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

Grinding-specific tool offset and tool monitoring

5.1

Grinding-specific tool data

5.1.1

Structure of tool data

Grinding tools (tool type: 400 to 499) normally have specific tool and dresser data in addition to

cutting edge data.

The grinding wheel-specific data for the left and right wheel geometry can be stored under a T

number in the tool cutting edges D1 and D2.

If data is needed for the dresser geometry, it can be stored as follows:

• In the tool cutting edges from D3 of a T number

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The following figure provides an overview of the (possible) storage structure of the tool data for

grinding tools:

Tools

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Grinding-specific tool offset and tool monitoring

5.1 Grinding-specific tool data

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Structure of the tool data for grinding tools

5.1.2

Cutting edge-specific parameters

5.1.2.1

List of cutting edge-specific parameters

The cutting edge-specific tool parameters for grinding tools have the same meaning as those for

turning and milling tools.

Tool parameter

Meaning

Comment

$TC_DP1

Tool type

$TC_DP2

Cutting edge position

For turning and grinding

tools only

Geometry - tool length compensation

$TC_DP3

Length 1

$TC_DP4

Length 2

$TC_DP5

Length 3

Tools

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5.1 Grinding-specific tool data

Tool parameter

Meaning

Comment

Geometry - tool radius compensation

$TC_DP6

Radius 1

$TC_DP7

Reserved

$TC_DP8

Reserved

$TC_DP9

Reserved

$TC_DP10

Reserved

$TC_DP11

Reserved

Wear - tool length compensation

$TC_DP12

Length 1

$TC_DP13

Length 2

$TC_DP14

Length 3

Wear - tool radius compensation

$TC_DP15

Radius 1

$TC_DP16

Reserved

$TC_DP17

Reserved

$TC_DP18

Reserved

$TC_DP19

Reserved

$TC_DP20

Reserved

Base dimension/adapter dimension - tool length compensation

$TC_DP21

Basic length 1

$TC_DP22

Basic length 2

$TC_DP23

Basic length 3

Technology

$TC_DP24

Undercut angle

For turning tools only

$TC_DP25

Reserved

Note

The cutting edge data for D1 and D2 of a selected grinding tool can be chained, i.e. if a parameter

in D1 or D2 is modified, then the same parameter in D1 or D2 is automatically overwritten with

the new value (see $TC_TPG2 (Page 280)).

Tools

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Grinding-specific tool offset and tool monitoring

5.1 Grinding-specific tool data

5.1.2.2

$TC_DP1

The parameter $TC_DP1 contains the 3-digit number of the grinding tool type:

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Number

Grinding tool type

400

Surface grinding wheel

401

Surface grinding wheel with monitoring with tool base dimension for GWPS

402

Surface grinding wheel without monitoring without tool base dimension for GWPS

403

Surface grinding wheel with monitoring without tool base dimension for GWPS

410

Facing wheel

411

Facing wheel with monitoring with tool base dimension for GWPS

412

Facing grinding wheel without monitoring without tool base dimension for GWPS

413

Facing wheel with monitoring without tool base dimension for GWPS

490

Dresser

5.1.2.3

Definition of additional parameters $TC_DPC1 ... 10

For user-specific cutting edge data, the additional parameters $TC_DPC1 to $TC_DPC10 can be

set up independent of the tool type via the following memory-configuring machine data:

MD18096 $MN_MM_NUM_CC_TOA_PARAM

NOTICE

Loss of data due to reconfiguration

Reconfiguration of the local static NC memory results in a loss of data on the active and passive

file system. We therefore urgently recommend archiving or backing up all relevant data by

creating a commissioning archive before activating a modified memory configuration.

Tools

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5.1 Grinding-specific tool data

5.1.3

Tool-specific parameters

5.1.3.1

List of tool-specific parameters

The tool-specific parameters are automatically set up with every new grinding tool (tool type:

400 to 499).

Note

Tool-specific parameters have the same characteristics as a cutting edge.

This is to be taken into account when the number of cutting edges is specified:

MD18100 $MN_MM_NUM_CUTTING_EDGES_IN_TOA

When all the cutting edges of a tool are deleted, the associated tool-specific parameters are

deleted at the same time.

Parameters

The parameters are assigned as follows:

Parameter

Meaning

Data type

$TC_TPG1 (Page 280)

Spindle number

INT

$TC_TPG2 (Page 280)

Chaining rule

INT

$TC_TPG3 (Page 281)

Minimum wheel radius

REAL

$TC_TPG4 (Page 281)

Minimum wheel width

REAL

$TC_TPG5 (Page 281)

Current wheel width

REAL

$TC_TPG6 (Page 282)

Maximum speed

REAL

$TC_TPG7 (Page 282)

Maximum peripheral speed

REAL

$TC_TPG8 (Page 282)

Angle of inclined wheel

REAL

$TC_TPG9 (Page 283)

Parameter number for radius calculation

INT

$TC_TPG_DRSPATH (Page 283)

Directory path to the dressing program

STRING

$TC_TPG_DRSPROG (Page 283)

Dressing program name

STRING

Note

The monitoring data applies to both the left-hand and the right-hand cutting edge of the

grinding wheel.

The tool-specific parameters take effect:

• when switching on the grinding-specific tool monitoring (Page 298)

• when switching on the constant grinding wheel peripheral speed (GWPS) (Page 301)

If a changed date is to take effect, these functions must be switched on again.

The length compensations always specify the distances between the tool carrier reference point

and the tool tip in the Cartesian coordinates (must be noted for inclined grinding wheel).

Tools

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Grinding-specific tool offset and tool monitoring

5.1 Grinding-specific tool data

5.1.3.2

$TC_TPG1

The spindle number is entered in parameter $TC_TPG1. The grinding wheel circumferential

velocity is then monitored for this spindle.

5.1.3.3

$TC_TPG2

The tool parameters of the two cutting edges D1 and D2 are entered in parameter $TC_TPG2,

their values must always be the same. If, for a cutting edge, the value of one of these parameters

is changed, then the corresponding parameter of the other cutting edge is automatically set to

the same value.

The tool parameters are coded in parameter $TC_TPG2:

Tool parameter

Meaning

Coding

Bit

Hex

Dec

$TC_DP1

Tool type

0001

$TC_DP2

Length of cutting

0002

edge

Geometry - tool length compensation

$TC_DP3

Length 1

0004

$TC_DP4

Length 2

0008

$TC_DP5

Length 3

0010

$TC_DP6

Radius

0020

$TC_DP7

Reserved

0040

$TC_DP8

Length 4

0080

128

$TC_DP9

Length 5

0100

256

$TC_DP10

Angle 1 etc.

0200

512

$TC_DP11

Reserved

0400

1 024

Wear - tool length compensation

$TC_DP12

Length 1

0800

2 048

$TC_DP13

Length 2

1000

4 096

$TC_DP14

Length 3

2000

8 192

$TC_DP15

Radius

4000

16 384

$TC_DP16

Reserved

8000

32 768

$TC_DP17

Wear length 4

1 0000

65 536

$TC_DP18

Wear length 5

2 0000

131 072

$TC_DP19

Wear angle 1 etc.

4 0000

262 144

$TC_DP20

Reserved

8 0000

524 288

Base dimension/adapter dimension - tool length compensation

$TC_DP21

Basic length 1

10 0000

1 048 576

$TC_DP22

Basic length 2

20 0000

2 097 152

$TC_DP23

Basic length 3

40 0000

4 194 304

Technology

$TC_DP24

Reserved

80 0000

8 388 608

$TC_DP25

Reserved

100 0000

16 777 216

Tools

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5.1 Grinding-specific tool data

Change becomes effective

If parameter $TC_TPG2 becomes effective at a later point in time, the values of the tool

parameters of the cutting edges are not automatically aligned immediately. The alignment is

only made the next time that a tool parameter of both cutting edges is changed.

Example

For a grinding tool (T1), the following parameters should be kept the same for cutting edges D1

and D2:

Tool parameter

Meaning

Coding: Hex

Coding: Decimal

$TC_DP1

Tool type

0001

Geometry - tool length compensation

$TC_DP3

Length 1

0004

$TC_DP4

Length 2

0008

$TC_DP5

Length 3

0010

Wear - tool length compensation

$TC_DP12

Length 1

0800

2 048

$TC_DP13

Length 2

1000

4 096

$TC_DP14

Length 3

2000

8 192

Base dimension/adapter dimension - tool length compensation

$TC_DP21

Basic length 1

10 0000

1 048 576

$TC_DP22

Basic length 2

20 0000

2 097 152

$TC_DP23

Basic length 3

40 0000

4 194 304

The sum of all parameter codings is entered in parameter $TC_TPG2:

$TC_TPG2 =

'H70381D'

'D7354397'

5.1.3.4

$TC_TPG3, $TC_TPG4

For grinding-specific tool monitoring (Page 298), thelower limit values of the grinding wheel are

entered in the parameters:

• Parameter $TC_TPG3: Radius [mm] or [inch]

• Parameter $TC_TPG4: Width [mm] or [inch]

Note

For inclined grinding wheels, the minimum radius must be entered in Cartesian coordinates.

5.1.3.5

$TC_TPG5

The actual width of the grinding wheel - e.g. after dressing - is entered in parameter $TC_TPG5.

Tools

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Grinding-specific tool offset and tool monitoring

5.1 Grinding-specific tool data

5.1.3.6

$TC_TPG6 and $TC_TPG7

For grinding-specific tool monitoring (Page 298), theupper limit values of the grinding wheel

are entered in the parameters:

• Parameter $TC_TPG6: Speed [rpm]

• Parameter $TC_TPG7: Circumferential/peripheral speed [m*s^-1] or [inch*s^-1]

5.1.3.7

$TC_TPG8

For function "Constant grinding wheel peripheral speed (GWPS) (Page 301)", for an inclined

grinding wheel, the inclination angle α referred to the actual active plane (work plane G17, G18,

G19) is entered in parameter $TC_TPG8.

The permissible range of inclination angle α is: -90° ≤ α < +90°

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Inclined grinding wheel

Note

The tool length is not automatically compensated when the angle in parameter $TC_TPG8 is

changed.

Note

For machines with inclined axis, the same angle must be entered for the inclined axis as for the

inclined grinding wheel.

Tools

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5.1 Grinding-specific tool data

5.1.3.8

$TC_TPG9

Parameter $TC_TPG9 is used to define to which tool parameters the following functions should

refer:

• Grinding-specific tool monitoring (Page 298)

• Constant grinding wheel peripheral speed (GWPS) (Page 301)

Examples:

$TC_TPG9 = <value>

<Value>

Reference variable

Length 1 (geometry + wear + base, depending on tool type)

Length 2 (geometry + wear + base, depending on tool type)

Length 3 (geometry + wear + base, depending on tool type)

Radius

5.1.3.9

$TC_TPG_DRSPATH and $TC_TPG_DRSPROG

Parameter $TC_TPG_DRSPATH (directory path to the dressing program) and $TC_TPG_DRSPROG

(dressing program) allow a dressing program to be assigned to a grinding wheel. In turn, this

allows a generally valid dressing procedure to be created, in which the dressing program is

executed using an indirect program call.

Example:

Program code

Comment

; Enter absolute dressing amount in $TC_DP12:

$TC_DP12[GETT("GRINDING_WHEEL",0),1]= $TC_DP12[GETT("GRINDING_WHEEL",0),1] - 0.01

G500

CYCLE435("GRINDING_WHEEL",1,"DRESSER",1)

; Calculate dressing tool position

T="DRESSER" D1

; Activate dressing tool.

; Indirectly call dressing program:

CALL "/"<<$TC_TPG_DRSPATH[GETT("GRINDING_WHEEL",0)]<<"/"<<$ TC_TPG_DRSPROG[GETT("GRINDING_WHEEL",0)]

M17

5.1.3.10

Definition of additional parameters $TC_TPC1 ... 10

For user-specific tool data, the additional parameters $TC_TPC1 to $TC_TPC10 can be set up

independent of the tool type via the following memory-configuring machine data:

Tools

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Grinding-specific tool offset and tool monitoring

5.1 Grinding-specific tool data

MD18096 $MN_MM_NUM_CC_TDA_PARAM

NOTICE

Loss of data due to reconfiguration

Reconfiguration of the local static NC memory results in a loss of data on the active and passive

file system. We therefore urgently recommend archiving or backing up all relevant data by

creating a commissioning archive before activating a modified memory configuration.

5.1.3.11

Access to tool-specific parameters

Tool-specific parameters can be read and written from the part program.

Examples:

Program code

Comment

R10=$TC_TPG5[2]

; read the current width of tool 2 and store in R10

$TC_TPG6[3]=2000

; write value 2000 to the maximum speed of tool 3.

