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

Detailed description

4.5 Language elements for synchronized actions and technology cycles

Access rights

The access rights defined in a GUD definition file remain valid and refer only to the GUD variables

defined in this GUD definition file.

Deletion behavior

If the content of a particular GUD definition file is reactivated, the old GUD data block in the active

file system is deleted first. The configured synchronized-action GUD is also reset at this point. This

process is also possible using the HMI in the operator area "Services" > "Define and activated user

data (GUD)".

4.5

Language elements for synchronized actions and technology

cycles

The following language elements can be used in synchronized actions and technology cycles:

Fixed addresses

Subprogram number

Feed

S ^{1) 2)}

Spindle

M ^{1) 2)}

M function

H¹⁾

H function

1) Chapter: "Output of M, S and H auxiliary functions to the PLC (Page 66)"

2) Chapter: "Traversing spindles (M, S, SPOS) (Page 91)"

Fixed addresses with axis extension: Miscellaneous

POS

Traversing axes to position (Page 78)

POSA

Modal positioning axis

SPOS

Spindle positioning (Page 91)

MOV ¹⁾

Traversing axes, endless (Page 84)

Axial feedrate (Page 85)

OVRA

Axial override

ACC

Axial acceleration

MEASA

Axial measurement with deletion of distance-to-go

MEAWA

Axial measurement without delete distance-to-go (Page 110)

MEAC

Cyclic measuring (Page 110)

SCPARA

Parameter set changeover

VELOLIMA

Axial velocity/speed limitation

ACCLIMA

Axial acceleration limitation

JERKLIMA

Axial jerk limitation

1) Not permitted in technology cycles

Synchronized actions

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

Detailed description

4.5 Language elements for synchronized actions and technology cycles

Settable addresses: Travel to fixed stop ¹⁾

FXS

Activate travel to fixed stop

FXST

Torque limit for travel to fixed stop

FXSW

Monitoring window for travel to fixed stop

FOC

Non-modal torque/force limitation

FOCON

Activate travel with limited torque/force

FOCOF

Deactivate travel with limited torque/force

1) Chapter: "Travel to fixed stop (FXS, FXST, FXSW, FOCON, FOCOF, FOC) (Page 113)"

Settable addresses: Couplings > Generic coupling ¹⁾

CPBC

Block change criterion with active coupling

CPDEF

Create coupling module

CPDEL

Delete coupling module

CPFMOF

Behavior of the following axis when switching off the coupling

CPFMON

Behavior of the following axis when switching on the coupling

CPFMSON

Synchronization mode during coupling

CPFPOS

Synchronized position of the following axis when switching on

CPFRS

Reference system for the coupling module of the following axis

CPLA ²⁾

Assigning an axis as leading axis to a following axis

CPLCTID

Number of the curve table for the coupling of the following axis

CPLDEF

Definition of the reference: Leading axis to following axis

CPLDEL

Cancellation of the reference: Leading axis to following axis

CPLDEN

Coupling factor: Numerator

CPLNUM

Coupling factor: Denominator

CPLDYPRIO

Priority of the leading axis for the dynamic limitation

CPLDYVLL

Limitation of the overlaid motion of the leading axis: Lower limit

CPLDYVLU

Limitation of the overlaid motion of the leading axis: Upper limit

CPLINSC

Scaling factor for the input value of the leading axis

CPLINTR

Offset value for the input value of the leading axis

CPLOF

Coupling of leading axis to following axis: Switch off

CPLON

Coupling of leading axis to following axis: Switch on

CPLOUTSC

Scaling of the output value

CPLOUTTR

Offset of the output value

CPLPOS

Synchronized position of the leading axis when switching on

CPLSETVAL

Coupling type of the following axis to the leading axis

CPMALARM

Define alarm behavior

CPMBRAKE ²⁾

Defining the response to a stop signal and commands

CPMPRT

Define start behavior for program test

CPMRESET

Define reset behavior

CPMSTART

Define start behavior

CPMVDI

Define behavior regarding NC/PLC interface signals

CPOF

Deactivation of the coupling to all defined leading axes

Synchronized actions

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

Detailed description

4.5 Language elements for synchronized actions and technology cycles

Settable addresses: Couplings > Generic coupling ¹⁾

CPON

Activation of the coupling to all defined leading axes

CPRES ²⁾

Activates the coupling parameter parameterized in the machine data

CPSETTYPE

Define basic coupling properties

CPSYNCOP

Position synchronism "coarse"

CPSYNCOP2

Position synchronism 2 "coarse"

CPSYNFIP

Position synchronism "fine"

CPSYNFIP2

Position synchronism 2 "fine"

CPSYNCOV

Velocity synchronism "coarse"

CPSYNFIV

Velocity synchronism "fine"

1) Chapter: "Couplings (CP..., LEAD..., TRAIL..., CTAB...) (Page 106)"

2) Currently not available in synchronized actions

G functions: Set measuring system ¹⁾

G70

Inch measuring system

G71

Metric measuring system

G700

Inch measuring system

G710

Metric measuring system

1) Chapter: "Setting the measuring system (G70, G71, G700, G710) (Page 82)"

Predefined subprograms: Miscellaneous

POLFA

Axial retraction position for single axis

POLFC

Axial retraction position for channel axes

STOPREOF

Revoke preprocessing stop (Page 76)

RDISABLE

Programmed read-in disable (Page 74)

DELDTG

Delete distance-to-go (Page 76)

LOCK

Lock synchronized action

UNLOCK

Unlock synchronized action

ICYCON

Technology cycle: One block per interpolator clock cycle

ICYCOF

Technology cycle: All blocks in one interpolator clock cycle

SYNFCT

Polynomial evaluation (Page 67)

FTOC

Tool fine compensation (Page 73)

SOFTENDSA

Software limit switch

PROTA

Change status of a protection zone

SETM

Set marker of the channel coordination (Page 115)

CLEARM

Delete marker of the channel coordination (Page 115)

RET

Subprogram return

GET

Request axis (Page 86)

RELEASE

Release axis (Page 86)

AXTOCHAN

Transfer axis to another channel (Page 86)

AXCTSWEC

Withdraw enable for the axis container rotation (Page 92)

SETAL

User-specific error responses (Page 116)

Synchronized actions

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Detailed description

4.5 Language elements for synchronized actions and technology cycles

Predefined subprograms: Miscellaneous

IPOBRKA

Block change criterion: Deceleration ramp

ADISPOSA

Tolerance window for end-of-motion criterion

Predefined subprograms: Coupling > Coupled motion ¹⁾

TRAILON

Coupled motion on

TRAILOF

Coupled motion off

1) Section: "Couplings (CP..., LEAD..., TRAIL..., CTAB...) (Page 106)"

Predefined subprograms: Couplings > Master value coupling ¹⁾

LEADON

Master value coupling on

LEADOF

Master value coupling off

1) Section: "Couplings (CP..., LEAD..., TRAIL..., CTAB...) (Page 106)"

Predefined subprograms: Couplings > Torque coupling (master/slave)

MASLON

Coupling on

MASLOF

Coupling off

MASLDEF

Define coupling

MASLDEL

Delete coupling

MASLOFS

Coupling with slave spindle off

Predefined functions: Coupling > Curve tables ¹⁾

CTAB

Calculates the following axis position based on the leading axis position

using the curve table

CTABINV

Calculates the leading axis position based on the following axis position

using the curve table

CTABID

Determines the table number of the curve table

CTABLOCK

Disable curve table

CTABUNLOCK

Enable curve table

CTABISLOCK

Determines the lock status of the curve table

CTABEXISTS

Checks whether the curve table exists

CTABMEMTYP

Determines the storage location of the curve table (static/dynamic

memory)

CTABPERIOD

Determines the periodicity of the curve table

CTABNO

Determines the number of curve tables

CTABNOMEM

Determines the number of existing curve tables in a specific storage

location

CTABSEG

Determines the number of already used curve segments in a specific

storage location

CTABSEGID

Determines the number of already used curve segments in a specific

table

CTABFSEG

Determines the number of curve segments that are still possible in a

specific table

Synchronized actions

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

Detailed description

4.5 Language elements for synchronized actions and technology cycles

Predefined functions: Coupling > Curve tables ¹⁾

CTABMSEG

Determines the maximum possible number of curve segments in a spe-

cific storage location

CTABPOL

Determines the number of already used polynomials in a specific stor-

age location

CTABPOLID

Determines the number of already used polynomials in a specific table

CTABFPOL

Determines the number of polynomials that are still possible in a spe-

cific table

CTABMPOL

Determines the maximum possible number of polynomials in a specific

storage location

CTABTSV

Determines the following value at the start of the table

CTABTEV

Determines the following value at the end of the table

CTABTSP

Determines the leading value at the start of the table

CTABTEP

Determines the leading value at the end of the table

CTABTMIN

Determines the minimum following value of the table

CTABTMAX

Determines the minimum following value of the table

CTABFNO

Determines the number of curve tables that are still possible in a spe-

cific storage location

CTABSSV

Determines the starting value of a table segment for the following axes

CTABSEV

Determines the end value of a table segment for the following axes

1) Section: "Couplings (CP..., LEAD..., TRAIL..., CTAB...) (Page 106)"

Predefined functions: Arithmetic

SIN

Sine

ASIN

Arc sine

COS

Cosine

ACOS

Arc cosine

TAN

Tangent

ATAN2

Arc tangent 2

SQRT

Square root

POT

2nd power (square)

TRUNC

Integer component

ROUND

Round to next integer

ROUNDUP

Rounding up of an input value to the next integer

ABS

Absolute value

Natural logarithm

EXP

Exponential function

MINVAL

Smaller of two values

MAXVAL

Larger of two values

BOUND

Check for defined value range

Synchronized actions

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

Detailed description

4.6 Language elements for technology cycles only

Predefined functions: Current machine data values

GETMDACT

Determines the current value of the machine data

GETMDPEAK

Determines the maximum value that has occurred in the machine data

since the last RESETPEAK

GETMDLIM

Determines the maximum or minimum limit value of the machine data

RESETPEAK

Resets the maximum value again for GETMDPEAK

Predefined functions: Format conversions

ITOR

INT → REAL

RTOI

REAL → INT

RTOB

REAL → BOOL

BTOR

BOOL → REAL

ITOB

INT → BOOL

BTOI

BOOL → INT

Predefined functions: Safety Integrated

SIRELAY

Activation of the safety functions parameterized with SIRELIN, SIREL-

OUT and SIRELTIME

Predefined functions: Miscellaneous

POSRANGE

Position in specified reference range (Page 83)

PRESETON

Actual value setting with loss of the referencing status (Page 95)

PRESETONS

Actual value setting without loss of the referencing status (Page 100)

Predefined procedures: Miscellaneous

CANCELSUB

Cancels the current subprogram level (Page 116)

Further information

A detailed description of all NC language elements is provided in the Programming Manual NC

Programming.

4.6

Language elements for technology cycles only

The following language elements may only be used in technology cycles:

Jump statements

Branch

GOTO

Jump to label, search direction forward, then backward

Synchronized actions

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

Detailed description

4.7 Actions in synchronized actions

Jump statements

GOTOF

Jump to label, search direction forward

GOTOB

Jump to label, search direction backward

End of program

M02

End of program

M17

End of program

M30

End of program

RET

End of program

4.7

Actions in synchronized actions

4.7.1

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

Output timing

Auxiliary functions of the M, S and H type can be output from synchronized actions. The output

to the PLC is immediate, i.e. directly in the interpolator clock cycle in which the action is executed.

Any output times set via the machine data for auxiliary functions have no effect when output

from synchronized actions:

• MD11110 $MN_AUXFU_GROUP_SPEC (auxiliary function group specification)

• MD22200 $MC_AUXFU_M_SYNC_TYPE (output time of M functions)

• MD22210 $MC_AUXFU_S_SYNC_TYPE (output time of the S functions)

• MD22230 $MC_AUXFU_H_SYNC_TYPE (output time of the H functions)

Maximum number

General

A maximum of 10 auxiliary functions can be output simultaneously from the part program and

the active synchronized actions of a channel, i.e. in one OB40 cycle of the PLC.

Synchronized-action-specific

The maximum permissible number of auxiliary functions in the action part of a synchronized

action is:

• M functions: 5

• S functions: 3

• H functions: 3

Synchronized actions

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

Detailed description

4.7 Actions in synchronized actions

Non-modal synchronized actions

In non-modal synchronized actions (without specification of ID or IDS), auxiliary functions can

only be output in conjunction with the scanning frequency WHEN or EVERY.

Predefined M functions

Predefined M functions generally must not be output in synchronized actions.

Exceptions: M3, M4, M5, M40, M41, M42, M43, M44, M45, M70 and M17

See also

Frequency (WHENEVER, FROM, WHEN, EVERY) (Page 17)

4.7.2

Reading and writing of system variables

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 the action part of

synchronous actions are marked with an "X" in the corresponding line (Read or Write) of the "SA"

(synchronous action) column.

Note

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

main run.

Further information

List Manual System Variables

4.7.3

Polynomial evaluation (SYNFCT)

Application

A variable that is evaluated via a polynomial can be read with the SYNFCT function in the main

run and the result can be written to another variable. Application examples:

• Feedrate as a function of drive load

• Position as a function of a sensor signal

• Laser power as a function of path velocity

Syntax

SYNFCT(<Poly_No>,<SysVar_Out>,<SysVar_In>)

Synchronized actions

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

Detailed description

4.7 Actions in synchronized actions

Meaning

Parameter

Meaning

<Poly_No>:

Number of the polynomial defined with FCTDEF:

f(x) = a₀+ a_1*x + a_2*x²+ a_3*x³

<SysVar_Out>:

System variable, output:

<SysVar_Out> = f(x)

<SysVar_In>:

System variable, input:

x = <SysVar_In>

For information on FCTDEF, see Chapter "Polynomial coefficients, parameters ($AC_FCT ...) (Page 43)"

Example: Additive override of the path feedrate

An override value is added to the programmed feedrate (F word):

F_active = F_programmed + F_AC

<SysVar_Out>

Meaning

$AC_VC

additive path feedrate override

$AA_VC[axis]

additive axial feedrate override

Input value is the actual current value $AA_CURR of the X axis.

The operating point is set to 5 A.

