FB3_0805_en

3-Axis to 5-Axis
Transformation F2
Gantry Axes G1
Cycle Times G3
Contour Tunnel Monitoring K6
Axis Couplings and ESR M3

SINUMERIK 840D sl/840D/840Di Setpoint Exchange S9
SINUMERIK 810D
Tangential Control T3
Installation of Compile
Special Functions (Part 3) Cycles TE01
Simulation of Compile
Description of Functions Cycles TE02
Clearance Control TE1
Analog Axis TE2
Speed/Torque Coupling,
Master-Slave TE3
Handling Transformation
Package TE4
MCS Coupling TE6
Retrace Support TE7
Cycle-Clock-Independent
Path-Synchronous Signal
Output TE8
Valid for
Preprocessing V2
Control Software Version
SINUMERIK 840D sl/840DE sl 1.3 3D Tool Radius
SINUMERIK 840D powerline 7.3 Compensation W5
SINUMERIK 840DE powerline (export variant) 7.3
SINUMERIK 840Di 2.3
SINUMERIK 840DiE (export variant) 2.3 Index
SINUMERIK 810D powerline 7.3
SINUMERIK 810DE powerline (export variant) 7.3
SINAMICS 2.3
08.05 Edition
SINUMERIK® 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” columns.
Status code in the “Remarks” column:
A . . . . . New documentation.
B . . . . . Unrevised reprint with new Order No.
C . . . . . Revised edition with new status.
If the technical subject matter shown on the page has changed compared to the
previous edition status, this is indicated by the changed edition status in the header
of the respective page.
Edition Order No. Comments

04.95 6FC5 297-2AC80-0BP0 A
03.96 6FC5 297-3AC80-0BP0 C
08.97 6FC5 297-4AC80-0BP0 C
12.97 6FC5 297-4AC80-0BP1 C
12.98 6FC5 297-5AC80-0BP0 C
08.99 6FC5 297-5AC80-0BP1 C
04.00 6FC5 297-5AC80-0BP2 C
10.00 6FC5 297-6AC80-0BP0 C
09.01 6FC5 297-6AC80-0BP1 C
11.02 6FC5 297-6AC80-0BP2 C
03.04 6FC5 297-7AC80-0BP0 C
08.04 6FC5 297-7AC80-0BP1 C
10.04 6FC5 297-7AC80-0BP2 C
08.05 6FC5 397-2BP10-0BA0 A
Trademarks
SIMATICr, SIMATIC HMIr, SIMATIC NETr, SIROTECr, SINUMERIKr, SIMODRIVEr and SINAMICSr are
Siemens trademarks. Other product names used in this documentation may be trademarks which, if used
by third parties, could infringe the rights of their owners.
Further information is available in the Internet under: Other functions not described in this documentation may be
http://www.siemens.com/motioncontrol executable in the control. However, no claim can be made regarding
the availability of these functions when the equipment is first supplied
This publication was produced with Interleaf V 7 or in the event of servicing.
We have checked that the contents of this document correspond to

the hardware and software described. Nevertheless, differences
might exist and we cannot, therefore, guarantee that they are
completely identical. The information contained in this document is,
however, reviewed regularly and any necessary changes will be
included in the next edition. We welcome suggestions for
improvement.
Copyright © Siemens AG 2005 Subject to change without prior notice.
Order No. 6FC5 397-2BP10-0BA0 Siemens Aktiengesellschaft

Printed in Germany
06.05
Preface
SINUMERIK The SINUMERIK documentation is subdivided into parts:

Documentation
S General documentation
S User documentation
S Manufacturer/service documentation
Please contact your local Siemens office for more detailed information about
other SINUMERIK 840D sl/840D/840Di/810D publications and publications that
apply to all SINUMERIK controls (e.g. universal interface, measuring cycles,
etc.).
An overview of publications, which is updated monthly and also provides infor-
mation about the language versions available, can be found on the Internet at:
http://www.siemens.com/motioncontrol
Follow menu items “Support” → “Technical Documentation” → “Overview of
Documents”.
The Internet version of DOConCD (DOConWEB) is available at:
http://www.automation.siemens.com/doconweb
Target audience This document is designed for machine tool manufacturers. It contains a de-
tailed description of the functions offered by SINUMERIK controls.
Standard version This Programming Guide describes the functionality afforded by standard func-
tions. Extensions or changes made by the machine tool manufacturer are docu-
mented by the machine tool manufacturer.
Other functions not described in this documentation might be executable in the
control. This does not, however, represent an obligation to supply such func-
tions with a new control or when servicing.
Hotline If you have any questions on the control, please get in touch with our hotline:
A&D Technical Support Phone: +49 (180) 5050-222

Fax: +49 (180) 5050-223
E-mail: mailto:adsupport@siemens.com
Internet: http://www.siemens.com/automation/support-request
If you have any questions about the documentation (suggestions for improve-
ment, corrections), please send a fax to the following number:
Fax: +49 (9131) 98-63315
E-mail: mailto:motioncontrol.docu@siemens.com
Fax form: Refer to the reply form at the end of this manual
Internet address http://www.siemens.com/motioncontrol
Copyright © Siemens AG, 2005.

SINUMERIK 840D sl/840D/840Di/810D Descrip. of Functions Special Functions (FB3) – 06.05 Edition v
06.05
Objective The Descriptions of Functions provide the information required for configuration
and installation.
Target groups The information contained in the Descriptions of Functions is designed for:
S Design engineers
S PLC programmers creating the PLC user program with the signals listed
S Startup engineers once the system has been configured and set up
S Maintenance personnel inspecting and interpreting status signals and
alarms
Structure of the This Function Manual is structured as follows:

manual
S General contents
S Descriptions of Functions in alphabetical order in accordance with descrip-
tion of function codes
S Appendix with keyword index
Note
In addition to the keyword index, the Basic Machine Description of Functions
(Part 1) also contains a list of abbreviations and terms.
The following information is provided on each page:

Part of Description of Functions / Publication / Chapter – Page
If you require information about a function, you will find the function and the
code under which it is classified in the inside cover title of the manual.
If you need information about a certain term, please go to the section headed
Index in the Appendix and look for the term concerned. The Description of
Functions code, the chapter number and the number of the page on which you
can find the information you need are listed in this section.
Chapters 4 and 5 of each Description of Functions contain definitions for “Ac-

tivation, data format, input limits”, etc. for the various signals and data.

vi SINUMERIK 840D sl/840D/840Di/810D Descrip. of Functions Special Functions (FB3) – 06.05 Edition
06.05
Safety information This manual contains information which you should observe in order to ensure
your own personal safety, as well to avoid material damage. Notes relating to
your personal safety are highlighted in the manual by means of a warning
triangle, no warning triangle appears in conjunction with notes that relate to
property damage. The warnings appear in decreasing order of risk as given
below.
Danger
! Indicates an imminently hazardous situation which, if not avoided, will result in
death or serious injury or in substantial property damage.
Warning
! Indicates a potentially hazardous situation which, if not avoided, could result in
death or serious injury or in substantial property damage.
Caution
! Used with the safety alert symbol indicates a potentially hazardous situation
which, if not avoided, may result in minor or moderate injury or in property
damage.
Caution
Used without safety alert symbol indicates a potentially hazardous situation
which, if not avoided, may result in property damage.
Notice
Used without the safety alert symbol indicates a potential situation which, if not
avoided, may result in an undesirable result or state.
Correct usage
Please note the following:
Warning
! The unit may be used only for the applications described in the catalog or the
technical description, and only in combination with the equipment, components
and devices of other manufacturers where recommended or permitted by
Siemens. Correct transport, storage, installation and assembly, as well as
careful operation and maintenance, are required to ensure that the product
operates safely and without faults.

SINUMERIK 840D sl/840D/840Di/810D Descrip. of Functions Special Functions (FB3) – 06.05 Edition vii
06.05
Further
information
Important
! This notice indicates important facts that must be taken into consideration.
Note
This symbol always appears in this documentation where further, explanatory
information is provided.
Machine Manufacturer
This pictorial symbol appears in this document to indicate that the machine
manufacturer can control or modify the function described. See machine
manufacturer’s specifications.
Ordering Data Option

In this documentation you will find the symbol shown on the left with a
reference to an ordering data option. The function described is executable only
if the control contains the designated option.
Technical information
Notations The following notations and abbreviations are used in this document:
S PLC interface signals –> IS “signal name” (signal data)

E.g.: – IS “MMC-CPU1 ready” (DB10, DBX108.2) i.e. the signal is stored in
data block 10, data byte 108, bit 2.
– IS “Feedrate/Spindle speed override” (DB31–48, DBB0) i.e. the sig-
nals for each axis/spindle are stored in data blocks 31 to 48, data block
byte 0.
S Machine data –> MD: MD_NAME (German name)

S Setting data –> SD: SD_NAME (German name)
S The symbol “8” means “corresponds to”.
S NEW_CONF (cf) – Reconfiguration of the PLC interface
– “RESET” key on control unit, or
S RESET (re) “RESET” key on control unit or
S Immediately (im) after the value has been entered

viii SINUMERIK 840D sl/840D/840Di/810D Descrip. of Functions Special Functions (FB3) – 06.05 Edition
06.05
Data types The following data types are used in the control:
S DOUBLE
Real values or integers
input limits from +/–4.19*10–307 to +/–1.67*10308
S DWORD
Integers
input limits from –2.147*109 to +2.147*109
S BOOLEAN
Possible input values: true or false/0 or 1
S BYTE
Integers from –128 to +127
S STRING
Comprising a max. of 16 ASCII characters (upper case letters, numbers and
underscores)
Quantity The explanations of the PLC interface in the individual Descriptions of Functions
framework assume a theoretical maximum number of components:
S Mode groups (associated signals stored in DB11)

S Channels (associated signals stored in DB21, ...)
S Axes (associated signals stored in DB31, ...)
For details of the actual number of components which can be implemented with
each software version, please refer to
References: /BU/, “Order Document”, Catalog NC 60
J

SINUMERIK 840D sl/840D/840Di/810D Descrip. of Functions Special Functions (FB3) – 06.05 Edition ix
06.05
Notes

x SINUMERIK 840D sl/840D/840Di/810D Descrip. of Functions Special Functions (FB3) – 06.05 Edition
06.05
SINUMERIK 840D sl/840D/840Di/810D

Description of Functions
Special Functions (Part 3)
3-Axis to 5-Axis Transformation (F2)

1 Brief Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/F2/1-5
1.1 5-axis transformation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/F2/1-5
1.2 3-axis and 4-axis transformation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/F2/1-7
1.3 Orientation transformation with swiveling linear axis . . . . . . . . . . . . 3/F2/1-9
1.4 Universal milling head . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/F2/1-11
1.5 Orientation axes (SW 5.3 and higher) . . . . . . . . . . . . . . . . . . . . . . . . 3/F2/1-11
1.6 Cartesian manual travel (SW 6.3 and higher) . . . . . . . . . . . . . . . . . . 3/F2/1-12
1.7 Cartesian PTP travel (SW 5.3 and higher) . . . . . . . . . . . . . . . . . . . . 3/F2/1-12
1.8 Generic 5-axis transformation (SW 5.2 and higher) . . . . . . . . . . . . 3/F2/1-12
1.9 Online tool length offset (SW 6.4 and higher) . . . . . . . . . . . . . . . . . . 3/F2/1-12
1.10 Activation via part program/softkey (SW 5.2 and higher) . . . . . . . . 3/F2/1-13
1.11 Compression of orientation (SW 6.3 and higher) . . . . . . . . . . . . . . . 3/F2/1-13
2 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/F2/2-15
2.1 5-axis transformation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/F2/2-15
2.1.1 Kinematic transformation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/F2/2-15
2.1.2 Machine types for 5-axis transformation . . . . . . . . . . . . . . . . . . . . . . 3/F2/2-16
2.1.3 Configuration of a machine for 5-axis transformation . . . . . . . . . . . 3/F2/2-18
2.1.4 Tool orientation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/F2/2-23
2.1.5 Singular positions and handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/F2/2-27
2.2 3-axis and 4-axis transformations . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/F2/2-29
2.3 Transformation with swiveled linear axis . . . . . . . . . . . . . . . . . . . . . . 3/F2/2-31
2.4 Universal milling head . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/F2/2-37
2.4.1 Fundamentals of universal milling head . . . . . . . . . . . . . . . . . . . . . . 3/F2/2-37
2.4.2 Parameterization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/F2/2-39
2.4.3 Traversal of universal milling head in JOG mode . . . . . . . . . . . . . . . 3/F2/2-40
2.5 Call and application of 3-axis to 5-axis transformation . . . . . . . . . . 3/F2/2-41
2.6 Generic 5-axis transformation and variants . . . . . . . . . . . . . . . . . . . 3/F2/2-42
2.6.1 Functionality . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/F2/2-42
2.6.2 Description of machine kinematics . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/F2/2-42
2.6.3 Generic orientation transformation variants (SW 6.1 and higher) . 3/F2/2-43
2.6.4 Parameterizing data for orientable toolholders (SW 7.2 and higher) 3/F2/2-45
2.6.5 Extension of the generic transformation to 6 axes . . . . . . . . . . . . . . 3/F2/2-48
2.6.6 Cartesian manual travel with generic transformation . . . . . . . . . . . 3/F2/2-51

SINUMERIK 840D sl/840D/840Di/810D Descrip. of Functions Special Functions (FB3) – 06.05 Edition 3/F2/i
06.05
2.7 Restrictions for kinematics and interpolation . . . . . . . . . . . . . . . . . . 3/F2/2-53

2.7.1 Singularities of orientation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/F2/2-54
2.8 Orientation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/F2/2-56
2.8.1 Basic orientation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/F2/2-56
2.8.2 Orientation movements with axis limits (SW 6.1 and higher) . . . . . 3/F2/2-58
2.8.3 Compression of orientation (SW 6.3 and higher) . . . . . . . . . . . . . . . 3/F2/2-59
2.8.4 Orientation relative to the path (SW 7.3 and higher) . . . . . . . . . . . . 3/F2/2-62
2.8.5 Programming orientation polynomials (SW 7.1 and higher) . . . . . . 3/F2/2-65
2.8.6 Tool orientation with 3-/4-/5-axis transformations . . . . . . . . . . . . . . . 3/F2/2-68
2.8.7 Orientation vectors for 6-axis transformations . . . . . . . . . . . . . . . . . 3/F2/2-68
2.9 Orientation axes (SW 5.3 and higher) . . . . . . . . . . . . . . . . . . . . . . . . 3/F2/2-69
2.9.1 JOG mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/F2/2-70
2.9.2 Programming for orientation transformation . . . . . . . . . . . . . . . . . . . 3/F2/2-71
2.9.3 Programmable offset for orientation axes (SW 6.4 and higher) . . . 3/F2/2-72
2.9.4 Orientation transformation and orientable toolholders . . . . . . . . . . 3/F2/2-74
2.10 Orientation vectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/F2/2-75
2.10.1 Polynomial interpolation of orientation vectors (SW 5.3 and higher) 3/F2/2-75
2.10.2 Rotation of the orientation vector (SW 6.1 and higher) . . . . . . . . . . 3/F2/2-78
2.10.3 Extended interpolation of orientation axes (SW 6.1 and higher) . . 3/F2/2-82
2.11 Online tool length offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/F2/2-86
3 Supplementary Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/F2/3-89
4 Data Descriptions (MD, SD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/F2/4-91
4.1 General machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/F2/4-91
4.2 Channelspecific machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/F2/4-94
4.2.1 Channel-specific MD for swiveled linear axis . . . . . . . . . . . . . . . . . . 3/F2/4-103
4.2.2 Channel-specific MD for universal milling head . . . . . . . . . . . . . . . . 3/F2/4-104
4.2.3 MD and SD compression of orientation (SW 6.3) . . . . . . . . . . . . . . 3/F2/4-105
4.2.4 Channel-specific MD for orientation axes . . . . . . . . . . . . . . . . . . . . . 3/F2/4-106
4.2.5 Machine data for generic 5-axis transformation . . . . . . . . . . . . . . . . 3/F2/4-110
4.2.6 MD and SD online tool length offset (SW 6.4) . . . . . . . . . . . . . . . . . 3/F2/4-112
4.2.7 MD and SD Cartesian manual travel (SW 6.3 and higher) . . . . . . . 3/F2/4-113
4.2.8 Channel-spec. MD for Cartesian point-to-point travel . . . . . . . . . . . 3/F2/4-114
4.3 System variable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/F2/4-115
5 Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/F2/5-117
5.1 Channel-specific signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/F2/5-117
6 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/F2/6-119
6.1 Example of a 5-axis transformation . . . . . . . . . . . . . . . . . . . . . . . . . . 3/F2/6-119
6.2 Example of a 3-axis and 4-axis transformation . . . . . . . . . . . . . . . . 3/F2/6-123
6.2.1 Example of a 3-axis transformation . . . . . . . . . . . . . . . . . . . . . . . . . . 3/F2/6-123
6.2.2 Example of a 4-axis transformation . . . . . . . . . . . . . . . . . . . . . . . . . . 3/F2/6-123
6.2.3 Set of machine data and part program (extract) . . . . . . . . . . . . . . . . 3/F2/6-124
6.3 Example of a universal milling head . . . . . . . . . . . . . . . . . . . . . . . . . . 3/F2/6-125
6.4 Example for orientation axes (SW 5.3 and higher) . . . . . . . . . . . . . 3/F2/6-126
6.5 Examples for orientation vectors (SW 5.3 and higher) . . . . . . . . . . 3/F2/6-128
6.5.1 Example for polynomial interpretation of orientation vectors . . . . . 3/F2/6-128

3/F2/ii SINUMERIK 840D sl/840D/840Di/810D Descrip. of Functions Special Functions (FB3) – 06.05 Edition
06.05
6.5.2 Example for rotations of the orientation vector (SW 6.1 and
higher) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/F2/6-129
6.6 Example for generic 5-axis transformation (SW 5.2 and higher) . . 3/F2/6-130
6.6.1 Example for a generic 6-axis transformation (SW 7.2 and higher) 3/F2/6-131
6.6.2 Example for the modification of the rotary axis motion (SW 6.1
and higher) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/F2/6-132
6.7 Compressor example for orientation (SW 6.3 and higher) . . . . . . . 3/F2/6-133
7 Data Fields, Lists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/F2/7-135
7.1 Interface signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/F2/7-135
7.2 Setting data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/F2/7-135
7.3 Machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/F2/7-136
7.4 Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/F2/7-140

SINUMERIK 840D sl/840D/840Di/810D Descrip. of Functions Special Functions (FB3) – 06.05 Edition 3/F2/iii
06.05
Notes

3/F2/iv SINUMERIK 840D sl/840D/840Di/810D Descrip. of Functions Special Functions (FB3) – 06.05 Edition
06.05 3-Axis to 5-Axis Transformation (F2)
1.1 5-axis transformation
Brief Description 1
Functionality The “5-axis transformation” machining package (see Section 2.1) is designed
for machining sculptured surfaces with machine tools that have two rotary axes
in addition to the three linear axes X, Y and Z:
This package thus allows an axially symmetrical tool (milling cutter, laser beam)
to be oriented in any desired relation to the workpiece in the machining space.
The path and path velocity are programmed in the same way as for 3-axis tools.
The tool orientation is programmed additionally in the traversing blocks.
The real-time transformation performs the calculation of the resulting motion of
all 5 axes. The generated machining programs are therefore not machine
specific. Kinematic-specific post-processors are not used for the 5-axis
machining operation.
A selection of various transformations is available for adapting the control to
various machine kinematics. Part program commands can be issued in
operation to switch over between two transformations parameterized during
start-up.
This package therefore covers the three possible basic machine configurations
which differ in terms of tool and workpiece orientation.
Orientation of tool with two-axis swivel head (machine type 1)

Orientation of workpiece with two-axis rotary table (machine type 2)
Orientation of workpiece and tool with single-axis rotary table and swivel
head (machine type 3)
The calculation also includes a tool length compensation.
Since the orientation in relation to the workpiece surface is stored in a separate
FRAME, a tool retraction operation with vertical orientation to the workpiece is
also possible.

SINUMERIK 840D sl/840D/840Di/810D Descrip. of Functions Special Functions (FB3) – 06.05 Edition 3/F2/1-5
3-Axis to 5-Axis Transformation (F2) 06.05
Tool The tool orientation can be specified in two ways:

orientation
In relation to machine
In relation to workpiece.
Machine-related The machine-related orientation is dependent on the machine kinematics.

orientation
Workpiece-related The workpiece-related orientation is not dependent on the machine kinematics.

orientation It is programmed by means of:
Euler angles
RPY angles
Vector components
These elements define the direction of the tool in the workpiece coordinate
system. It is possible to program a specific component of the tool in its
orientation to the workpiece. In most cases, this will be a longitudinal axis of the
tool with the tool tip (Tool Center Point, TCP), which is also referred to as
TCP-programming.
System variables for Part programs and synchronized actions have read access to system variables
orientation that provide the following information:
End orientation of block (run-in value)

Orientation setpoint (SW 6.4 and higher)
Actual orientation (SW 6.4 and higher)
Angle between setpoint and actual orientation (SW 6.4 and higher)
Status for actual orientation variable (SW 6.4 and higher).
Chapter 4 contains a detailed description of this.
Further The transformations described in the following sections are to be regarded as

transformations special cases of the general 5-axis transformation described above:
3-axis and 4-axis transformations

With 2 or 3 linear axes and one rotary axis.
Swiveling linear axis

One of the rotary axis rotates the 3rd linear axis.
Universal milling head

The two rotary axes are positioned at a configurable angle in relation to one
another.
For an overview of these functions, please see Sections 1.2 to 1.4; for a more
detailed description, see 2.2 to 2.4. Knowledge of the general 5-axis
transformation is a prerequisite for all of these transformations.

3/F2/1-6 SINUMERIK 840D sl/840D/840Di/810D Descrip. of Functions Special Functions (FB3) – 06.05 Edition
1.2 3-axis and 4-axis transformation
Definition In contrast to the transformations described in Section 1.1, 3-axis and 4-axis
transformations have the following characteristics:
3-axis transformation
– Two translatory axes
– One rotary axis
– Three translatory axes
– One rotary axis
Both types of transformation belong to the orientation transformations.
Orientation of the tool must be programmed explicitly. The orientation of the tool
is executed in a plane perpendicular to the rotary axis.
z z
B B
Z Z
Y Y
x
x
X X
Fig. 1-1 Schematic diagram of 3-axis transformation

Z z
Fig. 1-2 Schematic diagram of 4-axis transformation with movable workpiece
A detailed description of the possible kinematics for 3-axis and 4-axis

transformations can be found in Section 2.2.

1.3 Orientation transformation with swiveling linear axis
Introduction This type of transformation is similar to the 5-axis transformation for machine
type 3 described in Section 1.1. However, the 3rd linear axis is not always
perpendicular to the plane defined by the other two linear axes.
Features of Machine kinematics, for which the orientation transformation described in the
machine following section applies, can be described as follows:
kinematics – Kinematics with three linear axes and two orthogonal rotary axes.
– The rotary axes are parallel to two of the three linear axes.
– The first rotary axis is moved by two Cartesian linear axes. It rotates the
third linear axis, which moves the tool. The tool is aligned in parallel to
the third linear axis.
– The second rotary axis rotates the workpiece.
– The kinematics comprise a moved workpiece and a moved tool.
The following figure shows the interrelations for one of the possible axis
sequences, for which transformation is possible.

Swiveled
linear axis
+
Z
Rotary axis 1
Workpiece
Work-
piece
table
– X +
Rotary axis 2
+
Y B
– +
Machine
zero
Fig. 1-3 Schematic diagram of a machine with swivelinglinear axis

1.5 Orientation axes (SW 5.3 and higher)
1.4 Universal milling head
Features A machine tool with universal milling head is characterized by the following
features:
The machine tool for the universal milling head has at least 5 axes.
3 linear axes (for linear motions) [X, Y, Z] move the machining point to any
desired position in the machining space.
2 rotary swivel axes arranged at a configurable angle (usually 45 degrees)

allow the tool to swivel to positions in space that are limited to a half sphere
in a 45-degree configuration.
Introduction With regard to the kinematics of robots, hexapods or nutators, there is no such
simple correlation between axis motion and change in orientation as is the case
on conventional 5-axis machines.
For this reason, the change in orientation is defined by a model that is created
independently of the actual machine. This model defines three virtual orientation
axes which can be visualized as rotations about the coordinate axes of a
rectangular coordinate system.
For the purpose of 6-axis transformation, a third degree of freedom for
orientation, describing the rotation of the tool about itself, has been introduced.
Definition The Cartesian coordinates are converted from the basic to the machine
coordinate system by means of a real-time transformation process. These
Cartesian coordinates comprise
– Geometry axes
– Orientation axes
Geometry axes describe the operating point.
Orientation axes describe the orientation of the tool in space.
Tool orientation You can define the orientation of the tool in space as follows using linear
interpolation, large circle interpolation and by means of orientation vectors:
– Direct Programming of rotary axis positions A, B, C
– For 5-axis transformation by programming:
The Euler or RPY angle in degrees via A2, B2, C2 or
the direction vector via A3, B3, C3
– Programming via leading angle LEAD and tilt angle TILT

1.9 Online tool length offset (SW 6.4 and higher)
1.6 Cartesian manual travel (SW 6.3 and higher)

The Cartesian manual travel function allows you to set the:
(for JOG motion) basic coordinate system (BCS),
workpiece coordinate system (WCS),
and the tool coordinate system (TCS)
separately as reference system both for translation and for orientation.
1.7 Cartesian PTP travel (SW 5.3 and higher)

PTP = Point to Point motion
Introduction This function makes it possible to program a position in a Cartesian coordinate

system (workpiece coordinate system), while the machine traverses in the
machine coordinate system.
The function can be used, for example, to traverse a singularity. Cartesian
positions supplied by a CAD system need not been converted to machine axis
values.
It must also be noted that axes take longer to traverse in the Cartesian
coordinate system with active transformation and programmed feedrate than
when they are traversed directly.
1.8 Generic 5-axis transformation (SW 5.2 and higher)
Introduction The generic 5-axis transformation function differs from earlier 5-axis
transformation versions insofar as it is no longer restricted with respect to the
directions of rotary axes.
The basic orientation of the tool is no longer predefined in machine data as was
the case in earlier versions of orientation transformations, but can now be
programmed freely.
Detailed description given in Section 2.6.
1.9 Online tool length offset (SW 6.4 and higher)
Introduction You can use the system variable $AA_TOFF[ ] to overlay the effective tool
lengths in 3-D at runtime. These offsets are active for
active orientation transformation (TRAORI) or an
active tool carrier in the relevant tool direction.
If the tool orientation changes, the tool length offsets that apply are rotated so
that the pivot point for the orientation movement always refers to the corrected
tool tip.
Detailed description given in Section 2.6.

1.11Compression of orientation (SW 6.3 and higher)
1.10 Activation via part program/softkey (SW 5.2 and higher)
Most of the machine data relevant to kinematic transformations were activated

by power ON in earlier versions.
In SW 5.2 and higher, you can also activate transformations MDs via the part
program/softkey and it is not necessary to boot the control.
Detailed Description given in
References: /FB/ 2, M1, “Kinematic transformation”, Section 2.5.
1.11 Compression of orientation (SW 6.3 and higher)

During the execution of NC programs containing blocks with relatively short
traverse paths, the interpolation time can lead to a reduction in tool path velocity
and a corresponding increase in machining time.
You can run NC programs with short traverse paths without reducing the tool
path velocity by activating “compressors” COMPON, COMPCURV or
COMPCAD. The compressor also smoothes the programmed movements and
consequently the tool path velocity.
Solution up to Compressors COMPON, COMPCURV and COMPCAD can only be used in

SW 6.1 conjunction with special NC blocks in SW up to SW 6.1.
Only NC blocks in which the feed is programmed (with F) in addition to the

axis motion, are compressed.
Positions for the axes must be specified directly and cannot be programmed
via assignments.
In the case of NC programs for 5-axis machines, the tool orientation must be
programmed by specifying rotary axis positions in order to activate the
compressor.
This means that you can only run 5-axis programs with the compressor if the
orientation is programmed directly from the rotary axis motion, independent of
the kinematics.
Solution option in You can program the tool orientation independent of the kinematics by using
SW 6.3 and higher direction vectors.
NC programs with such direction vectors can be executed with compressors
COMPON, COMPCURV and COMPCAD.
You will find a detailed description in Section 1.12.

1.11 Compression of orientation (SW 6.3 and higher)
Notes

Detailed Description 2
Note
The transformations described below require that individual names are
assigned to machine axes, channels and geometry axes when the
transformation is active. Compare
MD 10000: AXCONF_MACHAX_NAME_TAB,
MD 20080: AXCONF_CHANAX_NAME_TAB,
MD 20060: AXCONF_GEOAX_NAME_TAB.
This is the only method of ensuring unique assignments.
2.1.1 Kinematic transformation
Task of The task of orientation transformation is to compensate movements of the tool

orientation nose, which result from changes in orientation, by means of appropriate
transformation compensating movements of the geometry axes. The orientation movement is
therefore decoupled from the movement on the workpiece contour. The various
machine kinematics each require their own orientation transformation.
Applications The “5-axis transformation” machining package is provided for machine tools,
which as well as three linear axes X, Y and Z also have two additional rotary
axes (rotation about the linear axes): This package thus allows an axially
symmetrical tool (milling cutter, laser beam) to be oriented in any desired
relation to the workpiece in every point of the machining space.
The workpiece is always programmed in the rectangular workpiece coordinate
system; any programmed or set frames rotate and shift this system in relation to
the basic system. The kinematic transformation then converts this information
into motion commands of the real machine axes.
The kinematic transformation requires information about the design (kinematics)
of the machine, which are stored in machine data.
The kinematic transformation does not act on positioning axes.

2.1.2 Machine types for 5-axis transformation
Kinematics of 5-axis machines are generally equipped with three linear and two rotary axes:
machines for the latter may be implemented as a two-axis swivel head, a two-axis rotary table
5-axis or as a combination of single-axis rotary table and swivel head. These types of
transformation machine are characterized by:
1. Three linear axes form a right-handed, Cartesian coordinate system.
2. Rotary axes are parallel to the traversing direction of one of the linear axes.
Example:
– A parallel to X
– B parallel to Y
– C parallel to Z
3. Rotary axes are positioned vertically one above the other
4. Rotary axes turn
– Tool with two-axis swivel head
(machine type 1)
– Workpiece with two-axis rotary table
(machine type 2)
– Tool and workpiece with single-axis rotary table and swivel head
(machine type 3)
5. The following applies to machine types 1 and 2:
– Rotary axis 1 is treated as the 4th machine axis of the transformation.
– Motion of 1st rotary axis changes the orientation of the 2nd rotary axis.
– Rotary axis 2 is treated as the 5th machine axis of the transformation.
– Motion of 2nd rotary axis does not change the orientation of the 1st
rotary axis.
6. The following applies to machine type 3:
– 1st rotary axis (4th machine axis of transformation) turns the tool.
– 2nd rotary axis (5th machine axis of transformation) turns the workpiece.
7. Initial tool position:
– In negative Z direction.

Swivel head, Swivel head, Swivel head,

Z can be can be fixed
rotated about rotated about
X axis and Z Y axis
C axis B
Y
Tool table, can Tool table, can

A be rotated be rotated
X
about Z axis about X axis
and Z axis
Z Z
C C
Y
Tool table, fixed
A
X
Rotated tool Rotated tool Rotated workpiece
Rotated workpiece
Machine type 1 with Machine type 3 Machine type 2 with
axis sequence CA with axis sequence axis sequence AC
BC
Fig. 2-1 Machine types for 5-axis transformation

Machine type 1 Two-axis swivel head
Machine type 2 Two-axis rotary table
Machine type 3 Single-axis swivel head and Single-axis rotary table
Note
Transformations that do not meet all of the above conditions are described in
dedicated subsections:
3-axis and 4-axis transformation in 2.2
Swiveling linear axis in 2.3
Universal milling head in 2.4

2.1.3 Configuration of a machine for 5-axis transformation
To ensure that the 5-axis transformation can convert the programmed values to
axis motions, certain information about the mechanical design of the machine is
required; this information is stored in machine data:
Machine type
Axis assignment
Geometry information
Direction of rotation assignment
Machine type The machine types have been designated above as types 1 to 3 and are stored
in machine data
$MC_TRAFO_TYPE_1 ... $MC_TRAFO_TYPE_10
as a two-digit number.
Table 2-1 gives a list of machine types, which are suitable for 5-axis
transformation.
Combinations that are not meaningful whose C axis corresponds to a rotation of
the tool about its longitudinal axis (symmetry axis) are marked by x.
Table 2-1 Overview of machine types which are suitable for 5-axis transformation
Machine type 1 2 3
Swivel/rotatable Tool Workpiece Tool/workpiece
Axis sequence
OB 16 32 48
AC x 33 49
BA 18 34 50
BC x 35 51
CA 20 x x
CB 21 x x
Identification of The axis sequence is identified in the following way:

axis sequence
AB means: A is 4th axis, B is 5th axis of transformation
For machine type 3, the swivel axis of the tool is the 4th axis of the
transformation and the rotary axis of the workpiece is the 5th axis of the
transformation.

Axis assignment The axis assignment at the input of the 5-axis transformation defines which axis
is imaged internally on a channel axis by the transformation.
It is defined in MD: $MC_TRAFO_AXES_IN_1 ... $MC_TRAFO_AXES_IN_10.
Geometry Information concerning the machine geometry is required so that the 5-axis
information transformation can calculate the axis values: This information is stored in the
machine data (in this case, for the first transformation in the channel):
MD: $MC_TRAFO5_PART_OFFSET_1
Workpiece-oriented offset
for machine type 1 (two-axis swivel head)

Vector from machine reference point to zero point of table (generally zero
vector)
for machine type 2 (two-axis rotary table)

Vector from last joint of table to zero point of table
Vector components from last joint

to zero point of table
C
Fig. 2-2 Machine data $MC_TRAFO5_PART_OFFSET_1 for machine type 2
for machine type 3 (single-axis swivel head and single-axis rotary table)
Vector from joint of rotary table to zero point of table.
MD: $MC_TRAFO5_JOINT_OFFSET_1
Vector from first to second joint (machine type 1 and 2).
Vector from machine zero to table joint
(machine type 3).
MD: $MC_TRAFO5_ROT_AX_OFFSET_1
Angle offset of first or second rotary axis

DIN symbol for rotary axis

C
A
A jo
C
to
t to
mo x t
mo
Z po Tool table
zero
po
Machine zero
X
Y
Fig. 2-3 Schematic diagram of CA kinematics, moved tool
mo Position vector in the MCS

po $MC_TRAFO5_PART_OFFSET_n[0 ..2]
x Vector of programmed position in the BCS
t Tool compensation vector
to $MC_TRAFO5_BASE_TOOL_n[0 .. 2]
jo $MC_TRAFO5_JOINT_OFFSET_n[0 .. 2]

to
mo t
x
Tool table
zero C
po
Z
B
jo B
Machine zero
Y
X
C
Fig. 2-4 Schematic diagram of CB kinematics, moved workpiece
A to
t
mo
Tool table x
zero
po
Z
C
Machine zero
jo
C
X
Y
Fig. 2-5 Schematic diagram of AC kinematics, moved tool, moved workpiece

Direction of The sign interpretation setting for a rotary axis is stored in the sign machine
rotation data for 5-axis transformation.
assignment MD 24520: TRAFO5_ROT_SIGN_IS_PLUS_1[n] 1st rotary axis
MD 24620: TRAFO5_ROT_SIGN_IS_PLUS_2[n] 2nd rotary axis
Transformation Ten transformation types per channel can be configured in machine data
types TRAFO_TYPE_1 to 10. Of these eight types, a maximum of two may be 5-axis
transformations.
Activation A description of how to activate 5-axis transformations appears in Section 2.5.

2.1.4 Tool orientation
ÉÉÉÉ
A
ÉÉÉÉ
B Tool axis
ÉÉÉÉ
Peripheral milling
Z
Y
X
Fig. 2-6 Machining of workpieces with 5-axis transformation
Programming The orientation of the tool can be programmed in a block directly by specifying
the rotary axes or indirectly by specifying the Euler angle, RPY angle and
direction vector. The following options are available:
Directly as rotary axes A, B, C

Indirectly for 5-axis transformation
specifying the Euler or RPY angle in degrees via A2, B2, C2
Indirectly for 5-axis transformation via direction vector A3, B3, C3

The identifiers for Euler angles and direction vectors can be set in machine
data:
Euler angle in MD 10620: EULER_ANGLE_NAME_TAB
Direction vector in MD 10640: DIR_VECTOR_NAME_TAB
The tool orientation can be located in any block. In particular, it can even be
programmed alone in a block, resulting in a change of orientation in relation to
the tool tip fixed in its relationship to the workpiece.
Euler or RPY The MD 21100: ORIENTATION_IS_EULER can be used to switch between

Euler and RPY input.
Orientation A tool orientation at the start of a block can be transferred to the block end in
reference two different ways:
In the workpiece coordinate system with command ORIWKS

In the machine coordinate system with command ORIMKS

ORIWKS The tool orientation is programmed in the workpiece coordinate system (WCS)
command and is therefore not dependent on the machine kinematics.
In the case of a change in orientation with the tool tip at a fixed point in space,
the tool moves along a large arc on the plane stretching from the start vector to
the end vector.
ORIMKS The tool orientation is programmed in the machine coordinate system (MCS)
command and is therefore dependent on the machine kinematics.
In the case of a change in orientation with the tool tip at a fixed point in space,
linear interpolation takes place between the rotary axis positions.
The orientation is selected via NC language commands ORIWKS and ORIMKS.
Orientation 4 Z
3
ÉÉ
90o
ÉÉ ÉÉ
Orientation 1 2
ÉÉ
4
ÉÉ
ÉÉ 5
F2
F1
X
A
ÉÉ
ÉÉ 1
B
Y
1
Machine the surface F1 along the edge of F2
2 Retract
3 Change in orientation B: +90° A: –30 °
4 Approach the surface F2
5 Machine the surface F2 along the edge of F1
Fig. 2-7 Change in cutter orientation while machining inclined edges

90°
45°
30°
Z
X
4
2
3
With ORIWKS
(large arc)
3
With ORIMKS (linear interpolation

between rotary axes) Y
Fig. 2-8 Change in orientation while machining inclined edges
Initial setting is ORIMKS (SW 2 and higher).

MD 20150: GCODE_RESET_VALUES can be used to change the initial setting:
MD 20150: GCODE_RESET_VALUES [24] = 1 ⇒ ORIWKS is the initial setting
MD 20150: GCODE_RESET_VALUES [24] = 2 ⇒ ORIMKS is the initial setting
Illegal tool If the tool orientation is programmed in conjunction with the following functions:
orientation
G04 Dwell time
G33 Thread cutting with constant lead
G74 Approach reference point
G75 Approach fixed point
REPOSL Repositioning
REPOSQ Repositioning
REPOSH Repositioning
Alarm 12130 “Illegal tool orientation” is output when Euler angles and direction
vectors are selected. The NC program stops (this alarm can also occur in
connection with G331, G332 and G63). To remedy this situation, the tool
orientation can be programmed with axis end values.
Alarm 17630 or 17620 is output for G74 and G75 if a transformation is active
and the axes to be traversed are involved in the transformation. This applies
irrespective of orientation programming.

If the start and end vectors are inverse parallel when ORIWKS is active, then no
unique plane is defined for the orientation programming, resulting in the output
of alarm 14120.
If a transformation operation (activation, deactivation or transformation change)
is carried out when tool radius compensation is active, alarm 14400 is output.
However, conversely, no alarm is output if tool radius compensation is selected
or deselected during active transformation.
Multiple input of According to DIN 66025, only one tool orientation may be programmed in a
tool orientation block, e.g. with direction vectors:
N50 A3=1 B3=1 C3=1
If the tool orientation is input several times, e.g. with direction vectors and Euler
angles:
N60 A3=1 B3=1 C3=1 A2=0 B2=1 C2=3
error message 12240 “Channel X block Y tool orientation xx defined more than
once” is displayed and the NC part program stops.
Tool orientation In SW 5.3 and higher, polynomials can also be programmed for the
using orientation modification of the orientation vector.
vectors This method produces an extremely smooth change in speed and acceleration
at the block changes for rotary axes when the tool orientation has to be
programmed over several blocks.
The interpolation of orientation vectors can be programmed with polynomials up
to the 5th degree. The polynomial interpolation of orientation vectors is
described in Subsection 2.10.1.
Note
Further explanations of tool orientation using orientation vectors and their
handling at machine tools are given in:
References: /FB/, W1 “Tool Compensation, Orientable Toolholder”

05.99
2.1.5 Singular positions and handling
Extreme velocity If the path runs in close vicinity to a pole (singularity), one or several axes may
overshoot traverse at a very high velocity.
In this case, alarm 10910 “Extreme velocity overshoot on one axis” is output.
The programmed velocity is then reduced to a value, which does not exceed
the maximum axis velocity.
Behavior atpole Unwanted behavior of fast compensating movements can be controlled by

making an appropriate selection of the following machine data (see Fig. 2-9):
MD 24530 or MD 24630: TRAFO5_NON_POLE_LIMIT_1 or 2
MD 24540 or MD 24640: TRAFO5_POLE_LIMIT_1 or 2
Note
Singularities are dealt with differently in SW 5.2 and higher: There is now only
one relevant machine data $MC_TRAFO5_POLE_LIMIT (see Subsection 2.7.1
or Programming Guide Advanced [PGA], Subsection 7.1.3).
$MC_TRAFO5_ This MD designates a limit angle for the fifth axis of the first
NON_POLE_LIMIT MD 24530: TRAFO5_NON_POLE_LIMIT_1 or the second
MD:24630: TRAFO5_NON_POLE_LIMIT_2 5-axis transformation with the
following characteristics:
If the path runs past the pole at an angle lower than the value set here, it
crosses through the pole.
With 5-axis transformation, a coordinate system consisting of circles of
longitude and latitude is spanned over a spherical surface by the two orientation
axes of the tool.
If, as a result of orientation programming (i.e. the orientation vector is positioned
on one plane), the path passes so close to the pole that the angle is less than
the value defined in this MD, then a deviation from the specified interpolation is
made so that the interpolation passes through the pole.
$MC_TRAFO5_ This MD designates a limit angle for the fifth axis of the first
POLE_LIMIT MD 24540: TRAFO5_POLE_LIMIT_1 or the second
MD 24640: TRAFO5_POLE_LIMIT_2 5-axis transformation with the following
characteristics:
With interpolation through the pole point, only the fifth axis moves; the fourth
axis remains in its start position. If a movement is programmed which does not
pass exactly through the pole point, but is to pass within the tolerance defined
by $MC_TRAFO5_NON_POLE_LIMIT in the vicinity of the pole, a deviation is
made from the specified path because the interpolation runs exactly through the
pole point. As a result, the position at the end point of the fourth axis (pole axis)
deviates from the programmed value.

This machine data specifies the angle by which the pole axis may deviate from
the programmed value with a 5-axis transformation if a switchover is made from
the programmed interpolation to interpolation through the pole point. In the case
of a greater deviation, an error message is output and the interpolation is not
executed.
MD: $MC_TRAFO5_POLE_LIMIT_1
Interpolated Programmed
path path
4th axis: RA 1
MD:
$MC_TRAFO5_NON_POLE_LIMIT_1
5th axis: RA 2
Fig. 2-9 5-axis transformation; orientation path in pole vicinity.

Example for machine type 1: 2-axis swivel head with
rotary axis RA 1 (4th axis of transformation) and
rotary axis RA 2 (5th axis of transformation)
MD 21108 Machine data MD 21108: POLE_ORI_MODE can be used to set the response
for large circle interpolation in pole position as follows:
Does not define the treatment of changes in orientation during large circle
interpolation unless the starting orientation is equal to the pole orientation or
approximates to it and the end orientation of the block is outside the tolerance
circle defined in MD TRAFO5_NON_POLE_LIMIT_1/2.
The position of the polar axis is arbitrary in the polar position. For the large circle
interpolation, however, a specified orientation is required for this axis.
Machine data MD 21108: POLE_ORI_MODE is decimally-coded.
The unit digits define the behavior if the start orientation precisely matches the
pole orientation and the
ten digits define the behavior if the start orientation is within the tolerance circle
defined in MD TRAFO5_NON_POLE_LIMIT1/2.
All settings are described in “Channel-specific machine data”.

2.2 3-axis and 4-axis transformations
Introduction 3-axis and 4-axis transformations are special types of the 5-axis transformation
described in Section 2.1. Orientation of the tool is possible only in the plane
perpendicular to the rotary axis. The transformation supports machine types
with movable tool and movable workpiece.
Kinematics The variants specified in the following table apply both for 3-axis and 4-axis
variants transformations.
Table 2-2 Variants of 3-axis and 4-axis transformations
Machine type Swiveling/ Rotary axis is Orientation MD: Tool orientation

rotary parallel plane $MC_TRAFO in zero
_TYPE_n position
1 Tool X Y-Z 16 Z
Y X-Z 18
Z X-Y 20 Y
Z X-Y 21 X
Any Any * 24 Any
2 Workpiece X Y-Z 32, 33 Z
Y X-Z 34, 35
Any Any * 40 Any
Note: with reference to types 24 and 40 *

In the case of transformation types 24 and 40, the axis of rotation and the tool
orientation can be set so that the change in orientation takes place at the
outside of a taper and not in a plane.
Zero position The tool orientation at zero position is the position of the tool with G17 as the
active working plane and position of the rotary axis at 0 degrees.
Axis assignments The three translatory axes included in the transformation are assigned to any
channel axes via the machine data
$MC_TRAFO_GEOAX_ASSIGN_TAB_n[0..2] and
$MC_TRAFO_AXES_IN_n[0..2]. The following must apply for the assignment of
channel axes to geometry axes for the transformation:
$MC_TRAFO_GEOAX_ASSIGN_TAB_n[0] = $MC_TRAFO_AXES_IN_n[0]
The axes with corresponding index must be assigned to each other.

Parameter assign-
ment procedure
Enter the type of transformation according to Table 2-2 as machine data
$MC_TRAFO_TYPE_n.
Assign channel axes to the geometry axes of the transformation.

For a 3-axis transformation, set the values for the axis, which is not required:
– $MC_TRAFO_GEOAX_ASSIGN_TAB_n[geoax] = 0
– $MC_TRAFO_AXES_IN_n[geoax] = 0
$MC_TRAFO_AXES_IN_n[4] = 0 ; there is no 2nd rotary axis
For a 4-axis transformation, set the following for the 3 linear axes:
– $MC_TRAFO_GEOAX_ASSIGN_TAB_n[geoax] = ...
– $MC_TRAFO_AXES_IN_n[geoax] = ...
$MC_TRAFO_AXES_IN_n[4] = 0 ; there is no 2nd rotary axis.
Complete examples can be found in Section 6.2.

2.3 Transformation with swiveled linear axis
Applications You can use a transformation with swiveling linear axis if your application is
characterized by the kinematics described in Section 1.3 and only a small
swivel range (<<"90 degrees) is crossed by the first rotary axis.
Kinematics The orientation transformation with swiveling linear axis forms a transformation
variants group of its own. It is specified in machine data $MC_TRAFO_TYPE_n (n = 1,
2, 3, 4) using the following values:
Transf. type 1st rotary axis 2nd rotary axis Swiveled linear axis
64 A B Z
65 A C Y
66 B A Z
67 B C X
68 C A Y
69 C B X
Pole The corresponding transformation has a pole with a tool orientation parallel to
the second rotary axis. Singularity occurs in the pole position because the third
linear axis is parallel to the plane of the first two linear axes, excluding the
possibility of compensating movements perpendicular to this plane.
Parameter The following machine data with the following meanings are used to adjust the
assignments transformation equations to the machine (n=1,2):
$MC_TRAFO5_PART_OFFSET_n Vector from the second

rotary axis to the workpiece
table zero
$MC_TRAFO5_ROT_AX_OFFSET_n Axis positions of the two
rotary axes at the initial posi-
tion of the machine
$MC_TRAFO5_ROT_SIGN_IS_PLUS_n Sign with which the rotary
axis positions are included in
the transformation
$MC_TRAFO5_JOINT_OFFSET_n Vector from the machine
zero to the second rotary
axis
$MC_TRAFO5_BASE_TOOL_n Vector from the toolholder
(flange) to the first rotary axis
(measured at machine initial
position)
$MC_TRAFO5_TOOL_ROT_AX_OFFSET_n Vector from machine zero to
the first rotary axis (mea-
(SW 3.2 and higher) sured at machine initial posi-
tion)

Definition of As an aid for defining the values for the above-mentioned machine data, the
required values following two sketches show the basic interrelations between the vectors.
View along X axis
Rotary axis that swivels the 3rd

ro to linear axis (Z)
Table zero *
po
Rotary axis of table
Z
jo
Machine zero
X Y
View along Z axis
Z Y
Rotary axis that swivels the 3rd linear axis (Z)
Z
to
Workpiece zero on table *
ro
X po
jo
Machine zero Rotary axis of table
Fig. 2-10 Projections of the vectors to be set in MD
Meanings for the vector designations:
$MC_TRAFO5_PART_OFFSET_n po
$MC_TRAFO5_TOOL_ROT_AX_OFFSET_n ro
$MC_TRAFO5_JOINT_OFFSET_n jo
$MC_TRAFO5_BASE_TOOL_n to

Note
For the schematic diagram shown in Fig. 2-10, it has been assumed that the
machine has been traversed so that the tool holding flange is in line with the
table zero (marked by *). If this cannot be implemented for geometric reasons,
the values for to must be corrected by the deviations.
Fig. 2-12 shows the vector components for the machine represented in Fig. 1-3
with their respective designations.
Note
A physically identical point on the 1st rotary axis (e.g. point of intersection
between the tool axis and the 1st rotary axis) must be assumed for both views.

Swiveled
linear axis
+
Z
–
Rotary axis 1
Workpiece
Work-
piece
table
– X+
+ Rotary axis 2
+
Y –
B
–
Machine
zero
Fig. 2-11 Machine with swiveling linear axis in position zero
The following conversion of the geometry into the machine data to be specified
is based on the example in Fig. 2-11.

View along X axis Tool axis
Table
Stator
Clamping fixture
to
Rotary axis of
po
table
Z
ro = roz
jo
Y
Swivel axis of linear

View along Z axis axis
Rotary axis of
to table Y
Z
po
ro
jo X
jox
joy
Fig. 2-12 Example of vector designations for MD settings for Fig. 2-11
Procedure Proceed as follows:

for setting MD
– Determine the x and y components of the vectors indicated as shown in
the lower section of Fig. 2-12 for vector jo.
– Determine the z fractions of the corresponding vectors, as shown in the
upper section for roz.
– Set the 4 machine data accordingly:
$MC_TRAFO5_PART_OFFSET_n
$MC_TRAFO5_TOOL_ROT_AX_OFFSET_n
$MC_TRAFO5_JOINT_OFFSET_n
$MC_TRAFO5_BASE_TOOL_n.
This procedure can be used for all kinematics specified under “Kinematics
variants”. Observe the notes on Fig. 2-10.
Zero components With certain geometries or machine zero positions, individual components or
complete vectors can become zero.

Machine type The machine shown in Fig. 2-11 corresponds to version 1. Therefore, type of
transformation 64 must be set in machine data $MC_TRAFO_TYPE_n
(4 least-significant bits in MD).
Activation The transformation for a swiveled linear axis is activated in the same way as the
5-axis transformations. Details are described in Section 2.5.
Tool orientation With regard to tool orientation, the same applies as described in
Subsection 2.1.4.


2.4.1 Fundamentals of universal milling head
Note
The following description of the universal milling head transformation has been
formulated on the assumption that the reader has already read and understood
the general 5-axis transformation described in Section 2.1. Please note that
where no specific statements relating to the universal milling head are made in
the following section, the statements relating to general 5-axis transformation
apply.
Applications A universal milling head is used for machining contours of sculptured parts at
high feedrates. An excellent degree of machining accuracy is achieved thanks
to the rigidity of the head.
A axis
C axis
Tool axis
Fig. 2-13 Universal milling head

Configuring the The angle of the inclined axis can be configured in a machine data:
nutator angle ϕ
$MC_TRAFO5_NUTATOR_AX_ANGLE_1 For the first orientation trans-
formation
$MC_TRAFO5_NUTATOR_AX_ANGLE_2 For the second orientation
transformation
The angle must lie within the range of 0 degrees to +89 degrees.
Tool orientation Tool orientation at zero position can be specified as follows:

– parallel to the first rotary axis or
– perpendicular to it, and in the plane of the specified axis sequence
Types of The axis sequences of the rotary axes and the orientation direction of the tool at
kinematics zero position are set for the different types of kinematics using machine data
$MC_TRAFO_TYPE_1 ... $MC_TRAFO_TYPE_10.
Axis designation As for other 5-axis transformations, the following applies:

scheme The rotary axis ...
A is parallel to X A’ is positioned beneath the angle ϕ to the X axis
B is parallel to Y B’ positioned beneath the angle ϕ to the Y axis
C is parallel to Z C’ is positioned beneath the angle ϕ to the Z axis
Angle definition
Z
Y
ϕ
X
C
A’
Fig. 2-14 Position of axis A’
Axis A’ is positioned in the plane spanned by the rectangular axes of the

designated axis sequence. If, for example, the axis sequence is CA’, then axis
A’ is positioned in plane Z-X. The angle ϕ is then the angle between axis A’ and
the X axis.

2.4.2 Parameterization
Setting the type of The following table gives the data required in order to set machine data
transformation $MC_TRAFO_TYP_n appropriately for any given machine kinematics (general
concept).
Table 2-3 MD $MC_TRAFO_TYPE_n
Bit Decimal Description

8 128 Bit indicating the type of transformation:
1: Transformation for universal milling head
7 0 00: Moving tool
6 32 01: Moving workpiece
64 10: Moving tool and workpiece
5 Orientation of tool in zero position
4 0 00: X direction
8 01: Y direction
16 10: Z direction
3 Axis sequence
2 0 000: AB’
1 1 001: AC’
2 010: BA’
3 011: BC’
4 100: CA’
5 101: CB’
Among the full range of options specified in the general concept above, the
settings highlighted in gray in the following table are implemented in SW 3.1, the
others in SW 3.2 and higher.
Table 2-4 Implemented combinations; the table below gives the values for $MC_TRAFO_TYPE_n for the
configurable axis sequences and for the orientation direction of the tool in position zero, showing separate
data for moving tool, moving workpiece and moving tool and workpiece. The transformation does not
support any table elements which do not contain a preset value.
Direction of orientation of tool in position zero

Tool Workpiece Tool/workpiece
Axis X Y Z X Y Z X Y Z
se-
quence
AB’ 128 136
AC’ 129 145
BA’ 130 138
BC’ 139 147
CA’ 132 148
CB’ 141 149

Example of $MC_TRAFO_TYPE = 148 means for example:

transformation
type The 1st rotary axis is parallel to the Z axis,
the 2nd rotary axis is an inclined X axis and in the zero position, tool orientation
points in the Z direction.
Only the tool is moved by the two rotary axes.
Bit 8 = 1 Universal milling head
Bits 6 and 7 = 00 Moving tool
Bits 5 and 4 = 10 Orientation in zero position Z direction
Bit 3 – 1 = 100 Axis sequence CA’
Active machining Since the tool orientation in position zero can be set in directions other than just
plane the Z direction, the user must ensure that he sets the active machining level so
that the tool length compensation takes effect in the tool orientation direction.
The active machining plane should always be the plane according to which the
tool orientation is set in position zero.
Other settings The geometry information used by the universal milling head transformation for
calculation of the axis values is set analogously to that of the other 5-axis
transformations.
2.4.3 Traversal of universal milling head in JOG mode
JOG The linear axes can be traversed normally in JOG mode. It is, however, difficult
to set the orientation correctly by traversing these axes.
Activation of The transformation for universal milling head in the program is activated as
universal milling described in the following Section 2.5.
head

2.5 Call and application of 3-axis to 5-axis transformation
2.5 Call and application of 3-axis to 5-axis transformation
Power on 3-axis to 5-axis transformations (including the transformations for swiveled

linear axis and universal milling head) are activated with the TRAORI(n)
command, where n represents the number of the transformation (n=1 or 2).
Once the TRAORI(n) command has been executed and the transformation thus
activated, IS “Transformation active” (DB21-30, DBX33.6) switches to “1”.
If the machine data for a called transformation group have not been defined, the
NC program stops and the control outputs the alarm 14100 “Orientation
transformation not available”.
Power OFF TRAFOOF or TRAFOOF() can be used to deactivate the currently active 3-axis
to 5-axis transformation.
This sets IS “Transformation active” (DB21-30, DBX33.6) to “0”.
Switchover You can switch from one active transformation to another transformation
configured in the same channel. To do this you must enter the TRAORI(n)
command again with a new value for n.
RESET/ The behavior of the control with regard to 3-axis/5-axis transformations after
EOP run-up, end of program or RESET is determined by
MD 20110: RESET_MODE_MASK
Bit 7: Reset behavior of “active kinematic transformation”
Bit 7=0: Initial setting for active transformation after end of part program
or RESET in acc. with MD 20140: TRAFO_RESET_VALUE
is defined with the following meaning:
0: No transformation is active after RESET
1 to 8: The transformation preset in
MD 24100: TRAFO_TYPE_1 to MD 24460: TRAFO_TYPE_8 is active.
Bit 7=1: The current setting for the active transformation remains
unchanged after a RESET or end of part program.
Option The “5-axis transformation” function and its special types described in this
Description of Functions are available only in the form of an option. If this option
is not implemented in the control and a transformation is called with the TRAORI
command, the error message 14780 “Block uses a function that has not been
enabled” appears and the NC program stops.
If 3-axis to 5-axis transformation is not specified in machine data
MD 24100: TRAFO_TYPE_1
... MD 24460: TRAFO_TYPE_8, programming the TRAORI (1 or 2) command
triggers alarm 14100 “Channel x block y orientation transformation not
available”.
If MD: $MC_TRAFO_TYPE_n is set without the 5-axis transformation option
being enabled, there is no alarm.

2.6 Generic 5-axis transformation and variants
2.6.1 Functionality
Scope of functions The generic 5-axis transformation covers the functions implemented in SW up
to and including 5.1 (see Section 2.1) for perpendicular rotary axes as well as
the transformations for the universal milling head (one rotary axis parallel to a
linear axis, the second rotary axis at any angle to it, see Section 2.4).
Field of In certain cases, it may not be possible to compensate the conventional

application transformation accuracy, e.g. if:
– The rotary axes are not exactly mutually perpendicular
– One of the two rotary axes is not positioned exactly parallel to the linear
axes
In such cases, generic 5-axis transformation can produce better results.
A programming example
for generic 5-axis transformation is described in Section 6.6.
Activation Generic 5-axis transformation can also be activated like any other orientation
transformation using the TRAORI() or TRAORI(n) command (where n is the
number of the transformation). Furthermore, the basic transformation can be
transferred in the call in three other parameters, e.g. TRAORI(1, 1.1, 1.5, 8.9).
A transformation can be deselected implicitly by selecting another
transformation or explicitly with TRAFOOF.
2.6.2 Description of machine kinematics
Machine types Like the existing 5-axis transformations, there are three different variants of
generic 5-axis transformation:
1. Machine type: Rotatable tool
Both rotary axes change the orientation of the tool.
The orientation of the workpiece is fixed.
2. Machine type: Rotatable workpiece
Both rotary axes change the orientation of the workpiece.
The orientation of the tool is fixed.
3. Machine type: Rotatable tool and rotatable workpiece
One rotary axis changes the tool orientation and the other the workpiece
orientation.

Configurations The machine configurations are defined as in earlier versions (see Subsection
2.1.3) in machine data $MC_TRAFO_TYPE_1, ..., _8. Additional types have
been introduced for generic 5-axis transformation:
Table 2-5 Overview of machine types for generic 5-axis transformation
Machine type 1 2 3
Swivel/rotatable: Tool Workpiece Tool/workpiece
Transform. types 24 40 56
Rotary axis The direction of the rotary axes is defined in machine data
direction $MC_TRAFO5_AXIS1_n (1st rotary axis) and $MC_TRAFO5_AXIS2_n (2nd
rotary axis). n is 1 or 2 for the first/second 5-axis transformation in the system.
The machine data specified above are arrays with three values, which can
describe that axis direction (analogous to description of rotary axes for
orientable toolholder. The absolute value of the vectors is insignificant; only the
defined direction is relevant.
Example:
1. Rotary axis is A axis (parallel to x direction):
$MC_TRAFO5_AXIS1_1[0] = 1.0
2. Rotary axis is B axis (parallel to y direction):
2.6.3 Generic orientation transformation variants (SW 6.1 and higher)
Extension The generic orientation transformation for 5-axis transformation has been
extended with the following variants for 3-and 4-axis transformation:
Variant 1 4-axis transformations

A 4-axis transformation is characterized by the exclusive use of the first rotary
axis as an entry axis of the transformation. The following applies:
$MC_TRAFO_AXES_IN_1[4] = 0 or
$MC_TRAFO_AXES_IN_2[4] = 0
Variant 2 3-axis transformations

In a 3-axis transformation, one of the geometry axes is also missing. A zero is
entered in the field:
$MC_TRAFO_GEOAX_ASSIGN_TAB_1[n] or
$MC_TRAFO_GEOAX_ASSIGN_TAB_2[n]

Transformation Both variants of the generic 3-or 4-axis transformation are described by the
types following transformation types:
3-or 4-axis transformation with rotatable tool

$MC_TRAFO_TYPE_n = 24
3-or 4-axis transformation with rotatable workpiece

In conventional 3-axis or 4-axis transformations, the transformation type also
defined the basic tool orientation in addition to the position of the rotary axis.
The orientation could then no longer be adjusted.
Effects on Generic 3-axis or 4-axis transformation has the following effect on the various
orientations orientations:
The resulting tool orientation
is defined according to the hierarchy specified for generic 5-axis transformation.
Priority:
High Programmed orientation,
Medium Tool orientation and
Low Basic orientation
Allowance is made, in particular, for the following orientations:
Any programmed tool orientation

A basic tool orientation modified by orientable toolholders.
Note
For further information about programmable tool orientation and basic tool
orientation, please see
References: /FB/, W1, “Tool Compensation” Orientable Toolholders

/PG/, “Programming Guide Fundamentals”, Chapter 8
Comparison Please note the following differences as distinct from the existing 3- and 4-axis
transformations described in Section 2.2:
Description In software version 6.1 and higher

Position of the rotary axis 1. Can be any.
2. Does not have to be parallel to a linear axis.
Direction of the rotary axis 3. Must be defined with $MC_TRAFO5_AXIS1_1[n] or
$MC_TRAFO5_AXIS1_2[n].
Basic tool orientation 4. Must be defined with $MC_TRAFO5_BASE_
ORIENT_1[n] or $MC_TRAFO5_BASE_ORIENT_2[n].
Selection of a generic 5. An optional tool orientation can be transferred
3/4-axis transformation as in the case of a generic 5-axis transformation.

2.6.4 Parameterizing data for orientable toolholders (SW 7.2 and

higher)
Application Machine types on which the table or tool can be rotated can either be operated
as true 5-axis machines or as conventional machines with orientable
toolholders. In both cases, the machine kinematics are determined by the same
data, which, due to the different parameters, previously had to be entered twice
for
orientable toolholders via system variable and for
transformations by means of machine data.
The new transformation type 72 can be used to specify that these two machine
types use identical data.
Transformation MD 24100: TRAFO_TYPE_1 or MD 24200: TRAFO_TYPE_2 can be used to

type 72 define a generic 5-axis transformation for transformation type 72 with kinematic
data read from the data for an orientable toolholder. Its number provides the
data via machine data
MD 24582: TRAFO5_TCARR_NO_1 for the first and
MD 24682: TRAFO5_TCARR_NO_2 for the second orientation transformation
respectively. The corresponding transformation type can then be derived from
the content of kinematic type with parameter $TC_CARR23. See Table 2-6
Table 2-6 Machine types for generic 5-axis transformation in SW 7.2 and higher
Machine type 1 2 3 4
Swivel/rotat- Tool Workpiece Tool/workpiece Type 3 or ori-
able: entable tool-
holder
Kinematic type: T P M T, P, M
Transform. 24 40 56 72 from content
type: of
$TC_CARR23
Note
The transformation only takes place if the orientable toolholder concerned is
available and the value of $TC_CARR23 contains a valid entry for type M, P or
T kinematics in lower or upper case.
The transformation machine data for the first orientation transformation listed in
the tables below are equally valid for the second orientation transformation. All
other machine data that may affect the transformation characteristics and do
not appear in the tables below (e.g. MD 24110/24210: TRAFO_AXES_IN_1/2
or MD 24574/24674: TRAFO5_BASE_ORIENT_1/2) remain valid and effective.
If in the tables below a second additive parameter appears in brackets for the
parameters of the orientable toolholder (e.g. $TC_CARR24 (+
$TC_TCARR64)), the sum of both values will only be effective if the fine offset
specified in setting data SD 42974:TOCARR_FINE_CORRECTION = TRUE is
active when the data are transferred from the orientable toolholder.

Activation The most significant parameter values of an orientable toolholder for a

transformation can be activated in the part program with NEWCONFIG.
Alternatively, the machine data concerned for transformation type 72 can be
activated via the HMI user interface.
Assignment for all The assignments between the toolholder data for writing the linear offsets and
types of the corresponding machine data for kinematic transformations are determined
transformation by the transformation type. The following assignment of all other parameters is
identical for all three possible types of transformation:
Assignment for all types of transformation together identical

MD 24100: TRAFO_TYPE_1 24 $TC_CARR23 = T
40 P
56 M
MD 24570: TRAFO5_AXIS1_1[0] $TC_CARR7
MD 24510: TRAFO5_ROT_AX_OFFSET_1[0] $TC_CARR24 (+$TC_TCARR64)
MD 24510: TRAFO5_ROT_AX_OFFSET_1[1] $TC_CARR25 (+$TC_TCARR65)
MD 24520: TRAFO5_ROT_SIGN_IS_PLUS_1[0] TRUE*
MD 24520: TRAFO5_ROT_SIGN_IS_PLUS_1[1] TRUE*
*) Machine data MD 24520/24620: TRAFO5_ROT_SIGN_IS_PLUS_1/2 are

redundant. They are used to invert the direction of rotation of the assigned
rotary axis. However, this can also be achieved by inverting the direction of axis
vector $MC_TRAFO5_AXIS1/2_1/2. It is for this reason that there is no
corresponding parameter for the orientable toolholder. For the purpose of
absolute clarity,
MD 24520/24620: TRAFO5_ROT_SIGN_IS_PLUS_1/2 must be ignored.
Assignments for Toolholder data assignments dependent on transformation type 24

transformation
type 24 Transformation type “T” (corresponds to MD24100: TRAFO_TYPE_1 = 24)
MD 24500: TRAFO5_PART_OFFSET_1[0] $TC_CARR1 (+$TC_TCARR41)
MD 24560: TRAFO5_JOINT_OFFSET_1[0] $TC_CARR4 (+$TC_TCARR44)

MD 24550: TRAFO5_BASE_TOOL_1[0] $TC_CARR15 (+$TC_TCARR55)



transformation
type 40 Transformation type “P” (corresponds to MD24100: TRAFO_TYPE_1 = 40)



transformation
type 56 Transformation type “M” (corresponds to MD24100: TRAFO_TYPE_1 = 56)

MD 24558: TRAFO5_JOINT_OFFSET_PART_1[0] $TC_CARR15 (+$TC_TCARR55)


Example The first 5-axis transformation is to obtain its data from machine data and the
parameterization second, in contrast, is to be parameterized using the data from the 3rd
orientable toolholder.
MD 24100: TRAFO_TYPE_1 = 24 ; first 5-axis transformation
MD 24200: TRAFO_TYPE_2 = 72 ; second 5-axis transformation
; parameterize data of 3rd
MD 24682: TRAFO5_TCARR_NO_2 = 3; orientable toolholder

2.6.5 Extension of the generic transformation to 6 axes
Application With the maximum 3 linear axes and 2 rotary axes, the motion and direction of
the tool in space can be completely described with the generic 5-axis
transformation. Rotations of the tool around itself, as is important for a tool that
is not rotation-symmetric or robots, require an additional rotary axis. The
previous generic 5-axis transformation will therefore be extended by a 3rd rotary
axis and further functions added.
Extension to 3 linear axes and 3 rotary axes, i.e. 6 axes.

General use of the generic orientation transformation with unchanged
parameterization of machine data.
Cartesian manual travel also for the generic transformation.
Kinematics for the The 6-axis transformation is based on the generic 5-axis transformation and is
6-axis extended by the transformation type 57. Therefore, four different machine
transformation kinematics exist that are differentiated through the specification of the
transformation type in
machine data $MC_TRAFO_TYPE_1 = transformation type.
Table 2-7 Overview of machine types for the generic 6-axis transformation
Machine type 1 2 3 4
Swivel/rotatable Tool Workpiece Tool/ Tool/
workpiece workpiece
Transform. types 24 40 56 57
Orientation in space, Unchanged. Unchanged. Tool by two Tool by one
rotation of the axes All three axes All three axes axes, work- axis, work-
rotate the tool rotate the piece by a piece by two
workpiece rotary axis rotary axes
In all four cases, the first rotary axis is the one which closest to the workpiece
and the third rotary axis the one which closest to the tool in the kinematic chain.
Note
The four specified transformation types only cover those kinematics in which
the three linear axes form a rectangular Cartesian coordinate system, i.e. no
kinematics are covered in which at least one rotary axis lies between two linear
axes in the kinematic chain.
Dedicated machine data exist for each general transformation or for each
orientation transformation that are differentiated by the suffixes _1, _2 etc.
(e.g. $MC_TRAFO_TYPE_1, $MC_TRAFO_TYPE_2 etc.). In the following,
only the names for the first transformation are specified, i.e. those with the
suffix _1. If a transformation other than the first is parameterized, the
correspondingly modified names must be used.

Configuration The extensions of the following machine data are required for the configuration
of a 6-axis transformation:
The channel axis index of the 3rd rotary axis must be entered in
$MC_TRAFO_AXES_IN_1[5].
The direction of the 3rd rotary axis must be specified in

$MC_TRAFO5_AXIS3_1[0..2].
An orientation normal vector with a length not equal to zero and which is not
parallel or anti-parallel to the $MC_TRAFO5_BASE_ORIENT_1[0..2]
defined orientation vector, must be specified in machine data
$MC_TRAFO6_BASE_ORIENT_NORMAL_1[0..2].
To the previous offsets: Vector
$MC_TRAFO5_BASE_TOOL_1[0..2] Base tool
$MC_TRAFO5_JOINT_OFFSET_1[0..2] Kinematic offset
$MC_TRAFO5_JOINT_OFFSET_PART_1[0..2] Kinematic offset

on the table
$MC_TRAFO5_PART_OFFSET_1[0..2] Offset vector for

5-axis transformation 1
as new offset, the machine data Vector
$MC_TRAFO6_JOINT_OFFSET_2_3_1[0..2] Kinematic offset

is added, which describes the offset between the second and third rotary axis.
Note
Existing machine data blocks are compatible for transfer, without any changes
having to be made in the machine data. The new machine data therefore do
not have to be specified for a 3-/4-/5-axis transformation.
Programming of With the extension of the generic orientation transformation to 6 axes, all three
the orientation degrees of freedom of the orientation can be freely selected.
They can be uniquely defined through the position of a rectangular Cartesian
coordinate system. On axis direction, that of the third axis, (typically in the Z
direction) defines the orientation.
Two degrees of freedom are required for the specification of this direction. The
third degree of freedom is defined via a rotation around this direction, e.g.
through the specification of an angle THETA or a direction vector for one of the
two other axes of the coordinate system, see Section “Rotation of the
orientation vector”.
The new addresses AN3, BN3, CN3 defines the direction of the second axis, of
the coordinate system (typically the Y axis) of the orientation normal vector. The
programmed orientation normal vector should be perpendicular to the
orientation and is only possible when both programmed vectors are not parallel
or anti-parallel. Otherwise, the alarm 4342 is output.
The direction of the first axis, the X axis, is then uniquely defined.

Default setting of The default setting of the orientation normal vector in the transformation can
the orientation also be defined as for the default setting of the orientation in one of three ways:
normal vector Specification for the activation of the transformation
1. The vector components are transferred as parameters 8 to 10:
Parameter 1: Transformation number,
Parameters 2 – 4: Orientation vector,
Parameters 5 – 7: Rotary axis offsets
2. If no orientation normal vector has been specified and a tool is active, the
vector is taken from the tool data.
3. If no orientation normal vector has been specified and also no tool is active,
the vector defined in machine data
$MC_TRAFO6_BASE_ORIENT_NORMAL_1[0..2] is used.
The position of the orientation coordinate system of a standard tool depends on
the active plane G17, G18, G19 according to the following table:
Table 2-8 Position of the orientation coordinate system
G17 G18 G19

Direction of the orientation vector Z Y X
Direction of the orientation normal vector Y X Z
Note
The orientation vector of a tool can be defined differently from the default
setting with the system variables
$TC_DPV or $TC_DPV3 – $TC_DPV5 in the tool data,
see functional description FB1, Tool Offsets, W1
“Sum and setup offsets”.
This option is extended with the specification of the orientation normal vector
with the system variables
$TC_DPVN3 – $TC_DPVN5. The meaning of the vector components is
analogous to the meaning of the components of the tool orientation:
$TC_DPVN3 is the component in the direction of tool length L1, $TC_DPVN4
the component in the direction of tool length L2 and $TC_DPVN5 the
component in the direction of tool length L3.
So that the new tool parameters can be used, machine data MD18114:
MM_ENABLE_TOOL_ORIENT must have the value 3.
The coordinate system is not rotated through the programming of a rotation of
the tool with AN3, BN3, CN3 or THETA.
A programming example
for generic 6-axis transformation is described in Section 6.6.
Supplementary The generic 6-axis transformation requires 6 axes and is therefore only
conditions available on systems with at least 6 axes.

