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SINUMERIK 840D sl/828D. Job Planning. Programming Manual (2010-2018) - page 4

File and Program Management

3.1 Program memory

The system automatically creates the MPF.DIR, SPF.DIR and WKS.DIR directories on the

drive. These three directories form the GDIR.

The GDIR only plays a role for the EES function. Depending on the drive configuration, the

GDIR replaces or extends the NC part program memory. The creation of a GDIR is, however,

not essential for EES operation.

The directories and files of the GDIR can be addressed in the part program in the same way

as in the passive file system. This permits a compatible transfer of an NC program with path

details from the passive file system to the GDIR. The directory SPF.DIR of the GDIR is

contained in the search path for subprograms.

Program organization

The program organization on external program memories is shown in the following diagram:

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Note

To avoid problems with case-sensitivity for the file addressing (see "Addressing program

memory files (Page 215)"), case-insensitive file systems should be used as external program

memory.

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File and Program Management

3.1 Program memory

3.1.3

Addressing program memory files

A file in the program memory, which is addressed with a file handling command (e.g. WRITE,

DELETE, READ, ISFILE, FILEDATE, FILETIME, FILESIZE, FILESTAT, FILEINFO), is

referenced with an absolute path plus file names or only with the file names. In the second

case, the path of the selected program is used as file path.

Addressing in the NC/EES notation

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Addressing files of the passive file system

Files of the passive file system are generally addressed in the NC notation (directory and file

names begin with the domain identifier "_N_", "_" is the separator for the file identifier) without

specifying the drive name. An addressing in EES notation (without domain identification "_N_",

separator for the directory/file extension is ".") is, however, also permitted.

Example:

● NC notation: "/_N_SPF_DIR/_N_SUB1_SPF"

● EES notation: "/SPF.DIR/SUB1.SPF"

Note

The addressing schemes for files of the passive file system in EES notation are converted

internally into NC notation in accordance with the following rules:

● Directory and file names are extended with the domain identification "_N_".

● If the fourth-last character in the directory or file name is a period ("."), it will be converted

into an underscore ("_").

The passive file system can also be explicitly addressed using the predefined drive names "//

NC:".

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File and Program Management

3.1 Program memory

DIN subprogram name

The following rules apply to DIN subprogram names:

● The first character must be the letter "L".

● The following characters are digits (at least one).

● File extension:

- The file extension must consist of three letters.

- They are separated with "_" (NC notation) or "." (EES notation) from the file names.

Examples:

● L123

● L1_SPF (NC notation) or L1.SPF (EES notation)

Maximum path length

Maximum 128 bytes are available for specifying the drive name and the directory path; the

maximum length of the file name is 31 bytes. The maximum length of the complete path is

159 bytes.

3.1.4

Search path for subprogram call

For subprogram calls without path data, the absolute path is determined by processing a fixed

search path.

A search is then made in the program memory in the following sequence:

Directory

Description

1

current directory / name

The current directory is the directory in which the

program is selected.

2

current directory / name_SPF

This can be:

3

current directory / name_MPF

● A workpiece directory or the standard

directory _N_MPF_DIR in the NC part

program memory or global part program

memory

or

● Any directory of an external program memory

4

a

//NC:/_N_SPF_DIR / name_SPF

Subprogram directory in the NC part program

memory

b

//DEV2:/_N_SPF_DIR / name_SPF ¹⁾

Subprogram directory in the global part program

memory

Note:

This search step is not executed if a global part

program memory has not been created, or the

program is selected in the NC part program

memory.

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File and Program Management

3.1 Program memory

Directory

Description

5

Search path extension programmed with CALLPATH (see "Extend search path for subprogram

calls (CALLPATH) (Page 199)").

Note:

This search step is not executed if CALLPATH has not been programmed.

6

/_N_CUS_DIR / name_SPF

User cycle directory

7

/_N_CMA_DIR / name_SPF

Manufacturer cycle directory

8

/_N_CST_DIR / name_SPF

Standard cycle directory

1)

//DEV2:" For example represents the drive on which the global part program memory has been

created.

The following rules apply for the search:

● The search path is run through for each individual subprogram call, this means that it is

irrelevant where the higher-level program is located.

● Depending on the directory, different file types are taken into account.

● A search is made in a directory, and not in lower-level, i.e. nested directories.

3.1.5

Interrogating the path and file name

The following system variables, which can be read in the part program, are available to

interrogate the path and file name of an NC program:

System variable

Type

Meaning

$P_STACK

INT

Supplies the program level in which the current NC program

is executed.

$P_PATH[ <n>]

STRING

Supplies the path of the NC program, which is processed at

the program level selected using field index <n>.

Examples:

$P_PATH[0] supplies the path for the main program, e.g. "/

_N_WKS_DIR/_N_WELLE_WPD/".

$P_PATH[$P_STACK - 1] supplies the path of the calling pro-

gram.

If the path refers to an NC program, which is saved in the pas-

sive file system of the NC or in the global part program memory

(GDIR), then the path is supplied in the NC notation.

If the path refers to an NC program, which is executed by an

external program memory other than the global part program

memory then $P_PATH supplies the path in the EES notation.

$P_PROG[ <n>]

STRING

Supplies the name of the NC program, which is processed at

the program level selected using field index <n>.

If the NC program is saved in the passive file system of the NC

or in the global part program memory, then the program name

is supplied in the NC notation.

If the NC program is executed by an external drive other than

the global part program memory, then $P_PROG supplies the

name in the EES notation.

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File and Program Management

3.1 Program memory

System variable

Type

Meaning

$P_PROGPATH

STRING

Supplies the path of the NC program that is presently being

processed.

Calling $P_PROGPATH is identical to $P_PATH[$P_STACK].

$P_IS_EES_PATH[ <n>]

BOOL

Interrogates whether the path supplied by $P_PATH[<n>] or

the program name supplied by $P_PROG[<n>] corresponds

to the NC notation or the EES notation.

= FALSE

$P_PATH[<n>] and $P_PROG[<n>] supply a NC

notation. This means that each identifier has the

prefix "_N_". The separator for the file identifier is

"_".

Examples:

● Path in the NC notation: "/_N_WKS_DIR/

_N_MYWPD_WPD/"

● Program name in the NC

notation:"_N_MYPROG_MPF"

A path in the NC notation can refer to the passive

file system in the NC as well as also the global part

program memory.

= TRUE

$P_PATH[<n>] and $P_PROG[<n>] supply an

EES notation. This means that the identifiers do

not have the "_N_" prefix. The separator for the file

identifier is ".".

Examples:

● Path in the EES notation: "//DEV1:/WKS.DIR/

MYWPD.WPD/"

● Program name in the EES notation:

"MYPROG.MPF"

<n>: Index <n> defines the program level, from which the path information should be read (value range:

0 ... 17)

Note

In the EES mode, outside the global part program memory (GDIR), system variables

$P_PROG, $P_PATH and $P_PROGPATH path names in the EES notation. For the EES

mode, user programs that evaluate and process these path names must be extended so that

they can also process pathnames in the EES notation.

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File and Program Management

3.2 Working memory (CHANDATA, COMPLETE, INITIAL)

3.2

Working memory (CHANDATA, COMPLETE, INITIAL)

Function

The working memory contains the current system and user data with which the control is

operated (active file system), e.g.:

● Active machine data

● Tool offset data

● Zero offsets

● ...

