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

Flexible NC programming

1.25 Subprogram technique

Example: both cycles

Display screen for cycle MY_CYCLE_1

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Syntax description for the uc.com file - user cycle description

Header line for each cycle:

as in the cov.com file preceded by "//"

//C <number> (<cycle_name>) comment_text

Example:

//C25(MY_CYCLE_1) usercycle_

Line for description for each parameter:

(<data_type_id> / <minimum_value> <maximum_value>

/ <preset_value> /

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Flexible NC programming

1.25 Subprogram technique

Data type identifier:

for real

for integer

for character (1 character)

for string

Minimum value, maximum value (can be omitted)

Limitations of the entered values which are checked at input; values outside this range

cannot be entered. It is possible to specify an enumeration of values which can be operated

via the toggle key; they are listed preceded by "*", other values are then not permissible.

Example:

(I/*123456/1/Machining type)

There are no limits for string and character types.

Default value (can be omitted)

Value which is the default value in the corresponding screen when the cycle is called; it can

be changed via operator input.

Comment

Text of up to 50 characters which is displayed in front of the parameter input field in the call

screen for the cycle.

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Flexible NC programming

1.26 Macro technique (DEFINE ... AS)

1.26

Macro technique (DEFINE ... AS)

CAUTION

Use of macros can significantly alter the control's programming language! Therefore,

exercise caution when using macros.

Function

A macro is a sequence of individual statements, which have together been assigned a name

of their own. G, M and H functions or L subprogram names can also be used as macros.

When a macro is called during a program run, the statements programmed under the

program name are executed one after the other.

Application

Instruction sequences that are repeated are only programmed once as macro in a dedicated

macro block (macro file) or once at the beginning of the program. The macro can then be

called in any main program or subprogram and executed.

Activating

In order to use the macros of a macro file in the NC program, the macro file must be

downloaded into the NC.

Syntax

Macro definition:

DEFINE <Macro name> AS <instruction 1> <instruction 2> ...

Call in the NC program:

Significance

DEFINE ... AS :

Keyword combination to define a macro

<macro name>:

Macro name

Only identifiers are permissible as macro names.

The macro is called from the NC program using the macro name.

<operation>:

Programming instruction that should be included in the macro.

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Flexible NC programming

1.26 Macro technique (DEFINE ... AS)

Rules when defining a macro

● Any identifier, G, M, H functions and L program names can be defined in a macro.

● Macros can also be defined in the NC program.

● G function macros can only be defined in the macro module globally for the entire control

(modal).

● H and L functions can be programmed with 2 digits.

● M and G functions can be programmed using 3 digits.

CAUTION

Keywords and reserved names may not be re-defined using macros.

General conditions

Nesting of macros is not possible.

Examples

Example 1: Macro definition at the beginning of the program

Program code

Comments

DEFINE LINE AS G1 G94 F300

; Macro definition

N70 LINE X10 Y20

; Macro call

Example 2: Macro definitions in a macro file

Program code

Comments

DEFINE M6 AS L6

; A subprogram is called at tool change to handle

the necessary data transfer. The actual M

function is output in the subprogram (e.g.,

M106).

DEFINE G81 AS DRILL(81)

; Emulation of the DIN-G function.

DEFINE G33 AS M333 G333

; During thread cutting synchronization is

requested with the PLC. The original G function

G33 was renamed to G333 by machine data so that

the programming is identical for the user.

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Flexible NC programming

1.26 Macro technique (DEFINE ... AS)

Example 3: External macro file

The macro file must be downloaded into the NC after reading-in the external macro file into

the control. Only then can macros be used in the NC program.

Program code

Comments

%_N_UMAC_DEF

;$PATH=/_N_DEF_DIR

; Customer-specific macros

DEFINE PI AS 3.14

DEFINE TC1 AS M3 S1000

DEFINE M13 AS M3 M7

; Spindle clockwise, coolant on

DEFINE M14 AS M4 M7

; Spindle counterclockwise, coolant on

DEFINE M15 AS M5 M9

; Spindle stop, coolant off

DEFINE M6 AS L6

; Call tool change program

DEFINE G80 AS MCALL

; Deselect drilling cycle

M30

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File and Program Management

2.1

Program memory

Function

Files and programs (e.g. main programs and subprograms, macro definitions) are saved in

the non-volatile program memory (→ passive file system).

References:

Function Manual, Extended Functions; Memory Configuration (S7)

A number of file types are also stored here temporarily; these can be transferred to the work

memory as required (e.g. for initialization purposes when machining a specific workpiece).

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File and Program Management

2.1 Program memory

Standard directories

Its standard complement of directories is as follows:

Folder

Contents

_N_DEF_DIR

Data modules and macro modules

_N_CST_DIR

Standard cycles

_N_CMA_DIR

Manufacturer cycles

_N_CUS_DIR

User cycles

_N_WKS_DIR

Workpieces

_N_SPF_DIR

Global subprograms

_N_MPF_DIR

Main programs

_N_COM_DIR

Comments

File types

The following file types can be stored in the main memory:

File type

Description

name_MPF

Main program

name_SPF

Subprogram

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

name_COM

Comment

name_DEF

Definitions for global user data and macros

Workpiece main directory (_N_WKS_DIR)

The workpiece main directory exists in the standard setup of the program memory under the

name _N_WKS_DIR. The workpiece main directory contains all the workpiece directories for the

workpieces that you have programmed.

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File and Program Management

2.1 Program memory

Workpiece directories (..._WPD)

To make data and program handling more flexible certain data and programs can be

grouped together or stored in individual workpiece directories.

A workpiece directory contains all files required for machining a workpiece. These can be

main programs, subprograms, any initialization programs and comment files.

The first time a part program is started, initialization programs are executed once, depending

on the selected program (in accordance with machine data MD11280

$MN_WPD_INI_MODE).

Example:

The workpiece directory _N_WELLE_WPD, created for SHAFT workpiece contains the

following files:

File

Significance

_N_SHAFT_MPF

Main program

_N_PART2_MPF

Main program

_N_PART1_SPF

Subprogram

_N_PART2_SPF

Subprogram

_N_SHAFT_INI

General initialization program for the data of the workpiece

_N_SHAFT_SEA

Setting data initialization program

_N_PART2_INI

General initialization program for the data for the Part 2 program

_N_PART2_UFR

Initialization program for the frame data for the Part 2 program

_N_SHAFT_COM

Comment file

Creating workpiece directories on an external PC

The steps described below are performed on an external data station. Please refer to your

Operator's Guide for file and program management (from PC to control system) directly on

the control.

Creating a workpiece directory with a path name ($PATH=…)

The destination path $PATH=… is specified within the second line of the file. The file is then

stored at the specified path.

Example:

Program code

%_N_SHAFT_MPF

;$PATH=/_N_WKS_DIR/_N_SHAFT_WPD

N40 G0 X… Z…

File _N_WELLE_MPF is stored in directory /_N_WKS_DIR/_N_WELLE_WPD.

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File and Program Management

2.1 Program memory

Creating a workpiece directory without a path name

If the path name is missing, files with the _SPF extension are stored in directory

/_N_SPF_DIR, files with the _INI extension are stored in the RAM and all other files are

stored in directory/_N_MPF_DIR.

