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

Glossary

Interpolatory compensation

Mechanical deviations of the machine are compensated for by means of interpolatory

compensation functions, such as → leadscrew error, sag, angularity, and temperature

compensation.

Interrupt routine

Interrupt routines are special → subprograms that can be started by events (external signals)

in the machining process. A part program block which is currently being worked through is

interrupted and the position of the axes at the point of interruption is automatically saved.

Inverse-time feedrate

The time required for the path of a block to be traversed can also be programmed for the axis

motion instead of the feed velocity (G93).

JOG

Operating mode of the control (setup mode): The machine can be set up in JOG mode.

Individual axes and spindles can be traversed in JOG mode by means of the direction keys.

Additional functions in JOG mode include: → Reference point approach, → Repos, and → Preset

(set actual value).

Key switch

The key switch on the → machine control panel has four positions that are assigned functions

by the operating system of the controller. The key switch has three different colored keys that

can be removed in the specified positions.

Keywords

Words with specified notation that have a defined meaning in the programming language for

→ part programs.

Servo gain factor, a control variable in a control loop.

Leading axis

The leading axis is the → gantry axis that exists from the point of view of the operator and

programmer and, thus, can be influenced like a standard NC axis.

Leadscrew error compensation

Compensation for the mechanical inaccuracies of a leadscrew participating in the feed. The

controller uses stored deviation values for the compensation.

Special functions

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Glossary

Limit speed

Maximum/minimum (spindle) speed: The maximum speed of a spindle can be limited by

specifying machine data, the → PLC or → setting data.

Linear axis

In contrast to a rotary axis, a linear axis describes a straight line.

Linear interpolation

The tool travels along a straight line to the destination point while machining the workpiece.

Load memory

The load memory is the same as the → working memory for the CPU 314 of the → PLC.

Look Ahead

The Look Ahead function is used to achieve an optimal machining speed by looking ahead

over an assignable number of traversing blocks.

Machine axes

Physically existent axes on the machine tool.

Machine control panel

An operator panel on a machine tool with operating elements such as keys, rotary switches,

etc., and simple indicators such as LEDs. It is used to directly influence the machine tool via

the PLC.

Machine coordinate system

A coordinate system, which is related to the axes of the machine tool.

Machine zero

Fixed point of the machine tool to which all (derived) measuring systems can be traced back.

Machining channel

A channel structure can be used to shorten idle times by means of parallel motion sequences,

e.g. moving a loading gantry simultaneously with machining. Here, a CNC channel must be

regarded as a separate CNC control system with decoding, block preparation and interpolation.

Special functions

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Glossary

Macro techniques

Grouping of a set of statements under a single identifier. The identifier represents the set of

consolidated statements in the program.

Main block

A block preceded with ":" that contains all information to start the operating sequence in a

→ part program.

Main program

The term "main program" has its origins during the time when part programs were split strictly

into main and → subprograms. This strict division no longer exists with today's SINUMERIK

NC language. In principle, any part program in the channel can be selected and started. It then

runs through in → program level 0 (main program level). Further part programs or → cycles as

subprograms can be called up in the main program.

MDI

Operating mode of the control: Manual Data Input. In the MDI mode, individual program blocks

or block sequences with no reference to a main program or subprogram can be input and

executed immediately afterwards through actuation of the NC start key.

Messages

All messages programmed in the part program and → alarms detected by the system are

displayed on the operator panel in plain text with date and time and the corresponding symbol

for the deletion criterion. Alarms and messages are displayed separately.

Metric measuring system

Standardized system of units: For length, e.g. mm (millimeters), m (meters).

Mirroring

Mirroring reverses the signs of the coordinate values of a contour, with respect to an axis. It

is possible to mirror with respect to more than one axis at a time.

Mode

An operating concept on a SINUMERIK control The following modes are defined: → Jog, → MDI,

→ Automatic.

Mode group

Axes and spindles that are technologically related can be combined into one mode group.

Axes/spindles of a mode group can be controlled by one or more → channels. The same

→ mode type is always assigned to the channels of the mode group.

Special functions

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Glossary

Numerical Control component of the → CNC that executes the → part programs and coordinates

the movements of the machine tool.

Network

A network is the connection of multiple S7-300 and other end devices, e.g. a programming

device via a → connecting cable. A data exchange takes place over the network between the

connected devices.

NRK

Numeric robotic kernel (operating system of → NC)

NURBS

The motion control and path interpolation that occurs within the control is performed based on

NURBS (Non Uniform Rational B-Splines). This provides a uniform procedure for all internal

interpolations.

OEM

The scope for implementing individual solutions (OEM applications) has been provided for

machine manufacturers, who wish to create their own user interface or integrate technology-

specific functions in the control.

Offset memory

Data range in the control, in which the tool offset data is stored.

Oriented spindle stop

Stops the workpiece spindle in a specified angular position, e.g. in order to perform additional

machining at a particular location.

Overall reset

In the event of an overall reset, the following memories of the → CPU are deleted:

●

→ Working memory

● Read/write area of → load memory

●

→ System memory

●

→ Backup memory

Special functions

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Glossary

Override

Manual or programmable possibility of intervention that enables the user to override

programmed feedrates or speeds in order to adapt them to a specific workpiece or material.

Part program

Series of statements to the NC that act in concert to produce a particular → workpiece. Likewise,

this term applies to execution of a particular machining operation on a given → raw part.

Part program block

Part of a → part program that is demarcated by a line feed. There are two types: → main blocks

and → subblocks.

Part program management

Part program management can be organized by → workpieces. The size of the user memory

determines the number of programs and the amount of data that can be managed. Each file

(programs and data) can be given a name consisting of a maximum of 24 alphanumeric

characters.

Path axis

Path axes include all machining axes of the → channel that are controlled by the → interpolator

in such a way that they start, accelerate, stop, and reach their end point simultaneously.

Path feedrate

Path feedrate affects → path axes. It represents the geometric sum of the feedrates of the

→ geometry axes involved.

Path velocity

The maximum programmable path velocity depends on the input resolution. For example, with

a resolution of 0.1 mm the maximum programmable path velocity is 1000 m/min.

PCIN data transfer program

PCIN is a utility program for sending and receiving CNC user data (e.g. part programs, tool

offsets) via the serial interface. The PCIN program can run under MS-DOS on standard

industrial PCs.

Peripheral module

I/O modules represent the link between the CPU and the process.

Special functions

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Glossary

I/O modules are:

●

→ Digital input/output modules

●

→ Analog input/output modules

●

→ Simulator modules

PLC

Programmable Logic Controller: → Programmable logic controller. Component of → NC:

Programmable control for processing the control logic of the machine tool.

PLC program memory

SINUMERIK 840D sl: The PLC user program, the user data and the basic PLC program are

stored together in the PLC user memory.

PLC programming

The PLC is programmed using the STEP 7 software. The STEP 7 programming software is

based on the WINDOWS standard operating system and contains the STEP 5 programming

functions with innovative enhancements.

Polar coordinates

A coordinate system which defines the position of a point on a plane in terms of its distance

from the origin and the angle formed by the radius vector with a defined axis.

Polynomial interpolation

Polynomial interpolation enables a wide variety of curve characteristics to be generated, such

as straight line, parabolic, exponential functions (SINUMERIK 840D sl).

Positioning axis

Axis that performs an auxiliary motion on a machine tool (e.g. tool magazine, pallet transport).

Positioning axes are axes that do not interpolate with → path axes.

Pre-coincidence

Block change occurs already when the path distance approaches an amount equal to a

specifiable delta of the end position.

Program block

Program blocks contain the main program and subprograms of → part programs.

Special functions

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Glossary

Program level

A part program started in the channel runs as a → main program on program level 0 (main

program level). Any part program called up in the main program runs as a → subprogram on

a program level 1 ... n of its own.

Programmable frames

Programmable → frames enable dynamic definition of new coordinate system output points

while the part program is being executed. A distinction is made between absolute definition

using a new frame and additive definition with reference to an existing starting point.

Programmable logic controller

Programmable logic controllers (PLCs) are electronic controllers, the function of which is stored

as a program in the control unit. This means that the layout and wiring of the device do not

depend on the function of the controller. The programmable logic control has the same

structure as a computer; it consists of a CPU (central module) with memory, input/output

modules and an internal bus system. The peripherals and the programming language are

matched to the requirements of the control technology.

Programmable working area limitation

Limitation of the motion space of the tool to a space defined by programmed limitations.

Programming key

Characters and character strings that have a defined meaning in the programming language

for → part programs.

Protection zone

Three-dimensional zone within the → working area into which the tool tip must not pass.

Quadrant error compensation

Contour errors at quadrant transitions, which arise as a result of changing friction conditions

on the guideways, can be virtually entirely eliminated with the quadrant error compensation.

Parameterization of the quadrant error compensation is performed by means of a circuit test.

R parameters

Arithmetic parameter that can be set or queried by the programmer of the → part program for

any purpose in the program.

Rapid traverse

The highest traverse velocity of an axis. It is used, for example, when the tool approaches the

→ workpiece contour from a resting position or when the tool is retracted from the workpiece

Special functions

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Glossary

contour. The rapid traverse velocity is set on a machine-specific basis using a machine data

item.

Reference point

Machine tool position that the measuring system of the → machine axes references.

Rotary axis

Rotary axes apply a workpiece or tool rotation to a defined angular position.

Rotation

Component of a → frame that defines a rotation of the coordinate system around a particular

angle.

Rounding axis

Rounding axes rotate a workpiece or tool to an angular position corresponding to an indexing

grid. When a grid index is reached, the rounding axis is "in position".

RS-232-C

Serial interface for data input/output. Machining programs as well as manufacturer and user

data can be loaded and saved via this interface.

Safety functions

The controller is equipped with permanently active monitoring functions that detect faults in

the → CNC, the → PLC, and the machine in a timely manner so that damage to the workpiece,

tool, or machine is largely prevented. In the event of a fault, the machining operation is

interrupted and the drives stopped. The cause of the malfunction is logged and output as an

alarm. At the same time, the PLC is notified that a CNC alarm has been triggered.

Scaling

Component of a → frame that implements axis-specific scale modifications.

Setting data

Data which communicates the properties of the machine tool to the NC as defined by the

system software.

Softkey

A key, whose name appears on an area of the screen. The choice of softkeys displayed is

dynamically adapted to the operating situation. The freely assignable function keys (softkeys)

are assigned defined functions in the software.

Special functions

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Glossary

Software limit switch

Software limit switches limit the traversing range of an axis and prevent an abrupt stop of the

slide at the hardware limit switch. Two value pairs can be specified for each axis and activated

separately by means of the → PLC.

Spline interpolation

With spline interpolation, the controller can generate a smooth curve characteristic from only

a few specified interpolation points of a set contour.

Standard cycles

Standard cycles are provided for machining operations which are frequently repeated:

● For the drilling/milling technology

● For turning technology

The available cycles are listed in the "Cycle support" menu in the "Program" operating area.

Once the desired machining cycle has been selected, the parameters required for assigning

values are displayed in plain text.

Subblock

Block preceded by "N" containing information for a sequence, e.g. positional data.

Subprogram

The term "subprogram" has its origins during the time when part programs were split strictly

into →main and subprograms. This strict division no longer exists with today's SINUMERIK NC

language. In principle, any part program or any → cycle can be called up as a subprogram

within another part program. It then runs through in the next → program level (x+1) (subprogram

level (x+1)).

Synchronization

Statements in → part programs for coordination of sequences in different → channels at certain

machining points.

Synchronized actions

1. Auxiliary function output

During workpiece machining, technological functions (→ auxiliary functions) can be output

from the CNC program to the PLC. For example, these auxiliary functions are used to

control additional equipment for the machine tool, such as quills, grabbers, clamping

chucks, etc.

2. Fast auxiliary function output

For time-critical switching functions, the acknowledgement times for the → auxiliary

functions can be minimized and unnecessary hold points in the machining process can be

avoided.

Special functions

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Glossary

Synchronized axes

Synchronized axes take the same time to traverse their path as the geometry axes take for

their path.

