840D FBSY 1102 en

Description of Functions 11/2002 Edition
Synchronized Actions
SINUMERIK 840D/840Di/810D
Brief Description 1
Detailed Description 2
Supplementary Conditions 3
Data Descriptions 4
SINUMERIK 840D/840Di/810D Signal Descriptions 5
Synchronized Actions Examples 6

Data Fields, Lists 7
Description of Functions
References A
Index B
Valid for
Control Software version

SINUMERIK 840D 6
SINUMERIK 840DE (export version) 6
SINUMERIK 840D powerline 6
SINUMERIK 840DE powerline 6
SINUMERIK 840Di 2
SINUMERIK 840DiE (export version) 2
SINUMERIK 810D 3
SINUMERIK 810DE (export version) 3
SINUMERIK 810D powerline 6
SINUMERIK 810DE powerline 6
11.2002 Edition
SINUMERIKr Documentation
3ls
Printing history
Brief details of this edition and previous editions are listed below.
The status of each edition is shown by the code in the “Remarks” column.
Status code in the “Remarks” column:
A . . . . . New documentation.
B . . . . . Unrevised reprint with new Order No.
C . . . . . Revised edition with new status.
If factual changes have been made on the page since the last edition,
this is indicated by a new edition coding in the header on that page
06.94 6FC5 297--0AC30--0BP0 A

08.94 6FC5 297--0AC30--0BP1 C
02.95 6FC5 297--2AC30--0BP0 C
04.95 6FC5 297--2AC30--0BP1 C
09.95 6FC5 297--3AC30--0BP0 C
03.96 6FC5 297--3AC30--0BP1 C
08.97 6FC5 297--4AD40--0BP0 A1)
12.97 6FC5 297--4AD40--0BP1 C
12.98 6FC5 297--5AD40--0BP0 C
08.99 6FC5 297--5AD40--0BP1 C
04.00 6FC5 297--5AD40--0BP2 C
10.00 6FC5 297--6AD40--0BP0 C
09.01 6FC5 297--6AD40--0BP1 C
11.02 6FC5 297--6AD40--0BP2 C
1) This publication is provided as a replacement for Section S5 in Description of

Functions “Extended Functions” applying to lower software versions.
This manual is included in the documentation on CD-ROM (DOCONCD)

Edition Order No. Remarks
11.02 6FC5 298--6CA00--0BG3 C
Trademarks
SIMATICr, SIMATIC HMIr, SIMATIC NETr, SIROTECr, SINUMERIKr and SIMODRIVEr are trademarks of
Siemens. The remaining names and designations may also be trademarks, the use of which by any third
parties for their own purposes may violate the rights of the copyright.
Further information is available under the following Internet address: Other functions not described in this documentation might be
http://www.ad.siemens.de/sinumerik executable in the control. This does not, however, represent an
obligation to supply such functions with a new control or when
servicing.
This publication was produced with Interleaf V7
We have checked that the contents of this document correspond to
The reproduction, transmission or use of this document or its the hardware and software described. Nonetheless, differences might
contents is not permitted without express written authority. Offenders still exist. The information contained in this document is, however,
will be liable for damages. All rights, including rights created by patent reviewed regularly and any necessary changes will be included in the
grant or registration of a utility model or design, are reserved. next edition. We welcome suggestions for improvement.
E Subject to technical changes without prior notice.
Siemens AG 1994 -- 2002 All rights reserved.
Order No. 6FC5 297--6AD40--0BP2 Siemens--Aktiengesellschaft

Printed in the Federal Republic of Germany
08.97 Synchronized Actions (FBSY)
Preface
Structure of the
documentation The SINUMERIK documentation is organized on 3 levels:
S General documentation
S User documentation
S Manufacturer/Service documentation
This manual is intended for the machine-tool manufacturer. It gives a detailed
description of the functions available in the SINUMERIK 840D/810D controls.
The Descriptions of Functions apply only to the software versions specified.
When a new software version is released, the Descriptions of Functions for that
version must be ordered. Old Descriptions of Functions are only partially appli-
cable to new software versions.
Please consult your local Siemens office for more detailed information about
other SINUMERIK 840D/840Di/810D as well as the publications that apply to all
SINUMERIK controls (e.g. Universal Interface, Measuring Cycles ...).
Notice
Other functions not described in this documentation might be executable in the
control. However, no claim can be made regarding the availability of these func-
tions when the equipment is first supplied or for service cases.
Hotline If you have questions about the control, please contact the hotline:
A&D Technical Support Tel.: +49 (0) 180 5050--222

Fax: +49 (0) 180 5050--223
email: adsupport@siemens.com
Please send us any questions about the documentation (suggestions for impro-
vements, corrections) to the following fax number or email address:
Fax: +49 (0) 9131 98--2176
email: motioncontrol.docu@erlf.siemens.de
Fax form: see reply form at the end of the manual.
Internet address http://www.ad.siemens.de/sinumerik

SINUMERIK
E Siemens AG 2002. All rights reserved

SINUMERIK 840D/840Di/810D Descrip. of Functions Synchronized Actions (FBSY) -- 11.02 Edition v
Synchronized Actions (FBSY) 09.01
08.97
SINUMERIK 840D As of 09.2001, improved--performance variants SINUMERIK 840D powerline

powerline and SINUMERIK 840DE powerline are available. For a list of available power-
line modules, please refer to the following Hardware Description:
References: /PHD/, Configuring Manual SINUMERIK 840D
SINUMERIK 810D As of 12.2001, improved--performance variants SINUMERIK 810D powerline

powerline and SINUMERIK 810DE powerline are available from. For a list of available
powerline modules, please refer to the following Hardware Description:
References: /PHC/, Configuring Manual SINUMERIK 810D
Aims and This document describes the Synchronized Actions function for SINUMERIK
objectives 840D SW 4 and later and for SINUMERIK 810D SW 2 and later. It replaces the
S5 function described for older software versions
in the “Extended Functions” Description of Functions.
The Descriptions of Functions provide the information required for configuration
and installation.
Target groups
The information contained in the function descriptions is designed for:
S Design engineers
S PLC programmers creating the PLC user program with the signals listed
S Start--up engineers once the system has been configured and set up
S Maintenance personnel inspecting and interpreting status signals and
alarms
Important
! This document is valid for the following controls:
D SINUMERIK 840D,
software version 6
D SINUMERIK 810D,
software version 6
D SINUMERIK 840Di
software version 2

vi SINUMERIK 840D/840Di/810D Descrip. of Functions Synchronized Actions (FBSY) -- 11.02 Edition
10.00
Software version The software versions indicated in this documentation relate to the SINUMERIK
840D control. The software version valid in parallel for the SINUMERIK 810D
control (if the function has been enabled, see /BU/, Catalog NC 60) is not indi-
cated specifically. Equivalents are as follows:
Table 1-1 Equivalent software version
SINUMERIK 840D SINUMERIK 810D SINUMERIK 810D SINUMERIK 840Di

powerline
6.3 (09.01) equivalent to -- 6.1 (12.01) 2.1 (07.01)
4.3 (04.00) equivalent to 2.3 (12.97) -- 1.1 (07.00)
3.7 (03.97) equivalent to 1.7 (03.97) -- --
Warnings The following warnings with varying levels of severity are used in this document:
Danger
! This symbol indicates that death, grievous injury or substantial property dam-
age will occur if the appropriate precautions are not taken.
Warning
! This symbol indicates that death, grievous injury or substantial property dam-
age may occur if the appropriate precautions are not taken.
Caution
! This symbol used with de safety alert symbol indicates a potentially hazardous
situation which, if not avoided, may result in minor or moderate injury.
Caution
This symbol used without de safety alert symbol indicates a potentially
hazardous situation which, if not avoided, may result in property damage.
Attention
This symbol used without de safety alert symbol indicates a potentially situation
which, if not avoided, may result in an undesirable result or state.

SINUMERIK 840D/840Di/810D Descrip. of Functions Synchronized Actions (FBSY) -- 11.02 Edition vii
08.97
Important
! This symbol always appears in the documentation when important information
is being conveyed.
Notice
Additional facts are referred to.

viii SINUMERIK 840D/840Di/810D Descrip. of Functions Synchronized Actions (FBSY) -- 11.02 Edition
06.01
09.01
11.02
Contents
1 Brief Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13

2 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-15
2.1 Components of synchronized actions . . . . . . . . . . . . . . . . . . . . . . . . . 2-15
2.1.1 Definition of motion-synchronized actions . . . . . . . . . . . . . . . . . . . . . 2-21
2.1.2 Execution of synchronized actions . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-21
2.1.3 List of possible actions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-22
2.2 Real-time evaluations and calculations . . . . . . . . . . . . . . . . . . . . . . . . 2-23
2.3 Special real--time variables for synchronized actions . . . . . . . . . . . . 2-29
2.3.1 Marker/counter variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-29
2.3.2 Timers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-30
2.3.3 Synchronized action parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-31
2.3.4 R parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-32
2.3.5 Machine and setting data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-32
2.3.6 FIFO variables (circulating memory) . . . . . . . . . . . . . . . . . . . . . . . . . . 2-33
2.3.7 System variables saved in SRAM (as of SW 6.3) . . . . . . . . . . . . . . . 2-36
2.3.8 List of system variables relevant to synchronized actions . . . . . . . . 2-37
2.4 Actions in synchronized actions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-63
2.4.1 Output of M, S and H auxiliary functions to PLC . . . . . . . . . . . . . . . . 2-65
2.4.2 Setting (writing) and reading of real--time variables . . . . . . . . . . . . . 2-67
2.4.3 Alteration of SW cam positions and times (setting data) . . . . . . . . . 2-68
2.4.4 FCTDEF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-69
2.4.5 Polynomial evaluation SYNFCT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-71
2.4.6 Overlaid movements $AA_OFF settable (as of SW 6) . . . . . . . . . . 2-76
2.4.7 Online tool offset FTOC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-78
2.4.8 RDISABLE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-80
2.4.9 STOPREOF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-80
2.4.10 DELDTG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-80
2.4.11 Disabling a programmed axis motion . . . . . . . . . . . . . . . . . . . . . . . . . 2-82
2.4.12 Starting command axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-82
2.4.13 Axial feed from synchronized actions . . . . . . . . . . . . . . . . . . . . . . . . . 2-85
2.4.14 Starting/stopping axes from synchronized actions . . . . . . . . . . . . . . 2-86
2.4.15 Spindle motions from synchronized actions . . . . . . . . . . . . . . . . . . . . 2-86
2.4.16 Setting actual values from synchronized actions . . . . . . . . . . . . . . . 2-90
2.4.17 Coupled axes and activation/deactivation couplings . . . . . . . . . . . . 2-91
2.4.18 Measurements from synchronized actions . . . . . . . . . . . . . . . . . . . . . 2-94
2.4.19 Setting and deletion of wait markers for channel synchronization . 2-98
2.4.20 Setting alarm/error reactions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-99
2.5 Call of technology cycles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-100
2.5.1 Coordination of synchronized actions, technology cycles,
parts program (and PLC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-103
2.6 Control and protection of synchronized actions . . . . . . . . . . . . . . . . . 2-105
2.6.1 Control via PLC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-105
2.6.2 Protected synchronized actions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-107
2.7 Control system response for synchronized actions
in specific operational states . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-110

SINUMERIK 840D/840Di/810D Descrip. of Functions Synchronized Actions (FBSY) -- 11.02 Edition ix
08.97
2.7.1 Power On . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-110

2.7.2 RESET . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-110
2.7.3 NC STOP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-111
2.7.4 Change in operating mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-111
2.7.5 End of program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-112
2.7.6 Response of active synchronized actions to end of program and
change in operating mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-112
2.7.7 Block search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-113
2.7.8 Program interruption by ASUB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-113
2.7.9 REPOS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-113
2.7.10 Response to alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-114
2.8 Configuring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-115
2.8.1 Configurability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-115
2.9 Diagnostics (with MMC 102/MMC 103 only) . . . . . . . . . . . . . . . . . . . 2-117
2.9.1 Display status of synchronized actions . . . . . . . . . . . . . . . . . . . . . . . . 2-118
2.9.2 Display real-time variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-118
2.9.3 Log real-time variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-119
3 Supplementary Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-121
4 Data Descriptions (MD, SD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-123
4.1 General machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-123
4.2 Channel-specific machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-124
4.3 Axis/spindle-specific machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-128
4.4 Setting data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-130
5 Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-131
6 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-133
6.1 Examples of conditions in synchronized actions . . . . . . . . . . . . . . . . 6-133
6.2 Reading and writing of SD/MD from synchronized actions . . . . . . . 6-134
6.3 Examples of adaptive control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-136
6.3.1 Clearance control with variable upper limit . . . . . . . . . . . . . . . . . . . . . 6-136
6.3.2 Feed control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-137
6.3.3 Control velocity as a function of normalized path . . . . . . . . . . . . . . . 6-139
6.4 Monitoring of a safety clearance between two axes . . . . . . . . . . . . . 6-140
6.5 Store execution times in R parameters . . . . . . . . . . . . . . . . . . . . . . . . 6-140
6.6 “Centering” with continuous measurement . . . . . . . . . . . . . . . . . . . . . 6-141
6.7 Axis couplings via synchronized actions . . . . . . . . . . . . . . . . . . . . . . . 6-144
6.7.1 Coupling to master axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-144
6.7.2 Non-circular grinding via master value coupling . . . . . . . . . . . . . . . . 6-145
6.7.3 On-the-fly parting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-147
6.8 Technology cycles “Position spindle” . . . . . . . . . . . . . . . . . . . . . . . . . . 6-149
6.9 Synchronized actions in the TCC/MC area . . . . . . . . . . . . . . . . . . . . 6-150

x SINUMERIK 840D/840Di/810D Descrip. of Functions Synchronized Actions (FBSY) -- 11.02 Edition
06.01
7 Data Fields, Lists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-155

7.1 Interface signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-155
7.2 Machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-155
7.3 Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-156
A References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-157
B Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Index-169
J

SINUMERIK 840D/840Di/810D Descrip. of Functions Synchronized Actions (FBSY) -- 11.02 Edition xi
08.97
Notes

xii SINUMERIK 840D/840Di/810D Descrip. of Functions Synchronized Actions (FBSY) -- 11.02 Edition
1 Brief Description
Brief Description 1
Definition Motion-synchronous actions (or “Synchronized actions” for short) are instruc-
of synchronized tions programmed by the user which are evaluated in the interpolation cycle of
actions the NCK in synchronism with parts program execution. If the condition
programmed in the synchronized action is fulfilled or if none is specified, then
actions assigned to the instruction are activated in synchronism with the remain-
der of the parts program run.
Applications The following selection from the wide range of possible applications indicates
how actions programmed in synchronized actions can be usefully employed.
S Output of auxiliary functions to PLC

S Writing and reading of real-time variables
S Positioning of axes and spindles
S Activation of synchronous procedures such as:
-- Read-in disable
-- Deletion of distance-to-go
-- End preprocessing stop
S Activation of technology cycles

S Online calculation of function values
S Online tool offsets
S Activation/deactivation of couplings/coupled motion
S Take measurements
S Enabling/disabling of synchronized actions
All possible applications of this function are described in Section “Detailed
Description”.

SINUMERIK 840D/840Di/810D Descrip. of Functions Synchronized Actions (FBSY) -- 11.02 Edition 1-13
08.97
1 Brief Description
In NCK interpolation cycle:
Real-time events and Initiated actions:

values:
Gating logic -- Non-modal
-- Digital inputs/ signals
-- Values of -- Evaluation of -- Modal
system variables conditions
-- Measured values -- Static modal (across
-- Drive data different operating modes)
Fig. 1-1 Schematic diagram of synchronized actions
For details of how to program synchronized actions, please refer to

References: /PGA/, Programming Guide Advanced
The following chapters describe:
-- Functional conditions for synchronized actions in Chapter 2,
-- The required machine data in Chapter 4,
-- Example applications in Chapter 6.
Notice
This Description of Functions applies to the functionality provided in SW 5. The
functions of synchronized actions in SW versions up to and including 3 are
described in:
References: /FB/, S5, “Synchronized Actions”

1-14 SINUMERIK 840D/840Di/810D Descrip. of Functions Synchronized Actions (FBSY) -- 11.02 Edition
2.1 Components of synchronized actions
Detailed Description 2
Structure of a
synchronized
action
Component: Validity, Frequency G code Condition Action G code Action or
identifica- for code for technology
tion number cond. and word action cycle See
action (fixed) 2.5
Example: IDS=1 EVERY G70 $AAA_IM[B] > 15 DO G71 POS[X]=100
The components of a synchronized action, i.e.:
S Validity:
-- with identification number
-- without identification number
S Frequency
S G code for condition and action (SW 5 and later)
S Condition
S G code for actions (SW 5 and later)
S Action(s)/Technology cycle
are explained individually below.
Validity, There are three possible methods by which the scope of validity of a
ID number synchronized action can be defined, i.e.:
S No status
S ID
S IDS

08.97
No specified validity Synchronized actions that have no specified validity have a non--modal action,
i.e. they apply only to the next block.
Non--modal synchronized actions are operative only in AUTOMATIC mode.
From SW 6.1, non--modally active synchronized actions are active modally for
all preprocessing stop blocks (incl. implicitly generated ones) and for implicitly
generated intermediate blocks.
ID Synchronized actions with validity identifier ID are modally active in subse-

quently programmed blocks. They are operative only in AUTOMATIC mode.
Limitation:
-- ID actions remain operative only until another synchronized action with
the same identification number is programmed or
-- until they are canceled with CANCEL(i), see Section 2.5.1.
IDS Statically active synchronized actions that are programmed with vocabulary
word “IDS” are active in all operating modes. They are also referred to as
static synchronized actions. Option.
Synchronized actions programmed with ID or IDS are deleted from the part
program.
Identification For modal synchronized actions (ID, IDS) identification numbers between 1 and
numbers 255 are allocated. They are important for the functions of mutual coordination of
synchronized actions. See Section 2.5.1. Modal / static synchronized actions
with identification numbers between 1--64 can be disabled and enabled from the
PLC. See 2.6.1.
Unique identification numbers must be allocated in the channel.
Applications for static synchronized actions:

-- AC grinding (active in JOG mode as well)
-- Gating logic for Safety Integrated
-- Monitoring functions, reaction to machine states in all operating modes
-- Optimization of tool change
-- Cyclic machines
Examples:
IDS=1 EVERY $A_IN[1]==1 DO POS[X]=100 All operating modes
ID=2 EVERY $A_IN[1]==0 DO POS[X]=0 AUTOMATIC
Notice
The following actions are operative only in AUTOMATIC mode when the
program is running:
STOPREOF,
DELDTG

Frequency Vocabulary words (see table) are programmed to indicate how often the
subsequently specified condition must be scanned and the associated action
executed if the condition is fulfilled. These vocabulary words are an integral
component of the synchronized action condition.
Table 2-1 Effect of frequency vocabulary words
Vocabulary word Scanning frequency

None If no scanning frequency is programmed, then the action is executed cyclically in every
interpolation cycle.
WHENEVER The associated action/technology cycle is executed cyclically in every interpolation cycle
provided that the condition is fulfilled.
FROM If the condition has been fulfilled once, the action/technology cycle is executed
cyclically in every interpolation cycle for as long as the synchronized action remains
active.
WHEN As soon as the condition has been fulfilled, the action/technology cycle is executed
once. Once the action has been executed a single time, the condition is no longer
checked.
EVERY The action/technology cycle is activated once if the condition if fulfilled. The action/tech-
nology cycle is executed every time the condition changes from the “FALSE” to the
“TRUE” state.
In contrast to vocabulary word WHEN, checking of the condition continues after
execution of the action/cycle until the synchronized action is deleted or disabled.
For details of technology cycles, please refer to Section 2.5.
Deletion If an active synchronized action is deselected (deleted) with CANCEL from the
part program, the currently active action remains operative. Positioning motions
are completed as programmed. Command CANCEL can be programmed to
delete a modal or statically active synchronized action.
If a synchronized action is deleted while the positioning axis motion it has
initiated is still in progress, the positioning motion continues until properly
executed. A channel stop also cancels the positioning movement from
synchronized actions/technology cycles.
G code for In SW 5 and later, G codes can be programmed in synchronized actions. This
condition and allows defined settings to exist for the evaluation of the condition and the action/
action technology cycle to be executed, independent of the current part program sta-
tus. It is necessary to separate the synchronized actions from the program envi-
ronment, 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.
Notice
In SW 5, the use of the G codes in synchronized actions is limited to these
4 G codes.

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.
Conditions Execution of actions/technology cycles can be made dependent upon a condi-

tion (logical expression).
The condition is checked in the interpolation cycle. If no condition is pro-
grammed, the action is performed once in every IPO cycle.
With SW up to version 3, two conditions are permitted, i.e. the comparison of a
real--time variable with an expression calculated during preprocessing or the
comparison of two real--time variables.
Examples:
WHENEVER $AA_IM[X] > 10.5*SIN(45) DO .... or
WHENEVER $AA_IM[X] > $$AA_IM[X1] DO ...
An additional condition is available in SW 4, i.e. the linking of comparisons using

Boolean operations. Boolean operators in the NC language may be used for
this purpose:
NOT, AND, OR, XOR, B_OR, B_AND, B_XOR, B_NOT.
Examples:
WHENEVER ($A_IN[1]==1) OR ($A_IN[3]==0) DO ...
; while input 1 is applied or input 3 is not applied ...
Two or more real--time expressions may be compared with one another within
one condition.
Comparisons may be made between variables of the same type or between
partial expressions.
Example:
WHEN $AA_IM[X2] <= $AA_IM[X1] +.5 DO $AA_OVR[X1]=0
; Stop when safety clearance is exceeded
The options for applying real--time expressions are described in Section
“Calculations in real time”. When conditions are programmed, all the system
variables named in Section 2.3.8 can be addressed. In addition:
S Machine data, e.g. $$MN_..., $$MC_..., $$MA_...

S Setting data, e.g. $$SN_..., $$SC_..., $$SA_...
Notice
S GUD variables cannot be used

S R parameters are addressed with $R...
S Setting and machine data whose setting may vary during
machining must be programmed with $$S._... / $$M._...
Further examples of conditions can be found in Section 6.1.

G code for the The G code may specify a different G code from the condition for all actions in
action the block and technology cycles. If technology cycles are contained in the
action part, the G code remains modally active for all actions after the end of the
technology cycle until the next G code.
Only one G code of the G code group may be programmed for each action part.
Actions Every synchronized action contains one or several programmed actions or one
technology cycle. These are executed when the appropriate condition is ful-
filled. If several actions are programmed in one synchronized action, they are
executed within the same interpolation cycle.
Example: WHEN $AA_IM[Y] >= 35.7 DO M135 $A_OUT[1]=1
If the actual value of the Y axis is greater or equal to 35.7,
then M135 is output to the PLC and
output 1 set at the same time.
Program/ A program (name) can also be specified as an action. This program may con-
technology cycle tain any of the actions which can be programmed individually in synchronized
actions. Such programs are also referred to as technology cycles below. A
technology cycle is a sequence of actions that are processed sequentially in the
interpolation cycle. See Section 2.5.
Application: Single axis programs, cyclic machines.
Processing The blocks of a part program are prepared at the program preprocessing stage,
stored and then executed sequentially on the interpolation level (main run).
Variables are accessed during block preparation. When real--time variables
(e.g. actual values) are used, block preparation is interrupted to allow current
real--time values up to the preceding block to be supplied.
Synchronized actions are transported in preprocessed form together with the
prepared block into the interpolator. Real--time variables used are evaluated in
the interpolation cycle. Block preparation is not interrupted.

Part program Prepared

PP blocks
N5 block1
N10 block2
N15 ID=1 block1’
N20 block4
N25 block5 block2’
... [ -- ]
block4’
block5’
Program ...
preprocessing
Stored, preprocessed synchronized actions

Memory size: MD 28250: $MC_MM_NUM_SYNC_ELEMENTS
Validity, ID, Fre- Condition Action(s) Main run

IDS quency techn. cycles
ID 1 WHENEVER $A_..< $A_.. M130 Synchro-
nized Movement of
action axes, ...
processing
Actions, Setpoints
technology cycles
Deletion
Sequence of synchronized action interpretation
Fig. 2-1 Schematic diagram illustrating processing of synchronized actions
Processing of The check on synchronized actions to determine whether they contain actions
synchronized to be activated is carried out in the interpolation cycle.
actions Action(s) are executed in synchronism with path control if the preconditions pro-
grammed on the left of the action(s) are fulfilled.
Processing Modally active synchronized action instructions are processed in order of their
sequence ID number within an interpolation cycle (i.e. block with ID number 1 before block
with ID number 2..., etc.). After the modal synchronized action instructions have
been executed, non--modal action instructions are processed in the order in
which they are programmed.

2.1.1 Definition of motion-synchronized actions
Defining programs Motion-synchronized actions can be defined in the following ways:
S In the part program

S Static synchronized actions in an asynchronous subprogram
activated by the PLC
2.1.2 Execution of synchronized actions
Conditions for The actions programmed in motion-synchronized actions are executed if

execution
S the synchronized action exists and has not been deselected with
CANCEL(ID), see Section 2.5.1
S the synchronized action is not disabled, i.e. no LOCK(ID), see Section 2.5.1
S evaluation of the action is due as a result of the programmed frequency
vocabulary word or
S the appropriate condition is fulfilled.

For further details, please refer to the following subsections.

10.00
12.97
08.97
2.1.3 List of possible actions
S Output of M, S and H auxiliary functions to the PLC

S Real--time variables can be set (written) to obtain the following functionality:
-- Overlaid motion ($AA_OFF), option.
-- Feed control ($AC_OVR, $AA_OVR),
disabling of a programmed axis motion
-- etc.
S Changes to SW cam positions and times (setting data) and alteration of

other setting data
S Modification of coefficients and limits from FCTDEF

S SYNFCT (polynomial evaluation)
S FTOC (online tool offsets)
S RDISABLE (read--in disable)
S STOPREOF (preprocessing stop cancellation)
S DELDTG (delete distance--to--go)
S Calculation of curve table values
S Axial feed from synchronized actions
S Axial frames
S Moving/positioning axes from synchronized actions
S Spindle motions from synchronized actions
S Actual--value setting from synchronized actions (Preset)
S Activation/deactivation of couplings and coupled motion
S Measurements from synchronized actions
S Setting and deletion of wait markers for channel synchronization
S Set alarm/error reactions
S Travel to fixed stop FXS (FXST, FXSW)
S Travel with limited torque FOC (FOCON/FOCOF)
S Extended stop and retract (Description of Functions M3)
S Reading and, if tagged accordingly, writing of system variables from the list
in Section 2.3.8.
These actions are described in detail in Section 2.4.

01.00
2.2 Real-time evaluations and calculations
Restriction Calculations carried out in real time represent a subset of those calculations that
can be performed in the NC language. It is restricted to data types REAL, INT,
CHAR and BOOL.
Implicit type conversions, such as in the part program, do not take place. See
data type below.
Scope of The term “Real--time expression” refers below to all calculations that can be
application carried out in the interpolation cycle. Real--time expressions are used in condi-
tions and in assignments to NC addresses and variables.
Real--time All real--time variables are evaluated (read) at interpolation cycle and
variables can be written as part of an action.
Real--time variable Real--time variables are all variables that begin with:
identifiers $A... (main run variable) or
$V... (servo values).
To identify these variables unambiguously, they can be programmed in syn-
chronized actions with
$$.
E.g. $AA_IM[X] or $$AA_IM[Y]: Actual value for X axis or Y axis in machine
coordinate system.
Notice
Setting and machine data whose setting may vary during machining must be
programmed with $$S._... / $$M._... .
Data type Only real--time variables of the same data type may be linked by a logic opera-
tion within the same expression. In order to process various types of data
nevertheless, you can use the conversion routines provided for type matching
(SW 5.2, see conversion routines)In contrast to full expressions in the NC lan-
guage, calculations are performed in the data type of the real--time variables
involved.
... DO $R10 = $AC_PARAM[0] ; admissible: REAL, REAL
... DO $R10 = $AC_MARKER[0] ; not admissible: REAL, INT
The following examples of real--time evaluations were already available in SW
version 3.2 (they employ only real--time variables of this SW version):
Example 1 for SW 3.2 On the left of the comparison, there is a comparison variable calculated in real
time and, on the right, an expression which is none of the permitted real--time
processing variables that begin with $$.
WHEN $AA_IM[X] > $A_INA[1] DO M120

08.97
M120 is output during execution of the motion programmed in the following

block if the X axis actual value exceeds the value applied at analog input 1.
With this programming, the actual value is reevaluated in every interpolation
cycle while the value at the analog input is generated at the instant of
interpretation.
Example 2 for SW 3.2 On the left of the comparison, there is a comparison variable calculated in real
time and, on the right, an expression which is one of those permitted for the
synchronized action (beginning with $$).
WHEN $AA_IM[X] > $$A_INA[1] DO M120
The current actual value of the X axis is compared in the IPO cycle with analog
input 1 because an $$ variable is programmed on the right.
Both variables are compared to one another in the interpolation cycle.
Example 3 for SW 3.2 $$ variables may also be programmed on the left of the comparison.
WHEN $$AA_IM[X] > $$A_INA[1] DO M120
Identical to example 2. The left--hand and right--hand sides are always com-
pared in real time.
Extensions The real--time variables available in synchronized actions are listed in

in SW 4 Section 2.3.8. New system variables which have been added in subsequent
software versions are indicated in the table.
S Machine and setting data

In the case of machine and setting data, $$S... or $$M... must be programmed
for online access. The access instruction to be evaluated during interpretation/
decoding must be preceded by a $ sign. Real--time variables that may legally
be accessed from synchronized actions are addressed preceded only by a $
sign.
Conversion There is not implicit type conversion from REAL to INT and vice versa for syn-
routines (SW 5.2) chronized actions. However, the user may explicitly call two conversion routi-
nes RTOI( ) and ITOR( ) for type conversion. The functions can be called
S in the part program and

S from the synchronized action.
ITOR REAL ITOR( INT ) -- Converting Integer to Real

The function converts the integer value transferred to a real value and returns
this value. The transferred variable is not changed.
Example:
$AC_MARKER[1] = 561
ID=1 WHEN TRUE DO $AC_PARAM[1] = ITOR( $AC_MARKER[1] )
RTOI INT RTOI( REAL ) -- Converting from Real to Integer

01.00
03.02
The function RTOI() converts the Real value presented to a rounded INT value
and returns this integer value. If the value transferred lies outside the range that
can be unambiguously represented as an integer value, alarm 20145 “Motion-
synchronous action: Arithmetic error” is output and no conversion is performed.
The transferred variable is not changed.
Notice
The function RTOI() does not produce an unambiguous result when inverted,
i.e. it is not possible to determine the original Real value from the value
returned as the decimal places are lost during conversion!
Example RTOI:
$AC_PARAM[1] = 561.4378
ID=1 WHEN TRUE DO $AC_MARKER[1] = RTOI( $AC_PARAM[1] )
; Result: 561
...
$AC_PARAM[1] = --63.867
;Result:--64
...
$AC_MARKER[1]= 10
$AC_PARAM[1] = --6386798797.29
;Result: Alarm 20145
;$AC_MARKER[1] = 10 (unchanged due to alarm)
Implicit type con- In SW 6.4 and later, variables of various data types can be assigned to one an-
version (SW 6.4) other in synchronized actions without having to call the RTOI or ITOR function,
e.g. REAL to INT and vice versa.
If values outside of the interval [INT_MIN, INT_MAX] would result from the con-
version from REAL to INTEGER, alarm 20145 ”Motion--synchronous action:
Arithmetic error” is output and no conversion is performed.
Examples:
Previously
$AC_MARKER[1] = 561
ID=1 WHEN TRUE DO $AC_PARAM[1] = ITOR( $AC_MARKER[1] )
SW 6.4 and later
$AC_MARKER[1] = 561
ID=1 WHEN TRUE DO $AC_PARAM[1] = $AC_MARKER[1]
Previously
$AC_PARAM[1] = 561.4378
ID=1 WHEN TRUE DO $AC_MARKER[1] = RTOI( $AC_PARAM[1] ) ; 561
SW 6.4 and later
$AC_PARAM[1] = 561.4378
ID=1 WHEN TRUE DO $AC_MARKER[1] = $AC_PARAM[1] : 561

Basic arithmetic Real--time variables of the REAL and INT type can be linked logically by the
operations following arithmetic operations:
-- Addition
-- Subtraction
-- Multiplication
-- Division
-- Integer division
-- Modulo division
Only variables of the same type may be linked by these operations.
Expressions Expressions from basic arithmetic operations can be bracketed and nested.
See priorities for operators on the next page.
Comparisons The following comparison operators may be used:

== equal to
<> not equal to
< less than
> greater than
<= less than or equal to
>= greater than or equal to
Boolean The following Boolean operators may be used:

operators
NOT NOT,
AND AND,
OR OR,
XOR exclusive OR
Bit The following bit operators may be used:

operators B_OR bit--serial OR
B_AND bit--serial AND
B_XOR bit--serial exclusive OR
B_NOT bit--serial negation
Operands are variables and constants of the INT type.