Initialization programs

These are programs with which the working memory data is initialized. The following file types

can be used for this:

File type

Description

name_TEA

Machine data

name_SEA

Setting data

name_TOA

Tool offsets

name_UFR

Zero offsets/frames

name_INI

Initialization files

name_GUD

Global user data

name_RPA

R-parameters

Data areas

The data can be organized in different areas in which they are to apply. For example, a control

can have several channels or, as is commonly the case, several axes at its disposal.

There are:

Identifier

Data areas

NC

NC-specific data

CH<n>

Channel-specific data (<n> specifies the channel name)

AX<n>

Axis-specific data (<n> specifies the number of the machine axis)

TO

Tool data

COMPLETE

All data

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Protection zones

4

4.1

Defining protection zones (CPROTDEF, NPROTDEF)

Protection zones, which protect machine elements against collisions, are defined in the part

program in blocks. These contain the following elements:

1. Definition of the machining plane

Before the actual protection zone definition, the machining plane must be selected, to which

the contour description of the protection zone refers.

2. Start of the definition

Depending on the particular NC command, either a channel-specific or machine-specific

protection zone is created.

3. Contour description of the protection zone

The contour of a protection zone is defined with traversing motion. These are not executed

and have no connection to previous or subsequent geometry descriptions. They only define

the protection zone.

4. End of definition

Syntax

DEF INT <Var>

G17/G18/G19

CPROTDEF/NPROTDEF(<n>,<t>,<AppLim>,<AppPlus>,<AppMinus>)

G0/G1/... X/Y/Z

EXECUTE(<Var>)

Meaning

DEF INT <Var>:

Definition of a local help variable, of the INTEGER data type

<Var>:

Name of the Help variable

G17/G18/G19:

Machining plane

Note:

It is not permissible to change the machining plane before the

end of the definition. Programming the applicate is not permitted

between start and end of the definition.

CPROTDEF():

Predefined procedure to define a channel-specific protection

zone

NPROTDEF():

Predefined procedure to define a machine-specific protection

zone

<n>:

Number of defined protection zone

Data type:

INT

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Protection zones

4.1 Defining protection zones (CPROTDEF, NPROTDEF)

<t>:

Type of protection zone

Data type:

BOOL

Value:

TRUE

Tool-related protection zone

FALSE

Workpiece-related protection zone

<AppLim>:

Type of limitation in the third dimension

Data type:

INT

Value:

0

No limitation

1

Limit in plus direction

2

Limit in minus direction

3

Limit in positive and negative direction

<AppPlus>:

Value of the limit in the positive direction in the 3rd dimension

Data type:

REAL

<AppMinus>:

Value of the limit in the negative direction in the 3rd dimension

Data type:

REAL

G0/G1/... X/Y/Z

:

The contour of a protection zone is specified with up to 11 tra-

versing movements in the selected machining plane. The first

traversing movement is the movement to the contour. The last

point in the contour description must always coincide with the

first point of the contour description.

The valid protection zone is the zone left of the contour:

● Internal protection zone

The contour of an internal protection zone must described

in the counterclockwise direction.

● External protection zones (permitted only for workpiece-

related protection zones)

The contour for an external protection zone must be

described in the clockwise direction.

The following contour elements are permissible:

● G0, G1 for straight contour elements

● G2 for circle segments in the clockwise direction

Permissible only for workpiece-related protection zones.

Not permissible for tool-related protection zones because

they must be convex.

● G3 for circular segments in the counter-clockwise direction

Note:

A protection zone cannot be described by a complete circle. A

complete circle must be divided into two semicircles.

Note:

The sequence G2 → G3 or G3 → G2 is not permissible! A short

G1 block must be inserted between the two circular blocks.

EXECUTE(<Var>):

Predefined procedure that marks the end of the definition

A switch is made back to normal program processing with

EXECUTE.

Example

See example under "Activating/deactivating protection zones (CPROT, NPROT) (Page 229)".

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Protection zones

4.1 Defining protection zones (CPROTDEF, NPROTDEF)

Additional information

Machine-specific protection zones

A machine-specific protection zone or its contour is defined using the geometry axis, i.e.

referenced to the basic coordinate system (BCS) of a channel. In order that correct protection-

zone monitoring can take place in all channels in which the machine-specific protection zone

is active, the basic coordinate system (BCS) of all of the channels involved must be identical:

● position of the coordinate origin referred to the machine zero

● Orientation of the coordinate axes

Reference point for contour description

● Tool-related protection zones

Coordinates for tool-related protection zones must be specified as absolute values referred

to the tool holder reference point F.

● Workpiece-related protection zones

Coordinates for workpiece-related protection zones must be specified as absolute values

referred to the zero point of the basic coordinate system (BCS).

Protection zones symmetrical around the center of rotation

For protection zones symmetrical around the axis or rotation (e.g. spindle chuck), you must

describe the complete contour and not only the contour up to the center of rotation.

Tool-related protection zones

Tool-related protection zones must always be convex. If a concave protected zone is desired,

this should be subdivided into several convex protection zones.

)

① Convex protection zones

② Concave protection zones (not permissible!)

F Toolholder reference point

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Protection zones

4.2 Activating/deactivating protection zones (CPROT, NPROT)

4.2

Activating/deactivating protection zones (CPROT, NPROT)

Protection zones previously defined in the part program can be activated at any time - or can

be preactivated for subsequent activation by the PLC user program. Active protection zones

can be deactivated at any time.

When activating or preactivating, it is also possible to relatively shift the reference point of the

protection zone.

Note

A protection zone is only taken into account after the referencing of all geometry axes of the

channel in which it has been activated.

Note

Monitoring protection zones

If a tool-related protection area is not active, the tool path is checked against the workpiece-

related protection zones.

If no workpiece-oriented protection zone is active, then there is no protection zone monitoring.

Syntax

CPROT(<n>,<Status>,<XMov>,<YMov>,<ZMov>)

NPROT(<n>,<Status>,<XMov>,<YMov>,<ZMov>)

Meaning

CPROT:

Predefined procedure to activate a channel-specific protection

zone

NPROT:

Predefined procedure to activate a machine-specific protection

zone

<n>:

Number of the protection zone

Data type:

INT

<Status>:

The channel-specific activation status is set using this parameter

Data type:

INT

Value:

0

Deactivate protection zone

1

Preactivate protection zone

2

Activate protection zone

3

Preactivate protection zone with conditional

stop

<XMov>,<YMov>,<ZMov>:

Additive offset values in the X/Y/Z direction

The offset can take place in 1, 2, or 3 dimensions. The offset values

refer to:

● The machine zero for a workpiece-related protection zone

● The tool carrier reference point F for a tool-specific protection

zone

Data type:

REAL

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Protection zones

4.2 Activating/deactivating protection zones (CPROT, NPROT)

Example

Possible collision of a milling cutter with the measuring probe is to be monitored on a milling

machine. The position of the measuring probe is to be defined by an offset when the function

is activated.

The following protection zones are defined for this:

● A machine-specific and a workpiece-related protection zone for both the measuring probe

holder (n-PZ1) and the measuring probe itself (n-PZ2).

● A channel-specific and a tool-related protection zone for the milling cutter holder (c-PZ1),

the cutter shank (c-PZ2) and the milling cutter itself (c-PZ3).

The orientation of all protection zones is in the Z direction.

The position of the reference point of the measuring probe on activation of the function must

be X = -120, Y = 60 and Z = 80.