The feedrate may be altered by ±100 mm/min and the axial current deviation may be ±1 A.

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Example: Additive control of path feed

Determining the parameters of the FCTDEF function:

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

<Poly_No>:

= 1 (example)

<Lo_Limit>:

= -100

<Up_Limit>:

= 100

Polynomial: f(x) = a₀ + a₁x +a₂x² + a₃x³

a₀:

1 / 100 = 5 / a₀ ⇒ a₀ = 500

Synchronized actions

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

Detailed description

4.7 Actions in synchronized actions

= 100 mm/min / -1 A = -100 [mm/min / A]

a₂

= 0 (not a square component)

a₃

= 0 (not a cubic component)

Calculation of the override value:

SYNFCT(<Poly_No>,<SysVar_Out>,<SysVar_In>)

<Poly_No>:

= 1

<SysVar_Out>:

$AC_VC (additive path feedrate override)

<SysVar_In>:

$AA_CURR (drive actual current value)

Programming:

Program code

N100 FCTDEF(1, -100, 100, 500, -100)

N110 ID=1 DO SYNFCT(1, $AC_VC[X], $AA_CURR[X])

Example: Multiplicative override of the path feedrate

The programmed feedrate is multiplied by a percentage factor (additional override):

F_active = F_programmed * Factor_AC

<SysVar_Out>

Meaning

$AC_OVR

Path override can be specified via synchronous action

Input value is the percentage drive load $AA_LOAD of the X axis.

The operating point is set to 100% at 30% drive load.

The axis must stop at 80% load.

An excessive velocity corresponding to the programmed value +20% is permissible.

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Example: Multiplicative control

Determining the parameters of the FCTDEF function:

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

<Poly_No>:

= 2 (example)

Synchronized actions

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

Detailed description

4.7 Actions in synchronized actions

<Lo_Limit>:

= 0

<Up_Limit>:

= 120

Polynomial: f(x) = a₀ + a₁x +a₂x² + a₃x³

a₀:

50 / 100 = 80 / a₀ ⇒ a₀ = 160

a₁

= 100% / -50% = -2

a₂

= 0 (not a square component)

a₃

= 0 (not a cubic component)

Calculation of the override value:

SYNFCT(<Poly_No>,<SysVar_Out>,<SysVar_In>)

<Poly_No>:

= 2

<SysVar_Out>:

$AC_OVR (path override can be specified via synchronous action)

<SysVar_In>:

$AA_LOAD (drive load)

Programming:

Program code

N100 FCTDEF(2, 0, 120, 160, -2)

N110 ID=1 DO SYNFCT(2, $AC_OVR[X], $AA_LOAD[X])

Example: Clearance control

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Clearance control: Principle

The clearance control of the infeed axis Z is performed via the FCTDEF and SYNFCT functions

as well as by the system variables $AA_OFF and $A_INA.

Synchronized actions

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

Detailed description

4.7 Actions in synchronized actions

Boundary conditions:

• The analog voltage of the clearance sensor is connected via the analog input $A_INA[3].

• The position deviations are summated in $AA_OFF (integrated):

MD36750 $MA_AA_OFF_MODE, bit 0 = 1

• If the upper limit of the Z axis is exceeded by 1 mm, the X axis is stopped:

SD43350 $SA_AA_OFF_LIMIT[Z] = 1

See also Chapter "Overlaid movements ($AA_OFF) (Page 45)".

Note

$AA_OFF is effective in the basic coordinate system (BCS)

The offset is effective before the kinematic transformation in the basic coordinate system

(BCS). The example therefore cannot be used for a clearance control in the orientation

direction of the tool (workpiece coordinate system WCS).

For clearance control system with high dynamic response or 3D clearance control, see:

Further information

Function Manual Technologies

User-specific responses

When the limit value SD43350 $SA_AA_OFF_LIMIT is reached, customized responses can be

triggered, for example:

• Chapter "Override ($A...OVR) (Page 36)"

• Chapter "User-specific error reactions (SETAL) (Page 116)"

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Clearance control

Determining the parameters of the FCTDEF function:

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

<Poly_No>:

= 1 (example)

<Lo_Limit>:

= 0.2

<Up_Limit>:

= 0.5

Polynomial: f(x) = a₀ + a₁x +a₂x² + a₃x³

a₀:

10 / x = 20 / 0.3 ⇒ a₀ = x + 0.2 = 0.15 + 0.2 = 0.35

a₁

= 0.15 mm / 10 V = 1.5 * 10^-2 mm/V

Synchronized actions

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

Detailed description

4.7 Actions in synchronized actions

= 0 (not a square component)

a₃

= 0 (not a cubic component)

Calculation of the override value:

SYNFCT(<Poly_No>,<SysVar_Out>,<SysVar_In>)

<Poly_No>:

= 1

<SysVar_Out>:

$AA_OFF (overlaid movement of an axis)

<SysVar_In>:

$A_INA (analog input)

Programming:

Program code: %_N_AON_SPF

Comment

PROC AON

; Clearance control "ON"

FCTDEF(1, 0.2, 0.5, 0.35, 1.5 EX-2)

; Polynomial definition

ID=1 DO SYNFCT(1,$AA_OFF[Z],$A_INA[3])

; Clearance control

ID=2 WHENEVER $AA_OFF_LIMIT[Z]<>0 DO $AA_OVR[X] = 0

; Limit value test

RET

ENDPROC

Program code: %_N_AOFF_SPF

Comment

PROC AOFF

; Clearance control "OFF"

CANCEL(1)

; Delete clearance control

CANCEL(2)

; Delete limit value check

RET

ENDPROC

Program code: %_N_MAIN_MPF

Comment

N100 $SA_AA_OFF_LIMIT[Z]=1

N110 AON

; Clearance control "ON"

N200 G1 X100 F1000

N210 AOFF

; Clearance control "OFF"

M30

See also

Online tool offset (FTOC) (Page 73)

Synchronized actions

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

Detailed description

4.7 Actions in synchronized actions

4.7.4

Online tool offset (FTOC)

The FTOC function enables the overlaid movement of a geometry axis for the online tool offset,

depending on a reference value, e.g. the actual value of an arbitrary axis. The offset value is

calculated on the basis of a polynomial defined with FCTDEF (see Section "Polynomial

coefficients, parameters ($AC_FCT ...) (Page 43)"). The coefficient a₀ specified in the polynomial

definition is also evaluated by FTOC.

Example: Machining and dressing in the "Grinding" technology

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Dressing during machining using a dressing roll

Further information

Function Manual for tools

Syntax

FTOC(<Poly_No>,<systemvar>,<wear>[,<channel_No>,<spindle_No>])

Meaning

Parameter

Meaning

<Poly_No>:

Number of the polynomial defined with FCTDEF

<Systemvar>:

Arbitrary system variable of the REAL type that can be used in synchro-

nous actions.

<wear>:

Wear parameter (length 1, 2 or 3) in which the offset value is added.

<Channel_No>:

Target channel in which the offset must be applied. This enables simul-

taneous dressing from a parallel channel. In the target channel of the

offset, the online offset must be switched on with FTOCON.

If no channel number is programmed, the offset acts in the active chan-

nel.

<Spindle_No>:

The spindle number is programmed if a non-active grinding wheel

needs to be dressed.

Precondition: One of the following functions is active

• "Constant grinding wheel peripheral speed"

• "Tool monitoring"

If no spindle number is programmed, the active tool is compensated.

Synchronized actions

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

Detailed description

4.7 Actions in synchronized actions

Example

Compensate length of an active grinding wheel

Program code

Comment

FCTDEF(1, -1000, 1000, -$AA_IW[V], 1)

; FTOC:

; Polynomial no.: 1

; System variable: $AA_IW[V] (axial actual value of the V axis)

; Wear parameter: Length 3

; Target channel: Channel 1

ID=1 DO FTOC(1, $AA_IW[V], 3, 1)

WAITM (1,1,2)

; Synchronization with the machining

channel

G1 V-0.05 F0.01 G91

; Traversing motion of the V axis

CANCEL(1)

; Deselect online offset

Note

Because no frequency and no condition has been specified in the synchronous action, the action

part is executed in every interpolator clock cycle.

4.7.5

Programmed read-in disable (RDISABLE)

Function

The RDISABLE command in the active section causes block processing to be stopped when the

relevant condition is fulfilled. Processing of programmed motion-synchronous actions still

continues. The read-in disable is canceled again as soon as the condition for the RDISABLE is no

longer fulfilled.

An exact stop is initiated at the end of the block containing RDISABLE irrespective of whether

or not the read-in disable is still active. The exact stop is also triggered if the control is in the

continuous-path mode (G64, G641 ... G645).

RDISABLE can be programmed with reference to the block or also modal (ID=, IDS=)!

Application

Using RDISABLE, for example, the program can be started in the interpolator clock cycle as a

function of external inputs.

Synchronized actions

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

Detailed description

4.7 Actions in synchronized actions

Example

Program code

Comment

WHENEVER $A_INA[2]<7000

; Program processing is stopped if the voltage at input

DO RDISABLE

2 drops to below 7 V (assuming that the value 1000 cor-

responds to 1 V).

N10 G01 X10

; RDISABLE acts at the end of N10, if the condition is

fulfilled during its processing.

N20 Y20

Supplementary conditions

Read-in disable RDISABLE in conjunction with axis exchange

Acts via the synchronized actions RDISABLE read-in disable and axis exchange (e.g. path axis

→ positioning axes) together in one block, RDISABLE does not act on the action block, but the

re-approach block REPOSA implicitly generated as a result of the axis exchange:

Program code

Comment

N100 G0 G60 X300 Y300

N105 WHEN TRUE DO POS[X]=20 FA[X]=20000

; Synchronized action → REORG → REPOSA

N110 WHENEVER $AA_IM[X]<>20 DO RDISABLE

; RDISABLE acts on REPOSA

N115 G0 Y20

; 1. X-axis, 2nd Y axis

N120 Y-20

N125 M30

Path axis X becomes a positioning axis as a result of the synchronized action in the block N105.

REORG is therefore executed in the channel with REPOSA. Therefore, RDISABLE in N110 does

not act on block N115 - but instead on the internal REPOSA block. As a consequence, to start,

positioning axis X is traversed to its programmed position and then in block N115, the Y axis to

its programmed position.

An explicit release of path axis X before traversing as positioning axis (synchronized action in

N105) with RELEASE(X) avoids the REORG operation, and the X and Y axes traverse together

in block N115.

Program code

Comment

N100 G0 G60 X300 Y300

N101 RELEASE(X)

; Explicit release

N105 WHEN TRUE DO POS[X]=20 FA[X]=20000

Synchronized actions

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Detailed description

4.7 Actions in synchronized actions

4.7.6

Cancel preprocessing stop (STOPREOF)

With the STOPREOF command, an existing preprocessing stop can be cancelled from a

synchronized action.

Note

The STOPREOF command can only be programmed in non-modal synchronized actions

(without specification of ID or IDS) and only in conjunction with the scanning frequency WHEN.

Example

• N10: Non-modal synchronized action.

If the path distance-to-go $AC_DTEB is less than 5 mm, the existing preprocessing stop due

to the reading of the analog input $A_INA is cancelled.

• N20: Traversing block whose path distance-to-go is evaluated via $AC_DTEB.

• N30: Branch that triggers the preprocessing stop due to the reading of $A_INA.

Due to the synchronized action, input $A_INA is not evaluated at the end of the N20 block, but

already 5 mm before the end of the block. If the voltage is then greater than 5 V at input $A_INA,

there is a branch to "MARKE_1".

Program code

N10 WHEN $AC_DTEB < 5 DO STOPREOF

N20 G01 X100

N30 IF $A_INA[7] > 5000 GOTOF MARKE_1

4.7.7

Delete distance-to-go (DELDTG)

The path distance-to-go can be deleted with the DELDTG command and axial distances-to-go

can be deleted with the DELDTG (...) function in synchronized actions.

After deletion of the distance-to-go, the value of the deleted distance-to-go can be read via a

system variable:

• Path distance-to-go: $AC_DELT

• Axial distance-to-go: $AA_DELT

Syntax

DELDTG

DELDTG(<axis 1>[,<axis 2>, ... ])

Synchronized actions

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Detailed description

4.7 Actions in synchronized actions

Meaning

Parameter

Meaning

DELDTG

Deletion of the path distance-to-go

DELDTG(...)

Deletion of the axial distances-to-go of the specified channel axes

<Axis n>:

Channel axis

Supplementary conditions

Path-specific and axial delete distance-to-go

Path-specific and axial delete distance-to-go can only be executed in a non-modal synchronized

action (without specification of ID or IDS).

Path-specific delete distance-to-go

• The deletion of the path distance-to-go can only be executed in a non-modal synchronized

action (without specification of ID or IDS).

• The deletion of the path distance-to-go must not be used with active tool radius

compensation.

Axial delete distance-to-go

Delete distance-to-go for indexing axes:

• Without Hirth tooth system: The axis is braked immediately

• With Hirth tooth system: The axis traverses to the next indexing position

Examples

Delete path distance-to-go

If the input $A_IN is set during the traversing block N20, the path distance-to-go is deleted.

Program code

N10 WHEN $A_IN[1]==1 DO DELDTG

N20 G01 X100 Y100 F1000

Delete axial distances-to-go

N10: If input 1 is set at any time within the part program, the V axis is started as a positioning

axis in the positive traversing direction.

N100: Non-modal synchronized action to delete distance-to-go of the V axis, depending on

digital input 2.

N110: Non-modal synchronized action to delete distance-to-go of the X1 axis, depending on

digital input 3.

N120: The X1 axis is positioned modally. The Y and Z axes are traversed as path axes. The non-

modal synchronized actions from N100 and N110 are executed together with N120. The non-

modal synchronized actions are also terminated with the end of block N120.

Synchronized actions

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Detailed description

4.7 Actions in synchronized actions

For this reason, the distances-to-go of the X1 and V axes can only be deleted as long as N120 is

active.