2.6.6 Cartesian manual travel with generic transformation
Functionality As reference system for the JOG mode, the “Cartesian manual travel” function
allows you, in the Cartesian coordinate systems:
Basic coordinate system (BCS)

Workpiece coordinate system (WCS)
Tool coordinate system (TCS)
to set axes independently. Machine data
MD21106: CART_JOG_SYSTEM not only activates the function, but also sets
the permitted coordinate systems.
For the JOG motion, one of the three reference systems can be set not only for
the translation but also for the movement of the geometry axes
tool orientation movement of the orientation axes
via the setting data SD42650: CART_JOG_MODE independently from one
another.
Activation MD21106: CART_JOG_SYSTEM not only activates the function, but also sets
the permitted coordinate systems.
SD42660: ORI_JOG_MODE sets the virtual kinematics used for the traversing
of the orientation. As opposed to the generic 5-/6-axis transformation, only
kinematics can be set in which the rotary axes are perpendicular to one another.
The traversing of the geometry and orientation axes is performed via the VDI
interface signals of the geometry or orientation axes.
Translations A translatory movement can be used to move the tool tip (TCP) in parallel and
3-dimensional to the axes of the set reference system. The traversing is
performed via the VDI interface signals of the geometry axes.
Note
For further information about the representation of the translations for the
Cartesian manual travel in the corresponding coordinate systems, see:
References: /FB2/, Description of Functions, Extended Functions,
M1, “Cartesian manual travel (810D powerline)”
Tool orientation The tool can be aligned to the workpiece surface via an orientation movement.
The motion of the orientation axes is triggered by the PLC via the VDI interface
signals of the orientation axes. The virtual orientation axes execute rotations
around the fixed directions of the relevant reference system. The virtual
kinematics are specified with
SD42660 = 0: by the active transformation.

Rotations of the Further settings of the setting data SD42660: ORI_JOG_MODE specify the
orientations rotations of the orientation axes.
The options are as follows:
Rotations with With JOG, the rotations around the specified directions of the respective
JOG reference system can be performed with Euler angle or RPY angle.
SD42660 = 1: During jogging, Euler angles are traversed, i.e. the
1st axis rotates around the z direction, the
2nd axis rotates around the x direction and, if available, the
3rd axis rotates around the new z direction.
SD42660 = 2: During jogging, RPY angles are traversed with the rotation
sequence XYZ, i.e. the
1st axis rotates around the x direction, the
2nd axis rotates around the y direction and, if available, the
3rd axis rotates around the new z direction.
SD42660 = 3: During jogging, RPY angles are traversed with the rotation
sequence ZYX, i.e. the
1st axis rotates around the z direction, the
2nd axis rotates around the y direction and, if available, the
3rd axis rotates around the new x direction.
Rotation sequence The rotation sequence of the rotary axes is set with
of the rotary axes
SD42660 = 4:
via machine data MD21120: ORIAX_TURN_TAB_1.
SD42660 = 5:
via machine data MD21130: ORIAX_TURN_TAB_2.
For further explanations of the orientation movements, see:
Section 2.8 “Orientation”
Section 2.9 “Orientation axes”
Note
For further information about the programming of the rotations, see:
References: /PGA/, Programming Guide Advanced,
“Programming of the tool orientation” transformation

2.7 Restrictions for kinematics and interpolation
Fewer than 6 axes Not all degrees of freedom are available for the orientation. The following
special rules therefore apply.
5-axis kinematics This has only two degrees of freedom for the orientation. The assignment of the
orientation axes and the tool vector direction must be selected so that there is
no rotation about the tool vector itself. As a result, only two orientation angles
are required to describe the orientation. If the axis is traversed by ORIVECT, the
tool vector performs a pure swiveling motion.
3-and 4-axis Only one degree of freedom is available for the orientation in the case of 3-axis
kinematics and 4-axis kinematics. The respective transformation determines the relevant
orientation angle.
It only makes sense to traverse the orientation axis with ORIAXES. Linear
interpolation for the orientation axis is direct.
Interpolation Machine tools with the kinematics of an orientable toolholder are capable of
across several orienting the tool in space. The orientation of the tool is almost always
blocks programmed in each block. For example, it is possible to
specify the tool orientation directly with reference to the rotary axis positions.
If orientations of a tool are interpolated over several successive blocks,
undesirable abrupt changes in the orientation vector may be encountered at the
block transitions. This causes irregular velocity and acceleration changes in the
rotary axes at the block transitions.
Large circle interpolation can be used to generate a movement of the
orientation axes with continuous velocity and acceleration across several
blocks. The orientation axes behave like
normal linear axes if only G1 blocks are interpolated.
In the case of linear axes, a movement with continuous acceleration is achieved
by using polynomials for the axis interpolation.
Tool orientation A much better method is to use orientation vectors in order to program the tool
based on orientation in space.
orientation vectors Please consider the features of polynomial interpolation of orientation vectors
described in Subsection 2.10.1.
Further explanations about the tool orientation by means of orientation vectors
for machine tools can be found in Subsection 2.10.1 and in the following
sections.

2.7.1 Singularities of orientation
Description of As described in Subsection 2.1.5 for SW up to 5.2, singularities (poles) are

problem constellations in which the tool is orientated in parallel to the first rotary axis. If
the orientation is changed when the tool is in or close to a singularity (as is the
case with large-circle interpolation ORIWKS), the rotary axis positions must
change by large amounts to achieve small changes in orientation. In extreme
cases, a jump in the rotary axis position would be needed.
Proceed as follows in a situation of this type:
Only one machine data remains relevant
MD 24540: TRAFO5_POLE_LIMIT_1 or
MD 24640: TRAFO5_POLE_LIMIT_2,
describing a circle around the pole (as previously).
For further information about the handling of singular positions, see:
“Cartesian PTP travel” transformations
Example for Rotatable tool

machine type 1 Both rotary axes change the orientation of the tool.
The orientation of the workpiece is fixed.
2-axis swivel head with
rotary axis RA 1 (4th axis of transformation) and
rotary axis RA 2 (5th axis of transformation)
Tolerance circle Constant

Pole positions of
2nd rotary axis
Starting point
Programmed
end point
Path
path
Reached
end point
Constant
positions of
1st rotary axis
Fig. 2-15 Generic 5-axis transformation; end point of orientation inside tolerance circle

End point within If the end point is within the circle, the first axis comes to a standstill and the
the circle second axis moves until the difference between the target and actual orientation
is minimal. However, since the first rotary axis does not move, the orientation
will generally deviate from the programmed value (see Fig. 2-15). However, the
programmed orientation can at least be reached exactly if the first rotary axis
happens to be positioned correctly.
Note
In Fig. 2-15 the resulting path is a straight line because the position of the first
rotary axis is constant on that path. This representation is always correct,
irrespective of the angle between the two rotary axes. The orientation vector
only moves in a plane, however, if the two rotary axes and the basic orientation
are all mutually perpendicular. In all other cases, the orientation vector
describes the outside of a taper.
End point outside If the orientation interpolation describes a path through the circle while the end
the circle point is outside the circle, the end point is approached with axis interpolation.
This applies in particular if the interpolation starting point is located inside the
circle. Path deviations from the programmed setpoint orientation are thus
unavoidable.

2.8 Orientation
2.8 Orientation
2.8.1 Basic orientation
Differences to the In the 5-axis transformations implemented to date, the basic orientation of the
previous 5-axis tool was defined by the type of transformation.
transformations Generic 5-axis transformation can be used to enable any basic tool orientation,
i.e. the space orientation of the tool is arbitrary with axes in initial positions.
If an orientation is programmed by means of Euler angles, RPY angles (A2, B2,
C2) or vectors (A3, B3, C3), the basic orientation is taken into consideration, i.e.
the rotary axes are positioned so that a tool positioned in basic orientation is
traversed to the programmed orientation.
If the rotary axes are programmed directly, the basic orientation has no effect.
Definition There are three different ways to define the basic orientation:
1. Via the transformation call
2. Via the orientation of the active tool
3. Via a machine data
Via the For 1.: When the transformation is called, the direction vector of the basic
transformation call orientation can be specified in the call, e.g. TRAORI(0, 0., 1., 5.). The direction
vector is defined by parameters 2 to 4; the vector in the example therefore has
the value (0., 1., 5.).
The first parameter specifies the transformation number. The number can be
omitted if the first transformation is to be activated. To enable the parameters to
be identified correctly when specifying an orientation, a blank space has to be
inserted instead of the transformation number, e.g. TRAORI(, 0., 1., 5.).
Note
The orientation data is absolute; it will not be modified by any active frame.
The absolute value of the vector is insignificant; only the direction is relevant.
Non-programmed vector elements can be set to zero.
Please note that if all three vector components are zero (because they have
been set explicitly so or not specified at all), the basic orientation is not defined
by data in the TRAORI(...) call, but by one of the methods described below.
If a basic orientation is defined by the above method, it cannot be altered while
a transformation is active. The orientation can be changed only by selecting the
transformation again.

2.8 Orientation
Via the orientation Re 2.:

of the active tool The basic orientation is determined by the tool
If it has not been defined through specification of a direction vector in the

transformation call
and if a tool is already active.

The orientation of a tool is dependent on the selected plane. It is parallel to Z
with G17, parallel to Y with G18 and parallel to X with G19.
It can be arbitrarily modified toolholders with orientation capability, see:
References: /FB1/, Description of Functions, Basic Machine,
W1 Tool Offset, “Orientable Toolholders”
If the tool is changed when a transformation is active, the basic orientation is
also updated. The same applies if the orientation of a tool changes as the result
of a change in plane (plane changes are equivalent to tool changes, as they
also alter the assignment between tool length components and individual axes).
If the tool is deselected, thereby canceling the definition of a tool orientation, the
basic orientation programmed in machine data becomes operative.
Via a machine data Re 3.:

If the basic orientation is not defined by either of the two variants described
above, it is specified with reference to machine data
$MC_TRAFO5_BASE_ORIENT_n. This machine data must not be set to a zero
vector or else an alarm will be generated during control run-up when a
transformation is active.
If a basic orientation is programmed in machine data
$MC_TRAFO5_BASE_ORIENT_n when a transformation is active and a tool is
subsequently activated, the basic orientation is re-defined by the tool.
Note
The range of settable orientations depends on the directions of the rotary axes
involved and the basic orientation. The rotary axes must be mutually
perpendicular if all possible orientations are to be used. If this condition is not
met, dead" ranges will occur.
Examples:
1. Extreme example: A machine with rotatable tool has a C axis as its first
rotary axis and an A axis as its second. If the basic orientation is defined in
parallel to the A axis, the orientation can only be changed in the X-Y plane
(when the C axis is rotating), i.e. an orientation with a Z component unequal
to zero is not possible in this instance. The orientation does not change
when the A axis rotates.
2. Realistic example: A machine with nutator kinematics (universal head) with
an axis inclined at less than 45o in a basic orientation parallel to the Z axis
can only assume orientations within a semi-circle: The top semi-circle with
basic orientation towards +Z and the bottom with basic orientation towards
-Z.

2.8 Orientation
2.8.2 Orientation movements with axis limits (SW 6.1 and higher)
Calculating the If the final orientation in a 5-axis transformation is programmed indirectly in an

rotary axis NC block by means of a Euler, RPY angle or direction vector, it is necessary to
position calculate the rotary axis positions that produce the desired orientation. This
calculation has no definite result.
There are always at least two very different solutions. In addition, any number of
solutions can result from a modification to the rotary axis positions by any
multiple of 360 degrees.
The control chooses the solution which represents the shortest distance from
the current starting point allowing for the programmed interpolation type.
Determining the The control attempts to define another permissible solution if the axis limits are
permissible axis violated by approaching the desired axis position across the shortest path. The
limits second solution is then verified, and, if this solution also violates the axis limits,
the axis positions for both solutions are modified by multiples of 360 until a valid
position is found.
The following conditions must be met in order to monitor the axis limits of a
rotary axis and modify the calculated end positions:
A generic 5-axis transformation of type 24, 40 or 56 must be active.

The axis must be referenced.
The axis must not be a modulo rotary axis.
Machine data MD 21180: ROT_AX_SWL_CHECK_MODE must be not
equal to zero.
Machine data MD 21180: ROT_AX_SWL_CHECK_MODE specifies the
conditions under which the rotary axis positions may be modified:
Value 0: No modification permitted
(default, equivalent to the previous behavior).
Value 1: Modification is only permitted if axis interpolation is active
(ORIAXES or ORIMKS).
Value 2: Modification is always permitted, even if
vector interpolation (large circle interpolation, conical
interpolation, etc.) was active originally.
Switchover to axis If the axis positions have to be changed from the originally determined value,
interpolation the system switches to rotary axis interpolation because the original
interpolation path, e.g. large circle interpolation or conical interpolation, can no
longer be maintained.
Example An example is shown in Section 6.6 for modifying the rotary axis motion of a
5-axis machine with a rotatable tool.

2.8 Orientation
2.8.3 Compression of orientation (SW 6.3 and higher)
Introduction Up to SW 6.2, the use of the compressors was subject to restrictions affecting
orientation. Some of these restrictions have been overcome by the options
described below.
Extended function Compressors COMPON, COMPCURV and COMPCAD have been extended so
that NC programs containing orientations programmed by means of direction
vectors can also be compressed to a definable tolerance.
Preconditions The “compressor for orientation” function is only implemented if the orientation
transformation option is available.
Previous function The compressor is only active for linear blocks (G1). The compression
procedure is interrupted by any other NC instruction, such as an auxiliary
function output, but not by parameter calculations. The blocks to be
compressed can only contain the following elements:
– Block number
– G1
– Axis addresses
– Feed
– Comment
N... G1 X... Y... Z... A... B... F... ; Comment
Function in The position values do not have to be programmed directly, but can be specified
SW 6.3 via parameter assignments. The general format is:
N... G1 X=<...> Y=<...> Z=<...> A=<...> B=<...> F=<...> ; Comment
<...> can contain any parameter expression, e.g. X=R1*(R2+R3).
Programming The tool orientation can be programmed in the following

options (kinematic-independent) ways for 5-axis machines if an orientation
transformation (TRAORI) is active:
1. Programming of the direction vector via:
A3=<...> B3=<...> C3=<...>
2. Programming of the Euler angle or RPY angle via:
A2=<...> B2=<...> C2=<...>

2.8 Orientation
Compression with The orientation motion is only compressed if large circle interpolation is active,
large circle i.e. change in tool orientation takes place in the plane defined by the start and
interpolation end orientation.
Large circle interpolation is carried out under the following conditions:
1. Please note that for MD 21104: ORI_IPO_WITH_G_CODE = 0 if ORIWKS is
active and the orientation is programmed as a vector
(with A3, B3, C3 or A2, B2, C2).
2. Please note that for MD 21104: ORI_IPO_WITH_G_CODE = 1 if ORIVECT
or ORIPLANE is active.
The tool orientation can be programmed either as a direction vector or with
rotary axis positions. If either of the G codes ORICONxx or ORICURVE is
active or polynomials are programmed for the orientation angle
(PO[PHI] and PO[PSI])
large circle interpolation does not take place.
Rotation of On 6-axis machines, the rotation of the tool can be programmed in addition to
the tool the tool orientation.
The angle of rotation is programmed with the THETA identifier (THETA=<...>).
NC blocks which also contain a rotation can only be compressed if the angle of
rotation changes in linear fashion. In other words, PO[THT]=(...) may not be
used to program a polynomial for the angle of rotation.
General format of an NC block which can be compressed:
N... X=<...> Y=<...> Z=<...> A3=<...> B3=<...> C3=<...> THETA=<...> F=<...>
or
N... X=<...>Y=<...> Z=<...> A2=<...> B2=<...> C2=<...> THETA=<...> F=<...>
However, if the tool orientation is specified by rotary axis positions, e.g. in the
following format:
N... X=<...> Y=<...> Z=<...> A=<...> B=<...> THETA=<...> F=<...>
the compression is performed in two different ways, depending on whether or
not large circle interpolation is performed. If no rotary axis interpolation takes
place, the compressed change in orientation is represented in the usual way by
axial polynomials for the rotary axes.
Accuracy NC blocks can only be compressed if deviations are allowed between the
programmed contour and interpolated contour or between the programmed
orientation and interpolated orientation.
Compressor tolerances can be used to set the maximum permissible deviation.
The higher the tolerances, the more blocks can be compressed. However, the
higher the tolerances, the more the interpolated contour or orientation can
deviate from the programmed values.
Axis accuracy The compressor generates a spline curve for every axis. This curve may
deviate from the programmed end point of each axis by a maximum of the value
set with COMPRESS_POS_TOL.

2.8 Orientation
Contour accuracy The maximum deviations are not defined separately for each axis. Instead, the
maximum geometric deviation of the contour (geometry axes) and of the tool
orientation are checked.
This is performed using the following setting data:
1. SD 42475: COMPRESS_CONTUR_TOL: Max. tolerance for the contour
2. SD 42476: COMPRESS_ORI_TOL: Maximum angular displacement for the
tool orientation
3. SD 42477: COMPRESS_ORI_ROT_TOL: Maximum angular displacement
for the angle of rotation of the tool (only available on 6-axis machines).
Using the setting MD 20482: COMPRESSOR_MODE can be used to set a particular type of
data tolerance specification:
Value 0: Axial tolerances with MD 33100: COMPRESS_POS_TOL
for all axes (geometry axes and orientation axes).
Value 1: Contour tolerance specified with
SD 42475: COMPRESS_CONTUR_TOL,
tolerance for the orientation is specified via axial tolerances
MD 33100: COMPRESS_POS_TOL.
Value 2: The maximum angular displacement for
tool orientation is specified with SD 42476:
COMPRESS_ORI_TOL,
tolerance for the contour is specified by axial tolerances with
MD 33100: COMPRESS_POS_TOL.
Value 3: Contour tolerance specified with
SD 42475: COMPRESS_CONTUR_TOL and the maximum
angular displacement for the tool orientation is specified
with SD 42476: COMPRESS_ORI_TOL.
It is only possible to specify a maximum angular displacement for tool
orientation if an orientation transformation (TRAORI) is active.
Activation The orientation compressor is activated by one of the G codes COMPON,

COMPCURV and COMPCAD.
Example Programming example

For the compression of a circle approximated by a polygon definition, please
see Section 6.7.

2.8 Orientation
2.8.4 Orientation relative to the path (SW 7.3 and higher)
Functionality Irrespective of certain technological applications, the previous programming of

the tool orientation is improved in that the programmed relative orientation in
relation to the total path is maintained. The required deviations from the ideal
orientation path can be specified if, for example, a corner occurs in the contour.
The tool orientation can be modified not only via configurable machine data, but
also via new language commands in the part program. In this way, it is possible
to maintain the relative orientation not only at the block end, but also throughout
the entire trajectory. The desired orientation is achieved:
By settable orientation methods with ORIPATH for how interpolation is to be

performed relative to the path.
Whether the tool orientation should either always run continuously with
specifiable deviations from the orientation relative to the path at a block
transition, or whether the orientation jump should be smoothed in a
dedicated, inserted intermediate block. In this case, the path motion is
stopped in the contour corner.
There are two options with 6-axis transformations:

1. The tool orientation as well as the rotation of the orientation is interpolated
relative to the path (ORIPATH, ORIPATHS).
2. The orientation vector is programmed and interpolated as usual. The
rotation of the orientation vector is initiated relative to the path tangent using
ORIROTC.
Note
The orientation relative to the path interpolation with ORIPATH or ORIPATHS
and ORIROTC, cannot be used together with the “Orientation smoothing”
function. For this, OSOF must be active in the part program. Otherwise alarm
10980 “Orientation smoothing not possible” is output.
Activate The extended function “Orientation relative to the path” is activated with
orientation relative
MD21094: ORIPATH_MODE > 0.
to the path
The tool orientation relative to the path is activated in the part program by
programming ORIPATH. A kink in the orientation path, e.g. as can occur at a
corner in the contour, can be smoothed with ORIPATH.
Orientation at In the case of MD21094: ORIPATH_MODE = 0

block transition the tool orientation is always continuous at a block transition.
With MD21094: ORIPATH_MODE > 0, a jump in the tool orientation
can occur at a block transition. A jump in the orientation always occurs when
either the path tangent or the surface normal vector does not change smoothly
at a block transition.

2.8 Orientation
Deviation from the During the interpolation of the block, the orientation may deviate greatly or not
desired orientation so greatly from the desired relative orientation. The orientation achieved in the
previous block is transferred to the programmed end orientation using
large-radius circular interpolation. The resulting deviation from the desired
relative orientation has two main causes:
1. The end orientation of the previous block refers to the tangent and the
normal vector at the end of the previous block. Both can differ from this at
the start of the current block. Therefore, the start orientation in the current
block does not have the same alignment with respect to the tangent and the
normal vector as at the end of the previous block.
2. No only the tangent, but also the normal vector can change throughout the
entire block. This is the case, when circles, splines or
polynomials are programmed for the geometry axes, or when not only a
start, but also an end value is programmed for the normal vector. In this
case, the tool orientation must change accordingly during the interpolation of
the block, in order to have the same reference to the path tangent and to the
surface normal vector in each path point.
Set orientation Machine data MD21094: ORIPATH_MODE is used to set in which way the
relative to the path orientation relative to the path is to be interpolated. With ORIPATH, the behavior
of the tool orientation interpolation relative to the path can be activated for
various functions:
Meaning of the unit digit Activate real orientation relative to the path
0: The tool orientation only has the reference to the path tangent and to the
normal vector programmed with LEAD and TILT at the end of the block,
whereas, during the block, the orientation does not follow the path tangent
(previous behavior).
1: The reference of the tool orientation to the path tangent and to the surface
normal vector programmed with LEAD/TILT is maintained throughout the
entire block.
Meaning of the ten digit Interpretation of the angle of rotation TILT
0: LEAD = Rotation around the direction perpendicular to the tangent and
normal vector (forward angle)
TILT = Rotation of the orientation around the normal vector
1: LEAD = Rotation around the direction perpendicular to the tangent and
normal vector (forward angle)
TILT = Rotation of the orientation around the direction of the path tangent
(side angle)
Meaning of the hundred digit Retracting movement for re-orientation
0: There is no retracting movement
There is a retracting movement in the tool coordinate system, i.e. the direction
programmed by the retracting vector is interpreted in a coordinate system,
which is specified via
1: Current tool direction (z coordinate) and the
orientation change (x coordinate).
2: Active plane (z coordinate is normal vector to the active plane) and the
orientation change (x coordinate).

2.8 Orientation
Smoothing of the The smoothing of the orientation jump is performed within a distance specified
orientation jump via setting data SD42670: ORIPATH_SMOOTH_DIST. The programmed
ORIPATHS reference of the orientation to the path tangent and normal vector is then no
longer maintained within this distance. If this distance is set to small, the path
velocity may have to be significantly reduced.
A velocity jump of the orientation axes can also be smoothed. In the case where
the orientation path does not perform a jump, but whose first derivation is not
smooth, the resulting velocity jump can be smoothed. Setting data
SD42672: ORIPATH_SMOOTH_TOL > 0 is used to specify how much the
orientation may deviate from the “tangential” alignment. This orientation
smoothing is only performed if G code ORIPATHS is active and SD42672:
ORIPATH_SMOOTH_TOL > 0.
Insertion of intermediate blocks for the smoothing of the orientation path
If SD42670: ORIPATH_SMOOTH_DIST = 0.0 is set, a separate intermediate
block is inserted for the smoothing of the orientation path. This means that the
path motion then stops at the corner of the contour and only then is the jump in
the tool orientation executed. The orientation change is then only performed
with with continuous acceleration when ORIPATHS is active. The orientation is
otherwise transferred from the start orientation to the end orientation by means
of linear large circle interpolation.
Execute tool A tool retracting movement can be performed during this re-orientation. The
retracting direction and path length of the retracting movement is programmed via the
movement vector using the components A8=x, B8=y and C8=z. If the length of this vector
is equal to zero, no retracting movement is executed.
In which coordinate system the tool retracting vector is interpreted, depends on
the value of MD21094: ORIPATH_MODE. This specifies in which coordinate
system the retracting vector is interpreted.
1. Tool coordinate system: z coordinate defined by current tool direction.
2. Workpiece coordinate system: z coordinate defined by active plane.
Normally the retracting movement is performed simultaneously to the orientation
change. A factor can be programmed with the identifier ORIPLF = r , which
defines a “safety clearance”. In this way, the tool orientation only changes when
the tool has retracted by
Formula r * retractingdistance
The programmed retraction factor must be in the interval 0 <= r < 1, in order to
avoid alarm14126.
Interpolation of the With 6-axis transformations, in addition to the complete interpolation of the
rotation relative to tool orientation relative to the path and the rotation of the tool, there is also the
the path ORIROTC option that only the rotation of the tool relative to the path tangent is
interpolated. The tool orientation can be programmed and interpolated
independently of this. This is activated with the G code ORIROTC in the 54th G
code group. The tool orientation direction can be programmed as usual with
direction vectors, Euler or RPY angle. Their interpolation method can be
specified as usual with the G codes ORIVECT, ORIAXES, ORICONxx and
ORICURVE, see Section “Rotation of the orientation vector”.

2.8 Orientation
2.8.5 Programming orientation polynomials (SW 7.1 and higher)
Functionality Orientation polynomials and even axis polynomials can be programmed with
different types of polynomials regardless of the type of polynomial interpolation
currently active. In SW 7.1 and higher, this can be applied to:
Linear interpolation with G code G01

Polynomial interpolation with G code POLY
Circular interpolation with G codes G02, G03 or CIP
Involute interpolation with G code INVCW or INVCCW
This enables a number of polynomials to be programmed for one contour at the
same time.
Note
For further information about programming axis polynomials with PO[X], PO[Y],
PO[Z] and orientation polynomials such as PO[PHI], PO[PSI], PO[THT] and
PO[XH], PO[YH], PO[ZH], please see:
References: /PGA/, Programming Guide Advanced
Two different types of orientation polynomial are defined:

1. Polynomials for angles with reference to the plane defined by the start and
end orientation (type 1 orientation polynomials)
2. Polynomials for curves in space on a reference point on the tool (type 2
orientation polynomials)
Type 1 Type 1 orientation polynomials are polynomials for angles

polynomials
PO[PHI]: in the plane between start and end orientation
PO[PSI]: describing the tilt of the orientation from the plane
between start and end orientation
Type 2 Type 2 orientation polynomials are polynomials for coordinates

polynomials
PO[XH]: x coordinate of reference point on tool
PO[YH]: y coordinate of reference point on tool
PO[ZH]: z coordinate of reference point on tool
Polynomials for With 6-axis transformations, the rotation of the tool around itself can be
angle of rotation programmed for the tool orientation. This rotation of a third rotary axis is
and rotation described either by an angle of rotation or by a rotation vector, which is
vectors perpendicular to the tool direction in the plane.
In addition, a polynomial for rotation with PO[THT} of the orientation vector can
be programmed in the three cases. This is always possible if the kinematic
transformation applied supports rotary angles.

2.8 Orientation
Angle of rotation With orientation interpolation relative to the path with ORIPATH or
with ORIPATH and ORIPATHS, the additional rotation can be programmed with the angle
ORIPATHS THETA=<...>. Polynomials up to the 5th degree can also be programmed with
PO[THT]=(...) for this angle of rotation.
The three possible angles, lead angle, tilt angle and angle of rotation have the
following meaning with respect to the rotation effect:
LEAD Angle relative to the surface normal vector, in the plane
defined by the path tangent and surface normal vector.
TILT Rotation of orientation around the z direction or rotation
around the path tangent
THETA Rotation around the tool direction. Is only possible if the
tool orientation has a total of 3 degrees of freedom, see
“Extension of the generic transformation to 6 axes”.
Different settings of MD21094:ORIPATH_MODE can be used to specify how the
LEAD und TILT angle is to be interpreted.
In addition to the constant angles programmed with LEAD and TILT,
polynomials can be programmed for the lead angle and the tilt angle. The
polynomials are programmed with the PHI and PSI angles:
PO[PHI] = (a2, a3, a4, a5) Polynomial for the LEAD angle
PO[PSI] = (b2, b3, b4, b5) Polynomial for the TILT angle
Polynomials up to the 5th degree can be programmed for both angles. The
angle values at the block end are programmed with the NC addresses
LEAD= <...> and TILT = <...>.
The higher polynomial coefficients, which are zero, can be omitted when
programming. For example, with
PO[PHI] = (a2)
a parabola programmed for the LEAD angle.
Rotations of the The rotation vector is interpolated relative to the path tangent with an
rotation vectors offset that can be programmed using the THETA angle.
with ORIROTC A polynomial up to the 5th degree can also be
programmed with PO[THT]=(c2, c3, c4, c5) for the offset angle.
Note
If ORIAXES is active, i.e. the tool orientation is interpolated via the axis
interpolation, the orientation of the rotation vector relative to the path is only
fulfilled at the end of the block.
For further information about programming, please see:
“Transformations” interpolation method (ORIPATH,
ORIPATHS)

2.8 Orientation
Supplementary It is only useful to program orientation polynomials for specific interpolation

conditions types, which affect both the contour and the orientation. A number of
supplementary conditions must be met to avoid illegal programming settings:
Orientation polynomials cannot be programmed:
If ASPLINE, BSPLINE, CSPLINE spline interpolations are active.

Polynomials for type 1 orientation angles
are possible for every type of interpolation except spline interpolation, i.e.
linear interpolation with rapid traverse G00 or with feedrate G01 and
polynomial POLY and circular/involute interpolation G02, G03, CIP, CT,
INVCW and INVCCW.
In contrast, type 2 orientation polynomials are only possible if
linear interpolation with rapid traverse G00 or with feedrate G01 or
polynomial interpolation POLY is active.
If the orientation is interpolated using ORIAXES axis interpolation. In this

case, polynomials can be programmed directly with PO[A] and PO[B] for
orientation axes A and B.
If ORICURVE is active, the Cartesian components of the orientation vector are
interpolated and only type 2 orientation polynomials are possible. However, type
1 orientation polynomials are not permitted.
Only type 1 orientation polynomials are possible for large circle interpolation and
taper interpolation with ORIVECT, ORIPLANE, ORICONxxx. However, type 2
orientation polynomials are not permitted.
Alarms If an illegal polynomial is programmed, the following alarms are output:

Alarm 14136: Orientation polynomial is generally not permitted.
Alarm 14137: PO[PHI] and PO[PSI] polynomials are not permitted.
Alarm 14138: PO[XH], PO[YH], PO[ZH] polynomials are not permitted.
Alarm 14139: Polynomial for angle of rotation PO[THT] is not permitted.

2.8 Orientation
2.8.6 Tool orientation with 3-/4-/5-axis transformations
The tool direction can be read with the following system variables:
$P_TOOLO[n] Tool orientation active in the interpreter
cannot be used in synchronized actions
$AC_TOOLO_ACT[n] Set orientation active in the interpolator
$AC_TOOLO_END[n] End orientation of the active block
$AC_TOOLO_DIFF Residual angle of the tool orientation
in the active block
$VC_TOOLO[n] Actual orientation direction
$VC_TOOLO_DIFF Angle between actual and
set orientation
$VC_TOOLO_STAT Status of the calculation of the
actual orientation direction.
2.8.7 Orientation vectors for 6-axis transformations
With 6-axis transformations, the complete orientation is described by

two vectors that are perpendicular to one another.
The first vector points in the direction of the tool (see above), while
the second is in the plane perpendicular to this and describes rotations of
the tool around itself.
Both vectors can be read via system variables and also via the OPI interface.
The reading of the direction of rotation vector with the following system
variables is only meaningful for a 6-axis transformation.
$P_TOOLROT[n] Direction of rotation vector active in the
interpreter cannot be used in synchronized
actions
$AC_TOOLR_ACT[n] Direction of rotation vector active in the
interpolator
$AC_TOOLR_END[n] End direction of rotation vector of the active block
$AC_TOOLR_DIFF Residual angle of the direction of rotation vector
in the active block in degrees
$VC_TOOLR[n] Actual value of the direction of rotation vector
$VC_TOOLR_DIFF Angle between actual value and setpoint
of the direction of rotation vector in degrees
$VC_TOOLR_STAT Status of the calculation of the actual value
of the direction of rotation vector.
References: /PGA1/, LHB System Variables
For further information about the programming of polynomials for axis
movements with orientation vectors, see Section “Orientation vectors”.

Direction The directions in which axes are rotated are defined by the axes of the
reference system. In turn, the reference system is defined by ORIMKS and
ORIWKS commands:
– ORIMKS: Reference system = Basic coordinate system
– ORIWKS: Reference system = Workpiece coordinate system
Order of rotation The order of rotation for the orientation axes is defined by
MD 21120: ORIAX_TURN_TAB_1[0..2].
1. First rotation around the axis of the reference system specified in MD 21120:
ORIAX_TURN_TAB_1[0]
2. Second rotation around the rotated axis of the reference system specified in
MD 21120:ORIAX_TURN_TAB_1[1]
3. Third rotation around the rotated axis of the reference system specified in
MD 21120: ORIAX_TURN_TAB_1[2]
Direction of the The direction of the tool vector in the initial machine setting is defined in
tool vector MD 24580: TRAFO5_TOOL_VECTOR_1 or
MD 24680: TRAFO5_TOOL_VECTOR_2.
Assignment to Using machine data MD 24585: TRAFO5_ORIAX_ASSIGN_TAB_1[0..2] are

channel axes used to assign up to a total of 3 virtual orientation axes to the channel, which
are set as input variables in machine data $MC_TRAFO_AXES_IN_n[4..6].
As regards assigning channel axes to orientation axes, please note the
following:
$MC_TRAFO5_ORIAX_ASSIGN_TAB_n[0] = $MC_TRAFO_AXES_IN_n [4]

Orientation transformation 1:
MD 24585: TRAFO5_ORIAX_ASSIGN_TAB_1[n] n = channel axis [0..2]
Orientation transformation 2:
MD 24685: TRAFO5_ORIAX_ASSIGN_TAB_2[n] n = channel axis [0..2]
Transformation [1..4]
MD 24110: TRAFO5_AXES_IN_1[n] n = axis index [0..7]
to
MD 24410: TRAFO5_AXES_IN_4[n]
Transformation [5..8]
MD 24432: TRAFO5_AXES_IN_5[n] n = axis index [0..7]
to
MD 24462: TRAFO5_AXES_IN_8[n]
Example For orientation axes, please see Section 6.4 “Example for orientation axes”.

2.9.1 JOG mode
It is not possible to traverse orientation axes in JOG mode until the following
conditions are fulfilled:
The orientation axis must be defined as such, that is, a value must be set in
MD $MC_TRAFO5_ORIAX_ASSIGN_TAB.
A transformation must be active (TRAORI command)
Axis traversal When using the traverse keys to move an axis continuously (momentary-trigger
using traverse mode) or incrementally, it must be noted that only one orientation axis can be
keys moved at a time.
If more than one orientation axis is moved, alarm 20062
“Channel 1 axis 2 already active” is output.
Axis traversal More than one orientation axis can be moved simultaneously via the
using handwheels handwheels.
Feedrate in JOG When orientation axes are traversed manually, the channel-specific feedrate
override switch or, in rapid traverse override, the rapid traverse override switch
is applied.
Until now, the velocities for traversal in JOG mode have always been derived
from the machine axis velocities. However, geometry and orientation axes are
not always assigned directly to a machine axis.
For this reason, new machine data have been introduced for geometry and
orientation axes, allowing separate velocities to be programmed for these axis
types:
MD 21150: JOG_VELO_RAPID_ORI[n]
MD 21155: JOG_VELO_ORI[n]
MD 21160: JOG_VELO_RAPID_GEO[n]
MD 21165: JOG_VELO_GEO[n]
Appropriate velocity values for the axes must be programmed in these data.
Acceleration MD 21170: ACCEL_ORI[n].

2.9.2 Programming for orientation transformation
The values can only be programmed in conjunction with an orientation

transformation.
Programming of Orientation axes are programmed by means of axis identifiers A2, B2 and C2.
the orientation
Euler and RPY values are distinguished on the basis of G group 50:
ORIEULER: Orientation programming on the basis of Euler angles

(default)
ORIRPY: Orientation programming on the basis of RPY angles
ORIVIRT1: Orientation programming on the basis of virtual

orientation axes (definition 1)
ORIVIRT2: Orientation programming on the basis of virtual

orientation axes (definition 2)
The type of interpolation is distinguished on the basis of G group 51:
ORIAXES: Orientation programming of the linear interpolation of

orientation axes or machine axes
ORIVECT: Orientation programming of the large circle interpolation of

orientation axes (interpolation of the orientation vector)
With MD 21102: ORI_DEF_WITH_G_CODE can be used to define whether
MD 21100: ORIENTATION_IS_EULER is active (default) or G group 50.
The following four variants are available for programming the orientation:
1. A, B, C: Input of machine axis position
2. A2, B2, C2: Angle programming of virtual axes
3. A3, B3, C3: Input of vector components
4. LEAD, TILT: Specification of the lead and side angles with reference to
path and surface
References: /PG/, Programming Guide Fundamentals
Note
The four variants of orientation programming are mutually exclusive. If mixed
values are programmed, alarm 14130 or alarm 14131 is output.
Exception:
For 6-axis kinematics with a 3rd degree of freedom for orientation, C2 may also
be programmed for variants 3 and 4. C2 in this case describes the rotation of
the orientation vector about its axis.
Example Please see Section 6.4 “Example of orientation axes” for an example of
orientation axes for a kinematic with 6 or 5 transformed axes.

Interpolation type The MD 21104: ORI_IPO_WITH_G_CODE defines which type of interpolation is

used:
ORIMKS or ORIWKS (for description, see Subsection 2.1.4)

G code group 51 with the commands ORIAXES or ORIVECT
– ORIAXES:
Linear interpolation of machine axes or orientation axes.
– ORIVECT:
The orientation is controlled by the orientation vector being swiveled in
the plane spanned by the start and end vectors (large-circle
interpolation). In the case of 6 transformed axes, rotation around the
orientation vector takes place in addition to the swiveling motion.
If ORIVECT is selected, the path traversed by the orientation axes is
always the shortest possible.
Value range Value range for orientation axes:

*180 degrees < A2 < 180 degrees
*90 degrees < B2 < 90 degrees
*180 degrees < C2 < 180 degrees
All possible rotations can be represented with this value range. Values outside
the range are normalized by the control system to within the range specified
above.
Feedrate Feedrate when programming ORIAXES:

The feedrate for an orientation axis can be limited via the FL[ ] instruction (feed
limit).
2.9.3 Programmable offset for orientation axes (SW 6.4 and higher)
How the The additional programmable offset for orientation axes acts in addition to the
programmable existing offset and is specified when transformation is activated. Once
offset works transformation has been activated, it is no longer possible to change this
additive offset and no zero offset will be applied to the orientation axes in the
event of an orientation transformation.
The programmable offset can be specified in two ways:
1. Direct programming of the offset with TRAORI() when transformation is
activated.
2. Automatic transfer of the offset from the zero offset active for the orientation
axes when transformation is activated. This automatic transfer is configured
via machine data.
Programming the When transformation is activated, the offset can be programmed directly as
offset directly TRAORI(n, x, y, z, a, b).
In SW 6.4 and higher, the following parameters are available as options:

n: Number of transformation n = 1 or 2
x, y, z: Components of the vector for the basic orientation of the
tool (generic 5-axis transformation only).
a, b: Offset for rotary axes
These optional parameters can be omitted. However, if they are used for
programming purposes, the correct sequence must be observed. If for example
only one rotary axis offset is to be entered,
TRAORI(,,,, a, b) is programmed, for example.
For further information about programming, please see:
References: /PGA/, Chapter 7 “Transformations”
Programming the As the offset is transferred automatically from the currently active zero offset on
offset the orientation axes, the effects of zero offset on rotary axes are always the
automatically same both with and without active transformation. The automatic transfer of the
offset from the zero offset is made possible via machine data
MD 24590: TRAFO5_ROT_OFFSET_FROM_FR_1 = TRUE for the first and
MD 24690: TRAFO5_ROT_OFFSET_FROM_FR_2 = TRUE for the second
transformation in the channel.
Note
There is no difference between a zero offset on the orientation axes
programmed during active transformation and the previous offset.
If automatic transfer of the offset has been activated and a rotary axis offset is
programmed at the same time, the programmed offset value takes priority.
Orientable On an orientable toolholder, the offset for both rotary axes can be programmed
toolholder with with the $TC_CARR24 and $TC_CARR25 system variables. This rotary axis
additive offset offset can be transferred automatically from the zero offset effective at the time
the orientable toolholder was activated.
The automatic transfer of the offset from the zero offset is made possible via
machine data MD 21186: TOCARR_ROT_OFFSET_FROM_FR = TRUE.
Note
For more information about orientable toolholders, please see:
References: /FB1/, Basic Machine W1, “Tool Compensation”

2.9.4 Orientation transformation and orientable toolholders
Note
Orientation transformation and orientable toolholders can be combined.
The resulting orientation of the tool is produced by linking the orientation
transformation and the orientable toolholder.

2.10 Orientation vectors
2.10.1 Polynomial interpolation of orientation vectors (SW 5.3 and

higher)
Programming of Polynomial programming for axis motion

polynomials
In the case of a change in orientation using rotary axis interpolation, linear
interpolation normally takes place in the rotary axes. However, it is also possible
to program the polynomials as usual for the rotary axes. This enables you to
produce generally more homogeneous axis motion.
Note
Further information about programming polynomial interpolation with POLY and
on interpolation of orientation vectors is given in:
A block with POLY is used to program the polynomial interpolation. Whether the
programmed polynomials are then interpolated as polynomial depends on
whether the G code POLY is active or not. If the G code is
not active, the programmed axis end points are traversed in a line.
active, the programmed polynomials are interpolated as polynomials.
MD 10674 Machine data MD 10674: PO_WITHOUT_POLY = FALSE can be used to set

whether the programming of:
PO[...] or PO(...) is only possible if POLY is active or

PO[ ] or PO( ) polynomials are also possible without active G code POLY.
MD 10674: By default, PO_WITHOUT_POLY = FALSE is set and MD 10674:
PO_WITHOUT_POLY = TRUE can always be used for programming:
PO[...] = (...), regardless of whether POLY is active or not.

In SW 7.1 and higher, orientation polynomials can be programmed together
with various types of interpolation and are described in Subsection 2.8.5.
POLYPATH In addition to the modal G function POLY, the predefined subprogram

POLYPATH(argument) can be used to activate polynomial interpolation
selectively for different axis groups. The following arguments are permissible for
activation of the polynomial interpolation:
(“AXES”): For all path axes and special axes
(“VECT”): For orientation axes
(“AXES”,“VECT”): For path axes, special axes and orientation axes
(No argument): deactivates polynomial interpolation for all axes groups
Polynomial interpolation is activated for all axis groups by default.

Programming of orientation vectors

An orientation vector can be programmed in each block. If polynomials are
programmed for the orientation, the orientation vector is usually no longer
located in the plane between the start and end vectors, but can be rotated out of
this plane.
The orientation vectors can be programmed as follows:
1. Programming of rotary axis positions with A, B and C or with the actual
rotary axis identifiers.
2. Programming in Euler angle or RPY angle via A2, B2, C2.
3. Programming of the direction vector via A3, B3, C3.
4. Programming via leading angle with LEAD and tilt angle TILT.
Selection of type The type of interpolation for orientation axes is selected using the G codes of
of interpolation group 51
ORIAXES: Linear interpolation of the machine axes or using

polynomials for active POLY or
ORIVECT: Interpolation of the orientation vector using

large circle interpolation
and is independent of the type of programming of the end vector. If ORIAXES is
active, the interpolation of the rotary axis can also take place using polynomials
like polynomial interpolation of axes with POLY.
On the other hand, if ORIVECT is active, a “normal” large circle interpolation is
carried out through linear interpolation of the angle of the orientation vector in
the plane that is defined by the start and end vector.
Polynomials for The additional programming of polynomials for 2 angles that span the start
2 angles vector and end vector can also be programmed as complex changes in
orientation with ORIVECT.
The two PHI and PSI angles are specified in degrees.
POLY Activate polynomial interpolation for all axis groups.
POLYPATH ( ) Activate polynomial interpolation for all axis groups.
Possible groups are “AXES” and “VECT”.
The coefficients an and bn are specified in degrees.
PO[PHI]=(a 2, a3, a4, a5)
The PHI angle is interpolated as
PHI(u) = a0 + a1*u + a2*u2 + a3*u3+ a4*u4 + a5*u5.
PO[PSI]=(b 2, b3, b4, b5)
The PSI angle is interpolated as
PSI(u) = b0 + b1*u + b2*u2 + b3*u3+ b4*u4 + b5*u5.
PL Length of the parameter interval where polynomials
are defined. The interval always starts at 0.
Theoretical value range for PL: 0,0001 ... 99999,9999.
The PL value is valid for the block in which it is located.
If no PL has been programmed, PL = 1 will be applied.

Rotation of the Changes in orientation are possible with ORIVECT, independent of the type of
orientation vector end vector programming. The following situations apply:
Example 1 The components of the end vector are programmed.
N... POLY A3=a B3=b C3=c PO[PHI] = (a2, a3, a4, a5) PO[PSI] = (b2, b3, b4, b5)
Example 2 The end vector is determined by the positions of the rotary axes.
N... POLY Aa Bb Cc PO[PHI] = (a2, a3, a4, a5) PO[PSI] = (b2, b3, b4, b5)
The angle PHI describes the rotation of the orientation vector in the plane
between the start and end vectors (large circle interpolation, see Fig. 2-16). The
interpolation of the orientation vector is exactly the same as in example 1.
PHI
Start vector
End vector
Fig. 2-16 Rotation of the orientation vector in the plane between start and end vector
PHI and PSI angle The programming of polynomials for the two angles PO[PHI] and PO[PSI] is
always possible. Whether the programmed polynomials for PHI and PSI are
actually interpolated depends on the following:
If POLYPATH(“VECT”) and ORIVECT are active, the polynomials are

interpolated.
If POLYPATH(“VECT”) and ORIVECT are not active, the programmed

orientation vectors are traversed at the end of the block by a “normal” large
circle interpolation. This means that the polynomials for the two angles PHI
and PSI are ignored in this case.
Start PHI End
PSI
Fig. 2-17 Movement of the orientation vector in the top view
The angle PSI can be used to generate movements of the orientation vector
perpendicular to the large circle interpolation plane (see Fig. 2-17)

Maximum 5th degree polynomials are the maximum possible for programming the angles
polynomials of 5th PHI and PSI. The constant and linear coefficient is defined by the start value
degree permitted and end value of the orientation vector in each case.
Higher degree coefficients can be omitted from the coefficient list (..., ....) if these
are all equal to zero.
The length of the parameter interval in which the polynomials are defined can
also be programmed with PL.
Special features If no polynomial is programmed for the PSI angle, the orientation vector is
always interpolated in the plane defined by the start and end vector.
The PHI angle in this plane is interpolated according to the programmed
polynomial for PHI. This mainly achieves that the orientation vector moves
through a “normal” large circle interpolation in the plane between the start and
end vector and the movement is more or less irregular depending on the
programmed polynomial.
In this way, the velocity and acceleration curve of the orientation axes can be
influenced within a block, for example.
Note
Further information on polynomial interpolation for axis motion and general
programming is given in:
References: /PGA/, Programming Guide Advanced, Chapter 5
Supplementary The polynomial interpolation of orientation vectors is only possible for control
conditions variants in which
both an orientation transformation

and
the polynomial interpolation belong to the functional scope.
2.10.2 Rotation of the orientation vector (SW 6.1 and higher)
Functionality Changes in the tool orientation are programmed by specifying, in each block, an
orientation vector which is to be reached at the end of the block. The end
orientation of each block can be programmed by
1. programming the vector directly, or
2. programming the rotary axis positions
The second option depends on the machine kinematics. The interpolation of the
orientation vector between the start and end values can also be modified by
programming polynomials.

Programming of the orientation direction

The following options are available for programming the tool orientation:
1. Direct programming of the rotary axis positions
(the orientation vector is derived from the machine kinematics).
2. Programming in Euler angles via A2, B2, C2
(Angle C2 is irrelevant).
3. Programming in RPY angles via A2, B2, C2.
4. Programming of the direction vector via A3, B3, C3
(the length of the vector is irrelevant).
You can switch between Euler and RPY angle programming with machine data
MD 21100: ORIENTATION_IS_EULER or using G codes ORIEULER and
ORIRPY.
of orientation direction and rotation

While the direction of rotation is already defined when you program the
orientation with RPY angles, additional parameters are needed in order to
specify the direction of rotation for the other orientations:
1. Direct programming of the rotary axis positions
An additional rotary axis must be defined for the direction of rotation.
2. Programming in Euler angles via A2, B2, C2
Angle C2 must also be programmed. The complete orientation is then
defined including the tool rotation.
3. Programming in RPY angles via A2, B2, C2
Additional parameters are not required.
4. Programming of the direction vector via A3, B3, C3
The angle of rotation is programmed with THETA=<value>.
Note
The following cases do not allow for a programmed rotation:
Multiple programming of the direction of rotation is not allowed and results in an
alarm. If you program the Euler angle C2 and the direction of rotation THETA
simultaneously, the programmed rotation is not executed.
If the machine kinematics are such that the tool cannot be rotated, any
programmed rotation is ignored. This is the case on a normal 5-axis machine
tool, for example.
Rotation of the The following options are available for interpolating a rotation of the orientation
orientation vector vector by programming the vector directly:
Linear interpolation, i.e. the angle between the current rotation vector and
the start vector is a linear function of the path parameter.
Non-linear due to the additional programming of a polynomial for the angle

of rotation q, maximum 5th degree, in the format
PO[THT] = ( d 2, d 3, d 4, d 5)

Interpolation of the Higher degree coefficients can be omitted from the coefficient list (..., ....) if these
angle of rotation are all equal to zero.
In such cases, the end value of the angle
and the constant and linear coefficient d n of the polynomial cannot be
programmed directly.
The linear coefficient d n
is defined by means of the end angle q e and entered in degrees.
The end angle q e
is derived from the programming of the rotation vector.
The starting angle q s
is determined by the starting value of the rotation vector resulting from the end
value of the previous block. The constant coefficient of the polynomial is defined
by the starting angle of the polynomial.
The rotation vector
is always perpendicular to the current tool orientation and forms the angle
THETA in conjunction with the basic rotation vector.
Note
During machine configuration, you can define the direction in which the rotation
vector points at a specific angle of rotation when the tool is in the basic
orientation.
In general, the angle of rotation is interpolated with a 5th degree polynomial.
Formula q(u) + qs ) d 1u ) d 2u 2 ) d 3u 3 ) d 4u 4 ) d 5u 5 (14)

For parameter interval 0 ... 1, this produces the following values
for linear coefficients:
Formula d1 + q e * q s * d 2 * d 3 * d4 * d5 (15)
Interpolation of the The programmed rotation vector can be interpolated in the following way using
rotation vector the modal G codes:
ORIROTA (orientation rotation absolute):

The angle of rotation THETA is interpreted as an absolutely fixed direction in
space. The basic direction of rotation is defined by machine data.
ORIROTR (orientation rotation relative):

The angle of rotation THETA is interpreted relative to the plane defined by
the start and end orientation.
ORIROTT (orientation rotation tangential):

The angle of rotation THETA is interpreted relative to the change in
orientation. That means the rotation vector interpolation is tangential to the
change in orientation for THETA=0.
This is different to ORIROTR only if the change in orientation does not take
place in one plane. This is the case if at least one polynomial was
programmed for the “tilt angle” PSI for the orientation. An additional angle of
rotation THETA can then be used to interpolate the rotation vector so that it
always exhibits a specific angle with reference to the change in orientation.

Activating the A rotation of the orientation vector is programmed with the identifier THETA. The
rotation following options are available for programming:
THETA=<value> an angle of rotation reached at the end of the block.
THETA = q e programmed angle q e can be interpreted either as an
absolute dimension (G90 is active)
or as an incremental dimension (G91 is active).
THETA = AC(...) non-modal switchover to absolute dimensions.
THETA = IC(...) non-modal switchover to incremental dimensions.
PO[THT] = (...) programming of a polynomial for the angle of rotation THETA.
The angle THETA is programmed in degrees.
The interpolation of the rotation vector is defined by the modal G codes:
ORIROTA Angle of rotation to an absolute direction of rotation.
ORIROTR Angle of rotation relative to the plane between the
start and end orientation
ORIROTT Angle of rotation relative to the change of the tangential
rotation vector of the orientation vector to the orientation
change
ORIROTC Angle of rotation relative to the change of the tangential
rotation vector of the orientation vector to the path tangent
PL Length of the parameter interval where polynomials
are defined. The interval always starts at 0.
If no PL has been programmed, PL = 1 will be applied.
These G codes define the reference direction of the angle of rotation. The
meaning of the programmed angle of rotation is interpreted accordingly.
Supplementary The angle of rotation or rotation vector can only be programmed in all four
conditions modes if the interpolation type ORIROTA is active.
1. Rotary axis positions
2. Euler angle via A2, B2, C2
3. RPY angles via A2, B2, C2.
4. Direction vector via A3, B3, C3.
If ORIROTR or ORIROTT is active, the angle of rotation can only be
programmed directly with THETA.
The other programming options must be excluded in this case since the
definition of an absolute direction of rotation conflicts with the interpretation of
the angle of rotation in these cases. The possible programming combinations
are monitored and an alarm is output if necessary.
A rotation can also be programmed in a separate block without an orientation
change taking place. In this case, ORIROTR and ORIROTT are irrelevant. In
this case, the angle of rotation is always interpreted with reference to the
absolute direction (ORIROTA).
A programmable rotation of the orientation vector is only possible when an
orientation transformation (TRAORI) is active.
A programmed orientation rotation is only actually interpolated if the machine
kinematics allow rotation of the tool orientation (e.g. 6-axis machines).

2.10.3 Extended interpolation of orientation axes (SW 6.1 and higher)
Functionality To execute a change in orientation along the peripheral surface of a taper

located in space, it is necessary to perform an extended interpolation of the
orientation vector. The vector around which the tool orientation is to be rotated
must be known. The start and end orientation must also be specified. The start
orientation is given by the previous block and the en orientation must either be
programmed or defined by other conditions.
Outside surface of a taper

Direction axis
Start vector
End vector
PHI
PSI
PSI opening angle of the taper

PHI angle of rotation for orientation about the direction axis
Fig. 2-18 Change in orientation of the peripheral surface of a taper located in space
Definitions Generally, the following data are required:

required
The start orientation is defined by the end orientation of the previous block.
The end orientation is defined either by specifying the
vector (with A3, B3, C3), the Euler angle or RPY angle (with A2, B2, C2) or
by programming the positions of the rotary axis (with A, B, C).
The rotary axis of the taper is programmed as a (normalized) vector with

A6, B6, C6.
The opening angle of the taper is programmed degrees with the identifier
NUT (nutation angle).
The value range of this angle is limited to the interval between 0 degrees
and 180 degrees. The values 0 degrees and 180 degrees must not be
programmed. If an angle is programmed outside the valid interval, an alarm
appears.
In the special case where NUT = 90 degrees, the orientation vector in the
plane is interpolated vertical to the direction vector (large circle
interpolation).
The sign of the programmed opening angle specifies whether the traversing
angle is to be greater of less than 180 degrees.
In order to define the taper, the direction vector or its opening angle must
be programmed. Both may not be specified at the same time.
A further option is to program an intermediate orientation that lies between

the start and end orientation.

Programming ORIPLANE orientation interpolation in a plane

(large circle interpolation)
ORICONCW orientation interpolation on a cone clockwise
ORICONCCW orientation interpolation on a cone counter clockwise
The programming of the direction vector is carried out using the identifiers
A6, B6, C6 and is specified as a (normalized) vector.
Note
The programming of an end orientation is not absolutely necessary. If no end
orientation is specified, a full outside taper with 360 degrees is interpolated.
The opening angle of the taper is programmed with

NUT= <angle> , where the angle is specified in degrees.
Note
An end orientation must be specified.
A complete outside taper with 360 degrees can be interpolated in this way. The
sign of the opening angle defines whether the traversing angle is to be greater
or less than 180 degrees.
The identifiers have the following meanings:

NUT = +... traversing angle less than or equal to 180 degrees
NUT = –... traversing angle greater than or equal to 180 degrees
A positive sign can be omitted when programming.
Settings for ORICONIO orientation interpolation on a cone with intermediate

intermediate
orientation If this G code is active, it is necessary to specify an intermediate orientation
with
A7, B7, C7 and this is specified as a (normalized) vector.
Note
Programming of the end orientation is absolutely necessary in this case.
The change in orientation and the direction of rotation is defined uniquely by

the three
vectors Start, End and Intermediate orientation.
All three vectors must be different. If the programmed intermediate orientation is
parallel to the start or end orientation, a linear large circle interpolation of the
orientation is executed in the plane that is defined by the start and end vector.

Angle of rotation The following may be programmed for the angle of the taper
and opening angle
PHI Angle of rotation of the orientation around the direction axis
PSI Opening angle of the taper
as well as the polynomials of the 5th degree (max.). They are programmed as
follows:
PO[PHI] = (a2, a3, a4, a5) The constant and linear coefficients
PO[PSI] = (b2, b3, b4, b5) are determined by means of the start and
end orientation respectively.
Further It is possible to interpolate the orientation on a taper connected tangentially to

interpolation the previous change in orientation.
options This orientation interpolation is achieved by programming the ORICONTO G
code.
ORICONTO orientation interpolation on a cone with tangential orientation
A further option for orientation interpolation is to describe the change in

orientation through the path of a 2nd contact point on the tool.
ORICURVE orientation interpolation with a second curve
The coordinates for the movement of the 2nd contact point of the tool must be
specified. This additional curve in space is programmed with
XH, YH, ZH Except for the relevant end values, you can also program
additional
polynomials in the format
PO[XH] = (xe, x2, x3, x4, x5) (xe, ye, ze) is the end point of the curve, and
PO[YH] = (ye, y2, y3, y4, y5) xi, yi, zi are the coefficients of the polynomials
PO[ZH] = (ze, z2, z3, z4, z5) (maximum 5th degree).
This type of interpolation can be used to program points (G1) or polynomials
(POLY) for the two curves in space.
Note
No circles or involutes are permissible. IT is also possible to activate a spindle
interpolation with BSPLINE. The programmed end points of both curves in
space are then interpreted as nodes.
Other types of splines (ASPLINE and CSPLINE) and the activation of a
compressor (COMPON, COMPCURV, COMPCAD) are not permissible here.
Supplementary The extended interpolation of orientations requires that all necessary orientation
conditions transformations be considered, since these belong to the functional scope.

Activation The change in orientation on any peripheral surface of a taper in space is

activated with the G code of Group 51 through extended interpolation of the
orientation vector using the following commands:
ORIPLANE Interpolation in a plane with specification of the end
orientation (same as ORIVECT)
ORICONCW Interpolation on a peripheral surface of a taper in clockwise
direction with specification of the end orientation and taper
direction or opening angle of the taper.
ORICONCCW Interpolation on a peripheral surface of a taper in counter
clockwise direction with specification of the end orientation
and taper direction or opening angle of the taper.
ORICONIO Interpolation on a peripheral surface of a taper with
specification of the end orientation and an intermediate
orientation.
ORICONTO Interpolation on a peripheral surface of a taper with tangential
transition and specification of the end orientation.
ORICURVE Interpolation of the orientation specifying a movement
between two contact points of the tool.
ORIPATH Tool orientation in relation to the path.
ORIPATHS Tool orientation in relation to the path, when, for example, a
kink in the orientation path, e.g. at a corner in the contour,
is to be smoothed, see Section “Orientation relative to the
path”.
Examples The various changes in orientation are programmed in the following sample
program:
...
N10 G1 X0 Y0 F5000
N20 TRAORI ; Orientation transformation activated.
N30 ORIVECT ; Interpolate tool orientation as vector.
N40 ORIPLANE ; Select large circle interpolation.
N50 A3=0 B3=0 C3=1 ;
N60 A3=0 B3=1 C3=1 ; Orientation in Y/Z plane rotated at 45
; degrees, orientation (0,
1, 1)
Ǹ2 Ǹ2
; reached at end of block.
N70 ORICONCW : The orientation vector is interpolated
; clockwise on a taper with the direction
;
N80 A6=0 B6=0 C6=1 A3=1 B3=0 C3=1; (0, 0, 1) until orientation
;(
1 , 0, 1 ) is reached.
Ǹ2 Ǹ2
; The angle of rotation is 270 degrees.
; The tool orientation passes through a
N90 A6=0 B6=0 C6=1 ; complete revolution on the same taper.
...

2.11 Online tool length offset
Functionality The effective tool lengths can be changed in real time so that these changes in
length are also considered for changes in orientation in the tool. System
variable $AA_TOFF[ ] applies the tool length compensations in 3-D according to
the three tool directions.
None of the tool parameters is changed. The actual compensation is performed
internally by means of transformations using an orientable tool length
compensation.
The geometry identifiers are used as index. The number of active compensation
directions must be the same as the number of active geometry axes. All offsets
can be active at the same time.
Application The online tool length compensation function can be used for:
Orientation transformations (TRAORI)

Orientable tool carriers (TCARR)
Note
The online tool length compensation is optional and must be enabled
beforehand. This function is only practical in conjunction with an active
orientation transformation or an active orientable toolholder.
References /FB/, W1, “Tool Compensation” Orientable Toolholders
Block preparation In the case of block preparation in run-in, the tool length offset currently active in
the main run is considered. In order to utilize the maximum permissible axis
velocities as far as possible, it is necessary to halt the block preparation with a
stop preprocessing command (STOPRE) while a tool offset is being generated.
The tool offset is always known at the time of run-in when the tool length offsets
are not changed after program start or if more blocks have been processed
after changing the tool length offsets than the IPO buffer can accommodate
between run-in and main run. This ensures that the correct axis velocities are
applied quickly.
The dimension for the difference between the currently active compensation in
the interpolator and the compensation that was active at the time of block
preparation can be polled in the system variable $AA_TOFF_PREP_DIFF[ ].
Note
Changing the effective tool length using online tool length compensation
produces changes in the compensatory movements of the axes involved in the
transformation in the event of changes in orientation. The resulting velocities
can be higher or lower depending on the machine kinematics and the current
axis position.

MD 21190: Machine data MD 21190:TOFF_MODE can be used to set whether the content
TOFF_MODE of the synchronization variable $AA_TOFF[ ] is to be approached as an
absolute value or whether an integrating behavior is to take place. The
integrating behavior of $AA_TOFF[ ] allows a 3D distance control. The
integrated value is available via the system variable $AA_TOFF_VAL[ ].
The following machine data and setting data are available for configuring online
tool length compensation:
Machine data / setting data Meaning for online tool length compensation
MD 21190: TOFF_MODE The contents of $AA_TOFF[ ] are traversed as an
absolute value or integrated
MD 21194: TOFF_VELO Velocity of online tool length compensation
MD 21194: TOFF_ACCEL Acceleration of online tool length compensation
SD 42970: TOFF_LIMIT Upper limit of tool length compensation value
With the acceleration margin, 20% is reserved for the overlaid movement of the
online tool length compensation, which can be changed via machine data
MD 20610: ADD_MOVE_ACCEL_RESERVE.
Activation The TOFFON instruction can be used to activate the online tool length
compensation from the part program for at least one tool direction if the option is
available. When activated, an offset value can be specified for the
corresponding offset direction and applied immediately. Example: TOFFON(Z,
25).
Repeated programming of the instruction TOFFON( ) with an offset causes the
new offset to be applied. The offset value is added to variables $AA_TOFF[ ] as
an absolute value.
Note
For further information about programming with examples, please see:
References: /PGA/, Chapter 7 “Transformations”
As long as online tool length compensation is active, the VDI signal on the NCK
→PLC interface IS “TOFF active” (DB21, ... DBX318.2) is set to 1.
During a compensatory movement, the VDI →signal
IS ”TOFF motion active” (DB21, ... DBX318.3) is set to 1.
Reset The compensation values can be reset with the TOFFOF( ) command. This
instruction triggers a preprocessing stop.
The tool length compensations set up are cleared and incorporated in the basic
coordinate system. The run-in synchronizes with the current position in main
run. Since no axes can be traversed here, the values of $AA_IM[ ] do not
change. Only the values of the variables $AA_IW[ ] and $AA_IB[ ] are changed.
These variables now contain the deselected share of the tool length
compensation.
Once the ”online tool length compensation” has been deselected for a tool
direction, the value of system variable $AA_TOFF[ ] or $AA_TOFF_VAL[ ] is
zero for this tool direction.
IS ”TOFF active” (DB21, ... DBX318.2) is set to 0.

Alarm 21670 An existing tool length offset must be deleted via TOFFOF( ) so that alarm
21670 ”Channel %1 block %2, illegal change of tool direction active due to
$AA_TOFF active” is suppressed:
When the transformation is deactivated with TRAFOOF

If you switch over from CP to PTP travel
If a tool length offset exists in the direction of the geometry axis during
geometry replacement
If a tool length offset is present during change of plane

When changing from axis-specific manual travel in JOG mode to PTP as
long as a tool length compensation is active There is no switchover to PTP.
Mode change Tool length compensation remains active even if the mode is changed and can
be executed in any mode.
If a tool length compensation is interpolated on account of $AA_TOFF[ ] during
mode change, the mode change cannot take place until the interpolation of the
tool length compensation has been completed. Alarm 16907 ”Channel %1
action %2 <ALNX> possible only in stop state” is issued.
Behavior with REF The tool length offset is not considered during reference point approach REF in
and block search JOG mode.
The instructions TOFFON( ) and TOFFOF( ) are not collected and output in an
action block during block search.
System variable In the case of online tool length offset, the following system variables are
available to the user:
System variable Meaning for online tool length compensation

$AA_TOFF[ ] Position offset in the tool coordinate system
$AA_TOFF_VAL[ ] Integrated position offset in the WCS
$AA_TOFF_LIMIT[ ] Query whether tool length compensation is close to
the limit
$AA_TOFF_PREP_DIFF[ ] Size of the difference between the currently active
value of $AA_TOFF[ ] and the value prepared as the
current motion block.
References: /PGA1/, LHB System Variables
Supplementary The online tool length offset function is an option and is available during
conditions ”generic 5-axis transformation” by default and for ”orientable tool carriers”.
If the tool is not vertical to the workpiece surface during machining or the
contour contains curvatures whose radius is smaller than the compensation
dimension, deviations compared to the actual offset surface are produced. It is
not possible to produce exact offset surfaces with one tool length compensation
alone.


3 Supplementary Conditions
Supplementary Conditions 3
There are no other supplementary conditions to note


Notes

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

10620 EULER_ANGLE_NAME_TAB
MD number Name of Euler angle [GEOaxisNo.]: 0...2
Default setting: A2, B2, C2 Minimum input limit: – Maximum input limit: –
Changes effective after POWER ON Protection level: 2/7 Unit: –
Data type: STRING Applies as of SW 2.1
Special cases, errors, ... The name entered must not clash with the designation and allocation of machine and
... geometry axes.
The name entered must not overlap with the channel axis names in channel
(MD 20080: AXCONF_CHANAX_NAME_TAB), names for direction vectors (MD 10640:
DIR_VECTOR_NAME_TAB), names for intermediate point coordinates for CIP
(MD 10660: INTERMEDIATE_POINT_NAME_TAB) and the names of interpolation
parameters (MD 10650: IPO_PARAM_NAME_TAB).
The name entered must not feature the following reserved address letters:
–D Tool offset (D function) –E Not used
–F Feedrate (F function) –G Distance condition
–H Auxiliary function (H function) –L Subroutine call
–M Special function (M function) –N Subblock
–P Number of subroutine repetitions –R R parameters
–S Spindle speed (S function) –T Tool (T function)
Keywords (e.g. DEF, SPOS, etc.) and predefined identifiers (e.g. ASPLINE, SOFT) are
also not permitted.
An angle identifier comprises a valid letter (A, B, C, I, J, K, Q, U, V, W, X, Y, Z), followed
by an optional numerical extension (1–99).
10630 NORMAL_VECTOR_NAME_TAB
MD number Name of normal vectors
Default setting: A5, B5, C5
Meaning: List of identifiers for normal vector components at block start and block end.
The rules for axis identifiers described in MD 20080: AXCONF_CHANAX_NAME_TAB
apply when choosing identifiers.
The identifiers must be selected so that there are no conflicts with other identifiers, e.g.
axes, Euler angle, normal vector, direction vector, intermediate coordinate.
Related to .... Choice of possible axis identifiers as for MD 20080: AXCONF_CHANAX_NAME_TAB

10640 DIR_VECTOR_NAME_TAB
MD number Name of direction vectors
Meaning: List of identifiers for direction vector components.
10642 ROT_VECTOR_NAME_TAB
MD number Name of rotation vectors
Meaning: List of identifiers for rotation vector components.
10644 INTER_VECTOR_NAME_TAB
MD number Name of intermediate vector components
Meaning: List of identifiers for intermediate vector components.
10646 ORIENTATION_NAME_TAB
MD number Identifier for programming a 2nd orientation path
Default setting: XH, YH, ZH Minimum input limit: – Maximum input limit: –
Meaning: List of identifiers for programming the second curve in space for tool orientation.
The rules described in MD 20080: AXCONF_CHANAX_NAME_TAB apply when choosing
identifiers.

10648 NUTATION_ANGLE_NAME
MD number Name of the aperture angle
Default setting: NUT Minimum input limit: – Maximum input limit: –
Meaning: Identifier for the aperture angle for orientation interpolation.
10670 STAT_NAME
MD number Name of position information
Default setting: STAT Minimum input limit: – Maximum input limit: –
Meaning: Identifier for position information
to resolve ambiguities for Cartesian PTP travel.
10672 TU_NAME
MD number Name of position information of the axes
Default setting: TU Minimum input limit: – Maximum input limit: –
Meaning: Identifier for position information of axes
to resolve ambiguities for Cartesian PTP travel.
10674 PO_WITHOUT_POLY
MD number Permits programming of PO[ ] without POLY having to be active.
Default setting: FALSE Minimum input limit: 0 Maximum input limit: 1
Data type: BOOLEAN Applies as of SW 5.3
Special cases, errors, ... The machine data can be used to specify how the control behaves when programming
... polynomials with PO[...].
MD 10674 = 0 (FALSE):
Previous behavior, active when programming PO[...] without POLY.
An error message is displayed.
MD10674 = 1 (TRUE):
Programming of PO[...] is permitted without the G code POLY being active. POLY and
POLYPATH( ) produce only the actual execution of the polynomial interpolation in this case.

4.2 Channelspecific machine data

The following machine data are relevant for all transformations described in this
Description of Functions. Afterwards, the specific machine data for swiveling
linear axis and universal milling head are described.
21100 ORIENTATION_IS_EULER
MD number Definition of angle for programming of orientation
Default setting: 1 Minimum input limit: 0 Maximum input limit: 1
Changes effective after Protection level: Unit: –
NEWCONF (SW 5.2 and higher) 7 / 7 (SW 5.2 and higher)
POWER ON (up to SW 5.1) 2 / 7 (up to SW 5.1)
Meaning: MD 21100 = 0 (FALSE):
The values programmed with A2, B2, C2 during orientation programming are interpreted as
RPY angles (in degrees).
The orientation vector results from the fact that one vector is first rotated by C2 in the Z
direction around the Z axis, then by B2 around the new Y axis and, finally, by A2 around the
new X axis. Unlike Euler programming, in this case all three values affect the orientation
vector.
MD 21100 = 1 (TRUE):
The values programmed with A2, B2, C2 during orientation programming are interpreted as
Euler angles (in degrees).
The orientation vector results from the fact that one vector is first rotated by A2 in the Z
direction around the Z axis, then by B2 around the new X axis and, finally, by C2 around the
new Z axis. The value of C2 is therefore meaningless.

21108 POLE_ORI_MODE
MD number Behavior during large circle interpolation at pole position
Default setting: 0, 0, 0, 0, ... Minimum input limit: 0 Maximum input limit: 22
Data type: DWORD Applies as of SW 5.2
Meaning: Defines the treatment of changes in orientation during large circle interpolation if the starting
orientation is equal to the pole orientation or approximates to it and the end orientation of
the block is outside the tolerance circle defined in MD TRAFO5_NON_POLE_LIMIT_1/2.
The position of the polar axis is arbitrary in the polar position. For large circle interpolation,
however, a specific orientation is required for this axis.
The MD is decimally-coded.
The unit digits define the behavior if the start orientation precisely matches the pole
orientation,
the ten digits the behavior if the start orientation of the block is inside the tolerance circle
defined in MD TRAFO5_NON_POLE_LIMIT_1/2.
The unit digits can have the following values (effective if the starting orientation is equal to
the pole orientation):
0: Interpolation is executed as axis interpolation. The preset orientation path (large circle)
is only maintained if the polar axis (randomly) has the correct position and the basic
orientation is perpendicular to the 2nd rotary axis.
1: A block is inserted in front of the block in which the situation described above occurs.
This block positions the polar axis so that large circle interpolation can be performed in the
following block.
2: If the block in front of the block in which the situation described above occurs, contains
a geometry axis movement but not an orientation movement, the necessary positioning
movement of the polar axis is effected in addition in this previous block.
If one of the two conditions has not been fulfilled (block contains no geometry axis
movement or block contains orientation movement), the polar axis movement is carried out
in a block of its own (for behavior see 1).
The ten digits can have the following values (effective if the starting orientation is different
from the pole orientation but is within the tolerance circle defined in
TRAFO5_NON_POLE_LIMIT_1/2):
00: Interpolation is executed as axis interpolation. The preset orientation path (large circle)
is only maintained if the polar axis (randomly) has the correct position and the basic
orientation is perpendicular to the 2nd rotary axis.
10: A block is inserted in front of the block in which the situation described occurs. This
block positions the two rotary axes at the point at which the programmed large circle
interpolation intersects the tolerance circle defined in TRAFO5_NON_POLE_LIMIT_1/2. In
the original block, movement is effected with large circle interpolation from this point
onward.
20: If the block in front of the block in which the situation described above occurs,
contains a geometry axis movement but not an orientation movement, the necessary
positioning movements of the two rotary axes are effected in addition in this previous block.
The residual movement in the original block is the same as that for value 10 of the MD. If
one of the two conditions has not been fulfilled (block contains no geometry axis movement
or block contains orientation movement), the polar axis movement is carried out in a block
of its own (for behavior see 10).
The values of the unit digits are added to those of the ten digits.

