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SINUMERIK 840D sl/828D. Job Planning. Programming Manual (2010-2018) - page 8

Tool offsets

11.12 Working with tool environments

However, since the wear is evaluated negatively, due to setting data SD42930

$SC_WEAR_SIGN, the compensation determined in this way has to be entered in the

compensation memory with a negative sign. The contents of the relevant tool parameters at

the end of the program are thus:

$TC_DP3[1,1]: 10.000 ; geometry L1 (unchanged)

$TC_DP4[1,1] : 15.000 ; geometry L2 (unchanged)

$TC_DP5[1,1]: 10.000 ; geometry L3 (unchanged)

$TC_DP12[1,1] : 2.010 ; wear L1 (= 10 - 15 * cos(30) + 10 * sin(30))

$TC_DP13[1,1] : -16.160 ; wear L2 (= -15 * sin(30) - 10 * cos(30))

$TC_DP14[1,1] : -5.000 ; wear L3

The effect of setting data SD42930 $SC_WEAR_SIGN on the L3 component in the Y direction

can be recognized without the additional complication caused by the frame rotation.

Additional information

Turning/grinding tools: Calculating the tool length depending on MD20360

$MC_TOOL_PARAMETER_DEF_MASK

The following machine data defines how the wear and tool length are to be evaluated if a

diameter axis is used for turning/grinding tools:

MD20360 $MC_TOOL_PARAMETER_DEF_MASK.<Bit> = <Value>

<Bit>

<Value>

Meaning

0

0

For turning/grinding tools, the wear parameter of the transverse axis is taken into

account in the radius value:

1

For turning/grinding tools, the wear parameter of the transverse axis is taken into

account as the diameter value:

1

0

For turning/grinding tools, the tool length component of the transverse axis is taken

into account as the radius value:

1

For turning/grinding tools, the tool length component of the transverse axis is taken

into account as the diameter value:

If the bits involved are set, the associated entry is weighted with a factor of 0.5. The correction

using SETTCOR is executed so that the total effective tool length change is equal to the value

transferred in <CorVal>. If, when calculating the length, a length is evaluated with a factor of

0.5 as a result of machine data MD20360 $MC_TOOL_PARAMETER_DEF_MASK, then the

compensation of this component must be realized with twice the value transferred.

Example

MD20360 $MC_TOOL_PARAMETER_DEF_MASK = 2 (tool length must be evaluated in the

diameter axis using a factor of 0.5)

Axis X is the diameter axis.

Program code

Comment

N10 DEF REAL _LEN[11]

N20 DEF REAL _CORVAL[3]

N30 $TC_DP1[1,1]=500

; Tool type

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Tool offsets

11.13 Read the assignment of the tool lengths L1, L2, L3 to the coordinate axes (LENTOAX)

11.13

Read the assignment of the tool lengths L1, L2, L3 to the coordinate

axes (LENTOAX)

The LENTOAX function provides information about the assignment of tool lengths L1, L2 and

L3 of the active tool to the abscissa, ordinate and applicate. The assignment of abscissa,

ordinate and applicate to the geometry axes is affected by frames and the active plane (G17

- G19).

Only the geometry component of a tool ($TC_DP3[<t>,<d>] to $TC_DP5[<t>,<d>]) is

considered, i.e. a different axis assignment for other components (e.g. wear) has no effect on

the result.

Syntax

<Status> = LENTOAX(<AxInd>, <Matrix>[, <Coord>])

Principle

LENTOAX(...):

Predefined function to read the assignment of tool lengths L1, L2 and L3 of the

active tool to the coordinate axes

Alone in the block:

Yes

<Status>:

Function return value. Negative values indicate error states.

Data type:

INT

Value:

0

Function OK

Information provided in <AxInd> is sufficient for the descrip-

tion (all tool length components are in parallel to the geom-

etry axes).

1

Function is OK, however, the content of <Matrix> must be

evaluated for a correct description (the tool length compo-

nents are not parallel to the geometry axes).

-1

Invalid string in parameter <Coord>.

-2

No tool active.

Parameters

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11.13 Read the assignment of the tool lengths L1, L2, L3 to the coordinate axes (LENTOAX)

1

<AxInd>:

If the tool length components are parallel to the geometry axes, the axis indices

assigned to length components L1 to L3 are returned in the <AxInd> array.

● <AxInd> [0]: Abscissa

● <AxInd> [1]: Ordinate

● <AxInd> [2]: Applicate

Data type:

INT[3]

Value:

0

No assignment exists (axis does not exist)

1 ... 3

Number of the length effective in the corresponding coordi-

nate axis.

or

The sign is negative if the tool length component is pointing

-1 ... -3

in the negative coordinate direction.

If not all length components are parallel or antiparallel to the geometry axes, the

index of the axis, which contains the largest part of a tool length component, is

returned in <AxInd>. In this case (if the function does not return an error for a

different reason), then the return value is <Status> = 1. The mapping of tool length

components L1 to L3 to geometry axes 1 to 3 is then described completely by the

content of the 2nd parameter <Matrix>.

2

<Matrix>:

Matrix which represents the vector of the tool lengths (L1=1, L2=1, L3=1) to the

vector of the coordinate axes (abscissa, ordinate, applicate), i.e. the tool length

components are assigned to the columns in the order L1, L2, L3 and the axes are

assigned to the lines in the order abscissa, ordinate, applicate.

Data type:

REAL

All elements are always valid in the matrix, even if the geometry axis belonging

to the coordinate axis is not available, i.e. if the corresponding entry in <AxInd>

is 0.

3

<Coord>:

coordinate system applicable for the assignment (optional)

Data type:

STRING

Charac-

MCS

The tool length is represented in the machine coordinate

ters:

system.

M

BCS

The tool length is represented in the basic coordinate system.

B

WCS

The tool length is represented in the workpiece coordinate

system (default setting).

W

KCS

The tool length is represented in the tool coordinate system

of the kinematic transformation.

K

TCS

The tool length is represented in the tool coordinate system.

T

The notation of the characters in the string (upper or lower case) is arbitrary.

If the parameter <Coord> is not specified, then WCS is used (default setting).

Note

In the TCS, all tool length components are always parallel or antiparallel to the axes.

The components can only be antiparallel when mirroring is active and the following setting

data is activated:

SD42900 $SC_MIRROR_TOOL_LENGTH (sign change tool length when mirroring)

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12

12.1

Tangential control

12.1.1

Defining coupling (TANG)

Via the predefined procedure TANG(...), a tangential coupling between a rotary axis is defined

as the following axis and two geometry axes as the leading axes. The following axis is

continuously aligned with the path tangent of the leading axes.

Note

Coupling factor

A coupling factor of 1 does not have to be programmed explicitly.

The direction of the tangential axis is rotated using the coupling factor of -1.

Syntax

TANG(<following axis>, <leading axis_1>, <leading axis_2>, <coupling

factor>, <coordinate system>, <optimization>)

Meaning

TANG(...):

Define tangential coupling

<following axis>:

Axis name of the following axis (rotary axis)

Data type:

AXIS

Range of values:

Channel axis names

<leading axis_1>

Axis names of the leading axes (geometry axes) ¹⁾

<leading axis_2>:

Data type:

AXIS

Range of values:

Geometry axis names of the channel

<coupling factor>:

Factor n of the angle change of the following axis for changing the path

tangent of the leading axes:

Angle change_{following axis} = angle change_{path tangent} * n

Data type:

REAL

Default value:

1.0

<coordinate system>:

Active coordinate system ²⁾

Data type:

CHAR

Value:

"B":

Basic coordinate system (default value)

"W":

Workpiece coordinate system (not availa-

ble)

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12.1 Tangential control

<optimization>:

Optimization type

Data type:

CHAR

Value:

"S":

Standard (default value)

The dynamic response of the rotary axis

has no effect on the leading axes If the dy-

namic response of the rotary axis is greater

than required for tracking, this method is

sufficiently precise. If the dynamic re-

sponse of the rotary axis is not great

enough to follow the change in the path

tangent, the orientation of the rotary axis

will deviate from the target orientation

along an undefined rounding clearance.