Synchronized axis

A synchronized axis is the → gantry axis whose set position is continuously derived from the

motion of the → leading axis and is, thus, moved synchronously with the leading axis. From

the point of view of the programmer and operator, the synchronized axis "does not exist".

System memory

The system memory is a memory in the CPU in which the following data is stored:

● Data required by the operating system

● The operands timers, counters, markers

System variable

A variable that exists without any input from the programmer of a → part program. It is defined

by a data type and the variable name preceded by the character $. See → User-defined variable.

Tapping without compensating chuck

This function allows threads to be tapped without a compensating chuck. By using the

interpolating method of the spindle as a rotary axis and the drilling axis, threads can be cut to

a precise final drilling depth, e.g. for blind hole threads (requirement: spindles in axis operation).

Text editor

See → Editor

TOA area

The TOA area includes all tool and magazine data. By default, this area coincides with the

→ channel area with regard to the access of the data. However, machine data can be used to

specify that multiple channels share one → TOA unit so that common tool management data

is then available to these channels.

TOA unit

Each → TOA area can have more than one TOA unit. The number of possible TOA units is

limited by the maximum number of active → channels. A TOA unit includes exactly one tool

data block and one magazine data block. In addition, a TOA unit can also contain a toolholder

data block (optional).

Special functions

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Glossary

Tool

Active part on the machine tool that implements machining (e.g. turning tool, milling tool, drill,

LASER beam, etc.).

Tool nose radius compensation

Contour programming assumes that the tool is pointed. Because this is not actually the case

in practice, the curvature radius of the tool used must be communicated to the controller which

then takes it into account. The curvature center is maintained equidistantly around the contour,

offset by the curvature radius.

Tool offset

Consideration of the tool dimensions in calculating the path.

Tool radius compensation

To directly program a desired → workpiece contour, the control must traverse an equistant path

to the programmed contour taking into account the radius of the tool that is being used (G41/

G42).

Transformation

Additive or absolute zero offset of an axis.

Travel range

The maximum permissible travel range for linear axes is ± 9 decades. The absolute value

depends on the selected input and position control resolution and the unit of measurement

(inch or metric).

User interface

The user interface (UI) is the display medium for a CNC in the form of a screen. It features

horizontal and vertical softkeys.

User memory

All programs and data, such as part programs, subprograms, comments, tool offsets, and work

offsets / frames, as well as channel and program user data, can be stored in the shared CNC

user memory.

User program

User programs for the S7-300 automation systems are created using the programming

language STEP 7. The user program has a modular layout and consists of individual blocks.

Special functions

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Glossary

The basic block types are:

● Code blocks

These blocks contain the STEP 7 commands.

● Data blocks

These blocks contain constants and variables for the STEP 7 program.

User-defined variable

Users can declare their own variables for any purpose in the → part program or data block

(global user data). A definition contains a data type specification and the variable name. See

→ System variable.

Variable definition

A variable definition includes the specification of a data type and a variable name. The variable

names can be used to access the value of the variables.

Velocity control

In order to achieve an acceptable traverse rate in the case of very slight motions per block, an

anticipatory evaluation over several blocks (→ Look Ahead) can be specified.

WinSCP

WinSCP is a freely available open source program for Windows for the transfer of files.

Work offset

Specifies a new reference point for a coordinate system through reference to an existing zero

point and a → frame.

1. Settable

A configurable number of settable work offsets are available for each CNC axis. The offsets

- which are selected by means of G commands - take effect alternatively.

2. External

In addition to all the offsets which define the position of the workpiece zero, an external

work offset can be overridden by means of the handwheel (DRF offset) or from the PLC.

3. Programmable

Work offsets can be programmed for all path and positioning axes using the TRANS

statement.

Working area

Three-dimensional zone into which the tool tip can be moved on account of the physical design

of the machine tool. See → Protection zone.

Special functions

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Glossary

Working area limitation

With the aid of the working area limitation, the traversing range of the axes can be further

restricted in addition to the limit switches. One value pair per axis may be used to describe the

protected working area.

Working memory

The working memory is a RAM in the → CPU that the processor accesses when processing

the application program.

Workpiece

Part to be made/machined by the machine tool.

Workpiece contour

Set contour of the → workpiece to be created or machined.

Workpiece coordinate system

The workpiece coordinate system has its starting point in the → workpiece zero-point. In

machining operations programmed in the workpiece coordinate system, the dimensions and

directions refer to this system.

Workpiece zero

The workpiece zero is the starting point for the → workpiece coordinate system. It is defined

in terms of distances to the → machine zero.

Special functions

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Table of contents

Preface

Introduction

1.1

About this documentation

Fundamental safety instructions

2.1

General safety instructions

2.2

Warranty and liability for application examples

2.3

Security information

Brief description

Detailed description

4.1

Definition of a synchronized action

4.2

Components of synchronized actions

4.2.1

Validity, identification number (ID, IDS)

4.2.2

Frequency (WHENEVER, FROM, WHEN, EVERY)

4.2.3

G command (condition)

4.2.4

Condition

4.2.5

G command (action)

4.2.6

Actions with condition fulfilled (DO)

4.2.7

Actions with condition unfulfilled (ELSE)

4.3

System variables for synchronized actions

4.3.1

Reading and writing

4.3.2

Operators and arithmetic functions

4.3.3

Type conversions

4.3.4

Marker/counter ($AC_MARKER)

4.3.5

Parameters ($AC_PARAM)

4.3.6

R parameters ($R)

4.3.7

Machine and setting data ($$M, $$S)

4.3.8

Timer ($AC_TIMER)

4.3.9

FIFO variables ($AC_FIFO)

4.3.10

Path tangent angle ($AC_TANEB)

4.3.11

Override ($A...OVR)

4.3.12

Capacity evaluation ($AN_IPO ... , $AN/AC_SYNC ... , $AN_SERVO)

4.3.13

Working-area limitation ($SA_WORKAREA_ ... )

4.3.14

SW cam positions and times ($$SN_SW_CAM_ ...)

4.3.15

Path length evaluation / machine maintenance ($AA_TRAVEL ... , $AA_JERK ... )

4.3.16

Polynomial coefficients, parameters ($AC_FCT ...)

4.3.17

Overlaid movements ($AA_OFF)

4.3.18

Online tool length compensation ($AA_TOFF)

4.3.19

Current block in the interpolator ($AC_BLOCKTYPE, $AC_BLOCKTYPEINFO,

$AC_SPLITBLOCK)

4.3.20

Initialization of array variables (SET, REP)

4.3.21

Grinding-specific system variables ($AC_IN_KEY_G...)

Synchronized actions

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4.3.22

Status Synchronized action disabled ($AC_SYNA_STATE)

4.4

User-defined variables for synchronized actions

4.5

Language elements for synchronized actions and technology cycles

4.6

Language elements for technology cycles only

4.7

Actions in synchronized actions

4.7.1

Output of M, S and H auxiliary functions to the PLC

4.7.2

Reading and writing of system variables

4.7.3

Polynomial evaluation (SYNFCT)

4.7.4

Online tool offset (FTOC)

4.7.5

Programmed read-in disable (RDISABLE)

4.7.6

Cancel preprocessing stop (STOPREOF)

4.7.7

Delete distance-to-go (DELDTG)

4.7.8

Traversing axes, to position (POS)

4.7.9

Setting the measuring system (G70, G71, G700, G710)

4.7.10

Position in specified reference range (POSRANGE)

4.7.11

Traversing axes, endless (MOV)

4.7.12

Axial feedrate (FA)

4.7.13

Axis replacement (GET, RELEASE, AXTOCHAN)

4.7.14

Traversing spindles (M, S, SPOS)

4.7.15

Withdrawing the enable for the axis container rotation (AXCTSWEC)

4.7.16

Actual value setting with loss of the referencing status (PRESETON)

4.7.17

Actual value setting without loss of the referencing status (PRESETONS)

100

4.7.18

Couplings (CP..., LEAD..., TRAIL..., CTAB...)

106

4.7.19

Measurement (MEAWA, MEAC)

110

4.7.20

Travel to fixed stop (FXS, FXST, FXSW, FOCON, FOCOF, FOC)

113

4.7.21

Channel synchronization (SETM, CLEARM)

115

4.7.22

User-specific error reactions (SETAL)

116

4.7.23

Cancel the actual subprogram level (CANCELSUB)

116

4.8

Technology cycles

117

4.8.1

General

117

4.8.2

Processing mode (ICYCON, ICYCOF)

119

4.8.3

Definitions (DEF, DEFINE)

120

4.8.4

Parameter transfer

120

4.8.5

Context variable ($P_TECCYCLE)

121

4.9

Protected synchronized actions

122

4.10

Coordination via part program and synchronized action (LOCK, UNLOCK, CANCEL)

123

4.11

Coordination via PLC

123

4.12

Configuration

124

4.13

Control behavior in specific operating states

126

4.13.1

Power On

126

4.13.2

NC reset

126

4.13.3

NC stop

126

4.13.4

Operating mode change

127

4.13.5

End of program

128

4.13.6

Block search

128

4.13.7

Program interruption by ASUB

129

4.13.8

REPOS

130

Synchronized actions

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4.13.9

Response to alarms

130

4.14

Diagnostics

131

4.14.1

Displaying the status of synchronized actions

131

Examples

133

5.1

Examples of conditions in synchronized actions

133

5.2

Reading and writing of SD/MD from synchronized actions

133

5.3

Examples of adaptive control

135

5.3.1

Clearance control with variable upper limit

135

5.3.2

Feedrate control

137

5.3.3

Control velocity as a function of normalized path

138

5.4

Monitoring a safety clearance between two axes

139

5.5

Store execution times in R parameters

139

5.6

"Centering" with continuous measurement

140

5.7

Axis couplings via synchronized actions

143

5.7.1

Coupling to leading axis

143

5.7.2

Non-circular grinding via master value coupling

144

5.7.3

On-the-fly parting

148

5.8

Technology cycles position spindle

149

5.9

Synchronized actions in the TC/MC area

150

Data lists

155

6.1

Machine data

155

6.1.1

General machine data

155

6.1.2

Channelspecific machine data

155

6.1.3

Axis-specific machine data

155

6.2

Setting data

156

6.2.1

Axis/spindle-specific setting data

156

Appendix

157

A.1

List of abbreviations

157

A.2

Documentation overview

162

Index

163

Synchronized actions

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Introduction

1.1

About this documentation

This documentation is part of the documentation category of SINUMERIK Function Manuals.

SINUMERIK Function Manuals

The SINUMERIK Function Manuals describe the NC functions of a SINUMERIK control.

The target group are configuring engineers, technologists, commissioning engineers and

programmers.

Each Function Manual covers a specific topic and contains all the function descriptions for this

topic.

The following table shows which Function Manuals are available for your SINUMERIK control and

which topics a Function Manual covers:

Function Manual

Topic

Basic functions

Basic functions of a CNC control

Axes and spindles

Axis and spindle functions, axis couplings

Transformations

Transformation functions

Monitoring and compensating

Axis monitoring and compensation functions, collision avoid-

ance

Tools

Functions for selection, correction and monitoring of tools

Synchronized actions

Functionality of synchronized actions

PLC

Structure and functions of the PLC

Tool management

Function, commissioning and programming of tool manage-

ment

Technologies (for SINUMERIK ONE

Extended technological functionalities

and SINUMERIK 840D sl only)

Overview of contents

You will find an overview of the main chapters of the descriptions of functions that are contained

in a Function Manual on the title page.

Validity

The title page also contains all data about the validity of a document, i.e. for which SINUMERIK

control and for which software version this edition of the Function Manual is valid.

Synchronized actions

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Introduction

1.1 About this documentation

System data

In the descriptions of functions, the system data relevant for a function (machine data, setting

data, system variables, interface signals and alarms) are only described with the level of detail

that is strictly necessary to understand the function. You will find detailed information on this

data in the relevant List Manuals and for alarms in the Diagnostics Manual.

PLC blocks

The descriptions of functions often refer to the PLC function blocks (FB) and functions (FC). The

descriptions of these blocks apply to the SINUMERIK 840D sl and can only be applied in part to

other SINUMERIK controls.