Example:

Program code

%_N_SHAFT_SPF

M17

File _N_WELLE_SPF is stored in directory /_N_SPF_DIR.

Select workpiece for machining

A workpiece directory can be selected for execution in a channel. If a main program with the

same name or only a single main program (_MPF) is stored in this directory, this is

automatically selected for execution.

References:

/BAD/ Operating Manual HMI Advanced; "Job list" and "Selecting a program for execution"

Search paths for subprogram call

If the search path is not specified explicitly in the part program when a subprogram (or

initialization file) is called, the calling program searches in a fixed search path.

Subprogram call with absolute path

Example

Program code

CALL"/_N_CST_DIR/_N_CYCLE1_SPF"

Subprogram call without absolute path

Programs are usually called without specifying a path.

Example

Program code

CYCLE1

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File and Program Management

2.1 Program memory

The directories are searched for the called program in the following sequence:

No.

Folder

Significance

Current directory / name

Workpiece main directory or standard

directory _N_MPF_DIR

Current directory / name_SPF

Current directory / name_MPF

/_N_SPF_DIR / name_SPF

Global subprograms

/_N_CUS_DIR / name_SPF

User cycles

/_N_CMA_DIR / name_SPF

Manufacturer cycles

/_N_CST_DIR / name_SPF

Standard cycles

Programming search paths for subprogram call (CALLPATH)

The CALLPATH part program command is used to extend the search path of a subprogram

call.

Example:

Program code

CALLPATH ("/_N_WKS_DIR/_N_MYWPD_WPD")

The search path is stored in front of position 5 (user cycle) in accordance with the specified

programming.

For further information about the programmable search path for subprogram calls with

CALLPATH, see chapter "Extending the search path for subprogram calls with CALLPATH".

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File and Program Management

2.2 Working memory (CHANDATA, COMPLETE, INITIAL)

2.2

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

● Work offsets

● ...

Initialization programs

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

types can be used for this:

File type

Significance

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

You will fine information on all of the file types in the Operator Manual for the operator

interface.

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.

The following exist:

Identifier

Data areas

NCK

NCK-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)

Tool data

COMPLETE

All data

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2.2 Working memory (CHANDATA, COMPLETE, INITIAL)

Create initialization program at an external PC

The data area identifier and the data type identifier can be used to determine the areas,

which are to be treated as a unit when the data are saved:

_N_AX5_TEA_INI

Machine data for axis 5

_N_CH2_UFR_INI

Frames of channel 2

_N_COMPLETE_TEA_INI

All machine data

When the control is started up initially, a set of data is automatically loaded to ensure proper

operation of the control.

Procedure for multi-channel controls (CHANDATA)

CHANDATA(<channel number>) for several channels is only permissible in the file

_N_INITIAL_INI. This is the commissioning file with which all data of the control is initialized.

Program code

Comments

%_N_INITIAL_INI

CHANDATA(1)

; Machine axis assignment, channel 1:

$MC_AXCONF_MACHAX_USED[0]=1

$MC_AXCONF_MACHAX_USED[1]=2

$MC_AXCONF_MACHAX_USED[2]=3

CHANDATA(2)

; Machine axis assignment, channel 2:

$MC_AXCONF_MACHAX_USED[0]=4

$MC_AXCONF_MACHAX_USED[1]=5

CHANDATA(1)

; Axial machine data:

; Exact stop window coarse:

$MA_STOP_LIMIT_COARSE[AX1]=0.2

; Axis 1

$MA_STOP_LIMIT_COARSE[AX2]=0.2

; Axis 2

; ;Exact stop window fine:

$MA_STOP_LIMIT_FINE[AX1]=0.01

; Axis 1

$MA_STOP_LIMIT_FINE[AX1]=0.01

; Axis 2

CAUTION

CHANDATA statement

In the part program, the CHANDATA instruction may only be set for that channel in which the

NC program is executed; i.e. the instruction can be used to protect NC programs so that

they are not executed in the wrong channel.

Program processing is aborted if an error occurs.

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File and Program Management

2.2 Working memory (CHANDATA, COMPLETE, INITIAL)

Note

INI files in job lists do not contain any CHANDATA instructions.

Save initialization program (COMPLETE, INITIAL)

The files of the working memory can be saved on an external PC and then read in again

from there.

● The files are saved with COMPLETE.

● INITIAL is used to create an INI file (_N_INITIAL_INI) over all areas.

Read-in initialization program

NOTICE

If the file is read-in with the name "INITIAL_INI", then all data that are not supplied in the file

are initialized using standard data. Only machine data are an exception. This means that

setting data, tool data, ZO, GUD values, ... are supplied with standard data (normally

"ZERO").

For example, the file COMPLETE_TEA_INI is suitable for reading-in individual machine data.

The control only expects machine data in this file. This is the reason that the other data

areas remain unaffected in this case.

Loading initialization programs

The INI programs can also be selected and called as part programs if they only use data of

one channel. This means that it is also possible to initialize program controlled data.

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File and Program Management

2.3 Structuring instruction in step editor (SEFORM)

2.3

Structuring instruction in step editor (SEFORM)

Function

The structuring instruction SEFORM is evaluated in the step editor (editor-based program

support) to generate the step view for HMI Advanced. The step view is used to improve the

readability of the NC subprogram.

Syntax

SEFORM(<section name>,<level>,<icon>)

Significance

SEFORM()

Function call of the structuring instruction with parameters

Identifier of the working step

Type:

STRING

<level>

Index for the main or sub-level

Type:

INT

Value:

Main level

1, ..., <n>

Lower level 1, ... , lower level <n>

<icon>

Name of the icon displayed for this section.

Type:

STRING

Note

SEFORM instructions are generated in the Step editor.

The string transferred with the <section name> parameter is stored main-run-synchronously

in the OPI variable in a similar way to the MSG instruction. The information remains until

overwritten by the next SEFORM instruction. Reset and end of part program clear the content.

The NCK checks during the part program execution the parameters <level> and <icon> but

does not process them any further.

References

For additional information on editor-based program support, see:

Operating Manual HMI Advanced.

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Protection zones

3.1

Definition of the protection zones (CPROTDEF, NPROTDEF)

Function

You can use protection zones to protect various elements on the machine, their components

and the workpiece against incorrect movements.

Tool-oriented protection zones:

For parts that belong to the tool (e.g. tool, toolholder)

Workpiece-oriented protection zones:

For parts that belong to the workpiece (e.g. parts of the workpiece, clamping table, clamping

shoe, spindle chuck, tailstock).

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Syntax

DEF INT NOT_USED

G17/G18/G19

CPROTDEF/NPROTDEF(<n>,<t>,<applim>,<applus>,<appminus>)

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

EXECUTE(NOT_USED)

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Protection zones

3.1 Definition of the protection zones (CPROTDEF, NPROTDEF)

Meaning

DEF INT NOT_USED:

Define local variable, data type INTEGER

(see Chapter "Motion synchronous actions (Page 551)")

G17/G18/G19:

The required plane is selected before CPROTDEF or NPROTDEF

with G17/G18/G19 and must not be altered before EXECUTE. The

applicate must not be programmed between CPROTDEF or

NPROTDEF and EXECUTE.