"P":

The dynamic response of the rotary axis is

considered in the path planning of the lead-

ing axes.

For this purpose, on activation of the tan-

gential coupling with TANGON(), two addi-

tional parameters must be specified:

● Rounding clearance

● Angular tolerance

See Section "Activating the coupling (TAN-

GON) (Page 497)"

Note

With kinematic transformations, we recom-

mend using optimization method "P."

Note

Default values do not have to be programmed explicitly.

¹⁾ Note

As the leading axes for tangential coupling, the geometry axes must be used that travel along the

programmed path in the machine coordinate system (MCS) with reference to the initial position of the

machine. For example, if swivel cycle CYCLE800 is used on a milling machine with a swivel head,

depending on how the cycle is configured, interpolation will be performed in the WCS, e.g. with the

geometry axes X and Y. The tangential coupling, however, must be defined with the geometry axes as

the leading axes, which travel along the programmed path in the MCS. For this purpose, the geometry

axes in the non-swiveled condition of the machine must be used as the leading axes.

²⁾ Note

The basic coordinate system (BCS) must not be rotated with respect to the MCS. For example, if the

BCS is rotated with the ROT command or with the swivel cycle CYCLE800, the tangential control is no

longer correct.

12.1.2

Activating intermediate block generation (TLIFT)

If the tangent change of the following axis at any position along the programmed path of the

leading axes exceeds the limit parameterized in machine data MD37400

$MA_EPS_TLIFT_TANG_STEP, further path planning will depend on the set behavior at

corners. Without use of the predefined procedure TLIFT(...), the path is traversed in

accordance with the rounding behavior programmed in connection with TANG(...) (Page 495)

and TANGON(...) (Page 497).

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12.1 Tangential control

Angle of the following axis

The angle of the following axis with respect to the path tangent depends on the transformation

ratio specified in TANG(...), the offset angle parameterized in the machine data MD37402

$MA_TANG_OFFSET, and the offset angle specified for TANGON(...), which is applied

additively.

Optimization "P"

If the value "P" was specified as the optimization parameter in the definition of the tangential

coupling (TANG(...)), the parameter "rounding clearance" and optionally the parameter

"angular tolerance" must be set when coupling is activated.

If the value 0 is specified as the angular tolerance, only the parameter "rounding clearance"

will be active.

If a value greater than 0 is specified as the angular tolerance, the active rounding clearance

results from the minimum of the parameterized rounding clearance and the rounding clearance

based on the parameterized angular tolerance.

If the dynamic response of the following axis is not sufficient to follow the parameterized

conditions, the path velocity of the leading axes will be reduced accordingly.

Syntax

TANGON(<following axis>, <offset angle>, <rounding clearance>,

<angular tolerance>)

Meaning

TANGON(...):

Activate tangential coupling

<following axis>:

Axis name of the following axis (rotary axis)

Data type:

AXIS

Range of values:

Channel axis names

<offset angle>:

Offset angle of following axis with respect to the path tangent

The reference point is the zero point of the rotary axis.

Data type:

REAL

<rounding clearance>:

Maximum permissible rounding clearance

If the rounding clearance is increased due to the dynamic conditions,

the path velocity of the leading axes is reduced.

Data type:

REAL

<angular tolerance>:

Maximum permissible tolerance with respect to the specified angle be-

tween the following axis zero setting and the path tangent

Data type:

REAL

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12.1 Tangential control

12.1.4

Deactivating the coupling (TANGOF)

Via the predefined procedure TANGOF(...), a tangential coupling defined with TANG(...)

(Page 495) and activated with TANGON(...) (Page 497) is deactivated. The following axis is

then no longer aligned with the path tangent of the leading axis. However, the coupling of the

following axis to the leading axes is retained even after deactivation, which prevents the

following functions, for example:

● Plane change

● Geometry axis switchover

● Definition of a new tangential coupling for the following axis

Final cancellation of the connection of the coupling of the following axis to the leading axes is

not completed until the coupling has been deleted with TANGDEL(...) (Page 499).

Programming

TANGOF(<following axis>)

Meaning

TANGOF(...):

Deactivate a tangential coupling

<following axis>:

Axis name of the following axis (rotary axis)

Data type:

AXIS

Range of values:

Channel axis names

12.1.5

Deleting a coupling (TANGDEL)

A tangential coupling defined with TANG(...) (Page 495) will be retained even after deactivation

of the tangential coupling with TANGOF(...) (Page 499). The existing tangential coupling then

continues to prevent, for example, the following functions:

● Plane change

● Geometry axis switchover

● Definition of a new tangential coupling for the following axis

With the predefined procedure TANGDEL(...), the existing tangential coupling is deleted after

the tangential coupling has been deactivated with TANGOF(...).

Syntax

TANGDEL(<following axis>)

Meaning

TANGDEL(...):

Delete a tangential coupling defined with TANG()

Effective:

Non-modal

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12.2 Feedrate characteristic (FNORM, FLIN, FCUB, FPO)

Example: Various feed profiles

This example shows you the programming and graphic representation of various feed profiles.

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1

1

1 1

1

1 1

1

1

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Program code

Comment

N1 F1000 FNORM G1 X8 G91 G64

; Constant feedrate profile, incremental di-

mension data

N2 F2000 X7

; Setpoint velocity step change

N3 F=FPO(4000, 6000, -4000)

; Feed profile via polynomial with feed 4000

at the end of the block

N4 X6

; Polynomial feedrate 4000 is valid as modal

value

N5 F3000 FLIN X5

; Linear feedrate profile

N6 F2000 X8

; Linear feedrate profile

N7 X5

; Linear feedrate is valid as modal value

N8 F1000 FNORM X5

; Constant feedrate profile with acceleration

step change

N9 F1400 FCUB X8

; All of the following F values programmed in

blocks are connected with splines

N10 F2200 X6

N11 F3900 X7

N12 F4600 X7

N13 F4900 X5

; Switch-out spline profile

N14 FNORM X5

N15 X20

Further information

FNORM

The feed address F defines the path feedrate as a constant value according to DIN 66025.

Please refer to Programming Manual "Fundamentals" for more detailed information on this

subject.

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12.2 Feedrate characteristic (FNORM, FLIN, FCUB, FPO)

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FLIN

The feedrate characteristic is approached linearly from the current feedrate value to the

programmed F value until the end of the block.

Example:

N30 F1400 FLIN X50

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FCUB

The feedrate is approached according to a cubic characteristic from the current feedrate value

to the programmed F value until the end of the block. The control uses splines to connect all

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Path traversing behavior

12.2 Feedrate characteristic (FNORM, FLIN, FCUB, FPO)

the feedrate values programmed non-modally that have an active FCUB. The feedrate values

act here as interpolation points for calculation of the spline interpolation.

Example:

N50 F1400 FCUB X50

N60 F2000 X47

N70 F3800 X52

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F=FPO(…,…,…)

The feedrate characteristic is programmed directly via a polynomial. The polynomial

coefficients are specified according to the same method used for polynomial interpolation.

Example:

F=FPO(endfeed, quadf, cubf)

endfeed, quadf and cubf are previously defined variables.

endfeed:

Feedrate at block end

quadf:

Quadratic polynomial coefficient

cubf:

Cubic polynomial coefficient

With an active FCUB, the spline is linked tangentially to the characteristic defined via FPO at

the block beginning and block end.

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12.2 Feedrate characteristic (FNORM, FLIN, FCUB, FPO)

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Supplementary conditions

● The functions for programming the path traversing characteristics apply regardless of the

programmed feedrate characteristic.

● The programmed feedrate characteristic is always absolute regardless of G90 or G91.

● The feed characteristic curve FLIN and FCUB does not act with G93 and G94 for G95,

G96/G961 and G97/G971.