Program code

N10 ID=1 WHEN $A_IN[1]==1 DO MOV[V]=1 FA[V]=700

N100 WHEN $A_IN[2]==1 DO DELDTG(V)

N110 WHEN $A_IN[3]==1 DO DELDTG(X1)

N120 POSA[X1]=100 FA[X1]=10 G1 Y100 Z100 F1000

4.7.8

Traversing axes, to position (POS)

With the POS command, an axis can be traversed using a synchronized action. The axis is then

called the command axis. It is possible to traverse the axis alternating via the part program and

the synchronized action. If a command axis traversed via synchronized actions is subsequently

traversed via the part program, a preprocessing stop with reorganization (STOPRE) is executed

in the channel of the part program.

Example 1: Alternate traversing via part program and synchronized action

Program code

Comment

N10 G01 X100 Y200 F1000

; Traversing via part program

; Traversing via static synchronized action when input 1 is set

N20 ID=1 WHEN $A_IN[1]==1 DO POS[X]=150 FA[X]=200

CANCEL(1)

; Deselect synchronized action

; Traversing again via part program => implicit preprocessing stop

; with reorganization, if the X axis in the meantime has been

; traversed via synchronized action

N100 G01 X240 Y200 F1000

Example 2: Alternate traversing of the X-axis via two synchronized actions

If the traversing motion of one synchronized action is still active when the traversing motion of

the other synchronized action is started, the second traversing motion replaces the first.

Program code

; 1st Traversing motion

ID=1 EVERY $A_IN[1]>=1 DO POS[V]=100 FA[V]=560

; 2nd Traversing motion

ID=2 EVERY $A_IN[2]>=1 DO POS[V]=$AA_IM[V] FA[V]=790

Synchronized actions

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Detailed description

4.7 Actions in synchronized actions

Dimensions: Absolute/incremental

The commands G90/G91 to specify the dimensions (absolute/incremental) cannot be

programmed in synchronized actions. Therefore by default, the dimensions that were active in

the part program at the time of execution of the synchronized action are also effective in the

synchronized action.

The following commands can be programmed in the action part to specify the dimensions

within a synchronized action:

Command

Meaning

IC(…)

Incremental

AC(…)

Absolute

DC(...)

Direct (position rotary axis via shortest route)

ACN(...)

Position modulo rotary axis absolutely in negative direction of motion

ACP(...)

Position modulo rotary axis absolutely in positive direction of motion

CAC(...)

Traverse axis to coded position absolutely

CIC(...)

Traverse axis to coded position incrementally

CDC(...)

Traverse rotary axis to coded position via shortest route

CACN(...)

Traverse modulo rotary axis to coded position in negative direction

CACP(...)

Traverse modulo rotary axis to coded position in positive direction

Examples:

Program code

; Incremental traversing by 10 mm

ID=1 EVERY G710 $AA_IM[B]>75 DO POS[X]=IC(10)

; Absolute traversing

ID=1 EVERY G710 $AA_IM[B]>75 DO POS[X]=AC($AA_MW[V]-$AA_IM[W]+13.5)

Behavior with active axis-specific frames

Whether programmable and settable axis-specific frames and tool length compensations are

included in synchronized actions, depends on the following MD setting:

MD32074 $MA_FRAME_OR_CORRPOS_NOTALLOWED

Bit

Value

Meaning

0 (default)

The active axis-specific frame and/or tool length compensation which is active in

the part program at the time of execution takes effect in the synchronized action

which is executed parallel to the part program.

Axis-specific frames and tool length compensation are not considered for com-

mand axes.

Example 1: Traversing with active frames / tool length compensations (bit 9 == 0):

Program code

Comment

N100 TRANS X20

; Zero offset in X: 20 mm.

; Synchronized action: The X axis traverses to position 60 mm

Synchronized actions

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Detailed description

4.7 Actions in synchronized actions

Program code

Comment

IDS=1 EVERY G710 $A_IN==1 DO POS[X]=40

; Zero offset in X: -10 mm. =>

; Synchronized action: The X axis now traverses to position 30 mm

N130 TRANS X-10

Example 2: Traversing with deactivated frames / tool length compensations (bit 9 == 1):

Program code

Comment

N100 TRANS X=0.001

; Zero offset in X: 0.001 degrees

N120 POS[X]=270

; X traverses to position 270.001 degrees

; With $A_IN=1, X traverses to position 180.000 degrees.

IDS=1 EVERY G710 $A_IN==1 DO POS[X]=180

; X traverses to position 90.001 degrees

N130 POS[X]=90

; Coded position 1 = 100 degrees => X traverses to 100.001 degrees

N140 POS[X]=CAC(1)

; Coded position 2 = 200 degrees => X traverses to 200.000 degrees

N150 POS[X]=CIC(1)

Note

If a command axis travels to indexing positions incrementally, the axis-specific frames have no

effect on this command axis.

Non-modal suppression of the active frame with G153

If MD32074 is set so that active axis-specific frames and tool offsets always have to be taken into

account for command axes (bit 9 == 0), the active frame can be suppressed in a non-modal

synchronized action, if necessary, with G153. For this purpose, the block must be turned into an

executable block with the G153 command via program code G4 F0.1. In this case, it must be

ensured that the dwell time is at least 0.1. This is the only way to ensure that the processing time

in the interpolator is sufficient.

Examples:

WHEN TRUE DO POS[Z]=401 FA[Z]=$MA_MAX_AX_VELO[Z]

G153 G4 F0.1

Synchronized actions

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Detailed description

4.7 Actions in synchronized actions

WHILE $AA_IM[Z]<400

ENDWHILE

WHEN TRUE DO POS[Z]=400

G153 G4 F0.1

Takeover of the control of a command axis by the PLC

The control of a command axis that has been started via a static synchronized action (IDS) is

taken over by the PLC irrespective of the status of the part program containing the synchronized

action:

DB31, ... DBX28.7 == 1 (request for PLC to control axis)

Additional information

Function Manual Axes and Spindles

Parameterizable axis status

The behavior with regard to the axis status after the end of the part program and NC Reset can

be parameterized via the following machine data:

MD30450 $MA_IS_CONCURRENT_POS_AX[<axis>] = <value>

<value>

Axis status before PP end / NC RESET ¹⁾

Axis status after PP end / NC RESET ¹⁾

Channel axis

Command axis

Channel axis

Command axis

PP end: Part program end

See also

Technology cycles (Page 117)

Synchronized actions

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Detailed description

4.7 Actions in synchronized actions

4.7.9

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

If a specific measuring system (inch/metric) is not explicitly defined in a synchronized action

with G70, G71, G700, G710, the measuring system active in the part program at the time the

synchronized action is executed takes effect:

• G70/G71 active in the part program:

- All the programmed position values are interpreted in the programmed measuring

system.

- All the read position data is interpreted in the parameterized basic system.

• G700/G710 active in the part program:

- All the programmed position values are interpreted in the programmed measuring

system.

- All the read position data is interpreted in the parameterized basic system.

The following rules apply when defining the measuring system in the synchronized action:

• If a measuring system is programmed in the condition part, this also takes effect in the action

part if a measuring system has not been specifically programmed there.

• If there is only a measuring system programmed in the action part, the system which is

currently activated in the part program takes effect in the condition part.

• Different systems of units can be programmed in the condition and action parts.

• The measuring system programmed in the synchronized action has no effect on the part

program.

Example

Program code

Comment

N10 ID=1 EVERY $AA_IM[Z]>200 DO POS[Z2]=10

;

$AA_IM:

;

200:

;

10:

N20 ID=2 EVERY $AA_IM[Z]>200 DO G70 POS[Z2]=10

;

$AA_IM:

;

200:

;

10:

inch

N30 ID=3 EVERY G71 $AA_IM[Z]>200 DO POS[Z2]=10

;

$AA_IM:

;

200:

;

10:

N40 ID=4 EVERY G71 $AA_IM[Z]>200 DO G70 POS[Z2]=10

;

$AA_IM:

;

200:

;

10:

inch

N50 ID=5 EVERY $AA_IM[Z]>200 DO G700 POS[Z2]=10

;

$AA_IM:

;

200:

;

10:

inch

N60 ID=6 EVERY G710 $AA_IM[Z]>200 DO POS[Z2]=10

;

$AA_IM:

;

200:

;

10:

N70 ID=7 EVERY G710 $AA_IM[Z]>200 DO G700 POS[Z2]=10

;

$AA_IM:

;

200:

;

10:

inch

Synchronized actions

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Detailed description

4.7 Actions in synchronized actions

Program code

Comment

#: The unit depends on the parameterized basic system (MD10240 $MN_SCALING_SYS-

TEM_IS_METRIC) and the measuring system programmed in the part program

Note

Measuring system and technology cycles

If a technology cycle is being used, the measuring system can also be programmed in the

technology cycle instead of the measuring system having to be assigned in the action part of the

synchronized action.

4.7.10

Position in specified reference range (POSRANGE)

Function

The POSRANGE function can be used to determine whether the current position of an axis is

within the tolerance range around a specified reference position.

Note

With modulo axes, the modulo offset is taken into account.

Syntax

<Status> POSRANGE(<axis>, <RefPos>, <tolerance>, [<CoordSys>] )

Meaning

Function return value

Type: BOOL

TRUE: The current position of the axis is within the tolerance

range.

FALSE: The current position of the axis is not within the tolerance

range.

<axis>

Name of the channel axis

Type: AXIS

Reference position

Type: REAL

Permissible tolerance around the reference position

Type: REAL

The tolerance is specified as an absolute value. The tolerance

range results from: Reference position +/- tolerance

Synchronized actions

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Detailed description

4.7 Actions in synchronized actions

Optional: Coordinate system

Type: INT

Range of values:

0 = MCS (machine coordinate system)

1 = BCS (basic coordinate system)

2 = SZS (settable zero system)

3 = WCS (workpiece coordinate system)

4.7.11

Traversing axes, endless (MOV)

Function

An axis can be traversed endlessly, i.e. without specifying an end position, in a specific direction

via the MOV command. The axis traverses so long in the specified direction until it is stopped or

another traversing direction is specified by a MOV command.

Application example: Endlessly rotating rotary axes

Syntax

MOV[<axis>] = <direction>

Meaning

MOV

Traversing command for a command axis

<axis>

Channel axis name

Type: AXIS

Traversing direction

Type: INT

Range of values:

> 0: Positive traversing direction (default: +1)

< 0: Negative traversing direction (default: -1)

= 0: Stop

Note

Indexing axis

If an indexing axis is stopped with MOV[<indexing axis>] = 0, it stops at the next indexing

position.

Technology cycle

The MOV command must not be used in technology cycles.

Synchronized actions

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Detailed description

4.7 Actions in synchronized actions

See also

Axial feedrate (FA) (Page 85)

4.7.12

Axial feedrate (FA)

An axial feedrate can be specified in a synchronous action via the FA command. The axial

feedrate is modal.

Examples

Constant feedrate value:

Program code

ID=1 EVERY $AA_IM[B] > 75 DO POS[U]=100 FA[U]=990

Variable feedrate value:

Program code

ID=1 EVERY $AA_IM[B] > 75 DO POS[U]=100 FA[U]=$AA_VACTM[W]+100

IDS=2 WHENEVER $A_IN[1] == 1 DO POS[X]=100 FA[X]=$R1

Remarks

• The default value for the feedrate of positioning axes is set via axial machine data:

MD32060 $MA_POS_AX_VELO (initial setting for positioning axis velocity)

• The axial feedrate can be specified as a linear or revolutional feedrate.

The feedrate type can be set via the setting data:

SD43300 $SA_ASSIGN_FEED_PER_REV_SOURCE (revolutional feedrate for positioning axes/

spindles)

• The feedrate type can be switched synchronous to the part program via the FPRAON

and FPRAOF commands. See also:

Further information

Function Manual Axes and Spindles

Note

So that technology cycles executed in parallel do not obstruct each other, the axial feedrate

from synchronous actions is not output as an auxiliary function to the NC/PLC interface.

See also

Traversing axes, endless (MOV) (Page 84)

Synchronized actions

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Detailed description

4.7 Actions in synchronized actions

4.7.13

Axis replacement (GET, RELEASE, AXTOCHAN)

Command axes can be interchanged between channels via the GET, RELEASE and AXTOCHAN

commands.

Requirement

The command axis that is interchanged between the channels must be known and

parameterized as command axis in the respective channel.

Programming

Syntax

GET(<axis 1> [{, <axis n>}])

RELEASE((<axis 1> [{, <axis n> }])

AXTOCHAN(<axis 1>, <channel number 1> [{, <axis n>, <channel number

n> }])

Meaning

GET:

Request to replace an axis in own channel

RELEASE:

Release of an axis for an axis replacement

AXTOCHAN:

Request for an axis for replacement in the specified channel

<axis n>:

Machine axis name

Type:

AXIS

Value range:

Machine axis names defined in the channel

<channel

Channel number

number n>:

Type:

INTEGER

Value range:

1 ... maximum channel number

Axis type and axis status regarding axis replacement

The axis type and axis status currently valid at the time of the synchronous action activation can

be queried via the $AA_AXCHANGE_TYP or $AA_AXCHANGE_STAT system variable. Depending

on the channel that has the current interpolation authorization for this axis and depending on

the status for the permissible axis replacement, a different sequence results from the

synchronous action.

An axis can be requested with GET from a synchronous action, if

• Another channel has the write or interpolation authorization for the axis

• The requested axis is already assigned to the requested channel

• The axis in the neutral axis state is controlled by the PLC

Synchronized actions

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Detailed description

4.7 Actions in synchronized actions

• The axis is a command axis, oscillating axis, or concurrent PLC axis

• The axis is already assigned to the NC program of the channel

Note

Boundary condition: An "axis controlled exclusively by the PLC" or a "permanently assigned

PLC axis" cannot be assigned to the NC program.

An axis can be released from a synchronous action with RELEASE, if the axis:

• Was previously assigned to the NC program of the channel

• Is already in the neutral axis state

• Already has another channel that has the interpolation authorization of this axis

Request axis from another channel

If, when the GET action is activated, another channel has the interpolation authorization for the

axis $AA_AXCHANGE_TYP[axis] == 2, axis replacement is used to fetch the axis from this channel

$AA_AXCHANGE_TYP[axis] == 6 and assign it to the requesting channel as soon as possible. The

axis then becomes the neutral axis ($AA_AXCHANGE_TYP[axis]==3).

The status change to a neutral axis does not result in reorganization in the requesting channel.