The following system variable allows the tool-specific parameters for the current tool to be

accessed:

$P_ATPG[<m>]

<m> = parameter numbewr (data type: REAL)

Example:

Parameter 3 ($TPG3[<t>])

Program code

Comment

$P_ATPG[3]=R10

; read the minimum wheel radius of the current tool and store

in R10.

5.1.4

Planes and axis assignments

Tool length compensations for the geometry axes or radius compensation in the plane are

assigned on the basis of the current machining plane.

The following planes and axis assignments are possible (abscissa, ordinate, applicate for 1st,

2nd and 3rd geometry axis):

Command

Plane

Axis perpendicular to plane

(abscissa/ordinate)

(applicate)

G17

X / Y

G18

Z / X

G19

Y / Z

Tools

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Grinding-specific tool offset and tool monitoring

5.1 Grinding-specific tool data

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Figure 5-3

Required offset data of a surface grinding wheel

Tools

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Grinding-specific tool offset and tool monitoring

5.1 Grinding-specific tool data

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Required offset data for inclined wheel with implicit monitoring selection and without base dimension for GWPS

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Required offset data for inclined wheel with implicit monitoring selection and with base dimension for GWPS

Tools

286

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Grinding-specific tool offset and tool monitoring

5.1 Grinding-specific tool data

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Required offset data of a surface grinding wheel without base dimension for GWPS

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Figure 5-7

Required offset data of a facing wheel with monitoring parameters

Tools

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Grinding-specific tool offset and tool monitoring

5.2 Online tool offset

5.2

Online tool offset

5.2.1

Function

A grinding operation involves both machining of a workpiece and dressing of the grinding

wheel. These processes can take place in the same channel or in separate channels.

To allow machining to continue while the grinding wheel is being dressed, the reduction in the

size of the grinding wheel caused by dressing must be transferred to the current tool in the

machining channel as a tool offset that is applied immediately. This can be implemented by

means of the "Online tool offset" function.

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Figure 5-8

Dressing during machining using a dressing roller

The function supports the following methods of writing the tool offset:

• Continuous write, non-modal (PUTFTOCF (Page 291))

With PUTFTOCF, dressing is carried out at the same time as machining.

The tool offset is changed continuously in the machining channel according to a polynomial

function of the first, second or third order, which must have been defined previously

with FCTDEF (Page 290).

PUTFTOCF is always non-modal; in other words, it takes effect in the subsequent traversing

block.

• Continuous write, modal: ID=1 DO FTOC (for further information, see Function Manual

Synchronized Actions)

• Discrete write (PUTFTOC (Page 292))

With PUTFTOC, dressing is not carried out at the same time as machining from a parallel

channel. The correction value specified with PUTFTOC takes effect immediately in the

destination channel.

Activation / deactivation

The online tool offset in the part program is activated/deactivated by means of the G command

FTOCON/FTOCOF (Page 293).

Tools

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Grinding-specific tool offset and tool monitoring

5.2 Online tool offset

Additional properties

• An online tool offset can be activated for every grinding tool (tool type: 400 to 499) in each

channel.

• The online tool offset is generally applied as a length compensation. Like geometry and wear

data, lengths are assigned to geometry axes on the basis of the current plane as a function

of the tool type.

• The grinding spindle monitoring function remains active when an online tool offset is

selected.

Note

The online tool offset may only be used for grinding tools.

The offset always corrects the wear parameters of the selected length. If the length

compensation is identical for several cutting edges, then a chaining specification must be used

to ensure that the values for the 2nd cutting edge are automatically corrected as well.

If online tool offset is active in the machining channel, then the wear values for the active tool

in this channel may not be changed from the machining program or via operator inputs.

Modifications to the radius wear (P15) are not taken into account until the tool is reselected.

The online tool offset is also applied to the constant grinding wheel peripheral speed (GWPS), i.e.

the spindle speed is corrected by the corresponding value.

5.2.2

Commissioning

Number of tool holders that can be defined

Function "Online tool offset" cannot be simultaneously used with the function “Orientable

toolholder".

When using the "Online tool offset" function, the maximum number of tool holders that can be

defined in the TO area should be set to "0":

MD18075 $MN_MM_NUM_TOOLHOLDERS = 0

Note

For SINUMERIK 828D, the value of MD18075 can only be set in "Grinding" technology.

Enable online tool radius compensation

Online tool radius compensation (Page 297) must also be additionally enabled using machine

data:

MD20254 $MC_ONLINE_CUTCOM_ENABLE = 1

Tools

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Grinding-specific tool offset and tool monitoring

5.2 Online tool offset

5.2.3

Programming

5.2.3.1

Defining a polynomial function (FCTDEF)

Certain dressing strategies (e.g. dressing roller) are characterized by the fact that the grinding

wheel radius is continuously (linearly) reduced as the dressing roller is fed in. This strategy

requires a linear function between infeed of the dressing roller and writing the wear value of

each length. The linear function is defined using the predefined procedure FCTDEF(...) for up to

third order polynomial functions.

Straight line equation

y = f(x) = a₀ + a₁*x₁

a₁: Gradient of the straight line, with a₁= Δx / Δy

a₀: Shift of the straight line along the X axis with a₀ = -a1 * X_V

˂\

˂[

;

;₉

Syntax

FCTDEF(<Func>,<LLimit>,<ULimit>,<a0>,<a1>,<a2>,<a3>)

Meaning

FCTDEF(...):

Defining a polynomial function for PUTFTOCF(...):

y = f(x) = a₀ + a₁*x + a₂*x² + a₃*x³

<Func>:

Function number

Data type:

INT

Range of values:

1, 2, 3

<LLimit>:

Lower limit value

Data type:

REAL

<ULimit>:

Upper limit value

Data type:

REAL

<a0>,<a1>,<a2>,<a3>:

Coefficients of polynomial function

Data type:

REAL

Tools

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5.2 Online tool offset

Example

Definitions

• Function number: 1

• Lower and upper limit value: -100, 100

• Gradient of the characteristic: a₁ = 1

• The operating point should be located at the center of the characteristic. Based on the

setpoint position of axis XA in the WCS at the instant that the function is defined in the NC

program, the characteristic must be shifted in the negative Y direction: a₀ = -a₁ * XA_D = -1 *

$AA_IW

• a₂ = a₃ = 0

Characteristic

;$_'

Upper limit value

Lower limit value

XA_D

Setpoint of axis XA at the time that the function is defined in the NC program

Programming

Program code

Comment

FCTDEF(1,-100,100,-$AA_IW[XA],1)

; Function definition

5.2.3.2

Write online tool offset continuously (PUTFTOCF)

Using the predefined procedure PUTFTOCF(...), an online tool offset is executed based on a

polynomial function previously defined with FCTDEF(...) (Page 290).

Note

The online tool offset can also be realized using a synchronized action.

For further information, see Function Manual Synchronized Actions.

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5.2 Online tool offset

Syntax

PUTFTOCF(<Func>,<RefVal>,<ToolPar>,<Chan>,<Sp>)

Meaning

PUTFTOCF(...):

Write online tool offset, continuously block-by-block using the polynomial function

defined with FCTDEF(...)

<Func>:

Function number, defined in the function definition with FCTDEF(...)

Data type:

INT

Range of val-

1, 2, 3

ues:

<RefVal>:

Reference value, from which the offset is to be derived (e.g. setpoint of an axis).

Data type:

VAR REAL

<ToolPar>:

Number of the wear parameter (length 1, 2 or 3) in which the offset value is to be

included.

Data type:

INT

<Chan>:

Number of the channel in which the online tool offset is to take effect.

Note:

Only required if the offset is not to take effect in the active channel.

Data type:

INT

<Sp>:

Number of the spindle for which the online tool offset is to take effect.

Note:

Only required if the offset is to be applied to a non-active grinding wheel rather than

the active tool that is currently in use.

Data type:

INT

5.2.3.3

Write online tool offset, discrete (PUTFTOC)

Function

Using the predefined procedurePUTFTOC(...), an online tool offset is executed based on a fixed

offset value.

Syntax

PUTFTOC(<CorrVal>,<ToolPar>,<Chan>,<Sp>)

Meaning

PUTFTOC(...):

Write online tool offset

<CorrVal>:

Offset value, which is added to the wear parameter.

Data type:

REAL

<ToolPar>:

Number of the wear parameter (length 1, 2 or 3) in which the offset value is to be

included.

Data type:

INT

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5.2 Online tool offset

<Chan>:

Number of the channel in which the online tool offset is to take effect.

Note:

Only required if the offset is not to take effect in the active channel.

Data type:

INT

<Sp>:

Number of the spindle for which the online tool offset is to take effect.

Note:

Only required if the offset is to be applied to a non-active grinding wheel rather than

the active tool that is currently in use.

Data type:

INT

5.2.3.4

Activate/deactivate online tool offset (FTOCON/FTOCOF)

The online tool offset is activated or deactivated using the G commands FTOCON and FTOCOF.

Syntax

FTOCON

FTOCOF

Meaning

FTOCON:

Activate online tool offset

The command must be programmed in the channel in which the online tool offset

is to be activated.

FTOCOF:

Deactivate online tool offset

The command must be programmed in the channel in which the online tool offset

is to be deactivated.

Note:

On FTOCOF, the axis does not move further out for the tool offset. However, the

value calculated with PUTFTOC/PUTFTOCF remains in the cutting-specific offset da-

ta.

To finally deactivate the online tool offset, the tool (T...) must again be selected/

deselected after FTOCOF.

5.2.4

Supplementary conditions

DRF offset

The online tool offset is superimposed on the programmed axis motion, allowing for the defined

limit values (e.g. velocity).

If a DRF offset and online offset are active simultaneously for an axis, the DRF offset is considered

first.

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5.2 Online tool offset

Acceleration margin

The active online tool offset is traversed through at JOG velocity, allowing for the maximum

acceleration.

In case of FTOCON the following channel-specific machine data is taken into account:

MD20610 $MC_ADD_MOVE_ACCEL_RESERVE

An acceleration margin can thus be reserved for the movement which means that the overlaid

movement can be executed immediately.

Reference point approach

The valid online offset is deleted on reference point approach with G74.

Tool change

In cases where FTOCON has been active since the last tool or cutting edge change, preprocessing

stop with resynchronization is initiated in the control when a tool is changed.

Cutting edge changes can be implemented without preprocessing stop.

Note

Tool changes can be executed in conjunction with the online tool offset through the selection of

T numbers.

Tool changes with M6 cannot be executed in conjunction with the online tool offset function.

Machining plane and transformation

• FTOCON can be used only in conjunction with the "Inclined axis" transformation.

• It is not possible to change transformations or planes (e.g. G17 to G18) when FTOCON is

active, except in the FTOCOF state.

Resets and operating mode changes

• When online offset is active, NC-Stop and program end with M2/M30 are delayed until the

amount of compensation has been traversed.

• The online tool offset is immediately deselected in response to NC-Reset.

• Online tool offsets can be activated in AUTOMATIC mode and when the program is active.

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5.2 Online tool offset

5.2.5

Examples

5.2.5.1

Example: Write online tool offset continuously

;

① Grinding disk

② Dressing roller

Oscillating axis

Infeed axis: Grinding disk

Table axis

Infeed axis: Dressing roller

Figure 5-9

Surface grinding machine

Specifications

• Tool offset

- Machining plane: Y/Z plane (G19)

- Tool type: 401 (length 1 acts in Z, length 2 acts in Y)

• Channel 1: Machining channel, axes X, Y, Z

• Channel 2: Dressing channel, axis V

After the grinding operation has started at Y100, the grinding wheel must be dressed by 0.05

(in V direction). The dressing amount must be compensated continuously by means of an online

offset.

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5.2 Online tool offset

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Figure 5-10

Tool offset

Program (section) for channel 1: Machining channel

Program code

Comment

G1 G18 F10 G90

; initial setting

T1 D1

; select actual tool

S100 M3 X100

; switch-on spindle, X axis to initial po-

sition

INIT (2, "/_N_MPF_DIR/_N_ABRICHT_MPF",

; select: program "DRESS" in channel 2:

"S")

START (2)

; start: Channel 2

X200

; X axis at target position

FTOCON

; activate online offset

Program for channel 2: Dressing channel

The V axis traverses parallel to the Y axis, i.e. length 3 of the tool offset acts in the direction of

the Y axis, and must therefore be compensated..