Priority of In order to produce the desired logical result in multiple expressions, the
operators following operator priorities should be observed in calculations and conditions:
1. NOT, B_NOT Negation, bit--serial negation
2. *, /, DIV, MOD Multiplication, division
3. +, -- Addition, subtraction
4. B_AND Bit--serial AND
5. B_XOR Bit--serial exclusive OR
6. B_OR Bit--serial OR
7. AND AND
8. XOR Exclusive OR
9. OR OR
10. Not used
11. Comparison operators
== equal to
<> not equal to
> greater than
< less than
>= greater than or equal to
<= less than or equal to
and parentheses should be used where necessary.
The logic operation result for a condition must be a BOOL data type.
Example of a multiple expression:
WHEN ($AA_IM[X] > VALUE) AND ($AA_IM[Y] > VALUE1) DO ...
Functions A real--time variable of the REAL type can be used to create function values
sine, cosine, etc.
The following functions are possible:
SIN, COS, ABS, ASIN, ACOS, TAN, ATAN2,
TRUNC, ROUND, LN, EXP, ATAN, POT, SQRT,
CTAB, CTABINV
Example:
... DO $AC_PARAM[3]=COS($AA_IM[X])
For a description of how to operate these functions, please refer to:
References: /PG/, Programming Guide
/PGA/ Programming Guide Advanced
Indexing The index of a real--time field variable can in turn be a real--time variable.
Example:
WHEN ... DO $AC_PARAM[ $AC_MARKER[1] ] = 3
The index $AC_MARKER[1] is evaluated currently in each interpolation cycle.

Restrictions:
-- It is not permissible to nest indexes with real--time variables.
-- A real--time index cannot be generated by a variable that is not genera-
ted itself in real time. The following programming would lead to errors:
$AC_PARAM[1]=$P_EP[$AC_MARKER[0]]

06.01
2.3 Special real--time variables for synchronized actions

A complete list of system variables that may be addressed in synchronized
actions can be found in Section 2.3.8. The characteristics of a few special real--
time variables are described below:
S Marker/counter variables
-- Channel--specific markers
S Timers
S Synchronized action parameters
S R parameters
S Machine and setting data
S FIFO variables (circulating memory)
SW 4 Special real--time variables, i.e. timers, R parameters, machine and setting data
and FIFO variables are available from SW 4.
2.3.1 Marker/counter variables
Channel--specific Variable $AC_MARKER[n] serves as a marker or counter in data type

markers INTEGER.
n: Number of marker: 0--n
The number of markers per channel is set via machine data.
MD 28256: NUM_AC_MARKER
Markers exist once in each channel under the same name.

They are stored in the dynamic memory and reset to 0 on Power ON, NC Reset
and End of Program, ensuring identical start conditions for every program run.
Marker variables can be read and written in synchronized actions.
Also as of As of software release 6.3, it is possible to select the memory location for
SW 6.3 $AC_MARKER[n] between DRAM and SRAM using
MD 28257: MM_BUFFERED_AC_MARKER.
0: dynamic memory DRAM, (default)
1: static memory SRAM
In MD 28256: NUM_AC_MARKER can take a maximum value of 20000. One
element requires 4 bytes. You must ensure that sufficient memory of the correct
type is available.
Flags saved in SRAM can be included in the data backup. See 2.3.7

2.3.2 Timers
System variable $AC_TIMER[n] permits actions to be started after defined

periods of delay.
n: Number of time variable
Unit: Second
Data type: REAL
The number of available timer variables is programmed in machine data
MD 28258: MM_NUM_AC_TIMER
Setting timer Incrementation of a timer variable is started by means of value assignment:

$AC_TIMER[n]=value
n: Number of timer variable
Value: Start value (normally 0)
Stopping timer Incrementation of a timer variable is stopped through the assignment of a nega-
tive value:
$AC_TIMER[n]=--1
Reading timer The current time value can be read whether the timer variable is running or
halted. 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:
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

06.01
2.3.3 Synchronized action parameters
Variables $AC_PARAM[n] serve as a buffer in synchronized actions.

Data type: REAL
n: Number of parameter 0 -- n
The number of available AC parameter variables in each channel is pro-
grammed via machine data
MD 28254: MM_NUM_AC_PARAM
These parameters exist once in each channel under the same name. The
$AC_PARAM parameters are stored in the dynamic memory and reset to 0 on
power ON, NC Reset and end of program, ensuring identical start conditions for
every part program run. $AC_PARAM variables can be read and written in syn-
chronized actions.
Also as of As of software release 6.3, it is possible to select the memory location for
SW 6.3 $AC_PARAM[n] between DRAM and SRAM using
MD 28255: MM_BUFFERED_AC_PARAM.
0: dynamic memory DRAM, (default)
1: static memory SRAM
In MD 28255: NUM_AC_PARAM can take a maximum value of 20000. One
element requires 8 bytes. You must ensure that sufficient memory of the correct
type is available.
Synchronization parameters saved in SRAM can be included in the data
backup. See 2.3.7

08.97
2.3.4 R parameters
Definition R parameters are variables of the REAL time that are stored in battery--backed
memory.
For this reason, they retain their settings after end of program, RESET and
power ON.
Application in By programming the $ sign in front of R parameters, they can also be used in
synchronized synchronized actions.
actions Example:
WHEN $AC_MEA== 1 DO $R10= $AA_MM[Y]
; if valid measurement available, transfer measured value to R parameter
Notice
It is advisable to apply a given R variable either normally in the part program or
in synchronized actions. If an R variable that has been used in synchronized
actions must be later applied “normally” in the part program, then a STOPRE
instruction must be programmed to ensure synchronization. Example:
WHEN $A_IN[1] == 1 DO $R10 = $AA_IM[Y]
G1 X100 F150
STOPRE
IF R10 > 50 .... ; evaluation of R parameter
2.3.5 Machine and setting data
In SW version 4 and later it is possible to read and write machine and setting
data from synchronized actions. Access must be programmed according to the
following criteria:
S MD, SD that remain unchanged during machining and

S MD, SD, whose settings change during machining.
Reading invariable Machine and setting data whose settings do not vary are addressed from syn-
MD, SD chronized actions in the same way as in normal part program commands. They
are preceded by a $ sign.
Example:
ID=2 WHENEVER $AA_IM[z]< $SA_OSCILL_REVERSE_POS2[Z]--6 DO
$AA_OVR[X]=0
; Here, reversal range 2, which is assumed to remain static during
; operation, is addressed for oscillation
For a complete example of oscillation with infeed within the reversal range,
please refer to Section 6.2 and:
References: /FB/, P5, Oscillation

05.98
Reading variable Machine data and setting data whose values may change during machining are
MD, SD addressed from a synchronized action preceded by the $$ sign.
Example:
ID=1 WHENEVER $AA_IM[z]< $$SA_OSCILL_REVERSE_POS2[Z]--6 DO
$AA_OVR[X]=0
In this situation, it is assumed that the reversal position
can be changed at any time by an operator action.
Writing MD, SD Precondition:

The currently set access authorization level must allow write access. It is not
meaningful to change MD and SD from synchronized actions unless the change
takes immediate effect. The effectiveness of changes is stated individually for all
MD and setting data in:
References: /LIS/, Lists
Addressing:
Machine and setting data to be changed must be addressed preceded by the
$$ sign.
Example:
ID=1 WHEN $AA_IW[X]>10 DO $$SN_SW_CAM_PLUS_POS_TAB_1[0]= 20

$$SN_SW_CAM_MINUS_POS_TAB_1[0]= 30
; Alteration of switching positions of SW cams
2.3.6 FIFO variables (circulating memory)
Application Up to 10 FIFO variables are provided to allow storage of related data se-
quences: $AC_FIFO1[n] to $AC_FIFO10[n] .
Structure Fig. 2-3 shows the memory structure of a FIFO variable.
Number The number of available AC FIFO variables is programmed in machine data

MD 28260: NUM_AC_FIFO
Size The number of values that can be stored in a FIFO variable is defined via
machine data
MD 28264: LEN_AC_FIFO
All FIFO variables are equal in length.
Data type Values in FIFO variables are of the REAL data type.

Meaning of index Index n:

Indices 0 to 5 have special meanings:
n= 0: When the variable is written with index 0, a new value
is stored in the FIFO.
When it is written with index 0, the oldest
element is read and deleted from the FIFO.
n=1: Access to oldest stored element
n=2: Access to latest stored element
n=3: Sum of all FIFO elements
MD 28266: MODE_AC_FIFO determines the mode of
summation:
Bit 0 = 1 Update sum every time new element
is stored
Bit 0 = 0 No summation
n=4: Number of elements available in FIFO.
Every element in the FIFO can be read and write-accessed.
FIFO variables are reset by resetting the number

of elements, e.g. for the first FIFO variable:
FIFO variable parameter: $AC_FIFO1[4]=0
n=5 Current write index relative to beginning of FIFO
n= 6 to 6+nmax:
Access to nth FIFO element:
Notice
FIFO access is a special form of R parameter access (see below).
FIFO values are stored in the R parameter area, i.e. in the static memory area.
They are not deleted by end of program, reset or power ON. FIFO values are
stored simultaneously when R parameters are archived.
Machine data
MD 28262: START_AC_FIFO
defines the number of the R parameter which marks the beginning of FIFO
variable storage in the R parameter area.
The current number of R parameters in a channel is programmed in machine
data
MD 28050: MM_NUM_R_PARAM

The following two diagrams show a schematic representation of part lengths of

parts on a belt that have been stored in FIFO variables.
22 12.5 17.8500 17.8563 10.3
Length measurement Direction of belt travel

Light barrier
Fig. 2-2 Product lengths of sequence of parts on conveyor belt
Read out oldest Write in new

element: element:
$R1=$AC_FIFO1[0] $AC_FIFO1 $AC_FIFO1[0]=22
10.3
$AC_FIFO1[0]
$AC_FIFO1[1] Oldest element: 10.3
$AC_FIFO1[2] Latest element: 12.5

Latest element: 22
$AC_FIFO1[3] Sum: 58.5126
$AC_FIFO1[4]
Number: 4
$AC_FIFO1[5] Current write index: 10
$AC_FIFO1[6] 10.3
$AC_FIFO1[7] 17.8563
$AC_FIFO1[8] 17.8500
$AC_FIFO1[9] 12.5
$AC_FIFO1[10] Latest element
$AC_FIFO1[11]
$AC_FIFO1[12] xxxxxx
Fig. 2-3 Example of FIFO variables

08.97
2.3.7 System variables saved in SRAM (as of SW 6.3)
RESET response System variables $AC_MARKER and $AC_PARAM saved in SRAM retain their
values after RESET and Power On.
Notice
In the case of part programs and synchronized actions that used system
variables saved in SRAM, you must make sure that the variables are not
initialized to 0 after RESET. This may require some adaptation if system
variables saved in DRAM have been used previously.
Data backup System variables $AC_MARKER and $AC_PARAM saved in SRAM can be
included in the data backup. The following backup modules are present for
each channel:
_N_CHi_ACM for $AC_MARKER values and
_N_CHi_ACP for $AC_PARAM values.
i denotes the relevant channel number.
Order The saved modules are entered in the full backup file
_N_INITIAL_INI according to R parameters.
References: /IAD/, Installation and Start--Up Guide

07.98
2.3.8 List of system variables relevant to synchronized actions
Overview The following table shows a list of all system variables (sorted according to
category) that can be read or write--accessed from synchronized actions. The
access options are specified.
Legend:
r Read
w Write
R Read with implicit preprocessor stop
W Write with implicit preprocessor stop
PP Part program
SA Synchronized action
SW For SW version see note
Notice
Type specifies the software version (e.g. /4) in which the system variables were
introduced if they have not existed since SW 2.
SA access specifies the software version in which access to the system

variable from synchronized actions was introduced if this was not available
since the introduction of the system variables.
The name component “ACT” in system variables for synchronized actions
(e.g. $AA_VACTM) identifies setpoints which are calculated in the interpolator
and used as input variables for axis control.
The name prefix “$VA_...” identifies genuine actual values of a machine axis
which are reproduced by evaluating the encoder information.
User variables
Name Type Description/values Index PP SA

/SW access access
/SW
$AC_MARKER[n] INT Marker variable for motion-synchronous actions Counter R/W r/w
$AC_PARAM[n] DOUBLE Arithmetic variable for motion-synchronous Counter R/W r/w
actions
$AC_FIFOi[n] DOUBLE i: 1--10, No. of R/w r/w
/4 No. of FIFO variable parameter
n: Parameter number, 0 -- max. FIFO element.
Meanings of n:
n=0: When the variable is written with index 0, a
new value is stored in the FIFO. When a
variable is read with index 0, the oldest element
is read and deleted from the FIFO.
n=1: Read access to oldest element
n=2: Read access to latest element
n=3: Total of all elements stored in the FIFO if
bit 0 is enabled in MD $MC_MM_MODE_FIFO.
n=4: Read access to the current number of
FIFO elements
n= 5 -- m: Read access to individual FIFO ele-
ments. 5 is the oldest element, 6 is the second
oldest, etc.

08.97
R parameters

/SW access access
/SW
$R[n], Rn DOUBLE The max. number of R parameters is defined in Counter r/w r/w
the machine data. /4
R parameters are addressed from synchronized
actions with $R or $R[i]. Otherwise ...Rn or R[n]
is used.
System data

/SW access access
/SW
$AN_SETUP_TIME DOUBLE IF $AN_SETUP_TIME > 60000 GOTOF Minutes R r /5
MARK01
time since last control start--up with default data.
$AN_POWERON_TIME DOUBLE IF $AN_POWERON_TIME == 480 GOTOF Minutes R r /5
MARK02
time since last normal control start--up.
$AN_NCK_VERSION DOUBLE NCK version: NCK R r /6
Only the part of the floating point number before version
the decimal point is interpreted; the part after the
decimal point may contain IDs for intermediate
development releases. The part before the deci-
mal point contains the official ID of the software
release for the NCK:
For example, the value of the variable is
200000.0 for NCK Release 20.00.00.
Tool data

/SW access access
/SW
$A_TOOLMN[t] INT Magazine -- number of tool t T R r /4
number
$A_TOOLMLN[t] INT Magazine -- number of tool t T R r /4
number
$A_MONIFACT REAL Factor for tool life monitoring R/W r /4
$AC_MONMIN REAL Actual value to setpoint value ratio for tool R/W r /5
monitoring. Threshold for tool search strategy
”Only load tools with actual value greater than
threshold”
$A_DNO[i] INT Read a D number specified by PLC via VDI Index R r /4
interface

04.00
G groups

/SW access access
/SW
$A_GG INT $A_GG[n] as for r /5
Read current G function of a group from PLC
synchronized action interface
n: number of G group
$P_ACTID[n] BOOL Modal synchronized action with ID n active, if Synchro- R r /2
TRUE nized
n: 1 -- 16 action
with ID
$P_GG[n] INT Read current G function of a group from parts as for R /2
program PLC
n: number of G group interface
Channel statuses

/SW access access
/SW
$AC_STAT INT Channel status R r /4
/4 --1: Invalid
0: Channel reset
1: Channel interrupted
2: Channel active
$AC_PROG INT Program status R r /4
/4 --1: Invalid
0: Program reset
1: Program stopped
2: Program active
3: Program waiting
4: Program interrupted
$AC_SYNA_MEM INT Free memory for motion-synchronous actions R r /4
/4 indicates how many elements of the memory
allocated with
$MC_MM_NUM_SYNC_ELEMENTS are still
free.
$AC_IPO_BUF INT Fill level of interpolation buffer R r /4
/4
$AC_IW_STAT INT Positional information for articulated joints R r /5
/5 (transformation--specific) for Cart. PTP travel
$AC_IW_TU INT Positional information for axes (MCS) for Cart. R r /5
/5 PTP travel
$A_PROBE[n] INT $A_PROBE[1]: Status of first probe No. of R r
/4 $A_PROBE[2]: Status of second probe probe
0: Not deflected
1: Deflected
$AC_MEA[n] INT Probe activated if TRUE (1) No. of R r /4
1 -- MAXNUM_PROBE probe
$AC_TRAFO INT Code number of the active transformation with -- R r /4
reference to machine data
$MC_TRAFO_TYPE n
$AC_LIFTFAST INT Rapid lift: -- R/W r/w
0: No reverse stroke was active
1: Reverse stroke was active

08.97
ASUBs

/SW access access
/SW
$AC_ASUP INT See also: References: /FB/, K1, R r /4
/4 (Mode Group, Channel, Program Operation Mo-
de)
Remarks:
Reasons for ASUB activation.
Act. cau.: Cause of activation
Act. by: Source of activation
Cont.: Option(s) for continuation
BIT 0:
Act. cau.: User interrupt “ASUB with Blsync”
(block synchronization),
Act. by: Vdi signal, dig./anal. interface,
Cont. : Either Reorg or Ret
BIT 1:
Act. cau.: User interrupt “ASUB”. (The position
after the block in which the stoppage took place
is stored for program continuation with Repos.)
Act. by: Vdi signal, dig./anal. interface
Cont.: Either Reorg or Ret
BIT 2:
Act. cau.: User interrupt “ASUB from Ready
channel status”,
BIT 3:
Act. cau: User interrupt “ASUB in a manual
mode and channel status not READY ”
BIT 4:
Act. cau: User interrupt “ASUB”. (The position at
the time of the interrupt is stored for program
continuation with Repos).
BIT 5: Act. cau.: Cancellation of subprogram
repetition
Act. by: Vdi signal
Cont.: Use of the REPOS system ASUB
BIT 6:
Act. cau.: Activation of decoding single block
Act. by: Vdi signal (+OPI)
BIT 7: Act. cau.: Activation of delete distance--
to--go; Act. by: Vdi signal
Cont.: Use of the Ret system ASUB
BIT 8:
Act. cau: Activation of axis synchronization
Act. by: Vdi signal
BIT 9:
Act. cau.: Mode change
Act. by: Vdi signal
Cont.: Use of the REPOS or RET system ASUB
(see MD)

07.98
10.00

/SW access access
/SW
$AC_ASUP ff. INT BIT 10: Act. cau.: Program continuation under R r /4
/4 teach--in or after teach--in deactivation
Act. by: Vdi signal
BIT 11:
Act. cau.: Overstore selection
Act. by: PI service
BIT 12:
Act. cau.: Alarm with reaction correction block
with Repos
Act: by: Internal
BIT 13: Act. cau.: Retraction movement with
G33 and Stop
Act. by: Internal
BIT 14:
Act. cau.: Activation of dry run feedrate;
Act. by: Vdi signal
BIT 15:
Act. cau.: Deactivation of dry run feedrate;
Act. by: Vdi signal
BIT 16:
Act. cau.: Activation of skip block;
Act. by: Vdi signal
BIT 17:
Act. cau.: Deactivation of block skip ;
Act. by: Vdi signal
BIT 18:
Act. cau: Activation of machine data
Act. by: PI service
Bit 19:
Act. cau: Set tool offset active
Act. by: PI service ”_N_SETUDT”
Bit 20:
Act. cau: System ASUB after SERUPRO type
search run has reached the destination.
Act. by: Pi serv. ”_N_FINDBL” parameter == 5
Commands to / from channel (diagnostics)

/SW access access
/SW
$A_PROTO BOOL Activate/deactivate log function for first user R/W r/w
/4 0: Deactivate
1: Activate
$A_PROTOC BOOL Activate/deactivate log function for a user R/W r/w
/4 0: Deactivate
1: Activate

10.00
07.98
08.97
Inputs/outputs

/SW access access
/SW
$A_IN[n] BOOL Digital input of NC No. of R r
input
$A_OUT[n] BOOL Digital output of NC No. of R/w r/w
output
$A_INA[n] DOUBLE Analog input of NC No. of R r
input
$A_OUTA[n] DOUBLE Analog output of NC No. of R/w r/w
After the write operation, the value does not be- output
come active until the next interpolator cycle; it
can then be read back.
$A_INCO[n] BOOL Comparator input No. of R r
input
Read and write PLC variables

/SW access access
/SW
$A_DBB[n] INT Read/write data byte (8 bits) from/to PLC Offset R/w r/w
/4 in I/O
area
$A_DBW[n] INT Read/write data word (16 bits) from/to PLC Offset R/w r/w
/4 in I/O
area
$A_DBD[n] INT Read/write double data word (32 bits) from/to Offset R/w r/w
/4 PLC in I/O
area
$A_DBR[n] DOUBLE Read/write real data (32 bits) from/to PLC Offset R/w r/w
/4 in I/O
area
Link variables

/SW access access
/SW
$A_DLB[n] INT Read/write data byte (8 bits) from/to NCU link R/w r/w
/5 Position
offset in
link
memory
$A_DLW[n] INT Read/write data word (16 bits) from/to NCU link Position R/w r/w
/5 offset in
link
memory
$A_DLD[n] INT Read/write double data word (32 bits) from/to Position R/w r/w
/5 NCU link offset in
link
memory

10.00
07.98

/SW access access
/SW
$A_DLR[n] DOUBLE Read/write real data (32 bits) from/to NCU link Position R/w r/w
/5 offset in
link
memory
$A_LINK_TRANS INT Number of bytes which can still be transferred -- r/ r/
_RATE /5 via the NCU link in the present interpolation
cycle.
Direct PLC_IO

/SW access access
/SW
$A_PBB_IN[n] INT Read data byte (8 bits) directly from PLC I/O Position R/ r/
/5 offset in
PLC
input
area
$A_PBW_IN[n] INT Read data word (16 bits) directly from PLC I/O Position R/ r/
/5 offset in
PLC
input
area
$A_PBD_IN[n] INT Read double data word (32 bits) directly from Position R/ r/
/5 PLC I/O offset in
PLC
input
area
$A_PBR_IN[n] DOUBL Read real data (32 bits) directly to PLC I/O Position R/w r/w
E offset in
/5 PLC
input
area
$A_PBB_OUT[n] INT Write data byte (8 bits) directly to PLC I/O Position R/w r/w
/5 offset in
PLC
output
area
$A_PBW_OUT[n] INT Write data word (16 bits) directly to PLC I/O Position R/w r/w
/5 offset in
PLC
output
area

07.98
08.97

/SW access access
/SW
$A_PBD_OUT[n] INT Write double data word (32 bits) directly to PLC Position R/w r/w
/5 I/O offset in
PLC
output
area
$A_PBR_OUT[n] DOUBL Write real data (32 bits) directly to PLC I/O Position R/w r/w
E offset in
/5 PLC
output
area
Tool management
References: /FBW/, Tool Management

/SW access access
/SW
$AC_TC_FCT INT Command number. This specifies the desired -- R/ r/
/5 operation.
$AC_TC_STATUS INT Status of the command to be read with -- R/ r/
/5 $AC_TC_FCT.
$AC_TC_THNO INT Number of the toolholder (spindle no.) in which -- R/ r/
/5 the new tool is to be loaded.
$AC_TC_TNO INT NCK--internal T number of the new tool (to be -- R/ r/
/5 loaded).
0: There is no new tool.
$AC_TC_MFN INT Source magazine number of the new tool. -- R/ r/
/5 0: There is no new tool.
$AC_TC_LFN INT Source location number of the new tool. -- R/ r/
$AC_TC_MTN INT Destination magazine number of the new tool. -- R/ r/
$AC_TC_LTN INT Destination location number of the new tool. -- R/ r/
$AC_TC_MFO INT Source magazine number of the old tool (to be -- R/ r/
/5 replaced).
0: There is no old tool.
$AC_TC_LFO INT Source location number of the old tool (to be -- R/ r/
/5 replaced).
$AC_TC_MTO INT Destination magazine number of the old tool (to -- R/ r/
/5 be replaced).
$AC_TC_LTO INT Destination location number of the old tool (to be -- R/ r/
/5 replaced).

10.00
07.98
Timers

/SW access access
/SW
$A_YEAR INT System time, year R r /4
$A_MONTH INT System time, month R r /4
$A_DAY INT System time, day R r /4
$A_HOUR INT System time, hour R r /4
$A_MINUTE INT System time, minute R r /4
$A_SECOND INT System time, second R r /4
$A_MSECOND INT System time, millisecond R r /4
$AC_TIME DOUBLE Time from block start in seconds R r /4

$AC_TIMEC DOUBLE Time from block start in interpolation cycles R r /4
$AC_TIMER[n] DOUBLE Timer unit in seconds. The time is counted inter- Counter R/W r/w
/4 nally in multiples of the interpolation cycle. Incre-
mentation of a timer variable is started by
means of value assignment $AC_TI-
MER[n]=<start value>. Incrementation of a timer
variable is stopped through the assignment of a
negative value: $AC_TIMER[n]=--1
The current time value can be read whether the
timer variable is running or halted. After a timer
variable has been stopped through the assign-
ment of --1, the current time value remains
stored and can be read.
The value is defined in
MD 28258: MM_NUM_AC_TIMER

07.98
08.97
Path motion

/SW access access
/SW
$AC_PATHN DOUBLE Normalized path parameter, value between R r
0 = start of block and
1 = end of block
$AC_DTBW DOUBLE Geometric distance from start of block in work- R r
piece coordinate system. The programmed posi-
tion alone determines the distance calculation. If
the axis is a coupled--motion axis, the position
component resulting from the axis coupling is
ignored.
$AC_DTBB DOUBLE Geometric distance from start of block in basic R r
coordinate system. The programmed position
alone determines the distance calculation. If the
axis is a coupled--motion axis, the position com-
ponent resulting from the axis coupling is
ignored.
$AC_DTEW DOUBLE Geometric distance from end of block in work- R r
piece coordinate system. The programmed posi-
tion alone determines the distance calculation. If
the axis is a coupled--motion axis, the position
component resulting from the axis coupling is
ignored.
$AC_DTEB DOUBLE Geometric distance from end of block in basic R r
/3 coordinate system. The programmed position
alone determines the distance calculation. If the
axis is a coupled--motion axis, the position com-
ponent resulting from the axis coupling is
ignored.
$AC_PLTBB DOUBLE Path distance from start of block in basic co- R r
/3 ordinate system.
The variable can only be accessed from syn-
chronized actions.
$AC_PLTEB DOUBLE Path distance to end of block in basic coordinate R r
system.
chronized actions.
$AC_DELT DOUBLE Path distance--to--go in workpiece coordinate R r
system after deletion of distance--to--go for
motion synchronized actions
$P_APDV BOOL Returns TRUE if the positional values that can R r /4
be read with $P_APR[X] or $P_AEP[X] (start
point/contour point with smooth approach and
retraction) are valid.

10.00
07.98
10.00
Velocities,
channel--specific

/SW access access
/SW
$P_F DOUBLE Path feed last programmed R r
$AC_OVR DOUBLE Path override for synchronized actions: Multipli- R/W r/w
cative override component, acts in addition to /4
operator override, programmed override and
transformation override. The total factor is limi-
ted to 200%. It must be written again in every
interpolation cycle, otherwise the value 100%
applies. $AA_OVR[S1] changes the spindle
override. The override defined by the machine
data
MD 12100: OVR_FACTOR_LIMIT_BIN,
MD 12030: OVR_FACTOR_FEEDRATE[30],
MD 12010: OVR_FACTOR_AX_SPEED[30]
is not exceeded
$AC_VC DOUBLE Additive path feedrate override for synchronized R/W r/w
actions The compensation value is not active /4
with G0, G33, G331, G332 or G63. The com-
pensation value must be written again in every
interpolator cycle, otherwise the value 0 applies.
An override of 0 cancels the compensation va-
lue; otherwise the override has no effect on the
compensation value. The total feedrate cannot
be negative as a result of the compensation va-
lue. The upper value is limited such that the ma-
ximum axis velocities and accelerations are not
exceeded. The calculation of other feedrate
components is not affected by $AC_VC. The
override values defined by the machine data
MD 12010: OVR_FACTOR_AX_SPEED[30],
MD 12070: OVR_FACTOR_SPIND_SPEED
are not exceeded. The additive feedrate overri-
de is limited such that the resulting feedrate
does not exceed the maximum override value of
the programmed feedrate.
$AC_VACTB DOUBLE Path velocity in basic coordinate system R r
$AC_VACTW DOUBLE Path velocity in workpiece coordinate system R r
Spindle data

/SW access access
/SW
$AA_S[n] DOUBLE Actual spindle speed Spindle RS r /4
/4 The sign identifies the direction of rotation no.
n: Spindle number, 0 ... max. spindle number
$AC_CONSTCUT_S[n] DOUBLE Current constant cutting rate. Spindle RS r /6
/6 n: Spindle number, 0 ... max. spindle number no.