Requested axis was already requested as neutral axis:

$AA_AXCHANGE_TYP[<axis>]==6, the axis is required for the NC program

$AA_AXCHANGE_TYP[axis] == 5 and assigned as soon as possible to the NC program of the

channel $AA_AXCHANGE_TYP[axis] == 0.

Note

This assignment results in a reorganization.

Axis is already assigned to the requested channel

If the requested axis has already been assigned to this channel at the point of activation, and

its status is that of a neutral axis not controlled by the PLC $AA_AXCHANGE_TYP[axis]==3, it is

assigned to the NC program $AA_AXCHANGE_TYP[axis]==0.

This results in a reorganization procedure.

Axis in the state of the neutral axis is controlled from the PLC

If the axis is in neutral axis status controlled by the PLC $AA_AXCHANGE_TYP[axis]==4, the axis

is requested as a neutral axis $AA_AXCHANGE_TYP[axis] == 8. This disables the axis for

automatic axis replacement between channels (Bit 0 == 0) in accordance with the value of bit

0 in machine data:

MD10722 $MN_AXCHANGE_MASK (parameterization of the axis replacement behavior)

This corresponds to $AA_AXCHANGE_STAT[axis] == 1.

Synchronized actions

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Detailed description

4.7 Actions in synchronized actions

Axis is active as command axis / assigned to the PLC

If the axis is active as a command axis or oscillating axis or a concurrent positioning axis (PLC

axis) ($AA_AXCHANGE_TYP[<axis>] == 1), the axis is requested as a neutral axis

($AA_AXCHANGE_TYP[<axis>] == 8). Depending on the setting in the following machine data,

the axis is blocked for an automatic axis replacement between channels:

MD10722 $MN_AXCHANGE_MASK (parameterization of the axis replacement behavior)

This corresponds to $AA_AXCHANGE_STAT[<axis>] == 1.

With a further GET request, the axis is then requested for the NC program ⇒

$AA_AXCHANGE_TYP[axis] == 7.

Axis already assigned to the NC program of the channel

If the axis is already assigned to the NC program of the channel ($AA_AXCHANGE_TYP[<axis>]

== 0) or if this assignment is requested, e.g. axis replacement triggered by the NC program

($AA_AXCHANGE_TYP[<axis>] == 5 or $AA_AXCHANGE_TYP[<axis>] == 7), there is no state

change.

Release axis for axis replacement

If the axis is assigned to the NC program at the time of release ($AA_AXCHANGE_TYP[<axis>] ==

0), it is transferred to the neutral axis state ($AA_AXCHANGE_TYP[<axis>] == 3) and if required,

released for axis replacement in another channel.

This results in a reorganization procedure.

Axis to be released is already a neutral axis:

If the axis is already in the neutral axis state ($AA_AXCHANGE_TYP[<axis>] == 3) or active as

command or oscillating axis or assigned to the PLC as concurrent positioning axis

($AA_AXCHANGE_TYP[<axis>] == 1), the axis is released for an automatic axis replacement

between channels.

$AA_AXCHANGE_STAT[<axis>] is reset from 1 to 0 if there is no other reason to link the axis to

the channel. Such a link of the axis is present, for example, with:

• Active axis coupling

• Active fast retraction

• Active transformation

• JOG request

• Rotating frame with PLC, command or oscillating axis motion

Another channel already has the interpolation authorization

If another channel already has the interpolation authorization ($AA_AXCHANGE_TYP[<axis>]

== 2), there is no state change. This also means that waiting for an axis, triggered by NC program

($AA_AXCHANGE_TYP[<axis>] == 5) or a previous GET request from a synchronous action

($AA_AXCHANGE_TYP[<axis>] == 6) cannot be aborted by a RELEASE from a synchronous

action.

Synchronized actions

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Detailed description

4.7 Actions in synchronized actions

Boundary conditions

• If several GET requests and RELEASE enables are programmed for the same axis in the action

part of a synchronous action, they may mutually cancel each other under certain

circumstances and only the last respective task is performed.

Example:

Programming:

GET(X,Y) RELEASE(Y,Z) GET(Z)

Version:

GET(X) RELEASE(Y) GET(Z)

• If further commands are programmed in the action part of a synchronous action in addition

to GET / RELEASE, there is no waiting period until the GET / RELEASE request is completed

before these commands are executed. This can lead to an error if, for example, an axis

requested for the positioning motion with GET is not yet available:

GET[<axis>] POS[<axis>]

Example 1: GET and RELEASE as action in synchronous actions in two channels

Precondition: The Z axis must be known in the 1st and 2nd channel

1. Program sequence in the 1st channel:

Program code

Comment

WHEN TRUE DO RELEASE(Z)

; Z axis becomes neutral

; Read-in disable as long as Z axis is program axis

WHENEVER $AA_TYP[Z] == 1 DO RDISABLE

N110 G4 F0.1

; Z axis become NC program axis again

WHEN TRUE DO GET(Z)

; Read-in disable until Z axis is program axis

WHENEVER $AA_TYP[Z] <> 1 DO RDISABLE

N120 G4 F0.1

WHEN TRUE DO RELEASE(Z)

; Z axis becomes neutral

; Read-in disable as long as Z axis is program axis

WHENEVER $AA_TYP[Z] == 1 DO RDISABLE

N130 G4 F0.1

N140 START(2)

; 2. Start channel

N150 ; See below: "3. Continuation: Program sequence in the 1st channel"

2. Program sequence in the 2nd channel:

Program code

Comment

WHEN TRUE DO GET(Z)

; Move Z axis to 2nd channel (neutral)

; Read-in disable as long as Z axis is in other channel

WHENEVER $AA_TYP[Z] == 0 DO RDISABLE

N210 G4 F0.1

Synchronized actions

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Detailed description

4.7 Actions in synchronized actions

Program code

Comment

WHEN TRUE DO GET(Z)

; Z axis becomes NC program axis

; Read-in disable until Z axis is program axis

WHENEVER $AA_TYP[Z] <> 1 DO RDISABLE

N220 G4 F0.1

WHEN TRUE DO RELEASE(Z)

; Z axis in 2nd channel neutral

; Read-in disable as long as Z axis is program axis

WHENEVER $AA_TYP[Z] == 1 DO RDISABLE

N230 G4 F0.1

N250 WAITM(10,1,2)

; Synchronize with channel 1

N999 M30

3. Continuation: Program sequence in the 1st channel:

Program code

Comment

N150 WAITM(10,1,2)

; Synchronize with channel 2

WHEN TRUE DO GET(Z)

; Move Z axis to this channel

; Read-in disable as long as Z axis is in other channel

WHENEVER $AA_TYP[Z] == 0 DO RDISABLE

N160 G4 F0.1

N199 WAITE(2)

; Wait for end of program in Channel 2

N999 M30

Transfer axis to another channel (AXTOCHAN)

An axis can be requested for an arbitrary channel from a synchronous action with the AXTOCHAN

command.

If the axis is already assigned to the NC program of the channel ($AA_AXCHANGE_TYP[<axis>]

== 0), there is no state change.

If an axis is requested for the same channel from a synchronous action, AXTOCHAN is mapped

on the GET command.

• With the first request for the same channel, the axis becomes a neutral axis.

• With the second request, the axis is assigned to the NC program.

Boundary condition

A "PLC-controlled axis" corresponds to a "concurrent positioning axis" where special

supplementary conditions must be carefully observed. For further details, see:

Further information

Synchronized actions

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Detailed description

4.7 Actions in synchronized actions

Function Manual Axes and Spindles

Note

A PLC axis cannot replace the channel.

An axis controlled exclusively by the PLC cannot be assigned to the NC program.

4.7.14

Traversing spindles (M, S, SPOS)

Spindles can be started, positioned and stopped via synchronized actions. The programming is

performed in the action part of the synchronized action with the same syntax as in the part

program. Without numeric extension the commands for the master spindle apply. By specifying

a numeric extension, it is possible to program each spindle individually:

Program code

Comment

ID = 1 EVERY $A_IN[1]==1 DO M3 S1000

;Master spindle

ID = 2 EVERY $A_IN[2]==1 DO SPOS=270

;Master spindle

ID = 1 EVERY $A_IN[1]==1 DO M1=3 S1=1000 SPOS[2]=90

If concurrent commands are specified for a spindle through synchronized actions that are active

in parallel, the chronological sequence decides the activation.

User-specific spindle enable

The start of spindle motions at defined times can be achieved via synchronized actions by

blocking the motion programmed in the part program.

Example:

The spindle is programmed within a part program and should not start at the beginning of the

block, but only when input 1 is set. The synchronized action holds the spindle override at 0%

until the enable via input 1. See Chapter "Override ($A...OVR) (Page 36)".

Program code

; As long as input 1 is not set => spindle override = 0%

ID=1 WHENEVER $A_IN[1]==0 DO $AA_OVR[S1]=0

; The start of the spindle is triggered

; The spindle is enabled when input 1 is set

G01 X100 F1000 M3 S1=1000

Transition between command axis and spindle

Since several synchronized actions can be active simultaneously, the situation may arise where

a spindle motion is started when the spindle is already active. In this case, the most recently

activated motion is applicable. At a reversal in the direction of motion, the spindle is first braked

and then traversed in the opposite direction.

Direction of rotation, speed and position can also be changed during the motion.

Synchronized actions

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Detailed description

4.7 Actions in synchronized actions

Examples

Program code

Comment

ID=1 EVERY $AC_TIMER[1] >= 5 DO M3 S300

;Direction of rotation and speed

ID=2 EVERY $AC_TIMER[1] >= 7 DO M4 S500

;Direction of rotation and speed

ID=3 EVERY $A_IN[1]==1 DO S1000

;Speed

ID=4 EVERY ($A_IN[4]==1) AND ($A_IN[1]==0) DO SPOS=0

;Spindle positioning

Transitions between axis and spindle

In state ↓

To →

POS

MOV<>0

MOV=0

SPOS

M3/M4

LEADON

TRAIL ON

during traversing

Axis

Position-controlled spindle

Speed-controlled spindle

in motion

Axis

Position-controlled spindle

Speed-controlled spindle

Transitions marked with x are permitted:

The transitions marked with - are rejected with an alarm.

See also

Couplings (CP..., LEAD..., TRAIL..., CTAB...) (Page 106)

4.7.15

Withdrawing the enable for the axis container rotation (AXCTSWEC)

Function

Using the command AXCTSWEC an already issued enable signal to rotate the axis container can

be withdrawn again. The command triggers a preprocess stop with reorganization (STOPRE).

The following conditions must be fulfilled so that in the channel, the enable signal to rotate the

axis container is withdrawn again:

• In the channel, the axis container rotation must already have been enabled:

- AXCTSWE(<container>)

- $AC_AXCTSWA[<container>] == 1

• Axis container rotation was still not started:

- $AN_AXCTSWA[<container>] == 0

As feedback signal for the successful withdrawal of the enable signal, the following channel-

specific system variable is reset:

Synchronized actions

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Detailed description

4.7 Actions in synchronized actions

$AC_AXCTSWA[<container>] == 0

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

Further information

List Manual System Variables

Syntax

DO AXCTSWEC(<container>)

Meaning

AXCTSWEC:

Withdrawing the enable for the axis container rotation for the channel

<Container>:

Name of axis container

Possible data include:

• CT<container number>:

The number of the axis container is attached to the CT letter combina-

tion. Example: CT3

• <container name>:

Individual name of the axis container set using

MD12750 $MN_AXCT_NAME_TAB. Example: A_CONT3

• <Axis name>:

Axis name of a container axis known in the channel.

Example

Program code

; Initialization of the global counter for the technology cycle CTSWEC

N100 $AC_MARKER[0]=0

N110 ID=1 DO CTSWEC

;For technology cycle CTSWEC, see below.

N200 G0 X30 Z1

N210 G95 F.5

N220 M3 S1000

N230 G0 X25

N240 G1 Z-10

N250 G0 X30

N260 M5

; Enable of the axis container rotation for container spindle S1.

N270 AXCTSWE(S1)

N200 GOTO NEXT

Synchronized actions

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Detailed description

4.7 Actions in synchronized actions

Program code

PROC CTSWEC( STRING _ex_CT="CT1"

INT

_ex_CTsl_BITmask=1H

INT

_ex_CT_SL_Number=1

INT

_ex_WAIT_number_of_IPOs=1000

) DISPLOF ICYCOF

DEFINE _ex_number_of_IPOs AS $AC_MARKER[0]

IF ($AC_STOP_COND[0] + $AC_STOP_COND[1] + $AC_STOP_COND[2] + $AC_STOP_COND[3] +

$AC_STOP_COND[4] + $AC_STOP_COND[5] + $AC_STOP_COND[6] + $AC_STOP_COND[7] +

$AC_STOP_COND[8] + $AC_STOP_COND[9] + $AC_STOP_COND[10]) > 0)

; Increment IPO cycle counter

_ex_number_of_IPOs = _ex_number_of_IPOs + 1

; If a stop condition for longer than "_ex_WAIT_number_of_IPOs"

; IPO cycles is present AND its own slot has not been enabled

IF ( _ex_number_of_IPOs

>= _ex_WAIT_number_of_IPOs) AND

($AN_AXCTSWEC[_ex_CT] == _ex_CTsl_BITmask )

AXCTSWEC

;Cancel the enable of the axis container rotation.

ENDIF

ELSE

; Reset IPO cycle counter

_ex_number_of_IPOs = 0

ENDIF

RET

Boundary condition

Time of execution of synchronous actions

Program code

; Enable of the axis container rotation.

N10 AXCTSWE(CT3)

; Traversing of the container axis AX_A => before the axis is traversed,

there

; is a waiting period for the end of the axis container rotation:

$AN_AXCTSWA[CT3]==0

N20 AX_A = 10

; Cancellation of the enable. No effect!

WHEN <condition> DO AXCTSWEC(AX_A)

N30 G4 F1

Because after the enable of the axis container rotation in block N10, an axis of the axis container

(AX_A) is used in block N20 and this use leads to the system waiting for the end of the axis

container rotation, the synchronous action only comes together with the program block N30 in

the main run and has therefore no effect.

Synchronized actions

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Detailed description

4.7 Actions in synchronized actions

Remedy:

Program code

; Enable of the axis container rotation.