Program code

Comment

PROC ABRICHT

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

; function definition

PUTFTOCF(1, $AA_IW[V], 3, 1)

; continuously write online tool offset:

;

- Function number: 1

;

- Reference value: Setpoint position

in the WCS of the V axis

;

- Tool parameters: Length 3 of the

grinding disk

;

- Channel: 1

;

- Spindle: active grinding disk

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5.3 Online tool radius compensation

Program code

Comment

V-0.05 G1 F0.01 G91

; infeed motion of the V axis for dressing

M30

5.3

Online tool radius compensation

Function

When the longitudinal axis of the tool and the contour are perpendicular to each other, the

offset can be applied as a length compensation to one of the three geometry axes (online tool

length compensation).

If this condition is not fulfilled, then the offset quantity can be entered as a real radius

compensation value (online tool radius compensation).

Enable

Online tool radius compensation must be enabled using machine data:

MD20254 $MC_ONLINE_CUTCOM_ENABLE = 1

Activation / deactivation

An online tool radius compensation is activated and deactivated using G commands FTOCON

and FTOCOF (Page 293) (in the same way as an online tool length compensation).

Parameter assignment

Online tool offset is parameterized using PUTFTOCF (Page 291) or PUTFTOC (Page 292).

The parameter <ToolPar> (wear parameter in which the correction value is to be calculated)

must be set for the online tool radius compensation as follows:

<ToolPar> = 4

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5.4 Grinding-specific tool monitoring

Boundary conditions

• A tool radius compensation, and thus also an online tool radius compensation, can be

activated only when the selected tool has a radius other than "0". This means that machining

operations cannot be implemented solely with a tool radius compensation.

• The online correction values should be low in comparison to the original radius to prevent the

permitted dynamic tolerance range from being exceeded when the offset is overlaid on the

axis movement.

• For grinding and turning tools (types 400 - 599), the correction value is applied as a function

of the cutting edge position, i.e. it acts as a radius compensation when tool radius

compensation is active and as a length compensation when tool radius compensation is

deactivated in the axes specified by the cutting edge position.

On all other tool types, the correction value is applied only when tool radius compensation

has been activated with G41 or G42. The correction value is canceled when tool radius

compensation is deactivated with G40.

5.4

Grinding-specific tool monitoring

5.4.1

Function

Grinding-specific tool monitoring is a combination of geometry and speed monitoring. It can be

activated for every grinding tool (tool type: 400 to 499).

Note

Monitoring of one tool is not deselected if the monitoring function is selected for another tool

provided the two tools are referred to different spindles.

One tool and thus also one tool monitor can be active for every spindle at any point in time.

Activated monitors remain active after a reset.

Geometry monitoring

The actual wheel radius and the actual wheel width are monitored.

The compensation value of the first cutting edge (D1) of a grinding tool which is referenced in

the parameter $TC_TPG9 is used as the current wheel radius. If monitoring is active, this value

is compared to the value in parameter $TC_TPG3 (minimum wheel radius).

Note

The monitoring function for the wheel radius remains active if an online tool offset is selected:

• when the monitoring function is activated

• when the current radius (online tool offset, wear parameter) or the current width ($TC_TPG5)

is altered

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5.4 Grinding-specific tool monitoring

The current wheel width is usually determined through the dressing cycle and can be entered in

parameter $TC_TPG5 of a grinding tool. If monitoring is active, this entered value is compared

to the value in parameter $TC_TPG4 (minimum wheel width).

If the current wheel radius falls below the value specified in the parameter $TC_TPG3 or the

current wheel width ($TC_TPG5) falls below the value defined in the parameter $TC_TPG4, the

control sets the following NC/PLC interface signal to "1":

DB31, ... DBX83.3 (geometry monitoring) == 1

Note

There is no controller-internal error response.

Speed monitoring

The speed monitor checks the grinding wheel peripheral speed in m/s (parameter $TC_TPG7) as

well as the maximum spindle speed in rpm (parameter $TC_TPG6).

The speed setpoint is monitored against the speed limitation cyclically with allowance for the

spindle override.

The speed limit is the smaller value resulting from the comparison of the maximum spindle

speed with the speed calculated from the maximum wheel peripheral speed and the current

wheel radius.

The speed limit value is recalculated:

• if monitoring is switched on

• if online correction values (wear parameters) are changed

When the speed limit value is reached, it is restricted to the speed limit value and the following

NC/PLC interface signal is set to "1":

DB31, ... DBX83.6 (speed monitoring) == 1

Note

There is no controller-internal error response.

Activation / deactivation

Activation/deactivation of grinding-specific tool monitoring is done by programming

of TMON(...)/TMOF(...) (Page 300) in the part program.

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5.4 Grinding-specific tool monitoring

5.4.2

Commissioning

Automatic activation

If, when selecting the tool length compensation of a grinding tool with an odd tool type number,

the grinding-specific tool monitoring is to be automatically activated, the following machine

data must be set to "1":

MD20350 $MC_TOOL_GRIND_AUTO_TMON (activation of tool monitoring) = 1

5.4.3

Programming

5.4.3.1

Activate/deactivate grinding-specific tool monitoring (TMON, TMOF)

With the predefined procedures TMON(...) and TMOF(...), the grinding-specific tool monitoring

is activated or deactivated (geometry and speed monitoring).

Requirement

The tool-specific parameters $TC_TPG1 to $TC_TPG9 must be set.

Syntax

TMON(<TNo>)

TMOF(<TNo>)

Meaning

TMON(...):

Activate grinding-specific tool monitoring

The command must be programmed in the channel in which the grinding-specific tool

monitoring is to be activated.

TMOF(...):

Deactivate grinding-specific tool monitoring

The command must be programmed in the channel in which the grinding-specific tool

monitoring is to be deactivated.

<TNo>:

T number

Note:

Only required if the monitoring is to be switched on or off for an inactive grinding wheel

rather than the active grinding wheel that is currently in use.

TMOF(0):

Deactivate monitoring for all tools

Tools

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5.5 Constant grinding wheel peripheral speed (GWPS)

5.5

Constant grinding wheel peripheral speed (GWPS)

5.5.1

Function

For grinding wheels, generally the wheel peripheral speed is used instead of the spindle speed.

The value to be set is determined by technological process parameters (e.g. grinding wheel

characteristic, material combination).

To be able to specify the wheel peripheral speed in the part program, the tool-specific

parameters $TC_TPG1 (Page 280), $TC_TPG8 (Page 282) and $TC_TPG9 (Page 283) must be set

and the function "Constant grinding wheel peripheral speed (GWPS)" must be activated.

Note

Activation of GWPS does not cause the automatic activation of tool length compensation or

grinding-specific tool monitoring!

As soon as the function is active, any subsequent S value for the spindle that is assigned to the

grinding wheel via $TC_TPG1 will be interpreted as grinding wheel peripheral speed. The

grinding wheel speed is set such that, taking account of the current wheel radius, the grinding

wheel peripheral speed remains constant.

The formula for calculating the speed is as follows:

68* >P V @

Q>PLQ @

5>P@

The correction value to be used for calculation is defined in the tool-specific parameter

$TC_TPG9. The associated wear and the base dimension as a function of the tool type are added

to this correction value. The sum total is divided by "cos" ($TC_TPG8) when the value of

parameter $TC_TPG8 (angle of inclined wheel) is positive, and is divided by "sin" ($TC_TPG8)

when the value is negative.

The speed is recalculated in response to the following events:

• Specification a new grinding wheel peripheral speed, e.g. by:

- programming in the part program/overstoring

- assignment to the address "S" in MDI

- spindle speed control via PLC (FC18).

• Changing the online correction values (wear parameters)

Activation / deactivation

Activation/deactivation of GWPS is implemented by programming GWPSON(...)/GWPSOF(...) in

the part program (see "Programming (Page 303)").

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5.5 Constant grinding wheel peripheral speed (GWPS)

Status

The following interface signal can be used to determine whether or not the GWPS is active:

DB31, ... DBX84.1 (GWPS active)

New tool

If GWPS is to be selected with a new tool for a spindle for which GWPS is already active, the active

GWPS must first be deselected (otherwise an alarm is output).

Response to reset/part program end

In the basic setting, GWPS is deactivated for a reset or end of part program and the spindle is

stopped. The machine data settings behind this behavior can be changed as needed (see

"Commissioning (Page 302)").

Additional properties

• GWPS can be activated for every grinding tool (tool type: 400 to 499) in each channel.

• GWPS can be active simultaneously for several spindles, each with a different grinding tool,

in the same channel.

5.5.2

Commissioning

Automatic activation

If the constant grinding wheel peripheral speed (GWPS) is to be automatically selected for a

spindle after Power On, and remain selected during mode switch, reset or end of the part

program, the following machine data bit must be set to "1":

MD35032 $MA_SPIND_FUNC_RESET_MODE Bit 0 = 1

Note

The prerequisite is that the tool be a grinding tool (tool type 400 to 499), the tool-specific

parameters $TC_TPG1, $TC_TPG8 and $TC_TPG9 are set, and $TC_TPG1 refers to a valid spindle.

Behavior of spindle after reset/part program end

If the spindle is not to stop after a reset or end of part program, but is to continue rotating at the

current speed, the following machine data must be set to "1":

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5.5 Constant grinding wheel peripheral speed (GWPS)

MD35040 $MA_SPIND_ACTIVE_AFTER_RESET = 1

Note

MD35040 only takes effect in the spindle mode open-loop control operation.

5.5.3

Programming

5.5.3.1

Switching constant grinding wheel peripheral speed (GWPSON, GWPSOF) on/off:

With the predefined procedures GWPSON(...) and GWPSOF(...), the constant grinding wheel

peripheral speed (GWPS) for grinding tools (tool type: 400 to 499) is switched on and off.

Syntax

GWPSON(<TNo>)

S<n>=... :

GWPSOF(<TNo>)

Meaning

GWPSON(...):

Switch on the constant grinding wheel peripheral speed

GWPSOF(...):

Switch off the constant grinding wheel peripheral speed

<TNo>:

T number

Note:

Only required if the constant grinding wheel peripheral speed is to be switch-

ed on or off for an inactive grinding wheel rather than the active grinding

wheel that is currently in use.

S<n>=…:

Grinding wheel peripheral speed in m/s or ft/s for spindle <n>

S0=... or S... :

Grinding wheel peripheral speed for the master spindle

Query status

The following system variable can be used to query from the part program whether the constant

grinding wheel peripheral speed is active for a specific spindle.

$P_GWPS[<n>] ; where <n> = spindle number

Value

Meaning

0 (= FALSE)

GWPS is inactive.

1 (= TRUE)

GWPS is active.

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5.5 Constant grinding wheel peripheral speed (GWPS)

5.5.4

Example

A constant grinding wheel peripheral speed is to be used for grinding tools T1 and T5. T1 is the

active tool.

Data of tool T1 (peripheral grinding wheel)

$TC_DP1[1,1] = 403

;tool type

$TC_DP3[1,1] = 300

;length1

$TC_DP4[1,1] = 50

;length2

$TC_DP12[1,1] = 0

;wear length 1

$TC_DP13[1.1] =0

;wear length 2

$TC_DP21[1.1] =300

;base length 1

$TC_DP22[1.1] =400

;base length 2

$TC_TPG1[1] = 1

;spindle number

$TC_TPG8[1] = 0

;angle of inclined wheel

$TC_TPG9[1] = 3

;parameter no. for radius calculation

Data of tool T5 (inclined grinding wheel)

$TC_DP1[5,1] = 401

;tool type

$TC_DP3[5,1] = 120

;length1

$TC_DP4[5,1] = 30

;length2

$TC_DP12[5,1] = 0

;wear length 1

$TC_DP13[5,1] =0

;wear length 2

$TC_DP21[5,1] =100

;base length 1

$TC_DP22[5,1] =150

;base length 2

$TC_TPG1[5] = 2

;spindle number

$TC_TPG8[5] = 45

;angle of inclined wheel

$TC_TPG9[5] = 3

;parameter no. for radius calculation

Programming

Program code

Comment

N20 T1 D1

; select T1 and D1

N25 S1=1000 M1=3

; 1000 rpm for spindle 1

N30 S2=1500 M2=3

; 1500 rpm for spindle 2

N40 GWPSON

; activate GWPS for active tool T1

N45 S[$P_ATPG[1]]=60

; set GWPS for active tool to 60 m/s

→ n=1909.85 rpm

N50 GWPSON(5)

; activate GWPS for tool 5 (spindle 2)

N55 S[$TC_TPG1[5]]=40

; set GWPS for spindle 2 to 40 m/s

→ n=1909.85 rpm

N60 GWPSOF

; deactivate GWPS for active tool

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5.6 Data lists

Program code

Comment

N65 GWPSOF(5)

; deactivate GWPS for tool 5 (spindle 2)