24100, 24440 TRAFO_TYPE_1 TRAFO_TYPE_6

MD number Definition of transformation 1/2/3/4/5/6/7/8/9/10 in channel
Default setting: 0 Minimum input limit: 0 Maximum input limit: –
Meaning: This MD specifies for each channel which transformation is available in the channel as the
first (MD 24100), second (MD 24200), third (MD 24300) or tenth (MD 24480) transforma-
tion.
MD irrelevant for ... ... If no transformation is installed.
Figure see Chapter 1 / 2 Figures: 1-1, 1-2, 1-3, 2-1.
Application example(s) See Chapter 6.
Special cases, errors, ... See Section 2.5.
...
Additional references /FB/, M1, “Kinematic transformations”
The tables below show the decimal numbers to be set in MD TRAFO_TYPE_n

(n = 1 ... 10) for appropriate kinematics and kinematics which have been
implemented.
5-axis transformations
1. Rotary axis 2. Rotary axis 3. Rotary axis Movable Movable Movable
tool workpiece tool and
workpiece
TRAFO_TYPE TRAFO_TYPE TRAFO_TYPE
A B – 16 32 48
A C – 33 49
B A – 18 34 50
B C – 35 51
C A – 20
C B – 21
Generic 5-axis transformation (SW 5.2 and higher) 24 40 56
Generic 3/4/5-axis transformation defined using an orientable toolholder (SW 6.4 and higher) 72
Generic 6-axis transformations (SW 7.2 and higher)
A B C 24 40 56, 57
3-axis and 4-axis transformations

Rotary axis Orientation plane Movable tool Movable workpiece Tool
TRAFO_TYPE TRAFO_TYPE orientation in zero po-
sition
A Y–Z 16 Z
B X–Z 18 Z
C X–Y 20 Y
C X–Y 21 X
A Y–Z 32, 33 Z
B X–Z 34, 35 Z
C X–Y 36 Z

Universal milling head

1. Rotary axis 2. Rotary axis Movable Tool orientation in zero posi-
tool, TRAFO_TYPE tion
A B’ 128 X
A B’ 136 Y
A C’ 129 X
A C’ 145 Z
B A’ 130 X
B A’ 138 Y
B C’ 139 Y
B C’ 147 Z
C A’ 132 X
C A’ 148 Z
C B’ 141 Y
C B’ 149 Z
Swiveled linear axis

1. Rotary axis 2. Rotary axis Swiveled linear axis TRAFO_TYPE
A B Z 64
A C Y 65
B A Z 66
B C X 67
C A Y 68
C B X 69
Further transformations
Group of transformation TRAFO_TYPE
Polar transformation (TRANS) 256
with improved tool compensation 257
Cylinder surface transformation (TRACYL) 512
with X-Y-Z-C kinematics 513
with improved tool compensation 514
Inclined axis (TRAANG) 1024
Centerless grinding 2048
OEM transformation from 4096 to 4098
Linked transformation 8192

24110, ,24432 TRAFO_AXES_IN_1[n] TRAFO_AXES_IN_5[n]

24210, 24442 TRAFO_AXES_IN_2[n] TRAFO_AXES_IN_6[n]
MD number Axis assignment for transformation 1/2/3/4/5/6/7/8/9/10 [axis index]: 0 ... 7
Default setting: 1,2,3,4,5,0,0,... Minimum input limit: 0 Maximum input limit: 10 [max. number
of channels]
Data type: Byte Applies as of SW 1.1
Meaning: This MD contains the axis assignment at the input of the first (TRAFO_AXES_IN_1), sec-
ond (TRAFO_AXES_IN_2), third (TRAFO_AXES_IN_3) to tenth transformation
(TRAFO_AXES_IN_10).
The index entered in the nth position indicates which axis is imaged internally on axis n by
the transformation.
The numbers of the channel axes must be entered. This is important for multi-channel sys-
tems.
Application example(s) On machine with 6 axes, the default setting might be e.g.: 1 2 3 4 5 6.
The following is then possible: 1 2 3 5 4 6: The fourth axis is imaged on the fifth and the fifth
imaged on the fourth axis.
Special cases, errors, ... Entry 0: Axis does not participate in the transformation.
...
24120, 24434 TRAFO_GEOAX_ASSIGN_TAB_1[n] TRAFO_GEOAX_ASSIGN_TAB_5[n]

MD number Assignment of geometry axes to channel axes with transformation 1/2/3/4/5/6/7/8/9/10
[geometry axis number]:0 ... 2.
Default setting: 1, 2, 3 Minimum input limit: 0 Maximum input limit: 8
Meaning: The geometry axes are assigned to the channel axes for transformations in this table.
Related to .... Same as MD 20050: AXCONF_GEOAX_ASSIGN_TAB, but only when transformation is
active

24500 TRAFO5_PART_OFFSET_1[n]
24600 TRAFO5_PART_OFFSET_2[n]
MD number Offset vector of 5-axis transformation 1/2 [axis number]: 0 ... 2
Default setting: 0,0 Minimum input limit: Maximum input limit:
Changes effective after Protection level: Unit: mm
Data type: DOUBLE Applies as of SW 1.1
Meaning: This machine data defines an offset of the workpiece carrier for the first (MD:
TRAFO5_PART_OFFSET_1) or second (MD: TRAFO5_PART_OFFSET_2) 5-axis trans-
formation of a channel and has a specific meaning for the different machine types:
Machine type 1 (two-axis swivel head for tool):
Vector from machine reference point to zero point of table. This will generally be a zero
vector if both coincide.
Machine type 2 (two-axis rotary table for workpiece):
Vector from second joint of workpiece rotary table to zero point of table.
Machine type 3 (single-axis rotary table for workpiece and single-axis swivel head for tool):
Vector from joint of workpiece table to zero point of table.
Figure see Subsection Example of machine type 2: See Fig. 2-2
2.1.3
24510 TRAFO5_ROT_AX_OFFSET_1[n]
24610 TRAFO5_ROT_AX_OFFSET_2[n]
MD number Position offset of rotary axis 1/2 for 5-axis transformation 1/2 [axis no.] 0 ... 1
Changes effective after Protection level: Unit: degrees
Meaning: This machine data defines the angular offset of the first or second rotary axis in degrees for
the first (MD: TRAFO5-ROT_AX_OFFSET_1) or the second 5-axis transformation (MD:
TRAFO5_ROT_AX_OFFSET_2) of a channel.

24520 TRAFO5_ROT_SIGN_IS_PLUS_1[n]
24620 TRAFO5_ROT_SIGN_IS_PLUS_2[n]
MD number Sign of rotary axis 1/2 for 5-axis transformation 1/2 [axis no.]: 0 ... 1
Meaning: This machine data defines the sign with which the two rotary axes are included in the first
(MD: TRAFO5_ROT_SIGN_IS_PLUS_1) or
the second (MD: TRAFO5-ROT_SIGN_IS_PLUS_2) 5-axis transformation of a channel.
MD = 0 (FALSE): Sign is inverted.
MD = 1 (TRUE): Sign is not inverted and the traversing direction is defined
according to AX_MOTION_DIR.
The machine data does not mean that the direction of rotation of the rotary axis concerned
will be inverted but indicates whether movement in a positive
direction will be in a positive or negative direction in mathematical terms.
Therefore, rather than changing the direction of rotation, changes to this machine data
change the compensating movement of the linear axes.
However, if a direction vector is entered and consequently a compensating movement set
implicitly, this will change the direction of rotation of the rotary axis concerned.
The machine data should therefore only be set to FALSE (or zero) on an actual machine if
during movement in a positive direction the rotary axis rotates counter-clockwise.
24530 TRAFO5_NON_POLE_LIMIT_1
24630 TRAFO5_NON_POLE_LIMIT_2
MD number Definition of pole range for 5-axis transformation 1/2
Default setting: 2 Minimum input limit: Maximum input limit:
Meaning: This MD defines a limit angle for the fifth axis of the first (MD: TRAFO5_NON_POLE_LI-
MIT_1) or the second (MD: TRAFO5_NON_POLE_LIMIT_2) 5-axis transformation with the
following characteristics: If the path runs past the pole at an angle lower than the value set
here, it crosses through the pole.
With the 5-axis transformation, a coordinate system consisting of circles of longitude and
latitude is spanned over a spherical surface by the two orientation axes of the tool.
If, as a result of orientation programming (i.e. the orientation vector is positioned on one
plane), the path passes so close to the pole that the angle is less than the value defined in
this MD, then a deviation from the specified interpolation is made so that the interpolation
passes through the pole.
If this path modification results in a deviation which is greater than a tolerance defined by
means of MD 24540/24640: TRAFO5_POLE_LIMIT, then alarm 14112 is output.
MD irrelevant for ... ... If no transformation option is installed.
Also irrelevant for programming in the ORIMKS machine coordinate system.
See Chapter 2 for Figure Fig. 2-9 shows how this MD is used.
Related to .... MD: TRAFO5_POLE_LIMIT_1 or _2

24540 TRAFO5_POLE_LIMIT_1
24640 TRAFO5_POLE_LIMIT_2
MD number End angle tolerance with interpolation through pole for 5-axis transformation 1/2
Data type: Double Applies as of SW 1.1
Meaning: This MD defines an end angle tolerance for the fifth axis of the first (MD:
TRAFO5_POLE_LIMIT_1) or the second (MD: TRAFO5_POLE_LIMIT_2) 5-axis trans-
formation with the following characteristics:
With interpolation through the pole point, only the fifth axis moves; the fourth axis remains
in its start position. If a movement is programmed which does not pass exactly through the
pole point, but is to pass within the tolerance defined by TRAFO5_NON_POLE_LIMIT in
the vicinity of the pole, a deviation is made from the specified path because the interpola-
tion runs exactly through the pole point. As a result, the position at the end point of the
fourth axis (pole axis) deviates from the programmed value.
This MD specifies the angle by which the pole axis may deviate from the programmed va-
lue with a 5-axis transformation if a switchover is made from the programmed interpolation
to interpolation through the pole point. In the case of a greater deviation, an error message
(alarm 14112) is output and the interpolation is not executed.
Also irrelevant for programming in the ORIMKS machine coordinate system.
See Chapter 2 for Figure Fig. 2-9 shows how this MD is used.
Related to .... MD: TRAFO5_NON_POLE_LIMIT_1 or _2
24550 TRAFO5_BASE_TOOL_1[n]
24650 TRAFO5_BASE_TOOL_2[n]
MD number Vector of base tool for activation of 5-axis transformation 1/2 [axis number]: 0 ... 2
Meaning: This MD specifies the vector of the base tool, which takes effect when the first transforma-
tion (MD: TRAFO5_BASE_TOOL_1) or the second TRAFO5_BASE_TOOL_2) without tool
length offset having been selected.
Programmed tool length offsets take effect in addition to the base tool.

24560 TRAFO5_JOINT_OFFSET_1[n]
24660 TRAFO5_JOINT_OFFSET_2[n]
MD number Vector of kinematic offset of 5-axis transformation 1/2 [axis number]: 0 ... 2
Meaning: This machine data defines the vector from the first to the second joint for the first (MD:
TRAFO5_JOINT_OFFSET_1) or second TRAFO5_JOINT_OFFSET_2) transformation of a
channel and has a specific meaning for the various machine types:
Machine type 1 (two-axis swivel head for tool) and
Machine type 2 (two-axis rotary table for workpiece):
Vector from first to second joint of tool swivel head or workpiece rotary table.
Machine type 3 (single-axis rotary table for workpiece and single-axis swivel head for tool):
Vector from machine reference point to joint of workpiece table.
The same applies for 3-axis and 4-axis transformation.
TRAFO5_JOINT_OFFSET
Fig. 4-1 Example for MD: TRAFO5_JOINT_OFFSET (joint offset for a 5-axis machine
with two-axis swivel head for tools) (e.g. laser machining with machine type 1)

4.2.1 Channel-specific MD for swiveled linear axis
In addition to the machine data described in Section 4.2, the following machine
data are required for the 5-axis transformation “swiveling linear axis”.
24562 TRAFO5_TOOL_ROT_AX_OFFSET_1
MD number Offset of focus of 1st 5-axis transformation with swiveled linear axis.
Default setting: 0.0, 0.0, 0.0 Minimum input limit: – Maximum input limit: –
Meaning: In the case of 5-axis transformation with swiveled linear axis, the value indicates the offset
of the rotary axis which swivels the linear axis with reference to machine zero for the 1st
swiveled transformation.
MD irrelevant for ... ... Other 5-axis transformations
Figure 2-10
Related to .... 24662
24662 TRAFO5_TOOL_ROT_AX_OFFSET_2
MD number Offset of focus of 2nd 5-axis transformation with swiveled linear axis.
Default setting: 0.0, 0.0, 0.0 Minimum input limit: – Maximum input limit: –
Meaning: In the case of 5-axis transformation with swiveled linear axis, the value indicates the offset
of the rotary axis which swivels the linear axis with reference to machine zero for the 2nd
swiveled transformation.
MD irrelevant for ... ... Other 5-axis transformations
Figure 2-10
Related to .... 24562

4.2.2 Channel-specific MD for universal milling head
24564 TRAFO5_NUTATOR_AX_ANGLE_1
MD number Angle of 2nd rotary axis to relevant axis in rectangular coordinate system, 1st transform.
Default setting: 45 Minimum input limit: –89 Maximum input limit: 89
Meaning: Angle between the second rotary axis and the corresponding axis in the rectangular coordi-
nate system.
Valid for the first transformation of a channel.
MD irrelevant for ... ... Transformation type other than “universal milling head”
Application example(s) 6.3
Related to .... TRAFO_TYPE_n
24664 TRAFO5_NUTATOR_AX_ANGLE_2
MD number Angle of 2nd rotary axis to relevant axis in rectangular coordinate system, 2nd transform.
Meaning: Angle between the second rotary axis and the corresponding axis in the rectangular coordi-
nate system.
Valid for the second transformation of a channel.
MD irrelevant for ... ... Transformation type other than “universal milling head”
Application example(s) 6.3
Related to .... TRAFO_TYPE_n

4.2.3 MD and SD compression of orientation (SW 6.3)
20482 COMPRESSOR_MODE
MD number Mode of the compressor
Change valid after NEWCONF Protection level: Unit: –
Data type: BYTE Applies as of SW 6.3
Meaning: This MD can be used to set the mode of operation of the compressor.
The following options are available:
0: The tolerances defined by the axis-specific MD 33100:

COMPRESS_POS_TOL are maintained
on all axes (geometry and orientation axes) for the compressor.
1: For the compressor, the geometry axes specified by setting data SD 42475:
COMPRESS_CONTUR_TOL is active for the contour tolerance.
For the orientation axes, the axis-specific tolerances from
MD 33100: COMPRESS_POS_TOL are active.
2: For the compressor, the axis-specific tolerances for the geometry

axes from MD 33100: COMPRESS_POS_TOL are active.
The orientation movement is compressed, allowing for the maximum angle displacement
defined in setting data SD 42476: COMPRESS_ORI_TOL and/or
SD 42477: COMPRESS_ORI_ROT_TOL.
3: For the compressor, the contour tolerance specified by setting data

SD 42475: COMPRESS_CONTUR_TOL for the geometry axes and the
maximum angular displacement specified by SD 42476: COMPRESS_ORI_TOL and/or
SD 42477: COMPRESS_ORI_ROT_TOL for the orientation axes is active.
Related to .... MD 33100: COMPRESS_POS_TOL, SD 42475: COMPRESS_CONTUR_TOL,
SD 42476: COMPRESS_ORI_TOL, SD 42477: COMPRESS_ORI_ROT_TOL
42475 COMPRESS_CONTOUR_TOL
MD number Max. contour deviation for compressor
Default setting: 0.05 Minimum input limit: 0.000001 Maximum input limit: 999999
Changes effective IMMEDIATELY Protection level: Unit: mm
Meaning: The maximum tolerance for the contour is defined by this setting data
for the compressor.
Related to .... MD 20482: COMPRESSOR_MODE
42476 COMPRESS_ORI_TOL
MD number Max. angular displacement of tool orientation for the compressor
Changes effective IMMEDIATELY Protection level: Unit: degrees
Meaning: This setting data is used to define the maximum tolerance for tool orientation
for the compressor. The data defines the maximum
permissible angular displacement for tool orientation.
This data is only effective if orientation transformation is active.

42477 COMPRESS_ORI_ROT_TOL
MD number Max. angular displacement of tool rotation for the compressor
Changes effective IMMEDIATELY Protection level: Unit: degrees
Meaning: This setting data is used to define the maximum tolerance for rotation of the tool orientation
for the compressor. This data defines the
maximum permissible angular deviation for tool rotation.
This data is only effective if orientation transformation is active.
The tool orientation may only be rotated on 6-axis machines.
4.2.4 Channel-specific MD for orientation axes
20621 HANDWH_ORIAX_MAX_INCR_SIZE
MD number Limitation of handwheel increment for orientation axes
Default setting: 0.0 Minimum input limit: 0.0 Maximum input limit: –
Changes effective after Reset Protection level: 2 / 7 Unit: degrees
Meaning: Limitation of handwheel increment for orientation axes
20623 HANDWH_ORIAX_MAX_INCR_VSIZE
MD number Orientation velocity overlay
Changes effective after Reset Protection level: 2 / 7 Unit: rev/min
Meaning: Orientation velocity overlay
21102 ORI_DEF_WITH_G_CODE
MD number Definition of orientation angles A2, B2, C2
Changes effective after POWER ON Protection level: 2 / 7 Unit: –
Meaning: This machine data determines how orientation angles A2, B2, C2 are defined:
MD = 0 (FALSE): The angles are defined according to MD 21100
“ORIENTATION_IS_EULER”
MD = 1 (TRUE): The angles are defined according to the G code
(ORIEULER, ORIRPY, ORIVIRT1, ORIVIRT2)
21104 ORI_IPO_WITH_G_CODE
MD number Definition of interpolation type for orientation
Meaning: Definition of interpolation type for orientation
MD = 0 (FALSE): The G codes ORIWKS and ORIMKS are the references
MD = 1 (TRUE): The G codes ORIVECT and ORIAXES are the references

21120 ORIAX_TURN_TAB_1[n]
21130 ORIAX_TURN_TAB_2[n]
MD number Assignment of rotations of orientation axes about the reference axes, definition 1 or defini-
tion 2
Meaning: Assignment of rotations of orientation axes about the reference axes, definition 1 or defini-
tion 2:
1 = Rotation about 1st reference axis (X)
2 = Rotation about 2nd reference axis (Y)
3 = Rotation about 3rd reference axis (Z)
Application example(s) See Section 6.4
Assuming that the axes are mutually perpendicular, it is possible to obtain an orientation definition, which corresponds to
the orientation defined by the RPY angles or the Euler angles.
This results in 12 options for specifying an orientation.
If a different axis assignment has been programmed, the alarm “Configuration axes configured incorrectly” appears.
Definition analogous to RPY angles Definition analogous to Euler angles
1. Rotation 2. Rotation 3. Rotation 1. Rotation 2. Rotation 3. Rotation
X Y Z X Y X
X Z Y X Z X
Y X Z Y X Y
Y Z X Y Z Y
Z X Y Z X Z
Z Y X Z Y Z
corresponds to RPY angle NC corresponds to Euler angle NC
21150 JOG_VELO_RAPID_ORI[n]
MD number Rapid traverse in jog mode for orientation axes in the channel
Default setting: 10.0, 10.0, 10.0 Minimum input limit: 0.0 Maximum input limit: –
Meaning: Rapid traverse in jog mode for orientation axes in the channel
21155 JOG_VELO_ORI[n]
MD number Orientation axis velocity in jog mode
Default setting: 2.0, 2.0, 2.0 Minimum input limit: 0.0 Maximum input limit: –
Meaning: Orientation axis velocity in jog mode

21160 JOG_VELO_RAPID_GEO[n]
MD number Rapid traverse in jog mode for geometry axes in the channel
Default setting: Minimum input limit: 0.0 Maximum input limit: –
10000./60.,10000./60.,10000./60.,
Changes effective after Reset Protection level: 2 / 7 Unit: mm/min
Data type: DOUBLE Applies as of SW 5
Meaning: Rapid traverse in jog mode for geometry axes in the channel
21165 JOG_VELO_GEO[n]
MD number Geometry axis velocity in jog mode
2000./60.,2000./60.,2000./60.,
Changes effective after Reset Protection level: 2 / 7 Unit: mm/min
Data type: DOUBLE Applies as of SW 5
Meaning: Geometry axis velocity in jog mode
21170 ACCEL_ORI[n]
MD number Acceleration for orientation axes
{2.0, 2.0, 2.0}, ...
Changes effective after Reset Protection level: 2 / 7 Unit: rev/s2
Meaning: The acceleration for the orientation axes can be set by means of this MD.
21186 TOCARR_ROT_OFFSET_FROM_FR
MD number Offset of TOCARR rotary axes from WO
Changes effective after Reset Protection level: 7 / 7 Unit: –
Meaning: The offset of the rotary axes for orientable toolholders is automatically transferred from the
work offset active when the orientable toolholders for the rotary axes are activated.
MD irrelevant for ... ... If no orientable toolholders are available.
Related to .... MD 24590: TRAFO5_ROT_OFFSET_FROM_FR_1
MD 24690: TRAFO5_ROT_OFFSET_FROM_FR_2
24580 TRAFO5_TOOL_VECTOR_1
24680 TRAFO5_TOOL_VECTOR_2
MD number Direction of tool vector for orientation transformation 1 or 2
Default setting: 2,2,2, ... Minimum input limit: 0 Maximum input limit: 2
Meaning: The machine data indicates the direction of the tool vector for orientation transformation 1
or 2:
0 = Tool vector in X direction
1 = Tool vector in Y direction
2 = Tool vector in Z direction

24585 TRAFO5_ORIAX_ASSIGN_TAB_1[n]
24685 TRAFO5_ORIAX_ASSIGN_TAB_2[n]
MD number Assignment of orientation axes to channel axes
Meaning: Assignment of orientation axes to channel axes for orientation transformation 1 or 2
24590 TRAFO5_ROT_OFFSET_FROM_FR_1[n]
24690 TRAFO5_ROT_OFFSET_FROM_FR_2[n]
MD number Offset of transf. rotary axes from WO
Meaning: The programmable offset of the rotary axes for orientation axes is automatically transferred
from the work offset active when orientation transformation 1 or 2 is activated for the orien-
tation axes.
Related to .... MD 21186: TOCARR_ROT_OFFSET_FROM_FR

4.2.5 Machine data for generic 5-axis transformation
21180 ROT_AX_SWL_CHECK_MODE
MD number Check software limits for orientation axes
Changes effective IMMEDIATELY Protection level: 2 / 7 Unit: –
Meaning: This machine data is only evaluated for generic 5-axis transformation. It determines how
the motion of the rotary axes is modified when the direction is programmed if the system
detects during block preparation that the programmed path would trigger a violation of the
software limits.
The machine data can have the following three values:
0: No path modification takes place. If a movement across the shortest path

is not possible, alarm 10620 or 10720 (SW-LIMITSWITSCH) is output.
1: If the initial orientation path violates the axis limits of the orientation
axes, the system attempts to alter the end point in order to enable a movement.
The system then initially attempts to use the second solution. (Two solutions
virtually always result from the orientation ==> axis angle conversion). If this solution
also violates the axis limits, the system attempts to find a permissible solution by
modifying both rotary axes by multiples of 360 degrees for both solutions.
The changes to the end positions described are only made if
axis interpolation has been activated for the rotary axes.
0: The monitoring response and resulting modifications of the rotary axis positions are
the same as for value 1 of the machine data.
However, modifications are also accepted if vector interpolation
(large circle interpolation, conical interpolation, etc.) is active.
If a modification of the rotary axis positions is necessary in such a case,
the system switches to axis interpolation. The originally programmed orientation path
is then usually no longer followed.
24558 TRAFO5_JOINT_OFFSET_PART_1
24658 TRAFO5_JOINT_OFFSET_PART_2
MD number Vector of kinematic offset in table
Default setting: 0, 0, 0 Minimum input limit: - Maximum input limit: –
Change valid after NEWCONF Protection level: 7 / 7 Unit: mm
Meaning: MD 24558 for the 1st orientation transformation, MD 24658 for the second.
This machine data is only evaluated for generic 5-axis transformation with movable work-
piece and movable tool (TRAFO_TYPE = 56).
It indicates the part of the vector between the table and swivel head assigned to the table.
Only the sum of this machine data and MD 24560: TRAFO5_JOINT_OFFSET_1 are in-
cluded in the transformation equations. The only exception concerns reading out the total
tool lengths with the GETTCOR function. In this case, only MD 24560:
TRAFO5_JOINT_OFFSET_1 is taken into account. The second transformation is handled
in the same way.
This machine data can be used to uniquely assign the machine data for 5-axis transforma-
tion and the parameters of the orientable toolholder on a machine with mixed kinematics as
follows:
Orientable toolholder: 5-axis transformation (1st or 2nd transformation):
11 MD 24560/24660: TRAFO5_JOINT_OFFSET_1/2
12 MD 24550/24650: TRAFO5_BASE_TOOL_1/2
13 MD 24558/24658: TRAFO5_JOINT_OFFSET_PART_1/2
14 MD 24500/24600: TRAFO5_PART_OFFSET_1/2
MD irrelevant for ... ... If no 5-axis transformation option is installed.

24570 TRAFO5_AXIS1_1
MD number Vector for the first/second rotary axis and the first orientation transformation
Default setting: 0, 0, 0 Minimum input limit: – Maximum input limit: –
Change valid after NEWCONF Protection level: 7 / 7 Unit: –
Meaning: Specifies the vector, which describes the direction of the first or second rotary axis when a
general 5-axis transformation is the first orientation transformation in the system
(TRAFO_TYPE_* = 24, 40, 56).
Absolute value can be set to any value, although 0
Example: The same axis (in the direction of the 2nd geometry axis, i.e. generally Y) is
described by both (0,1,0) and (0, 7.21, 0).
MD irrelevant for ... ... If no 5-axis transformation option is installed.
Related to .... 24670, 24672
24574 TRAFO5_BASE_ORIENT_1
24674 TRAFO5_BASE_ORIENT_2
MD number Basic orientation for the first or second orientation transformation
Meaning: Describes the basic orientation applied as the basis for the transformation when
general 5-axis transformation is the first or second orientation in the system
(TRAFO_TYPE_* = 24, 40, 56) in cases where the basic orientation has not been defined
by activating a transformation or by means of a tool.
The absolute value of the vector can by set to any value, although it must not be equal to
zero.
MD irrelevant for ...... If no 5-axis transformation option is installed.
Related to ....
24582 TRAFO5_TCARR_NO_1
24682 TRAFO5_TCARR_NO_2
MD number TCARR number for the first or second orientation transformation
Meaning: If the value of this machine data is not equal to zero and machine data
$MC_TRAFO_TYPE_X, which refers to the first or second orientation transformation, has
the value 72, the kinematic data and the available offset, etc. are not read directly from the
parameterized machine data for 5-axis transformation.
The data for the first or second orientation transformation is read from the data of the orient-
able toolholder, which refers to this machine data.
MD irrelevant for ...... If no 5-axis transformation option is installed.
Application example(s) See Section 2.6 Generic 5-axis transformation
MD number Vector for the first/second rotary axis and the second orientation transformation
Meaning: As MD 24 570: TRAFO5_AXIS1_1 or MD 24 572: TRAFO5_AXIS2_1, but for the first or
second orientation transformation in the channel.
Related to .... 24570, 24572

4.2.6 MD and SD online tool length offset (SW 6.4)
21190 TOFF_MODE
MD number Effect of online offset in tool direction
Changes effective after Reset Protection level: 2 / 7 Unit: 0F HEX
Meaning: This machine data is used to set the effect of online offset in the tool direction via
$AA_TOFF[ ].
Bit 0 : Behavior of $AA_TOFF in the event of a RESET

Bit 0 = 0 $AA_TOFF deselected in the event of a RESET
Bit 0 = 1 $AA_TOFF maintained beyond RESET
Bit 1 : Effect of value assignment on the 1st component of $AA_TOFF[ ]
Bit 1 = 0 Absolute value
Bit 1 = 1 Incremental value (integrator)
Bit 2 : Effect of value assignment on the 2nd component of $AA_TOFF[ ]
Bit 3 : Effect of value assignment on the 3rd component of $AA_TOFF[ ]
Related to .... MD 21194: TOFF_VELO velocity of online offset in tool direction
MD 21196: TOFF_ACCEL acceleration of online offset in tool direction
21194 TOFF_VELO
MD number Velocity of online offset in tool direction
Default setting: 0 Minimum input limit: ≥ 0 Maximum input limit: –
Change valid after NEWCONF Protection level: 2 / 7 Unit: mm/min
Meaning: Velocity of online offset in tool direction [mm/min] via $AA_TOFF
Related to .... MD 21190: TOFF_MODE effect of online offset in tool direction
MD 21196: TOFF_ACCEL acceleration of online offset in tool direction
21196 TOFF_ACCEL
MD number Acceleration of online offset in tool direction
Default setting: 100 Minimum input limit: 0,001 Maximum input limit: –
Change valid after NEWCONF Protection level: 2 / 7 Unit: m/s2
Meaning: Acceleration for online offset in tool direction [m/s2] via $AA_TOFF
Related to .... MD 21190: TOFF_MODE effect of online offset in tool direction
MD 21194: TOFF_ACCEL Velocity for online offset in tool direction
42970 TOFF_LIMIT
MD number Upper limit for offset value $AA_TOFF
Default setting: 100000000.0 Minimum input limit: ≥ 0 Maximum input limit: 100000000.0
Changes effective IMMEDIATELY Protection level: 2 / 7 Unit: mm/inches
Meaning: Upper limit of the offset value, which can be preset by means of synchronization via system
variable $AA_TOFF.
This limit value is applied to the absolute effective offset value via $AA_TOFF. System vari-
able $AA_TOFF_LIMIT can be used to query whether the offset value is close to the limit.

4.2.7 MD and SD Cartesian manual travel (SW 6.3 and higher)
21106 CART_JOG_SYSTEM
MD number Coordinate system for Cartesian JOG
Meaning: This machine data has two different meanings. First, it is used to activate the function Car-
tesian manual travel. Second, it can be used to specify the reference systems between
which a switchover can be performed.
The meaning of the individual bits is specified as follows:

Bit 0 : Basic coordinate system (BCS)
Bit 1 : Workpiece coordinate system (WCS)
Bit 2 : Tool coordinate system (TCS)
If no bit is set, setting data SD 42650: CART_JOG_MODE is not interpreted. Traversing is

carried out as before in JOG mode.
SD 42650: CART_JOG_MODE can only be used to set the reference system for which the
bits are set in MD 21106: CART_JOG_SYSTEM.
The HMI can use this machine data to decide which switchover options are offered for the
individual coordinate systems.
MD irrelevant for ...... Transformation type not equal to “Handling transformation package”
42650 CART_JOG_MODE
MD number Coordinate system for Cartesian manual travel
Default setting: 0 Minimum input limit: 0 Maximum input limit: 0x0404
Changes effective IMMEDIATELY Protection level: 7 / 7 Unit: –
Meaning: This allows the reference coordinate system to be set for Cartesian manual travel.
Bits 0 to 7 are provided for selecting the coordinate system for the translation, Bits 8 to 15
for selecting the coordinate system for the orientation.
If no bit is set, or only one bit either for the translation or for the orientation, the Cartesian
manual travel is not active. This means that one bit must always be set for the translation
and one bit set for the orientation. If more than one bit is set for translation or orientation,
Cartesian manual travel is not active either.

Bit 0 : Translation in the basic coordinate system (BCS)
Bit 1 : Translation in the workpiece coordinate system (WCS)
Bit 2 : Translation in the tool coordinate system (TCS)
Bit 3 : Not used
Bit 4 : Not used
Bit 5 : Not used
Bit 6 : Not used
Bit 7 : Not used
Bit 8 : Orientation in the basic coordinate system (BCS)
Bit 9 : Orientation in the workpiece coordinate system (WCS)
Bit 10 : Orientation in the tool coordinate system (TCS)
Bit 11 : Not used
Bit 12 : Not used
Bit 13 : Not used
Bit 14 : Not used
Bit 15 : Not used
MD irrelevant for ...... Transformation type not equal to “Handling transformation package”

4.2.8 Channel-spec. MD for Cartesian point-to-point travel
20150 GCODE_RESET_VALUES[n] 0 up to max. no. of G codes–1

MD number Initial setting of G group 49
Default setting: See MD in K1 Minimum input limit: – Maximum input limit: –
Data type: BYTE Applies as of SW 5
Meaning: This machine data defines whether CP or PTP or PTPG0 is active after a Reset/end of part
program.
MD=1: CP is active after Reset
MD=2: PTP is active after Reset
MD=3: PTPG0 is active after Reset
Related to .... MD 20152: GCODE_RESET_MODE[48]
Additional references /FB/, K1, “Axes, Coordinate Systems, Frames”, Channel-Specific Machine Data,
MD 20150 with assignment of all standard G codes currently in existence
20152 GCODE_RESET_MODE[n] Max. no. of G codes–1

MD number Setting and response after Reset and end of part program in G group 49
Data type: BYTE Applies as of SW 5
Meaning: This machine data can be used to modify the setting after Reset and end of part program.
MD=0:
Specifies for every entry in MD GCODE_RESET_VALUES (i.e. for every G group) whether
the setting in MD GCODE_RESET_VALUES is applied in the event of a Reset/end of part
program.
MD=1:
The current setting is maintained following a Reset or end of part program.
Related to .... MD 20150: GCODE_RESET_VALUES[48]

4.3 System variable
4.3 System variable

System variable $P_TOOLO is available up to SW 6.4. This variable indicates
the end orientation of the block determined at the time of run-in.
SW 6.4 and higher The following channel/specific system variables are provided :
$AC_TOOLO_ACT[i], i = 1, 2, 3 ith component of the vector of the current
setpoint orientation
$AC_TOOLO_ACT[i], i = 1, 2, 3 ith component of the vector of the
end orientation of the current block
$AC_TOOLO_DIFF Residual angle in degrees, i.e. this is the
angle between vectors
$AC_TOOLO_END[i] and
$AC_TOOLO_ACT[i].
$VC_TOOLO[i], i = 1, 2, 3 ith component of the vector of the
actual orientation
$VC_TOOLO_DIFF Angle in degrees between setpoint and
actual orientation
$VC_TOOLO_STAT Status variable for actual orientation
The components of the vectors $AC_TOOLO_ACT[i], $AC_TOOLO_END[i] and
$VC_TOOLO[i] of the orientation are normalized so that the orientation vector
has the value 1.
These system variables can be read by part programs and in synchronized
actions. Write access is not permitted.
Status variable $VC_TOOLO_STAT shows whether the calculation for actual
orientation can be performed. The following values are possible:
0 : Actual orientation can be calculated
–1 : Actual orientation cannot be calculated, since currently active
transformation cannot calculate these values in real time.
The actual value of the tool optimization is not provided by all
transformations in real time.
Online tool length $AA_TOFF[geo axis] Position offset in

offset tool coordinate system (TCS)
$AA_TOFF_VAL[Geo axis] Integrated position offset in (TCS)
$AA_TOFF_LIMIT[geo axis] Query whether tool length
offset value is close to the limit.
$AA_TOFF_LIMIT [ ] = 0: Offset not in limit range
$AA_TOFF_LIMIT [ ] = 1: Offset reached in positive direction
$AA_TOFF_LIMIT [ ] = –1: Offset reached in negative direction
$AA_TOFF_PREP_DIFF [ ] Size of the difference between the currently
active value of $AA_TOFF[ ] and the
value when the current motion block was
prepared.
List of System Variables


4.3 System variable
Notes

5.1 Channel-specific signals
Signal Descriptions 5
DB21–30 Number of active G function of G function group 25 (tool orientation reference)

DBB232
Data Block Signal(s) from channel (NCK → PLC)

Edge evaluation: Signal(s) updated: Signal(s) valid from SW: 2
Signal state 1 or signal ORIWKS: The tool orientation is implemented in a workpiece coordinate system and is thus
transition 0 –––> 1 not dependent on the machine kinematics. This is the default setting for SW1.1.
Signal state 0 or signal ORIMKS: The tool orientation is implemented in a machine coordinate system and is thus
transition 1 –––> 0 dependent on the machine kinematics. This is the default setting in SW2.1 and higher.
DB 21–30 Transformation active

DBX 33.6
Data Block Signal(s) from channel (NCK → PLC)
Edge evaluation: No Signal(s) updated: Cyclic Signal(s) valid from SW: 1.1
Signal state 1 or signal Active transformation
transition 0 –––> 1
Signal state 0 or signal Transformation not (no longer) active
Signal irrelevant for ...... No transformation used
Additional references /PA/, “Programming Guide Fundamentals”
DB21 – DB30 PTP traversal active

DBX317.6
Data Block Signal(s) from channel (NCK–> PLC)

Edge evaluation: Yes Signal(s) updated:
Signal state 1 PTP traversal active
(or signal transition 0 –> 1)
Signal state 0 CP traversal active
Signal irrelevant for ... No handling transformations active
Further references FB Special Functions, F2

DB21 – DB30 Activate PTP traversal

DBX29.4
Data Block Signal(s) to channel (PLC–> NCK)

Signal state 1 Activate PTP traversal
Signal state 0 Activate CP traversal
DB21 – DB30 TOFF active

DBX318.2
Data Block Signal(s) to channel (NCK–> PLC)

Signal state 1 Activate online tool length offset
Signal state 0 Reset online tool length offset
Signal irrelevant for ... If the “generic 5-axis transformation” option is not available and no handling trans-
formations are active.
DB21 – DB30 TOFF motion active

DBX318.3
Data Block Signal(s) to channel (NCK–> PLC)

Signal state 1 Activate offset motion
Signal state 0 Deactivate offset motion
Signal irrelevant for ... If the “generic 5-axis transformation” option is not available and no handling trans-
formations are active.

6.1 Example of a 5-axis transformation
Examples 6
CHANDATA(1)
$MA_IS_ROT_AX[AX5] = TRUE
$MA_SPIND_ASSIGN_TO_MACHAX[AX5] = 0
$MA_ROT_IS_MODULO[AX5] = 0
;––––––––––––––––––––––––––––––––––––––––––––
; General 5-axis transformation
;
; Kinematics: 1st rotary axis is parallel to Z
; 2nd rotary axis is parallel to X
; Movable tool
;––––––––––––––––––––––––––––––––––––––––––––
$MC_TRAFO_TYPE_1 = 20
$MC_ORIENTATION_IS_EULER = TRUE
$MC_TRAFO_GEOAX_ASSIGN_TAB_1[0]=1
$MC_TRAFO5_PART_OFFSET_1[0] = 0
$MC_TRAFO5_ROT_AX_OFFSET_1[0] = 0
$MC_TRAFO5_ROT_AX_OFFSET_1[1] = 0
$MC_TRAFO5_ROT_SIGN_IS_PLUS_1[0] = TRUE
$MC_TRAFO5_ROT_SIGN_IS_PLUS_1[1] = TRUE
$MC_TRAFO5_NON_POLE_LIMIT_1 = 2.0
$MC_TRAFO5_POLE_LIMIT_1 = 2.0

$MC_TRAFO5_BASE_TOOL_1[0] = 0.0
$MC_TRAFO5_JOINT_OFFSET_1[0] = 0.0
CHANDATA(1)
M17

;––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––
; Example program for general 5-axis transformation
;––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––
; Definition of tool T1
$TC_DP1[1,1] = 10 ; Type
$TC_DP2[1,1] = 0
$TC_DP3[1,1] = 20. ;z length offset vector G17
$TC_DP4[1,1] = 0. ;y
$TC_DP5[1,1] = 0. ;x
$TC_DP6[1,1] = 0. ; Radius
$TC_DP7[1,1] = 0
$TC_DP8[1,1] = 0
$TC_DP9[1,1] = 0
$TC_DP10[1,1] = 0
$TC_DP11[1,1] = 0
$TC_DP12[1,1] = 0
;––––––––––––Approach output position ––––––––––––––––––––––––––––

N100 G1 x1 y0 z0 a0 b0 F20000 G90 G64 T1 D1 G17 ADIS=.5 ADISPOS=3
;=========================================================
; Orientation vector programming
;===========================================================
N110 TRAORI(1)
N120 ORIWKS
N130 G1 G90
N140 a3 = 0 b3 = 0 c3 = 1 x0
N150 a3 = 0 b3 =–1 c3 = 0
N160 a3 = 1 b3 = 0 c3 = 0
N170 a3 = 1 b3 = 0 c3 = 1
N180 a3 = 0 b3 = 1 c3 = 0
N190 a3 = 0 b3 = 0 c3 = 1
;===========================================================
; Euler angle programming
;===========================================================
N200 ORIMKS
N210 G1 G90
N220 a2 = 0 b2 = 0 x0
N230 a2 = 0 b2 = 90
N240 a2 = 90 b2 = 90
N250 a2 = 90 b2 = 45
N260 a2 = 0 b2 =–90
N270 a2 = 0 b2 = 0
;==========================================================
; Axis programming
;===========================================================
N300 a0 b0 x0
N310 a45
N320 b30

;===========================================================
; TOFRAME
;===========================================================
N400 G0 a90 b90 x0 G90

N410 TOFRAME
N420 z5
N430 x3 y5
N440 G0 a0 b0 x1 y0 z0 G90
N500 TRAFOOF
m30

6.2 Example of a 3-axis and 4-axis transformation
6.2.1 Example of a 3-axis transformation
Example: 3-axis transformation for the machine illustrated in Fig. 1-1 can be configured as follows:
$MC_TRAFO_GEOAX_ASSIGN_TAB_n[0] = 1 ; Assignment of channel axes to geo axes

$MC_TRAFO_GEOAX_ASSIGN_TAB_n[1] = 0
$MC_TRAFO_AXES_IN_n[0] = 1 ; x axis is channel axis 1

$MC_TRAFO_AXES_IN_n[1] = 0 ; y axis is not used
$MC_TRAFO_AXES_IN_n[2] = 3 ; z axis is channel axis 3
$MC_TRAFO_AXES_IN_n[4] = 0 ; No second rotary axis
6.2.2 Example of a 4-axis transformation
Example: 4-axis transformation for the machine illustrated in Fig. 1-2 but with an additional axis (Y) can be
configured as follows:
$MC_TRAFO_AXES_IN_n[0] = 1 ; x axis is channel axis 1

$MC_TRAFO_AXES_IN_n[1] = 2 ; y axis is channel axis 2
$MC_TRAFO_AXES_IN_n[2] = 3 ; z axis is channel axis 3
$MC_TRAFO_AXES_IN_n[4] = 0 ; No second rotary axis

6.2.3 Set of machine data and part program (extract)

Machine data for a 3-axis and a 4-axis transformation
CHANDATA(1)
$MC_AXCONF_MACHAX_USED[0] = 1 ; Machine axes used

$MC_AXCONF_MACHAX_USED[1] = 2
$MC_AXCONF_MACHAX_USED[3] = 4 ; Only for 4-axis transformation
$MA_IS_ROT_AX[AX4] = 1
; 3-axis transformation for moved tool and orientation in xy plane
$MC_TRAFO_GEOAX_ASSIGN_TAB_1[0] = 1
$MC_TRAFO_AXES_IN_1[2] = 0 ; No 3rd linear axis available
$MC_TRAFO_AXES_IN_1[3] = 4 ; Rotary axis
$MC_TRAFO_AXES_IN_1[4] = 0 ; No 2nd rot. axis, i.e. 3-axis transf.
; 4-axis transf. for moved workpiece and orientation in xz plane
$MC_TRAFO_AXES_IN_2[2] = 3 ; 3rd linear axis available
$MC_TRAFO_AXES_IN_2[3] = 4 ; Rotary axis
$MC_TRAFO_AXES_IN_2[4] = 0 ; No 2nd rot. axis, i.e. 4-axis transformation
CHANDATA(1)
M17 ; End of machine data
Part program (extract)
N10 $TC_DP1[1,1] = 10
N20 $TC_DP2[1,1] = 20
N30 $TC_DP3[1,1] = 1.0
N40 $TC_DP4[1,1] = 0.0
N50 $TC_DP5[1,1] = 0.0
N60 G0 x0 y0 z0 a0 b0 c0 F10000 G90 T0 D0

N70 TRAORI(1) ; Activate 3-axis transformation
N80 a30 ; Axis programming, rotation through 30 degrees
N90 a3=-0.5 b3=0.866025 c3=0.0 ; Prog. direction vector
N100 TRAFOOF() ; End of 3-axis transformation
N110 TRAORI(2) ; 2nd transformation defined in MD on (4-axis)
N120 a45
N130 M30

6.3 Example of a universal milling head
6.3 Example of a universal milling head
General The following two subsections show the main steps which need to be taken in
order to activate a transformation for the universal milling head.
Machine data ; Machine kinematics CA’ with orientation of the tool in zero position in Z
direction
;Angle of 2nd rotary axis

$MC_TRAFO5_NUTATOR_AX_ANGLE_1 = 45
Program ; Definition of tool T1

$TC_DP1[1,1] = 120; Type
$TC_DP2[1,1] = 0;
$TC_DP3[1,1] = 20; Z length offset vector G17
$TC_DP4[1,1] = 8.; Y
$TC_DP5[1,1] = 5.; X
TRAORI(1); Activation of transformation

ORIMKS; Reference of orientation to MCS
G0 X1 Y0 Z0 A0 B0 F20000 G90 G64 T1 D1 G17
;Programming of direction vector

G1 G90
a3 = 0 b3 = 1 c3 = 0
;Programming in Euler angles

G1 G90
a2 = 0 b2 = 0 X0
;Programming of movement of rotary axes

G1 X10 Y5 Z20 A90 C90
m30
References: /PA/, Programming Guide

6.4 Example for orientation axes (SW 5.3 and higher)

Example 1:
3 orientation axes for the 1st orientation transformation for kinematics with 6
transformed axes The axis must rotate first
about the Z axis, then

about the Y axis and finally again
about the Z axis.
The tool vector must point in the X direction.
CHANDATA(1)
$MC_TRAFO5_TOOL_VECTOR_1=0 ;Tool vector in X direction

$MC_TRAFO5_ORIAX_ASSIGN_TAB_1[0]=4 ;Channel index 1st orient. axis
$MC_TRAFO5_ORIAX_ASSIGN_TAB_1[1]=5 ;Channel index 2nd orient. axis
$MC_TRAFO5_ORIAX_ASSIGN_TAB_1[2]=6 ;Channel index 3rd orient. axis
$MC_ORIAX_TURN_TAB_1[0]=3 ;Z direction
$MC_ORIAX_TURN_TAB_1[1]=2 ;Y direction
CHANDATA(1)
M17
Z Z’
Z’’ Z’’’ A2
Y’’’
C2
B2
C2 Y’ Y’’
B2
A2
Y
XStart
A2 XDestination
X
B2 C2
X’ X’’’
X’’
Fig. 6-1 3 orientation axes for the 1st orientation transformation for kinematics with 6
transformed axes

Example 2:
3 orientation axes for the 2nd orientation transformation for kinematics with 5
transformed axes The axis must rotate first
about the X axis, then

about the Y axis and finally
about the Z axis.
The tool vector must point in the Z direction.
CHANDATA(1)
$MC_TRAFO5_TOOL_VECTOR_2=2 ;Tool vector in Z direction

$MC_TRAFO5_ORIAX_ASSIGN_TAB_1[0]=4 ;Channel index 1st orient. axis
$MC_TRAFO5_ORIAX_ASSIGN_TAB_1[1]=5 ;Channel index 2nd orient. axis
$MC_TRAFO5_ORIAX_ASSIGN_TAB_1[2]=0 ;Channel index 3rd orient. axis
$MC_ORIAX_TURN_TAB_1[0]=1 ;X direction
$MC_ORIAX_TURN_TAB_1[1]=2 ;Y direction
CHANDATA(1)
M17
Z
Z’
Z’’ C2
A2
B2 Y’ Y’’
B2
A2
Y
B2
A2
X
X’
X’’
Fig. 6-2 3 orientation axes for the 2nd orientation transformation for kinematics with 5
transformed axes
The rotation through angle C2 about the Z” axis is omitted in this case, because
the tool vector orientation can be determined solely from angles A2 and B2 and
no further degree of freedom is available on the machine.
Reference: /PGA/, Programming Guide Advanced

6.5 Examples for orientation vectors (SW 5.3 and higher)
6.5.1 Example for polynomial interpretation of orientation vectors
Orientation vector The orientation vector is programmed directly in the examples below. The
in Z-X plane movements of the rotary axes that result depend on the particular kinematics of
the machine.
N10 TRAORI
N20 POLY ; Polynomial interpolation is possible.
N30 A3=0 B3=0 C3=1 ; Orientation in +Z direction (start vector)
N40 A3=1 B3=0 C3=0 ; Orientation in +X direction (end vector)
In N40, the orientation vector is rotated in the Z-X plane that is spanned from
the start and end vector. Here, the PHI angle is interpolated in a line in this
plane between the values 0 and 90 degrees (large circle interpolation).
The additional specification of the polynomials for the two angle PHI and PSI
means that the interpolated orientation vector can lies anywhere between the
start and end vector.
PHI angle using In contrast to the example above, the PHI angle is interpolated using the
polynomial PHI polynomial PHI(u) = (90–10)u + 10*u2 between the values 0 and 90 degrees.
The PSI angle is not equal to zero and is interpolated as the polynomial
PSI(u) = –10*u + 10*u2.
The maximum “tilt” of the orientation vector from the plane between the start
and end vector is obtained in the middle of the block (u = 1/2).
N10 TRAORI
N20 POLY ; Polynomial interpolation is possible.
N30 A3=0 B3=0 C3=1 ; Orientation in +Z direction (start vector)
N40 A3=1 B3=0 C3=0 PO[PHI]=(10) PO[PSI]=(10) ; in +X direction (end vector)

6.5.2 Example for rotations of the orientation vector (SW 6.1 and
higher)
Rotations with In the following example, the angle of rotation is interpolated in linear fashion
angle of rotation from starting value 0 degrees to end value 90 degrees. The angle of rotation
THETA changes according to a parabola or a rotation can be executed without a
change in orientation. The tool orientation is rotated from the Y direction to the X
direction.
N10 TRAORI ; Activation of orientation transformation
N20 G1 X0 Y0 Z0 F5000 ;
; Tool orientation
N30 A3=0 B3=0 C3=1 THETA=0 ; in Z direction with angle of rotation 0
N40 A3=1 B3=0 C3=0 THETA=90 ; in X direction and rotation about 90 degrees
N50 A3=0 B3=1 C3=0 PO[THT]=(180.90) ; in Y direction and rotation about 180 degrees
N60 A3=0 B3=1 C3=0 THETA=IC(–90) ; remains constant and rotation about 90 degrees.
N70 ORIROTT ; Angle of rotation relative to change in orientation.
N80 A3=1 B3=0 C3=0 THETA=30 ; Rotation vector in angle 30 degrees to X-Y plane.
N40 Linear interpolation of angle of rotation from starting value 0 degrees to end
value 90 degrees.
N50 The angle of rotation changes from 90 degrees to 180 degrees according
to parabola q(u) + 90 ) 90u 2 .
N60 A rotation can also be programmed without a change in orientation taking
place.
N80 The tool orientation is rotated from the Y direction to the X direction. The
change in orientation takes place in the X-Y plane and the rotation vector
describes an angle of 30 degrees to this plane.

6.6 Example for generic 5-axis transformation (SW 5.2 and higher)
6.6 Example for generic 5-axis transformation (SW 5.2 and

higher)
The following example is based on a machine with rotatable tool on which the
first rotary axis is a C axis and the second a B axis (CB kinematics, see Fig.).
The basic orientation defined in the machine data is the bisecting line between
the X and Z axes.
The relevant machine data are as follows:
CHANDATA(1)
$MC_TRAFO_TYPE_1 = 24 ; General 5-axis transformation;
; rotatable tool
$MC_TRAFO5_AXIS1_1[2] = 1.0 ; 1st rotary axis is parallel to Z.
$MC_TRAFO5_AXIS2_1[2] = 0.0 ; 2nd rotary axis is parallel to Y.
$MC_TRAFO5_BASE_ORIENT_1[0] = 1.0
M30
Example program:
N10 $TC_DP1[1,1]=120 ; End mill
N20 $TC_DP3[1,1]= 0 ; Length offset vector
N30
N40 ; Definition of toolholder
N50 $TC_CARR7[1] = 1 ; Component of 1st rotary axis in X direction
N60 $TC_CARR11[1] = 1 ; Component of 2nd rotary axis in Y direction
N70 $TC_CARR13[1] = –45 ; Angle of rotation of 1st axis
N80 $TC_CARR14[1] = 0 ; Angle of rotation of 2nd axis
N90
N100 X0 Y0 Z0 B0 C0 F10000 ORIWKS G17
N110 TRAORI() ; Selection of transf. basic orientation from
; machine data
N120 C3=1 ; Set orientation parallel to Z å B–45 C0
N130 T1 D1 ; Basic orientation is now parallel to Z
N140 C3 = 1 ; Set orientation parallel to Z å B0 C0
N150 G19 ; Basic orientation is now parallel to X
N160 C3 = 1 ; Set orientation parallel to Z å B–90 C0
N170 G17 TCARR=1 TCOABS ; Basic orientation is now bisecting
; line Y-Z
N180 A3=1 ; Set orientation parallel to X å B–90 C–135
N190 B3 =1 C3 = 1 ; Set ori. parallel to basic orientation å B0 C0
N200 TRAORI(,2.0, 3.0, 6.0) ; Transfer basic orientation in call
N210 A3 = 2 B3 = 3 C3 = 6 ; Orient. parallel to basic orientation å B0 C0
N220 TOFRAME ; Z axis pointing in direction of orientation
N230 G91 Z7 ; Travel 7mm in new Z dir. å X2 Y3 Z6
N240 C3 = 1 ; Orientation parallel to new Z axis å B0 C0
N250 M30

6.6.1 Example for a generic 6-axis transformation (SW 7.2 and higher)
Activation of a 6-axis transformation with subsequent orientation changes and

traversing:
N10 A0 B0 X0 Y0 Z0 ;
N20 TRAORI(1, ,,, 0,0,0, 0,1,0) ; Transfer of the orientation vector and the
; orientation normal vector, transformation
; selection
N30 T1 D1 X10 Y20 Z30 A3=0.5 C3=1 BN3=1 ORIPLANE ORIWKS
; Orientation change, rotation and
; traversing
N40 B3=0.5 C3=1 AN3=–1 ; Rotation programmed, orientation constant
N50 M30
A tool, whose orientation differs from the default, is defined in the following
example. With G17, the orientation vector is in the X-Z plane and is inclination to
the Z axis of 26.565 degrees because of tan(26.565) = 0.5 = $TC_DPV3[2,2] /
$TC_DPV5[2,2].
The orientation normal vector is also specified. As only $TC_DPVN4[2,2] is not
equal to zero, it points in the Y direction. Orientation vector and orientation
normal vector are perpendicular to one another.
An orthogonalization is therefore not necessary and the programmed
orientation normal vector is therefore not modified.
N100 $TC_DP1[2,2]=120 ; End mill
N110 $TC_DP3[2,2]= 20 ; Length offset vector
N120 $TC_DPV[2,2]= 0 ; Tool edge orientation
N130 $TC_DPV3[2,2]= 1 ; X component of tool edge orientation.
N140 $TC_DPV4[2,2]= 0 ; Y component of tool edge orientation.
N150 $TC_DPV5[2,2]= 0.5 ; Z component of tool edge orientation.
N160 $TC_DPVN3[2,2]= 0 : X component of orientation normal vector
N170 $TC_DPVN4[2,2]= 1 ; Y component of orientation normal vector
N180 $TC_DPVN5[2,2]= 0 ; Z component of orientation normal vector
N200 TRAORI( ) ; Transfer basic orientation in call
N210 A3=5 C3=10 BN3=1 ; Bring rotary axes into initial position
N220 C3=1 ; Orientation in Z direction å tool
; rotates through 26.565 degrees
N230 THETA=IC(90) ; Rotate orientation normal vector through
; 90 degree increments. Vector points in
; negative X direction.
N240 M30

6.6.2 Example for the modification of the rotary axis motion (SW 6.1
and higher)
The machine is a 5-axis machine of machine type 1 (two-axis swivel head with
CA kinematics) on which both rotary axes rotate the tool (transformation type
24). The first rotary axis is a modulo axis parallel to Z (C axis); the second rotary
axis is parallel to Y (B axis) and has a traversing range from –5 degrees to +185
degrees.
To allow modification at any time, machine data
MD 21180: ROT_AX_SWL_CHECK_MODE contains the value 2.
N10 X0 Y0 Z0 B0 C0
N20 TRAORI( ) ; Basic orientation 5-axis transformation
N30 B–1 C10 ; Rotary axis positions B-1 and C10
N40 A3=–1 C3=1 ORIWKS ; Large circle interpolation in WCS
N50 M30
At the start of block N40 in the example program, the machine is positioned at
rotary axis positions B–1 C10. The programmed end orientation can be
achieved with either of the axis positions B–45 C0 (1st solution) or B45 C180
(2nd solution).
The first solution is selected initially, because it is nearest to the starting
orientation and, unlike the second solution, can be achieved using large circle
interpolation (ORIWKS). However, this position cannot be reached because of
the axis limits of the B axis.
The second solution is therefore used instead, i.e. the end position is B45 C180.
The end orientation is achieved by axis interpolation. The programmed
orientation path cannot be followed.

6.7 Compressor example for orientation (SW 6.3 and higher)
Task In the example program below, a circle approached by a polygon definition is

compressed. The tool orientation moves on the outside of the taper at the same
time. Although the programmed orientation changes are executed one after the
other, but in an unsteady way, the compressor generates a smooth motion of
the orientation.
DEF INT NUMBER = 60
DEF REAL RADIUS = 20
DEF INT COUNTER
DEF REAL ANGLE
N10 G1 X0 Y0 F5000 G64
$SC_COMPRESS_CONTUR_TOL = 0.05 ; Maximum deviation

; of contour 0.05 mm
$SC_COMPRESS_ORI_TOL = 5 ; Maximum deviation
; of orientation 5 degrees
TRAORI
COMPCURV
; A circle generated from polygons is traversed.
; The orientation moves on a taper about the
; Z axis with an aperture angle of 45 degrees.
N100 X0 Y0 A3=0 B3=–1 C3=1

N110 FOR COUNTER = 0 TO NUMBER
N120 ANGLE = 360 * COUNTER/NUMBER
N130 X=RADIUS*cos(ANGLE) Y=RADIUS*sin(ANGLE)
A3=sin(ANGLE) B3=–cos(ANGLE) C3=1
N140 ENDFOR
...

Notes

7.2 Setting data
Data Fields, Lists 7

7.1 Interface signals
DB number Bit, byte Name Refe-

rence
Channel-specific
21–30 33.6 Transformation active K1
21–30 232 Number of active G function of G function group 25
21–30 317.6 PTP traversal active TE4
21–30 29.4 Activate PTP traversal TE4
21–30 318.2 Activate online tool length offset
21–30 318.3 Activate offset motion
7.2 Setting data
Number Identifier Name Refe-

rence
General ($SD_ ... )
41110 JOG_SET_VELO Geometry axes
41130 JOG_ROT_AX_SET_VELO Orientation axes
Channel-specific ($SC_...)
42475 COMPRESS_CONTOUR_TOL Max. contour deviation for compressor
42476 COMPRESS_ORI_TOL Max. angular displacement of tool orientation
for the compressor
42477 COMPRESS_ORI_ROT_TOL Max. angular displacement of tool rotation for
the compressor
42650 CART_JOG_MODE Coordinate system for Cartesian manual travel
(SW 6.3 and higher)
42660 ORI_JOG_MODE Definition of virtual kinematics for JOG
(SW 7.2 and higher)
42670 ORIPATH_SMOOTH_DIST Distance for the smoothing of the orientation
(SW 7.3 and higher)
42672 ORIPATH_SMOOTH_TOL Tolerance for the smoothing of the orientation
(SW 7.3 and higher)
42970 TOFF_LIMIT Upper limit for offset value $AA_TOFF
(SW 6.4 and higher)

7.3 Machine data
7.3 Machine data

rence
General ($MN_ ... )
10620 EULER_ANGLE_NAME_TAB Name of Euler angles or names of orientation
axes
10630 NORMAL_VECTOR_NAME_TAB Name of normal vectors (SW 4.1 and higher)
10640 DIR_VECTOR_NAME_TAB Name of direction vectors (SW 4.1 and higher)
10642 ROT_VECTOR_NAME_TAB Name of rotating vectors (SW 6.1 and higher)
10644 INTER_VECTOR_NAME_TAB Name of intermediate vector components
10646 ORIENTATION_NAME_TAB Name for programming a second orientation
path (SW 6.1 and higher)
10648 NUTATION_ANGLE_NAME Name of orientation angle (SW 6.1 and higher)
10670 STAT_NAME Name of position information (SW 5.3 and hi-
gher)
10672 TU_NAME Name of position information of the axes
10674 PO_WITHOUT_POLY Allows Programming of PO[ ] without having to
activate POLY (SW 5.3 and higher)

rence
Channelspecific ($MC_ ... )
20150 GCODE_RESET_VALUES[n] Reset G groups
20152 GCODE_RESET_MODE[n] Setting after RESET/end of part program
20482 COMPRESS_MODE Compressor mode (SW 6.3 and higher)
20621 HANDWH_ORIAX_MAX_INCR_SIZE Limitation of handwheel increment
20623 HANDWH_ORIAX_MAX_INCR_VSIZE Orientation velocity overlay
21094 ORIPATH_MODE Setting for orientation relative to the path
(SW 7.3 and higher)
21100 ORIENTATION_IS_EULER Angle definition for orientation programming
21102 ORI_DEF_WITH_G_CODE Definition of orientation angles A2, B2, C2
21104 ORI_IPO_WITH_G_CODE Definition of interpolation type for orientation
21106 CART_JOG_SYSTEM Coordinate system for Cartesian JOG (SW 6.3
and higher)
21108 POLE_ORI_MODE Behavior during large circle interpolation at
pole position
21120 ORIAX_TURN_TAB_1[n] Assignment of rotation of orientation axes
about the reference axes, definition 1
[n = 0..2]
21130 ORIAX_TURN_TAB_2[n] Assignment of rotation of orientation axes
about the reference axes, definition 2
[n = 0..2]
21150 JOG_VELO_RAPID_ORI[n] Rapid traverse in jog mode for orientation axes
in the channel [n = 0..2]
21155 JOG_VELO_ORI[n] Orientation axis velocity in jog mode [n = 0..2]

7.3 Machine data

rence
21160 JOG_VELO_RAPID_GEO[n] Rapid traverse in jog mode for geometry axes
in the channel [n = 0..2]
21165 JOG_VELO_GEO[n] Geometry axis velocity in jog mode [n = 0..2]
21170 ACCEL_ORI[n] Acceleration for orientation axes [n = 0..2]
21180 ROT_AX_SWL_CHECK_MODE Check software limits for orientation axes
(SW 6.1 and higher)
21186 TOCARR_ROT_OFFSET_FROM_FR TOCARR rotary axes offset (SW 6.4 and
higher)
21190 TOFF_MODE Effect of online offset in tool direction (SW 6.4
and higher)
21194 TOFF_VELO Velocity of online offset in tool direction
(SW 6.4 and higher)
21196 TOFF_ACCEL Acceleration of online offset in tool direction
(SW 6.4 and higher)
24100 TRAFO_TYPE_1 Definition of transformation 1 in channel
24110 TRAFO_AXES_IN_1[n] Axis assignment for transformation 1
[axis index]
24120 TRAFO_GEOAX_ASSIGN_TAB_1[n] Assignment geometry axis to channel axis for
transformation 1 [geometry no.]
[axis index]
[axis index]
[axis index]
[axis index]
[axis index]
[axis index]

7.3 Machine data

rence
[axis index]
[axis index]
[axis index]
24500 TRAFO5_PART_OFFSET_1[n] Offset vector for 5-axis transfor. 1 [n = 0.. 2]
24510 TRAFO5_ROT_AX_OFFSET_1[n] Position offset of rotary axis 1/2 for 5-axis
transformation 1 [axis no.]
24520 TRAFO5_ROT_SIGN_IS_PLUS_1[n] Sign of rotary axis 1/2 for 5-axis
24530 TRAFO5_NON_POLE_LIMIT_1 Definition of pole range for 5-axis
transformation 1
24540 TRAFO5_POLE_LIMIT_1 End angle tolerance with interpolation through
pole for 5-axis transformation 1
24550 TRAFO5_BASE_TOOL_1[n] Vector of base tool for activation of 5-axis
transformation 1 [n = 0.. 2]
24558 TRAFO5_JOINT_OFFSET_PART_1[n] Vector of kinematic offset in table for 5-axis
24560 TRAFO5_JOINT_OFFSET_1[n] Vector of kinematic offset for 5-axis
24561 TRAFO6_JOINT_OFFSET_2_3_1[n] Vector of kinematic offset for 6-axis
transformation 2_3_1 (SW 7.2 and higher)
24562 TRAFO5_TOOL_ROT_AX_OFFSET_1[n] Offset of focus of 1st 5-axis transformation
with swiveled linear axis.
24564 TRAFO5_NUTATOR_AX_ANGLE_1 Angle of 2nd rotary axis for the universal mil-
ling head
24570 TRAFO5_AXIS1_1[n] Vector for the first rotary axis and the first
orientation transformation [n = 0.. 2] (SW 5.2
and higher)
24572 TRAFO5_AXIS2_1[n] Vector for the second rotary axis and the first
transformation [n = 0.. 2] (SW 5.2 and higher)
24673 TRAFO5_AXIS3_1[n] Direction of third rotary axis for generic 6-axis
transformation (transformation type 24, 40, 56,
57 for SW 7.2 and higher)
24574 TRAFO5_BASE_ORIENT_1[n] Basic orientation for the first transformation [n
= 0.. 2] (SW 5.2 and higher)
24576 TRAFO6_BASE_ORIENT_NORMAL_1[n] Tool normal vector for the first transformation
[n = 0.. 2] (SW 7.2 and higher)
24580 TRAFO5_TOOL_VECTOR_1 Tool vector direction for the first 5-axis
transformation 1

7.3 Machine data

rence
24582 TRAFO5_TCARR_NO_1 TCARR number for the first 5-axis
transformation 1 (SW 7.2 and higher)
24585 TRAFO5_ORIAX_ASSIGN_TAB_1[n] Assignment of orientation axes to channel
axes for orientation transformation 1 [n = 0.. 2]
24590 TRAF5_ROT_OFFSET_FROM_FR_1 Offset of transf. rotary axes from WO
(SW 6.4 and higher)
24600 TRAFO5_PART_OFFSET_2[n] Offset vector for 5-axis transformation 2 [n =
0.. 2]
24610 TRAFO5_ROT_AX_OFFSET_2[n] Position offset of rotary axis 1/2 for 5-axis
24620 TRAFO5_ROT_SIGN_IS_PLUS_2[n] Sign of rotary axis 1/2 for 5-axis
24630 TRAFO5_NON_POLE_LIMIT_2 Definition of pole range for 5-axis
transformation 2
24640 TRAFO5_POLE_LIMIT_2 End angle tolerance with interpolation through
pole for 5-axis transformation 2
24650 TRAFO5_BASE_TOOL_2[n] Vector of base tool for activation of 5-axis
24658 TRAFO5_JOINT_OFFSET_PART_2[n] Vector of kinematic offset in table for 5-axis
24660 TRAFO5_JOINT_OFFSET_2[n] Vector of kinematic offset for 5-axis
24661 TRAFO6_JOINT_OFFSET_2_3_2[n] Vector of kinematic offset for 6-axis
transformation 2_3_2 (SW 7.2 and higher)
24662 TRAFO5_TOOL_ROT_AX_OFFSET_2[n] Offset of focus of 2nd 5-axis transformation
with swiveled linear axis.
24664 TRAFO5_NUTATOR_AX_ANGLE_2 Angle of 2nd rotary axis for the universal mil-
ling head
24670 TRAFO5_AXIS1_2[n] Vector for the first rotary axis and the second
orientation transformation [n = 0.. 2] (SW 5.2
and higher)
24673 TRAFO5_AXIS3_2[n] Direction of third rotary axis for generic 6-axis
transformation (type 24, 40, 56, 57)
24672 TRAFO5_AXIS2_2[n] Vector for the second rotary axis and the first
24674 TRAFO5_BASE_ORIENT_2[n] Basic orientation for the second transformation
[n = 0.. 2] (SW 5.2 and higher)
24676 TRAFO6_BASE_ORIENT_NORMAL_2[n] Tool normal vector for the second
24680 TRAFO5_TOOL_VECTOR_2 Tool vector direction for the second 5-axis
transformation 2
24682 TRAFO5_TCARR_NO_2 TCARR number for the second 5-axis
transformation 2 (SW 7.2 and higher)
24685 TRAFO5_ORIAX_ASSIGN_TAB_2[n] Assignment of orientation axes to channel
axes for orientation transformation 2 [n = 0.. 2]
24590 TRAF5_ROT_OFFSET_FROM_FR_2 Offset of transf. rotary axes from WO
(SW 6.4 and higher)
28580 MM_ORIPATH_CONFIG Configuration for orientation relative to the path
ORIPATH (SW 7.3 and higher)

7.4 Alarms
7.4 Alarms
Detailed explanations of the alarms, which may occur, appear in
References: /DA/, “Diagnostics Guide”
or in the Online help.


06.05
SINUMERIK 840D sl/840D/840Di

Gantry Axes (G1)
1 Brief Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/G1/1-3

2 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/G1/2-5
2.1 “Gantry axes” function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/G1/2-5
2.2 Referencing and synchronization of “gantry axes” . . . . . . . . . . . . . . 3/G1/2-11
2.2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/G1/2-11
2.2.2 Automatic synchronization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/G1/2-16
2.2.3 Special features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/G1/2-17
2.3 Start-up of “gantry axes” . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/G1/2-19
2.4 PLC interface signals for “gantry axes” . . . . . . . . . . . . . . . . . . . . . . . . 3/G1/2-25
2.5 Miscellaneous points regarding “gantry axes” . . . . . . . . . . . . . . . . . . 3/G1/2-26
3 Supplementary Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/G1/3-29
4 Data Descriptions (MD, SD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/G1/4-31
4.1 Axisspecific machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/G1/4-31
5 Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/G1/5-35
5.1 Signals to axis/spindle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/G1/5-35
5.2 Signals from axis/spindle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/G1/5-37
6 Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/G1/6-41
6.1 Creating a gantry grouping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/G1/6-41
6.2 Setting of NCK PLC interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/G1/6-42
6.3 Commencing start-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/G1/6-43
6.4 Setting warning and trip limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/G1/6-45
7 Data Fields, Lists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/G1/7-47
7.1 Interface signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/G1/7-47
7.2 Machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/G1/7-48
7.3 Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/G1/7-48
J

SINUMERIK 840D sl/840D/840Di/810D Descrip. of Functions Special Functions (FB3) – 06.05 Edition 3/G1/i
06.05
Notes

3/G1/ii SINUMERIK 840D sl/840D/840Di/810D Descrip. of Functions Special Functions (FB3) – 06.05 Edition
06.05 Gantry Axes (G1)
1 Brief Description
Brief Description 1
Gantry axes The “gantry axes” function (see Chapter 3) can be used to traverse two or more
mechanically-coupled machine axes simultaneously with no mechanical offset.
With regards to operation and programming, the axes defined in the gantry
grouping are treated as if they were one machine axis (called “master” axis).
While the gantry axes are traversing, the control continuously monitors the
position actual values of the coupled axes to check whether the difference is still
within the specified tolerance range. When the actual position values of the
synchronized axes deviate too much from that of the master axis, the control
automatically shuts down all axes in the gantry grouping to prevent any damage
to the machine.
The purpose of the “gantry axes” function is to control and monitor machine
axes which are rigidly coupled in this way.
Application Two feed drives are required to traverse the gantry on large gantry-type milling
machines, i.e. one drive with its own position measuring system on each side.
Owing to the mechanical forced coupling, both drives must be operated in
absolute synchronism to prevent canting of mechanical components.
Configurations A total of three gantry groupings can be defined (SW 7.1 and higher). One
gantry grouping consists of a master axis and up to two synchronized axes.
J

SINUMERIK 840D sl/840D/840Di/810D Descrip. of Functions Special Functions (FB3) – 06.05 Edition 3/G1/1-3
Gantry Axes (G1) 06.05
1 Brief Description
Notes

3/G1/1-4 SINUMERIK 840D sl/840D/840Di/810D Descrip. of Functions Special Functions (FB3) – 06.05 Edition
2.1 “Gantry axes” function
Application On large gantry-type milling machines, various axis units (e.g. gantry or
crossbeam; see Fig. 2-1) are moved by a number of drives, which are mutually
independent. Each drive has its own measuring system and thus constitutes a
complete axis system. When these mechanically rigidly-coupled axes are
traversed, both drives must be operated in absolute synchronism in order to
prevent canting of mechanical components (resulting in power/torque
transmission).
The purpose of the “gantry axes” function is to control and monitor machine
axes which are rigidly coupled in this way.
Terms The following terms are frequently used in this functional description:
Gantry axes: Gantry axes comprise at least one pair of axes, the
leading axis and the synchronized axis. As these axes
are mechanically coupled, they must always be
traversed simultaneously by the NC. The difference
between the actual positions of the axes is monitored
continuously. The axes in a gantry grouping are either
all linear axes or all rotary axes.
Gantry axis grouping: The gantry axis grouping defines which synchronized
axes are controlled by which leading axis based on
machine data settings. The leading axis and
synchronized axes cannot be traversed separately.
Leading axis: The leading axis is the gantry axis, which actually exists
from the point of the view of the operator and
programmer and can therefore be controlled accordingly
in the same way as a normal NC axis. The axis name of
the leading axis identifies all axes in the gantry axis
grouping.
Synchronized axis: The synchronized axis is the gantry axis whose setpoint
position is always derived from the traversing motion of
the leading axis. It therefore moves in exact
synchronism with the leading axis. From the point of
view of the programmer and operator, the synchronized
axis “does not exist”.

Axis definition Axial MD 37100: GANTRY_AXIS_TYPE must be set to define:
S Whether the axis belongs to a gantry grouping and, if yes, which one
S Whether the axis is defined as a leading axis or a synchronized axis
within this grouping.
A total of up to 3 (8 in SW 7.1 and higher) gantry groupings can be defined.
Each gantry grouping consists of one leading axis and one or two
synchronized axes.
Conditions for a
gantry grouping
S A gantry grouping must not contain a spindle.
S A synchronized axis must not be a concurrent POS axis.
S A synchronized axis must not be addressed by a transformation.
S A synchronized axis must not be the slave axis in another type of axis
coupling.
S A synchronized axis must not be defined as the leading axis in another axis
grouping.
Note
Each axis in the gantry grouping must be set so that it can take over the
function of the leading axis at any time, i.e. matching velocity, acceleration and
dynamic response settings.
The control performs a plausibility check on the axis definition.

1. Gantry grouping
Z1
ÉÉ
Y Z2
X1
ÉÉ +Z
+X X2
+Y
2. Gantry grouping
Fig. 2-1 Example: Gantry-type milling machine with 2 gantry groupings
Functional units The “gantry axes” function can be subdivided into the following functional units:
1. Setpoint generation of synchronized axis
2. Monitoring of actual value difference
3. Referencing and synchronization of leading axis and synchronized axes
Setpoint From the point of view of the operator, all coupled gantry axes are traversed as
generation of if only one axis, i.e. the leading axis, were programmed in the NC. Analogously,
synchronized axis only the leading axis is programmed in the part program. The commands and
traverse requests from the operator, the PLC interface or via the part program
therefore apply in equal measure to all axes in the gantry grouping.
When the “gantry axes” function is active, the synchronized axis setpoint is
generated directly from the setpoint of the leading axis in all operating modes.
Note
The dynamic control response of the leading and synchronized axes must be
set identically.