N11 AXCTSWE(CT3)

; Cancellation of the enable.

WHEN <condition> DO AXCTSWEC(AX_A)

N21 ...

;Executable NC block

; Traversing of the container axis AX_A => before the axis is traversed,

there

; is a waiting period for the end of the axis container rotation:

$AN_AXCTSWA[CT3]==0

N31 AX_A = 10

Note

Without the executable block N21, the synchronous action would only be implemented after the

end of the axis container rotation with the next executable program block N31 in the main run

and would therefore have no effect, just the same as in the example above.

4.7.16

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

Function

The PRESETON() procedure sets new actual values in the machine coordinate system (MCS)

from synchronized actions for one axis. This corresponds to work offset of the axis MCS. The axis

is not traversed.

From synchronized actions, PRESETON must only be used on command axes, i.e. on axes that

have been started from a synchronized action. The axis must also be assigned to the channel, i.e.

this channel must have the interpolation right for this axis. The axis is not requested from

another channel via axis replacement.

Referencing status

By setting a new actual value in the machine coordinate system, the referencing status of the

machine axis is reset.

DB31, ... DBX60.4/.5 = 0 (referenced/synchronized measuring system 1/2)

It is recommended that PRESETON only be used for axes that do not require a reference point.

Synchronized actions

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Detailed description

4.7 Actions in synchronized actions

To restore the original machine coordinate system, the measuring system of the machine axis

must be referenced again, e.g. through active referencing from the part program (G74).

CAUTION

Loss of the referencing status

By setting a new actual value in the machine coordinate system with PRESETON, the

referencing status of the machine axis is reset to "not referenced/synchronized".

Programming

Syntax

WHEN | EVERY ... DO PRESETON(<axis>,<value>)

Meaning

WHEN, EVERY:

Only WHEN and EVERY must be used as frequency (Page 17).

PRESETON:

Actual value setting with loss of the referencing status

<axis>:

Machine axis name

Type:

AXIS

Range of values:

Machine axis names defined in the channel

<value>:

New actual value of the machine axis in the machine coordinate system

(MCS)

The input is made in the current valid system of units (inch/metric)

An active diameter programming (DIAMON) is taken into account

Type:

REAL

System variable

$AC_PRESET

The axis-specific system variable $AC_PRESET provides the vector from the zero point of the

currently offset MCS' to the zero point of the original MCS₀ after the referencing of the machine

axis.

$AC_PRESET<axis> = $AC_PRESET<axis> + "current actual position of the axis in the MCS" -

"PRESETON actual position"

The work offset can be undone with the system variables:

PRESETON(<axis>, $VA_IM + $AC_PRESET[<axis>]) ; "current actual

position of the axis in the MCS'" + "offsets"

Example

Program code

N10 G1 X=10 F5000

; Traverse the X axis as command axis to position 200

Synchronized actions

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Detailed description

4.7 Actions in synchronized actions

Program code

N20 WHEN TRUE DO G71 POS[X]=200

; IF set position of the X axis in the MCS ($AA_IM[X]) >= 80

; THEN "actual position of the X axis in the MCS" = "set position of the X

axis in the MCS" + "offset"

;

= 80 + 70 = 150

;

"progr. end position of the X axis" = "progr. end position of the X

axis" + "offset"

;

= 200 + 70 = 270

;

$AC_PRESET = $AC_PRESET - 70

N30 WHEN G71 $AA_IM[X] >= 80 DO PRESETON(X, $AA_IM[X]+70)

N40 G4 F3

Supplementary conditions

Axes for which PRESETON must not be used

• Traversing command axes in spindle mode

• Traversing concurrent positioning axes (FC18)

• Axes involved in a transformation

• Traversing path axes

• Reciprocating axes

• Axes on which one or more of the following safety functions (Safety Integrated) are active

- Enable "Safe software limit switch"

MD36901 $MA_SAFE_FUNCTION_ENABLE[<safe axis>], bit 1 = 1

- Enable "Safe software cam", pair 1 ... 4, cam +/-

MD36901 $MA_SAFE_FUNCTION_ENABLE[<safe axis>], bits 8 ... 15 = 1

Enable "Safe Cam Track", cam 1 ... 30

MD36903 $MA_SAFE_CAM_ENABLE[<safe axis>], bits 0 ... 29 = 1

• Hirth axes

• Synchronized axes of a gantry grouping

• Axes for which the reference point approach from the part program (G74) is active

• Slave axis of a speed/torque coupling (master-slave)

Synchronized actions

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Detailed description

4.7 Actions in synchronized actions

Geometry axes

• PRESETON can be used on a stationary geometry axis when a further geometry axis is not

being traversed in the channel at the same time.

• PRESETON can be used on a stationary geometry axis even when a further geometry axis is

being traversed in the channel at the same time, but this axis is in the "neutral axis" state or

traversing as a command axis.

Example: A further geometry (X) is traversing at the same time in the "neutral axis" state

Program code

Comment

N10 G0 X0 Y0

; X, Y: Geometry axes

N15 RELEASE(Y) ¹⁾

; Neutral axis

N20 ID=1 WHEN 20.0 < $AA_IM[X] DO

; $AA_IM: Set position in the

PRESETON(Y,20)

MCS

N30 G0 X40

; Geometry axis X traverses

N40 M30

1) Note

The release of an axis in the action part of a synchronized action does not ensure that the release is

on time.

N20 ID=1 WHEN 20.0 < $AA_IM[X] DO RELEASE(Y) PRESETON(Y,20) ; NOT

recommended!

Example: A further geometry (X) is traversing at the same time as command axis

Program code

Comment

N10 G0 X0 Y0

; X, Y: Geometry axes

N20 ID=1 WHEN TRUE DO POS[X]=40

; X command axis

FA[X]=1000

N30 ID=2 WHEN 20.0 < $AA_IM[X] DO

; $AA_IM: Set position in the

PRESETON(Y,20)

MCS

N40 M30

PLC-controlled axes

• PRESETON can be used on PLC-controlled axes according to their current type.

Spindle states

The following table shows the reactions that occur when PRESETON is used on a spindle in a

synchronized action:

PRESETON in synchronized action

Spindle mode

Traversing sta-

Assigned to the NC

Main axis

tus

program

Speed control mode

In motion

Alarm 17601

Stationary

+/-

Positioning mode SPOS

In motion

Alarm 17601

Stationary

+/-

Positioning across block bounda-

In motion

Alarm 17601

ries SPOSA

Synchronized actions

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Detailed description

4.7 Actions in synchronized actions

PRESETON in synchronized action

Spindle mode

Traversing sta-

Assigned to the NC

Main axis

tus

program

Axis mode

In motion

Alarm 17601

+/-

Stationary

+/-

+/- Possible

-: Not possible

PRESETON in the NC program

Spindle mode

Traversing sta-

Assigned to the NC

Main axis

tus

program

Speed control mode

In motion

Alarm 22324

Stationary

+/-

Positioning mode SPOS

In motion

+/-

Stationary

+/-

Positioning across block bounda-

In motion

Alarm 10610

ries SPOSA

Axis mode

In motion

+/-

Stationary

+/-

+/- Possible

-: Not possible

Axis couplings

• Leading axes: The sudden change of the leading axis position caused by PRESETON is not

traversed in the following axes. The coupling is not changed.

• Following axes: Only the overlaid position component of the following axis is affected

by PRESETON.

Gantry grouping

• If PRESETON is used on the guide axis of a gantry grouping, the work offset is also performed

in all synchronized axes of the gantry grouping.

Indexing axes

• PRESETON can be used on indexing axes.

Software limit switches, operating range limit, protection areas

• If the axis position is outside the specified limits after a work offset by PRESETON, an alarm

is not displayed until an attempt is made to traverse the axis.

Block search with calculation

PRESETON commands are collected during the block search and executed with the NC start to

continue the NC program.

Synchronized actions

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Detailed description

4.7 Actions in synchronized actions

Position-dependent NC/PLC interface signals

• The status of the position-dependent NC/PLC interface signals is redetermined based on the

new actual position.

Example: Fixed point positions

- Parameterized fixed point positions: MD30600 $MA_FIX_POINT_POS[0...3] = <fixed point

position 1...4>

- NC/PLC interface signals DB31, ... DBX75.3 ... 5 (JOG approach fixed point: reached)

If the axis is at a fixed point position with the exact stop tolerance, the associated NC/PLC

interface signal is set. The NC/PLC interface signal is reset when the actual value is set

by PRESETON to a different value outside the exact stop tolerance around the fixed point

position.

DRF offset

• A DRF offset of the axis is deleted by PRESETON.

Overlaid movement $AA_OFF

• An overlaid movement ($AA_OFF) (Page 45) is not affected by PRESETON.

Online tool offset FTOC

• An active online tool offset (FTOC) (Page 73) remains active even after PRESETON.

Axis-specific compensations

Axis-specific compensations remain active after PRESETON.

JOG mode

• PRESETON must only be used on a stationary axis.

JOG mode, REF machine function

• PRESETON must not be used.

See also

On-the-fly parting (Page 148)

4.7.17

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

Function

The PRESETONS() procedure sets new actual values in the machine coordinate system (MCS)

from synchronized actions for one axis. This corresponds to work offset of the axis MCS. The axis

is not traversed.

From synchronized actions, PRESETONS must only be used on command axes, i.e. on axes

that have been started from a synchronized action. The axis must also be assigned to the

channel, i.e. this channel must have the interpolation right for this axis. The axis is not requested

from another channel via axis replacement.

Synchronized actions

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Detailed description

4.7 Actions in synchronized actions

Referencing status

By setting a new actual value in the machine coordinate system (MCS) with PRESETONS, the

referencing status of the machine axis is not changed.

Requirements

• Encoder type

PRESETONS is only possible with the following encoder types of the active measuring

system:

- MD30240 $MA_ENC_TYPE[<measuring system>] = 0 (simulated encoder)

- MD30240 $MA_ENC_TYPE[<measuring system>] = 1 (raw signal encoder)

• Referencing mode

PRESETONS is only possible with the following referencing mode of the active measuring

system:

- MD34200 $MA_ENC_REFP_MODE[<measuring system>] = 0 (no reference point

approach possible)

- MD34200 $MA_ENC_REFP_MODE[<measuring system>] = 1 (referencing of

incremental, rotary or linear measuring systems: zero pulse on the encoder track)

Startup

Axis-specific machine data

Actual value setting without loss of the referencing status (PRESETONS) must be set axis-

specifically:

MD30460 $MA_BASE_FUNCTION_MASK, bit 9 = 1

Note

PRESETON deactivated

Activation of the "Actual value setting without loss of the referencing status PRESETONS"

function deactivates the "Actual value setting with loss of the referencing status PRESETON"

function. The options mutually exclude each other.

Programming

Syntax

<frequency> ... DO PRESETONS(<axis>, <value>)

Meaning

<frequency>: Only WHEN and EVERY must be used as frequency (Page 17).

PRESETONS:

Actual value setting with loss of the referencing status

<axis>:

Machine axis name

Type:

AXIS

Range of values:

Machine axis names defined in the channel

Synchronized actions

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Detailed description

4.7 Actions in synchronized actions

<value>:

New current actual value of the machine axis in the machine coordinate

system (MCS)

The input is made in the active system of units (inch/metric)

An active diameter programming (DIAMON) is taken into account

Type:

REAL

System variable

$AC_PRESET

The axis-specific system variable $AC_PRESET provides the vector from the zero point of the

currently offset MCS' to the zero point of the original MCS₀ after the referencing of the machine

axis.

$AC_PRESET<axis> = $AC_PRESET<axis> + "current actual position of the axis in the MCS" -

"PRESETONS actual position"

The work offset can be undone with the system variables:

PRESETONS(<axis>, $VA_IM + $AC_PRESET[<axis>]) ; "current actual

position of the axis in the MCS'" + "offsets"

Example

Work offset of the X axis MCS by 70 units.

The programmed end position of the X axis (command axis) is transformed to the new MCS with

PRESETONS.

Program code

N10 G1 X=10 F5000

; Traverse the X axis as command axis to position 200

N20 WHEN TRUE DO G71 POS[X]=200

; IF set position of the X axis in the MCS ($AA_IM[X]) >= 80

; THEN "actual position of the X axis in the MCS" = "set position of the X

axis in the MCS" + "offset"

;

= 80 + 70 = 150

;

"progr. end position of the X axis" = "progr. end position of the X

axis" + "offset"

;

= 200 + 70 = 270

;

$AC_PRESET = $AC_PRESET - 70

N30 WHEN G71 $AA_IM[X] >= 80 DO PRESETONS(X, $AA_IM[X]+70)

N40 G4 F3

Supplementary conditions

Axes for which PRESETONS must not be used

• Traversing command axes in spindle mode

• Traversing concurrent positioning axes (FC18)

• Axes involved in a transformation

Synchronized actions

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4.7 Actions in synchronized actions

• Traversing path axes

• Reciprocating axes

• Axes on which one or more of the following safety functions (Safety Integrated) are active

- Enable "Safe software limit switch"

MD36901 $MA_SAFE_FUNCTION_ENABLE[<safe axis>], bit 1 = 1

- Enable "Safe software cam", pair 1 ... 4, cam +/-

MD36901 $MA_SAFE_FUNCTION_ENABLE[<safe axis>], bits 8 ... 15 = 1

Enable "Safe Cam Track", cam 1 ... 30

MD36903 $MA_SAFE_CAM_ENABLE[<safe axis>], bits 0 ... 29 = 1

• Hirth axes

• Synchronized axes of a gantry grouping

• Axes for which the reference point approach from the part program (G74) is active

• Slave axis of a speed/torque coupling (master-slave)

Geometry axes

• PRESETONS can be used on a stationary geometry axis when a further geometry axis is not

being traversed in the channel at the same time.

• PRESETONS can be used on a stationary geometry axis even when a further geometry axis

is being traversed in the channel at the same time, but this axis is in the "neutral axis" state

or traversing as a command axis.

Example: A further geometry (X) is traversing at the same time in the "neutral axis" state

Program code

Comment

N10 G0 X0 Y0

; X, Y: Geometry axes

N15 RELEASE(Y) ¹⁾

; Neutral axis

N20 ID=1 WHEN 20.0 < $AA_IM[X] DO

; $AA_IM: Set position in the

PRESETONS(Y,20)

MCS

N30 G0 X40

; Geometry axis X traverses

N40 M30

1) Note

The release of an axis in the action part of a synchronized action does not ensure that the release is

on time.