CPROTDEF:

Define channel-specific protection zones (for NCU 572/573

only)

NPROTDEF:

Defining machine-specific protection zones

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

The contour of the protection zones is specified with up to 11

... :

traversing movements in the selected plane. The first

traversing movement is the movement to the contour. The

valid protection zone is the zone left of the contour.

Note:

The travel motion programmed between CPROTDEF or NPROTDEF

and EXECUTE are not executed, but merely define the protection

area.

EXECUTE:

End definition

<n>:

Number of defined protection zone

<t>

Type of protection zone

TRUE:

Tool-related protection zone

FALSE:

Workpiece-related protection zone

Type of limitation in the third dimension

No limitation

Limit in plus direction

Limit in minus direction

Limit in positive and negative direction

<applus>:

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

<appminus>:

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

NOT_USED:

Error variable has no effect for protection zones with EXECUTE

General conditions

During definition of the protection zones:

● no cutter or tool nose radius compensation must be active.

● no transformation must be active.

● no frame must be active.

Neither must reference point approach (G74), fixed point approach (G75), block

preprocessing stop nor program end be programmed.

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Protection zones

3.1 Definition of the protection zones (CPROTDEF, NPROTDEF)

Further information

Definition of protection zones

Definition of the protection zones includes the following:

● CPROTDEF for channel-specific protection zones

● NPROTDEF for machine-specific protection zones

● Contour description for protection zone

● Termination of the definition with EXECUTE

You can specify a relative offset for the reference point of the protection zone when the

protection zone is activated in the NC part program.

Reference point for contour description

The workpiece-oriented protection zones are defined in the basic coordinate system.

The tool-oriented protection zones are defined with reference to the tool carrier reference

point F.

Permissible contour elements

The following are permissible to define the contour of the protection zone:

● G0, G1 for straight contour elements

● G2 for clockwise circle segments (only for workpiece-oriented protection zones)

● G3 for circular segments in the counterclockwise direction

Note

If a full circle describes the protection zone, it must be divided into two half circles. The

sequence G2, G3 or G3, G2 is not permitted. A short G1 block must be inserted, if

necessary.

The last point in the contour description must coincide with the first.

External protection zones

External protection zones (only possible for workpiece-related protection zones) must be

defined in the clockwise direction.

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 up to the center of rotation!

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Protection zones

3.2 Activating/deactivating protection zones (CPROT, NPROT)

3.2

Activating/deactivating protection zones (CPROT, NPROT)

Function

Activating and preactivating previously defined protection zones for collision monitoring and

deactivating protection zones.

The maximum number of protection zones, which can be active simultaneously on the same

channel, is defined in machine data.

If no tool-related protection zone is active, the tool path is checked against the workpiece-

related protection zones.

Note

If no workpiece-related protection zone is active, protection zone monitoring does not take

place.

Syntax

CPROT(<n>,<state>,<xMov>,<yMov>,<zMov>)

NPROT(<n>,<state>,<xMov>,<yMov>,<zMov>)

Meaning

CPROT:

Call channel-specific protection zone (for NCU 572/573 only)

NPROT:

Call machine-specific protection zone

<n>:

Number of the protection zone

<state>

Status parameter

Deactivate protection zone

Preactivate protection zone

Activate protection zone

Preactivate protection zone with conditional stop

<xMov>,<yMov>,<zMov>: Move defined protection zone on the geometry axes

General conditions

Protection zone monitoring for active tool radius compensation

For active tool radius compensation, a functioning protection zone monitoring is only

possible if the plane of the tool radius compensation is identical to the plane of the protection

zone definitions.

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Protection zones

3.2 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-SB1) and the measuring probe itself (n-SB2).

● A channel-specific and a tool-oriented protection zone for the milling cutter holder (c-

SB1), the cutter shank (c-SB2) and the milling cutter itself (c-SB3).

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.

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Program code

Comment

DEF INT PROTECTB

; Definition of a Help variable

Definition of protection zone G17

; Set orientation

NPROTDEF(1,FALSE,3,10,-10)G01 X0 Y-10

; Protection zone n-SB1

X40

Y10

Y-10

EXECUTE(PROTECTB)

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Protection zones

3.2 Activating/deactivating protection zones (CPROT, NPROT)

Program code

Comment

NPROTDEF(2,FALSE,3,5,-5)

; Protection zone n-SB2

G01 X40 Y-5

X70

X40

Y-5

EXECUTE(PROTECTB)

CPROTDEF(1,TRUE,3,0,-100)

; Protection zone c-SB1

G01 X-20 Y-20

X20

Y20

X-20

Y-20

EXECUTE(PROTECTB)

CPROTDEF(2,TRUE,3,-100,-150)

; Protection zone c-SB2

G01 X0 Y-10

G03 X0 Y10 J10

X0 Y-10 J-10

EXECUTE(PROTECTB)

CPROTDEF(3,TRUE,3,-150,-170)

; Protection zone c-SB3

G01 X0 Y-27,5

G03 X0 Y27,5 J27,5

X0 Y27,5 J-27,5

EXECUTE(PROTECTB)

Activation of protection zones:

NPROT(1,2,-120,60,80)

; Activate protection zone n-SB1 with

offset

NPROT(2.2,-120,60,80)

; Activate protection zone n-SB2 with

offset

CPROT(1,2,0,0,0)

; Activate protection zone c-SB1 with

offset

CPROT(2,2,0,0,0)

; Activate protection zone c-SB2 with

offset

CPROT(3,2,0,0,0)

; Activate protection zone c-SB3 with

offset

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Protection zones

3.2 Activating/deactivating protection zones (CPROT, NPROT)

Further information

Activation status (<state>)

● <state>=2

A protection zone is generally activated in the part program with status = 2.

The status is always channel-specific even for machine-oriented protection zones.

● <state>=1

If a PLC user program provides for a protection zone to be effectively set by a PLC user

program, the required preactivation is implemented with status = 1.

● <state>=3

In the case of preactivation with conditional stop, the system never stops in front of a

preactivated protection zone which has been violated. The stop only occurs if the

protection zone has been activated. This facilitates uninterrupted processing if the

protection zones have only been activated in special cases. N.B. The system may move

into the protection zone as a result of the braking ramp if the protection zone is only

activated immediately prior to motion.

Preactivation with conditional stop is realized using status = 3.

● <state>=0

The protection zones are deactivated and therefore disabled with Status = 0. No shift is

required.

Movement of protection zones for (pre)activating

The offset can take place in 1, 2, or 3 dimensions. The offset refers to:

● the machine zero in workpiece-specific protection zones.

● the tool carrier reference point F in tool-specific protection zones.

Status after booting

Protection zones can be activated straight after booting and subsequent reference point

approach. The system variable $SN_PA_ACTIV_IMMED[<n>] or

$SC_PA_ACTIV_IMMED[<n>] must be set to TRUE for this purpose. They are always

activated with Status = 2 and have no offset.

Multiple activation of protection zones

A protection zone can be active simultaneously in several channels (e.g. tailstock where

there are two opposite sides). The protection zones are only monitored if all geometry axes

have been referenced.

The following applies:

● The protection zone cannot be activated simultaneously with different offsets in a single

channel.

● Machine-oriented protection zones must have the same orientation on both channels.

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Protection zones

3.3 Checking for protection zone violation, working area limitation and software limits (CALCPOSI)

3.3

Checking for protection zone violation, working area limitation and

software limits (CALCPOSI)

Function

The CALCPOSI function is for checking whether, starting from a defined starting point, the

geometry axes can traverse a defined path without violating the axis limits (software limits),

working area limitations, or protection zones.