08.97

/SW access access
/SW
$AC_SDIR[n] INT Spindle rotation currently active Spindle RS r /3
/3 3: Spindle rotation, clockwise, no.
4: Spindle rotation, counterclockwise,
5: Spindle stop
$AC_SMODE[n] INT Spindle mode currently active: Spindle RS r /3
/3 0: No spindle present in channel no.
1: Speed control mode
2: Positioning mode
3: Synchronous mode
4: Axis mode
$AC_SGEAR[n] INT Gear stage currently active Spindle RS r /5
/5 1: 1st gear stage is active no.
2: 2nd gear stage is active
3: 3rd gear stage is active
4: 4th gear stage is active
5: 5th gear stage is active
$AC_MSNUM INT Returns the number of the active master RS r /3
/3 spindle:
0: No spindle present
1..n: Number of master spindle
$AC_MTHNUM INT Returns the number of the active RS r /5
/5 master toolholder:
0: No master toolholder present
1..n: Number of master toolholder
Polynomial values for synchronized actions

/SW access access
/SW
$AC_FCTiLL, DOUBLE Lower limit of polynomial for synchronized R/W r/w
actions (SYNFCT) /4
i: 1--3, evaluation function FCTDEF 1 -- 3
$AC_FCTLL[j] /4 j: Polynomial number
$AC_FCTiUL, DOUBLE Upper limit of polynomial for synchronized R/W r/w
actions (SYNFCT) /4
$AC_FCTUL[j] /4 i: 1--3, evaluation function FCTDEF 1 -- 3
j: Polynomial number
$AC_FCTiC[n], DOUBLE i: 1 -- 3, polynomials 1 to 3; coefficient n: 0 -- 3 R/W r/w
$AC_FCT0[n] /(4) a0 coefficient for polynomial n /4
$AC_FCT1[n] DOUBLE a1 coefficient for polynomial n R/W r/w

/(4) /4
/(4) /4
/(4) /4

10.00
04.00
10.00
Channel statuses

/SW access access
/SW
$AC_ALARM_STAT INT (Selected) alarm reactions for synchronized -- R r /5
/5 actions (SYNFCT)
Bit 2 = 1 NOREADY (active rapid deceleration
and cancellation of servo enable)
Bit 6 = 1 STOPBYALARM ( ramp stop of all
channel axes)
Bit 9 = 1 SETVDI (VDI interface signal alarm is
set )
Bit 13 = 1 FOLLOWUPBYALARM (follow--up)
$AN_ESR_TRIGGER BOOL $AN_ESR_TRIGGER = 1 triggering -- R/W r/w
/5 of ”Extended stop and retract” /5
$AC_ESR_TRIGGER BOOL $AC_ESR_TRIGGER = 1 -- R/W r/w
/5 Triggering of “NC--driven ESR” /5
$AC_OPERATING_ DOUBLE IF $AC_OPERATING_TIME < 12000 GOTOB -- R r /5
TIME /5 STARTMARK
Total operating time for NC programs in
AUTOMATIC mode (in seconds)
$AC_CYCLE_TIME DOUBLE IF $AC_CYCLE_TIME > 2400 GOTOF -- R r /5
/5 ALARM01
Operating time of selected NC program (in
seconds)
$AC_CUTTING_TIME DOUBLE IF $AC_CUTTING_TIME > 6000 GOTOF -- R r /5

/5 ACT_M06
Tool operation time (in seconds)
$AC_REQUIRED_ DOUBLE $AC_REQUIRED_PARTS = ACTUAL_LOS -- R/W r/w
PARTS /5 Definition of number of required workpieces /5
(workpiece setpoint), e.g. for definition of a
batch size, day production ...
$AC_TOTAL_PARTS DOUBLE IF $AC_TOTAL_PARTS > SERVICE_COUNT -- R/W r/w
/5 GOTOF MARK_END /5
Total time for all manufactured workpieces
$AC_ACTUAL_PARTS DOUBLE IF $AC_ACTUAL_PARTS == 0 GOTOF -- R/W r/w
/5 NEW_RUN /5
Number of workpieces actually produced (actual
workpiece value). With $AC_ACTUAL_PARTS
== $AC_REQUIRED_PARTS is automatically
$AC_ACTUAL_PARTS = 0.
$AC_SPECIAL_PARTS DOUBLE $AC_SPECIAL_PARTS = R20 -- R/W r/w
/5 Number of workpieces counted acc. to user /5
strategy. Without internal control.
$AC_G0MODE INT Interpolation behavior with G0 mode -- R r /6.1
/6 0: G0 active
1: G0 and linear interpolation active
2: G0 and non--linear interpolation active
With G0 the behavior of the path axis is in ac-
cordance with machine data MD 20730:
G0_LINEAR_MODE (Siemens mode) or
machine data MD 20732:
EXTERN_G0_LINEAR_MODE (ISO mode).
With linear interpolation the path axes are tra-
versed together.
With non--linear interpolation the path axes are
traversed as positioning axes.
$AC_MEAS_LATCH DOUBLE $AC_MEAS_LATCH[0] = 1 Measu- R/W r/w
/6 1. Write actual value to measuring point. ring /6.1
0: corresponds to 1st measuring point, .. , 3: 4th point
measuring point

08.97
Positions

/SW access access
/SW
$AA_IW[X] DOUBLE Actual value in workpiece coordinate system Axis R r
(WCS)
$AA_IEN[X] DOUBLE Actual value in settable zero coordinate system Axis R r /5
/5 (SZS)
$AA_IBN[X] DOUBLE Actual value in basic zero coordinate system R r /5
/5 (BCS).
$AA_IB[X] DOUBLE Actual value in basic coordinate system (BCS) Axis R r
$AA_IM[X] DOUBLE Actual value in machine coordinate system Axis R r
(MCS)
Indexing axes

/SW access access
/SW
$AA_ACT_INDEX_AX_ INT 0: No indexing axis, therefore no indexing R r /5
POS_NO[X] /5 position available.
> 0: Number of last indexing position to be
reached or overtraveled
$AA_PROG_INDEX_AX INT 0: No indexing axis, therefore no indexing R r /5
_POS_NO[X] /5 position available or
the indexing axis is not currently approaching an
indexing position
> 0: Number of the indexing position
programmed
Encoder limit frequency

/SW access access
/SW
$AA_ENC_ACTIVE[X] BOOL Active measuring system is operating below Axis R r /4
/4 encoder limit frequency (valid values)
$AA_ENCi_ACTIVE[X] BOOL i: 1 -- 2 encoder number; Axis R r /4
/4 Measuring system i is operating below encoder
limit frequency (valid values)

10.00
Encoder values
Name Type Description/values In- PP SA

/SW dex access access
/SW
$VA_IM[X] DOUBLE Encoder actual value in machine coordinate Axis R r /4
/4 system (measured by active measuring sys-
tem), actual value compensations are corrected
(leadscrew error compensation, backlash com-
pensation, quadrant error compensation). No
modulo conversion is performed.
$VA_IM[X] DOUBLE Actual value in machine coordinate system Axis R r /4
/4 (measured by encoder 1), compensations are
corrected
$VA_IM[X] DOUBLE Actual value in machine coordinate system Axis R r /4
/4 (measured by encoder 2), compensations are
corrected
$AA_MW[X] DOUBLE Measured value in workpiece coordinate system Axis R/W r/w
$AA_MM[X] DOUBLE Measured value in machine coordinate system Axis R/W r/w
/4
$AA_MWi[X] DOUBLE Measurement result of axial measurement Axis R/W r/w
/4 i: 1--4 for trigger events 1--4
Axial measurement

/SW
$AA_MMi[X] DOUBLE Measurement result of axial measurement Axis R/W r/w
/4 i: 1--4 for trigger events 1--4
$AA_MEAACT[X] BOOL Value is TRUE (1) if axial measurement is active Axis R r /4
/4 for axis X

08.97
Offsets

/SW
$AC_DRF[X] DOUBLE DRF offset Axis R r
$AC_PRESET[X] DOUBLE Last Preset value Axis R r
$AA_MEAS_P1_ INT $AA_MEAS_P1_VALID[X] = 1 Axis R/W r/w
VALID[X] /6 Write actual value to 1st measuring point /6.1
VALID[X] /6 Write actual value to 2nd measuring point /6.1
VALID[X] /6 Write actual value to 3rd measuring point /6.1
VALID[X] /6 Write actual value to 4th measuring point /6.1
$AA_OFF[X] DOUBLE Overlaid motion for programmed axis Axis R/W r/w
$AA_OFF_LIMIT[X] INT Limit value for axial compensation $AA_OFF[X] Axis R r
/4 0: Limit value not reached
1: Limit value reached in positive axis direction
--1: Limit value reached in negative axis
direction
$AA_OFF_VAL[X] DOUBLE $AA_OFF_VAL[X] Axis R r /5
Integrated value of overlaid motion for one axis.
An overlaid motion can be canceled using a
negative value for this variable, e.g.
$AA_OFF[axis] = --$AA_OFF_VAL[axis]
$AC_RETPOINT[X] DOUBLE Return point on contour for repositioning Axis R r /4
$AA_SOFTENDP[X] DOUBLE Software limit position, positive direction Axis R r /4
$AA_SOFTENDN[X] DOUBLE Software limit position, negative direction Axis R r /4

07.98
Axial paths

/SW access access
/SW
$AA_DTBW[X] DOUBLE Axial path from start of block in workpiece coor- Axis R r
dinate system for positioning and synchronized
axes during motion-synchronous actions. The
programmed position alone determines the path
calculation. If the axis is a coupled--motion axis,
the position component resulting from the axis
coupling is ignored.
$AA_DTBB DOUBLE Axial path from start of block in basic coordinate Axis R r
system for positioning and synchronized axes
during motion-synchronous actions. The pro-
grammed position alone determines the path
$AA_DTEW DOUBLE Axial path to end of block in workpiece coordina- Axis R r
te system for positioning and synchronized axes
$AA_DTEB DOUBLE Axial path to end of block in basic coordinate Axis R r
system for positioning and synchronized axes
Oscillation

/SW access access
/SW
$AA_DTEPW DOUBLE Axial distance--to--go for infeed oscillation in Axis R r
workpiece coordinate system
$AA_DTEPB DOUBLE Axial distance--to--go for infeed oscillation in Axis R r
basic coordinate system
$AA_OSCILL_REVER- DOUBLE Current reversal position 1 for oscillation Axis R r
SE_POS1[X] In synchronized actions, the value of setting
data $SA_OSCILL_REVERSE_POS1 is evalua-
ted online.
$AA_OSCILL_REVER- DOUBLE Current reversal position 2 for oscillation Axis R r
SE_POS2[X] In synchronized actions, the value of setting
data $SA_OSCILL_REVERSE_POS2 is evalua-
ted online.
$AA_DELT DOUBLE Axial distance--to--go in workpiece coordinate Axis R r

system after axial deletion of distance--to--go for
motion-synchronous actions

08.97
Velocities,
axis--specific

/SW access access
/SW
$AA_OVR[X] DOUBLE Axial override for motion-synchronous actions. Axis R/W r/w
Multiplicative override component, acts in addi- /4
tion to operator override, programmed override
and transformation override, the total factor is
limited to 200%. It must be written again in every
interpolation cycle, otherwise the value 100%
applies. $AA_OVR[S1] changes the spindle
override. The override defined by the machine
data
MD 12010: OVR_FACTOR_AX_[30],
$AA_OVR_FACTOR_SPIND_SPEED
is not exceeded.
$AA_VC[X] DOUBLE Additive axial feedrate override for motion-syn- Axis R/W r/w
chronous actions. The compensation value /4
must be written again in every interpolator cycle,
otherwise the value 0 applies. An override of 0
cancels the compensation value; otherwise the
override has no effect on the compensation
value. The total feedrate cannot be negative as
a result of the compensation value. The upper
value is limited such that the maximum axis
velocities and accelerations are not exceeded.
The calculation of other feedrate components is
not affected by $AA_VC. The override values
defined by the machine data
MD 12010: OVR_FACTOR_AX_SPEED[30],
MD 12070: OVR_FACTOR_SPIND_SPEED
are not exceeded. The additive feedrate over-
ride is limited such that the resulting feedrate
does not exceed the maximum override value of
the programmed feedrate.
$AA_VACTB[X] DOUBLE Axis speed in basic coordinate system. Axis R r
chronized actions.
$AA_VACTW[X] DOUBLE Axis speed in workpiece coordinate system. Axis R r
chronized actions.
$AA_VACTM[X] DOUBLE Axis velocity setpoint in machine coordinate Axis R r /4
system Can also be read by replacement/PLC
axes
chronized actions.
$VA_VACTM[X] DOUBLE Axis velocity actual value in machine coordina- Axis R r /4
te system. The variable returns an undefined
value if the encoder limit frequency is exceeded.

10.00
Drive data

/SW access access
/SW
$AA_LOAD[X] DOUBLE Drive load in % (for 611D only) Axis R r
$VA_LOAD[X] DOUBLE Drive load in % (for 611D only) Axis R r /5
$AA_TORQUE[X] DOUBLE Drive torque setpoint in Nm (with 611D only) Axis R r
Actual force in N (with 611D HLA only)
$VA_TORQUE[X] DOUBLE Drive torque setpoint in Nm (with 611D only) Axis R r /5
Actual force in N (with 611D HLA only)
$AA_POWER[X] DOUBLE Active drive power in W (for 611D only) Axis R r
$VA_POWER[X] DOUBLE Active drive power in W (for 611D only) Axis R r /5
$AA_CURR[X] DOUBLE Actual current value for axis or spindle Axis R r
(for 611D only)
$VA_CURR[X] DOUBLE Actual current value for axis or spindle Axis R r /5
(for 611D only)
$VA_VAVELIFT[X] DOUBLE Actual valve stroke in mm Axis R r /5
(with 611D hydraulic system only)
$VA_PRESSURE_A[X] DOUBLE Pressure on drive end of cylinder in bar Axis R r /5
$VA_PRESSURE_B[X] DOUBLE Pressure on non--drive end of cylinder in bar Axis R r /5
Axis states

/SW access access
/SW
$AA_STAT[X] INT Axis status: Axis R r /4
/4 0: No axis status available
1: Traversing movement active
2: Axis has reached end of interpolation, only for
axes of channel
3: Axis in position (exact stop coarse) for all
axes
4: Axis in position (exact stop fine) for all axes
$AA_REF[X] INT Axis status: R r /5
/5 0: Axis is not referenced
1: Axis is referenced
$AA_TYP[X] INT Axis type: Axis R r /4
/4 0: Axis in another channel
1: Channel axis of the same channel
2: Neutral axis
3: PLC axis
4: Oscillating axis
5: Neutral axis currently traversing in JOG mode
6: Master value--coupled following axis
7: Coupled--motion following axis
8: Command axis
9: Compile cycle axis
$AA_MASL_STAT[X] INT Current status if a master--slave coupling Slave R r /6
6 $AA_MASL_STAT set to axis
= 0: Axis is not a slave axis or no
coupling is active.
> 0: Coupling active supplies the associated
machine axis number of the master axis.

08.97

/SW access access
/SW
$AA_FXS[X] INT Status “travel to fixed stop” Axis R/W r /5
5 0: Axis not at stop
1: Stop approached successfully
2: Fixed stop approach unsuccessful
3: Selection of travel to fixed stop active
4: Fixed stop was detected
5: Deselection of travel to fixed stop active
$VA_TORQUE_AT_ INT Status ”Effective torque corresponds to the spe- Axis R r /5
LIMIT[X] 5 cified torque limit”
0: Torque limit not yet reached
1: Torque limit reached
In digital 611D systems the drive returns a sta-
tus, indicating whether the programmed
torque limit has been reached.
$AA_FOC[X] INT Status of ”ForceControl” (FOC) function Axis R/W r /5
5 0: FOC not active
1: FOC modally active
2: FOC non--modally active
$AA_COUP_ INT Current coupling status of following spindle/axis Follow- R r /5
ACT[SPI(2)] /4 0: Axis/sp. not coupled with a LS/LA ing
3: Axis is tangentially corrected spindle/
4: Synchronous spindle coupling axis
8: Coupled--motion following axis
16: Master value--coupled following axis
The respective values are applicable for one
coupling. If the following axis has more active
couplings, they are indicated by the sum of the
respective numerical values.
Electronic gear 1

/SW access access
/SW
$AA_EG_SYNFA[a] DOUBLE Synchronized position of following axis Fol- R r /5
/5 a: Following axis lowing
axis
$AA_EG_NUM_LA[a] INT Number of leading axes specified with EGDEF Fol- R r /5
axis
$AA_EG_SYNCDIFF[a] DOUBLE Synchronization difference Fol- R r /5
axis
$AA_EG_AX[n,a] AXIS Identifier for the nth leading axis Fol- R r /5
/5 n: Index for leading axis lowing
a: Following axis axis

10.00
06.01
Master value coupling

/SW access access
/SW
$AA_LEAD_SP[MV] DOUBLE Simulated master value -- position Master R/W r/w
/4 value
$AA_LEAD_SV[MV] DOUBLE Simulated master value -- velocity Master R/W r/w
/4 value
$AA_LEAD_P_ DOUBLE Current master value -- position component lost Master R r /4
TURN[MV] /4 as a result of modulo reduction. The actual ma- value
ster value position (used for internal calculations
by the controller) is $AA_LEAD_P[MV] +
$AA_LEAD_P_TURN[MV]. If MV is a modulo
axis, $AA_LEAD_P_TURN is a whole multiple
of $MA_MODULO_RANGE. If MV is not a
modulo axis, $AA_LEAD_P_TURN is always 0.
Example 1:
$MA_MODULO_RANGE[MV] = 360
$AA_LEAD_P[MV] = 290
$AA_LEAD_P_TURN[MV] = 720
The actual master value position (used for inter-
nal calculations by the controller) is 1010.
Example 2:
$MA_MODULO_RANGE[MV] =360
$AA_LEAD_P[MV] = 290
$AA_LEAD_P_TURN[MV] =--360
The actual master value position (used for inter-
nal calculations by the controller) is --70.
$AA_LEAD_P[MV] DOUBLE Current master value -- position (modulo re- Master R r /4
/4 duced) value
If master value (MV) is a modulo axis, the fol-
lowing is always true:
0 <= $AA_LEAD_P[MV] <= $MA_MODU-
LO_RANGE[MV]
$AA_LEAD_V[MV] DOUBLE Actual master value -- velocity Master R r /4
/4 value
$AA_SYNC[FA] INT Coupling status of following axis in master value Fol- R r /4
/4 coupling lowing
0: No synchronism axis
1: Coarse synchronism
2: Fine synchronism
3: Coarse and fine
Synchronous spindle

/SW access access
/SW
$P_COUP_OFFS[S2] DOUBLE Programmed offset of the synchronous spindle Fol- R r /6
lowing
spindle
$AA_COUP_OFFS[S2 DOUBLE Position offset for synchronous spindle Fol- R r /4
] /2 (setpoint) lowing
spindle
$VA_COUP_ DOUBLE Position offset for synchronous spindle (actual Fol- R r /4
OFFS[SPI(2)] /2 value) lowing
spindle

08.97
Safety Integrated 1

/SW access access
/SW
$VA_IS[X] DOUBLE Safe actual position (SISITEC) Axis R r /4
/3
$AA_SCTRACE[X] BOOL $AA_SCTRACE[X] = 1 Axis R/W r /4
/4 Write:
Activate IPO trigger for servo trace.
0: No action
1: Activate trigger
Read: Always value 0, as the self--clearing trig-
ger bit is read back from the interface.
0: Current value (no status)
$VA_DPE[X1] BOOL Status performance release of a machine axis Ma- R/ r /5
/5 (611D and 611D hydraulic system) chine
FALSE: No performance release axis
TRUE: Performance release
$AA_ACC DOUBLE Current acceleration value of axis for single-- Axis R/ r /5
/5 axis interpolation.
$AA_ACC = $MA_MAX_AX_ACCEL * progr.
acceleration override
$AA_MOTEND INT Current end of movement condition for single-- Axis R/ r /5
/5 axis interpolation.
1: End of movement on exact stop FINE
2: End of movement on exact stop COARSE
3: End of movement on exact stop interpolator
stop r /6
4: Block change in braking ramp of axis motion
$AA_SCPAR INT Read current servo parameter set Axis R/ r /5

/5
Extended stop and retract

/SW access access
/SW
$AA_ESR_STAT[X] INT Status of “Extended stop and retract”, R/ r/
/5 bit--coded:
BIT0: Generator mode is triggered
BIT1: Retraction is triggered
BIT2: Ext. stop is triggered
BIT3: DC link undervoltage
BIT4: Generator minimum speed
$AA_ESR_ENABLE[X] BOOL $AA_ESR_ENABLE[X] = 1 R/W r/w
/5 Enable “Extended stop and retract”

10.00
Axis container rotation

/SW access access
/SW
$AN_AXCTSWA[n] BOOL Axis container rotation active Axis r/ r/
/5 1: An axis container rotation is currently being container
performed on axis container name n
0: No axis container rotation is currently active
$AN_AXCTAS[n] INT Axis container rotation, current degree of rotation. Axis r/ r/
/5 container
This specifies for the axis container name n
how many slots the axis container has advanced.
The value range is from 0 to the maximum
number of assigned slots in the axis container --1
$AC_AXCTSWA[n] BOOL Enable axis container rotation Axis r/ r/
/5 1: The channel has enabled axis container container
rotation for axis container name n and the rotation
is still in progress.
0: The axis container rotation has finished.
Electronic gear 2

/SW access access
/SW
$AA_EG_TYPE INT $AA_EG_TYPE[a,b] Axis R r /5
/5 a: Following axis
b: Leading axis
Type of coupling for leading axis b
0: Actual value coupling
1: Setpoint value coupling
$AA_EG_NUMERA DOUBL $AA_EG_NUMERA[a,b] Axis R r /5
E a: Following axis
/5 b: Leading axis
Numerator for coupling factor for leading axis b
$AA_EG_DENOM DOUBL $AA_EG_DENOM[a,b] Axis R r /5
E a: Following axis
/5 b: Leading axis
Denominator for coupling factor for leading axis b
$AA_EG_SYN DOUBL $AA_EG_SYN[a,b] Axis R r /5
E a: Following axis
/5 b: Leading axis
Synchronized position of leading axis b
$AA_EG_ACTIVE BOOL $AA_EG_ACTIVE[a,b] Axis R r /5
/5 a: Following axis
b: Leading axis
Coupling for leading axis b is active, i.e. switched
on

08.97
Safety Integrated (S. I. )

/SW access access
/SW
$A_INSE[n] BOOL Image of a safety input signal No. of R r
/4 (ext. NCK interface) input
$A_INSED[n] INT Image of safety input signals Number of R/ r/
/5 (ext. NCK interface) input word
1 -- ...
$A_INSEP[n] BOOL Image of a safety input signal Number of R/ r/

/5 (ext. PLC interface) input 1 -- ...
$A_INSEPD[n] INT Image of safety input signals Number of R/ r/

/5 (ext. PLC interface) input word
0 -- ...
$A_OUTSE[n] BOOL Image of a safety output signal Number of R/W r/w

/5 (ext. NCK interface) output 1 -- ...
$A_OUTSED[n] INT Image of safety output signals Number of R/W r/w

/5 (ext. NCK interface) output word
1 -- ...
$A_OUTSEP[n] BOOL Image of a safety output signal Number of R r/

/4 (ext. PLC interface) output 1 -- ...
$A_OUTSEPD[n] INT Image of safety output signals Number of R r/
/5 (ext. PLC interface) output word
0 -- ...
S. I. : Servo interpolator interface

/SW access access
/SW
$A_INSI[n] BOOL Image of a safety input signal Number of R r/
/4 (int. NCK interface) input 1 -- ...
$A_INSID[n] INT Image of safety input signals Number of R r/
/5 (int. NCK interface) input word
1 -- ...
$A_INSIP[n] BOOL Image of a safety input signal Number of R r/
/4 (int. PLC interface) input word
1 -- ...

07.98

/SW access access
/SW
$A_INSIPD[n] INT Image of safety input signals Number of R r/
/5 (int. PLC interface) input word
1 -- ...
$A_OUTSI[n] BOOL Image of a safety output signal Number of R/W r/w
/4 (int. NCK interface) output 1 -- ...
$A_OUTSID[n] INT Image of safety output signals Number of R/W r/w

/5 (int. NCK interface) output word
1 -- ...
$A_OUTSIP[n] BOOL Image of a safety output signal Number of R r/

/4 (int. PLC interface) output 1 -- ...
$A_OUTSIPD[n] INT Image of safety output signals Number of R r/

/5 (int. PLC interface) output word
1 -- ...
Safety markers and timers

/SW access access
/SW
$A_MARKERSI[n] BOOL Markers for Safety Integrated programming No. of R/W r/w
/4 marker 1 ...
$A_MARKER- INT Flag word (32--bit) for safety programming No. of flag R/W r/w
SID[n] /5 word 1 ...
$A_MARKER- BOOL Image of PLC Safety Integrated markers No. of R r/
SIP[n] /4 marker 1 ...
$A_MARKER- INT Image of PLC Safety Integrated flag words No. of flag R r/
SIPD[n] /5 word 1 ...
$A_TIMERSI[n] DOUBLE Safety timer unit in seconds. No. of timer R/W r/w
/4 The time is counted internally in multiples of the 1 ...
interpolation cycle.
Incrementation of the timer variable is started by
assigning
$A_TIMERSI[n]=<start value>.
Incrementation is stopped by assigning a nega-
tive value: $A_TIMERSI[n]=--1.
The current time value can be read whether the
timer variable is running or halted. After a timer
variable has been stopped through the assign-
ment of --1, the current time value remains
stored and can be read.

08.97
Safety cross--checking control and state variable

/SW access access
/SW
$A_STATSID INT Safety: Status of cross--checking between NCK -- R/ r/
/5 and PLC.
If the value is not equal to zero, an error has
occurred during cross--checking
$A_CMDSI[n] BOOL Safety: Control word for cross--checking bet- Number R/W r/w
/5 ween NCK and PLC. of
Array index n = 1: Increase time for signal control
change monitoring to 10 s signal
$A_LEVELSID INT Safety: Displays level of signal change -- R r/
/5 monitoring. Specifies the number of signals
currently tagged for cross--checking.

2.4 Actions in synchronized actions
Actions After action code DO ..., each synchronized action contains

-- one or several (max. 16) actions or a technology cycle
(these two components are referred to generally as actions in the
following description).
These are executed when the appropriate condition is fulfilled.
Several actions Several actions contained in a synchronized action are activated in the same
interpolation cycle if the appropriate condition is fulfilled.
List of possible The following actions can be programmed in the “Action” section of
actions synchronized actions:
Table 2-2 Actions in synchronized actions
... DO ... Meaning Reference

Mxx Output of auxiliary functions to PLC 2.4.1
Sxx
Hxx
SETAL(nr) Set alarm, error reactions 2.4.20
$A...= ... $V... = ... Write real--time variables: 2.4.2
$AA_OFF = -- Overlaid motion
-- Velocity control:
$AC_OVR = Path velocity
$AA_OVR = Axis velocity
$AC_VC = Add. path feedrate override
$AA_VC = Add. axis compensation value
$$SN_SW_CAM_ ... Alter SW cam positions 2.4.3
(setting data) and all other SD
$AC_FCT... Overwrite FCTDEF parameters 2.4.4
synchronized action procedures:

RDISABLE Activate read--in disable 2.4.8
STOPREOF End feed stop 2.4.9
DELDTG Delete distance--to--go 2.4.10
FTOC Online tool offset 2.4.7
SYNFCT Polynomial evaluation 2.4.5
ZYKL_T1 (e.g.) Call of technology cycles 2.5
Control positioning axes:
$AA_OVR[x]= 0 Disable an axis motion 2.4.11
AXIS_X (e.g.) Call an axis program 2.4.12
POS[u]= ... Position 2.4.12
FA[u]= ... Define axis feedrate 2.4.13
Move command axes continuously: 2.4.14
MOV[u]= >0 -- forwards “
MOV[u] = <0 -- backwards “
MOV[u] = =0 -- stop “
Spindles:
SPOS Position 2.4.15
M3, M4, M5, S = Direction of rotation, stop, speed
$AA_OVR[S1]= 0 Disable spindle motion
PRESETON( , ) Set actual values 2.4.16

Table 2-2 Actions in synchronized actions
... DO ... Meaning Reference

Activate/deactivate couplings: 2.4.17
LEADON Couple slave axis to master axis
LEADOF Cancel coupling
TRAILON Asynchr. coupled motion ON
TRAILOF Asynchr. coupled motion OFF
MEAWA, Measurement without deletion of 2.4.18
MEAC distance--to--go
Cyclical measurement
Channel synchronization: 2.4.19
SETM Set a wait marker
CLEARM Clear a wait marker
Coordination of synchronized actions: 2.5.1
LOCK -- Disable synchronized action/technology
cycle
UNLOCK -- Enable synchronized action/technology
cycle
RESET -- Reset technology cycle

2.4.1 Output of M, S and H auxiliary functions to PLC
For general information about auxiliary function outputs, please refer to:
References: /FB/, H2, “Output of Auxiliary Functions to PLC”
Examples The advantage of implementing auxiliary function outputs in synchronized

actions is illustrated by the following example: Switch on coolant at a specific
position
Solution without synchronized action: 3 blocks
N10 G1 X10 F150
N20 M07
N30 X20
Machining sequence
M07
10 20
Solution with synchronized action: 1 block

N10 WHEN $AA_IM[X] >= 10 DO M07
N20 G1 X20 F150
M07 Machining sequence
10 20

Output of auxiliary M, S or H auxiliary functions can be output to the PLC as a synchronized action.
functions to PLC The output takes place immediately (like an interrupt on the PLC) in the
interpolation cycle if the condition is fulfilled.
The timing that might be programmed in
MD 11110: AUXFU_GROUP_SPEC (auxiliary function group
specification) or
AUXFU_M_SYNC_TYPE (output timing of M functions)/
AUXFU_S_SYNC_TYPE (output timing of S functions)/
AUXFU_H_SYNC_TYPE (output timing of H functions)/
has no effect with respect to synchronized actions.
Programming Auxiliary functions may be programmed with frequency vocabulary words

WHEN or EVERY only in synchronized actions.
Example WHEN $AA_IM[X] > 50 DO H15 S3000 M03

; if actual value of X axis is greater than 50, then output H15, set new spindle
speed, new direction of rotation
Restriction No more than 10 auxiliary functions may be output simultaneously (i.e. in an

OB 40 cycle of the PLC).
The total number of auxiliary function outputs from part programs and
synchronized actions must never exceed 10 at any point in time.
Maximum number of auxiliary functions per synchronized action block or
technology cycle block:
-- 5 M functions
-- 3 S functions
-- 3 H functions
Predefined M functions cannot be programmed by means of synchronized
actions. They will be rejected by an alarm.
WHEN ... DO M0 ; Alarm
However, spindle M functions M3, M4, M5 and M17 may be programmed as the
end of a technology cycle.
Acknowledgment Technology cycle blocks (see Section 2.5) containing auxiliary function outputs
are not completely processed until all auxiliary functions in the block have been
acknowledged by the PLC. The next block in the technology cycle is not pro-
cessed until all auxiliary functions in the preceding block have been acknowl-
edged by the PLC.
SW 5 Further methods of acknowledgment have been introduced for SW 5 and later:

-- Auxiliary function output without block change delay
High--speed auxiliary functions (QUICK) first, as a parallel process in the
PLC, then auxiliary function output with anticipated acknowledgment.
The user can choose between INT and REAL as the data type for H auxiliary
functions. The PLC user program must interpret the values in accordance with
the definition. The INT value range for H auxiliary functions has been increased
to: --2 147 483 648 to 2 147 483 647.
References: /FB/, H2, Output of Auxiliary Functions to PLC for SW 5

2.4.2 Setting (writing) and reading of real-- time variables
Writing The real--time variables marked with a + sign for access “Write from synchro-
nized actions” in the list in Section 2.3.8 can be written in actions contained in
synchronized actions.
S Machine and setting data, e.g. $$MN_..., $$MC_..., $$MA_...

or $$SN_..., $$SC_..., $$SA_...
Notice
Machine and setting data that must be written online in the main run must be
programmed with $$.._... .
Effectiveness Machine data written from synchronized actions must be coded for IMMEDIATE
effectiveness. The modified value will not otherwise be available for the remain-
der of the processing run. Details about the effectiveness of new machine data
values after modification can be found in:
References: /LIS/, Lists
Examples:
... DO $$MN_MD_FILE_STYLE = 3 ; set machine data
... DO $$SA_OSCILL_REVERSE_POS1 = 10 ; set setting data
... DO $A_OUT[1]=1 ; set digital output
... DO $A_OUTA[1]= 25 ; set analog value
Reading The variables in synchronized actions can be read--accessed for assignments

to real--time variables, as input quantities for functions and for the purpose of
formulating conditions. These variables are indicated by the letter r for access
“Read from synchronized actions” in the list in Section 2.3.8.
S Machine data, setting data, e.g. $$SN_..., $$SC_..., $$SA_...
Notice
Machine and setting data whose quantities could change during processing
must be programmed with $$.._... if they need to be addressed online in the
main run. In the case of variables whose quantities remain unchanged, it is
sufficient to type a $ sign in front of the identifier.
Examples:
WHEN $AC_DTEB < 5 DO ... ; read distance from block end in
condition
DO $R5= $A_INA[2] ; read value of analog input 2 and
assign arithmetic variable

2.4.3 Alteration of SW cam positions and times (setting data)
Introduction The “Software cams” function allows position--dependent cam signals to be out-
put to the PLC or NCK I/Os.
References: /FB/, N3, Software Cams, Position Switching Signals
Function Synchronized actions can be programmed to alter cam positions at which signal
outputs are set. Existing setting data are written to change these positions. The
following setting data can be modified via synchronized actions:
$$SN_SW_CAM_MINUS_POS_TAB_1[0..7] ; Positions of minus cams
$$SN_SW_CAM_MINUS_POS_TAB_2[0..7] ; Positions of minus cams
$$SN_SW_CAM_PLUS_POS_TAB_1[0..7] ; Positions of plus cams
$$SN_SW_CAM_PLUS_POS_TAB_2[0..7] ; Positions of plus cams
Example 1 Alteration of a cam position:
ID=1 WHEN $AA_IW[x] > 0

DO $$SN_SW_CAM_MINUS_POS_TAB_1[0] = 50.0
Lead or delay times can be changed via the following setting data:
$$SN_SW_CAM_MINUS_TIME_TAB_1[0..7] ; Lead or delay time

on minus cams
$$SN_SW_CAM_MINUS_TIME_TAB_2[0..7] ; Lead or delay time
on minus cams
$$SN_SW_CAM_PLUS_TIME_TAB_1[0..7] ; Lead or delay time
on plus cams
$$SN_SW_CAM_PLUS_TIME_TAB_2[0..7] ; Lead or delay time
on plus cams
Example 2 Alteration of a lead/delay time:
ID=1 WHEN $AA_IW[x] > 0

DO $$SN_SW_CAM_MINUS_TIME_TAB_1[0] = 1.0
Notice
Software cams must not be set as a function of velocity via synchronized
actions immediately in front of a cam. At least 2--3 interpolation cycles must be
available between the setting and the relevant cam position.

