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

Axis couplings

9.5 Synchronous spindle

Deactivate coupling COUPOF

COUPOF can be used to define the turn-off behavior of the coupling:

● Deactivation of coupling with immediate block change:

- COUPOF(S2,S1) (with specification of leading spindle)

- COUPOF(S2) (without specification of leading spindle)

● Deactivation of coupling after switch-off positions have been crossed. The block change

takes place after the switch-off positions have been crossed.

- COUPOF(S2,S1,150) (switch-off position FS: 150°)

- COUPOF(S2,S1,150,30) (switch-off position FS: 150°, LS: 30°)

Deactivate coupling with following spindle stop COUPOFS

COUPOFS can be used to define the turn-off behavior of the coupling with following spindle

stop:

● Deactivation of coupling with following spindle stop and immediate block change:

- COUPOFS(S2,S1) (with specification of leading spindle)

- COUPOFS(S2) (without specification of leading spindle)

● Deactivation of coupling after switch-off positions have been crossed with following

spindle stop. The block change takes place after the switch-off positions have been

crossed.

- COUPOFS(S2,S1,150) (switch-off position FS: 150°)

Delete couplings COUPDEL

COUPDEL deletes the coupling:

● COUPDEL(S2,S1) (with specification of leading spindle)

● COUPDEL(S2) (without specification of leading spindle)

Reset coupling parameters, COUPRES

COUPRES activates the coupling values parameterized in the machine and setting data:

● COUPRES(S2,S1) (with specification of leading spindle)

● COUPRES(S2) (without specification of leading spindle)

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9.5 Synchronous spindle

System variables

Current coupling status of following spindle

The current coupling status of a following spindle can be read using the following system

variable:

$AA_COUP_ACT[<FS>]

Value

Meaning

No coupling active

Synchronous spindle coupling active

Note

Other system variable values refer to the axis operation.

Reference:

List Manual, System Variables

Current angular offset

The current angular offset of a following spindle in relation to the leading spindle can be read

using the following system variable:

● $AA_COUP_OFFS[<FS>] (angular offset on the setpoint side)

● $VA_COUP_OFFS[<FS>] (angular offset on the actual value side)

Note

When the controller has been disabled and subsequently re-enabled during active

coupling and follow-up mode, the position offset when the controller is re-enabled is

different to the original programmed value. In this case, the new position offset can be

read and, if necessary, corrected in the part program.

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Axis couplings

9.6 Master/slave group (MASLDEF, MASLDEL, MASLON, MASLOF, MASLOFS)

9.6

Master/slave group (MASLDEF, MASLDEL, MASLON, MASLOF,

MASLOFS)

Function

The master/slave coupling in SW 6.4 and lower permitted coupling of the slave axes to their

master axis only while the axes involved are stopped.

Extension of SW 6.5 permits coupling and uncoupling of rotating, speed-controlled spindles

and dynamic configuration.

Syntax

MASLON(Slv1,Slv2,..., )

MASLOF(Slv1,Slv2,..., )

MASLDEF(Slv1,Slv2,..., master axis)

Extension for dynamic configuration

MASLDEL(Slv1,Slv2,..., )

Extension for dynamic configuring

extension

MASLOFS(Slv1, Slv2, ..., )

Extension for slave spindle

Note

For MASLOF/MASLOFS, the implicit preprocessing stop is not required. Because of the missing

preprocessing stop, the $P system variables for the slave axes do not provide updated

values until next programming.

Significance

General

MASLON

Close (switch-in) a temporary coupling.

MASLOF

Open an active coupling. The extensions for spindles must be

observed.

Dynamic configuration extension

MASLDEF

Coupling user-defined using machine data or also

create/change from the part program.

MASLOFS

Open the coupling analog to MASLOF and automatically brake the

slave spindle.

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9.6 Master/slave group (MASLDEF, MASLDEL, MASLON, MASLOF, MASLOFS)

MASLDEL

Uncouple master/slave axis group and delete group definition.

Slv1, Slv2, ...

Slave axes led by a master axis.

Master axis

Axis, that controls defined slave axes in a master/slave group.

Examples

Example 1: Dynamic configuration of a master/slave coupling

Dynamic configuration of a master/slave coupling from the part program:

The axis relevant after axis container rotation must become the master axis.

Program code

Comments

MASLDEF(AUX,S3)

; S3 master for AUX

MASLON(AUX)

; Close coupling for AUX

M3=3 S3=4000

; Clockwise direction of rotation

MASLDEL(AUX)

; Delete configuration and open the coupling

AXCTSWE(CT1)

; Container rotation

Examples

Example 2: Actual-value coupling of a slave axis

Actual value coupling of a slave axis to the same value of the master axis using PRESETON.

For a permanent master/slave coupling, the actual value at the SLAVE axis is to be changed

using PRESETON.

Program code

Comments

N37262 $MA_MS_COUPLING_ALWAYS_ACTIVE[AX2]=0

; Briefly switch-out the

permanent coupling.

N37263 NEWCONF

N37264 STOPRE

MASLOF(Y1)

; Temporary coupling open.

N5 PRESETON(Y1,0,Z1,0,B1,0,C1,0,U1,0)

; Set the actual value of

the non-referenced slave

axes as these are

activated with power on.

N37262 $MA_MS_COUPLING_ALWAYS_ACTIVE[AX2]=1

; Activate permanent

coupling.

N37263 NEWCONF

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Axis couplings

9.6 Master/slave group (MASLDEF, MASLDEL, MASLON, MASLOF, MASLOFS)

Example 3: Coupling sequence, position 3/container CT1

To enable coupling with another spindle after container rotation, the previous coupling must

be uncoupled, the configuration cleared, and a new coupling configured.

Initial situation:

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References:

Function Manual, Extension Functions; Several Operator Panel Fronts and NCUs (B3),

Chapter "Axis container"

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9.6 Master/slave group (MASLDEF, MASLDEL, MASLON, MASLOF, MASLOFS)

Further Information

General

MASLOF

This instruction is executed directly for spindles in speed control mode.

The slave spindles rotating at this instant keep their speeds until a new

speed is programmed.

Dynamic configuration extension

MASLDEF

Definition of a master/slave group from the part program. Beforehand, the

definition was made exclusively using machine data.

MASLDEL

The instruction cancels assignment of the slave axes to the master axis

and simultaneously opens the coupling, like MASLOF.

The master/slave definitions specified in the machine data are kept.

MASLOFS

MASLOFS can be used to automatically brake slave spindles when the

coupling is opened.

For axes and spindles in the positioning mode, the coupling is only closed

and opened at standstill (zero speed).

Note

For the slave axis, the actual value can be synchronized to the same value of the master

axis using PRESETON. To do this, the permanent/slave coupling must be briefly switched-out in

order to set the actual value of the non-referenced slave axis to the value of the master/axis

with power on. Then the coupling is permanently re-established.

The permanent master/slave coupling is activated using the MD setting

MD37262 $MA_MS_COUPLING_ALWAYS_ACTIVE = 1 - and this has no effect on the

language commands of the temporary coupling.

Coupling behavior for spindles!

For spindles in the open-loop speed controlled mode, the coupling behavior of MASLON,

MASLOF, MASLOFS and MASLDEL are explicitly defined using machine data

MD37263 $MA_MS_SPIND_COUPLING_MODE.

For the default setting with MD37263 = 0, the slave axes are coupled-in and coupled-out

only when the axes involved are at standstill. MASLOFS corresponds to MASLOF.

For MD37263 = 1, the coupling instruction is immediately executed and therefore also the

motion. For MASLON the coupling is immediately closed and for MASLOFS or MASLOF immediately

opened. The slave spindles rotating at this instant in time are for MASLOFS automatically

braked and for MASLOF keep their speed until a new speed is programmed.

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Motion synchronous actions

10.1

Basics

Function

Synchronized actions allow actions to be executed such that they are synchronized to

machining blocks.

The time at which the actions are executed can be defined by conditions. The conditions are

monitored in the interpolation cycle. The actions are therefore responses to real-time events,

their execution is not limited by block boundaries.

A synchronized action also contains information about its service life and about the

frequency with which the programmed main run variables are scanned and therefore about

the frequency with which the actions are started. In this way, an action can be triggered just

once or cyclically in interpolation cycles.

Possible applications

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● Optimizing runtime-critical applications (e.g. a tool change)

● Fast response to an external event

● Programming AC controls

● Setting up safety functions

●

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Motion synchronous actions

10.1 Basics

Programming

A synchronized action is programmed on its own in a separate block and triggers a machine

function as of the next executable block (e.g. traversing movement with G0, G1, G2, G3).

Synchronized actions comprise up to 5 command elements with different tasks:

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Syntax:

DO <action1> <action2> …

<KEYWORD> <condition> DO <action1> <action2> …

ID=<n> <KEYWORD> <condition> DO <action1> <action2> …

IDS=<n> <KEYWORD> <condition> DO <action1> <action2> …

Significance:

Instruction to initiate the programmed action(s)

Only effective if the <condition> is fulfilled (if programmed).

→ See "Actions"

Action(s) to be started

…

Examples:

• Assign variable

• Start technology cycle

The cyclic check of the <condition> of a synchronized action is

defined using the keyword (WHEN, WHENEVER, FROM or EVERY).

→ See "Cyclic checking of the condition"

Gating logic for main run variables

The condition is checked in the IPO clock cycle

ID=<n>

Identification number

IDS=<n>

The area of validity and the position within the machining

sequence is defined using the identification number.

→ See "Area of validity and machining sequence"

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10.1 Basics

Coordinating synchronized actions/technology cycles

The following commands are available to coordinate synchronized actions/technology

cycles:

Command

Significance

CANCEL(<n>)

Cancel synchronized actions

→ See "Cancel synchronized actions"

LOCK(<n>)

Disable synchronized actions

UNLOCK(<n>)

Unlock synchronized actions

RESET

Reset technology cycle

Regarding LOCK, UNLOCK and RESET:

→ See "Inhibiting, enabling, resetting"

Example

Program code

Comments

WHEN $AA_IW[Q1]>5 DO M172 H510

; If the actual value of axis Q1 exceeds 5 mm,

auxiliary functions M172 and H510 are output

at the PLC interface.