If the defined path cannot be traversed, the maximum permissible path is returned.

The CALCPOSI function is a predefined subprogram. It must be alone in a block.

Syntax

Status=CALCPOSI(_STARTPOS, _MOVDIST, _DLIMIT, _MAXDIST, _BASE_SYS, _TESTLIM)

Significance

Status

0: Function OK,

the specified path can be completely traversed.

-: At least one component is negative in _DLIMIT

-: An error has occurred in a transformation calculation

If the specified path cannot be completely traversed, then a

positive, decimal-coded value is returned:

Units digit (type of violated limit):

1: Software limits are limiting the traversing path.

2: Working area limits are limiting the traversing path.

3: Software limits are limiting the traversing path.

If several limits are violated simultaneously (e.g. software

limits and protection zones), the limit that results in the most

significant restriction in the specified traversing path is

indicated in the units digit.

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Protection zones

3.3 Checking for protection zone violation, working area limitation and software limits (CALCPOSI)

Tens digit

10:

The initial value violates the limit

20:

The specified straight line violates the limit. This value is also

returned 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 limits in the WCS for non-

linear transformations, e.g. transmit).

Hundreds digit

100:

The positive limit value is violated (only if the units digit is 1 or

2, i.e. for software limits and working area limits)

100:

An NCK protection zone is violated (only if the units digit is 3).

200:

The negative limit value is violated (only if the units digit is 1

or 2, i.e. for software limits and working area limits)

200:

A channel-specific protection zone is violated (only if the units

digit is 3).

Thousands digit

1000:

Factor, by which the number of the axis that violates the limit

is multiplied (only if the units digit is either 1 or 2, i.e. for

software limits and working area limits).

The axis count starts at 1 and refers in the case of violated

software limits (units digit = 1) to the machine axes and for

violated working area limits (units digit = 2) to the geometry

axes.

1000:

Factor by which the number of the violated protection zone is

multiplied (only if the units digit is 3).

If several protection zones are violated, the limit resulting in

the greatest limitation of the traversing path is indicated in the

hundreds and thousands digit of the protection zone.

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Protection zones

3.3 Checking for protection zone violation, working area limitation and software limits (CALCPOSI)

_STARTPOS

Starting value for abscissa [0], ordinate [1] and applicate [2] in

the (WCS)

_MOVEDIST

Incremental path definition for abscissa [0], ordinate [1] and

applicate [2]

_DLIMIT

[0] - [2]: Minimum clearances assigned to the geometry axes.

[3]: Minimum clearance assigned to a linear machine axis for

non-linear transformation, if no geometry axis can be uniquely

assigned.

[4]: Minimum clearance assigned to a rotary machine axis for

non-linear transformation, if no geometry axis can be uniquely

assigned. Only for special transformations, if SW limits are to

be monitored.

_MAXDIST

Array [0] - [2] for the return value. Incremental path in all three

geometry axes without violating the defined minimum

clearance of an axis limit in the machine axes involved.

If the traversing path is not restricted, the contents of this

return parameter are the same as the contents of _MOVDIST.

_BASE_SYS

FALSE or parameters not specified:

When evaluating the position and length data, the G code of

group 13 (G70, G71, G700, G710; inch/metric) is evaluated. If

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

and inch), the WCS system variables $AA_IW[X] and

$AA_MW[X]) are provided in the basic system and must, if

necessary, be reconverted using the CALCPOSI function.

TRUE:

When evaluating the position and length data, the basic

system of the control is always used independent of the value

of the active G of group 13.

_TESTLIM

Limits to be checked (binary-coded):

1: Monitor software limits

2: Monitor working area limits

3: Monitor activated protection zones

4: Monitor pre-activated protection zones

Combinations by adding the values. Default: 15; check all.

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Protection zones

3.3 Checking for protection zone violation, working area limitation and software limits (CALCPOSI)

Example

In the example (refer to the diagram), X software limits and working area limits are shown. In

addition, three protection zones are defined, the two channel-specific protection zones C2

and C4 and well as the NCK protection zone N3. C2 is a circular, active, tool-related

protection zone with a radius of 2 mm. C4 is a square, pre-activated and workpiece-related

protection zone with 10 mm side length and N3 is a rectangular, active protection zone with

10 mm and 15 mm side lengths. In the following NC, initially, the protection zones and the

working field limits are defined as sketched, and the CALCPOSI function is called with

various parameter assignments. The results of each individual CALCPOSI call are

summarized in the table at the end of the example.

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Program code

Comments

N10 def real _STARTPOS[3]

N20 def real _MOVDIST[3]

N30 def real _DLIMIT[5]

N40 def real _MAXDIST[3]

N50 def int _SB

N60 def int _STATUS

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Protection zones

3.3 Checking for protection zone violation, working area limitation and software limits (CALCPOSI)

Program code

Comments

N70 cprotdef(2, true, 0)

;

Tool-related protection zone

N80 g17 g1 x-y0

N90 g3 i2 x2

N100

i-x-

N110

execute(_SB)

N120

cprotdef(4, false,

;

Workpiece-related protection zone

N130

g17 g1 x0 y15

N140

x10

N150

y25

N160

N170

y15

N180

execute(_SB)

N190

nprotdef(3, false,

;

Machine-related protection zone

N200

g17 g1 x10 y5

N210

x25

N220

y15

N230

x10

N240

N250

execute(_SB)

N260

cprot(2,2,0, 0, 0)

;

Activate or pre-activate

protection zones

N270

cprot(4,1,0, 0, 0)

N280

nprot(3,2,0, 0, 0)

N290

g25 XX=-YY=-

;

Define working area limit groups

N300

g26 xx= 20 yy= 21

N310

_STARTPOS[0] = 0.

N320

_STARTPOS[1] = 0.

N330

_STARTPOS[2] = 0.

N340

_MOVDIST[0] = 35.

N350

_MOVDIST[1] = 20.

N360

_MOVDIST[2] = 0.

N370

_DLIMIT[0] = 0.

N380

_DLIMIT[1] = 0.

N390

_DLIMIT[2] = 0.

N400

_DLIMIT[3] = 0.

N410

_DLIMIT[4] = 0.

;Various function calls

;

Other starting point

N420 _STATUS = calcposi(_STARTPOS,_MOVDIST,

_DLIMIT, _MAXDIST)

N430 _STATUS = calcposi(_STARTPOS,_MOVDIST,

_DLIMIT, _MAXDIST,,3)

N440 _STATUS = calcposi(_STARTPOS,_MOVDIST,

_DLIMIT, _MAXDIST,,1)

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Protection zones

3.3 Checking for protection zone violation, working area limitation and software limits (CALCPOSI)

Program code

Comments

N450 _STARTPOS[0] = 5.

; Other destination

N460 _STARTPOS[1] = 17.

N470 _STARTPOS[2] = 0.

N480 _MOVDIST[0] = 0.

N490 _MOVDIST[1] =-.

N500 _MOVDIST[2] = 0.

;Various function calls

N510 _STATUS = calcposi(_STARTPOS,_MOVDIST,

_DLIMIT, _MAXDIST,,14)

N520 _STATUS = calcposi(_STARTPOS,_MOVDIST,

_DLIMIT, _MAXDIST,, 6)

N530 _DLIMIT[1] = 2.