N20 ID=1 WHEN 20.0 < $AA_IM[X] DO RELEASE(Y) PRESETONS(Y,20) ; NOT

recommended!

Example: A further geometry (X) is traversing at the same time as command axis

Program code

Comment

N10 G0 X0 Y0

; X, Y: Geometry axes

N20 ID=1 WHEN TRUE DO POS[X]=40

; X command axis

FA[X]=1000

N30 ID=2 WHEN 20.0 < $AA_IM[X] DO

; $AA_IM: Set position in the

PRESETONS(Y,20)

MCS

N40 M30

Synchronized actions

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Detailed description

4.7 Actions in synchronized actions

PLC-controlled axes

• PRESETONS can be used on PLC-controlled axes according to their current type.

Spindle states

The following table shows the reactions that occur when PRESETONS is used on a spindle in a

synchronized action:

PRESETONS in synchronized action

Spindle mode

Traversing sta-

Assigned to the NC

Main axis

tus

program

Speed control mode

In motion

Alarm 17601

Stationary

+/-

Positioning mode SPOS

In motion

Alarm 17601

Stationary

+/-

Positioning across block bounda-

In motion

Alarm 17601

ries SPOSA

Axis mode

In motion

Alarm 17601

+/-

Stationary

+/-

+/- Possible

-: Not possible

PRESETONS in the NC program

Spindle mode

Traversing sta-

Assigned to the NC

Main axis

tus

program

Speed control mode

In motion

Alarm 22324

Stationary

+/-

Positioning mode SPOS

In motion

+/-

Stationary

+/-

Positioning across block bounda-

In motion

Alarm 10610

ries SPOSA

Axis mode

In motion

+/-

Stationary

+/-

+/- Possible

-: Not possible

Axis couplings

• Leading axes: The sudden change of the leading axis position caused by PRESETONS is not

traversed in the following axes. The coupling is not changed.

• Following axes: Only the overlaid position component of the following axis is affected

by PRESETONS.

Gantry grouping

• If PRESETONS is used on the guide axis of a gantry grouping, the work offset is also

performed in all synchronized axes of the gantry grouping.

Synchronized actions

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4.7 Actions in synchronized actions

Indexing axes

• PRESETONS can be used on indexing axes.

Software limit switches, operating range limit, protection areas

• If the axis position is outside the specified limits after a work offset by PRESETONS, an alarm

is not displayed until an attempt is made to traverse the axis.

Block search with calculation

PRESETONS commands are collected during the block search and executed with the NC start to

continue the NC program.

Position-dependent NC/PLC interface signals

• The status of the position-dependent NC/PLC interface signals is redetermined based on the

new actual position.

Example: Fixed point positions

- Parameterized fixed point positions: MD30600 $MA_FIX_POINT_POS[0...3] = <fixed point

position 1...4>

- NC/PLC interface signals DB31, ... DBX75.3 ... 5 (JOG approach fixed point: reached)

If the axis is at a fixed point position with the exact stop tolerance, the associated NC/PLC

interface signal is set. The NC/PLC interface signal is reset when the actual value is set

by PRESETONS to a different value outside the exact stop tolerance around the fixed point

position.

DRF offset

• A DRF offset of the axis is deleted by PRESETONS.

Overlaid movement $AA_OFF

• An overlaid movement ($AA_OFF) (Page 45) is not affected by PRESETONS.

Online tool offset FTOC

• An active online tool offset (FTOC) (Page 73) remains active even after PRESETONS.

Axis-specific compensations

Axis-specific compensations remain active after PRESETONS.

JOG mode

• PRESETONS must only be used on a stationary axis.

JOG mode, REF machine function

• PRESETONS must not be used.

Synchronized actions

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Detailed description

4.7 Actions in synchronized actions

4.7.18

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

The commands listed in Section "Language elements for synchronized actions and technology

cycles (Page 60)" can be programmed in synchronous actions for the functions coupled motion

(TRAIL...), curve tables (CTAB...), master value coupling (LEAD...) and generic coupling

(CP...):

Note

Generic coupling

Note that the "generic coupling" CP ... commands are always executed in synchronous

actions in the sequence of the programming from left to right. This means that in contrast to the

programming in the part program, the effect of the various commands depends on the

sequence in the synchronous action.

Curve tables

The CTAB and CTABINV commands can be used in the condition and in the action.

Further information

Detailed information on coupling commands can be found in:

• Coupled motion, curve tables, master value coupling

Programming Manual NC Programming

• Generic coupling

Function Description Axes and Spindles

Coupled motion

When the coupling is activated from the synchronous action, the leading axis can be in motion.

In this case the following axis is accelerated up to the set velocity. The position of the leading axis

at the time of synchronization of the velocity is the starting position for coupled-axis motion.

Master value coupling

Syntax

... DO LEADON(<FA>, <LA>, <NO>, <OVW>)

Meaning

<FA>:

Name of the following axis

Type: AXIS

<LA>:

Name of the leading axis

Type: AXIS

Synchronized actions

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4.7 Actions in synchronized actions

<NO>:

Number of the curve table

Type: INT

<OVW>:

Status of the overwrite permission

Type: BOOL

0: Overwriting of the table is not permitted

1: Overwriting of the table is permitted

• Synchronous actions can be used to change the basic curve table without a

resynchronization even during an active master value coupling.

The following axis attempts as fast as possible to follow the position values specified by the

new curve table.

• In order to be able to program an axis to be coupled via synchronous actions, the axis must

first be released with the RELEASE command.

Example:

Program code

N60 RELEASE(X)

N50 ID=1 EVERY SR1==1 DO LEADON(C, X, 1)

Example: On-the-fly parting

An extruded material which passes continuously through the operating area of a cutting tool

must be cut into parts of equal length.

• X axis: Axis in which the extruded material moves (WCS)

• X1 axis: Machine axis of the extruded material (MCS)

• Y axis: Axis in which the cutting tool "tracks" the extruded material

It is assumed that the infeed and control of the cutting tool are controlled via the PLC user

program. The signals at the PLC interface can be evaluated to determine whether the extruded

material and cutting tool are synchronized.

Program code

N100 R3=1500

;Length of a part to be cut off

N200 R2=100000 R13=R2/300

N300 R4=100000

N400 R6=30

;Start position Y axis

N500 R1=1

;Start condition for conveyor axis

N600 LEADOF(Y,X)

;Delete coupling

N700 CTABDEF(Y,X,1,0)

;Table definition

N800 X=30 Y=30

;Value pairs

N900 X=R13 Y=R13

N1000 X=2*R13 Y=30

N1100 CTABEND

;End of table definition

N1200 PRESETON(X1,0)

;PRESET at beginning

N1300 Y=R6 G0

;Start position Y axis, axis is linear

; PRESET after length R3, new start after parting

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4.7 Actions in synchronized actions

Program code

N1400 ID=1 WHENEVER $AA_IW[X]>$R3 DO PESETON(X1,0)

N1500 RELEASE(Y)

; Couple Y to X via table 1, for X < 10

N1800 ID=6 EVERY $AA_IM[X]<10 DO LEADON(Y,X,1)

; > 30 before traversed parting distance, deactivate coupling

N1900 ID=10 EVERY $AA_IM[X]>$R3-30 DO LEADOF(Y,X)

N2000 WAITP(X)

; Set extruded material axis continuously in motion

N2100 ID=7 WHEN $R1==1 DO MOV[X]=1 FA[X]=$R4

N2200 M30

Generic coupling

• When a coupling module is activated in a synchronous action, the following axis must

already be active in the channel and be in the state "neutral axis" or "axis already assigned to

the part program of the channel". The corresponding axis state can be generated, if

necessary, in the synchronous action by programming GET[<following axis>].

• The commands of the generic coupling CP ... are processed directly in synchronous

actions by the coupling module. The command therefore takes effect immediately.

• With the programming of a coupling factor (CPLNUM, CPLDEN) or table number (CPLCTID),

a previously activated non-linear coupling relationship, e.g. a curve table, is deactivated.

Generic coupling: Using the TRAIL, LEAD, EG or COUP coupling type.

If in the framework of the generic coupling, a behavior corresponding to one of the known

coupling types "Coupled motion", "Master value coupling", "Electronic gear" or "Synchronous

spindle" is required, the command CPSETTYPE is also possible in synchronous actions when

creating or defining the coupling module:

CPSETTYPE[FAx] = <coupling type>

Meaning

Freely programmable

TRAIL

"Coupled motion" coupling type

LEAD

"Master value coupling" coupling type

"Electronic gearbox" coupling type

COUP

"Synchronous spindle" coupling type

Constraints

Synchronism status of a following axis

The system variable $AA_SYNC[<axis>] can be used to read the synchronism status of a

following axis in the part program or synchronous action.

Synchronized actions

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4.7 Actions in synchronized actions

Axis replacement with cross-channel coupling

For axis replacement, the following and leading axes must be known to the calling channel. Axis

replacement of leading axes can be performed independently of the state of the coupling. A

defined or active coupling does not produce any other supplementary conditions.

Note

With the activation of the coupling, the following axis becomes the main run axis and is not

available for an axis replacement. The following axis is thus logged out of the channel. With this

type of coupling, an overlaid movement is therefore not possible.

See also Section "Axis replacement (GET, RELEASE, AXTOCHAN) (Page 86)"

Conflict prevention when changing from following axis to channel axis

In order to be able to traverse a following axis traversed via synchronous actions as a channel axis

again, you must ensure that the coupling is deactivated before the channel requests the relevant

axis.

The following example shows an error case:

Program code

N50 WHEN TRUE DO TRAILOF(Y, X)

N60 Y100

The Y axis is not released early enough in N50 because TRAILOF only becomes active with N60

through the non-modal synchronous action.

Corrected example:

Program code

N50 WHEN TRUE DO TRAILOF(Y, X)

N55 WAITP(Y)

; Wait for end of travel of the positioning axis

N60 Y100

Examples

Define coupling: Y = following axis, X = leading axis

Program code

... DO CPLDEF[Y]=X CPLNUM[Y,X]=1.5

Activate coupling and define coupling relationship.

• N10 with the correct sequence: First CPLON then CPLNUM

• N20 with incorrect sequence: First CPLNUM then CPLON

Program code

N10 ... DO CPLON[Y]=X CPLNUM[X,Y]=1.5

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Detailed description

4.7 Actions in synchronized actions

Program code

N20 ... DO CPLNUM[X,Y]=2 CPLON[Y]=X

; Error

Activate coupling, deactivation/activation with implicit resynchronization

Program code

N10 ... DO CPLON[X]=Y CPLNUM[X,Y]=3

N20 Y100 F100

N30 ... DO CPLOF=X CPLON[X]=Y CPLNUM[X,Y]=3

Activate coupling, deactivate and traverse as a command axis

Program code

N10 ... DO CPLON[X]=Y CPLNUM[X,Y]=3

N20 Y100 F100

N30 ... DO CPLOF=X MOV[X]=10

4.7.19

Measurement (MEAWA, MEAC)

The following commands can be used in synchronous actions for measurement:

• MEAWA (measurement without delete distance-to-go)

• MEAC (continuous measurement without delete distance-to-go)

While the measuring function in the part program is limited to one motion block, the measuring

function can be switched on and off any number of times from synchronous actions.

Note

Measurement can also be performed in JOG mode via static synchronous actions IDS

Further information

Detailed information on measuring commands can be found in:

• Coupled motion, curve tables, master value coupling

Programming Manual NC Programming

• Generic coupling

Function Description Axes and Spindles

Synchronized actions

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4.7 Actions in synchronized actions

Measurement tasks and state changes

When a measurement task has been executed from a synchronous action, the control system

responds in the following way:

State

Response

Operating mode change

A measurement task activated by a modal synchronous action is not affected

by a change in operating mode. It remains active beyond block limits.

Reset

The measurement task is aborted.

Block search

Measurement tasks are collected, but not activated until the programmed

condition is fulfilled.

REPOS

Activated measurement tasks are not affected.

End of program

Measurement tasks started from static synchronous actions remain active.

Remarks

System variable

The following system variables can be used in conjunction with synchronous actions:

• $AA_MEAACT (axial measuring active)

• $A_PROBE (probe state)

• $AA_MM1 ... 4 (probe position 1st to 4th trigger (machine coordinate system))

The following system variable cannot be used in conjunction with synchronous actions:

• $AC_MEA (probe has responded)

Measurement job

Only one measurement job at a time may be active for an axis.

Priority with more than one measurement

A new measurement task for the same axis has the effect that the trigger events are reactivated

and the measurement results reset.

Measurement jobs started from the part program cannot be influenced from synchronous

actions. If a measurement task is started from a synchronous action for an axis for which a

measurement task is already active from the part program, an alarm is displayed.

If a measurement task is already active from a synchronous action, measurement can no longer

be started from the part program.

Saving measurement results

A FIFO memory is set up in the $AC_FIFO system variables to save the measurement results. See

Chapter "FIFO variables ($AC_FIFO) (Page 31)".

Synchronized actions

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Detailed description

4.7 Actions in synchronized actions

Examples

In the following examples, two FIFO memories are set up via machine data:

• MD28050 $MC_MM_NUM_R_PARAM = 300

• MD28258 $MC_MM_NUM_AC_TIMER = 1

• MD28260 $MC_NUM_AC_FIFO = 1 (set up FIFO memory)

• MD28262 $MC_START_AC_FIFO = 100 (FIFO memory starts from R100)

• MD28264 $MC_LEN_AC_FIFO = 28 (22 variables + 6 management data)

• MD28266 $MC_MODE_AC_FIFO = 0 (no summation)

Example 1

All rising edges of probe 1 are to be recorded between 0 and 100 mm for the X axis. It is assumed

that no more than 22 measuring edges occur.

Program code

Comment

DEF INT NUMBER

; number of current measured values

DEF INT INDEX_R

; loop index

N10 G0 X0

; approach starting point for the measure-

ment

;Measurement: Mode = 1 (simultaneously), FIFO memory = 1,

; trigger event = 1 (rising edge of probe 1)

N20 MEAC[X]=( 1, 1, 1) POS[X]=100

N30 STOPRE

; stop preprocessing

N40 MEAC[X]=(0)

; cancel measurement

N50 ANZAHL=$AC_FIFO1[4]

; number of saved measured values

N60 ANZAHL = ANZAHL - 1

N70 FOR INDEX_R=0 TO ANZAHL

N80

R[INDEX_R]=$AC_FIFO1[0]

; save measured value in R parameter

N90 ENDFOR

Example 2

All rising and falling edges of probe 1 are to be recorded between 0 and 100 mm for the X axis.

The number of measurements is not known. Therefore, the measured values must be fetched

parallel to the measurement and stored in ascending order as of $R1. The number of stored

measured values is entered in $R0.

Program code

Comment

$AC_MARKER[1]=1

; initialize index for R parameter index

N10 G0 X0

; approach starting point for the measurement

; If measured values are available in the FIFO memory, the oldest value is read and

; stored in the current R parameter[$AC_MARKER[1]].

; The R parameter index is then incremented.

N20 ID=1 WHENEVER $AC_FIFO1[4] >= 1 DO $R[$AC_MARKER[1]] = $AC_FIFO1[0]

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

Synchronized actions

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4.7 Actions in synchronized actions

Program code

Comment

; Continuous measurement: Mode = 1 (simultaneously), FIFO memory = 1,

; trigger event 1 = 1 (rising edge of probe 1),

; trigger event 2 = -1 (falling edge of probe 1)

N30 MEAC[X]=(1, 1, 1, -1) POS[X]=100

N40 MEAC[X]=(0)

; turn off measurement

N50 STOPRE

; stop preprocessing

N60 R0 = $AC_MARKER[1]

; number of recorded measured values

Example 3

Rising and falling edges of probe 1 are to be recorded between 0 and 500 mm for the X axis. The

number of measurements is limited to 10.

The distance-to-go of the X axis is then deleted.

Program code

Comment

N10 G0 X0

; approach starting point for the measure-

ment

; Abort condition: Deselect continuous measurement after 10 or more measurements

; and perform "delete distance-to-go"

N10 WHEN $AC_FIFO1[4] >= 10 DO MEAC[X]=(0) DELDTG(X)

; Continuous measurement: Mode = 1 (simultaneously), FIFO memory = 1,

; trigger event 1 = 1 (rising edge of probe 1),

; trigger event 2 = -1 (falling edge of probe 1)

N20 MEAC[X]=(1, 1, 1, -1) G01 X100 F500

N30 MEAC [X]=(0)

; turn off measurement

N40 R0 = $AC_FIFO1[4]

; number of recorded measured values

4.7.20

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

Function

Travel to fixed stop

The function "Travel to fixed stop" can be controlled via synchronized actions with the FXS, FXST

and FXSW commands.

The activation can also be performed without traversing motion of the relevant axis. The torque

is immediately limited. The fixed stop is monitored as soon as the axis is traversed.

Travel with limited torque/force

Travel with limited torque/force can be controlled via synchronized actions with the FOCON,

FOCOF and FOC commands.

Syntax

FXS[<axis>]=<request>

Synchronized actions

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Detailed description

4.7 Actions in synchronized actions

FXST[<axis>]=<clamping torque>

FXSW[<axis>] = <window width>

FOCON[<axis>]

FOCOF[<axis>]

FOC[<axis>]

Meaning

Parameter

Meaning

FXS:

Travel to fixed stop

<Request>:

Request to the "Travel to fixed stop" function:

0 = switch off

1 = switch on

FXST:

Set clamping torque

<Clamping torque>:

Clamping torque as % of the maximum drive torque

FXSW:

Set monitoring window

<Window width>:

Width of the tolerance window around the fixed stop

Unit: mm, inch or degrees

FOCON:

Switch on modal torque/force limitation

FOCOF:

Switch off modal torque/force limitation

FOC:

Non-modal torque/force limitation

<axis>:

Name of the channel axis on which the command will be applied

Remarks

Avoidance of multiple selection

The "Travel to fixed stop" function must only be switched on once per axis. In the event of an

error, alarm 20092 is displayed and the corresponding alarm response takes effect.

To avoid multiple selections, it is recommended that a selection marker be used in the

synchronized action.

Example:

Program code

Comment

N10 R1=0

; Initialize selection marker

N20 IDS=1 WHENEVER ($R1==0 AND $AA_IW[AX3] > 7) DO $R1=1 FXS[AX1]=1

Switching on during the approach motion

"Travel to fixed stop" can also be switched on during the approach motion through a non-modal

synchronized action.

Example:

Program code

Comment

N10 G0 G90 X0 Y0

;

Approach initial setting

Synchronized actions

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4.7 Actions in synchronized actions

Program code

Comment

; "Travel to fixed stop" is switched on for the X axis,

; as soon as the position setpoint in the WCS is > 20 mm

; Execution of the non-modal synchronized action: With N30

N20 WHEN G71 $AA_IW[X] > 20 DO FXS[X]=1

N30 G1 F200 X100

;

Traversing block of the X axis

Example: Travel to fixed stop completely via synchronized actions

Program code

Comment

; IF selection request $R1==1 AND state of the Y axis == "not to fixed stop"

; THEN: For the Y axis:

;

- Switch on FXS

;

- Traverse to position 150 mm

;

- Reduce drive torque to 10%

IDS=1 WHENEVER G71 (($R1==1) AND $AA_FXS[y]==0)) DO $R1=0 FXS[Y]=1 FXST[Y]=10

FA[Y]=200 POS[Y]=150

; IF state of the Y-Axis == "Fixed stop has been detected"

; THEN: Increase drive torque to 30%

IDS=2 WHENEVER ($AA_FXS[Y]==4) DO FXST[Y]=30

; IF state of the Y axis == "Successful travel to fixed stop"

; THEN: Set drive torque in accordance with setting $R0

IDS=3 WHENEVER ($AA_FXS[Y]==1) DO FXST[Y]=$R0

; Deselection depending on R3 and retract.

IDS=4 WHENEVER (($R3==1) AND $AA_FXS[Y]==1)) DO FXS[Y]=0 FA[Y]=1000 POS[Y]=0

N10 R1=0 FXS[Y]=0 G0 G90 Y0

;

Initialization

N30 RELEASE(Y)

;

Enable Y axis for traversing in synchronized actions

N50 ...

N60 GET(Y)

;

Include Y axis in the path group again

4.7.21

Channel synchronization (SETM, CLEARM)

Synchronization markers can be set and deleted in the channel in which the synchronous action

runs with the SETM and CLEARM commands.

Syntax

SETM(<No_marker 1> [,<No_marker 2> {, ... < No_marker n>} ] )

CLEARM(<No_marker 1> [,<No_marker 2> {, ... < No_marker n>} ] )

Synchronized actions

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Detailed description

4.7 Actions in synchronized actions

Meaning

A detailed description of the SETM and CLEARM commands can be found in:

Further information

Programming Manual NC Programming

4.7.22

User-specific error reactions (SETAL)

Synchronous actions can be used to react user-specifically to application-specific error states.

Possible reactions are:

• Axis with stop via override = 0%

• Display user-specific alarm

• Set digital output

Display alarm

Syntax

SETAL(<Alarm_no>[,"Alarm text"])

Meaning

Parameter

Meaning

<Alarm_no>:

Alarm number from the range: 65000 - 69999

A complete description of the configuration of user alarms can be found in:

Further information

Commissioning Manual Basesoftware

Examples

; If the distance between axes X1 and X2 is less than 5 mm =>

; stop axis X2

ID=1 WHENEVER G71 ($AA_IM[X1]-$AA_IM[X2])<5.0 DO $AA_OVR[X2]=0

; If the distance between axes X1 and X2 is less than 5 mm =>

; display alarm 65000

ID=1 WHENEVER G71 ($AA_IM[X1]-$AA_IM[X2])<5.0 DO SETAL(65000)

4.7.23

Cancel the actual subprogram level (CANCELSUB)

Using CANCELSUB, in the channel in which the synchronized action is executed, the NC program

active in the current subprogram level is canceled and in the calling program, the next higher

program level is selected. There, program execution is continued normally.

Synchronized actions

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Detailed description

4.8 Technology cycles

Properties

• For each call, only the current subprogram level is canceled.

• After a cancellation, the next higher program level can only be canceled if a return jump is

made from the canceled subprogram level.

• The main program level cannot be canceled.

Syntax

CANCELSUB

Meaning

CANCELSUB:

Cancels the current subprogram level

See also

The cancellation of the current subprogram level can be realized using the channel-specific NC/

PLC interface signal, also from the PLC user program, which is functionally identical:

DB21,

DBX6.4 (program level cancellation)

4.8

Technology cycles

4.8.1

General

Definition

A technology cycle is an NC program that is called in the action part of a synchronous action. All

language elements and system variables that are also used in the action part of a synchronous

action can be used in a technology cycle. In addition, there are also the following language

elements that may only be used within a technology cycle:

• Chapter "System variables for synchronized actions (Page 21)"

• Chapter "User-defined variables for synchronized actions (Page 58)"

• Chapter "Language elements for synchronized actions and technology cycles (Page 60)"

• Chapter "Language elements for technology cycles only (Page 65)"

• Chapter "Actions in synchronized actions (Page 66)"

End of program

The following commands are permitted as end of program: M02, M17, M30, RET

Synchronized actions

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Detailed description

4.8 Technology cycles

Search path

When calling a technology cycle, the same search path is used as for subprograms and cycles.

Further information

Programming Manual NC Programming

Multiple calls

If a condition is fulfilled again while the technology cycle is being executed, the technology cycle

is not restarted.

If a technology cycle is started because of a fulfilled WHENEVER condition and the condition is

still fulfilled after completion of the technology cycle, then the technology cycle is started again.

Behavior with non-modal synchronous actions

A non-modal synchronous action is always linked to the next main run block. If the execution

time of the technology cycle is longer than the processing time of the associated main run block,

the technology cycle is aborted with the block change.

Execution sequence of technology cycles

If several technology cycles are programmed in the action part of a synchronous action, they are

executed in the programmed sequence from left to right.

Example

Calling three technology cycles in the action part of a synchronous action.

Program code

ID=1 <condition part> DO AXIS_X AXIS_Y AXIS_Z

6\QFKURQL]HG DFWLRQ

&RQGLWLRQ

$FWLRQ

7HFKQRORJ\ F\FOH

$[LVB;

$[LVB<

$[LVB=

326><@

326>=@

326>;@

326><@

326>=@

6LQJOH F\FOH

0XOWL F\FOH

Synchronized actions

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Detailed description

4.8 Technology cycles

Execution sequence of the technology cycle blocks: N10, N11, N12, N20, N21, N22, N30, N31,

N32

Note

Constraints

• A maximum of eight technology cycles may be called in the action part of a synchronous

action.

• Except for the call of further technology cycles, no other action may be programmed in the

action part of a synchronous action in which a technology cycle is called.

See also

Processing mode (ICYCON, ICYCOF) (Page 119)

4.8.2

Processing mode (ICYCON, ICYCOF)

Function

The ICYCOF and ICYCON commands can be used to control the processing mode of the actions

within technology cycles.

Per default, the processing mode ICYCON is active.

Processing mode: ICYCON

A non-modal technology cycle is executed in the ICYCON processing mode. The execution of all

actions programmed in a block is initiated in the same interpolator clock cycle. As soon as all

initiated actions are completed, the next block is processed in the following interpolator clock

cycle.

A distinction is made between single-cycle and multi-cycle actions. Examples are:

• Single-cycle actions: Auxiliary function output, value assignments

• Multi-cycle actions: Traversing motions of axes and spindles

Each block of a technology cycle requires at least one interpolator clock cycle.

Processing mode: ICYCOF

All actions of all blocks of a technology cycle are initiated in parallel in the ICYCOF processing

mode.

NC program as a part program

If an NC program is executed as a part program, the ICYCOF and ICYCON commands have no

effect.

Synchronized actions

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Detailed description

4.8 Technology cycles

Syntax

In the action part of a synchronized action

ID=1 <condition part> DO [ICYCOF] <technology cycle 1> [ICYCOF |

ICYCON] <technology cycle 2> ...

As property of an NC program

PROC <name> [ICYCOF | ICYCON]

Within an NC program

PROC <name>

N10 ...

N20 [ICYCOF | ICYCON]

N90 ...

N100 [ICYCOF | ICYCON]

N110 ...

RET

Example

Program code

Effective processing mode

Interpolator cycle

PROC TECHNOCYC

ICYCON

$R1=1

ICYCON

POS[X]=100

ICYCON

2 ... 25

ICYCOF

$R1=2

ICYCOF

$R2=$R1+1

ICYCOF

POS[X]=110

ICYCOF

$R3=3

ICYCOF

RET

ICYCOF

4.8.3

Definitions (DEF, DEFINE)

If an NC program is used as technology cycle, that contains commands for variable (DEF) and/or

macro definition (DEFINE) then these have no effect when executing the technology cycle.

Although variables and macro definitions have no effect within a technology cycle, they must

nevertheless have the correct syntax. In the event of an error, the execution of the technology

cycle is aborted and an alarm displayed.

As the variables and macros are not available in the technology cycle, special measures may have

to be taken in the program code. See Chapter "Context variable ($P_TECCYCLE) (Page 121)".

4.8.4

Parameter transfer

Only the Call-by-Value parameter transfer is possible in a subprogram being applied as a

technology cycle.

Synchronized actions

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Detailed description

4.8 Technology cycles

The application of Call-by-Reference parameters is not permissible and will trigger a

corresponding alarm.

Further information

A detailed description of the parameter transfer and parameter definition in subprograms can be

found in:

Programming Manual NC Programming

4.8.5

Context variable ($P_TECCYCLE)

Function

If an NC program is used as part program as well as also technology cycle, then context-specific

program sections can be defined using system variable $P_TECCYCLE:

• $P_TECCYCLE == TRUE ⇒ The NC program is currently being executed as technology cycle

• $P_TECCYCLE == FALSE ⇒ The NC program is currently being executed as part program

Application

The (DEF) variables and (DEFINE) macro definitions have no effect in technology cycles. If an NC

program is executed as a technology cycle that contains the appropriate definitions, a context-

specific case distinction has to be made in the program code as the variables and macros are then

no longer available.