)

Q 3=

Q 3=

F 3=

F 3=

F 3=

=

<

;

① Name for the protection zone of the probe

F

Toolholder reference point

Program code

Comment

DEF INT PROTZONE

; Definition of a Help variable

G17

; machining plane XY

; defining protection zones:

NPROTDEF(1,FALSE,3,10,-10)

; protection zone n-PZ1

G01 X0 Y-10

X40

Y10

X0

Y-10

EXECUTE(PROTZONE)

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Protection zones

4.3 Checking for protection zone violation, working area limitation and software limit switches (CALCPOSI)

<status>:

Function return value. Negative values indicate error states.

(Part 1)

Data type:

INT

Value range:

-8 ≤ x ≤ 100000

Value:

0

The distance can be traversed completely.

-1

At least one component is negative in <Limit>.

-2

Error in a transformation calculation.

Example: The traversing distance passes through a singu-

larity so that the axis positions cannot be defined.

-3

The specified traversing distance <Dist> and the maximum

possible traversing distance <MaxDist> are linearly depend-

ent.

Note

Can only occur in conjunction with <TestLim>, bit 4 == 1.

-4

The projection of the traversing direction contained in <Dist>

on to the limitation surface is the zero vector, or the traversing

direction is perpendicular to the violated limitation surface.

Note

Can only occur in conjunction with <TestLim>, bit 5 == 1.

-5

In <TestLim>, bit 4 == 1 AND bit 5 == 1

-6

At least one machine axis that has to be considered for

checking the traversing limits has not been referenced.

-7

Collision avoidance function: Invalid definition of the kine-

matic chain or the protection zones.

-8

Collision avoidance function: This command cannot be exe-

cuted because of insufficient memory.

<status>:

Units digit

(Part 2)

Note

If several limits are violated simultaneously, the limit with the greatest restriction

on the specified traversing distance is signaled.

Value:

1

Software limit switches are limiting the traversing distance

2

Working area limits are limiting the traversing distance

3

Protection zones are limiting the traversing distance

4

Collision avoidance function: Protection zones are limiting

the traversing path

Tens digit

Value:

1x

The initial value violates the limit

2x

The specified straight line violates the limit.

This value is returned even if the end point does not violate

any limit itself, but the path from the starting point to the end

point would cause a limit value to be violated (e.g. by passing

through a protection zone, curved software limit switches in

the WCS for non-linear transformations, e.g. transmit).

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Protection zones

4.3 Checking for protection zone violation, working area limitation and software limit switches (CALCPOSI)

<status>:

Hundreds digit

(Part 3)

Value:

1xx

AND units digit == 1 or 2:

The positive limit value has been violated.

AND units digit == 3 ¹⁾:

An NC-specific protection zone has been violated.

2xx

AND units digit == 1 or 2:

The negative limit value has been violated.

AND units digit == 3 ¹⁾:

A channel-specific protection zone is violated.

<status>:

Thousands digit

(Part 4)

Value:

1xxx

AND units digit == 1 or 2:

Factor with which the axis number is multiplied that violates

the limit. Numbering of the axes begins with 1.

Reference:

● Software limit switches: Machine axes

● Working area limitation: Geometry axes

AND units digit == 3 ¹⁾:

Factor with which the number of the violated protection zone

is multiplied.

<status>:

Hundred thousands digit

(Part 5)

Value:

0xxxxx

Hundred thousands digit == 0: <Dist> remains unchanged

1xxxxx

A direction vector is returned in <Dist>, which defines the

further motion direction on the limitation surface.

Can only occur with the following supplementary conditions:

● Software limit switch or working area limit violated (not in

the starting point)

● A transformation is not active

● <TestID>, bit 4 or bit 5 == 1

<Start>:

Reference to a vector with the start positions:

● <Start> [0]: 1st geometry axis

● <Start> [1]: 2nd geometry axis

● <Start> [2]: 3rd geometry axis

Parameter type:

Input

Data type:

VAR REAL [3]

Value range:

-max. REAL value ≤ x[<n>] ≤ +max. REAL value

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Protection zones

4.3 Checking for protection zone violation, working area limitation and software limit switches (CALCPOSI)

<Dist>:

Reference to a vector.

Input: Incremental traversing distance

● <Dist> [0]: 1st geometry axis

● <Dist> [1]: 2nd geometry axis

● <Dist> [2]: 3rd geometry axis

Output (only for set hundred thousands digit in <Status>):

<Dist> contains a unit vector v as output value which defines the further tra-

versing direction in the WCS.

Case 1: Formation of vector v for <TestID>, bit 4 == 1

The input vectors <Dist> and <MaxDist> span the motion plane. This plane

is cut by the violated limitation surface. The intersecting line of the two planes

defines the direction of vector v.The orientation (sign) is selected so that the

angle between the input vector <MaxDist> and v is not greater than 90 de-

grees.

Case 2: Formation of vector v for <TestID>, bit 5 == 1

Vector v is the unit vector in the projection direction of the traversing vector

contained in <Dist> on the limitation surface. If the projection of the traversing

vector on the limitation surface is the zero vector, an error is returned.

Parameter type:

Input/output

Data type:

VAR REAL [3]

Value range:

-max. REAL value ≤ x[<n>] ≤ +max. REAL value

<Limit>:

Reference to an array of length 5.

● <Limit> [0 - 2]: Minimum clearance of the geometry axes to the limits:

- <Limit> [0]: 1st geometry axis

- <Limit> [1]: 2nd geometry axis

- <Limit> [2]: 3rd geometry axis

The minimum clearances are observed with:

- Working area limitation: No restrictions

- Software limit switches: If no transformation is active, or a transformation

is active in which a clear assignment of the geometry axes to the linear

machine axes is possible, e.g. 5-axis transformations.

● <Limit> [3]: Contains the minimum clearance for linear machine axes which,

for example, cannot be assigned a geometry axis because of a non-linear

transformation. This value is also used as limit value for the monitoring of the

conventional protection zones and the collision avoidance protection zones.

● <Limit> [4]: Contains the minimum clearance for rotary machine axes which,

for example, cannot be assigned a geometry axis because of a non-linear

transformation.

Note

This value is only active for the monitoring of the software limit switches for

special transformations.

Parameter type:

Input

Data type:

VAR REAL [5]

Value range:

-max. REAL value ≤ x[n] ≤ +max. REAL value

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Protection zones

4.3 Checking for protection zone violation, working area limitation and software limit switches (CALCPOSI)

<MaxDist>:

Reference to a vector with the incremental traversing distance in which the speci-

fied minimum clearance of an axis limit is not violated by any of the relevant ma-

chine axes:

● <Dist> [0]: 1st geometry axis

● <Dist> [1]: 2nd geometry axis

● <Dist> [2]: 3rd geometry axis

If the traversing distance is not restricted, the contents of this return parameter

are the same as the contents of <Dist>.

For <TestID>, bit 4 == 1: <Dist> and <MaxDist>

<MaxDist> and <Dist> must contain vectors as input values that span a motion

plane. The two vectors must be mutually linearly independent. The absolute value

of <MaxDist> is arbitrary. For the calculation of the motion direction, see the de-

scription for <Dist>.

Parameter type:

Output

Data type:

VAR REAL [3]

Value range:

-max. REAL value ≤ x[<n>] ≤ +max. REAL value

<MeasSys>:

Measuring system (inch/metric) for position and distance specifications (optional)

Data type:

BOOL

Value:

FALSE

System of units corresponding to the currently active G com-

mand from the G group 13 (G70, G71, G700, G710).

(De-

fault)

Note

If G70 is active and the basic system is metric (or G71 is

active and the basic system is inch), the system variables

$AA_IW and $AA_MW are provided in the basic system and,

if used, must be converted for CALCPOSI.