10.1.1

Area of validity and machining sequence (ID, IDS)

Function

Area of validity

The area of validity of a synchronized action is defined using the identification ID or IDS:

No modal ID:

Non-modal synchronized actions in automatic mode

ID:

ID=n modal synchronized actions in the automatic mode up to the

end of program

IDS:

Static synchronized action, effective modally in every operating

mode, also beyond the end of the program

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Motion synchronous actions

10.1 Basics

Applications

● AC loops in JOG mode

● Logic operations for Safety Integrated

● Monitoring functions, responses to machine states in all modes

Sequence of execution

Modal synchronized actions that are statically effective are processed in the interpolation

clock cycle in the sequence of their ID or IDS number (ID=<n> or IDS=<n>).

Non-modal synchronized actions (without ID number) are executed in the programmed

sequence after execution of the modal synchronized actions.

Note

Modal synchronized actions can be protected from modifications or deletions by machine

data settings (→ machinery construction OEM!).

Programming

Syntax

Significance

No modal ID

The synchronized action is only effective in the automatic mode.

It applies only to the next executable block (block with motion

statement or other machine action), is non-modal.

Example:

WHEN $A_IN[3]==TRUE DO $A_OUTA[4]=10

ID=<n> ...

The synchronized action applies modally in the following blocks and

can be deactivated by CANCEL(<n>) or can be overwritten by

programming a new synchronized action with the same ID.

The synchronized actions active in the M30 block delay the program

end.

ID synchronized actions are only effective in the automatic mode.

Value range for <n>:

1 ... 255

Example:

ID=2 EVERY $A_IN[1]==1 DO POS[X]=0

IDS=<n>

The static synchronized actions act modally in all modes. They even

remain active beyond the end of the program and can be activated

directly after Power On using an ASUB. This means that it is

possible to activate actions that should run in the NC independent of

the selected operating mode.

Value range for <n>:

1 ... 255

Example:

IDS=1 EVERY $A_IN[1]==1 DO POS[X]=100

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10.1 Basics

10.1.2

Cyclically checking the condition (WHEN, WHENEVER, FROM, EVERY)

Function

A keyword is used to define cyclic checking of the condition of a synchronized action. If no

keyword is programmed, the actions of the synchronized action is performed once in every

IPO cycle.

Keywords

No keyword

Execution of the action is not subject to any condition. The

action is executed cyclically in any interpolation cycles.

WHEN

The condition is scanned in each interpolation cycle until it is

fulfilled once, whereupon the associated action is executed

once.

WHENEVER

The condition is checked in cycles in each interpolation cycle.

The associated action is executed in each interpolation cycle

while the condition is fulfilled.

FROM

The condition is checked in each interpolation cycle until it is

fulfilled once. The action is then executed while the synchronous

action is active, i.e. even if the condition is no longer fulfilled.

EVERY

The condition is scanned in each interpolation cycle. The action

is executed once when the condition is fulfilled.

Edge triggering:

the action is executed again when the condition changes from

the FALSE state to the TRUE state.

Main run variables

The variables used are evaluated in the interpolation cycle. Main run variables in

synchronized actions do not trigger a preprocessing stop.

Analysis:

If main run variables occur in a part program (e.g. actual value, position of a digital input or

output etc.), preprocessing is stopped until the previous block has been executed and the

values of the main run variables obtained.

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10.1 Basics

Examples

Example 1: No keyword

Program code

Comments

DO $A_OUTA[1]=$AA_IN[X]

; Actual value output to analog output.

Example 2: WHENEVER

Program code

Comments

WHENEVER $AA_IM[X] > 10.5*SIN(45) DO …

; Comparison with an

expression calculated

during preprocessing

WHENEVER $AA_IM[X] > $AA_IM[X1] DO …

; Comparison with other main

run variable.

WHENEVER ($A_IN[1]==1) OR ($A_IN[3]==0) DO ...

; Two comparison operations

that are gated with one

another.

Example 3: EVERY

Program code

Comments

ID=1 EVERY $AA_IM[B]>75 DO POS[U]=IC(10) FA[U]=900

; Always when the actual value of axis B

exceeds the value 75 in machine

coordinates, the U axis should move

forwards by 10 with an axial feed.

Further Information

Conditions

The condition is a logical expression which can be built up in any way using Boolean

operators. Boolean expressions should always be given in brackets.

The condition is checked in the interpolation cycle.

A G code can be given before the condition. This allows defined settings to exist for the

evaluation of the condition and the action/technology cycle to be executed, independent of

the current part program status. It is necessary to separate the synchronized actions from

the program environment, because synchronized actions are required to execute their

actions at any time from a defined initial state as a result of fulfilled trigger conditions.

Applications

Definition of the systems of measurement for condition evaluation and action through G

codes G70, G71, G700, G710.

A G code specified for the condition is valid for the evaluation of the condition and for the

action if no separate G code is specified for the action.

Only one G code of the G code group may be programmed for each part of the condition.

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10.1 Basics

Possible conditions

● Comparison of main run variables (analog/digital inputs/outputs, etc.)

● Boolean gating of comparison results

● Computation of real-time expressions

● Time/distance from beginning of block

● Distance from block end

● Measured values, measurement results

● Servo values

● Velocities, axis status

10.1.3

Actions (DO)

Function

In synchronized actions, you can program one or more actions. All actions programmed in a

block are active in the same interpolation cycle.

Syntax

DO <action1> <action2> ...

Significance

Initiates an action or a technology cycle when the condition is satisfied.

Action started if the condition is fulfilled, e.g., assign variable, activate

axis coupling, set NCK outputs, output M, S and H functions, specify the

programmed G code, ...

The G codes can be programmed in synchronized actions for the actions/technology cycles.

The G code may specify a different G code from the condition for all actions in the block and

technology cycles. If technology cycles are contained in the action part, the G code remains

modally active for all actions until the next G code, even after the technology cycle has been

completed.

Only one G code of the G code group (G70, G71, G700, G710) may be programmed per action

section.

Example: Synchronized action with two actions

Program code

Comments

WHEN $AA_IM[Y]>=35.7 DO M135 $AC_PARAM=50

; If the condition is fulfilled, M135 is

output at the PLC and the overide is set to

50%.

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Motion synchronous actions

10.2 Operators for conditions and actions

10.2

Operators for conditions and actions

Comparison

Variables or partial expressions can be

(==, <>, <, >, <=, >=)

compared in conditions. The result is

always of data type BOOL. All the usual

comparison operators are permissible.

Boolean operators

Variables, constants or comparisons can

(NOT, AND, OR, XOR)

be linked with each other with the usual

Boolean operators.

Bit-by-bit operators

The bit operators B_NOT, B_AND, B_OR,

(B_NOT, B_AND, B_OR, B_XOR)

B_XOR can be used.

Basic arithmetic operations

Main run variables can be linked to one

(+, -, *, /, DIV, MOD)

another or to constants by forms of basic

computation.

Mathematical functions

Mathematical functions cannot be applied

(SIN, COS, TAN, ASIN, ACOS, ABS, TRUNC,

to variables of data type REAL .

ROUND, LN, EXP, ATAN2, POT, SQRT, CTAB,

CTABINV).

Indexing

Indexing can be undertaken using main run

expressions.

Example

● Basic arithmetic operations used together

Multiplication and division are performed before addition and subtraction and bracketing of

expressions is permissible. The operators DIV and MOD are permissible for the data type

REAL.

Programming

Comments

DO $AC_PARAM[3] = $A_INA[1]-$AA_IM[Z1]

; Subtraction of two

Main run variables

WHENEVER $AA_IM[x2] < $AA_IM[x1]-1.9 DO

; Subtraction of a constant from

$A_OUT[5] = 1

variables

DO $AC_PARAM[3] = $INA[1]-4*SIN(45.7

Constant expression, calculated

$P_EP[Y])*R4

during preprocessing

● Mathematical functions

Programming

Comments

DO $AC_PARAM[3] = COS($AC_PARAM[1])

;

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10.2 Operators for conditions and actions

● Real-time expressions

Programming

Comments

ID=1 WHENEVER ($AA_IM[Y]>30) AND

; Selecting a position window

($AA_IM[Y]<40)

DO $AA_OVR[S1]=80

ID=67 DO $A_OUT[1]=$A_IN[2] XOR $AN_MARKER[1]

; Evaluate 2 boolean signals

ID=89 DO $A_OUT[4]=$A_IN[1] OR ($AA_IM[Y]>10)

; Output the result of a

comparison

● Main run variable indexed

Programming

Comments

WHEN…DO $AC_PARAM[$AC_MARKER[1]] = 3

;

Illegal

;

$AC_PARAM[1] = $P_EP[$AC_MARKER]

;

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Motion synchronous actions

10.3 Main run variables for synchronized actions

10.3

Main run variables for synchronized actions

10.3.1

System variables

Function

NC data can be read and written with the help of system variables. A distinction is made

between preprocessing and main run system variables. Preprocessing variables are always

executed at the preprocessing time. Main run variables always calculate their value with

reference to the current main run status.

Name

Generally, the system variable names start with a "$" character:

Preprocessing variables:

$M...

Machine data

$S...

Setting data, protection zones

$T...

Tool management data

$P...

Programmed values, preprocessing data

$C...

Cycle variables of the ISO envelope cycles

$O...

Option data

R ...

R parameters

Main run variables:

$$A...

Actual main run data

$$V...

Servo data

$R...

R parameters

A 2nd letter describes options for accessing the variable:

N...

NCK global value (generally valid value)

C...

Channel-specific value

A...

Axis-specific value

The 2nd letter is usually only used for main run variables. Preprocessing variables, such as

e.g. $P_, are usually executed without the 2nd letter.

An underscore and the subsequent variable name (usually an English designation or

abbreviation) follow the prefix ($ followed by one or two letters).

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10.3 Main run variables for synchronized actions

Data types

Main run variables can feature the following data types:

INT

Integer for whole values with prefix signs

REAL

Real for rational counting

BOOL

Boolean TRUE and FALSE

CHAR

ASCII character

STRING

Character string with alpha-numerical characters

AXIS

Axis addresses and spindles

Preprocessing variables can also feature the following data types:

FRAME

Coordinate transformations

Variable arrays

System variables can be set-up as 1 to 3-dimensional arrays.