Monitoring of The position actual values of the leading and synchronized axes are
actual value continuously compared with one another in the interpolation clock cycle and
difference monitored to check that they are still within the permissible tolerance range.
Machine data can be set to specify the following limit values for alarm output
and termination of the traversing motion for specific axes:
S Gantry warning limit:

If the position actual value difference exceeds the gantry warning limit
(MD 37110: GANTRY_POS_TOL_WARNING), then the warning “Warning
limit exceeded” is output to the operator. In addition, IS “Gantry warning limit
exceeded” (DB31, ... ; DBX101.3) is output to the PLC. The warning
message and interface signal are canceled automatically when the value
falls back below the warning limit.
If 0 is entered in MD 37110: GANTRY_POS_TOL_WARNING no warning

message is output.
S Gantry trip limit:

When the maximum permissible position actual value deviation for the
machine (MD 37120: GANTRY_POS_TOL_ERROR) is exceeded, alarm
10653 “Error limit exceeded” is output and the gantry axes stopped
immediately along the braking ramp to prevent any damage to the
mechanical components of the machine. The value in MD 37120:
GANTRY_POS_TOL_ERROR is applied when the gantry grouping is
synchronized. The alarm must be acknowledged with RESET. In addition, IS
“Gantry trip limit exceeded” (DB31, ... ; DBX101.2) is output to the PLC.
If the gantry axis grouping has not yet been synchronized, the limit value for
the gantry trip limit is derived from MD 37130: GANTRY_POS_TOL_REF
(gantry trip limit for referencing).
Gantry trip limit:

Synchronous grouping: GANTRY_POS_TOL_ERROR
Non-synchronous grouping: GANTRY_POS_TOL_REF
Gantry warning limit

GANTRY_POS_TOL_WARNING
Gantry shutdown limit exceeded is also activated if the gantry grouping is

jammed (no servo enable, gantry grouping in “Hold” state).
The monitoring functions are deactivated while the grouping is operating in
“Follow-up” mode.

Extended MD 37150: GANTRY_FUNCTION_MASK can be used to activate an extended

monitoring monitoring function. Effect:
– An offset between the master and slave axis resulting from follow-up or
Break_Up 1 is included in the synchronous operation difference and
triggers an alarm when the corresponding warning or error limits are
reached
After power-up, extended monitoring is activated when the first reference point
or synchronization (absolute encoder) is reached, irrespective of the axis status:
e.g. RFG, NF, reference point approach, etc.
Referencing and As the example “Gantry-type milling machine” shows (see Fig. 2-1), the forced
synchronization of coupling between gantry axes must remain intact in all operating modes as well
gantry axes as immediately after power ON. In cases where an incremental measuring
system is being used for the leading or the synchronized axis, the reference
point must be approached while maintaining the axis coupling immediately after
machine power ON.
After every axis in the gantry grouping has approached its reference point, any
misalignment that may exist between the axes must be eliminated (this is
known as the gantry synchronization process). As soon as this takes place, IS
“Gantry grouping is synchronized” (DB31, ... ; DBX101.5) is signaled to the
PLC.
The operational sequence for referencing and synchronizing gantry axes is
described in detail in Section 2.2.
Closed-loop The dynamic control response settings of the coupled gantry axes must be
control identical (see Section 2.3). This ensures that in normal operation, the leading
and synchronized axes move in positional synchronism even during
acceleration and braking.
Load effects are compensated by the appropriate 611D drive of the leading or
synchronized axis.
Response to When a disturbance occurs which causes shutdown of one gantry axis owing,
disturbances for example, to cancellation of the controller enabling signal (example:
EMERGENCY STOP), all other coupled gantry axes are also shut down.
Separation of In certain situations (e.g. one gantry axis is no longer referenced owing to an
forced coupling encoder failure), it may be necessary to correct or reduce the misalignment
between the gantry axes prior to referencing. To do this, it must be possible to
traverse the leading or the synchronized axis manually in the uncoupled
state.
The forced coupling between the gantry axes can be separated by means of
MD 37140: GANTRY_BREAK_UP=1 (separate gantry grouping) followed by a
RESET. The gantry axes can then be traversed separately by hand; the
monitoring of the warning and trip limits is not operative in this state.

Caution
! If the gantry axes remain mechanically coupled, there is a risk of damage
to the machine when the leading or synchronized axes are traversed in
this operating state!

2.2 Referencing and synchronization of “gantry axes”

2.2.1 Introduction
Misalignment after Immediately after the machine is switched on, the leading and synchronized
starting axes may not be ideally positioned in relation to one another (e.g. misalignment
of a gantry). Generally speaking, this misalignment is relatively small so that the
gantry axes can still be referenced.
In special cases (e.g. gantry axes were stopped owing to a disturbance, power
failure or EMERGENCY STOP), the dimensional offset must be checked for
permissible tolerance values and a compensatory motion executed if necessary
before the axes are traversed.
To execute this compensatory motion, the gantry grouping must first be
separated by means of MD 37140: GANTRY_BREAK_UP.
Gantry All gantry axes must first be referenced and then synchronized after the control
synchronization system is switched on. During gantry synchronization, all gantry axes approach
the reference position of the gantry grouping in the decoupled state. The
reference position of the gantry grouping for referencing the gantry axes
corresponds to the reference position of the leading axis (MD 34100:
REFP_SET_POS) or the current actual position of the leading axis.
These operations for referencing and synchronizing the gantry axes are
executed automatically in accordance with a special flowchart.
Referencing The flowchart for referencing gantry axes using an incremental measuring
operation system is as follows:
Chapter 1: Referencing of leading axis
The user program starts axis-specific referencing of the gantry
axes with IS “Travel key plus/minus” (DB31, ... ; DBX4.7/4.6) on
the leading axis when the REF machine function is active.
The leading axis approaches the reference point (operational
sequence as for reference point approach (see References:
/FB/, R1 “Reference Point Approach”). The appropriate
synchronized axes traverse in synchronism with the leading axis.
IS “Referenced/synchronized” of the leading axis is output to
indicate that the reference point has been reached.
Chapter 2: Referencing of synchronized axes
As soon as the leading axis has approached its reference point,
the synchronized axis is referenced automatically
(corresponding to reference point approach (see References:
/FB/, R1 “Reference Point Approach”). The dependency between
the leading axis and synchronized axis is inverted in the control
for this phase so that the leading axis now traverses in
synchronism with the synchronized axis.
IS “Referenced/synchronized” of the synchronized axis is output
to indicate that the reference point has been reached. The gantry
axis dependency then reverts to its previous status.

If a further synchronized axis is defined in the grouping, then this

is also referenced in the way described above.
Chapter 3: Gantry synchronization
Once all axes in the gantry grouping have been referenced, they
must be synchronized with the defined reference position. The
actual position of each gantry axis is first compared to the defined
reference position of the leading axis.
The next step in the operating sequence depends on the
difference calculated between the actual values of the leading
and synchronized axes:
a) Difference is lower than gantry warning limit (MD 37110:
GANTRY_POS_TOL_WARNING):
The gantry synchronization process is started automatically.
The message “Synchronization in progress gantry grouping x”
is output during this process.
All gantry axes traverse in the decoupled state at the
velocity set in MD 34040: REFP_VELO_SEARCH_MARKER
to the position value defined for the leading axis in MD 34100:
REFP_SET_POS.
If the leading axis uses absolute or distance-coded encoders,
the gantry axes traverse (according to setting in MD 34330:
REFP_STOP_AT_ABS_MARKER) either to the current actual
position of the leading axis or to the reference point. For this
operation, the axes traverse at the same velocity as set for
reference point approach (MD 34070: REFP_VELO_POS
(reference point approach velocity).
As soon as all gantry axes have reached their target position
(ideal position), IS “Gantry grouping is synchronized” is set to
“1” followed by re-activation of the gantry axis coupling. The
position actual value of all axes in the gantry grouping must
now be identical. The gantry synchronization process is now
complete.
b) Difference is higher than the gantry warning limit for at least
one synchronized axis
IS “Gantry synchronization read to start” is set to “1” and the
message “Wait for synchronization start of gantry grouping x”
is output. The gantry synchronization process is not started
automatically in this case, but must be started explicitly by the
operator or from the PLC user program. The process is
initiated by IS “Start gantry synchronization” on the leading
axis. The signal is set on the leading axis. The operational
sequence is then the same as that described above.
The following flowchart illustrates the referencing and synchronization

processes.

Start referencing operation

Channel-specific Axis-specific
(with IS “Activate referencing” = 1 and (with IS “Traversing key +/–” = 1 of From part program
“Active machine function REF” = 1) leading axis and “Active machine (with G74 and axis
function REF” = 1) address of leading axis)
Chapter 1
Start “Referencing of Referencing of leading axis
gantry axes”
Leading axis approaches ref. point; syn-

chronized axis traverses in synchronism
to PLC IS “Referenced/synchronized” = 1
Ref. point approached
for leading axis
(Internal start)
Chapter 2
Synchronized axis approaches reference Referencing of synchronized axis
point; leading axis traverses in synchronism (axes)
to PLC IS “Referenced/synchronized” = 1
Ref. point approached
for synchronized axis
y Next
synchronized
axis
n
Chapter 3
Synchronization
Message:
“Wait for process
Comparison of actual positions of
leading and synchronized axes synchronization
start”
IS “Gantry synchronization ready to

Deviation
y start” = 1
>
MD 37110:
GANTRY_POS_TOL_WARNING?
Wait
(Internal start) n
All gantry axes approach gantry synchronized
position in uncoupled state (MD 34100: Operator starts gantry
REFP_SET_POS of leading axis) synchronization process
If the leading axis uses absolute or
distance-coded encoders, the gantry axes (External start)
traverse (according to setting in MD 34330:
REFP_STOP_AT_ABS_MARKER) either to IS “Start gantry synchronization” = 1
the current actual position of the leading axis
or to the reference point.
to PLC Message:
All gantry axes have reached “Synchronization
synchronized position in progress”
Forced coupling between to PLC IS “Gantry grouping is

gantry axes is reactivated synchronized” = 1
End
Fig. 2-2 Flowchart for referencing and synchronization of gantry axes

Synchronization A synchronization run must always be performed

process
S after the reference point approach of all axes included in a grouping
S if the axes become de-synchronized (see below)
Interruption of If the referencing process described above is interrupted as a result of

sequence disturbances or a RESET, proceed as follows:
1. Abort during Chapter 1 or 2:
Approach the reference point again with the leading axis (see Chapter 1)
2. Abort during Chapter 3:
In cases where the gantry axes have not yet been referenced (IS
“Referenced/Synchronized” = 1), the gantry synchronization process can be
started again with IS “Synchronize gantry grouping”.
Restart gantry Synchronization of the gantry axes can be started with IS “Start gantry
synchronization synchronization” under the following conditions only:
S Machine function JOG/REF must be active (IS “Active machine function

REF” (DB11, DBX5.2)
S IS (DB 31, ... DBX 101.5) “Gantry grouping is synchronized” = 0

S All axes of the grouping are within the tolerance window or
IS (DB 31, ... DBX 101.4) “Gantry synchronization ready to start” = 1
S No axis is being referenced in the relevant NC channel (IS “Referencing

active” DB21-30, DBX33.0 = 0).
If the gantry synchronization process is not started from the referencing
process by means of IS “Start gantry synchronization”, then instead of the
reference position (MD 34100: REFP_SET_POS) being specified as the target
position for the synchronized axes, the current actual position of the leading
axis is specified and is approached in the uncoupled state.
Note
Automatic synchronization can be interlocked for the leading axis using IS
DB31, ... DBX29.5. This always makes sense if no axis enabling signal has yet
been issued for the axes. In this case, the synchronization process should also
be started explicitly with IS DB31, ... DBX 29.4 = 1.

Loss of The synchronization of the gantry grouping is lost (IS “Gantry grouping is
synchronization synchronized” → 0) if:
S The gantry axes were in “Follow-up” mode

S The reference position of a gantry axis is lost, e.g. during “Parking” (no
measuring system active)
S One gantry axis is re-referenced (IS “Referenced/Synchronized” changes to

0)
S The gantry grouping was invalidated (MD 37140: GANTRY_BREAK_UP)

In cases where the gantry grouping has lost synchronization during operation
as the result of a disturbance, then the gantry synchronization process can be
restarted directly by means of IS “Start gantry synchronization” (condition: IS
“Referenced/Synchronized” = 1 for all axes in the gantry grouping). In this case,
the synchronized axes traverse to the current actual position of the leading axis
in the uncoupled state.
(SW 5.3 AND HIGHER) If an Emergency Stop command is issued and then
canceled again while a gantry grouping is in motion and the two axes have
drifted apart by less than the standstill tolerance of the slave axes, then the
grouping is automatically synchronized. It is no longer necessary to switch to
REFP mode. Automatic synchronization can be disabled using IS DBxx.DB29.5
on the slave axis.
Reference point To ensure that the shortest possible paths are traversed when the gantry axes
selection are referenced, the reference point values of the leading and synchronized axes
in MD 34100: REFP_SET_POS should be identical. Allowance for deviations in
distance between the zero mark and the reference point must be made for
specific axes via MD 34080: REFP_MOVE_DIST and MD 34090:
REFP_MOVE_DIST_CORR.
During referencing, the reference point value of the leading axis is specified as
the target position for all axes in the grouping for the synchronization
compensatory motion. This position is then approached without axis coupling. If
the leading axis uses absolute or distance-coded encoders, the gantry axes
traverse (according to setting in MD 34330: REFP_STOP_AT_ABS_MARKER)
either to the current actual position of the leading axis or to the reference point.
If only one reference cam is used for the leading and synchronized axes, then
this must be taken into account in the PLC user program.

2.2.2 Automatic synchronization
Automatic synchronization can take place:
S In referencing mode (see Subsection 2.2.1).

S In other modes (SW 6 and higher) as described below.
If a gantry grouping is switched to follow-up mode, monitoring of the actual
values between the leading and synchronized axes is disabled. The grouping is
no longer synchronized as a result. IS “Gantry grouping is synchronized” (from
leading axis, DB31, ... DBX101.5) is set to 0, irrespective of the axis positions.
If the gantry grouping is switched from follow-up mode to position control mode,
axis synchronism is automatically restored provided the actual-value monitor
does not detect a difference between the positions of the leading and
synchronized axes greater than the setting in MD 36030:
STANDSTILL_POS_TOL. In this case, a new setpoint is specified for the
synchronized axis (axes) without interpolation. The positional difference
detected earlier is then corrected by the position controller. The correction
causes only the synchronized axis (axes) to move.
The motional sequence of the synchronized axis (axes) is analogous to the
situation in which the grouping switches from the “Hold” state to position control
mode. In this case, the position specified by the position controller before the
grouping is halted is set again on condition that the zero speed monitor has not
activated alarm 25040 (with follow-up as alarm reaction) in the meantime.
The same tolerance window is used for this mode of automatic synchronization
as for the zero speed monitoring function: MD 36030: STANDSTILL_POS_TOL,
with MD 36012: STOP_LIMIT_FACTOR applied as a function of parameter set.
Note
IS “No automatic synchronization” DB31, ... DBX29.5 blocks automatic
synchronization in all modes except referencing mode. If automatic
synchronization is to be activated here, set IS “No automatic synchronization”
DB31, ... DBX29.5 = 0 must be defined. Then switch one of the axes in the
gantry grouping from follow-up mode to position-controlled mode. This is
achieved with:
IS “Follow-up mode” DB31, ... DBX1.4 = 1 and
IS “Delete distance to go/spindle reset” DB31, ... DBX2.1 = 1 signal change
from 1 to 0 to 1”.

2.2.3 Special features
2nd position Different types of position measuring system can be mounted on the gantry
measuring system axes of a grouping. Furthermore, each gantry axis is capable of processing two
for each gantry position measuring systems, it being possible to switch over from one system to
axis the other at any time (IS “Position measuring system 1/2” (DB31, ... DBX1.5 and
1.6).
The maximum tolerance for position actual value switchover (MD 36500:
ENC_CHANGE_TOL) should be set to a lower value than the gantry warning
limit.
The two position measuring systems must, however, have been referenced
beforehand. The relevant measuring system must be selected before
referencing is initiated. The operational sequence is then the same as that
described above.
Channel-specific Gantry axes can also be referenced on a channel-specific basis by means of IS

referencing “Activate referencing” (DB21-28, DBX1.0). The value of axial MD 34110:
REFP_CYCLE_NR of the leading axis is used as the axis sequence for
channel-specific referencing. After the reference point of the leading axis has
been reached, the synchronized axes are referenced first as described above.
Referencing from The referencing and synchronization process for gantry axes can also be
part program with initiated from the part program by means of command G74. In this case, only
G74 the axis name of the leading axis may be programmed. The operational
sequence is analogous to that described for axis-specific referencing.
Position In order that return traverses do not have to be made over large distances, it is
measuring system possible to use a position measuring system with distance-coded reference
with marks as a sole or second measuring system for gantry axes. In this way the
distance-coded measuring system is referenced after traversal of a short path (e.g. 20 mm). The
procedure for referencing the gantry axes is the same as that described for
reference marks
normal incremental measuring systems (References: /FB/, R1 “Reference Point
Approach”).
Or absolute During the course of the synchronization compensatory motion, all axes in the
encoder gantry axis grouping traverse to the reference point value of the leading axis
defined in MD 34100: REFP_SET_POS in the decoupled state. If the leading
axis uses absolute or distance-coded encoders, the gantry axes traverse
(according to setting in MD 34330: REFP_STOP_AT_ABS_MARKER) either to
the current actual position of the leading axis or to the reference point.
Activation of axis Compensation functions can be activated for both the leading axis and the
compensations synchronized axes. Compensation values are applied separately for each
individual gantry axis. These values must therefore be defined and entered for
the leading axis and the synchronized axes during start-up.
The compensations do not become operative internally in the control until the
axis is referenced or the gantry grouping synchronized. The following applies:

Compensation type Takes effect when PLC interface signal

Backlash compensation Axis is referenced “Referenced/Synchronized”
LEC Axis is referenced “Referenced/Synchronized”
Sag compensation Gantry grouping “Gantry grouping is
is synchronized synchronized”
Temperature Gantry grouping “Gantry grouping is
compensation is synchronized synchronized”
If a movement by the synchronized axis (axes) is caused by an active

compensation, a travel command is displayed for the synchronized axis (axes)
independently of the leading axis.
Monitoring Analogous to normal NC axes, the following monitoring functions do not take
functions effective effect for gantry axes until the reference point is reached (IS “Referenced/
Synchronized”):
S Working area limits

S Software limit switch
S Protection zones
The axial machine data values are used as monitoring limit values for the
synchronized axes as well.
Multi-channel The cross-channel block search in Program Test mode (SERUPRO “search run
block search in by program test”) can be used to simulate the traversal of gantry axis groupings
SW 6.1 and higher in SW 6.2 and higher.
Note
For more information about multi-channel SERUPRO block search, please see:
References: /FB/, K1, “Mode Group, Channels, Program Operation” 2.4

Program test

2.3 Start-up of “gantry axes”
General Owing to the forced coupling which is normally present between leading and
synchronized gantry axes, the gantry axis grouping must be started up as if it
were an axis unit. For this reason, the axial machine data for the leading and
synchronized axes must always be defined and entered jointly.
If the synchronized axis is being overloaded by the leading axis due to reduced
dynamics, this is acknowledged with alarm 10656.
References: /IAD/, “Installation and Start-Up Guide”
Special points to be noted with regard to starting up gantry axes are described
below.
Axis traversing As part of the start-up procedure, a check must be made to ensure that the
direction direction of rotation of the motor corresponds to the desired traversing direction
of the axis (correct by means of axial MD 32100: AX_MOTION_DIR (traversing
direction)).
Activation of the In MD 37100: GANTRY_AXIS_TYPE, the following must be specified for the
axis grouping gantry axis:
S To which gantry grouping (1, 2 or 3) the axis must be assigned

S Whether it is to act as the leading axis (single-decade MD value only) or as
a synchronized axis.
Note
Please make sure that a gantry grouping specified as cross-channel or
cross-NCU does not clash with gantry grouping numbers already assigned. In
such cases, unique numbers must be assigned for cross-channel and
cross-NCU gantry groupings. If clashes are detected, alarm 10651 is output
with reason 40XX. XX is the gantry grouping causing the clash.
For start-up purposes, all axes in a gantry grouping must be declared either as
linear axes or as rotary axes (MD 30300: IS_ROT_AX).

Table 2-1 Examples for defining the gantry axis grouping:
MD: GANTRY_AXIS_TYPE Gantry axis Gantry grouping

0 None –
1 Leading axis 1
11 Synchronized axis 1
2 Leading axis 2
3 Leading axis 3
...
8 Leading axis 8
Entering gantry For the purposes of monitoring the position actual value deviation between the
trip limits synchronized axis and the actual position of the leading axis, the trip limit values
(MD: 37120 GANTRY_POS_TOL_ERROR or MD 37130:
GANTRY_POS_TOL_REF) must be entered for the leading axis and for the
synchronized axis in accordance with the machine manufacturer’s data.
Note
The control must then be switched off and then on again because the gantry
axis definition and the trip limit values only take effect after power ON.
Response to Since the digital 611D drives respond well to disturbances and setpoint
setpoint changes changes, there is no need for a compensatory control between the gantry axes.
and disturbances However, the gantry axes can only operate in exact synchronism if the
parameters for the control circuits of the leading and synchronized axes are set
to the same dynamic response value.
To ensure the best possible synchronism, the leading axis and synchronized
axis must be capable of the same dynamic response to setpoint changes.
The axial control loops (position, speed and current controllers) should each be
set to the optimum value so that disturbances can be eliminated as quickly and
efficiently as possible. The dynamic response adaptation function in the
setpoint branch is provided to allow differing dynamic responses of axes to be
matched without loss of control quality.

The following control parameters must be set to the optimum axial value for
both the leading axis and the synchronized axis:
S Servo gain (MD 32200: POSCTRL_GAIN)

S Feedforward control parameters
MD 32620: FFW_MODE
MD 32610: VELO_FFW_WEIGHT
MD 32650: AX_INERTIA
MD 32800: EQUIV_CURRCTRL_TIME
MD 32810: EQUIV_SPEEDCTRL_TIME
References: /FB/, K3 “Compensations”
The following control parameters must be set to the same value for the leading
axis and synchronized axis:
S Fine interpolator type (MD 33000: FIPO_TYPE)

S Axial jerk limitation
MD 32400: AX_JERK_ENABLE
MD 32410: AX_JERK_TIME
MD 32420: JOG_AND_POS_JERK_ENABLE
MD 32430: JOG_AND_POS_MAX_JERK
References: /FB/, G2 “Velocities, Setpoint/Actual Value Systems,
Closed-Loop Control”
Dynamic response The leading axis and the coupled axis must be capable of the same dynamic
adaptation response to setpoint changes. The same dynamic response means: The
following errors are equal in magnitude when the axes are operating at the
same speed.
The dynamic response adaptation function in the setpoint branch makes it
possible to obtain an excellent match in the response to setpoint changes
between axes, which have different dynamic characteristics (control loops). The
difference in equivalent time constants between the dynamically “weakest” axis
and the other axis in each case must be specified as the dynamic response
adaptation time constant.
Example When the speed feedforward control is active, the dynamic response is primarily
determined by the equivalent time constant of the “slowest” speed control loop.
Leading axis MD 32810: EQUIV_SPEEDCTRL_TIME [n] = 5 ms
Synchronized axis MD 32810: EQUIV_SPEEDCTRL_TIME [n] = 3 ms
! Time constant of dynamic response adaptation for synchronized axis:

MD 32910: DYN_MATCH_TIME [n] = 5 ms – 3 ms = 2 ms
The dynamic response adaptation function must be activated axially with
MD 32900: DYN_MATCH_ENABLE.
Check of dynamic response adaptation:
The following errors of the leading and synchronized axes must be equal in
magnitude when the axes are operating at the same speed!
For the purpose of fine tuning, it may be necessary to adjust servo gain factors
or feedforward control parameters slightly to achieve an optimum result.

Referencing The positions of the reference points of the leading and synchronized axes
gantry axes must first be set to almost identical values.
To ensure that the synchronization compensatory motion of the gantry axes is
not started automatically, the gantry warning limit (MD 37100:
GANTRY_POS_TOL_WARNING) must be set to 0 prior to referencing on first
start-up. This will prevent a warning message being output during traversing
motion.
In cases where an excessively high additional torque is acting on the drives due
to misalignment between the leading and synchronized axes, the gantry
grouping must be aligned before the axes are traversed. The gantry axes must
then be referenced as described in Section 2.2 and
References: /FB/, R1 “Reference Point Approach”.
After the leading and synchronized axes have been referenced, the difference
between them must be measured (comparison of position actual value
indication in “Service axes” display of “Diagnosis” operating area). This
difference must be applied as the reference point offset (MD34080:
REFP_MOVE_DIST and MD 34090: REFP_MOVE_DIST_CORR).
The differences in distance between the zero mark and reference point must
also be calculated for each gantry axis and adjusted in MD 34080:
REFP_MOVE_DIST and MD 34090: REFP_MOVE_DIST_CORR in such a way
that the position actual values of the leading and synchronized axes are
identical after execution of the compensatory motion.
Synchronizing The gantry synchronization process must be activated with IS “Start gantry
gantry axes synchronization” (see Section 2.2). Once the axes have been synchronized (IS
“Gantry grouping is synchronized” = 1), the dimensional offset between the
leading and synchronized axes must be checked to ensure that it equals 0.
Corrections may need to be made in the machine data mentioned above.
Input of gantry Once the reference point values for the leading and synchronized axes have
warning limit been optimized so that the gantry axes are perfectly aligned with one another
after synchronization, the warning limit values for all axes must be entered in
MD 37110: GANTRY_POS_TOL_WARNING.
To do this, the value must be increased incrementally until the value is just
below the alarm (limit exceeded) response limit. It is particularly important to
check the acceleration phases.
This limit value also determines the position deviation value at which gantry
synchronization is automatically started in the control.
Calculating and In cases where the gantry axes require compensation (backlash, sag,
activating temperature or leadscrew error), the compensation values for the leading axis
compensations and the synchronized axis must be calculated and entered in the appropriate
parameters or tables.
References: /FB/, K3 “Compensations”

Function Up to and including SW 3.1

generator/ In all software versions up to and including SW 3.1, the function generator and
measuring measuring function may only be activated on the leading axis.
function The synchronized axis joins the traversing motion automatically (by means of
coupling to the actual value of the leading axis). If the zero speed control
responds on the synchronized axis, increase the size of the monitoring window
temporarily.
Caution
! Activation of the function generator and measuring function on the
synchronized axis or leading and synchronized axis simultaneously is not
prevented by an internal monitor in software versions up to and including
SW 3.1 but if used incorrectly may damage the machine.
SW 3.2 and higher

In SW 3.2 and higher, the activation of the function generator and measuring
function on the synchronized axis is aborted with an error message.
If the synchronized axis absolutely has to be activated (e.g. in order to measure
the machine), the leading axis and synchronized axis must be inverted
temporarily.
Special cases If individual axes have to be activated, the gantry groups must be temporarily
canceled. As the second axis no longer travels in synchronism with the first
axis, the activated axis must not be allowed to traverse beyond the positional
tolerance.
If the gantry grouping is canceled, the following points must be noted
S Always activate the traversing range limits and set them to the lowest
possible values (position tolerance)
S Synchronize the gantry grouping first if possible and then execute a

POWER-ON-RESET without referencing the axes again. This ensures that
the traversing range limits always refer to the same position (i.e. that which
was valid on power ON).
S Avoid using the step-change function. Position step changes are only
permissible if they stay within the permitted tolerance.
S Always use an offset of 0 for the function generator and measuring function
in contrast to the recommendations for normal axes.
S Set the amplitudes for function generator and measuring function to such
low values that the activated axis traverses a shorter distance than the
position tolerance allows. Always activate the traversing range limits as a
check (see above).
References: /FBA/, DD2 “Speed control loop”
Note
As a supplement to the more general description given here of features of
start-up and dynamic control response of drives, a complete example of a
concrete constellation defined on the basis of its machine data can be found in
Chapter 6.

Start-up support SW 5.1 and higher

for gantry The start-up functions “Function generator” and “Measurement” are
groupings parameterized via PI services, as in earlier SW. All parameterized axes
commence traversing when the NC Start key on the MCP panel is pressed in
JOG mode.
A window is displayed in the “Measuring function and function generator in
gantry grouping” operator interface. Two amplitude values, each with an offset
and bandwidth, must be entered in this window. The first amplitude value
applies to the measuring axis and the second to the other coupled axes.

2.4 PLC interface signals for “gantry axes”
2.4 PLC interface signals for “gantry axes”
Special IS for The special PLC interface signals of the coupled gantry axes are taken via the
gantry axes axial PLC interface of the leading or synchronized axes. Table 2-2 below shows
all special gantry-PLC interface signals along with their codes and indicates
whether the IS is evaluated on the leading axis or the synchronized axis.
Table 2-2 Assignment of gantry-PLC interface signals to leading and synchronized axes
PLC interface signal PLC$NCK DB31, ... ; DBX ... Leading axis Synchronized
axis
Start gantry synchronization ! 29.4 X
No automatic synchronization ! 29.5 X
Gantry axis z 101.7 1 1
Gantry leading axis z 101.6 1 0
Gantry grouping is synchronized z 101.5 X
Gantry synchronization ready to start z 101.4 X
Gantry warning limit exceeded z 101.3 X
Gantry trip limit exceeded z 101.2 X
Effect of axial a) Axial interface signals from PLC to axis (PLC –> NCK)
interface signals
The axial interface signals from the PLC to the axis are always referred to all
on gantry axes gantry axes in the grouping. In this case, all gantry axes (leading and
synchronized axis) have equal priority.
For example, if the leading axis sets IS “Servo enable” (DB31, ... ; DBX2.1)
to “0”, all axes of the gantry grouping are brought to a standstill at the same
time.
Table 2-3 shows the effect of individual interface signals (from PLC to axis)
on gantry axes:
Table 2-3 Effect of interface signals from PLC to axis on leading and synchronized axes
PLC interface signal DB31, ... ; DBX ... Effect on

Leading axis Synchronized axis
Axis/spindle disable 1.3 On all axes in No effect
gantry grouping
Position measuring system 1/2 1.4 and 1.5 Axial 1) Axial 1)
Controller enable 2.1 On all axes in gantry grouping 2)
Delete distance to go (axial) 2.2 Axial No effect
Clamping in progress 2.3 Axial Axial
Reference point value 1–4 2.4 – 2.7 Axial Axial
Feed stop 4.4 On all axes in gantry grouping
Hardware limit switch plus/minus 12.0 and 12.1 Axial alarm: Brake request on all axes in
gantry grouping
2nd software limit switch plus/minus 12.2 and 12.3 Axial Axial

2.5 Miscellaneous points regarding “gantry axes”
Table 2-3 Effect of interface signals from PLC to axis on leading and synchronized axes
PLC interface signal DB31, ... ; DBX ... Effect on

Leading axis Synchronized axis
Ramp-function generator fast stop (RFGFS) 20.1 On all axes in gantry grouping
Select drive parameter set 21.0 – 21.2 Axial Axial
Pulse enable 21.7 Axial Axial
1. IS “Position measuring system 1/2” (DB31, ... ; DBX1.5 and 1.6)
The switchover between position measuring systems 1 and 2 applies individually for each gantry axis. However,
deactivation of both position measuring systems (known as the parking position) applies as a common signal for all
gantry axes.
2. IS “Servo enable” (DB31, ... ; DBX2.1)
If the servo enable signal on one gantry axis is canceled, all axes in the gantry grouping are shut down simulta-
neously. The method by which shutdown is implemented (e.g. with fast stop) is identical for all gantry axes.
Depending on IS “Follow-up mode” (DB31, ... ; DBX1.4), either the

“Follow-up” state (IS of one gantry axis = 1) or the “Stop” state (IS of all
gantry axes = 0) is activated for all gantry axes.
b) Axial interface signals from axis to PLC (NCK –> PLC)
Each of the axial, axis-to-PLC interface signals for the synchronized axis
and the leading axis is always set on an axis-specific basis and output to the
PLC.
Example:
IS “Referenced/synchronized 1/2” (DB31, ... ; DBX60.4 or 60.5).
Exception:
IS “Travel command plus or minus” (DB31, ... ; DBX64.6 and 64.7) is also
set for the synchronized axis when the leading axis traverses.
Manual traverse It is not possible to traverse a synchronized axis directly by hand in JOG mode.
Traverse commands entered via the traversing keys of the synchronized axis
are ignored internally in the control. Rotation of the handwheel for the
synchronized axis has no effect either.
Handwheel An overriding motion by means of the handwheel can only be applied to the
override leading axis in coupled axis mode. In this case, the synchronized axes traverse
in synchronism with the leading axis.
DRF offset A DRF offset can only be applied to the leading axis. In this case, the
synchronized axes traverse in synchronism with the leading axis.
Programming in Only the leading axis of a gantry axis grouping may be programmed in the part
part program program. An alarm is generated when a synchronized axis is programmed.

PLC or command Only the leading axis of the gantry grouping can be traversed by the PLC using
axes FC18 or as a command axis by means of synchronized actions.
References: /FB/, P3, “PLC Basic Program”
/FBSY/, Synchronized Actions
PRESET The PRESET function can only be applied to the leading axis. All axes in the
gantry grouping are reevaluated internally in the control when PRESET is
activated. The gantry axes then lose their reference and synchronization (IS
“Gantry grouping synchronized” = “0”).
Exchange All axes in the gantry grouping are released automatically in response to a
RELEASE command (leading axis).
A replacement of the master axis of a closed gantry grouping is only possible, if
all axes of the grouping are known in the channel in which they are to be
transferred, otherwise alarm 10658 is signaled.
Axes of a gantry grouping must not be known in all channels. The check is not
performed when powering up, but only when an attempt is made to replaced the
master axis in the channel.
If an attempt is made to close a broken up gantry grouping with MD 37140:
GANTRY_BREAK_UP, no automatic axis replacement and no automatic
adjustment of the axis states of the gantry axes are performed. The user is
responsible for this. However, a check of the axes states is performed after
break-up and, if necessary, alarm 10658 is issued. If a gantry grouping is to be
closed again, the user must ensure that all axes of the grouping are in one
channel with the appropriate axis state.
MD 30450: IS_CONCURRENT_POS_AX=1 for slave axes (closed gantry
grouping):
With active gantry grouping, the MD is ignored for the slave axes. The state of
the master axis is assumed. The user is informed about the inappropriate
configuration with display alarm 4300.
Display data The position actual value display shows the actual values of both the leading
axis and the synchronized axes. The same applies to the service display values
in the “Diagnosis” operating area.
SW limit switch The SW limit switch monitor is processed for the leading axis only. If the leading
axis crosses the limit switch, all axes in the gantry grouping are braked to a
standstill.

Differences in The main differences between the “gantry axes” and “coupled motion” functions
comparison with are listed below:
the “Coupled
S The axis coupling between the gantry axes must always be active. It is
motion” function therefore not possible to separate the axis coupling between “gantry axes”
by means of the part program. In contrast, the coupled axis grouping can be
separated by means of the part program and the axes then traversed
individually.
S With “gantry axes”, the difference between the position actual values of the
leading and synchronized axes is continuously monitored and the traversing
motion terminated in response to illegal deviations. No such monitoring
takes place with the “coupled motion” function.
S Gantry axes must remain coupled even during referencing. For this reason,
special procedures are applied for the reference point approach of gantry
axes. In contrast, coupled-motion axes are referenced as individual axes.
S To allow “gantry axes” to traverse without a mechanical offset, the dynamic

control response settings of the synchronized axes and the leading axis
must be identical. In contrast, the “coupled motion” function permits axes
with different dynamic control response characteristics to be coupled.
References: /FB/, M3 “Coupled Motion”
Multiple channels Please make sure, if a gantry grouping’s master axis is declared in
several channels, that its slave axes are also declared in those
channels.
If this is not the case, alarm 10651 is output with reason 60XX. XX is
the gantry grouping causing the clash.
J

There are no other supplementary conditions to note.
J

Notes

4.1 Axisspecific machine data

37100 GANTRY_AXIS_TYPE
MD number Gantry axis definition
Data type: BYTE Applies as of SW: 2.1
Meaning: Use axial MD: GANTRY_AXIS_TYPE to set in the form of a two-decade value
specification:
S Whether the axis belongs to a gantry grouping and if so, to which (1st decade)
S and whether the axis is declared within the grouping as a leading axis (MD value has
only 1 decade) or as a synchronized axis (2nd decade is set to value 1)
2. decade 1. decade
Gantry axis type Gantry axis grouping

(no entry): Leading 0: No gantry axis
axis 1: Gantry axis grouping 1
1: Synchronized axis 2: Gantry axis grouping 2
i: Gantry axis grouping i
A maximum total of 3 (8 in SW 7.1 and higher) gantry axis groupings can be defined.
A gantry axis grouping has a leading axis and at least one synchronized axis (a maximum
of two synchronized axes are possible).
Declaration conditions:
S All axes in a gantry axis grouping must be declared either as linear axes or as rotary
axes (MD 30300: IS_ROT_AX).
S A spindle may not be declared within a gantry axis grouping.
S A synchronized axis may not be declared either as a geometry axis or as a “concurrent
positioning axis”.
S A synchronized axis may not be declared as the leading axis of another gantry
grouping.
The gantry axis definition is subject to a plausibility check internally in the control; if it is
incorrectly parameterized, alarm 10650 “Incorrect gantry machine data” or 10651 “Gantry
unit undefined” is output.
MD irrelevant for ...... SINUMERIK 840D with NCU 571
Application example(s) 0: No gantry axis
1: Axis is leading axis in gantry grouping 1
11: Axis is synchronized axis in gantry grouping 1
Special cases, errors, ... Alarm 10650 “Incorrect gantry machine data” and 10651 “Gantry unit undefined” in
... response to incorrect gantry axis definition.
Related to .... MD 37110: GANTRY_POS_TOL_WARNING Gantry warning limit
MD 37120: GANTRY_POS_TOL_ERROR Gantry trip limit
MD 37130: GANTRY_POS_TOL_REF Gantry trip limit for referencing

37110 GANTRY_POS_TOL_WARNING
MD number Gantry warning limit
Default setting: 0 Minimum input limit: 0 Maximum input limit: plus
Changes effective after Reset Protection level: 2/4 Unit:
Linear axis: mm
Rotary axis: degrees
Data type: DOUBLE Applies as of SW: 2.1
Meaning: Value > 0
With gantry axes, the difference between the position actual values of the leading and
synchronized axes are continuously monitored.
MD: GANTRY_POS_TOL_WARNING is used to define a limit value for the position ac-
tual value difference; when the limit is exceeded, warning 10652 “Warning limit ex-
ceeded” is output. However, the gantry axes are not shut down internally in the control.
The warning threshold must therefore be selected so that the machine can withstand the
position actual value deviation between the gantry axes without sustaining mechanical
damage.
In addition, IS “Gantry warning limit exceeded” (DB31, ... ; DBX101.3) to the PLC is set
to “1”. The PLC user program can thus initiate the necessary measures (e.g. program
interruption at block end) when the warning limit is exceeded.
As soon as the current position actual value difference has dropped below the limit again,
the message is canceled and interface signal “Gantry warning limit exceeded” reset.
Effect of gantry warning limit on gantry synchronization process:
The position actual value difference between the leading and synchronized axes is deter-
mined during gantry synchronization. If the deviation is lower than the warning limit, the
synchronizing motion of the gantry axes is started
automatically internally in the control.
The synchronizing motion must otherwise be initiated via the PLC interface (IS “Start
gantry synchronization process”).
Value = 0
Setting MD: GANTRY_POS_TOL_WARNING to 0 deactivates the monitoring
for violation of the warning limit.
Gantry synchronization is not initiated internally in the control.
Special cases, errors, ... Alarm 10652 “Warning limit exceeded” in response to violation of gantry warning limit.
...
Related to .... MD 37100: GANTRY_AXIS_TYPE Gantry axis definition
IS “Gantry warning limit exceeded” (DB31, ... ; DBX101.3)
IS “Start gantry synchronization” (DB31, ... ; DBX29.4)
37120 GANTRY_POS_TOL_ERROR
MD number Gantry trip limit
Default setting: 0.0 Minimum input limit: 0 Maximum input limit: plus
Changes effective after POWER ON Protection level: 2/4 Unit:
Linear axis: mm

37120 GANTRY_POS_TOL_ERROR
MD number Gantry trip limit
Meaning: With gantry axes, the difference between the position actual values of the leading and syn-
chronized axes are continuously monitored. MD: GANTRY_POS_TOL_ERROR is the
maximum permissible position actual value deviation between the synchronized axis and
the leading axis for the gantry axis grouping. Monitoring for violation of this limit value takes
place only if the gantry axis grouping is already synchronized (IS “Gantry grouping is syn-
chronized” = 1); otherwise the value set in MD 37130: GANTRY_POS_TOL_REF is used.
If the limit value is exceeded, alarm 10653 “Error limit exceeded” is output. The gantry axes
are immediately shut down internally in the control to prevent any damage to the machine.
In addition, IS “Gantry trip limit exceeded” to the PLC is set to “1”.
Special cases, errors, ... Alarm 10653 “Error limit exceeded” in response to violation of gantry trip limit.
...
MD 37110: GANTRY_POS_TOL_WARNING Gantry warning limit
IS “Gantry grouping is synchronized” (DB31, ... ; DBX101.5)
IS “Gantry trip limit exceeded” (DB31, ... ; DBX101.2)
37130 GANTRY_POS_TOL_REF
MD number Gantry trip limit for referencing
Default setting: 0.0 Minimum input limit: 0 Maximum input limit: plus
Changes effective after POWER ON Protection level: 2/4 Unit:
Linear axis: mm
Data type: DOUBLE Applies from SW 2.1
Meaning: On gantry axes, the difference between the position actual values
of the leading and synchronized axes are continuously monitored. MD:
GANTRY_POS_TOL_REF is the maximum permissible position actual value deviation
between the synchronized axis and the leading axis that is monitored if the gantry axis
grouping is not yet synchronized (IS “Gantry grouping is synchronized” = “0”).
If the limit value is exceeded, alarm 10653 “Error limit exceeded” is output. The gantry axes
are immediately shut down in the control to prevent any damage to the machine.
In addition, IS “Gantry trip limit exceeded” to the PLC is set to “1”.
Special cases, errors, ... Alarm 10653 “Error limit exceeded” in response to violation of gantry trip limit.
...
37140 GANTRY_BREAK_UP
MD number Invalidate gantry axis grouping
Changes effective after Reset Protection level: 2/4 Unit: –
Data type: BOOLEAN Applies as of SW: 2.1

37140 GANTRY_BREAK_UP
MD number Invalidate gantry axis grouping
Meaning: GANTRY_BREAK_UP = “0”
The forced coupling of the gantry axis grouping remains valid. Monitoring for violation of the
gantry warning/trip limit is active!
GANTRY_BREAK_UP = “1”
This cancels the forced coupling of the gantry grouping! All gantry axes in this grouping
can therefore be traversed individually by hand. The monitoring for violation of the gantry
warning or trip limit is deactivated. IS “Gantry grouping is synchronized” is set to “0”.
Caution:
If the gantry axes are mechanically coupled, the machine may be damaged if the
leading or synchronized axis is traversed in this mode!
The gantry axes cannot be referenced individually.
37150 GANTRY_FUNCTION_MASK
MD number Gantry functions
Changes effective after RESET Protection level: 2 / 7 Unit: –
Data type: DWORD Applies as of SW: 7.2
Meaning: This MD is used to set special gantry functions.
The MD is bitcoded. The following bits are assigned:
Bit 0 = 0: Extended monitoring of actual value difference is not active.
An offset between the master and slave axis resulting from follow-up or
BREAK_UP is not considered when monitoring the
actual value difference.
No output of alarm 10657 if alarm 10563 before
Power Off.
Bit 0 = 1: Extended monitoring of actual value difference is active.
An offset between the master and slave axis resulting from follow-up or
BREAK_UP is not considered when monitoring the
actual value difference.
Prerequisite: The gantry grouping must be referenced or synchronizedl

once after the control is powered up.
Output of alarm 10657 if alarm 10563 before Power Off.

5.1 Signals to axis/spindle
DB31, ... ; Start gantry synchronization

DBX29.4
Data Block Signal(s) to NC (PLC ! NC)
Signal state 1 or signal Request from PLC user program to synchronize the leading axis with the assigned
transition 0 –––> 1 synchronized axes (MD 37100: GANTRY_AXIS_TYPE) (i.e. all gantry axes approach the
reference position of the gantry grouping in the decoupled state).
Synchronization of the gantry axes can be started only under the following conditions:
S Machine function REF must be active
(IS “Active machine function REF” = “1”)
S IS “Gantry grouping is synchronized” = “0”
S IS “Gantry synchronization ready to start” = “1”
S No axis is being referenced in the appropriate NC channel (IS “Referencing active” =
“0”)
Signal state 0 or signal The PLC user program can then, for example, reset the interface signal to signal state “0”
transition 1 –––> 0 on completion of gantry synchronization (IS “Gantry grouping is synchronized” = “1”).
If the IS is set continuously to “1”, the gantry synchronization run would be started
automatically as soon as the above conditions are fulfilled.
Signal irrelevant for ...... Gantry synchronized axis
Application example(s) If the deviation between the position actual values and the reference position is greater than
the gantry warning threshold after referencing of the gantry axes, automatic gantry
synchronization is not started and IS “Gantry synchronization ready to start” is set to “1”.
Synchronization of the gantry axes can be started by the user or the PLC user program
with IS “Start gantry synchronization”.
Related to .... IS “Gantry grouping is synchronized” (DB31, ... ; DBX101.5)
IS “Gantry synchronization ready to start” (DB31, ... ; DBX101.4)
IS “Active machine function REF” (DB11, DBX5.2)
IS “Referencing active” (DB21-30, DBX33.0)

DB31, ... ; Start automatic synchronization

DBX29.5
Data Block Signal(s) to NC (PLC ! NC)
Edge evaluation: No Signal(s) valid from SW: 5
Signal state 1 or signal transition 0 –––> 1 No automatic synchronization
Signal state 0 or signal transition 1 –––> 0 The automatic synchronization process is active

Application example(s) The automatic synchronization process can be disabled by sending
a VDI signal to the axial PLC –> NC interface of the master axis.
This always makes sense when the axes are not activated by de-
fault. In this case, the synchronization process should also be
started explicitly.

5.2 Signals from axis/spindle
DB31, ... ; Gantry trip limit exceeded

DBX101.2
Data Block Signal(s) to PLC (NC ! PLC)
Signal state 1 or signal The difference between the position actual values of the leading and synchronized axes
transition 0 –––> 1 has exceeded the maximum permissible limit value. The axes in the gantry grouping are
shut down internally in the control. Alarm 10653 “Error limit exceeded” is also output.
The monitored limit value is derived from the following machine data:
S MD 37120: GANTRY_POS_TOL_ERROR if gantry grouping is synchronized⋅
S MD 37120: GANTRY_POS_TOL_REF, if gantry grouping is not yet synchronized.
Note: IS “Gantry trip limit exceeded” is output to the PLC via the PLC interface of the
synchronized axis.
Signal state 0 or signal The difference between the position actual values of the leading and synchronized axes is
transition 1 –––> 0 still within the permissible tolerance range.
Signal irrelevant for ...... Gantry leading axis
Related to .... MD 37120: GANTRY_POS_TOL_ERROR Gantry trip limit
DB31, ... ; Gantry warning limit exceeded

DBX101.3
Signal state 1 or signal The difference in the position actual values of the leading and synchronized axes has
transition 0 –––> 1 exceeded the limit value defined with MD 37110: GANTRY_POS_TOL_WARNING.
The message “Warning limit exceeded” is also output.
Note: IS “Gantry warning limit exceeded” is output to the PLC via the PLC
interface of the synchronized axis.
Signal state 0 or signal The difference between the position actual values of the leading and synchronized axes is
transition 1 –––> 0 less than the limit value defined with MD 37110: GANTRY_POS_TOL_WARNING.
Signal irrelevant for ...... Gantry leading axis
Application example(s) When the gantry warning limit is exceeded, the necessary measures (e.g. program
interruption at block end) can be initiated by the PLC user program.
Special cases, errors, ... Setting MD 37110: GANTRY_POS_TOL_WARNING to zero deactivates monitoring of the
... warning limit.
DB31, ... ; Gantry synchronization ready to start

DBX101.4
Signal state 1 or signal After gantry axis referencing, the monitoring function has detected that the position actual
transition 0 –––> 1 value deviation between the leading and synchronized axes is greater than the gantry
warning limit (MD: GANTRY_POS_TOL_WARNING). It is therefore not possible to start the
automatic synchronization compensatory motion of the gantry axes internally in the
control.
The compensatory motion must be started by the user or the PLC user program (IS “Start
gantry synchronization”). The signal is processed for the gantry leading axis only.

DB31, ... ; Gantry synchronization ready to start

DBX101.4
Signal state 0 or signal After the synchronization compensatory motion has been started by the PLC user program
transition 1 –––> 0 (IS “Start gantry synchronization” = “1”).
IS “Start gantry synchronization” (DB31, ... ; DBX29.4)
IS “Referenced/synchronized 1/2” (DB31, ... ; DBX60.4 and 60.5)
DB31, ... ; Gantry grouping is synchronized

DBX101.5
Signal state 1 or signal The gantry axis grouping defined with MD 37100: GANTRY_AXIS_TYPE is synchronized.
transition 0 –––> 1 Any existing misalignment between the leading and synchronized axes (e.g. after start-up
of the machine) is eliminated by gantry axis synchronization (see Section 2.3).
The synchronization process is initiated either automatically once the gantry axes have
been referenced or via the PLC user program (IS “Start gantry synchronization”).
The compensation values for temperature and sag do not become effective internally in the
control until the gantry grouping is synchronized.
Note: IS “Gantry grouping is synchronized” is output to the PLC via the PLC interface
of the leading axis.
Signal state 0 or signal The gantry axis grouping defined with MD 37100: GANTRY_AXIS_TYPE is not
transition 1 –––> 0 synchronized, which means that the positions of the leading and synchronized axes may
not be ideally aligned (e.g. gantry misalignment).
Workpiece machining with a non-synchronized gantry axis grouping will result in impaired
machining accuracy or mechanical damage to the machine.
The gantry grouping becomes desynchronized if ⋅
S The gantry axes were in “Follow-up” mode
S The reference position of a gantry axis is no longer valid or the axis is referenced again
(IS “Referenced/Synchronized”).
S The gantry grouping has been invalidated (via MD: GANTRY_BREAK_UP)
Application example(s) Machining should be enabled only if the gantry axes are already synchronized. This can be
implemented in the PLC user program by combining NC Start with IS “Gantry grouping is
synchronized”.
Related to .... IS “Start gantry synchronization” (DB31, ... ; DBX29.4)
IS “Referenced/synchronized 1 / 2” (DB31, ... ; DBX60.4 and 60.5)
MD 37140: GANTRY_BREAK_UP Invalidate gantry axis grouping
DB31, ... ; Gantry leading axis

DBX101.6
Signal state 1 or signal The axis is defined as the leading axis within a gantry axis grouping (see MD 37100:
transition 0 –––> 1 GANTRY_AXIS_TYPE).
Note: The following interface signals are evaluated or output to the PLC via the PLC
interface of the gantry leading axis:
S IS “Start gantry synchronization” (DB31, ... ; DBX29.4)
S IS “Gantry grouping is synchronized” (DB31, ... ; DBX101.5)

DB31, ... ; Gantry leading axis

DBX101.6
Signal state 0 or signal The axis is defined as the synchronized axis within a gantry axis grouping (see MD
transition 1 –––> 0 37100: GANTRY_AXIS_TYPE).
It is not possible to traverse a synchronized axis directly by hand (in JOG mode) or to
program it in a part program.
Note: The following interface signals are output to the PLC via the PLC interface of
the gantry synchronized axis:
S IS “Gantry warning limit exceeded” (DB31, ... ; DBX101.3)⋅
S IS “Gantry trip limit exceeded” (DB31, ... ; DBX101.2)
The NCK does not evaluate individual axial PLC interface signals for the
synchronized axis (see Table 2-3)
IS “Gantry axis” (DB31, ... ; DBX101.7)
DB31, ... ; Gantry axis

DBX101.7
Signal state 1 or signal The axis is defined as a gantry axis within a gantry axis grouping (see MD 37100:
transition 0 –––> 1 GANTRY_AXIS_TYPE).
The PLC user program can read IS “Gantry leading axis” to detect whether the axis has
been declared as a leading or synchronized axis.
Signal state 0 or signal The axis is not defined as a gantry axis (see MD: GANTRY_AXIS_TYPE).
IS “Gantry leading axis” (DB31, ... ; DBX101.6)

Notes

6.1 Creating a gantry grouping
Example 6
6.1 Creating a gantry grouping
Introduction The gantry grouping, the referencing of its axes, the orientation of possible
offsets and, finally, the synchronization of the axes involved are complicated
procedures. The individual steps involved in the process are explained below
by an example constellation.
Constellation Machine axis 1 = Gantry leading axis Incremental measuring system

Machine axis 3 = Gantry synchronized axis Incremental measuring system
Machine data The following machine data describe the original values at the beginning of the
procedure. Individual settings must be corrected or added later according to the
information below.
Gantry machine data
Axis 1
MD 37100: GANTRY_AXIS_TYPE =1
MD 37110: GANTRY_POS_TOL_WARNING =0
MD 37120: GANTRY_POS_TOL_ERROR = e.g. 1 mm
MD 37130: GANTRY_POS_TOL_REF = e.g. 100 mm
(max. misalignment)
MD 37140: GANTRY_BREAK_UP =0
Axis 3
MD 37100: GANTRY_AXIS_TYPE = 11
MD 37110: GANTRY_POS_TOL_WARNING =0
MD 37120: GANTRY_POS_TOL_ERROR = e.g. 1 mm
MD 37130: GANTRY_POS_TOL_REF = e.g. 100 mm
(max. misalignment)
MD 37140: GANTRY_BREAK_UP =0
Reference point machine data (for first encoder in each case)
Axis 1
MD 34000: REFP_CAM_IS_ACTIVE = TRUE
MD 34010: REFP_CAM_DIR_IS_MINUS = e.g. FALSE
MD 34020: REFP_VELO_SEARCH_CAM =
MD 34030: REFP_MAX_CAM_DIST = corresponds to max.
traversing distance
MD 34040: REFP_VELO_SEARCH_MARKER =
MD 34050: REFP_SEARCH_MARKER_REVERSE = e.g. FALSE
MD 34060: REFP_MAX_MARKER_DIST = Difference betw. cam edge
and 0 mark
MD 34070: REFP_VELO_POS =
MD 34080: REFP_MOVE_DIST =0
MD 34090: REFP_MOVE_DIST_CORR =0

6.2 Setting of NCK PLC interface
MD 34092: REFP_CAM_SHIFT =0
MD 34100: REFP_SET_POS =0
MD 34200: ENC_REFP_MODE =1
The reference point machine data (for the first encoder)
of axis 3 must be specified analogously.
6.2 Setting of NCK PLC interface
Introduction An automatic synchronization process during axis referencing must be disabled

initially so as to prevent any damage to grouping axes that are misaligned.
Disabling of The PLC user program sets:

automatic DB31, ... ; DBX 29.4 = 0
synchronization DB31, ... ; DBX 29.5 = 1
for the axis data block of axis 1
7 4 0
x x 1 0 x x x x
x: Not relevant Do not start gantry synchronization

No automatic synchronization
The NCK sets the following as a confirmation in the axis block of axis 1:
DB31, ... ; DBB101:
7 4 0
1 1 0 0 0 0 x x
Gantry synchronization not ready to start

Leading axis LA
x: Not relevant
Gantry axis
The PLC user program sets:

DB31, ... ; DBX 29.4 = 0
for the axis data block of axis 3

6.3 Commencing start-up
7 4 0
x x x 0 x x x x
x: Not relevant Do not start gantry synchronization
The NCK sets the following as a confirmation in the axis block of axis 3:
DB31, ... ; DBB101:
7 4 0
1 0 0 0 0 0 x x
Gantry synchronization not ready to start

Synchronized axis GA
x: Not relevant
Gantry axis
Referencing The following steps must be taken:

1. Select “REF” operating mode
2. Start referencing for axis 1 (master axis)
3. Wait until message “10654 Channel 1 Waiting for synchronization start”
appears.
At this point in time, the NCK has prepared axis 1 for synchronization and
signals this state at the IS (DB31, ... ; DBB101 with:
7 4 0
1 1 0 1 0 0 x x
Gantry synchronization ready to start

Leading axis LA
x: Not relevant
Gantry axis
4. RESET
5. Value read-off in machine coordinate system:
e.g. X = 0.941
Y = 0.000
XF = 0.000

6. Enter the X value of master axis 1 with inverted sign in MD 34090:

REFP_MOVE_DIST_CORR of slave axis 3:
REFP_MOVE_DIST_CORR = – 0.941
Note
This MD is effective after power ON. To avoid having to perform a power ON
now, the value can also be entered in MD 34080 REFP_MOVE_DIST. The MD
is then valid after a RESET.
7. Start referencing again for axis 1 (master axis) with the modified machine
data
8. Wait until message “10654 Channel 1 Waiting for synchronization start”
appears.
At this point in time, the NCK has prepared axis 1 for synchronization and
signals this state at the IS (DB31, ... ; DBB101 with:
7 4 0
1 1 0 1 0 0 x x
Gantry synchronization ready to start

Leading axis LA
x: Not relevant
Gantry axis
9. Examine actual positions of machine. Case A or B might apply:
A1 A3 A1 A3
0> <0 0>

Diff
<0
R’ > < R”
Case A Case B
Fig. 6-1 Possible results after referencing of axis 1 (master axis)

6.4 Setting warning and trip limits
If Case A applies, the synchronization process can be started immediately. See

Step 10.
In case B, the offset “diff.” must be calculated and taken into account:
a) Measuring of diff
b) The position difference can be tracked back in JOG using two reference
points R’ und R”set at right angles in the machine base.
The offset “diff” can then be read as a difference for the position display.
The offset “diff” must be entered in MD 34100: REFP_SET_POS of axis 3
(synchronized axis). Continue with Step 1 (see above).
10. Start gantry synchronization. PLC sets:
DB31, ... ; DBX 29.4= 1

As soon as the gantry grouping has been set and synchronized, machine data
MD 37110: GANTRY_POS_TOL_WARNING and MD 37120:
GANTRY_POS_TOL_ERROR
have still to be set to appropriate values.
Procedure
– Set MD 37120: GANTRY_POS_TOL_ERROR to a high value
initially for all axes.
– Assign a very small value to MD 37110: GANTRY_POS_TOL_WARNING.
Now, if you expose the axes to high-dynamic loads, the self-clearing alarm:
“10652 Channel %1 axis %2 Gantry warning limit exceeded”
should be output repeatedly.
– Now increase the setting in MD 37110: GANTRY_POS_TOL_WARNING until
the alarm no longer appears. The interface indicates the status specified
below. (This must happen in a window suitable for production.)
If monitoring is still only very sporadic, an edge flag can be programmed
in the user PLC program.
7 4 0
1 1 1 0 0 0 x x
Gantry trip limit not exceeded

Gantry warning limit is not exceeded
Gantry synchronization cannot be started
Gantry grouping is synchronized
Leading axis LA
x: Not relevant
Gantry axis
– Enter the value obtained for the warning limit + a small safety margin in
MD 37120: GANTRY_POS_TOL_ERROR.

Error limit values The ratios between the values stored in machine data
MD 37110: GANTRY_POS_TOL_WARNING
MD 37120: GANTRY_POS_TOL_ERROR
MD 37130: GANTRY_POS_TOL_REF
should be as follows at the end of the adjustment process:
GANTRY_POS_TOL_WARNING
GANTRY_POS_TOL_ERROR
GANTRY_POS_TOL_REF
The system expects the error windows to have the proportions shown above. If
the value of GANTRY_POS_TOL_ERROR or GANTRY_POS_TOL_REF is
smaller than GANTRY_POS_TOL_WARNING, this monitoring is not active!
Set GANTRY_POS_TOL_WARNING to 0 to deactivate warning limit monitoring.
The maximum possible LEC value must be set in GANTRY_POS_TOL_REF.
Note
The same procedure must be followed when starting up a gantry grouping in
which the coupled axes are driven by linear motors and associated measuring
systems.
Note
The error limits entered in MD 37110: GANTRY_POS_TOL_WARNING and
MD 37120: GANTRY_POS_TOL_ERROR are considered as additional
tolerance values of the actual-value difference of the master and following axis
if the IS “Gantry is synchronous” is not present (e.g. to be resynchronized after
canceling alarms without gantry).


DB number Bit, byte Name Refer-

ence
General
11–14 5.2 Active machine function REF R1
Channel-specific
21–28 33.0 Referencing active R1
Axis/spindle-specific
31, ... ; 60.4, 60.5 Referenced/synchronized 1, referenced/synchronized 2 R1
31, ... ; 29.4 Start gantry synchronization
31, ... ; 29.5 No automatic synchronization
31, ... ; 101.2 Gantry trip limit exceeded
31, ... ; 101.3 Gantry warning limit exceeded
31, ... ; 101.4 Gantry synchronization ready to start
31, ... ; 101.5 Gantry grouping is synchronized
31, ... ; 101.6 Gantry leading axis
31, ... ; 101.7 Gantry axis

7.3 Alarms
7.2 Machine data
Number Identifier Name Refer-

ence
Axis/channelspecific ($MA_ ... )
30300 IS_ROT_AX Rotary axis R2
32200 POSCTRL_GAIN Servo gain factor (Kv) G2
32400 AX_JERK_ENABLE Axial jerk limitation B2
32410 AX_JERK_TIME Time constant for axis jerk filter B2
32420 JOG_AND_POS_JERK_ENABLE Initial setting for axial jerk limitation B2
32430 JOG_AND_POS_MAX_JERK Axial jerk B2
32610 VELO_FFW_WEIGHT Feedforward control factor for speed feedfor. control K3
32620 FFW_MODE Feedforward control mode K3
32650 AX_INERTIA Moment of inertia for torque feedforward control K3
32800 EQUIV_CURRCTRL_TIME Equivalent time constant, current control loop for K3
feedforward control
32810 EQUIV_SPEEDCTRL_TIME Equivalent time constant, speed control loop for feed- K3
forward control
32910 DYN_MATCH_ENABLE Dynamic response adaptation G2
32910 DYN_MATCH_TIME Time constant for dynamic response adaptation G2
33000 FIPO_TYPE Fine interpolator type G2
34040 REFP_VELO_SEARCH_MARKER Creep velocity R1
34070 REFP_VELO_POS Reference point positioning velocity R1
34080 REFP_MOVE_DIST Reference point approach distance R1
34090 REFP_MOVE_DIST_CORR Reference point offset R1
34100 REFP_SET_POS Reference point value R1
34110 REFP_CYCLE_NR Axis sequence for channel-specific referencing R1
34330 REFP_STOP_AT_ABS_MARKER Dist.-coded linear meas. system without target point R1
36012 STOP_LIMIT_FACTOR Exact stop coarse/fine factor and zero speed B1
36030 STANDSTILL_POS_TOL Zero speed tolerance A3
36500 ENC_CHANGE_TOL Max. tolerance for position actual value switchover G2
37100 GANTRY_AXIS_TYPE Gantry axis definition
37110 GANTRY_POS_TOL_WARNING Gantry warning limit
37120 GANTRY_POS_TOL_ERROR Gantry trip limit
37130 GANTRY_POS_TOL_REF Gantry trip limit for referencing
37140 GANTRY_BREAK_UP Invalidate gantry axis grouping
7.3 Alarms
References: /DA/, Diagnostics Guide
J

06.05

Cycle Times (G3)
1 Brief Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/G3/1-3

2 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/G3/2-5
2.1 General information about cycle times . . . . . . . . . . . . . . . . . . . . . . . . 3/G3/2-5
2.2 SINUMERIK 810D and 840D . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/G3/2-7
2.3 SINUMERIK 840Di with PROFIBUS DP . . . . . . . . . . . . . . . . . . . . . . 3/G3/2-9
2.3.1 Description of a DP cycle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/G3/2-9
2.3.2 Clock cycles and position-control cycle offset . . . . . . . . . . . . . . . . . . 3/G3/2-10
3 Supplementary Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/G3/4-15
4 Data Descriptions (MD, SD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/G3/4-15
4.1 General machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/G3/4-15
4.2 Axis-specific machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/G3/4-19
5 Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/G3/6-21
6 Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/G3/6-21
7 Data Fields, Lists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/G3/7-23
7.1 Machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/G3/7-23
7.2 Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/G3/7-23
J

SINUMERIK 840D sl/840D/840Di/810D Descrip. of Functions Special Functions (FB3) – 06.05 Edition 3/G3/i
06.05
Notes

3/G3/ii SINUMERIK 840D sl/840D/840Di/810D Descrip. of Functions Special Functions (FB3) – 06.05 Edition
06.05 Cycle Times (G3)
1 Brief Description
Brief Description 1
This description explains the relationships and machine data of the various
system cycles of the NC:
S System basic cycle

S Interpolator cycle
S Position control cycle
810D and 840D For SINUMERIK 840D and SINUMERIK 810D, the position control cycle and
the interpolator cycle (IPO cycle) are derived from the system basic cycle, which
is set in the machine data of the NC.
840Di For SINUMERIK 840Di, the position control cycle and the interpolator cycle are
derived from the system basic cycle. The system basic cycle is not set via the
machine data of the NC, but set the same as the isochronous DP cycle TDP set
in the S7 project during the creation of the configuration.
J

Cycle Times (G3) 06.05
1 Brief Description
Notes

2.1 General information about cycle times
Required The system clock cycle, position-control cycle and interpolator cycle are defined
in the following machine data.
MD 10050: SYSCLOCK_CYCLE_TIME System clock cycle
MD 10060: POSCTRL_SYSCLOCK_TIME_RATIO Factor for position-control
cycle
MD 10070: IPO_SYSCLOCK_TIME_RATIO Factor for interpolator
cycle
MD 10050: SYSCLOCK_CYCLE_TIME sets the system clock cycle for the
system software in seconds. The other cycles are multiples of the system clock
cycle.
System basic cycle

MD: SYSCLOCK_CYCLE_TIME
* *
MD: POSCTRL_SYSCLOCK_TIME_RATIO MD: IPO_SYSCLOCK_TIME_RATIO
Position control cycle Interpolator cycle
Fig. 2-1 Derivation of cycle times
Note
MD 10050: SYSCLOCK_CYCLE_TIME
The system clock cycle is entered in seconds.
MD 10060: POSCTRL_SYSCLOCK_TIME_RATIO
The position control cycle is entered as a factor of the system clock cycle.
MD 10070: IPO_SYSCLOCK_TIME_RATIO
The interpolator cycle is entered as a factor of the system clock cycle.

Default values The default settings ensure that a maximum configuration of the system can
for cycle times power up reliably. The cycle times, e.g. for the NCU 573, can generally be set to
lower values.
The default cycle times are as follows:
Clock 810D 840D 840D 840D Setting via MD

CCU NCU 571 NCU 572 NCU 573
System basic 2.5 ms 6 ms 4 ms 4* / 8# ms SYSCLOCK_CYCLE_TIME
cycle
Position control 2.5 ms 6 ms 4 ms 4* / 8# ms POSCTRL_SYSCLOCK_TIME_RATIO
cycle
Interpolator 10 ms 18 ms 12 ms 12* / 40# ms IPO_SYSCLOCK_TIME_RATIO
cycle
* with 2 channels and 12 axes

# with > 2 channels
General example The machine data assignments for cycle times are as follows:
for cycle settings
If MD ... = ... then ... = ...
SYSCLOCK_CYCLE_TIME = 0.002 System clock cycle = 2 ms
POSCTRL_SYSCLOCK_TIME_RATIO = 1 Position-control cycle = 2 ms
(1 2 ms)
IPO_SYSCLOCK_TIME_RATIO = 3 Interpolator cycle = 6 ms (3 2 ms)

2.2 SINUMERIK 810D and 840D
Interpolator cycle The interpolator cycle defines the cycle time in which the setpoint interface to
the position controllers is updated. The interpolator cycle is important for two
reasons in normal processing:
S The product of velocities and interpolator cycles defines the geometry

resolution of the interpolated contour. A long interpolator cycle causes a
large path error along curved contours. This error is, however, reduced in
the ratio interpolator / position-control cycle by cubic fine interpolation
MD 33000: FIPO_TYPE.
S The interpolator cycle determines the possible resolution of the velocity

profiles. It must be adapted to the dynamics of the drives so that the
machine axes traverse and accelerate evenly (i.e., position-control cycle
time </= interpolator cycle << acceleration time constant).
Position control The position-control cycle is the time which it takes for the control to calculate
cycle the actual value and transfer a new speed setpoint to the speed controller.
Block cycle time The block cycle time is the sum of the block change time and block preparation
time. It is at least as long as the cycle time for sending the position setpoints to
the servos - in normal operation therefore as long as the interpolator cycle.
The block cycle time is a common form of measurement used to judge whether
the control is suitable for traversing contours defined in points (frequent problem
with 3 and 5-axis milling). It determines the maximum possible velocity at which
a defined point pattern can be traversed (max. feedrate = average distance
between points/block cycle time).
Setting the IPO The interpolator and position-control cycles are set in integer multiples of the
cycle and system clock cycle in the following machine data:
position control
cycle
Position control cycle
POSCTRL_SYSCLOK_TIME_RATIO +
System clock cycle
Interpolator cycle
IPO_SYSCLOK_ TIME_RATIO +
System clock cycle
The smallest possible position-control and interpolator cycle should be aimed

for.

Apart from special applications in which machine data

MD 10060:POSCTRL_SYSCLOCK_TIME_RATIO is set to a value greater than
1, the position control cycle corresponds to the basic system clock cycle.
The ratio of interpolator to position-control cycle must be an integer value and
greater than or equal to 1. If it is not, it will be corrected automatically and an
alarm will appear.
Alarm: “4102 IPO cycle increased to [ ] ms”
Interpolator cycle
w 1
Position control cycle

2.3 SINUMERIK 840Di with PROFIBUS DP

For more information about SINUMERIK 840Di, see:
References:
/HBI/ SINUMERIK 840Di Manual, PROFIBUS-DP Communication
2.3.1 Description of a DP cycle
Actual values At time TI, the current actual values are read from all isochronous drives (DP
slaves). In the next DP cycle, the actual values are transferred to the DP master
in the time TDX.
Position controller The NC position controller is started at the time TM, with TM > TDX, and
computes the new speed setpoints on the basis of the transferred actual
positions.
Setpoints At the start of the next DP cycle, the speed setpoints are transferred from the
DP master to the DP slaves (drives) in the time TDX.
At time TO, the speed setpoints are taken as new specified values for all drive
controllers.
TMAPC = TDP
NC:
Master or position TM
controller R
TDX TDX
1 2
PROFIBUS-DP MSG RES GC Dx Dx Dx MSG RES GC Dx Dx Dx

communication
Speed
controller cycle
Drives:
R R R R R R R R R R R R R R R R
DP slave: 1 to 3
TI TO
Fig. 2-2 Optimized DP cycle with 3 DP slave with a SIMODRIVE 611 universal

Key to Fig. 2-2:

TMAPC Master application cycle: NC position control cycle
the following always applies for SINUMERIK 840Di: TMAPC = TDP
TDP DP cycle time: DP cycle time
TDX Data exchange time: Total transfer time for all DP slaves
TM Master time: Offset of start time for NC position control
TI Input time: Time of actual-value acquisition
TO Output time: Time of setpoint transfer
GC Global control message frame (broadcast message frame) for

cyclic synchronization of the equidistance between the DP
master and DP slaves
R Speed or position controller computing time
Dx Useful data exchange between the DP master and DP slaves
MSG Acyclic services (e.g. DP/V1, pass token)
RES Reserve: “active break” until the equidistant cycle has elapsed
1
The actual values for the current DP cycle / position control cycle
are transferred from the DP slave drives to the NC position controller
2
The setpoints computed by the NC position controller are transferred
to the DP slave drives
2.3.2 Clock cycles and position-control cycle offset
Cycle times The NC derives the cycle times, system clock cycle, position-control cycle and
interpolator cycle from the equidistant PROFIBUS-DP cycle set in the SIMATIC
S7 project during configuration of the PROFIBUS.
System basic cycle The system clock cycle is set to the fixed ratio 1:1 with respect to the
PROFIBUS-DP cycle. It cannot be changed.
S MD10050: SYSCLOCK_CYCLE_TIME (system basic cycle)
Position control The position control cycle is set to the fixed ratio 1:1 with respect to the system
cycle basic cycle. It cannot be changed.
S MD10061: POSCTRL_CYCLE_TIME (position-control cycle)
Interpolation cycle The interpolator cycle can be freely selected as an integer multiple of the
position control cycle.
S MD10070: IPO_SYSCLOCK_TIME_RATIO (factor for interpolator cycle)

Position control The offset for the position-control cycle (TM) is set independently of the
cycle offset conditions described below within a PROFIBUS-DP/system cycle and
independently of the cyclic communication with the DP slave.
S MD10062 POSCTRL_CYCLE_DELAY (position control cycle offset)
TDP
TM TPos
NC:
R R R
Position controller
TDX
PROFIBUS-DP MSG RES GC Dx Dx Dx MSG RES GC Dx Dx Dx

communication
DP slaves: R R
R R R
R R R
R R R
R R R
R R R
R R R
R R R
R R R
R R R
R R R
R R R
R R R
R R R
R R
R
R
Drives
Fig. 2-3 Position control cycle offset compared to PROFIBUS DP cycle
Key to Fig. 2-3:

TPos CPU time required by position controller
TDP DP cycle time: DP cycle time
TDX Data exchange time: Total transfer time for all

DP slaves
TM Master time: Offset of the start time for NC position control
GC Global control: Broadcast message for cyclic

synchronization of the equidistance between DP master
and DP slaves
R CPU time
Dx Useful data exchange between the DP master and DP slaves
MSG Acyclic services (e.g. DP/V1, pass token)
RES Reserve: “active break” until the equidistant cycle has elapsed

Conditions and MD10062 POSCTRL_CYCLE_DELAY (position control cycle offset)

recommendations The offset for the position control cycle (TM) must be set so that the following
for MD 10062 conditions are satisfied within a PROFIBUS-DP/system cycle:
– Cyclic communication with the DP slaves (drives) must be completed
before the position controller is started.
Condition: TM > TDX
– The position controller must be completed before the
PROFIBUS-DP/system cycle comes to an end.
Condition: TM + TPos < TDP
The following setting is recommended as approximate value for the position
control cycle offset:
TM = TDP – 3*Tmaxposition controller
– TDP
Position control cycle or PROFIBUS-DP cycle
– TmaxPosition controller
Note for HMI Advanced:
The position controller maximum time is displayed in the NC Load dialog
box under Menu Area Switchover > Diagnostics > Service Displays >
System Resources.
Error reaction
S Alarm: “380005 PROFIBUS DP: Bus access conflict, type t, counter z

Cause of errors / error handling
S t=1
The position control cycle offset selected is too small. Cyclic PROFIBUS-DP
communication with the drives was not completed before the position
controller started.
Increase the position-control cycle offset.
S t=2
The position control cycle offset selected is too large. Cyclic PROFIBUS-DP
communication with the drives started before the position controller had
finished. The position controller requires more computation time than is
available in the PROFIBUS-DP cycle.
– Decrease the position-control cycle offset
Or
– Increase the PROFIBUS-DP cycle.
The PROFIBUS-DP cycle must be set in the SIMATIC S7 project.
MD 10059 MD10059: PROFIBUS_ALARM_MARKER (PROFIBUS alarm marker)

Alarm requests in the event of a conflict during startup
S In this machine data, alarm requests on the PROFIBUS level are stored
even after reboot.
If a conflict occurs during startup between the machine data
– MD 10050: SYSCLOCK_CYCLE_TIME (system clock cycle)
– MD 10060: POSCTRL_SYSCLOCK_TIME_RATIO (factor for
position-control cycle)

– MD 10070: IPO_SYSCLOCK_TIME_RATIO (factor for interpolator cycle)

and the
– data found in PROFIBUS-SDB,
the machine data are adapted according to this SDB and an appropriate
alarm set during next startup. These alarm requests are stored here.
Special features The following special points must be observed for cycle-specific machine data:
S MD10050: SYSCLOCK_CYCLE_TIME (system clock cycle)

The machine data is used only for display purposes. The system cycle is
always identical to the equidistant PROFIBUS DP cycle.
S MD 10060 POSCTRL_SYSCLOCK_TIME_RATIO (factor for position control

cycle)
The factor for the position control cycle is set permanently to 1 and cannot
be changed.
Caution
! If you change the cycle times, check the behavior of the drive in all operating
modes before you finish commissioning.
Note
The smaller the cycle times (PROFIBUS DP cycle) chosen, the greater the
control quality for the drive and the better the surface quality on the workpiece.