● With an active compressor COMPON the following applies when several blocks are joined

to form a spline segment:

FNORM:

The F word of the last block in the group applies to the spline segment.

FLIN:

The F word of the last block in the group applies to the spline segment.

The programmed F value applies until the end of the segment and is then

approached linearly.

FCUB:

The generated feedrate spline deviates from the programmed end points by an

amount not exceeding the value set in machine data MD20172 $MC_COM-

PRESS_VELO_TOL.

F=FPO(…,…,…):

These blocks are not compressed.

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12.3 Acceleration behavior

12.3

Acceleration behavior

12.3.1

Acceleration mode (BRISK, BRISKA, SOFT, SOFTA, DRIVE, DRIVEA)

The following part program commands are available for programming the current acceleration

mode:

● "BRISK, BRISKA"

The single axes or the path axes traverse with maximum acceleration until the programmed

feedrate is reached (acceleration without jerk limitation).

● "SOFT, SOFTA"

The single axes or the path axes traverse with constant acceleration until the programmed

feedrate is reached (acceleration with jerk limitation).

● "DRIVE, DRIVEA"

The single axes or the path axes traverse with maximum acceleration up to a programmed

velocity limit (MD setting!). The acceleration rate is then reduced (MD setting) until the

programmed feedrate is reached.

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Figure 12-1

Path velocity curve with BRISK and SOFT

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Path traversing behavior

12.3 Acceleration behavior

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Figure 12-2

Path velocity curve with DRIVE

Syntax

BRISK

BRISKA(<axis1>,<axis2>,…)

SOFT

SOFTA(<axis1>,<axis2>,…)

DRIVE

DRIVEA(<axis1>,<axis2>,…)

Meaning

BRISK:

Command for activating the "acceleration without jerk limitation"

for the path axes.

BRISKA:

Command for activating the "acceleration without jerk limitation"

for single axis movements (JOG, JOG/INC, positioning axis, os-

cillating axis, etc.).

SOFT:

Command for activating the "acceleration with jerk limitation" for

the path axes.

SOFTA:

Command for activating the "acceleration with jerk limitation" for

single axis movements (JOG, JOG/INC, positioning axis, oscil-

lating axis, etc.).

DRIVE:

Command for activating the reduced acceleration above a con-

figured velocity limit (MD35220 $MA_ACCEL_REDUC-

TION_SPEED_POINT) for the path axes.

DRIVEA:

Command for activating the reduced acceleration above a con-

figured velocity limit (MD35220 $MA_ACCEL_REDUC-

TION_SPEED_POINT) for single axis movements (JOG, JOG/

INC, positioning axis, oscillating axis, etc.).

(<axis1>,<axis2>, etc.):

Single axes for which the called acceleration mode is to apply.

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Path traversing behavior

12.3 Acceleration behavior

Note

Availability for SINUMERIK 828D

The VELOLIMA, ACCLIMA and JERKLIMA functions can only be used with SINUMERIK 828D

in conjunction with the "coupled motion" function!

Syntax

VELOLIMA(<axis>)=<value>

ACCLIMA(<axis>)=<value>

JERKLIMA(<axis>)=<value>

Meaning

VELOLIMA:

Command to correct the parameterized maximum velocity

ACCLIMA:

Command to correct the parameterized maximum acceleration

JERKLIMA:

Command to correct the parameterized maximum jerk

<axis>:

Following axis whose dynamics limits need to be corrected

<value>:

Percentage correction value

Examples

Example 1: Correction of the dynamics limits for a following axis (AX4)

Program code

Comment

VELOLIMA[AX4]=75

; Limit correction to 75% of the maximum axial velocity

stored in the machine data

ACCLIMA[AX4]=50

; Limit correction to 50% of the maximum axial acceleration

stored in the machine data

JERKLIMA[AX4]=50

; Limit correction to 50% of the maximum axial jerk stored

in the machine data

Example 2: Electronic gear

Axis 4 is coupled to axis X via an "electronic gear" coupling. The acceleration capacity of the

following axis is limited to 70% of the maximum acceleration. The maximum permissible

velocity is limited to 50% of the maximum velocity. Once the coupling has been activated

successfully, the maximum permissible velocity is restored to 100%.

Program code

Comment

N120 ACCLIMA[AX4]=70

; Reduced maximum acceleration.

N130 VELOLIMA[AX4]=50

; Reduced maximum velocity.

N150 EGON(AX4,"FINE",X,1,2)

; Activation of the EG coupling.

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12.3 Acceleration behavior

Meaning

DYNNORM:

G command for activating the normal dynamic response

DYNPOS:

G command for activating the dynamic response for positioning mode, tapping

DYNROUGH:

G command for activating the dynamic response for roughing

DYNSEMIFIN:

G command for activating the dynamic response for finishing

DYNFINISH:

G command for activating the dynamic response for smooth-finishing

R<m>:

R-parameter with number <m>

$MA...[n,X]:

Machine data with field element affecting dynamic response

<n>:

Array index

Range of values:

0 ... 4

0

Normal dynamic response (DYNNORM)

1

Dynamic response for positioning mode (DYNPOS)

2

Dynamic response for roughing (DYNROUGH)

3

Dynamic response for finishing (DYNSEMIFIN)

4

Dynamic response for smooth-finishing (DYNFINISH)

<X> :

Axis address

<value>:

Dynamic value

Examples

Example 1: Activate dynamic values

Program code

Comment

DYNNORM G1 X10

; Initial setting

DYNPOS G1 X10 Y20 Z30 F…

; Positioning mode, tapping

DYNROUGH G1 X10 Y20 Z30 F10000

;Roughing

DYNSEMIFIN G1 X10 Y20 Z30 F2000

;Finishing

DYNFINISH G1 X10 Y20 Z30 F1000

; Smooth finishing

Example 2: Read or write a specific field element

Maximum acceleration for roughing, axis X

Program code

Comment

R1=$MA_MAX_AX_ACCEL[2,X]

; reading

$MA_MAX_AX_ACCEL[2,X]=5

; writing

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12.5 Programmable contour accuracy (CPRECON, CPRECOF)

12.5

Programmable contour accuracy (CPRECON, CPRECOF)

The "Programmable contour accuracy" function reduces the path error on curved contours

through automatic adaptation of the velocity.

The contour accuracy to be maintained is specified depending on the configuration of the

machine (MD20470 $MC_MC_CPREC_WITH_FFW; see machine manufacturer

specifications) either via the setting data $SC_CONTPREC or via the programmed contour

tolerance CTOL. The smaller the value and the smaller the K_V factor of the geometry axes, the

greater the path feedrate is reduced on curved contours.

The "Programmable contour accuracy" function is activated or deactivated via the operations

CPRECON and CPRECOF in the NC program.

Syntax

CPRECON

CPRECOF

Meaning

CPRECON:

G command call: Switch "Programmable contour accuracy" on

Effective:

Modal

CPRECOF:

G command call: Switch "Programmable contour accuracy" off

Effective:

Modal

Together CPRECON and CPRECOF form the G function group 39 (programmable contour

accuracy).

Note

The user can specify a minimum velocity for the path feedrate via the setting data

$SC_MINFEED (minimum path feedrate with CPRECON).

The feedrate is not limited below this value, unless a lower F value has been programmed or

the dynamic limits of the axes require a lower path velocity.

Note

The "Programmable contour accuracy" function only considers the geometry axes of the path.

It has no effect on the velocities of positioning axes.

Example

Program code

Comment

N10 G0 X0 Y0

N20 CPRECON

; Activate the "programmable contour accuracy".

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12.5 Programmable contour accuracy (CPRECON, CPRECOF)

Program code

Comment

N30 G1 G64 X100 F10000

; Machining with 10 m/min in the continuous-path

mode.

N40 G3 Y20 J10

; Automatic feed limitation in circular block.

N50 G1 X0

; Feedrate again without limitation (10 m/min).