2.4.4 FCTDEF
Application The actions “Online tool offset FTOC” and “Polynomial evaluation SYNFCT” that
are described in the following subsections require an interrelationship
between an input quantity and an output quantity to be defined in the form of a
polynomial. FCTDEF defines polynomials of this type.
For special examples of polynomial application for online dressing of a grinding
wheel, please refer to Section 2.4.7. For examples of load--dependent feeds
and clearance control via polynomials, please refer to Section 2.4.5.
Characteristics of Polynomials defined by means of FCTDEF have the following characteristics:

polynomials
S They are generated through an FCTDEF call in the part program.
S The parameters of defined polynomials are real--time variables.
S Individual polynomial parameters can be overwritten by the same method
used to write real--time variables. Permissible generally in part program and
in action section of synchronized actions. See Section 2.4.2.
Notice
In SW 4 and later, it is possible to alter validity limits and coefficients of existing
polynomials from synchronized actions.
Example: WHEN ... DO $AC_FCT1[1]= 0.5
Number of In SW 4 and later, the number of polynomials that can be simultaneously

polynomials defined can be specified in
MD 28252 : $MC_MM_NUM_FCTDEF_ELEMENTS.

Block--syn- FCTDEF(
chronous Polynomial no.,
polynomial Lower limit,
definition Upper limit,
a0,
a1,
a2,
a3)
The relationship between output quantity y and input quantity x is as follows:
y= a0+ a1x+ a2x2 + a3x3
Parameters specified in this function are stored in the following system

variables:
$AC_FCTLL[n]: Lower limit, n: Polynomial number
$AC_FCTUL[n]: Upper limit, n: Polynomial number
$AC_FCT0[n]: a0 coefficient, n: Polynomial number
On the basis of this relationship, it is also possible to write or modify polynomials

directly via the relevant system variables. The validity range of a polynomial is
defined via limits $AC_FCTLL[n] and $AC_FCTUL[n].
Call of Stored polynomials can be used in conjunction with the following functions:
polynomial -- Online tool offset, FTOC()
evaluation
-- Polynomial evaluation, SYNFCT().
References: /PG/, Programming Guide Fundamentals

/PGA/, Programming Guide Advanced
/FB/, W4 “Grinding”

2.4.5 Polynomial evaluation SYNFCT
Application By applying an evaluation function in the action section of a synchronized

action, it is possible to read a variable, evaluate it with a polynomial and write
the result to another variable in synchronism with the machining process. This
functionality can be used, for example, to perform the following tasks:
-- Feed as a function of drive load
-- Position as a function of a sensor signal
-- Laser power as a function of path velocity
...
SYNFCT() evalua- The function has the following parameters:

tion function
SYNFCT( Polynomial number,
real--time variable output,
real--time variable input)
For definition of a polynomial, please refer to Section 2.4.4.
Operating The polynomial identified by the “Polynomial number” is evaluated with the
principle of value of the “Real--time variable input”. The result is then limited by maximum
SYNFCT and minimum limits and assigned to the “Real--time variable output”.
Example:
FCTDEF(1,0,100,0,0.8,0,0) ; Polynomial 1 is already defined
...
Synchronized action:
ID=1 DO SYNFCT(1,$AA_VC[U1], $A_INA[2])

; the additive compensation value of axis U1 is calculated from analog input
value 2 on the basis of polynomial 1 in every interpolation cycle
For the “Real--time variable output”, it is possible to select variables that are
integrated
S as an additive control factor (e.g. feedrate),

S as a multiplicative control factor (e.g. override),
S as a position offset or
S directly
into the machining process.
Additive feedrate In the case of additive control, the programmed value (F word with respect to
control Adaptive Control) is compensated by an additive factor.
Factive = Fprogrammed + FAC
The following are examples of “Real--time variable output” settings:
$AC_VC Additive path feed override,
$AA_VC[axis] Additive axial feedrate override

Example of The programmed feedrate (axial or path--related) must be subject to additive

additive control by the (positive) X axis current (e.g. infeed torque). The operating point
control of path is set to 5 A. The feedrate may be altered by  100 mm/min. The magnitude of
feedrate the axial current deviation may be  1 A.
500
F
[mm/min]
a0
+ 100 Upper limit
0
4 5 6 I [A]
($AA_LOAD[X])
Lower limit -- 100
Drive load in %
Fig. 2-4 Example of additive control
For definition of coefficients, see also Section 2.4.4:

y = f(x) = a0 + a1x +a2x2 + a3x3
100 mm
a1 = --
1 min ¡ A
a1 = --100 % control constant
a0 = --(--100) ¡ 5 = 500
a2 = 0 (not a square component)
a3 = 0 (not a cubic component)
Upper limit = 100
Lower limit = --100
The polynomial to be defined (no. 1) is thus as follows:

FCTDEF(1, --100, 100, 500, --100, 0, 0)
The example given in Fig. 2-4 is fully defined with this function.
The Adaptive Control function is activated with the following synchronized
action:
ID = 1 DO SYNFCT(1, $AC_VC[x], $AA_LOAD[x])
; the additive compensation value for the feedrate of axis x is calculated from
the percentage drive load value via polynomial 1 in each interpolation cycle
Multiplicative In the case of multiplicative control, the F word is multiplied by a factor (over-
control ride in the case of an Adaptive Control). Factive = Fprogrammed ¡ factorAC
Variable $AC_OVR that acts as a multiplicative factor on the machining pro-
cess is used as the real-time variable output.

Example of The programmed feedrate (axial or path-related) must be subject to multipli-

multiplicative cative control as a function of drive load. The operating point is set to 100 % at
control 30 % drive load. The axis(axes) must stop at 80 % drive load. An excessive
velocity corresponding to the programmed value +20 % is permissible.
OVR [%]
160 %
Upper limit 120 %

Operating point
a0 100 %
⁄ (100)
(50)
0 30 % 80 % Load [%]
Base value
Fig. 2-5 Example of multiplicative control
For definition of coefficients, see also Section 2.4.4:

y = f(x) = a0 + a1x +a2x2 + a3x3
100 %
a1 = -- = --2
(80 -- 30) %
a0 = 100 + (2 ¡ 30) = 160
Upper limit = 120
Lower limit = 0
The polynomial (no. 2) can therefore be defined as follows:

FCTDEF(2, 0, 120, 160, --2, 0, 0)
The example given in Fig. 2-5 is fully defined with this function.
The associated synchronized action can be programmed as follows:
ID = 1 DO SYNFCT(2, $AC_OVR, $AA_LOAD[x])
; the path override is calculated from the percentage drive load for the
x axis via polynomial 2 in every interpolation cycle.

Position offset System variable $AA_OFF controls an axis-specific override that takes imme-
with limitation diate effect (basic coordinate system). The mode of override is defined in
MD 36750: $MA_AA_OFF_MODE.
0: Proportional evaluation
1: Integral evaluation
In SW 4 and later, it is possible to limit the value to be compensated absolutely
(real-time variable output) to the value stored in setting data
SD 43350 : $SA_AA_OFF_LIMIT.
Axis-specific system variable
$AA_OFF_LIMIT[axis] can be evaluated in another synchro-
nized action to establish whether the limitation has been reached.
Value --1: Limit of compensation value has been reached in a negative
direction.
Value 1: Limit of compensation value has been reached in a positive
direction.
Value 0: The compensation value is not within the limit range.
Application:
Function SYNFCT can be used in conjunction with system variable $AA_OFF to
implement a clearance control in laser machining operations. See below.
Example Task:
Clearance control as a function of a sensor signal in laser machining operation
The compensation value is limited in the negative Z direction so that the laser
head is reliably retracted from finished metal blanks. User reactions such as
“Stop axis” (by means of 0 override, see Section 2.4.11) or “Set alarm”, see
Subsection 2.4.20 can be activated when the limit value is reached.
Supplementary conditions:
Integral evaluation of the input quantity of sensor $A_INA[3].
The compensation value is applied in the basic coordinate system, i.e. prior to
kinematic transformation. A programmed frame (TOFRAME) has no effect,
i.e. the function cannot be used for 3D clearance control in the direction of
orientation. The “clearance control” function can be used to implement a
clearance control system with high dynamic response or a 3D clearance control
system. See
References: /FB/, TE1, “Clearance Control”
References: /PG/, “Programming Guide Fundamentals”
The interdependency between input quantity and output quantity is assured
through the relationship illustrated in the following diagram.
Further examples Please refer to Section 6.3.1 for an example illustrating dynamic adaptation of a
polynomial limit in conjunction with Adaptive Control (clearance control). Please
refer to Section 6.3.2 for an example of Adaptive Control applied to path
feedrate.

Clearance control The clearance value is applied integrally via MD 36750: AA_OFF_MODE[V]=1.
It works in the basic coordinate system, i.e. before transformation. This means
that it can be used as a clearance control in the orientation direction (after frame
selection with TOFRAME).
Z
One-dimensional clearance control
Clearance
sensor e.g. sheet metal
0.2...0.5 mm
Override X
0.5
a1 Upper limit (UPPER)
0.35 1
a0
0.2
Lower limit (LOWER)
--10V +10V
Fig. 2-6 Clearance control
%_N_AON_SPF
PROC AON ; Subprogram for clearance control ON
FCTDEF(1, 0.2, 0.5, 0.35, 1.5 EX-5) ; Polynomial definition: Compensation is
; applied in the range 0.2 to 0.5
ID=1 DO SYNFCT(1,$AA_OFF[Z], $A_INA[3]) ; Clearance control active
ID = 2 WHENEVER $AA_OFF_LIMIT[Z]<>0 DO $AA_OVR[X] = 0
; Disable when limit range x is exceeded
RET
ENDPROC
%_N_AOFF_SPF
PROC AOFF ; Subprogram for clearance control OFF
CANCEL(1) ; Cancel synchronized action for clearance
control
CANCEL(2) ; Cancel limit range check
RET
ENDPROC
%_N_MAIN_MPF; main program

; MD 36750 has been set to 1 for integral
; evaluation before power ON
$SA_AA_OFF_LIMIT[Z]= 1 ; Limit value for compensation
AON ; Clearance control ON
...
G1 X100 F1000
AOFF ; Clearance control OFF
M30

08.97
2.4.6 Overlaid movements $AA_OFF settable (as of SW 6)
Overlaid Whatever the current tool and processing level, an overlaid movement is possi-
movements up to ble for each axis of the channel via the system variable $AA_OFF. The offset is
SW 5.3 retracted immediately, whether the axis is programmed or not. This allows a
clearance control to be implemented.
With axial MD 36750: AA_OFF_MODE, the type of application is defined as
follows:
Bit0 = 0: proportional application (absolute value)
Bit0 = 1: integral application (incremental value)
$AC_VACTB and $AC_VACTW as input variable for synchronized actions and
output are disabled via the options bit (”Feed rate dependent analog value con-
trol” laser power control)!
$AA_OFF, position offset as output variable for synchronized actions for clear-
ance control is disabled via the options bit!
Speed limitation with MD 32070: CORR_VELO.
Response of After reset, the position offset can still be retained

$AA_OFF Previously, during a reset the position offset of $AA_OFF was deselected. As, in
as of SW 6 the case of static synchronized actions IDS = <number> DO $AA_OFF =
<value> this response leads to an immediate renewed overlaid motion with the
interpolation of a position offset, machine data MD 36750: AA_OFF_MODE can
be used to set the reset response.
Bit1 = 0: $AA_OFF is deselected in the case of a reset
Bit1 = 1: $AA_OFF is retained beyond the reset
In JOG mode , an overlaid movement can take place

Also in JOG mode, if there is a change of $AA_OFF, an interpolation of the
position offset can be set as an overlaid movement via machine data MD
36750: AA_OFF_MODE.
Bit2 = 0: no overlaid movement on the basis of $AA_OFF
Bit2 = 1: an overlaid movement on the basis of $AA_OFF
If a position offset is interpolated on the basis of $AA_OFF, a mode change can
only occur after JOG when interpolation of the position offset is ended.
Otherwise alarm 16907 is signaled.
Activation/ The programmed conditions of the current motion--synchronized actions are

Deactivation recorded in interpolation time, until the conditions are met or the end of the
subsequent block is reached with machine function.
As of software version 3.2, the introduction of an $$ main variable approved for
synchronized actions results in a comparison of the synchronization conditions
in interpolation time in the main run.

10.00
Supplementary S Interrupt routines/asynchronous subroutines

conditions When an interrupt routine is activated, modal motion--synchronized actions
are retained and are also effective in the asynchronous subroutine. If the
subroutine return is not made with REPOS, the modal synchronized actions
changed in the asynchronous subroutine continue to work in the main pro-
gram.
S REPOS
In the remainder of the block, the synchronized actions are treated in the
same way as in an interruption block. Modifications to modal synchronized
actions in the asynchronous subprogram are not effective in the interrupted
program. Polynomial coefficients programmed with FCTDEF are not affected
by ASUB and REPOS.
The coefficients from the call program are applied in the asynchronous sub-
program. The coefficients from the asynchronous subprogram continue to
be applied in the call program.
S End of program
Polynomial coefficients programmed with FCTDEF remain active after the
end of program.
S Block search
During block search with calculation, these polynomial coefficients are
gathered up, i.e. written to the setting data.
CORROF SW 6 and S The part program command CORROF with DROF is also gathered up
later during a block search and output in an action block. In the last block
handled by the search run with CORROF or DROF, all the deselected DRF
offsets are gathered up for reasons of compatibility.
A CORROF with AA_OFF is not gathered up during a block search and is
lost. If a user wishes to continue to use this search run, this is possible by
means of block search via ”SERUPRO” program testing. More details of
these block searches are given in:
References: /FB1/, K1 ”Mode Group, Channel, Program Operation Mode”,
Program Testing
S Axis--specific deselection of DRF offsets with CORROF

With CORROF, DRF offsets for the individual axes are only possible from
the part program.
S Position offset deselection during active synchronized actions

If, when deselecting the position offset by means of the part program com-
mand COROFF(axis,”AA_OFF”) a synchronized action is active, alarm
21660 is signaled. At the same time, $AA_OFF is deselected and not set
again. If the synchronized action is active later in the block after CORROF,
$AA_OFF stays set and a position offset is interpolated.
References: /PG/, “Programming Guide Fundamentals”
Notice
The coordinate system (BCS or WCS) in which a real--time variable is defined
determines whether frames will or will not be included.
Distances are always calculated in the set basic system (metric or inch).
A change with G70 or G71 has no effect.
DRF offsets, zero offsets external, etc., are only taken into consideration in the
case of real--time variables that are defined in the machine coordinate system.

2.4.7 Online tool offset FTOC
Online tool Machining of the workpiece and dressing of the grinding wheel for grinding
offset applications can be implemented either in the same or in different channels
(machining and dressing channel).
Dressing roller
Dressing amount
Grinding wheel
Length 1
Workpiece
Fig. 2-7 Dressing during machining using a dressing roller
References: /FB/, W4 “Grinding”
Supplementary Synchronized action FTOC is available from SW 3.2 and later.

conditions An online offset allows an overlaid motion to be implemented for a geometry
axis according to a polynomial programmed with FCTDEF (see Section 2.4.4)
as a function of a reference value (e.g. actual value of an axis).
Programming of The online offset is specified as follows:

FTOC
FTOC( Polynomial no.,
Read_real_main_variable, ;reference value
length 1_2_3,
channel number,
spindle number)
Parameters Polynomial no.: Number of function programmed beforehand

with FCTDEF.
Read_real_main_variable: All main variables listed in Section 2.3.8 of the
REAL type may be used.
Length 1_2_3: Wear parameter to which offset value
is added.

Channel number: Target channel in which offset must be applied.

Simultaneous dressing from a parallel channel is
thus possible. If no channel number is specified,
the offset is applied in the active channel. Online
offset with FTOCON must be activated in the offset
target channel.
Spindle number: The spindle number is programmed in cases where
an inactive grinding wheel needs to be dressed.
Precondition is that “Constant grinding wheel
peripheral speed” or “Tool monitoring” is active. If
no spindle number is programmed, then the active
tool is compensated.
Example Compensate length of an active grinding wheel

%_N_DRESS_MPF
FCTDEF(1,--1000,1000,--$AA_IW[V],1) ;definition of function

ID=1 DO FTOC(1,$AA_IW[V],3,1) ; select online tool offset:
; derived from the motion of the V axis,
; length 3 of the active grinding wheel
; is compensated in channel 1.
WAITM (1,1,2) ; synchronization with machining channel
G1 V--0.05 F0.01, G91
G1 V --....
...
CANCEL(1) ; deselect online offset
...
Notice
No frequency vocabulary word nor any condition is programmed in the
synchronized action. The FTOC action is therefore active in every interpolation
cycle with no dependencies other than $AA_IW[V].

08.97
2.4.8 RDISABLE
Programmed An RDISABLE command in the active section causes block processing to be

read-in disable stopped if the relevant condition is fulfilled. Processing of programmed motion
RDISABLE synchronized actions still continues. The read-in disable is canceled again as
soon as the condition for the RDISABLE is no longer fulfilled.
An exact stop is initiated at the end of the block containing RDISABLE
irrespective of whether or not the read-in disable is still active.
Application: This method can be used, for example, to start the program in the
interpolation cycle as a function of external inputs.
Example of RDISABLE Programmed read-in disable

WHENEVER $A_INA[2]<7000 DO RDISABLE
...
N10 G01 X10 ; RDISABLE takes effect at the end of N10 if the condition
is fulfilled while N10 is being processed.
N20 Y20
Program processing is halted if the voltage at input 2 drops to below 7 V
(assuming that the value 1000 corresponds to 1 V).
Example application of this method: Read-in disable until obstruction is
removed from path.
2.4.9 STOPREOF
End of prepro- A motion-synchronized action containing an STOPREOF command cancels the

cessing stop existing preprocessing stop if the condition is fulfilled.
with STOPREOF STOPREOF must always be programmed with vocabulary word ‘WHEN’ and as
a non-modal command.
Application: Fast program branch at end of block.
Example of Program branches

STOPREOF
WHEN $AC_DTEB<5 DO STOPREOF
G01 X100
IF $A_INA[7]>5000 GOTOF Label 1
If the distance to block end is less than 5 mm, end preprocessing stop. If the
voltage at input drops below 5V, jump forwards to label 1 (assuming that the
value 1000 corresponds to 1 V).
2.4.10 DELDTG
Deletion of Synchronized actions can be used to activate deletion of distance-to-go for the
distance-to-go path and for specified axes as a function of a condition.
S High-speed prepared deletion of distance-to-go

04.00
High-speed, High-speed/prepared deletion of distance-to-go is used in time-critical applica-

prepared DDTG for tions, i.e.
path -- if the time between deletion of distance-to-go and start of next block
needs to be very short or
-- if there is a high probability that deletion of distance-to-go will be
activated.
DELDTG Deletion of distance-to-go is programmed with synchronized action DELDTG.

After the distance-to-go has been deleted, the remaining path distance is stored
in $AC_DELT. Continuous-path mode is thus interrupted at the end of the block
with high-speed deletion of distance-to-go.
Restrictions:
Deletion of distance-to-go for the path may only be programmed as a non-mo-
dal synchronized action.
If tool radius compensation is active, fast deletion of distance to go cannot be
used.
Commands: MOVE=1:works for indexing axes with and without Hirth serration
MOV=0: Same function for both: approaches the next position. Com-
mand:DELDTG. In the case of indexing axes without Hirth tooth system: Axis
stops immediately. In the case of indexing axes with Hirth tooth system: Axis tra-
verses to next position.
Example
DELDTG ... DO DELDTG
N100 G01 X100 Y100 F1000
N110 G01 X...
IF $AC_DELT > 50
...
High-speed, High-speed, prepared deletion of distance-to-go for axes must be programmed

prepared DDTG for as a non-modal action.
axes Application:
A positioning motion programmed in the part program is halted by means of
axial deletion of distance-to-go. Several axes can be stopped simultaneously
with one command.
... DO DELDTG(axis1, axis2, ...)
Examples of
DELDTG(axis)
WHEN $A_INA[2]>8000 DO DELDTG(X1)
; if the voltage at input 2 drops
; below 8 V, deletion of distance-to-go
; for axis X1
POS[X1] = 100 ; next position
R10 = $AA_DELT[X 1] ; transfer axial distance-to-go to R10
After the distance-to-go has been deleted, the axial distance-to-go is stored in
variable $AA_DELT[axis].
(Assumption: the value 1000 corresponds to 1 V).

06.01
08.97
2.4.11 Disabling a programmed axis motion
Task The axis is programmed within a machining routine and, in particular circum-
stances, must be not started at the beginning of a block.
Solution A synchronized action is used to maintain a 0 override until it is time for the axis
to be started.
Example:
WHENEVER $A_IN[1]==0 DO $AA_OVR[W]=0

G01 X10 Y25 F750 POS[W]=1500 FA[W]=1000
; the positioning axis is started
; asynchronously to path machining;
; the enable signal is set via a digital input
Notice
Axis motion disable can also be programmed for PLC axes
(e.g. magazine axis).
2.4.12 Starting command axes
Introduction Axes can be positioned, started and stopped completely asynchronously to the
part program from synchronized actions. This type of programming is recom-
mended for cyclical operations or for operations that are predominantly event-
controlled. Axes started from synchronized actions are called command axes.
Control from the Autonomous individual axis operations (as of SW 6.3)

PLC
A command axis interpolated from the main run (started by static synchronized
actions) reacts independently of the NC program in the event of NC Stop, alarm
handling, end of program, program control and reset, when control of the com-
mand axis has been taken over from the PLC.
Control via the command axis occurs via the axial VDI interface (PLCNCK)
with the ”PLC controls axis” interface (DB31, ... DBX28.7) == 1
For more information about the precise sequence of operations of the various
steps for transferring control of the command axis to the PLC, please refer to:
References: /FB/, P2, ”Positioning Axes”
Supplementary An axis cannot be moved from the part program and from synchronized actions
condition simultaneously, but may be moved from these two sources successively.
Delays may occur if an axis has been moved first from a synchronized action
and then programmed again in the part program.

12.98
Notice
MD 30450: IS_CONCURRENT_POS_AX indicates whether the axis is
primarily intended as a command axis or for programming by the part program:
0: not a competing axis
1: competing axis (command axis)
Example 1 ...
ID=1 EVERY $A_IN[1]==1 DO POS[X]=100
...
Example 2 An axis motion can be initiated in the form of a technology cycle

(see Section 2.5)
Main program:
...
ID=2 EVERY $A_IN[1]==1 DO AXIS_X
...
Axis program:
AXIS_X:
M100
POS[X]=100
M17
Programming Positioning axis motions are programmed in synchronized actions as they are
from the part program:
ID = 1 EVERY $AA_IM[B] > 75 DO POS[U]=100
The programmed position is evaluated in inches or in the metric system depen-
ding on whether setting G70 or G71 is active in the current part program block.
G70/G71 and G700/G710 can also be programmed directly in synchronized
actions with SW 5.
This allows the inch/metric evaluation of a command axis movement to be
defined independent of programming in the part program.
ID = 1 WHENEVER $A_OUT[1] ==1 DO G710 POS[X]=10
ID = 2 EVERY G710 $AA_IM[Z] >100 DO G700 POS[Z2]=10
Notice
Only G70, G71, G700, G710 can be programmed in synchronized actions!
See Section 2.1.
G functions which are programmed in the synchronized action block are only
effective for the synchronized action or within the technology cycle. They have
no effect on subsequent blocks in the part program.
References: /PG/ Chapter 3 “Positional Parameters”

Absolute/ The end position can be programmed either absolutely or incrementally. The
incremental end position is approached absolutely or incrementally depending on whether G90
position or G91 is active in the main program block currently being processed.
It is possible to explicitly program whether the value must be interpreted as an
absolute or incremental setting:
IC: Incremental
AC: Absolute
DC: Direct, i.e. position rotary axis via shortest route
ACN: Position modulo rotary axis absolutely in negative direction of motion
ACP: Position modulo rotary axis absolutely in positive direction of motion
CAC: Traverse axis to coded position absolutely
CIC: Traverse axis to coded position incrementally
CDC: Traverse rotary axis to coded position via shortest route
CACN: Traverse modulo rotary axis to coded position in negative direction
CACP: Traverse modulo rotary axis to coded position in positive direction
Coded positions are settings stored in machine data.
Example 1 ID = 1 EVERY $AA_IM[B] > 75 DO POS[U]=IC(10)

Fixed value
; if event occurs, advance U axis by 10
Example 2 The traversing path is generated in real time from a real-time variable:
Current value
ID = 1 EVERY $AA_IM[B] > 75 DO POS[U]=$AA_MW[V]-$AA_IM[W] + 13.5
Axial frames The following text explains the response of synchronized actions and axial
frames:
Effect When positioning motions are executed from synchronized actions, the axial
offsets, scaling and mirroring functions of the programmable and settable
frames (G54 etc.) as well as tool length compensations are all operative.
Whichever frame is operative in the current block takes effect. If a rotation is
active in the current block, then an alarm is output to reject a positioning motion
initiated from a positioning motion.
Example: TRANS X20

IDS= 1 EVERY $A_IN==1 DO POS[X]=40
G1 Y100 ; if the input is set, X is positioned at 60
...
TRANS X-10
G1 Y10 ; if the input is set, X is positioned at 30
Suppression The effect of frames and tool lengths can be suppressed by means of
MD 32074: FRAME_OR_CORRPOS_NOTALLOWED

09.01
Suppressing Axial frames that travel incrementally to indexing positions have no effect on a
axial frames command axis. Therefore, bit 9 = 1 is set and the command axis is positioned
using JOG in
MD 32074: FRAME_OR_CORRPOS_NOTALLOWED[AX4].
Example:
RANS A=0,001
POS[A]=CAC(2) ; Axis travels to position 180.001 degrees
; The axial frame has no effect on the command axis

; MD 32074: FRAME_OR_CORRPOS_NOTALLOWED[AX4] = ’H0020’
WHEN TRUE DO POS[A]=CIC(--1) ; Axis travels to position 180.000 degrees.
Notice
If a command axis travels to indexing positions incrementally, axial frames
usually have no effect on this command axis.
2.4.13 Axial feed from synchronized actions
Feedrates An axial feedrate can be programmed in addition to the end position:
ID = 1 EVERY $AA_IM[B] > 75 DO POS[U]=100 FA[U]=990
The axial feedrate for command axes has a modal action. It is programmed
under address FA. The default is set via axial machine data
MD 32060: POS_AX_VELO
The feedrate value is either preset to a fixed quantity or generated in real time
from real-time variables:
Example of ID = 1 EVERY $AA_IM[B] > 75 DO POS[U]=100 FA[U]=$AA_VACTM[W]+100

calculated feedrate
The feedrate value is programmed either as a linear or a rotational feed:
The feed type is determined by setting data:
SD 43300: $SA_ASSIGN_FEED_PER_REV_SOURCE.
This data can be altered by an operator input, from the PLC or from the part
program. In synchronism with the part program context, the feed type can be
switched over by means of commands FPRAON, FPRAOF. See also:
References: /FB/, V1 “Feeds”
Notice
The axial feedrate from motion synchronous actions is not output as an
auxiliary function to the PLC. Parallel axial technology cycles would otherwise
block one another.