TRUE

System of units according to the set basic system:

MD52806 $MN_ISO_SCALING_SYSTEM

<TestLim>:

Bit-coded selection of the limits to be monitored (optional)

Data type:

INT

Default value:

Bits 0, 1, 2, 3, 6, 7 == 1 (207)

Bit

Decimal

Meaning

0

1

Software limit switch

1

2

Working area limitation

2

4

Activated conventional protection zones

3

8

Preactivated conventional protection zones

4

16

With violated software limit switches or working area limits in

<Dist>, return the traversing direction as in Case 1 (see

above).

5

32

With violated software limit switches or working area limits in

<Dist>, return the traversing direction as in Case 2 (see

above).

6

64

Activated collision avoidance protection zones

7

128

Preactivated collision avoidance protection zones

8

256

Pairs of activated and preactivated collision avoidance pro-

tection zones

¹⁾ If several protection zones are violated, the protection zone with the greatest restriction on the speci-

fied traversing distance is returned.

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237

Protection zones

4.3 Checking for protection zone violation, working area limitation and software limit switches (CALCPOSI)

Example

Limitations

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In the example, the active software limit switches and working area limits in the X-Y plane and

the following three protection zones are displayed:

● C2: Tool-related, channel-specific protection zone, active, circular, radius = 2 mm

● C4: Workpiece-related, channel-specific protection zone, preactivated, square, side length

= 10 mm

● N3: Machine-specific protection zone, active, rectangular, side length = 10 mm x 15 mm

NC program

The protection zones and working area limits are defined first in the NC program. The

CALCPOSI() function is then called with different parameter assignments.

Program code

N10 DEF REAL _START[3]

N20 DEF REAL _DIST[3]

N30 DEF REAL _LIMIT[5]

N40 DEF REAL _MAXDIST[3]

N50 DEF INT _PA

N60 DEF INT _STATUS

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Protection zones

4.3 Checking for protection zone violation, working area limitation and software limit switches (CALCPOSI)

Program code

N540 _STATUS = CALCPOSI(_START, _DIST, _LIMIT, _MAXDIST,, 6)

N550 _START[0] = 27.

N560 _START[1] = 17.1

N570 _START[2] =

0.

N580 _DIST[0] =-27.

N590 _DIST[1] =

0.

N600 _DIST[2] =

0.

N610 _LIMIT[3] = 2.

N620 _STATUS = CALCPOSI(_START, _DIST, _LIMIT, _MAXDIST,,12)

N630 _START[0] = 0.

N640 _START[1] = 0.

N650 _START[2] = 0.

N660 _DIST[0] =

0.

N670 _DIST[1] = 30.

N680 _DIST[2] =

0.

N690 TRANS X10

N700 AROT Z45

N710 _STATUS = CALCPOSI(_START,_DIST, _LIMIT, _MAXDIST)

; delete frames from N690 and N700 again

N720 TRANS

N730 _START[0] =

0.

N740 _START[1] = 10.

N750 _START[2] =

0.

; vectors_DIST and _MAXDIST define the motion plane

N760 _DIST[0] = 30.

N770 _DIST[1] = 30.

N780 _DIST[2] =

0.

N790 _MAXDIST[0] = 1.

N800 _MAXDIST[1] = 0.

N810 _MAXDIST[2] = 1.

N820 _STATUS = CALCPOSI(_START, _DIST, _LIMIT, _MAXDIST,,17)

N830 M30

Results of CALCPOSI()

N...

<status>

<MaxDist>[0] ≙ X

<MaxDist>[1] ≙ Y

Remarks

420

3123

8.040

4.594

N3 is violated.

430

1122

20.000

11.429

No protection zone monitoring,

working area limitation is violated.

440

1121

30.000

17.143

Only software limit monitoring is still active.

510

4213

0.000

0.000

Starting point violates C4

520

0000

0.000

-27.000

Preactivated C4 is not monitored. The

specified distance can be traversed com-

pletely.

540

2222

0.000

-25.000

Because _LIMIT[1] = 2, the traversing dis-

tance is restricted by the working area limi-

tation.

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Protection zones

4.3 Checking for protection zone violation, working area limitation and software limit switches (CALCPOSI)

N...

<status>

<MaxDist>[0] ≙ X

<MaxDist>[1] ≙ Y

Remarks

620

4223

-13.000

0.000

Clearance to C4 is a total of 4 mm due to

C2 and _LIMIT[3]. Clearance C2 → N3 of

0.1 mm does not result in limitation of the

traversing distance.

710

1221

0.000

21.213

Frame with translation and rotation active.

The permissible traversing distance in

_DIST applies in the shifted and rotated

WCS.

820

102121

18.000

18.000

The software limit switch of the Y axis is

violated. The calculation of a further tra-

versing direction is requested with <_TES-

TLIM> = 17. This direction is in _DIST

(0.707, 0.0, 0.707). It is valid because the

hundred thousands digit is set in <_STA-

TUS>.

Additional information

"Referenced" axis status

All machine axes considered by CALCPOSI() must be homed.

Circle-related distance specifications

All circle-related distance specifications are always interpreted as radius specifications. This

must be taken into account particularly for transverse axes with activated diameter

programming (DIAMON/DIAM90).

Traversing distance reduction

If the specified traversing distance of an axis is limited, the traversing distance of the other

axes is also reduced proportionally in the <MaxDist> return value. The resulting end point is

therefore still on the specified path.

Rotary axes

Rotary axes are only monitored when they are not modulo rotary axes.

It is permissible that no software limit switches, working area limits or protection zones are

defined for one or more of the relevant axes.

Software limit switch and working area limitation status

Software limit switches and working area limits are only taken into account if they are active

during the execution of CALCPOSI(). The status can be influenced, for example, via:

● Machine data: MD21020 $MC_WORKAREA_WITH_TOOL_RADIUS

● Setting data: $AC_WORKAREA_CS_...

● NC/PLC interface signals DB31, ... DBX12.2 / 3

● Commands: WALIMON / WALIMOF

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241

Special motion commands

5

5.1

Approaching coded positions (CAC, CIC, CDC, CACP, CACN)

You can traverse linear and rotary axes via position numbers to fixed axis positions saved in

machine data tables using the following commands. This type of programming is called

"approach coded positions".

Syntax

CAC(<n>)

CIC(<n>)

CACP(<n>)

CACN(<n>)

Meaning

CAC(<n>):

Approach coded position from position number n

CIC(<n>):

Starting from the actual position number, approach the coded position n position

locations before (+n) or back (-n)

CDC(<n>):

Approach the position from position number n along the shortest path

(only for rotary axes)

CACP(<n>):

Approach coded position from position number n in the positive direction

(only for rotary axes)

CACN(<n>):

Approach coded position from position number n in the negative direction

(only for rotary axes)

<n>:

Position number within the machine data table

Range of values: 0, 1, … (max. number of table locations - 1)

Example: Approach coded positions of a positioning axis

Programming code

Comment

N10 FA[B]=300

; Feedrate for positioning axis B

N20 POS[B]=CAC(10)

; Approach coded position from position number 10

N30 POS[B]=CIC(-4)

; Approach coded position from "current position num-

ber" - 4

References

● Function Manual Expanded Functions; Indexing Axes (T1)

● Function Manual, Synchronized Actions

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243

Special motion commands

5.2 Spline interpolation (ASPLINE, BSPLINE, CSPLINE, BAUTO, BNAT, BTAN, EAUTO, ENAT, ETAN, PW, SD,

PL)

5.2

Spline interpolation (ASPLINE, BSPLINE, CSPLINE, BAUTO, BNAT,

BTAN, EAUTO, ENAT, ETAN, PW, SD, PL)

Randomly curved workpiece contours cannot be precisely defined in an analytic form. This is

the reason why these type of contours are approximated using a limited number of points along

curves, e.g. when digitizing surfaces. The points along the curve must be connected to define

a contour in order to generate the digitized surface of a workpiece. Spline interpolation permits

this.