N540 _STATUS = calcposi(_STARTPOS,_MOVDIST,

_DLIMIT, _MAXDIST,, 6)

N550 _STARTPOS[0] = 27.

N560 _STARTPOS[1] = 17.1

N570 _STARTPOS[2] = 0.

N580 _MOVDIST[0] =-.

N590 _MOVDIST[1] = 0.

N600 _MOVDIST[2] = 0.

N610 _DLIMIT[3] = 2.

N620 _STATUS = calcposi(_STARTPOS,_MOVDIST,

_DLIMIT, _MAXDIST,, 12)

N630 _STARTPOS[0] = 0.

N640 _STARTPOS[1] = 0.

N650 _STARTPOS[2] = 0.

N660 _MOVDIST[0] = 0.

N670 _MOVDIST[1] = 30.

N680 _MOVDIST[2] = 0.

N690 trans x10

N700 arot z45

N710 _STATUS = calcposi(_STARTPOS,_MOVDIST,

_DLIMIT, _MAXDIST)

N720 M30

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Protection zones

3.3 Checking for protection zone violation, working area limitation and software limits (CALCPOSI)

Results of the tests in the example:

Block No.

_STATUS

_MAXDIST

Remarks

N...

[0] (= X)

[1] (= Y)

420

3123

8.040

4.594

Protection zone SB N3 violated.

430

1122

20.000

11.429

No protection zone monitoring, working

area limits violated.

440

1121

30.000

17.143

Now only monitoring of the software

limits active.

510

4213

0.000

Starting point violates protection C4

520

0000

0.000

-.000

Pre-activated protection zone C4 is not

monitored. Defined path can be

traversed completely.

540

2222

0.000

-.000

Because _DLIMIT[1]=2, the traversing

path is restricted by the working area

limits.

620

4223

-.000

0.000

Clearance to C4 is a total of 4 mm due

to C2 and _DLIMIT[3]. Clearance C2 -

N3 of 0.1 mm does not lead to limiting

the traversing path.

710

1221

0.000

21.213

Frame with translation and rotation

active The permissible traversing path in

_MOVDIST applies in the shifted and

rotated coordinate system (WCS).

Special cases and further details

All path data are always entered as radii even if for a facing axis with active G code

"DIAMON". If the part of one of the involved axes cannot be traversed completely, the paths

of the other axes will also be reduced accordingly in the _MAXDIST return value so that the

resulting end point lies on the specified path.

It is permissible that no software limits, operating range limits or protection zones are defined

for one or more of the axes involved. All limits are only monitored if the axes involved are

referenced. Any involved rotary axes are monitored only if they are not modulo axes.

As in the normal traversing operation, the monitoring of the software limits and the operating

range limits depends on the active settings (interface signals for selecting the software limits

1 or software limits 2, GWALIMON/WALIMOF, setting data for the specific activation of the

operating range limits and for the specification whether or not the radius of the active tool is

to be considered for the monitoring of the operating range limits).

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Protection zones

3.3 Checking for protection zone violation, working area limitation and software limits (CALCPOSI)

For certain kinematic transformations (e.g. TRANSMIT), the position of the machine axes

cannot be determined uniquely from the positions in the workpiece coordinate system (WCS)

(non-uniqueness). In the normal traversing operation, the uniqueness normally results from

the previous history and the condition that a continuous movement in the WCS must

correspond to a continuous movement in the machine axes. When monitoring the software

limits using the CALCPOSI function, the current machine position is therefore used to

resolve non-unique determinability in such cases. If necessary, a STOPRE must be

programmed in front of CALCPOSI to input valid machine axis positions to the function.

It is not guaranteed that the separation to the protection zones specified in _DLIMIT[3] can

always be maintained for a movement on the specified traversal path. Therefore if the end

point returned in _MOVDIST is lengthened by this distance, no protection zone is violated,

even though the straight line may pass extremely close to a protection zone.

Note

You will find details on working area limitations in the

/PG/ Fundamentals Programming Manual,

on the software limits in

/FB1/ Function Manual, Basic Functions; Axis Monitoring, Protection Zones (A3).

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Special Motion Commands

4.1

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

Function

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>)

Significance

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

Value range: 0, 1, … (max. number of table locations - 1)

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Special Motion Commands

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

Example: Approach coded positions of a positioning axis

Programming code

Comments

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

number" - 4

References

● Function Manual Expanded Functions; Indexing Axes (T1)

● Function Manual, Synchronized Actions

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Special Motion Commands

4.2 Spline interpolation (ASPLINE, BSPLINE, CSPLINE, BAUTO, BNAT, BTAN, EAUTO, ENAT, ETAN, PW, SD, PL)

4.2

Spline interpolation (ASPLINE, BSPLINE, CSPLINE, BAUTO,

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

Function

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

the reason that these type of contours are approximated using a limit 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

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Special Motion Commands

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

SD, PL)

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

EAUTO / ENAT / ETAN

Significance

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...

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

Positions in Cartesian coordinates

Point weight (only B spline):

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 significantly.

Spline degree (only B spline):

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

degree polygon can also be used by programming SD=2.

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Special Motion Commands

4.2 Spline interpolation (ASPLINE, BSPLINE, CSPLINE, BAUTO, BNAT, BTAN, EAUTO, ENAT, ETAN, PW, SD, PL)

Distance between nodes (only B spline):

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

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.

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Special Motion Commands

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

SD, PL)

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

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)

Comments

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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Special Motion Commands

4.2 Spline interpolation (ASPLINE, BSPLINE, CSPLINE, BAUTO, BNAT, BTAN, EAUTO, ENAT, ETAN, PW, SD, PL)

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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

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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Special Motion Commands

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

SD, PL)

;

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

Main program:

Program code

Comments

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

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

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Special Motion Commands

4.2 Spline interpolation (ASPLINE, BSPLINE, CSPLINE, BAUTO, BNAT, BTAN, EAUTO, ENAT, ETAN, PW, SD, PL)

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

By using 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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Special Motion Commands

4.2 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:

• The passes precisely 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).

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Special Motion Commands

4.2 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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Features:

• 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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Special Motion Commands

4.2 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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Features:

• The passes precisely 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 if the intermediate points lie on a curve that can

be analytically calculated defined (circle, parabola, hyperbola).

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Special Motion Commands

4.2 Spline interpolation (ASPLINE, BSPLINE, CSPLINE, BAUTO, BNAT, BTAN, EAUTO, ENAT, ETAN, PW, SD, PL)

Comparison of three spline types with identical interpolation points

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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 controller needs a certain number of spline end-point blocks for every 10

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 used to calculate the spline segment is entered in MD20160.

The default setting is 8. As standard, 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

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

SD, PL)

Combine short spline blocks

Spline interpolation can result in short spline blocks, which reduce the path velocity

unnecessarily. The "Combine short spline blocks" function allows you to combine these

blocks such that the resulting block length is sufficient and does not reduce the path velocity.

The function is activated via the channel-specific machine data:

MD20488 $MC_SPLINE_MODE (setting for spline interpolation).