2.4.14 Starting/stopping axes from synchronized actions
Starting/stopping Command axes can be stopped from synchronized actions even when no end
position has been specified. In this case, the axis is traversed in the
programmed direction until another motion is set by means of a new motion or
positioning command or until the axis is halted by a stop command. This
method can be used, for example, to program an endlessly turning rotary axis.
Starting and stopping are programmed by the same method as positioning
motions.
MOV[axis]=value
Data type of value is INT.
The value sign determines the direction of motion:
> 0: Axis motion in positive direction
<0: Axis motion in negative direction
==0: Stop axis motion
If a moving indexing axis is halted by command MOV[axis]=0, then the next

indexing position is approached in the same way as in JOG mode.
The feedrate for the motion can be programmed with FA[axis]=value (see
above). If no axial feedrate is programmed, the feed value is derived from an
axis motion that may already be activated from synchronized actions or from the
axis velocity set via MD 32060: POS_AX_VELO.
Examples ... DO MOV[u]=0 ; stop axis motion as soon as condition has been fulfilled
2.4.15 Spindle motions from synchronized actions
General Analogously to positioning axes, it is also possible to start, position and stop
spindles from synchronized actions. Spindle movements can be started at
defined points in time by blocking a spindle motion programmed in the part pro-
gram or by controlling the axis motion from synchronized actions.
Starting/stopping The use of these functions is recommended for cyclical operations or for opera-
tions that are predominantly event-controlled.
Stop until Application:

event occurs A spindle is programmed within a machining routine, but must not be started at
the beginning of the block in particular circumstances. A synchronized action is
used to maintain a 0 override until the spindle is to start.
Example:
ID=1 WHENEVER $A_IN[1]==0 DO $AA_OVR[S1]=0
G01 X100 F1000 M3 S1=1000
; the spindle is started asynchronously to path machining;
; the start command is set via a digital input

09.01
Auxiliary These functions are programmed in the action section of the synchronized
functions, action by exactly the same method as used in the part program.
speed, position Commands: S= ..., M3, M4, M5, SPOS= ...
Example:
ID = 1 EVERY $A_IN[1]==1 DO M3 S1000
ID = 2 EVERY $A_IN[2]==1 DO SPOS=270
When no numeric extension is specified, the commands apply to the master

spindle. By specifying a numeric extension, it is possible to activate each
spindle individually:
ID = 1 EVERY $A_IN[1]==1 DO M1=3 S1=1000 SPOS[2]=90
With regard to programming the positioning method, the same rules apply as for
positioning axes (see above).
If concurrent commands are input via simultaneously active synchronized
actions for an axis/spindle, then the commands are applied in the chrono-
logical sequence in which they are programmed.
Example:
ID=1 EVERY $A_IN[1]==1 DO M3 S300 ; rotational direction and speed
ID = 2 EVERY $A_IN[2]==1 DO M4 S500; rotational direction and speed
ID=3 EVERY $A_IN[3]==1 DO S1000 ; new speed setting
; for active spindle rotation
ID=4 EVERY ($A_IN[4]==1 ) AND ($A_IN[1]==0) DO SPOS=0
; position spindle
Feedrate The feedrate for “Position spindles” can be programmed from a synchronized
action with command:
FA[Sn]= ...
:
Notice
Only a modal data item is available for the feed rate of synchronized actions for
spindle mode and axis mode. FA[S] and FA[C] are supplied in the same way.
SW limit switches, The restrictions imposed by SW limit switches and working area limitations also
working area apply to axis/spindle movements activated from synchronized actions.
limitations
Influence of Working area limitations programmed by G25/G26 are taken into account as a
limitations on function of setting data:
movements from SD 43400: $SA_WORKAREA_PLUS_ENABLE.
synchronized Activation and deactivation of working area limitations by G functions WALIMON
actions / WALIMOF in the part program does not affect command axes.

Axis coordination If a positioning command (POS, MOV) is started from synchronized actions for
an axis that is already operating as a path or PLC axis, then processing is
aborted with an alarm.
Axis movement by In typical cases, an axis is either moved from the part program (PP) in motion
PP and SA blocks or as a positioning axis from a synchronized action (SA). However, if the
alternately same axis must be traversed alternately from the part program as a path axis or
positioning axis and from synchronized actions, then a coordinated transfer
takes place between both axis motions.
Example ; traverse X axis alternately from part program and from synchronized
actions
N10 G01 X100 Y200 F1000 ; X axis programmed in part program
...
N20 ID=1 WHEN $A_IN[1]==1 DO POS[X]=100 FA[X]=200
; start positioning from synchronized action
; if digital input is applied
...
CANCEL(1) ; select synchronized action
...
N100 G01 X100 Y200 F1000 ; X: path axis

; delay prior to motion if digital
; input was at 1 so that X was
; positioned from synchronized action
On-the-fly Transitions can be made between command axes and spindles.

transitions
Initial situation Since several synchronized actions can be active simultaneously, the situation
may arise where an axis motion is started when the axis is already active.
Response In this case, the most recently activated motion is applicable. POS and
MOV motions can be activated alternately.
When a reversal in the direction of motion is forced in this manner, the axis is
first decelerated and then positioned in the opposite direction.
Examples:
ID=1 EVERY $AC_TIMER[1] >= 5 DO POS[V]=100 FA[V]=560
ID=2 EVERY $AC_TIMER[1] >= 7 DO POS[V]=$AA_IM[V] + 2 FA[V]=790
; due to the programming of $AC_TIMER[1], the synchronized action with ID=2
is the most recently activated action. Its commands are applied in place of the
commands in ID=1 ... .
End position and feedrate for a command axis can therefore be adjusted while
the axis is in motion.
Example: Acti- ID=1 EVERY $A_IN[1]==1 DO POS[U]=$AA_IM[U]+$AA_IM[V]*.5

vation by signal FA[U]=$AA_VACTM[U]+10

Legal transitions Transitions marked with x are legal:
in # to ! POS MOV=1 MOV=0 SPOS M3 M5 LEADON TRAIL-

MOV= - 1 M4 ON
Axis stationary
Axis mode x x x x x x x x
Position-controlled x x x x x x
spindle
Speed-controlled x x x
spindle
Axis in motion
Axis mode x x x x x
Position-controlled
spindle
Speed-controlled x x x
spindle
Transitions not marked with an x are rejected with an alarm.

Example: Legal transition
N10 WHEN $AA_IM[Y] >= 5 DO MOV[Y]=--1 ; start axis in negative
; direction at position
; +5
N20 WHEN TRUE DO POS[Y]=20 FA[Y]=500 ; start Y axis when
; block is reached
On-the-fly Positioning axis motions and movements resulting from axis couplings
transitions for axis programmed via synchronized actions can be activated alternately.
couplings -- See Section 2.4.17 and
References: /M3/, Coupled Axes and Master Value Couplings
Legal transitions in master value couplings are marked by LEADON in the
above table. Legal transitions in coupled axis motions are marked by TRAILON.

2.4.16 Setting actual values from synchronized actions
Application The PRESETON function can be used to redefine the control zero in the
machine coordinate system.
Function When Preset is applied, the axis is not moved. A new position value is merely
entered for the current axis position.
Programming The value for one axis can be programmed in each synchronized action.
E.g.:
WHEN $AA_IM[a] >= 89.5 DO PRESETON(a, 10.5)
with PRESETON(axis, value)

Axis: Axis whose control zero must be altered
Value: Amount by which control zero must be altered.
Permissible PRESETON from synchronized actions can be programmed for

applications
S modulo rotary axes that have been started from the part program and
S all command axes that have been started from a synchronized action.
Restriction PRESETON cannot be programmed for axes which are involved in a

transformation.
Example Please refer to Section 6.7.3 for an example of how to use PRESETON in
conjunction with an “On-the-fly parting” application.
Notice
The “PRESETON” preset actual value memory must not be programmed using
“WHEN” or “EVERY” vocabulary word.

2.4.17 Coupled axes and activation/deactivation couplings
Introduction The following functions are described in detail in:

References: /FB/, M3, Coupled Axes
The following functions are described in detail:
S Coupled axes
Slave axis(axes) is(are) linked to a master axis via a coupling factor.
S Curve tables
Curve tables represent a (complex) relationship between the master and
slave values. The following may be applied as master values:
-- Setpoints generated by the control
-- Actual values measured by encoders
-- Externally specified quantities
Situations where a slave axis is linked to a master axis by means of a
curve table are particularly relevant with respect to synchronized actions.
S Master value coupling

The following master value couplings may be implemented for part
programs.
-- axis master value coupling and
-- path master value coupling,
Only the axis master value couplings are available for utilization in syn-
chronized actions.
Coupled axes From a synchronized action it is possible to define and simultaneously activate
the assignment between a slave axis and a master axis using a coupling factor:
... DO TRAILON(FA, LA, Kf)
where:
FA Slave axis
LA Master axis
Kf Coupling factor
The commands for separating the coupled axis grouping are as follows:
... DO TRAILOF(FA, LA, LA2)
where:
FA Slave axis
LA Master axis
LA2 Master axis2, optional
Curve tables The relationship between a master quantity and slave quantity that is stored in
curve tables can be utilized in synchronized actions in the same way as other
REAL functions (e.g. SIN, COS):

Calculate The slave value calculated from a master value on the basis of curve table n
slave value must be assigned to an arithmetic variable.
Example:
... DO $R17=CTAB(LW, n, deg)
where:
LW Master value
n Number of curve table
grad Pitch parameters, result
(2 further option. parameters for scaling:
-- Slave axis
-- Master axis)
Example:
DEF REAL GRADIENT
...
WHEN $A_IN[1] == 1 DO $R17 = CTAB(75.0, 2, GRADIENT)
Calculate From a synchronized action it is possible to calculate a concrete master value

master value for a slave value on the basis of a curve table.
Example:
... DO $R18=CTABINV(FW, aprLW, deg)
where:
FW Master value
aprLW Approximated master value which will allow
an unambiguous master value to be determined when the
curve table inverse function is ambiguous
n Number of curve table
grad Pitch parameters, result
(2 further option. parameters for scaling:
-- Slave axis
-- Master axis)
Functions CTAB and CTABINV can be programmed in both conditions and in
the action section of synchronized actions.
Axis master value

coupling
The coupling between following axis FA and leading axis LA based on the
stored curve table with number NR is called in the action section of synchro-
nized actions as follows:
... DO LEADON(FA; LA, NR)
where:
FA Slave axis
LA Master axis
NR Number of curve table
Deactivate axis If the axis master value coupling must be canceled again on the fulfillment of
coupling from syn- another condition, the action must be programmed as follows:
chronized action ... DO LEADOF(FA, LA)

System variables The system variables of the master value coupling as specified in the list of
system variables can be read/written from the part program and synchronized
actions.
See 2.3.8.
Detection of System variable $AA_SYNC[ax] can be read from the part program and syn-
synchronism chronized action and indicates whether and in what manner following axis FA is
synchronized:
0: Not synchronized
1: Coarse synchronism (acc. to MD 37200:
COUPLE_POS_TOL_COARSE)
2: Fine synchronism (acc. to MD 37210:
COUPLE_POS_TOL_FINE)
Definition of Couplings directly activated in the part program are activated at block limits.
application With the additional option of activating couplings from synchronized actions, it is
possible to implement event-controlled, differential activation, e.g.
-- from block beginning for particular axis path,

-- up to block end for particular distance-to-go,
-- appearance of digital input signals or
-- combinations of all these.
Section 2.1, Conditions
For further information about programming of coupling functions and curve
tables, please refer to
Notice
Axes which might be in any given motional state at the instant they are coupled
via synchronized actions are synchronized by the control system. For further
details, please refer to Description of Functions M3.
Examples Please refer to Section 6.7.3 for an example illustrating an axis coupling imple-
mented by means of a curve table.

08.97
2.4.18 Measurements from synchronized actions
Introduction There are the following measuring functions provided for part programs:
MEAS, MEAW, MEASA, MEAWA, MEAC
/FB/, M5, “Measurements”
Only the following may be used in synchronized actions:
S MEAWA Axial measurement without deletion of distance-to-go

S MEAC Axial, continuous measurement
While measuring functions are limited to one block at a time in part program
motion blocks, they can be activated and deactivated any number of times from
synchronized actions:
Notice
With static synchronized actions, measurements are also available in
JOG mode.
Programming MEAWA[axis]=(mode, trigger_event_1, trigger_event_2,

trigger_event_3, trigger_event_4)
; activate axial measurement without deletion of
distance-to-go
MEAC[axis]=(mode, meas._memory, trigger_event_1, trigger_event_2,

trigger_event_3, trigger_event_4)
; activate axial, continuous measurement
Axis: Axis for which measurement is taken
Table 2-3 Mode meanings:
Tens decade Units decade Meaning

0 Abort measuring job
1 Up to 4 trigger events can be activated
simultaneously
successively
successively, but with no monitoring of trigger
event 1 on START
0 Active measuring system
1 1st measuring system
2 2nd measuring system
3 Both measuring systems

Trigger_event_1 to trigger_event_4:
1: Rising edge probe 1
--1: Falling edge probe 1 optional
2: Rising edge probe 2 optional
--2: Falling edge probe 2 optional
Measurement memory: Number of a FIFO variable
Measured values are supplied exclusively for the machine coordinate system.
MEAWA ... DO MEAWA[axis]=( , , , , ) ;axial measurement without deletion of

distance-to-go
Deletion of distance-to-go can be called explicitly in the synchronized action,

see Section 2.4.10 and example below.
GEO axes and axes involved in transformations can be programmed
individually.
Programming:
The programming method is identical to that used in the part program
Notice
System variable $AC_MEA does not supply any useful information about the
validity of a measurement called from a synchronized action.
Only one measuring job at a time may be active for an axis.
System variables:
$AA_MEAACT[axis] supplies the instantaneous measuring status of an axis.
1 Measurement active
0 Measurement not active
$A_PROBE[probe] supplies the instantaneous status of the
measuring probe.
1 Probe switched, high signal
0 Probe not switched, low signal
Measured values in machine coordinate system with 2 probes (encoders):
$AA_MM1[axis] Trigger event 1, encoder 1
MEAC ... DO MEAC[axis]=(mode, No_FIFO, trigger events)
Variables $AC_FIFO (see 2.3.6) are provided for the purpose of storing
measured values from cyclic measuring processes. See above for mode and
trigger events.

Examples:
Two FIFOs have been set up in machine data for the following examples.
Machine data
MD 28050: MM_NUM_R_PARAM = 300
MD 28258: MM_NUM_AC_TIMER = 1
MD 28260: NUM_AC_FIFO = 2 ; 2 FIFOs
MD 28262: START_AC_FIFO = 100 ; first FIFO starts at R100
MD 28264: LEN_AC_FIFO = 22 ; each FIFO can store 22 values
MD 28266: MODE_AC_FIFO = 0 ; no summation
Example 1.
All rising edges of probe 1 must be recorded on a path between X0 and X100. It
is assumed that no more than 22 edges will occur.
Program 1:
DEF INT NUMBER
DEF INT INDEX_R
N0 G0 X0
N1 MEAC[X]=( 1, 1, 1) POS[X]=100
; mode = 1, simultaneous
; no. FIFO =1
; trigger event 1= rising edge, probe 1
N2 STOPRE ; stop preprocessing
N3 MEAC[X]=( 0) ; abort continuous measurement
N4 NUMBER= $AC_FIFO1[4] ; number of measured values transferred to FIFO variables
N5 NUMBER= NUMBER -- 1
N6 FOR INDEX_R= 0 TO NUMBER
N7 R[INDEX_R]= $AC_FIFO1[0] ; enter FIFO contents in R0 -- ...
N8 ENDFOR ; FIFO variable is empty after read-out
Example 2.
All rising and falling edges of probe 1 on a path between X0 and X100 must be
recorded. The number of trigger events which may occur is unknown. For this
reason, the measured values must be fetched and stored in ascending order in
R1 as a parallel operation in one synchronized action. The number of stored
measured values is entered in R0.
Program 2:
N0 G0 X0 ; rapid traverse to starting point
N1 $AC_MARKER[1]=1 ; marker 1 as index for arithmetic variable R[..]
N2 ID=1 WHENEVER $AC_FIFO1[4]>=1
DO $R[$AC_MARKER[1]]= $AC_FIFO1[0] $AC_MARKER[1]=$AC_MARKER[1]+1
; synchronized action as check:
; if 1 or more measured values are stored in FIFO variable,
; read oldest value out of FIFO and stored in current R[ ..],
; increment index for R by 1

N3 MEAC[X]=( 1, 1, 1, --1) POS[X]=100 ; activate continuous measurement, movement

; towards X = 100
; no_FIFO = 1
; trigger event 1= 1, rising edge probe 1
; trigger event 2= --1, falling edge probe 1
N4 MEAC[X]=(0) ; deselect measurement
N5 STOPRE ; stop preprocessing
N6 R0= $AC_MARKER[1] ; number of recorded values in R0
Example 3:
Continuous measurement with explicit deletion of distance-to-go after
10 measurements
Program 3:
N1 WHEN $AC_FIFO1[4]>=10
DO MEAC[X]=(0) DELDTG(X) ; end condition as synchronized action:
; if 10 or more measured values are stored in FIFO
; variable,
; deselect
; continuous measurement and delete
; distance-to-go
N2 MEAC[X]=( 1,1,1,--1) G01 X100 F500 ; continuous measurement active from part program.
; No_FIFO = 1, FIFO variable 1
; trigger event 1= 1, rising edge probe 1
; trigger event 2= --1, falling edge probe 1
N3 MEAC[X]=( 0) ; deselect continuous measurement

N4 R0= $AC_FIFO1[4] ; actual number of measured values
Priority with more Only one measuring job can be active for an axis at any given time.
than one
If a measuring job for the same axis is started, the trigger events are re-
measurement activated and the measurement results reset.
The system does not react in any special way if “Deactivate measuring job”
(mode 0) is programmed when no measuring job has been activated before-
hand.
Measuring jobs started from the part program cannot be influenced from syn-
chronized actions.
An alarm is generated if a measuring job is started for an axis from a syn-
chronized action when a measuring job from the part program is already active
for the same axis.
If a measuring job is already in progress from a synchronized action, a
measuring job from the part program cannot be started at the same time.
Measuring jobs When a measuring job has been executed from a synchronized action, the
and control system responds in the following way:
status changes
Status Response
Operating mode A measuring job activated by means of a modal synchronized
switchover action is not affected by a change in operating mode. It remains
active beyond block limits.
RESET Measuring job is aborted

Status Response
Block search Measuring jobs are collected, but not activated until the
programmed condition is fulfilled.
REPOS Activated measuring jobs are not affected.
End of program Measuring jobs started from static synchronized actions remain
active.
2.4.19 Setting and deletion of wait markers for channel synchronization
Introduction Coordination of operational sequences in channels is described in

References: /FB/, K1, Mode Group, Channel, Program Operation Mode
The following of the functions described in this document, may be legally used
in synchronized actions:
Set wait marker Command SETM (marker number) can be programmed in the part program and
the action section of a synchronized action. It sets the marker (marker number)
for the channel in which the command is applied (own channel).
Delete wait Command CLEARM (marker number) can be programmed in the part program
marker and the action section of a synchronized action. It deletes the marker (marker
number) for the channel in which the command is applied (own channel).

2.4.20 Setting alarm/error reactions
Error situations “Set alarm” is one way of reacting to error states.
Application:
The SETAL command can be programmed to set cycle alarms from syn-
chronized actions.
The following reactions can also be programmed as a response to errors:
S Stop axis See Section 2.4.11

S Set output See Section 2.4.2
S Other actions described in Section 2.4
Example ID=67 WHENEVER $AA_IM[X1] -- $AA_IM[X2] < 4.567 DO SETAL(61000)

Set alarm
; set alarm if distance (actual value of axis X1 -- actual value of axis X2)
; drops below critical value of 4.567.
Cycles and For information about cycles and cycle alarms, please refer to
cycle alarms
References: /PGC/, Programming Guide Cycles

2.5 Call of technology cycles
Definition A technology cycle is a sequence of actions that are executed sequentially in

the interpolation cycle. The actions described in Section 2.4 can be combined to
form programs. From the user’s point of view, these programs are subprograms
without parameters.
Parallel Several technology cycles or actions can be processed simultaneously in the

processing same channel. These cycles and actions are processed in parallel in the
in channel channel in one interpolation cycle.
Processing With respect to processing sequence, the user must select the most suitable
sequence method from the following options:
S Several actions in one synchronized action:

All actions are executed simultaneously in the interpolation cycle in which
the condition is fulfilled.
S Actions are joined to form a technology cycle:

The actions in the technology cycle are processed sequentially in the inter-
polation cycle. One block is processed in each interpolation cycle. A distinc-
tion must be made between single-cycle and multi-cycle actions. A techno-
logy cycle is ended when its last action has been executed (generally after
several interpolation cycles have passed).
Commands such as variable assignments in technology cycles are processed
in one interpolation cycle. Other commands (e.g. movement of command axis,
see Section 2.4.12) take several interpolation cycles to complete. If the function
is complete (e.g. exact stop on positioning of axis), the next block is executed in
the following interpolation cycle.
Each block requires at least one interpolation cycle. If a block contains several
single-cycle actions, then these are all processed in one interpolation cycle.
Fig. 2-8 gives examples to indicate which actions are single-cycle and which
are multi-cycle.
Application One possible application of technology cycles is to move each axis using a
separate axis program.
Programming A technology cycle can be activated as a function of a condition in a modal/

static synchronized action.
End of program is programmed with M02 / M17 / M30 / RET.
Search path The call search path is the same as for subprograms and cycles.
Example:
...
ID=1 EVERY $AA_IM[Y]>=10 DO AX_X ; AX_X subprogram
; name for axis program for X axis

AX_X: ; axis program

POS[X]=$R[7] FA[X]=377
$A_OUT[1]=1
POS[X]=R10
POS[X]=--90
M30
Notice
If the condition is fulfilled again while the technology cycle is being processed,
the cycle is not started again. If a technology cycle has been activated from a
synchronized action of the WHENEVER type and the relevant condition is still
fulfilled at the end of the cycle, then it will be started again.
Synchronized actions
Condition Condition Condition Condition
Technology cycle 1 Technology cycle 2 Action_11

$AA_OVR[Y]=0 Technology cycle 3
Axis X Axis Y Axis Z
Single-cycle
Action_11 Action_11
$AA_OVR[Y]=0 POS[Y]=10 $AA_OVR[X]=0
Single-cycle
Single-cycle Single-cycle
Multi-cycle Single-cycle
Action_12 Action_13
M100 POS[Y]=-- 10 POS[Z]=90
Single-cycle Multi-cycle Multi-cycle
Action_13
POS[X]=100 M17 POS[Z]=-- 90
Multi-cycle
Multi-cycle Single-cycle Multi-cycle
M17 M17
Single-cycle Single-cycle
Fig. 2-8 Several technology cycles

Example (2) for coordinated axis motions:

Different axis programs can be started by setting digital NC inputs.
Main program:
...
ID=1 WHEN $A_IN[1]==1 DO AXIS_X
ID=2 WHEN $A_IN[2]==1 DO AXIS_Y
ID=3 WHEN $A_IN[3]==1 DO AA_OVR[Y]=0
ID=4 WHEN $A_IN[4]==1 DO AXIS_Z
M30
Axis programs:
AXIS_X:
$AA_OVR[Y]=0
M100
POS[X]=100
M17
AXIS_Y:
POS[Y]=10
POS[Y]=--10
M17
AXIS_Z:
$AA_OVR[X]=0
POS[Z]=90
POS[Z]=--90
M17

2.5.1 Coordination of synchronized actions,

technology cycles, part program (and PLC)
Control of Technology cycles / synchronized actions are controlled via the identification
technology cycles number of the synchronized action in which they are programmed as an action:
Means of
coordination
Keyword Meaning PP SA
Call legal in part program +
Call legal in synchr. action / technology cycle +
LOCK(ID) Disable technology cycle. +
An active action is interrupted.
UNLOCK(ID) UNLOCK continues the technology cycle at the point of +
interruption. An interrupted positioning operation is
continued.
RESET(ID) Abort technology cycle. Active positioning operations are +
aborted. If the technology cycle is restarted, then it is
processed from the 1st block in the cycle.
Depending on the type of synchronized action, actions
are executed once more when the condition is fulfilled
again. Completed synchronized actions of the WHEN
type are not processed again after RESET.
CANCEL(ID) Synchronized action is deleted. +
S LOCK(ID), UNLOCK(ID) by PLC see Section 2.6.1
Notice
A synchronized action contains a technology cycle call. No further actions may
be programmed in the same block in order to ensure that the assignment
between ID number and relevant technology cycle is unambiguous.

Part program:
; Define/activate synchronized actions
Define/
activate ID=1 WHENEVER $A_IN[1]==1 DO M130
Define/
ID=2 WHENEVER $A_IN[2]==1 DO LOCK(1) activate
...
CANCEL(2) ; Delete
...
ID=1 .... ; Overwrite
... existing
synchronized action
Synchronized action: Synchronized action:

ID=1 ID=2
WHENEVER WHENEVER
$A_IN[1]==1 $A_IN[2]==1
DO M130 DO LOCK(1)
Block ID1
/unblock (UNLOCK (1))
PLC
Fig. 2-9 Setting up / locking modal synchronized actions / deleting

07.98
2.6 Control and protection of synchronized actions

2.6.1 Control via PLC
Function Modal synchronized actions (ID, IDS) can be locked or enabled from the PLC.
S Disabling of all modal synchronized actions

S Selective disabling of individual synchronized actions
Control scope The PLC can control the first 64 modal synchronized actions by locking (ID,
IDS 1--64). The synchronized actions which are lockable by the PLC are stored
in a 64-bit array of the interface:
DB21--30, DBB308--315
and are tagged with a “1” by the NC. Protected synchronized actions are never
tagged as lockable. See Section 2.6.2.
Disable all syn- The PLC application program can set DB 21--30, DBB1 bit 2 to disable (lock
chronized actions against activation) all modal synchronized actions that are already defined in
the NC and stored against activation. In this case, protected synchronized
actions are an exception. Please see Section 2.6.2.
Setting DB 21--30, DBB1 bit 2 to 0 cancels the general lock by the PLC again.
Application One bit is reserved for each of the 64 IDs (1--64) in the PLC interface
of selective (DB 21--30, DBB 300 bit 0 to DB21--30 DBB 307 bit 7).
disabling The default setting for these functions is “enabled” (bits = 0). When the allocated
bit is set, evaluation of the condition and execution of the associated function
are disabled in the NCK.
Cancellation of Setting the bits corresponding to the ID, IDS number to 0 in

selective disabling DB 21--30, DBB 300, bit 0 to DB 21--30, DBB 307 bit 7
causes the PLC to enable a previously disabled synchronized action.
Updating the If the PLC user program has made changes in the range DB 21--30, DBB 300
selective disabling bit 0 to DB 21--30, DBB 307 bit 7, the changes must be activated with DB 21--30
DBX280.1.
Selective disabling If selective disabling was activated by the NCK, as status signal is set in
status signal DB 21--30 DBX.281.1.
References: /LIS/, Lists, Interface Signals

Part program:
Path motion,
selection of technology cycles
Subprogram 1 Subprogram n
Axis program 1/ Axis program n/

technology cycle 1 ... technology cycle n
Control bit in
When ID=1 PLC interface
When ID=n
PLC:
Parameter transfer
Initiation of axis functions
Fig. 2-10 Axis programs/technology cycles
Reading/writing of In SW version 4 and later, PLC data can be read and written from the part
PLC data program by transferring parameters between the NCK and PLC via the
VDI interface.
This is an option: PLC variables
References: /FB/, P3, “Basic PLC Program”
Parameters can also be accessed from synchronized actions, thus allowing
PLC data to be transferred to the NCK for parameterization before an axis
function is initiated. The system variables to be addressed can be found in
Subsection 2.3.8.

08.02
2.6.2 Protected synchronized actions
Global protection
Function Machine data MD 11500:

PREVENT_SYNACT_LOCK
can be programmed to define an area of protected synchronized actions. Syn-
chronized actions with ID numbers within the protected area can no longer be:
-- overwritten
-- deleted (CANCEL) or
-- disabled (LOCK)
if they have been defined once. Protected synchronized actions cannot be
disabled by the PLC either. They are indicated to the PLC as non-lockable in
the interface. See Section 2.6.1.
Notice
The functionality is also used for Safety Integrated systems.
Applications
The end customer must be prevented from modifying reactions to certain states
defined by the machine manufacturer.
To allow the definition and testing of gating logic, synchronized actions are not
yet protected when the system is started up by the machine manufacturer.
However, the manufacturer declares the range of synchronized actions he has
used as protected before the system is delivered to the end customer, thus pre-
venting the end customer from defining his own synchronized actions within this
protected area.
Notation of $MN_PREVENT_SYNACT_LOCK[0]= i ; i number of the first disable ID

MD 11500 $MN_PREVENT_SYNACT_LOCK[1]= j ; j number of the last disable ID
i and j can also be inverted.

If i = 0 and j = 0, no synchronized actions are protected.

08.97
Channel--specific protection
Function The channel--specific machine data

MD 21240: PREVENT_SYNACT_LOCK_CHAN
can be programmed to define an area of protected synchronized actions for the
channel. Synchronized actions with ID numbers within the protected area can
no longer be:
-- overwritten
-- deleted (CANCEL) or
-- disabled (LOCK)
if they have been defined once. Protected synchronized actions cannot be
disabled by the PLC either. They are indicated to the PLC as non-lockable in
the interface. See Section 2.6.1.
Application See above
Notation of CHANDATA(C) ; where C channel number

MD 21240 $MC_PREVENT_SYNACT_LOCK_CHAN[0]= k
; k number of the first disable ID for the channel
$MC_PREVENT_SYNACT_LOCK_CHAN[1]= l
; l number of the last disable ID for the channel
k and l can also be inverted.