A spline defines a curve which is formed from polynomials of 2nd or 3rd degree. The

characteristics of the points along the curve of a spline can be defined depending on the spline

type being used.

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For SINUMERIK solution line, the following spline types are available:

● A spline

● B spline

● C spline

Syntax

General:

ASPLINE X... Y... Z... A... B... C...

BSPLINE X... Y... Z... A... B... C...

CSPLINE X... Y... Z... A... B... C...

For a B spline, the following can be additionally programmed:

PW=<n>

SD=2

PL=<value>

For A and C splines, the following can be additionally programmed:

BAUTO / BNAT / BTAN

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Special motion commands

5.2 Spline interpolation (ASPLINE, BSPLINE, CSPLINE, BAUTO, BNAT, BTAN, EAUTO, ENAT, ETAN, PW, SD,

PL)

EAUTO / ENAT / ETAN

Meaning

Spline interpolation type:

ASPLINE:

Command to activate A spline interpolation

BSPLINE:

Command to activate B spline interpolation

CSPLINE:

Command to activate C spline interpolation

The ASPLINE, BSPLINE and CSPLINE commands are modally effective

and belong to the group of motion commands.

Points along a curve and check points:

X... Y... Z...

Positions in Cartesian coordinates

A... B... C...

Point weight (only B spline):

PW:

Using the PW command, a so-called "point weight" can be programmed for

every point along the curve.

<n>:

"Point weight"

Range of values:

0 ≤ n ≤ 3

Increment:

0.0001

Effect:

n > 1

The checkpoint attracts the curve more

significantly.

n < 1

The checkpoint attracts the curve less sig-

nificantly.

Spline degree (only B spline):

SD:

A third degree polygon is used as standard, However, a second degree

polygon can also be used by programming SD=2.

Distance between nodes (only B spline):

PL :

The distances between nodes are suitably calculated internally. The control

can also machine pre-defined node clearances that are specified in the so-

called parameter-interval-length using the PL command.

<value>:

Parameter interval length

Range of values:

As for path dimension

Transitional behavior at the start of the spline curve (only A or C spline):

BAUTO:

No specifications for the transitional behavior. The start is determined by

the position of the first point.

BNAT:

Zero curvature

BTAN:

Tangential transition to the previous block (delete position)

Transitional behavior at the end of the spline curve (only A or C spline):

EAUTO:

No specifications for the transitional behavior. The end is determined by

the position of the last point.

ENAT:

Zero curvature

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Special motion commands

5.2 Spline interpolation (ASPLINE, BSPLINE, CSPLINE, BAUTO, BNAT, BTAN, EAUTO, ENAT, ETAN, PW, SD,

PL)

ETAN:

Tangential transition to the previous block (delete position)

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Note

The programmable transitional behavior has no influence on the B spline. The B spline is

always tangential to the check polygon at its start and end points.

Supplementary conditions

● Tool radius compensation may be used.

● Collision monitoring is carried out in the projection in the plane.

Examples

Example 1: B spline

Program code 1 (all weights 1)

N10 G1 X0 Y0 F300 G64

N20 BSPLINE

N30 X10 Y20

N40 X20 Y40

N50 X30 Y30

N60 X40 Y45

N70 X50 Y0

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Programming Manual, 12/2018, A5E40869460B AB

Special motion commands

5.2 Spline interpolation (ASPLINE, BSPLINE, CSPLINE, BAUTO, BNAT, BTAN, EAUTO, ENAT, ETAN, PW, SD,

PL)

Program code 2 (different weights)

N10 G1 X0 Y0 F300 G64

N20 BSPLINE

N30 X10 Y20 PW=2

N40 X20 Y40

N50 X30 Y30 PW=0.5

N60 X40 Y45

N70 X50 Y0

Program code 3 (check polygon)

Comment

N10 G1 X0 Y0 F300 G64

N20

; n.a.

N30 X10 Y20

N40 X20 Y40

N50 X30 Y30

N60 X40 Y45

N70 X50 Y0

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Example 2: C spline, zero curvature at the start and at the end

Program code

N10 G1 X0 Y0 F300

N15 X10

N20 BNAT ENAT

N30 CSPLINE X20 Y10

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247

Special motion commands

5.2 Spline interpolation (ASPLINE, BSPLINE, CSPLINE, BAUTO, BNAT, BTAN, EAUTO, ENAT, ETAN, PW, SD,

PL)

Program code

N40 X30

N50 X40 Y5

N60 X50 Y15

N70 X55 Y7

N80 X60 Y20

N90 X65 Y20

N100 X70 Y0

N110 X80 Y10

N120 X90 Y0

N130 M30

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;

Example 3: Spline interpolation (A spline) and coordinate transformation (ROT)

Main program:

Program code

Comment

N10 G00 X20 Y18 F300 G64

; Approach starting point.

N20 ASPLINE

; Activate interpolation type A spline.

N30 CONTOUR

; First subprogram call.

N40 ROT Z-45

; Coordinate transformation: Rotation of the

WCS through -45° around the Z axis.

N50 G00 X20 Y18

; Approach contour starting point.

N60 CONTOUR

; Second subprogram call.

N70 M30

; End of program

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Special motion commands

5.2 Spline interpolation (ASPLINE, BSPLINE, CSPLINE, BAUTO, BNAT, BTAN, EAUTO, ENAT, ETAN, PW, SD,

PL)

Subprogram "contour" (includes the coordinates of the points along the curve):

Program code

N10 X20 Y18

N20 X10 Y21

N30 X6 Y31

N40 X18 Y31

N50 X13 Y43

N60 X22 Y42

N70 X16 Y58

N80 X33 Y51

N90 M1

In addition to the spline curve, resulting from the example program (ASPLINE), the following

diagram also contains the spline curves that would have been obtained when activating either

B or C spline interpolation (BSPLINE, CSPLINE):

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Further information

Advantages of spline interpolation

With spline interpolation, the following advantages can be obtained contrary to using straight

line blocks G01:

● The number of part program blocks required to describe the contour are reduced

● Soft, curve characteristics that reduce the stress on the mechanical system at transitions

between part program blocks.

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249

Special motion commands

5.2 Spline interpolation (ASPLINE, BSPLINE, CSPLINE, BAUTO, BNAT, BTAN, EAUTO, ENAT, ETAN, PW, SD,

PL)

Properties and use of the various spline types

Spline type

Properties and use

A spline

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Properties:

● Passes exactly through the specified intermediate points along the curve.

● The curve characteristic is tangential, but does not have continuous curvature.

● Produces hardly any undesirable oscillations.

● The area of influence of changes to intermediate points along the curve is

local. This means that a change to an intermediate point along the curve only

affects up to max. 6 adjacent intermediate points.

Application:

The A spline is especially suitable for interpolating curves with large changes in

the gradient (e.g. staircase-type curves and characteristics).