N100 CPRECOF

; Deactivate the "programmable contour accuracy".

N110 G0 ...

References

For the programming of CTOL, see "Programming contour/orientation tolerance (CTOL,

OTOL, ATOL) (Page 536)"

For more detailed information on the "Programmable contour accuracy" function, see:

Function Manual, Special Functions; Contour Tunnel Monitoring (K6), Section: "Programmable

contour accuracy"

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12.6 Program sequence with preprocessing memory (STOPFIFO, STARTFIFO, FIFOCTRL, STOPRE)

12.6

Program sequence with preprocessing memory (STOPFIFO,

STARTFIFO, FIFOCTRL, STOPRE)

Depending on its expansion level, the control system has a certain quantity of so-called

preprocessing memory in which prepared blocks are stored prior to program execution and

then output as high-speed block sequences while machining is in progress. These sequences

allow short paths to be traversed at a high velocity. Provided that there is sufficient residual

control time available, the preprocessing memory is always filled.

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Designate machining step

The beginning and end of the machining step to be buffered in the preprocessing memory are

identified in the part program with "STOPFIFO" and "STARTFIFO" respectively. The

processing of the preprocessed and buffered blocks starts only after the "STARTFIFO"

command or if the preprocessing memory is full.

Automatic preprocessing memory control

Automatic preprocessing memory control is called with the "FIFOCTRL" command.

"FIFOCTRL" acts initially just like "STOPFIFO". Whatever the programming, processing will

not start until the preprocessing memory is full. However, the response to the emptying of the

preprocessing memory does differ: With "FIFOCTRL", the path velocity is reduced increasingly

once the fill level reaches 2/3 in order to prevent complete emptying and deceleration to

standstill.

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Path traversing behavior

12.6 Program sequence with preprocessing memory (STOPFIFO, STARTFIFO, FIFOCTRL, STOPRE)

Meaning

STOPFIFO:

"STOPFIFO" identifies the start of a machining step to be buffered in the prepro-

cessing memory. "STOPFIFO" stops processing and fills the preprocessing mem-

ory until:

● "STARTFIFO" or "STOPRE" is recognized

or

● The preprocessing memory is full

or

● The end of the program is reached

STARTFIFO:

"STARTFIFO" starts rapid processing of the machining step; the preprocessing

memory is filled in parallel to this.

FIFOCTRL:

Activation of automatic preprocessing memory control

STOPRE:

Stop preprocessing

Note

The preprocessing memory is not filled or filling is interrupted if the machining step contains

commands that require unbuffered operation (search for reference, measuring functions, etc.).

Note

The control generates an internal preprocessing stop in the event of access to status data

($SA...).

Example: Stop preprocessing

Program code

Comment

N30 MEAW=1 G1 F1000 X100 Y100 Z50

; Measurement block with probe at first

measuring input and linear interpola-

tion.

N40 STOPRE

; Preprocessing stop.

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Path traversing behavior

12.7 Defining a stop delay range (DELAYFSTON, DELAYFSTOF)

12.7

Defining a stop delay range (DELAYFSTON, DELAYFSTOF)

The predefined DELAYFSTON and DELAYFSTOF procedures are used to define a

conditionally interruptible range in the part program (stop delay range).

Note

DELAYFSTON and DELAYFSTOF are not permitted in synchronized actions!

Syntax

DELAYFSTON

DELAYFSTOF

Meaning

DELAYFSTON:

Defining the start of a stop delay range

Alone in the block:

Yes

DELAYFSTOF:

Define the end of the stop delay area

Alone in the block:

Yes

Programming example

The following program block is repeated in a loop:

Program code

N99 MY_LOOP:

N100 G0 Z200

N200 G0 X0 Z200

N300 DELAYFSTON

N400 G33 Z5 K2 M3 S1000

N500 G33 Z0 X5 K3

N600 G0 X100

N700 DELAYFSTOF

N800 GOTOB MY_LOOP

In the following diagram it can be seen that the user pressed "Stop" in the stop delay range,

and the NC started braking outside the stop delay range, i.e. in block N100. That causes the

NC to stop at the beginning of N100.

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12.7 Defining a stop delay range (DELAYFSTON, DELAYFSTOF)

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End of subprogram

DELAYFSTOF is activated implicitly at the end of the subprogram in which DELAYFSTON is

called.

Nesting

If subprogram 1 calls subprogram 2 in a stop delay area, the whole of subprogram 2 is a stop

delay area. In particular, DELAYFSTOF in subprogram 2 has no effect.

Example:

Program code

Comment

N10010 DELAYFSTON

; Blocks with N10xxx program level 1.

N10020 R1 = R1 + 1

N10030 G4 F1

; Stop delay area starts.

N10040 subprogram2

; Interpretation of subprogram 2.

N20010 DELAYFSTON

; Ineffective, repeated start, 2nd level.

N20020 DELAYFSTOF

; Ineffective, end at another level.

N20030 RET

N10050 DELAYFSTOF

; Stop delay end of range at the same level.

N10060 R2 = R2 + 2

N10070 G4 F1

; Stop delay area ends. From now, stops act immediately.

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Path traversing behavior

12.9 Repositioning to the contour (REPOSA, REPOSL, REPOSQ, REPOSQA, REPOSH, REPOSHA, DISR,

DISPR, RMIBL, RMBBL, RMEBL, RMNBL)

12.9

Repositioning to the contour (REPOSA, REPOSL, REPOSQ,

REPOSQA, REPOSH, REPOSHA, DISR, DISPR, RMIBL, RMBBL,

RMEBL, RMNBL)

If you interrupt the program run and retract the tool during the machining operation - because,

for example, the tool has broken or you wish to measure the workpiece - you can reposition

at any selected point on the contour under control by the program.

The command REPOS acts in an ASUB as a subprogram return (e.g. M17). The following blocks

are not executed. For information on interrupting program runs, see also "Interrupt routine

(ASUB) (Page 125)."

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Syntax

REPOSA RMIBL DISPR=…

REPOSA RMBBL

REPOSA RMEBL

REPOSA RMNBL

REPOSL RMIBL DISPR=…

REPOSL RMBBL

REPOSL RMEBL

REPOSL RMNBL

REPOSQ RMIBL DISPR=… DISR=…

REPOSQ RMBBL DISR=…

REPOSQ RMEBL DISR=…

REPOSQA DISR=…

REPOSH RMIBL DISPR=… DISR=…

REPOSH RMBBL DISR=…

REPOSH RMEBL DISR=…

REPOSHA DISR=…

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Path traversing behavior

12.9 Repositioning to the contour (REPOSA, REPOSL, REPOSQ, REPOSQA, REPOSH, REPOSHA, DISR,

DISPR, RMIBL, RMBBL, RMEBL, RMNBL)

Meaning

Selecting the approach path

REPOSA:

Repositioning to the contour with the geometry axes along a straight line.

All other channel axes are also repositioned.

REPOSL:

Repositioning to the contour with the geometry axes along a straight line.

Other axes have to be programmed explicitly.

REPOSQ DISR=… :

Repositioning to the contour with the geometry axes along a quadrant of

radius DISR.

Other axes have to be programmed explicitly.

REPOSQA DISR=… :

Repositioning to the contour with the geometry axes along a quadrant of

radius DISR.

All other channel axes are also repositioned.

REPOSH DISR=… :

Repositioning to the contour with the geometry axes along a semicircle

of diameter DISR.

Other axes have to be programmed explicitly.

REPOSHA DISR=… :

Repositioning to the contour with the geometry axes along a semi-circle

of radius DISR.

All other channel axes are also repositioned.