If k = 0 and l = 0, no synchronized actions are protected.
k = --1 and l = --1 indicates that the global area of protected synchronized
actions programmed with
MD 11500 : PREVENT_SYNACT_LOCK should apply to the channel.
Notice
Protection for synchronized actions must be canceled while protected static
synchronized actions are being defined, otherwise power ON will have to be
executed for every alteration to allow redefinition of the logic.
The effect of the disable is identical, whether it is programmed as:

a global disable or
a channel--specific disable

08.02
Example In a system with 2 channels, synchronized actions should be protected as

follows:
In the first channel, IDs 20 to 30 should be protected and
in the second channel, IDs 25 to 35 should be protected. Global and channel--
specific protection may be mixed.
$MN_PREVENT_SYNACT_LOCK[0] = 25 ; global protection
$MN_PREVENT_SYNACT_LOCK[1] = 35 ; global protection
CHANDATA(1)
$MC_PREVENT_SYNACT_LOCK_CHAN[0] = 20
; in the first channel, only the channel--specific MD (first ID number to be
protected) is effective
$MC_PREVENT_SYNACT_LOCK_CHAN1] = 30
; in the first channel, only the channel--specific MD (last ID number to be
protected) is effective
CHANDATA(2)
$MC_PREVENT_SYNACT_LOCK_CHAN[0] = --1
; in the second channel, global machine data
; $MN_PREVENT_SYNACT_LOCK is effective
$MC_PREVENT_SYNACT_LOCK_CHAN[1] = --1
...

2.7 Control system response for synchronized actions in specific operational states
2.7 Control system response for synchronized actions in

specific operational states
2.7.1 Power On
No synchronized actions are active during power ON. Static synchronized

actions that are required to be active immediately after power ON must be
activated within an ASUB started by the PLC.
References: /FB/, P3, Basic PLC Program

/FB/, K1, Mode Group, Channel, Program Operation Mode
This arrangement can be used only on condition that SW 4 with “ASUBs in all
operating modes” functionality is installed.
Examples:
-- Adaptive Control
-- Safety Integrated, gating logic formulated by means of synchronized
actions
2.7.2 RESET
Positioning axis All positioning motions initiated from synchronized actions are aborted on
motions NC reset. Active technology cycles are reset.
ID Synchronized actions programmed locally (i.e. with ID=...) are deselected on

NC reset.
IDS Static synchronized actions (programmed with IDS = ...) remain active after
NC reset. Motions can be restarted from static actions after NC reset.

Other reactions, RESET continued

dependent on
actions
Synchronized action/ Modal and non-modal Static (IDS)

technology cycle
Active action is aborted, synchronized Active action is aborted, technology
actions are canceled cycle is reset
Axis/ Motion is aborted Motion is aborted
positioning spindle
Speed-controlled spindle $MA_SPIND_ACTIVE_AFTER_RE- $MA_SPIND_ACTIVE_AFTER_RE-
SET== TRUE: SET== TRUE:
Spindle remains active Spindle remains active
$MA_SPIND_ACTIVE_AFTER_RE- $MA_SPIND_ACTIVE_AFTER_RE-
SET==FALSE: SET==FALSE:
Spindle stops Spindle stops
Master value coupling $MC_RESET_MODE_MASK, bit13 $MC_RESET_MODE_MASK, bit13
== 1: == 1:
Master value coupling remains active Master value coupling remains active
$MC_RESET_MODE_MASK, bit13 $MC_RESET_MODE_MASK, bit13

== 0: == 0:
Master value coupling is canceled Master value coupling is canceled
Measuring operations Measuring operations started from Measuring operations started from
synchronized actions are aborted static synchronized actions are
aborted
2.7.3 NC STOP
Motions that have been started from static synchronized actions remain active
in spite of an NC STOP.
Axis motions started from modal and non-modal actions are interrupted and
then restarted by NC START. Speed-controlled spindles remain active.
Synchronized actions programmed in the current block remain active.
Example:
Set output: ... DO $A_OUT[1] = 1
2.7.4 Change in operating mode
The response differs depending on whether the relevant synchronized action is

static or programmed locally.
Synchronized actions activated by vocabulary word IDS remain active after a
change in operating mode. All other synchronized actions are deactivated in
response to an operating mode change and reactivated on switchover to
AUTO mode for repositioning.
Example:
N10 WHEN $A_IN[1] == 1 DO DELDTG
N20 G1 X10 Y 200 F150 POS[U]=350

Block N20 contains a STOP command. The operating mode is switched to

JOG. If deletion of distance-to-go was not active prior to the interruption, then
the synchronized action programmed in block N10 is reactivated when
AUTO mode is selected again and the program continued.
2.7.5 End of program
Static synchronized actions remain active after the end of program.

Modal and non-modal synchronized actions are aborted.
Static and modal synchronized actions programmed in M30 blocks remain
active.They can be aborted with CANCEL before the M30 block. Polynomial
coefficients programmed with FCTDEF remain active after the end of program.
2.7.6 Response of active synchronized actions to end of program and

change in operating mode
See Sections 2.7.4 and 2.7.5.
Synchronized action/ Modal and non-modal actions Static actions (IDS)

technology cycle are aborted remain active
Axis/ M30 is delayed until the axis / spindle Motion continues
positioning spindle is stationary.
Speed-controlled spindle End of program: Spindle remains active

$MA_SPIND_ACTIVE_AFTER_RE-
SET== TRUE:
Spindle remains active
$MA_SPIND_ACTIVE_AFTER_RE-
SET==FALSE:
Spindle stops
Spindle remains active on mode chan-

ge
Master value coupling $MC_RESET_MODE_MASK, bit13 A coupling started from a static
== 1: synchronized action remains active
Master value coupling remains active
$MC_RESET_MODE_MASK, bit13
== 0:
Master value coupling is canceled
Measuring operations Measuring operations started from Measuring operations started from
synchronized actions are aborted static synchronized actions remain
active

2.7.7 Block search
General Synchronized actions in the program which have been interpreted during the
block search are collected, but their conditions are not evaluated. No actions
are executed. Processing of synchronized actions does not commence until
NC Start.
IDS Synchronized actions that are programmed with vocabulary word IDS and
already active remain operative during the block search.
Polynomial Polynomial coefficients programmed with FCTDEF are collected with calcula-
coefficients tion during a block search, i.e. they are written to system variables.
2.7.8 Program interruption by ASUB
ASUB start Modal and static motion synchronous actions remain active and are also opera-
tive in the asynchronous subprogram (ASUB).
ASUB end If the asynchronous subprogram is not continued with REPOS, then modal and
static motion synchronous actions modified in the subprogram remain operative
in the main program.
Positioning motions started from synchronized actions respond in the same way
as to operating mode switchover:
Motions started from non-modal and modal actions are stopped and continued
with REPOS (if programmed). Motions started from static synchronized actions
continue uninterrupted.
2.7.9 REPOS
In the remainder of the block, the synchronized actions are treated in the same
way as in an interruption block.
Modifications to modal synchronized actions in the asynchronous subprogram
are not effective in the interrupted program.
Polynomial coefficients programmed with FCTDEF are not affected by ASUB
and REPOS.
The coefficients from the call program are applied in the asynchronous subpro-
gram. The coefficients from the asynchronous subprogram continue to be
applied in the call program.
If positioning motions started from synchronized actions are interrupted by the

operating mode switchover or start of the interrupt routine, then they are
continued in response to REPOS.

2.7.10 Response to alarms
Axis and spindle motions started by means of synchronized actions are decele-
rated in response to an alarm involving a motion stop instruction. All other
actions (such as “Set output”) continue to be executed.
If an alarm is activated by a synchronized action, then the action is no longer
processed in the next interpolation cycle, i.e. the alarm is output only once.
Alarms that respond with an interpreter stop only take effect once the precoded
blocks have been processed.
Processing of all other actions continues as normal.
If a technology cycle generates an alarm with motion stop, then processing of
the relevant cycle ceases.

2.8 Configuring
2.8 Configuring
2.8.1 Configurability
Number of The number of programmable synchronized action blocks depends entirely on

synchronized the configurable number of synchronized action elements. The number of
action elements storage elements for motion synchronous actions (synchronized action
elements) is defined in machine data
MD 28250: MM_NUM_SYNC_ELEMENTS.
This data can be set irrespective of the number of blocks available in the control
system, thus enabling the complexity of expressions evaluated in real time as
well as the number of actions to be set flexibly.
Use of One synchronized action element is required for each of the following:
elements
-- A comparison expression in a condition
-- An elementary action
-- The synchronized action block
Example:
A total of four elements is needed for the synchronized action block below.
WHENEVER ($AA_IM[x] > 10.5) OR ($A_IN[1]==1) DO

|________| |________________| |_______________|
Element 1 Element 2 Element 3
$AC_PARAM[0]=$AA_in[y]+1
|_________________________|
Element 4
The default setting of MD 28250: $MC_MM_NUM_SYNC_ELEMENTS is
selected such that it is possible to activate the maximum presetting for SW 3
and earlier of 16 synchronized actions.
Notice
If the user does not wish to program any synchronized actions, then he can
reset the value in MD 28250: MM_NUM_SYNC_ELEMENTS to 0 so as to save
approximately 16 KB of DRAM memory.
Display The status display for synchronized actions (see Section 2.9) indicates how
much of the memory provided for synchronized actions is still available. This
status can also be read from synchronized actions in variable
$AC_NUM_SYNC_ELEM.
Alarm An alarm is generated if all available elements are used up during program
execution.The user can respond by increasing the number of synchronized
action elements or by modifying his program accordingly.

2.8 Configuring
Number of The number of programmable FCTDEF functions for each block can be
FCTDEF functions configured via machine data
MD 28252: MM_NUM_FCTDEF_ELEMENTS.
The default setting for all control types is 3.
For control-specific maximum values, please refer to
References: /LIS/, Lists.
Interpolation cycle The time required on the interpolation level increases with the number of syn-
chronized actions programmed. It may be necessary for the start-up engineer to
lengthen the interpolation cycle accordingly.
Guide values for As a guide, individual times required to perform operations within synchronized
lengthening inter- actions (measured on an 840D with NCU 573.x) are given below:
polation cycle Times may be different for other control types.
NC language Time required

Total Text in bold print
Basic load for a synchronized action
if condition is not fulfilled: 10 μs ~10 μs
WHENEVER FALSE DO $AC_MARKER[0]=0
Read variable: 11 μs ~1 μs
WHENEVER $AA_IM[Y]>10 DO $AC_MARKER[0]=1
Write variable: 11--12 μs ~1--2 μs
DO $R2=1
Read/write setting data: 24 μs ~14 μs
DO $$SN_SW_CAM_MINUS_POS_TAB_1[0]=20
Basic arithmetic operations, e.g. multiplication: 22 μs ~12 μs
DO $R2=$R2*2
Trigonometric functions (e.g. cos): 23 μs ~13 μs
DO $R2=COS($R2)
Start positioning axis motion: 83 μs ~73 μs
WHEN TRUE DO POS[z]=10

08.97
2.9 Diagnostics (with MMC 102/MMC 103 only)
Diagnostic The following special test tools are provided for diagnosing synchronized
functionality actions:
S Status display
S The current values of all synchronized action variables can be displayed.
(display real-time variables)
S Characteristics of variables can be recorded in the interpolation cycle grid.

(log real-time variables)
This functionality is structured in the operator interface in the following way:
Display status of synchronized actions
Log real-time
Display real-time variables variables
Definition of views:
-- Scope (which variables) Definition of logs:
-- Representation mode -- Compile list of values
to be logged
-- Define sampling cycle
-- Define log file size
Management of views
Start log
Display real-time variables

of a view Management of logs
Display log
Display values
graphically as time
characteristics
Fig. 2-11 Functionality of test tools for synchronized actions
For a description of how to operate these functions, please refer to:

References: /BA/, Operator’s Guide

08.97
2.9.1 Display status of synchronized actions
Status display The status display contains the following information:
S Current extract of selected program

All programmed synchronized actions according to:
S Line number
S Code denoting synchronized action type
S ID number of synchronized action (for modal actions)
S Status
Synchronized Synchronized actions are categorized as follows:

action type
-- ID Modal synchronized action
-- IDS Static modal synchronized action
-- Non-modal synchronized action for next executable block
(in AUTOMATIC mode only)
Status The following status conditions might be displayed:
S No status: The condition is checked in the interpolation cycle
S Disabled LOCK has been set for the synchronized action
S Active Execution of action currently in progress. If the action

consists of a technology cycle, the current line number
in the cycle is also displayed.
Complete synchro- A search function can be used to display the originally programmed line in
nized actions NC language for each displayed synchronized action.
2.9.2 Display real-time variables
System variables can be monitored for the purpose of monitoring synchronized

actions. Variables which may be used in this way are listed for selection by the
user.
A complete list of individual system variables with ID code W for write access
and R for read access for synchronized actions can be found in:
References: /PGA/, Programming Guide Advanced, Appendix
Views “Views” are provided to allow the user to define the values which are relevant for
a specific machining situation and to determine how (in lines and columns, with
what text) these values must be displayed. Several views can be arranged in
groups and stored in correspondingly named files.

Managing views A view defined by the user can be stored under a name of his choice and then
called again. Variables included in a view can still be modified (Edit View).
Displaying real- The values assigned to a view are displayed by calling the corresponding user-
time variables of defined view.
a view
2.9.3 Log real-time variables
Initial situation To be able to trace events in synchronized actions, it is necessary to monitor the
action status in the interpolation cycle.
Method The values selected in a log definition are written to a log file of defined size in
the specified cycle. Special functions for displaying the contents of log files are
provided.
Value
Signal
IPO cycle
MMC
Logging OFF,
transfer to MMC
Log file Circular buffer

3--50 KB
Logging ON
Values/signals
Value Log definition
Signal
NCK
Interpolation cycle
Fig. 2-12 Schematic representation of “Log real-time variables” process
Operation For information about operating the logging function, please refer to:
References: /BA/, Operator’s Guide

Log definition The log definition can contain up to 6 specified variables. The values of these
variables are written to the log file in the specified cycle. A list of variables which
may be selected for logging purposes is displayed. The cycle can be selected in
multiples of the interpolation cycle. The file size can be selected in KB. A log
definition must be initialized before it can be activated on the NCK for the
purpose of acquiring the necessary values.
Log file size Values ranging between 3 KB (minimum) and 50 KB (maximum) can be
selected as the logging file size.
Storage method When the effective log file size has been exceeded, the oldest entries are over-
written, i.e. the file works on the circular buffer principle.
Starting logging Logging according to one of the initialized log definitions is started by
-- an operator input or
-- setting of system variable $A_PROTO=1 from the part program
The starting instant must be selected such that the variables to be logged are
not altered until operations on the machine have been activated. The start point
refers to the last log definition to be initialized.
Stopping logging This function terminates the acquisition of log data in the NCK. The file con-
taining the logged data is made available on the MMC for storage and evalua-
tion (graphic log). Logging can be stopped by
-- an operator input or
-- setting of system variable $A_PROTO=0 from the part program
“Graphic log” The measured values (up to 6) of a log are represented graphically as a func-
function tion of the sampling time. The names of variables are specified in descending
sequence according to the characteristics of their values. The screen display is
arranged automatically. Selected areas of the graphic can be zoomed.
Notice
Graphic log representations are also available as text files on the MMC 102. An
editor can be used to read the exact values of a sampling instant (values with
identical count index) numerically.
Management of Several log definitions can be stored under names of the user’s choice. They
logs can be called later for initialization and start of recording or for modification and
deletion.
J

03.96
3 Supplementary Conditions
Supplementary Conditions 3
Availability/ The scope of performance provided by the “Synchronized actions” function
scope of package depends on the following:
performance
S The type of SINUMERIK control system
-- HW
-- SW (export / standard versions)
S The availability of functions that can be initiated by “Actions”:

-- Standard functions
-- Functions that are available as options
The performance of control systems and their variants as well as functions
supplied as options are described in catalogs specific to the SW version:
References: /BU/, Ordering Information, Catalog NC60.1 and in
/LIS/, Lists
The functions associated with synchronized actions are also dependent on
S the list of system variables that can be read/written from synchronized

actions including machine and setting data.
-- The number of available system variables depends on the SW version
installed.
System variables that may be used in conjunction with specific SW versions are
described in:
References: /PGA/, Programming Guide Advanced, Appendix
(for the relevant SW version)
Extensions in The following extensions have been introduced with SW 4:

SW 4
S Diagnostic facilities for synchronized actions
S Availability of additional real-time variables
S Complex conditions in synchronized actions
-- Basic arithmetic operations
-- Functions
-- Indexing with real-time variables
-- Access to setting and machine data
-- Logic operators
S Configurability
-- Number of simultaneously active synchronized actions
-- Number of special variables for synchronized actions
S Activate command axes/axis programs/technology cycles from syn-

chronized actions

08.97
3 Supplementary Conditions
S PRESET from synchronized actions

S Couplings and coupled axes from synchronized actions
-- Activation
-- Deactivation
-- Parameterization
S Use of measuring functions from synchronized actions

S SW cams
-- Redefinition of position
-- Redefinition of lead times
S Deletion of distance-to-go without preprocessing stop

S Static synchronized actions (modes other than AUTO possible)
S Synchronized actions:
-- Protection against overwriting and deletion
-- Stopping, continuing, deleting
-- Resetting technology cycles
-- Parameterizing, enabling and disabling from PLC
S Overlaid motion/optimized clearance control

S Coordinating channels from synchronized actions
S Starting ASUBs from synchronized actions
S Non-modal auxiliary function outputs
S All necessary functions for Safety Integrated for formulation of requisite
safety-oriented logic operations, protected against changes.
S 16 Synchronized actions are included in the basic version
Extensions in The following extensions have been introduced with SW 5:

SW 5
S Synchronized actions which can be tagged for the PLC
S Availability of additional real-time variables
S Access to PLC I/O (option)
S 255 parallel synchronized actions per channel are possible with the option
“Synchronized actions step 2”.
S Static synchronized actions IDS that are active beyond the program end
and are effective in all operating mode are possible using the option “Inter-
mode group actions, ASUBs and synchronized actions”.
J

08.02
4.1 General machine data
Data Descriptions (MD, SD) 4

4.1 General machine data
11500 PREVENT_SYNACT_LOCK
MD number Protected synchronized actions
Default setting: 0, 0 Min. input limit: 0 Max. input limit: 255
Changes effective after power ON Protection level: 2 / 7 Unit: --
Data type: DWORD Applies from SW version: 4.1
Significance: First and last ID of a protected synchronized action area.
Synchronized actions with IDs within this area cannot be overwritten or disabled in the
program (NC: CANCEL, LOCK). Neither can protected synchronized actions be disabled
(LOCK) by the PLC.
Typical application: The machine manufacturer defines safety logic in an asynchronous
subprogram. This logic is started by the PLC during power ON. The range of IDs used is
locked out via this machine data, thus preventing the end customer from modifying or
deactivating the safety logic integrated by the machine manufacturer.
Note: Protection for synchronized actions must be canceled while actions to be protected
are being defined or else power ON will have to be executed for every alteration to allow
redefinition of the logic.
A setting of 0.0 means that no synchronized actions are protected, i.e. the function is not
switched on. The values are read as absolute values. Upper and lower values can be
specified in any sequence.
The configuring can be changed if necessary using the channel--specific
MD 21240: PREVENT_SYNACT_LOCK_CHAN.
Related to .... MD 21240: PREVENT_SYNACT_LOCK_CHAN

08.97
4.2 Channel-specific machine data
21240 PREVENT_SYNACT_LOCK_CHAN
MD number Protected synchronized actions for channel
Default setting: --1, --1 Min. input limit: --1 Max. input limit: 255
Significance: First and last ID of a protected synchronized action area.
Synchronized actions with IDs within this area cannot be overwritten or disabled in the
program (NC: CANCEL, LOCK). Neither can protected synchronized actions be disabled
(LOCK) by the PLC.
The range of IDs used is locked out via this machine data, thus preventing the end custo-
mer from modifying or deactivating the safety logic integrated by the machine manufactu-
rer.
Note: Protection for synchronized actions must be canceled while actions to be protected
are being defined or else power ON will have to be executed for every alteration to allow
redefinition of the logic.
A setting of 0.0 means that no synchronized actions are protected, i.e. the function is not
switched on. The values are read as absolute values. Upper and lower values can be
specified in any sequence.
--1, --1 indicates that the ID numbers programmed for the channel with
MD 11500: PREVENT_SYNACT_LOCK shall apply.
Related to .... MD 11500: PREVENT_SYNACT_LOCK
28250 MM_NUM_SYNC_ELEMENTS
MD number Number of elements for expressions in synchronized actions
Default setting: 159 Min. input limit: 0 Max. input limit: 2000
Significance: The components of synchronized actions are stored in elements for storage in the control
system. An action requires a minimum of 4 elements. Elements required by components
are as follows:
-- Each operand in the condition 1 element
-- Each action >= 1 element
-- Each assignment 2 elements
-- Every further operand in complex
expressions 1 element.
One element uses approximately 64 bytes of memory.
Further references Programming Guide Advanced

06.01
28252 MM_NUM_FCTDEF_ELEMENTS
MD number Number of FCTDEF elements
Significance: Storage elements are required to store functions in the control system for use by synchro-
nized actions. This MD determines the number of these elements.
28254 MM_NUM_AC_PARAM
MD number Number of $AC_PARAM parameters
Default setting: 50 Min. input limit: 0 Max. input limit: 10000,
As of SW 6.3: 20000
Significance: Number of channel-specific $AC_PARAM parameters for synchronized actions
28255 MM_BUFFERED_AC_PARAM
MD number Storage location for $AC_PARAM
Significance: The $AC_PARAM system variables can be saved either:
0: in dynamic (default)
1: in static SRAM
System variables saved in SRAM retain their current values after RESET and Power On.
They can be included in the data backup.
Related to .... MM_NUM_AC_PARAM
Further references /IAD/, Installation and Start--Up Guide
28256 MM_NUM_AC_MARKER
MD number Number of $AC_MARKER markers
Default setting: 8 Min. input limit: 0 Max. input limit: 10000,
As of SW 6.3: 20000
Significance: Number of channel-specific $AC_MARKER markers for synchronized actions
28257 MM_BUFFERED_AC_MARKER
MD number Storage location for $AC_MARKER
Data type: Applies from SW version: 6.3
Significance: You can save the system variables $AC_MARKER either:
0: in dynamic DRAM (default)
1: in static SRAM
System variables saved in SRAM retain their current values after RESET and Power On.
They can be included in the data backup.
Related to .... MM_NUM_MARKER
Further references /IAD/, Installation and Start--Up Guide

28258 MM_NUM_AC_TIMER
MD number Number of $AC_TIMER time variables
Significance: Number of channel-specific $AC_TIMER time variables for synchronized actions
28260 NUM_AC_FIFO
MD number Number of $AC_FIFO1, $AC_FIFO2, ... variables
Changes effective after power ON Protection level: 2 / / Unit: --
Significance: Number of FIFO variables, $AC_FIFO1 to $AC_FIFO10, for synchronized actions.
Application example(s) FIFO variables can be used, for example, to track products: Information (e.g. product
length) can be buffered for each part on a conveyor belt in a separate FIFO variable.
Related to .... MD 28262: START_AC_FIFO
28262 START_AC_FIFO
MD number Store FIFO variables from R parameter
Significance: Number of R parameter at start of FIFO variable storage area.
All R parameters with low numbers can be used as required in the part program.
R parameters above the FIFO range cannot be written from the part program.
The number of R parameters must be set in machine data
MD 28050: $MC_MM_NUM_R_PARAM such that there is space to store
all FIFO variables from the R parameter at the start of the FIFO area:
$MC_MM_NUM_R_PARAM=$MC_START_FIFO + $MC_NUM_AC_FI-
FO*($MC_LEN_AC_FIFO+6)
The FIFO variable names are $AC_FIFO1 to $AC_FIFOn.
They have been set up as fields.
Indices 0 -- 5 have special meanings:
n= 0: When a variable is written with index 0, a new value is stored in the
FIFO. When a variable is read with index 0, the oldest element is deleted
from the FIFO.
n=1: Access to first element to be read in
n=2: Access to last element to be read in
n=3: Sum of all FIFO elements
n=4: Number of elements available in FIFO
n=5: Current write index relative to beginning of FIFO
Related to .... MD 28260: NUM_AC_FIFO
28264 LEN_AC_FIFO
MD number Length of $AC_FIFO ... FIFO variables
Significance: Length of FIFO variables $AC_FIFO1 to $AC_FIFO10.
All FIFO variables in one channel are of the same length.
Related to .... MD 28262, MD 28260

28266 MODE_AC_FIFO
MD number FIFO processing mode
Default setting: 0 Min. input limit: 0 Max. input limit: ***
Data type: BYTE Applies from SW version: 4.1
Significance: FIFO processing mode:
Bit 0 = 1: The sum of all FIFO contents is generated on every write access
operation.
Bit 0 = 0: No summation
Related to .... MD 28260: NUM_AC_FIFO

08.97
4.3 Axis/spindle-specific machine data
30450 IS_CONCURRENT_POS_AX
MD number Competing positioning axis
Changes effective after power ON Protection level: 2 / 7 Unit: 1
Data type: Boolean Applies from SW version: 1
Significance: This axis is a competing positioning axis.
From SW4.3 (not FM--NC):
If FALSE: At RESET a neutral axis becomes channel axis again.
If TRUE: At RESET a neutral axis remains in the neutral axis state, and a channel axis
becomes neutral axis.
Further references Starting the command axes see Section 2.4.12
32070 CORR_VELO
MD number Axis speed for handwheel, ext. ZO, cont. dressing, clearance control
Default setting: 100 Min. input limit: 0 Max. input limit: Plus
Changes effective after power ON Protection level: 2 / 7 Unit: %
Significance: Limitation of axis velocity for handwheel override, external zero offset, continuous dres-
sing, clearance control $AA_OFF via synchronized actions referred to JOG velocity
MD: JOG_VELO, MD: JOG_VELO_RAPID,
MD: JOG_REV_VELO, MD: JOG_REV_VELO_RAPID.
The maximum permissible velocity corresponds to the maximum velocity setting in
MD: MAX_AX_VELO. The limitation is applied at this value. An alarm is generated if this
maximum setting is exceeded.
Conversion to linear or rotary axis velocity is carried out in accordance with
MD: IS_ROT_AX.
Application example(s) Limitation of velocity for traversal of overlaid motions.

32074 FRAME_OR_CORRPOS_NOTALLOWED
MD number Effectiveness of frames and tool length compensation
Default setting: 0 Min. input limit: 0 Max. input limit: 0xFF
Significance: The effectiveness of frames and tool length compensations with respect to indexing axes,
PLC axes and command axes started from synchronized actions is programmed in this
machine data.
Bit == 0: Frame or compensation values are permitted
Bit assignment:
Bit 0 == 1: Programmed zero offset (TRANS) is not permitted with respect to
indexing axis.
Bit 1 == 1: Scale modification (SCALE) not permitted for indexing axis.
Bit 2 == 1: Direction reversal (MIRROR) not permitted for indexing axis
Bit 3 == 1: DRF offset not permitted for axis
Bit 4 == 1: External zero offset not permitted for axis
Bit 5 == 1: Online tool offset not permitted for axis
Bit 6 == 1: Synchronized action offset not permitted for axis
Bit 7 == 1: Compile cycle offset not permitted for axis
Bit 8 == 1: Axial frames are operative with respect to PLC axes

Bit 8 == 0: Axial frames are NOT operative with respect
to PLC axes
(bit evaluation is such for reasons of compatibility)
Bit 9 == 1: Axial frames are not operative with respect to

command axes
Bit 9 == 0: Axial frames are not operative with respect to
command axes
32920 AC_FILTER_TIME
MD number Filter smoothing constant for Adaptive Control
Default setting: 0.0 Min. input limit: 0.0 Max. input limit: Plus
Changes effective after power ON Protection level: 2/7 Unit: s
Data type: DOUBLE Applies from SW version: 2.1
Significance: The following actual drive values can be acquired by means of main run variables
$AA_LOAD, $AA_POWER, $AA_TORQUE and $AA_CURR:
-- Drive load
-- Active drive power
-- Drive torque setpoint
-- Actual current value of axis or spindle
Measured values can be smoothed via a PT1 filter in order to eliminated peaks. The filter
time constant is defined in MD: AC_FILTER_TIME (filter smoothing time constant for
Adaptive Control).
The PT1 filter acts in addition to the filters integrated in the 611-D with respect to the drive
torque setpoint or actual current value. The two filters are connected in series if both
heavily and weakly smoothed values are required in the system.
An input of a 0 second smoothing time deactivates the filter.
MD irrelevant for ...... FM-NC with 611A
Application example(s) Smoothing of actual current value for AC Control.

12.97
04.00
08.97
4.4 Setting data
36750 AA_OFF_MODE
MD number Effect of value assignment for axial override with synchronized actions
Changes effective after power ON Protection level: 2/7 Unit: --
Data type: BYTE Applies from SW version: 3.2 (As of SW 6 bits 1
and 2)
Significance: Main run variable $AA_OFF allows an overlaid motion for the programmed axis to be
implemented within a synchronized action.
The mode of calculation is defined in axial MD: AA_OFF_MODE, the type of application is
defined as follows:
Bit0: effect of tool assignment within a synchronized variable: As of SW 3.2:

Bit0 = 0: absolute value
Bit0 = 1: incremental value (integrator)
Bit1: response of $AA_OFF in the case of a reset

Bit1 = 0: $AA_OFF is deselected in the case of a reset
Bit1 = 1: $AA_OFF is retained beyond the reset (as of SW 6)
Bit2: $AA_OFF in JOG mode

Bit2 = 0: no overlaid movement on the basis of $AA_OFF
Bit2 = 1: overlaid movement is interpolated on the basis of $AA_OFF (as of SW 6)
Application example(s) S Clearance control for laser machining (integral)

S Joystick-controlled axis traversal (proportional)
4.4 Setting data
43350 AA_OFF_LIMIT
MD number Upper limit of compensation value for $AA_OFF clearance control
Default setting: 1.0 Ex+8 Min. input limit: 0 Max. input limit: ***
Changes effective immediately Protection level: 2 / 7 Unit: mm/degrees
Data type: DOUBLE Applies from SW version: 4.2
Significance: Upper limit of compensation value that can be preset from synchronized actions by
means of variable $AA_OFF.
The limit value is applied to the effective absolute amount of compensation.
Application for clearance control in laser machining operations: The compensation value
is limited to prevent the laser head from becoming trapped in metal blanks.
System variable $AA_OFF_LIMIT can be scanned to determine whether the compensa-
tion value is within the limit range.

5 Signal Descriptions
Signal Descriptions 5
Signals from
NCK channel
Channel 3
Channel 2
Channel 1
M, S, H fct.
modification
M fcts. 1--5 not included in list
M fcts. 1--5
Extended addr. M fcts. 1--5
Dynamic
M functions: M0-M99
S fcts. 1--3
Extended addr. S fcts. 1--3
H fcts. 1--3
Extended addr. H fcts. 1--3
F fcts. 1--6
Extended addr. F fcts. 1--6
Fig. 5-1 PLC interface signals for synchronized actions
The signals generated by auxiliary function outputs from synchronized actions

correspond to those described in
References: /FB/, H2, Output of Auxiliary Functions to PLC.