The following data types are supported: BOOL, CHAR, INT, REAL, STRING, AXIS

The data type of the indices can be either type INT or AXIS, whereby this can be sorted as

required.

STRING variables can only be set-up in 2-dimensions.

Example for array definitions:

DEF BOOL $AA_NEWVAR[x,y,2]

DEF CHAR $AC_NEWVAR[2,2,2]

DEF INT $AC_NEWVAR[2,10,3]

DEF REAL $AA_VECTOR[x,y,z]

DEF STRING $AC_NEWSTRING[3,3]

DEF AXIS $AA_NEWAX[x,3,y]

Note

3-dimensional system variables can be displayed without any restrictions if there is a OPI

variable for the system variables

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Motion synchronous actions

10.3 Main run variables for synchronized actions

10.3.2

Implicit type conversion

Function

During value assignments and parameter transfers, variables of different data types are

assigned or transferred.

The implicit type conversion triggers an internal type conversion of values.

Possible type conversions

REAL

INT

BOOL

CHAR

STRING

AXIS

FRAME

from

REAL

Yes

yes*

Yes¹)

INT

Yes

Yes¹)

BOOL

Yes

Explanations

At type conversion from REAL to INT, fractional values that are >=0.5 are rounded

up, others are rounded down (cf. ROUND function).

An alarm is output if values are exceeded.

Value <> 0 is equivalent to TRUE; value == 0 is equivalent to FALSE

Results

Type conversion from REAL or INTEGER to BOOL

Result BOOL = TRUE

if the REAL or INTEGER value does not equal zero

Result BOOL = FALSE

if the REAL or INTEGER value equals zero

Type conversion from BOOL to REAL or INTEGER

Result REAL TRUE

if the BOOL value = TRUE (1)

Result INTEGER = TRUE

if the BOOL value = TRUE (1)

Type conversion from BOOL to REAL or INTEGER

Result REAL FALSE)

if the BOOL value = FALSE (0)

Result INTEGER = FALSE

if the BOOL value = FALSE (0)

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10.3 Main run variables for synchronized actions

Examples of implicit type conversions

Type conversion from INTEGER to BOOL

$AC_MARKER[1]=561

ID=1 WHEN $A_IN[1] == TRUE DO $A_OUT[0]=$AC_MARKER[1]

Type conversion from REAL to BOOL

R401 = 100.542

WHEN $A_IN[0] == TRUE DO $A_OUT[2]=$R401

Type conversion from BOOL to INTEGER

ID=1 WHEN $A_IN[2] == TRUE DO $AC_MARKER[4] = $A_OUT[1]]

Type conversion from BOOL to REAL

R401 = 100.542

WHEN $A_IN[3] == TRUE DO $R10 = $A_OUT[3]

10.3.3

GUD variables

GUD variables capable of synchronized actions

As well as specific system variables, predefined global synchronized-action user variables

(synchronized action GUD) can also be used in synchronized actions. The number of

synchronized action GUD items available to the user is parameterized for each specific data

type and access using the following machine data:

● MD18660 $MM_NUM_SYNACT_GUD_REAL[<x>] = <number>

● MD18661 $MM_NUM_SYNACT_GUD_INT[<x>] = <number>

● MD18662 $MM_NUM_SYNACT_GUD_BOOL[<x>] = <number>

● MD18663 $MM_NUM_SYNACT_GUD_AXIS[<x>] = <number>

● MD18664 $MM_NUM_SYNACT_GUD_CHAR[<x>] = <number>

● MD18665 $MM_NUM_SYNACT_GUD_STRING[<x>] = <number>

The index <x> is used to specify the data block (access rights) and the value <number> to

specify the number of synchronized-action GUDs for each data type (REAL, INT, etc.). A 1-

dimensional array variable with the following naming scheme is then created in the relevant

data block for each data type.: SYG_<data type><access right>[<index>]:

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Index

Data type

<x>

(MD18660 to MD18665)

Block

REAL

INT

BOOL

AXIS

CHAR

STRING

SGUD

SYG_RS[ i ]

SYG_IS[ i ]

SYG_BS[ i ]

SYG_AS[ i ]

SYG_CS[ i ]

SYG_SS[ i ]

MGUD

SYG_RM[ i ]

SYG_IM[ i ]

SYG_BM[ i ]

SYG_AM[ i ]

SYG_CM[ i ]

SYG_SM[ i ]

UGUD

SYG_RU[ i ]

SYG_IU[ i ]

SYG_BU[ i ]

SYG_AU[ i ]

SYG_CU[ i ]

SYG_SU[ i ]

GUD4

SYG_R4[ i ]

SYG_I4[ i ]

SYG_B4[ i ]

SYG_A4[ i ]

SYG_C4[ i ]

SYG_S4[ i ]

GUD5

SYG_R5[ i ]

SYG_I5[ i ]

SYG_B5[ i ]

SYG_A5[ i ]

SYG_C5[ i ]

SYG_S5[ i ]

GUD6

SYG_R6[ i ]

SYG_I6[ i ]

SYG_B6[ i ]

SYG_A6[ i ]

SYG_C6[ i ]

SYG_S6[ i ]

GUD7

SYG_R7[ i ]

SYG_I7[ i ]

SYG_B7[ i ]

SYG_A7[ i ]

SYG_C7[ i ]

SYG_S7[ i ]

GUD8

SYG_R8[ i ]

SYG_I8[ i ]

SYG_B8[ i ]

SYG_A8[ i ]

SYG_C8[ i ]

SYG_S8[ i ]

GUD9

SYG_R9[ i ]

SYG_I9[ i ]

SYG_B9[ i ]

SYG_A9[ i ]

SYG_C9[ i ]

SYG_S9[ i ]

Where i = 0 to (<number> - 1)

Block: _N_DEF_DIR/_N_ ... _DEF, e.g for SGUD ⇒ _N_DEF_DIR/_N_SGUD_DEF

Properties

Synchronized-action GUD have the following properties:

● Synchronized-action GUD can be read and written in synchronized actions and part

programs/cycles.

● Synchronized-action GUD can be accessed via the OPI.

● Synchronized-action GUD is displayed on the HMI user interface in the "Parameters"

operating area.

● Synchronized-action GUD can be used on the HMI in the Wizard, in the variables view

and in the variables log.

● The array size for STRING type synchronized action GUD is set to a fixed value of 32 (31

characters + \0).

● Even if no definition files have been created manually for global user data (GUD),

synchronized-action GUD defined using machine data can be read in the corresponding

GUD block from the HMI.

NOTICE

User variables (GUD, PUD, LUD) can only be defined with the same name as

synchronized-action GUD (DEF ... SYG_xy) if no synchronized-action GUD has been

parameterized with the same name (MD18660 - MD18665). These user-defined items of

GUD cannot be used in synchronized actions.

Access rights

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

variables defined in this GUD definition file.

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10.3 Main run variables for synchronized actions

Deletion behavior

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

active file system is deleted first. The configured synchronized-action GUD is also reset at

this point. This process is also possible using the HMI in the operator area "Services" >

"Define and activated user data (GUD)".

10.3.4

Default axis identifier (NO_AXIS)

Function

AXIS type variables or parameters which have not been initialized by a value can be

provided with defined default axis identifiers. Undefined axis variables are initialized with this

default value.

Non-initialized valid axis names are recognized in synchronized actions by querying the

"NO_AXIS" variable. This non-initialized axis identifier is assigned the configured default axis

identifier by machine data.

Machine manufacturer

At least one valid existing axis identifier must be defined and pre-assigned using machine

data. All existing valid axis identifiers can however be pre-assigned. Please refer to the

machine manufacturer's instructions.

Note

During definition, newly created variables are now automatically given the value saved in the

machine data for default axis names.

For additional information on a definition applicable via machine data, see:

References:

/FBSY/ Function Manual Synchronized Actions

Syntax

PROC UP(AXIS PAR1=NO_AXIS, AXIS PAR2=NO_AXIS)

IF PAR1 <>NO_AXIS...

Significance

PROC

Subprogram definition

Subprogram name for recognition

PARn

Parameter n

NO_AXIS

Initialization of formula parameter with default axis identifier

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10.3 Main run variables for synchronized actions

Example: Definition of axis variables in the main program

Program code

DEF AXIS AXVAR

UP( , AXVAR)

10.3.5

Synchronized action marker ($AC_MARKER[n])

Function

The array variable $AC_MARKER[n] can be read and written in synchronized actions. These

variables can either be saved in the memory of the active or passive file system.

Synchronized action variable: Data type INT

$AC_MARKER[n]

Channel-specific marker/counter, INTEGER data type

$MC_MM_NUM_AC_MARKER

Machine data for setting the number of channel-

specific markers for movement synchronized actions

Array index of variables 0-n

Example of reading and writing marker variables

Program code

WHEN ... DO $AC_MARKER[0] = 2

WHEN ... DO $AC_MARKER[0] = 3

WHENEVER $AC_MARKER[0] == 3 DO $AC_OVR=50

10.3.6

Synchronized action parameters ($AC_PARAM[n])

Function

The synchronized action parameter $AC_PARAM[n] is used for calculations and as

intermediate memory in synchronized actions. These variables can either be saved in the

memory of the active or passive file system.

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10.3 Main run variables for synchronized actions

Synchronized action variable: Data type:REAL

These parameters exist once in each channel under the same name.

$AC_PARAM[n]

Arithmetic variable for motion synchronized actions (REAL)

$MC_MM_NUM_AC_PARAM

Machine data for setting the number of parameters for

movement synchronized actions up to a maximum of 20000.

Array index of parameter 0n

Example of synchronized action parameter $AC_PARAM[n]

Program code

$AC_PARAM[0]=1.5

$AC_MARKER[0]=1

ID=1 WHEN $AA_IW[X]>100 DO $AC_PARAM[1]=$AA_IW[X]

ID=2 WHEN $AA_IW[X]>100 DO $AC_MARKER[1]=$AC_MARKER[2]

10.3.7

Arithmetic parameter ($R[n])

Function

This static array variable is used for calculations in the part program and synchronized

actions.

Syntax

Programming in part program:

REAL R[n]

REAL Rn

Programming in synchronized actions:

REAL $R[n]

REAL $Rn

Arithmetic parameters

Using arithmetic parameters allows for:

● storage of values that you want to retain beyond the end of program, NC reset, and

Power On

● display of stored value in the R parameter display.