Notes

None

10050 SYSCLOCK_CYCLE_TIME
MD number System clock cycle
Default setting: 0.004 for the 840D Minimum input limit: 0.000125 Max. input limit: 0.032 for the 840D
Default setting: 0.002 for the 840Di Max. input limit: 0.008 for the 840Di
Changes effective after POWER ON Protection level: 2 / 7 Unit: s
Data type: DOUBLE Applies as of SW: 1.1 SW 6.4 and higher PROFI-
BUS
Meaning: Clock cycle of the system software, i.e. the unit of time after
which time interrupts are triggered in the operating system.
The interpolator and position control cycle/IPO settings are multiples of this system
clock cycle. The system clock cycle corresponds to the position control cycle if
MD 10060: POSCTRL_SYSCLOCK_TIME_RATIO is not set higher than 1.
If a digital drive is used,

the system basic clock cycle and MD 10060: POSCTRL_SYSCLOCK_TIME_
RATIO must be set so that the position control cycle is no longer than 16 ms
(otherwise a drive alarm is issued). Automatic offsets during start-up can cause a
shift in the value set for MD 10050: SYSCLOCK_CYCLE_TIME.
On systems with PROFIBUS-DP, MD 10050: SYSCLOCK_CYCLE_TIME:

corresponds to the PROFIBUS-DP cycle time. The PROFIBUS-SDB reads this
time from the configuration file during start-up and writes it to this machine data.
This machine data can only be modified via the configuration file.
Special cases, errors, ... Note:
... The system clock cycle is incremented in multiples of
MD 10080: SYSCLOCK_SAMPL_TIME_RATIO of units of the measured value sampling
clock cycle. During system startup, the entered value is automatically rounded to a multiple
of this incrementing.
Details:
After a POWER OFF/ON, discrete timer division ratios may produce a value that is not an
integer of the input value.
e.g.: Entry = 0.005s
after POWER OFF/ON = 0.00499840
or
Entry = 0.006s
after POWER OFF/ON = 0.0060032
Related to .... MD 10060: POSCTRL_SYSCLOCK_TIME_RATIO,
MD 10080: SYSCLOCK_SAMPL_TIME_RATIO

10059 PROFIBUS_ALARM_MARKER
MD number Profibus alarm marker (internal only)
Profibus adpt.: 0.0 Minimum input limit: – Maximum input limit: –
Meaning: PROFIBUS alarm flag:
Alarm requests at PROFIBUS level are stored in this machine data even after a reboot.
If a conflict is found between machine data
MD 10050 SYSCLOCK_CYCLE_TIME, MD 10060 POSCTRL_SYSCLOCK_TIME_RATIO,
MD 10070 IPO_SYSCLOCK_TIME_RATIO and the data in SDB1000, the machine data
are adapted according to SDB1000 and a corresponding alarm is set during the next
start-up.
These alarm requests are stored here.
Related to .... MD 10050: SYSCLOCK_CYCLE_TIME, MD 10060 POSCTRL_SYSCLOCK_TIME_RATIO
10060 POSCTRL_SYSCLOCK_TIME_RATIO
MD number Factor for position-control cycle
Default setting: 1 Minimum input limit: 1 Maximum input limit: 31 for the 840D
Max. input limit: 1 for the 840Di
Changes effective after POWER ON Protection level: 2 / 7 Unit:
Factor MD 10050
Meaning: The position-control cycle is entered as a multiple of the time units of the system clock
cycle of MD 10050: SYSCLOCK_CYCLE_TIME.
The normal setting is 1. The position-control cycle then corresponds to the system clock
cycle.
Settings which are > 1 use up more computing time for the processing of additional time
interrupts by the operating system and should therefore only be used if the system has to
execute a task which needs to run faster than the position-control cycle.
If a digital drive is being used, the value set for the position-control cycle can change be-
cause of an automatic correction on startup. This is accompanied by alarm 4101 “Position-
control cycle for digital drive reduced to [ ] ms”. The position-control cycle may not be set
longer than 16ms when using a digital drive.
For systems with PROFIBUS DP connection, machine data MD 10060 indicates the ratio
for the PROFIBUS DP cycle and the position-control cycle.
Related to .... MD 10050: SYSCLOCK_CYCLE_TIME, MD 10080 SYSCLOCK_SAMPL_TIME_RATIO
10061 POSCTRL_CYCLE_TIME
MD number Position control cycle
Default setting: 0.0 Minimum input limit: – Maximum input limit: –
Data type: DOUBLE Applies as of SW: 5
Meaning: Position-control cycle Display of the position-control cycle time (cannot be modified !).
Formed internally from the machine data SYSCLOCK_CYCLE_TIME and
POSCTRL_SYSCLOCK_TIME_RATIO.
10062 POSCTRL_CYCLE_DELAY
MD number Position-control cycle offset
Default setting: 0.003 for the 840D Minimum input limit: 0.000 Max. input limit: 0.008 for the 840D
Default setting: 0.0015 for the 840Di Profibus adpt.: 0.000 Max. input limit: 0.008 for the 840Di
Meaning: NCK position-control cycle time offset compared to PROFIBUS DP cycle
Related to .... MD 10050: SYSCLOCK_CYCLE_TIME, MD 10080: SYSCLOCK_SAMPL_TIME_RATIO

10070 IPO_SYSCLOCK_TIME_RATIO
MD number Factor for interpolator cycle
Default setting: 4 for 840Di Minimum input limit: 1 Maximum input limit: 100
3 for 840D 2-channel
Changes effective after POWER ON Protection level: 2 / 7 Unit:
Factor MD 10050
Meaning: The interpolator cycle is entered as a multiple of the time units of the system clock cycle
MD 10050: SYSCLOCK_CYCLE_TIME.
Only integer multiples of the position-control cycle may be set (set via MD 10060:
POSCTRL_SYSCLOCK_TIME_RATIO). Values that are not an integer multiple of the posi-
tion-control cycle are automatically rounded up to the next integer multiple of the position-
control cycle before they become active (next POWER ON). This is accompanied by the
alarm 4102 “IPO cycle increased to [ ] ms”.
The values set in the NCU-link group must be identical for all linked NCUs. This additional
requirement is omitted if the NCU-link option is present with a different interpolator cycle.
10071 IPO_CYCLE_TIME
MD number Interpolator cycle
Default setting: 0.0 Minimum input limit: *** Maximum input limit: ***
Meaning: Display of the interpolator cycle time (cannot be modified!).
Generated internally from MD 10050: SYSCLOCK_CYCLE_TIME and
MD 10070: IPO_SYSCLOCK_TIME_RATIO.

10080 SYSCLOCK_SAMPL_TIME_RATIO
MD number Division factor of position-control cycle for actual-value acquisition
Default setting: – Minimum input limit: 1 Maximum input limit: 31
No meaning for 840Di
Data type: DWORD Applies as of SW: SW1, SW 6.4 and higher PRO-
FIBUS
Meaning: This machine data sets the division factor of a cycle divider, which is hardware located
between the measured value sampler and the interrupt controller.
MD 10080: SYSCLOCK_SAMPL_TIME_RATIO
may only be set to values > 1
subject to observance of the conditions described in the special cases.
Produce a larger increment, in which the time for the system clock cycle can
also be set (see MD 10050: SYSCLOCK_CYCLE_TIME).
If a digital drive controller and systems with PROFIBUS-DP connection are used, the divi-
sion factor is set automatically (see special cases).
Special cases, errors, ... 1. Using an analog speed interface
... When using this conventional drive interface, the division can be set according to the follo-
wing criteria:
It is beneficial for the control to keep the deadtime between reading the current
actual axis position and outputting the associated setpoints as short as possible.
If MD 10080: SYSCLOCK_SAMPL_TIME_RATIO is set to values > 1:

The delay time of the position control output can be set to fractions of
the position control clock cycle.
The input/output hardware can be triggered more than once during a

position controller cycle.
However, this is not recommended due to the effect on the interrupt load of the
operating system.
2. Using a digital drive controller

If a digital drive controller is used, the division factor is set automatically.
The scan cycle time is set as

a multiple (100%, 200% or 300%) of 0.000625 s SINUMERIK 810D
Standard case:
100% of 0.000625 s SINUMERIK 810D new design
100%, 200%, 300% ... 800% of 0.000125s SINUMERIK 840D
The SIMODRIVE 611 digital drive can synchronize its own clock generation to these val-
ues.
3. Systems with PROFIBUS DP connection

If systems with PROFIBUS-DP are used, the division factor is set automatically.

4.2 Axis-specific machine data
11250 PROFIBUS_SHUTDOWN_TYPE
MD number PROFIBUS shutdown handling
Data type: BYTE Applies as of SW: SW 6.3
Meaning: Handling the PROFIBUS DP on shutdown of the NCK (NCK reset)
Value 0:The bus is deactivated directly from within cyclic mode, without pre-warning
Value 1: In the event of an NCK shutdown, the PROFIBUS DP is first set to the CLEAR
status for at least 20 clock cycles before it is deactivated. If this is not possible
on account of the hardware, the procedure is as for value 2.
Value 2: In the event of an NCK shutdown, the PROFIBUS-DP is first set to a

status in which all drives are sent a zero as ControlWord1 and ControlWord2
for at least 20 clock cycles (pseudo clear). The bus itself remains operational.
Related to .... –
37600 PROFIBUS_ACTVAL_LEAD_TIME
MD number Actual-value acquisition time (PROFIBUS Ti)
Default setting: 0.000125 Minimum input limit: 0.0 Maximum input limit: 0.032
Meaning: Date and setting of the setpoint transfer time (Ti) of the PROFIBUS encoder
Unit: Seconds, default is thus 125µs
(this is also the default set by Step 7 on a SIMODRIVE 611 universal)
Special cases, errors, ... Caution:
... The actual Ti value is read directly from the PROFIBUS configuration or the drive if pos-
sible.
In this case, the value of the machine data is converted to a display machine data machine
data according to its commenting. Its value is automatically set to Ti.
Related to .... –
37602 PROFIBUS_OUTVAL_DELAY_TIME
MD number Setpoint delay time (PROFIBUS To)
Meaning: Date and setting of the setpoint transfer time (To) of the PROFIBUS encoder
Unit: Seconds, default is thus 3ms
Special cases, errors, ... Caution:
... The actual To value is read directly from the PROFIBUS configuration
or the drive if possible.
In this case, the value of the machine data is converted to a display machine data machine
data according to its commenting. Its value is automatically set to To.
Related to .... –

Notes

None
Example 6
None

Notes

7.2 Alarms

7.1 Machine data

ence
General ($MN_ ... )
10050 SYSCLOCK_CYCLE_TIME System basic cycle
10059 PPOFIBUS_ALARM_MARKER PTOFIBUS alarm marker (internal only)
10060 POSCTRL_SYSCLOCK_TIME_RATIO Factor for position-control cycle
10061 POSCTRL_CYCLE_TIME Position-control cycle (SW 5 and higher)
10062 POSCTRL_CYCLE_DELAY Position-control cycle offset (SW 5 and higher)
10070 IPO_SYSCLOCK_TIME_RATIO Factor for interpolator cycle
10071 IPO_CYCLE_TIME Interpolation cycle (SW 5 and higher)
10080 SYSCLOCK_SAMPL_TIME_RATIO Division factor of the position control cycle for
actual value acquisition
11250 PROFIBUS_SHUTDOWN_TYPE PROFIBUS DP shutdown handling (SW 6.3 and
higher)
33000 FIPO_TYPE Fine interpolator type G2
37600 PPOFIBUS_ACTVAL_LEAD_TIME Actual-value acquisition (Profibus Ti) SW 6.1 and
higher
37602 PPOFIBUS_OUTVAL_DELAY_TIME Setpoint delay time (Profibus To) SW 6.3 and
higher
7.2 Alarms
J

7.2 Alarms
Notes

06.05

Contour Tunnel Monitoring (K6)
1 Brief Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/K6/1-3

1.1 Contour tunnel monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/K6/1-3
1.2 Programmable contour accuracy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/K6/1-5
2 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/K6/2-7
2.1 Contour tunnel monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/K6/2-7
3 Supplementary Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/K6/4-11
4 Data Descriptions (MD, SD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/K6/4-11
4.1 Channelspecific machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/K6/4-11
4.2 Channel-specific setting data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/K6/4-13
5 Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/K6/6-15
6 Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/K6/6-15
7 Data Fields, Lists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/K6/7-17
7.1 Machine Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/K6/7-17
7.2 Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/K6/7-17
J

SINUMERIK 840D sl/840D/840Di/810D Descrip. of Functions Special Functions (FB3) – 06.05 Edition 3/K6/i
06.05
Notes

3/K6/ii SINUMERIK 840D sl/840D/840Di/810D Descrip. of Functions Special Functions (FB3) – 06.05 Edition
06.05 Contour Tunnel Monitoring (K6)
1.1 Contour tunnel monitoring
Brief Description 1
Definition The absolute movement of the tool tip in space is monitored. The function is
channel-specific (see Chapter 3).
Model A round tunnel with a definable diameter is defined around the programmed
path of a machining operation. Axis movements are stopped as an option if the
path deviation of the tool tip is greater than the defined tunnel as the result of
axis errors.
Response Movement is stopped as soon as the deviation is detected, although at least

one interpolator cycle elapses before the system responds.
S An alarm is triggered when the tunnel is violated and the axes continue to
traverse or
S Violation of the tunnel triggers an alarm and the axis movements are
decelerated.
Deceleration When the monitoring tunnel is violated, deceleration can be performed either
methods
S Along a braking ramp or
S With speed setpoint zero and follow-up mode.
Application The function can be used for 2D and 3D paths. On 2D paths, the monitoring
area is defined using lines in parallel with the programmed path.
The monitoring area is defined using 2 or 3 geometry axes.
Other axes Monitoring of synchronized axes, positioning axes, etc. that are not geometry
axes is performed directly on the machine axis plane with the “Contour
monitoring” function already implemented in SW 1.0.

SINUMERIK 840D sl/840D/840Di/810D Descrip. of Functions Special Functions (FB3) – 06.05 Edition 3/K6/1-3
Contour Tunnel Monitoring (K6) 06.05
Z
Contour (path of the tool tip)
Permissible tolerance
Y
“Tunnel” defined around the contour

(tube-shaped tolerance zone)
Fig. 1-1 Position of the contour tunnel around the programmed path
Fig. 1-1 is a diagram of the monitoring area shown by way of a simple example.
As long as the calculated actual position of the tool tip remains inside the
sketched tunnel, motion continues in the normal way. If the calculated actual
position violates the tunnel, an alarm is triggered (in the default setting) and the
axes are stopped with a ramp. This response to the violation of the tunnel can
be disabled (alarm triggered but movement continued) or intensified (rapid stop)
by means of a machine data setting.
Analysis The calculated distance between the programmed path and the actual values
can be routed to an analog output to analyze the progression of the contour
errors during normal operation (quality control).

3/K6/1-4 SINUMERIK 840D sl/840D/840Di/810D Descrip. of Functions Special Functions (FB3) – 06.05 Edition
1.2 Programmable contour accuracy
Alternative As an alternative to the function described in Section 1.1, i.e. monitoring of the
machining accuracy and stopping machining if excessive deviations occur,
another function is offered as from SW 3.2. With this function, the selected
accuracy is always achieved with the path velocity being reduced if necessary.
For details of this function, please see Section 2.2.
J

Notes

Aim of the The aim of the monitoring function is to stop the movement of the axes if axis
monitoring deviation causes the distance between the tool tip (actual value) and the
function programmed path (setpoint) to exceed a defined value (tunnel radius).
Tunnel size The radius of the contour tunnel being monitored around the programmed path
must be defined to implement the monitoring function. It is specified in
MD21050: $MC_CONTOUR_TUNNEL_TOL.
If the MD is set to 0.0, monitoring is not performed. The value of the MD is
transferred to the control for new configurations.
Parameterizable The deceleration behavior for the monitoring response can be set via the
deceleration following MD: MD21060: $MC_CONTOUR_TUNNEL_REACTION.
behavior 0: Display alarm and continue machining
1: Deceleration according to the deceleration ramps (default setting)
2: Rapid stop (speed setpoint = 0)
Encoder Switching between two encoder systems usually causes a sudden change in
switchover the actual position of the tool tip. This change resulting from encoder switchover
must not be so large as to cause the tool tip to violate the monitoring tunnel.
The radius set in MD: $MC_CONTOUR_TUNNEL_TOL must be greater than
the permissible tolerance for the actual-value encoder switchover in MD:
$MA_ENC_CHANGE_TOL.
Activation The monitoring function is only activated if

– The contour tunnel monitoring function is set,
– $MC_CONTOUR_TUNNEL_TOL is greater than 0.0 and
– At least two geometry axes have been defined.
Stop The monitoring function is stopped by setting MD:

$MC_CONTOUR_TUNNEL_TOL to a value of 0.0.

Analysis output The value of MD: $MC_CONTOUR_ASSIGN_FASTOUT can be set to define

whether the deviation values of the actual value of the tool tip from the
programmed path are to be routed to a fast analog output and, if so, to which
one (precision monitoring). The machine data can be set to the following values:
– 0: No output (default setting)
– 1: Output to output 1
– 2: Output to output 2,
etc.
– 8:.....Output to output 8
Scale:
The tunnel radius stored in MD: $MC_CONTOUR_TUNNEL_TOL corresponds
to a voltage of 10 V at the output.

Initial situation There is always a velocity-dependent difference between setpoint and actual
position when an axis is traversed without feedforward control. This lag results
in inaccurate curved contours.
References: /PA/, Programming Guide Fundamentals
Function The “Programmable contour accuracy” function permits the user to specify a
maximum error for the contour in the NC program, which may not be exceeded.
The control calculates the KV factor (servo gain factor) for the axes concerned
and limits the maximum path velocity so that the contour error resulting from the
lag does not exceed the value specified. The Look Ahead function then ensures
that the velocity necessary for maintaining the required contour accuracy is not
exceeded at any point along the path.
Application The function ensures a defined contour accuracy in situations where

feedforward control cannot or must not be used.
Positioning axes The function does not affect the velocities of positioning axes.
Active feedforward The function is also operative in conjunction with active feedforward control if
control machine data MC_CPREC_WITH_FFW is set to TRUE. With active feedforward
control, the reduction of the path velocity is calculated on the basis of the
effective KV factor with feedforward control.
Minimum feed In order to avoid burn marks, the feed is limited only to the minimum value
stored in setting data $SC_MINFEED.
Activation The function can be switched on and off by means of the modal G codes
CPRECON and CPRECOF (Contour Precision ON/OFF).
The contour accuracy setting is entered in the new setting data
$SC_CONTPREC. Changes to the setting data become valid during
preprocessing.
RESET/ end of The response set for G code group 39 in machine data
program
– $MC_RESET_MODE_MASK
– $MC_START_MODE_MASK
becomes effective; i.e. nothing special applies to programmable contour
accuracy.
References: /FB/, K2, “Workpiece-Related Actual-Value System”
J

Notes

Parameterizable The deceleration behavior for the monitoring response is parameterized via the
deceleration following MD:
behavior MD21060: $MC_CONTOUR_TUNNEL_REACTION = <deceleration behavior>
With deceleration behavior = 1 and deceleration behavior = 2, deceleration is
always performed with rapid stop (speed setpoint = 0).
Coupled motion If coupled motion between two geometry axes is programmed with contour
tunnel monitoring, this always results in activation of the contour tunnel
monitoring.
In this case, the contour tunnel monitoring must be switched off before
programming the coupled motion:
MD21050: $MC_CONTOUR_TUNNEL_TOL = 0.0

21050 CONTOUR_TUNNEL_TOL
MD number Response threshold for contour tunnel monitoring
Default setting: 0.0 Minimum input limit: 0.0 Maximum input limit: ***
Changes effective after NEW_CONF Protection level: 2/4 Unit: mm
Meaning: Response threshold for contour tunnel monitoring Indicates the radius of the tunnel set
around the tool tip path.
If three geometry axes have been defined, the tunnel may be set up like a tube through the
center of which the tool tip path runs.
If only two geometry axes have been defined, this tube appears in planographic format at
the level of the two geometry axes.
MD irrelevant for ...... Contour tunnel monitoring option not available
Related to .... CONTOUR_TUNNEL_REACTION, CONTOUR_ASSIGN_FASTOUT,
ENC_CHANGE_TOL

21060 CONTOUR_TUNNEL_REACTION
MD number Reaction to response of contour tunnel monitoring
Meaning: Reaction to activation of alarm
0: Display alarm only, continue machining
1: Ramp stop
2: Rapid stop
Related to .... CONTOUR_TUNNEL_TOL, CONTOUR_ASSIGN_FASTOUT
21070 CONTOUR_ASSIGN_FASTOUT
MD number Assignment of an analog output for contour error output
Meaning: Assignment of an analog input to which the contour error calculated can be output.
0: No output
1: Output to output 1
2: Output to output 2,
etc.
8: Output to output 8
A fault in the setting for the response threshold $MC_CONTOUR_TUNNEL_TOL appears
at the output as a 10 V voltage.
Multiple assignment of the same output by other signals is checked automatically.
Related to .... CONTOUR_TUNNEL_TOL, CONTOUR_TUNNEL_REACTION
20470 CPREC_WITH_FFW
MD number Progr. Contour accuracy
Meaning: This machine data is set to define the response of the programmable CPRECON function
in conjunction with feedforward control.
FALSE: The CPRECON function is inoperative if feedforward control is active simulta-
neously.
TRUE: CPRECON is also operative with feedforward control.
Related to .... $SC_CONTPREC, $SC_MINFEED

4.2 Channel-specific setting data
42450 CONTPREC
MD number Contour accuracy
Changes effective after POWER ON Protection level: 7 / 7 Unit: mm
Meaning: Contour accuracy. You can use this setting data to specify the accuracy to be applied for
the path of the geometry axes on curved contours. The smaller the value and the smaller
the servo gain factor of the geometry axes, the higher the reduction in path feed on curved
contours.
Related to .... $MC_CPREC_WITH_FFW, $SC_MINFEED
42460 MINFEED
MD number Minimum path feed with CPRECON
Changes effective after POWER ON Protection level: 7 / 7 Unit: mm/min
Meaning: Minimum path feed with active “contour accuracy” function. The feed is not reduced to be-
low this value unless a lower F value has been programmed or the value is not permitted by
the axis dynamics.
Related to .... $MC_CPREC_WITH_FFW, $SC_CONTPREC

Notes

None
J
Example 6
Cutout
N10 X0 Y0 G0
N20 CPRECON ; Activation of the contour accuracy defined using MD
N30 F10000 G1 G64 X100 ; Machining at 10 m/min in continuous-path mode
N40 G3 Y20 J10 ; Automatic limiting of feed in circle block
N50 G1 X0 ; Feed again 10 m/min
...
N100 CPRECOF ; Deactivation of programmed contour accuracy
N110 G0 ...
J

Notes

7.2 Alarms

7.1 Machine Data

ence
20470 CPREC_WITH_FFW Programmed Contour accuracy
21050 CONTOUR_TUNNEL_TOL Response threshold for contour tunnel moni-
toring
21060 CONTOUR_TUNNEL_REACTION Reaction to response of contour tunnel moni-
toring
21070 CONTOUR_ASSIGN_FASTOUT Assignment of an analog output for output of
the contour error
36500 ENC_CHANGE_TOL Maximum tolerance for position actual value G2
switchover
Channel–specific setting data ($SC_ ... )
42450 CONTPREC Contour accuracy
42460 MINFEED Minimum path feed with CPRECON
7.2 Alarms
J

7.2 Alarms
Notes

06.05
SINUMERIK 840D sl/840D/840Di

Axis Couplings and ESR

Former title: Coupled Motion and Master Value Coupling (M3)
1 Brief Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/1-5

1.1 Coupled motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/1-5
1.2 Curve tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/1-5
1.3 Master value coupling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/1-6
1.4 Electronic gear EG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/1-6
1.5 Extended stop and retract (ESR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/1-7
2 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/2-9
2.1 Coupled motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/2-9
2.1.1 Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/2-9
2.1.2 Programming a coupled-axis grouping . . . . . . . . . . . . . . . . . . . . . . . 3/M3/2-12
2.1.3 Effectiveness of PLC interface signals . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/2-13
2.1.4 Supplementary conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/2-14
2.2 Curve tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/2-16
2.2.1 General functionality . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/2-16
2.2.2 Programming a curve table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/2-18
2.2.3 Access to table positions and table segments . . . . . . . . . . . . . . . . . 3/M3/2-24
2.2.4 Activation and coupling axes to a curve table . . . . . . . . . . . . . . . . . . 3/M3/2-27
2.2.5 Organizing curve tables in the SRAM and DRAM . . . . . . . . . . . . . . 3/M3/2-28
2.2.6 Behavior in AUTOMATIC, MDA, JOG modes . . . . . . . . . . . . . . . . . . 3/M3/2-30
2.2.8 Diagnosing and optimizing the use of resources
(SW 6.4 and higher) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/2-31
2.3 Master value coupling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/2-35
2.3.1 General functionality . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/2-35
2.3.2 Programming of master value coupling . . . . . . . . . . . . . . . . . . . . . . . 3/M3/2-38
2.3.3 Behavior in AUTOMATIC, MDA, JOG modes . . . . . . . . . . . . . . . . . . 3/M3/2-41
2.3.5 Special characteristics of the axis master value coupling function 3/M3/2-42
2.4 Electronic gear EG (SW 5 and higher) . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/2-43
2.4.1 Overview of EG features in SW 6 (summary) . . . . . . . . . . . . . . . . . . 3/M3/2-50
2.4.2 Defining an EG axis grouping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/2-52

SINUMERIK 840D sl/840D/840Di/810D Descrip. of Functions Special Functions (FB3) – 06.05 Edition 3/M3/i
06.05
2.4.3 Activating an EG axis grouping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/2-53

2.4.4 Deactivating an EG axis grouping . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/2-57
2.4.5 Deleting an EG axis grouping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/2-57
2.4.6 Interaction between revolutional feedrate (G95) and
electronic gear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/2-58
2.4.7 Response to POWER ON, RESET, operating mode change,
block search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/2-58
2.4.8 System variables for electronic gear . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/2-59
2.5 Dynamic response of following axis . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/2-61
2.5.1 Programmable axis couplings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/2-61
2.5.2 Examples for limits for ELG and master value coupling . . . . . . . . . 3/M3/2-63
2.5.3 System variables for programmable following axis dynamics . . . . 3/M3/2-64
2.6 Extended stop/retract: ESR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/2-65
2.6.1 Reactions external to the control . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/2-67
2.6.2 Drive-independent reactions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/2-67
2.6.3 NC-controlled extended stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/2-69
2.6.4 NC-controlled retraction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/2-71
2.6.5 Possible trigger sources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/2-74
2.6.6 Logic operation: Source/reaction logic operation . . . . . . . . . . . . . . . 3/M3/2-76
2.6.7 Activation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/2-76
2.6.8 Power failure detection and bridging . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/2-77
2.6.9 Generator operation/DC link backup . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/2-79
2.6.10 Drive-independent stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/2-80
2.6.11 Drive-independent retraction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/2-81
2.6.12 Configuring aids for ESR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/2-82
2.6.13 Control system response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/2-86
2.6.14 Supplementary conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/2-87
3 Supplementary Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/3-89
4 Data Descriptions (MD, SD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/4-91
4.1 General machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/4-91
4.2 Channel-specific machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/4-94
4.3 Axis-specific machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/4-96
4.4 Axisspecific setting data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/4-99
5 Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/5-101
5.1 Signals from axis/spindle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/5-101
6 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/6-103
6.1 Curve tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/6-103
6.2 Electronic gear for gear hobbing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/6-104
6.2.1 Example (linear coupling SW 5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/6-104
6.2.2 Extended example with non-linear components (SW 6 and higher) 3/M3/6-107
6.3 ESR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/6-113
6.3.1 Use of drive-independent reaction . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/6-113
6.3.2 NC-controlled reactions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/6-114
6.3.3 Fast retraction of an axis on stop thread cutting . . . . . . . . . . . . . . . 3/M3/6-115
6.3.4 Lift fast via a fast input with ASUB . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/6-116
6.3.5 Lift fast with several axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/6-116

3/M3/ii SINUMERIK 840D sl/840D/840Di/810D Descrip. of Functions Special Functions (FB3) – 06.05 Edition
06.05
6.3.6 Lift fast with linear relation of axes . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/6-117

7 Data Fields, Lists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/7-119
7.1 Interface signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/7-119
7.2 Machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/7-119
7.3 Setting data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/7-120
7.4 System variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/7-121
7.5 Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/M3/7-122
J

SINUMERIK 840D sl/840D/840Di/810D Descrip. of Functions Special Functions (FB3) – 06.05 Edition 3/M3/iii
06.05
Notes

3/M3/iv SINUMERIK 840D sl/840D/840Di/810D Descrip. of Functions Special Functions (FB3) – 06.05 Edition
06.05 Axis Couplings and ESR (M3)
1.2 Curve tables
Brief Description 1
Note
Due to function extensions for “coupled motion and master value coupling”, the
title of the Description of Functions has been changed to:
“Coupled axes and ESR”
ESR = Extended Stop and Retract
1.1 Coupled motion

The function: Coupled Motion (see Section 2.1, Page 3/M3/2-9) enables the
definition of simple axis links between a master axis and a slave axis, allowing
for a coupling factor.
The function: Coupled Motion has the following features:
– Any axis of the NC can be defined as a master axis.
– Any axis of the NC can be defined as a coupled axis with a specific cou-
pling factor.
– The master axis and coupled-motion axis or axes together form a
coupled-axis grouping.
– Any number of coupled-motion axes can be assigned to a master axis.
– Up to 2 master axes can be assigned to a coupled-motion axis.
– A coupled-motion axis can be the master axis of a further coupled-axis
grouping.
– Traversing movements of the master axis are executed in synchronism
on all slave axes based on the coupling factor.
– Coupled-motion axes can be moved independently of the master axis
while the coupling is active (overlaid movements).
– The master and coupled-motion axes of a coupled-axis grouping are
defined, and the coupling activated/deactivated, by programming in-
structions in the part program or by synchronized action.
– Coupled motion is also possible in the manual modes: JOG, JOG REF,
JOG INC etc.
1.2 Curve tables

The “curve tables” function (see Section 2.2) can be used to define the complex
sequence of motions of an axis in a curve table.

SINUMERIK 840D sl/840D/840Di/810D Descrip. of Functions Special Functions (FB3) – 06.05 Edition 3/M3/1-5
Axis Couplings and ESR (M3) 06.05
1.4 Electronic gear EG
Any axis can be defined as a leading axis and a following axis traversed ac-
cording to a curve table.
The command variable in these motion sequences is an abstract master value,
which is generated by the control or derived from an external variable (e.g. po-
sition of an axis).
The master and slave axis are defined and activated/deactivated with the curve
table in the NC part program or using a synchronized action.
The curve tables in SRAM remain valid after the end of a part program or power
down.
Processing speed can be increased by loading the curve table from SRAM to
DRAM when the NC is powered up.
Axis groupings with curve tables must be reactivated independently of the stor-
age location of the curve table after POWER ON.
Linear curve table segments are stored in separate areas to save memory
space.
1.3 Master value coupling

The “master value coupling” function (see Section 2.3, Page 3/M3/2-35) can be
used to process short programs cyclically with close coupling of the axes to one
another and a master value that is either generated internally or input from an
external source.
The master value can for example be derived from a conveyor belt or a line
shaft.
Either an axis or path master value coupling can be used, and activated and
deactivated in the NC part program or using a synchronized action.
The coupling with the master value is defined using a curve table.
1.4 Electronic gear EG

With the “Electronic gear” function (see Section 2.4, Page 3/M3/2-43) it is pos-
sible to control the motion of one leading axis as the function of up to five fol-
lowing axes. The relationship between each leading axis and the following axis
is defined by the coupling factor. The following axis motion components derived
from the individual leading axis motion components have an additive effect. The
coupling can be based on:
– Actual value of the leading axis
– Setpoint of the leading axis
The following functions of a gear grouping can be programmed using part pro-
gram instructions:
– Defining
– Switching on
– Switching off
– Delete

3/M3/1-6 SINUMERIK 840D sl/840D/840Di/810D Descrip. of Functions Special Functions (FB3) – 06.05 Edition
1.5 Extended stop and retract (ESR)
Curve tables Non-linear associations can also be implemented using curve tables (Sec-
tion 2.2, Page 3/M3/2-16).
Electronic gears can be cascaded, i.e. the following axis of an electronic gear
can be the leading axis for a further electronic gear.
Synchronous An additional function for synchronizing the following axis permits the following
position selection:
– Approach next division (tooth gap) time-optimized
– Approach next division (tooth gap) path-optimized
– Approach in positive direction of axis rotation, absolute
– Approach in negative direction of axis rotation, absolute
– Traverse time-optimized with respect to programmed synchronized posi-
tion
– Traverse path-optimized with respect to programmed synchronized posi-
tion
Application examples:
– Machine tools for gear cutting
– Gear trains for production machines

The “Extended stop and retract” function (ESR) provides a means to react flexi-
bly to selective error sources while preventing damage to the workpiece.
S Extended stop
Where possible, all axes involved in the electronic coupling are brought to a
normal standstill.
S Retract
The tool currently in use is retracted from the workpiece as quickly as
possible.
S Generator operation
In the event of a power outage, the electrical energy needed for retraction is
provided by additional backup capacitors in the DC link or by regenerative
braking using a specially provided drive operating in generator mode.
NC-controlled With NC-controlled stop and retract, the coupling remains active for a configur-
functions able time, unlike stop and retract under independent drive control.
Straight line as A straight line can be programmed as a retraction path, as an alternative to

retraction path pure axial retraction.
J

Notes

2.1 Coupled motion
Note
S External master value axes

When using the REPOS or REPOSA part program instructions in
conjunction with external master value axes, please make sure that these
are released by the channel or switched to a “neutral state” using the
RELEASE instruction.
When attempting to reposition without release of the axis, the message:
“Wait: Feed stop active” is displayed and the processing of the part program
is not continued.
2.1 Coupled motion
2.1.1 Function
Coupled-axis The function: “Coupled motion” allows the definition of simple axis couplings.
grouping The coupling is performed from one leading axis to one or more following axes,
the so-called coupled-motion axes. A separate coupling factor can be specified
for each coupled-motion axis.
The leading axis and all the coupled-motion axes assigned to it together form a
coupled-axis grouping. If the leading axis is traversed, all coupled-motion axes
traverse in accordance with their coupling factors.
A coupled-axis grouping can consist of any combination of linear and rotary
axes.
Leading axes Any axis of the NC including simulated axes can be used as leading axis.
Coupled-motion Any axis of the NC can be used as coupled-motion axis.

axes
Coupling factor The ratio in which the coupled-motion axis moves in relation to the leading axis
is specified via the coupling factor.
Coupling factor K = motion of the coupled-motion axis / motion of the leading
axis
Negative coupling factors (motion of the coupled-motion axis in the opposite
direction) are also permitted.

2.1 Coupled motion
Master axis Coupled-motion axis Coupling factor

Coupled-axis grouping 1: Axis Y Axis V 1
Coupled-axis grouping 2: Axis Z Axis W –1
Y axis
Z axis
ÉÉ ÇÇ
ÉÉ ÇÇ
Axis V
ÇÇ Axis W
X axis
Fig. 2-1 Sample application: Two-side machining
Multiple Up to two leading axes can be assigned to one coupled-motion axis. The tra-
couplings versing movement of the coupled-motion axis then results from the sum of the
traversing movements of the leading axes.
“Dependent A coupled-motion axis is a “dependent coupled-motion axis” when it traverses

coupled-motion as a result of a leading axis movement.
axis”
“Independent A coupled-motion axis is an “independent coupled-motion axis” when it tra-
coupled-motion verses as a result of a direct traverse instruction. The traversing movement re-
axis” sulting on the coupled-motion axis is then the sum total of the traversing move-
ments as a “dependent” and an “independent” coupled-motion axis.
Coupled-motion A coupled-motion axis can, at the same time, be the leading axis of a further
axis as leading coupled-axis grouping.
axis
Coordinate system Coupled motion is always executed in the base coordinate system (BCS).
Activation/deacti- Coupled motion can be activated/deactivated via part programs and synchro-
vation nized actions. It must be ensured that the coupled motion is deactivated via the
same programming with which it was activated:
S Activation: Part program –> Deactivation: Part program
S Activation: Synchronized action –> Deactivation: Synchronized action
Synchronization If the activation is performed while the leading axis is in motion, the coupled-mo-
on-the-fly tion axis is first accelerated to the velocity corresponding to the coupling. The
position of the leading axis at the time the velocities of the leading and coupled-
motion axes are synchronized then serves as the start position for further
coupled motion.
Operating modes Coupled motion is effective in the modes: AUTOMATIC, MDA and JOG.

2.1 Coupled motion
Referencing The following applies for referencing of axes of a coupled-axis grouping:
S Leading axes
When referencing the leading axis of a coupled-axis grouping, the coupling
to all coupled-motion axes is retained. The coupled-motion axes move in
synchronism with the leading axis, as a function of their coupling factors.
S Coupled-motion axis: JOG/REF mode

When referencing a coupled-motion axis of a coupled-axis grouping, the
coupling to the leading axis is canceled. If the coupling is canceled, the follo-
wing alarm is displayed:
S Alarm: “16772 Channel Channel no. Block Block no. Axis Axis no. is
following axis, coupling is opened.”
The coupling is not activated again until JOG/REF mode is canceled.
The display of this alarm can be suppressed using the following machine
data:
S MD11410: SUPPRESS_ALARM_MASK, Bit 29 = 1
Caution
When the coupled-motion axis is referenced, the coupling to the leading axis is
canceled. If referencing is now executed immediately with the leading axis, i.e.
without changing the JOG/REF mode, the coupled-motion axis does not
traverse with the leading axis.
S Coupled-motion axis: Part program instruction G74

It is not possible to reference a coupled-motion axis of a coupled-axis group-
ing using the G74 programming instruction.
Delete Delete distance-to-go for a coupled-motion axis only results in the abort of the
distance-to-go: independent traversing movement of the leading axis.
Coupled-motion
axis
Initial settings Depending on the setting in MD 20112: START_MODE_MASK, the behavior will
be as follows:
S Coupled-axis groupings are retained (bit 8=0)

S Coupled-axis groupings are invalidated (bit 8=1)
Depending on the setting in MD 20110: RESET_MODE_MASK, the behavior
will be as follows:
S Coupled-axis groupings are invalidated on RESET/part program end

(bit 8=0)
S Coupled-axis groupings remain active after RESET/part program end and

part program start (bit 8=1)

2.1 Coupled motion
2.1.2 Programming a coupled-axis grouping
Definition and Definition and activation of a coupled-axis grouping are performed simulta-
activation neously with the part program command:
TRAILON(<coupled-motion axis>, <leading axis>, [<coupling factor>])
Effective: Modal
Parameters: Coupled-motion axis, leading axis
Data type: AXIS
Value range: Axis identifier
Parameter: Coupling factor
Data type: REAL
Default value: 1
The ratio of the traversing movement of the coupled-motion axis to the lead-
ing axis is specified via the optional coupling factor:
Paths of the coupled axis
Coupling factor +
Paths of the leading axis
A negative coupling factor results in motion in opposite directions for the

leading and coupled-motion axis.
Deactivation The deactivation of the coupling of a coupled-motion axis to one leading axis is
performed via the part program command:
TRAILOF (coupled-motion axis, leading axis)
Deactivation of the coupling results in a preprocessing stop.
Note
An active coupling can also be deactivated from the PLC by means of an
ASUB.
References: /FB/, P3, “Basic PLC Program”
Example 1 Example of an NC part program for the axis constellation shown in Fig. 2-1:
TRAILON(Y,V,1) ;Activate coupled-axis grouping 1
TRAILON(Z,W,–1) :Activate coupled-axis grouping 2
G0 Z10 ;Infeed of Z and W axis in opposite
;axis direction
G0 Y20 ;Infeed of Y and V axes in same axis direction
:
G1 Y22 V25 ;Overlay a dependent and independent movement
: ;of coupled-motion axis “V”
:
TRAILOF(Y,V) ;Deactivate coupled-axis grouping 1
TRAILOF(Z,W) ;Deactivate coupled-axis grouping 2
:

2.1 Coupled motion
Example 2 The dependent and independent movement components of a coupled-motion

axis are added together for the coupled motion. The dependent component can
be regarded as a coordinate offset with reference to the coupled-motion axis.
N01 G90 G0 X100 U100
N02 TRAILON(X,U,1) ;Activate coupled-axis grouping
N03 G1 F2000 X200 :Dependent movement of U, Upos=200, UTrail=100
N04 U201 ;Independent movement, Upos=U201+UTrail=301
N05 X250 ;Dependent movement of U,
;UTrail=UTrail(100)+50=150, Upos=351
N06 G91 U100 ;Independent movement, Upos(351)+U100=451
N07 G90 X0 :Dependent movement of U,
;Upos=Upos(451)-UTrail(250)=201
N10 TRAILOF(X,U)
2.1.3 Effectiveness of PLC interface signals
Independent All relevant channel-specific and axis-specific interface signals of the coupled-
coupled-motion motion axis are effective for the independent motion of a coupled-motion axis,
axis e.g.:
– Activate DRF (DB21, ... DBX0.3),
– Feed override (DB31, ... DBX0.0 – 0.7),
– Axis disable (DB31, ... DBX1.3),
– Servo enable (DB31, ... DBX2.1),
– Activate handwheel (DB31, ... DBX4.0 – 4.2),
– Feed stop (DB31, ... DBX4.3), etc.
This allows the velocity to be changed for the independent motion of a coupled-
motion axis using a feed override or allows a DRF offset to be defined using the
handwheel in AUTOMATIC and MDA modes.
Dependent With respect to the motion of a coupled-motion axis, which is dependent on the
coupled-motion leading axis, only the coupled-motion axis interface signals that effect termina-
axis tion of the motion (e.g. axis-specific feed stop, axis inhibit, servo enable, etc.)
are effective.
Leading axis When a coupled-axis grouping is active, the interface signals (IS) of the leading
axis are applied to the appropriate coupled-motion axis via the axis coupling,
i.e.
S A position offset or feed control action of the leading axis is applied via the
coupling factor to effect an appropriate position offset or feed control action
in the coupled-motion axis.
S Shutdown of the leading axis as the result of an IS (e.g. axis-specific feed

stop, axis inhibit, servo enable, etc.) causes the corresponding coupled-mo-
tion axis to shut down.
Position Switchover of the position measuring system for the leading and coupled-mo-
measuring system tion axes is not inhibited for an active coupled-axis grouping. The coupling is not
1/2 (DB31, ... invalidated.
DBX1.5 / 1.6) Recommendation: Switch the measuring system over when the coupling is
deactivated.

2.1 Coupled motion
Follow-up The follow-up mode for an axis is activated in the PLC user program by setting
DB31, ... DBB1.4 the NC/PLC interface signals:
DB31, ... DBB (servo enable) = 0
DBB31, ... DBB4.1 (follow-up mode) = 1
When activating follow-up mode for a coupled-axis grouping, the specified NC/
PLC interface signals must be set simultaneously for all axes (master and slave
axes) of the coupled-axis grouping.
If follow-up mode is activated for the master axis only, a permanent offset results
within the coupling.
The following NC/PLC interface signals and system variables can be used to
determine which axis, if any, is a master or slave axis:
DB31, ... DBB99.0 (master axis/spindle active)
DB31, ... DBB99.1 (slave axis/spindle active)
$AA_COUP_ACT[axis identifier] (see Subsection 2.1.4: Status of coupling)
2.1.4 Supplementary conditions
Control dynamics It is recommended to align the position control parameters of the leading axis
and the coupled-motion axis within a coupled-axis grouping.
Note
The alignment of the position control parameters of the leading axis and the
coupled-motion axis can be performed via a parameter set changeover.
Status of coupling The coupling status of an axis can be determined using the following system
variable:
$AA_COUP_ACT[axis identifier]
$AA_COUP_ACT Meaning
0 No coupling active
1, 2, 3 Tangential follow-up
4 Synchronous spindle coupling
8 Coupled motion active
16 Master value coupling
32 Following axis of electronic gear
Note
Only one coupling mode may be active at any given time.

2.1 Coupled motion
Distance-to-go: The distance-to-go of a coupled-motion axis refers to the total residual distance
Coupled-motion to be traversed from dependent and independent traversing.
axis
RESET response If with NC RESET or end of part program in a channel, the leading axis is not
stopped as well (cross-channel coupling, command axis, PLC axis, etc.), the
requested Reset cannot be completed.
Because of the traversing of the leading axis, the coupled-motion axis is still
active for the channel in which the Reset is requested. With suitable actions (NC
Reset in the channel of the leading axis, stopping of the command or PLC axis),
the leading axis must also be stopped in parallel to the coupled-motion axis.
Dynamic limit The dynamic limit is dependent upon the activation of the coupled-axis group-
ing:
S Part program
If the activation is performed in the part program, the dynamics of all
coupled-motion axes are taken into account so that no coupled-motion axis
is overloaded during the traversing of the leading axis.
S Synchronized action
If the activation is performed in a synchronized action, the dynamics of the
coupled-motion axes are not taken into account during the traversing of the
leading axis. This can result in an overload for coupled-motion axes with a
dynamic response which is less than that required for the coupling.
Caution
If a coupled-axis grouping is activated via synchronized actions, it is the special
responsibility of the user / machine manufacturer to provide suitable measures
to ensure that an overload of the coupled-motion axes does not occur through
the traversing of the leading axis.

2.2 Curve tables
2.2 Curve tables
2.2.1 General functionality
Curve table A functional relation between a command variable “master value” and an ab-
stract following value is described in the curve table.
A following variable can be assigned uniquely to each master value within a
defined master value range.
Curve segment The functional relation can be subdivided into separate sections of the master
value axis, called curve segments.
Within a curve segment, the relation between the master value and following
value is generally described by a polynomial up to the third order.
In SW 6 and higher, polynomials up to the 5th degree are permissible. See also
References: /PGA/, Programming Guide Advanced.
Polynomial segments are required for curve tables when the following applies:
– Polynomials or circles are programmed
– Spline is active
– Compressor is active
– Polynomials or circles are generated internally (chamfer/rounding,
approximate positioning with G643, TRC etc.)
Tool radius Curve tables are available in which it is possible to specify the tool radius com-
compensation pensation in the table definition even if polynomial blocks or blocks with no mo-
tion for an axis, or jumps for the following axis, occur in the curve table
(G41/G42/G40 in the table definition).
Tool radius The equidistant curve (tool center point path of the tool radius compensation) of
compensation a curve consisting of polynomials can no longer be displayed exactly using
polynomials. The associated curve tables must be approximated stepwise using
polynomials in this case. This means that the number of segments in the curve
table no longer matches the number of programmed segments. The number of
segments required for the curve table is defined by the bend of the curve. The
larger the bend for the programmed curve, the more segments are required for
the curve table.
On account of the tool radius compensation for curve tables, more memory may
be required. The selection option for the memory type means that this need not
produce a shortage of SRAM memory, however.

2.2 Curve tables
The tool radius compensation can produce segments for which the following
axis or leading axis have no movement. Although a missing movement in the
following axis does not cause a problem, the same situation for the leading axis
must be solved by defining the behavior for handling discontinuities.
Machine data MD 20900: CTAB_ENABLE_NO_LEADMOTION can be set to
specify whether or not a curve table is created in this case. The following op-
tions are available:
0:
No curve tables that contain a jump in the following axis are produced. Alarm
10949 is output and program processing is aborted.
1:
Curve tables with a jump in the following axis can be generated. If a segment
contains a jump in the following axis, Alarm 10955 is output but program proc-
essing is continued.
2:
Curve tables with a jump in the following can be created without an alarm being
output.
Note
In the case of a curve table that contains segments without leading axis
movement (this means that the following axis jumps at this point), the following
axis can only make a jump within its dynamic limits (max. velocity and max.
acceleration). This means that there is always a deviation from the
programmed curve.
Defining the It is possible to specify the memory type to be used for creating the curve table
memory type for when defining the curve table. The following options are available:
curve tables – SRAM
– DRAM
Table definitions for SRAM type memory remain available following control
run-up. Curve tables for DRAM must be redefined following control run-up. Addi-
tional machine data have been provided for reserving space in the DRAM:
MD 20905: CTAB_DEFAULT_MEMORY_TYPE defines the memory type if no
memory type has been specified in the table definition (see below).
Storing curve tables in a variety of memory types entails an optional specifica-
tion of the memory type in delete calls for curve tables (see below).

2.2 Curve tables
2.2.2 Programming a curve table
Definition The following modal language commands work with curve tables
(you will find explanations of the parameters at the end of the list of functions):
S Beginning of definition of curve table:

CTABDEF(following axis, leading axis, n, applim, memType)
S End of definition of curve table:

CTABEND()
S Deleting curve table(s):

CTABDEL(n) ; Curve table n
CTABDEL(n, m) ; [n < m], several in number range
; deleted in SRAM and DRAM.
CTABDEL(n, m, memType) ; Deletion with indication of memory type:
The curve tables with the numbers in the range stored in the memory type
specified are deleted from that memory type. All other curve tables are re-
tained.
Delete all tables in a particular memory type:
CTABDEL(, , “DRAM”) ; All in DRAM or
CTABDEL(, , “SRAM”) ; All in SRAM:
CTABDEL() ; All, independent of memory type
S Read the following value for a master value

CTAB(master value, n, degrees, [slave axis, master axis])
S Read the master value for a following value

CTABINV(following value, approx. master value, n, degrees, [following axis,
leading axis])
As of SW 6.3 Access to curve table segments:
S Read start value (following axis) of a table segment

CTABSSV(leading value, n, degrees, [following axis, leading axis])
S Read end value (following axis) of a table segment

CTABSEV(master value, n, degrees, [following axis, master axis])
Note
If the curve table functions such as CTAB(), CTABINV(), CTABSSV() etc., are
used in synchronized actions, only real-time variables, e.g.
$AC_PARAM[ ... ] or $R[ ... ] are allowed as the return value and the “degrees”
argument of the function.
Example:
ID=1 WHEN TRUE DO $R1 = CTABSSV(10, 1, $R2)
or
ID=1 WHEN TRUE DO $AC_PARAM[1] = CTABSSV(10, 1, $AC_PARAM[2])

2.2 Curve tables
Enable/cancel lock The following functions can be used to enable or cancel deletion and overwrite
locks for part programs:
S Enable deletion and overwrite lock.

General form: CTABLOCK(n, m, memType)
S Cancel deletion and overwrite lock.

CTABUNLOCK releases the tables locked with CTABLOCK. Tables involved
in an active coupling remain locked, i.e. they cannot be deleted. However,
the CTABLOCK command is canceled, i.e. the table can be deleted as soon
as the coupling is deactivated. It is not necessary to call CTABUNLOCK
again.
General form: CTABUNLOCK(n, m, memType)
Applications of the forms:
Curve table number n
CTABLOCK(n)
Curve tables in the number range n to m
CTABLOCK(n, m)
All curve tables regardless of memory type
CTABLOCK()
All curve tables of memory type specified
CTABLOCK(, , memType)
Curve table number n
CTABUNLOCK(n)
Curve tables in the number range n to m
CTABUNLOCK(n, m)
All curve tables regardless of memory type
CTABUNLOCK()
All curve tables of memory type specified
CTABUNLOCK(, , memType)
As of SW 6.4 Other commands for calculating and differentiating between curve tables for
applications for diagnosing and optimizing the use of resources:
S Number of defined tables regardless of memory type

CTABNO()
S Number of defined tables in SRAM or DRAM

CTABNOMEM(memType)
S Number of possible curve tables in memory memType.

CTABFNO(memType)
S Table number of nth curve table.

General form: CTABID(n, memType)
Supplies the table number of the nth curve table, in memory type memType.
CTABID(1, memType) is used to read out the highest curve number (105) of
the memory type specified.
CTABID(n)
Supplies the table number of the nth curve table in the memory specified
using MD 20905: CTAB_DEFAULT_MEMORY_TYPE. CTABID(p)
Supplies the ID (table number) of the curve table entered in the memory as
the pth curve table.

2.2 Curve tables
Note
If for example the sequence changes between consecutive calls of CTABID(),
CTABID(n, ...) can be used to supply a different curve table to that before the
change was made in the memory.
S Indicates the lock state of curve table number n.

CTABISLOCK(n)
S Checks curve table number n.

CTABEXIST(n)
S Indicates the memory in which curve table number n is stored.

CTABMEMTYP(n)
S Indicates the table periodicity.

CTABPERIOD(n)
S Number of curve segments already used in memory memType.

CTABSEG(memType, segType)
S Number of curve segments used in curve table number n

CTABSEGID(n, segType)
S Number of still possible curve segments in memory memType.

CTABFSEG(memType, segType)
S Number of maximum possible curve segments in memory memType.

CTABMSEG(memType, segType)
S Number of polynomials already used in memory memType.

CTABPOL(memType)
S Number of curve polynomials used in by curve table number n.

CTABPOLID(n)
S Number of still possible polynomials in memory memType.

CTABFPOL(n)
S Number of maximum possible polynomials in memory memType.

CTABMPOL(n)

2.2 Curve tables
Edge values of Behavior of the leading axis/following axes on the edges of the curve table:
curve tables
S The value at the beginning of the curve table is read by a following axis.
CTABTSV(n, degrees, FAxis) Following value at the beginning of the
curve table
S The value at the end of the curve table is read by a following axis.
CTABTEV(n, degrees, FAxis) Following value at the end of the curve table
S The value at the beginning of the curve table is read by the leading axis.
CTABTSP(n, degrees, FAxis) Master value at the beginning of the curve
table
S The value at the end of the curve table is read by the leading axis.
CTABTEP(n, degrees, FAxis) Master value at the end of the curve table
S Determine the value range of the following value.

CTABTMIN(n, FAxis) Minimum following value of curve table
CTABTMAX(n, FAxis) Maximum following value of curve table
Parameters
S Following axis:
Identifier of axis via which the following axis is programmed in the definition.
S Leading axis:
Identifier of axis via which the leading axis is programmed.
S n, m
Numbers for curve tables.
Curve table numbers can be freely assigned. They are used exclusively to
uniquely identify a curve table.
In order to delete a curve table area using the command CTABDEL(n, m), m
must be greater than n.
S p
Entry location (in memType memory area)
S applim:
Behavior at the curve table edges.
– 0 non-periodic (table is processed only once, even for rotary axes).
– 1 periodic, modulo (the modulo value corresponds to the LA table val-
ues).
– 2 periodic, modulo (LA and FA are periodic).
S Master value
Position value for which a following value is to be determined.
S Slave value
Position value for which a master value is to be calculated.
S aproxmastervalue
Position value that can be used to determine a unique master value in the
case of an ambiguous reversing function of the curve table.

2.2 Curve tables
S degrees
Parameter in which the pitch of the table function is returned.
S memType
Optional parameter for entering the memory type in which the curve table is
to be created.
Possible values:
“SRAM” Curve table created in static memory
“DRAM” Curve table created in dynamic memory.
If an invalid memType is entered, value –2 is returned.
If the parameter is omitted, then the memory type set via
MD 20905:CTAB_DEFAULT_MEMORY_TYPE takes effect.
S segType
Optional parameter for the specification of the segment type
Possible values
segType “L” linear segments
segType “P” polynomial segments
References: PGA, Programming Guide Advanced
Restrictions The following restrictions apply when programming:
S The NC block must not generate a preprocessing stop.

S No jumps must occur in the leading axis motion.
S Any block that contains a travel instruction for the following axis must also
include a movement for the leading axis.
S The direction of motion of the leading axis must not reverse at any point in
the rule of motion, i.e. the position of the leading axis must always be unique
within the sequence of motions.
The programmed contour must not move vertical to the leading axis.
S Axis names from gantry axis groups cannot be used to define a table (only
leading axis are possible).
Restrictions Depends on MD 20900: CTAB_ENABLE_NO_LEADMOTION, jumps in the fol-

SW 6.3 and higher lowing axis may be tolerated when a movement is missing in the leading axis.
The usual restrictions stated in the previous section still apply.
Axis assignment Does not take effect until coupling is activated with curve table.
Note
The dynamic limit values of the motion commands for a curve table are not
checked until activation or interpolation.

2.2 Curve tables
Starting value The first motion command in the definition of a curve table defines the starting
value for the master and following value.
All instructions that cause a preprocessing stop must be skipped.
Example 1 No tool radius compensation, no memory type

N100 CTABDEF(AX2, AX1, 3,0) ;Start of definition for non
;periodic curve table number 3
N110 AX1=0 AX2=0 ;1st motion instruction specifies the starting
;value master value: 0, following value:0
N110 AX1=20 AX2=0 ;1st curve segment:
;Master value: 0...20, slave value: Starting
;value ...0
N120 AX1=100 AX2=6 :2nd curve segment:
;Master value: 20...100, slave value: 0...6
N130 AX1=150 AX2=6 ;3rd curve segment:
;Master value: 100...150, following value 6
N130 AX1=180 AX2=0 ;4th curve segment:
;Master value: 150...180, slave value: 6...0
N200 CTABEND ;End of definition, curve table
;generated in internal representation.
;Preprocessing reorganizes to state at
;beginning of N100
Example 2 Example of a curve table with active tool radius compensation:

Prior to definition of a curve table with CTABDEF(), the tool radius compensa-
tion must not be active; otherwise alarm 10942 is output. This means that tool
radius compensation must be activated within the definition of the curve table.
Similarly, it must be deactivated again before the end of the curve table defini-
tion using CTABEND.
...
N10 CTABDEF(Y, X, 1, 0) ;Start of definition for non
;periodic curve table number 1
N20 X0 Y0
N30 G41 X10 Y0 ; TRC ON
N40 X20 Y20
N50 X40 Y0
N60 X60 Y20
N70 X80 Y0
N80 G40 X90 Y0 ; TRC OFF
N90 CTABEND
....
Tool radius compensation is activated in block N30; this causes the approach
movement for radius compensation to be made in this block. Similarly, the ap-
proach movement for deactivation of the radius compensation is made in block
N80.
Note
The value pairs between CTABDEF and CTABEND must be specified for
precisely the axis identifiers that have been programmed in CTABDEF as the
leading axis and following axis identifiers. In the case of programming errors,
alarms or incorrect contours may be generated.

2.2 Curve tables
2.2.3 Access to table positions and table segments
Reading table With the program commands CTAB and CTABINV you can read off the following
positions value for a master value (CAB) from the part program and from synchronized
actions, or the reversal of the curve table, i.e. read off the master value for a
following value. You can use the pitch value to calculate the velocity of the follo-
wing axis or leading axis at any position in the table.
Reading segment The segment positions of a curve table for the value for the following axis can
positions be read using the CTABSSV and CTABSEV calls.
The language commands CTABSSV and CTABSEV generally provide the start
and end values of the internal segments of the curve tables for the following
axis. These values only agree with the programmed values of the curve tables if
the programmed segments can be converted 1:1 to the internal segments of the
curve table. This is always the case if only G1 blocks or axis polynomials are
used to define the curve tables and no other functions are active.
The programmed segments may be modified when converted to the internal
segments of the curve tables in the following cases:
1. Circles or involutes are programmed
2. Chamfer or rounding is active (CHF, RND)
3. Smoothing with G643 is active
4. Compressor is active (COMPON, COMPCURV, COMPCAD)
5. Tool radius compensation is active for polynomial interpolation.
In these cases, the language commands CTABSSV and CTABSEV may not be
used to query the start and end points of the programmed segments.
CTABINV When using the inversion function for the curve tables (CTABINV), you must
note that the following value mapped to the leading value may not be unique.
Within a curve table, the following value can assume the same value for any
number of master value positions. In order to resolve this ambiguity, the pro-
gram command CTABINV requires a further parameter, in addition to the follo-
wing value, which it uses to select the ’correct’ master value. CTABINV always
returns the master value that is closest to this auxiliary parameter. This auxiliary
value can, for example, be the master value from the previous interpolator
cycle.
Note
Although the auxiliary parameter permits calculation of a unique result for the
reversal function of the curve table, it should be noted that numerical
inaccuracies may give rise to contours, which can cause the reversal function
to produce results that deviate from those that would be obtained in a
calculation where the accuracy is unrestricted.

2.2 Curve tables
Optional The functions CTAB, CTABINV, CTABSSV and CTABSEV have optional param-
parameters eters for the leading and following axes. If one of these parameters is pro-
grammed, the master value and following value are modified using the scaling
factors of the relevant axes.
This is particularly important if axes have been configured with different length
units (inch/metric). If no optional parameters are programmed, the master value
and following value are treated as path positions in the conversion from external
to internal representation. This means that the values are multiplied according
to the configured resolution (decimal places) and the remaining decimal places
truncated.
Determining the Example of reading the segment starting and end values for determining the
segment curve segment associated with master value X = 30 using CTABSSV and
associated with CTABSEV:
master value X N10 DEF REAL STARTPOS ;Start of definition for start and
N20 DEF REAL ENDPOS ;start position of curve table
N30 DEF REAL GRADIENT ;
... ;
N100 CTABDEF(Y, X, 1, 0) ;Start of table definition
N110 X0 Y0 ;Start position, 1st table segment
N120 X20 Y10 :End position, 1st table segment = Start
N130 X40 Y40 ;position 2nd table segment ...
N140 X60 Y10 ;3rd curve segment ...
N150 X80 Y0 ;4th curve segment ...
N160 CTABEND ;End of table definition
... ;
N200 STARTPOS = ;
CTABSSV(30.0, 1, GRADIENT) ;Start position Y in segment 2 = 10.
... ;
N210 ENDPOS = ;End position Y in segment 2 = 40.
CTABSEV(30.0, 1, GRADIENT) ;Segment 2 is associated with MV X = 30.0
End
40
N130 N140
20
N120 N150
Start
0
0 20 40 60 80 X
X=30
Fig. 2-2 Determining the curve segment associated with master value X = 30

2.2 Curve tables
Reading values at The values of the following axes and also the master axis at the start and end of
start and end a curve table can be read with the following calls:
R10 =CTABTSV(nth degree, FAxis Following value at start of table
R10 =CTABTEV(nth degree, FAxis)Following value at end of table
R10 =CTABTSP(nth degree, LAxis Master value at start of table
R10 =CTABTEP(nth degree, LAxis Master value at end of table
Value range of The following example illustrates how the minimum and maximum values of the
following value table are determined using CTABTMIN and CTABTMAX:
N10 DEF REAL STARTVAL ;Start of definition for start and
N20 DEF REAL ENDVAL ;start values of curve table
N30 DEF REAL STARTPARA :
N40 DEF REAL ENDPARA ;
N50 DEF REAL MINVAL ;
N60 DEF REAL MAXVAL ;
N70 DEF REAL GRADIENT ;
... ;
N100 CTABDEF(Y, X, 1, 0) ;Start of table definition
N110 X0 Y10 ;Start value, 1st table segment
N120 X30 Y40 :End position, 1st table segment = Start
N130 X60 Y5 ;position 2nd table segment ...
N140 X70 Y30 ;3rd curve segment ...
N150 X80 Y20 ;4th curve segment ...
N160 CTABEND ;End of table definition
... ;
N200 STARTPOS = ;STARTPOS = 0
CTABTSV(1, GRADIENT) ;Start position of table and
N210 ENDPOS = ;ENPOS = 20
CTABTEV(1, GRADIENT) ;end position of table
N220 STARTPARA = ;STARTPARA = 10
CTABTSP(1, GRADIENT) ;Master value at start of curve table
N230 ENDPARA = ;ENDPARA = 80
CTABTEP(1, GRADIENT) ;Master value at end of curve table
... ;Read from value range of following axis
N240 MINVAL = CTABTMIN(1) ;Minimum value if Y = 5 and
N250 MAXVAL = CTABTMAX(1) ;Maximum value if Y = 40
40 Maximum value
N120
N130 N150
20
End value
N140
Starting value
Minimum value
0
0 20 40 60 80 X
Fig. 2-3 Determining the minimum and maximum values of the table

2.2 Curve tables
2.2.4 Activation and coupling axes to a curve table
Activation Coupling real axes to a curve table:

LEADON (following axis, leading axis, n) n=number of curve table
A concrete channel axis can be coupled with the master value via a curve table:
S in a part program or
S in the definition of a synchronized action.
Multiple use A curve table can be used several times in a single part program to couple dif-
ferent channel axes.
Deactivation LEADOF (following axis, leading axis)

You can deactivate the function both in the program and using synchronized
actions.
Example N1000 LEADON(A, X, 3) ;Axis A follows master value X acc. to the

;rules of motion defined in
;curve table number 3.
N1010 LEADOF(A, X) ;The coupling between axis A and its master
;value is canceled.
...
N10010 CTABDEL(3) ;Curve table number 3 is deleted, it
;is no longer available for activating a
;coupling.
Special cases with When an axial master value coupling is active, the position of the following axis
modulo master via a curve table is unique, i.e. an absolute assignment to the master axis ex-
axes ists.
This means that, when a modulo rotary axis is used as the master axis, the po-
sition of the master axis is absolute. In other words, the position of the modulo
rotary axis entered in the curve table is absolute, and not modulo-reduced.
Example:
Let the position of a modulo rotary axis with LEADON be 210 degrees. The po-
sition 210 degrees is used as the starting value in the curve table.
After one rotation of the modulo axis, the axis position is displayed again as 210
degrees. However, the starting value entered in the curve table is 210 degrees
plus 1 rotation (360 degrees) = 570 degrees.

2.2 Curve tables
2.2.5 Organizing curve tables in the SRAM and DRAM
Memory usage The memory available in SRAM and DRAM (SW 6.4 and higher) for the curve
tables is limited.
SRAM
MD 18400: MM_NUM_CURVE_TABS specifies the number of curve tables that
can be stored in SRAM.
MD 18402: MM_NUM_CURVE_SEGMENTS specifies the number of curve

table segments that can be stored in SRAM
MD 18404: MM_NUM_CURVE_POLYNOMS specifies the number of curve

table polynomials that can be stored in SRAM.
MD 18403: MM_NUM_CURVE_SEG_LIN specifies the maximum number of
linear segments in SRAM.
DRAM
MD 18406: MM_NUM_CURVE_TABS_DRAM specifies the number of curve
tables that can be stored in DRAM.
MD 18408: MM_NUM_CURVE_SEGNENTS_DRAM specifies the number of
curve table segments that can be stored in DRAM.
MD 18410: MM_NUM_CURVE_POLYNOMS_DRAM specifies the number of
curve table polynomials that can be stored in DRAM.
MD 18409: MM_NUM_CURVE_SEG_LIN_DRAM specifies the maximum num-
ber of linear segments in DRAM.
Memory For a curve table, linear segments can only be stored efficiently in the memory,
optimization when the relevant MD 18403: MM_NUM_CURVE_SEG_LIN for tables in SRAM
or MD 18409: MM_NUM_CURVE_SEG_LIN_DRAM for tables in DRAM, is
greater than zero. If no memory area is created with these machine data, linear
segments are stored as polynomial segments requiring unnecessary space.
If memory has been configured for tables with linear and polynomial segments
via machine data and the memory for linear segments runs out when generating
a linear table, polynomial segments are used for this, if some are still available.
In this case, memory is “wasted”, as a polynomial segment requires an unnec-
essary amount of memory to store a linear segment. This condition is indicated
by a warning; alarm 10958 is output, with which the number of unnecessarily
used polynomial segments is also specified. This alarm only serves as a warn-
ing and does not result in the interruption of the program or the generation of
the curve table.

2.2 Curve tables
If a curve table consists of linear segments and polynomials of a high degree, a

memory area for linear segments and a memory area for polynomial segments
is required for the storage of the curve table. An alarm is output for insufficient
memory in the relevant areas. The alarm parameters specify which resources
are not sufficient.
Preliminary table When a new curve table is created, a temporary curve table is set up first in
the memory and then extended block by block. On completion (CTABEND), the
table is checked for consistency. The temporary table is converted to a table
than can be used in a coupling only if it is found to be consistent.
Insufficient If there is insufficient memory available to create a new curve table, the tempo-
memory rary table is deleted again as soon as the appropriate alarm is activated.
If there is insufficient memory, one or more tables that is/are no longer required
can be deleted with CTABDEL or, alternatively, the memory re-configured via
the appropriate MD.
Same table A new curve table may have the same number as an existing table. The new
number curve table then overwrites the existing table with the same number. This is
done only if the new curve table does not contain any errors. If an error is de-
tected in the new table, the old table is not overwritten.
If the user wishes to have the option of overwriting an existing curve table with-
out deleting it first, then he will need to dimension the table memory so that
there is always enough extra memory to accommodate the table to be over-
written.
Overwriting curve Curve tables that are not active in a master value coupling and are locked with
tables CTABLOCK() may be overwritten.
Deleting curve Curve tables that are not active in a master value coupling and are locked with
tables CTABLOCK() may be deleted.
Transformation Transformations may not be programmed in curve tables. RAANG is an excep-

tion. If TRAANG is programmed, the rule of motion programmed in the basic
coordinate system is transformed to the associated machine coordinate system.
In this way, it is possible to program a curve table as Cartesian coordinates for a
machine with inclined linear axes.
The condition that stipulates that “the direction of motion of the leading axis
must not reverse at any point of the rule of motion” must then be met in the ma-
chine coordinate system. Please note that this condition in the basic coordinate
system does not have the same meaning as in the machine coordinate system,
since the contour tangents are changed by the transformation.

2.2 Curve tables
Generating curve With linear blocks:

tables (example)
%_N_TAB_1_NOTPERI_MPF
;$PATH=/_N_WKS_DIR/_N_KURVENTABELLEN_WPD
;Def.TAB1 0–100mm Curve no. 1/1 non-perio.
N10 CTABDEF(YGEO,XGEO,1,0) ;FA=Y LA=X Curve no. =1 non-perio.
N1000 XGEO=0 YGEO=0 ; Starting values
N1010 XGEO=100 YGEO=100
CTABEND
M30
With polynomial blocks:
%_N_TAB_1_NOTPERI_MPF
;$PATH=/_N_WKS_DIR/_N_KURVENTABELLEN_WPD
;Def.TAB1 0–100mm Curve no. 1/1 non-perio.
N10 CTABDEF(Y,X,1,0) ;FA=Y LA=X Curve no.=1 non-perio.
N16 G1 X0.000 Y0.000
N17 POLY PO[X]=(31.734,0.352,–0.412) PO[Y]=(3.200,2.383,0.401)
N18 PO[X]=(49.711,–0.297,0.169) PO[Y]=(7.457,1.202,–0.643)
N19 PO[X]=(105.941,1.961,–0.938) PO[Y]=(11.708,–6.820,–1.718)
N20 PO[X]=(132.644,–0.196,–0.053) PO[Y]=(6.815,–2.743,0.724)
N21 PO[X]=(147.754,–0.116,0.103) PO[Y]=(3.359,–0.188,0.277)
N22 PO[X]=(174.441,0.578,–0.206) PO[Y]=(0.123,1.925,0.188)
N23 PO[X]=(185.598,–0.007,0.005) PO[Y]=(–0.123,0.430,–0.287)
N24 PO[X]=(212.285,0.040,–0.206) PO[Y]=(–3.362,–2.491,0.190)
N25 PO[X]=(227.395,–0.193,0.103) PO[Y]=(–6.818,–0.641,0.276)
N26 PO[X]=(254.098,0.355,–0.053) PO[Y]=(–11.710,0.573,0.723)
N26 PO[X]=(254.098,0.355,–0.053) PO[Y]=(–11.710,0.573,0.723)
N27 PO[X]=(310.324,0.852,–0.937) PO[Y]=(–7.454,11.975,–1.720)
N28 PO[X]=(328.299,–0.209,0.169) PO[Y]=(–3.197,0.726,–0.643)
N29 PO[X]=(360.031,0.885,–0.413) PO[Y]=(0.000,–3.588,0.403)
CTABEND
N30 M30
2.2.6 Behavior in AUTOMATIC, MDA, JOG modes
Activation An activated curve table is functional in the AUTOMATIC, MDA and JOG
modes.
Basic setting after No curve tables are active after run-up.

run-up

2.2 Curve tables
Dependent With respect to the motion of a following axis that is dependent on the leading
following axis axis, only the following axis interface signals that effect termination of the motion
(e.g. axis-specific feed stop, axis inhibit, servo enable, etc.) are effective.
Leading axis When a coupled-axis grouping is active, the interface signals (IS) of the leading
axis are applied to the appropriate following axis via the axis coupling, i.e.
S A feed control of the leading axis causes a corresponding feed control of the
following axis.