08.97
5 Signal Descriptions
Signals to channel The PLC application program uses signals

DB 21--30 DBB 300 bit 0 to
DB 21--30 DBB 307 bit 7
to request disabling of the assigned synchronized actions. In this case,
DBB 300 bit 0 corresponds to the first modal synchronized action (ID=1/IDS=1)
and
DBB 307 bit 7 to the 64th modal synchronized action (ID=64/IDS=64).
Notice
Only the instance (NCK or PLC) which initiated a disable can cancel the
disable again.
Signals from The channel uses signals

channel DB 21--30 DBB 308 bit 0 to
DB 21--30 DBB 315 bit 7
to indicate to the PLC user program which synchronized actions can be dis-
abled by the PLC. In this case,DBB 308 bit 0 corresponds to the first modal
synchronized action (ID=1/IDS=1) and
DBB 315 bit 7 to the 64th modal synchronized action (ID=64/IDS=64).
Disable all syn- Global signal

chronized actions
DB21--30 DBB1 bit 2
disables all modal/static synchronized actions as long as they are not

protected.
Disable selected DB 21 -- 30 DBX280.1

synchronized From the synchronized actions that are marked as possible to disable in DB 21
actions -- 30 DBB 308 bit 0 to DB 21 -- 30 DBB 315 bit 7, disable the ones in
DB 21 -- 30 DBB 300 bit 0 to DB 21 -- 30 DBB 307 bit 7 that have been marked
to be disabled by means of the set bit.
Synchronized DB 21 -- 30 DBX281.1
actions disabled The NCK confirms that the requested synchronized actions have been
disabled.
J

6.1 Examples of conditions in synchronized actions
Examples 6
6.1 Examples of conditions in synchronized actions
Path distance from Axial distance from block end: 10 mm or less (workpiece coordinate system):
end of block ... WHEN $AC_DTEW <= 10 DO ...
G1 X10 Y20
Axis distance from ... WHEN $AA_DTEW[X]<= 10 DO ...

end of path POS[X]= 10
Path distance from Path 20 mm or more after start of block in basic coordinate system:
start of block ...WHEN $AC_PLTBB >= 20 DO ...
Condition with Actual value for axis Y in MCS greater than 10 x sine of value in R10:
function in ... WHEN $AA_IM[y] > 10*SIN(R10) DO ...
comparison
Step-by-step Every time input 1 is set, the axis position is advanced by one step. The input
positioning must be reset again to allow cold restarting of the system.
G91
EVERY $A_IN[1]==1 DO POS[X]= 10
OVR in every inter- In order to selectively disable a path motion until a programmed signal arrives,
polation cycle $AC_OVR must be set to zero in every interpolation cycle (keyword
WHENEVER).
WHENEVER $A_IN[1]==0 DO $AC_OVR= 0
Other system The list of system variables that can be read in synchronized actions contained
variables in
References: /PGA/, Programming Guide Advanced and in
Section 2.3.8.
describes the full range of quantities that can be evaluated in the conditions of
synchronized actions.

08.97
6.2 Reading and writing of SD/MD from synchronized actions
6.2 Reading and writing of SD/MD from synchronized

actions
Infeed and oscilla- Setting data whose values remain unchanged during machining are addressed
tion for grinding in the part program by their usual names.
operations Example: Oscillation from synchronized actions
NC language Remarks
N610 ID=1 WHENEVER $AA_IM[Z]>$SA_OSCILL_REVERSE_POS1[Z]
DO $AC_MARKER[1]=0
;Whenever the current position of the reciprocating
;axis
;in the machine coordinate system is
;less than the start of reversal area 2,
;then set the axial override of the
; infeed axis to 0
N620 ID=2 WHENEVER $AA_IM[Z]<$SA_OSCILL_REVERSE_POS2[Z]--6

DO $AA_OVR[X]=0 $AC_MARKER[0]=0
;axis in the machine coordinate system
;is equal to reverse position 1,
; reciprocating axis to 0
;and set the axial override of the
; infeed axis to 100% (this cancels the
; previous synchronized
; action!)
N630 ID=3 WHENEVER $AA_IM[Z]==$SA_OSCILL_REVERSE_POS1[Z]
DO $AA_OVR[Z]=0 $AA_OVR[X]=100
;Whenever the distance to go of the partial infeed
;is equal to 0,
;then set the axial override of the reciprocating
; axis to 100% (this cancels the
; previous synchronized action!)
N640 ID=4 WHENEVER $AA_DTEPW[X]==0
DO $AA_OVR[Z]=100 $AC_MARKER[0]=1 $AC_MARKER[1]=1
N650 ID=5 WHENEVER $AC_MARKER[0]==1 DO $AA_OVR[X]=0
;axis in the workpiece coordinate system
; reciprocating axis to 100%
; infeed axis to 0 (this cancels the
; second synchronized
; action!)

05.98
6.2 Reading and writing of SD/MD from synchronized actions
N670 ID=7 WHEN $AA_IM[Z]==$SA_OSCILL_REVERSE_POS1[Z]

Setting data whose value may change during machining (e.g. through an opera-
tor input or synchronized action) must be programmed with $$S... :
Example: Oscillation from synchronized actions with alteration of oscillation

position via operator interface
N610 ID=1 WHENEVER $AA_IM[Z]>$$SA_OSCILL_REVERSE_POS1[Z] DO $AC_MARKER[1]=0
;is less than the start of reversal area 2,
; infeed axis to 0
N620 ID=2 WHENEVER $AA_IM[Z]<$$SA_OSCILL_REVERSE_POS2[Z]--6
DO $AA_OVR[X]=0 $AC_MARKER[0]=0
; reciprocating axis to 0
; infeed axis to 100% (this cancels the
; action!)
N630 ID=3 WHENEVER $AA_IM[Z]==$$SA_OSCILL_REVERSE_POS1[Z]
;Whenever the distance to go of the partial infeed
;is equal to 0,
; reciprocating axis to 100% (this cancels
; action!)
N640 ID=4 WHENEVER $AA_DTEPW[X]==0
DO $AA_OVR[Z]=100 $AC_MARKER[0]=1 $AC_MARKER[1]=1
;Whenever the current position of the reciprocating axis in the
;workpiece coordinate system
; reciprocating axis to 100%
; infeed axis to 0 (this cancels the
; second synchronized
; action!)
N670 ID=7 WHEN $AA_IM[Z]==$$SA_OSCILL_REVERSE_POS1[Z]

6.3 Examples of adaptive control
General procedure The following examples use the polynomial evaluation function SYNFCT().
1. Representation of relationship between input value and output value (real-
time variables in each case)
2. Definition of this relationship as polynomial with limitations
3. With position offset: Setting of MD and SD
-- MD 36750: $AA_OFF_MODE
-- SA 43350: $SA_AA_OFF_LIMIT (optional)
4. Activation of the control in a synchronized action
6.3.1 Clearance control with variable upper limit
Example of poly- For the purpose of clearance control, the upper limit of the output ($AA_OFF,
nomial with dyn. override value in axis V) is varied as a function of the spindle override (analog
upper limit input 1). The upper limit for polynomial 1 is varied dynamically as a function of
analog input 2.
Polynomial 1 is defined directly via system variables:
$AA_OFF[V] Adaptation range of

upper limit
0.5
$AC_FCTUL[1]
$AC_FCT1[1]
0.35 1
$AC_FCT0[1]
0.2
$A_INA[1]
Fig. 6-1 Clearance control with variable upper limit

$AC_FCTLL[1]=0.2 ; lower limit

$AC_FCTUL[1]=0.5 ; start value for upper limit
$AC_FCT0[1]=0.35 ; zero crossover a0
$AC_FCT1[1]=1.5 EX--5 ; pitch a1
STOPRE ; see following note
...
ID=1 DO $AC_FCTUL[1]=$A_INA[2]*0.1+0.35 ; adapt upper
; limit dynamically via
; analog input 2, no condition
ID=2 DO SYNFCT(1, $AA_OFF[V], $A_INA[1])
; clearance control by means of override
; no condition
...
Notice
When system variables are applied in the part program, STOPRE must be
programmed to ensure block-synchronous writing. The following is an
equivalent notation for polynomial definition:
FCTDEF(1, 0.2, 0.5, 0.35, 1.5EX--5).
6.3.2 Feed control
Example of A process quantity (measured via $A_INA[1] ) must be regulated to 2 V through

Adaptive Control an additive control factor implemented by a path (or axial) feed override.
with an analog Feedrate override shall be performed within the range of 100 [mm/min].
input voltage
Path and axial

feedrate override
$AC_VC
$AA_VC[AX]
Unit
e.g. mm/min
+ 200
ULIMIT
a0 + 100
1V 2V 3V Analog input
$A_INA[1]
Unit: V
LLIMIT
-- 100
Fig. 6-2 Diagram illustrating Adaptive Control
Determination of coefficients:

y = f(x) = a0 + a1x +a2x2 + a3x3

100 mm
a1 = --
1 min ¡ 1 V
a1 = --100 % control constant, lead
a0 = --(--100) ¡ 2 = 200
Upper limit = 100
Lower limit = --100
FCTDEF( polynomial no.,

LLIMIT,
ULIMIT,
a0, ; y for x = 0
a1, ; pitch
a2, ; square component
a3 ) ; cubic component
With the values determined above, the polynomial is defined as follows:
FCTDEF(1, --100, 100, 200, --100, 0, 0)
The following synchronized actions can be used to activate the Adaptive Con-
trol functionfor the axis feedrate:
ID = 1 DO SYNFCT(1, $AA_VC[X], $A_INA[1])
or for the path feedrate:
ID = 2 DO SYNFCT(1, $AC_VC, $A_INA[1])

6.3.3 Control velocity as a function of normalized path
Multiplicative The normalized path is applied as an input quantity: $AC_PATHN.

adaptation 0: At block beginning
1: At block end
Variation quantity $AC_OVR must be controlled as a function of $AC_PATHN
according to a 3rd-degree polynomial. The override must be reduced from 100
to 1% during the motion.
Override
$AC_OVR
100
Upper limit 100
50
Lower limit 1
0
0.2 0.4 0.6 0.8 1
Path parameter
$AC_PATHN
Fig. 6-3 Regulate velocity continuously
Polynomial 2:
Lower limit: 1
Upper limit: 100
a0: 100
a1: --100
a2: --100
a3: Not used
With these values, the polynomial definition is as follows:
FCTDEF(2, 1, 100, 100, --100, --100)
; activation of variable override as a function of path:
ID= 1 DO SYNFCT(2, $AC_OVR, $AC_PATHN)

G01 X100 Y100 F1000

6.4 Monitoring of a safety clearance between two axes
6.4 Monitoring of a safety clearance between two axes
Task Axes X1 and X2 operate two independently controlled transport devices used to
load and unload workpieces.
To prevent the axes from colliding, a safety clearance must be maintained
between them.
If the safety clearance is violated, then axis X2 is decelerated. This interlock is
applied until axis X1 leaves the safety clearance area again.
If axis X1 continues to move towards axis X2, thereby crossing a closer safety
barrier, then it is traversed into a safe position.
NC language Remarks
ID=1 WHENEVER $AA_IM[X2] -- $AA_IM[X1] < 30 DO $AA_OVR[X2]=0 ; safety barrier
ID=2 EVERY $AA_IM[X2] -- $AA_IM[X1] < 15 DO POS[X1]=0 ; safe position
6.5 Store execution times in R parameters
Task Store the execution time for part program blocks starting at R parameter 10.
Program Remarks
; The example is as follows without symbolic programming:
IDS=1 EVERY $AC_TIMEC==0 DO $AC_MARKER[0] = $AC_MARKER[0] + 1
; advance R parameter pointer on block change
IDS=2 DO $R[10+$AC_MARKER[0]] = $AC_TIME

; write current time from block start in each case
; to R parameter
; The example is as follows with symbolic programming:

DEFINE INDEX AS $AC_MARKER[0] ; declarations for symbolic programming
IDS=1 EVERY $AC_TIMEC==0 DO INDEX = INDEX + 1 ; advance R parameter pointer on block change
IDS=2 DO $R[10+INDEX] = $AC_TIME

; write current time from block start in each case
; to R parameter

6.6 “Centering” with continuous measurement
Introduction The gaps between gear teeth are measured sequentially. The gap dimension is
calculated from the sum of all gaps and the number of teeth. The center posi-
tion sought for continuation of machining is the position of the first measuring
point plus 1/2 the average gap size. The speed for measurement is selected
such that one measured value can be reliably acquired in each interpolation
cycle.
Probe 2
1 Falling edge, beginning of gap
1 2 Rising edge, end of gap
Fig. 6-4 Diagrammatic representation of measurement of gaps between gear teeth
%_N_MEAC_MITTEN_MPF
;measure using rotary axis B (BACH) with display of difference between measured values
;****** Define local user variables ***

N1 DEF INT NO.TEETH ; input no. of gear wheel teeth
N5 DEF REAL HYS_POS_EDGE ; hysteresis positive edge probe
N6 DEF REAL HYS_NEG_EDGE ; hysteresis negative edge probe
;********** Define code name for synchronization marker ***********
define M_TEETH as $AC_MARKER[1] ; ID marker for calculation: neg/pos edge per tooth
define Z_MW as $AC_MARKER[2] ; read out ID counter MW FIFO
define Z_RW as $AC_MARKER[3] ; ID counter MW calculation tooth gaps

;****** Input values for GEAR WHEEL MEASUREMENT *******

N50 NO.TEETH=26 ; input no. of gear wheel teeth to be measured
N70 HYS_POS_EDGE = 0.160 ; hysteresis positive edge probe
N80 HYS_NEG_EDGE = 0.140 ; hysteresis negative edge probe
Start: ;******* assign variables ************************

R1=0 ; ID2 result of computation gap dimension
R2=0 ; ID2 result of computation addition of all gaps
R3=0 ; content of first element read in
R4=0 ; R4 corresponds to distance between teeth
R5=0 ; gap position calculated, end result
R6=1 ; activate ID 3 BACH with MOV
R7=1 ; activate ID 5 MEAC
M_TEETH=NO.TEETH*2 ; calculate ID neg./pos. edge per tooth
Z_MW=0 ; read out ID counter MW FIFO until no. of teeth
Z_RW=2 ; ID counter calculate difference in tooth gaps
R13=HYS_POS_EDGE ; hysteresis in calc. register
R14=HYS_NEG_EDGE ; hysteresis in calc. register
;******* Traverse axis, measure, calculate **********
N100 MEAC[BACH]=(0) ; reset measuring job
;reset FIFO1[4] variables and ensure a defined measurement trace
N105 $AC_FIFO1[4]=0 ; reset FIFO1
STOPRE
; ******* Read out FIFO until no. of teeth reached *****
; if FIFO1 is not yet empty and not all teeth have been measured, relocate measured value from FIFO variable
; to synchronized action parameter and increase measured value counter
ID=1 WHENEVER ($AC_FIFO1[4]>=1) AND (Z_MW<M_TEETH)

DO $AC_PARAM[0+Z_MW]=$AC_FIFO1[0] Z_MW=Z_MW+1
; if 2 measured values are available, start to calculate. Calculate gap dimension ONLY and total gap
; increment calculated value counter by 2
ID=2 WHENEVER (Z_MW>=Z_RW) AND (Z_RW<M_TEETH)

DO $R1=($AC_PARAM[--1+Z_RW]--$R13)--($AC_PARAM[--2+Z_RW]--$R14) Z_RW=Z_RW+2 $R2=$R2+$R1
; ****** Activate axis BACH as endlessly turning rotary axis with MOV *********
WAITP(BACH)
ID=3 EVERY $R6==1 DO MOV[BACH]=1 FA[BACH]=1000 ; activate
ID=4 EVERY $R6==0 and ($AA_STAT[BACH]==1) DO MOV[BACH]=0 ; deactivate
; measure in succession, store in FIFO 1, MT2 neg, MT2 pos edge
; the distance between 2 teeth falling edge ... rising edge, probe 2, is measured
N310 ID=5 WHEN $R7==1 DO MEAC[BACH]=(2, 1, --2, 2)
N320 ID=6 WHEN (Z_MW>=M_TEETH) DO MEAC[BACH]=(0) ; abort measurement
M00
STOPRE
; ******* Fetch FIFO values and store ***

N400 R3=$AC_PARAM[0] ; content of first element to be read in
; reset FIFO1[4] variable and ensure
; a defined measurement trace for next measurement job
N500 $AC_FIFO1[4]=0
; ******* Calculate difference between individual teeth

N510 R4=R2/(NO.TEETH)/1000 ; R4 corresponds to an average distance between teeth
; “/1000” division is omitted in later SW versions

; ******** Calculate center position **********

N520 R3=R3/1000 ; first measurement position converted to degrees
N530 R3=R3 MOD 360 ; first measurement point modulo
N540 R5=(R3--R14)+(R4/2) ; calculate gap position
M00
stopre
R6=0 ; deactivate rotation of BACH axis
gotob start
M30

6.7 Axis couplings via synchronized actions

6.7.1 Coupling to master axis
Task assignment A cyclic curve table is defined by means of polynomial segments. Controlled by
means of arithmetic variables, the movement of the master axis and the
coupling process between master and slave axes is activated/deactivated.
%_N_KOP_SINUS_MPF
N5 R1=1 ; ID 1, 2 activate/deactivate coupling: LEADON (CACB, BACH)

N6 R2=1 ; ID 3, 4 master axis movement on/off: MOV BACH
N7 R5=36000 ; BACH feed/min
N8 STOPRE
; **** Define periodic table no. 4 by means of polynomial segments ****

N10 CTABDEF (YGEO,XGEO,4,1)
N16 G1 F1200 XGEO=0.000 YGEO=0.000 ; approach initial positions
N17 POLY PO[XGEO]=(79.944,3.420,0.210) PO[YGEO]=(24.634,0.871,--9.670)
N18 PO[XGEO]=(116.059,0.749,--0.656) PO[YGEO]=(22.429,--5.201,0.345)
N19 PO[XGEO]=(243.941,--17.234,11.489) PO[YGEO]=(--22.429,--58.844,39.229)
N20 PO[XGEO]=(280.056,1.220,--0.656) PO[YGEO]=(--24.634,4.165,0.345)
N21 PO[XGEO]=(360.000,--4.050,0.210) PO[YGEO]=(0.000,28.139,--9.670)
N22 CTABEND ; **** End of table definition*****
; Traverse master axis and coupled axis in rapid mode to basic setting
N80 G0 BACH=0 CACH=0 ; Channel axis names
N50 LEADOF(CACH,BACH) ; existing coupling OFF
N235 ; ******* Activation of coupled motion for axis CACH *******

N240 WAITP(CACH) ; synchronize axis with channel
N245 ID=1 EVERY $R1==1 DO LEADON(CACH, BACH, 4) ; couple by means of table 4
N250 ID=2 EVERY $R1==0 DO LEADOF(CACH, BACH) ; deactivate coupling
N265 WAITP(BACH)
N270 ID=3 EVERY $R2==1 DO MOV[BACH]=1 FA[BACH]=R5 ; turn master axis endlessly at feedrate in R5
N275 ID=4 EVERY $R2==0 DO MOV[BACH]=0 ; stop master axis
N280 M00
N285 STOPRE
N290 R1=0 ; deactivate coupling condition
N295 R2=0 ; deactivate condition for master axis rotation
N300 R5=180 ; new feedrate for BACH
N305 M30

10.00
6.7.2 Non-circular grinding via master value coupling
Task assignment A non-circular workpiece that is rotating on axis CACH must be machined by
grinding. The distance between the grinding wheel and workpiece is controlled
by axis XACH and depends on the angle of rotation of the workpiece. The inter-
relationship between angles of rotation and assigned movements is defined in
curve table 2. The workpiece must move at velocities that are determined by
the workpiece contour defined in curve table 1.
Solution CACH is designated as the master axis in a coupling. It controls

-- the compensatory motion of axis XACH via table 2 and
-- “software axis” CASW via table 1.
The axis override of axis CACH is determined by the actual values of axis
CASW, thus providing the required contour-dependent velocity of axis CACH.
Grinding wheel
(Section of)
workpiece contour
CACH
XACH
Fig. 6-5 Diagrammatic representation of non-circular contour grinding
%_N_CURV_TABS_SPF
PROC CURV_TABS
N160 ; *************** Table 1 Define override ******
N165 CTABDEF(CASW,CACH,1,1) ; Periodic Table 1
N170 CACH=0 CASW=10
N175 CACH=90 CASW=10
N190 CACH=359.999 CASW=10
N195 CTABEND

08.97
N160 ; **** Table 2 Define linear compensatory motion of XACH ******

CTABDEF(YGEO,XGEO,2,1) ; Periodic Table 2
N16 XGEO=0.000 YGEO=0.000
N16 XGEO=0.001 YGEO=0.000
N17 POLY PO[XGEO]=(116.000,0.024,0.012) PO[YGEO]=(4.251,0.067,--0.828)
N18 PO[XGEO]=(244.000,0.072,--0.048) PO[YGEO]=(4.251,--2.937)
N19 PO[XGEO]=(359.999,--0.060,0.012) PO[YGEO]=(0.000,--2.415,0.828)
N16 XGEO=360.000 YGEO=0.000
N20 CTABEND
M17
%_N_NONCIRC_MPF
; Coupled axis grouping for non-circular machining
; XACH is the infeed axis of the grinding wheel

; CACH is the workpiece axis as a rotary axis and master axis
; Application: Grind non-circular contour
; Table 1 mirrors the override for axis CACH as a function of the position of CACH
; Override of XGEO axis with handwheel infeed for scratching
N100 DRFOF ; deselect handwheel override

N200 MSG(“select DRF, (handwheel 1 active) and select INCREMENT.== handwheel override ACTIVE”)
N300 M00
N500 MSG() ; reset message
N600 R2=1 ; LEADON Table 2, activate with ID=3/4 CACH to XACH
N700 R3=1 ; LEADON Table 1, activate with ID=5/6 CACH to CASW, override
N800 R4=1 ; endlessly turning rotary axis CACH, start with ID=7/8
N900 R5=36000 ; FA[CACH] speed of endlessly turning rotary axis
N1100 STOPRE
N1200 ; ********* Set axes and master axis to following axis *******
; Traverse master and following axes to initial positions
N1300 G0 XGEO=0 CASW=10 CACH=0
N1400 LEADOF(XACH,CACH) ; coupling OFF XACH compensatory movement
N1500 LEADOF(CASW,CACH) ; coupling OFF CASW override table
N1600 CURV_TABS ; subprogram with definition of tables
N1700 ; ******* activate LEADON compensatory motion XACH *******

N1800 WAITP(XGEO) ; synchronize axis with channel
N1900 ID=3 EVERY $R2==1 DO LEADON(XACH,CACH,2)
N2000 ID=4 EVERY $R2==0 DO LEADOF(XACH,CACH)
N2100 ; ************ activate LEADON CASW override table ****
N2200 WAITP(CASW)
N2300 ID=5 EVERY $R3==1 DO LEADON(CASW,CACH,1) ; CTAB coupling ON master axis CACH
N2400 ID=6 EVERY $R3==0 DO LEADOF(CASW,CACH) ; CTAB coupling OFF master axis CACH
N2500 ; ** control CASH override from position CASW with ID 10 *

N2700 ID=11 DO $$AA_OVR[CACH]=$AA_IM[CASW] ; assign “axis position” CASW to OVR CACH
N2900 WAITP(CACH)
N3000 ID=7 EVERY $R4==1 DO MOV[CACH]=1 FA[CACH]=R5 ; start as endlessly turning rotary axis
N3100 ID=8 EVERY $R4==0 DO MOV[CACH]=0 ; stop as endlessly turning rotary axis
N3200 STOPRE
N3300 R90=$AA_COUP_ACT[CASW] ; status of coupling for CASW for checking
N3400 MSG(“activate CASW override table with LEADON ”<<R90<<“, go to END with NC START”)

10.00
N3500 M00 ; ********** NC STOP **************

N3600 MSG()
N3700 STOPRE ; preprocessing stop
N3800 R1=0 ; stop with ID=2 CASW axis as endlessly turning rotary axis
N3900 R2=0 ; LEADOF with ID=6 FA XACH and master axis CACH
N4000 R3=0 ; LEADOF TAB1 CASW with ID=7/8 CACH to CASW override table
N4100 R4=0 ; stop axis as endlessly turning rotary axis, ID=4 CACH
N4200 M30
Expansion options The example above can be expanded by the following components:
-- Introduction of a Z axis to move the grinding wheel or workpiece from
one non-circular operation to the next on the same shaft
(cam shaft).
-- Switchover between tables if the cams have different contours, e.g. for
inlet and outlet.
ID = ... <condition> DO LEADOF(XACH, CACH) LEADON(XACH,
CACH, <new table number>)
-- Dressing of grinding wheel by means of online tool offset acc. to
Section 2.4.7.
6.7.3 On-the-fly parting
Task assignment An extruded material which passes continuously through the operating area of
a cutting tool must be cut into parts of equal length.
X axis: Axis in which the extruded material moves. WCS
X1 axis: Machine axis of extruded material, MCS
Y axis: Axis in which cutting tool “tracks” the extruded material
For the purpose of this example, it is assumed that the cutting tool infeed is
controlled via the PLC. The signals at the PLC interface can be evaluated to
determine whether the extruded material and cutting tool are synchronized.
Actions Activate coupling, LEADON

Deactivate coupling, LEADOF
Set actual values, PRESETON

08.97
NC program Remarks
%_N_SCHERE1_MPF
; $PATH=/_N_WKS_DIR/_N_DEMOFBE_WPD
N100 R3=1500 ; length of a part to be cut off
N200 R2=100000 R13=R2/300
N300 R4=100000
N400 R6=30 ; start position Y axis
N500 R1=1 ; start condition for belt axis
N600 LEADOF(Y,X) ; delete any existing coupling
N700 CTABDEF(Y,X,1,0) ; table definition
N800 X=30 Y=30 ; value pairs
N900 X=R13 Y=R13
N1000 X=2*R13 Y=30
N1100 CTABEND ; end of table definition
N1200 PRESETON(X1,0) ; PRESET at beginning
N1300 Y=R6 G0 ; Start pos. Y axis
; axis is linear
N1400 ID=1 EVERY $AA_IW[X]>$R3 DO PRESETON(X1,0) ; PRESET after length R3, PRESTON only permitted with
; WHEN and EVERY
; new start after material parting
N1500 WAITP(Y)
N1800 ID=6 EVERY $AA_IM[X]<10 DO LEADON(Y,X,1) ; couple Y to X via Table 1 when X < 10
N1900 ID=10 EVERY $AA_IM[X]>$R3--30 DO LEADOF(Y,X) ; decouple when X > 30 from start of cutting length
N2000 WAITP(X)
N2100 ID=7 WHEN $R1==1 DO MOV[X]=1 FA[X]=$R4 ; set extruded material axis continuously in motion
N2200 M30

6.8 Technology cycles “Position spindle”
6.8 Technology cycles “Position spindle”
Application Interacting with the PLC program, the spindle which initiates a tool change must
be
-- traversed to an initial position or
-- positioned at a specific point at which the tool to be inserted is also
located.
Compare Sections 2.4.12, 2.6.1.
Coordination The PLC and NCK are coordinated by means of the common data that are pro-
vided in SW version 4 and later (see Section 2.3.8)
-- $A_DBB[0] 1 traverse to initial position
-- $A_DBB[1] 1 traverse to target position
-- $A_DBW[1] Position value + / -- , PLC calculates the
shortest route.
Synchronized %_N_MAIN_MPF
actions
...
IDS=1 EVERY $A_DBB[0]==1 DO NULL_POS ; if $A_DBB[0] is set by PLC, traverse to initial position
IDS=2 EVERY $A_DBB[1]==1 DO ZIEL_POS ; if $A_DBB[1] is set by PLC, traverse spindle to
; position stored in $A_DBW[1]
...
Technology cycle %_N_NULL_POS_SPF

NULL_POS
PROC NULL_POS
SPOS=0 ; move drive for tool change into initial position
$A_DBB[0]=0 ; initial position executed in NCK
Technology cycle %_N_ZIEL_POS_SPF

ZIEL_POS
PROC TARGET_POS
SPOS=IC($A_DBW[1]) ; traverse spindle to position value that has been stored in
$A_DBW[1]
; by the PLC, incremental dimension
$A_DBB[1]=0 ; target position executed in NCK

08.97
6.9 Synchronized actions in the TCC/MC area
Introduction The following figure shows the schematic structure of a tool-changing cycle.
Y Y
“Z released”
“Position magazine”
“Return tool”
Level tool pockets WPY “Fetch TOOL” WPY
WPX WPX “Z clamped”
“Intermediate point” ZP1Y
(can be rounded)
ZP1X
VPY VPY
VPX “Starting point” VPX “Starting point”

(Z clamped) (Z released)
Z Z
Fig. 6-6 Schematic sequence for tool-changing cycle

12.97
Flowchart
Start
Tool change cycle in %MPF
Yes
Block search active?
(If $P_SEARCH GOTOF ..)
No Tool change ’M06’

Spindle positioning beyond block limit (’D1’: activate tool offset)
(SPOSA= or SPOSA[n]= )
Read preset T number

(GETSELT[] or GETSELT[..., n])
Read T number from spindle

(ToolSpindle=$TC_MPP6[9998,m])
Change tool
(’M06’ <== MD 22560)
Preselected tool in SP? Yes

(If ToolSpindle==Toolcode
GOTOF ..)
No
’D1’: activate tool offset
Preselected T No. = 0? Yes

(If Toolcode==0 GOTOF ..)
No
Return tool
(’D0’: deactivate tool offset)
No tool in spindle? Yes
(If ToolSpindle==0 GOTOF ..)
Fetch tool
(’D1’: activate tool offset)
No
Return 1st tool / Fetch 2nd tool
(’D1’: activate tool offset)
End
Fig. 6-7 Flowchart for tool-changing cycle