Selecting the repositioning point

RMIBL:

Approach interruption point

RMIBL DISPR=…:

Entry point at distance DISPR in mm/inch in front of interruption point

RMBBL:

Approach block start point

RMEBL:

Approach end of block

RMEBL DISPR=… :

Approach block end point at distance DISPR in front of end point

RMNBL:

Approach at nearest path point

A0 B0 C0 :

Axes in which approach is to be made

Note

Compatibility

To remain compatible with older software versions, you can still program the REPOS approach

mode via the modal commands RMI, RMB, RME and RMN. When used within an ASUB, this

should be allocated the attribute SAVE in the PROC statement. Otherwise the modal REPOS

approach mode used in the ASUB will take effect in subsequent REPOS processes, too, if it

deviates from the preset RMI.

Repositioning to the contour along a straight line, REPOSA, REPOSL

The tool approaches the repositioning point along a straight line.

Example

REPOSL RMIBL DISPR=6 F400

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Path traversing behavior

12.9 Repositioning to the contour (REPOSA, REPOSL, REPOSQ, REPOSQA, REPOSH, REPOSHA, DISR,

DISPR, RMIBL, RMBBL, RMEBL, RMNBL)

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Repositioning to the contour along a quadrant, REPOSQ, REPOSQA

The tool approaches the repositioning point along a quadrant with a radius of DISR=…. The

control automatically calculates the necessary intermediate point between the start and

repositioning point.

Example

REPOSQ RMIBL DISR=10 F400

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Job Planning

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Path traversing behavior

12.9 Repositioning to the contour (REPOSA, REPOSL, REPOSQ, REPOSQA, REPOSH, REPOSHA, DISR,

DISPR, RMIBL, RMBBL, RMEBL, RMNBL)

Repositioning to the contour along a semicircle, REPOSH, REPOSHA

The tool approaches the repositioning point along a semi-circle with a diameter of DISR=….

The control automatically calculates the necessary intermediate point between the start and

repositioning point.

Example

REPOSH RMIBL DISR=20 F400

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Specifying the repositioning point (not for SERUPRO approaching with RMNBL)

With reference to the NC block in which the program run has been interrupted, it is possible

to select one of three different repositioning points:

● RMIBL, interruption point

● RMBBL, block start point or last end point

● RMEBL, block end point

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Path traversing behavior

12.9 Repositioning to the contour (REPOSA, REPOSL, REPOSQ, REPOSQA, REPOSH, REPOSHA, DISR,

DISPR, RMIBL, RMBBL, RMEBL, RMNBL)

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RMIBL DISPR=… or RME DISPR=… allows you to select a repositioning point which lies

before the interruption point or the block end point.

DISPR=… allows you to describe the contour distance in mm/inch between the repositioning

point and the interruption before the end point. Even for high values, this point cannot be further

away than the block start point.

If no DISPR=… command is programmed, then DISPR=0 applies and with it the interruption

point (with RMIBL) or the block end point (with RMEBL).

DISPR sign

The sign of DISPR is evaluated. In the case of a plus sign, the behavior is as previously.

In the case of a minus sign, approach is behind the interruption point or, with RMBBL, behind

the block start point.

The distance between interruption point and approach point depends on the value of DISPR.

Even for higher values, this point can lie in the block end point at the maximum.

Application example:

A sensor will recognize the approach to a clamp. An ASUB is initiated to bypass the clamp.

Afterwards, a negative DISPR is repositioned on one point behind the clamp and the program

is continued.

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Path traversing behavior

12.9 Repositioning to the contour (REPOSA, REPOSL, REPOSQ, REPOSQA, REPOSH, REPOSHA, DISR,

DISPR, RMIBL, RMBBL, RMEBL, RMNBL)

SERUPRO approach with RMNBL

If an abort is forced during machining at any position, the shortest path from the abort point is

approached with SERUPRO approach and RMNBL so that afterward only the distance-to-go

is processed. The user starts a SERUPRO process at the interruption block and uses the JOG

keys to move in front of the problem component of the target block.

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SERUPRO

For SERUPRO, RMIBL and RMBBL are identical. RMNBL is not only limited to SERUPRO,

but is generally valid.

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12.9 Repositioning to the contour (REPOSA, REPOSL, REPOSQ, REPOSQA, REPOSH, REPOSHA, DISR,

DISPR, RMIBL, RMBBL, RMEBL, RMNBL)

Approach from the nearest path point RMNBL

When REPOSA is interpreted, the repositioning block with RMNBL is not started again in full

after an interruption, but only the distance-to-go processed. The nearest path point of the

interrupted block is approached.

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Status for the valid REPOS mode

The valid REPOS mode of the interrupted block can be read with synchronized actions and

variable $AC_ REPOS_PATH_MODE:

0

Approach not defined

1

RMBBL: Approach to beginning

2

RMIBL: Approach to point of interruption

3

RMEBL: Approach to end of block

4

RMNBL: Approach to next path point of the interrupted block

Approaching with a new tool

The following applies if you have stopped the program run due to tool breakage:

When the new D number is programmed, the machining program is continued with modified

tool offset values at the repositioning point.

Where tool offset values have been modified, it may not be possible to reapproach the

interruption point. In such cases, the point closest to the interruption point on the new contour

is approached (possibly modified by DISPR).

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Path traversing behavior

12.9 Repositioning to the contour (REPOSA, REPOSL, REPOSQ, REPOSQA, REPOSH, REPOSHA, DISR,

DISPR, RMIBL, RMBBL, RMEBL, RMNBL)

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Approach contour

The motion with which the tool is repositioned on the contour can be programmed. Enter zero

for the addresses of the axes to be traversed.

The REPOSA, REPOSQA and REPOSHA commands automatically reposition all axes.

Individual axis names need not be specified.

When the commands REPOSL, REPOSQ and REPOSH are programmed, all geometry axes

are traversed automatically, i.e. they do not have to be specified in the command. All other

axes must be specified in the commands.

The following applies to the REPOSH and REPOSQ circular motions:

The circle is traversed in the specified working planes G17 to G19.

If you specify the third geometry axis (infeed direction) in the approach block, the repositioning

point is approached along a helix in case the tool position and programmed position in the

infeed direction do not coincide.

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12.9 Repositioning to the contour (REPOSA, REPOSL, REPOSQ, REPOSQA, REPOSH, REPOSHA, DISR,

DISPR, RMIBL, RMBBL, RMEBL, RMNBL)

In the following cases, there is an automatic switchover to linear approach REPOSL:

● You have not specified a value for DISR.

● No defined approach direction is available (program interruption in a block without travel

information).

● With an approach direction that is perpendicular to the current working plane.

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Path traversing behavior

12.10 Influencing the motion control

12.10

Influencing the motion control

12.10.1

Percentage jerk correction (JERKLIM)

Using the NC command "JERKLIM", the maximum jerk of an axis for path motion - set using

machine data - can be reduced or increased in critical program sections.

Requirement

The acceleration mode SOFT must be active.

Effectiveness

The function is effective:

● In the AUTOMATIC operating modes.

● Only on path axes.

Syntax

JERKLIM[<axis>]=<value>

Meaning

JERKLIM:

Command for jerk correction

<axis>:

Machine axis whose jerk limit value is to be adapted.

<value>:

Percentage correction value, referred to the configured maximum axis jerk for path

motion (MD32431 $MA_MAX_AX_JERK).

Range of values:

1 ... 200

Value 100 does not influence the jerk.

Note

The behavior of JERKLIM at the end of the part program and channel reset is configured with

bit 0 in machine data MD32320 $MA_DYN_LIMIT_RESET_MASK:

● Bit 0 = 0:

The programmed value for JERKLIM is reset to 100% with channel reset/M30.

● Bit 0 = 1:

The programmed value for JERKLIM is retained beyond the channel reset/M30.

Example

Program code

Comment

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12.10 Influencing the motion control

<value>:

Percentage correction value

The correction value refers to:

● For axes/spindles in axis operation (MD30455 bit 6 == 0):

To the configured maximum axis velocity

(MD32000 $MA_MAX_AX_VELO).