Job Planning

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Programming Manual, 12/2018, A5E40869460B AB

Special motion commands

5.2 Spline interpolation (ASPLINE, BSPLINE, CSPLINE, BAUTO, BNAT, BTAN, EAUTO, ENAT, ETAN, PW, SD,

PL)

Spline type

Properties and use

B spline

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Properties:

● Does not run through the specified intermediate points along the curve, but

only close to them. The intermediate points to not attract the curve. The curve

characteristic can be additionally influenced by weighting the intermediate

points using a factor.

● The curve characteristic is tangential with continuous curvature.

● Does not generate any undesirable oscillations.

● The area of influence of changes to intermediate points along the curve is

local. This means that a change to an intermediate point along the curve only

affects up to max. 6 adjacent intermediate points.

Application:

Their B spline is primarily intended as interface to CAD systems.

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251

Special motion commands

5.2 Spline interpolation (ASPLINE, BSPLINE, CSPLINE, BAUTO, BNAT, BTAN, EAUTO, ENAT, ETAN, PW, SD,

PL)

Spline type

Properties and use

C spline

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Properties:

● Passes exactly through the specified intermediate points along the curve.

● The curve characteristic is tangential with continuous curvature.

● Frequently generates undesirable oscillations, especially at positions where

the gradient changes significantly.

● The area of influence of changes to the intermediate points is global. This

means that if an intermediate point is changed then this influences the

complete curved characteristic.

Application:

The C spline can be well used when the intermediate points lie on a curve defined

analytically (circle, parabola, hyperbola).

Job Planning

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Special motion commands

5.2 Spline interpolation (ASPLINE, BSPLINE, CSPLINE, BAUTO, BNAT, BTAN, EAUTO, ENAT, ETAN, PW, SD,

PL)

Comparison of three spline types with identical interpolation points

3

3

3

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3

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3

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Minimum number of spline blocks

The G codes ASPLINE, BSPLINE and CSPLINE link block end points with splines. For this

purpose, a series of blocks (end points) must be simultaneously calculated. The buffer size

for calculations is ten blocks as standard. Not every piece of block information is a spline end

point. However, the control needs a certain number of spline end-point blocks for every ten

blocks:

Spline type

Minimum number of spline blocks

A spline:

At least 4 blocks out of every 10 must be spline blocks.

These do not include comment blocks or parameter calculations.

B spline:

At least 6 blocks out of every 10 must be spline blocks.

These do not include comment blocks or parameter calculations.

C spline:

The required minimum number of spline blocks is the result of the following sum:

Value of MD20160 $MC_CUBIC_SPLINE_BLOCKS + 1

The number of points to calculate the spline segment is entered in MD20160. The

default setting is 8%. At least 9 blocks out of every 10 must be spline blocks.

Note

An alarm is output if the tolerated value is undershot and likewise when one of the axes involved

in the spline is programmed as a positioning axis.

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Special motion commands

5.3 Spline group (SPLINEPATH)

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Special motion commands

5.4 Activating/deactivating NC block compression (COMPON, COMPCURV, COMPCAD, COMPSURF,

COMPOF)

5.4

Activating/deactivating NC block compression (COMPON,

COMPCURV, COMPCAD, COMPSURF, COMPOF)

The functions to compress linear blocks (and dependent on the parameterization, also circular

and/or rapid traverse blocks) are activated/deactivated using G commands of G group 30. The

commands are modal.

Syntax

COMPON / COMPCURV / COMPCAD / COMPSURF

COMPOF

Meaning

COMPON:

Activating the compressor function COMPON

COMPCURV:

Activating the compressor function COMPCURV

COMPCAD:

Activating the compressor function COMPCAD

COMPSURF:

Activating the compressor function COMPSURF

COMPOF :

Deactivating the currently active compressor function

Note

The rounding function G642 and jerk limitation SOFT further improve the surface quality. These

commands must be written at the beginning of the program.

Example: COMPCAD

Program code

Comment

N10 G00 X30 Y6 Z40

N20 G1 F10000 G642

; Activation: Rounding function G642

N30 SOFT

; Activation: Jerk limitation SOFT

N40 COMPCAD

; Activation: Compressor function COMPCAD

N50 STOPFIFO

N24050 Z32.499

; 1st traversing block

N24051 X41.365 Z32.500

; 2nd traversing block

N99999 X... Z...

; last traversing block

COMPOF

; compressor function off.

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Special motion commands

5.5 Polynomial interpolation (POLY, POLYPATH, PO, PL)

5.5

Polynomial interpolation (POLY, POLYPATH, PO, PL)

It actually involves a polynomial interpolation (POLY) and not a spline interpolation type. Its

main purpose is to act as an interface for programming externally generated spline curves

where the spline sections can be programmed directly.

This mode of interpolation relieves the NC of the task of calculating polynomial coefficients. It

can be optimally applied in cases where the coefficients are supplied directly by a CAD system

or post processor.

Syntax

3rd degree polynomial:

POLY PO[X]=(xe,a2,a3) PO[Y]=(ye,b2,b3) PO[Z]=(ze,c2,c3) PL=n

5th degree polynomial and new polynomial syntax:

POLY X=PO(xe,a2,a3,a4,a5) Y=PO(ye,b2,b3,b4,b5) Z=PO(ze,c2,c3,c4,c5)

PL=n

POLYPATH("AXES","VECT")

Note

The sum of the polynomial coefficients and axes programmed in an NC block must not exceed

the maximum permitted number of axes per block.

Meaning

POLY :

Activation of polynomial interpolation with a block

containing POLY.

POLYPATH :

Polynomial interpolation can be selected for both

AXIS or VECT axis groups

PO[axis identifier/variable] :

End points and polynomial coefficients

X, Y, Z:

Axis identifier

xe, ye, ze :

Specification of end position for the particular axis;

value range as for path dimension

a2, a3, a4, a5 :

The coefficients a₂, a₃, a₄, and a₅ are written with

their value; value range as for path dimension. The

last coefficient in each case can be omitted if it

equals zero.

PL :

Length of the parameter interval where polynomials

are defined (definition range of the function f(p)).

The interval always starts at 0, p can assume val-

ues from 0 to PL.

Theoretical value range for PL:

0.0001 … 99 999.9999

Note:

The PL value applies to the block in which it is lo-

cated. If no PL is programmed, then PL=1 is ap-

plied.

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Special motion commands

5.5 Polynomial interpolation (POLY, POLYPATH, PO, PL)

Example: New polynomial syntax

Polynomial syntax that is still valid

New polynomial syntax

PO[axis identifier]=(.. , ..)

Axis identifier=PO(.. , ..)

PO[PHI]=(.. , ..)

PHI=PO(.. , ..)

PO[PSI]=(.. , ..)

PSI=PO(.. , ..)

PO[THT]=(.. , ..)

THT=PO(.. , ..)

PO[]=(.. , ..)

PO(.. , ..)

PO[variable]=IC(.. , ..)

variable=PO IC(.. , ..)

Example: Curve in the X/Y plane.

Programming

Program code

N9 X0 Y0 G90 F100

N10 POLY PO[Y]=(2) PO[X]=(4,0.25) PL=4

Shape of the curves X(p) and Y(p)

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Shape of the curve in the XY plane

Job Planning

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Special motion commands

5.5 Polynomial interpolation (POLY, POLYPATH, PO, PL)

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Description

The equation to express the polynomial function is generally as follows:

f(p)= a₀ + a₁p + a₂p² + . . . + a_npⁿ

with: a_i: constant coefficients (i = 0, 1, ..., n)

p: Parameter

In the control, polynomials up to a maximum of the 5th degree can be programmed:

f(p)= a₀ + a₁p + a₂p² + a₃p³ + a₄p⁴ + a₅p⁵

By assigning concrete values to these coefficients, it is possible to generate various curve

shapes such as line, parabola and power functions.

A straight line is generated with a₂ = a₃ = a₄ = a₅ = 0:

f(p) = a₀ + a₁p

The following still applies:

a_0: Axis position at the end of the preceding block

p = PL

a₁ = (x_E - a₀ - a₂*p² - a₃*p³)/p

It is possible to program polynomials without the polynomial interpolation having been activated

using the G command POLY. In this case, the programmed polynomials are not interpolated,

but instead, all of the programmed end points of the axis are linearly approached (G1). The

programmed polynomials are only moved as such after explicitly activating polynomial

interpolation in the part program (POLY).

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Special motion commands

5.5 Polynomial interpolation (POLY, POLYPATH, PO, PL)

Special feature: Denominator polynomial

Command PO[]=(…) can be used to program a common denominator polynomial for the

geometry axes (without specifying an axis name), i.e. the motion of the geometry axes is then

interpolated as the quotient of two polynomials.

With this programming option, it is possible to represent shapes such as conics (circle, ellipse,

parabola, hyperbola) exactly.

Example:

Program code

Comment

POLY G90 X10 Y0 F100

; Geometry axes traverse linearly to po-

sition X10 Y0.

PO[X]=(0,-10) PO[Y]=(10) PO[]=(2,1)

; Geometry axes traverse along the quad-

rant to X0 Y10.

The constant coefficient (a₀) of the denominator polynomial is always assumed to be 1. The

programmed end point is independent of G90 / G91.

X(p) and Y(p) are calculated as follows from the programmed values:

X(p) = (10 - 10 * p²) / (1 + p²)

Y(p) = 20 * p / (1 + p²)

with 0 ≤ p ≤ 1

As a result of the programmed start points, end points, coefficient a₂ and PL=1, the intermediate

results are as follows:

Numerator (X) = 10 + 0 * p - 10 * p²

Numerator (Y) = 0 + 20 * p + 0 * p²

Denominator =

1 + p²

<

;

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5.6 Settable path reference (SPATH, UPATH)

5.6

Settable path reference (SPATH, UPATH)

For polynomial interpolation (POLY, ASPLINE, BSPLINE, CSPLINE, COMPON, COMPCURV), the

positions of the path axes i are specified as polynomials p_i(U). The curve parameter U moves

from 0 to 1 within an NC block.

FGROUP selects the axes (FGROUP axes) to which the path feedrate F applies. An interpolation

with constant speed on the path S of the FGROUP axes means during the polynomial

interpolation normally a non-constant change of the curve parameter U. Consequently, two

possibilities are available for selecting the axes not contained in FGROUP on how they should

follow the FGROUP axes:

● Synchronous to path S (SPATH)

● Synchronous to curve parameter U (UPATH)

Syntax

SPATH

UPATH

Meaning

SPATH:

The axes not contained in FGROUP are traversed with reference to path S

UPATH:

The axes not contained in FGROUP are traversed with reference to curve parameter U

Note

UPATH and SPATH also define the interrelationship of the F word polynomial (FPOLY, FCUB,

FLIN) with path motion.

Supplementary conditions

SPATH and UPATH have no meaning for:

● Linear interpolation (G1)

● Circuit interpolation (G2, G3)

● Thread blocks (G33, G34, G35, G33x, G63)

● All path axes are contained in FGROUP

Example

The following example shows the difference between both types of motion control.

Program code

N10 FGROUP(X,Y,Z)

N15 G1 X0 A0 F1000 SPATH

; SPATH

N20 POLY PO[X]=(10,10) A10

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Special motion commands

5.6 Settable path reference (SPATH, UPATH)

Program code

N10 FGROUP(X,Y,Z)

N15 G1 X0 A0 F1000 UPATH

; UPATH

N20 POLY PO[X]=(10,10) A10

In both program sections, the path S of the FGROUP axes in N20 is dependent on the square

of curve parameter U. Therefore, different position arise for synchronized axis A along path X,

according to whether SPATH or UPATH is active.

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Further information

Control behavior for reset and machine/option data

The G command, defined with MD20150 $MC_GCODE_RESET_VALUES[44], is effective

after a reset (45th. G group).

The initial state for the type of smoothing is defined with

MD20150 $MC_GCODE_RESET_VALUES[9] (10th G group).

The axis-specific machine data MD33100 $MA_COMPRESS_POS_TOL[<n>] has an

extended significance: It contains the tolerances for the compressor function and for smoothing

with G642.

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Special motion commands

5.7 Channel-specific measuring (MEAS, MEAW)

5.7

Channel-specific measuring (MEAS, MEAW)

In the case of channel-specific measuring, the measuring process for an NC channel is always

activated from the part program running in the relevant channel. One trigger event (positive or

negative edge of the probe) and one measuring mode with deletion of distance-to-go (MEAS)

or without deletion of distance-to-go (MEAW) are programmed in a measuring block. All the

axes programmed in the measuring block then take part in the measuring process.

As soon as a measuring block becomes active, the probe is moved to the workpiece. On the

probe's switching edge, the positions for all axes programmed in the measuring block are

measured and written to the appropriate memory cell for each axis.

The results of measurements can be read in the part program or with synchronized actions in

both the machine and the workpiece coordinate systems.

;

=

Syntax

MEAS=<TE> G... X... Y... Z...

MEAW=<TE> G... X... Y... Z...

Meaning

MEAS:

Measurement with delete distance-to-go

Effectiveness:

Non-modal

MEAW:

Measurement without delete distance-to-go

Effectiveness:

Non-modal

Application:

For measuring tasks in which the programmed position is to

be approached in every case.

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5.7 Channel-specific measuring (MEAS, MEAW)

<TE>:

Trigger event to initiate measurement

Type:

INT

Range of val-

-2, -1, 1, 2

ues:

Value:

(+)1

Positive edge of probe 1 (on measuring input 1)

-1

Negative edge of probe 1 (on measuring input 1)

(+)2

Positive edge of probe 2 (on measuring input 2)

-2

Negative edge of probe 2 (on measuring input 2)

Note:

There is a maximum of 2 probes (dependent on configuration level).

G...:

Type of interpolation, e.g. G0, G1, G2 or G3

X... Y... Z...:

End points in Cartesian coordinates

Note

MEAS and MEAW are non-modal, and programmed together with motion operations. The

feedrate and interpolation type (G0, G1, etc.) as well as the number of axes must be adapted

for the respective measuring task.

Example

Program code

Comment

N10 MEAS=1 G1 F1000 X100 Y730 Z40

; Measuring block with probe at first

measuring input and linear interpola-

tion. A preprocessing stop is automati-

cally generated.

Further information

Query status

If an evaluation is required in the program, whether a probe has been deflected or has switched,

the status can be queried through the following system variables:

System variable

Meaning

Data type

Value

$A_PROBE[<n>]

Probe state

INT

0

Probe not deflected.

1

Probe deflected.

$AC_MEA[<n>]

Switching status of the probe

INT

0

Probe has not switch-

ed

$AC_MEA[<n>] is automati-

cally reset at the beginning of

1

Probe has switched.

a measurement.

<n> = number of the probe

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Special motion commands

5.7 Channel-specific measuring (MEAS, MEAW)

Reading measured values

For channel-specific measuring, the positions of all traversing path and positioning axes of the

block are acquired (maximum number of axes depends on the control configuration). For

MEAS, the motion is braked in a defined fashion after the probe has been triggered.