Position Switchover of the position measuring system for the leading and following axes
measuring system is not inhibited for an active coupled-axis grouping. The coupling is not invali-
1/2 (DB31, ... dated.
DBX1.5 / 1.6)
Recommendation: Switch the measuring system over when the coupling is
deactivated.
2.2.8 Diagnosing and optimizing the use of resources

(SW 6.4 and higher)
The following functions permit part programs to obtain current
S information about the assignment of resources for curve tables, table seg-
ments and polynomials.
One result of the diagnostic functions is that resources still available can be
used dynamically with the functions described in Subsection 2.2.2 without nec-
essarily having to increase the memory requirement. The description of the pa-
rameters in Subsection 2.2.2 also applies to the following functions.
a) Curve tables
S Determine total number of defined tables.

The definition applies to all memory types (see also CTABNOMEM)
CTABNO()
S Determine the number of defined tables in the SRAM or DRAM.

CTABNOMEM(memType)
If memType is not specified, the memory type set in
MD 22905: CTAB_DEFAULT_MEMORY_TYPE applies.
Result:
>= 0 Number of defined tables
–2 Memory type invalid
S Determine the number of curve segments still possible in the memory type
CTABFNO(memType)
Result:
>= 0 Number of tables still possible

2.2 Curve tables
S Determine the table number of the pth table in the optionally specified
memory type
CTABID(p, memType)
Result:
Table number or
alarm if p or memType invalid
When using the CTABID(p, memType) function, no assumptions should be
made regarding the sequence of the curve tables in the memory. The CTA-
BID(p, ...) function supplies the ID (table number) of the curve table entered in
the memory as the pth curve table.
If the sequence of the curve tables in the memory changes between consecu-
tive calls of CTABID(), e.g. due to the deletion of curve tables with CTABDEL(),
the CTABID(p, ...) function can supply a different curve table with the same
number.
To prevent this happening, the curve tables concerned can be locked using the
CTABLOCK(...) language command. In this case, please ensure that the curve
tables concerned are then unlocked with CTABUNLOCK().
S Query locking status

Table n
CTABISLOCK(n)
Result:
> 0 Table is locked
Reason for locking:
1 by CTABLOCK()
2 by active coupling
3 by CTABLOCK() and active coupling
= 0 Table is not locked
– 1 Table does not exist
S Check that the curve table exists

CTABEXISTS(n)
Result:
1 Table exists
0 Table does not exist
S Determine the memory type of a curve table

CTABMEMTYP(n)
Result:
0 Table in SRAM
1 Table in DRAM
–1 Table does not exist
S Determine whether the table has been defined as a periodic table

CTABPERIOD(n)
Result:
0 Table is not periodic
1 Table is periodic in leading axis
2 Table is periodic in leading and following axis
–1 Table does not exist

2.2 Curve tables
b) Curve table segments
S Determine the number of curve segments of type segType used in memory

area memType.
CTABSEG(memType, segType)
Result:
>= 0 Number of curve segments
If segType is not specified, the the sum is output via linear and polynomial
segments in the memory type.
–2 segType not equal to “L” or “P”
S Determine the number of used curve segments of type segType of a certain

curve table
CTABSEGID(n, segType)
Result:
>= 0 Number of curve segments
–1 Curve table with the number n does not exist.
–2 segType not equal to “L” or “P”
S Determine the number of free curve segments of type segType of the

memory type
CTABFSEG(memType, segType)
Result:
>= 0 Number of free curve segments
–2 Memory type invalid, segType not equal to “L” or “P”
S Determine the number of maximum possible curve segments of type seg-

Type of the memory type
CTABMSEG(memType, segType)
Result:
>= 0 Number of maximum possible curve segments
–2 Memory type invalid, segType not equal to “L” or “P”

2.2 Curve tables
c) Polynomials
S Determine the number of polynomials used for memory type

CTABPOL(memType)
Result:
>= 0 Number of polynomials used in memory type
S Determine the number of curve polynomials used in a specific curve table

CTABPOLID(n)
Result:
>= 0 Number of curve polynomials used
–1 Curve table number n does not exist
S Determine the number of polynomials free for memory type

CTABFPOL(memType)
Result:
>= 0 Number of free curve polynomials
S Determine the maximum possible number of polynomials for memory type

CTABMPOL(memType)
Result:
>= 0 Number of maximum possible curve polynomials

2.3.1 General functionality
Introduction Master value couplings are divided into axis and path master value couplings.
In both cases, the axis and path positions are defined by the control on the ba-
sis of master values (e.g. positions of another axis).
Axis master value coupling

Function The axis master value coupling is an axis coupling with rules of motion that are
represented internally as a one-dimensional real function, a curve table (see
Subsection 2.2.1).
Master value Is the input variable for the curve table.

object
The following can be defined as the position of the master value object:
S The axis actual position (actual value measured by encoder) or

S The setpoint (calculated by the interpolator)
S If the leading axis is interpolated by the same NCU, the setpoint value cou-
pling produces a better following response than is possible for actual-value
coupling (in the same IPO cycle).
S If the leading axis is not interpolated by the same NCU, the interpolator that
is implemented in the NCU for this particular leading axis can be used for
master value simulation. Set IS_VIRTUAL_AX=1 in MD 30132.
Note
Setpoint coupling is the default setting for the master value object.
Virtual leading When switching over to master value coupling, the simulation can be pro-
axis/simulated grammed with the last actual value read, whereas the path of the actual value is
master value generally outside the control of the NCU.
If, for master value simulation, i.e. depending on MD 30132:
IS_VIRTUAL_AX=1, the master value object is switched from actual-value cou-
pling to setpoint value coupling and a traversing command issued for the lead-
ing axis in the same interpolator cycle, the interpolator for the axis is initialized
by the NCK so that the master value produces a constant path in the first der-
ivation.
S Separation of IPO and Servo
S Actual values of the axis are recorded
S Setpoint values are produced by IPO but not passed on to the servo motor.
With MD 30130: CTRLOUT_TYPE[n] defines the setpoint value output of the
axis type.
0: Simulated axis
1: Standard real axis
2: FM-NC stepper motor
3: Free
4: Path setpoint coupling (virtual axis) for external axes

Offset and scaling The setpoint value for the following axis can be shifted and scaled.
The setting data below are used for this:
S SD 43102: LEAD_OFFSET_IN_POS
S SD 43104: LEAD_SCALE_IN_POS
S SD 43106: LEAD_OFFSET_OUT_POS
S SD 43108: LEAD_SCALE_OUT_POS
If (x) is a periodic curve table and this is interpreted as vibration, the offset and
scaling can also be interpreted as follows:
S SD 43102: LEAD_OFFSET_IN_POS[Y]
offsets the phase of the vibration
S SD 43104: LEAD_SCALE_IN_POS[Y]
S SD 43106: LEAD_SCALE_OUT_POS[Y]
affects the amplitude
S SD 43108: LEAD_OFFSET_OUT_POS[Y]
offsets the center point of the vibration
If the coupling is activated and synchronous, the new set position is approached
as soon as values are written to these setting data.
$SA_LEAD_SCALE_IN_POS[FA] $SA_LEAD_SCALE_OUT_POS[FA]
The input value is multiplied. The output value is multiplied.
Setting data effective outside table
definition, even in negative direction.
FA FA
LA LA
Table definition for example:
CTABDEF(FA,LA,CTABNR,1)
LA=0 FA=0
LA=100 FA=100
CTABEND
With IN, SCALE is not active outside TAB! With OUT, SCALE is active outside TAB!
Fig. 2-4 Master value coupling offset and scaling (multiplied)

$SA_LEAD_OFFSET_IN_POS[FA] $SA_LEAD_OFFSET_OUT_POS[FA]
The calculated position of the leading The calculated position of the following
axis is offset by the increment specified. axis is offset by the increment specified. If
the TAB is offset outside the FA LEADON
position, the coupling cannot be activated.
Setting data effective outside table
definition, even in negative direction.
FA FA
LA LA
With IN, OFFSET is not active outside TAB! With OUT, OFFSET active outside TAB!
Fig. 2-5 Master value coupling offset and scaling (with increment offset)
Reaction to stop All master-value-coupled following axes react to channel stop and MODE
GROUP stop.
Master-value-coupled following axes react to a stop due to end of program
(M30, M02) if they have not been activated by static synchronized actions
(IDS=...). (Note MD 20110: RESET_MODE_MASK: MD 20112:
START_MODE_MASK).
Leading axis and following axis must always interpolate in the same channel. A
following axis in a different channel cannot be coupled (axis exchange).
START and mode change enable a following axis in the master value coupling
that has been stopped.
RESET also enables a stopped following axis in the master value coupling. If
enabling by RESET is not desired, or if it is dangerous (e.g. because the follo-
wing axis is coupled to an external master value not controlled by the NC),
MD 20110: RESET_MODE_MASK should be programmed so that the master
value couplings are deactivated on RESET (2001H, i.e. set bit 13 to 1).
Axial functions Actual value coupling causes a position offset between the leading and follo-
wing axis. This is due to the deadtime in the position controller between the ac-
tual value of the leading axis and the following axis necessitated by the IPO
cycle.
By default, the position offset and following error are compensated by means of
linear extrapolation of the master value by this deadtime. Machine data
MD 37160: LEAD_FUNCTION_MASK Bit 0 = 0 deactivates deadtime com-
pensation for master value coupling.

Interface to axis A master-value-coupled following axis receives its setpoint values from curve
exchange tables. Overlaid programming of this axis is not possible in the part pro-
gram. Therefore, the master-value-coupled following axis is removed from the
channel in the same way as for axis exchange. This is carried out automatically
when the coupling is activated in the part program.
If the coupling is to be activated with synchronized actions, it must be prepared
beforehand with RELEASE, otherwise the alarm 16777 “Channel %1 block %2
master value coupling: Following axis %3 no longer available for leading axis
%4” is issued.
After a master value coupling has been deactivated, the former following axis
can be programmed again in the part program.
Spindles in the A spindle can only be used as the master-value-coupled following axis if it has
master value been switched to axis mode beforehand. The machine data parameter block of
coupling the axis drive then applies.
Example (activation via synchronized action):
SPOS=0
B=IC(0) ;Switch spindle to axis mode
RELEASE(Y) ;Release for synchronized action
ID=1 WHEN ($AA_IM[X]<–50) DO LEADON(B,X,2)
;Y is coupled to X using curve table no. 2.
2.3.2 Programming of master value coupling
Definition and A master value coupling is defined and activated simultaneously with the modal
activation language command for:
S Axis master value coupling

LEADON(FA, LA, CTABn)
– FA=following axis, as GEO axis name, channel or machine axis name
(X,Y,Z,...).
– LA=leading axis, as GEO axis name, channel or machine axis name
(X,Y,Z,...). Software axis possible (MD 30130 : CTRLOUT_TYPE=0)
– CTABn=number of the curve table 1 to 999
Example: LEADON(Y,X,1) FA=Y, LA=X, curve number=1
A REF. POINT is not required to activate the coupling. A defined FA cannot
be traversed in JOG mode (not even if the synchronism FINE/COARSE in-
terface signals are not yet present). An activated coupling must first be de-
activated with LEADOF before it can be activated again with LEADON, or
note MD 20112: START_MODE_MASK/MD 20110: RESET_MODE_MASK
Error message: 16792 “Too many couplings for axis/spindle”

COUPLING ON and synchronous with FA position

Leading axis Leading axis
Travel direction
Travel direction
COUPLING ON COUPLING ON
Following axis Following axis
The coupling is not activated The coupling is not activated

until the LA reaches the table area of the FA. until the LA reaches the table area of the FA.
Overlaying after COUPLING ON with handwheel DRF
Leading axis
In the coupled state, the following axis is

overlaid with AUTO DRF mode.
Override
Following axis
Fig. 2-6 Activating the master value coupling
Deactivation A master value coupling is deactivated with the model language command for:
S Axis master value coupling

LEADOF(FA, LA)
– FA=following axis, as GEO axis name, channel or machine axis name
(X,Y,Z,...).
– LA=leading axis, as GEO axis name, channel or machine axis name
(X,Y,Z,...). Software axis possible (MD 30130 : CTRLOUT_TYPE=0)
Example: LEADOF(Y,X) FA=Y, LA=X
When the axis master value coupling is deactivated, the following axis be-
comes the command axis and a stop command is generated implicitly for
the following axis. The stop command can be overwritten by another com-
mand with a synchronized action.
Note
Activating and deactivating the axis master value coupling with LEADON,
LEADOF is permissible both in the part program and in synchronized actions.
References: /FB/, S5, “Synchronized Actions”

Coupling type With the setting data SD 43100: LEAD_TYPE[LA] specifies the coupling type.
Switchover between actual and setpoint value coupling is possible at any time,
preferably in the idle phase.
LA: Leading axis as GEO axis name, channel axis name or machine axis name
(X,Y,Z,...)
0: Actual-value coupling (this type of coupling must be used for external
leading axes)
1: Setpoint value coupling (default)
2: Simulated master value (note virtual axis, not evaluated for FA)
Readable system The system variables of the master value can be read from the part program
variables of the and from synchronized actions:
master value
S $AA_LEAD_V[ax] ;Velocity of the leading axis
S $AA_LEAD_P[ax] ;Position of the leading axis
S $AA_LEAD_P_TURN ;Master value position: the part that is deducted in

the modulo reaction. The actual (non modulo-reduced) position of the mas-
ter value is $AA_LEAD_P_TURN+$AA_LEAD_P.
Readable and The velocities and positions of simulated master values (when
writable master $SA_LEAD_TYPE[ax]=2) can be written in and read from the part program and
value variables synchronized actions:
S $AA_LEAD_SV[ax] ;Simulated master value velocity per IPO cycle
S $AA_LEAD_SP[ax] ;Simulated position in MCS
Detecting 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)
3: Fine synchronism (acc. to MD 37210:
COUPLE_POS_TOL_FINE)
The information from system variable $AA_SYNC[ax] corresponds to the as-
signed VDI signals:
IS “Fine synchronism” DB 31, ... DBX98.0 and
IS “Coarse synchronism” DB 31, ... DBX98.1
Note
If the following axis is not enabled for travel it is stopped and is no longer
synchronous.

2.3.3 Behavior in AUTOMATIC, MDA, JOG modes
Activation A master value coupling is active depending on the settings in the part program
and in the machine data MD 20110: RESET_MODE_MASK and MD 20112:
START_MODE_MASK.
Manual mode Once a master axis coupling has been activated, traversal of the master axis
(e.g. with rapid traverse or incremental dimension INC1 ... INC10000) results in
a movement of the slave axis, allowing for the curve table definition.
Referencing A master-value-coupled following axis is to be referenced prior to activation of

the coupling. The following axis cannot be referenced when the coupling is acti-
vated.
Deletion of When deletion of distance-to-go is performed for a leading axis, all axes in the
distance-to-go associated, activated master value coupling are shut down.
Basic setting after No master value couplings are active after POWER ON (options with ASUB).
POWER ON
Behavior after NC Depending on the setting in MD 20110: RESET_MODE_MASK (bit 13) and
start/RESET MD 20112: STAR_MODE_MASK (bit 13), the behavior will be as follows:
S MD 20110: RESET_MODE_MASK=2001H && MD 20112:

START_MODE_MASK=0H
==> Master value coupling remains valid after RESET and START
S MD 20110: RESET_MODE_MASK=2001H && MD 20112:

START_MODE_MASK=2000H
==> Master value coupling remains valid after RESET and is invalidated
on START.
However, the master value coupling activated via IDS=... remains
valid.
S MD 20110: RESET_MODE_MASK=1H
==> Master value coupling is invalidated with RESET, regardless
of MD 20112: START_MODE_MASK
Master value coupling activated via IDS=... can only be
deactivated via an operator front panel reset and remains valid after
program end/reset (M30, M02).
S MD 20110: RESET_MODE_MASK=0H
==> Master value coupling remains valid after RESET and is
invalidated on START, regardless of MD 20112:
START_MODE_MASK.
However, master value coupling activated via IDS=... remains valid.
References: /FB/, K2, “Coordinate System, Axis Types, Axis Configurations, ...”
Activating, Master value couplings activated via a static synchronized action (IDS=...) are
deactivating S not deactivated during program start, regardless of the value of
MD 20110: RESET_MODE_MASK and MD 20112: START_MODE_MASK.
S not deactivated during program end reset (M30, M02), regardless of the
value of MD 20110: RESET_MODE_MASK.

Leading axis When a master value coupling is active, the interface signals (IS) of the leading
axis are applied to the appropriate following axis via the axis coupling, i.e.
S A feed control action of the leading axis is applied via the master value
coupling to effect an appropriate feed control action in the following axis.

Position Switchover of the position measuring system for the leading and following axes
measuring system is not inhibited for an active coupled-axis grouping. The coupling is not invali-
1/2 (DB31, ... dated.
DBX1.5 / 1.6) Recommendation: Switch the measuring system over when the coupling is
deactivated.
2.3.5 Special characteristics of the axis master value coupling

function
Control dynamics Depending on the application in question, it may be advisable to match the posi-
tion controller parameter settings (e.g. servo gain factor) of the leading axis and
following axis in an axis grouping. It may be necessary to activate other para-
meter sets for the following axis. The dynamics of the following axis should be
the same or better than those of the leading axis.
Status of coupling See Subsection 2.1.4
Actual value The display of the actual value is updated for all axes of in a master-value-
display coupled axis grouping (only real axes) coupled via a master value.
Interpolation When the movement defined in the curve table is interpolated, an axis position
and axis speed are calculated for a master value and its speed.
Archiving The curve tables generated by the definition of motion sequences are stored in
the battery-backed memory.
The curve tables are not lost when the control is switched off.
These functions have no effect on cyclic machines because they are performed
without operator actions. Nor does it make sense to perform automatic (re-)posi-
tioning via the NC with external master values.

2.4 Electronic gear EG (SW 5 and higher)
Function The “Electronic gear” function can be used to interpolate the motion of a follo-
wing axis FA as a function of up to five leading axes LA. The relationship be-
tween each leading axis and the following axis is defined by a coupling factor.
The following axis motion components derived in this manner from the individ-
ual leading axis motion components have an additive effect.
FAset = SynPosFA + (LA1-SynPosLA1)*CF1 +... +(LA5-SynPosLA5)*CF5
Where:
SynPosFA, SynPosLAi from EGONSYN call (see below)
FAset Partial setpoint of following axis
LAi Setpoint or actual value of ith leading axis
(depends on coupling type, see below)
KFi Coupling factor of ith leading axis (see below)
All paths are referred to the basic coordinate system BCS.
When an EG axis grouping is activated, it is possible to synchronize the leading
axes and following axis in relation to a defined starting position.
A gear grouping can be:
S defined,
S activated,
S deactivated,
S deleted
from the part program.
Expansions in In SW 6 and higher, the influence of each of the 5 leading axes can be specified
SW 6 and higher using a curve table (see Section 2.2) as an alternative to a gear ratio (CF=nu-
merator/denominator).
It is thus possible for each curve (except for the special case of a straight line)
for the leading axis to influence the following axis in a non-linear manner. The
function can only be used with EGONSYN.
SW 6.3 and higher:
The function EG with curve tables can be activated with EGON.
SW 6.4 and higher:
The function EGONSYNE is available for approaching the synchronized posi-
tion of the following axis with a specified approach mode.
For special applications, it may be advisable configure the position controller as
a PI controller.
Caution
! Knowledge of the control technology and measurements with servo trace are
an absolute prerequisite for using this function.

References: See /IAD/. Installation and Start-Up Guide

/FB/, G2, Velocities, Setpoint/Actual Value Systems, Control
Coupling type The following axis motion can be derived from either of the following:
S Setpoints of leading axes

S Actual values of leading axes
The reference is set in the definition call for the EG axis grouping:
EGDEF (For details see Subsection 2.4.2).
Coupling factor The coupling factor must be programmed for each leading axis in the grouping.
It is defined using the numerator/denominator.
The numerator and denominator coupling factor values are specified in the follo-
wing activation calls for each leading axis:
EGON
EGONSYN
EGONSYNE
(For more details, see Subsection 2.4.3).
Number of EG axis Several EG axis groupings can be defined at the same time. The maximum
groupings possible number of EG axis groupings is set in
MD 11660: NUM_EG.
The maximum permissible number of EG axis groupings is 31.
Note
The option must be enabled.
EG cascading The following axis of an ELG can be the leading axis of another EG. Chapter 6,
page 3/M3/6-103 contains a detailed example of this.

LA1
Z
N
LA2 Cascading also possible

Z
N LAK1
Z/
N
LA3 LAK2
+
Z Z/
N N
LAK3
+
Z/
N
LA4 LAK4
Z Z/
N
N LAK5
“Software” axis Z/
N
LA5
Z
N
Fig. 2-7 Block diagram of an electronic gear
Synchronized To start up the EG axis grouping, you can first request an approach to defined
positions positions for the following axis.
Synchronized positions are programmed with:
EGONSYN (see below for details)
EGONSYNE (extended EGONSYN call).
Synchronization If a gear is started with EGON(), EGONSYN() or EGONSYNE() see below, the
actual position of the following axis is only identical to the setpoint position de-
fined by the rule of motion of the gear specified by the positions of the leading
axes at this time if the part program developer makes sure that it is. The control
then uses the motion of the following axis to ensure that the setpoint and actual
positions of the following axes correspond as quickly as possible it the leading
axes are moved further. This procedure is called synchronization. After synchro-
nization of the following axis, the term synchronous gearing is used.

Activation An electronic gear can be activated in two different ways:

response
1. On the basis of the axis positions that have been reached up to now in the
course of processing the command to activate the EG axis group is issued
without specifying the synchronizing positions for each individual axis.
EGON see 2.4.3.
2. The command to activate the EG axis group specifies the synchronized
positions for each axis. From the point in time when these positions are
reached, the EG should be synchronized. EGONSYN see Subsection 2.4.3.
3. The command to activate the EG axis group specifies the synchronized
positions and approach mode for each axis. From the point in time when
these positions are reached, the EG should be synchronized. EGONSYNE
see 2.4.3.
Synchronization With EGON(), no specifications are made for the positions at which the following
with EGON axis is to be synchronized. The control activates the EG and issues the signal
“Synchronized position reached”.
Synchronization With EGONSYN(), the positions of the leading axes and the synchronization
for EGONSYN position for the following axis are specified by the command.
– The control then traverses the following axis with just the right accelera-
tion and velocity to the specified synchronization position so that the
following axis is in position with the leading axes at its synchronization
position.
– If the following axis is stationary: If IS “Feed stop/spindle stop” DB 31,
... DBX 4.3 is set for the following axis, the following axis is not set in
motion by EGON or EGONSYN. A motion command is sent for the follo-
wing axis and the block change is disabled until the axis-specific feed is
enabled.
EGOSYN is interrupted by RESET and converted to EGON. The pro-
grammed synchronized positions are deleted.
– If the following axis is not stationary: IS “Feed stop/spindle stop” DB 31,
... DBX 4.3 has no direct effect on the electronic gear. As before, it does
have an indirect effect on the leading axes, if these are located in the
same channel.
– Nothing has been implemented for the channel-specific feed enable
and for the override. The override continues to have no direct effect on
the electronic gear. The axis-specific feed enable is set depending on
the current override setting.
Synchronization With EGONSYNE(), the positions of the leading axes and the synchronization
for EGONSYNE position for the following axis are specified by the command.
The control moves the following axis to the synchronized position according to
the program approach mode.

Synchronization
abort with
The EGONSYN/EGONSYNE command is aborted under the following
EGONSYN and conditions and changed to an EGON command
EGONSYNE
– RESET
– Axis switches to follow-up
The defined synchronization positions are ignored.
The synchronization monitoring function continues to refer to the synchroniza-
tion positions.
The position synchronization abort triggers alarm 16774
The alarm can be suppressed with machine data MD 11410

SUPPRESS_ALARM_MASK Bit31 = 1.
Synchronism The synchronism of the gear is monitored in each interpolator cycle on the basis
monitoring of the actual values of the slave and leading axes. For this purpose, the actual
values of the axes are computed according to the rule of motion of the coupling.
The difference in synchronism is the difference between the actual value of
the following axis and the value calculated from the leading axis actual values
according to the rule of motion. The difference in synchronism can be polled
from within the part program. See below.
Changes in the The mass inertia of the axis systems during acceleration can cause dynamic
difference in fluctuations in the difference in synchronism. The difference in synchronism is
synchronism checked continuously and the tolerance values in the machine data used to
produce interface signals.
The difference in synchronism is compared with machine data:
MD 37200: COUPLE_POS_TOL_COARSE,
MD 37210: COUPLE_POS_TOL_FINE.
Depending on the result of this comparison, the following signals are set:
IS “Fine synchronism” DB 31, ... DBX 98.0
IS “Coarse synchronism” DB 31, ... DBX 98.1
Difference As long as the difference in synchronism is greater than MD 37200: COU-

> ..TOL_COARSE PLE_POS_TOL_COARSE, the gear is not synchronized and neither IS “Coarse
synchronism” DB 31, ... DBX 98.1 nor IS “Fine synchronism” DB 31, ...
DBX 98.0 is active. Instead, IS “Synchronization in progress”
DB 31, ... DBX 99.4 is displayed.
Difference If the difference in synchronism is less than MD 37200: COU-

< ..TOL_COARSE PLE_POS_TOL_COARSE, then IS “Coarse synchronism” “ DB 31, ... DBX 98.1
is active at the interface and IS “Synchronization in progress” DB 31, ...
DBX 99.4 is canceled.
Difference If the difference in synchronism is less than MD 37210: COU-

< ..TOL_FINE PLE_POS_TOL_FINE, the IS “Fine synchronism” DB 31, ... DBX 98.0 is active
at the interface.

Difference in Deviation in synchronism for EG cascades is the deviation of the actual position
synchronism for of the following axis from setpoint position that results fro the rule of motion for
EG cascades SW 6 the real axes involved.
Example:
LA1
LA1 FA1
EG1
FA2
EG2
FA3
EG3
LA2 LA2
FAi → Following axis from EGi LAi → Real leading axisi
Fig. 2-8 Three-level EG cascade
According to the definition given, the difference in synchronism of following axis

FA3 in the example below is determined by the value of following axis FA3Act
and the value of leading axis FA2Act and LA2Act, but not by LA1Act and FA1Act.
If FA2 is not a real axis, the actual value FA2Act is not available. In this case, the
setpoint of the axis derived solely from the leading axis value FA1Act must be
used instead of the actual value of the setpoint of the axis.
Other signals If an EGON(), EGONSYN() or EGONSYNE() block is encountered in the main

run, the signal “Coupling active” is set for the following axis. If the following axis
is only overlaid, the signals “Coupling active” and “Axis override” are set. If
EGON(), EGONSYN() or EGONSYNE() is active and the following axis is also
overlaid, the signals “Coupling active” and “Axis override” are also set.
IS “Following spindle active” DB31, ... DBX 99.1 Coupling active,
IS “Overlaid motion” DB31, ... DBX98.4 Axis is overlaid,
IS “Enable following axis override” DB31, ... DBX26.4
In the case of the commands EGON() and EGONSYNE(), the “Enable following
axis override” signal must be present for the gear to synchronize to the speci-
fied synchronization position for the following axis. If it is not present,
alarm 16771 “Override movement not enabled” is issued. If the signal is pres-
ent, the following axis travels to the synchronized position with the calculated
acceleration and at the velocity set for the approach mode.

Further monitoring Machine data MD 37550: EG_VEL_WARNING

signals can be used to specify a % share of the velocities and accelerations in
MD 32000: MAX_AX_VELO
MD 32300: MAX_AX_ACCEL
with reference to the following axis, at which interface signals:
IS “Velocity warning threshold” DB 31, ... DBX 98.5
IS “Acceleration warning threshold” DB 31, ... DBX 98.6
are generated. The monitoring signals can be used as trigger criteria for emer-
gency retraction. See 2.6.5.
Machine data MD 37560: EG_ACC_TOL see Chapter 4 can be used to define a
% share in relation to
MD 32300: MA_MAX_AX_ACCEL
of the following axis. If this value is exceeded, the signal
IS “Axis accelerating” DB 31, ... DBX 99.3
is generated.
Scanning the The result of the synchronism difference calculation can be read as an amount
synchronism in the part program with system variable $VA_EG_SYNCDIFF. The relevant
difference value value with sign is available from SW 6.4 in the system variables
$VA_EG_SYNCDIFF_S. The following meanings apply:
– Negative value (leading axis and following axis in positive direction of
movement):
The following axis is trailing its calculated setpoint position.
– Positive value (leading axis and following axis in positive direction of
movement):
The following axis is ahead of its calculated setpoint position (over-
shoot).
The amount of the synchronization difference with sign corresponds to the sys-
tem variables without sign from $VA_EG_SYNCDIFF.
$VA_EG_SYNCDIFF[ax] = ABS($VA_EG_SYNCDIFF_S[ax])
Block change When an EG axis grouping is activated, it is possible to specify the conditions
mode under which a part program block change is to be executed:
Data entries are made using string parameters with the following meanings:
“NOC” Immediate block change
“FINE” Block change if “Fine synchronism” is present.
“COARSE” Block change if “Coarse synchronism” is present
“IPOSTOP” Block change if “Setpoint synchronism” is present.
Note
When programmed in activation calls EGON, EGONSYN, EGONSYNE, each
of the above strings can be abbreviated to the first two characters.
If no block change has been defined for the EG axis group and none is currently
specified, “FINE” applies.

2.4.1 Overview of EG features in SW 6 (summary)
EG An EG has:
a) max. 5 leading axes
b) 1 following axis
c) max. 5 associated curve tables or
d) max. 5 associated coupling factors (Z/N) or
e) combination of curve tables and coupling factors for max.
5 leading axes
Following axis A following axis can:

a) identify the EG uniquely
b) be the leading axis of a different EG (cascading)
c) not simultaneously be the leading axis of the same EG (no feedback)
d) not be a command axis
Leading axis A leading axis can:

a) be used once in the same EG
b) can be used as leading axis in several EGs
c) be a PLC axis
d) be a command axis
Leading and The following are permissible as leading and following axes:
following axis
Real Simulated
Linear axis
Rotary axis
Modulo-corrected rotary axis
Type of coupling For each leading axis, the EG may refer to:
a) the actual value or
b) the setpoint
Reference system The calculations are made in the basic coordinate system BCS.
Synchronized Synchronized actions (see Reference: /FBSY/) are not supported.

actions

Block search EG commands are ignored in the case of block search.
Mode change In the case of a mode change:

a) the EG status and
b) the EG configuration are retained
RESET For RESET:

End of part On end of a part program:

program
Warm start and In the case of a warm start per MMC/HMI operation and cold start (POWER
cold start OFF/ POWER ON)
a) the EG status is not and
b) the EG configuration are not retained
Violated If the synchronism conditions are violated, all axes are stopped. I(n this case,
synchronism their positions checked by the control up to the stop. Extended stop and retract
conditions (ESR) may be active in this situation see Section 2.6.
Power-up The EG may be powered up:

conditions of EG
a) at the current axis positions (EGON) or
b) at the synchronized positions to be specified (EGONSYN).
c) at synchronized positions to be specified with details of an approach
mode (EGONSYNE)
Block change In the EG activation commands (EGON, EGONSYN, EGONSYNE), you can
behavior specify for which condition (with respect to synchronism) the next block of the
part program is to be processed. Options:
a) NOC No condition.
b) FINE Sum of the difference between the setpoint and actual positions of
all axes is less than MD 37210: COUPLE_POS_TOL_FINE
c) COARSE Sum of the difference between the setpoint and actual positions
of all axes is less than MD 37200: COUPLE_POS_TOL_COARSE
d) IPOSTOP When the specified end positions of the axes is reached.

2.4.2 Defining an EG axis grouping
Note
The following definition commands and switching instruction commands for the
electronic gear must be grouped in a single block in a part program.
All electronic gear commands trigger a preprocessing stop, with the exception
of
– EGON
– EGONSYN
– EGONSYNE activation commands.
Definition and The definition described below and the activation are separate processes. An
activation activation is not possible unless it has been defined previously.
Definition of an An EG axis grouping is defined through the input of the following axis and at
EG axis grouping least one leading axis (up to five masters are allowed), each with the relevant
coupling type:
EGDEF(following axis, leading axis1, coupling type1, leading axis2, coupling
type 2,...)
The coupling type does not need to be the same for all leading axes and must
be programmed separately for each individual master.
Coupling type: Evaluate actual value of leading axis: 0
Evaluate setpoint of leading axis: 1
The coupling factors are preset to zero when the EG axis grouping is defined.
As such, the grouping has no effect on the following axis until it is activated.
(See EGON, EGONSYN, EGONSYNE).
Preconditions for defining an EG axis grouping:
No existing axis coupling may already be defined for the following axis. (If nec-
essary, an existing coupling must be deleted first with EGDEL.)
EGDEF triggers a preprocessing stop with an error message.
For an example of how to use the EG function for gear hobbing, please see
Section 6.2.
EGDEF The gear definition with EGDEF should also be used unaltered when one or
more leading axes affect the following axis via a curve table.
The variant to featuring the addition of a non-linear coupling via curve tables is
illustrated in an extended example in Subsection 6.2.2.

2.4.3 Activating an EG axis grouping
Without The EG axis grouping is switched on selectively without synchronization

synchronization with:
EGON(FA, block change mode, LA1, Z1, N1, LA2 , Z2, N2,..LA5, Z5, N5.)
The coupling is activated immediately.
Where:
FA Following axis
The next block is switched in according to the block change mode:
“FINE” Block change on “Fine synchronism”
“COARSE” Block change on “Coarse synchronism”
“IPOSTOP” Block change on setpoint synchronism
LAi Axis identifier for leading axis i

Zi Numerator for coupling factor for leading axis i
Ni Denominator for coupling factor for leading axis i
Only the leading axes previously specified with the EGDEF command may be
programmed in the activation line. At least one following axis must be pro-
grammed.
The positions of the leading axes and following axis at the instant the grouping
is switched on are stored as “Synchronized positions”. The “Synchronized
positions” can be read with the system variable $AA_EG_SYN.
With The EG axis grouping is switched on selectively with synchronization with:

synchronization
1. EGONSYN EGONSYN(FA, block change mode, SynPosFA, LAi, SynPosLAi, Z_LAi, N_LAi)
where:
FA Following axis
Block change mode:
SynPosFA Synchronized position of following axis

LAi: Axis identifier for leading axis i
SynPosLAi: Synchronized position for leading axis i
Zi: Numerator for coupling factor for leading axis i
Ni: Denominator for coupling factor for leading axis i
Note
The parameters indexed with i must be programmed for at least one leading
axis, but for no more than five.
Only leading axes previously specified with the EGDEF command may be pro-
grammed in the activation line.

Through the programmed “Synchronized positions” for the following axis (Syn-
PosFA) and for the leading axes (SynPosLA), positions are defined for which
the axis grouping is interpreted as synchronous. If the electronic gear is not in
the synchronized state when the grouping is switched on, the following axis
traverses to its defined synchronized position.
If the axis grouping includes modulo axes, their position values are reduced in
the modulo, thereby ensuring that they approach the fastest possible synchro-
nized position. (This is what is known as relative synchronization: e.g. the next
tooth gap after “centering”).
The synchronized position is only approached if IS “Enable following axis over-
ride” DB30 (+ axis number), DBX 26.4 is issued for the following axis. Instead
the program is stopped at the EGONSYN block and the self-clearing
alarm 16771 is issued until the above mentioned signal is set.
2. EGONSYNE EGONSYNE(FA, block change mode, SynPosFA, approach mode, LAi,

SynPosLAi, Z_LAi, N_LAi)
where:
FA Following axis
Block change mode:
SynPosFA Synchronized position of following axis

Approach mode:
“NTGT” NextToothGapTime optimized
Next gap is approached time-optimized
(default setting effective unless specified otherwise)
“NTGP” NextToothGapPath optimized
Next gap approach path-optimized
“ACN” AbsoluteCoordinateNegative, absolute dimension
Rotary axis travels in negative direction of axis motion
“ACP” AbsoluteCoordinatePositive, absolute dimension
Rotary axis travels in positive direction of axis motion
“DCT” DirectCoordinateTime optimized, absolute dimension
Rotary axis travels time-optimized to
programmed synchronized position
“DCP” DirectCoordinatePath optimized, absolute dimension
Rotary axis travels path-optimized to
programmed synchronized position
LAi: Axis identifier for leading axis i

SynPosLAi: Synchronized position of leading axis i
Zi: Numerator for coupling factor for leading axis i
Ni: Denominator for coupling factor for leading axis i

Note
The parameters indexed with i must be programmed for at least one leading
axis, but for no more than five.
The function is active only for modulo following axes that are coupled to modulo
leading axes.
Tooth gap The tooth gap is defined as 360 degrees * Zi / Ni

Example:
EGONSYNE(A, “FINE”, FASysPos, “Traversing mode”, B, 0, 2, 10)
Tooth gap: 360*2/10 = 72 (degrees)
Approach In this case, the time-optimized and path-optimized traversing modes are identi-
response with FA cal.
at standstill The table below shows the target positions and traversed paths with direction
marker (in brackets) for the particular approach modes:
Programmed Position of Traversing Traversing Traversing Traversing

synchronized the following mode NTGT/ mode DCT/ mode ACP mode ACN
position Fa- axis before NTGP DCP
SysPos EGONSYNE
110 150 182 (+32) 110 (–40) 110 (+320) 110 (–40)
110 350 326 (–24) 110 (+120) 110 (+120) 110 (–240)
130 0 346 (–14) 130 (+130) 130 (+130) 130 (–230)
130 30 58 (+28) 130 (+100) 130 (+100) 130 (–260)
130 190 202 (+12) 130 (–60) 130 (+300) 130 (–60)
190 0 334 (–26) 190 (–170) 190 (+190) 190 (–170)
230 0 14 (+14) 230 (–130) 230 (+230) 230 (–130)
Approach
response for
The following axis moves at almost maximum velocity in the positive direction
moving FA when the coupling is activated by EGONSYNE. The programmed synchronized
position of the following axis is 110, the current position 150. This produces the
two alternative synchronized positions 110 and 182 (see table above).
In the case of traversing mode NTGP (path-optimized), synchronized posi-
tion 182 is selected independent of the current velocity. This has the shortest
distance from the current position of the following axis. Traversing mode NTGT
(time-optimized) considers the current velocity of the following axis and pro-
duces a deceleration on account of the limit for the maximum axis velocity to
reach synchronism in the shortest possible time (see Figure).

NTGP
v
max.
NTGT
Fig. 2-9 Reaching the next tooth gap, FA path-optimized (top) vs.
time-optimized (bottom)
Sample notations
EGONSYNE(A, “FINE”, 110, “NTGT”, B, 0, 2, 10)
couple A to B, synchronized position A = 110, B = 0, coupling factor 2/10, ap-
proach mode = NTGT
EGONSYNE(A, “FINE”, 110, “DCT”, B, 0, 2, 10)
couple A to B, synchronized position A = 110, B = 0, coupling factor 2/10, ap-
proach mode = DCT
EGONSYNE(A, “FINE”, 110, “NTGT”, B, 0, 2, 10, Y, 15, 1, 3)
couple A to B, and Y, synchronized position A = 110, B = 0, Y = 15,
coupling factor for B = 2/10, coupling factor for Y = 1/3,
approach mode = NTGT
With synchr. The syntax specified above applies with the following different meanings. If a
curve table is used for one of the leading axes, then:
Ni The numerator of the coupling factor for linear couplings must
be set to 0. (nominator 0 would be illegal for linear
couplings) Nominator zero tells the control that
Zi Should be interpreted as the number of the curve table to
be used. The curve table with the specified number must
already be defined at POWER ON in accordance with
Section 2.2.
LAi The leading axis specified corresponds to the one specified
for coupling via coupling factor (linear coupling).

2.4.4 Deactivating an EG axis grouping
Variant 1 An active EG axis grouping can be deactivated in a number of ways.
EGOFS(following axis)
The electronic gear is deactivated. The following axis is braked to standstill.

The call triggers a preprocessing stop.
Variant 2 The following parameterization of the command makes it possible to selec-

tively control the influence of individual leading axes on the motion of the follo-
wing axis.
EGOFS(following axis, leading axis 1, ... leading axis 5)
Note
At least one leading axis must be specified.
The influence of the specified leading axes on the following axis is selectively
inhibited.
This call triggers a preprocessing stop.
If the call still includes active leading axes, then the slave continues to operate
under their influence. If the influence of all leading axes is excluded by this
method, then the following axis is braked to a standstill.
If the command EGONSYN is deactivated selectively, no axis movement is per-
formed.
Variant 3 EGOFC(following spindle)

The electronic gear is deactivated. The following spindle continues to traverse
at the speed/velocity that applied at the instant of deactivation.
The call triggers a preprocessing stop.
Note
Call only available for following spindles.
A spindle identifier must be programmed for EGOFC.
2.4.5 Deleting an EG axis grouping
An EG axis grouping must be switched off as described in Subsection 2.4.4

before its definition can be deleted.
EGDEL(following axis)

The coupling definition of the axis grouping is deleted.

Additional axis groupings can be defined using EGDEF until the maximum num-
ber of simultaneously activated axis groupings is reached.
This call triggers a preprocessing stop.
2.4.6 Interaction between revolutional feedrate (G95) and electronic

gear
The FPR( ) part program command can be used to specify the following axis of
an electronic gear as the axis, which determines the revolutional feedrate.
Please note the following with respect to this command:
S The feedrate is determined by the setpoint velocity of the following axis of

the electronic gear.
S The setpoint velocity is calculated from the speeds of the leading spindles
and modulo axes (which are not path axes) and from their associated cou-
pling factors.
S Velocity components from other leading axes and overlaid motions of the
following axis are not taken into account.
References: /V1/, Feeds
2.4.7 Response to POWER ON, RESET, operating mode change, block

search
No coupling is active after POWER ON.

The status of active couplings is not affected by RESET or operating mode
switchover.
For more detailed information about special states, please see Subsec-
tion 2.4.1.
Up to SW 6.4 during block searches, commands for switching, deleting and
defining the electronic gear are not executed or collected but are skipped.
Block search with Certain active axis couplings can be simulated in the block search. As this does
certain simulations not apply to all possible coupling types, it is also possible to skip areas in which
block searches cannot be made with an “automatic interrupt pointer”. The elec-
tronic gear can be simulated for all block search types under the following con-
ditions:
S Simulation always takes place with setpoint coupling.

S No cross-channel leading axes may be disabled.
S Axis movements for which all real positions are known to the NC.
References: /K1/, Mode Group, Channel, Program Operation, Reset
Response

2.4.8 System variables for electronic gear
Application The following system variables can be used in the part program to scan the
current states of an EG axis grouping and initiate appropriate reactions if neces-
sary:
Table 2-1 System variables, R means: Read access possible
Name Type Access Preproces- Meaning, value Cond. index

sor stop
Part Sync Part Sync
prog. act. prog. act.
$AA_EG_ INT R R Type of coupling: Axis identifier
TYPE[a,b] 0: Actual-value coupling a: Following axis
(SW 5.2 and >) 1: Setpoint coupling b: Leading axis
$AA_EG_ REAL R R Numerator of coupl. factor KF Axis identifier
NUMERA[a,b] KF = numerator/denominator a: Following axis
(SW 5.2 and >) Default: 0 b: Leading axis
–––––– ––––
(SW 6 and >) Number of curve table when
$AA_EG_DENOM[a,b] is 0.
$AA_EG_ REAL R R Denominator of coupl. fact. KF Axis identifier
DENOM[a,b] KF = numerator/denominator a: Following axis
(SW 5.2 and Default: 1 b: Leading axis
higher) Denominator must be positive.
––––
––––– Denominator is 0 if, instead of
(SW 6 and the numerator
higher) $AA_EG_NUMERA[a,b], the
number of a curve table is spe-
cified.
$AA_EG_ REAL R R Synchronized position for spe- Axis identifier
SYN[a,b] cified leading axis a: Following axis
(SW 5.2 and >) Default: 0 b: Leading axis
$AA_EG_ REAL R R Synchronized position for spe- Axis identifier
SYNFA[a] cified following axis a: Following axis
(SW 5.2 and Default: 0
higher)
$AA_EG_BC[a] STRING R R Block change criterion for Axis identifier
EG activation calls: EGON, a: Following axis
EGONSYN:
“NOC” Immediate
“FINE” Fine synchronism
“COARSE” Coarse
synchronism
“IPOSTOP” Setpoint
synchronism
$AA_EG_ INT R R Number of leading axes de- Axis identifier
NUM_LA[a] fined with EGDEF. 0 if no axis a: Following axis
has been defined as a follo-
wing axis with EGDEF.
$AA_EG_ AXIS R R Axis identifier of leading axis Axis identifier
AX[n,a] whose index n has been speci- n: Index of
fied. leading axis in
EG grouping
0 ... 4
a: following axis

Table 2-1 System variables, R means: Read access possible
Name Type Access Preproces- Meaning, value Cond. index

sor stop
Part Sync Part Sync
prog. act. prog. act.
$AA_EG_ BOOL R R Determine the state of a lead- Axis identifier
ACTIVE[a,b] ing axis at POWER ON: a: Following axis
(SW 5.2 and 0: Deactivated b: Leading axis
higher) 1: Activated
$VA_EG_ REAL R R R Actual value of synchronism Axis identifier
SYNCDIFF[a] difference. The comparison a: Following axis
with MD $MA_COU-
PLE_POS_TOL
_COARSE and _FINE supplies
interface signals.

2.5 Dynamic response of following axis

2.5.1 Programmable axis couplings
Couplings The previous subsections (Descriptions of Functions for S3 and T3) describe
axis couplings in which a following axis is moved depending on one or more
leading axes/spindles. The response of these coupled axes can be controlled
by the user both via machine data and using program commands.
Table 2-2 Programming of axis couplings is possible in
Coupling In part program In synchronized actions

Tangential correction x
Coupled motion x x
Master value coupling x x
Electronic gear x
Machine data can be used to specify general limits for the following axis:
MD 32000: MAX_AX_VELO max. axis velocity
MD 32300: MAX_AX_ACCEL max. axis acceleration
Reducing or In SW 6.4 and higher, the dynamics limits specified above may be reduced or
increasing increased using commands from the part program or from the synchronized
dynamics limits actions.
The acceleration characteristics set and the dynamics offsets set change the
duration for synchronization between following and leading axes during accel-
eration operations as follows:
S “Dynamics reduction” increases the synchronism difference

Monitoring from master to slave value may exceed the permissible range by
a longer time.
S “Dynamics increase” reduces the synchronism difference

Monitoring from master to slave value may exceed the permissible range by
a shorter time.
Important
! The user must restore the technological synchronization between machining
and the synchronism difference.

Relevant limits in The share in percent that is considered is specified by the language command:
percent
VELOLIMA[FA]
ACCLIMA[FA]
where FA is the following axis. Both an increase (100 < values 200) and a
reduction (1 value < 100) is possible. Values outside the area of validity are
rejected with alarm 14811.
The relevant limits are then:
MD Command Relevant limit for

32000: VELOLIMA[Ax] Axial velocity of FA:
MAX_AX_VELO[Ax] MAX_AX_VELO[A] * VELOLIMA[A]
32300: ACCLIMA[Ax] Axial acceleration of FA:
MAX_AX_ACCEL[Ax] MAX_AX_ACCEL[A]*ACCLIMA[A]
Only BRISKA, i.e. abrupt axis acceleration, is available for the following axis.
Acceleration modes SOFTA and DRIVEA are not available for the following
axes described.
Furthermore, it is also possible to configure the positions controller as a PI
controller.
Caution
! This option can only be used in conjunction with servo trace and with the
appropriate technical knowledge of the control.
References: See /IAD/. Installation and Start-Up Guide

/FB/, G2, Velocities, Setpoint/Actual Value Systems, Control
Power On The values for VELOLIMA and ACCLIMA are initialized to 100%.
Mode change The dynamic offsets remain valid on transition from AUTO => JOG.
RESET/end of Channel-specific dynamic values for Reset, i.e. the values of VELOLIMA and
program ACCLIMA are set via MD 22410: F_VALUES_ACTIVE_AFTER_RESET.
MD 22410: F_VALUES_ACTIVE_AFTER_RESET=FALSE, the values for VE-
LOLIMA(FA) and ACCLIMA(FA) are set to 100%.
MD 22410: F_VALUES_ACTIVE_AFTER_RESET=TRUE, the values set last
are retained. This response also applies for dynamics offsets set using static
synchronized actions.
If this is not the case despite the setting F_VALUES_ACTIVE_AFTER_RE-
SET=FALSE, the dynamics offset must be applied again using an IDS synchro-
nized action or permanent writing.
References: /FBSY/, Synchronized Actions

2.5.2 Examples for limits for ELG and master value coupling
Electronic gear Axis 4 is coupled to X via an electronic gear coupling. The acceleration capabil-
ity of the following axis is limited to 70% of maximum acceleration. The maxi-
mum permissible velocity is limited to 50% of maximum velocity. After POWER
ON, the maximum permissible velocity is set to 100% again.
......
N120 ACCLIMA[AX4]=70
N130 VELOLIMA[AX4]=50 ; Reduced velocity
.....
N150 EGON(AX4, “FINE”, X, 1, 2)
.....
N200 VELOLIMA[AX4]=100 ; Full velocity
.....
Master value Axis 4 is coupled to X via a master value coupling. The acceleration capability
coupling of the following axis is limited to 80% of maximum acceleration.
......
N120 ACCLIMA[AX4]=80 ; 80 %
N130 LEADON(AX4, X, 2) ; Activate coupling
.....
Master value Axis 4 is coupled to X via a master value coupling. The acceleration response is
coupling with limited to 80% by static synchronized action 2 from position 100.
synchronized ......
action N120 IDS=2 WHENEVER $AA_IM[AX4] > 100 DO ACCLIMA[AX4]=80
N130 LEADON(AX4, X, 2)
.....

2.5.3 System variables for programmable following axis dynamics
For geometry axis, channel axis, machine axis and spindle axis types, the follo-
wing readable system variables are available in part programs and synchro-
nized actions:
Preprocessing
Table 2-3 System variables, programmable following axis dynamics
Identifier Data type Meaning Unit

$PA_ACCLIMA[n] REAL Acceleration offset set with %
ACCLIMA[Ax]
$PA_VELOLIMA[n] REAL Velocity offset set with %
VELOLIMA[Ax]
Main run Reading the main run variable implicitly triggers a preprocessing stop.
Identifier Data type Meaning Unit

$AA_ACCLIMA[n] REAL Acceleration offset set with %
ACCLIMA[Ax]
$AA_VELOLIMA[n] REAL Velocity offset set with %
VELOLIMA[Ax]

2.6 Extended stop/retract: ESR
The “Extended stop and retract” function ESR allows the operator to choose
how to react to definable error sources, reducing the risk of causing damage to
the workpiece and protecting man and machine against injury or damage.
Introduction In contrast to conventional milling/turning/grinding, gear teeth machining has an

“electronic coupling” among several axes, which cannot be supported or re-
placed by a relevant “mechanical coupling”; nevertheless, crucial for fault-free
manufacture of the workpiece to be produced. Unlike a simple rotating milling
tool, for example, which does not remove any more stock without an axis feed-
forward movement, the friction between the gear cutting (non-machined part)
teeth and the gear hobbing (worm-shaped tool) is such that the teeth of the gear
hobber would “eat their way into” the material if the electronic coupling failed.
Especially in the case of gear cutting (gear hobbing, generating grinding, gear
shaping) expensive tools and workpieces are in use and must not be destroyed
in the event of such a fault. Better protection for man and machine is also pro-
vided if flaying cuttings are avoided from the outset.
Solution concept The hazard conditions in the control are checked cyclically (sources of disrup-
tion) and linked (synchronized actions). Actions are triggered when reasons for
initiating a separation of the tool and the workpiece are detected under the sup-
plementary conditions for temporary upholding of the axis coupling in the elec-
tronic gear. These actions can be one or more of the ESR reactions described
below.
ESR reactions In SW 5 and lower, “Extended stop and retract” provides the following partial
reactions:
S “Extended stop”
(drive-independent or externally driven) is a defined, delayed stop.
S “Retract”
(drive-independent or externally driven) means “escape” from the machining
plane to a safe retraction position. This is to avoid a potential collision be-
tween tool and workpiece.
S “Generator operation”
(drive-independent) Generator operation is possible in the event that the DC
link power is insufficient for safe retraction. As a separate drive operating
mode, it provides the necessary power to the drive DC link for carrying out
an orderly “Stop” and “Retract” in the event of a power outage or similar fail-
ure.
S “Extended stop” (NC-controlled) is a defined, “delayed” and “contour-

friendly” stop.

S “Retract” (NC-controlled) means a “retreat” from the machining plane to a

safe retracted position. This is intended to prevent any danger of collision
between the tool and the workpiece. Gear cutting, for example, means a
“Retraction from tooth gaps just machined”.
All reactions are independent of each other and can be used as gearing in con-
junction with other production. In this way, it is possible to configure retractions
and temporary continuation of axis couplings so that they can be executed in
parallel prior to standstill. In this case, a further axis in generator mode can
maintain the DC link voltage.
Interplay of NC-controlled reactions are triggered via channel-specific system variable

NC-controlled $AC_ESR_TRIGGER (not to be mistaken for NC-global system variables for
reactions with ... drive-independent retraction $AN_ESR_TRIGGER).
$AC_ESR_TRIGGER enables a smooth interpolatory stop on the path or con-
tour.
The NC-controlled Retraction is performed in synchronism by the retraction
axes in the channel. To prevent confusion and operator errors, retraction axes
must always be assigned to exactly one NC channel and may not be switched
among the channels.
For NC-controlled stop, path interpolation also continues to be processed in the
same way as an electronic coupling for a definable period (MD 21380:
ESR_DELAY_TIME1), although an alarm, for example, with motion stop is
present. It is then decelerated on the path as for NC-STOP.
For NC-controlled retraction, LIFTFAST/LFPOS is used in the same way as for
thread cutting.
In order to perform retraction outside AUTOMATIC mode as well, triggering of
this function is linked to the system variable $AC_ESR_TRIGGER. Retraction
initiated via $AC_ESR_TRIGGER is locked to prevent multiple retractions.
Note
For the “Gearing” technology all reactions must go hand in hand: For example,
the electronic coupling should be maintained for a certain time with constant
motion before being stopped. In parallel, a retraction axis is operating to
disconnect the machining action and another axis in generator operation
supplies the necessary power in the DC link in the event of a power failure
(provided appropriately configured).
The NCK cannot trigger an EMERGENCY STOP autonomously. As the
EMERGENCY STOP signal is fed from the PLC to the NCK, the PLC is able to
actively trigger an ESR if required (e.g. via $A_DBB) and delay forwarding of
the actual EMERGENCY STOP request to the NCK by the relevant time.

2.6.1 Reactions external to the control
Sending the requisite switching signals to the digital outputs (system variable
$A_OUT) in the IPO cycle is called a reaction that is “external to the control”.
For example, a hydraulic retraction axis can be connected to this type of digital
output. The machine manufacturer or start-up engineer is responsible for defin-
ing further reactions.
2.6.2 Drive-independent reactions
Drive-independent reactions are defined axially, that is, if activated each drive
processes its stop and retract request independently. There is no interpolatory
coupling of axes or coupling adhering to the path on stop/retract (only for control
management).
The reference to the axes is time-controlled.
During and after execution of drive-independent reactions, the NC enables/
travel commands no longer have an effect on the respective drive, therefore, it
is necessary to perform a POWER OFF/POWER ON. Alarm 26110: “Drive-inde-
pendent stop/retract triggered” indicates this.
Note:
If retraction is not triggered on the 611digital drive, no alarm 26110 is issued.
Important
! Drive-independent stop and retract are “automatically” triggered (as in the
event of a communication failure).
These drive-side reactions are therefore cross-channel functions. This means
that if drive-independent stop and retract is triggered in one channel, the drives
of another channel also produce the drive-independent stop/retract reactions
configured (and just enabled) for them.
Drive-independent Generator operation is:

generator
operation
S Configured (configuration: MD 37500: ESR_REACTION=10; the configura-
tion must be defined in the axis-specific machine data of the appropriate
ESR_REACTION axis)
= 10
S Enabled ($AA_ESR_ENABLE) and
S Activated: In the drive according to the settings in the drive machine data
with DC link undervoltage
Drive-independent Drive-independent retraction is:

retraction
ESR_REACTION
S Configured, (MD 37500: ESR_REACTION=11; time specification and retract
velocity are set in MD; see “Example: Using the drive-independent reaction”
= 11 in Section 6.3)
S Enabled: System variable $AA_ESR_ENABLE

S Started: System variable $AN_ESR_TRIGGER

Drive-independent Drive-independent stopping is:

stop
ESR_REACTION
S Configured (configuration: MD 37500: ESR_REACTION=12)
= 12 S Enabled ($AA_ESR_ENABLE) and
S Started: System variable $AN_ESR_TRIGGER
Note
For drive-independent reactions, the behavior can be determined individually
for each axis.
Example For an example of how the drive-independent reaction can be used, please see
Section 6.3.
Drive-independent At the drive end, generator operation is active as for ESR_REAKTION=10.

generator
In SW 6.4 and higher, generator operation is:
operation with
NC-controlled stop S Configured (configuration: MD 37500: ESR_REACTION=13);
ESR_REACTION
S Enabled ($AA_ESR_ENABLE) and
= 13
S Activated with system variable $AC_ESR_TRIGGER for “extended stop
(NC-controlled)”.
Note
Unlike ESR_REAKTION=10, instead of rapid deceleration of the generator
axis, an NC-controlled extended stop takes place (see Subsection 2.6.3
ESR_REAKTION=22).
Generator operation remains active at the drive end. If the DC link voltage on
the drive falls below the value entered in MD 1631: LINK_VOLTAGE_GEN_ON,
generator operation is activated for DC link backup.

2.6.3 NC-controlled extended stop
Procedure The schedule for extended stop is defined by the two machine data MD 21380:
ESR_DELAY_TIME1 and MD 21381: ESR_DELAY_TIME2.
For the duration of the period in MD 21380: ESR_DELAY_TIME1, the axis con-
tinues to interpolate unhindered as programmed. Once the period set in
MD 21380: ESR_DELAY_TIME1 has elapsed, interpolatory controlled braking
(ramp stop).
The maximum time available for interpolatory controlled braking is the time set
in MD 21381: ESR_DELAY_TIME2; once this period has elapsed, rapid decel-
eration with subsequent correction is initiated.
This schedule applies if for at least one of the axes applied by the NCU:
MD 37500: ESR_REACTION > 20. If this condition is not met, the alarm reac-
tions are not delayed. If no ESR is active in the cycle, the above-mentioned
alarm reactions are delayed by one IPO cycle (it takes one IPO cycle to check
whether ESR is active).
For all other axes not specified for which MD 37500: ESR_REACTION = 0,
rapid deceleration with subsequent correction is initiated at the start of extended
stop ($AC_ESR_TRIGGER = 1).
The processing of all commands, especially those that result in an axis stop
(e.g. RESET, Stop, Stopall, StopByAlarm), as well as the standard alarm reac-
tions STOPBYALARM and NOREADY, is delayed by the total of times
ESR_DELAY_TIME1 and ESR_DELAY_TIME2.
An NC-controlled stop interacts with the electronic gear (see 2.4). It contains the
(selective) switchover of the electronic gear to actual-value coupling if there is a
fault on the leading axes, and also upholds interpolation and enables (“continue
travel”) during a period which can be specified in MD 21380:
ESR_DELAY_TIME1.
Times T1 and T2 The times T1 and T2 are parameterized via the machine data
MD 21380: ESR_DELAY_TIME1 and MD 21381: ESR_DELAY_TIME2.
The timing for NC-controlled extended stop can be taken from the figure below.
Speed n
T1 (MD) T2 (MD)
MD 21380 MD 21381 Time t
Fig. 2-10 Parameterizable/programmable control-driven shutdown
Note
For safety reasons, the total of times T1 and T2 should not exceed a maximum
value, e.g. 1 second.

Effects of Effects for a path axis

ESR_REACTION = If MD 37500: ESR_REACTION = 22 for a continuous path, the “extended stop”
22 is transferred to all path axes of the channel.
Effects for a leading axis
If MD 37500: ESR_REACTION = 22 for a leading axis, the “extended stop” is
transferred to all following axes of the channel.
Note
A following axis of the electronic gear follows the leading axis during the two
phases of the extended stop according to the rule of motion, i.e. no separate
braking is possible on transition from phase MD 21380: DELAY_TIME1 to
phase MD 21381: ESR_DELAY_TIME2.
In order for ESR to function correctly, the enable signals must be set and
remain set.

2.6.4 NC-controlled retraction
Initial conditions The following are significant for NC-controlled retraction:
S The axes selected with POLFMASK and POLFMLIN

S The axis-specific positions defined with POLF
S The time slots ESR_DELAY_TIME1 and ESR_DELAY_TIME2
S Triggering by system variable $AN_ESR_TRIGGER
S The agreed ESR reaction MD 37500: ESR_REACTION
S G code LFPOS of modal 46th G code group addressed
Response for If the system variable $AC_ESR_TRIGGER = 1 is set and if a retraction axis is
ESR_REACTION = configured in this channel with MD 37500: ESR_REACTION = 21 and
21 $AA_ESR_ENABLE=1 is set for this axis, then LIFTFAST becomes active in
this channel.
Prerequisite:
The retraction position must be programmed in the part program. The enable
signals must be set and remain set for the retraction movement.
Fast retraction to the position defined with POLF is triggered via G code LFPOS
of the modal 46th G code group.
The retracting movement configured with LFPOS, POLF for the axes selected
with POLFMASK or POLFMLIN replaces the path motion defined for these
axes in the part program.
During retraction:
S The axes defined in POLFMASK travel to the positions specified with POLF
independently.
S The axes defined in POLFMLIN travel to the positions specified with POLF
in linear relation.
The extended retraction (i.e. LIFTFAST/LFPOS initiated through
$AC_ESR_TRIGGER) is cannot be interrupted and can only be terminated
prematurely via an EMERGENCY STOP.
Velocity and acceleration limits for the axes involved in the retraction are moni-
tored during the retraction motion. The retracting movement takes place with
BRISK, i.e. without jerk limitation.
The maximum time available for retraction is the sum of the times MD 21380:
ESR_DELAY_TIME1 and MD 21381: ESR_DELAY_TIME2. When this time has
expired, rapid deceleration with follow-up is also initiated for the retraction axis.

Supplementary Lift fast is not used for axes, which:

conditions
S (due to axis replacement, individual axis state or similar) are not controlled
by the channel
S are in speed-controlled mode (spindles)

S are interpolated as positioning spindles (SPOS/SPOSA).
Modulo rotary axes respond to lift fast as follows:
S For incremental programming of the target position, the latter is approached

without modulo offset.
S For absolute programming, the target position is approached time-optimized

with the use of modulo offsets. This is almost identical to positioning via the
shortest path.
The retracting movement is interpolated linearly using the maximum accelera-
tion and speed of the axes involved in POLFLIN.
Only one linear retraction is permitted in each channel. This means that sev-
eral axis groupings, which approach their retraction positions in linear relation,
cannot be created in the channel.
In parallel with linear retraction, additional axes can also use POLFMASK for
independent axial retracting movement to their programmed retraction positions.
If axes are used in both POLFMASK and POLFMIN, make sure that the last
state programmed is always active for retracting movement. This means that an
axis previously activated with POLFMIN is removed from the linear relation follo-
wing programming in POLFMASK and the retracting movement would then take
place as an independent movement (see the examples in 6.3.6).
The parameters valid at the triggering time are decisive for the retracting
movement. If one of these parameters (POLF, POLFMASK, POLFMLIN, Frame,
etc.) changes during the retracting movement (e.g. due to a block change), this
change does not affect the retracting movement that has already started.
Reactions to stop
and axis enable
Stop characteristics for the retracting movement in response to the “Axial feed
signals stop” and “Feed disable” signals are defined with the channel-specific machine
data
MD 21204: LIFTFAST_STOP_COND
Bit0: Axial VDI signal FST DB31 DBB4.3

=0 Stop retracting movement for axial FST
=1 Do not stop retracting movement for axial FST
Bit1: Feed disable in channel DB21 DBB6.0

=0 Stop retracting movement for feed disable in channel
=1 Do not stop retracting movement for feed disable in channel
The “Axial feed stop” stop signal affects the entire retracting movement, i.e. all
axis movements defined with POLFMASK and POLFMLIN are stopped.
The retracting movement is restarted by canceling the signals.

The “NC stop” signal, DB21 DBB7.3, has no effect on the retracting movement.
Programming The destination for the retraction axis is programmed with the language com-
mand:
POLF POLF[ geo axis name | machine axis name ] (POsition LiftFast).
POLF is modal.
POLF can also be programmed incrementally.
If this programming is carried out with a geometry axis, the position is inter-
preted as a position in the workpiece coordinate system WCS.
The frame valid at the time when lift fast was activated is considered. Important:
Frames with rotation also affect the direction of lift via POLF.
If POLF is programmed with a channel/machine axis, the position of the ma-
chine coordinate system MCS must be specified. Frames with rotation do not
affect the position for retraction.
If the identifiers for the geo axis and channel/machine axis are identical, retrac-
tion is carried out in the workpiece coordinate system.
POLFMASK The language command POLFMASK([ axisname1], [axisname2], ....) enables

selection of the axes that are to travel independently to their position defined
with POLF when fast list is activated. A variable parameter list can be used to
select any number of axes for lift fast; however, all axes must be located in the
same coordinate system (i.e. only geo axes).
POLFMLIN The language command POLFMLIN([ axisname1], [axisname2], ....) enables

selection of the axes that are to travel in linear relation to their position defined
with POLF when fast list is activated. A variable parameter list can be used to
select any number of axes for lift fast; however, all axes must be located in the
same coordinate system (i.e. only geo axes). Between initiating retraction and
the linear relation being reached, a path is traveled, which, although deviating
from the programmed path, does not quite reach the linear relation. If the
constellation is unsuitable, this transition may last as far as the end points pro-
grammed with POLF. The control optimizes to the shortest possible transition.
General The following sections are equally valid for POLFMASK and POLFMLIN.
The parameters valid at the triggering time are decisive for the retracting move-
ment. If one of these parameters (G code, POLF, POLFMASK or POLFMLIN,
Frame, etc.) changes during retraction (block change), this change does not
affect the retracting movement that has already started.
Before lift fast to a fixed position can be activated via POLFMASK or POLFM-
LIN, a position must be programmed with POLF for the selected axes. No ma-
chine data is provided for presetting the values of POLF.

During interpretation of POLFMASK or POLFMLIN, alarm 16016 is issued if

POLF has not been programmed.
If retraction is activated, the position for retraction can still be changed. How-
ever, it is no longer possible to change the coordinate system and an attempt is
rejected with an alarm 16015.
If POLF is programmed again after activating retraction, the position at which
this axis was first programmed must be specified in the coordinate system.
Change coordinate If the coordinate system is to be changed, lift fast must first be deactivated with
system POLFMASK() or POLFMLIN() and then POLF used to carry out programming
in the new coordinate system.
Deactivate lift fast POLFMASK() or POLFMLIN() without specifying an axis deactivates lift fast for
all axes activated in that enable call.
POLFMASK / The last data entered for a specific axis in one of the two instructions applies.
POLFMLIN These include:
interactions N200 POLFLIN(X, Y, Z) ; Retraction in linear relation
; activated for axes X, Y and Z
...
N300 POLFMASK(Z) ; Independent retraction activated for
; axis Z. Axis Z is removed from the linear
; retraction grouping with X and Y.
N500 POLFMLIN(X, Z) ; Retraction in linear relation
; for X and Z, deleting the independent
; retraction previously activated with
; POLFMASK for axis Z. The retraction
; of axis Y activated previously with
; POLFMLIN is also deleted.
; This means that only X and Z
; continue with retracting movement.
Part program start The positions programmed with POLF and the activation by POLFMASK and
POLFMLIN are deleted when the part program starts up. This means that the
user must program the values for POLF and the selected axes (POLFMASK,
POLFMLIN) in each part program.
Examples Application examples for parameterizing with several axes and incremental pro-
gramming appear in Section 6.3.
2.6.5 Possible trigger sources
The trigger sources must be distinguished by evaluating the specified system

variables. Any system variables that can be read in synchronized actions are
available as error sources. These include:

– Digital I/Os ($A_IN, $A_OUT)

– Synchronization differences ($VA_EG_SYNCDIFF)
– Channel status ($AC_STAT) ...
The drive states can be read in $AA_ESR_STAT:
Bit 0: Generator operation is triggered
Bit 1: Retraction is triggered
Bit 2: Extended stop is triggered
Reference: /PGA/, Programming Guide Advanced
The following error sources are possible for starting “Extended stop and retract”:
General sources General sources (NC-external/global or mode group/channel-specific):
S Digital inputs (e.g. on NCU module or terminal box) or the control-internal

digital output image that can be read back ($A_IN, $A_OUT)
S Channel status ($AC_STAT)

S VDI signals
Access via $A_DBB. This approach is not recommended for time-critical
signals, since the PLC cycle time is included in the overall time. However, it
is an appropriate way for the PLC to influence the sequence or activation of
the extended stop and retract function. It still makes sense to link PLC
states, provided that these are powered/controlled exclusively by the PLC
(e.g. EMERGENCY STOP, RESET key, Stop key).
S Group messages of a number of alarms ($AC_ALARM_STAT)
Axial sources S Emergency retraction threshold of following axis (synchronization difference

of electronic coupling, $VA_EG_SYNCDIFF[following axis])
S Drive: The system variable $AA_ESR_STAT[axis] “Status for extended stop

and retract” displays: Bit 3: DC link undervoltage/generator operation)
S Drive: The system variable $AA_ESR_STAT[axis] “Status for extended stop

and retract” displays: Bit 4: Generator minimum speed)
Note
If NC-controlled ESR is configured, it takes one IPO cycle to process the
alarm reactions NOREADY and STOPBYALARM. This cycle checks whether
the alarm source is for ESR. The reaction “Trigger ESR” or standard reaction
(without ESR) occurs in the next IPO cycle. Self-resetting alarm 21600 displays
this status; the checking time is included in the alarm response time. You can
use $MN_SUPPRESS_ALARM_MASK bit16 to suppress display of
alarm 21600.

2.6.6 Logic operation: Source/reaction logic operation
The flexible logic operation possibilities of the static synchronized actions can
be used to trigger specific reactions based on sources. Logic operations of all
relevant sources by means of static synchronized actions are the responsibility
of the user/machine manufacturer. They can selectively evaluate the source
system variables as a whole or by means of bit masks, and then make a logic
operation with their desired reactions. The static synchronized actions are
effective in all operating modes. For a detailed description of how to use syn-
chronized actions, please see:
References: /FBSY/ Description of Functions Synchronized Actions
/PGA/ Programming Guide Advanced
(Synchronized Actions, System Variables)
You can use $AA_TYP (axis type) as required, for example, to configure axial
sources or channel-specific sources.
2.6.7 Activation
Function enable $AA_ESR_ENABLE

The generator operation, stop and retract functions are enabled by setting the
associated control signal ($AA_ESR_ENABLE[axis]). This control signal can be
modified by synchronized actions, by the part program and (indirectly) by the
PLC.
Writing in $A_DBB allows the PLC to extensively influence the execution of the
ESR reactions, if appropriate access is also integrated into the synchronized
actions. Thus the PLC can directly influence the ESR response.
Function trigger $AN_ESR_TRIGGER (drive-independent)

S Generator operation “automatically” becomes active in the drive when the
risk of DC link undervoltage is detected.
S Drive-independent stop and/or retract are activated when communication

failure is detected (between NC and drive) as well as when DC link under-
voltage is detected in the drive (providing they are configured and enabled).
S Drive-independent stop and/or retract can also be triggered by part pro-

grams/synchronized actions by setting the system variable
$AN_ESR_TRIGGER (command to all drives). Precondition: Enable.
$AC_ESR_TRIGGER (NC-controlled)
S NC-controlled shutdown is activated with an appropriate parameter setting

MD 37500: ESR_REACTION = 22 by setting the control signal
“$AC_ESR_TRIGGER”. Precondition: Enable.
S NC-controlled retraction is activated with an appropriate parameter setting

MD 37500: ESR_REACTION = 21 and POLF and POLFMASK in the part
program by setting the control signal “$AC_ESR_TRIGGER”. Precondition:
Enable.

2.6.8 Power failure detection and bridging
Detection A power failure can be detected if the mains supply monitoring of the connected
actuator is used as an external source via terminal 73 of the SIMODRIVE 611D
I/RF module (e.g. external sources: NCU input or terminal box).
Delay The time delay until the mains supply monitoring relay picks up corresponds to
approx. 10 – 15 ms.
In the best-case scenario, 1/2 an IPO cycle should follow activation of the relay
and 3 in the worst-case scenario.
This determines the time for mains failure detection:
Worst-case scenario approx. 120 ms
Best-case scenario approx. 15 ms
Limits of DC link The DC link is monitored for the following voltage limits:
overvoltage
DC voltage
743 V Pulse suppression DC link
723 V Pulse suppression drives

710 V
695 V
ÉÉÉÉÉ
ÉÉÉÉÉ ÉÉÉÉÉÉÉÉ
ÉÉÉÉÉÉÉÉ
676 V
Working range
ÉÉÉÉÉ ÉÉÉÉÉÉÉÉ
648 V pulse resistor module
644 V
618 V
Fig. 2-11 Voltage level of SIMODRIVE 611D DC link
The drive and DC link pulses are deleted at specific voltage levels. This auto-
matically causes the drives to coast down.
If this behavior is not desired, the user can use a resistor module to divert the
surplus energy. This resistor module operates in the gray hatched area in the
diagram, thus lying below the critical voltage level.
Note
The pulse power of the resistor module is greater than the I/RF power.

Monitoring the DC The DC link voltage can be monitored for a threshold parameterized by the user
link undervoltage (MD 1634: LINK_VOLTAGE_RETRACT).
Voltage below the threshold set in MD 1634: LINK_VOLTAGE_RETRACT can
be utilized as an internal error source for retraction. This is to avoid disconnec-
tion of the drive hardware without separation of workpiece and tool when the DC
link voltage is less than the minimum of 280 V.
In addition, you can program for one/several axis/axes (useful for one axis per
I/RF area), whether a retraction is to be triggered when the voltage falls below
the DC link threshold (MD 1634). This is subject to the prerequisite that the syn-
chronized actions are linked dependent on system variable $AA_ESR_STAT.
This means that any ESR operations parameterized and programmed will be
executed if enabled via system variable $AA_ESR_ENABLE.
The power required for ESR can be supplied to the DC link by parallel, regen-
erative braking: See DC link backup.
UDCnom 600 V / 625 V
Response threshold emergency

retraction
LINK_VOLTAGE_RETRACT ÉÉÉÉÉÉÉÉÉÉ
ÉÉÉÉÉÉÉÉÉÉ
MESSAGE:
DC link voltage < MD1634
MD1634
UDCoff
ÄÄÄÄÄÄÄÄÄÄ
280 V
ÄÄÄÄÄÄÄÄÄÄSIMODRIVE “OFF”
t
Fig. 2-12 DC link voltage monitoring SIMODRIVE 611D
Communication/ When the NC sign-of-life monitoring responds, a communication/control failure

control failure is detected on the drive bus and a drive-independent ESR is performed if appro-
priately configured.
Note
In SW 4.2 and higher, changing the default from 600 V to 0 V activates DC
voltage measurement by default.
In order to ensure that older HW without the DC link measurement function
starts up without errors, on these HW versions, “Calculate controller data
MD 1161 (FIELDVAL_FIXED_LINK_VOLTAGE)” is set to 600 V.