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10.3 Main run variables for synchronized actions

Examples

Program code

Comments

WHEN $AA_IM[X]>=40.5 DO $R10=$AA_MM[Y]

; Using R10 in synchronized

actions.

G01 X500 Y70 F1000

STOPRE

; Preprocessing stop

IF R10>20

; Evaluation of the arithmetic

variable.

Program code

SYG_AS[2]=X

SYG_IS[1]=1

WHEN $AA_IM[SGY_AS[2]]>10 DO $R3=$AA_EG_DENOM[SYG_AS[1]], SYG_AS[2]]

WHEN $AA_IM[SGY_AS[2]]>12 DO $AA_SCTRACE[SYG_AS[2]]=1

SYG_AS[1]=X

SYG_IS[0]=1

WHEN $AA_IM[SGY_AS[1]]>10 DO $R3=$$MA_POSCTRL_GAIN[SYG_IS[0]],SYG_AS[1]]

WHEN $AA_IM[SGY_AS[1]]>10 DO $R3=$$MA_POSCTRL_GAIN[SYG_AS[1]]

WHEN $AA_IM[SGY_AS[1]]>15 DO $$MA_POSCTRL_GAIN[SYG_AS[0]], SYG_AS[1]]=$R3

10.3.8

Read and write NC machine and NC setting data

Function

It is also possible to read and write NC machine / setting data of synchronized actions. When

reading and writing machine data array elements, an index can be left out during

programming. If this happens in the part program, all of the array's elements are described

with the value when reading the first array element and when writing.

In synchronized actions, only the first element is read or written in such cases.

Definition

MD, SD with

$: Read the value at the interpretation time of the synchronized actions

$$: Read the value in the main run

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10.3 Main run variables for synchronized actions

Read MD and SD values at the preprocessing time

They are addressed from within the synchronized action using the $ characters and

evaluated by the preprocessing time.

ID=2 WHENEVER $AA_IM[z]<$SA_OSCILL_REVERSE_POS2[Z]-6 DO $AA_OVR[X]=0

;Here, reversal range 2, assumed to remain static during operation, is addressed for

oscillation.

Read MD and SD values at the main run time

They are addressed from within the synchronized action using the $ characters and

evaluated by the main run time.

ID=1 WHENEVER $AA_IM[z]<$$SA_OSCILL_REVERSE_POS2[Z]-6 DO $AA_OVR[X]=0

;It is assumed here that the reverse position can be modified by a command during

the machining

Write MD and SD at the main run time

The currently set access authorization level must allow write access. The active states are

listed for all MD and SD in References: /LIS/, Lists (Book 1).

The MD and SD to be written must be addressed preceded by $$.

Example

Program code

Comments

ID=1 WHEN $AA_IW[X]>10 DO

; Changing the switching position

$$SN_SW_CAM_PLUS_POS_TAB_1[0]=20

of software cams. Note: The

switching positions must be

changed two to three

interpolation cycles before they

reach their position.

$$SN_SW_CAM_MINUS_POS_TAB_1[0]=30

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10.3 Main run variables for synchronized actions

10.3.9

Timer variable ($AC_Timer[n])

Function

System variable $AC_TIMER[n] permits actions to be started after defined periods of delay.

Timer variable: Data type:REAL

$AC_TIMER[n]

Channel-specific timer of data type REAL

Unit in seconds

Index of timer variable

Setting timers

Incrementation of a timer variable is started by means of value assignment:

$AC_TIMER[n]=value

n :

Number of time variables

value:

Starting value (generally "0")

Stopping timers

Incrementation of a timer variable can be stopped by assigning a negative value:

$AC_TIMER[n]=-1

Reading timers

The current timer value can be read whether the timer variable is running or has been

stopped. After a timer variable has been stopped through the assignment of -1, the current

time value remains stored and can be read.

Example

Output of an actual value via analog output 500 ms after detection of a digital input:

Program code

Comments

WHEN $A_IN[1] == 1 DO $AC_TIMER[1]=0

; Reset and start timer

WHEN $AC_TIMER[1]>=0.5 DO $A_OUTA[3]=$AA_IM[X] $AC_TIMER[1]=-1

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10.3 Main run variables for synchronized actions

10.3.10

FIFO variables ($AC_FIFO1[n] ... $AC_FIFO10[n])

Function

10 FIFO variables (circulating buffer store) are available to store associated data sequences.

Data type: REAL

Application:

● Cyclical measurement

● Pass execution

Each element can be accessed in read or write

FIFO variables

The number of available FIFO variables is defined in machine data

MD28260 $MC_NUM_AC_FIFO.

The number of values that can be written into a FIFO variable is defined using machine data

MD28264 $MC_LEN_AC_FIFO. All FIFO variables are equal in length.

The sum of all FIFO elements is only generated if bit 0 is set in

MD28266 $MC_MODE_AC_FIFO.

Indices 0 to 5 have a special significance:

Index

Significance

While writing:

New value is saved in the FIFO.

While reading:

The oldest element is read and removed from the FIFO.

Access to oldest stored element

Access to latest stored element

Sum of all FIFO elements

Number of elements available in FIFO.

Read and write access can be assigned to each element of the FIFO. FIFO

variables are reset by resetting the number of elements, e.g. for the first FIFO

variable: $AC_FIFO1[4]=0

Current write index relative to beginning of FIFO

6 to nmax

Access to nth FIFO element

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10.3 Main run variables for synchronized actions

Example: Circulating memory

During a production run, a conveyor belt is used to transport products of different lengths (a,

b, c, d). The conveyor belt of transport length therefore carries a varying number of products

depending on the lengths of individual products involved in the process. With a constant

speed of transport, the function for removing the products from the belt must be adapted to

the variable arrival times of the products.

Program code

Comments

DEF REAL INTV=2.5

;

Constant distance between products

that are placed down.

DEF REAL TOTAL=270

;

Distance between the length

measurement and removal position.

EVERY $A_IN[1]==1 DO $AC_FIFO1[4]=0

;

At the start of the process,

reset FIFO

EVERY $A_IN[2]==1 DO $AC_TIMER[0]=0

;

If a product interrupts the light

barrier, start the time

measurement.

EVERY $A_IN[2]==0 DO $AC_FIFO1[0]=$AC_TIMER[0]*$AA_VACTM[B]

;

If the product leaves the light

barrier, calculate the product

length from the measured time and

transport speed and save in FIFO.

EVERY $AC_FIFO1[3]+$AC_FIFO1[4]*ZWI>=GESAMT DO POS[Y]=-30

;

As soon as the sum of all product

$R1=$AC_FIFO1[0]

lengths and intermediate distances

are greater than/equal to

the length between the position

where the product is placed down

and where it is removed, remove the

product from the conveyor belt at

the removal position, read-out the

associated product length from

FIFO.

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10.3 Main run variables for synchronized actions

10.3.11

Information about block types in the interpolator ($AC_BLOCKTYPE,

$AC_BLOCKTYPEINFO, $AC_SPLITBLOCK)

Function

The following system variables are available for synchronized actions to provide information

about a block current executing in the main run:

● $AC_BLOCKTYPE

● $AC_BLOCKTYPEINFO

● $AC_SPLITBLOCK

Block type and block type info variables

$AC_BLOCKTYPE

$AC_BLOCKTYPEINFO

Value:

Not equal to 0

Meaning:

Origi-

Intermediate block

Trigger for intermediate block:

nal block

Internally generated block, no further information

Chamfer/rounding: Straight

Chamfer/rounding: Circle

WAB: Approach with straight line

WAB: Approach with quadrant

WAB: Approach with semicircle

Tool compensation:

Approach block after STOPRE

Connection blocks if intersection point not found

Point-type circle on inner corners

(on TRACYL only)

Bypass circle (or conical cut) at outer corners

Approach blocks for offset suppression

Approach blocks on repeated TRC activation

Block split due to excessive curvature

Compensation blocks on 3D face milling (tool

vector || area vector)

Corner rounding with:

G641

G642

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10.3 Main run variables for synchronized actions

$AC_BLOCKTYPE

$AC_BLOCKTYPEINFO

Value:

Not equal to 0

Meaning:

Origi-

Intermediate block

Trigger for intermediate block:

nal block

G643

G644

TLIFT block with:

linear movement of tangential axis and without lift

motion

nonlinear movement of tangential axis

(polynomial) and without lift motion

lift movement, tangential axis movement and lift

movement start simultaneously

lift movement, tangential axis does not start until

certain lift position is reached.

Path segmentation:

programmed path segmentation is active without

punching or nibbling

programmed path segmentation with active

punching or nibbling

automatically, internally generated path

segmentation

Compile cycles:

ID application

ID of the compile cycle application that generated

the block

T: Thousands digit

H: Hundreds digit

Z: Tens digit

E: Units digit

Note

$AC_BLOCKTYPEINFO also always includes the value for the block type in the thousands

position (T) in the case that there is an intermediate block. The thousands position is not

accepted in $AC_BLOCKTYPE not equal to 0.

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10.3 Main run variables for synchronized actions

$AC_SPLITBLOCK

Value:

Significance:

Unchanged programmed block (a block generated by the compressor is also dealt with as

a programmed block)

There is an internally generated block or a shortened original block

The last block in a chain of internally generated blocks or shortened original blocks is

available

Example: Counting blending blocks

Program code

Comments

$AC_MARKER[0]=0

$AC_MARKER[1]=0

$AC_MARKER[2]=0

; Definition of synchronized actions with which

blending blocks are counted.

; All blending blocks are counted in $AC_MARKER[0]:

ID=1 WHENEVER ($AC_TIMEC==0) AND ($AC_BLOCKTYPE==5) DO $AC_MARKER[0]=$AC_MARKER[0]+1

; Blending blocks generated with G641 are counted in $AC_MARKER[1]:

ID=2 WHENEVER ($AC_TIMEC==0) AND ($AC_BLOCKTYPEINFO==5001) DO $AC_MARKER[1]=$AC_MARKER[1]+1

; Blending blocks generated with G642 are counted in $AC_MARKER[2]:

ID=3 WHENEVER ($AC_TIMEC==0) AND ($AC_BLOCKTYPEINFO==5002) DO $AC_MARKER[2]=$AC_MARKER[2]+1

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10.4 Actions in synchronized actions

10.4

Actions in synchronized actions

10.4.1

Overview of possible actions in synchronized actions

Actions in synchronized actions consist of value assignments, function or parameter calls,

keywords or technology cycles. Complex executions are possible using operators.