References:

Function Manual, Basic Functions; Continuous-Path Mode, Exact Stop, Look Ahead (B1),

Chapter: Combine short spline blocks

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Special Motion Commands

4.3 Spline grouping (SPLINEPATH)

4.3

Spline grouping (SPLINEPATH)

Function

The axes to be interpolated in the spline group are selected using the SPLINEPATH command.

Up to eight path axes can be involved in a spline interpolation grouping.

Note

If SPLINEPATH is not explicitly programmed, then the first three axes of the channel are

traversed as spline group.

Syntax

The spline group is defined in a separate block:

SPLINEPATH(n,X,Y,Z,…)

Significance

SPLINEPATH

Command to define a spline group

=1 (fixed value)

X,Y,Z,…

Identifier of the path axes to be interpolated in the spline group

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Special Motion Commands

4.3 Spline grouping (SPLINEPATH)

Example: Spline group with three path axes

Program code

Comments

N10 G1 X10 Y20 Z30 A40 B50 F350

N11 SPLINEPATH(1,X,Y,Z)

; Spline group

N13 CSPLINE BAUTO EAUTO X20 Y30 Z40 A50 B60

; C spline

N14 X30 Y40 Z50 A60 B70

; Intermediate points

…

N100 G1 X… Y…

; Deselect spline

interpolation

63/,1(3$7+

;<=

;

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Special Motion Commands

4.4 NC block compression (COMPON, COMPCURV, COMPCAD, COMPOF)

4.4

NC block compression (COMPON, COMPCURV, COMPCAD,

COMPOF)

Function

CAD/CAM systems normally produce linear blocks, which meet the configured accuracy

specifications. In the case of complex contours, a large volume of data and short path

sections can result. The short path sections restrict the processing rate.

By using a compressor function, the contour, specified by using linear blocks, is approached

using polynomial blocks. This has the following advantages:

● Reduction of the number of required part program blocks for describing the workpiece

contour

● Continuous block transitions

● Higher maximum path velocities

The following compressor functions are available:

● COMPON

The block transitions are only constant in the velocity , while acceleration of the

participating axes can be in jumps at block transitions.

● COMPCURV

Block transitions have continuous acceleration. This ensures both smooth velocity and

acceleration of all axes at block transitions.

● COMPCAD

The compression that uses a lot of computation time and memory space is optimized

regarding surface quality and speed. COMPCAD should only be used if measures to

improve the surface cannot be taken by the CAD/CAM program in advance.

COMPOF terminates the compressor function.

Syntax

COMPON

COMPCURV

COMPCAD

COMPOF

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4.4 NC block compression (COMPON, COMPCURV, COMPCAD, COMPOF)

Meaning

COMPON:

Command to activate the compressor function COMPON.

Effective:

modal

COMPCURV:

Command to activate the compressor function COMPCURV.

Effective:

modal

COMPCAD:

Command to activate the compressor function COMPCAD.

Effective:

modal

COMPOF :

Command to deactivate the currently active compressor function.

Note

The rounding function G642 and jerk limitation SOFT can be used to achieve further

improvements in surface quality. These commands must be written at the beginning of the

program.

General conditions

● The NC block compression is generally executed for linear blocks (G1).

● Only blocks that comply with a simple syntax are compressed:

N... G1X... Y... Z... F... ;comment

All other blocks are executed unchanged (no compression).

● Motion blocks with extended addresses such as C=100 or A=AC(100) are also condensed.

● The position values do not have to be programmed directly, but can also be indirectly

specified using parameter assignments, e.g. X=R1*(R2+R3).

● If the option "orientation transformation" is available, then NC blocks in which the tool

orientation (and where relevant, also the tool rotation) is programmed using direction

vectors can also be compressed (see "Compressing the orientation (Page 353)").

● It is interrupted by any other type of NC instruction, e.g., an auxiliary function output.

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4.4 NC block compression (COMPON, COMPCURV, COMPCAD, COMPOF)

Examples

Example 1: COMPON

Program code

Comment

N10 COMPON

; Compressor function COMPON on.

N11 G1 X0.37 Y2.9 F600

; G1 before end point and feed.

N12 X16.87 Y-.698

N13 X16.865 Y-.72

N14 X16.91 Y-.799

…

N1037 COMPOF

; Compressor function off.

…

Example 2: COMPCAD

Program code

Comment

G00 X30 Y6 Z40

G1 F10000 G642

; Blending function G642 on.

SOFT

; Jerk limiting SOFT on.

COMPCAD

; Compressor function COMPCAD on.

STOPFIFO

N24050 Z32.499

N24051 X41.365 Z32.500

N24052 X43.115 Z32.497

N24053 X43.365 Z32.477

N24054 X43.556 Z32.449

N24055 X43.818 Z32.387

N24056 X44.076 Z32.300

…

COMPOF

; Compressor function off.

G00 Z50

M30

References

Function Manual, Basic Functions; Continuous-Path Mode, Exact Stop, Look Ahead (B1),

Chapter: "NC block compression"

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Special Motion Commands

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

4.5

Polynomial interpolation (POLY, POLYPATH, PO, PL)

Function

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

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

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

values 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 located. If no PL is programmed, then

PL=1 is applied.

Activating/deactivating polynomial interpolation

The polynomial interpolation is activated in the part program using the POLX G command.

The POLY G command together with G0, G1, G2, G3, ASPLINE, BSPLINE and CSPLINE belong to

the 1st group.

Axes, which are only programmed with name and end point (e.g. X10), are linearly moved. If

all axes of an NC block are programmed in this way, the control behaves the same as for

G1.

The polynomial interpolation is implicitly deactivated again by programming another

command of the 1st G group G0, G1).

Polynomial coefficient

The PO value (PO[]=) or ...=PO(...) specifies all polynomial coefficients for an axis.

Several values are specified, separated by commas corresponding the degree of the

polynomial. Different degrees of polynomials are possible for various axes within one block.

POLYPATH subprogram

Using POLYPATH(...), the polynomial interpolation can be selectively released for certain axis

groups:

POLYPATH("AXES")

Only path axes and supplementary axes:

POLYPATH("VECT")

Only orientation axes:

(when moving with orientation transformation)

The axes that are not released are linearly moved.

Polynomial interpolation is enabled as standard for both axis groups.

Polynomial interpolation is deactivated for all axes by programming without the POLYPATH( )

parameter.

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

Example

Program code

Comment

N10 G1 X… Y… Z… F600

N11 POLY PO[X]=(1,2.5,0.7) PO[Y]=(0.3,1,3.2) PL=1.5

; Polynomial interpolation on

N12 PO[X]=(0,2.5,1.7) PO[Y]=(2.3,1.7) PL=3

N20 M8 H126 …

N25 X70 PO[Y]=(9.3,1,7.67) PL=5

; Mixed data for the axes

N27 PO[X]=(10,2.5) PO[Y]=(2.3)

; No PL programmed; PL=1 applies

N30 G1 X… Y… Z.

; Polynomial interpolation off

…

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

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

Description

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

f(p)= a0 + a1p + a2p² +. . . + anpⁿ

with: an: Constant coefficients

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 using a2 = a3 = a4 = a5 = 0:

f(p) = a0 + a1p

The following still applies:

a0: Axis position at the end of the preceding block

p = PL

a1 = (xE - 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 as after explicitly

activating polynomial interpolation in the part program (POLY).