2.6.9 Generator operation/DC link backup
DC link backup You can compensate for temporary DC link voltage dips by configuring the drive
MD and appropriately programming the system variable $AA_ESR_ENABLE
via static synchronized actions. The bridged time depends on the energy stored
by the generator that is used for DC link backup, as well as on the energy re-
quirements for maintaining the current motions (DC link backup and monitoring
for generator speed limit).
DC link voltage
V Message:
DC link generator active
600/625 V
LINK_VOLTAGE_GEN_OFF 1 MD1633
LINK_VOLTAGE_GEN_HYST2 MD1632
LINK_VOLTAGE_GEN_ON 3 MD1631
MD1634
1 Cut-off threshold for
generator operation 280 V
2 Voltage step for
generator control Message:
DC link voltage < MD1634
3 Response voltage
for generator axis
t
Actual speed value
n_GEN
Message:
Generator speed < MD1635
GEN_AXIS_MIN_SPEED MD1635
Fig. 2-13 Generator operation
When the DC-link voltage is below the minimum threshold (MD 1631:
LINK_VOLTAGE_GEN_ON) the axis/spindle concerned switches from position-
controlled or speed-controlled mode to DC-link voltage-controlled mode. By
braking the drive (default speed setpoint = 0), regenerative feedback to the DC
link takes place. The drive measures the DC link voltage cyclically (in the posi-
tion control cycle). If the voltage exceeds the value set in MD1631: LINK_VOLT-
AGE_GEN_ON and MD1632: LINK_VOLTAGE_GEN_HYST, the two-step con-
trol is disabled, that is, the current actual speed value is preset as speed
setpoint.

During active generator operation, bit 3 “DC link generator active” is output in
system variable $AA_ESR_STAT.
The two-step behavior of the generator is machine and user-specific.
If the voltage exceeds the value set in MD1633: LINK_VOLTAGE_GEN_OFF,
generator operation is exited and operation is switched back to speed-con-
trolled operation.
This is not the case if the axis/spindle was previously in position-controlled
mode. In this case, it is necessary to reset the drive (POWER ON).
Monitoring the In addition to generator operation to back up the DC link, the actual speed value
generator speed of the axis/spindle in generator operation is monitored for any speeds lower
minimum limit than the minimum speed set in MD1635: GEN_AXIS_MIN_SPEED.
When values below this speed limit are detected, bit 4 “Generator speed <
MD1635” is output in system variable $AA_ESR_STAT.
In addition, analogous to the detection for voltages below the permissible DC
link voltage (MD1634: LINK_VOLTAGE_RETRACT), this signal can be defined
as an internal error source for ESR.
2.6.10 Drive-independent stop
The drives of a previously coupled grouping can be stopped by means of time-

controlled cutout delay with minimum deviations from each other, if this cannot
be performed by the control.
Drive-independent strop is configured via MD 37500: ESR_REACTION=12 acti-
vated with the system variables $AA_ESR_ENABLE and started after the delay
time T1 (see below) with the system variable $AN_ESR_TRIGGER.
T1 is specified in MD 1637: GEN_STOP_DELAY.
Speed n
T1
Braking ramp according to machine data Time t
Fig. 2-14 Drive-independent stop SIMODRIVE 611D

Responses The speed setpoint currently active as the error occurred will continue to be
output for time period T1. This is an attempt to maintain the motion that was
active before the failure, until the physical contact is annulled or the retraction
movement initiated in other drives is completed. This can be useful for all lead-
ing/following drives or for the drives that are coupled or in a group.
After time T1 all axes are stopped at the current limit with zero speed setpoint
and the pulses are deleted when zero speed is reached.
2.6.11 Drive-independent retraction
Axes with digital 611D drives can (if configured and enabled) perform a retrac-
tion movement independently
S Even if the control fails (sign-of-life failure detection)

S If the DC link voltage drops below a warning threshold
S When triggered by system variable $AN_ESR_TRIGGER
execute a retraction movement independently.
The retract movement is conducted independently by the 611D.
After the beginning of the retraction phase the drive independently maintains its
enables at the previously valid values. The emergency retraction is only con-
ducted if pulse and servo enable (and system variable $AA_ESR_ENABLE)
were set at the time the retraction was triggered and the drive in question was
therefore enabled.
In the event of control failure the pulse enable set is sufficient. In this case the
611D drive independently generates its servo enable if it is still able to do so
(subfunctionality for “Retract with clamped axes”). Any clamped axes have to be
connected by the user.
External safety The external safety logic for a control drive pair with drive emergency retraction
logic must be implemented in such a way that the drive unit is still operable in the
event of a control failure (for example, PLC stop and NC READY failure; the
appropriate machine safety must be configured).
Measuring system For the drive there is no reference to the NC geometry system. On the NC side,
the unit system of the motor measuring system is only known if it is used as a
position measuring system.
Retraction path The retraction path is therefore specified to the drive using the following geome-
try-neutral data:
– Speed setpoint, direction (leading sign): MD 1639: RETRACT_SPEED
– Travel time: MD 1638: RETRACT_TIME
The drive traverses the programmed “retraction path” using a time-controlled
speed setting made internally in the drive.

It must be activated by the system variable $AA_ESR_ENABLE and triggered

with $AN_ESR_TRIGGER.
The “retraction path” really traversed in the event of an error depends on the
current actual speed at the time that the emergency retraction was started and
can deviate slightly from the programmed path as the drive does not monitor a
path (no interpolation).
After this process speed setpoint zero is preset for the retraction axes too and a
standstill occurs at the current limit (comp. drive-independent stop).
Note
S Drive-independent emergency retraction is only effective if the pulse

suppression bit is set to OFF in MD1612:
ALARM_REACTION_POWER_ON and MD1613:
ALARM_REACTION_RESET.
S When emergency retraction is active, its parameters cannot be modified.

Although data are transferred to the drive, they are not accepted. There is
no message to the user.
2.6.12 Configuring aids for ESR
Voltage failure The following hardware and software components are required:
S Hardware components
– SINUMERIK 840D with, e.g. NCU 573 and HMI Advanced
– SIMODRIVE 611D with servo drive controls 6SN1 118–0DG... or 6SN1
118–0DH...
– Closed-loop controlled I/RF module (16kW and greater) with suitable
pulse resistor module and additional capacitors for the DC link if re-
quired.
– Capacitor module (6FX2 006–1AA00) for backing up the 115–230 V AC
power supply for the central controller and the operator panel front or
alternatively the 24 V DC power supply.
S Software components
– System software: SW 5
– ESR option

The following points must be taken into account for configuring:

1. The electronics supply of the servo drive control must be provided by the
DC link. For this, the user must connect the I/RF modules to the DC link (see
Installation & Start-up Guide 611D).
2. A suitable backup system must be available for the NC and operator panel
front; e.g. a capacitor module for 230V power supply or an accumulator for
24 V power supply.
3. There must be a suitable backup system for supplying power to the PLC
I/Os or the NCK terminal block I/Os, e.g. an accumulator.
DC link backup The energy available in the drive DC links on power failure is calculated as fol-
lows:
E = 1/2 * C * (UDC2 – Umin2)
E= Energy in watt seconds [Ws]

C= Overall capacitance of the DC link in Farad [F]
UDC= Content of MD1634: LINK_VOLTAGE_RETRACT
Umin= Minimum limit for safe operation
(taking the motor-specific electromotive force into account, but
still above the deactivation threshold of 280 V in all cases)
Example:
If C= 6000mF (see table 2-4, 1st row) – 20% = 4800 mF
UDC= 550 V (MD 1634)
Umin= 350 V (assumption):
E = 1/2 * 4800mF *((550 V)2 – (350 V)2) = 432 Ws

Under load, this energy is available for time
tmin = E / Pmax * h
in order to initiate emergency retraction.

tmin = Backup time in milliseconds [ms]
Pmax = Power in kilowatts [kW]
h = Efficiency of the drive unit
For the above example where:
E = 432 Ws
Pmax = 16 kW (see table 2-4, 1st row)
h = 0.90,
the minimum backup time for emergency retraction is:
tmin = 432 Ws / 16 kW * 0.9 = 24.3 ms.

The following table shows the values for different I/RF units. Nominal and mini-
mum capacity are taken into account. The maximum possible capacitance (load
limit) consists of the sum of the capacity of the I/RF module and the axis/spindle
modules, as well as the external auxiliary capacitors (to be provided by the
user). The minimum capacitance used in the table takes a component tolerance
of –20% into account (worst case).
Table 2-4 Nominal and minimum backup time for different I/RF units
Power Pmax Max. possible Energy content Energy content Backup time tn Backup time
of I/RF unit capacitance (Cmax) (Cmin) with Pmax tmin with Pmax
[kW] Cmax [Ws] [Ws] [ms] [ms]
[mF]
16 6000 540 432 30.38 24.30
36 20000 1800 1440 45.00 36.00
55 20000 1800 1440 29.46 23.56
80 20000 1800 1440 20.25 16.20
120 20000 1800 1440 13.50 10.80
Energy balance When configuring the emergency retraction, it is always necessary to establish
an energy balance to find out whether you can do without an additional capaci-
tor module or a generator axis/spindle (with correspondingly dimensioned cen-
trifugal mass).
Stopping as From approx. the third IPO cycle onwards, the speed setpoints for the config-
energy supply ured stop or retraction axes/spindles start to change.
The braking phase starts at this point (unless drive-independent stopping has
been configured in this axis).
As soon as the braking process is initiated, the energy released in this manner
is available for retraction motion. Use an energy balance to ensure that the ki-
netic energy of the braking axes is sufficient for the retraction.
The energy balance shows the maximum setting for the interpolator cycle time
which will allow a safe emergency retraction to be executed.
Example:
With a 16 kW unit under maximum load and minimum DC link capacitance it
should be possible to execute an emergency retraction without generator op-
eration. For this purpose, the interpolation cycle time may in theory be a maxi-
mum of 4.86 ms, i.e. in this case a maximum of 4 ms can be set.
It may be necessary to switch over to a more powerful NC CPU in order to
achieve optimum conditions.
Drive-independent Drive-independent stop and retract triggered by the NC is used when a very fast
stop/retract reaction is required. In this case, the drive reacts within one interpolator cycle
and outputs a setpoint value for the configured axes/spindles.
Note:
A POWER ON must be performed following drive-independent stop and retract.

Note
When the drive bus is interrupted between NC and drive (sign-of-life failure) a
stop and retract can only be initiated by the drive.
This does not usually occur in conjunction with a power failure.
Generator Generator operation is possible in the event that the DC link power is insufficient
operation for safe retraction (for a period of at least 3 interpolator cycles). The mechanical
power of a spindle/axis is used and the energy is optimally fed back to the DC
link. The DC link voltage is kept within the limits set in the machine data by
means of a two-step control.
In this case, the axis/spindle parameterized as a generator measures the DC
link voltage if it falls below the value set in the ms cycle. Thus the DC link is
backed up within 2 ms. (Under normal conditions measurement every 4 ms.)
The energy stored in the drive
E = 1/2 * Q * ω2
where
Q = Total mass moment of inertia
ω = Angular velocity at the time of switching
to generator operation
is recovered with approx. 90% efficiency.
For generator operation, it is advisable, especially when using large machines
with powerful I/RF units (55, 80, 120kW), to use a separate drive with centrifugal
mass which, after acceleration to maximum speed, only has to generate the
friction loss.
Of course, it is also possible to use any other drive as long as it is not directly
participating in the controlled stop/retract.
Axes that are participating in gearbox links that must be specifically maintained
are not suitable for this purpose.
Note
A minimum speed limit for the generator ($AA_ESR_STAT, bit 4) can also be
the source for the retraction process. This is advisable, for example, when
generator operation is to be used to bridge short voltage interruptions.
In order to prevent the DC link voltage from becoming too high when braking
starts, and the drive from reacting with pulse suppression (which would cause
uncontrolled coasting down), it is necessary to use suitable pulse resistor mod-
ules.

2.6.13 Control system response
POWER OFF/ If the retraction logic is stored in motion-synchronous actions, they are not yet
POWER ON active on POWER ON.
A logic operation, which is to be active after POWER ON, must be activated in
an ASUB started by the PLC.
In the event of a drive-independent stop/retract being triggered, the drive soft-
ware will subsequently need to be shut down then restarted.
In SW 6 and higher, the “Event-controlled program calls” function may be used
instead of ASUB.
Mode change, NC Static synchronized actions can be used for the logic operations (keyword IDS).
stop They are not affected by a mode change or NC STOP/RESET.
Positioning of a command axis/spindle is aborted with channel stop.
ESR is available in AUTO, JOG and MDA modes.
Reset Static synchronized actions are maintained after a RESET.

On RESET, the values programmed for POLF and the activation by POLF-
MASK are not deleted.
Part program start On start of a part program, the values programmed for POLF and activation by
POLFMASK are deleted.
The reason for resetting the programmed values POLF/POLFMASK is to force
the ESR user (just as other users of the lift fast function) to explicitly program
the matching retraction position for each workpiece programmed in each part
program, rather than trust that a suitable retract position has been stored in a
previous machining process.
Alarm behavior
S Errors in an axis outside the EG axis grouping:
This axis switches off “normally”. Stop and retract continue “undisturbed” or
are triggered by this type of error.
S Error in a leading axis (LA):

Selective switchover to actual-value linkage already during stop, otherwise
as previously.
S Error in a following axis (FA):

– Carry out retract: Retraction axis may not be a following axis, that is, no
conflict.
– Carry out stop: The following axis may react with uncontrollable behav-
ior. Saving the workpiece/tool must be left to the retraction; however, the
stop should not disrupt the process any further.
S Error in the retraction axis: There is no retraction.

S EMERGENCY STOP
An EMERGENCY STOP is not a fault from the control’s point of view, rather
the response is the same as for any other control signal. For safety reasons,
EMERGENCY STOP interrupts the interpolation and all traversing
movements, and also dissolves the electronic coupling by canceling the
servo enables.
In applications where coupling and traversing movements must remain valid

even in the event of an EMERGENCY STOP, this EMERGENCY STOP
must be delayed long enough by the PLC for the required NC or drive-end
reactions to terminate.
The IS “ESR reaction triggered”
DB31, ... DBX98.7 is available as a checkback signal to the PLC.
If an alarm with cross-channel NOREADY reaction is issued during the active
phase of the ESR
(i.e. NOREADY |
NCKREACTIONVIEW |
BAGREACTIONVIEW),
then ESR is triggered in all channels.
Block search, Extended stop and retract does not affect block search or repositioning motions.
repositioning
2.6.14 Supplementary conditions
Operational The “drives, motors, encoders” axis/spindle components participating in

performance of the “Extended stop and retract” must be operational. If one of these components
components fails, the full scope of the described reaction no longer applies. Axis-specific
servo or drive alarms describing the failure of one of these components are also
implicitly signaling that the configured stop or retract reaction of the axis
(axes)/spindle(s) is no longer (fully) available.
Motion- Motion-synchronous actions are executed in the interpolator cycle. If there are
synchronous many motion-synchronized actions, the runtime of the control for processing the
actions cyclical interpretation of conditions in the synchronized actions is increased.
The selected sources and the reactions to be assigned can “only” be evaluated/
triggered in the interpolator cycle.
Priority Each drive-independent reaction has a higher priority than the corresponding
NC-controlled reaction (reason: when broadcast mode is activated for the drive,
each drive-independent reaction becomes directly active).
Power ON If drive-independent stop/retract has been triggered, the drive software requires
a subsequent POWER OFF/POWER ON (drive behavior as with serious errors,
see also communications failure).
J

Notes

There are no other supplementary conditions to note.

Notes


11660 NUM_EG
MD number Number of possible EG axis groupings
Data type: Byte Applies as of SW: 5
Meaning: To allow implementation of the “electronic gear” function, memory space corresponding to
the size specified here is reserved in the S-RAM and D-RAM. The setting in this MD deter-
mines the maximum number of EG axis groupings, which can be defined simultaneously
with EGDEF.
18400 MM_NUM_CURVE_TABS
MD number Number of curve tables (SRAM)
Meaning: Defines the maximum number of curve tables that can be implemented in the entire sys-
tem. A curve table comprises several curve segments.
Related to .... MD 18402: MM_NUM_CURVE_SEGMENTS
18402 MM_NUM_CURVE_SEGMENTS
MD number Number of curve segments (SRAM)
Meaning: Defines the maximum number of curve segments that can be implemented in the entire
system. The curve segments are components of a curve table.
Related to .... MD 18400: MM_NUM_CURVE_TABS

18403 MM_NUM_CURVE_SEG_LIN
MD number Number of linear curve segments (SRAM)
Meaning: Number of linear curve segments in SRAM available NCK-wide. A curve table can consist
of “normal” curve segments and linear segments. The number of “normal” curve segments
in the SRAM is specified by MD 18402: MM_NUM_CURVE_SEGMENTS. These curve
segments can accommodate polynomials. Linear curve segments can only accommodate
straight lines.
The linear curve segments are created in the battery-backed memory.

Related to .... MD 18402, MD 18409
Additional references PGA
18404 MM_NUM_CURVE_POLYNOMS
MD number Number of curve table polynomials (SRAM)
Meaning: Defines the maximum number of polynomials for curve tables that can be implemented in
the entire system. The polynomials are components of a curve segment. A maximum of 3
polynomials are required for one curve segment. As a rule, only 2 polynomials are used per
curve segment.
Related to .... MD 18400: MM_NUM_CURVE_TABS
MD 18402: MM_NUM_CURVE_SEGMENTS
18406 MM_NUM_CURVE_TABS_DRAM
MD number Number of curve tables (DRAM)
Meaning: Number of curve tables in DRAM available NCK-wide
Related to .... MD 18408, MD 18410
18408 MM_NUM_CURVE_SEGMENTS_DRAM
MD number Number of curve segment (DRAM)
Meaning: Number of segments for curve tables in DRAM available NCK-wide
Related to .... MD 18406, MD 18410

18409 MM_NUM_CURVE_SEG_LIN_DRAM
MD number Number of linear curve segments (DRAM)
Meaning: Number of linear curve segments in DRAM available NCK-wide. A curve table can consist
of “normal” curve segments and linear segments. The number of “normal” curve segments
in the DRAM is specified by MD 18408: MM_NUM_CURVE_SEGMENTS_DRAM. These
curve segments can accommodate polynomials. Linear curve segments can only accom-
modate straight lines.
The linear curve segments are created in the dynamic memory.

Related to .... MD 18408
18410 MM_NUM_CURVE_POLYNOMS_DRAM
MD number Number of curve table polynomials (DRAM)
Meaning: Number or polynomials for curve tables in DRAM available for NCK-wide
Related to .... MD 18408, MD 18406

4.2 Channel-specific machine data
20900 CTAB_ENABLE_NO_LEADMOTION
MD number Curve tables with jump of following axis
Changes effective after RESET Protection level: 2/7 Unit: –
Meaning: This MD configures how jumps of the following axis are processed
in the curve tables. The following axis jumps if following axis motion is set in a segment of
the curve table but the leading axis does not move.
This type of following axis jump can either be programmed directly or simply occur inter-
nally in a controller.
This type of segment can be generated in particular if a curve table is generated with active
tool radius compensation.
The following configuration options are possible:
0: No curve tables that contain a jump of the following axis are

produced. If a jump of the following axis occurs, alarm 10949
(CTAB_NO_LEADMOTION) is output and program processing
is aborted. This setting is compatible
with older software versions.
1: Curve tables that contain a jump of the following axis can be created. If a jump of
the following axis occurs, alarm 10955 (CTAB_NO_LEADMOTIONWARNING)
is output but program processing is not aborted.
2: Curve tables with jumps of the following axis are created

without an alarm or message being issued.
20905 CTAB_DEFAULT_MEMORY_TYPE
MD number Default memory type for curve tables
Changes effective after RESET Protection level: 2/7 Unit: –
Meaning: This MD sets the default memory type for curve tables:
0: Curve tables are created in buffered memory (SRAM).
1: Curve tables are created in dynamic memory (DRAM).
Related to .... MD 18400, 18402, 18404, 18406, 18408, 18410

21204 LIFTFAST_STOP_COND
MD number Stop characteristics for fast retraction
Default setting: 0 Minimum input limit: – Maximum input limit: –
Changes effective after NEW_CONF Protection level: 2 / 7 Unit: –
Meaning: The MD defines the stop characteristics for the LIFTFAST motion for a variety of stop con-
ditions.
Bit0: Axial VDI signal FST DB31 DBB4.3

=0 Stop retracting movement for axial FST
=1 Do not stop retracting movement for axial FST
Bit1: Feed disable in channel DB21 DBB6.0

=0 Stop retracting movement for feed disable in channel
=1 Do not stop retracting movement for feed disable
in channel
Additional references Programming Guide Advanced
21380 ESR_DELAY_TIME1
MD number Delay time (STOPBYALARM, NOREAD) for ESR axes
Default setting: 0 Minimum input limit: – Maximum input limit: plus
Changes effective after NEW_CONF Protection level: 2 / 7 Unit: s
Meaning: If an alarm occurs, for example, this MD can be used to delay the braking
time to enable retraction from the tooth gap in the case of gear hobbing,
for example.
Application example(s) see Subsection 6.3.2
Related to .... ESR_DELAY_TIME2
21381 ESR_DELAY_TIME2
MD number Time for interpolatory braking for ESR axes
Default setting: 0 Minimum input limit: – Maximum input limit: plus
Changes effective after NEW_CONF Protection level: 2 / 7 Unit: s
Meaning: When the time $MC_ESR_DELAY_TIME1 expires, the time specified
here for interpolatory braking ($MC_ESR_DELAY_TIME2) remains available.
When the time $MC_ESR_DELAY_TIME2 expires, rapid deceleration with subsequent
follow-up is initiated.
Application example(s) see Subsection 6.3.2
Related to .... ESR_DELAY_TIME1

30132 IS_VIRTUAL_AX
MD number Axis is virtual axis
Default setting: 0 Minimum input limit: *** Maximum input limit: ***
Changes effective after NEW_CONF Protection level: 2/7 Unit: –
Meaning: Virtual axis. An axis that is interpolated in follow-up mode, too. (Technology electronic
transfer, virtual and real master value.)
This MD is equivalent to MD 30130: CTRLOUT_TYPE=4. Instead of
MD 30130: CTRLOUT_TYPE=4, MD 30130: CTRLOUT_TYPE=0 and IS_VIRTUAL_AX=1
should be set.
Related to .... MD 30130: CTRLOUT_TYPE
37160 LEAD_FUNCTION_MASK
MD number Functions for master value coupling
Default setting: 0x01 Minimum input limit: 0 Maximum input limit: 0x10
Change valid after NEWCONF Protection level: 2/2 Unit: –
Meaning: The machine data can be used to set axial master value coupling functions. This machine
data is bitcoded:
Bit 0: Dead time compensation for actual value coupling

= 0 Dead time compensation for actual value coupling is not active
= 1 Dead time compensation for actual value coupling is active.
Related to ....

37500 ESR_REACTION
MD number Reaction definition with extended stop and retract
Data type: BYTE Applies as of SW: 5.1/ 6 and 6.4
Meaning: Selection of the reaction to be triggered via system variable “$AN_ESR_TRIG-
GER/$AC_ESR_TRIGGER”:
0 = No reaction (or exclusively external reaction through synchronized action
programming of fast digital outputs).
Drive MD 1636: RETRACT_AND_GENERATOR_MODE is set to 0.
10 = Drive-independent generator operation
11 = Drive-independent retraction axis
12 = Drive-independent stop axis
(as is the case in the event of a communication failure, 11 and 12
are activated together in the drive by broadcast to all drives)
Selection of the reaction to be triggered via system variable “$AC_ESR_TRIGGER”:

13 = Drive-independent generator axis with NC-controlled stop (SW 6.4 and higher)
At the drive end, generator operation is active as for ESR_REAKTION=10.
21 = NC-controlled retraction axis (SW 6 and higher)
22 = NC-controlled standstill axis (SW 6 and higher)
All axes involved in IPO or EG are brought to a smooth stop even without
this parameter setting. This parameter is used to configure the appropriate
drive-independent response to a communication failure or DC link undervoltage:
(21 and 22 contain drive-independent standstill and retraction exclusively
for communication failure or DC link undervoltage).
If the option “Extended stop and retract” (ESR) is not enabled, the values are reset to 0.
Related to ....

37550 EG_VEL_WARNING,
MD number Warning threshold for interface signals
Changes effective after NEW_CONF Protection level: 2 / 4 Unit: %
Data type: REAL Applies as of SW: 5
Meaning: Threshold value for VDI signals
A velocity warning (signal) is output if an EG axis coupling is active and the current speed
of the axis reaches the percentage of the maximum velocity set in
MD 32000: $MA_MAX_AX_VELO.
An acceleration warning (signal) is output if an EG axis coupling is active and the current
acceleration of the axis reaches the percentage of the maximum acceleration set in
MD 32300: $MA_MAX_AX_ACCEL.
Related to .... MD 32000: $MA_MAX_AX_VELO,
MD 32300: $MA_MAX_AX_ACCEL
37560 EG_ACC_TOL
MD number Threshold value for VDI signal
Changes effective after NEW_CONF Protection level: 2/4 Unit: %
Data type: REAL Applies as of SW: 5
Meaning: Threshold value for VDI signal “Axis accelerating”
This signal is set if the acceleration rate reaches the specified percentage of maximum
acceleration.
Related to .... MD 32300: $MA_MAX_AX_ACCEL

4.4 Axisspecific setting data
43100 LEAD_TYPE
SD number Master value type
Changes effective IMMEDIATELY Protection level: 7/7 Unit: –
Meaning: Defines which value is to be used as the master value:
0: Actual value
1: Setpoint
2: Simulated master value
43102 LEAD_OFFSET_IN_POS
SD number Master value offset
Meaning: Offset of master value before use for coupling.
Related to .... SD 43104: LEAD_SCALE_IN_POS
SD 43106: LEAD_OFFSET_OUT_POS
SD 43108: LEAD_SCALE_OUT_POS
43104 LEAD_SCALE_IN_POS
SD number Master value scaling
Meaning: Scaling of master value before use for coupling.
Related to .... SD 43102: LEAD_OFFSET_IN_POS
43106 LEAD_OFFSET_OUT_POS
SD number Curve table offset
Changes effective IMMEDIATELY Protection level: 7/7 Unit: POSN
Meaning: Offset of curve table before use for coupling.
SD 43104: LEAD_SCALE_IN_POS
43108 LEAD_SCALE_OUT_POS
SD number Curve table scaling
Changes effective IMMEDIATELY Protection level: 7/7 Unit:
Meaning: Scaling of function value of curve table.
SD 43104: LEAD_SCALE_IN_POS

Notes

DB 31 – Active following axis overlay

DBB 26.4
Data block Signal(s) from NC (PLC ! NCK)
Signal state 1 or signal An additional traversing motion can be overlaid on the following axis.
This signal is required for on-the-fly synchronization of leading and following axes.
As long as the “enable following axis overlay” signal is set to 1, the following axis selected
with EGONSYN in the EG coupling group travels to synchronization.
Modulo axes included in the EG coupling reduce their position values in the modulo,
thereby ensuring that they approach the next possible synchronization.
Signal state 0 or signal The following axis cannot be overlaid and traversed.
If the “enable following axis overlay” signal has not been set for the following axis, the axis
will not travel to synchronization. Instead, the program is stopped at the EGONSYN block
and the self-clearing alarm 16771 is issued until the “enable following axis overlay” signal is
set to 1.
DB 31 – Axis accelerated
DBB 99.3
Data block Signal(s) from NC (NC ! PLC)
Signal state 1 or signal If the acceleration rate of the following axis in the electronic gear axis grouping reaches or
transition 0 –––> 1 exceeds the % share entered in MD 37560: EG_ACC_TOL of the acceleration rate set in
MD 32300: MAX_AX_ACCEL, the signal is set to 1.
Signal state 0 or signal The following axis acceleration in the axis grouping of the electronic gear is less than the
transition 1 –––> 0 operating value described above.
Signal irrelevant Without electronic gear
Related to .... MD 37560, 32300
DB 31 – Velocity warning threshold

DBB 98.5
Signal state 1 or signal If the velocity of the following axis in the electronic gear axis grouping reaches or exceeds
transition 0 –––> 1 the % share entered in MD 37550: EG_VEL_WARNING of the velocity set in MD 32000:
MAX_AX_VELO, the signal is set to 1.
Signal state 0 or signal The following axis velocity in the axis grouping of the electronic gear is less than the thresh-
transition 1 –––> 0 old value described above.
Related to .... MD 37550, 32000

DB 31 – Acceleration warning threshold

DBB 98.6
Signal state 1 or signal If the acceleration rate of the following axis in the electronic gear axis grouping reaches or
transition 0 –––> 1 exceeds the % share entered in MD 37550: EG_VEL_WARNING of the acceleration rate
set in MD 32300: MAX_AX_ACCEL, the signal is set to 1.
Signal state 0 or signal The following axis acceleration in the axis grouping of the electronic gear is less than the
transition 1 –––> 0 threshold value described above.
Related to .... MD 37550, 32300
DB 31 – ESR reaction is triggered

DBX 7
Signal state 1 or signal Status signal
The VDI signal “ESR reaction triggered” is available to the PLC as a check-back signal.
The signal is set if $AA_ESR_STAT > 0, i.e. if
generator mode, standstill or retraction are active,
DC link undervoltage is detected or
the generator minimum speed is undershot.
Signal state 0 or signal ESR is not active.

Application example(s) For safety reasons, EMERGENCY STOP interrupts the interpolation and all traversing
movements, and also dissolves the electronic coupling by canceling the servo enables. In
applications where the coupling and traversing movements must remain valid after
EMERGENCY STOP, this EMERGENCY STOP must be delayed long enough by the PLC
for the required NC or drive-end reactions to terminate.
Writing in $A_DBB allows the PLC to extensively influence the execution of the ESR reac-
tions, if appropriate access is also integrated into the synchronized actions. On the 840D,
the PLC has a “locking influence” on the ESR response. On the 840D, it is possible to link
the relevant synchronized actions to produce the desired logic.

6.1 Curve tables
Examples 6
6.1 Curve tables
Example Definition of a periodic curve table with table number 2

Master value range 0–360, the following axis moves from 0 to 45 and back
again to 0 between N70 and N90.
N10 DEF REAL DEPPOS;
N20 DEF REAL GRADIENT;
N30 CTABDEF( Y, X, 2, 1)
N40 G1 X=0 Y=0
N50 POLY
N60 PO[X]=(45.0)
N70 PO[X]=(90.0) PO[Y]=(45.0, 135.0, –90)
N80 PO[X]=(270.0)
N90 PO[X]=(315.0) PO[Y]=(0.0, –135.0, 90)
N100 PO[X]=(360.0)
N110 CTABEND
N130 G1 F1000 X0 ; Test of curve via a coupling from Y to X

N140 LEADON(Y,X,2)
N150 X360
N160 X0
N170 LEADOF(Y,X)
N180 DEPPOS = CTAB(75.0, 2, GRADIENT) ; Reading of table position at

master value 75.0 from the curve table with table number 2
N190 G0 X75 Y=DEPPOS ; Positioning of leading and following axis
N200 LEADON(Y,X,2) ; Once the coupling has been activated, the

; following axis does not need to be synchronized
N210 G1 X110 F1000
N220 LEADOF(Y,X)
N190 M30

6.2 Electronic gear for gear hobbing

6.2.1 Example (linear coupling SW 5)
Use of axes The following diagram shows the configuration of a typical gear hobbing ma-
chine. The machine comprises five numerically closed-loop-controlled axes and
an open-loop-controlled main spindle. These are:
S The rotary motion of the workpiece table (C) and hobbing cutter (B).
S The axial axis (Z) for producing the feed motion over the entire workpiece
width.
S The tangential axis (Y) for moving the hobbing cutter along its axis.
S The radial axis (X) for infeeding the cutter to depth of tooth.
S The cutter swivel axis (A) for setting the hobbing cutter in relation to the
workpiece as a function of cutter lead angle and angle of inclination of tooth.
+Z +A
+Y +B
+X
+C
X = Radial axis
Y = Tangential axis (master drive (LA) 3)
Z = Axial axis (master drive (LA) 2)
A = Cutter swivel axis
C = Workpiece rotary axis (slave drive (FA))
B = Cutter rotary axis, main spindle (master drive (LA) 1)
Fig. 6-1 Definition of axes on a gear hobbing machine (example)

The functional interrelationships on the gear hobbing machine are as follows:
B Z Y
(LA 1) (LA 2) (LA 3)
Workpiece width Longitudinal axis of cutter
Rotation of cutter
C
(FA)
Rotary axis of workpiece
(gear tooth)
Fig. 6-2
In this case, the workpiece table axis (C) is the following axis which, in this ex-
ample, is influenced by three master drives.
The setpoint of the following axis is calculated cyclically with the following logic
equation:
z0 udz udy
nc = nb * + vz * + vy *
z2 z2 z2
nc Speed of workpiece axis (C)

nb Speed of cutter spindle (B)
z0 Number of starts of hobbing cutter
z2 Number of teeth of workpiece
vz Feed velocity of axial axis (Z)
vy Feed velocity of tangential axis (Y)
udz Axial differential constant
udy Tangential differential constant
Quantities which The first addend of the above equation determines the speed ratio between
influence the workpiece table and cutter, and thus the number of teeth of the workpiece.
setpoint of The second addend effects the necessary additional rotation of the C axis as a
workpiece axis C function of the axial feed motion of the cutter to produce the tooth inclination on
helical teeth.

The third component also makes allowance for additional rotation of the C axis
to compensate for the tangential movement of the cutter in relation to the work-
piece, thus ensuring that the tool is equally stressed over its entire length.
Workpiece/tool The values z0, z2, udz and udy are determined by the workpiece or tool and are
parameters thus specified by the NC operator or part program.
Differential Differential constants udz and udy make allowance for the angle of the work-
constants piece teeth and for the cutter geometry. These differential constants can be de-
termined in user-specific cycles.
sinβ° degrees
udz = –––––– ⋅ 360 –––––
mn * π mm
cosγ°
degrees
udy = –––––– ⋅ 360 –––––
mn * π mm
with:
mn = Normal module (in mm)
β° = Angle of inclined axis on gear wheel
γ° = Lead angle of hobbing cutter
Extract from part ; Definition of EG axis grouping with

program ; setpoint coupling (1) of B, Z, Y to C (following axis)
EGDEF(C, B, 1, Z, 1, Y, 1)
; Activate coupling
EGON(C, “FINE”, B, z0, z2, Z, udz, z2, Y, udy, z2 )

6.2.2 Extended example with non-linear components

(SW 6 and higher)
Introduction The following example expands the example in Fig. 6-1 to include:
– Machine error compensations which are not linearly dependent on the Z
axis, and
– A teeth geometry component dependent on the Z axis.
This can be used for example to produce a slightly ball-shaped a tooth
surface in the center of the gear so that the load on the center of the
tooth is greater than at the edges during operation.
Leading axes LA1

Z Z
C1
+ X’
Z
X N 1:1
G1
C2
Y + Y’ Compensation f(Z)
Z
N 1:1
G2
C3
+ A’
Z
A
N 1:1
G3
B B
(Relevant basic example 6.2.1) Following axis
Z
C4
N1 C
Gear geometry Z +
C99 Z
N2 +
N4
Z
G4 N3 G5
Software axis
Fig. 6-3 Extended example with non-linear machine fault compensation and non-linear components on the tooth
geometry

The following section of a part program is intended to illustrate the general con-
cept; supplementary curve tables and gear wheel/machine parameters are still
to be added. Components to be added are marked < ... >. Stated parameters
may also have to be modified, e.g. coupling factors.
N100 CTABDEF(X, Z, 1, 0) ; Declaration and specification of non-periodic curve table C1

N110 < ... > ; Define curve table: Curve points or polynomial blocks
N190 CTABEND
N200 CTABDEF(Y, Z, 2, 0) ; Declaration and specification of non-periodic curve table C2

N290 CTABEND
N300 CTABDEF(A, Z, 3, 0) ; Declaration and specification of non-periodic curve table C3

N390 CTABEND
N400 CTABDEF(C, Z, 4, 0) ; Declaration and specification of non-periodic curve table C4

N490 CTABEND
N500 EGDEF(X, Z, 1) ; Path declaration via C1, setpoint coupling

N510 G1 F1000 X10 ; Declaration of command component of X
N520 EGONSYN(X, “NOC”, <SynPosX>, Z, <SynPosX_Z>, 1, 0) ; Activation of path via C1
N600 EGDEF(Y, Z, 1) ; Declaration of path via C2, setpoint coupling

N610 G1 F1000 Y10 ; Declaration of command component of Y
N620 EGONSYN(Y, “COARSE”, <SynPosY>, Z, <SynPosY_Z>, 2, 0) ; Activation of path via C2
N700 EGDEF(A, Z, 1) ; Declaration of path via C3, setpoint coupling

N710 G1 F1000 A10 ; Declaration of command component of A
N720 EGONSYN(A, “FINE”, <SynPosA>, Z, <SynPosA_Z>, 3, 0) ; Activation of path via C3
; 1. Gear stage, C99 is the software axis between the two electronic gears
N800 EGDEF(C99, Y, 1, Z, 1, B, 1 )
N810 EGONSYN(C99, “NOC”, <SynPosC99>, B, <SynPosC99_B>, 18, 2, & ; Activation of leading axis B
Y, <SynPosC99_Y>, R1 * p, 1, & ; Activation of leading axis Y
Z, <SynPosC99_Z>, 10, 1) ; Activation of leading axis Z
; “&” character means: command continued in next line, no LF nor comment permissible in program
; 2nd gear stage

N900 EGDEF(C, C99, 1, Z, 1) ; Declaration of following axis C99 stage 1 as leading axis for stage 2,
; setpoint coupling
N910 ; Declaration of path via C4, setpoint coupling
N920 EGONSYN(C, “NOC”, <SynPosC>, C99, <SynPosC_C99>, 1, 1, & ; Activation of software axis C99
Z, <SynPosC_Z>, 4, 0) ; and of leading axis Z via C4
N999 M30
Machine data Only one section is specified, which extends beyond the necessary geometry/
channel configuration and machine axis parameters.
$MN_NUM_EG = 5 ; Maximum number of gears
$MN_MM_NUM_CURVE_TABS = 5 ; Maximum number of curve tables
$MN_MM_NUM_CURVE_SEGMENTS = 50 ;Max. number of
; curve segments
$MN_MM_NUM_CURVE_POLYNOMS = 100 ;Max. number of
; curve polynomials

Setting data If the scaling described in Section 2.4 is used, the following applies, as in the
case of an offset:
$SD_LEAD_SCALE_OUT_POS[4] = 1.2 ; Scaling for table C4
System variables In accordance with the above definitions, the following values are entered in the
associated system variables by the control. Access options to these system
variables are described in:
References: /PGA1/, Lists of System Variables
(SW 7.1 and higher). The system variables listed below are only used for ex-
planatory purposes!
; ************** Gear X (G1)
$AA_EG_TYPE[X, Z] = 1 ; Setpoint coupling
$AA_EG_NUMERA[X, Z] = 1 ; Curve table No. = 1
$AA_EG_DENOM[X, Z] = 0 ; Denominator = 0 → curve table applies
$P_EG_BC[X] = “NOC” ; Block change criterion
$AA_EG_NUM_LA[X] = 1 ; Number of leading axes
$AA_EG_AX[0, X] = Z ; Identifier of leading axis
$AA_EG_SYN[X,Z] = <SynPosX_Z> ; Synchronized position of leading axis Z
$AA_EG_SYNFA[X] = <SynPosX> ; Synchronized position of following axis
; ************** Gear Y (G2)
$AA_EG_TYPE[Y, Z] = 1 ; Setpoint coupling
$AA_EG_NUMERA[Y, Z] = 2 ; Curve table No. = 2
$AA_EG_DENOM[Y, Z] = 0 ; Denominator = 0 → curve table applies
$P_EG_BC[Y10] = “COARSE” ; Block change criterion
$AA_EG_NUM_LA[Y] = 1 ; Number of leading axes
$AA_EG_AX[0, Y] = Z ; Identifier of leading axis
$AA_EG_SYN[Y, Z] = <SynPosY_Z> ; Synchronized position of leading axis Z
$AA_EG_SYNFA[Y] = <SynPosY> ; Synchronized position of following axis
; ************** Gear A (G3)
$AA_EG_TYPE[A, Z] = 1 ; Setpoint coupling
$AA_EG_NUMERA[A, Z] = 3 ; Curve table No. = 3
$AA_EG_DENOM[A, Z] = 0 ; Denominator = 0 → curve table applies
$P_EG_BC[A10] = “FINE” ; Block change criterion
$AA_EG_NUM_LA[A] = 1 ; Number of leading axes
$AA_EG_AX[0, A] = Z ; Identifier of leading axis
$AA_EG_SYN[A, Z] = <SynPosA_Z> ; Synchronized position of leading axis Z
$AA_EG_SYNFA[A] = <SynPosA> ; Synchronized position of following axis
; ************** Gear C99 (G4)
$AA_EG_TYPE[C99, Y] = 1 ; Setpoint coupling
$AA_EG_NUMERA[C99, Y] = 18 ; Counter for coupling factory

$AA_EG_DENOM[C99, Y] = 2 ; Denominator for coupling factory
$AA_EG_TYPE[C99, Z] = 1 ; Setpoint coupling

$AA_EG_NUMERA[C99, Z] = R1 * p ; Counter for coupling factorz
$AA_EG_DENOM[C99, Z] = 1 ; Denominator for coupling factorz
$AA_EG_TYPE[C99, B] = 1 ; Setpoint coupling

$AA_EG_NUMERA[C99, B] = 10 ; Counter for coupling factor b
$AA_EG_DENOM[C99, B] = 1 ; Denominator for coupling factorb
$P_EG_BC[C99] = “NOC” ; Block change criterion
$AA_EG_NUM_LA[C99] = 3 ; Number of leading axes
$AA_EG_AX[0, C99] = Y ; Identifier of leading axis Y
$AA_EG_AX[1, C99] = Z ; Identifier of leading axis Z
$AA_EG_AX[2, C99] = B ; Identifier of leading axis B
$AA_EG_SYN[C99, Y] = <SynPosC99_Y> ; Synchronized position of leading
axis Y
$AA_EG_SYN[C99, Z] = <SynPosC99_Z> ; Synchronized position of leading
axis Z
$AA_EG_SYN[C99, B] = <SynPosC99_B> ; Synchronized position of leading
axis B
$AA_EG_SYNFA[C99] = <SynPosC99> ; Synchronized position of slave axis
; *************** Gear C (G5)
$AA_EG_TYPE[C, Z] = 1 ; Setpoint coupling
$AA_EG_NUMERA[C, Z] = 4 ; Curve table No. = 4
$AA_EG_DENOM[C, Z] = 0 ; Denominator = 0 →curve table applies
$AA_EG_TYPE[C, C99] = 1 ; Setpoint coupling

$AA_EG_NUMERA[C, C99] = 1 ; Counter for coupling factor C99
$AA_EG_DENOM[C, C99] = 1 ; Denominator for coupling factor C99
$P_EG_BC[C] = “NOC” ; Block change criterion
$AA_EG_NUM_LA[C] = 2 ; Number of leading axes
$AA_EG_AX[0, C] = Z ; Identifier of leading axis Z
$AA_EG_AX[1, C] = C99 ; Identifier of leading axis C99
$AA_EG_SYN[C, Z] = <SynPosC_Z> ; Synchronized position of leading axis Z
$AA_EG_SYN[C, C99] = <SynPosC_C99> ; Synchronized position of leading
; axis C99
$AA_EG_SYNFA[C] = <SynPosC> ; Synchronized position of leading axis C

Machine data Extract from MD:

; ************** Channel 1
CHANDATA(1)
; ************** Axis 1, “X”
$MC_AXCONF_GEOAX_NAME_TAB[0] = “X”
$MC_AXCONF_CHANAX_NAME_TAB[0] = “X”
$MN_AXCONF_MACHAX_NAME_TAB[0] = “X1”
$MA_IS_ROT_AX[AX1] = FALSE
; *************** Axis 2, “Y”
$MC_AXCONF_GEOAX_NAME_TAB[1] = “Y”
$MC_AXCONF_CHANAX_NAME_TAB[1] = “Y”
$MN_AXCONF_MACHAX_NAME_TAB[1] = “Y1”
; *************** Axis 3, “Z”
$MC_AXCONF_GEOAX_NAME_TAB[2] = “Z”
$MC_AXCONF_CHANAX_NAME_TAB[2] = “Z”
$MN_AXCONF_MACHAX_NAME_TAB[2] = “Z1”
; *************** Axis 4, “A”
$MC_AXCONF_CHANAX_NAME_TAB[3] = “A”
$MN_AXCONF_MACHAX_NAME_TAB[3] = “A1”
$MA_ROT_IS_MODULO[AX4] = TRUE
; *************** Axis 5, “B”
$MC_AXCONF_CHANAX_NAME_TAB[4] = “B”
$MC_SPIND_DEF_MASTER_SPIND = 1
$MN_AXCONF_MACHAX_NAME_TAB[4] = “B1”

; ************** Axis 6, “C”
$MC_AXCONF_CHANAX_NAME_TAB[5] = “C”
$MN_AXCONF_MACHAX_NAME_TAB[5] = “C1”
; ************** Axis 10, “C99”
$MC_AXCONF_CHANAX_NAME_TAB[9] = “C99”

6.3 ESR
6.3 ESR
6.3.1 Use of drive-independent reaction
Example S Axis A (spindle) must operate as generator drive.

configuration
S in the event of an error, axis X must retract by 10 mm at maximum speed,
and
S axes Y and Z must stop after a 100 ms delay to give the retraction axis time
to cancel the mechanical coupling.
Parameterization
1. Enable the “Ext. stop and retract” and “Static synchronized actions” options.
2. Function assignment:
$MA_ESR_REACTION[X]=11 $MA_ESR_REACTION[Y]=12
$MA_ESR_REACTION[Z]=12 $MA_ESR_REACTION[A]=10
3. Drive configuration:
MD1639: RETRACT_SPEED[X]=400000 ; max. velocity in HEX format
MD1638: RETRACT_TIME[X]=10 ; mm/max. velocity in ms
MD1637: GEN_STOP_DELAY[Y]=100 ; in ms
MD1637: GEN_STOP_DELAY[Z]=100 ; in ms
MD1635: GEN_AXIS_MIN_SPEED[A]=1 ; Generator min. speed in
; rpm
4. Function enable (from part program or synchronized actions) by setting the
system variables:
$AA_ESR_ENABLE[X]=1 $AA_ESR_ENABLE[Y]=1
$AA_ESR_ENABLE[Z]=1 $AA_ESR_ENABLE[A]=1
5. Accelerate generator drive to “momentum” speed
(e.g. in spindle operation:
M03 S1000 ; Rotate CW, 1000 rpm)
6. Formulate trigger condition as static synchronized action(s), e.g.:
– dependent on intervention of the generator axis:
IDS=01 WHENEVER $AA_ESR_STAT[A]>0 DO $AN_ESR_TRIGGER=1
– and/or dependent on alarms that trigger follow-up mode (Bit13=2000H):

IDS=02 WHENEVER ($AC_ALARM_STAT B_AND ’H2000’)>0
DO $AN_ESR_TRIGGER=1
– and dependent on EG synchronization monitoring (if, for example, Y is

defined as EG following axis and the maximum permissible
synchronization deviation must be 100 mm):
IDS=03 WHENEVER ABS($VA_EG_SYNCDIFF[Y])>0.1
DO $AN_ESR_TRIGGER=1
– or (cumulatively) dependent on all three of the above trigger conditions +

PLC + input:
IDS=01 WHENEVER ($AA_ESR_STAT[A] > 0) AND
(($AC_ALARM_STAT B_AND ’H2000’)> 0) AND
(ABS($VA_EG_SYNCDIFF[Y]) > 0.1) OR
($A_DBB[0] > 0) OR
($A_PBB[0] > 0) DO $AN_ESR_TRIGGER=1

6.3 ESR
6.3.2 NC-controlled reactions
Example using NC-controlled reactions. The important details are specified.
Task The A axis is to operate as the generator drive, while the X axis should retract
10 mm at maximum speed in the event of a fault, and axes Y and Z should stop
after a delay of 100 ms so that the retraction axis has time to cancel the me-
chanical coupling.
Preconditions The “Extended stop and retract”, “Static synchronized actions” and “ASUB”
options must be available.
Parameterization Parameterization or programming required for the example:

$MC_ASUB_START_MASK = 7 ; MD 11602
; Function assignments
$MA_ESR_REACTION[X]=21 ; MD 37500
$MA_ESR_REACTION[Y]=22
$MA_ESR_REACTION[Z]=22
$MA_ESR_REACTION[A]=10
; Drive configuration for drive-independent reactions
$MD_RETRACT_SPEED[X]=400000H ; MD 1639,
; max. velocity
$MD_RETRACT_TIME[X]=10 ; MD 1638, ms/max. emergency retraction
time
$MD_GEN_STOP_DELAY[Y]=100 ; MD 1637, ms stop delay
$MD_GEN_STOP_DELAY[Z]=100 ; MD 1637, ms stop delay
$MD_GEN_AXIS_MIN_SPEED[A]= ... ; MD 1635, generator
; min. speed (rpm)
; Configuration of NC-controlled retraction
LFPOS ; Axial retraction to a position
; 46th G group
POLF[X]=IC(10) ; Retraction target position
POLFMASK(X) ; Enable retraction
; Configuration of NC-controlled stop
$MC_ESR_DELAY_TIME1=0.1 ; MD 21380, duration of
; path interpolation in seconds
$MC_ESR_DELAY_TIME2=0.04 ; MD 21381, braking duration in seconds
; Function enable (from part program or synchronized actions):
$AA_ESR_ENABLE[X]=1 ; Set system variables
$AA_ESR_ENABLE[Y]=1
$AA_ESR_ENABLE[Z]=1
$AA_ESR_ENABLE[A]=1
S Accelerate generator drive to “momentum” speed

(e.g. in spindle operation M03 S1000)

6.3 ESR
Synchronized Formulate trigger condition as static synchronized action(s), e.g.:

actions
; dependent on intervention of the generator axis:
IDS=01 WHENEVER $AA_ESR_STAT[A]>0 DO $AC_ESR_TRIGGER=1
; and/or dependent on alarms that trigger follow-up mode
; (Bit13=2000H):
IDS=02 WHENEVER ($AC_ALARM_STAT B_AND ’H2000’)>0 DO
$AC_ESR_TRIGGER=1
; and also dependent on EG synchronized operation (if, for example, Y is de-
fined as the EG following axis and if the max. permissible synchronized opera-
tion deviation is to be 100 m):
IDS=03 WHENEVER $VA_EG_SYNCDIFF[Y]>0.1 DO $AC_ESR_TRIGGER=1
6.3.3 Fast retraction of an axis on stop thread cutting
Suppressing path During thread cutting, the path interpolation of X is suppressed for a stop and a
interpolation for movement at maximum speed to position POLF[X] interpolated instead. The
an axis movement of the other axes is still determined by the programmed contour or
the thread pitch and the spindle speed.
N10 G0 G90 X200 Z0 S200 M3 ;
N20 G0 G90 X170 ;
N22 POLF[X]=210 ;
LFPOS ; Retraction mode
POLFMASK(X) ; Activation of lift fast of X axis
LFON ; Interruption of thread cutting ON N25 G33 X100
I10 :
N30 X130 Z-45 K10 ;
N40 X155 Z-128 K10 ;
N50 X145 Z-168 K10 ;
N55 X120 I10 ;
N60 G0 Z0 LFOF ; Interruption of thread cutting OFF
N70 POLFMASK( ) ; Disable retraction for all axes
M30

6.3 ESR
6.3.4 Lift fast via a fast input with ASUB
Activation Activation via a fast input with ASUB

N10 SETINT (1) PRIO=1 ABHEB_Y LIFTFAST ; Activation of ASUB via lift fast
; with fast input 1
N30 LFPOS ; Select retraction mode
N40 POLF[X]=19.5 POLF[Y]=33.3 ; Program retraction positions for X and Y
N50 POLF[Z]=100 ; Program retraction position for Z
N60 X0 Y0 G0
N70 POLFMASK(X, Y) ; Select retraction of X axis and Y axis
N80 Z100 G1 F1000 ; Retraction would set the position of the X axis to
; 19.5 mm and the Y axis to 33.3 mm
N90 POLFMASK(Z) ; Deselect retraction of X axis and Y axis,
; select retraction of Z axis
N100 Y10 ; Retraction would set the position of the Z axis to
; 100 mm
N110 POLFMASK() ; Deselect retraction of Z axis, no axis
; retracting
6.3.5 Lift fast with several axes
Parameterization with several axes and incremental programming

N10 $AA_ESR_ENABLE[X1]=1 Activation via ESR
N12 $AA_ESR_ENABLE[Z]=1
N14 $AA_ESR_ENABLE[A1]=1
N30 LFPOS ; Select retraction mode for lift fast
N40 POLF[X1]=IC(3.0) POLF[A1]=–4.0 ; Program retraction position for axis X1 and
; A1
N50 POLF[Z]=100 ; Program retraction position for Z
N60 X0 Y0 A0 G0
N70 POLFMASK(X1, A1) ; Select retraction of X axis and axis A1
N80 Z100 G1 F1000 ; Retraction would set the position of machine axis
; X1 incrementally by 3.0 mm and axis A1
; absolutely by –4.0 mm
N82 POLF[X1]=10 ; Change target position of X1 by 10.0 mm (abso
N80 Y0 G1 F1000 ; lute) Retraction would set the position of machine
; axis X1 absolutely to 10.0 mm and axis A1 abso
; lutely to –4.0 mm
N90 POLFMASK(Z) ; Deselect retraction of X1 and axis A1,
; select retraction of Z axis
N100 Y10 ; Retraction would set the position of the Z axis to
; 100 mm
N110 POLFMASK() ; Deselect retraction of Z axis, no axis retracting.

6.3 ESR
6.3.6 Lift fast with linear relation of axes
Retraction in linear Example for an activation via a fast input with ASUB:
relation
N10 $AA_ESR_ENABLE[X]=1 Activation via ESR

N12 $AA_ESR_ENABLE[Y]=1
N14 $AA_ESR_ENABLE[Z]=1
N40 POLF[X]=19.5 POLF[Y]=33.3 ; Retraction positions for X and Y
N50 POLF[Z]=100 ; Program retraction positions for Z
N60 X0 Y0 G0
N70 POLFMLIN(X, Y) ; Select retraction in linear relation of
; X and Y axis
N80 Z100 G1 F1000 ; Retraction would move the X axis to 19.5
; and the Y axis to 33.3.
N90 POLFMLIN(Y, Z) ; Select retraction of the X axis,
; Select retraction in linear relation of
; Y and Z axis
N100 Y10
N110 POLFMLIN() ; Deselect linear retraction
Retraction in linear Example for parameterization with several axes and incremental programming:
relation and
N10 $AA_ESR_ENABLE[X1]=1 Activation via ESR
independent N12 $AA_ESR_ENABLE[Y]=1
N14 $AA_ESR_ENABLE[A1]=1)
N40 POLF[X]=IC(3.0) POLF[A1]=–4.0 ; Retraction positions for
; ; axis X and A1
N50 POLF[Y]=100 ; Program retraction position for Z
N60 X0 Y0 A0 G0
N70 POLFMLIN(X, Y) ; Select retraction in linear relation of
; ; X and Y axis
N75 POLFMASK(A1) ; Select retraction of axis A1
N80 Z100 G1 F1000 ; Retraction would move the X and Y axis in
; linear relation.
; Axis X by 3.0 and
; axis Y absolute to 100.
; Regardless of X and Y, axis A1 would

; travel to –4.0
N90 POLF[X]=10 ; Change target position of X to 10.0
; absolute
N95 Y0 G1 F1000 ; Retraction would move X and Y in linear
; relation. Axis X to
; 10.0 and axis Y to 100.
; Regardless of X and Y, axis A1 would
; travel to –4.0
N100 POLFMLIN() ; Deselect retraction of X and Y axis,

6.3 ESR
; example continued
N110 Y10 ; Retraction would move the A1 axis to –4.0

N120 POLFMASK() ; Deselect retraction of A1 axis, no
; axis retracting
J

7.2 Machine data


ence
Channel-specific
21, ... 0.3 Activate DRF H1
Axis-specific
31, ... 0.0–0.7 Feed rate override V1
31, ... 1.3 Axis disable A2
31, ... 2.1 Controller enable A2
31, ... 4.0–4.2 Activate handwheel H1
31, ... 4.3 Feed stop V1
31, ... 26.4 Active following axis overlay
31, ... 98.0 Synchronism fine S3
31, ... 98.1 Synchronism coarse S3
31, ... 98.5 EG velocity warning threshold
31, ... 98.6 EG acceleration warning threshold
31, ... 98.7 ESR reaction is triggered
31, ... 99.3 EG following axis accelerated
7.2 Machine data

ence
General ($MN_ ... )
11660 NUM_EG Number of possible electronic gears
18400 MM_NUM_CURVE_TABS Number of curve tables (SRAM)
18402 MM_NUM_CURVE_SEGMENTS Number of curve segments (SRAM)
18403 MM_NUM_CURVE_SEG_LIN Number of linear curve segments (SRAM)
18404 MM_NUM_CURVE_POLYNOMS Number of curve table polynomials (SRAM)
18406 MM_NUM_CURVE_TABS_DRA Number of curve tables in DRAM
M

7.3 Setting data
General ($MN_ ... )

18408 MM_NUM_CURVE_SEG- Number of curve segments in DRAM
MENTS_DRAM
18409 MM_NUM_CURVE_SEG_LIN Number of linear curve segments (DRAM)
_DRAM
18410 MM_NUM_CURVE_POLY- Number of curve polynomials in DRAM
NOMS_DRAM
20110 RESET_MODE_MASK Definition of control basic setting after run-up and RESET/ K2
part program end
20112 START_MODE_MASK Definition of control basic setting after run-up and RESET K2
20900 CTAB_ENABLE_NO_LEADMO- Curve tables with jump of following axis
TION
20905 CTAB_DE- Default memory type for curve tables
FAULT_MEMORY_TYPE
21204 LIFTFAST_STOP_COND Stop characteristics for fast retraction
21380 ESR_DELAY_TIME1 Delay time (STOPBYALARM, NOREAD) for ESR axes
21381 ESR_DELAY_TIME2 Time for interpolatory braking for ESR axes
Axisspecific ($MA_ ... )
30130 CTRLOUT_TYPE Output type of setpoint G2
30132 IS_VIRTUAL_AX Axis is virtual axis
35040 SPIND_ACTIVE_AFTER_RESET Own spindle RESET S1
37160 LEAD_FUNCTION_MASK Functions of the master value coupling (SW 6.4 and
higher)
37200 COUPLE_POS_TOL_COARSE Threshold value for “Coarse synchronism” S3
37210 COUPLE_POS_TOL_FINE Threshold value for “Fine synchronism” S3
37500 ESR_REACTION Reaction definition with extended stop and retract
37550 EG_VEL_WARNING, Warning threshold for interface signals
37560 EG_ACC_TOL Threshold value for VDI signal
7.3 Setting data

ence
Axisspecific ($SA_ ... )
43100 LEAD_TYPE Definition of master value type
43102 LEAD_OFFSET_IN_POS Master value offset
43104 LEAD_SCALE_IN_POS Master value scaling
43106 LEAD_OFFSET_OUT_POS Curve table offset
43108 LEAD_SCALE_OUT_POS Curve table scaling

7.4 System variables
7.4 System variables
Identifier Name Refer-

ence
$AC_STAT Channel status: invalid, in reset, interrupted and active PGA1
$A_IN Digital input NC PGA1
$A_OUT Digital output NC PGA1
$A_DBB Read/write data byte (8 bits) from/to PLC PGA1
$AC_ALARM_STAT !=0: Alarms are present, the coded associated alarm reac- PGA1
tions can be used as a source for “Exten. stop and retract”.
$AN_ESR_TRIGGER (Global) control signal “Start stop/retract” PGA1
drive-independent (SW 5 and higher)
$AC_ESR_TRIGGER Channel-specific control signal “Start stop/retract” NC-con- PGA1
trolled (SW 6 and higher)
$AA_ESR_STAT[axis] (Axial) status feedback signals from “Extended stop and PGA1
retract” (SW 5 and higher)
$AA_ESR_ENABLE[axis] 1 = (axial) enable of reaction(s) of “Extended stop and PGA1
retract”. (SW 5 and higher)
$AA_TYP[axis] Axis type PGA1
Electronic gear (EG) and master value coupling
ence
$AA_EG_SYNFA Synchronized position of following axis a (SW 5 and >) PGA1
$P_EG_BC Block change criterion for EG activation calls: EGON, PGA1
EGONSYN. WAITC => immediate synchronism fine or
coarse and setpoint synchronism. (SW 6.1 and higher)
$AA_EG_NUMLA Number of leading axes defined with EGDEF (SW 5 and >) PGA1
$VA_EG_SYNCDIFF Difference in synchronism (SW 5 and higher) PGA1
$AA_EG_AX Identifier for nth leading axis (SW 6.1 and higher) PGA1
$AA_EG_TYPE Type of coupling for leading axis b (SW 6.1 and higher) PGA1
$AA_EG_NUMERA Counter of coup. factor for leading axis b (SW 6.1 and >) PGA1
$AA_EG_DENOM Denomin. of coup. factor for leading axis b (SW 6.1 and >) PGA1
$AA_EG_SYN Synchronized position of leading axis b (SW 6.1 and >) PGA1
$AA_EG_ACTIVE Coupling for leading axis b is active, i.e. switched on PGA1
(SW 6.1 and higher)
$AA_LEAD_SP Simulated master value - position in MCS (SW 4 and >) PGA1
$AA_LEAD_SV Simulated master value - velocity (SW 4 and higher) PGA1
$AA_LEAD_P_TURN Current master value - position component lost as a result PGA1
of modulo reduction. (SW 4 and higher)
$AA_LEAD_P Current master value - pos. (modulo/red.). (SW 4 and >) PGA1
$AA_LEAD_V Current master value - velocity (SW 4 and higher) PGA1
$AA_SYNC Coupling status of following axis for master value coupling. PGA1
(SW 4 and higher)
Dynamics of following axis
$PA_ACCLIMA Acceleration offset set with ACCLIMA during PGA1
preprocessing (SW 6.4 and higher)
$AA_ACCLIMA Acceleration offset set with ACCLIMA during main run PGA1
(SW 6.4 and >)

7.5 Alarms

ence
$PA_VELOLIMA Velocity offset set with VELOLIMA during preprocessing PGA1
(SW 6.4 and higher)
$AA_VELOLIMA Velocity offset set with VELOLIMA during main run PGA1
(SW 6.4 and higher)
7.5 Alarms
J

06.05

Setpoint Exchange (S9)
1 Brief Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/S9/1-3

1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/S9/1-3
2 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/S9/2-5
2.1 Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/S9/2-5
2.2 Interface signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/S9/2-8
2.3 Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/S9/2-10
2.4 Position control loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/S9/2-10
2.5 Reference points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/S9/2-10
2.6 Differences in comparison with the technology card . . . . . . . . . . . . 3/S9/2-11
3 Supplementary Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/S9/4-13
4 Data Descriptions (MD, SD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/S9/4-13
4.1 Machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/S9/4-13
5 Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/S9/5-15
5.1 Axis/spindle-specific signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/S9/5-15
6 Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/S9/6-17
6.1 Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/S9/6-17
7 Data Fields, Lists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/S9/7-19
7.1 Machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/S9/7-19
J

SINUMERIK 840D sl/840D/840Di/810D Descrip. of Functions Special Functions (FB3) – 06.05 Edition 3/S9/i
06.05
Notes

3/S9/ii SINUMERIK 840D sl/840D/840Di/810D Descrip. of Functions Special Functions (FB3) – 06.05 Edition
06.05 Setpoint Exchange (S9)
1.1 Introduction
Brief Description 1
1.1 Introduction
Function The “setpoint exchange” function is used in applications in which the same
motor is used to traverse different machine axes.
Operating The function described below replaces the setpoint exchange technology card
conditions function (TE5) for systems with NCK SW >= 7.1.
An option is required for the function.
Compatibility Migration to NCK SW 7.1 requires adaptations to be made to machine data and
the PLC user program.
J

SINUMERIK 840D sl/840D/840Di/810D Descrip. of Functions Special Functions (FB3) – 06.05 Edition 3/S9/1-3
Setpoint Exchange (S9) 06.05
1.1 Introduction
Notes

3/S9/1-4 SINUMERIK 840D sl/840D/840Di/810D Descrip. of Functions Special Functions (FB3) – 06.05 Edition
2.1 Function
2.1 Function
The “setpoint exchange” function is required in applications in which a single
motor needs to drive a number of axes/spindles such as, for example, on milling
machines with special millheads. The spindle motor is operated as both a tool
drive and a millhead orienting mechanism.
Dir. millhead encoder Millhead holder
Motor
Motor encoder Gear Spindle
Fig. 2-1 Example 1: 1 motor encoder, extra encoder for millhead
Dir. millhead encoder Millhead holder
Motor
Spindle
Motor encoder
Gear Dir. spindle encoder
Fig. 2-2 Example 2: 1 motor encoder, separate millhead encoder and spindle encoder

2.1 Function
Configuring Setpoint exchange enables a number of axes to use the same drive.
The same setpoint channel on this drive is assigned a number of times to define
the axes participating in setpoint exchange. Machine data MD 30110:
CTRLOUT_MODULE_NR must be pre-assigned with the same logical drive
number for every axis.
Note
Alarm 26018 is output if the option is missing.
Encoder assignment takes place on an axis-specific basis in MD 30230:

ENC_INPUT_NR.
Machine axes
Setpoint channel assignment via MD 30110:
X1 Y1 Z1 A1 B1 $MA_CTRLOUT_MODULE_NR[ 0, A1]=4
$MA_CTRLOUT_MODULE_NR[ 0, B1]=4
Logical drive number

MD13010
1 2 3 4
1
2 2
Gear
1
G2
M1 M2 M3 N
M4
1 G3
M
G1
M = Motor
G = Encoder
Fig. 2-3 Setpoint exchange with 2 axes

2.1 Function
Activation The setpoint is exchanged and the corresponding interface signals are
evaluated in the PLC user program.
Note
An existing PLC user program may need to be modified due to changes in the
meaning of interface signals in comparison with the technology card solution.
At any one time, only one of the machine axes with the appropriate logical drive
number may have control via the setpoint channel of the drive.
Requests to transfer drive control are sent using DB31–..., DBX24.5.
The current drive control state is indicated in DB31–..., DBX96.5.
Access rights to the shared drive must be managed in the PLC user program.
Transfer
conditions
S Axis standstill of all axes involved
S Special functions such as reference point approach, measuring, travel to
fixed stop, function generator, star/delta changeover, drive parameter set
changeover are not active in the axis with drive control.
S No sign-of-life error and no faults pending on PROFIBUS drive

The PLC interface provides constant information about the current state of the
exchange. At any one time, only one axis has drive control DB31–...,
DBX96.5=1.
During exchange, servo enables on all axes involved are automatically
withdrawn by the controller.
Axes without drive control are not in closed-loop control. Therefore, a brake
control must be set up for vertical axes.
Special cases If a number of transfer requests are made simultaneously, exchange will not
take place. The last axis used remains in control of the drive. This is also the
case if there are no transfer requests pending.
If there are no transfer requests during machine power-up, drive control is
assigned to the first machine axis located with the same logical drive number.
Logical drive numbers are scanned in ascending order.

$MA_CTRLOUT_MODULE_NR[0,AX1] = 1
$MA_CTRLOUT_MODULE_NR[0,AX4] = 4 ; Drive control
during power-up
Axisspecific Despite assignment to an individual drive, the use of DB31–... remains

signals unchanged.
This requires explicit access coordination in the PLC user program.
As the same drive is being used, the same status signals from DB31–...,
DBB92–95 are displayed in all axes involved in the exchange.
However, control signals DB31–..., DBB20–21 must only be set in the axis
with exclusive control of the drive. Servo enable DB31–..., DBB2.1 is only
effective if DB31–..., DB24.5 have been set.
Axes without the corresponding drive control are subject to functional
restrictions and are therefore operated in follow-up mode. For this purpose, the
servo enables are deleted automatically by the controller.
Diagram of the The following example illustrates a possible setpoint exchange sequence.
PLC program

Motion command for setpoint axis

pending
DB32.DBX61.0 = 1
Control over Yes

drive pending
DB32.DBX24.5 = 0
No
Apply brake
actual axis
Transfer drive
control to actual axis
DB31.DBX24.5 = 0
Setpoint and actual axis

in follow-up mode
No
DB32.DBX61.3 = 1
DB31.DBX61.3 = 1
Yes
Change over
mechanics
Transfer drive
control to setpoint axis
DB32.DBX24.5 = 1
No
Control transferred
DB32.DBX96.5 = 1
Yes
Transfer servo
enable to setpoint axis
DB32.DBX2.1 = 1
Release brake
setpoint axis
Fig. 2-4 PLC-controlled sequence of a setpoint exchange between AX1 → AX2

2.5 Reference points
2.3 Alarms
Drive alarms are only displayed for axes with drive control.
2.4 Position control loop

During setpoint exchange, the drive train and therefore the position control loop
are isolated. In order to avoid instabilities, exchange only takes place at
standstill and once all servo enables have been deleted
The use of a single drive means that only one of the control loops can be closed
at any one time. Axes without drive control are operated with open position
controller and following positions.
2.5 Reference points

The use of load-side encoders does not affect the axial reference points of a
setpoint exchange.
However, the mechanical reference to the load can be lost following setpoint
exchange for a load-side position derived solely from the motor encoder. These
types of axis must be referenced again after every setpoint exchange.
$MA_NUM_ENCS[A1]=2
$MA_ENC_MODULE_NR[0,A1]=2
$MA_ENC_MODULE_NR[1,A1]=3
$MA_ENC_INPUT_NR[0,A1]=2
X1 Y1 Z1 A1 B1 $MA_ENC_INPUT_NR[1,A1]=2
$MA_SAFE_FUNCTION_ENABLE[A1]=1
$MA_SAFE_ENC_MODULE_NR[0,A1]=4
1 2 3 4 $MA_SAFE_ENC_INPUT_NR[0,A1]=1
2 2 2
1
N G2
M1 M2 M3
M4
Load 1
1
G3
M
Gear Load 2
G1
Fig. 2-5 Setpoint exchange in conjunction with single-encoder safety integrated system

2.6 Differences in comparison with the technology card

The setpoint exchange implemented in NCK SW 7.1 and higher differs from the
compile cycles solution described in TE5 as follows. These differences must be
taken into account during installation and start-up and when creating the PLC
user program:
S Machine data MD 63750: CTRLOUT_CHANGE_TAB is no longer used.

S The meanings of associated PLC interface signals have changed.
Therefore, PLC user programs must be updated accordingly.
S Alarms 70451 and 70452 are no longer used.

S Setpoint exchange with simulated axes
MD 30130: CTRLOUT_TYPE=0 is no longer supported.
S Known restrictions of the technology card function no longer apply.

J

Notes

4.1 Machine data
Availability Setpoint exchange is available in SW 7.1 and higher.
Features Setpoint exchange is only possible in conjunction with 611D and PROFIBUS
drives MD 30100: CTRLOUT_SEGMENT_NR=1, 5 or 6. All other settings
generate alarm 26018.
The “Parking” operating state can only be activated via the axis to which drive
control has been assigned.
The “Drive Service Display” HMI diagnostics screen currently does not take into
account changes in assignments between axis and drive.
Setpoint exchange can only be started up via SinuComNc via the Expert List. A
dialog is not supported.
See the FBSI description (11.02 and later) for supplementary conditions for
Safety Integrated in conjunction with setpoint exchange.

4.1 Machine data
For descriptions of the machine data, see:
References: LIS, Lists
For descriptions of the machine data for Safety Integrated, see
References: FBSI, Description of Functions, Safety Integrated
J

4.1 Machine data
Notes

5.1 Axis/spindle-specific signals
DB31 –...
DBX24.5 Activate setpoint exchange
Data Block Signal(s) to axis/spindle (PLC –> NCK)
Signal state = 1
Request to axis to take over drive control.
Signal state = 0
Request to axis to relinquish drive control.
DB31 – ...
DBBX96.5 Status of setpoint exchange
Data Block Signal(s) from axis spindle (NCK –> PLC)
Signal state 1
The axis has taken over control of the drive.
Signal state 0
The axis has relinquished control of the drive.
Signal relevant for ...... All axes involved in setpoint exchange.

Notes

6.1 Example
Example 6
6.1 Example

6.1 Example
Notes

7.1 Machine data

7.1 Machine data

ence
30130 CTRLOUT_TYPE Output type of setpoint G2, S6
30200 NUM_ENCS Number of encoders G2
30220 ENC_MODULE_NR Actual-value assignment: G2
Drive number/measuring circuit number
30230 ENC_INPUT_NR Actual-value assignment: G2
Input on drive module/control loop module

7.1 Machine data
Notes

06.05

Tangential Control (T3)
1 Brief Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/T3/1-3

2 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/T3/2-5
2.1 Characteristics of tangential follow-up control . . . . . . . . . . . . . . . . . . 3/T3/2-5
2.2 Using tangential follow-up control . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/T3/2-7
2.2.1 Assignment between leading axes and following axis . . . . . . . . . . . 3/T3/2-8
2.2.2 Activation of follow-up control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/T3/2-8
2.2.3 Switching on corner response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/T3/2-9
2.2.4 Termination of follow-up control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/T3/2-10
2.2.5 Switching off intermediate block generation . . . . . . . . . . . . . . . . . . . . 3/T3/2-10
2.2.6 Canceling the definition of a follow-up axis assignment . . . . . . . . . . 3/T3/2-11
2.3 Limit angle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/T3/2-13
3 Supplementary Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/T3/4-15
4 Data Descriptions (MD, SD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/T3/4-15
4.1 Machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/T3/4-15
5 Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/T3/5-17
6 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/T3/6-19
7 Data Fields, Lists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/T3/7-21
7.1 Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/T3/7-21
7.2 Machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/T3/7-22
7.3 System variable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/T3/7-22
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SINUMERIK 840D sl/840D/840Di/810D Descrip. of Functions Special Functions (FB3) – 06.05 Edition 3/T3/i
06.05
Notes

3/T3/ii SINUMERIK 840D sl/840D/840Di/810D Descrip. of Functions Special Functions (FB3) – 06.05 Edition
06.05 Tangential Control (T3)
1 Brief Description
Brief Description 1
Tangential control The “tangential control” function belongs to the category of NC functions with
coupled axes. It is characterized by the following features:
S There are two leading axes which are moved independently by means of
normal traversing instructions (leading axes). In addition there is a following
axis whose position is determined as a function of the status of these
leading axes (position, tangent).
S The leading axes and following axis are only coupled at certain times, i.e.
the coupling can be switched on and off by program instructions.
S Tangential control is defined for the basic coordinate system/

S Workpiece coordinate system.
S The leading axes are defined as geometry axes and the following axis as a
rotary axis.
S The coupled axes are assigned to the same channel.