Possible applications include:

● Calculations of complex expressions in the IPO cycle

● Axis movements and spindle controls

● Setting data from synchronized actions can be changed and evaluated online (e.g. output

positions and times of software cams at the PLC or NC I/O)

● Output of auxiliary functions to PLC

● Set-up additional safety functions

● Set superimposed movement, online tool offset and clearance control

● Execute actions in all operating modes

● Influence synchronized actions from PLC

● Run technology cycles

● Output of digital and analog signals

● Record performance recording of the synchronized actions at the interpolation cycle and

the computation time of the position controller for the loading report

● Diagnostic capabilities in the user interface

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10.4 Actions in synchronized actions

Synchronized action

Description

DO $V…=

Assign variable (servo-values)

DO $A...=

Assign variable (main-run variable)

DO $AC…[n]=

Special main run variable

DO $AC_MARKER[n]=

Read or write synchronized action markers

DO $AC_PARAM[n]=

Read or write synchronized action parameters

DO $R[n]=

Read or write arithmetic variable

DO $MD...=

Read MD value at the interpolation instant in time

DO $$SD...=

Writing SD value in the main run

DO $AC_TIMER[n]=Start value

Timers

DO $AC_FIFO1[n] …FIFO10[n]=

FIFO variables

DO $AC_BLOCKTYPE=

Interpret the current block (main run variable)

DO $AC_BLOCKTYPEINFO=

DO $AC_SPLITBLOCK=

DO M-, S and H e.g. M07

Output of M, S and H auxiliary functions

DO RDISABLE

Set read-in disable

DO STOPREOF

Cancel preprocessing stop

DO DELDTG

Fast deletion of distance-to-go without preprocessing

stop

FTCDEF(polynomial, LL, UL , coefficient)

Definition of polynomials

DO SYNFCT(Polyn., Output, Input)

Activation of synchronized functions: adaptive control

DO FTOC

Online tool offset

DO G70/G71/G700/G710

Define dimension system for positioning tasks

(dimensions either in inches or metric)

DO POS[axis]= / DO MOV[axis]=

Start/position/stop command axes

DO SPOS[spindle]=

Start/position/stop spindles

DO MOV[Axis]=value

Start/position infinite movements of a command axis

DO POS[Axis]= FA [Axis]=

Axial feed FA

ID=1 ... DO POS[axis]= FA [axis]=

Position from synchronized actions

ID=2 ... DO POS[axis]=

$AA_IM[axis] FA [axis]=

DO PRESETON(axis, value)

Set actual value (preset from synchronized actions)

ID=1 EVERY $A_IN[1]=1 DO M3 S…

Start/position/stop spindles

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

DO TRAILON(FA,LA,coupling factor)

Activate coupled-axis motion

DO LEADON(FA,LA,NRCTAB,OVW)

Activate leading value coupling

DO MEAWA(axis)=

Activate axial measurement

DO MEAC(axis)=

Activate continuous measurement

DO [array n, m]=SET(value, value, ...)

Initialization of array variables with value lists

DO [array n, m]=REP(value, value, ...)

Initialization of array variables with the same values

DO SETM(Marker No.)

Set wait markers

DO CLEARM(Marker No.)

Delete wait markers

DO SETAL(alarm no.)

Set cycle alarm (additional safety function)

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Synchronized action

Description

DO FXS[axis]=

Select travel to fixed stop

DO FXST[axis]=

Change clamping torque

DO FXSW[axis]=

Change monitoring window

DO FOCON[axis]=

Activate travel with limited torque/force (modal) FOC

DO FOCOF[axis]=

Deactivate travel with limited torque/force

(synchronized actions act on specific blocks)

ID=2 EVERY $AC_BLOCKTYPE==0 DO $R1=$AC_TANEB

The angle between the path tangent at the end of the

current block and the path tangent at the start of the

programmed following block

DO $AA_OVR=

Axial override

DO $AC_OVR=

Path override

DO $AA_PLC_OVR

of the axial override specified from the PLC

DO $AC_PLC_OVR

of the path override specified from the PLC

DO $AA_TOTAL_OVR

resulting axial override

DO $AC_TOTAL_OVR

resulting path override

$AN_IPO_ACT_LOAD=

Actual IPO computation time

$AN_IPO_MAX_LOAD=

longest IPO computation time

$AN_IPO_MIN_LOAD=

shortest IPO computation time

$AN_IPO_LOAD_PERCENT=

actual IPO computation time in the ratio to the IPO clock

cycle

$AN_SYNC_ACT_LOAD=

actual computation time for synchronized actions over

all channels

$AN_SYNC_MAX_LOAD=

longest computation time for synchronized actions over

all channels

$AN_SYNC_TO_IPO=

percentage component of the total synchronized action

DO TECCYCLE

Run technology cycle

DO LOCK(n, n, ...)

Inhibit

DO UNLOCK(n, n, ...)

Enable

DO RESET(n, n, ...)

RESET of a technology cycle

CANCEL(n, n, ...)

Delete modal synchronized actions with the designation

ID(S) in the part program

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10.4 Actions in synchronized actions

10.4.2

Output of auxiliary functions

Function

Output timing

Auxiliary functions are output directly in the synchronized action at the output time of the

action. The output timing defined in the machine data for auxiliary functions is not active.

The output timing is given when the condition is fulfilled.

Example:

Switch on coolant at a specific axis position:

WHEN $AA_IM[X]>=15 DO M07 POS[X]=20 FA[X]=250

Permitted keywords in non-modal synchronized actions (no modal ID)

Auxiliary functions in non-modal synchronized actions (no modal ID) can only be

programmed with the WHEN or EVERY keywords.

Note

The following auxiliary functions are not permitted in synchronized actions:

• M0, M1, M2, M17, M30: Program stop/end (M2, M17, M30 possible for technology cycle)

• M functions for tool change set with M6 or via machine data

Example

Program code

Comments

WHEN $AA_IW[Q1]>5 DO M172 H510

; If the actual value of the Q1 axis exceeds

5 mm, output help functions M172 and H510

at the PLC.

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10.4 Actions in synchronized actions

10.4.3

Set read-in disable (RDISABLE)

Function

Using RDISABLE, when the condition is fulfilled, the additional block processing is held in

the main program. Programmed synchronized motion actions are still executed, the following

blocks are still prepared.

In path control mode, an exact stop is always triggered at the beginning of the block with

RDISABLE in synchronized actions, regardless of whether RDISABLE is active or not.

Example

Start the program in interpolation cycles dependent on external inputs.

Program code

Comments

WHENEVER $A_INA[2]<7000 DO RDISABLE

; If the voltage 7V is not reached

at input 2,

program execution is stopped

(1000= 1V).

N10 G1 X10

; If the condition is fulfilled,

the read-in inhibit at the end of

N10 is effective

N20 G1 X10 Y20

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10.4 Actions in synchronized actions

10.4.4

Cancel preprocessing stop (STOPREOF)

Function

In the case of an explicitly programmed preprocessing stop STOPRE or a preprocessing

stop implicitly activated by an active synchronized action, STOPREOF cancels the

preprocessing stop after the next machining block as soon as the condition is fulfilled.

Note

STOPREOF must be programmed with the keyword WHEN and non-modally (without ID

number).

Example

Fast program branch at end of block.

Program code

Comments

WHEN $AC_DTEB<5 DO STOPREOF

; If the distance to the end of the

block is less than 5 mm, withdraw

preprocessing stop.

G01 X100

; After executing linear

interpolation, the preprocessing

stop is withdrawn.

IF $A_INA[7]>500 GOTOF MARKE1=X100

; If the voltage of 5V at input 7

is exceeded, jump to label 1.

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10.4 Actions in synchronized actions

10.4.5

Delete distance-to-go (DELDTG)

Function

Delete distance-to-go can be triggered for a path and for specified axes depending on a

condition.

The possibilities are:

● Fast, prepared delete distance-to-go

● Unprepared delete distance-to-go

Prepared delete distance-to-go with DELDTG permits a fast response to the triggering event

and is therefore used for time-critical applications, e.g. if

● the time between delete distance-to-go and the start of the next block must be very short.

● the condition for delete distance-to-go will very probably be fulfilled.

Note

The axis designation contained in brackets behind DELDTG is only valid for one

positioning axis.

Syntax

Delete distance-to-go for the path

DO DELDTG

Axial delete distance-to-go

DO DELDTG(axis1) DELDTG(axis2) ...

Example of fast deletion of distance-to-go path

Program code

Comments

WHEN $A_IN[1]==1 DO DELDTG

N100 G01 X100 Y100 F1000

; If the input is set, motion is

interrupted

N110 G01 X…

IF $AA_DELT>50…

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10.4 Actions in synchronized actions

Example of fast axial deletion of distance-to-go

Program code

Comments

Cancelation of a positioning movement:

ID=1 WHEN $A_IN[1]==1 DO MOV[V]=3 FA[V]=700

; Start axis

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

; Delete distance-to-go, the axis

is stopped using MOV=0

Delete distance-to-go depending on the input

voltage:

WHEN $A_INA[5]>8000 DO DELDTG(X1)

; As soon as the voltage at input 5

exceeds 8V, delete distance-to-go

for axis X1.

Path motion continues.

POS[X1]=100 FA[X1]=10 G1 Z100 F1000

Further Information

At the end of a traversing block in which a prepared delete distance-to-go was triggered,

preprocess stop is activated implicitly.

Continuous path mode or positioning axis movements are therefore interrupted or stopped at

the end of the block with fast delete distance-to-go.

Note

Prepared delete distance-to-go:

• cannot be used with active tool radius correction.

• the action must only be programmed in non modal synchronized actions (without ID

number).

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Motion synchronous actions

10.4 Actions in synchronized actions

10.4.6

Polynomial definition (FCTDEF)

Function

FCTDEF can be used to define 3rd order polynomials in the form y=a0+a1x+a2x²+a3x³. These

polynomials are used by the online tool offset (FTOC) and the evaluation function

(SYNFCT).