● For spindles in spindle or axis operation (MD30455 bit 6 == 1):

To the maximum speed of the active gear unit stage

(MD35130 $MA_GEAR_STEP_MAX_VELO_LIMIT[<n>])

Range of values:

1 ... 100

The value 100 does not influence the velocity or speed.

Note

Behavior at the end of the part program and for a channel reset

The behavior of "VELOLIM" at the end of the part program and channel reset can be set via

the machine data: MD32320 $MA_DYN_LIMIT_RESET_MASK, bit 0

Detection of an active speed limitation in spindle operation

A speed limitation via "VELOLIM" (less than 100%) can be detected in spindle operation via

the following system variables:

● $AC_SMAXVELO (maximum possible spindle speed)

● $AC_SMAXVELO_INFO (identifier for the speed-limiting cause)

Examples

Example 1: Velocity limitation, machine axis

Program code

Comment

N70 VELOLIM[X]=80

; The axis slide in the X direction should only be trav-

ersed with a maximum of 80% of the velocity permissible

for the axis.

Example 2: Speed limitation, spindle

Program code

Comment

N05 VELOLIM[S1]=90

; Limiting the maximum speed of spindle 1 to 90% of

1000 rpm.

N50 VELOLIM[C]=45

; Limiting the speed to 45% of 1000 rpm, C is the axis

identifier of S1.

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12.11 Programming contour/orientation tolerance (CTOL, OTOL, ATOL)

12.11

Programming contour/orientation tolerance (CTOL, OTOL, ATOL)

Addresses CTOL, OTOL and ATOL can be used to adapt the machining tolerances -

parameterized using machine and setting data - for compressor functions, smoothing and

orientation smoothing in the part program.

The programmed tolerance values are valid until they are reprogrammed or deleted by

assigning a negative value. Further, they are deleted at the end of the program or a reset The

parameterized tolerance values become effective again after deletion.

Syntax

CTOL=<Value>

OTOL=<Value>

ATOL[<Axis>]=<Value>

Meaning

CTOL:

Address to program the contour tolerance

Applications:

● All compressor functions

● All rounding types except G641 and G644

Preprocessing stop:

No

Effective:

Modal

<Value>:

The value for the contour tolerance is specified as a length.

Type:

REAL

Unit:

inch/mm (dependent on the current dimensions

setting)

Value range:

≥ 0:

Tolerance value

< 0:

The programmed tolerance value is de-

leted

⇒ The tolerance value parameterized in

the machine or setting data becomes ef-

fective again.

OTOL:

Address to program the orientation tolerance

Applications:

● All compressor functions

● ORISON orientation smoothing

● All smoothing types except G641, G644 and OSD

Preprocessing stop:

No

Effective:

Modal

<Value>:

The value for the orientation tolerance is specified as an angle.

Type:

REAL

Unit:

degrees

Value range:

≥ 0:

Tolerance value

< 0:

The programmed tolerance value is de-

leted

⇒ The tolerance value parameterized in

the machine or setting data becomes ef-

fective again.

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12.11 Programming contour/orientation tolerance (CTOL, OTOL, ATOL)

ATOL:

Address for programming an axis-specific tolerance

Applications:

● All compressor functions

● ORISON orientation smoothing

● All smoothing types except G641, G644 and OSD

Preprocessing stop:

No

Effective:

Modal

<Axis>:

Name of the channel axis to which the programmed tolerance will

apply

<Value>:

The value for the axis tolerance will be specified as a length or an

angle dependent on the axis type (linear or rotary axis).

Type:

REAL

Unit:

For linear axes:

inch/mm (dependent on

the current dimensions set-

ting)

For rotary axes:

degrees

Value range:

≥ 0:

Tolerance value

< 0:

The programmed tolerance value is de-

leted

⇒ The tolerance value parameterized in

the machine or setting data becomes ef-

fective again.

Note

The channel-specific tolerance values programmed with CTOL and OTOL have higher priority

than the axis-specific tolerance values programmed with ATOL.

Note

Scaling frames

Scaling frames affect programmed tolerances in the same way as axis positions; in other

words, the relative tolerance remains the same.

Example

Program code

Comment

COMPCAD G645 G1 F10000

; Activate COMPCAD compressor function.

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

; The machine and setting data is applied here.

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

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

CTOL=0.02

; A contour tolerance of 0.02 mm is applied start-

ing from here.

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

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

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

ASCALE X0.25 Y0.25 Z0.25

; A contour tolerance of 0.005 mm is applied start-

ing from here.

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Path traversing behavior

12.12 Block change behavior with active coupling (CPBC)

12.12

Block change behavior with active coupling (CPBC)

The CPBC command specifies the block change criterion that must be satisfied so that a block

change can be executed in the part program with active coupling.

Syntax

CPBC[<following axis>] = <criterion>

Meaning

CPBC:

Block change criterion with active coupling

<following axis>:

Axis identifier of the following axis

<criterion>:

Block change criterion

Type:

STRING

Value

Meaning: Block change is performed

"NOC"

Irrespective of the coupling status

"IPOSTOP"

For setpoint synchronism

"COARSE"

For actual value synchronism "coarse"

"FINE"

For actual value synchronism "fine"

Example

Program code

; Block change takes place with:

;

- Coupling to following axis X2 == active

;

- Setpoint synchronism == active

CPBC[X2]="IPOSTOP"

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Axis couplings

13

13.1

Coupled motion (TRAILON, TRAILOF)

When a defined leading axis is moved, the coupled motion axes (= following axes) assigned

to it traverse through the distances described by the leading axis, allowing for a coupling factor.

Together, the leading axis and following axis represent coupled axes.

Applications

● Traversal of an axis by means of a simulated axis. The leading axis is a simulated axis and

the coupled axis a real axis. In this way, the real axis can be traversed as a function of the

coupling factor.

● Two-sided machining with two coupled motion groups:

1. leading axis Y, coupled motion axis V

2. leading axis Z, coupled motion axis W

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Syntax

TRAILON(<following axis>,<leading axis>,<coupling factor>)

TRAILOF(<following axis>,<leading axis>,<leading axis 2>)

TRAILOF(<following axis>)

Meaning

TRAILON:

Command for activating and defining a coupled axis grouping

Effective:

Modal

<following axis>:

Parameter 1: Axis name of trailing axis

Note:

A coupled-motion axis can also act as the leading axis for other coupled-

motion axes. In this way, it is possible to create a range of different coupled

axis groupings.

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Axis couplings

13.1 Coupled motion (TRAILON, TRAILOF)

<leasing axis>:

Parameter 2: Axis name of trailing axis

<coupling factor>:

Parameter 3: Coupling factor

The coupling factor specifies the desired relationship between the paths of

the coupled-motion axis and the leading axis:

<coupling factor> = path of coupled-motion axis/path of leading axis

Type:

REAL

Default:

1

The input of a negative value causes the master and coupled axes to tra-

verse in opposition.

If a coupling factor is not programmed, then coupling factor 1 automatically

applies.

TRAILOF:

Command for deactivating a coupled axis grouping

Effective:

Modal

TRAILOF with 2 parameters deactivates only the coupling to the specified

leading axis:

TRAILOF(<following axis>,<leading axis>)

If a coupled-motion axis has two leading axes, TRAILOF can be called with

three parameters to deactivate both couplings.

TRAILOF(<following axis>,<leading axis>,<leading axis

2>)

Programming TRAILOF without specifying a leading axis produces the

same result:

TRAILOF(<following axis>)

Note

Coupled axis motion is always executed in the base coordinate system (BCS).

The number of coupled axis groupings which may be simultaneously activated is limited only

by the maximum possible number of combinations of axes on the machine.

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Axis couplings

13.1 Coupled motion (TRAILON, TRAILOF)

Example

The workpiece is to be machined on two sides with the axis configuration shown in the diagram.

To do this, you create two combinations of coupled axes.

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Program code

Comment

…

N100 TRAILON(V,Y)

; Activation of 1st coupled axis group.