Interface signals

In this document, only the absolute address valid for the SINUMERIK 840D sl is used to address

interface signals.

General graphical conventions

Examples

<signal address> (<signal name>)

DB31, ... DBX16.0-2 (actual gear stage A to C)

DB31, ... DBX16.3 (gear is changed)

Note

Quantity structure

Explanations concerning the NC/PLC interface are based on the absolute maximum number of

the following components:

• Mode groups (DB11)

• Channels (DB21, etc.)

• Axes/spindles (DB31, etc.)

Synchronized actions

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Fundamental safety instructions

2.1

General safety instructions

WARNING

Danger to life if the safety instructions and residual risks are not observed

If the safety instructions and residual risks in the associated hardware documentation are not

observed, accidents involving severe injuries or death can occur.

• Observe the safety instructions given in the hardware documentation.

• Consider the residual risks for the risk evaluation.

WARNING

Malfunctions of the machine as a result of incorrect or changed parameter settings

As a result of incorrect or changed parameterization, machines can malfunction, which in turn

can lead to injuries or death.

• Protect the parameterization against unauthorized access.

• Handle possible malfunctions by taking suitable measures, e.g. emergency stop or

emergency off.

2.2

Warranty and liability for application examples

Application examples are not binding and do not claim to be complete regarding configuration,

equipment or any eventuality which may arise. Application examples do not represent specific

customer solutions, but are only intended to provide support for typical tasks.

As the user you yourself are responsible for ensuring that the products described are operated

correctly. Application examples do not relieve you of your responsibility for safe handling when

using, installing, operating and maintaining the equipment.

2.3

Security information

Siemens provides products and solutions with industrial security functions that support the

secure operation of plants, systems, machines and networks.

In order to protect plants, systems, machines and networks against cyber threats, it is necessary

to implement - and continuously maintain - a holistic, state-of-the-art industrial security

concept. Siemens’ products and solutions constitute one element of such a concept.

Customers are responsible for preventing unauthorized access to their plants, systems,

machines and networks. Such systems, machines and components should only be connected to

Synchronized actions

Function Manual, 10/2020, 6FC5397-5BP40-6BA4

Fundamental safety instructions

2.3 Security information

an enterprise network or the internet if and to the extent such a connection is necessary and only

when appropriate security measures (e.g. firewalls and/or network segmentation) are in place.

For additional information on industrial security measures that may be implemented, please

visit

https://www.siemens.com/industrialsecurity https://www.siemens.com/industrialsecurity ).

Siemens’ products and solutions undergo continuous development to make them more secure.

Siemens strongly recommends that product updates are applied as soon as they are available

and that the latest product versions are used. Use of product versions that are no longer

supported, and failure to apply the latest updates may increase customer’s exposure to cyber

threats.

To stay informed about product updates, subscribe to the Siemens Industrial Security RSS Feed

under

https://www.siemens.com/industrialsecurity https://new.siemens.com/global/en/products/

services/cert.html#Subscriptions).

Further information is provided on the Internet:

Industrial Security Configuration Manual (https://support.industry.siemens.com/cs/ww/en/

view/108862708)

WARNING

Unsafe operating states resulting from software manipulation

Software manipulations, e.g. viruses, Trojans, or worms, can cause unsafe operating states in

your system that may lead to death, serious injury, and property damage.

• Keep the software up to date.

• Incorporate the automation and drive components into a holistic, state-of-the-art industrial

security concept for the installation or machine.

• Make sure that you include all installed products into the holistic industrial security concept.

• Protect files stored on exchangeable storage media from malicious software by with suitable

protection measures, e.g. virus scanners.

• On completion of commissioning, check all security-related settings.

Synchronized actions

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Brief description

General

A synchronized action consists of a series of related statements within a part program that is

called cyclically in the interpolator clock cycle synchronously to the machining blocks.

A synchronized action is essentially divided into two parts, the optional condition and the

obligatory action part. The time at which the actions are executed can be made dependent on a

specific system state using the condition part. The conditions are evaluated cyclically in the

interpolator clock cycle. The actions are then a reaction to user-definable system states. Their

execution is not bound to block limits.

Furthermore, the validity of the synchronized action (non-modal, modal or static) and the

frequency of the execution of the actions (once, repeatedly) can be defined.

Examples of permissible actions

• Output of auxiliary functions to PLC

• Writing and reading of main run variables

• Traversing of positioning axes

• Activation of synchronous procedures, such as:

- Read-in disable

- Delete distance-to-go

- End preprocessing stop

• Activation of technology cycles

• Calculation of function values

• Tool offsets

• Activating/deactivating couplings

• Measuring

• Enabling/disabling of synchronized actions

Examples of non-permissible actions

• Traversing of path axes

Synchronized actions

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Detailed description

4.1

Definition of a synchronized action

A synchronized action is defined in a block of a part program. Any further commands that are not

part of the synchronized action, must not be programmed within this block.

Components of a synchronized action

A synchronized action consists of the following components:

Validity, ID

Condition part

Action part with condition fulfil-

Action part with condition unful-

no.

led

filled

(optional)

(Page 16)

(optional)

Frequency

G com-

Condition

Keyword

G com-

Actions

Keyword

G com-

Actions

(Page 17)

mand

(Page 18)

mand

(Page 20)

mand

(Page 20)

(Page

18)

19)

(op-

tional)

---¹⁾

G...

Logical

G...

Action 1

ELSE

G...

Action 1

ID=<no.>

WHENEVER

Expressio

IDS=<no.

FROM

Action n

WHEN

EVERY

Not programmed

Syntax

Examples:

• DO <Action 1...n>

• <frequency> [<G function>] <condition> DO <action 1...n>

• ID=<no.> <frequency> [<G function>] <condition> DO <action 1...n>

• IDS=<no.> <frequency> [<G function>] <condition> DO <action 1...n>

ELSE <action 1...n>

Synchronized actions

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Detailed description

4.2 Components of synchronized actions

4.2

Components of synchronized actions

4.2.1

Validity, identification number (ID, IDS)

Validity

The validity defines when and where the synchronized action will be processed:

Validity

Meaning

--- ¹⁾

Non-modal synchronized action

A non-modal synchronized action applies:

• As long as the main run block following the synchronized action is active

• Only in the AUTOMATIC mode

Example:

The synchronized action from N10 takes effect as long as N20 is active.

N10 WHEN $A_IN[1]==TRUE DO $A_OUTA[1]=10

N20 G90 F1000 X100

ID=<ID number>

Modal synchronized action

A modal synchronized action applies:

• Until the part program has been completed

• Only in the AUTOMATIC mode

Value range: See the paragraph below "Identification number" > "Value range"

Example:

N20 ID=1 EVERY $A_IN[1]==TRUE DO $A_OUTA[1]=10

IDS=<ID number>

Static synchronized action

A static synchronized action applies:

• In all operating modes for an unlimited period of time

Value range: See the paragraph below "Identification number" > "Value range"

Example:

N30 IDS=1 EVERY $A_IN[1]==TRUE DO $A_OUTA[1]=10

Not programmed

Note

Static synchronized actions

Static synchronized actions (IDS) can be defined in an ASUB and activated at any time by

activation of the ASUB via the PLC user program.

Synchronized actions

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Detailed description

4.2 Components of synchronized actions

Identification number ID/IDS

Range of values

The identification numbers ID/IDS lie in various number ranges. The number ranges are assigned

to different users.

ID/IDS

User

See also

Reading and writing (Page 22)

Examples of conditions in synchronized actions (Page 133)

System variables for synchronized actions (Page 21)

4.2.5

G command (action)

Defined initial state

With regard to the part program sequence, synchronized actions can be executed at any time

depending on fulfillment of the condition. Therefore, it is advisable to define the required

measuring system (inch or metric) in the action part in a synchronized action. This generates a

defined initial position for the execution of the action, irrespective of the current part program

state.

G commands

The following G commands are permissible:

• G70 (Inch dimensions for geometric specifications (lengths))

• G71 (Metric dimensions for geometric specifications (lengths))

• G700 (Inch dimensions for geometric and technological specifications (lengths, feedrate))

• G710 (Metric dimensions for geometric and technological specifications (lengths, feedrate))

Synchronized actions

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Detailed description

4.2 Components of synchronized actions

Validity

A G command programmed in the condition part also applies for the action part even if no G

command has been programmed in the action part itself.

A G command programmed in the action part only applies within the action part.

4.2.6

Actions with condition fulfilled (DO)

The action part of a synchronized action is initiated with the keyword DO.

One or more actions can be programmed in the action part. These are executed when the

appropriate condition is fulfilled. If several actions are programmed in one synchronized action,

they are all executed in the same interpolator clock cycle.

Example:

If the actual value of the Y axis is greater than or equal to 35.7, the auxiliary function M135 is

output on the PLC and, at the same time, digital output 1 = 1 is set.

Program code

WHEN $AA_IM[Y] >= 35.7 DO M135 $A_OUT[1]=1

Technology cycle

A technology cycle can be called as an action (see Section "Technology cycles (Page 117)").

4.2.7

Actions with condition unfulfilled (ELSE)

With the keyword ELSE, every synchronized action can be expanded by actions which are to be

executed if the condition is not fulfilled. This allows the combination of synchronized actions

which have contrary conditions.

Example:

ID=101 WHENEVER $VA_IM[x] < 100 DO $AC_OVR=100

ID=102 WHENEVER $VA_IM[x] >= 100 DO $AC_OVR=50

The two synchronized actions can be brought together by programming ELSE:

ID=101 WHENEVER $VA_IM[x] < 100 DO $AC_OVR=100 ELSE $AC_OVR=50

Synchronized actions

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Detailed description

4.3 System variables for synchronized actions

Additional properties

• In the ELSE branch, the same conditions apply as for the actions with the condition fulfilled

(Page 20)

• ELSE is always possible with every condition. The practical use is the responsibility of the user.

Example:

WHEN $AA_IW[X] > 100 DO $R1=1 ELSE $R1=2

G0 X100 F10

Here, the expression $R1=2 is executed in each interpolation cycle and the R parameter is

written, even if this is not essential. This must be taken into account by the user.

• The language command ELSE can be used together with all frequency variants.

Examples:

- The ELSE branch is always executed when the condition is not fulfilled:

WHENEVER $AA_IW[X] > 100 DO $R1=1 ELSE $R1=2

EVERY $AA_IW[X] > 100 DO $R1=1 ELSE $R1=2

- As long as the condition is not fulfilled, the ELSE branch is executed, then always the

action:

FROM $AA_IW[X] > 100 DO $R1=1 ELSE $R1=2

- As long as the condition is not fulfilled, the ELSE branch is executed, then the action and

the synchronized action are ended:

WHEN $AA_IW[X] > 100 DO $R1=1 ELSE $R1=2

4.3

System variables for synchronized actions

The system variables of the NC are listed in the "System Variables" Parameter Manual with their

respective properties. System variables that can be read or written in synchronized actions, are

marked with an "X" in the corresponding line (Read or Write) of the "SA" (synchronized action)

column.

Note

System variables used in synchronized actions are implicitly read and written synchronous to the

main run.

Further information

A comprehensive description of the system variables listed in this function manual can be found

in:

• System Variables Parameter Manual

Synchronized actions

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Detailed description

4.3 System variables for synchronized actions

4.3.1

Reading and writing

The reading and writing of variables is performed in the main run in synchronized actions with

a few exceptions. Exceptions are:

• User-defined variables: LUD, GUD

• Machine data: $M...

• Setting data: $S...

• R parameters: R<number> or R[<index>]

These variables are already read and written during the preprocessing.

System variables

Generally, all system variables that can be used in synchronized actions are read/written in the

main run. These system variables are marked with an "X" in the "Read" and/or "Write" line of the

"SA" (synchronized action) column in the "System Variables" Parameter Manual.

Further information

List Manual System Variables

System of the identifiers

The identifiers of the system variables that are read/written in the main run have the following

system:

$A...

Current main run data

$V...

Servo data

$R...

R parameters to be read/written in the main run

$$M...

Machine data to be read/written in the main run

$$S...