Example

Travel parameters via user variables in the part program and R parameters in the technology cycle

Program code

Comment: Use in

PROC UP_1

DEF REAL POS_X=100.0

Part program

DEF REAL F_X=250.0

Part program

IF $P_TECCYCLE==TRUE

$R1=100.0

Technology cycle

$R2=250.0

Technology cycle

ENDIF

IF $P_TECCYCLE==TRUE

N100 POS[X]=$R1 FA[X]=$R2

Technology cycle

ELSE

N200 POS[X]=POS_X FA[X]=F_X

Part program

ENDIF

RET

Synchronized actions

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Detailed description

4.9 Protected synchronized actions

See also

Definitions (DEF, DEFINE) (Page 120)

4.9

Protected synchronized actions

Each synchronized action is clearly identified via its ID.

The following machine data can be used to define an NC global or channel-specific range of

identification numbers with which a synchronized action can be protected against overwriting,

deletion (CANCEL(ID)) and locking (LOCK(ID)):

• NC global:

MD11500 $MN_PREVENT_SYNACT_LOCK (protected synchronized actions)

• Channel-specific:

MD21240 $MN_PREVENT_SYNACT_LOCK (protected synchronized actions)

Behavior is the same in both cases.

Protected synchronized actions cannot be locked via the NC/PLC interface or are displayed as

non-lockable:

• DB21, ... DBB300 ... 307 (lock synchronized actions)

• DB21, ... DBB308 ... 315 (synchronized actions that can be disabled locked)

Application

The synchronized actions defined by the machine manufacturer to react to certain machine

states should not be changed after commissioning.

Note

It is recommended that the protection of synchronized actions should not be activated during

the commissioning phase as otherwise a Power on reset is required at each change to the

synchronized action.

Example

In a system with two channels, the synchronized actions of the following identification number

areas should be protected:

Channel 1: 20 ... 30

Channel 2: 25 ... 35

Machine data configuration

NC-global protection area:

• MD11500 $MN_PREVENT_SYNACT_LOCK[0] = 25

• MD11500 $MN_PREVENT_SYNACT_LOCK[1] = 35

Synchronized actions

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4.11 Coordination via PLC

Channel-specific protection area for channel 1:

• MD21240 $MC_PREVENT_SYNACT_LOCK_CHAN[0] = 20

• MD21240 $MC_PREVENT_SYNACT_LOCK_CHAN1] = 30

Channel-specific protection area for channel 2:

• MD21241 $MC_PREVENT_SYNACT_LOCK_CHAN[0] = -1

• MD21241 $MC_PREVENT_SYNACT_LOCK_CHAN[1] = -1

A separate protection was not defined in channel 2 and therefore the NC-global protection area

applies.

4.10

Coordination via part program and synchronized action (LOCK,

UNLOCK, CANCEL)

Each modal and static synchronized action must be assigned a unique identification number

during the definition:

Program code

ID=<number> condition part DO action part

IDS=<number> condition part DO action part

By specifying the identification number, synchronized actions from part programs and from

synchronized actions can be coordinated via the following commands:

Keyword

Meaning

TP¹⁾

SA²⁾

LOCK(<number>):

Lock synchronized action

An active positioning action is interrupted.

UNLOCK(<number>):

Continue interrupted synchronized action

An interrupted positioning operation is continued.

CANCEL(<number>):

Delete synchronized action

An active positioning action is terminated.

¹⁾ Can be programmed in the part program

²⁾ Can be programmed in a synchronized action / technology cycle

4.11

Coordination via PLC

With regard to their execution by the NC, synchronized actions that are not protected can be

locked. Either all synchronized actions in the channel can be locked together or individually in

the ID/IDS 1 - 64 area.

All, channel-specific

Lock all synchronized actions in the channel:

DB21, … DBX1.2 = 1 (inhibit all synchronized actions)

Synchronized actions

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Detailed description

4.12 Configuration

Individually, channel-specific

Synchronized actions that can be locked

The synchronized actions ID/IDS that can be inhibited are displayed using:

DB21, … DBX308.0 - 315.7 == 1 (synchronized actions ID/IDS can be locked)

The update of the inhibit signals in the interface by the NC must be actively requested from the

PLC user program:

DB21, … DBX281.1 = 1 (request: Update synchronized actions that can be locked)

The NC then updates the inhibit signals in the interface, and acknowledges the update by

resetting the request:

DB21, … DBX281.1 = 0 (acknowledgement: Synchronized actions that can be locked updated)

Lock synchronized actions

For each synchronized action ID/IDS, which is to be inhibited in the channel, the PLC user

program must set the associated inhibit signal:

DB21, … DBX300.0 - 307.7 = 1 (inhibit synchronized action ID/IDS)

The acceptance of the inhibit signals from the interface in the NC must be actively requested

from the PLC user program:

DB21, … DBX280.1 = 1 (request: Accept synchronized actions to be locked)

The NC then accepts the inhibit signals from the interface in the channel and acknowledges the

acceptance by resetting the request:

DB21, … DBX280.1 = 0 (acknowledgement: Synchronized actions to be locked accepted)

4.12

Configuration

Number of synchronized action elements

The number of synchronized action elements that can be provided per channel is set via the

machine data:

MD28250 $MC_MM_NUM_SYNC_ELEMENTS (number of elements for expressions in

synchronized actions)

At least four synchronized action elements are required per synchronized action. Further

synchronized action elements are required for:

Operation

Number of required elements

Operator in the condition

Action

>= 1

Assignment

Further operands in complex expressions

The number of programmable synchronized actions therefore depends on the number of

available synchronized action elements and the complexity of the synchronized actions.

Synchronized actions

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Detailed description

4.12 Configuration

Memory utilization

The status display for synchronized actions can be used to track the memory utilization of the

synchronized action memory (see chapter "Diagnostics (Page 131)").

The number of free synchronized action elements can also be read via the system variable

$AC_SYNA_MEM.

If more synchronized action elements are required during operation than are available, alarm

"14751 Resources for motion synchronous actions not sufficient" is displayed.

Number of FCTDEF elements

The number of FCTDEF elements per channel is set via the machine data:

MD28252 $MC_MM_NUM_FCTDEF_ELEMENTS (number of FCTDEF elements)

Synchronized actions and interpolator clock cycle

If there are a large number of simultaneously active synchronized actions, the interpolator clock

cycle may have to be increased:

MD10070 $MN_IPO_SYSCLOCK_TIME_RATIO

Table 4-1

Time required by individual operations

Synchronized action commands

Time required ¹⁾

Total

Text in bold print

Basic load for a synchronized action if condition is not fulfilled:

WHENEVER FALSE DO $AC_MARKER[0]=0

10 µs

Read variable:

WHENEVER $AA_IM[Y]>10 DO $AC_MARKER[0]=1

11 μs

1 µs

Write variable:

DO $R2=1

11-12 μs

1-2 µs

Read/write setting data:

DO$$SN_SW_CAM_MINUS_POS_TAB_1[0]=20

24 μs

14 µs

Basic arithmetic operations, e.g. multiplication:

DO $R2=$R2*2

22 μs

12 µs

Trigonometric functions (e.g. cos):

DO $R2=COS($R2)

23 μs

13 µs

Start positioning axis:

WHEN TRUE DO POS[z]=10

83 μs

73 µs

1) Measured with SINUMERIK 840D sl with NCU 7x0.3 PN

Synchronized actions

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Detailed description

4.13 Control behavior in specific operating states

4.13

Control behavior in specific operating states

4.13.1

Power On

No synchronized actions are active during ramp-up of the NC (Power On).

Synchronized actions that are to be active immediately after the ramp-up of the NC (Power On),

must be event-driven as static synchronized actions within an ASUB or activated via the PLC user

program.

Further information

Detailed information on the activation of synchronized actions after ramp-up of the NC (Power

On) can be found in:

PLC user program

PLC Function Manual

Event-driven

Basic Functions Function Manual

4.13.2

NC reset

State after NC reset:

From:

Modal and non-modal synchronized action (ID)

Static synchronized action (IDS)

Synchronized action

Aborted or inactive

Active

Traversing motion

The traversing motions are aborted

Speed-controlled

MD35040 $MA_SPIND_ACTIVE_AFTER_RESET = <value>

spindle

TRUE ⇒ The spindle remains active

FALSE ⇒ The spindle is stopped

Master value coupling

MD20110 $MC_RESET_MODE_MASK, bit 13 = <value>

1 ⇒ The coupling remains active

0 ⇒ The coupling is released

Measuring

Aborted

4.13.3

NC stop

Non-modal and modal synchronized actions (ID)

Traversing motions from non-modal and modal synchronized actions are stopped by NC stop.

While the channel is in the "interrupted" state (DB21, ... DBX35.6 == 1), a non-modal or modal

synchronized action remains active. If the condition is fulfilled during this time, all actions are

executed with the exception of traversing motions.

Synchronized actions

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4.13 Control behavior in specific operating states

Stopped traversing motions are continued with NC start.

Static synchronized actions (IDS)

Whether traversing motions from static synchronized actions are stopped by NC stop depends

on which is controlling the command axis:

• NC controls axis (DB31, ... DBX28.7 == 0):

Traversing motions from static synchronized actions are stopped by NC stop.

• PLC controls axis (DB31, ... DBX28.7 == 1):

Traversing motions from static synchronized actions are not stopped by NC stop.

4.13.4

Operating mode change

Status after operating mode change:

From:

Modal and non-modal synchronized action (ID)

Static synchronized action (IDS)

Synchronized action

Aborted or inactive ¹⁾

Active

Traversing motion

Aborted ²⁾

Active

Speed-controlled

Active

spindle

Master value cou-

MD20110 $MC_RESET_MODE_MASK, bit 13 = <value>

Active

pling

1 ⇒ The coupling remains active

0 ⇒ The coupling is released

Measuring

Aborted

Active

1) After the change back to AUTOMATIC mode, whether the synchronized actions become active again depends on the

commands in the synchronized action (see example).

2) End of program M30 is delayed until the axis is at standstill.

Example

Case 1:

ID=1 Do POS[X]=100 FA[X]=100

G4 F999

ID=1 Do means: The synchronized action is started in every interpolation cycle of the following

block, even if it is already waiting at pos. "100".

Case 2:

Changing the synchronized action of Case 1 to:

ID=1 When true do POS[X]=100 FA[X]=100

G4 F999

ID=1 When true do means: Synact is started "once" when the block is loaded. The axis moves

with this command.

Performing an operator action

After an NC stop and override "0", in both cases the axis stops and is not in the end position.

Synchronized actions

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Detailed description

4.13 Control behavior in specific operating states

In case 2, the synchronized action comes to an end after the first interpolation cycle. In this case,

the axis is no longer started on NC start.

The axis is not in the end position.

4.13.5

End of program

State after end of program:

From:

Modal and non-modal synchronized action (ID)

Static synchronized action (IDS)

Synchronized action

Aborted or inactive

Active

Traversing motion

Aborted 1⁾

Active

Speed-controlled

MD35040 $MA_SPIND_ACTIVE_AFTER_RESET = <value>

Active

spindle

TRUE ⇒ The spindle remains active

FALSE ⇒ The spindle is stopped

Master value cou-

MD20110 $MC_RESET_MODE_MASK, bit 13 = <value>

Active

pling

1 ⇒ The coupling remains active

0 ⇒ The coupling is released

Measuring

Aborted

Active

1) End of program M30 is delayed until the axis is at standstill.

4.13.6

Block search

Synchronized actions are collected during the block search but not activated. I.e. the conditions

are not evaluated, the actions are not executed.

The synchronized actions only become active with NC start. I.e. the conditions are evaluated and

the actions executed if necessary.

Static synchronized actions (IDS)

Static synchronized actions that are already active remain effective during the block search.

However, as these are collected additionally, this may have the result that the number of

synchronized action elements required during the block search exceeds the number of elements

available for the channel according to the parameter setting in MD28250

$MC_MM_NUM_SYNC_ELEMENTS. This would lead to Alarm 14751 "Insufficient number of

resources motion-synchronous actions " (see "Configuration (Page 124)").

Synchronized actions

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Detailed description

4.13 Control behavior in specific operating states

To prevent a possible memory overload during the block search, we recommend that you

proceed as follows:

1. Activate automatic ASUB start after block search:

MD11450 $MN_SEARCH_RUN_MODE Bit1 = 1

⇒ Following NC Start and when the last action block is loaded, the block search. ASUP stated

in MD11620 $MN_PROG_EVENT_NAME is activated.

2. Activate static synchronized actions in the block search ASUP within the query IF

($P_PROG_EVENT==5) (ASUP has been implicitly activated after output of the last action

block following block search run) (see example).

3. In the part program, bracket static synchronized actions with IF ($P_SEARCH==0) (block

search not active), to prevent this section from being performed during block search.

Example:

Subprogram _N_PROG_EVENT_SPF (section)

DEF INT II, SIDS

IF ($P_PROG_EVENT==5)

FOR II=SIDS TO SIDS+8

CANCEL(II)

ENDFOR

STOPRE

IDS=SIDS DO G710 $AC_MARKER[SACM+2]=(($AC_MARKER[SACM+2]+1) MOD 2)*(($A_DBW[72]

B_AND 16)/16)

SIDS=SIDS+1

IDS=SIDS WHENEVER (($AC_PARAM[SACP+6])>=ZPOS_CO[1])

DO $AC_PARAM[SACP+4]=SIN((($AC_PARAM[SACP+6]-ZPOS_CO[0])/ (ZPD_CO))*90)

... ; Further synchronized actions

ENDIF

4.13.7

Program interruption by ASUB

Non-modal and modal synchronized actions (ID)

Active modal synchronized actions also remain active during the ASUB.

Traversing motions started from non-modal and modal synchronized actions are interrupted. If

at the end of the ASUB, positioning is at the interruption point of the part program (REPOS), then

the interrupted traversing motions are continued.

Static synchronized actions (IDS)

Static synchronized actions also remain active during the ASUB.

Traversing motions started from static synchronized actions are not interrupted by the ASUB.

Synchronized actions

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SINUMERIK 840D sl. Service - Functions. Manual (2018-2020) - page 76