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 forms such as conics (circle, ellipse,

parabola, hyperbola) exactly.

Example:

Program code

Comment

POLY G90 X10 Y0 F100

;

Geometry axes traverse linearly to

position X10 Y0.

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

;

Geometry axes traverse along the

quadrant 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.

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

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

;

If polynomial interpolation is active and a denominator polynomial is programmed with zeros

within the interval [0,PL], this is rejected and an alarm is output. Denominator polynomials

have no effect on the motion of special axes.

Note

Tool radius compensation can be activated with G41, G42 in conjunction with polynomial

interpolation and can be applied in the same way as in linear or circular interpolation modes.

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Special Motion Commands

4.6 Settable path reference (SPATH, UPATH)

4.6

Settable path reference (SPATH, UPATH)

Function

During polynomial interpolation, the user may require two different relationships between the

velocity determining FGROUP axes and the other path axes: The latter should either be

controlled, synchronized to the path S or synchronized to the curve parameter U of the

FGROUP axes.

Both types of path interpolation are used in different applications and can be set/switched

over using the two modal language commands SPATH and UPATH contained in the 45th G code

group.

Syntax

SPATH

UPATH

Meaning

SPATH:

Path reference for FGROUP axes is arc length

UPATH:

Path reference for FGROUP axes is curve parameter

Note

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

with path motion.

General conditions

The path reference set is of no importance:

● for linear and circular interpolation

● in thread blocks

● if all path axes are contained in FGROUP.

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4.6 Settable path reference (SPATH, UPATH)

Examples

Example 1:

The following example shows a square with 20 mm side lengths and corners rounded-off

with G643. The maximum deviations from the precise contour are defined for each axis

using the axis-specific machine data MD33100 $MA_COMPRESS_POS_TOL[<n>].

Program code

Comment

N10 G1 X… Y… Z… F500

N20 G643

; Block-internal corner rounding with G643

N30 XO Y0

N40 X20 Y0

; Edge length (mm) for the axes

N50 X20 Y20

N60 X0 Y20

N70 X0 Y0

N100 M30

Example 2:

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

times the default setting FGROUP(X,Y,Z) is active.

63$7+

83$7+

;

6457 ;

;

'LIIHUHQW JHRPHWULFDO UHODWLRQVKLSV EHWZHHQ

D[HV IRU 63$7+ DQG 83$7+

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Special Motion Commands

4.6 Settable path reference (SPATH, UPATH)

Program code

N10 G1 X0 A0 F1000 SPATH

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

or:

Program code

N10 G1 X0 F1000 UPATH

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

In block N20, path S of the FGROUP axes is dependent on the square of curve parameter U.

Therefore, different positions are obtained for the synchronous axis A along path X,

according to whether SPATH or UPATH is active.

Further information

During polynomial interpolation - and therefore this always involves polynomial interpolation

in a strict sense (POLY), all spline interpolation types (ASPLINE, BSPLINE, CSPLINE) and

linear interpolation with compressor function (COMPON, COMPCURV) - the positions of all

path axes i are specified by the polynomial pi(U). Curve parameter U moves from 0 to 1

within an NC block, therefore it is standardized.

The axes to which the programmed path feed is to relate can be selected from the path axes

by means of language command FGROUP. However, during polynomial interpolation, an

interpolation with constant velocity on path S of these axes usually means a non constant

change of curve parameter U.

Control behavior for reset and machine/option data

The G code, defined by MD20150 $MC_GCODE_RESET_VALUES[44] (45th G code group)

is effective after a reset. In order to maintain compatibility with existing installations, SPATH

is set as default value.

The initial state for the type of smoothing is defined with

MD20150 $MC_GCODE_RESET_VALUES[9] (10th G code 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

4.7 Measurements with touch trigger probe (MEAS, MEAW)

4.7

Measurements with touch trigger probe (MEAS, MEAW)

Function

The "Measure with touch-trigger probe" is used to approach actual positions on the

workpiece. On the probe's switching edge, the positions for all axes programmed in the

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

;

Programming measurement blocks

The following two commands are available for programming measurement blocks:

● MEAS

The MEAS command is used to delete the distance-to-go between the actual and setpoint

positions.

● MEAW

The MEAW command is used in the case of measuring tasks where the programmed

position always needs to be approached.

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

feedrates and interpolation types (G0, G1, etc.), as well as the number of axes, must be

selected as appropriate for the measuring task at hand.

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Special Motion Commands

4.7 Measurements with touch trigger probe (MEAS, MEAW)

Reading measurement results

The measurement results for the axes acquired with probes are available in the following

variables:

● $AA_MM[<axis>]

Measurement results in the machine coordinate system

● $AA_MW[<axis>]

Measurement results in the workpiece coordinate system

No internal preprocessing stop is generated when these variables are read.

Note

A preprocessing stop must be programmed with STOPRE at the appropriate position in the

program. The system will otherwise read false values.

Syntax

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

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

Significance

MEAS

Command: Measuring with deletion of distance-to-go

Effective:

non-modal

MEAW

Command: Measuring without deletion of distance-to-go

Effective:

non-modal

<TE>

Trigger event to initiate measurement

Type: INT

Range of

-2, -1, 1, 2

values:

Note:

There are up to a maximum of 2 probes (dependent

on configuration level).

Significance:

(+)1

Rising edge of probe 1 (measuring input 1)

-1

Falling edge of probe 1 (measuring input 1)

(+)2

Rising edge of probe 2 (measuring input 2)

-2

Falling edge of probe 2 (measuring input 2)

Note:

There are up to a maximum of 2 probes (dependent on configuration

level).

G...

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

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

End point in Cartesian coordinates

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4.7 Measurements with touch trigger probe (MEAS, MEAW)

Example

Program code

Comment

N10 MEAS=1 G1 F1000 X100 Y730 Z40

; Measurement block with probe at first

measuring input and linear

interpolation. A preprocessing stop is

automatically generated.

Further Information

Measuring job status

If an evaluation of whether or not the probe has been triggered is required in the program,

status variable $AC_MEA[n] (n= number of the measuring probe) can be checked:

Value

Significance

Measuring task not completed.

Measuring task completed successfully (the probe has been triggered).

Note

If the program is deflected in the program, the variable is set to 1. At the start of a

measurement block, the variable is automatically set to the initial state of the probe.

Reading measured values

The positions of all traversing path and positioning axes of the block are acquired (maximum

number of axes depending on the control configuration). In the case of MEAS, the motion is

decelerated in a defined fashion following the triggering of the probe.

Note

If a GEO axis is programmed in a measurement block, the measured values are stored for

all current GEO axes.

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

measured values for all axes participating in this transformation are recorded.

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Special Motion Commands

4.8 Extended measuring function (MEASA, MEAWA, MEAC) (option)

4.8

Extended measuring function (MEASA, MEAWA, MEAC) (option)

Function

Several probes and several measuring systems can be used for the axial measuring.

The MEASA or MEAWA command can be used to acquire up to four measures values for the

respective programmed axis; these are then saved in system variables in accordance with

the trigger event.

Continuous measuring tasks can be executed with the MEAC command. In this case, the

measurement results are stored in FIFO variables. The maximum number of measured

values per measurement is also four with MEAC.