Syntax

FCTDEF(Polynomial No.,LLIMIT,ULIMIT,a0,a1,a2,a3)

Significance

Polynomial_No.

Number of the 3rd order polynomial

LLIMIT

Lower limit for function value

ULIMIT

Upper limit for function value

a0, a1, a2, a3

Polynomial coefficient

These values can also be accessed via system variables

$AC_FCTLL[n]

Lower limit for function value

$AC_FCTUL[n]

Upper limit for function value

$AC_FCT0[n]

$AC_FCT1[n]

$AC_FCT2[n]

$AC_FCT3[n]

Note

Writing system variables

• The system variables can be written from the part program or from a synchronized action.

When writing from part programs, program STOPRE to ensure that writing is block

synchronized.

• The $AC_FCTLL[n], $AC_FCTUL[n], $AC_FCT0[n] to $AC_FCTn[n] system variables can be

changed from synchronized actions

When writing form synchronized actions, the polynomial coefficients and function value limits

are active immediately.

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Example of a polynomial for straight section:

With upper limit 1000, lower limit -1000, ordinate section a0=$AA_IM[X] and linear gradient 1

the polynomial is:

FCTDEF(1, -1000,1000,$AA_IM[X],1)

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Example of laser output control

One of the possible applications of polynomial definition is the laser output control.

Laser output control means:

Influencing the analog output in dependence on, for example, the path velocity.

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Program code

Comments

$AC_FCTLL[1]=0.2

; Definition of a polynomial

coefficients

$AC_FCTUL[1]=0.5

$AC_FCT0[1]=0.35

$AC_FCT1[1]=1.5EX-5

STOPRE

ID=1 DO $AC_FCTUL[1]=$A_INA[2]*0.1 +0.35

; Change upper limit online.

ID=2 DO SYNFCT(1,$A_OUTA[1],$AC_VACTW)

; Depending on the path velocity

(stored in $AC_VACTW) the

laser power control is controlled

via analog output 1

Note

The polynomial defined above is used with SYNFCT.

10.4.7

Synchronized function (SYNFCT)

Function

SYNFCT calculates the output value of a polynomial 3 grade weighted using the input

variables. The result is in the output variables and has maximum and minimum limits.

The evaluation function is used

● in AC control (adaptive control),

● in laser output control,

● with position feed-forward

Syntax

SYNFCT (Polynomial_No., main run variable output, main run variable input)

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10.4 Actions in synchronized actions

Significance

For the output variable, it is possible to select variables that

● with additive influencing

● with multiplicative influencing

● as a position offset or

● directly

affect the machining process.

DO SYNFCT

Activation of the evaluation function

Polynomial No.

With polynomial defined with FCTDEF (see Subsection

"Polynomial definition").

Main run variable

output

Write main run variable

Main run variable input Read main run variable

Example of adaptive control (additive)

Additive influence on the programmed feedrate

A programmed feedrate is to be controlled additive using the current of the X axis (infeed

axis):

The feedrate should only vary by +/- 100 mm/min and the current fluctuates by +/-1A around

the working point of 5A.

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1. Polynomial definition

Determination of the coefficients

y = f(x) = a0 + a1x + a2x² + a3x³

a1 = -100mm/1 min A

a0 = -(-100)*5 =500

a2 = a3 = 0 (no square and cubic component)

Upper limit = 100

Lower limit = -100

This means:

FCTDEF(1,-100,100,500,-100,0,0)

2. Activate AC control

ID=1 DO SYNFCT(1,$AC_VC,$AA_LOAD[x])

;Read the current axis load (% of the max. drive current) via $AA_LOAD[x],

calculate the path feedrate override with the polynomial defined above.

Example of adaptive control (multiplicative)

Influence the programmed feedrate by multiplication

The aim is to influence the programmed feedrate by multiplication. The feedrate must not

exceed certain limits - depending on the load on the drive:

● The feedrate is to be stopped at a drive load of 80%: override = 0

● At a drive load of 30% it is possible to traverse at programmed feedrate:

override = 100%.

The feedrate can be exceeded by 20%:

Max. override = 120%.

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10.4 Actions in synchronized actions

295

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1. Polynomial definition

Determination of coefficients

y = f(x) = a0 + a1x +a2x² + a3x³

a1 = -100%/(80-30)% = -2

a0 = 100 + (2*30) = 160

a2 = a3 = 0 (neither a square nor cubic element)

Upper limit = 120

Lower limit = 0

This means:

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

2. Switch-in AC control

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

;Read the current axis load (% of the max. drive current) via $AA_LOAD[x],

calculate the feedrate override with the polynomial defined above.

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Motion synchronous actions

10.4 Actions in synchronized actions

10.4.8

Closed-loop clearance control with limited correction ($AA_OFF_MODE)

Note

This function is not available for SINUMERIK 828D!

Function

The integrating calculation of the clearance values is realized with a limit range check:

$AA_OFF_MODE = 1

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NOTICE

The loop gain of the higher-level control loop depends on the setting of the interpolation

cycle.

Remedy: Read-in the MD for IPO clock cycle and take this into account.

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10.4 Actions in synchronized actions

Note

Limiting of the velocity of the higher-level interpolator using MD32020 JOG_VELO for a 12

ms Ipo cycle.

Formula for the speed:

PLQ

Example

Subprogram "AON": Clearance control on

Program code

Comment

PROC AON

$AA_OFF_LIMIT[Z]=1

; Specifies limit value.

FCTDEF(1, -10, +10, 0, 0.6, 0.12)

; Polynomial definition

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

; Clearance control active.

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

; Inhibit axis X when the limit

DO $AA_OVR[X] = 0

range is exceeded.

RET

ENDPROC

Subprogram "AOFF": Clearance control off

Program code

Comment

PROC AOFF

CANCEL(1)

; Delete synchronized action, clearance control

CANCEL(2)

; Cancel limit range check

RET

ENDPROC

Main program "MAIN"

Program code

Comment

AON

; Clearance control on

G1 X100 F1000

AOFF

; Clearance control off

M30

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Further Information

Position offset in the basic coordinate system

Using the system variable $AA_OFF[axis] motion can be superimposed on every axis in the

channel. It acts as a position offset in the basic coordinate system.

The position offset programmed in this way is overlaid immediately in the axis concerned,

whether the axis is being moved by the program or not.

Limit main run variable output:

It is possible to limit the absolute value to be corrected (main run variable output) to the

value saved in the setting data SD43350 $SA_AA_OFF_LIMIT.

The type of superimposition of the clearance is defined using machine data MD36750

$MA_AA_OFF_MODE:

Value

Significance

Proportional evaluation

Integrating evaluation

Using the system variable $AA_OFF_LIMIT[axis] it can be interrogated, dependent on the

direction, whether the correction value is within the limit range. The system variable can be

interrupted from synchronized actions and when a limit value is reached, can be used to e.g.

stop the axis or set an alarm.

Offset value not in range

Limit of offset value reached in the positive direction

-1:

Limit of offset value reached in the negative direction

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10.4 Actions in synchronized actions

10.4.9

Online tool offset (FTOC)

Function

FTOC permits overlaid movement for a geometry axis after a polynomial programmed with

FCTDEF depending on a reference value that might, for example, be the actual value of an

axis.

The coefficient a0 of the function definition FCTDEF(...) is evaluated for FTOC. Upper and

lower limit are dependent on a0.

FTOC can be used to program modal online tool offsets or clearance controls as synchronized

actions.

The function is used for the machining of a workpiece and dressing of a grinding wheel in the

same channel or in different channels (machining and dressing channel).

The general conditions and specifications for dressing grinding wheels apply for FTOC in the

same way that they apply for online tool offset with PUTFTOCF (see "Online tool offset

(PUTFTOCF, FCTDEF, PUTFTOC, FTOCON, FTOCOF) (Page 404)").

Syntax

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

FTOC(<function>,<reference value>,<tool parameter>,<channel>,<spindle>)

Significance

FCTDEF:

FCTDEF is used to define the polynomial function for FTOC.

Parameter:

Number of the polynomial function

Type: INT

Range of values:

1 to 3

<LLimit>:

Lower limit value

Type: REAL

<ULimit>:

Upper limit value

Type: REAL

<a0> to <a3>:

Coefficients of polynomial function

Type: REAL

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DO FTOC

Execute the "Continuous modal write of online tool offset" function

Parameter:

Number of the polynomial function

Type: INT

Range of values:

1 to 3

Note:

Must match the setting for FCTDEF.

Main run variable for which a function value is to be

calculated using the polynomial function defined with

FCTDEF.

Type: VAR REAL

<tool parameter

Number of the wear parameter (length 1, 2 or 3) in

which the offset value is to be added.

Type: INT

Number of the channel in which the online tool offset

is to take effect.

Type: INT

Note:

A channel number only has to be specified if the

offset is not to take effect in the active channel.

Number of the spindle for which the online tool offset

is to take effect.

Type: INT

Note:

A spindle number only has to be specified if the

offset is to be applied to a non-active grinding wheel

rather than the active tool which is currently in use.

Note

FTOCON must be activated in the destination channel.

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10.4 Actions in synchronized actions

Example

The length of the active grinding wheel is to be compensated.

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Program code

Comments

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

; Function definition.

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

; Select online tool offset: Actual value

of the V axis is the input value for

polynomial 1.Result is added in

channel 1 as compensation value to

length 3 of the active grinding disk.

WAITM(1,1,2)

; Synchronization with machining channel.

G1 V-0.05 F0.01 G91

; Feed motion to dress.

G1 V-0.05 F0.02

CANCEL(1)

; Deselect online offset.

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10.4 Actions in synchronized actions

10.4.10

Online tool length compensation ($AA_TOFF)

Function

Use the system variable $AA_TOFF[ ] to overlay the effective tool lengths in accordance with

the three tool directions three-dimensionally in real time.

The three geometry axis identifiers are used as the index. This defines the number of active

directions of compensation by the geometry axes active at the same time.

All compensations can be active at the same time.

Syntax

N... TRAORI

N... TOFFON(X,<offset value>)

N... WHEN TRUE DO $AA_TOFF[X]

N... TOFFON(Y,<offset value>)

N... WHEN TRUE DO $AA_TOFF[Y]

N... TOFFON(Z,<offset value>)

N... WHEN TRUE DO $AA_TOFF[Z]

Meaning

TOFFON

Activate online tool length compensation

X, Y, Z:

Tool direction, in which the online tool

length compensation should be active.