5.6

Data lists

5.6.1

Machine data

5.6.1.1

General machine data

Number

Identifier: $MN_

Description

18075

MM_NUM_TOOLHOLDERS

Maximum number of tool holders that can be defined

18094

MM_NUM_CC_TDA_PARAM

Number of TDA

18096

MM_NUM_CC_TOA_PARAM

Number of TOA

18100

MM_NUM_CUTTING_EDGES_IN_TOA

Tool offsets per TOA

5.6.1.2

Channelspecific machine data

Number

Identifier: $MC_

Description

20254

ONLINE_CUTCOM_ENABLE

Enable online tool radius compensation

20350

TOOL_GRIND_AUTO_TMON

Automatic tool monitoring

20610

ADD_MOVE_ACCEL_RESERVE

Acceleration reserve for overlaid movements

5.6.1.3

Axis/spindlespecific machine data

Number

Identifier: $MA_

Description

32020

JOG_VELO

Jog axis velocity

35032

SPIND_FUNC_RESET_MODE

Reset behavior of individual spindle functions

35040

SPIND_ACTIVE_AFTER_RESET

Independent spindle reset

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Table of contents

Preface

Introduction

1.1

About this documentation

Fundamental safety instructions

2.1

General safety instructions

2.2

Warranty and liability for application examples

2.3

Security information

Overview

Transformation definitions with kinematic chains

4.1

Function description

4.1.1

Characteristics

4.1.2

Defining machine kinematics

4.1.3

Effective transformations upon reset

4.1.4

Simulation/simultaneous recording with kinematic chains

4.1.5

Migration of kinematic transformations

4.1.6

Frames for kinematic transformations

4.1.7

Tool lengths

4.2

Commissioning

4.2.1

General

4.2.1.1

Overview

4.2.1.2

Structure of the system variables

4.2.2

Machine data

4.2.2.1

Maximum number of transformations with kinematic chains

4.2.2.2

Name of the reset transformation

4.2.2.3

Activation limit of the real-time dynamic monitoring (linear axes)

4.2.2.4

Activation limit of real-time dynamic monitoring (rotary axes)

4.2.2.5

Correction value for offset vectors for CORRTRAFO

4.2.2.6

Angular deviation for rotation vectors for CORRTRAFO

4.2.3

Use of system variables for kinematic transformations

4.2.4

General system variables for transformations

4.2.4.1

Overview

4.2.4.2

$NT_NAME

4.2.4.3

$NT_TRAFO_INDEX

4.2.4.4

$NT_TRAFO_TYPE

4.2.4.5

$NT_T_CHAIN_FIRST_ELEM

4.2.4.6

$NT_P_CHAIN_FIRST_ELEM

4.2.4.7

$NT_T_CHAIN_LAST_ELEM

4.2.4.8

$NT_P_CHAIN_LAST_ELEM

4.2.4.9

$NT_T_REF_ELEM

4.2.4.10

$NT_GEO_AX_NAME

4.2.4.11

$NT_ROT_AX_NAME

Transformations

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4.2.4.12

$NT_ROT_AX_OFFSET

4.2.4.13

$NT_ROT_OFFSET_FROM_FRAME

4.2.4.14

$NT_ROT_AX_CNT

4.2.4.15

$NT_CLOSE_CHAIN_P

4.2.4.16

$NT_CLOSE_CHAIN_T

4.2.4.17

$NT_TRAFO_INCLUDES_TOOL

4.2.4.18

$NT_AUX_POS

4.2.4.19

$NT_IDENT

4.2.4.20

$NT_CNTRL

4.2.4.21

$NT_BASE_TOOL_COMP

4.2.4.22

$NT_HIRTH_INC

4.2.4.23

$NT_HIRTH_OFF

4.3

Programming

4.3.1

Activating transformation (TRAFOON)

4.3.2

Deactivate transformation (TRAFOOF)

4.3.3

Constraints for TRAFOON and TRAFOOF

Kinematic transformations

5.1

End face transformation TRANSMIT_K (option)

5.1.1

Function

5.1.1.1

Face end transformation TRANSMIT

5.1.1.2

Machining options

5.1.1.3

Working area limitations

5.1.1.4

Overlaid motions with TRANSMIT

5.1.1.5

Monitoring of rotary axis rotations over 360º

5.1.2

Parameterization of the kinematic chain and transformation

5.1.2.1

Parameterization of kinematics and transformation (TRANSMIT_K)

5.1.2.2

Special system variables for TRANSMIT_K

5.1.2.3

$NT_POLE_SIDE_FIX

5.1.3

Parameterization with machine data (conventional)

5.1.3.1

Overview

5.1.3.2

Axis configuration

5.1.3.3

Specific settings

5.1.4

Programming

5.1.4.1

Activating TRANSMIT with TRAFOON

5.1.5

Constraints

5.1.6

Examples

5.1.6.1

"Kinematic chain" part program for TRANSMIT

5.1.6.2

Example with machine data parameterization

5.2

Cylinder surface transformation TRACYL_K (option)

5.2.1

Cylinder surface transformation TRACYL

5.2.2

Transformation types for TRACYL

5.2.3

Parameterization of the kinematic chain and transformation

5.2.3.1

Parameterization of kinematics and transformation (TRACYL_K)

5.2.3.2

System variables for TRACYL_K

5.2.4

Parameterization with machine data (conventional)

5.2.4.1

Overview

5.2.4.2

Axis configuration

5.2.4.3

Specific settings

5.2.5

Programming

101

5.2.5.1

Activating TRACYL with TRAFOON

101

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5.2.5.2

Activate cylinder surface transformation (TRACYL)

102

5.2.5.3

Activate cylinder surface transformation (TRACYL): Further information

103

5.2.6

Boundary conditions

105

5.2.7

Examples

108

5.2.7.1

"Kinematic chain" part program for TRACYL

108

5.2.7.2

Machining grooves on a cylinder surface with X-Y-Z-C kinematics

111

5.2.7.3

Machining grooves on a cylinder surface with X-Y-Z-A-C kinematics

116

5.3

Oblique angle transformation (inclined axis) TRAANG_K (option)

119

5.3.1

Oblique angle transformation (inclined axis) TRAANG_K

119

5.3.2

Parameterization of kinematic chain and transformation

121

5.3.2.1

Parameterization and kinematics and transformation (TRAANG_K)

121

5.3.2.2

System variables for TRAANG_K

122

5.3.3

Parameterization with machine data

123

5.3.3.1

Overview

123

5.3.3.2

Axis configuration

125

5.3.3.3

Specific settings

127

5.3.4

Programming

128

5.3.4.1

Activating TRAANG with TRAFOON

128

5.3.4.2

Activating an oblique angle transformation with programmable angle (TRAANG)

129

5.3.4.3

Activate oblique angle transformation with fixed angle (TRAANG)

130

5.3.4.4

Oblique plunge-cutting on grinding machines (G5, G7)

131

5.3.5

Boundary conditions

132

5.3.6

Example

135

5.3.6.1

"Kinematic chain" part program for TRAANG

135

5.3.6.2

Example

137

5.4

Rotary interpolation transformation TRAINT (option)

140

5.4.1

Function

140

5.4.1.1

Interpolation turning (TRAINT)

140

5.4.2

Parameterization of the kinematic chain and transformation

144

5.4.2.1

Parameterization of kinematics and transformation (TRAINT)

144

5.4.2.2

System variables for TRAINT

144

5.4.3

Programming

144

5.4.3.1

Activating TRAINT with TRAFOON

144

5.4.4

Supplementary conditions and recommendations for TRAINT

146

5.4.5

Examples

149

5.4.5.1

Example of kinematic chain

149

5.4.5.2

Example without tool rotation

154

5.4.5.3

Example for TRAINT

157

5.5

Chained transformations

159

5.5.1

Concatenating transformations (TRACON_K)

159

5.5.2

Additive system variables for transformation chains (TRACON_K)

160

5.5.2.1

$NT_TRACON_CHAIN

160

5.5.3

Concatenation for machine data parameterization

161

5.5.3.1

Introduction

161

5.5.3.2

System variables

163

5.5.4

Programming

165

5.5.5

Examples

167

5.5.5.1

Application example of chained transformations

167

5.5.5.2

Determining the axis positions in the transformation chain

171

5.6

Persistent transformations

173

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5.6.1

Persistent transformations in kinematic chains

173

5.6.2

Persistent transformation

174

5.7

Cartesian PTP travel

177

5.7.1

Function

177

5.7.2

Commissioning

180

5.7.2.1

Response after POWER ON

180

5.7.2.2

Response after reset/part program end

180

5.7.2.3

Consideration of the SW limits during PTP travel

181

5.7.2.4

Displaying STAT and TU

182

5.7.3

Programming

182

5.7.3.1

Activating/deactivating Cartesian PTP travel (PTP, PTPG0, PTPWOC, CP)

182

5.7.3.2

Specify the position of the joints (STAT)

183

5.7.3.3

Specify the sign of the axis angle (TU)

188

5.7.3.4

Example 1: PTP travel of a 6-axis robot with ROBX transformation

190

5.7.3.5

Example 2: PTP travel for generic 5-axis transformation

192

5.7.3.6

Example 3: PTPG0 and TRANSMIT

192

5.7.4

Supplementary conditions

194

5.8

Cartesian manual traversing (option)

195

5.9

Activating transformation machine data via part program/softkey

206

5.9.1

Function

206

5.9.2

Constraints

206

5.9.3

Control response to power ON, mode change, RESET, block search, REPOS

208

5.9.4

List of machine data affected

209

5.9.5

Example

211

5.10

Data lists

212

5.10.1

Machine data

212

5.10.1.1

TRANSMIT

212

5.10.1.2

TRACYL

213

5.10.1.3

TRAANG

215

5.10.1.4

Chained transformations

216

5.10.1.5

Non transformation-specific machine data

216

Orientation transformations

217

6.1

Orientation transformations via kinematic chains

217

6.1.1

Dynamic orientation transformation TRAORI_DYN

217

6.1.2

Static orientation transformation TRAORI_STAT

219

6.2

3 to 5-axis transformation

220

6.2.1

5-axis Transformation

220

6.2.2

Machine types for 5-axis transformation

223

6.2.3

Singular positions and handling

224

6.3

Comparison of system variables and machine data

227

6.4

Parameterization via kinematic chains

228

6.4.1

3 to 5-axis transformation via kinematic chains

228

6.4.1.1

Definition of the machine kinematics

228

6.4.1.2

Definition of the transformation

231

6.4.2

Additive system variable for orientation transformation

233

6.4.2.1

Overview

233

6.4.2.2

$NT_BASE_ORIENT

233

6.4.2.3

$NT_BASE_ORIENT_NORMAL

234

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6.4.2.4

$NT_POLE_LIMIT

235

6.4.2.5

$NT_POLE_LIMIT

237

6.4.2.6

$NT_POLE_TOL

239

6.4.2.7

$NT_IGNORE_TOOL_ORIENT

240

6.4.2.8

$NT_CORR_ELEM_T

241

6.4.2.9

$NT_CORR_ELEM_P

242

6.4.2.10

$NT_ROT_AX_POS

243

6.4.2.11

$NT_ROT_AX_MIN

244

6.4.2.12

$NT_ROT_AX_MAX

245

6.5

Parameterization with machine data (conventional)

245

6.5.1

Conventional 3 to 5-axis transformations

245

6.5.1.1

General specifications

245

6.5.1.2

Configuration of a machine for 5-axis transformation

246

6.5.1.3

Activation via parts/program/softkey

252

6.5.1.4

3-axis and 4-axis transformations

252

6.5.1.5

Transformation with swiveled linear axis

254

6.6

Restrictions for kinematics and interpolation

260

6.6.1

Restrictions for kinematics and interpolation

260

6.6.2

Singularities of orientation

260

6.7

Orientation

262

6.7.1

Definition of orientation vectors

262

6.7.2

Programming the tool orientation

264

6.7.3

Basic orientation with kinematic chain

270

6.7.4

Basic orientation for conventional transformations

270

6.7.5

Orientation movements with axis limits

272

6.7.6

Orientation compression

274

6.7.7

Smoothing of the orientation characteristic

279

6.7.7.1

Function

279

6.7.7.2

Commissioning

279

6.7.7.3

Activating/deactivating the orientation characteristic (ORISON, ORISOF)

280

6.7.8

Path-relative orientation (ORIPATH, ORIPATHS, ORIROTC)

281

6.7.9

Programming of orientation polynominals

287

6.7.10

System variable for tool orientation

290

6.8

Orientation axes

292

6.8.1

Orientation axes - overview

292

6.8.2

Configuration of orientation axes

293

6.8.3

Interpolation of orientation axes

295

6.8.4

JOG mode

297

6.8.5

Programming for orientation transformation

298

6.8.6

Programmable offset for kinematic chains

300

6.8.7

Programmable offset for orientation axes (conventional)

301

6.8.8

Orientation transformation and orientable tool holders

302

6.8.9

Modulo display of orientation axes

302

6.9

Orientation vectors

303

6.9.1

Polynomial interpolation of orientation vectors

303

6.9.2

Rotations of orientation vector

307

6.9.3

Extended interpolation of orientation axes

311

6.10

Online tool length offset

315

6.11

Cardan milling head

320

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6.11.1

Universal milling head

320

6.11.2

Fundamentals of cardan milling head

321

6.11.3

Parameterization

323

6.11.4

Traverse of the cardan milling head in JOG mode

324

6.12

Generic 5-axis transformation and variants

325

6.12.1

Functionality

325

6.12.2

Description of machine kinematics

326

6.12.3

Generic orientation transformation variants

327

6.12.4

Parameterization of orientable toolholder data

329

6.12.5

Extension of the generic transformation to 6 axes

332

6.12.6

Extension of the generic transformation to 7 axes

335

6.12.7

Cartesian manual travel with generic transformation

340

6.13

Programming

341

6.13.1

Activating TRAORI_DYN and TRAORI_STAT with TRAFOON

341

6.13.2

Modifying the orientation transformation after the machine measurement (CORRTRAFO)...