Reading measurement results

Measurement results are available in the following variables:

● $AA_MM1...4[<axis>]

Measurement results in the machine coordinate system

● $AA_MW1...4[<axis>]

Measurement results in the workpiece coordinate system

Syntax

MEASA[<axis>]=(<mode>,<TE1>,...,<TE4>)

MEAWA[<axis>]=(<mode>,<TE1>,...,<TE4>)

MEAC[<axis>]=(<mode>,<measurement memory>,<TE1>,...,<TE4>)

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4.8 Extended measuring function (MEASA, MEAWA, MEAC) (option)

Note

MEASA and MEAWA are non-modal; they can be programmed together in one block. However, if

MEASA/MEAWA is programmed together with MEAS/MEAW in the same block, an error message is

output.

Significance

MEASA

Command: Axial measurement with deletion of distance-to-go

Effective:

non-modal

MEAWA

Command: Axial measurement without deletion of distance-to-go

Effective:

non-modal

MEAC

Command: Continuous axial measurement without deletion of

distance-to-go

Effective:

non-modal

<axis>

Name of channel axis used for measurement

<mode>

Two-digit number indicating the operating mode (measuring mode

and measuring system)

Measuring mode (units decade):

Cancel measuring task.

Up to 4 different trigger events can be activated

simultaneously.

Up to 4 trigger events can be activated consecutively.

Up to 4 trigger events can be activated consecutively, but

with no monitoring of trigger event 1 on START (alarms

21700/21703 are suppressed).

Note:

This mode is not supported by MEAC.

Measuring system (tens decade):

0 (or no data)

active measuring system

Measuring system 1

Measuring system 2

Both measuring systems

<TE>

Trigger event to initiate measurement

Type: INT

Range of values:

-2, -1, 1, 2

Significance:

(+)1 Rising edge of probe 1

-1

Falling edge of probe 1

(+)2 Rising edge of probe 2

-2

Falling edge of probe 2

Number of FIFO (circulating storage)

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Special Motion Commands

4.8 Extended measuring function (MEASA, MEAWA, MEAC) (option)

Examples

Example 1: Axial measurement with deletion of distance-to-go in mode 1 (evaluation in

chronological sequence)

a) with 1 measuring system

Program code

Comments

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

; Measuring in mode 1 with active

measuring system. Wait for

measuring signal with

rising/falling edge from probe 1

for travel path to X=100.

N110 STOPRE

; Preprocessing stop

N120 IF $AC_MEA[1]==FALSE GOTOF END

; Check that the measurement was

successful.

N130 R10=$AA_MM1[X]

; Save measured value acquired at

the first programmed trigger event

(rising edge).

N140 R11=$AA_MM2[X]

; Save measured value acquired at

the second programmed trigger

event (falling edge).

N150 END:

b) with 2 measuring systems

Program code

Comments

N200 MEASA[X]=(31,1,-1) G01 X100 F100

; Measuring in mode 1 with both

measuring systems. Wait for

measuring signal with

rising/falling edge from probe 1

for travel path to X=100.

N210 STOPRE

; Preprocessing stop

N220 IF $AC_MEA[1]==FALSE GOTOF END

; Check that the measurement was

successful.

N230 R10=$AA_MM1[X]

; Save measured value of measuring

system 1 at rising edge.

N240 R11=$AA_MM2[X]

; Save measured value of measuring

system 2 at rising edge.

N250 R12=$AA_MM3[X]

; Save measured value of measuring

system 1 at falling edge.

N260 R13=$AA_MM4[X]

; Save measured value of measuring

system 2 at falling edge.

N270 END:

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4.8 Extended measuring function (MEASA, MEAWA, MEAC) (option)

Example 2: Axial measurement with deletion of distance-to-go in mode 2 (evaluation in

programmed sequence)

Program code

Comments

N100 MEASA[X]=(2,1,-1,2,-2) G01 X100 F100

; Measuring in mode 2 with active measuring

system. Wait for measuring signal in the

sequence rising edge probe 1, falling edge

probe 1, rising edge probe 2, falling edge

probe 2 while traversing path to X=100.

N110 STOPRE

; Preprocessing stop

N120 IF $AC_MEA[1]==FALSE GOTOF PROBE2

; Check that the measurement with probe 1 is

successful.

N130 R10=$AA_MM1[X]

; Save measured value acquired on first

programmed trigger event (rising edge probe 1).

N140 R11=$AA_MM2[X]

; Save measured value acquired on second

programmed trigger event (rising edge probe 1).

N150 PROBE2:

N160 IF $AC_MEA[2]==FALSE GOTOF END

; Check that the measurement with probe 2 is

successful.

N170 R12=$AA_MM3[X]

; Save measured value acquired on third

programmed trigger event (rising edge probe 2).

N180 R13=$AA_MM4[X]

; Save measured value acquired on fourth

programmed trigger event (rising edge probe 2).

N190 END:

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Special Motion Commands

4.8 Extended measuring function (MEASA, MEAWA, MEAC) (option)

Example 3: Continuous axial measurement in mode 1 (evaluation in chronological sequence)

a) Measurement of up to 100 measured values

Program code

Comments

N110 DEF REAL MEASVALUE[100]

N120 DEF INT loop=0

N130 MEAC[X]=(1,1,-1) G01 X1000 F100

; Measurement in mode with active measuring system,

save measured values under $AC_FIFO1, wait for

measuring signal with falling edge of probe 1 while

traversing path to X=1000.

N135 STOPRE

N140 MEAC[X]=(0)

; Terminate measurement when axis position is reached.

N150 R1=$AC_FIFO1[4]

; Save number of accumulated measured values in

parameter R1.

N160 FOR loop=0 TO R1-1

N170 MEASURED VALUE[loop]=$AC_FIFO1[0]

; Read-out measured values from $AC_FIFO1 and save.

N180 ENDFOR

b) Measuring with deletion of distance-to-go after 10 measured values

Program code

Comments

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

;

Delete distance-to-go.

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

N30 MEAC [X]=(0)

N40 R1 = $AC_FIFO1[4]

;

Number of measured

values.

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Special Motion Commands

4.8 Extended measuring function (MEASA, MEAWA, MEAC) (option)

Further information

Measurement job

A measuring task can be programmed in the part program or from a synchronized action

(see the chapter titled "Motion-synchronous actions"). Please note that only one measuring

job can be active at any given time for each axis.

Note

The feed must be adjusted to suit the measuring task in hand.

In the case of MEASA and MEAWA, the correctness of results can be only guaranteed for

feedrates at which no more than 1 trigger event of the same type and no more than 4 trigger

events of different types occur in each position controller cycle.

In the case of continuous measurement with MEAC, the ratio between interpolation cycle and

position control cycle must not exceed 8:1.

Trigger event

A trigger event comprises the number of the probe and the trigger criterion (rising or falling

edge) of the measuring signal.

Up to 4 trigger events of the addressed probe can be processed for each measurement; in

other words, up to 2 probes with 2 measuring signal edges each. The processing sequence

and the maximum number of trigger events depend on the selected mode.

Note

The following applies for measuring mode 1: The same trigger event may only be

programmed once in one measuring task.

Operating mode

The first digit (tens decade) of the operating mode selects the required measuring system. If

only one measuring system is installed, but a second programmed, the installed system is

automatically selected.

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SINUMERIK 840D sl/828D. Job Planning. Programming Manual (2010-2018) - page 17