<offset value>:

When activating, an offset value can be

specified for the relevant direction of

compensation and this is immediately

recovered.

TOFFOF:

Reset online tool length compensation

The compensation values in the specified compensation

direction are reset and a pre-processing stop is initiated.

$AA_TOFF[X]=<value>:

Overlay in the X direction

$AA_TOFF[Y]=<value>:

Overlay in the Y direction

$AA_TOFF[Z]=<value>:

Overlay in the Z direction

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Examples

Example 1: Selecting the tool length compensation

Program code

Comment

N10 TRAORI(1)

; Transformation on.

N20 TOFFON(Z)

; Activation of online tool length compensation

for the Z tool direction.

N30 WHEN TRUE DO $AA_TOFF[Z]=10 G4 F5

; A TLC of 10 is interpolated for the Z tool

direction.

N40 TOFFON(X)

; Activation of online tool length compensation

for the X tool direction.

N50 ID=1 DO $AA_TOFF[X]=$AA_IW[X2] G4 F5

; For the X tool direction compensation is

implemented depending on the position of axis

X2.

; Assigns actual compensation in the X direction.

For the X tool direction, the TLC is reduced

back to 0:

N100 XOFFSET=$AA_TOFF_VAL[X] N120 TOFFON(X,-XOFFSET) G4 F5

Example 2: Deselect the tool length compensation

Program code

Comment

N10 TRAORI(1)

; Transformation on.

N20 TOFFON(X)

; Activation of online tool length compensation

for the X tool direction.

N30 WHEN TRUE DO $AA_TOFF[X]=10 G4 F5

; A TLC of 10 is interpolated for the X tool

direction.

N80 TOFFOF(X)

; Position offset of the X tool direction is

deleted:

...$AA_TOFF[X]=0

No axis is moved.

The position offset is added to the actual

position in the WCS corresponding to the actual

orientation.

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10.4 Actions in synchronized actions

10.4.11

Positioning movements

Function

Axes can be positioned completely unsynchonized with respect to the parts program from

synchronized actions. Programming positioning axes from synchronized actions is advisable

for cyclic sequences or operations that are strongly dependent on events. Axes programmed

from synchronized actions are called command axes.

Programming

References:

/PG/ Programming Manual Fundamentals; "Path details" Section

/FBSY/ Function Description, Synchronized Actions; "Starting command axes"

Parameters

The measuring system for positioning tasks in synchronized actions is specified with the G

codes G70/G71/G700/G710.

By programming the G functions in the synchronized action, the INCH/METRIC evaluation

for the synchronized action can be defined independently of the parts program context.

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10.4 Actions in synchronized actions

10.4.12

Position axis (POS)

Function

Unlike programming from the part program, the positioning axis movement has no effect on

execution of the part program.

Syntax

POS[axis]=value

Significance

DO POS

Start/position command axis

Axis

Name of the axis to be traversed

Value

The value to traverse by (depending on traverse mode)

Examples

Example 1:

Program code

Comments

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

; Axis U traverses, dependent on the traversing mode,

incrementally through 100 (inch/mm) or to position

100 (inch/mm) from the control zero.

; Traverse axis U by the distance calculated from the

main run variables:

ID=1 EVERY $AA_IM[B]>75 DO POS[U]=$AA_MW[V]-$AA_IM[W]+13.5

Example 2:

Program environment influences the positioning travel of the positioning axis

(no G function in the action component of the synchronized action):

Program code

Comments

N100 R1=0

N110 G0 X0 Z0

N120 WAITP(X)

N130 ID=1 WHENEVER $R==1 DO POS[X]=10

N140 R1=1

N150 G71 Z10 F10

; Z=10mm X=10mm

N160 G70 Z10 F10

; Z=254mm X=254mm

N170 G71 Z10 F10

; Z=10mm X=10mm

N180 M30

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G71 in the action component of the synchronized action clearly defines the positioning travel

of the positioning axis (metric) independent of the program environment:

Program code

Comments

N100 R1=0

N110 G0 X0 Z0

N120 WAITP(X)

N130 ID=1 WHENEVER $R==1 DO G71 POS[X]=10

N140 R1=1

N150 G71 Z10 F10

; Z=10mm X=10mm

N160 G70 Z10 F10

; Z=254mm X=10mm (X always positions to 10mm)

N170 G71 Z10 F10

; Z=10mm X=10mm

N180 M30

If axis motion is not to be started at the beginning of the block, the override for the axis can

be held at 0 from a synchronized action up to the required starting instant:

Program code

Comments

WHENEVER $A_IN[1]==0 DO $AA_OVR[W]=0 G01 X10 Y25 F750 POS[W]=1500 FA=1000

; The positioning axis is held as long as digital

input 1=0.

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10.4 Actions in synchronized actions

10.4.13

Position in specified reference range (POSRANGE)

Function

The POSRANGE( ) function can be used to determine whether the current interpolated

setpoint position of an axis is in a window around a specified reference position. The position

specifications can refer to coordinates systems which can be specified.

The module offset is taken into account when interrogating the actual axis position of a

module axis.

Note

The function can only be called up from the synchronized action. If called up from the part

program, the alarm 14091 %1 block %2 is triggered, function not permitted, index: %3 with

index 5 called up.

Syntax

BOOL POSRANGE(Axis, Refpos, Winlimit,[Coord])

Significance

BOOL POSRANGE

Current position of command axis is in window of specified

reference position.

AXIS <axis>

Axis identifier of machine-, channel- or geometry axis

REAL Refpos

Reference position in Coord coordinate system

REAL Winlimit

Amount resulting in limit for position window

INT Coord

MCS is active (option). The following are possible:

0 for MCS (machine coordinates system)

1 for BCS (basic coordinates system)

2 for SZS (settable zero system)

3 for WCS (workpiece coordinate system)

Function value

Current setpoint depending on position details in specified coordinates system

Function value: TRUE

if Refpos(Coord)

- abs(Winlimit)

Function value: FALSE

≤ Actpos(Coord)

≤ Refpos(Coord) + abs(Winlimit)

otherwise

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10.4.14

Start/stop axis (MOV)

Function

With MOV[axis]=value it is possible to start a command axis without specifying an end

position. The axis is moved in the programmed direction until another movement is set by

another motion or positioning command or until the axis is stopped with a stop command.

Syntax

MOV[axis] = value

Significance

DO MOV

Start command axis motion

Axis

Name of the axis to be started

Value

Start command for traverse/stop motion.

The sign determines the direction of motion.

The data type for the value is INTEGER.

Value >0 (usually +1)

Positive direction

Value <0 (usually -1)

Negative direction

Value ==0

Stop axis motion

Note

If an indexing axis is stopped with MOV[Axis]=0, the axis is halted at the next indexing

position.

Example

Program code

Comments

... DO MOV[U]=0

; Axis U is stopped

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10.4 Actions in synchronized actions

10.4.15

Axis replacement (RELEASE, GET)

Function

For a tool change, the corresponding command axes can be requested as an action of a

synchronized action using GET(axis). The axis type assigned to this channel and the

interpolation right thus linked to this time can be queried using the $AA_AXCHANGE_TYPE

system variable. Different processes are possible depending on the actual status and on the

channel having the current interpolation right for this axis.

Once the tool change is complete, this command axis can then be released for the channel

as an action of a synchronized action using RELEASE(axis).

Machine manufacturer

The axis concerned must be assigned to the channel via machine data. Please refer to the

machine manufacturer's specifications.

Syntax

GET(axis[,axis{,...}]) Get axis

RELEASE(axis[,axis{,...}]) Release axis

Significance

DO RELEASE

Release axis as neutral axis

DO GET

Get axis for axis replacement

Axis

Name of the axis that is to be started

Example: Program sequence for axis replacement, two channels

The Z axis has been declared in the first and second channels.

Program sequence in the first channel:

Program code

Comments

WHEN TRUE DO RELEASE(Z)

; Z axis becomes the neutral axis

WHENEVER($AA_TYP[Z]==1) DO RDISABLE

; Read-in inhibit as long as Z axis

is program axis

N110 G4 F0.1

WHEN TRUE DO GET(Z)

; Z axis again becomes the NC

program axis

WHENEVER($AA_TYP[Z]<>1) DO RDISABLE

; Read-in inhibit until Z axis is

the program axis

N120 G4 F0.1

WHEN TRUE DO RELEASE(Z)

; Z axis becomes the neutral axis

WHENEVER($AA_TYP[Z]==1) DO RDISABLE

; Read-in inhibit as long as Z axis

is the program axis

N130 G4 F0.1

;

N140 START(2)

; Start the second channel

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Program sequence in the second channel:

Program code

Comments

WHEN TRUE DO GET(Z)

; Move Z axis to second channel

WHENEVER($AA_TYP[Z]==0) DO RDISABLE

; Read-in disable as long as Z axis

is in other channel

N210 G4 F0.1

WHEN TRUE DO GET(Z)

; Z axis is NC program axis

WHENEVER($AA_TYP[Z]<>1) DO RDISABLE

; Read-in disable until Z axis is

program axis

N220 G4 F0.1

WHEN TRUE DO RELEASE(Z)

; Z axis in second channel is

neutral axis

WHENEVER($AA_TYP[Z]==1) DO RDISABLE

; Read-in disable as long as Z axis

is program axis

N230 G4 F0.1

N250 WAITM(10, 1, 2)

; Synchronize with channel 1

Program sequence in the first channel continues:

Program code

Comments

N150 WAIM(10, 1, 2)

; Synchronize with channel 2

WHEN TRUE DO GET(Z)

; Move Z axis to this channel

WHENEVER($AA_TYP[Z]==0) DO RDISABLE

; Read-in inhibit as long as Z axis

is in another

channel

N160 G4 F0.1

N199 WAITE(2)

N999 M30

; Wait for end of program in

channel 2

Example: Axis replacement in technology cycle

The U axis U ($MA_AUTO_GET_TYPE=2) has been declared in the first and second

channel and channel 1 currently has the interpolation right. The following technology cycle is

started in channel 2:

Program code

Comments

GET(U)

; Fetch U axis to channel

POS[U]=100

; U axis is to be moved to

position 100

The command-axis-movement line POS[U] is not executed until the U axis has been moved

to channel 2.

