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SINUMERIK 840D sl. Service - Functions. Manual (2018-2020) - page 73

TE7: Continue machining at the contour (retrace support) - 840D sl only

22.2 Function description

1

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① RESU start point 1 or start of the RESU-capable contour range 1

② RESU end point 1 or end of the RESU-capable contour range 1

③ RESU start point 2 or start of the RESU-capable contour range 2

④ RESU end point 2 or end of the RESU-capable contour range 2

⑤ RESU straight-line as equivalent contour of the non RESU-capable contour range

Figure 22-2

RESU-capable contour ranges

22.2.2

Definition of terms

Interruption point

The interruption point is the point of the contour at which the traversing movement comes to

a standstill following an NC stop and reverse travel is activated.

Program continuation point

The program continuation point is the point of the contour at which reverse travel terminates

and program continuation is activated.

Retraceable contour range

Retraceable contour ranges consist of traversing blocks in the configured RESU working plane

(e.g. 1st and 2nd geometry axis of the channel), that are programmed in the part program

between the RESU start command CC_PREPRE(1) and the RESU stop command

CC_PREPRE(0) (see "Figure 22-2 RESU-capable contour ranges (Page 826)").

Special functions

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22.2 Function description

Signal characteristic of the NC/PLC interface signals

The principle sequence of the RESU function is illustrated in the following figure as a signal

characteristic of the NC/PLC interface signals involved:

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①

Reverse travel is started.

②

Forward travel is started (optional).

③

Continue machining is started (block search).

④

Search destination (target block) was found.

⑤

1st NC START → Action blocks are output

⑥

Last action block is activated.

The RESU ASUP CC_RESU_BS_ASUP.SPF (Page 841) is triggered when the last action

block is activated.

⑦

2nd NC start → the approach block to the program continuation point is executed.

⑧

Part program processing (target block) resumed

Figure 22-3

Signal chart

Special functions

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22.2 Function description

22.2.4

Maximum retraceable contour area

In multiple machining continuation within a contour area, the reverse travel on the contour is

always possible only up to the last machining continuation point (W). In first-time reverse travel

after RESU start, reverse travel up to the start of the contour range is possible.

This response must be illustrated via the following graph. For the sake of simplicity, the

interruption point (U) is always the same:

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8

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Figure 22-4

Maximum Retraceable contour range

1st reverse travel

In first-time reverse travel, reverse travel is possible maximum up to the start of the first contour

element (N20) after RESU start (N15) (W1_max).

If reverse travel takes place up to the machining continuation point W1, W1 defines the

maximum RESU range for a possible further reverse travel after machining continuation and

forward travel.

2nd reverse travel

A renewed reverse travel can now be undertaken maximum only up to the last machining

continuation point W2_{max =} W1.

If reverse travel goes as far back as program continuation point W2, the maximum RESU range

is restricted further.

Special functions

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22.3 Startup

22.3

Startup

22.3.1

Activation

Before commissioning the technological function, ensure that the corresponding compile cycle

has been loaded and activated (see also Section "TE01: Installation and activation of loadable

compile cycles (Page 673)").

Activation

The "Continue machining - Retrace support" technology function is activated via the following

machine data:

MD60900+i $MN_CC_ACTIVE_IN_CHAN_RESU[0], bit 0 = 1

Note

The "Continue machining - Retrace support" technological function is available only in the

1st channel of NC.

22.3.2

Definition of the RESU working plane

Machining continuation/reverse travel is possible only for part program blocks that contain

traversing blocks in the configured RESU working plane.

The RESU working plane is defined with the following machine data:

MD62580 $MC_RESU_WORKING_PLANE

Value

Meaning

1

The RESU working plane is formed by the 1st and 2nd Geometry axes of the 1st channel (for

G17).

2

The RESU working plane is formed by the 1st and 3rd Geometry axes of the 1st channel (for

G18).

3

The RESU working plane is formed by the 2nd and 3rd Geometry axes of the 1st channel (for

G19).

22.3.3

Memory configuration: Block memory

The technological function requires additional data in the NC-internal block memory. The

values must be increased for the following memory configuring channel-specific machine data:

● MD28090 $MC_MM_NUM_CC_BLOCK_ELEMENTS += 4 (number of block elements for

compile cycles)

● MD28100 $MN_MM_NUM_CC_BLOCK_USER_MEM += 20 (size of block memory for

compile cycles (DRAM) in KB)

Special functions

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22.3 Startup

22.3.4

Memory configuration: Heap memory

Memory requirements

RESU requires compile cycles heap memory for the following function-specific buffers:

● Block buffer

The larger the block buffer (see "Figure 22-6 RESU-specific part programs (Page 837)"),

the larger the number of part program blocks that can be traversed backwards.

32 bytes are required per part program block.

The block buffer can be parameterized directly.

● Block search buffer

The block search buffer contains the information required for processing subprogram

searches in the context of RESU.

180 bytes are required for each subprogram. The block search buffer requires at least 2880

bytes (16 subprogram calls with 180 bytes each).

The block search buffer cannot be parameterized directly.

A function-specific GUD variable displays the size of the block search buffer (for creation

of GUD variables, see Section "Channel-specific GUD variables (Page 846)").

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Figure 22-5

Division of the heap memory for compile cycles

Memory configuration

Size of the compile cycle heap memory

The size of the heap memory in KB that can be used by the user for compile cycles is defined

via the memory configuring channel-specific machine data:

MD28105 $MC_MM_NUM_CC_HEAP_MEM

For RESU, the already existing machine data value (x) is adjusted as follows:

MD28105 $MC_MM_NUM_CC_HEAP_MEM = x + 50

Size of the block buffer

Special functions

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22.3 Startup

The size of the block buffer is adjusted via the machine data:

MD62571 $MC_RESU_RING_BUFFER_SIZE

Default setting:

MD62571 $MC_RESU_RING_BUFFER_SIZE = 1000

RESU portion of the total heap memory

The RESU portion of the total heap memory that can be used for compile cycles is set via the

machine data:

MD62572 $MC_RESU_SHARE_OF_CC_HEAP_MEM

Default setting:

MD62572 $MC_RESU_SHARE_OF_CC_HEAP_MEM = 100

Error messages

The block search buffer requires at least 2880 bytes (corresponding to 16 subprogram calls

with 180 bytes each). Otherwise, the following alarm will be generated during NC power-up:

Alarm 75600 "Channel 1 Retrace Support: Incorrect MD configuration, error no. 5"

If the block search buffer is not big enough during operation, the following alarm appears:

Alarm 75606 "Channel 1 retraceable contour shortened"

22.3.5

RESU main program memory area

Memory configuration

The storage location of the RESU main program CC_RESU.MPF can be set with the following

machine data (see Section "Main program (CC_RESU.MPF) (Page 838)"):

MD62574 $MC_RESU_SPECIAL_FEATURE_MASK (additional RESU features)

Bit

Value

Meaning

1

0

The RESU main program is stored in the dynamic NC memory (default).

1

The RESU main program is stored in the static NC memory (default).

Storage in the dynamic NC memory (default)

If the RESU main program is created in the dynamic NC memory, the memory area available

to the user for file storage must be increased as follows:

MD18351 $MN_MM_DRAM_FILE_MEM_SIZE = x¹⁾ + 100

¹⁾ already available machine data value

Special functions

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22.3 Startup

Storage in the static NC memory

If the RESU main program is created in the static memory area of the NC, it is retained even

after a POWER OFF. However, since RESU regenerates the RESU main program every time

the retrace support function is used, this parameter setting is not recommended.

22.3.6

Storage of the RESU subroutines

Storage as user or manufacturer cycles

The following RESU-specific subroutines can be stored as user cycles or manufacturer cycles:

● INI program: CC_RESU_INI.SPF

● END program CC_RESU_END.SPF

● Retrace support ASUB CC_RESU_BS_ASUP.SPF

● RESU ASUB CC_RESU_BS_ASUP.SPF

The setting is done using machine data:

MD62574 $MC_RESU_SPECIAL_FEATURE_MASK (additional RESU features)

Bit

Value

Meaning

2

0

The RESU-specific subroutines are stored as user cycles (default).

1

The RESU-specific subroutines are stored as manufacturer cycles.

Series commissioning

Due to the default setting of MD62574 Bit 2, the RESU-specific subroutines along with their

contents are stored as user cycles the first time the NC is powered up after the activation of

the technological function.

If the setting is then changed to specify that the RESU-specific subroutines are to be stored

as manufacturer cycles, the RESU-specific subroutines already created as user cycles are

retained even after a new power-up and must be deleted.

As support for series commissioning, the RESU-specific subroutines present as user cycles

can be deleted without prompting when the NC is powered up:

MD62574 $MC_RESU_SPECIAL_FEATURE_MASK, Bit 3 = 1

22.3.7

ASUB enable

Note

A requirement for using ASUBs is that the "Cross-mode actions" option must be available.

Special functions

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22.4 Programming

U

DB21, … DBX0.1

// IF

"Forward/Reverse" == 1

R

DB21, … DBX0.2

// THEN

"Start retrace support" = 0

22.4

Programming

22.4.1

RESU Start/Stop/Reset (CC_PREPRE)

Using procedure CC_PREPRE (Prepare Retrace) the "Start", "Stop" and "Reset" modes can be

activated for retracing:

Syntax

CC_PREPRE(<mode>)

Meaning

CC_PREPRE:

Retrace mode

Alone in the block:

Yes

<mode>:

Mode

Data type:

INT

Value range:

-1, 0, 1

Value

Meaning

-1

Starts logging the traversing blocks.

The information required for traversing backward is logged on a

block-specific basis in a RESU-internal block buffer. The traversing

information is related to the two geometry axes of the RESU work-

ing plane e.g. the 1st and 2nd geometry axes of the channel:

MD20050 $MC_AXCONF_GEOAX_ASSIGN_TAB[x]; with x = 0

and 1

Or, if transformation is active:

MD24120 $MC_TRAFO_GEOAX_ASSIGN_TAB[x]; with x = 0 and

1

0

Stops logging the traversing blocks.

Thus irrelevant contour areas can be excluded from the log.

These excluded contour areas are bridged by a straight line be-

tween the starting point and end point when traversing backward.

1

Deactivates logging of the traversing blocks and deletes the func-

tion-internal block buffer. Contour areas located before the instant

of deactivation of the part program are therefore no longer availa-

ble to RESU.

Special functions

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22.5 RESU-specific part programs

RESET response

For the following reset events, CC_PREPRE(-1) is implicitly executed:

● Power on (warm restart)

● Channel reset

● End of program reset (M30)

22.5

RESU-specific part programs

22.5.1

Overview

The following programs are automatically generated within the scope of the retrace support

functionality (continue machining). User-specific content can be incorporated in the programs

listed.

Function

Program name

Can be changed

Main program

CC_RESU.MPF

No

INI program

CC_RESU_INI.SPF

Yes

END program

CC_RESU_END.SPF

Yes

Continue machining ASUP

CC_RESU_BS_ASUP.SPF

Yes

RESU ASUP

CC_RESU_ASUP.SPF

No

Internal structure

The following diagram provides an overview of the internal structure of the technological

function and the relationship between the various part programs.

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Figure 22-6

RESU-specific part programs

Special functions

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22.5 RESU-specific part programs

G71 G90 G500 T0 G40 F200

;system frames that are present are deactivated

;actual value and scratching

if $MC_MM_SYSTEM_FRAME_MASK B_AND 'H01'

$P_SETFRAME = ctrans()

endif

;external zero point offset

if $MC_MM_SYSTEM_FRAME_MASK B_AND 'H02'

$P_EXTFRAME = ctrans()

endif

;tool carrier

if $MC_MM_SYSTEM_FRAME_MASK B_AND 'H04'

PAROTOF

endif

if $MC_MM_SYSTEM_FRAME_MASK B_AND 'H08'

TOROTOF

endif

;workpiece reference points

if $MC_MM_SYSTEM_FRAME_MASK B_AND 'H10'

$P_WPFRAME = ctrans()

endif

;cycles

if $MC_MM_SYSTEM_FRAME_MASK B_AND 'H20'

$P_CYCFRAME = ctrans()

endif

;transformations

if $MC_MM_SYSTEM_FRAME_MASK B_AND 'H40'

$P_TRAFRAME = ctrans()

endif

; bit mask for global basic frames

$P_NCBFRMASK = 0

;bit mask for channel-specific basic frames

$P_CHBFRMASK = 0

;programmable frame

$P_PFRAME = ctrans()

M17

CAUTION

Program changes

By changing the content of the RESU-specific subprogram "CC_RESU_INI.SPF", the user

(machine manufacturer) takes over the responsibility for the correct sequence of the

technological function.

Note

CC_RESU_INI.SPF may be changed.

CC_RESU_INI.SPF must not contain any RESU part program commands. CC_PREPRE(x).

Special functions

840

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22.5 RESU-specific part programs

22.5.4

END program (CC_RESU_END.SPF)

Function

The task of the RESU-specific subroutine "CC_RESU_END.SPF" is to stop reverse travel once

the end of the retraceable contour is reached. If the RESU function is parameterized

appropriately, this scenario will not arise under normal circumstances.

Program structure

CC_RESU_END.SPF has the following content by default:

PROC CC_RESU_END

M0

M17

CAUTION

Program changes

By changing the content of the RESU-specific subroutine "CC_RESU_END.SPF", the user

(machine manufacturer) takes over the responsibility for the correct sequence of the

technological function.

Note

CC_RESU_END.SPF may be changed.

CC_RESU_END.SPF must not contain any RESU part program commands. CC_PREPRE(x).

22.5.5

Retrace support ASUB (CC_RESU_BS_ASUP.SPF)

Function

The NC is forced to approach the current path point during machining continuation with the

help of the RESU-specific ASUB "CC_RESU_BS_ASUP.SPF":

● Reapproach next point on path:

RMN

● Approach along line on all axes:

REPOSA

Program structure

CC_RESU_BS_ASUP.SPF has the following content by default:

PROC CC_RESU_BS_ASUP SAVE

RMN

REPOSA

Special functions

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22.5 RESU-specific part programs

M17

CAUTION

Program changes

By changing the content of the RESU-specific subroutine "CC_RESU_BS_ASUP.SPF", the

user (machine manufacturer) takes over the responsibility for the correct sequence of the

technological function.

Note

CC_RESU_BS_ASUP.SPF may be changed.

User-specific modifications must be inserted before the part program block RMN.

22.5.6

RESU ASUB (CC_RESU_ASUP.SPF)

Function

The RESU-specific ASUB "CC_RESU_ASUP.SPF" is required internally for the function. The

ASUB is initiated if the following RESU interface signal is switched over in the NC stop state:

DB21, … DBX0.1 (Forward/Reverse)

Program structure

CC_RESU_ASUP.SPF has the following content:

PROC CC_RESU_ASUP

; siemens system asub - do not change

G4 F0.001

M0

REPOSA

M17

Note

CC_RESU_ASUP.SPF must not be changed.

Special functions

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22.6 Retrace support

All part program instructions which are not executed in the action block but are required for

retrace support in the part program must be entered manually in the RESU-specific retrace

support ASUB CC_RESU_BS_ASUP.SPF, e.g.:

● Synchronized actions

● M functions

References

The complete description of the Block search is available in:

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

22.6.3

Reposition

Function

Following the end of the last action block (last traversing block before repositioning), NC Start

outputs the approach block for repositioning all channel axes programmed in the part program

as far as the target block.

Geometry axes

In the approach block, the geometry axes of the RESU working plane (e.g. 1st and 2nd

geometry axes of the channel) traverse the shortest route along the contour to the program

continuation point.

1

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Figure 22-7

Retraceable contour ranges and REPOS

Special functions

844

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22.7 Function-specific display data

The main blocks are to be designated with a Main Block No. consisting of the sign ":" and a

positive whole number (block number).

References:

Programming Manual, Fundamentals; Fundamentals of NC Programming, Language

Elements of the Programming Language

Activation

Activation of the block search from the last main block is performed using the RESU-specific

machine data:

MD62575 $MC_RESU_SPECIAL_FEATURE_MASK_2, bit 0 (additional RESU features)

Bit

Value

Meaning

0

0

Retrace support is performed using block search with calculation on contour.

1

Retrace support is performed using block search from the last main block.

Supplementary conditions

In order that a new retrace support operation can take place following a retrace support

operation with block search from last main block, the RESU start CC_PREPRE(1) must be

programmed in the retrace support ASUB "CC_RESU_BS_ASUP.SPF".

Programming example:

PROC CC_RESU_BS_ASUP SAVE

; (synchronized actions, M functions, etc. required for retrace support

)

CC_PREPRE(1)

RMN

REPOSA

M17

22.7

Function-specific display data

22.7.1

Channel-specific GUD variables

As display data for the size of the block search buffer, RESU provides the following channel-

specific GUD variables:

GUD variable

Meaning

Value

Access

CLC_RESU_LENGTH_BS_BUFFER

Size of block search buf-

Byte

read only

fer

After the startup of the technological function, the GUD variable is not displayed automatically

on the operator panel.

Special functions

846

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22.9 Boundary conditions

22.9

Boundary conditions

22.9.1

Function-specific supplementary conditions

22.9.1.1

Continue machining within subprograms

Subprogram call outside or inside a program loop

Clear retrace support within subprograms depends on whether the subprogram call is made

outside or inside a program loop:

● Outside

Clear retrace support is possible if a subprogram is called outside a program loop.

● Inside

Clear retrace support may not be possible if a subprogram is called inside a program loop

(see Section "Continue machining within program loops (Page 848)").

Number of passes P

Subprogram repetitions using number of passes P are taken into account for retrace support.

This means that retrace support is performed in the part program with the correct reference to

the part program block and number of passes P to the program continuation point of the contour.

22.9.1.2

Continue machining within program loops

In NC high-level language, program loops can be programmed using:

● LOOP

ENDLOOP

● FOR

ENDFOR

● WHILE

ENDWHILE

● REPEAT

UNTIL

● CASE/IF-ELSE-ENDIF in conjunction with GOTOB

WARNING

Risk of collision

Significant contour deviations can occur during the machining if the programmed continuation

point at the programmed contour is the result of a loop run that is not equal to the first loop

run.

If retrace support is performed within program loops, the retrace support is always effective

in the first loop run.

Special functions

848

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22.9 Boundary conditions

If traversing movements in other channel axes are required for machining continuation or

reverse travel, these can either be undertaken by the machined operator manually, or

programmed as travel block in the RESU-specific subroutine "CC_RESU_INI.SPF".

WARNING

Risk of collision when traversing

The machine operator must ensure that collision of the associated traversing movements

does not take place during the entire machining continuation operation within the framework

of the technological function of RESU.

22.9.2.3

Block numbers

The following RESU-specific subroutines and their subroutines must not contain block

numbers:

● CC_RESU_INI.SPF

● CC_RESU_END.SPF

The following alarm appears in the event of an error:

Alarm 75604 "Reverse travel not possible, error no. number"

22.9.2.4

Block search

Block search with calculation

RESU is subject to the following constraints in the context of the "block search with calculation

(on contour/at end of block") standard function:

● The last block of the RESU part program command CC_PREPRE(x) run during the block

search is effective in the target block.

● The retraceable contour range starts with the REPOS approach block.

Block search without calculation

RESU part program commands CC_PREPRE(x) haveno effect in the "block searches without

calculation" function.

22.9.2.5

Transformations

RESU can also be used for active kinematic transformation (e.g. 5-axis transformation) subject

to restrictions, as the traversing movements of the two geometry axes of the RESU working

plane are recorded in the basic coordinate system (BCS) and therefore before the

transformation (see also Section "TE4: Handling transformation package - 840D sl only

(Page 759)").

Special functions

850

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22.10 Data lists

been taken into account, the tool offsets must be deactivated during retrace support (reverse /

forward travel).

The tool offsets are deactivated during retrace support via the standard default settings of the

RESU-specific subprogram "CC_RESU_INI.SPF" (see Section "INI program

(CC_RESU_INI.SPF) (Page 839)").

Specific instances of tool radius compensation, e.g. compensation on outside corners

G450 DISC=x may generate contour deviations between the contour traversed during retrace

support and the contour programmed in the machining program.

Contour deviations are always generated if tool radius compensation produces contour

elements that are non-linear or circular. For example, G450DISC=x, where x > 0 produces

parabolic or hyperbolic contour elements.

A full description of the tool radius compensation can be found in:

Reference:

Function Manual, Basic Functions; Tool Compensation (W1)

22.10

Data lists

22.10.1

Machine data

22.10.1.1

General machine data

Number

Identifier: $MN_

Meaning

11602

ASUP_START_MASK

Ignore stop reasons if an ASUB is running.

11604

ASUP_START_PRIO_LEVEL

Defines the ASUB priority from which MD11602 is effec-

tive.

18351

MM_DRAM_FILE_MEM_SIZE

Size of the part program memory in DRAM (in kByte)

22.10.1.2

Channelspecific machine data

Number

Identifier: $MC_

Description

20050

AXCONF_GEOAX_ASSIGN_TAB

Assignment 'geometry/channel axis'

24120

TRAFO_GEOAX_ASSIGN_TAB_1

Assignment of geometry - channel axes for transforma-

tion 1

28090

MM_NUM_CC_BLOCK_ELEMENTS

Number of block elements for compile cycles (CC)

28100

MM_NUM_CC_BLOCK_USER_MEM

Size of block memory for CC in KB

28105

MM_NUM_CC_HEAP_MEM

Heap memory in KB for CC applications (DRAM)

62571

RESU_RING_BUFFER_SIZE

Size of ring buffer (RESU-internal block buffer)

62572

RESU_SHARE_OF_CC_HEAP_MEM

RESU portion of the total CC heap memory

62573

RESU_INFO_SA_VAR_INDEX

Indices of the synchronized action variables

Special functions

852

Function Manual, 12/2018, A5E40874099B AB

TE7: Continue machining at the contour (retrace support) - 840D sl only

22.10 Data lists

Number

Identifier: $MC_

Description

62574

RESU_SPECIAL_FEATURE_MASK

Additional RESU features

62575

RESU_SPECIAL_FEATURE_MASK_2

Additional RESU properties

62580

RESU_WORKING_PLANE

Selection of the RESU working plane

22.10.2

Signals

22.10.2.1

Signals to channel

Signal name

SINUMERIK 840D sl

SINUMERIK 828D

RESU: Backward/forward

DB21,

DBX0.1

-

RESU: Start retrace support

DB21,

DBX0.2

-

22.10.2.2

Signals from channel

Signal name

SINUMERIK 840D sl

SINUMERIK 828D

RESU: Retrace mode active

DB21,

DBX32.1

-

RESU: Retrace support active

DB21,

DBX32.2

-

Special functions

Function Manual, 12/2018, A5E40874099B AB

853

TE8: Cycle-independent path-synchronous switching signal output - 840D sl only

23.2 Functional description

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The following block positions function as switching positions:

● Position X30 for G0-edge change from N10 to N20

● Position X100 for G0-edge change from N30 to N40

Freely programmable velocity threshold value as switching criterion

A freely programmable velocity threshold value is used to define the setpoint velocity

programmed in the part program block at and above which the switching signal is activated/

deactivated.

● If the setpoint velocity programmed in the part program block is above the programmed

threshold, the switching signal is switched off.

● If the setpoint velocity is at or below the threshold value, the switching signal is switched

on.

The edge change marks the programmed end of block position of the previous block as the

switching position.

Example:

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Special functions

Function Manual, 12/2018, A5E40874099B AB

857

TE8: Cycle-independent path-synchronous switching signal output - 840D sl only

23.2 Functional description

The following block positions function as switching positions:

● Position X30 for edge change from N10 to N20

● Position X70 for edge change from N20 to N30

Note

G0 always deactivates the switching signal, regardless of the threshold value.

23.2.2.2

Path length-related switching signal output

Programmable paths as the switching criterion

In path-related switching signal output, the switching positions are defined with the help of the

two freely programmable paths s₁ and s₂.

Functional sequence

The path length-related switching signal output starts with a switch on signal at the beginning

of the first traversing block after activation with CC_FAST_CONT (refer to ① in the screen).

The processing is active till a deactivation signal is set after the traversing of a programmable

path s₁ (refer to ② in screen). This way the processing is interrupted till a switch on signal is

set again after the traversing of a programmable path s₂ (refer to ③ in screen).

The changeover between activation and deactivation signal, and therefore between processing

and interruption phase is path length dependent at the end of either of the stretch sections s₁

and s₂. This enables a continuous and regular machining without the individual switching

positions having to be programmed explicitly.

The path length-related switching signal output ends with the start of the first traversing block

(or of another executable block) after deactivation with CC_FASTOFF (refer to ④ in screen).

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Path length-related switching signal output

Special functions

858

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TE8: Cycle-independent path-synchronous switching signal output - 840D sl only

23.2 Functional description

Value below minimum switching position distance

For path length-related switching signal output, the value may fall below the minimum switching

position distance, e.g. due to:

● Increase in feed rate

● Decrease in programmable switching position distance s₁ and s₂

The following reactions take place if the value falls below the minimum:

● Alarm 75501 "Channel %1 HSLC: CC_FASTON_CONT speed too high" is displayed.

● The switching signal at the current switching position is omitted. To maintain the machining

rhythm, the function also suppresses the switching signal at the following switching position.

The position of all the following switching positions is not affected by this. In the further

course of the path, one can witness alternating output and suppression of two switching

signals following each other.

23.2.5

Approaching switching position

If in block-related switching signal output a switching position is not reached exactly, e.g. in

continuous-path mode and travel in more than one geometry axis, then switching takes place

at the instant at which the positional difference between the actual position of the geometry

axes involved and the programmed switching position increases again.

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Special functions

860

Function Manual, 12/2018, A5E40874099B AB

TE8: Cycle-independent path-synchronous switching signal output - 840D sl only

23.2 Functional description

23.2.6

Programmed switching position offset

Programmed switching position offset

For block-related switching signal output, a positional offset of the switching position can be

programmed :

● Offset distance negative = lead

With a negative offset distance, the switching position is offset before the set point position

programmed in the part program block.

If an excessively large negative offset distance is programmed, i.e. the setpoint has already

been exceeded by the time the edge is detected, the signal is switched immediately.

● Offset distance positive = follow-up

With a positive offset distance, the switching position is offset behind the set point position

programmed in the part program block.

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Programmed switching position offset

Path reference

The offset distance is a positional specification that refers to the programmed path. This way

one can start from a simplified linear motion. Path curves are not taken into account.

Response to single block and G60

Due to the internal motion logic, negative offset distances (lead) have no effect when used

with the following standard functions:

● Single Block

● Exact stop at block end (G60)

23.2.7

Response to part program interruption

Following an interruption in the part program (NC-STOP) and subsequent change to JOG

mode, the technological function is deactivated or switching signals cease to be output.

The technology function is reactivated or switching signals are output again only after switching

to the AUTOMATIC mode and continuing the part program (NC-START).

Special functions

Function Manual, 12/2018, A5E40874099B AB

861

TE8: Cycle-independent path-synchronous switching signal output - 840D sl only

23.4 Programming

Changing the default setting

For a deviating machine configuration (e.g. definition of a third geometry axis), the default

setting can be adjusted via the following machine data:

MD60948 $MN_CC_ACTIVE_IN_CHAN_HSCL[1]

Value

Meaning

$MN_CC_ACTIVE_IN_CHAN_HSCL[1]='H3'

Default setting.

The calculation of the switching instants is derived

from the first and second geometry axis.

$MN_CC_ACTIVE_IN_CHAN_HSCL[1]='H7'

The calculation of the switching instants is derived

from the first, second and third geometry axis.

Any change is effective only after the NC has powered up the next time.

23.4

Programming

23.4.1

Activating the block-related switching signal output (CC_FASTON)

Syntax

CC_FASTON (DIFFON, DIFFOFF [,FEEDTOSWITCH])

CC_FASTON() is a procedure call and must therefore be programmed in a dedicated part

program block.

Parameter

The parameters for the CC_FASTON() procedure have the following meaning:

Parameter

Meaning

<DIFFON>

Length* of the offset distance for setting the switching signal.

<DIFFOFF>

Length* of the offset distance for deactivating the switching signal.

<FEEDTOSWITCH>

This parameter is optional.

If the parameter is not specified in the procedure call, the G0 edge change

is used as the switching criterion.

If the parameter is specified in the procedure call, it contains as a switching

criterion the velocity threshold value, which, when undershot or exceeded,

activates or deactivates the switching signal accordingly.

* The basic unit (inch or mm) depends on the current dimensions programming (G70 / G71 / G700 /

G710).

Special functions

864

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TE8: Cycle-independent path-synchronous switching signal output - 840D sl only

23.4 Programming

Programming example

Programming

Comment

DEF REAL DIFFON= -0.08

; Length* of the offset distance for

activating the switching signal =

-0.08

DEF REAL DIFFOFF= 0.08

; Length* of the offset distance for

deactivating the switching signal =

0.08

DEF REAL FEEDTOSWITCH= 20000

; Speed threshold value = 20000

CC_FASTON(DIFFON,DIFFOFF,FEEDTOSWITCH)

; Activating block-related switching

signal output (with speed threshold

value as switching criterion)

Changing parameters

The parameters for the CC_FASTON() procedure can be modified at any time during the

execution of the part program. To do this, enter the procedure call again with the new parameter

values. The switching criterion (G0 edge change / velocity threshold value) may also be

changed.

Reset response

A reset (NC RESET or end of program) deactivates the function.

23.4.2

Activating the path length-related switching signal output (CC_FASTON_CONT)

Syntax

CC_FASTON_CONT (PATH_DISTANCE_ON, PATH_DISTANCE_OFF)

CC_FASTON_CONT() is a procedure call and must therefore be programmed in a dedicated

part program block.

Parameter

The parameters for the CC_FASTON_CONT() procedure have the following meaning:

Parameter

Meaning

< PATH_DISTANCE_ON >

Length* of the stretch section with machining (s₁).

< PATH_DISTANCE_OFF>

Length* of the stretch section without machining (s₂).

* The basic unit (inch or mm) depends on the current dimensions programming (G70 / G71 / G700 /

G710).

Special functions

Function Manual, 12/2018, A5E40874099B AB

865

TE8: Cycle-independent path-synchronous switching signal output - 840D sl only

23.6 Supplementary conditions

23.6

Supplementary conditions

23.6.1

Block search

Switching signal output for block search

If a block search is on a part program block which lies after a CC_FASTON() procedure call

for activating the technology function, then the switching signal is activated with the next

traversing motion. One of the specific consequences of this is to initiate travel along the contour

from the start position of the geometry axes back to the program continuation point with an

activated switching signal.

Example

Normal process:

In the normal process of the part program machining, the switching signal is activated for the

first time at the beginning of part program block N60.

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Switching signal for part program machining operation

Process sequence after block search:

If a block search is executed for the block end point of part program block N60 the switching

signal is activated on reaching the start position of the geometry axes.

Special functions

Function Manual, 12/2018, A5E40874099B AB

867

TE8: Cycle-independent path-synchronous switching signal output - 840D sl only

23.6 Supplementary conditions

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Switching signal after block search

Suppressing the switching signal output

The user (machine manufacturer) must take appropriate measures, e.g. disable the switching

signal, in order to suppress the activation of the switching signal in the REPOS block in the

constellation described above.

Note

It is the sole responsibility of the user (machine manufacturer) to suppress the output of the

switching signal during repositioning, e.g. after a block search.

References

You will find a description of the block search in:

Function Manual, Basic Functions, Mode Group, Channel, Program Operation, Reset Behavior

(K1)

23.6.2

Transformations

The function will only run correctly with deactivated transformation. There is no monitoring

function.

For a description of the transformations (see Section "TE4: Handling transformation package

- 840D sl only (Page 759)").

References:

Function Manual Extended Functions; Kinematic Transformation (M1)

Special functions

868

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TE8: Cycle-independent path-synchronous switching signal output - 840D sl only

23.7 Data lists

23.6.6

Software cams

Because the hardware timer is also used for the "software cam" function, it is not possible to

use the "clock-independent switching signal output" function with software cams at the same

time.

The following alarm appears in the event of an error:

Alarm 75500 "Channel Channel No., wrong configuration of function: clock-independent

switching signal output"

A description of the software cams can be found in:

Reference:

Function Manual, Extended Functions; Software cams, Position switching signals (N3)

23.7

Data lists

23.7.1

Machine data

23.7.1.1

General machine data

Number

Identifier: $MN_

Description

10360

FASTO_NUM_DIG_OUTPUTS

Number of digital output bytes

23.7.1.2

Channelspecific machine data

Number

Identifier: $MC_

Description

20050

AXCONF_GEOAX_ASSIGN_TAB

Assignment of geometry axis to channel axis

28090

MM_NUM_CC_BLOCK_ELEMENTS

Number of block elements for CC

28100

MM_NUM_CC_BLOCK_USER_MEM

Size of block memory for CC

62560

FASTON_NUM_DIG_OUTPUT

Number of the on-board digital output for the switching

signal

Special functions

870

Function Manual, 12/2018, A5E40874099B AB

TE9: Axis pair collision protection

24.3 Startup

Collision protection

The function uses the current actual positions and actual velocities, as well as the offset for

the machine coordinate systems and the axis-specific brake acceleration values, to calculate

the distance between the standstill positions of the machine axes, on a cyclical basis. If the

resulting distance is shorter than the protection window that has been set, the machine axes

are decelerated to a standstill. This ensures that the minimum distance defined using the

protection window is not undershot.

Distance monitoring

If the offset vector is selected accordingly, the function can also be used to monitor the

maximum distance between the two machine axes (maximum distance vector).

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Figure 24-1

Basic design

Monitoring status

The actual status of an axis pair can be read out of _PROTECT_STATUS (Page 878),

optionally defined global user variables in the NC program (GUD).

24.3

Startup

24.3.1

Enabling the technology function (option)

The function is an option, which must be assigned to the hardware via the license management.

6FC5800-0AN06-0YB0, "RMCC/PROT axis collision avoidance"

For test purposes, the function can be enabled by setting the option data:

Special functions

872

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TE9: Axis pair collision protection

24.3 Startup

with a = 0, 1, 2, ... (maximum number of axis pairs - 1) corresponding axis pair 1, 2, 3, ...

<yyxx>

Meaning

xx

1st and 2nd decimal place ⇒ axis number of the 1st machine axis

yy

3rd and 4th decimal place ⇒ axis number of the 2nd machine axis

Example

Definition of the 1st axis pair:

● 1st axis: 4th machine axis

● 2nd axis: 12th machine axis

MD61516 $MN_CC_PROTECT_PAIRS[ 0 ] = 1204

24.3.5

Retraction direction

The direction of travel for retracting the corresponding machine axis is set using machine data:

MD61517 $MN_CC_PROTECT_SAFE_DIR[ <a> ] = <yyxx>

with a = 0, 1, 2, ... (maximum number of axis pairs - 1) corresponding axis pair 1, 2, 3, ...

<yyxx>

Meaning

xx

Retraction direction for the 1st axis of the axis pair

yy

Retraction direction for the 2nd axis of the axis pair

Retraction in the positive direction of travel of the machine axis: xx or yy > 0

Retraction in the negative direction of travel of the machine axis: xx or yy = 0

Note

Changing the retraction direction

Changing the retraction direction in machine data MD61517

$MN_CC_PROTECT_SAFE_DIR[<axis pair>] may only be carried out if the protection function

for the axis pair is not active (MD61516 $MN_CC_PROTECT_PAIRS[<axis pair>] == 0).

24.3.6

Offset for the machine coordinate systems

If the machine axes of the axis pair are located in different machine coordinate systems, then

the appropriate offset vector must be specified in the following machine data:

MD61518 $MN_CC_PROTECT_OFFSET[ <a> ] = <offset vector>

with a = 0, 1, 2, ... (maximum number of axis pairs - 1) corresponding axis pair 1, 2, 3, ...

The offset vector should be specified as vector from the origin of the machine coordinate

system of the 2nd axis of the axis pair to the origin of the machine coordinate system of the

1st axis, referred to the machine coordinate system of the 1st axis.

Special functions

874

Function Manual, 12/2018, A5E40874099B AB

TE9: Axis pair collision protection

24.3 Startup

If both machine axes are located in the same machine coordinate system, an offset vector of

0 must be specified.

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② Case 2: Counterdirectional MCS orientation

V Offset vector

Note

Changing the offset vector

Changing the offset vector in machine data MD61518 $MN_CC_PROTECT_OFFSET[<axis

pair>] may only be carried out if the protection function for the axis pair is not active (MD61516

$MN_CC_PROTECT_PAIRS[<axis pair>] == 0).

24.3.7

Protection window

The protection window and/or the minimum clearance is defined which the axes of the axis

pair may not fall below using the machine data:

MD61519 $MN_CC_PROTECT_WINDOW[ <a> ] = <minimum clearance>

with a = 0, 1, 2, ... (maximum number of axis pairs - 1) corresponding axis pair 1, 2, 3, ...

When the clearance approaches the minimum clearance, the axes are braked with the function-

specific acceleration (Page 877).

The protection window can be dynamically extended, e.g. in an NC P program using

theprotection window extension (Page 876).

Note

Changing the protection window

Changing the protection window in machine data MD61519

$MN_CC_PROTECT_WINDOW[<axis pair>] may also be carried out if the protection function

for the axis pair is active (MD61516 $MN_CC_PROTECT_PAIRS[<axis pair>] ≠ 0).

Special functions

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875

TE9: Axis pair collision protection

24.3 Startup

24.3.8

Orientation

The orientation of the axes of the axis pair to one another is specified in the following machine

data:

MD61532 $MN_CC_PROTECT_DIR_IS_REVERSE[ <a> ] = <value>

with a = 0, 1, 2, ... (maximum number of axis pairs - 1) corresponding axis pair 1, 2, 3, ...

<value>

Meaning

0

Equidirectional orientation

1

Counterdirectional orientation

Note

Changing the orientation

Changing the orientation in machine data MD61532

$MN_CC_PROTECT_DIR_IS_REVERSE[<axis pair>] may only be carried out if the protection

function for the axis pair is not active (MD61516 $MN_CC_PROTECT_PAIRS[<axis pair>] ==

0).

24.3.9

Protection window extension

The protection window (Page 875) can be dynamically extended using machine data:

MD61533 $MN_CC_PROTECT_WINDOW_EXTENSION[ <a> ] = <extension>

with a = 0, 1, 2, ... (maximum number of axis pairs - 1) corresponding axis pair 1, 2, 3, ...

The resulting effective protection window of an axis pair is as follows:

Effective protection window[<axis pair>] =

MD61519 $MN_CC_PROTECT_WINDOW[<axis pair>] +

MD61533 $MN_CC_PROTECT_WINDOW_EXTENSION[<axis pair>]

It is not possible to reduce the protection window by entering a negative value.

Note

Changing the protection window extension

Changing the protection window extension in machine data MD61533

$MN_CC_PROTECT_WINDOW_EXTENSION[<axis pair>] may also be carried out when the

protection function is active, e.g. from the NC program - and can be activated by initiating

"Activate machine data".

Special functions

876

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TE9: Axis pair collision protection

24.3 Startup

MD63514 $MA_CC_PROTECT_ACCEL[<axis>] = <acceleration>

with <axis>: Machine axis name, e.g. AX1, AX2, ...

Note

Without jerk limitation

The braking acceleration set using MD63514 $MA_CC_PROTECT_ACCEL acts without jerk

limiting.

Priority of the function-specific acceleration

The protection function only uses the function-specific acceleration of the machine axes from

MD63514 $MA_CC_PROTECT_ACCEL to calculate the time at which the axis should be

braked. The protection function does not take the actual acceleration of the machine axis in

the channel into account.

Note

Path reference

If machine axes being monitored by the protection function are traversed by a channel with a

path reference to other axes, this path reference is lost as soon as the protection function

causes the axis grouping to decelerate. The machine axes being monitored by the protection

function are decelerated using their function-specific acceleration values from machine data

item MD63514 $MA_CC_PROTECT_ACCEL. The remaining axes in the axis grouping are

decelerated using the current path acceleration value of the channel.

24.3.12

Monitoring status (GUD)

The actual status of one axis pair is displayed using the global user variable

_PROTECT_STATUS.

The variable is not available in the default setting. When required, it must be defined in the

GUD.DEF definition window.

Definition

DEF NCK INT _PROTECT_STATUS[ <number of parameterized axis pairs> ]

with <number of parameterized axis pairs> = 1, 2, 3, ... (maximum number of axis pairs)

Range of values

Value

Meaning: The monitoring of the axis pair is ...

0

Not active

1

selected, but not yet active

2

active, the axes are currently not being braked

3

active, the axes are currently being braked

4

deselected, however still active

Special functions

878

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TE9: Axis pair collision protection

24.3 Startup

24.3.13

PLC interface: Axis-specific braking operations

Within the general system variable field $A_DBD, a double word (four bytes) can be used to

define an axes-specific braking interface. When the axes of the axis pair critically approach

one another, the actual braking of the machine axes is displayed via the braking interface.

MD61534 $MN_CC_PROTECT_A_DBD_INDEX = <value>

<value>

Meaning

-1

Deactivation of the output.

≥ 0

Braking interface index within the system variable field:

$A_DBD[ <index> ] with index = 0, 4, 8, 12, ...

Note

Double word index

The starting index can be specified in the machine data, byte-by-byte (0, 1, 2, ...). System

variable $A_DBD is accessed from the PLC using a double word. This means that a starting

index, which is not located at a double word boundary (0, 4, 8, ...), is rounded off to the next

double word boundary (0, 4, 8, 12, ...): Index = (index DIV 4) * 4

Braking interface

Each bit of the braking interface is assigned a machine axis:

Bit n → (n+1)th machine axis, with n = 0, 1, 2, ...

Bit

31

30

29

28

3

2

1

0

MA ¹⁾

---

31

30

29

4

3

2

1

1) Machine axis number

Bit n

Meaning

0

Machine axis (n+1) is not braked

1

Machine axis (n+1) is braked

References

Block FC21, function 3 is available to read the braking interface from the PLC user program.

Function Manual Basic Functions; Chapter "Basic PLC program for SINUMERIK 840D sl" >

"Block descriptions" > "FC21: Transfer data exchange NC/PLC" > "Function 3, 4: Fast data

exchange PLC-NC"

24.3.14

PLC interface: Axis pair-specific activation of the protection function

If the supplementary function "Activation/deactivation of function "Axis pair collision protection"

via NC/PLC interface signal (Page 873)" is active, using the axis-specific interface signal, the

protection function for the axis pair can be activated and deactivated from the PLC user

program:

Special functions

Function Manual, 12/2018, A5E40874099B AB

879

TE9: Axis pair collision protection

24.5 Examples

24.5

Examples

24.5.1

Collision protection

The figure shows the arrangement of 3 machine axes and the offset and orientation of the

machine coordinate systems (machine).

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Figure 24-2

Collision protection for 2 axis pairs

Parameter assignment: Protection function 1

Axis pair: 1st machine axis A3, 2nd machine axis A1

● MD61516 $MN_CC_PROTECT_PAIRS[0] = 01 03

Retraction direction: A1 in negative direction, A3 in positive direction

● MD61517 $MN_CC_PROTECT_SAFE_DIR[0] = 00 01

Offset vector from machine coordinate system machine_A1 to machine_A3 with reference to

machine_A3

● MD61518 $MN_CC_PROTECT_OFFSET[0] = 70.0

Example protection window, 10.0 mm

● MD61519 $MN_CC_PROTECT_WINDOW[0] = 10.0

Orientation of the machine coordinate systems to one another: same direction

● MD61532 $MN_CC_PROTECT_DIR_IS_REVERSE[0] = 0

Protection window extension: none

● MD61533 $MN_CC_PROTECT_WINDOW_EXTENSION[0] = 0.0

Parameter assignment: Protection function 2

Axis pair: 1st machine axis A1, 2nd machine axis A12

● MD61516 $MN_CC_PROTECT_PAIRS[1] = 12 01

Special functions

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TE9: Axis pair collision protection

24.5 Examples

Retraction direction: A12 in positive direction, A1 in positive direction

● MD61517 $MN_CC_PROTECT_SAFE_DIR[1] = 01 01

Offset vector from machine coordinate system machine_A12 to machine_A1 with reference to

machine_A1

● MD61518 $MN_CC_PROTECT_OFFSET[1] = 32.0

Example protection window, 5.0 mm

● MD61519 $MN_CC_PROTECT_WINDOW[1] = 5.0

Orientation of the machine coordinate systems to one another: opposite direction

● MD61532 $MN_CC_PROTECT_DIR_IS_REVERSE[1] = 1

Protection window extension: by 5.0 mm to give a total of 10.0 mm

● MD61533 $MN_CC_PROTECT_WINDOW_EXTENSION[1] = 5.0

24.5.2

Collision protection and distance limiter

The figure shows the arrangement of two machine axes, the offset and orientation of the

machine coordinate systems (machine), and the minimum and maximum distance vectors.

$FWXDO YDOXHB$

PP

$FWXDO YDOXHB$

PP

0LQ FOHDUDQFH YHFWRU

$FWXDO FOHDUDQFH YHFWRU

0D[ FOHDUDQFH YHFWRU

0&6B$

0&6B$

0&6BRIIVHW YHFWRU

Figure 24-3

Collision protection and distance limiter for one axis pair

Parameter assignment: Protection function 1 - Collision protection

Axis pair: 1st machine axis A1, 2nd machine axis A3

● MD61516 $MN_CC_PROTECT_PAIRS[0] = 03 01

Retraction direction: A1 in negative direction, A3 in positive direction

● MD61517 $MN_CC_PROTECT_SAFE_DIR[0] = 01 00

Special functions

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TE9: Axis pair collision protection

24.6 Data lists

24.6

Data lists

24.6.1

Option data

Number

Identifier: $ON_

Description

19610

TECHNO_EXTENSION_MASK[6]

Enable the technology function via BIT4 = 1

24.6.2

Machine data

24.6.2.1

NC-specific machine data

Number

Identifier: $MN_

Description

60972

CC_ACTIVE_IN_CHAN_PROT[ 0 ]

Channel-specific activation of the technology function

61516

CC_PROTECT_PAIRS[ <a> ]

Axis pair-specific definition of both machine axes

61517

CC_PROTECT_SAFE_DIR[ <a> ]

Axis pair-specific definition of the retraction direction

61518

CC_PROTECT_OFFSET[ <a> ]

Axis pair-specific definition of the offset of both machine coordi-

nate systems

61519

CC_PROTECT_WINDOW[ <a> ]

Axis pair-specific definition of the protection window or minimum

clearance

61532

CC_PROTECT_DIR_IS_REVERSE[ <a> ]

Axis pair-specific definition of the orientation of the machine coor-

dinate systems of both machine axes to one another

61533

CC_PROTECT_WINDOW_EXTEN-

Axis pair-specific definition of the protection window extension

SION[ <a> ]

61534

CC_PROTECT_A_DBD_INDEX

Braking interface window within the system variable field $A_DBD

61535

CC_PROTECT_OPTIONS[ <a> ]

Axis pair-specific activation of supplementary functions

24.6.2.2

Axis/Spindle-specific machine data

Number

Identifier: $MA_

Description

61514

CC_PROTECT_ACCEL

Protection function-specific brake acceleration

24.6.3

Signals

24.6.3.1

Signals to axis/spindle

Signal name

SINUMERIK 840D sl

SINUMERIK 828D

Activate collision protection

DB31,

DBX24.3

-

Special functions

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V2: Preprocessing

25.2 Program handling

25.2

Program handling

Activation/Deactivation

Cycles are preprocessed on POWER ON if the following machine data is set:

MD10700 $MN_PREPROCESSING_LEVEL, bit 1 (program preprocessing level)

Bit

Value

Meaning

0

No preprocessing

0

Call description of cycles is not known by default.

Cycles, like normal subprograms, have to be stated as external before the cycle call.

This is a sensible setting when no cycles with call parameters are used.

1

During control power-up, the call description of the cycles is generated. All user cycles

(_N_CUS_DIR directory) and Siemens cycles (_N_CST_DIR directory) with transfer

parameters can be called up without external statement. Changes to the cycle-call

interface do not take effect until the next POWER ON.

The following machine data must be set:

MD18170 $MN_MM_NUM_MAX_FUNC_NAMES (number of auxiliary actions)

MD18180 $MN_MM_NUM_MAX_FUNC_PARAM (number of auxiliary parameters for

cycles)

1

1

During control power-up, all cycles are preprocessed into a compilation optimized for

processing. All user cycles (_N_CUS_DIR directory) and standard cycles

(_N_CST_DIR directory) are processed at high speed. Program changes to cycle

programs do not take effect until the next POWER ON.

2

1

During control power-up, the standard cycles in the _N_CST_DIR directory are pre-

processed in a compilation optimized for processing.

3

1

During control power-up, the user cycles in the _N_CUS_DIR directory are prepro-

cessed in a compilation optimized for processing.

4

1

Preprocessing of user cycles from the directory _N_CMA_DIR

5

1

Preprocessing the user cycles with the PREPRO command in the PROC instruction

line. Unmarked files of directories marked with bits 1-4 are not preprocessed.

If bit 0, then control of the preprocessing is carried out in accordance with the speci-

fications of bits 0-4.

6

0

The compilation is stored in the dynamic NC memory as long as free memory is still

available. If sufficient memory is not available, preprocessing is aborted.

The size of the dynamic NC memory is obtained with this machine data:

MD18351 $MN_MM_DRAM_FILE_MEM_SIZE.

The areas occupied in the dynamic NC memory by the compilation are visible to the user.

Bit combinations are permissible.

Special functions

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