Setting data to be read/written in the main run

4.3.2

Operators and arithmetic functions

Operators

Arithmetic operators

System variables of the REAL and INT type can be linked by the following operators:

Operator

Meaning

Addition

Subtraction

Multiplication

Synchronized actions

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Detailed description

4.3 System variables for synchronized actions

Operator

Meaning

• Division in synchronized actions: INT / INT ⇒ INT

• Division in synchronized actions with REAL result by using the function ITOR():

ITOR( INT ) / ITOR( INT ) ⇒ REAL

• Division in NC programs: INT / INT ⇒ REAL

DIV

Integer division: INT / INT ⇒ INT

MOD

Modulo division (only for type INT) supplies remainder of an INT division

Example: 3 MOD 4 = 3

Note

Only variables of the same type may be linked by these operations.

Relational operators

Operator

Meaning

Equal to

Not equal to

Less than

Greater than

Less than or equal to

Greater than or equal to

Boolean operators

Operator

Meaning

NOT

AND

XOR

Exclusive OR

Bit logic operators

Operator

Meaning

B_OR

Bit-by-bit OR

B_AND

Bit-by-bit AND

B_XOR

Bit-by-bit exclusive OR

B_NOT

Bit-by-bit negation

Synchronized actions

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Detailed description

4.3 System variables for synchronized actions

Priority of the operators

The operators have the following priorities for execution in the synchronized action (highest

priority: 1):

Priori-

Operators

Meaning

NOT, B_NOT

Negation, bit-by-bit negation

*, /, DIV, MOD

Multiplication, division

+, -

Addition, subtraction

B_AND

Bit-by-bit AND

B_XOR

Bit-by-bit exclusive OR

B_OR

Bit-by-bit OR

AND

XOR

Exclusive OR

Concatenation of strings, result type STRING

==, <>, <, >, >=, <=

Relational operators

Note

It is strongly recommended that the individual operators are clearly prioritized by setting

parentheses "( … )" when several operators are used in an expression.

Example of a condition with an expression with several operators:

Program code

... WHEN ($AA_IM[X] > VALUE) AND ($AA_IM[Y] > VALUE1) DO ...

Arithmetic functions

Operator

Meaning

SIN()

Sine

COS()

Cosine

TAN()

Tangent

ASIN()

Arc sine

ACOS()

Arc cosine

ATAN2()

Arc tangent 2

SQRT()

Square root

ABS()

Absolute value

POT()

2nd power (square)

TRUNC()

Integer component

The accuracy for comparison commands can be set using TRUNC

ROUND()

Round to an integer

LN()

Natural logarithm

EXP()

Exponential function

Synchronized actions

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Detailed description

4.3 System variables for synchronized actions

Indexing

The index of a system variable of type "Array of …" can in turn be a system variable. The index

is also evaluated in the main run in the interpolator clock cycle.

Example

Program code

... WHEN … DO $AC_PARAM[$AC_MARKER[1]]=3

Restrictions

• It is not permissible to nest indices with further system variables.

• The index must not be formed via preprocessing variables. The following example is

therefore not permitted since $P_EP is a preprocessing variable:

$AC_PARAM[ 1 ] = $P_EP[ $AC_MARKER[ 0 ] ]

4.3.3

Type conversions

An implicit type conversion is performed between the following data types for value

assignments and parameter transfers with different data types:

• REAL

• INT

• BOOL

Note

Conversion REAL to INT

For the conversion from REAL to INT, a decimal place value ≧ 0.5 rounded up to the next

higher integer. For a decimal place value < 0.5, rounding is to the next lower integer.

Behavior in accordance with the ROUND function.

If the REAL value is outside the INT value range, an alarm is displayed and a conversion is not

performed.

Conversion from REAL or INT to BOOL

• Value <> 0 → TRUE

• Value == 0 → FALSE

Examples

Conversion: INT $AC_MARKER → REAL $AC_PARAM

Program code

$AC_MARKER[1]=561

ID=1 WHEN TRUE DO $AC_PARAM[1] = $AC_MARKER[1]

Conversion: REAL $AC_PARAM → INT $AC_MARKER

Program code

$AC_PARAM[1]=561.0

Synchronized actions

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Detailed description

4.3 System variables for synchronized actions

Program code

ID=1 WHEN TRUE DO $AC_MARKER[1] = $AC_PARAM[1]

Conversion: INT $AC_MARKER → BOOL $A_OUT

Program code

$AC_MARKER[1]=561

ID=1 WHEN $A_IN[1] == TRUE DO $A_OUT[0]=$AC_MARKER[1]

Conversion: REAL $R401 → BOOL $A_OUT

Program code

R401 = 100.542

WHEN $A_IN[0] == TRUE DO $A_OUT[2]=$R401

Conversion: BOOL $A_OUT → INT $AC_MARKER

Program code

ID=1 WHEN $A_IN[2] == TRUE DO $AC_MARKER[4] = $A_OUT[1]

Conversion: BOOL $A_OUT → REAL $R10

Program code

WHEN $A_IN[3] == TRUE DO $R10 = $A_OUT[3]

4.3.4

Marker/counter ($AC_MARKER)

The $AC_MARKER[<index>] variables are channel-specific arrays of system variables for use as

markers or counters.

Data type:

INT (integer)

<Index>:

Array index: 0, 1, 2, ... (max. number - 1)

Number per channel

The maximum number of $AC_MARKER variables per channel can be set via the machine data:

MD28256 $MC_MM_NUM_AC_MARKER = <maximum number>

Storage location

The storage location of the $AC_MARKER variables can be defined channel-specifically via the

machine data:

MD28257 $MC_MM_BUFFERED_AC_MARKER = <value>

Value

Storage location

Dynamic memory (default setting)

Static memory

Synchronized actions

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Detailed description

4.3 System variables for synchronized actions

Note

Data backup and memory space

• The $AC_MARKER variables created in the static memory can be saved channel-specifically

via the data backup. Data block: _N_CH<channel number>_ACM

• Please ensure that sufficient memory is available in the selected memory area. An array

element requires 4 bytes of memory space.

Reset behavior

The reset behavior depends on the storage location of the $AC_MARKER variables:

• Dynamic memory: Initialization with the value "0"

Static memory: Retention of the current value

4.3.5

Parameters ($AC_PARAM)

The $AC_PARAM[<index>] variables are channel-specific arrays of system variables for use as

general buffers.

Data type:

REAL

<Index>:

Array index: 0, 1, 2, ... (max. number - 1)

Number per channel

The maximum number of $AC_PARAM variables per channel can be set via the machine data:

MD28254 $MC_MM_NUM_AC_PARAM = <maximum number>

Storage location

The storage location of the $AC_PARAM variables can be defined channel-specifically via the

machine data:

MD28255 $MC_MM_BUFFERED_AC_PARAM = <value>

Value

Storage location

Dynamic memory (default setting)

Static memory

Synchronized actions

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Detailed description

4.3 System variables for synchronized actions

Note

Data backup and memory space

• The $AC_PARAM variables created in the static memory can be saved channel-specifically via

the data backup. Data block: _N_CH<channel number>_ACP

• Please ensure that sufficient memory is available in the selected memory area. An array

element requires 4 bytes of memory space.

Reset behavior

The reset behavior depends on the storage location of the $AC_PARAM variables:

• Dynamic memory: Initialization with the value "0"

• Static memory: Retention of the current value

4.3.6

R parameters ($R)

Whether R parameters are treated as preprocessing or main run variables depends on whether

they are written with or without $ characters. In principle, the notation is freely selectable. For

use in synchronized actions, R parameters should be used as main run variables, i.e. with $

characters:

• $R[<index>]

• $R<number>

Data type:

REAL

<Index>:

Array index: 0, 1, 2, ...

<Number>:

Number of the R parameter: 0, 1, 2, ...

The notations with index or number are equivalent.

Parameterizable number per channel

The maximum number of R parameters per channel can be set via the machine data:

MD28050 $MC_MM_NUM_R_PARAM = <maximum number>

Reset behavior

R parameters are saved persistently in the static memory of the NC. Therefore, R parameters

retain their values with all reset types:

• Power on reset

• NC reset

• End of part program reset

Synchronized actions

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Detailed description

4.3 System variables for synchronized actions

Example

Value assignment to R10 in the action part of the synchronized action and subsequent

evaluation in the part program

WHEN $A_IN[1]==1 DO $R[10]=$AA_IM[Y] ; assignment

G1 X100 F150

STOPRE

IF R[10] > 50 ... ; evaluation in the part program

4.3.7

Machine and setting data ($$M, $$S)

Reading and writing MD and SD

When machine and setting data is used in synchronized actions, a distinction must be made as

to whether this remains unchanged during the execution of the synchronized action, or is

changed through parallel processes.

Data that remains unchanged can already be read or written by the NC during preprocessing.

Data that is changed can only be read or written by the NC during the main run.

Data access during preprocessing

Machine and setting data that can already be read and written in synchronized actions during

preprocessing, are programmed with the same identifiers as in the part program: $M... or $S...

Program code

; The reversal position of the Z axis $SA_OSCILL_REVERSE_POS2[Z]

; remains unchanged over the entire machining period

ID=2 WHENEVER $AA_IM[z]<$SA_OSCILL_REVERSE_POS2[Z]-6 DO $AA_OVR[X]=0

Data access during the main run

An additional "$" is added as prefix for machine and setting data that may only be read or written

in synchronized actions during the main run: $$M… or $$S…

Program code

; The reversal position of the Z axis $SA_OSCILL_REVERSE_POS2[Z]

; can be changed by operator input at any time

ID=1 WHENEVER $AA_IM[z] < $$SA_OSCILL_REVERSE_POS2[Z] DO $AA_OVR[X] = 0

Writing during the main run

The following requirements must be satisfied for writing during the main run:

• The access authorization at the time of writing must be sufficient for writing.

• The machine or setting data must have the property "Effective immediately".

Synchronized actions

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Detailed description

4.3 System variables for synchronized actions

Program code

; The switching position of the SW cam $SN_SW_CAM_ ... must,

; depending on the current setpoint of the X axis in WCS $AA_IW[X],

; only be written during the main run

ID=2 WHEN $AA_IW[X] > 10 DO $$SN_SW_CAM_PLUS_POS_TAB_1[0] = 20

$$SN_SW_CAM_MINUS_POS_TAB_1[0]=20

A complete overview of the properties of the machine and setting data can be found in:

Further information

• List Manual System Variables

• List Manual Machine Data

4.3.8

Timer ($AC_TIMER)

The $AC_TIMER[<index>] variables are channel-specific arrays of system variables.

Data type:

REAL

<Index>:

Array index: 0, 1, 2, ... (max. number - 1)

Unit:

Seconds

Number per channel

The maximum number of $AC_TIMER variables per channel can be set via the machine data:

MD28258 $MC_MM_NUM_AC_TIMER = <maximum number>

Function

Starting

A timer is started by assigning a value ≥ 0:

$AC_TIMER[<index>] = <starting value>; with starting value ≥ 0

Incrementing

The value of the timer is incremented by the duration of the set interpolator clock cycle

(MD10071 IPO_CYCLE_TIME) for each interpolator clock cycle.

$AC_TIMER[<index>] += <interpolator clock cycle>

Stopping

A timer is stopped by assigning a value < 0:

$AC_TIMER[<index>] = <stopping value>; with stopping value < 0

Synchronized actions

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Detailed description

4.3 System variables for synchronized actions

When a stopping value is assigned, only the further incrementing of the timer is stopped. The

stopping value is not assigned. After the timer is stopped, the last valid value is retained and can

still be read.

Note

The current value of a timer can be be read when the timer is running or stopped.

Example

Output the actual value of the X axis as voltage value via analog output $A_OUTA[3], 500 ms

after the detection of digital input $A_IN[1]:

Program code

Comment

WHEN $A_IN[1] == 1 DO $AC_TIMER[1]=0

; Start timer, starting value 0

WHEN $AC_TIMER[1]>=0.5 DO $A_OUTA[3]=$AA_IM[X] $AC_TIMER[1]=-1

4.3.9

FIFO variables ($AC_FIFO)

A FIFO variable provides a complex data structure based on R parameters. The data structure

comprises one administration part and one user data part. The user data part is structured as a

stack according to the FIFO principle (first in, first out). Using the index of the FIFO variables, the

different functions are addressed in the administration part as well as the user data.

0&B67$57B$&B),)2

$&B),)2 >

0&B/(1B$&B),)2

$&B),)2 > P @

① Administration part

② User data part

③ R parameter range above the FIFO variables: Read and write permitted

④ R parameter range below the FIFO variables: Only read permitted

Synchronized actions

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Detailed description

4.3 System variables for synchronized actions

Note

The statements regarding R parameters also apply to FIFO variables. See Chapter "R parameters

($R) (Page 28)".

Syntax

Write

$AC_FIFO<n>[] = <value>

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

Read

<variable> = $AC_FIFO<n>[]

<variable> = $AC_FIFO[<n>, ]

Meaning

$AC_FIFO:

FIFO data structure in the R parameters, starting from value in MD28262

$MC_START_AC_FIFO

Data type:

REAL

<n>:

Number of FIFO variables

Data type:

INT

Value range:

1, 2, ... max. number (see additional information)

Synchronized actions

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Detailed description

4.3 System variables for synchronized actions

:

Index of the FIFO variables with which the various functions and data within the data

structure of the FIFO variables is accessed.

Value range:

0, 1, 2, ... (MD28264 $MC_LEN_AC_FIFO - 1)

Value

Meaning

Administrative data

Write

A value is written to the FIFO stack by assigning a value to the FIFO stack via

index 0 ($AC_FIFO[ 0 ] = <value>). The assigned value is written to the next

free location in the FIFO stack.

If all memory locations in the FIFO stack are already occupied, an alarm is

displayed:

• When writing in an NC program: Alarm 20149

• When writing in a synchronous action: Alarm 17020

Read

A value is read from the FIFO stack by assigning the FIFO stack to a variable

with index 0 (<variable> = $AC_FIFO[ 0 ]). The oldest value is read and then

removed from the FIFO stack.

Note

• Reading in the NC program / synchronous action

If a value is read in an NC program / synchronous action with index 0, the

oldest value is read and removed from the FIFO stack as described above.

• Reading on the user interface, e.g. SINUMERIK Operate

If a value is read or displayed with index 0 on the user interface, e.g.

SINUMERIK Operate: "Diagnosis" > "NC/PLC Variables", the value is read

internally with index 1 (oldest value) without changing the FIFO stack.

Write / Read: The "oldest" user data is addressed; the FIFO stack is not changed

Write / Read: The "newest" user data is addressed; the FIFO stack is not

changed

Read: Returns the sum of the values of all user data

Enable via MD28266 $MC_MODE_AC_FIFO, bit 0 required. See paragraph

below "Summation across all user data"

Read: Supplies the number of user data currently stored in the FIFO stack.

Write: Reset to the initial state is realized by writing the value of 0 to FIFO

variable, index 4.

Example: $AC_FIFO1[4] = 0

Read: Returns the current write index, relative to the beginning of the FIFO

stack

User data

Write/read: The 1st field element of the user data range is addressed

Write/read: The 2nd field element of the user data range is addressed

Write/read: The nth field element of the user data range is addressed

Further information

List Manual System Variables

Synchronized actions

Function Manual, 10/2020, 6FC5397-5BP40-6BA4

Detailed description

4.3 System variables for synchronized actions

Machine data

Number of FIFO variables per channel

The number of FIFO variables per channel is set using:

MD28260 $MC_NUM_AC_FIFO = <number of FIFO variables per channel>

Beginning of the R parameter range of FIFO variables

The R parameter, from which the range of FIFO variables for the channel begins, is set using:

MD28262 $MC_START_AC_FIFO = <number of the start R parameter>

Note

Free R parameters

Only the R parameters whose numbers are below the start R parameter of the FIFO variables, can

be written to the NC program.

Number of field elements for each FIFO variable

The maximum number of field elements per FIFO variable is set using:

MD28264 $MC_LEN_AC_FIFO = <number of field elements per FIFO variable>

Total number of R parameters in the channel

The total number of R parameters, which are required in the channel, is set using:

MD28050 $MC_MM_NUM_R_PAR- MD28262 $MC_START_AC_FIFO +

AM =

MD28260 $MC_NUM_AC_FIFO *

(MD28264 $MC_LEN_AC_FIFO + 6)

Summation of all user data

The sum of the values of all user data is only provided via $AC_FIFO[ 3 ] if the function is activated

via machine data:

MD28266 $MC_MODE_AC_FIFO, bit 0 = <value>

Value

Meaning

FALSE

The sum of the values of all user data is not provided

TRUE

The sum of the values of all user data is provided

Synchronized actions

Function Manual, 10/2020, 6FC5397-5BP40-6BA4

Detailed description

4.3 System variables for synchronized actions

Example

Serial determination of the length of workpieces that move past an automatic measuring station

on a conveyor belt.

'LUHFWLRQ RI EHOW WUDYHO

/HQJWK PHDVXUHPHQW

The measurement results are written to or read from the $AC_FIFO1 system variable via

synchronous actions.

• Read: With index 0, the "oldest" user data element is read and deleted from the FIFO stack.

• Write: With index 0, the value is written to the next free user data element.

5HDG 2OGHVW HOHPHQW

:ULWH 1H[W HOHPHQW

$&B),)2 > @

$&B),)2 >

8QGHILQHG

> @

8QGHILQHG

2OGHVW HOHPHQW > @

> @

2OGHVW HOHPHQW > @

0RVW UHFHQW HOHPHQW > @

> @

0RVW UHFHQW HOHPHQW >

6XP RI DOO YDOXHV

> @

6XP RI DOO YDOXHV

1XPEHU RI DVVLJQHG HOHPHQWV

> @

1XPEHU RI DVVLJQHG HOHPHQWV

&XUUHQW ZULWH LQGH[

> @

&XUUHQW ZULWH LQGH[

> @

8QGHILQHG

> @

8QGHILQHG

3UHYLRXVO\

$IWHU UHDGLQJ DQG ZULWLQJ

Synchronized actions

Function Manual, 10/2020, 6FC5397-5BP40-6BA4

Detailed description

4.3 System variables for synchronized actions

4.3.10

Path tangent angle ($AC_TANEB)

The angle between the tangent at the end point of the current block and the tangent at the start

point of the following block can be read via the channel-specific system variable $AC_TANEB

(Tangent ANgle at End of Block).

Data type:

REAL

The tangent angle is always specified positive in the range 0.0 to 180.0°.

If the tangent angle cannot be determined, the value -180.0° is output.

Used only with programmed blocks

It is recommended that the tangent angle only be read for programmed blocks, not for

intermediate blocks generated by the system. A distinction can be made via the system variable

$AC_BLOCKTYPE:

$AC_BLOCKTYPE == 0 (programmed block)

Example:

Program code

ID=2 EVERY $AC_BLOCKTYPE==0 DO $R1=$AC_TANEB

4.3.11

Override ($A...OVR)

Current override

Channel-specific override

The path feedrate can be changed via the channel-specific system variable $AC_OVR.

Data type:

REAL

Unit:

Range of val-

0.0 to machine data

ues:

• For binary-coded override switch

MD12100 $MN_OVR_FACTOR_LIMIT_BIN

• For gray-coded override switch

MD12030 $MN_OVR_FACTOR_FEEDRATE[30]

The system variable $AC_OVR must be written in every interpolator clock cycle, otherwise the

value "100%" is effective.

Channel-specific rapid traverse override

With G0 blocks (rapid traverse), the rapid traverse feedrate can also be influenced via the setting

data SD42122 $SC_OVR_RAPID_FACTOR in addition to the system variable $AC_OVR.

Requirement: Release of the rapid traverse override via the user interface.

Synchronized actions

Function Manual, 10/2020, 6FC5397-5BP40-6BA4

Detailed description

4.3 System variables for synchronized actions

Axis-specific override

The axial feedrate can be changed via the axis-specific system variable $AA_OVR:

Data type:

REAL

Unit:

Range of val-

0.0 to machine data

ues:

• For binary-coded override switch

MD12100 $MN_OVR_FACTOR_LIMIT_BIN

• For gray-coded override switch

MD12030 $MN_OVR_FACTOR_FEEDRATE[30]

The system variable $AA_OVR must be written in every interpolator clock cycle, otherwise the

value "100%" is effective.

PLC override

Channel-specific override

The channel-specific override (DB21, ... DBB4) set via the machine control panel can be read via

the channel-specific system variable $AC_PLC_OVR:

Data type:

REAL

Unit:

Range of val-

0.0 to maximum value

ues:

Axis-specific override

The axis-specific override (DB31, ... DBB0) set via the machine control panel can be read via the

axis-specific system variable $AA_PLC_OVR:

Data type:

REAL

Unit:

Range of val-

0.0 to maximum value

ues:

Effective override

Effective channel-specific override

The effective channel-specific override can be read via the channel-specific system variable

$AC_TOTAL_OVR:

Data type:

REAL

Unit:

Range of val-

0.0 to maximum value

ues:

Synchronized actions

Function Manual, 10/2020, 6FC5397-5BP40-6BA4

Detailed description

4.3 System variables for synchronized actions

Effective axis-specific override

The effective axis-specific override can be read via the axis-specific system variable

$AA_TOTAL_OVR:

Data type:

REAL

Unit:

Range of val-

0.0 to maximum value

ues:

4.3.12

Capacity evaluation ($AN_IPO ... , $AN/AC_SYNC ... , $AN_SERVO)

The values of the current, maximum and average system utilization due to synchronized actions

can be read via the following system variables:

NC-specific system variable

Meaning

$AN_IPO_ACT_LOAD

Current computing time of the interpolator level (incl. synchron-

ized actions of all channels)

$AN_IPO_MAX_LOAD

Longest computing time of the interpolator level (incl. synchron-

ized actions of all channels)

$AN_IPO_MIN_LOAD

Shortest computing time of the interpolator level (incl. synchron-

ized actions of all channels)

$AN_IPO_LOAD_PERCENT

Current computing time of the interpolator level in relation to the

interpolator cycle (%)

$AN_SYNC_ACT_LOAD

Current computing time for synchronized actions over all channels

$AN_SYNC_MAX_LOAD

Longest computing time for synchronized actions over all chan-

nels

$AN_SYNC_TO_IPO

Percentage share that the synchronized actions have of the total

computing time (over all channels)

$AN_SERVO_ACT_LOAD

Current computing time of the position controller

$AN_SERVO_MAX_LOAD

Longest computing time of the position controller

$AN_SERVO_MIN_LOAD

Shortest computing time of the position controller

Channel-specific system variable

Meaning

$AC_SYNC_ACT_LOAD

Current computing time for synchronized actions in the channel

$AC_SYNC_MAX_LOAD

Longest computing time for synchronized actions in the channel

$AC_SYNC_AVERAGE_LOAD

Average computing time for synchronized actions in the channel

Synchronized actions

Function Manual, 10/2020, 6FC5397-5BP40-6BA4

Detailed description

4.3 System variables for synchronized actions

01B,32B&<&/(B7,0(

01B,32B0$;B/2$'

$1B,32B$&7B/2$'

$1B6<1&B$&7B/2$'

&KDQQHO

&KDQQHO Q

$&B6<1&B$&7B/2$'> FKDQQHO Q!@

$&B6<1&B$&7B/2$'> FKDQQHO

Figure 4-1

Computing time shares of the synchronized actions on the interpolator cycle

Activation

The system variables only contain valid values when the "Utilization evaluation via synchronized

actions" diagnostic function is active.

For this, the following machine data must be greater than zero:

MD11510 $MN_IPO_MAX_LOAD > 0 (maximum permissible interpolator utilization)

When the function is active, the current values are displayed in the "Time required for

synchronized actions" line in the "Diagnostics" > "System utilization" operating area.

Note

The system variables always contain the values of the previous interpolator cycle.

Overload limit

An overload limit is specified via the value set via MD11510 $MN_IPO_MAX_LOAD:

MD11510 $MN_IPO_MAX_LOAD = <maximum permissible utilization in % of the interpolator

cycle>

If the value set in the machine data is exceeded, the following system variable is set:

$AN_IPO_LOAD_LIMIT = TRUE

If the value falls below the set value again, the system variable is reset:

$AN_IPO_LOAD_LIMIT = FALSE

Application

A user-specific strategy to avoid a level overflow can be implemented via the system variable

$AN_IPO_LOAD_LIMIT.

Synchronized actions

Function Manual, 10/2020, 6FC5397-5BP40-6BA4

Detailed description

4.3 System variables for synchronized actions

Resetting of min./max. values

The following system variables for min./max. values are reset by writing arbitrary values:

System variable

Meaning

$AN_SERVO_MAX_LOAD

Longest computing time of the position controller

$AN_SERVO_MIN_LOAD

Shortest computing time of the position controller

$AN_IPO_MAX_LOAD

Longest computing time of the interpolator level

(incl. synchronized actions of all channels)

$AN_IPO_MIN_LOAD

Shortest computing time of the interpolator level

(incl. synchronized actions of all channels)

$AN_SYNC_MAX_LOAD

Longest computing time for synchronized actions

over all channels

$AC_SYNC_MAX_LOAD

Longest computing time for synchronized actions

in the channel

Example

Program code

Comment

$MN_IPO_MAX_LOAD=80

; Overload limit

;

; Initialization of the min./max. values

N01 $AN_SERVO_MAX_LOAD=0

N02 $AN_SERVO_MIN_LOAD=0

N03 $AN_IPO_MAX_LOAD=0

N04 $AN_IPO_MIN_LOAD=0

N05 $AN_SYNC_MAX_LOAD=0

N06 $AC_SYNC_MAX_LOAD=0

;

; Alarm 63111 when the overload limit is exceeded

N10 IDS=1 WHENEVER $AN_IPO_LOAD_LIMIT == TRUE DO M4711 SETAL(63111)

;

; Alarm 63222 when the computing time share of the

; synchronized actions over all channels exceeds 30% of the interpolator cycle

N20 IDS=2 WHENEVER $AN_SYNC_TO_IPO > 30 DO SETAL(63222)

;

N30 G0 X0 Y0 Z0

N999 M30

Synchronized actions

Function Manual, 10/2020, 6FC5397-5BP40-6BA4

Detailed description

4.3 System variables for synchronized actions

4.3.13

Working-area limitation ($SA_WORKAREA_ ... )

Only the activation via the setting data is effective for the traversable command axes in

synchronized actions with regard to the programmable working-area limitation G25/G26:

• $SA_WORKAREA_PLUS_ENABLE

• $SA_WORKAREA_MINUS_ENABLE

Switching the working-area limitation on and off via the commands WALIMON/WALIMOF in the

part program has no effect on the command axes traversable via synchronized actions.

4.3.14

SW cam positions and times ($$SN_SW_CAM_ ...)

The values of the SW cam positions and times can be read and written via the following setting

data:

NC-specific setting data

Meaning

$SN_SW_CAM_MINUS_POS_TAB_1[0..7]

Minus cam positions

$SN_SW_CAM_MINUS_POS_TAB_2[0..7]

Minus cam positions

$SN_SW_CAM_PLUS_POS_TAB_1[0..7]

Plus cam positions

$SN_SW_CAM_PLUS_POS_TAB_2[0..7]

Plus cam positions

$SN_SW_CAM_MINUS_TIME_TAB_1[0..7]

Minus cam lead or delay time

$SN_SW_CAM_MINUS_TIME_TAB_2[0..7]

Minus cam lead or delay time

$SN_SW_CAM_PLUS_TIME_TAB_1[0..7]

Plus cam lead or delay time

$SN_SW_CAM_PLUS_TIME_TAB_2[0..7]

Plus cam lead or delay time

Note

The setting of a software cam via synchronized actions must not be performed immediately

before the cam is reached. At least three interpolation cycles must be available before the cam

is reached.

A detailed description of the "Software cam" function can be found in:

Further information

Function Manual Axes and Spindles

Examples

Program code

; Changing a cam position:

ID=1 WHEN $AA_IW[x] > 0 DO $$SN_SW_CAM_MINUS_POS_TAB_1[0] = 50.0

; Changing a lead time

ID=1 WHEN $AA_IW[x] > 0 DO $$SN_SW_CAM_MINUS_TIME_TAB_1[0] = 1.0

Synchronized actions

Function Manual, 10/2020, 6FC5397-5BP40-6BA4

Detailed description

4.3 System variables for synchronized actions

See also

Machine and setting data ($$M, $$S) (Page 29)

4.3.15

Path length evaluation / machine maintenance ($AA_TRAVEL ... , $AA_JERK ... )

The data of the path length evaluation, e.g. for machine maintenance, can be read via the

system variables listed below.

Activation

The activation for the recording of the path length evaluation data is performed via:

MD18860 $MN_MM_MAINTENANCE_MON = 1

The data to be recorded for the specific axis can be selected via the following axis-specific

machine data:

MD33060 $MA_MAINTENANCE_DATA[<axis>], bit n = 1

Bit

Meaning

Recording of total traversing distance, total traversing time and number of traversing operations

of the axis.

Recording of total traversing distance, total traversing time and number of traversing operations

of the axis at high speed.

Recording of total number of axis jerks, the time during which the axis is traversed with jerk and

the number of traversing operations with jerk.

System variable

Meaning

$AA_TRAVEL_DIST

Total travel distance:

Sum of all set position changes in MCS in [mm] or [deg.].

$AA_TRAVEL_TIME

Total travel time:

Sum of IPO cycles of set position changes in MCS in [s] (resolution: 1 IPO cycle)

$AA_TRAVEL_COUNT

Total travel count:

A complete machine axis trip is defined by the following succession of states, as

based on set position: standstill > traversing > standstill

$AA_TRAVEL_DIST_HS

Total traversing distance at high axis velocities ¹⁾

$AA_TRAVEL_TIME_HS

Total traversing time at high axis velocities ¹⁾

$AA_TRAVEL_COUNT_HS

Total number of traversing operations at high axis velocities ³⁾

$AA_JERK_TOT

Total sum of axis jerks:

Sum of all jerk setpoints in [m/s³] or [deg./ s³].

$AA_JERK_TIME

Total travel time with jerk:

Sum of IPO cycles from jerk setpoint changes in [s] (resolution: 1 IPO cycle)

$AA_JERK_COUNT

Total number of traversing operations with jerk

¹⁾ Actual machine axis velocity ≥ 80% of the maximum parameterized axis velocity (MD32000 MAX_AX_VELO)

Synchronized actions

Function Manual, 10/2020, 6FC5397-5BP40-6BA4

Detailed description

4.3 System variables for synchronized actions

Further information

For a detailed description of the function, refer to:

Function Manual Axes and Spindles

4.3.16

Polynomial coefficients, parameters ($AC_FCT ...)

Function

Using the FCTDEF function, as a maximum, a 3rd degree polynomial can be defined:

f(x) = a₀+ a_1*x + a_2*x²+ a_3*x³

Note

The definition must be made in a part program.

Syntax

FCTDEF(<Poly_No>,<Lo_Limit>,<Up_Limit>,a₀,a₁,a₂,a₃)

Meaning

Parameter

Meaning

<Poly_No>:

Number of the polynomial function

<Lo_Limit>:

Lower limit of the function values

<Up_Limit>:

Upper limit of the function values

a0, a1, a2, a3:

Polynomial coefficient

Note

Polynomial coefficients (a₂, a₃) that are not required can be omitted when programming

the FCTDEF(...) function.

System variable

Read and write access to polynomial coefficients and parameters is also possible from

synchronized actions via the following system variables:

System variable

Meaning

$AC_FCTLL[<Poly_No>]:

Lower limit for function value

$AC_FCTUL[<Poly_No>]:

Upper limit for function value

$AC_FCT0[<Poly_No>]:

a₀

$AC_FCT1[<Poly_No>]:

a₁

Synchronized actions

Function Manual, 10/2020, 6FC5397-5BP40-6BA4

Detailed description

4.3 System variables for synchronized actions

System variable

Meaning

$AC_FCT2[<Poly_No>]:

a₂

$AC_FCT3[<Poly_No>]:

a₃

<Poly_No>:

The number specified during the definition of the

polynomial function (see above: Syntax)

Part program

When writing system variables in the part program, preprocessing stop STOPRE must be

programmed explicitly for block-synchronous writing.

Note

Block-synchronous writing in the part program

So that the system variables can be written block-synchronously in the part program,

the STOPRE command (preprocessing stop) must be used after writing the system variables.

Synchronized action

When writing system variables in synchronized actions, they take effect immediately.

Use

The function value f(x) of the polynomial can be used as input value in synchronized actions, e.g.

for the following functions:

• "Polynomial evaluation (SYNFCT) (Page 67)"

• "Online tool offset (FTOC) (Page 73)"

Example: Linear dependency

)HHGUDWH ) >PP PLQ@

8SSHU OLPLW

$FWXDO FXUUHQW YDOXH >$@

$$B&855

/RZHU OLPLW

Figure 4-2

Example of linear dependency

Parameter

Meaning

<Poly_No>:

Number of the polynomial, e.g. = 1

<Lo_Limit>:

Lower limit of the function values = -100

<Up_Limit>:

Upper limit of the function values = 100

Synchronized actions

Function Manual, 10/2020, 6FC5397-5BP40-6BA4

Detailed description

4.3 System variables for synchronized actions

Parameter

Meaning

a₀:

Axis section on the ordinate (feedrate):

(5 - 4) / 100 = 5 / a₀

a₀ = 100 * 5 / (5 - 4) = 500

a₁:

Gradient of the straight line:

a₁= 100 / (4 - 5) = -100

a₂:

= 0 (no square component)

a₃:

= 0 (no cubic component)

Program code

FCTDEF(1, -100, 100, 500, -100, 0, 0)

; Or in abbreviated notation without parameters a2 and a3

FCTDEF(1, -100, 100, 500, -100)

4.3.17

Overlaid movements ($AA_OFF)

Overlaid movements

The system variable $AA_OFF can be used to specify a position offset in a channel axis which is

traversed immediately:

$AA_OFF[<channel axis>] = <position offset>

The following machine data can be used to set whether the position offset of the system variable

is to be assigned or summed up (integrated):

MD36750 $MA_AA_OFF_MODE, bit 0 = <value>

<value>

Meaning

Assignment: $AA_OFF = <position offset>

Summing (integration): $AA_OFF += <position offset>

Limitation of the overlay velocity

The maximum permissible velocity with which the position offset can be traversed can be set via

the machine data:

MD32070 $MA_CORR_VELO (axis velocity for overlay)

Axial jerk limitation

Setting the following machine data activates an axial jerk limitation for the $AA_OFF overlaying:

MD32420 $MA_JOG_AND_POS_JERK_ENABLE (basic position of axial jerk limitation) = 1

Synchronized actions

Function Manual, 10/2020, 6FC5397-5BP40-6BA4

Detailed description

4.3 System variables for synchronized actions

The axial jerk is limited to the value set in MD32430 $MA_JOG_AND_POS_MAX_JERK (axial jerk).

Note

No predictive velocity control can be made for the overlaid $AA_OFF motion. This can cause a

discontinuous velocity change, in particular for clocked specification (via synchronous actions)

for $AA_OFF overlay values. In such cases, we recommend the deactivation of the jerk limitation

when possible.

Upper limit of the compensation value

The value of $AA_OFF can be limited via the following setting data:

SD43350 $SA_AA_OFF_LIMIT (upper limit of the compensation value $AA_OFF in case of

clearance control)

The status of the limitation can be read via the following system variable:

$AA_OFF_LIMIT[<axis>] == <value>

Value

Meaning

-1

Compensation value is limited in the negative direction.

Compensation value is limited in the positive direction.

No limitation of the offset value

Reset behavior

With static synchronous actions (IDS = <number> DO $AA_OFF = <value>), deselection

of the position offset effective in $AA_OFF results in an immediate new overlaid movement. The

reset behavior with regard to $AA_OFF can therefore be set via the following machine data:

MD36750 $MA_AA_OFF_MODE, bit 1 = <value>

<value>

Meaning

The position offset in $AA_OFF is deselected with RESET

The position offset in $AA_OFF is retained after RESET

JOG mode

Execution of an overlaid movement because of $AA_OFF can also be enabled for JOG mode:

MD36750 $MA_AA_OFF_MODE, bit 2 = <value>

<value>

Meaning

JOG mode: Overlaid movement because of $AA_OFF disabled

JOG mode: Overlaid movement because of $AA_OFF enabled

A mode change to JOG mode is only possible when the current position offset has been

traversed. Otherwise the following alarm is displayed:

Alarm "16907 Action ... only possible in stop state"

Synchronized actions

Function Manual, 10/2020, 6FC5397-5BP40-6BA4

Detailed description

4.3 System variables for synchronized actions

Boundary conditions

•

Interrupt routines and ASUB

When an interrupt routine is activated, modal motion-synchronous actions are retained and

are also effective in the ASUB. If the subprogram return is not made with REPOS, the modal

synchronous actions changed in the asynchronous subprogram continue to be effective in

the main program.

•

REPOS

In the remainder of the block, the synchronous actions are treated in the same way as in an

interruption block. Modifications to modal synchronous actions in the ASUB are not effective

in the interrupted program. Polynomial coefficients programmed with FCTDEF are not

affected by ASUB and REPOS.

The polynomial coefficients from the calling program are active in the ASUB. The polynomial

coefficients from the ASUB continue to be active in the calling program.

•

End of program

Polynomial coefficients programmed with FCTDEF remain active after the end of program.

•

Block search: Collection of the polynomial coefficients

During block search with calculation, the polynomial coefficients are collected in the system

variables.

•

Block search: Deselection of active overlaid movements

During block search, the CORROF and DRFOF commands are collected and output in an

action block. All the deselected DRF offsets are collected in the last block that

contains CORROF or DRFOF.

The commands for the deselection of overlaid movements CORROF(<axis>, "AA_OFF")

are not collected during a block search. If a user wishes to continue to use this block search,

this is possible by means of block search via "SERUPRO" program testing.

Further information

Function Manual Basic Functions

•

Deselection of the position offset in case of synchronous actions

Alarm 21660 is displayed if a synchronous action is active when the position offset is

deselected via the CORROF(<axis>,"AA_OFF") command. $AA_OFF is deselected

simultaneously and not set again. If the synchronous action becomes active later in the block

after CORROF, $AA_OFF remains set and a position offset is interpolated.

Note

The coordinate system (BCS or WCS) in which a main run variable is defined determines whether

frames will or will not be included.

Distances are always calculated in the set basic system (metric or inch). A change with G70

or G71 has no effect.

DRF offsets, zero offsets external, etc., are only taken into consideration in the case of main run

variables that are defined in the MCS.

Synchronized actions

Function Manual, 10/2020, 6FC5397-5BP40-6BA4

Detailed description

4.3 System variables for synchronized actions

4.3.18

Online tool length compensation ($AA_TOFF)

Function

In conjunction with an active orientation transformer or an active tool carrier, tool length

compensations can be applied during processing/machining in real time. Changing the

effective tool length using online tool length compensation produces changes in the

compensatory movements of the axes involved in the transformation in the event of changes in

orientation. The resulting velocities can be higher or lower depending on machine kinematics

and the current axis position.

Velocity and acceleration, with which specified tool length compensations can be traversed via

the system variable $AA_TOFF, can be specified via the following machine data:

• MD21194 $MC_TOFF_VELO (velocity, online offset in tool direction)

• MD21196 $MC_TOFF_ACCEL (acceleration, online offset in tool direction)

For further information regarding the activation of the function, see:

Further information

Programming Manual NC Programming

Applications in synchronous actions

In synchronous actions, tool length compensations can be applied in all three dimensions via the

system variable $AA_TOFF. The three geometry axis names X, Y, Z are used as index. All three

offset directions can be active at the same time.

For an active orientation transformation or for an active tool carrier that can be oriented, the

offsets are effective in the respective tool axes. An overlaid motion must be switched off with

TOFFOF() before switching a transformation on or off.

After deselection of the tool length compensation in one dimension, the value of the system

variable $AA_TOFF in this dimension is equal to 0.

Mode of operation of the offset in the tool direction

The tool length compensations do not change the tool parameters, but are taken into account

within the transformation or the tool carrier that can be orientated, so that offsets are obtained

in the tool coordinate system.

For each dimension, it is possible to define whether the tool length compensation specified in

$AA_TOFF should be calculated as an absolute or incremental (integrating) value via the

following machine data:

MD21190 $MC_TOFF_MODE (operation of tool offset in tool direction)

Synchronized actions

Function Manual, 10/2020, 6FC5397-5BP40-6BA4

Detailed description

4.3 System variables for synchronized actions

The current value of the tool length compensation can be read via the system variable

$AA_TOFF_VAL.

Note

An evaluation of the variables $AA_TOFF_VAL is only useful in conjunction with an active

orientation transformation or an active tool carrier.

Examples

Selecting the online tool length compensation

Machine data for online tool length compensation:

• MD21190 $MC_TOFF_MODE = 1

• MD21194 $MC_TOFF_VEL[0] = 10000

• MD21194 $MC_TOFF_VEL[1] = 10000

• MD21194 $MC_TOFF_VEL[2] = 10000

• MD21196 $MC_TOFF_ACC[0] = 1

• MD21196 $MC_TOFF_ACC[1] = 1

• MD21196 $MC_TOFF_ACC[2] = 1

Activate online tool length compensation in the part program:

Program code

N5 DEF REAL XOFFSET

; Activate orientation transformation

N10 TRAORI

; Activate tool length compensation in the Z direction

N20 TOFFON(Z)

; Tool length compensation in the Z direction: 10 mm

N30 WHEN TRUE DO $AA_TOFF[Z] = 10

G4 F5

; Static synchronous action: Tool length compensation in the X direction

; corresponds to the position of the X2 axis in the WCS

N50 ID=1 DO $AA_TOFF[X] = $AA_IW[X2]

G4 F5

; Note: Current total tool length compensation in the X direction

N100 XOFFSET = $AA_TOFF_VAL[X]

; Retract the tool length compensation in the X direction to 0

N120 TOFFON(X, -XOFFSET)

G4 F5

Synchronized actions

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Detailed description

4.3 System variables for synchronized actions

Deselecting the online tool length compensation

Program code

; Activate orientation transformation

N10 TRAORI

; Activate tool length compensation in the X direction

N20 TOFFON(X)

; Tool length compensation in the X direction: 10 mm

N30 WHEN TRUE DO $AA_TOFF[X] = 10

G4 F5

; Delete tool length compensation in the X direction

; No axis is traversed. To the current position in the WCS

; the position offset in accordance with the current orientation

; is added.

N80 TOFFOF(X)

N90 TRAFOOF

Activating and deactivating in the part program

The online tool length compensation is activated in the part program with TOFFON and

deactivated with TOFFOF. When activating for the respective offset direction, an offset value can

be specified, e.g. TOFFON(Z,25), which is then immediately traversed. The status of the online

tool length compensation is activated at the NC/PLC interface via the following signals:

• DB21, ... DBX318.2 (TOFF active)

• DB21, ... DBX318.3 (TOFF movement active)

Note

The online tool length compensation remains inactive until it is reselected using via TOFFON

in the part program.

Behavior at reset and power on

The behavior at reset can be set via the machine data:

MD21190 $MC_TOFF_MODE, bit 0 = <value> (operation of tool offset in tool direction)

Value

Meaning

The tool length offset $AA_TOFF is deselected at reset

The tool length offset $AA_TOFF is retained at reset

This is always necessary in case of synchronous actions IDS=<number> DO

$AA_TOFF[n]=<value>, as otherwise there would be an immediate tool length

compensation.

Similarly, a transformation or a tool carrier that can be oriented, can be deselected after reset

via the following machine data:

MD20110 $MC_RESET_MODE_MASK (initial setting after reset)

Synchronized actions

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Detailed description

4.3 System variables for synchronized actions

The tool length compensation must also be deleted in this case.

If a tool length offset is to remain active extending beyond a reset, and a transformation change

or a change of the tool carrier that can be oriented takes place, then alarm 21665 "Channel %1

$AA_TOFF[ ] reset" is output. The tool length compensation is set to 0.

After power on, all tool length offsets are set to 0.

The function is deactivated after POWER ON.

Behavior at change of operating mode

The tool length compensation remains active after a change of operating mode. The offset is

executed in all operating modes except JOG and REF.

If a tool length compensation is traversed because of $AA_TOFF[ ] at a change of operating

mode, the operating mode changeover is only carried out after the traversal of the tool length

compensation. Alarm 16907 "Channel %1 action %2 <ALNX> possible only in stop state" is

displayed.

Behavior with REPOS

The tool length compensation is active in REPOS mode.

Boundary conditions

With an existing tool length offset, the following supplementary conditions must be taken into

account:

• A transformation must be switched off with TRAFOOF.

• Before activating a transformation in the part program, an active tool length offset must be

deleted with TOFFOF.

• A transformation is switched off when changing over from CP to PTP. A tool length offset

must be deleted before the changeover. If a tool length compensation is active when you

change to axis-specific manual travel in JOG mode, the change to PTP is not performed. CP

remains active until the tool length compensation has been deleted via TOFFOF.

• Before a geometry axis interchange, an active tool length offset in the direction of the

geometry axis must be deleted via TOFFOF.

• Before a change of plane, an active tool length offset must be deleted via TOFFOF.

• The TOFFON and TOFFOF are not collected during a block search and not output in the action

block.

4.3.19

Current block in the interpolator ($AC_BLOCKTYPE, $AC_BLOCKTYPEINFO,

$AC_SPLITBLOCK)

Information on the block currently being processed in the main run can be read in synchronized

actions via the following system variables.

Synchronized actions

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Detailed description

4.3 System variables for synchronized actions

$AC_BLOCKTYPE and $AC_BLOCKTYPEINFO

The system variable $AC_BLOCKTYPE contains the block type or the ID for the function that

generated the block.

The system variable $AC_BLOCKTYPEINFO contains, in addition to the block type (thousands

position), the function-specific cause for the generation of the intermediate block.

$AC_BLOCKTYPE

$AC_BLOCKTYPEINFO

Value

Meaning: Current block has been gener-

Value

Meaning

ated because of ...

Programmed block!

NC as intermediate block

1000

Contains no further information

Chamfer/rounding

2001

Straight line

2002

Circle

Smooth approach/retraction (SAR)

3001

Approach with straight line

3002

Approach with quadrant

3003

Approach with semicircle

Tool offset

4001

Approach block after STOPRE

4002

Connection blocks if intersection point not found

4003

Point-type circle on inner corners

(on TRACYL only)

4004

Bypass circle (or conical cut) at outer corners

4005

Approach blocks for offset suppression

4006

Approach blocks on repeated TRC activation

4007

Block split due to excessive curvature

4008

Compensation blocks for 3D front milling (tool vector parallel

to plane vector)

Corner rounding

5001

Rounding contour through G641

5002

Rounding contour through G642

5003

Rounding contour through G643

5004

Rounding contour through G644

Tangential tracking (TLIFT)

6001

Linear movement of the tangential axis without lift move-

ment

6002

Non-linear movement of the tangential axis (polynomial)

without lift movement

6003

Lift movement: Tangential axis and lift movement start si-

multaneously

6004

Lift movement: Tangential axis does not start until a certain

lift position is reached

Path segmentation

7001

Programmed path segmentation is active without punching

or nibbling

7002

Programmed path segmentation with active punching or nib-

bling

7003

Automatically, internally generated path segmentation

Compile cycle

x: ID of the compile cycle application that generated the block

Path-relative orientation interpolation (OR-

9000

Interpolation of the tool orientation with ORIPATH

IPATH/ORIROTC)

9001

Interpolation of the rotation of the tool with ORIROTC

Synchronized actions

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Detailed description

4.3 System variables for synchronized actions

$AC_BLOCKTYPE

$AC_BLOCKTYPEINFO

Value

Meaning: Current block has been gener-

Value

Meaning

ated because of ...

Pole handling with orientation transforma-

10000

Look-ahead positioning of the pole axis

tion

10001

Traversal of the pole taper

$AC_SPLITBLOCK

The system variable $AC_SPLITBLOCK can be used to determine whether an internally generated

block or a programmed block shortened by the NC is present.

$AC_SPLITBLOCK

Value

Meaning:

Programmed block. A block generated by the compressor is also treated as a programmed

block.

Internally generated block or a shortened original block

Last block in a chain of internally generated blocks or shortened original blocks

Example

Synchronized actions for counting smoothing blocks.

The query of the system variable $AC_TIMEC == 0 (interpolation cycles since start of the block)

ensures that the block type is determined only once at the start of the block.

Program code

Comment

$AC_MARKER[0]=0

; Counter for all smoothing blocks

$AC_MARKER[1]=0

; Counter for G641 smoothing blocks

$AC_MARKER[2]=0

; Counter for G642 smoothing blocks

; Synchronized action for counting all smoothing blocks

ID=1 WHENEVER ($AC_TIMEC==0) AND ($AC_BLOCKTYPE==5) DO

$AC_MARKER[0] = $AC_MARKER[0] + 1

; Synchronized action for counting the G641 smoothing blocks

ID=2 WHENEVER ($AC_TIMEC==0) AND ($AC_BLOCKTYPEINFO==5001) DO

$AC_MARKER[1] = $AC_MARKER[1]+1

; Synchronized action for counting the G642 smoothing blocks

ID=3 WHENEVER ($AC_TIMEC==0) AND ($AC_BLOCKTYPEINFO==5002) DO

$AC_MARKER[2] = $AC_MARKER[2] + 1

Synchronized actions

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Detailed description

4.3 System variables for synchronized actions

4.3.20

Initialization of array variables (SET, REP)

Function

Array variables can also be initialized in synchronous actions via the SET and REP commands.

For a detailed description of the commands, refer to:

Further information

Programming Manual NC Programming

Example

Program code

PROC MAIN

N10 DEF REAL SYG_IS[3,2]

WHEN TRUE DO SYG_IS[0,0]=REP(0.0,3)

WHEN TRUE DO SYG_IS[1,1]=SET(3,4,5)

Boundary conditions

• Only array variables that can be written in synchronous actions are initialized.

4.3.21

Grinding-specific system variables ($AC_IN_KEY_G...)

When grinding, input signals asynchronous with the machine operation must be identified and

the appropriate actions must be integrated in the program sequence. The following system

variables and NC/PLC interface signals are available:

System variable

NC/PLC interface DB21, ...

Description

NC-internal communication

$AC_IN_KEY_G_ENABLE[1 ... 8] ¹

---

Input signal enable on the NC side

Communication NC → PLC ²⁾

$AC_IN_KEY_G_ISENABLE[1 ... 8] ¹⁾

DBX390.0 ... 7

Input signal enable

$AC_IN_KEY_G_RUN_OUT[1 ... 8]

DBX391.0 ... 7

Enable request for the action on the NC side (optional)

Communication PLC → NC ³⁾

$AC_IN_KEY_G[1 ... 8]

DBX385.0 ... 7

Input signal

---

DBX386.0 ... 7 ¹⁾

Input signal inhibit on the PLC side

$AC_IN_KEY_G_RUN_IN[1 ... 8]

DBX387.0 ... 7

Enable request for the action on the PLC side (optional)

1) As a result of the ANDlogic operation of the NC enable signal on the NC side in $AC_IN_KEY_G_ENABLE and PLC enable

signal NOT(DBX386.0 ... 7), the enable signal is formed in $AC_IN_KEY_G_ISENABLE and DBX390.0 ... 7.

2) The content of the system variable is transferred in the NC/PLC interface

3) The content of the NC/PLC interface is transferred in the system variable

Synchronized actions

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Detailed description

4.3 System variables for synchronized actions

Example

Inputs

• The main program starts a cycle (ZYKLUS_1), in which grinding is executed as well as the

intermediate dressing.

• An operator can request an "intermediate dressing" action asynchronous to the machining

operation itself using an input signal of the PLC I/O.

• Identifying the input signal and requesting the action is realized in a technology cycle.

Technology cycle ("SIGNAL_IN_x") is called in the action part of the synchronized action (ID

<xy>) set up in the cycle.

The call schematic, the relevant commands and the signal flow are shown in the following

diagram.

Synchronized actions

Function Manual, 10/2020, 6FC5397-5BP40-6BA4

Detailed description

4.3 System variables for synchronized actions

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The PLC user program must provide the functions on the PLC side, for example "enable input

signal x".

Synchronized actions

Function Manual, 10/2020, 6FC5397-5BP40-6BA4

Detailed description

4.3 System variables for synchronized actions

Sequence

•

Main program

- Call cycle "ZYKLUS_1"

•

Cycle "ZYKLUS_1"

- Set the enable for input signal x ($AC_IN_KEY_G_ENABLE)

- Set up the synchronized action with technology cycle "SIGNAL_IN_x"

- Initialize the trigger for action x "intermediate dressing" (R01)

- Grind the component

•

Technology cycle "SIGNAL_IN_x" (in parallel with the cycle)

- Identify the input signal ($AC_IN_KEY_G) with the enable active

($AC_IN_KEY_G_ISENABLE)

- Request the enable of action x from the PLC ($AC_IN_KEY_G_RUN_OUT)

- Wait for the enable of action x from the PLC ($AC_IN_KEY_G_RUN_IN)

- Request action x in cycle (R01)

- Feedback signal of the request to the PLC ($AC_IN_KEY_G_RUN_OUT)

- Wait for acknowledgment from the PLC ($AC_IN_KEY_G_RUN_IN)

•

Cycle "ZYKLUS_1" (after completing grinding)

- Reset the enable for input signal x ($AC_IN_KEY_G_ENABLE)

- If action x is requested ⇒ execute intermediate dressing

- ... (possibly re-execute grinding/intermediate dressing operations etc.)

•

PLC user program

- Function "Enable input signal x":

Set interface signal DBX386.0 ... 7

- Function "Enable input signal x":

Logically combine (AND) the input signal from the PLC I/O and the enable of input signal

(DBX390.0 ... 7) - and set the result in the interface (DBX385.0 ... 7)

- Function "Enable action x":

Check/set the interface signals DBX391.0 ... 7 / DBX387.0 ... 7

4.3.22

Status Synchronized action disabled ($AC_SYNA_STATE)

System variable $AC_SYNA_STATE outputs in bit code whether a synchronized action is

disabled via the PLC (Page 123) or a synchronized action (Page 123).

These bits have the following meaning:

Bit

Value

Meaning

Not disabled

Disabled via PLC or synchronized action

Synchronized actions

Function Manual, 10/2020, 6FC5397-5BP40-6BA4

Detailed description

4.4 User-defined variables for synchronized actions

Bit

Value

Meaning

Not disabled via PLC

Disabled via PLC

Not disabled via synchronized action

Disabled via synchronized action

Disabling via PLC or synchronized action have different levels of priority. The following hierarchy

of priorities applies:

Priority 1 (highest priority):

Disabled via PLC across all channels (⇒ all synchronized ac-

tions in the channel are inhibited)

Priority 2:

Disabled via synchronized action

Priority 3:

Individual disabling via PLC (⇒ a single synchronized action in

the channel is disabled)

$AC_SYNA_STATE only outputs the value of the disable with the highest priority, even if

disabling is simultaneously active via PLC and Synchronized action:

Status

Highest

$AC_SYNA_STATE

priority

Bit 2

Bit 1

Bit 0

Bit-coded value

Channel-wide disable via PLC is active.

Channel-

wide disable

In addition, disable via synchronized action

via PLC

can be active.

Channel-wide disable via PLC is not active.

Disabled via

synchron-

Disable via synchronized action is active.

ized action

Additionally, a single disable can be active

via PLC.

Channel-wide disable via PLC is not active.

Single disa-

ble via PLC

Disable via synchronized action is not active.

Single disable via PLC is active.

No disable is active.

4.4

User-defined variables for synchronized actions

GUD variables capable of synchronized actions

As well as specific system variables, predefined global synchronized-action user variables

(synchronized action GUD) can also be used in synchronized actions. The number of

synchronized action GUD items available to the user is parameterized for each specific data type

and access using the following machine data:

• MD18660 $MM_NUM_SYNACT_GUD_REAL[<x>] = <number>

• MD18661 $MM_NUM_SYNACT_GUD_INT[<x>] = <number>

• MD18662 $MM_NUM_SYNACT_GUD_BOOL[<x>] = <number>

• MD18663 $MM_NUM_SYNACT_GUD_AXIS[<x>] = <number>

Synchronized actions

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Detailed description

4.4 User-defined variables for synchronized actions

• MD18664 $MM_NUM_SYNACT_GUD_CHAR[<x>] = <number>

• MD18665 $MM_NUM_SYNACT_GUD_STRING[<x>] = <number>

The index <x> is used to specify the data block (access rights) and the value <number> to specify

the number of synchronized-action GUDs for each data type (REAL, INT, etc.). A 1-dimensional

array variable with the following naming scheme is then created in the relevant data block for

each data type.: SYG_<data type><access right>[<index>]:

Index

Data type

<x>

(MD18660 to MD18665)

Block

REAL

INT

BOOL

AXIS

CHAR

STRING

SGUD

SYG_RS[ i ]

SYG_IS[ i ]

SYG_BS[ i ]

SYG_AS[ i ]

SYG_CS[ i ]

SYG_SS[ i ]

MGUD

SYG_RM[ i ]

SYG_IM[ i ]

SYG_BM[ i ]

SYG_AM[ i ]

SYG_CM[ i ]

SYG_SM[ i ]

UGUD

SYG_RU[ i ]

SYG_IU[ i ]

SYG_BU[ i ]

SYG_AU[ i ]

SYG_CU[ i ]

SYG_SU[ i ]

GUD4

SYG_R4[ i ]

SYG_I4[ i ]

SYG_B4[ i ]

SYG_A4[ i ]

SYG_C4[ i ]

SYG_S4[ i ]

GUD5

SYG_R5[ i ]

SYG_I5[ i ]

SYG_B5[ i ]

SYG_A5[ i ]

SYG_C5[ i ]

SYG_S5[ i ]

GUD6

SYG_R6[ i ]

SYG_I6[ i ]

SYG_B6[ i ]

SYG_A6[ i ]

SYG_C6[ i ]

SYG_S6[ i ]

GUD7

SYG_R7[ i ]

SYG_I7[ i ]

SYG_B7[ i ]

SYG_A7[ i ]

SYG_C7[ i ]

SYG_S7[ i ]

GUD8

SYG_R8[ i ]

SYG_I8[ i ]

SYG_B8[ i ]

SYG_A8[ i ]

SYG_C8[ i ]

SYG_S8[ i ]

GUD9

SYG_R9[ i ]

SYG_I9[ i ]

SYG_B9[ i ]

SYG_A9[ i ]

SYG_C9[ i ]

SYG_S9[ i ]

Where i = 0 to (<number> - 1)

Block: _N_DEF_DIR/_N_ ... _DEF, e.g for SGUD ⇒ _N_DEF_DIR/_N_SGUD_DEF

Properties

Synchronized-action GUD have the following properties:

• Synchronized-action GUD can be read and written in synchronized actions and part

programs/cycles.

• Synchronized-action GUD can be accessed via the OPI.

• Synchronized-action GUD is displayed on the HMI user interface in the "Parameters"

operating area.

• Synchronized-action GUD can be used on the HMI in the Wizard, in the variables view and in

the variables log.

• The array size for STRING type synchronized action GUD is set to a fixed value of 32 (31

characters + \0).

• Even if no definition files have been created manually for global user data (GUD),

synchronized-action GUD defined using machine data can be read in the corresponding GUD

block from the HMI.

Note

User variables (GUD, PUD, LUD) can only be defined with the same name as synchronized-

action GUD (DEF ... SYG_xy) if no synchronized-action GUD has been parameterized

with the same name (MD18660 - MD18665). These user-defined items of GUD cannot be

used in synchronized actions.

Synchronized actions

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SINUMERIK 840D sl. Service - Functions. Manual (2018-2020) - page 75