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Motion synchronous actions

10.4 Actions in synchronized actions

Sequence

The axis that is requested at the time the action GET (axis) is activated can be read with

respect to axis type for an axis replacement via the system variable

($AA_AXCHANGE_TYP[<axis>]:

●

0: Axis assigned to NC program

●

1: Axis assigned to PLC or active as command axis or oscillating axis

●

2: Another channel has the interpolation right

●

3: Axis is neutral axis

●

4: Neutral axis is controlled by PLC

●

5: Another channel has the interpolation right, axis is requested for NC program

●

6: Another channel has the interpolation right, axis is requested as neutral axis

●

7: Axis active for PLC or as command or oscillating axis, axis is requested for PLC

program

●

8: Axis active for PLC or as command or oscillating axis, axis is requested as neutral axis

Boundary conditions

The axis concerned must be assigned to the channel via machine data.

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

References:

/FB2/ Function Manual, Extended Functions; Positioning Axes (P2)

Using GET to request an axis from another channel

If, when the GET action is activated, another channel is authorized to write (has the

interpolation right) to the axis ($AA_AXCHANGE_TYP[<axis>] == 2), axis replacement is

used to get the axis from this channel ($AA_AXCHANGE_TYP[<axis>]==6) and assign it to

the requesting channel as soon as possible.

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

There is no reorganize in the requesting channel.

Assignment as NC program axis with reorganize:

If an attempt to make the axis the neutral axis is already in progress when the GET action is

activated ($AA_AXCHANGE_TYP[<axis>]==6), the axis is requested for the NC program

($AA_AXCHANGE_TYP[<axis>]==5) and assigned to the NC program on the channel as

soon as possible ($AA_AXCHANGE_TYP[<axis>]==0).

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Motion synchronous actions

10.4 Actions in synchronized actions

Axis already assigned to requested channel

Assignment as NC program axis with reorganize:

If the requested axis has already been assigned to the requesting channel at the point of

activation, and its status is that of a neutral axis (not controlled by the PLC)

($AA_AXCHANGE_TYP[<axis>]==3), it is assigned to the NC program

($AA_AXCHANGE_TYP[<axis>]==0).

Axis in neutral axis status controlled by the PLC

If the axis is in neutral axis status controlled by the PLC

($AA_AXCHANGE_TYP[<axis>]==4), the axis is requested as a neutral axis

($AA_AXCHANGE_TYP[<axis>] == 8). This locks the axis for automatic axis replacement

between channels in accordance with the value of bit 0 in MD 10722: AXCHANGE_MASK

(bit 0 == 0). This corresponds to ($AA_AXCHANGE_STAT[<axis>] == 1).

Axis is active as neutral command axis/oscillating axis or assigned to PLC

If the axis is active as the command axis/oscillating axis or assigned to the PLC for travel,

PLC axis == concurrent positioning axis, ($AA_AXCHANGE_TYP[<axis>]==1), the axis is

requested as a neutral axis ($AA_AXCHANGE_TYP[<axis>] == 8). This locks the axis for

automatic axis replacement between channels in accordance with the value of bit 0 in MD

10722: AXCHANGE_MASK (bit 0 == 0). This corresponds to

($AA_AXCHANGE_STAT[<axis>] == 1).

A new GET action will request the axis for the NC program ($AA_AXCHANGE_TYP[<axis>]

changes to == 7).

Axis already assigned to NC program

If the axis is already assigned to the NC program ($AA_AXCHANGE_TYP[<axis>]==0) or if

this assignment is requested, e.g., axis replacement triggered by NC program

($AA_AXCHANGE_TYP[<axis>]==5 or $AA_AXCHANGE_TYP[<axis>] == 7), there will be

no change in state.

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Motion synchronous actions

10.4 Actions in synchronized actions

10.4.16

Axial feed (FA)

Function

The axial feed for command axes acts modal.

Syntax

FA[<axis>]=<value>

Example

Program code

Comments

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

; Enter fixed feedrate value.

; Generate feedrate value from main run

variables:

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

10.4.17

Software limit switch

Function

The working area limitation programmed with G25/G26 is taken into account for the

command axes depending on the setting data $SA_WORKAREA_PLUS_ENABLE.

Switching the working area limitation on and off with G functions WALIMON/WALIMOF in the

parts program has no effect on the command axes.

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Motion synchronous actions

10.4 Actions in synchronized actions

10.4.18

Axis coordination

Function

Typically, an axis is either moved from the part program or as a positioning axis from a

synchronized action.

If the same axis is to be traversed alternately from the part program as a path or positioning

axis and from synchronized actions, however, a coordinated transfer takes place between

both axis movements.

If a command axis is subsequently traversed from the part program, preprocessing must be

reorganized. This, in turn, causes an interruption in the part program processing comparable

to a preprocessing stop.

Example for traversing X axis alternately from part program and from synchronized actions

Program code

Comments

N10 G01 X100 Y200 F1000

;

X axis programmed in part program

…

N20 ID=1 WHEN $A_IN[1]==1 DO

;

Start positioning from synchronized action, if ;digital input

is present

POS[X]=150 FA[X]=200

…

CANCEL(1)

;

Select synchronized action

…

N100 G01 X240 Y200 F1000

;

X becomes path axis; before motion there is a delay time due

to axis transfer, if the digital input was 1 and X was

positioned from synchronized action.

Example of changing traverse command for the same axis:

Program code

Comments

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

; Start positioning from synchronized

action, if digital >= 1

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

; Axis tracks, the 2nd input is set, i.e.

end position and feedrate for axis V,

for two synchronized actions

simultaneously active, is tracked on-

the-fly while moving.

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Motion synchronous actions

10.4 Actions in synchronized actions

10.4.19

Set actual values (PRESETON)

Function

When PRESETON (axis, value) is executed, the current axis position is not changed but a

new value is assigned to it.

PRESETON from synchronized actions can be programmed for

● modulo rotary axes that have been started from the part program and

● all command axes that have been started from a synchronized action

Syntax

DO PRESETON(axis, value)

Significance

DO PRESETON

Setting actual values in synchronized actions

Axis

Axis of which the control zero is to be changed

Value

The value by which the control zero is to be changed

Restrictions for axes

PRESETON cannot be programmed for axes, which are involved in a transformation.

One and the same axis can by moved from the part program and from a synchronized

action, only at different times. For this reason, delays can occur in the programming of an

axis from the part program if the same axis has been program in a synchronized action first.

If the same axis is used alternately, transfer between the two axis movements is

coordinated. Part program execution must be interrupted for that.

Example

Moving the control zero of an axis

Program code

Comments

WHEN $AA_IM[a] >= 89.5 DO PRESETON(a4,10.5)

; Shift the control zero of the

axis a through 10.5 length units

(inch or mm) in the positive

axis direction

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Motion synchronous actions

10.4 Actions in synchronized actions

10.4.20

Spindle motions

Function

Spindles can be positioned completely unsynchronized with respect to the part program from

synchronized actions. This type of programming is advisable for cyclic sequences or

operations that are strongly dependent on events.

If conflicting commands are issued for a spindle via simultaneously active synchronized

actions, the most recent spindle command takes priority.

Example of starting/stopping/positioning spindles

Program code

Comments

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

; Set the direction of rotation and

speed

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

; Position spindle

Example of setting the direction and speed of rotation/ positioning the spindle

Program code

Comments

ID=1 EVERY $A_IN[1]==1 DO M3 S300

; Set the direction of rotation and

speed

ID=2 EVERY $A_IN[2]==1 DO M4 S500

; Specify a new direction of

rotation and a new speed

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

; Specify a new speed

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

; Position spindle

SPOS=0

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Motion synchronous actions

10.4 Actions in synchronized actions

10.4.21

Coupled motion (TRAILON, TRAILOF)

Function

When the coupling is activated from the synchronized action, the leading axis can be in

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

the leading axis at the time of synchronization of the velocity is the starting position for

coupled-axis motion. The functionality of coupled-axis motion is described in the Section

"Path traversing behavior".

Syntax

Switch-in coupled motion

DO TRAILON(following axis, leading axis, coupling factor)

Deactivate coupled-axis motion

DO TRAILOF (following axis, leading axis, leading axis 2)

Significance

Activate unsynchronized coupled motion:

... DO TRAILON(FA, LA, Kf) with:

FA: Following axis

LA: Leading axis

Kf: Coupling factor

Deactivate unsynchronized coupled motion:

... DO TRAILOF(FA, LA, LA2)

with:

FA: Following axis

LA: Leading axis, optional

... DO TRAILOF(FA)

LA2: Leading axis 2, option

All couplings to the following axis are disengaged.

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Motion synchronous actions

10.4 Actions in synchronized actions

Example

Program code

Comments

$A_IN[1]==0 DO TRAILON(Y,V,1)

;

Activation of the 1st coupled motion group

if the digital input is 1

$A_IN[2]==0 DO TRAILON(Z,W,-1)

;

Activation of the 2nd coupled axis group

G0 Z10

;

Infeed Z and W axes in the opposite ;axis

direction

G0 Y20

;

Infeed of Y and V axes in same axis

direction

G1 Y22 V25

;

Superimpose dependent and independent

movement of coupled motion axis "V"

TRAILOF (Y,V)

;

Deactivate 1st coupled axis group

TRAILOF (Z,W)

;

Deactivate 2nd coupled axis group

Example of conflict avoidance with TRAILOF

The coupled axis is released again for access as a channel axis by invoking the TRAILOF

function for the axis. It must ensure that TRAILOF is executed before the channel requests

the axis involved. However, this is not the case in this example

…

N50 WHEN TRUE DO TRAILOF(Y,X)

N60 Y100

…

In this case, the axis is not released early enough because the non-modal synchronized

action becomes active synchronously with N60 with TRAILOF, see section, Motion-

synchronous action, "Structure, basic information".

To avoid conflict situations the following procedure should be followed:

…

N50 WHEN TRUE DO TRAILOF(Y,X)

N55 WAITP(Y)

N60 Y100

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SINUMERIK 840D sl/828D. Job Planning. Programming Manual (2010-2018) - page 22