N110 TRAILON(W,Z,-1)

; Activation of 2nd coupled axis grouping, Negative cou-

pling factor: Coupled-motion axis traverses in the oppo-

site direction from leading axis.

N120 G0 Z10

; Infeed of Z and W axes in opposite axial directions.

N130 G0 Y20

; Infeed of Y and V axes in same axis direction.

…

N200 G1 Y22 V25 F200

; Overlaying of a dependent and independent movement of

coupled motion axis V.

…

TRAILOF(V,Y)

; Deactivation of 1st coupled axis grouping.

TRAILOF(W,Z)

; Deactivation of 2nd coupled axis grouping.

Further information

Axis types

A coupled axis grouping can consist of any desired combinations of linear and rotary axes. A

simulated axis can also be defined as a leading axis.

Coupled-motion axes

Up to two leading axes can be assigned simultaneously to a trailing axis. The assignment is

made in different combinations of coupled axes.

A coupled-motion axis can be programmed with the full range of available motion commands

(G0, G1, G2, G3, etc.). The coupled axis not only traverses the independently defined paths,

but also those derived from its leading axes on the basis of coupling factors.

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Axis couplings

13.1 Coupled motion (TRAILON, TRAILOF)

Dynamics limit

The dynamics limit is dependent on the type of activation of the coupled axis grouping:

● Activation in part program

If activation is performed in the part program and all leading axes are active as program

axes in the activated channel, the dynamic response of all coupled-motion axes is taken

into account during traversing of the leading axis to avoid overloading the coupled-motion

axes.

If activation is performed in the part program with leading axes that are not active as

program axes in the activating channel ($AA_TYP ≠ 1), then the dynamic response of the

coupled-motion axes is not taken into account during traversing of the leading axis. This

can cause the overloading of coupled-motion axes with a dynamic response which is less

than that required for the coupling.

● Activation in synchronized action

If activation is performed in a synchronized action, the dynamic response of the coupled-

motion axes is not taken into account during traversing of the leading axis. This can cause

the overloading of coupled-motion axes with a dynamic response which is less than that

required for the coupling.

CAUTION

Axis overload

If a coupled axis grouping is activated:

● In synchronized actions

● In the part program with leading axes that are not program axes in the channel of the

coupled-motion axes

It is the specific responsibility of the user / machine manufacturer to take suitable action

to ensure that the traversing of the leading axis will not cause the overloading of the

coupled-motion axes.

Coupling status

The coupling status of an axis can be checked in the part program with the system variable:

$AA_COUP_ACT[<axis>]

Value

Meaning

0

No coupling active

8

Coupled motion active

Display of distance-to-go of the coupled-motion axis for modulo rotary axes

If the leading and coupled-motion axes are modulo rotary axes, traversing movements in the

leading axis from n * 360° with n = 1, 2, 3 ... , add up in the distance-to-go display of the coupled-

motion axis until the coupling is switched off.

Example: Program section with TRAILON and leading axis B and following axis C

Program code

Comment

TRAILON(C,B,1)

; Activate coupling

G0 B0

; Starting position

; Distance-to-go display at block start:

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13.2 Curve tables (CTAB)

13.2

Curve tables (CTAB)

Curve tables can be used to program position and velocity relationships between two axes

(leading and following axis). Curve tables are defined in the part program.

Application

Curve tables replace mechanical cams. The curve table forms the basis for the axial master

value coupling by creating the functional relationship between the leading and the following

value: With appropriate programming, the control calculates a polynomial that corresponds to

the cam from the relative positions of the leading and following axes.

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13.2.1

Define curve tables (CTABDEF, CATBEND)

A curve table represents a part program or a section of a part program enclosed by CTABDEF

at the start and CTABEND at the end.

Within this part program section, unique following axis positions are assigned to individual

positions of the leading axis using motion operations; these following axis positions are used

as intermediate points when calculating the curve definition in the form of a polynomial up to

the 5th order.

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13.2 Curve tables (CTAB)

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Requirement

The MD must be configured accordingly to ensure that sufficient memory space is reserved

for the definition of curve tables (→ machine manufacturer).

Syntax

CTABDEF(<following axis>,<leading axis>,<n>,<periodicity>[,<memory

location>])

CTABEND

Meaning

CTABDEF( ):

Start of curve table definition

CTABEND:

End of curve table definition

<following axis>:

Axis whose motion is to be calculated using the curve table

<leasing axis>:

Axis providing the master values for the calculation of the following axis motion

<n>:

Number (ID) of curve table

The number of a curve table is unique and independent of the memory loca-

tion. It is not possible for there to be tables with the same number in the static

and dynamic NC memory.

<periodicity>:

Table periodicity

0

Table is non-periodic (table is processed only once, even for rotary

axes)

1

Table is periodic with regard to the leading axis

2

Table is periodic with regard to leading axis and following axis

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Axis couplings

13.2 Curve tables (CTAB)

<memory

Specification of memory location (optional)

location>:

"SRAM"

The curve table is created in the static NC memory.

"DRAM"

The curve table is created in the dynamic NC memory.

Note:

If a value is not programmed for this parameter, the default memory location

set with MD20905 $MC_CTAB_DEFAULT_MEMORY_TYPE is used.

Note

Overwrite

A curve table is overwritten as soon as its number (<n>) is used in another table definition.

(exception: the curve table is either active in an axis coupling or locked with CTABLOCK). No

warning is output when curve tables are overwritten.

Examples

Example 1: Program section as curve table definition

A program section is to be used unchanged for defining a curve table. The STOPRE command

for preprocessing stop can remain and is reactivated immediately as soon as the program

section is no longer being used for table definition and CTABDEF and CTABEND have been

removed.

Program code

Comment

…

CTABDEF(Y,X,1,1)

; Definition of a curve table.

…

IF NOT ($P_CTABDEF)

STOPRE

ENDIF

…

CTABEND

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13.2 Curve tables (CTAB)

Example 2: Definition of a non-periodic curve table

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;

Program code

Comment

N100 CTABDEF(Y,X,3,0)

; Beginning of the definition of a ;non-periodic curve

table with number 3.

N110 X0 Y0

; 1st motion operation, defines the starting values and

1st intermediate point:

Master value: 0, Following value: 0

N120 X20 Y0

; 2nd interpolation point:

Master value: 0…20, Following value: starting value…0

N130 X100 Y6

; 3rd interpolation point:

Master value: 20…100, Following value: 0…6

N140 X150 Y6

; 4th interpolation point:

Master value: 100…150, Following value: 6…6

N150 X180 Y0

; 5th interpolation point:

Master value: 150…180, Following value: 6…0

N200 CTABEND

; End of the definition. The curve table is generated

in its internal representation as a polynomial of up to

the 5th order. The calculation of the curve definition

with the specified intermediate points is dependent on

the modally selected interpolation type (circular, lin-

ear, spline interpolation). The part program state be-

fore starting the definition is restored.

Example 3: Definition of a periodic curve table

Definition of a periodic curve table with number 2, master value range 0 to 360, following axis

motion from 0 to 45 and back to 0:

Program code

Comment

N10 DEF REAL DEPPOS

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13.2 Curve tables (CTAB)

Available language scope

Within the definition of the curve table, you have use of the entire NC language.

Note

The following entries are not permitted in curve table definitions:

● Preprocessing stop

● Jumps in the leading axis movement (e.g. on changing transformations)

● Traverse statement for the following axis only

● Reversal of the leading axis, i.e. position of the leading axis must always be unique

● CTABDEF and CTABEND statement on various program levels.

Effectiveness of modal operations

All modal statements that are made within the curve table definition are invalid when the table

definition is completed. The part program in which the table definition is made is therefore

before and after the table definition in the same state.

Assignments to R-parameters

Assignments to R-parameters in the table definition are reset after CTABEND.

Example:

Program code

Comment

R10=5 R11=20

;R10=5

CTABDEF

G1 X=10 Y=20 F1000

R10=R11+5

;R10=25

X=R10

CTABEND

;R10=5

Activating ASPLINE, BSPLINE, CSPLINE

If an ASPLINE, BSPLINE or CSPLINE is activated within a curve definition table CTABDEF ...