08.97
NC program Remarks
%_N_WZW_SPF
;$PATH=/_N_SPF_DIR
N10 DEF INT toolcode, ToolSpindle
N15 WHEN $AC_PATHN<10 DO $AC_MARKER[0]=0 $AC_MARKER[1]=0 $AC_MARKER[2]=0
N20 ID=3 WHENEVER $A_IN[9]==TRUE DO $AC_MARKER[1]=1 ; marker to = 1 when MagAxis traversed
N25 ID=4 WHENEVER $A_IN[10]==TRUE DO $AC_MARKER[2]=1 ; marker to = 1 when MagAxis traversed
N30 IF $P_SEARCH GOTOF tcc_preprocessing ; block search active ? -->
N35 SPOSA=0 D0
N40 GETSELT(toolcode) ; read preselected T No.
N45 ToolSpindle=$TC_MPP6[9998,1] ; read tool in spindle
N50 M06
N55 IF ToolSpindle==ToolCode GOTOF tool_in_spindle IF ToolCode==0 GOTOF return1 IF ToolSpindle==0 GOTOF
fetch1
;*****Fetch and return tool*****
return1fetch1:
N65 WHENEVER $AA_VACTM[C2]<>0 DO $AC_MARKER[1]=1 ; if MagAxis traverses marker = 1
N70 G01 G40 G53 G64 G90 X=magazine1VPX Y=magazine1VPY Z=magazine1Zclamped F70000 M=QU(120)
M=QU(123) M=QU(9)
N75 WHENEVER $AA_STAT[S1]<>4 DO $AC_OVR=0 ; spindle in position
N80 WHENEVER $AA_VACTM[C2]<>0 DO $AC_MARKER[1]=1 ; magAxis traversing request
N85 WHENEVER $AC_MARKER[1]==0 DO $AC_OVR=0 ; override=0 if axis not traversed
N90 WHENEVER $AA_STAT[C2]<>4 DO $AC_OVR=0 ; override=0 if MagAxis not in pos. fine
N95 WHENEVER $AA_DTEB[C2]>0 DO $AC_OVR=0 ; override=0 if distance-to-go MagAxis > 0
N100 G53 G64 X=magazine1ZP1X Y=magazine1ZP1Y F60000
N105 G53 G64 X=magazine1WPX Y=magazine1WPY F60000
N110 M20 ; release tool
N115 G53 G64 Z=MR_magazine1Zreleased F40000
N120 WHENEVER $AA_VACTM[C2]<>0 DO $AC_MARKER[2]=1;
N125 WHENEVER $AC_MARKER[2]==0 DO $AC_OVR=0
N130 WHENEVER $AA_STAT[C2]<>4 DO $AC_OVR=0
N135 WHENEVER $AA_DTEB[C2]>0 DO $AC_OVR=0
N140 G53 G64 Z=magazine1Zclamped F40000
N145 M18 ; clamp tool
N150 WHEN $AC_PATHN<10 DO M=QU(150) M=QU(121) ; condition always satisfied
N155 G53 G64 X=magazine1VPX Y=magazine1VPY F60000 D1 M17
;*****Return tool*****
return1:
N160 WHENEVER $AA_VACTM[C2]<>0 DO $AC_MARKER[1]=1
N165 G01 G40 G53 G64 G90 X=magazine1VPX Y=magazine1VPY Z=magazine1Zclamped F70000 M=QU(120)
M=QU(123) M=QU(9)
N170 WHENEVER $AA_STAT[S1]<>4 DO $AC_OVR=0
N195 G53 G64 X=magazine1ZP1X Y=magazine1ZP1Y F60000
N205 M20 ; release tool
N210 G53 G64 Z=magazine1Zreleased F40000
N215 G53 G64 X=magazine1VPX Y=magazine1VPY F60000 M=QU(150) M=QU(121) D0 M17
;*****Fetch tool*****
fetch1:
N225 G01 G40 G53 G64 G90 X=magazine1VPX Y=magazine1VPY Z=magazine1Zreleased F70000 M=QU(120)
M=QU(123) M=QU(9)
N235 WHENEVER $AA_STAT[S1]<>4 DO $AC_OVR=0

12.97

N260 G53 G64 Z=magazine1Zclamped F40000
N265 M18 ; clamp tool
N270 G53 G64 X=magazine1VPX Y=magazine1VPY F60000 M=QU(150) M=QU(121) D1 M17
;*****Tool in spindle *****
tool_in_spindle:
N275 M=QU(121) D1 M17
;*****Block search*****
tc_block search:
N280 STOPRE
N285 D0
N290 M06
N295 D1 M17

08.97
Notes

08.02
04.97
03.96
7.1 Interface signals
Data Fields, Lists 7

7.1 Interface signals
DB number Bit, byte Name Refe-

rence
Channel-specific
21--30 280.1 Disable modal synchronized actions acc. to DBX 300.0--307.7
21--30 300.0 -- Disable modal synchronized actions acc. to DBX 300.0--307.7, acknowledgment
from NCK
21--30 300.0 -- Modal synchronized actions ID or IDS 1 --
21--30 307.7 Disable 64. Request to NCK channel
21--30 308.0 -- Modal synchronized actions ID or IDS 1 --
21--30 315.7 64 can be disabled. Message from NCK.
7.2 Machine data
Number Identifier Name Refe-

rence
General ($MN_ ... )
11110 AUXFU_GROUP_SPEC Auxiliary function group specification H2
11500 PREVENT_SYNACT_LOCK Protected synchronized actions
Channel-specific ($MC_ ... )
21240 PREVENT_SYNACT_LOCK_CHAN Protected synchronized actions for channel
28250 MM_NUM_SYNC_ELEMENTS Number of elements for expressions in synchro-
nized actions
28252 MM_NUM_FCTDEF_ELEMENTS Number of FCTDEF elements
28254 MM_NUM_AC_PARAM Number of $AC_PARAM parameters
28255 MM_BUFFERED_AC_PARAM Storage location for $AC_PARAM (as of SW 6.3)
28256 MM_NUM_AC_MARKER Number of $AC_MARKER markers
28257 MM_BUFFERED_AC_MARKER Storage location for $AC_MARKER (as of SW 6.3)
28258 MM_NUM_AC_TIMER Number of $AC_TIMER time variables
28260 NUM_AC_FIFO Number of $AC_FIFO1, $AC_FIFO2, ... variables
28262 START_AC_FIFO Store FIFO variables from R parameter
28264 LEN_AC_FIFO Length of $AC_FIFO ... FIFO variables
28266 MODE_AC_FIFO FIFO processing mode

03.96
08.97
7.3 Alarms
Axis-specific ($MA_ ... )

30450 IS_CONCURRENT_POS_AX Competing positioning axis P2
32060 POS_AX_VELO Initial setting for positioning axis velocity P2
32070 CORR_VELO Axis velocity for handwheel, ext. ZO, cont. dressing, H1
clearance control (SW 3 and later)
32074 FRAME_OR_CORRPOS_NOTALLOWED Effectiveness of frames and tool length compensa-
tion
32920 AC_FILTER_TIME Filter smoothing time constant for Adaptive Control
(SW2 and later)
36750 AA_OFF_MODE Effect of value assignment for axial override for syn-
chronized actions (SW3 and later)
37200 COUPLE_POS_TOL_COARSE Threshold value for “Coarse synchronism” S3
37210 COUPLE_POS_TOL_FINE Threshold value for “Fine synchronism” S3
Setting data ($SA_ ... )
43300 ASSIGN_FEED_PER_REV_SOURCE Rotational feedrate for positioning axes/spindles V1
43350 AA_OFF_LIMIT Upper limit of offset value for $AA_OFF clearance
control
43400 WORKAREA_PLUS_ENABLE Working area limitation in pos. direction A3
7.3 Alarms
Detailed explanations of alarms which may occur can be found in
References: /DA/, “Diagnostics Guide”
or in the online help on systems with MMC 101/102.
J

References A
General Documentation
/BU/ SINUMERIK 840D/840Di/810D/802S, C, D

Ordering Information
Catalog NC 60
Order No.: E86060-K4460-A101-A9-7600
/IKPI/ Catalog IK PI 2000

Industrial Communication and Field Devices
Order No. of bound edition: E86060--K6710-A101-A9-7600
Order No. of single-sheet edition: E86060-K6710-A100-A9-7600
/ST7/ SIMATIC
SIMATIC S7 Programmable Logic Controllers
Catalog ST 70
Order No.: E86 060-K4670-A111-A3-7600
/Z/ SINUMERIK, SIROTEC, SIMODRIVE

Accessories and Equipment for Special-Purpose Machines
Catalog NC Z
Order No.: E86060-K4490-A001-A8-7600
Electronic Documentation
/CD1/ The SINUMERIK System (11.02 Edition)

DOC ON CD
(includes all SINUMERIK 840D/840Di/810D/802 and SIMODRIVE publications)
Order No.: 6FC5 298-6CA00-0BG3

SINUMERIK 840D/840Di/810D Descrip. of Functions Synchronized Actions (FBSY) -- 11.02 Edition A-157
08.97
A References
User Documentation
/AUK/ SINUMERIK 840D/810D

Short Guide AutoTurn Operation (09.99 Edition)
Order No.: 6FC5 298-4AA30-0BP2
/AUP/ SINUMERIK 840D/810D

AutoTurn Graphic Programming System (02.02 Edition)
Programming/Setup
/BA/ SINUMERIK 840D/810D

Operator’s Guide MMC (10.00 Edition)
/BAD/ SINUMERIK 840D/840Di/810D

Operator’s Guide HMI Advanced (11.02 Edition)
Order No.: 6FC5 298-6AF00-0BP2
/BEM/ SINUMERIK 840D/810D

Operator’s Guide HMI Embedded (11.02 Edition)
Order No.: 6FC5 298-6AC00-0BP2
/BAH/ SINUMERIK 840D/840Di/810D

Operator’s Guide HT 6 (06.02 Edition)
Order No.: 6FC5 298-0AD60-0BP2
/BAK/ SINUMERIK 840D/840Di/810D

Short Guide Operation (02.01 Edition)
/BAM/ SINUMERIK 840D/810D

Operation/Programming ManualTurn (08.02 Edition)
/BAS/ SINUMERIK 840D/810D

Operation/Programming ShopMill (11.02 Edition)
/BAT/ SINUMERIK 840D/810D

Operation/Programming ShopTurn (03.03 Edition)

A-158 SINUMERIK 840D/840Di/810D Descrip. of Functions Synchronized Actions (FBSY) -- 11.02 Edition
11.02
A References
/BNM/ SINUMERIK 840D/840Di/810D

User’s Guide Measuring Cycles (11.02 Edition)
/CAD/ SINUMERIK 840D/840Di/810D

Operator’s Guide CAD Reader (03.02 Edition)
Order No.: (included in online help)
/DA/ SINUMERIK 840D/840Di/810D

Diagnostics Guide (11.02 Edition)
/KAM/ SINUMERIK 840D/810D

Short Guide ManualTurn (04.01 Edition)
/KAS/ SINUMERIK 840D/810D

Short Guide ShopMill (04.01 Edition)
/KAT/ SINUMERIK 840D/810D

Short Guide ShopTurn (07.01 Edition)
/PG/ SINUMERIK 840D/840Di/810D

Programming Guide Fundamentals (11.02 Edition)
Order No.: 6FC5 298-6AB00-0BP2
/PGA/ SINUMERIK 840D/840Di/810D

Programming Guide Advanced (11.02 Edition)
/PGK/ SINUMERIK 840D/840Di/810D

Short Guide Programming (02.01 Edition)
/PGM/ SINUMERIK 840D/840Di/810D

Programming Guide ISO Milling (11.02 Edition)
/PGT/ SINUMERIK 840D/840Di/810D

Programming Guide ISO Turning (11.02 Edition)

08.97
A References
/PGZ/ SINUMERIK 840D/840Di/810D

Programming Guide Cycles (11.02 Edition)
/PI/ PCIN 4.4

Software for Data Transfer to/from MMC Module
Order No.: 6FX2 060 4AA00-4XB0 (English, French, German)
Order from: WK Fürth
/SYI/ SINUMERIK 840Di

System Overview (02.01 Edition)
Order No.: 6FC5 298-6AE40-0BP0
Manufacturer/Service Documentation
a) Lists
/LIS/ SINUMERIK 840D/840Di/810D

SIMODRIVE 611D
Lists (11.02 Edition)
b) Hardware
/BH/ SINUMERIK 840D/840Di/810D

Operator Components Manual (HW) (11.02 Edition)
/BHA/ SIMODRIVE Sensor

Absolute Position Sensor with PROFIBUS DP
User’s Guide (HW) (02.99 Edition)
Order No.: 6SN1197-0AB10-0YP1
/EMV/ SINUMERIK, SIROTEC, SIMODRIVE

EMC Installation Guide
Planning Guide (HW) (06.99 Edition)
/GHA/ ADI4 -- Analog Drive Interface for 4 Axes

Manual (09.02 Edition)
Order No.: 6FC5 297-0BA01-0BP0

11.02
A References
/PHC/ SINUMERIK 810D

Configuring Manual (HW) (03.02 Edition)
/PHD/ SINUMERIK 840D

Configuring Manual NCU 561.2-573.4 (HW) (10.02 Edition)
/PMH/ SIMODRIVE Sensor

Hollow-Shaft Measuring System SIMAG H
Configuring/Installation Guide (HW) (07.02 Edition)
Order No.: 6SN1197-0AB30-0BP1
c) Software
/FB1/ SINUMERIK 840D/840Di/810D

Description of Functions, Basic Machine (Part 1) (11.02 Edition)
(the various sections are listed below)
A2 Various Interface Signals
A3 Axis Monitoring, Protection Zones
B1 Continuous Path Mode, Exact Stop and LookAhead
B2 Acceleration
D1 Diagnostic Tools
D2 Interactive Programming
F1 Travel to Fixed Stop
G2 Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control
H2 Output of Auxiliary Functions to PLC
K1 Mode Group, Channel, Program Operation Mode
K2 Axes, Coordinate Systems, Frames,
Actual-Value System for Workpiece, Work Offset External
K4 Communication
N2 EMERGENCY STOP
P1 Transverse Axes
P3 Basic PLC Program
R1 Reference Point Approach
S1 Spindles
V1 Feeds
W1 Tool Offset
/FB2/ SINUMERIK 840D/840Di/810D(CCU2)

Description of Functions, Extended Functions (Part 2) (11.02 Edition)
including FM-NC: Turning, Stepper Motor
A4 Digital and Analog NCK I/Os
B3 Several Operator Panels and NCUs
B4 Operation via PG/PC
F3 Remote Diagnostics
H1 JOG with/without Handwheel
K3 Compensations

08.97
A References
K5 Mode Groups, Channels, Axis Replacement

L1 FM-NC Local Bus
M1 Kinematic Transformation
M5 Measurement
N3 Software Cams, Position Switching Signals
N4 Punching and Nibbling
P2 Positioning Axes
P5 Oscillation
R2 Rotary Axes
S3 Synchronous Spindles
S5 Synchronized Actions (up to and including SW 3)
S6 Stepper Motor Control
S7 Memory Configuration
T1 Indexing Axes
W3 Tool Change
W4 Grinding
/FB3/ SINUMERIK 840D/840Di/810D(CCU2)

Description of Functions, Special Functions (Part 3) (11.02 Edition)
F2 3-Axis to 5-Axis Transformation
G1 Gantry Axes
G3 Cycle Times
K6 Contour Tunnel Monitoring
M3 Coupled Motion and Leading Value Coupling
S8 Constant Workpiece Speed for Centerless Grinding
T3 Tangential Control
TE0 Installation and Activation of Compile Cycles
TE1 Clearance Control
TE2 Analog Axis
TE3 Master-Slave for Drives
TE4 Transformation Package Handling
TE5 Setpoint Exchange
TE6 MCS Coupling
TE7 Retrace Support
TE8 Path-Synchronous Switch Signal
V2 Preprocessing
W5 3D Tool Radius Compensation
/FBA/ SIMODRIVE 611D/SINUMERIK 840D/810D

Description of Functions Drive Functions (11.02 Edition)
Order No.: 6SN1 197-0AA80-0BP9
DB1 Operational Messages/Alarm Reactions
DD1 Diagnostic Functions
DD2 Speed Control Loop
DE1 Extended Drive Functions
DF1 Enable Commands
DG1 Encoder Parameterization
DL1 Linear Motor MD
DM1 Calculation of Motor/Power Section Parameters and
Controller Data
DS1 Current Control Loop
DÜ1 Monitors/Limitations

11.02
A References
/FBAN/ SINUMERIK 840D/SIMODRIVE 611 digital

ANA MODULE (02.00 Edition)
Order No.: 6SN1 197-0AB80-0BP0
/FBD/ SINUMERIK 840D

Description of Functions Digitizing (07.99 Edition)
DI1 Start-up
DI2 Scanning with Tactile Sensors (scancad scan)
DI3 Scanning with Lasers (scancad laser)
DI4 Milling Program Generation (scancad mill)
/FBDN/ IT Solutions
System for NC Data Management and Data
Distribution (DNC NT-2000) (01.02 Edition)
/FBDT/ SINUMERIK 840D/810D

IT Solutions
SinDNC NC Data Transfer via Network (09.02 Edition)
/FBFA/ SINUMERIK 840D/840Di/810D

ISO Dialects for SINUMERIK (11.02 Edition)
/FBFE/ SINUMERIK 840D/840Di/810D

Description of Functions Remote Diagnosis (11.02 Edition)
/FBH/ SINUMERIK 840D/840Di/810D

HMI Configuring Package (11.02 Edition)
Order No.: (supplied with the software)
Part 1 User’s Guide

Part 2 Description of Functions
/FBHLA/ SINUMERIK 840D/SIMODRIVE 611 digital

Description of Functions HLA Module (04.00 Edition)
/FBMA/ SINUMERIK 840D/810D

Description of Functions ManualTurn (08.02 Edition)

08.97
A References
/FBO/ SINUMERIK 840D/810D

Configuring OP 030 Operator Interface (09.01 Edition)
BA Operator’s Guide
EU Development Environment (Configuring Package)
PS Online only: Configuring Syntax (Configuring Package)
PSE Introduction to Configuring of Operator Interface
IK Screen Kit: Software Update and Configuration
/FBP/ SINUMERIK 840D

Description of Functions C-PLC Programming (03.96 Edition)
/FBR/ SINUMERIK 840D/810D

IT Solutions
Description of Functions Computer Link (SinCOM) (09.01 Edition)
NFL Host Computer Interface
NPL PLC/NCK Interface
/FBSI/ SINUMERIK 840D / SIMODRIVE 611 digital (09.02 Edition)

Description of Functions SINUMERIK Safety Integrated
/FBSP/ SINUMERIK 840D/810D

Description of Functions ShopMill (11.02 Edition)
/FBST/ SIMATIC (01.01 Edition)

Description of Functions FM STEPDRIVE/SIMOSTEP
Order No.: 6SN1 197-0AA70-0YP4
/FBSY/ SINUMERIK 840D/840Di/810D

Description of Functions Synchronized Actions (10.02 Edition)
/FBT/ SINUMERIK 840D/810D

Description of Functions ShopTurn (03.03 Edition)
/FBTC/ SINUMERIK 840D/810D

IT Solutions
SINUMERIK Tool Data Communication SinTDC (01.02 Edition)

11.02
A References
/FBTD/ SINUMERIK 840D/810D

IT Solutions
Tool Information System (SinTDI) with Online Help
Description of Functions (02.01 Edition)
/FBU/ SIMODRIVE 611 universal/universal E

Closed-Loop Control Component for Speed Control and Positioning
Description of Functions (02.02 Edition)
/FBW/ SINUMERIK 840D/840Di/810D

Description of Functions Tool Management (10.02 Edition)
/FBWI/ SINUMERIK 840D/840Di/810D

Description of Functions WinTPM (02.02 Edition)
Order No.: The document is an integral part of the software
/HBA/ SINUMERIK 840D/840Di/810D

Manual @Event (03.02 Edition)
Order No.: 6AU1900-0CL20-0AA0
/HBI/ SINUMERIK 840Di

Manual (09.02 Edition)
/INC/ SINUMERIK 840D/840Di/810D

Commissioning Tool SINUMERIK SinuCOM NC (02.02 Edition)
System Description
Order No.: (an integral part of the online help for the start-up tool)
/PAP/ SIMODRIVE Sensor

Absolute Encoder with PROFIBUS DP
User’s Guide (02.99 Edition)
Order No.: 6SN1197--0AB10--0YP1
/PFK/ SIMODRIVE
Planning Guide 1FT5, 1FT6, 1FK6 Motors (12.01 Edition)
AC servo motors for feed and main spindle drives
Order No.: 6SN1 197-0AC20-0BP0

08.97
A References
/PJE/ SINUMERIK 840D/810D

Configuring Package HMI Embedded (08.01 Edition)
Description of Functions: Software Update, Configuration Installation
Order No.: 6FC5 297-6EA10-0BP0
(the document PS Configuring Syntax is supplied with the software
and available as a pdf file)
/PJFE/ SIMODRIVE
Planning Guide 1FE1 Built-In Synchronous Motors
Three-Phase AC Motors for Main Spindle Drives (09.01 Edition)
/PJLM/ SIMODRIVE
Planning Guide 1FN1, 1FN3 Linear Motors (11.01 Edition)
ALL General Information about Linear Motors
1FN1 1FN1 Three-Phase AC Linear Motor
1FN3 1FN3 Three-Phase AC Linear Motor
CON Connections
/PJM/ SIMODRIVE
Planning Guide Motors (11.00 Edition)
Three-Phase AC Motors for Feed and Main Spindle Drives
/PJTM/ SIMODRIVE
Planning Guide Integrated Torque Motors 1FW6 (08.02 Edition)
Order No.: 6SN1 197--0AD00--0BP0
/PJU/ SIMODRIVE 611

Planning Guide Inverters (05.01 Edition)
/PMS/ SIMODRIVE (04.02 Edition)

Planning Guide ECO Motor Spindle for Main Spindle Drives
Order No.: 6SN1 197-0AD04-0BP0
/POS1/ SIMODRIVE POSMO A (08.02 Edition)

Distributed Positioning Motor on PROFIBUS DP, User’s Guide
Order No.: 6SN2197-0AA00-0BP3
/POS2/ SIMODRIVE POSMO A

Installation Instructions (enclosed with POSMO A)
/POS3/ SIMODRIVE POSMO SI/CD/CA (08.02 Edition)

Distributed Servo Drive Systems, User’s Guide
Order No.: 6SN2197-0AA20-0BP3

11.02
A References
/PPH/ SIMODRIVE
Planning Guide Motors 1PH2, 1PH4, 1PH7 (12.01 Edition)
AC Induction Motors for Main Spindle Drives
/PPM/ SIMODRIVE
Planning Guide Hollow-Shaft Motors (10.01 Edition)
for 1PM4 and 1PM6 Main Spindle Drives
Order No.: 6SN1 197-0AD03-0BP0
/S7H/ SIMATIC S7--300 (2002 Edition)

-- Manual: CPU Data (Hardware)
-- Reference Manual: Module Data
-- Manual: Technological Functions
-- Installation Manual
Order No.: 6ES7 398-8FA10-8BA0
/S7HT/ SIMATIC S7--300 (03.97 Edition)

Manual STEP7, Fundamentals, V. 3.1
Order No.: 6ES7 810-4CA02-8BA0
/S7HR/ SIMATIC S7--300 (03.97 Edition)

Manual STEP7, Reference Manuals, V. 3.1
Order No.: 6ES7 810-4CA02-8BR0
/S7S/ SIMATIC S7--300 (04.97 Edition)

FM 353 Positioning Module for Stepper Drive
Order together with configuring package
/S7L/ SIMATIC S7--300 (04.97 Edition)

FM 354 Positioning Module for Servo Drive
/S7M/ SIMATIC S7--300 (01.01 Edition)

FM 357.2 Multimodule for Servo and Stepper Drives
/SP/ SIMODRIVE 611--A/611--D,

SimoPro 3.1
Program for Configuring Machine-Tool Drives
Order No.: 6SC6 111-6PC00-0AAj, Order from: WK Fürth

08.97
A References
d) Installation and
Start-Up
/IAA/ SIMODRIVE 611A
Installation and Start-Up Guide (10.00 Edition)
Order No.: 6SN 1197-0AA60-0BP6
/IAC/ SINUMERIK 810D

(incl. description of SIMODRIVE 611D start-up software)
/IAD/ SINUMERIK 840D/SIMODRIVE 611D

(incl. description of SIMODRIVE 611D start-up software)
/IAM/ SINUMERIK 840D/840Di/810D

HMI/MMC Installation and Start-Up Guide (11.02 Edition)
AE1 Updates/Supplements
BE1 Expanding the Operator Interface
HE1 Online Help
IM2 Starting up HMI Embedded
IM4 Starting up HMI Advanced
TX1 Creating Foreign Language Texts
J

09.01
11.02
Index
E
End of program, 2-112
Extensions in SW 5, 3-122
Symbols
$AA_OFF, 1-76
F
FCTDEF, 2-69
A FIFO variables, 2-33
AA_OFF_LIMIT, MD 43350, 4-130 FRAME_OR_CORRPOS_NOTALLOWED,
AC_FILTER_TIME, MD 32920, 4-129 MD 32074, 4-129
Adaptive Control, 6-136 FTOC, Online tool offset, 2-78
Additive control, 2-71
Example, 6-137
Multiplicative control, 2-72 G
Axial feed, 2-85
General machine data, 4-123
B I
Block search, 2-113
ID number, 2-15
Identification number, 2-16
IS_CONCURRENT_POS_AX, MD 30450, 4-128
C
Calculate master value, 2-92
Calculate slave value, 2-92 L
Change in operating mode, 2-111
LEN_AC_FIFO, MD 28264, 4-126
Command axes, 2-82
Configurability, 2-115
Configuring, 2-115
Control system response, 2-110 M
Coordination, 2-103
Measurements from synchronized actions, 2-94
CORR_VELO, MD 32070, 4-128
MM_NUM_AC_MARKER, MD 28256, 4-125
CORROF, 1-77
MM_NUM_AC_PARAM, MD 28254, 4-125
Coupled axes, 2-91
MM_NUM_AC_TIMER, MD 28258, 4-126
Couplings, 2-91
MM_NUM_FCTDEF_ELEMENTS,
MD 28252, 4-125
MM_NUM_SYNC_ELEMENTS, MD 28250, 4-124
D MODE_AC_FIFO, MD 28266, 4-127
Motion synchronous actions,
Detection of synchronism, 2-93
Detailed description, 2-15
Diagnostics, 2-117

SINUMERIK 840D/840Di/810D Descrip. of Functions Synchronized Actions (FBSY) -- 11.02 Edition Index-169
08.97
N Status of synchronized actions, 2-118

Supplementary conditions, 3-121
NC STOP, 2-111 Synchronization procedure, DELDTG, 2-80
NUM_AC_FIFO, MD 28260, 4-126 Synchronized action parameters, 2-31
Actions, 2-19, 2-22, 2-63
O Additive adjustment via SYNFCT, 2-71
Alter setting data, 2-68
Online tool offset, 2-78 Availability, 3-121
Output of M, S and H auxiliary functions, 2-65 Components, 2-15
Overlaid movements, 2-76 Conditions, 2-18
Overlaid movements up to SW 5.3, 2-76 Control, 2-105
Control via PLC, 2-105
Definition, 2-21
P Deletion, 2-17
Detailed description, 2-15
Polynomial evaluation, 2-71 Disable axis, 2-82
Polynomials, 2-69 Example: AC control, 6-136
Power On, 2-110 Example: Conditions, 6-133
PREVENT_SYNACT_LOCK, MD 11500, 4-123 Example: Control via dyn. override, 6-139
PREVENT_SYNACT_LOCK_CHAN, Example: Feed control, 6-137
MD 21240, 4-124 Example: Presses, coupled axes, 6-144
Program interruption by ASUB, 2-113 Examples: SD / MD, 6-134
Protected synchronized actions, 2-107 Execution of synchronized actions, 2-21
Extensions in SW 4, 3-121
FIFO variables, 2-33
R Introduction, 1-13
Machine and setting data, 2-32
Real--time variables, 2-23
Marker and counter variables, 2-29
Reading, 2-67
Multiplicative control via SYNFCT, 2-72
Writing, 2-67
Processing, 2-19
Real-time variables
Processing sequence, 2-20
Display, 2-118
R parameters, 2-32
Log, 2-119
Real--time calculations, 2-23
Regulate velocity continuously, 6-139
Scanning frequency, 2-17
REPOS, 2-113
Scope of performance, 3-121
RESET, 2-110
Scope of validity, 2-15
Response to alarms, 2-114
Short Description of Functions, 1-13
Timers, 2-30
Synchronous procedure
S RDISABLE, 2-80
STOPREOF, 2-80
Setting actual values, 2-90
SYNFCT
Setting alarm, 2-99
Examples, 6-136
Special real--time variables, 2-29
Polynomial evaluation, 2-71
Spindle motions, 2-86
System variables SW version 4,
START_AC_FIFO, MD 28262, 4-126
Synchronized actions, 2-37

Index-170 SINUMERIK 840D/840Di/810D Descrip. of Functions Synchronized Actions (FBSY) -- 11.02 Edition
09.01
T W
Technology cycle, 2-100 Wait markers
Technology cycles, 2-100 Deletion, 2-98
Call, 2-100 Setting, 2-98

SINUMERIK 840D/840Di/810D Descrip. of Functions Synchronized Actions (FBSY) -- 11.02 Edition Index-171
08.97
Notes

Index-172 SINUMERIK 840D/840Di/810D Descrip. of Functions Synchronized Actions (FBSY) -- 11.02 Edition
To Suggestions
SIEMENS AG Corrections
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Synchronized Actions
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Description of Functions 11/2002 Edition

Synchronized Actions Examples 6

Control Software version

Status code in the “Remarks” column:

06.94 6FC5 297--0AC30--0BP0 A

1) This publication is provided as a replacement for Section S5 in Description of

This manual is included in the documentation on CD-ROM (DOCONCD)

Order No. 6FC5 297--6AD40--0BP2 Siemens--Aktiengesellschaft

A&D Technical Support Tel.: +49 (0) 180 5050--222

Internet address http://www.ad.siemens.de/sinumerik

E Siemens AG 2002. All rights reserved

SINUMERIK 840D As of 09.2001, improved--performance variants SINUMERIK 840D powerline

SINUMERIK 810D As of 12.2001, improved--performance variants SINUMERIK 810D powerline

E Siemens AG 2002. All rights reserved

Table 1-1 Equivalent software version

SINUMERIK 840D SINUMERIK 810D SINUMERIK 810D SINUMERIK 840Di

E Siemens AG 2002. All rights reserved

E Siemens AG 2002. All rights reserved

1 Brief Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13

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2.7.1 Power On . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-110

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7 Data Fields, Lists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-155

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E Siemens AG 2002. All rights reserved

S Output of auxiliary functions to PLC

S Activation of technology cycles

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In NCK interpolation cycle:

Real-time events and Initiated actions:

Fig. 1-1 Schematic diagram of synchronized actions

For details of how to program synchronized actions, please refer to

E Siemens AG 2002. All rights reserved

2.1 Components of synchronized actions

The components of a synchronized action, i.e.:

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ID Synchronized actions with validity identifier ID are modally active in subse-

Unique identification numbers must be allocated in the channel.

Applications for static synchronized actions:

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Table 2-1 Effect of frequency vocabulary words

Vocabulary word Scanning frequency

For details of technology cycles, please refer to Section 2.5.

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Conditions Execution of actions/technology cycles can be made dependent upon a condi-

An additional condition is available in SW 4, i.e. the linking of comparisons using

S Machine data, e.g. $$MN_..., $$MC_..., $$MA_...

S GUD variables cannot be used

Further examples of conditions can be found in Section 6.1.

E Siemens AG 2002. All rights reserved

E Siemens AG 2002. All rights reserved

Part program Prepared

Stored, preprocessed synchronized actions

Validity, ID, Fre- Condition Action(s) Main run

Sequence of synchronized action interpretation

Fig. 2-1 Schematic diagram illustrating processing of synchronized actions

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2.1.1 Definition of motion-synchronized actions

Defining programs Motion-synchronized actions can be defined in the following ways: