning/Milling/Grinding,

Chapter "Programming a technological function (cycles)" >

"Load-dependent controller settings (CYCLE782)"

● Programming Manual Job planning, Chapter "Programming cycles externally" >

"Technological cycles" >"CYCLE782 - Adapting to load (option)"

15.2

Parameterization

Activation mode of an adaptation

The activation mode of an adaptation is set with machine data:

MD16501 $MN_CADAPT_MODE[<n>]

where <n> = number of the adaptation (0 ... 99)

Value

Meaning

0

Adaptation is not active (default setting)

1

Adaptation is permanently active

If activated with CYCLE782, permanently active adaptations remain active beyond program

end and channel reset. A previously programmed input value also remains active.

2

Adaptation can be activated temporarily

Temporarily activated adaptations are activated/deactivated by calling CYCLE782. On pro-

gram end or channel reset, all adaptations not deactivated with CYCLE782 are deactivated

implicitly.

Input variable of an adaptation

The input variable of an adaptation is specified in machine data:

MD16502 $MN_CADAPT_INPUT[<n>]

where <n> = number of the adaptation (0 ... 99)

Value

Meaning

1

The input variable for the adaptation is the moment of inertia of the axis.

Special functions

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15.2 Parameterization

Output variable of an adaptation

The output variable is selected with machine data:

MD16503 $MN_CADAPT_OUTPUT[<n>]

where <n> = number of the adaptation (0 ... 99)

Value

Meaning

0

No output variable, no adaptation active (default setting)

1

Axis acceleration with dynamic mode DYNNORM

2

Axis acceleration with dynamic mode DYNPOS

3

Axis acceleration with dynamic mode DYNROUGH

4

Axis acceleration with dynamic mode DYNSEMIFIN

5

Axis acceleration with dynamic mode DYNFINISH

11

Position controller gain (servo gain factor)

12

Moment of inertia for torque feedforward control

21

Drive adaptation factor 1

22

Drive adaptation factor 2

23

Drive adaptation factor 3

24

Drive adaptation factor 4

Drive adaptation factor 1 ... 4

A maximum of 4 drive variables from parameter p2782[0...3] "Mode adaptation" can be

adapted.

● Kp speed controller P gain adaptation speed

● Tn speed controller integral time adaptation speed

● Current setpoint filter 1 denominator and numerator

● Current setpoint filter 2 denominator and numerator

● Speed setpoint filter 1 denominator and numerator

● Speed controller reference model natural frequency and damping

● APC / APC ECO Tv (p3769)

● APC / APC ECO filter (p3766)

Note

The adaptation of drive variables requires use of telegram 146, 148, or 149.

References:

● For information about adapting drive variables, see "SINAMICS S120 Drive Functions

Function Manual".

● For information about telegram 146/148/149, see "SINAMICS S120 Function Manual,

Communication".

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15.2 Parameterization

Machine axis number of the input variable

The input variable of an adaptation is assigned to a machine axis using machine data:

MD16504 $MN_CADAPT_INPUT_AX[<n>]

where <n> = number of the adaptation (0 ... 99)

Value

Meaning

0

No machine axis assigned, adaptation is not active (default setting)

1 ... 31

Number of the assigned machine axis

Machine axis number of the output variable

The output variable of an adaptation is assigned to a machine axis using machine data:

MD16505 $MN_CADAPT_OUTPUT_AX[<n>]

where <n> = number of the adaptation (0 ... 99)

Value

Meaning

0

No machine axis assigned, adaptation is not active (default setting)

1 ... 31

Number of the assigned machine axis

Adaptation characteristic

The characteristic curve of a load adaptation is defined by interpolation points that are derived

from fixed moment of inertia values and the associated scaling factors (0% ... 3000%) for the

output variable. The values between the interpolation points are interpolated linearly.

Two interpolation points are sufficient for a simple adaptation:

● MD16506 $MN_CADAPT_INPUT_VALUE_1[<n>] (input value 1 of the adaptation)

● MD16507 $MN_CADAPT_INPUT_VALUE_2[<n>] (input value 2 of adaptation)

● MD16508 $MN_CADAPT_OUTPUT_VALUE_1[<n>] (output value 1 of the adaptation)

● MD16509 $MN_CADAPT_OUTPUT_VALUE_2[<n>] (output value 2 of adaptation)

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15.3 Example

15.3

Example

For a rotary table with highly variable loading, the effective acceleration should be adapted to

the current moment of inertia. The function "Intelligent Load control" is used to increase

acceleration at minimal loading to 150 %.

$FFHOHUDWLRQ >

@

ZLWK DGDSWDWLRQ

ZLWKRXW DGDSWDWLRQ

-_PLQ

-_PD[

0RPHQW RI LQHUWLD >NJP @

J_min

⇒ MD16506[0] $MN_CADAPT_INPUT_VALUE_1

J_max

⇒ MD16507[0] $MN_CADAPT_INPUT_VALUE_2

150%

⇒ MD16508[0] $MN_CADAPT_OUTPUT_VALUE_1

100 %

⇒ MD16509[0] $MN_CADAPT_OUTPUT_VALUE_2

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TE01: Installation and activation of loadable compile cycles

16.9 Data lists

3. Initiate a power on reset with an NC general reset (NC commissioning switch: position "1").

See:

References:

Commissioning Manual IBN CNC: NC, PLC, Drive; Section: General tips > Separate NC

and PLC general reset > NC general reset

4. Download the NC archive created under Point 1 into the NCU again.

Operating area: "Commissioning" > "ETC" key > "Commissioning archive" > "Read-in

commissioning archive" > "OK"

Note

Several loaded compile cycles

If several compile cycles are loaded in the control, when deleting a compile cycle according

to the process described above, the other compile cycles remain unchanged.

Efficient memory usage

To use the memory resources in the NC as efficiently as possible, you should only load the

compile cycles (ELF files) that are actually required into the machine.

16.9

Data lists

16.9.1

Machine data

16.9.1.1

NC-specific machine data

Number

Identifier: $MN_

Description

60900 + i

CC_ACTIV_IN_CHAN_XXXX[n]

n = 0:

Activating the technology function in NC channels

with:

with:

i = 0, 1, 2,

XXXX = function code

n = 1:

3, ...

n = 0 or 1

Additional functions within the technology function

Special functions

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