CTABEND, at least a start point should be programmed before this spline activation. Immediate

activation after CTABDEF should be avoided, otherwise the spline will depend on the current

axis position before the curve table definition.

Example:

Program code

CTABDEF(Y,X,1,0)

X0 Y0

ASPLINE

X=5 Y=10

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13.2 Curve tables (CTAB)

Syntax

CTABEXISTS(<n>)

Meaning

CTABEXISTS:

Checks for the presence of curve table number <n> in the static or dynamic NC

memory.

0

Table does not exist

1

Table exists

<n>:

Number (ID) of curve table

13.2.3

Delete curve tables (CTABDEL)

CTABDEL can be used to delete curve tables.

Note

Curve tables that are active in an axis coupling cannot be deleted.

Syntax

CTABDEL(<n>)

CTABDEL(<n>,<m>)

CTABDEL(<n>,<m>,<memory location>)

CTABDEL()

CTABDEL(,,<memory location>)

Meaning

CTABDEL:

Command for deleting curve tables

<n>:

Number (ID) of the curve table to be deleted

When a curve table range CTABDEL(<n>,<m>) is deleted, <n> is used to

specify the number of the first curve table in the range.

<m>:

When a curve table range CTABDEL(<n>,<m>) is deleted, <m> is used to

specify the number of the last curve table in the range.

<m> has to be greater than <n>.

<memory

Specification of memory location (optional)

location>:

In the case of deletion without a memory location being specified, the specified

curve tables are deleted in the static and the dynamic NC memory.

In the case of deletion with a memory location being specified, of the specified

curve tables, only those located in the specified memory location are deleted.

The rest are retained.

"SRAM"

Deletion in the static NC memory

"DRAM"

Deletion in the dynamic NC memory

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13.2 Curve tables (CTAB)

<n>:

Number (ID) of the curve table to be locked/unlocked

When a curve table range CTABLOCK(<n>,<m>)/CTABUNLOCK(<n>,<m>)

is locked/unlocked, <n> is used to specify the number of the first curve table

in the range.

<m>:

When a curve table range CTABLOCK(<n>,<m>)/CTABUNLOCK(<n>,<m>)

is locked/unlocked, <m> is used to specify the number of the last curve table

in the range.

<m> has to be greater than <n>.

<memory

Specification of memory location (optional)

location>:

In the case of locking/unlocking without a memory location being specified,

the specified curve tables are locked/unlocked in the static and the dynamic

NC memory.

In the case of locking/unlocking with a memory location being specified, of

the specified curve tables, only those located in the specified memory location

are locked/unlocked. The rest are not locked/unlocked.

"SRAM"

Lock/unlock in the static NC memory

"DRAM"

Lock/unlock in the dynamic NC memory

If CTABLOCK/CTABUNLOCK is programmed without specification of the curve table to be

locked/unlocked, then all curve tables or all curve tables in the specified memory will be locked/

unlocked:

CTABLOCK():

Locks all curve tables in the static and the dynamic NC memory

CTABLOCK(,,"SRAM"):

Locks all curve tables in the static NC memory

CTABLOCK(,,"DRAM"):

Locks all curve tables in the dynamic NC memory

CTABUNLOCK():

Unlocks all curve tables in the static and dynamic NC memory

CTABUNLOCK(,,"SRAM"):

Unlocks all curve tables in the static NC memory

CTABUNLOCK(,,"DRAM"):

Unlocks all curve tables in the dynamic NC memory

13.2.5

Curve tables: Determine table properties (CTABID, CTABISLOCK,

CTABMEMTYP, CTABPERIOD)

These commands can be used to poll important properties of a curve table (table number, lock

state, memory location, periodicity).

Syntax

CTABID(<p>)

CTABID(<p>,<memory location>)

CTABISLOCK(<n>)

CTABMEMTYP(<n>)

TABPERIOD(<n>)

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13.2 Curve tables (CTAB)

Meaning

CTABID:

Returns the table number entered as the <p>th curve table in the specified

memory.

Example:

CTABID(1,"SRAM") returns the number of the first curve table in the static

NC memory. In this context the first curve table is the curve table with the

highest table number.

Note:

If the sequence of curve tables in the memory changes between consecutive

calls of CTABID, e.g. due to the deletion of curve tables with CTABDEL,

CTABID(<p>,...) can return a different curve table with the same number

<p>.

CTABISLOCK:

Returns the lock state of curve table number <n>:

0

Table is not locked

1

Table is locked by CTABLOCK

2

Table is locked by active coupling

3

Table is locked by CTABLOCK and active coupling

-1

Table does not exist

CTABMEMTYP:

Returns the memory location of curve table number <n>:

0

Table in the static NC memory

1

Table in the dynamic NC memory

-1

Table does not exist

CTABPERIOD:

Returns the periodicity of curve table number <n>:

0

Table is not periodic

1

Table is periodic in the leading axis

2

Table is periodic in the leading and following axes

-1

Table does not exist

<p>:

Entry number in memory

<n>:

Number (ID) of curve table

<memory

Specification of memory location (optional)

location>:

"SRAM"

Static NC memory

"DRAM"

Dynamic NC memory

Note:

If a value is not programmed for this parameter, the default memory location

set with MD20905 $MC_CTAB_DEFAULT_MEMORY_TYPE is used.

13.2.6

Read curve table values (CTABTSV, CTABTEV, CTABTSP, CTABTEP,

CTABSSV, CTABSEV, CTAB, CTABINV, CTABTMIN, CTABTMAX)

The following curve table values can be read in the part program:

● Following axis and leading axis values at the start and end of a curve table

● Following axis values at the start and end of a curve segment

● Following axis value for a leading axis value

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13.2 Curve tables (CTAB)

● Leading axis value for a following axis value

● Following axis minimum and maximum values

- In the entire definition range of the curve table

or

- In a defined curve table interval

Syntax

CTABTSV(<n>,<gradient>[,<following axis>])

CTABTEV(<n>,<gradient>[,<following axis>])

CTABTSP(<n>,<gradient>[,<leading axis>])

CTABTEP(<n>,<gradient>[,<leading axis>])

CTABSSV(<master value>,<n>,<gradient>[,<following axis>])

CTABSEV(<master value>,<n>,<gradient>[,<following axis>])

CTAB(<master value>,<n>,<gradient>[,<following axis>,<leading axis>]

CTABINV(<following value>,<approximate

value>,<n>,<gradient>[,<following axis>,<leading axis>]

CTABTMIN(<n>[,<following axis>])

CTABTMAX(<n>[,<following axis>])

CTABTMIN(<n>,<a>,<b>[,<following axis>,<leading axis>])

CTABTMAX(<n>,<a>,<b>[,<following axis>,<leading axis>])

Meaning

CTABTSV:

Read following axis value at the start of curve table no. <n>

CTABTEV:

Read following axis value at the end of curve table no. <n>

CTABTSP:

Read leading axis value at the start of curve table no. <n>

CTABTEP:

Read leading axis value at the end of curve table no. <n>

CTABSSV:

Read following axis value at the start of the curve segment belonging to the

specified leading axis value (<master value>)

CTABSEV:

Read following axis value at the end of the curve segment belonging to the

specified leading axis value (<master value>)

CTAB:

Read following axis value for specified leading axis value (<master

value>)

CTABINV:

Read leading axis value for specified following axis value (<following

value>)

CTABTMIN:

Define following axis minimum value:

● In the entire definition range of the curve table

or

● In a defined interval <a> ... <b>

CTABTMAX:

Define following axis maximum value:

● In the entire definition range of the curve table

or

● In a defined interval <a> ... <b>

<n>:

Number (ID) of curve table

<gradient>:

The <gradient> parameter returns the incline of the curve table function

at the calculated position.

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