341

6.13.3

Conventional transformations

349

6.13.3.1

Three, four and five axis transformation (TRAORI)

349

6.13.3.2

Programming of the 3- to 5-axis transformation

351

6.14

Examples

352

6.14.1

Examples TRAORI_DYN

352

6.14.1.1

Settings for TRAORI_DYN

352

6.14.1.2

Part program for TRAORI_DYN

355

6.14.2

Example of a 5-axis transformation

357

6.14.3

Example of a 3-axis and 4-axis transformation

359

6.14.3.1

Example of a 3-axis transformation

359

6.14.3.2

Example of a 4-axis transformation

360

6.14.4

Example of a universal milling head

360

6.14.5

Example for orientation axes

361

6.14.6

Examples for orientation vectors

364

6.14.6.1

Example for polynomial interpretation of orientation vectors

364

6.14.6.2

Example of rotations of orientation vector

365

6.14.7

Examples for generic axis transformations

365

6.14.7.1

Example of generic 5-axis transformation

365

6.14.7.2

Example of a generic 6-axis transformation

367

6.14.7.3

Example of a generic 7-axis transformation

368

6.14.7.4

Example for the modification of rotary axis motion

369

6.15

Data lists

369

6.15.1

Machine data

369

6.15.1.1

General machine data

369

6.15.1.2

Channelspecific machine data

370

6.15.1.3

Channelspecific machine data

373

6.15.2

Setting data

376

6.15.2.1

General setting data

376

6.15.2.2

Channelspecific setting data

376

Appendix

377

A.1

List of abbreviations

377

A.2

Documentation overview

382

Index

383

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Introduction

1.1

About this documentation

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

SINUMERIK Function Manuals

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

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

programmers.

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

topic.

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

which topics a Function Manual covers:

Function Manual

Topic

Basic functions

Basic functions of a CNC control

Axes and spindles

Axis and spindle functions, axis couplings

Transformations

Transformation functions

Monitoring and compensating

Axis monitoring and compensation functions, collision avoid-

ance

Tools

Functions for selection, correction and monitoring of tools

Synchronized actions

Functionality of synchronized actions

PLC

Structure and functions of the PLC

Tool management

Function, commissioning and programming of tool manage-

ment

Technologies (for SINUMERIK ONE

Extended technological functionalities

and SINUMERIK 840D sl only)

Overview of contents

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

in a Function Manual on the title page.

Validity

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

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

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Introduction

1.1 About this documentation

System data

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

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

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

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

PLC blocks

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

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

other SINUMERIK controls.

Interface signals

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

interface signals.

General graphical conventions

Examples

<signal address> (<signal name>)

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

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

Note

Quantity structure

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

the following components:

• Mode groups (DB11)

• Channels (DB21, etc.)

• Axes/spindles (DB31, etc.)

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Fundamental safety instructions

2.1

General safety instructions

WARNING

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

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

observed, accidents involving severe injuries or death can occur.

• Observe the safety instructions given in the hardware documentation.

• Consider the residual risks for the risk evaluation.

WARNING

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

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

can lead to injuries or death.

• Protect the parameterization against unauthorized access.

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

emergency off.

2.2

Warranty and liability for application examples

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

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

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

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

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

using, installing, operating and maintaining the equipment.

2.3

Security information

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

secure operation of plants, systems, machines and networks.

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

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

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

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

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

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Fundamental safety instructions

2.3 Security information

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

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

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

visit

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

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

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

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

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

threats.

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

under

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

services/cert.html#Subscriptions).

Further information is provided on the Internet:

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

view/108862708)

WARNING

Unsafe operating states resulting from software manipulation

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

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

• Keep the software up to date.

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

security concept for the installation or machine.

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

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

protection measures, e.g. virus scanners.

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

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Overview

The parameterization of kinematic transformations depends on the machine kinematics. The

transformation used must therefore be adapted to each machine kinematics.

Definition of the machine kinematics via a kinematic chain

The machine kinematics is defined as a kinematic chain. You can find detailed information about

kinematic chains in the Function Manual "Basic functions".

Note

Using kinematic chains in new projects

The machine geometry parameterized via kinematic chains can be used for further applications

such as collision avoidance. This type of configuration is recommended for the creation of new

projects.

There is a set of system variables each for the geometry and the transformation.

• The geometry is defined as a kinematic chain.

• The number of geometry, rotary and orientation axes is defined by system variables.

• The transformation is specified via the transformation type, e.g. TRANSMIT_K as end face

transformation.

Definition of the machine kinematics via machine data

This variant, which has already been introduced for some time, works with machine data and

transformation types:

• The transformation type is specified with number codes, e.g. transformation type 512

corresponds to TRACYL with slot side offset.

• Machine data is used to define the individual axes and their position relative to each other.

Available transformations

• End face transformation TRANSMIT_K (option) (Page 55)

• Cylinder surface transformation TRACYL_K (option) (Page 83)

• Oblique angle transformation (inclined axis) TRAANG_K (option) (Page 119)

• Rotary interpolation transformation TRAINT (option) (Page 140)

• Orientation transformations (Page 217)

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Transformation definitions with kinematic chains

4.1

Function description

4.1.1

Characteristics

In this chapter, a description is provided as to how transformations are mapped using a

kinematic chain and parameterized in the control system using system variables. The system

variables are retentively saved in the NC and can be archived and/or read as "NC data" via

SINUMERIK Operate using the commissioning archive.

Transformations via kinematic chains

The machine kinematics relevant to kinematic transformations is described by two kinematic

chains:

• One chain points from the machine zero point (zero point of the world coordinate system) to

the workpiece reference point (part segment).

• The other chain points from the machine zero point to the tool reference point (tool

segment).

One of the two chains can also be empty (for pure table or tool kinematics).

=HUR SRLQW RI WKH WRRO

FRRUGLQDWH V\VWHP

7RRO FKDLQ

=HUR SRLQW RI WKH

ZRUNSLHFH FRRUGLQDWH

V\VWHP

:RUNSLHFH FKDLQ

=HUR SRLQW RI WKH ZRUOG

FRRUGLQDWH V\VWHP

Figure 4-1

Definition of a transformation via kinematic chains

Both kinematic chains are merged internally into a single kinematic chain, which, by definition,

begins at the workpiece reference point and ends at the tool reference point.

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Transformation definitions with kinematic chains

4.1 Function description

Definition of the kinematic transformation

The definition of kinematic transformations via kinematic chains is used to standardize the

definition of the previous transformation types. If you have already defined the machine

kinematics for another application, e.g. collision avoidance, you can continue to use it for the

transformations.

The following transformations are taken into consideration:

• TRAORI

- TRAORI_DYN; dynamic orientation transformation

- TRAORI_STAT; static orientation transformation

• TRANSMIT_K; end face transformation

• TRACYL_K; peripheral surface transformation

• TRAANG_K; oblique angle transformation

• TRAINT; rotary interpolation transformation

4.1.2

Defining machine kinematics

Transformations with kinematic chains are defined in two steps:

• Definition of the machine kinematics

• Definition of the transformation

Defining machine kinematics

The machine kinematics (geometry of the machine) is described via kinematic chains.

The function and the relevant system variables are described in the Function Manual "Basic

Functions", Section "Kinematic chains". These system variables are structured according to the

scheme $NK_... Important system variables include:

System variable

$NK_NAME

Name of the current element

$NK_NEXT

Name of the next element

$NK_PARALLEL

Defines a parallel kinematic chain. As a result, the second chain can be defined parallel to the

first chain.

$NK_TYPE

Defines the type of the element, e.g. AXIS_LIN, AXIS_ROT, OFFSET, ROT_CONST, SWITCH

$NK_OFF_DIR

Defines the rotation vector relative to the machine axis

$NK_AXIS

Name of the machine axis

$NK_A_OFF

Defines the work offset of the assigned machine axis.

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Transformation definitions with kinematic chains

4.1 Function description

See also

General system variables for transformations (Page 26)

Examples TRAORI_DYN (Page 352)

Defining transformation

The description of the machine kinematics with kinematic chains is not sufficient to completely

specify a kinematic transformation. The transformations can be completely defined via system

variables with the $NT_... prefix. The system variables available for the transformation are

divided into the following parts:

• System variables that are relevant for all transformations.

• System variables that are only relevant for specific transformations.

You can find a complete list under General system variables for transformations (Page 22).

Among other things, the following general system variables are available:

System variable

Description

$NT_NAME

Name of the transformation dataset.

$NT_TRAFO_INDEX

Identifier for alternative transformation activation; a transformation defined with kinematic

chains can also be activated using the conventional language commands (e.g. TRAORI)

instead of the TRAFOON method.

$NT_TRAFO_TYPE

Type of transformation (TRAORI_DYN, TRAORI_STAT, TRAANG_K, TRANSMIT_K, TRACYL_K,

TRAINT)

$NT_T_CHAIN_LAST_ELEM

Name of the last element of the kinematic chain to the tool.

$NT_P_CHAIN_LAST_ELEM

Name of the last element of the kinematic chain to the workpiece.

$NT_T_CHAIN_FIRST_ELEM

Name of the first element in the tool chain

$NT_P_CHAIN_FIRST_ELEM

Name of the first element of the workpiece chain

$NT_GEO_AX_NAME

Names of the elements of the geometry axes. With $NT_GEO_AX_NAME, a maximum of 3

linear axes are referenced. The linear axes carry out the compensating movements which

result from the kinematic transformation.

$NT_ROT_AX_NAME

Names of the elements of the orientation axes. With $NT_ROT_AX_NAME, a maximum of 3

linear axes are referenced.

$NT_CLOSE_CHAIN_T

Reference element for closing the kinematic chain to the workpiece.

$NT_ROT_AX_OFFSET

Position offset of a/the rotary axis for the active transformation.

$NT_CNTRL

Control word

4.1.3

Effective transformations upon reset

Active transformation upon reset

The kinematic transformation that is in effect during a reset is defined via the machine data

$MC_TRAFO_RESET_NAME.

If no name has been defined for $MC_TRAFO_RESET_NAME, $MC_TRAFO_RESET_VALUE is

active or no transformation is active upon reset. The contents of this machine data specifies the

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Transformation definitions with kinematic chains

4.1 Function description

number of the conventional transformation to be activated. Conventional transformations are

not defined via kinematic chains, but via machine data.

Furthermore, the machine data $MC_RESET_MODE_MASK Bit 7 acts as it does for conventional

transformations. If bit 7 is set, the active transformation is retained after the reset or the end of

the part program.

4.1.4

Simulation/simultaneous recording with kinematic chains

Machine data $MNS_FUNCTION_MASK_SIM

To correctly carry out the simulation and simultaneous recording, the machine data MD 51226

$MNS_FUNCTION_MASK_SIM Bit 22 must be set.

The transformations TRAORI_DYN, TRANSMIT_K, TRACYL_K and TRAANG_K are affected by this.

4.1.5

Migration of kinematic transformations

Conventional transformations

Conventional transformations are understood to mean transformations that are defined via

machine data. These transformation definitions remain valid and can be used without

restrictions.

The variant available as of V4.8. SP2 also allows kinematic transformations to be defined via

kinematic chains and system variables.