Note

If a geometry axis is programmed in a measuring block, the measured values are stored for

all current geometry axes.

If an axis participating in a transformation is programmed in a measuring block, the measured

values are stored for all axes participating in this transformation.

Reading measurement results

The measured values of the axes acquired by probes can be read through the following system

variables in the part program and in synchronized actions.

System variable

Meaning

$AA_MM[<Axis>]

Probe measured value in the machine coordinate system

$AA_MW[<Axis>]

Probe measured value in the workpiece coordinate system

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5.8 Axis-specific measurement (MEASA, MEAWA, MEAC) (option)

5.8

Axis-specific measurement (MEASA, MEAWA, MEAC) (option)

With axis-specific measuring, activation can take place in the part program or in synchronized

actions. If two measuring systems are available for the axis, both can be used for the

measurement.

The following measuring methods are available:

● Measurement with delete distance-to-go (MEASA)

● Measurement without delete distance-to-go (MEAWA)

● Continuous measurement without delete distance-to-go (MEAC)

With MEASA or MEAWA for the programmed axis, up to four measured values are acquired

for each measurement and are then saved in system variables in accordance with the trigger

event.

With continuous measurement with MEAC, the measurement results are stored in FIFO

variables.

Syntax

MEASA[<Axis>]=(<Mode>,<TE1>,...,<TE4>)

MEAWA[<Axis>]=(<Mode>,<TE1>,...,<TE4>)

MEAC[<Axis>]=(<Mode>,<MeasMem>,<TE1>,...,<TE4>)

Note

MEASA and MEAWA are non-modal; and can be programmed together in one block. If, on

the contrary, MEASA/MEAWA are programmed with MEAS/MEAW in one block, there is an

error message.

Meaning

MEASA:

Axis-specific measurement with deletion of distance-to-go

Effectiveness:

Non-modal

MEAWA:

Axes-specific measurement without delete distance-to-go

Effectiveness:

Non-modal

MEAC:

Axis-specific, continuous measurement without delete distance-to-go

Effectiveness:

Non-modal

<Axis>:

Name of channel axis used for measurement

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Special motion commands

5.8 Axis-specific measurement (MEASA, MEAWA, MEAC) (option)

<Mode>:

Two-digit (xx) number indicating the operating mode (measuring mode and meas-

uring system)

Units decade: Measuring mode

Specifies whether the trigger events are to be activated in chronological or pro-

grammed order.

x0

Cancel measuring job.

x1

Up to 4 different trigger events can be activated simultaneously.

x2

Up to 4 trigger events that can be activated successively.

x3

Up to 4 different trigger events can be activated in succession, but there

is no monitoring of trigger event 1 at the start (alarms 21700/21703 are

suppressed).

Note:

MEAC does not support this mode.

Tens decade: Measuring system

Specifies the measuring system with which measuring is to be performed.

0x (or no specification)

Active measuring system

1x

Measuring system 1

2x

Measuring system 2

3x

Both measuring systems

<TE>:

Trigger event to initiate measurement

Type:

INT

Range of val-

-2, -1, 1, 2

ues:

(+)1

Positive edge of probe 1

-1

Negative edge of probe 1

(+)2

Positive edge of probe 2

-2

Negative edge of probe 2

Note:

If the measuring process is performed with two measuring systems, a maximum

of two trigger events can be programmed (positive or negative edge). The meas-

ured values of both measuring systems are acquired for both the trigger events.

<MeasMem>:

Number of FIFO (circular buffer)

Examples

Example 1: Axis-specific measurement with delete distance-to-go in mode 1 (evaluation in

chronological sequence)

a) Measuring with one measuring system

Program code

Comment

N100 MEASA[X]=(1,1,-1) G01 X100 F100

; Measuring in mode 1 with active measur-

ing system. Wait for measuring signal

with positive/negative edge from probe 1

for travel path to X=100.

N110 IF $AC_MEA[1]==FALSE GOTOF END

; Check that the measurement was success-

ful.

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5.8 Axis-specific measurement (MEASA, MEAWA, MEAC) (option)

Geometry axes/transformations

If axial measurement is to be started for a geometry axis, the same measuring job must be

programmed explicitly for all remaining geometry axes. The same applies to axes involved in

a transformation.

Examples:

N10 MEASA[Z]=(1,1) MEASA[Y]=(1,1) MEASA[X]=(1,1) G0 Z100

or

N10 MEASA[Z]=(1,1) POS[Z]=100

Query status

If an evaluation is required in the program, whether a probe has been deflected or has switched,

the status can be queried through the following system variables:

System variable

Meaning

Data type

Value

$A_PROBE[<n>]

Probe state

INT

0

Probe not deflected.

1

Probe deflected.

$AC_MEA[<n>]

Switching status of the probe

INT

0

Probe has not switch-

ed

$AC_MEA[<n>] is automati-

cally reset at the beginning of

1

Probe has switched

a measurement.

(all trigger events pro-

grammed in the

measuring block

have taken place).

<n> = number of the probe

Note

If measurement is started from synchronized actions, $AC_MEA is no longer updated. In this

case, the NC/PLC interface signal DB31, … DBX62.3 or the equivalent variable

$AA_MEAACT[<Axis>] must be queried.

$AA_MEAACT==1: Measurement active

$AA_MEAACT==0: Measurement not active

Probe limitation

In the NC program or synchronized action, the probe limiting status can be read using system

variable $A_PROBE_LIMITED when using PROFIBUS telegram 395:

$A_PROBE_LIMITED[<n>] == 0: Probe limitation inactive/reset

$A_PROBE_LIMITED[<n>] == 1: Probe limitation active

<n> = probe number

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5.11 Programmable end of motion criteria (FINEA, COARSEA, IPOENDA, IPOBRKA, ADISPOSA)

5.11

Programmable end of motion criteria (FINEA, COARSEA, IPOENDA,

IPOBRKA, ADISPOSA)

Similar to the block change criterion for path interpolation (G601, G602, and G603) it is also

possible to program the end-of-motion criterion for single-axis interpolation in a part program

or in synchronized actions for command/PLC axes.

The end-of-motion criterion set will affect how quickly or slowly part program blocks and

technology cycle blocks with single-axis movements are completed. The same applies for PLC

via FC15/16/18.

Syntax

FINEA[<axis>]

COARSEA[<axis>]

IPOENDA[<axis>]

IPOBRKA(<axis>[,<instant in time>])

ADISPOSA[<axis>]=(<mode>,<window size>)

Meaning

FINEA:

End-of-motion criterion: "Exact stop fine"

Effective:

Modal

COARSEA:

End-of-motion criterion: "Exact stop coarse"

Effective:

Modal

IPOENDA:

End-of-motion criterion: "Interpolator stop"

Effective:

Modal

IPOBRKA:

Block change criterion: Braking ramp

Effective:

Modal

ADISPOSA:

Tolerance window for end-of-motion criterion

Effective:

Modal

<axis>:

Channel axis name (X, Y,

)

<instant in time>:

Time of the block change, referred to the braking ramp as a %:

●

100% = start of the braking ramp

●

0% = end of the braking ramp, the same significance as IPOENDA

Type:

REAL

<mode>:

Reference of the tolerance window

Range of values:

0

Tolerance window not active

1

Tolerance window with respect to set posi-

tion

2

Tolerance window with respect to actual po-

sition

Type:

INT

<window size>:

Size of the tolerance window

Type:

REAL

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