Managing data only once

For the parallel use of conventional transformations and transformations via kinematic chains,

the problem occurs in which identical machine kinematics may be parameterized with different

NC data, namely, once with machine data and once with data from the system variables of the

kinematic chains and the transformations. As a result, inconsistencies in the data management

can occur.

Activating a transformation

The following functions are available for the activation of kinematic transformations:

• Syntax for transformations via kinematic chains: TRAFOON (Page 52) (<name>)

• Syntax for conventional transformations: TRAORI(...), TRANSMIT(...), TRACYL(...),

TRAANG(...), TRAINT(...)

Transformations which have been defined via kinematic chains can be called via the syntax for

conventional transformations.

To this end, the transformation that is to be called must be defined via the system variable

$NT_TRAFO_INDEX (Page 28).

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Transformation definitions with kinematic chains

4.1 Function description

The following also applies:

• If a transformation has been defined conventionally and with a kinematic chain, the

transformation is called via a kinematic chain.

• No check is made to determine whether the called transformation is of a type that is

compatible with the transformation type of the original call.

• Call parameters of a conventional transformation call are forwarded to the transformation

defined with kinematic chains.

Restrictions for TRAANG_K

For a conventional TRAANG transformation (transformation of "inclined axis"), the angle of the

inclined axis is defined opposing the corresponding coordinate axis in a perpendicular

coordinate system by means of machine data (24700 $MC_TRAANG_ANGLE_x).

However, this angle can be changed during a transformation call, e.g. TRAANG(<α>), in a

parameter.

Therefore, specifying the angle parameter is only permitted when this angle is identical to the

angle that results from the definition of the kinematic chain.

Orientation transformations

For orientation transformations, which are parameterized with kinematic chains, the content of

the system variable $P_TRAFO is defined for compatibility reasons.

With an active orientation transformation, $P_TRAFO provides the values that would be

contained in the machine data $MC_TRAFO_TYPE_x for the conventional parameterization of a

corresponding transformation, i.e. the value 24 for "tool" kinematics, the value 40 for

"workpiece" kinematics, and either the value 56 or 57 for mixed kinematics.

The value 57 can only occur with 6-axis transformations if the tool chain contains one

orientation axis and the workpiece chain contains two orientation axes.

4.1.6

Frames for kinematic transformations

Frames for the description of kinematic chains

With the system variables $P_TRAFRAME_T or $P_TRAFRAME_P, frames can be read out which

describe the offset and the rotation of a coordinate system secured at the tool reference point

or at the workpiece reference point, compared to the zero point of the world coordinate system.

The contents of these frame variables can also be read via the BTSS interface.

The zero point of the world coordinate system is the point from which the kinematic chains

(Page 17) are defined for describing the machine kinematics.

Transformations

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4.2 Commissioning

4.1.7

Tool lengths

If the portion of the kinematic chain that leads to the tool is part of the tool, then the tool

reference point and the tool reference position that was set via $NT_T_REF_ELEM are no longer

identical.

The following applies to the NC functions, GETTCORR, SETTCORR and LENTOAX, for which the

tool reference point is important:

The portion of the kinematic chain that lies between the tool reference position and the tool

reference point is handled like an orientable tool carrier, which has been defined via machine

data.

4.2

Commissioning

4.2.1

General

4.2.1.1

Overview

The startup of the function "Transformations via kinematic chains" is done by means of:

• Machine data

- Specification of the quantity structure

- Specification of the first element in the kinematic chain

• System variables

- Definition of the transformation type

- Specification of the kinematic properties of an element

- Connection of the element to the kinematic chain

4.2.1.2

Structure of the system variables

The system variables are structured according to the following scheme:

• $NT_<Name>[<Index_1>]

• $NT_<Name>[<Index_1>, <Index_2>]

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4.2 Commissioning

General

The system variables to describe the elements of kinematic chains have the following properties:

• The prefix for all of the system variables of the kinematic chain is $NT_, (N for NC, K for

transformation).

• The system variables can be read and written via NC programs.

• The system variables can be stored in archives and loaded to the NC again.

Data type

STRING

All system variables of the STRING data type have the following properties:

• Maximum string length: 31 characters

• No distinction is made between upper and lower case

Example: "Axis1" is identical to "AXIS1"

• Spaces and special characters are permitted

Example: "Axis1" is not identical to "Axis 1"

• Names that start with two underscores "__" are reserved for system purposes and must not

be used for user-defined names.

Note

Leading space

Since spaces are valid and distinct characters, names that start with a space followed by two

underscores "__" can, in principle, be used for user-defined names. However, because they

can be easily mistaken for system names, this procedure is not recommended.

Index_1

The individual elements are addressed via index_1. Index 0 is reversed, index 1 → 1. Element,

index 2 → 2. Element, ... (n+1) → (n+1) element, with n = ($MN_MM_NUM_KIN_TRAFOS - 1)

All system variables of an element have the same index.

Index_2

For system variables that contain a vector, the coordinates of the vector are addressed via

index_2.

•

0 → X axis

•

1 → Y axis

•

2 → Z axis

Transformations

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4.2 Commissioning

4.2.2

Machine data

4.2.2.1

Maximum number of transformations with kinematic chains

The maximum number of transformations that can be defined with kinematic chains is set using

the machine data

MD18866 $MN_MM_NUM_KIN_TRAFOS = <number>

4.2.2.2

Name of the reset transformation

The name of a transformation is specified with the machine data that is selected during run-up/

reset or at the end of the part program.

MD20142 $MC_TRAFO_RESET_NAME = <name>

4.2.2.3

Activation limit of the real-time dynamic monitoring (linear axes)

The activation limit of the real-time dynamic monitoring for linear axes is specified with the

machine data. Real-time dynamic limiting is activated when the deviation at a linear axis

participating in the transformation or the effective tool length for an orientation transformation

deviates by more than the defined limit.

MD21198 $MC_ORI_TRAFO_ONLINE_- CHECK_LIM = <value>

4.2.2.4

Activation limit of real-time dynamic monitoring (rotary axes)

The activation limit of real-time dynamic monitoring for rotary axes is specified with the machine

data. Real-time dynamic limiting is activated when the deviation at a linear axis participating in

the transformation or the effective tool length for an orientation transformation deviates by

more than the defined limit.

MD21198 $MC_ORI_TRAFO_ONLINE_- CHECK_LIMR = <value>

4.2.2.5

Correction value for offset vectors for CORRTRAFO

The maximum permitted correction value for offset vectors for CORRTRAFO is parameterized

with the setting data.

SD41610 $SN_CORR_TRAFO_LIN_MAX = <value>

4.2.2.6

Angular deviation for rotation vectors for CORRTRAFO

The maximum permitted angular deviations for rotation vectors for CORRTRAFO is

parameterized with the setting data.

SD41611 $SN_CORR_TRAFO_DIR_MAX = <name>

Transformations

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4.2 Commissioning

4.2.3

Use of system variables for kinematic transformations

Usage table

The following table shows which $NT data is relevant for the individual types of transformations.

Note

Changed data

Modified data (e.g. $NT_xxx or $NK_yyy) become effective after NEWCONF if the data does not

concern an active transformation (attention if there are persistent transformations or

transformations which remain active via reset/end of part program). If the data to be activated

with NEWCONF concern an active transformation, an alarm is output.

Modified data (e.g. $NT_xxx or $NK_yyy) only become effective after a TRAFOOF and a

subsequent NC reset or NEWCONF or program end (M30).

Changed data (e.g. $NT_xxx or $NK_yyy) become effective after NCK-PowerOn.

Variable

OPI (col-

TRAORI_ST

TRAORI_D

TRANS-

TRAC-

TRAANG_K

TRAINT

umn ind.)

MIT_K

YL_K

$NT_NAME[n]

1200

$NT_TRAFO_INDEX[n]

1295

$NT_TRAFO_TYPE[n]

1201-1203

$NT_T_CHAIN_LAST_EL-

1204

EM[n]

$NT_P_CHAIN_LAST_EL-

1207

EM[n]

$NT_T_CHAIN_FIRST_EL-

1203

EM[n]

$NT_P_CHAIN_FIRST_EL-

1206

EM[n]

$NT_T_REF_ELEM[n]

1208

$NT_GEO_AX_NAME[n,0.

1210-1222

0,1,2

.2]

$NT_ROT_AX_NAME[n,0..

1220-1222

0,1,2

$NT_CLOSE_CHAIN_T[n]

1226

$NT_BASE_ORI-

1280-1285

ENT[n,0..2]

$NT_BASE_ORIENT_NOR-

1283-1285

MAL[n,0..2]

$NT_ROT_OFF-

1288

SET_FROM_FRAME[n]

$NT_POLE_LIMIT[n]

1286

$NT_POLE_TOL[n]

1287

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4.2 Commissioning

Variable

OPI (col-

TRAORI_ST

TRAORI_D

TRANS-

TRAC-

TRAANG_K

TRAINT

umn ind.)

MIT_K

YL_K

$NT_IGNORE_TOOL_ORI-

1289

ENT[n]

$NT_ROT_AX_POS[n]

1230-1232

$NT_CORR_ELEM_T[n,

1235-1238

0..3]

$NT_CORR_ELEM_P[n,

1320-1323

0..3]

$NT_TRAFO_IN-

1290

CLUDES_TOOL[n]

$NT_POLE_SIDE_FIX[n]

1291

$NT_CNTRL[n]

1294

$NT_AUX_POS[n,0..2]

1300-1302

$NT_IDENT[n, 0..2]

1310-1312

$NT_ROT_AX_CNT[n,

1316-1317

0..1]

$NT_BASE_TOOL_COMP

1396

$NT_ROT_AX_OFFSET[n,

1324-1326

$NT_ROT_AX_POS[n,

1230-1232

0..2]

$NT_ROT_AX_MIN[n,

1260-1262

0..2]

$NT_ROT_AX_MAX[n,

1270-1272

0..2]

$NT_HIRTH_OFF[n, 0..2]

1240-1242

$NT_HIRTH_INC[n, 0..2]

1250-1252

"x" affects the transformation.

"-" has no effect on the transformation

"~" has no effect on the transformation in the numerical control, but can be properly used for purposes outside of NC.

"Numbers" permitted axis indices (0 to 2)

"Column index"; column index of the variables in the operator panel interface in block N_PA (0x35).

4.2.4

General system variables for transformations

4.2.4.1

Overview

System variable

Meaning

$NT_NAME

Name of the transformation dataset

$NT_TRAFO_INDEX

Identifier for alternative transformation activation

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4.2 Commissioning

System variable

Meaning

$NT_TRAFO_TYPE

Transformation type

$NT_T_CHAIN_LAST_ELEM

Name of the last element of the tool chain

$NT_P_CHAIN_LAST_ELEM

Name of the last element of the workpiece chain

$NT_T_CHAIN_FIRST_ELEM

Name of the first element in the tool chain

$NT_P_CHAIN_FIRST_ELEM

Name of the first element of the workpiece chain

$NT_T_REF_ELEM

Name of the reference element for tool length

$NT_GEO_AX_NAME

Names of the elements of the geometry axes

$NT_ROT_AX_NAME

Names of the elements of the orientation axes

$NT_CLOSE_CHAIN_P

Reference element for closing the kinematic chain to the tool

$NT_CLOSE_CHAIN_T

Reference element for closing the kinematic chain to the work-

piece

$NT_ROT_OFFSET_FROM_FRAME

Importing the rotary axis offset from the work offset upon selection

of the transformation:

$NT_TRAFO_INCLUDES_TOOL

Defines whether the tool length is handled in the transformation or

- if the transformation permits it - outside of the transformation.

$NT_AUX_POS

Auxiliary position for cycles, e.g. retraction position

Note Has no meaning for the transformation

$NT_IDENT

Identification number for user-specific program management

Note Has no meaning for the transformation

$NT_CORR_ELEM_T

Names of a maximum of four correction elements in the kinematic

chain for the tool

$NT_CORR_ELEM_P

Names of a maximum of four correction elements in the kinematic

chain for the workpiece

$NT_CNTRL

Control word

The system variables are described in detail in the following sections.

Note

Establish a defined initial state

It is recommended that a defined initial state be generated before parameterizing the kinematic

chain. For this purpose, the system variables of the kinematic chain and the transformation with

the function DELOBJ() must be set to their default values.

Change system variable values

• Modified data (e.g. $NT_xxx or $NK_yyy) become effective after NEWCONF if the data does

not concern an active transformation (attention: persistent transformations or

transformations that remain active via reset/end of part program). If the data to be activated

with NEWCONF concern an active transformation, an alarm is output.

• Modified data (e.g. $NT_xxx or $NK_yyy) only become effective after a TRAFOOF and a

subsequent NC reset or NEWCONF or program end (M30).

• Changed data (e.g. $NT_xxx or $NK_yyy) become effective after NCK-PowerOn.

Transformations

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4.2 Commissioning

4.2.4.2

$NT_NAME

Function

The NC-wide unique name of the transformation dataset or transformation must be entered in

the system variable. The transformation is referenced via this name, e.g. upon activation with

TRAFOON. If the zero string ("") is entered as the name, the transformation is considered to be

undefined.

Syntax

$NT_NAME[<n>] = "<Name>"

Meaning

$NT_NAME:

Name of the transformation

Data type:

STRING

Default value:

"" (empty string)

<n>:

System variable or transformation index

Data type:

INT

Range of values:

1, 2, ... (MD18866 $MN_MM_NUM_KIN_TRAFOS - 1)

<name>:

Transformation name, max. string length: 31 characters

Data type:

STRING

Example

The name "5-axis transformation C-B" is assigned to the first transformation with kinematic

chains:

Program code

Comment

N100 $NT_NAME[1] = "5-axis transformation

; 1st transformation,

C-B"

; name = "5-axis transformation C-B"

4.2.4.3

$NT_TRAFO_INDEX

Function

To ensure that a transformation can also be called via the corresponding conventional

command, e.g. the orientation transformation via TRAORI, an NC-wide, unique identifier must

be entered in the system variable. The identifier identifies a transformation with kinematic

chains by means of the transformation type, transformation number and channel number to

which a transformation that is called conventionally with this identifier is diverted

(TRAORI(<identifier>, ...)). The identifier is decimally coded.

Transformations

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4.2 Commissioning

Syntax

$NT_TRAFO_INDEX[<n>] = <Id>

Meaning

$NT_TRAFO_INDEX:

Identifier, decimally coded (CCBBA)

Data type:

INT

Default value:

Decimal place

Meaning

Ones digit (xxxxA)

Transformation type

The type of the transformation that is parameterized in this dataset:

Value

Meaning

TRAORI

TRANSMIT

TRACYL

TRAANG

TRACON

Value range:

1, 2, 3, 4, 5

$NT_TRAFO_INDEX:

Tens and hundreds

Transformation number

digits (xxBBx)

(continued)

The number <n>, which references the nth channel-specific machine dataset

of this type (MD24100ff or MD25100ff) for a conventional call of a transfor-

mation type, e.g. orientation transformation TRAORI(<n>). The number can

be specified for a conventional call of the first transformation of a type

(e.g. TRAORI, TRAORI(), TRAORI(0), TRAORI(1)). All of the calls refer-

ence the 1st dataset of the transformation type in the channel. The

number must be specified after the call of the second transformation of a type

(e.g. TRAORI(2)).

Value range:

1, 2, 3, ... max. dataset number of the transformation

type

$NT_TRAFO_INDEX:

Thousands and ten-

Channel number

thousands digit

(continued)

The channel number defines which channel the current dataset is valid for. If

(CCxxx)

the conventional transformation call of an orientation

transformation TRAORI takes place, for example, in the second channel, a

transformation with kinematic chains must be parameterized with a channel

number equal to 2.

Value range:

0, 1, 2, 3, ... max. number of channels, 99

•

0 and 1: valid for channel 1

•

2, 3, ...: valid for channel 2, 3, ...

•

99: valid for all channels

<n>:

System variable or transformation index

Data type:

INT

Value range:

1, 2, ... (MD18866 $MN_MM_NUM_KIN_TRAFOS - 1)

<Id>:

Identifier

Data type:

INT

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4.2 Commissioning

Example

The call of the first orientation transformation TRAORI(2) in the third channel should be

diverted to the second transformation with kinematic chains.

Program code

Comment

N100 $NT_TRAFO_INDEX[1] = 03021

; 1st transformation with kin. chains,

; 1st orientation transformation for chan-

nel 3

4.2.4.4

$NT_TRAFO_TYPE

Function

The designation of the transformation type must be entered in the system variable.

Syntax

$NT_TRAFO_TYPE[<n>] = "<TrafoType>"

Meaning

$NT_TRAFO_TYPE:

Transformation type

Data type:

STRING

Default value:

Value range:

Value

Meaning

"TRAORI_DYN"

Dynamic orientation transformation

with orientation axes

"TRAORI_STAT"

Static orientation transformation with-

out orientation axes

"TRAANG"

Inclined angle transformation without

orientation axes

"TRAANG_K"

Oblique angle transformation

(The extension "_K" distinguishes it

from a conventionally defined TRAANG

transformation)

"TRANSMIT_K"

Face end transformation TRANSMIT

"TRACYL_K"

Cylinder surface transformation TRAC-

"TRACON_K"

Concatenating transformations

"TRAINT"

Interpolation turning

<n>:

System variable or transformation index

Data type:

INT

Value range:

1, 2, ... (MD18866 $MN_MM_NUM_KIN_TRAFOS - 1)

<TrafoType>:

Transformation type

Data type:

STRING

Transformations

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4.2 Commissioning

Example

The first transformation with kinematic chains describes a dynamic orientation transformation

with orientation axes:

Program code

Comment

N100 $NT_TRAFO_TYPE[1] =

; 1st transformation,

"TRAORI_DYN"

; transformation type = "TRAORI_DYN"

4.2.4.5

$NT_T_CHAIN_FIRST_ELEM

Function

The kinematics of a transformation is described by a maximum of two kinematic subchains,

which begin in the respective root element, i.e. the first element of the kinematic chain that is in

effect. One subchain leads from the root element to the workpiece reference point

(see Defining machine kinematics (Page 18)). The other subchain leads to the tool reference

point. If the subchain does not start, as is usual, in the root element, the first element of the

active kinematic subchain can be defined for the tool chain and for the workpiece chain using

the system variables

The name ($NT_NAME (Page 28)) of the element of the kinematic subchain that is currently

active, which defines the starting point of the subchain for the tool reference point, must be

entered in the system variable $NT_T_CHAIN_FIRST_ELEM.

Note

Pure tool kinematics

The first element only has to be defined in $NT_P_CHAIN_FIRST_ELEM in special circumstances;

otherwise the system variable can remain empty. In this case, the ROOT element is used as the

first element.

Syntax

$NT_T_CHAIN_FIRST_ELEM[<n>] = "<ElementName>"

Meaning

$NT_T_CHAIN_FIRST_ELE

Name of the element that defines the starting point of the currently

active kinematic chain for the tool reference point.

Data type:

STRING

Default value:

Range of val-

Element names of the currently active kinematic chain

ues:

<n>:

System variable or transformation index

Data type:

INT

Range of val-

1, 2, ... (MD18866 $MN_MM_NUM_KIN_TRAFOS - 1)

ues:

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4.2 Commissioning

<ElementName>:

Name of an element of the currently active kinematic chain

Data type:

STRING

Example

For the first transformation, the name of the element of the kinematic subchain that defines the

starting point of the subchain for the workpiece reference point is "Baseoffset_2":

Program code

Comment

N100 $NT_T_CHAIN_FIRST_ELEM[1] = "Base-

; 1st transformation,

offset_2"

; first element for the tool reference

point

4.2.4.6

$NT_P_CHAIN_FIRST_ELEM

Function

The kinematics of a transformation is described by a maximum of two kinematic subchains,

which begin in the respective root element, i.e. the first element of the kinematic chain that is in

effect. One subchain leads from the root element to the tool reference point (see Defining

machine kinematics (Page 18)). The other subchain, which is described here, leads to

the workpiece reference point. If the subchain does not start, as is usual, in the root element,

the first element of the active kinematic subchain can be defined for the tool and workpiece

chain using the system variables.

The name ($NT_NAME (Page 28)) of the element of the kinematic chain that is currently in

effect, which defines the starting point of the subchain for the workpiece reference point, must

be entered in the system variable $NT_P_CHAIN_FIRST_ELEM.

Note

Pure workpiece kinematics

The first element only has to be defined in $NT_T_CHAIN_FIRST_ELEM in special circumstances;

otherwise the system variable can remain empty. In this case, the ROOT element is used as the

first element.

Syntax

$NT_P_CHAIN_FIRST_ELEM[<n>] = "<ElementName>"

Transformations

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4.2 Commissioning

Meaning

$NT_P_CHAIN_FIRST_ELE

Name of the first element of the kinematic subchain that is currently

active defined at the endpoint of the tool reference point.

Data type:

STRING

Default value:

Range of val-

Element names of the currently active kinematic chain

ues:

<n>:

System variable or transformation index

Data type:

INT

Range of val-

1, 2, ... (MD18866 $MN_MM_NUM_KIN_TRAFOS - 1)

ues:

<ElementName>:

Name of an element of the currently active kinematic chain

Data type:

STRING

Example

For the first transformation, the name of the element of the kinematic chain that defines the end

point of the subchain for the workpiece reference point is "TableOffset":

Program code

Comment

N100 $NT_P_CHAIN_FIRST_ELEM[1] = "Base-

; 2nd transformation,

offset"

; element for the workpiece reference

point

4.2.4.7

$NT_T_CHAIN_LAST_ELEM

Function

The kinematics of a transformation is described by a maximum of two kinematic subchains,

which begin in the respective root element, i.e. the first element of the kinematic chain that is in

effect. One subchain leads from the root element to the workpiece reference point

(see Defining machine kinematics (Page 18)). The other subchain, which is described here, leads

to the tool reference point.

The name ($NT_NAME (Page 28)) of the element of the kinematic chain that is currently in

effect, which defines the end point of the subchains for the tool reference point, must be entered

in the system variable $NT_T_CHAIN_LAST_ELEM.

Note

Pure tool kinematics

If, for pure tool kinematics, the kinematics of the transformation is completely described by the

subchain for the tool reference point, the parameterization of the system variable

$NT_T_CHAIN_LAST_ELEM is sufficient. The system variable for describing the subchain for the

workpiece reference point ($NT_P_CHAIN_LAST_ELEM) can remain blank.

Transformations

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4.2 Commissioning

Syntax

$NT_T_CHAIN_LAST_ELEM[<n>] = "<ElementName>"

Meaning

$NT_T_CHAIN_LAST_ELEM

Name of the element of the kinematic chain currently in effect, which

defines the end point for the tool reference point, starting from the root

element.

Data type:

STRING

Default value:

Range of val-

Element names of the currently active kinematic chain

ues:

<n>:

System variable or transformation index

Data type:

INT

Range of val-

1, 2, ... (MD18866 $MN_MM_NUM_KIN_TRAFOS - 1)

ues:

<ElementName>:

Name of an element of the currently active kinematic chain

Data type:

STRING

Example

For the first transformation, the name of the element of the kinematic chain that defines the end

point of the subchain for the tool reference point is "Basetool":

Program code

Comment

N100 $NT_T_CHAIN_LAST_ELEM[1] = "base

; 1st transformation,

tool"

; element for the tool reference point

4.2.4.8

$NT_P_CHAIN_LAST_ELEM

Function

The kinematics of a transformation is described by a maximum of two kinematic subchains,

which begin in the respective root element, i.e. the first element of the kinematic chain that is in

effect. One subchain leads from the root element to the tool reference point (see Defining

machine kinematics (Page 18)). The other subchain, which is described here, leads to

the workpiece reference point.

Transformations

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4.2 Commissioning

The name ($NT_NAME (Page 28)) of the element of the kinematic chain that is currently in

effect, which defines the end point of the subchains for the workpiece reference point, must be

entered in the system variable $NT_P_CHAIN_LAST_ELEM.

Note

Pure workpiece kinematics

If, for pure workpiece kinematics, the kinematics of the transformation is completely described

by the subchain for the workpiece reference point, the parameterization of the system variable

$NT_P_CHAIN_LAST_ELEM is sufficient. The system variable for describing the subchain for the

tool reference point ($NT_T_CHAIN_LAST_ELEM) can remain blank.

Syntax

$NT_P_CHAIN_LAST_ELEM[<n>] = "<ElementName>"

Meaning

$NT_P_CHAIN_LAST_ELEM

Name of the element of the kinematic chain currently in effect, which

defines the end point for the workpiece reference point, starting from

the root element.

Data type:

STRING

Default value:

Range of val-

Element names of the currently active kinematic chain

ues:

<n>:

System variable or transformation index

Data type:

INT

Range of val-

1, 2, ... (MD18866 $MN_MM_NUM_KIN_TRAFOS - 1)

ues:

<ElementName>:

Name of an element of the currently active kinematic chain

Data type:

STRING

Example

For the first transformation, the name of the element of the kinematic chain that defines the end

point of the subchain for the workpiece reference point is "TableOffset":

Program code

Comment

N100 $NT_P_CHAIN_LAST_ELEM[1] = "Ta-

; 2nd transformation,

bleOffset"

; element for the workpiece reference

point

Transformations

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4.2 Commissioning

4.2.4.9

$NT_T_REF_ELEM

Function

The name ($NT_NAME (Page 28)) of the element of the kinematic chain that is currently in

effect, which defines the tool reference position, i.e. the reference point for the tool length

calculation, must be entered in the system variable. The tool reference position is located at

the starting point of the kinematic element.

If no name of an element is entered in the system variable, the tool reference position is identical

to the tool reference point.

Syntax

$NT_T_REF_ELEM[<n>] = "<RefElementName>"

Meaning

$NT_T_REF_ELEM:

Name of the element of the kinematic chain that is currently in effect,

which defines the tool reference position.

Data type:

STRING

Default value:

"" (tool reference position = tool reference point)

Value range:

Element names of the currently active kinematic chain

<n>:

System variable or transformation index

Data type:

INT

Range of val-

1, 2, ... (MD18866 $MN_MM_NUM_KIN_TRAFOS - 1)

ues:

<RefElementName>:

Name of an element of the currently active kinematic chain

Data type:

STRING

Example

For the first transformation, the name of the element of the kinematic chain that is currently in

effect, which defines the tool reference position, is "ToolRefPoint":

Program code

Comment

N100 $NT_T_REF_ELEM[1] = "ToolRef-

; 1st transformation,

Point"

; element for the tool reference position

Transformations

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Transformation definitions with kinematic chains

4.2 Commissioning

4.2.4.10

$NT_GEO_AX_NAME

Function

A maximum of three names ($NT_NAME (Page 28)) of the elements of the kinematic chain that

is currently in effect, which define the geometry axes (linear axes) of the transformation type

(Page 18) to be parameterized, must be entered in the system variable. The geometry axes carry

out the linear compensating movements, which result from the kinematic transformation.

Syntax

$NT_GEO_AX_NAME[<n>,<k>] = "<GeoAxElementName>"

Meaning

$NT_GEO_AX_NAME:

Names of the elements of the kinematic chain currently in effect, which

define the geometry axes

Data type:

STRING

Default value:

("", "", "")

Value range:

Element names of the currently active kinematic chain

<n>:

System variable or transformation index

Data type:

INT

Value range:

1, 2, ... (MD18866 $MN_MM_NUM_KIN_TRAFOS - 1)

<k>:

Index for the elements that define the geometry axes

Data type:

INT

Value range:

0: X coordinate (abscissa)

1: Y coordinate (ordinate)

2: Z coordinate (applicate)

<GeoAxElementName>:

Name of an element of the kinematic chain that is currently in effect,

which defines a geometry axis

Data type:

STRING

Example

For the first transformation, the names of the elements of the kinematic chain currently in

effect, which define the geometry axes, are "X_AXIS", Y_AXIS" and "Z_AXIS", must be entered.

Program code

Comment

; 1st transformation,

; elements of the geometry axes:

N100 $NT_GEO_AX_NAME[1,0] = "X_AXIS"

; X coordinate (abscissa)

N110 $NT_GEO_AX_NAME[1,1] = "Y_AXIS"

; Y coordinate (ordinate)

N120 $NT_GEO_AX_NAME[1,2] = "Z_AXIS"

; Z coordinate (applicate)

Transformations

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Transformation definitions with kinematic chains

4.2 Commissioning

4.2.4.11

$NT_ROT_AX_NAME

Function

A maximum of three names ($NT_NAME (Page 28)) of the elements of the kinematic chain that

is currently in effect, which define the rotary axes of the transformation type (Page 18) to be

parameterized, must be entered in the system variable.

• Orientation transformation: The orientation axes A, B, C

• Face end (TRANSMIT) and cylinder surface transformation (TRACYL): The rotary axis, which

rotates the workpiece and, together with a linear axis, defines the polar coordinate system.

Order of definitions

The maximum three rotary axes, beginning at Index 0, must be entered in the system variables

in the order in which they are defined in the kinematic chain that is currently in effect.

The kinematic chain must be run through as follows:

1. Starting point: Workpiece reference point

2. Elements of the chain

3. End point: Tool reference point

The elements that define the rotary axes must be seamlessly entered in the system variable with

their names, starting at Index 0.

Syntax

$NT_ROT_AX_NAME[<n>,<k>] = "<RotAxElementName>"

Meaning

$NT_ROT_AX_NAME:

Names of the elements of the kinematic chain currently in effect, which

define the rotary axes

Data type:

STRING

Default value:

("", "", "")

Value range:

Element names of the currently active kinematic chain

<n>:

System variable or transformation index

Data type:

INT

Value range:

1, 2, ... (MD18866 $MN_MM_NUM_KIN_TRAFOS - 1)

<k>:

Index for the elements that define the rotary axes

Data type:

INT

Range of val-

0: 1st rotary axis in the definition sequence

ues:

1: 2nd rotary axis in the definition sequence

2: 3rd rotary axis in the definition sequence

<RotAxElementName>:

Name of an element of the kinematic chain that is currently in effect,

which defines a rotary axis.

Data type:

STRING

Transformations

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Transformation definitions with kinematic chains

4.2 Commissioning

Example

For the first transformation, the names of the elements of the kinematic chain currently in

effect, which define the rotary axes, are "ROT_AXIS_1", ROT_AXIS_2" and "ROT_AXIS_3" must be

entered.

Program code

Comment

; 1st transformation,

; elements of the rotary axes:

N100 $NT_ROT_AX_NAME[1,0] = "ROT_AXIS_1"

; 1st rotary axis

N110 $NT_ROT_AX_NAME[1,1] = "ROT_AXIS_2"

; 2nd rotary axis

N120 $NT_ROT_AX_NAME[1,2] = "ROT_AXIS_3"

; 3rd rotary axis

4.2.4.12

$NT_ROT_AX_OFFSET

Function

The system variable $NT_ROT_AX_OFFSET allows you to enter an angle offset for the rotary

axes of the active transformation.

• For TRAORI_DYN, these are the rotary axes 1, 2, and 3.

• For TRANSMIT_K and TRACYL_K it is rotary axis 1.

Supplementary conditions

• System variable $NT_ROT_AX_OFFSET for Transmit or Tracyl transformations without a

kinematic chain corresponds to machine data $MC_TRANSMIT_ROT_AX_OFFSET_n or

$MC_TRACYL_ROT_AX_OFFSET_n.

• System variable $NT_ROT_AX_OFFSET for orientation transformations without a kinematic

chain corresponds to machine data $MC_TRAFO5_ROT_AX_OFFSET_n.

Syntax

$NT_ROT_AX_OFFSET[<n,m>] = <offset_angle>

Meaning

$NT_ROT_AX_OFFSET

Angle offset for rotary axes

Data type:

REAL

Default value:

-1; content is not evaluated

<n>:

System variable or transformation index

Data type:

INT

Value range:

1, 2, ... (MD18866 $MN_MM_NUM_KIN_TRAFOS - 1)

Transformations

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Transformation definitions with kinematic chains

4.2 Commissioning

<m>:

Index of the variable $NT_ROT_AX_CNT; specifies for which rotary axis the

offset is set.

Data type:

INT

Value range

•

0 ... 2; for orientation transformation

•

1; for TRANSMIT_K and TRACYL_K

Example

Provides the number of rotary axes for the part chain:

Program code

Comment

N100 $NT_ROT_AX_CNT[1,0] = 180

; assigns offset "180 °" to rotary axis

"0" of transformation "1".

4.2.4.13

$NT_ROT_OFFSET_FROM_FRAME

Function

In the system variable $NT_ROT_OFFSET_FROM_FRAME it must be entered whether the

programmable offset for orientation axes will be automatically imported from the zero point

offset for the orientation axes, which becomes active upon switch-on of an orientation

transformation.

• TRAORI or TRAORY_DYN:

- If $NT_ROT_OFFSET_FROM_FRAME=1 the following applies:

The offsets for the orientation axes of the 5/6 axis transformation of the rotary axes, for

which the tool orientation is in the basic setting, are automatically defined. Thus, the

offset from an active work offset of the rotary axes, which is active as soon as the

transformation is switched on, is applied.

- If $NT_ROT_OFFSET_FROM_FRAME=0, then the following applies:

The offset of the orientation axes is only applied if the work offsets when switching on the

transformation are kept, i.e. MD10602 $MN_FRAME_GEOAX_CHANGE_MODE is > 0.

• TRACYL and/or TRANSMIT

- If $NT_ROT_OFFSET_FROM_FRAME=2, the following applies:

Axial offset of the rotary axis is taken into account up to the SZS. SZS is the settable zero

system. The SZS frames contain transformed rotations around the rotary axis.

Note

Automatic application of work offsets

Automatic application of the active work offsets to the offset is mainly only practical for the polar

axis in table kinematics. i.e. for example, in AC kinematics for the C axis. If the offset is changed

for another orientation axis, in particular, the non-polar axis, this changes the kinematic

behavior of the transformation. The can result in the compensatory movement of the linear axes

no longer being correct.

Transformations

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Transformation definitions with kinematic chains

4.2 Commissioning

Syntax

$NT_ROT_OFFSET_FROM_FRAME[<n>] = "<ROTOffset>"

Meaning

$NT_ROT_OFFSET_FROM_FRAME:

Importing the rotary axis offset from the work offset upon se-

lection of the transformation:

•

0 = Axial offset of the rotary axis is not taken into account.

•

1 = axial offset of the rotary axis is taken into account.

•

2 = Axial offset of the rotary axis is taken into account up to

the SZS or is automatically applied (see above).

Data type:

INT

Default value:

<n>:

System variable or transformation index

Data type:

INT

Value range:

0, 1, 2

ROTOffset

Rotary axis offset

Example

The 2nd transformation is assigned the name "B axis":

Program code

Comment

N100 $NT_ROT_OFFSET_FROM_FRAME[1] =

; axial offset of the rotary axis is taken

into account.

4.2.4.14

$NT_ROT_AX_CNT

Function

The system variable $NT_ROT_AX_CNT provides the number of the relevant rotary axes in the

workpiece or in the tool chain. The relevant rotary axes in this sense are the rotary axes that are

defined in the system variable $NT_ROT_AX_Name.

Syntax

$NT_ROT_AX_CNT[<n,m>] = <NumberRotAxes>

Meaning

$NT_ROT_AX_CN

Number of relevant rotary axes of a transformation in the workpiece chain or tool

chain

Data type:

INT

Default value:

-1; content is not evaluated

Transformations

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Transformation definitions with kinematic chains

4.2 Commissioning

<n>:

System variable or transformation index

Data type:

INT

Value range:

1, 2, ... (MD18866 $MN_MM_NUM_KIN_TRAFOS - 1)

<m>:

Index of the variable $NT_ROT_AX_CNT; specifies which kinematic chain will be

selected.

Data type:

INT

Value range

•

0; selects the workpiece chain

•

1; selects the tool chain

Example

Provides the number of rotary axes for the subchain:

Program code

Comment

N100 $NT_ROT_AX_CNT[1,0] = 2

; Transformation 1 has two rotary axes.

4.2.4.15

$NT_CLOSE_CHAIN_P

Function

The name ($NT_NAME (Page 28)) of the element of the currently active kinematic chain, at the

end of which the subchain for the workpiece reference point is closed if $NT_CNTRL, Bit 7 == 1,

can be entered in the system variable.

If no name is entered in the system variable, the subchain is closed independently of

$NT_CNTRL, Bit 7, at the end of the last element (workpiece reference point).

Syntax

$NT_CLOSE_CHAIN_P[<n>] = "<ElementName>"

Meaning

$NT_CLOSE_CHAIN_P:

Name of the element of the kinematic chain currently in effect, at the end

of which the subchain for the workpiece reference point is closed

Data type:

STRING

Default value:

Value range:

Element names of the currently active kinematic chain

<n>:

System variable or transformation index

Data type:

INT

Range of val-

1, 2, ... (MD18866 $MN_MM_NUM_KIN_TRAFOS - 1)

ues:

<ElementName>:

Name of an element of the currently active kinematic chain

Data type:

STRING

Transformations

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Transformation definitions with kinematic chains

4.2 Commissioning

Example

For the first transformation, the name of the element of the kinematic chain, at the end of which

the part chain for the workpiece reference point is closed, is: "P_Offset_3"

Program code

Comment

N100 $NT_CLOSE_CHAIN_P[1] = "P_Off-

; 1st transformation,

set_3"

; element for closing the subchain

; to the workpiece reference point

SINUMERIK 840D sl. Service - Functions. Manual (2018-2020) - page 96