S The position of the following axis can be the input value for a transformation.
S Tangential control is only active in AUTOMATIC and MDA modes.
Corners in the If the contour defined by the leading axes contains a cornerthe following points
path contour are to be noted with respect to the following rotary axis:
S Up to and including SW 3.1, the following rotary axis follows the leading
axes in steps.
S In SW 3.2 and higher you can select one of two different types of response:
– The path velocity is reduced to such an extent that the following axis
reaches its target position synchronously with the other axes.
– If TLIFT has been programmed, an intermediate block is inserted at any
corner whose angle is greater than the “tangential angle for corner
recognition” (EPS_TLIFT_TANG_STEP). In this inserted intermediate
block, the rotary axis is moved as fast as possible to the position
corresponding to the tangent after the corner. The limit values set for this
axis are not violated.

SINUMERIK 840D sl/840D/840Di/810D Descrip. of Functions Special Functions (FB3) – 06.05 Edition 3/T3/1-3
Tangential Control (T3) 06.05
1 Brief Description
Canceling the
follow-up
grouping
S In SW 6.3 and higher, the definition of a follow-up grouping can be
canceled in order to track new leading axes with the following axis.
Applications The tangential control function can be used for example for the following
applications:
– Tangential positioning of a rotatable tool for nibbling operations.
– Follow-up control of tool alignment for a bandsaw.
– Positioning a dressing tool on a grinding wheel.
– Positioning of a gear shaping cutter in glass or paper processing
applications.
– Tangential feed of a wire for 5-axis welding.
J

3/T3/1-4 SINUMERIK 840D sl/840D/840Di/810D Descrip. of Functions Special Functions (FB3) – 06.05 Edition
2.1 Characteristics of tangential follow-up control
Task assignment Follow-up control for the rotary axis must be implemented so that the axis is
always positioned at a specified angle on the programmed path of the two
leading axes.
Y
C
Fig. 2-1 Tangential control, offset angle of zero degrees to path tangent
In the diagram, X and Y are the leading axes in which the path is programmed;
C is the following axis whose position is determined by the control as a function
of the leading axis values and of the desired offset angle between tangent and
alignment in C.
The tangential control will function only if the leading axes are used as path
axes. A leading axis which is programmed as a positioning axis (POS or POSA)
does not specify values required for the follow-up control function.

Behavior of A difference is to be made between the following cases:

follow-up control
– Without intermediate block (TLIFT)
as from SW 3.2 The path velocity of the leading axes is reduced to such an extent that
the following axis reaches its target position synchronously with the other
axes.
– With intermediate block (TLIFT), without G641 rounding
The intermediate block causes the tangentially following axis to rotate as
required. It is interpolated in such a way that the following axis travels at
its limit velocity. The intermediate block is not rounded. At the beginning
of the intermediate block, the path velocity of the leading axes is zero.
Special cases
– G641 rounding is possible between two blocks, both of which move at
least one of the two leading axes of the tangentially following axis.
– G641 rounding is possible between two blocks, both of which do not
move either of the leading axes of the tangentially following axis.
In both cases, an intermediate block for the tangentially following axis is not
created. An intermediate block is not required because in the preprocessing run
the rounded contour is detected and the limit values for the following axis are
calculated.
– Hidden corner in space
A corner relevant for the tangential follow-up control can be hidden in
space. (The projection of the contour to the level defined by the two
leading axes is relevant.)
If there is a hidden corner in space, an intermediate block is inserted
before the block (in this case N6) causing the tangential jump. This
intermediate block moves the following axis to the new position. This
block transition is not smoothed.
N1 TANG (C, X, Y, 1)
N2 TLIFT (C)
N3 G1 G641 X0 Y0 F1000
N4 TANGON (C)
N5 X10
N6 Y10 ; the rotary axis is repositioned
; before this block is processed.
N7 M30

2.2 Using tangential follow-up control
Activation The following axis can only be aligned if:
S The assignment between the leading and following axes is declared to the
system (TANG)
S Follow-up control is activated explicitly (TANGON)

S The response at corners is specified, if required (TLIFT).
Further functions Further functions are provided in order to:
S Terminate follow-up control of the following axis (TANGOF)

S Deactivate the special response at corners (TANG() without a subsequent
TLIFT)
S Cancel the definition of a follow-up grouping (TANGDEL).
Influence on The position of the rotary axis to which follow-up control is applied can act as
transformations the input value for a transformation.
References: /FB/, M1, “Transmit/Peripheral Surface Transformation”
Note
The user is recommended to program TLIFT if tangential control is used
together with a transformation. TLIFT prevents the follow-up axis from
overtraveling and protects against excessive compensating movements.
Explicit If a following axis, which is being made to follow its leading axes, is positioned
programming of explicitly, then the position specification is added to the offset angle
the follow-up axis programmed in the activation instruction TANGON. See 2.2.2. Motional
commands (AC, IC, DC, POS) are permitted.
Reference point Follow-up control is deactivated while the following axis executes a reference
approach point approach.
Multi-channel The cross-channel block search in Program Test mode (SERUPRO “search run
block search in by program test”) can be used to simulate tangential follow-up of axes in
SW 6.1 and higher SW 6.2 and higher.
For more information about multi-channel SERUPRO block search, please see
References: /FB/, K1, “Mode Group, Channels, Program Operation” 2.4

Program test

2.2.1 Assignment between leading axes and following axis
Programming The activation is programmed via a predefined subprogram TANG. The

following parameters are transferred to the control:
Following axis (additional rotary axis) here C
Leading axis 1 (geometry axis) here X
Leading axis 2 (geometry axis) here Y
Coupling factor default 1
Coordinate system identifier default “B”
“B” → Basic coordinate system,
“W” →Workpiece coordinate system is not available.
The appropriate axis identifiers are used to specify the axes. The coupling
factor is generally 1.
The coupling factor can be omitted.
TANG(C, X, Y)
2.2.2 Activation of follow-up control
Programming The activation is programmed via a predefined subprogram TANGON. When

the tangential control is activated, the name of the following axis which must be
made to follow is transferred to the control. This specification refers to the
assignment between master and following axes made beforehand with TANG.
See 2.2.1. An angle between the tangent and the position of the following axis
can be specified optionally when follow-up is activated. This angle is maintained
by the control for as long as the following axis is made to follow. The angle is
added to the angle stored in machine data
$MA_TANG_OFFSET
If the angle is zero both in TANGON and in the MD, the following axis takes the
direction of the tangent.

Y
C
Fig. 2-2 Tangential control, offset angle of 90 degrees to path tangent
Activation is programmed as follows for the above example and an offset angle
of 90 degrees:
TANGON(C, 90)
In response to every motion in path axes X and Y, following axis C is rotated to
an angle of 90 degrees in the relation to the path tangent.
2.2.3 Switching on corner response
After axis assignment with TANG(), the TLIFT() instruction must be written if the
corner response is to be contained in an intermediate block.
TLIFT (C)
The control reads machine data
MD 37400: EPS_TLIFT_TANG_STEP for the tangential following axis C.
If the tangential angle jump exceeds the value (absolute value) of the angle set
in the MD, the control recognizes a “corner” and approaches the new position of
the following axis via an intermediate block.
As of SW 6.4 System variable $AC_TLIFT_BLOCK indicates whether the current block is an

intermediate block generated by TLIFT. If the value of the system variable is 1,
TLIFT inserted the current block as an intermediate block.

2.2.4 Termination of follow-up control
Programming The activation is programmed via a predefined subprogram TANGOF. The

name of the following axis to be decoupled from its leading axes for the
remainder of the machining operation must be transferred to the control in
conjunction with the subroutine name TANGOF.
The termination command with respect to the example in 2.2.1 is:
TANGOF(C)
The follow-up control process initiated with TANGON is terminated.
Termination of follow-up control initiates a preprocessing stop (preprocessor
stop).
RESET/end of part An activated tangential control can remain active for further machining
program operations. See
References: /FB/, K2, “Coordinate Systems, Axis Types,

Axis Configurations, Workpiece-Related Actual-Value System,
External Zero Offset”.
Note
The assignment between 2 master axes and a slave axis programmed with
TANG(...) is not canceled by TANGOF. See 2.2.6.
2.2.5 Switching off intermediate block generation
In order to stop generating the intermediate block at corners during program

execution with active tangential follow-up control, the
TANG() block must be repeated without following TLIFT().

2.2.6 Canceling the definition of a follow-up axis assignment
A follow-up axis assignment specified by TANG() remains active after TANGOF.

This inhibits a plane change or geometry axis switchover.
The predefined subprogram TANGDEL is used to cancel the definition of a
follow-up axis assignment so that the follow-up axis can be operated dependent
on new leading axes when a new follow-up axis assignment is defined.
TANGDEL(C)
The existing definition in the example of TANG(A, X, Y) is canceled.
Example for plane

change
N10 TANG(A, X, Y, 1)
N20 TANGON(A)
N30 X10 Y20
......
N80 TANGOF(A)
N90 TANGDEL(A) ; Delete defined coupling from A to X and Y
; as leading axes
......
N120 TANG(A, X, Z) ; A can be coupled to new leading
; axes
N130 TANGON(A)
......
N200 M30
Example for If the definition of the follow-up axis assignment is not canceled, an attempt to
geometry axis execute a geometry axis switchover is suppressed and an alarm is output.
switchover N10 GEOAX(2, Y1)
N20 TANG(A, X, Y)
N30 TANGON(A, 90)
N40 G2 F8000 X0 Y0 I0 J50
N50 GEOAX(2, Y2) ; Alarm 14415, geometry axis to be deleted
; is still leading axis for follow-up
; axis assignment

Geometry axis The following example shows how TANGDEL is used correctly in association
switchover with with an axis switchover.
TANGDEL
N10 GEOAX(2, Y1) ; Geometry axis group defined

N20 TANG(A,X, Y) ; Channel axis Y1 assigned
N30 TANGON(A, 90) ; Follow-up grouping with Y1 activated
N40 G2 F8000 X0 Y0 I0 J50 ; Traversing block for leading axes
N50 TANGOF(A) ; Deactivation of follow-up
N60 TANGDEL(A) ; Deletion of definition
; of follow-up axis assignment
N70 GEOAX(2, Y2) ; Geometry axis changeover possible
N80 TANG(A, X, Y) ; New def. of follow-up axis grouping
N90 TANGON(A, 90) ; Follow-up grouping with Y2 activated
.......

2.3 Limit angle
2.3 Limit angle
Description of When the axis moves backwards and forwards along the path, the tangent turns
problem abruptly through 180 degrees at the path reversal point. This response is not
generally desirable for this type of machining operation (e.g. grinding of a
contour). It is far better for the reverse motion to be executed at the same offset
angle (negative) as the forward motion.
ÇÇÇÇÇÇÇÇÇ
ÇÇÇÇÇÇÇÇÇ
ÇÇÇÇÇÇÇÇÇ
ÇÇÇÇÇÇÇÇÇ
ÇÇÇÇÇÇÇÇÇ Undesirable reverse motion
ÇÇÇÇÇÇÇÇÇÇ
Desirable reverse motion
ÇÇÇÇÇÇÇÇÇÇ X
Fig. 2-3 Backward and forward motion on the path
Programming A minimum and a maximum value for the position of the axis made to follow (“C”
in example) referred to the base coordinate system are transferred to the control
with G25 and G26. These working area limitations are activated with WALIMON
and deactivated again with WALIMOF. The working area limitation must be
active at the instant of path reversal.
References: /PG/, “Programming Guide: Fundamentals”
Effect If the current offset angle is outside the active working area limitation for the
following axis, an attempt is made to return to within the permissible working
area by means of the negative offset angle. This response corresponds to that
shown in the lower diagram of Fig. 2-3.
J

2.3 Limit angle
Notes

4.1 Machine data
Availability The “Tangential control” function is an option and available for
S SINUMERIK 840D with NCU 572/573, SW 2 and higher

In SW 3.2 and higher, the special response at path corners, controlled by TLIFT
() is available.

4.1 Machine data
37400 $MA_EPS_TLIFT_TANG_STEP
MD number Tangential angle for corner recognition
Changes effective after RESET Protection level: 2 / 7 Unit: Degrees
Meaning: If TLIFT has been programmed and the axis is under tangential follow-up control, a step
change in the position setpoint larger than EPS_TLIFT_TANG_STEP causes an intermedi-
ate block to be inserted. The intermediate block moves the axis to the position correspond-
ing to the initial tangent in the next block.
MD irrelevant for ...... TLIFT not activated
Related to .... TLIFT instruction

4.1 Machine data
37402 $MA_TANG_OFFSET
MD number Default angle for tangential follow-up control
Changes effective after RESET Protection level: 2 / 7 Unit: Degrees
Meaning: Default offset (angle) which the following axis forms with the tangent. The angle acts addi-
tively to the angle programmed in the TANGON block.
MD irrelevant for ...... If no tangential follow-up control.
Related to .... TANGON instruction

5 Signal Descriptions
Special response The movement of the axis under tangential follow-up control to compensate for
to signals a tangent jump at a corner of the path (defined by the movements of the leading
axis) can be stopped by the following signals (e.g. for test purposes):
S NC Stop and override = 0

S Removal of the axis-specific feed enable
The signals are described in
References: /LIS/, Lists
J

Notes

6 Examples
Examples 6
Positioning of
workpiece
Workpiece
Saw band
X
Fig. 6-1 Tangential positioning of a workpiece on a bandsaw
Positioning of tool
Dresser
Grinding
wheel
Fig. 6-2 Positioning of a dressing tool on a grinding wheel

6 Examples
Example corner in TANG(A,X,Y,1.0,“B”)

area TLIFT(A)
G1 G641 X0 Y0 Z0 A0
TANGON(A,0)
N4 X10
N5 Z10
N6 Y10
M30
Here, a corner is hidden in the area between N4 and N6. N6 causes a tangent
jump. That is why there is no rounding between N5 and N6 and an intermediate
block is inserted.
In the case of a hidden corner in area, an intermediate block is inserted before
the block that has caused the tangent jump. The intermediate block moves the
following axis to the new tangent position.
J

7.1 Alarms

7.1 Alarms

7.3 System variable
7.2 Machine data

ence
37400 EPS_TLIFT_TANG_STEP Tangential angle for corner recognition
37402 TANG_OFFSET Default angle for tangential follow-up control
7.3 System variable

ence
$AC_TLIFT_BLOCK Current block is an intermediate block generated by TLIFT PGA1

06.05

Installation of Compile Cycles (TE01)
1 Brief Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE01/1-3

1.1 Brief description (840Di) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE01/1-3
1.2 Brief description (840Di) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE01/1-4
2 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE01/2-5
2.1 Design (840D) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE01/2-5
2.1.1 Copying compile cycles into the flash file system (FFS) . . . . . . . . . 3/TE01/2-5
2.1.2 Loading the compile cycles into the NC . . . . . . . . . . . . . . . . . . . . . . . 3/TE01/2-6
2.1.3 Activating the technology functions in the NCK . . . . . . . . . . . . . . . . . 3/TE01/2-8
2.2 Design (840Di) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE01/2-9
3 Supplementary Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE01/3-11
3.1 Transition to newer NCK versions (840D) . . . . . . . . . . . . . . . . . . . . . 3/TE01/3-11
3.1.1 Create backup archive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE01/3-12
3.1.2 Insert new PC card . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE01/3-12
3.1.3 Loading the compile cycles into the FFS . . . . . . . . . . . . . . . . . . . . . . 3/TE01/3-12
3.1.4 NCU RESET . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE01/3-13
3.1.5 Activate technology function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE01/3-13
3.1.6 Reactivate NCU RESET . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE01/3-13
3.1.7 Convert archive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE01/3-13
3.1.8 Load converted archive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE01/3-13
4 Data Descriptions (MD, Options) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE01/4-15
4.1 Machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE01/4-15
4.1.1 NC-specific machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE01/4-15
4.2 Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE01/4-15
J

SINUMERIK 840D sl/840D/840Di/810D Descrip. of Functions Special Functions (FB3) – 06.05 Edition 3/TE0/i
06.05
Notes

3/TE0/ii SINUMERIK 840D sl/840D/840Di/810D Descrip. of Functions Special Functions (FB3) – 06.05 Edition
06.05 Installation of Compile Cycles (TE01)
1.1 Brief description (840Di)
Brief Description 1
Aim of the This section describes how technology functions are installed and activated in
description the form of loadable compile cycles. The description applies to all of the
following technology functions available from Siemens:
S 1D/3D clearance control in position control cycle

Order no.: 6FC5 251–0AC05–0AA0
Compile cycle: CCCLC.ELF
References: Clearance Control chapter (TE1)
S Handling Transformation Package

Order no.: 6FC5 251–0AD07–0AA0
Compile cycle: CCRCTRA.ELF
References: Handling Transformation Package chapter (TE4)
S Setpoint exchange
Order no.: 6FC5 251–0AC05–0AA0
Compile cycle: CCSETP.ELF
References: Setpoint Exchange chapter (TE5)
S Axial coupling in machine coordinate system (MCS coupling)

Order no.: 6FC5 251–0AD11–0AA0
Compile cycle: CCMCSC.ELF
References: MCS Coupling chapter (TE6)
S Retrace/Continue Machining Support

Order no.: 6FC5 251–0AE72–0AA0
Compile cycle: CCRESU
References: Retrace/Continue Machining Support chapter (TE7)
S High-speed laser switching signal

Order no.: 6FC5 251–0AE74–0AA0
Compile cycle: CCHSLC.ELF
References: Cycle-Clock-Independent Path-Synchronous Signal Output
chapter TE8
as well as to user-specific technology functions.
The following technology functions are not available in the form of compile
cycles:
S Analog axis
The compile cycle is now available as a hardware solution.
S Speed/torque coupling
The compile cycle is available as a general function from SW 6.4 and higher.

SINUMERIK 840D sl/840D/840Di/810D Descrip. of Functions Special Functions (FB3) – 06.05 Edition 3/TE01/1-3
Installation of Compile Cycles (TE01) 06.05
Supply format Up to and including SW 6.3, the technology functions were supplied in the form
of compile cycles on the technology PC card. Several functions were normally
stored on each PC card but only one function was used. With SW 6.4, the
technology functions are supplied individually as loadable compile cycles.
Tips for use The following chapters describe how to load and activate the compile cycles
and set the necessary NCK machine data.
Please follow the instructions in Chapter 2 if you have not already used compile
cycles.
Follow the instructions in Chapter 3 if you have made an archive from an opera-
tional control using compile cycles from a technology PC card and want to re-
place these compile cycles with more recent versions in the form of loadable
compile cycles.
Requirements One of the following programs is required for the installation:
S SinuCom NC
S SinuCopy FFS
S HMI Advanced, SW 6.3 and higher
required.
Furthermore, a PG/PC with MPI connection to the NCU must also be available.
Note
The following must be observed for system start-up
– Installation and Start-Up Guide /IAD/
– Installation and Start-Up Guide HMI/MMC and if necessary.
– The current Standard Upgrade Guide.

The description of how to load and activate compile cycles in conjunction with
the SINUMERIK 840Di can be found in:
References: /HBI/ SINUMERIK 840Di Manual
Chapter: NC Installation and Start-Up With HMI Advanced,
Loadable Compile Cycles
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3/TE01/1-4 SINUMERIK 840D sl/840D/840Di/810D Descrip. of Functions Special Functions (FB3) – 06.05 Edition
2.1 Design (840D)
2.1 Design (840D)
Delivery format Technology functions that are available as loadable compile cycles must be
purchased as options:
References: Ordering information in Catalog NC 60.2002
To obtain the compile cycle in the form of a loadable file (.ELF extension for
executable and linking format), please contact your regional Siemens sales
partner.
Installation and The following steps are necessary in order to install and activate a loadable
activation compile cycle.
1. Copy the compile cycle into the flash file system (FFS) of the NCK.
2. Load the compile cycle into the NCK system software.
3. Activate the compile cycle in the NCK.
Note
The further use of existing archives with compile cycles is described in
Chapter 3, page 3/TE01/3-11.
2.1.1 Copying compile cycles into the flash file system (FFS)
Target directory In order that a compile cycle is detected and loaded while powering up the NC,
all ELF files (*.ELF) belonging to the compile cycle must be copied into the follo-
wing FFS directory of the PC card: \_N_CCOEM_DIR
Note
It must be ensured that sufficient memory space is available before copying a
compile cycle or the corresponding ELF file(s) into the FFS of the PC card.
The ELF files can be copied in different ways into the FFS of the PC card:
S HMI Advanced (SW 6.3 and higher)

With HMI Advanced, the ELF files can be copied directly from various media
into the FFS of the active PC card of the NCU.
References:
/BAD/ Operator’s Guide HMI Advanced

2.1 Design (840D)
S External PC and “SINUCOPY FFS”

Use the program: “SINUCOPY FFS” to create the “\_N_CCOEM_DIR” direc-
tory in the FFS of the PC card and copy the ELF files into this directory.
S PC/PG with MPI connection to the NC and “SinuCom NC”

Using the startup tool: “SinuCom NC” (Version 6.2.12 and higher), the ELF
files can be copied directly into the FFS of the active PC card of the NCU.
SinuCom NC menu command: File > Load compile cycle
S “ddetest.exe” program
(The program: “ddetest.exe” is supplied with the SINUMERIK user interface
“HMI Advanced”.)
The following three steps must be performed to copy the ELF files into the
FFS of the active PC card of the NCU
1. Create a variable (e.g. COPYELF):
Execute <Doit> new( COPYELF, –1)
2. Start a hotlink to this variable:

Hotlink <Start> COPYELF
3. Start PI service to load an ELF file stored on diskette in drive: “a:\”, e.g.
ccmcsc.elf:
Execute <Doit> copy_to_nc ( a:\ccmcsc.elf,
/NC/_N_NC_CARD_DIR/_N_CCOEM_DIR/_N_CCMCSC_ELF, COPYELF)
After starting the hotlink, variable “COPYELF” displays the initialization
value –1. During the loading of the ELF file, the value increments from 0
to 99. A value of 100 indicates successful loading.
2.1.2 Loading the compile cycles into the NC

Each time the NC is powered up, all compile cycles (ELF files) in directory
“\_N_CCOEM_DIR” available as part of the system software are loaded to the
NC. The NC system software accesses the compile cycles via a special inter-
face. The interface version used by the compile cycle and the NC system soft-
ware must therefore be compatible.
Interface version Each interface version is displayed under:
S Interface version of the NC system software

HMI Advanced:
Diagnosis > Service displays > Version > NCU Version
Display (excerpt):
–––––––––––––––––––––––––––––––––––––––––––––––––––––––––
CC Interface Version:
@NCKOPI . . . .@Interfaces=<1st digit>.<2nd digit> . . . .
Loaded Compile Cycles:
....
––––––––––––––––––––––––––––––––––––––––––––––––––––––––––
S Interface version of a compile cycle that has not yet been loaded
HMI Advanced (excerpt):
Services > <Medium> > Softkey: “Properties”

2.1 Design (840D)
Display:
Contents: Loadable compile cycle
Interface: . . . . @Interfaces=<1st digit>.<2nd digit> . . . .
S Interface version of a loaded compile cycle

HMI Advanced:
Display (excerpt):
–––––––––––––––––––––––––––––––––––––––––––––––––––––––––
@NCKOPI . . . .
<Identifier> <Version> <Date generated>
CC start address
_N_<Identifier><Version>IF<1st digit><2nd digit>_ELF . . .
––––––––––––––––––––––––––––––––––––––––––––––––––––––––––
Example:
_N_CLC407IF003001_ELF corresponds to interface version: 3.1
SW version of a The SW version of a compile cycle is displayed under:

compile cycle HMI Advanced:
Display (excerpt):
–––––––––––––––––––––––––––––––––––––––––––––––––––––––––
@NCKOPI . . . .
<Identifier> <Version> <Date generated>
CC start address
_N_<Identifier><Version>IF<1st digit>.<2nd digit>_ELF . . .
Code=<Address> Data=<Address> . . .
––––––––––––––––––––––––––––––––––––––––––––––––––––––––––
Example:
_N_CLC407IF003001_ELF corresponds to SW version: 4.7
Note
The display of code and data range start addresses of a compile cycle are
provided for diagnostics purposes only and have no significance in normal
operation.
Dependencies The following dependencies exist between the interface versionsof a compile
cycle and the NC system software:
S 1. Digit of the interface version number

The 1st digit of the interface version number of a compile cycle and the NC
system software must be equal.
S 2. Digit of the interface version number

The 2nd digit of the interface version number of a compile cycle must be
less than or equal to the 2nd digit of the NC system software.

2.1 Design (840D)
Caution
If alarm 7200 is displayed after start-up, this means no compile cycle has been
loaded!
2.1.3 Activating the technology functions in the NCK
Option The corresponding option (see Section 4.2, page 3/TE01/4-15) must be en-
abled before activating a technology function as described below.
If the option data has not been set, the following alarm appears every time the
NCK boots and the technology function will not be activated:
S Alarm 7202 XXX_ELF_option_bit_missing: <Bit number>”
Note
The previous compile cycle option data
– MD 19600: $ON_CC_EVENT_MASK[n]
used to activate the compiled technology functions are not relevant for the
loadable compile cycles.
Activation Each technology function loaded by compile cycle creates a function-specific

global NCK machine data:
S $MN_CC_ACTIVE_IN_CHAN_<name>[n], where n = 0, 1
in the number range from 60900 to 60999.
Example: Technology function MCS coupling (CCMCSC.ELF)
– $MN_CC_ACTIVE_IN_CHAN_MCSC[0]
– $MN_CC_ACTIVE_IN_CHAN_MCSC[1]
Activation for 1st The technology functions are activated in the first NC channel via
NC channel – $MN_CC_ACTIVE_IN_CHAN_<identifier>[0], Bit0 = 1
The meanings of all further machine data bits are described in the function de-
scriptions (TE1–TE8).
Note
Please refer also to the following documents for system installation and
start-up:
References:
– /IAD/ Installation & Start-up Guide 840D/611D
– /IAM/ Installation & Start-up Guide HMI/MMC
– or the current standard upgrade instructions

2.2 Design (840Di)
Caution
! The first time a bit is set in one of the function-specific NCK machine data:
S $MN_CC_ACTIVE_IN_CHAN_XXXX[0],
the control outputs the following alarm:
S Alarm “4400 MD modification causes reorganization of the buffered memory
(data will be lost ! )”
and you are warned that all user data (part programs, tool data, etc.) will be
deleted on the next run-up. It may be necessary to create an archive AFTER
setting this data and PRIOR to triggering an NCK RESET.
The technology functions activated by function-specific NCK machine data are

effective after the next NCK run-up.
Function-spec. The further function-specific installation routines are described in the corre-
startup sponding function descriptions (TE1–TE8).
2.2 Design (840Di)

The description of how to load and activate compile cycles in conjunction with
the SINUMERIK 840Di can be found in:
Chapter: NC Installation and Start-Up With HMI Advanced,
J

2.2 Design (840Di)
Notes

3.1 Transition to newer NCK versions (840D)
In order to be able to use technology functions from an existing archive in con-
junction with newer NCK versions (NCK 06.03.23 and later), the archive must
first be updated before being loaded in the NC.
Requirements The following requirements must be met in order to update an archive:
S A PC card with a SINUMERIK 840D standard system Version NCK 06.03.23

or later
S The ELF files for the technology functions to be activated

S The conversion program arc4elf.exe (archive conversion)
Update Proceed as follows to update an archive:

1. Create backup archive
– Standard procedure or
– With optimization of SRAM utilization
2. Insert new PC card
3. Incorporate the ELF files
4. NCU RESET
5. Activate technology function
6. Reactivate NCU RESET
7. Convert archive using arc4elf.exe
8. Load converted archive

3.1.1 Create backup archive
Standard The standard creation of an archive for user data backup is described in:
References:
/IAD/ Installation & Start-up Guide 840D/SIMODRIVE 611D
Chapter: Data Backup
Optimized Data backup with optimization of SRAM utilization is only necessary if an ar-
chive for an NCK Version 6.3.xx is being used and the NCK SRAM needs to be
optimized.
The memory configuration machine data:
S MD18238: MM_CC_MD_MEM_SIZE = 1 must be reset to enable the NCK
SRAM previously requested explicitly for technology functions.
An explicit request no longer has to be sent to the SRAM memory as the
technology functions loaded via ELF files will request the required SRAM
memory on a function-specific basis from the NCK memory management.
Resetting the above machine data will reorganize the SRAM memory the next
time the NCK starts up and all user data will be lost.
In this state, you must create a new archive BEFORE resetting the NCK.
Follow steps 3.1.2 to 3.1.8 below.
3.1.2 Insert new PC card
PC card Replace the previous PC card with the one that contains the new system and
clear the SRAM with:
NCU RESET with NCU switch S3 to position 1.
After this start-up, alarm 4060 “standard machine data loaded” is present.
3.1.3 Loading the compile cycles into the FFS
Use the option that is most suitable described in 2.1.1.

3.1.4 NCU RESET
When the NCK is rebooted after an NCU reset, the compile cycles are loaded
from the FFS to the NCK system software.
You can check the versions of the loaded compile cycles (see Subsec-
tion 2.1.2).
3.1.5 Activate technology function
Option The option bits for the loaded ELF files can be set (see Subsection 2.1.3).
Channel activation Subsection 2.1.3 describes the channel settings for the individual technology
functions in
MD $MN_CC_ACTIVE_IN_CHAN_XXX[0] and
MD $MN_CC_ACTIVE_IN_CHAN_XXX[1]
The associated MD number is derived from the loading sequence in 3.1.4.
3.1.6 Reactivate NCU RESET
The NCK is rebooted; no alarms should appear.
3.1.7 Convert archive
The archive created in 3.1.1 “Standard”/“Option” must be converted. The

arc4elf.exe program is required for this purpose (available from E-Support).
Use the
arc4elf –h call to access help for using the program.
The general format of the call is:
arc2elf ORIGINAL.ARC CONVERTED.ARC

Replace ORIGINAL:ARC and CONVERTED.ARC with the actual archive
names.
The converted archive is created in the same directory as the original archive.
3.1.8 Load converted archive
Load the converted archives as described in /BAD/.

Activate the imported data by NC-RESET.
J

Notes

4.2 Options
Data Descriptions (MD, Options) 4

4.1 Machine data
4.1.1 NC-specific machine data
60900 + i CC_ACTIV_IN_CHAN_XXXX[n]
where i = 0. 1. 2. 3 ... with: XXXX = function code, n = 0 or 1
MD number n = 0: Activate technology function in NC channels
n = 1: Additional functions within the technology function
Default setting: 0 Minimum input limit: 0 Maximum input limit: FFFF
Data type: UINT16 Applies as of SW: 2.2
Meaning: Activate technology function in NC channels:
The technology function is activated in the NC channels by means of index n = 0.
Bit 0 = 1: Technology function activated in NC channel 1
Bit n = 1: Technology function activated in NC channel n+1
For more details about for which NC channels a technology function can be activated,
please see the references below.
Additional functions within the technology function:
The MD with index n = 1 activates additional functions within the relevant technology func-
tion. See References below.
References: /FB3/ Description of Functions Special Functions TE1 – TExx
4.2 Options
Technology functions that are available as loadable compile cycles must be
purchased separately as options.
References: Ordering information in Catalog NC 60
To obtain the required compile cycle in the form of a loadable file (*.ELF), please
contact your regional Siemens sales partner.
J

4.2 Options
Notes

06.05

Simulation of Compile Cycles (TE02)

1.1 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE02/1-3
1.2 Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE02/1-3
1.2.1 OEM transformations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE02/1-3
2.1 OEM transformations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE02/2-5
4 Data Descriptions (MD, Options) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE02/4-9
J

06.05
Notes

06.05 Simulation of Compile Cycles (TE02)
1.2 Requirements
Brief Description 1
1.1 Features
If part programs, which use compile cycles, are simulated on the SINUMERIK
user interface, e.g. HMI Advanced, simulation is aborted and corresponding
error messages are output. The reason is that compile cycle support has not yet
been implemented on the HMI.
The measures described below show how to set up the runtime environment to
enable the simulation of part programs, which use compile cycles, without error
messages.
1.2 Requirements
1.2.1 OEM transformations
HMI Advanced At least the following version is required in order to simulate part programs
which use the functions of OEM transformations:
S Software version: SW 6.2.12

J

Simulation of Compile Cycles (TE02) 06.05
1.2 Requirements
Notes

2.1 OEM transformations
The runtime environment for simulation must be configured as follows when
using OEM transformations:
1. Create a new directory: <Installation path>/OEM on the computer on which
the HMI application, e.g. HMI Advanced, is installed in the directory structure
of the HMI application next to the standard existing directory: <Installation
path>/MMC2.
2. In the OEM directory created under 1., create a file: DPSIM.TEA with the
following contents:
$MN_NC_USER_CODE_CONF_NAME_TAB[196]=“TRAORI”
$MN_NC_USER_CODE_CONF_NAME_TAB[197]=“_TRAORI”
$MN_NC_USER_CODE_CONF_NAME_TAB[198]=“TRACON”
$MN_NC_USER_CODE_CONF_NAME_TAB[199]=“_TRACON”
CHANDATA(1)
$MC_AXCONF_GEOAX_ASSIGN_TAB[0]=1
$MC_TRAFO_RESET_VALUE=0
; Make sure that transformation types 4096 – 4101 are deleted
$MC_TRAFO_TYPE_1=0
$MC_TRAFO_TYPE_2=0
$MC_TRAFO_TYPE_3=0
; Delete transformation chains with OEM transformations
$MC_TRACON_CHAIN_1[0]=0
$MC_TRACON_CHAIN_1[1]=0
; NOTICE! No spaces after M30
M30
3. In the OEM directory created under 1., create a file: DPSIM.INI with the follo-
wing contents:
[PRELOAD]
CYCLES=1
CYCLEINTERFACE=0
4. Close and launch the HMI application.

5. In the directory of the manufacturer cycles, create a file: TRAORI.SPF with
the following contents:
PROC TRAORI(INT II)
RET

6. In the directory of the manufacturer cycles, create a file: TRACON.SPF with

the following contents:
PROC TRACON(INT II)
RET
Note
The TRAORI.SPF and TRACON.SPF manufacturer cycles created in 5. and
6. must not be loaded onto the NC.
7. Start the simulation.
8. Run a data comparison for the cycles after the simulation has started up:
S HMI Advanced: Data comparison > Compare cycles
Note
At least the password for protection level 3 “End user: Service” is needed
for the data comparison.
J

No supplementary conditions exist.
J

Notes

4 Data Description (MD, Options)
Data Descriptions (MD, Options) 4

No data descriptions are necessary.
J

4 Data Description (MD, Options)
Notes

06.05

Clearance Control (TE1)

2.1 Description of functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE1/2-5
2.2 Clearance control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE1/2-7
2.2.1 Control dynamics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE1/2-7
2.2.2 Velocity feedforward control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE1/2-9
2.2.3 Control loop structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE1/2-10
2.2.4 Compensation vector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE1/2-11
2.3 Technological features of clearance control . . . . . . . . . . . . . . . . . . . . 3/TE1/2-13
2.4 Sensor collision monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE1/2-14
2.5 Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE1/2-15
2.5.1 Activating the technological function . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE1/2-15
2.5.2 Configuring the memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE1/2-15
2.5.3 Parameter settings for input signals (840D) . . . . . . . . . . . . . . . . . . . . 3/TE1/2-16
2.5.4 Parameter settings for input signals (840Di) . . . . . . . . . . . . . . . . . . . 3/TE1/2-16
2.5.5 Parameters of the programmable compensation vector . . . . . . . . . 3/TE1/2-17
2.5.6 Parameter settings for clearance control . . . . . . . . . . . . . . . . . . . . . . 3/TE1/2-19
2.5.7 Starting up clearance control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE1/2-20
2.6 Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE1/2-22
2.6.1 Activating and deactivating clearance control (CLC) . . . . . . . . . . . . 3/TE1/2-22
2.6.2 Closed-loop control gain (CLC_GAIN) . . . . . . . . . . . . . . . . . . . . . . . . 3/TE1/2-27
2.6.3 Limiting the control range (CLC_LIM) . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE1/2-28
2.6.4 Direction-dependent traversing motion disable . . . . . . . . . . . . . . . . . 3/TE1/2-29
2.6.5 Voltage offset, can be set on a block-specific basis (CLC_VOFF) . 3/TE1/2-31
2.6.6 Voltage offset definable by synchronized action . . . . . . . . . . . . . . . . 3/TE1/2-31
2.6.7 Selection of the active sensor characteristic (CLC_SEL) . . . . . . . . 3/TE1/2-32
2.7 Function-specific display data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE1/2-33
2.7.1 Channel-specific GUD variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE1/2-33
2.7.2 OPI variable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE1/2-35
2.8 Function-specific alarm texts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE1/2-36
3.1 I/O modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE1/3-39

06.05
3.1.1 I/O modules (840D) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE1/3-39

3.1.2 I/O modules (840Di) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE1/3-40
3.1.3 External smoothing filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE1/3-40
3.2 Function-specific boundary conditions . . . . . . . . . . . . . . . . . . . . . . . . 3/TE1/3-41
4 Data Descriptions (MD, SD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE1/4-43
4.1 Machine data for clearance control . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE1/4-43
5 Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE1/5-57
5.1 Signals to channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE1/5-57
5.2 Signals from channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE1/5-58
6 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE1/6-61
7 Data Fields, Lists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE1/7-63
7.1 Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE1/7-63
7.2 Machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE1/7-68
7.2.1 Drive-specific parameters (840Di) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE1/7-68
7.2.2 Drive-specific machine data (840D) . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE1/7-68
7.3 Interface signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE1/7-69
J

06.05 Clearance Control (TE1)
1 Brief Description
Brief Description 1
Description The “clearance control” technological function is used to maintain a one-dimen-
of functions sional (1D) or three-dimensional (3D) clearance required for technological rea-
sons during a machining process. The clearance to be maintained may be e.g.
the distance of a tool from the workpiece surface to be machined.
Function code The code for the “clearance control” technological function for function-specific
identifiers of program commands, machine data, etc. is:
S CLC = Clearance Control
Availability The “clearance control” technological function is available for the following sys-
tems:
S SINUMERIK 840D
S SINUMERIK 840Di
Restrictions The “clearance control” technological function is subject to the following restric-
tions:
S SINUMERIK 840D
The technological function can only be activated in the first channel on the
NC in SW up to 6.3.
Compile cycle The “clearance control” technological function is a compile cycle.

System-specific availability and instructions on how to use compile cycles are
described in:
(840D) References: /FB3/ Description of Functions Special Functions

Installation of Compile Cycles TE0
(840Di) References: /HBI/ SINUMERIK 840Di Manual

NC Installation and Start-Up With HMI Advanced,
J

Clearance Control (TE1) 06.05
1 Brief Description
Notes

2.1 Description of functions
Laser cutting technology is used as an example for the detailed description of
the “clearance control” functionality laser cutting.
Laser cutting During laser cutting, a divergent parallel laser beam is directed across a fiber-
optic cable or via a mirror to a light-collecting lens mounted on the laser machin-
ing head. The collecting lens focuses the laser beam at its focal point. Typical
focal lengths are from 5 to 20 cm.
The position of the focal point in relation to the workpiece is an extremely critical
process parameter in laser cutting operations and must be kept constant with a
tolerance of 100 mm.
The distance between the focal point and the workpiece, which is also a key
process variable, is usually measured by means of a high-speed capacitive
sensor. The analog output voltage of the clearance sensor is approximately
proportional to the distance between the sensor and the workpiece surface.
The output voltage of the clearance sensor is transmitted as a digital input value
via an analog I/O module to the control where, in the event of deviations from
the setpoint clearance, it generates an additional velocity setpoint for the ma-
chining head motion axes.
System overview An overview of the system components required for clearance control in con-
(840D) junction with SINUMERIK 840D is provided in Fig. 2-1.
SINUMERIK 840D
with SIMODRIVE 611D NCK
I/Os
SINUMERIK
Motion axes X and Y

drive bus
Clearance control for axis Z

Laser
Y
I/RF NCU MSD FD Machining head X
with
clearance sensor
+
Z
Clearance –
to be controlled Workpiece surface
Fig. 2-1 System components for clearance control with SINUMERIK 840D

System overview An overview of the system components required for clearance control in con-
(840Di) junction with SINUMERIK 840Di is provided in Fig. 2-2.
SINUMERIK 840Di
SIMATIC ET200 I/O
SIMODRIVE 611 universal

PROFIBUS DP
Laser
Y
Machining head X
with
clearance sensor +
Z Motion axes X and Y
– Clearance control for axis Z
Clearance
to be
controlled Workpiece surface
Fig. 2-2 System components for clearance control with SINUMERIK 840Di
1D/3D Clearance control can be used for 1D and 3D machining with up to 5 interpola-
machining tory axes.
S 1D machining
In the case of 1D machining, clearance control is only applied to one axis,
e.g. axis Z, as shown in the example machine configuration in the system
overview for each SINUMERIK system (see above, Fig. 2-1 and Fig. 2-2).
Clearance control acts only in the direction of the Z axis.
S 3D machining
3 linear axes are used to position the tool. One or two rotary axes are used
for the orientation of the tool vector (5-axis machining). Up to 3 linear axes
are controlled by the clearance control. The direction of the compensation
movement can be defined either in the direction:
– of the tool orientation vector (normal case)
– of the programmable compensation vector

2.2 Clearance control
2.2.1 Control dynamics
Closed-loop The dynamic response of the closed control loop (sensor-open-loop-control-

control gain Kv axis) is determined by the maximum closed-loop control gain Kv.
The closed-loop control gain Kv is defined as:
Velocity [m/min] [m/min]

Kv = ; in [ ]
following error [mm] [mm]
Clearance control Clearance control is based on the two characteristics shown below in Fig. 2-3:
characteristics – Clearance sensor characteristic (sensor property)
– Clearance control characteristic (can be parameterized via machine
data)
Clearance control characteristic Clearance control characteristic

MD62510/62512 CLC_SENSOR_VOLTAGE_TABLE_1/_2
MD62511/62513 CLC_SENSOR_VELO_TABLE_1/_2
Compensatory velocity of Sensor output

clearance-controlled voltage U[V]
+Vmax
axis/axes +Umax
V[m/min]
Uact
–Umax –Smax +Smax

+Umax
0 Uact 0
Sensor output Actual Sensor
voltage U[V] clearance clearance
Actual compensatory velocity S[mm]
of clearance control
Setpoint clearance that can be set

on the clearance sensor (working
clearance)
–Vmax
–Umax
Fig. 2-3 Correlation between characteristics: Clearance sensor and clearance control
S The clearance sensor measures the actual distance from the workpiece
surface and returns as its output variable a voltage in [V], which is almost
directly proportional to the distance.
S The clearance control function uses the parameterized voltage/velocity char-

acteristic from the voltage provided by the clearance sensor to calculate a
compensatory velocity for the clearance-controlled axes that is appropriate
for the clearance.
From the point of view of the control, the unit for the closed-loop
control gain is [(mm/min)/V]. In the same way as the setpoint clearance in stan-
dardized in [mm], values can only be standardized in [(mm/min)/mm] by using
the sensor electronics.

Max. closed-loop The maximum achievable closed-loop control gain is determined by the follo-
control gain wing delay and reaction times of the overall system:
1. Reaction time of sensor
2. Delay time of A/D converter
3. Signal processing delay times/deadtimes
4. Reaction time of position controller
5. Reaction times of speed and current controllers
6. Time constants of motor and mechanical components
In practice, only items 3 and 4 are relevant.

The influencing variables together produce an effective time constant. A closed-
loop control gain set too high based on this time constant will induce natural
oscillations in the range of several hertz in the axis/axes to be controlled.
The objective when starting up the clearance control is to minimize important
time constants so that the closed-loop control gain required by the process can
be set without inducing natural oscillation of this type.
Deadtimes In order to maximize the dynamics of the control response, clearance control
takes place on the highest priority position controller level of the NCK.
System-specific distances in the interface between the I/O modules and drives
produce the following non-identical deadtimes.
(840D) SINUMERIK 840D with I/O modules connected to the SINUMERIK drive bus
and SIMODRIVE 611D drives produces a deadtime Tdead of:
Tdead 2 * position controller cycle + 2 * speed controller cycle
(840Di) SINUMERIK 840Di with I/O modules and drives connected via PROFIBUS-DP
produces a deadtime Tdead of:
Tdead 2 * position controller cycle + 2 * speed controller cycle +
conversion time + channel cycle time +
2 * “PROFIBUS-DP cycle” +
To
S Conversion time, channel cycle time:

ET 200 S with “2 AI U high-speed” analog electronics module produces the
following times:
– Conversion time 0.1 ms
– Channel cycle time: 1 ms (both channels)
=> average control deadtime of 0.5 ms
S To
To is the setpoint transfer time of the drive parameterized in SIMATIC S7:
HW-Config.

2.2.2 Velocity feedforward control
Eliminating the The closed-loop control gain Kv set for the position controller corresponds to a
delay time delay time ∆t. The delay time ∆t is the time that elapses until the actual position
of the axis to be controlled correlates with the setpoint position in response to a
velocity specification v.
1
With ∆t =
Kv
and a closed-loop control gain Kv in seconds:

m/min 1000 mm/60 s 1
Kv in [ mm ] = [ mm
] = 16.667 [
s
]
for an assumed closed-loop control gain Kv = 4, the corresponding delay time

∆t is:
1
∆t = = 14.999 ms
1
4 * 16.667 [ ]
s
By activating the velocity feedforward control for the clearance-controlled axis, it

is possible to almost completely eliminate this delay.
Optimizing the If the control response of the axis is too rigid due to the velocity feedforward
control response control, the control response can be optimized with the following axis-specific
NC machine data:
S MD32410: AX_JERK_TIME (time constant for the axial jerk filter)

S MD32610: VELO_FFW_WEIGHT (feedforward control factor for the speed
feedforward control)
(840D) The velocity filters of the SIMODRIVE 611D drive provide an additional means
of damping:
S MD1502: SPEED_FILTER_1_TIME (time constant for speed setpoint filter 1)
S MD1503: SPEED_FILTER_2_TIME (time constant for speed setpoint filter 2)
(840Di) The velocity filters of the SIMODRIVE 611 universal / E and POSMO SI, CD, CA
drives provide an additional means of damping:
S Parameter 1502: (time constant for speed setpoint filter 1)
S Parameter 1503: (time constant for speed setpoint filter 2)
Caution
! Every damping measure implemented contributes to increasing the overall time
constant of the control loop!
References You will find a complete description of the velocity feedforward control in:
References: /FB2/ Description of Functions Extended Functions
Chapter: Compensations K3,
Following Error Compensation (Feedforward Control)

2.2.3 Control loop structure
The figures below provide an overview of how the clearance control function is
embedded in the control loop structure of the NC position controller and the
internal structure of the function.
SINUMERIK –NC
Interpolator Position
controller
NCK I/Os
Clearance control
(A/D conversion)
Sensor
electronics
Velocity component Position

component Laser
Y
Machining head
Velocity Z
+
Interpolation Fine Jerk with + X
Velocity
path and orientation interpolation filter clearance sensor –
Precontrol
+ Z
Position Z
Drive Z Encoder Z
–
P PI
+ – M
Position controller Kv Speed controller Motor Z
Fig. 2-4 Control structure, position controller with clearance control (principle)
Clearance control
Limits MD62502 CLC_ANALOG_IN
Interpolator CLC_LIM(...) *)
Position controller
MD62510 CLC_SENSOR_LOWER_LIMIT[x] Sensor characteristic
MD62510 CLC_SENSOR_UPPER_LIMIT[x] CLC_SEL(...) *)
MD62516 CLC_SENSOR_VELO_LIMIT MD6251x CLC_SENSOR_VOLTAGE_TABLE_y
$A_INA[x]
MD62517 CLC_SENSOR_ACCEL_LIMIT MD6251x CLC_SENSOR_VELO_TABLE_y
Calculation of the axial

components based on the current * –
tool orientation
Calculation of the components of:

– Distance
– Velocity Component CLC_GAIN *) CLC_VOFF *)
– Acceleration axis Z or
remaining for clearance control $A_OUTA[n] *)
MD62523
CLC_OFFSET_ASSIGN_ANAOUT
$A_OUT[n] and [m] *) I
MD62523 CLC_LOCK_DIR_ASSIGN_DIGOUT[x]
Velocity component Position component
*) programmed in synchronized action or part program
Fig. 2-5 Control structure, clearance control (principle)

2.2.4 Compensation vector
Standard The compensation vector of the clearance control and the tool orientation vector
compensation are normally identical. Consequently, the compensation movement of the clear-
vector ance control is normally always in the direction of the tool orientation.
Compensation vector
Z
Y
TCP = Tool Center Point
Workpiece surface ÉÉÉÉÉÉÉÉÉÉ

B = Machining point
Fig. 2-6 Clearance control with standard compensation vector
Note
In all the figures in this chapter, the traversing movement of the machining head
needed in order to machine the workpiece is in the direction of the Y
coordinate, i.e. perpendicular to the drawing plane.
As long as the tool orientation, and hence the compensation vector, is perpen-
dicular to the workpiece surface, no disadvantage for the machining process
results from the compensation movements of the clearance control.
If a tool setting angle is needed for technological reasons, with the result that
the tool orientation is no longer perpendicular to the workpiece surface, the ma-
chining point on the workpiece surface is shifted during compensation move-
ments of the clearance control along the standard compensation vector.
Tool
Z setting angle
Y a
X Compensation vector
TCPProg
Workpiece surface set
Setpoint/actual
KZ
deviation
TCPCLC
KX
value
Workpiece surface act Bset Bact
Shift in
machining point
Fig. 2-7 Standard compensation vector

The reason for the shift in the machining point is the X component (KX) of the
compensation vector parallel to the workpiece surface. The TCP of the tool, and
thus the machining point B, is shifted by this amount.
Programmable When using the programmable compensation vector, the compensation move-
compensation ments of the clearance control are in the direction of the programmed vector,
vector and not in the direction of the tool orientation.
The X component specified above (KX) is omitted because the programmable
compensation vector is defined perpendicular to the workpiece surface. This
does not cause the machining point (B) to be shifted as a result of the com-
pensation movement of the clearance control.
Z
Y
X
TCPProg
Compensation vector
ÉÉÉÉÉÉÉÉÉÉÉ
(programmed)
Setpoint/actual
deviation
TCPCLC
value
Workpiece surface act Bact = Bset
Fig. 2-8 Programmable compensation vector
Changes in Based on the above observations, a different behavior also results when the
orientation orientation of the machining head is changed while the clearance control is ac-
tive.
In Fig. 2-9: The normal case is shown on the left (compensation vector == tool
orientation vector); and the case with the programmed compensation vector is
shown on the right.
Z
Y
1 3 1 3
X Compensation vector
(tool orientation
vector) Compensation vector
(programmed)
TCPProg TCPProg
ÉÉÉÉÉÉÉÉÉÉ ÉÉÉÉÉÉÉÉÉÉ
4 2
2 4
Setpoint/actual
deviation
TCPCLC TCPCLC TCPCLC

value
Fig. 2-9 Change in orientation of the machining head

2.3 Technological features of clearance control
The meaning of the individual positions of the machining head is as follows:

1 Programmed position of the machining head
2 Actual position of the machining head with clearance control active
before the orientation change
3 Actual programmed position of the machining head after the
change in orientation
4 Position of the machining head with clearance control active
after the orientation change
The machining head movement visible on the machine when the change in ori-
entation takes place is direct from position 2 to position 4.
2.3 Technological features of clearance control

Clearance control is characterized by the following technological features:
S Dynamic response
The overlaid sensor motion uses the current residual dynamic response that
is still in reserve after the programmed axis motion (velocity and accelera-
tion). The proportion of residual acceleration that must be used can be set
as a percentage in a machine data.
S Sensor characteristic
The gain characteristic of a sensor can be defined with up to 10 interpolation
points.
S Sensors
Two sensors with different gain characteristics (e.g. a mechanical and a ca-
pacitive sensor) can be used simultaneously. The active sensor characteris-
tic can be switched over block-synchronously by means of a language com-
mand in the part program.
S Closed-loop control gain of clearance control

The closed-loop control gain configured in the NC machine data for clear-
ance control can be changed block-synchronously by means of a language
command in the part program.
S Motion limitation
The lower and upper limits configured in the NC machine data for the axis
movements induced by clearance control can be changed block-synchro-
nously by means of a language command in the part program.
An alarm appears when a limit is reached. The alarm response (stop all tra-
versing movements or display only) can be configured. The current position
offset can be frozen by means of a PLC signal.
S Response on deactivation
The deactivation response of the clearance control function can be pro-
grammed either for synchronization with the current axis positions (no com-
pensating movement) or for compensating axis movements to the last pro-
grammed axis positions (axis positions without clearance control).

2.4 Sensor collision monitoring
S Programmable clearance setpoint

An additional voltage value can be programmed in order to alter the setpoint
distance set in the sensor electronics on a block-related basis.
S Control options via the PLC interface

The following signals are available at the PLC interface:
Status signals:
– Closed-loop control active
– Overlaying movement at standstill
– Lower limit reached
– Upper limit reached
Control signals:
– Path override for sensor movement active
S Status data of clearance control

Both the current values and the min/max values of the sensor signal and of
the position offset are available as GUD and/or OPI variables.
S Sensor signal
The sensor signal can be smoothed via a PT1 filter with adjustable time
constant.
2.4 Sensor collision monitoring
Sensor signal If the clearance sensor used has an additional “sensor collision” signal for de-
tecting a collision between the sensor and the workpiece being machined, this
signal can be made available to the clearance control function via a digital NCK
peripheral input.
In response to this signal, the clearance control function applies a retraction
motion in all clearance-controlled axes. The retraction motion is executed inde-
pendently of the current value of the velocity override with maximum traversing
velocity in a positive control direction until the currently valid upper limit of the
control range is reached. Path motion is stopped simultaneously.
Once all traversing movements have come to a standstill, part program proc-
essing can be resumed with NC START.
Parameterization The digital peripheral input to which the “sensor collision” signal is wired is as-
signed to the clearance control function via the following machine data:
S MD62504: CLC_SENSOR_TOUCHED_INPUT (digital peripheral input for

“sensor collision” signal)
The digital peripheral input is specified by entering the input number in the same
way as $A_IN/$A_OUT digital I/O peripheral system variables are specified
($A_IN[input number]).
If a negative input number is entered, the “sensor collision” signal will be pro-
cessed with internal inversion by the clearance control function (fail safe
method).

2.5 Startup
2.5 Startup
Compile cycle Before starting up the technological function, make sure that the corresponding
compile cycle has been loaded and activated.


2.5.1 Activating the technological function
The technological function is activated via the following machine data:
S MD60940: CC_ACTIVE_IN_CHAN_CLC[0], bit n = 1

where n = channel number – 1; bit0 = 1st channel, bit1 = 2nd channel, etc.
Note
The technological function can be activated for several channels
simultaneously.
2.5.2 Configuring the memory
Memory The technological function requires additional data in the NCK-internal block
configuration memory. The following memory-configuring channel-specific machine data must
be parameterized:
S MD28090: MM_NUM_CC_BLOCK_ELEMENTS (number of block elements

for compile cycles (DRAM) ) = x + 4 1)
S MD28100: MM_NUM_CC_BLOCK_USER_MEM (size of block memory for

compile cycles (DRAM) in kBytes) = x + 20 1)
1) See Note.
Note
The values indicated must be entered in addition to the existing machine data
value x.

2.5 Startup
2.5.3 Parameter settings for input signals (840D)
The following input signals must be parameterized in the machine data:
S Clearance sensor input voltage

– 1 analog input
S “Sensor collision” input signal (optional)

– 1 digital input
Analog input The following machine data must be parameterized for the analog input:
S MD 10300: FASTIO_ANA_NUM_INPUTS
Number of active analog inputs
S MD 10362: HW_ASSIGN_ANA_FASTIN (for each analog module)

Specification of the physical address activates the analog input module
S MD 10384: HW_CLOCKED_MODULE_MASK (for each terminal block)

The slot of the analog input module on the terminal block must be set to
clock-synchronous operation. To do this, set the machine data bit with the bit
number of the module slot of the analog input module in the terminal block.
(Example: Slot 5 –> MD10384 = 10Hex.)
S MD 10380: HW_UPDATE_RATE_FASTIO (for each terminal block)

Synchronization of the A/D converter with the position controller cycle
MD 10380 = 2
Digital input The following machine data must be parameterized for the digital input:
S MD 10350: FASTIO_DIG_NUM_INPUTS
Number of active digital input bytes
S MD 10366: HW_ASSIGN_DIG_FASTIN (for each digital module)

Specification of the physical address activates the digital input module
References A complete description of the analog and digital outputs appears in:
/FB2/ Description of Functions Extended Functions
Digital and Analog NCK I/Os (A4)
2.5.4 Parameter settings for input signals (840Di)
The following input signals must be parameterized in the machine data:
S Clearance sensor input voltage

– 1 analog input
S “Sensor collision” input signal (optional)

– 1 digital input

2.5 Startup
Analog input The following machine data must be parameterized for the analog input:
S MD 10300: FASTIO_ANA_NUM_INPUTS
Number of active analog inputs
S MD 10362: HW_ASSIGN_ANA_FASTIN
I/O address of I/O module
Digital input Subsequent parameter settings do not have to be made if a digital input on the
MCI board extension module (option) is used.
If an I/O module on PROFIBUS-DP is used for the digital input, the following
machine data must be parameterized:
S MD 10350: FASTIO_DIG_NUM_INPUTS
Number of active digital input bytes
S MD 10366: HW_ASSIGN_DIG_FASTIN
I/O address of I/O module
References A complete description of the parameter settings for analog and digital I/Os on a
SINUMERIK 840Di appears in:
/HBI/ SINUMERIK 840Di Manual
NC Installation and Start-Up with HMI Advanced,
Digital and Analog I/Os
A complete description of the analog and digital inputs appears in:

2.5.5 Parameters of the programmable compensation vector
Reference The programmable compensation vector specifies the direction in which the
coordinate system compensation movement of the clearance control takes place. The compensa-
tion vector always refers to the basic coordinate system (machine coordinate
system).
The start coordinates [Xa, Ya, Za] of the compensation vector coincide with the
origin of the basic coordinate system and are thus always [0, 0, 0].
The end coordinates [Xe, Ye, Ze] of the compensation vector are determined by
the actual positions of 3 channel axes, known as the direction axes.
Direction axes The direction axes must meet the following conditions:
1. The direction axes must be channel axes of the channel in which the clear-
ance control is activated.
2. The direction axes must be linear axes.
Note
Since the direction axes are only used to interpolate the direction compo-
nents, they do not need mechanical axes and can therefore be configured
as simulation axes.

2.5 Startup
3. [mm] or [inch] must be selected as the unit of measurement for the direction
axes.
4. The direction axes may not participate in an axis coupling, e.g. transforma-
tion, electronic gear, etc.
5. To ensure that the dynamic response of the path is not limited by the dy-
namic response of the direction axes, the following machine data for the
direction axes:
– MD32000: $MA_MAX_AX_VELO[x]
– MD32200: $MA_POSCTRL_GAIN[x]
– MD32230: $MA_MAX_AX_ACCEL[x]
x = axis number
must be set greater than or equal to the corresponding values of the geome-
try axes of the channel.
The following machine data is used to specify which channel axis is the direc-
tion axis:
S MD62528: $MC_CLC_PROG_ORI_AX_MASK
Each machine data bit corresponds to a channel axis.
Format: Bit31 Bit0
........
Channel axis 1
:
:
Channel axis 32
The channel axes are assigned to the end coordinates [Xe, Ye, Ze] of the com-
pensation vector in ascending order of bit numbers.
– Coordinate X = channel axis corresponding to bit a
– Coordinate Y = channel axis corresponding to bit b
– Coordinate Z = channel axis corresponding to bit c
where a < b < c
Current The difference angle is the angle between the tool orientation vector and the
difference angle compensation vector. If the current difference angle of the clearance control is
to be output in a system variable $AC_PARAM[n], index n of the system vari-
able should be entered in the following machine data:
S MD65530 $MC_CLC_PROG_ORI_ANGLE_AC_PARAM
Permissible The limit angle specifies the maximum difference angle allowed between the
limit angle tool orientation vector and the compensation vector. The limit angle is config-
ured via the following machine data:
S MD65520 $MC_CLC_PROG_ORI_MAX_ANGLE

2.5 Startup
2.5.6 Parameter settings for clearance control
Part program The following machine data must be parameterized for the declaration of the
identifiers function-specific part program identifiers CLC_GAIN and CLC_VOFF:
S MD10712: NC_USER_CODE_CONF_NAME_TAB[0] = “OMA1”

S MD10712: NC_USER_CODE_CONF_NAME_TAB[1] = “CLC_GAIN”
S MD10712: NC_USER_CODE_CONF_NAME_TAB[2] = “OMA2”
S MD10712: NC_USER_CODE_CONF_NAME_TAB[3] = “CLC_VOFF”
1D/3D clearance The following machine data is used to select 1D or 3D clearance control:
control
S MD62500: CLC_AXNO (axis assignment for clearance control) = x
– x > 0: 1D clearance control where x = axis number of clearance-con-
trolled channel axis
– x = –1: 1st 5-axis transformation configured in the channel
– x = –2: 2nd 5-axis transformation configured in the channel
Input signals The clearance sensor input signals parameterized above:

– 840D: Subsection 2.5.3, page 3/TE1/2-16
– 840Di: Subsection 2.5.4, page 3/TE1/2-16
are declared to the clearance control function via the following machine data:
S MD62502: CLC_ANALOG_IN = x
x = input number, as when addressing system variables
$A_INA[x]
S MD62504: CLC_SENSOR_TOUCHED_INPUT = x
x = input number, as when addressing system variables
$A_IN[x]
Exact stop In order to be able to meet a programmed “Exact stop coarse/fine reached”
block change condition (G601/G602), the traversing velocity induced by the
clearance control function in the clearance-controlled axes must be lower than
the standstill velocity tolerance at least for the duration of the standstill delay
time.
The following machine data must be modified to optimize the block change
time:
S MD 36000: STOP_LIMIT_COARSE[x]
S MD 36010: STOP_LIMIT_FINE[x]
S MD 36020: POSITIONING_TIME [x]
S MD 36040: STANDSTILL_DELAY_TIME[x]
S MD 36060: STANDSTILL_VELO_TOL[x]
x = Axis number of clearance-controlled machine axis

2.5 Startup
Complete Set the remaining clearance control parameters in accordance with the data
parameterization and signal descriptions in the following sections:
– 4 Data descriptions (MD, SD), page 3/TE1/4-43
– 5 Signal descriptions, page 3/TE1/5-57
2.5.7 Starting up clearance control
Clearance sensor Connect the clearance sensor outputs to the I/O modules activated via machine
connecting data:
S MD 10362: HW_ASSIGN_ANA_FASTIN (I/O addr. of I/O module)

S MD 10366: HW_ASSIGN_DIG_FASTIN (I/O addr. of I/O module)
For more information about I/O modules, see Section 3.1, page 3/TE1/3-39.
Test control Proceed as follows to test the control direction of the clearance control function:
direction – Activate clearance control via a part program with CLC(1) (see Subsec-
tion 2.6.1, page 3/TE1/2-22)
– Generate an input voltage, e.g. via the following synchronized action:
N100 $AC_TIMER[1]=2.5
N110 ID = 1 EVERY $AC_TIMER[1] >= 2.5 DO $AC__TIMER[1] = 0
N120 ID = 2 WHENEVER $AC_TIMER[1] < 2.0 DO $A_OUTA[6] = 100000.0 *
($AC_TIMER[1] – 1.0)
N130 ID = 3 WHENEVER $AC_TIMER[1] >= 2.0 DO $A_OUTA[6] = 0.0
Output voltage [V]

+10
1 2 3 4 Time [s]
–10
Fig. 2-10 Output voltage for synchronized action
The voltage specification for the analog output $A_OUTA[6] used in the syn-
chronized action is subtracted from the clearance sensor input voltage by the
clearance control function and therefore has the opposite polarity to the input
signal.
Set the following machine data to induce the clearance control function to use
analog output 6 ($A_OUTA[6]) as an additional input overlaid on the sensor:

2.5 Startup
S MD 10366: CLC_OFFSET_ASSIGN_ANAOUT = 6
Note
Before the clearance control function is activated for the first time, check that
the entire working range enabled for clearance control:
S MD62505 CLC_SENSOR_LOWER_LIMIT
S MD62506 CLC_SENSOR_UPPER_LIMIT
is free of collisions.
An incorrect control direction can be corrected using one of the following meth-
ods:
– Reversing the polarity of the analog input
– Changing the sign of all values in the following machine data:
S MD62511 CLC_SENSOR_VELO_TABLE_1
S MD62513 CLC_SENSOR_VELO_TABLE_2
Sensor signal The quality of the analog input signal can be checked using one of the function-
check specific display data described in Section 2.7, page 3/TE1/2-33.
Function-spec. Function-specific alarm texts must first be integrated into the appropriate HMI
alarm texts data management before they can be displayed. A description of how to do this
appears in Section 2.8, page 3/TE1/2-36.
Completion A data backup is recommended once the start-up procedure has been com-
pleted.
(840D) References:
/IAD/ SINUMERIK 840D Installation & Start-Up Guide 840D
Data Backup
(840Di) References:
/HBI/ SINUMERIK 840Di Manual
User Data Backup/Series Installation and Start-Up
Note
A data backup is recommended once the start-up procedure has been
completed.

2.6 Programming
2.6 Programming
2.6.1 Activating and deactivating clearance control (CLC)
Syntax CLC(Mode)
Mode
– Format: Integer
– Value range: –1, 0, 1, 2, 3
CLC(...) is a procedure call and must therefore be programmed in a dedicated
part program block.
Functionality The following modes are available for activating/deactivating clearance control:
S CLC(1)
Activation of the clearance control with compensation vector in the direction
of the tool orientation
The evaluation of the sensor collision signal is deactivated.
S CLC(2)
Activation of the clearance control with compensation vector in the direction
of the tool orientation
The evaluation of the sensor collision signal is activated.
S CLC(3)
Activation of the clearance control with programmed compensation vector
The evaluation of the sensor collision signal is deactivated.
S CLC(0)
Deactivation of clearance control without canceling the position offset
If the clearance-controlled axes are still moving at the instant of deactivation
due to the sensor signal, they are stopped. The workpiece coordinate sys-
tem (WCS) is then synchronized with the corresponding standstill positions.
An automatic preprocessor stop is executed.
S CLC(–1)
Deactivation of clearance control with cancellation of the position offset
If the clearance-controlled axes are still moving at the instant of deactivation
due to the sensor signal, they are stopped. A position offset to the last pro-
grammed position is canceled automatically with the deactivation command.
RESET response CLC(0) is executed implicitly on a RESET (NC RESET or end of program).

2.6 Programming
Parameterizable The reset response of a 1D clearance control function can be defined via the
RESET response channel-specific NCK OEM machine data:
S MD62524: CLC_ACTIVE_AFTER_RESET (reset response with active CLC)

The following response can be parameterized:
– MD62524: CLC_ACTIVE_AFTER_RESET = 0
In the event of a RESET, the clearance control function responds as it
does to deactivation with CLC(0) (see above: activation/deactivation
modes).
– MD62524: CLC_ACTIVE_AFTER_RESET = 1
The current state of the clearance control function is retained.
Caution
! The channel-specific NCK OEM machine data:
S MD62524: CLC_ACTIVE_RESET (reset response with active CLC)

is only effective in conjunction with 1D clearance control. For 3D clearance
control, CLC(0) is always effective in the event of a RESET.
Supplementary Please note the following supplementary conditions:

conditions
Continuous-path Activating/deactivating clearance control (CLC(Mode)) during active continuous-
mode path mode (G64/G64x) will induce a drop in velocity for path motions. To avoid
voltage drops of this type, clearance control must be activated before a path
section with constant path velocity. During the corresponding path section, if
necessary, clearance control can be blocked and then re-enabled via the pro-
grammed gain factor for clearance control (CLC_GAIN).
Block change with If exact stop is active at the end of the block (G60/G09 with G601/G602) the
exact stop block change may be delayed due to axis movements induced by the clearance
control sensor signal.
Sensor collision Machine data MD 62504: CLC_SENSOR_TOUCHED_INPUT can be used to

monitoring configure a digital input for an additional collision signal from the sensor. This
collision monitor can be activated and deactivated block-synchronously through
alternate programming of CLC(1)/CLC(2).
As a reaction to the sensor collision signal, the clearance control moves, irre-
spective of the feedrate override setting, at maximum velocity in the plus direc-
tion until it reaches the currently valid upper limit. Path motion is stopped simul-
taneously.
NC START can be used to resume machining.
3D clearance control If 3D clearance control is activated before the 5-axis transformation required for
and 5-axis transf. clearance control in the direction of the tool orientation has been activated, the
clearance control function will be dependent on the active working plane
(G17/G18/G19):
– G17: Direction of clearance control = Z
– G18: Direction of clearance control = Y

2.6 Programming
– G19: Direction of clearance control = X
S Activation of 5-axis transformation

When 5-axis transformation is activated, the tool orientation specified by
means of the rotary axis positions must tally with the control direction speci-
fied by the active working plane on activation of clearance control.
If the tool orientation of the 5-axis transformation and the control direction of
the clearance control function do not tally, the following CLC alarm will ap-
pear:
S Alarm “75016 Channel number Block number CLC: Orientation changed

with TRAFOOF”
S Deactivation of 5-axis transformation

If 5-axis transformation is deactivated when clearance control is active, the
last control direction before 5-axis transformation was deactivated is re-
tained:
Tool radius 3D clearance control can only be deactivated if no tool radius compensation is
compensation active in the channel at the instant of deactivation (G40).
If tool radius compensation is active (G41/G42), the following alarm appears:
S Alarm “75015 Channel number Block number CLC(0) with active TRC.”
Compensation Actual position of the direction axes

vector If the clearance control is activated with a programmable compensation vector
at a position of 0 on all 3 direction axes, a compensation vector cannot be cal-
culated from this information. The following alarm is then displayed:
S Alarm “75019 Channel number, error ID: 1, angle 0.0”

Referencing of the direction axes
The direction axes must be referenced before clearance control is activated with
programmable compensation vector CLC(3).
Interface signals of the direction axes
The following interface signals must be set for all 3 direction axes by the PLC
user program, before clearance control is activated with programmable com-
pensation vector CLC(3).
S DBB3x.DBX1.5 = 1 (position measuring system 1)
S DBB3x.DBX2.1 = 1 (servo enable)
S DBB3x.DBX21.7 = 1 (pulse enable)
x = axis number
Switchover of clearance control
Direct switchover of clearance control from CLC(1) or CLC(2) to CLC(3) or vice-
versa is not possible. Such switchovers are ignored without a checkback mes-
sage. If a switchover is necessary, the clearance control must first be deacti-
vated with CLC(0) or CLC(–1) and then activated in the desired mode.
Interpolation of the compensation vector
If the compensation vector is required to follow a non-linear workpiece surface,
such as an arc, with respect to its orientation, this can be achieved by program-
ming the direction axes.

2.6 Programming
Example
Orientation of the compensation vector perpendicular to a semi-circular work-
piece surface. The programming of the traversing movement is not considered.
Z
Y Compensation vector = [0, 0, –1]
N100 N200
ÉÉÉÉÉ
ÉÉÉÉÉ
Compensation vector = [1, 0, 0]
ÉÉÉÉÉ Compensation vector = [–1, 0, 0]
Fig. 2-11 Interpolation of the compensation vector
The compensation vector must be oriented by programming the direction axes

at [1, 0, 0] before part program block N100. In part program block N100, the end
position of the compensation vector is oriented by programming the direction
axes at [0, 0, –1].
The intermediate values are generated by path interpolation of all axes pro-
grammed in the part program block:
S Geometry axes for the movement of the machining head

S Direction axes of the compensation vector
It is necessary to break the movement down into part program blocks N100 and
N200, because an antiparallel orientation of the compensation vector of [1, 0, 0]
at the start of the movement and [–1, 0, 0] at the end of the movement (semi-
circle) would otherwise result. In this case, the interpolator would interpolate
only the X coordinate of the compensation vector, and the orientation of the
compensation vector would remain unchanged.
Antiparallel orientation of the compensation vector
When an antiparallel orientation of the compensation vector is programmed in a
part program block, the following alarm is displayed:
S Alarm “75018 Channel number Block number CLC in programmable

direction, error ID: 1”
Further information about the interpolation of the compensation vector
The interpolation of the compensation vector is not a genuine vector interpola-
tion, as described above, but results from the interpolation of the actual posi-
tions of the direction axes.
Consequently, if the compensation vector changes due to the workpiece con-
tour, the interpolation of the direction axes is included in the path interpolation of
the geometry axes. In order to minimize the impact of the direction axes on the
path interpolation, it is recommended to configure the dynamic response of the
direction axes at least equal to or greater (by a factor of approx. 10) than the
dynamic response of the geometry axes.

2.6 Programming
In the case of a re-orientation (rotation) of the compensation vector, it is also

necessary to note the ratio between the programmed traversing path and the
configured dynamic response of the direction axes. The ratio should be chosen
such that the programmed traversing path is not traversed in one or a small
number of interpolation cycles, due to the dynamic response of the axis. This
causes heavy loads on the machine and, in certain circumstances, may trigger
axial alarms and abort part program execution.
Example
Rotation of the compensation vector and thus the machining head through
90_:
– Initial orientation: Parallel to coordinate axis X
– Target orientation: Parallel to coordinate axis Y
Bad programming of re-orientation:
– [1, 0, 0] –> [0, 1, 0]
Good programming of re-orientation:
– [100, 0, 0] –> [0, 100, 0]
Rotation of the workpiece coordinate system
As described above, the compensation vector always refers to the basic coordi-
nate system (machine coordinate system). If the workpiece coordinate system
(rotation, mirroring) is transformed to machine a workpiece in such a way that
the coordinate axes of both coordinate systems are no longer parallel with the
same orientation, a corresponding transformation must be carried out for the
compensation vector.
Caution
! If the workpiece coordinate system is transformed such that the coordinate
axes of the basic and workpiece coordinate systems are no longer parallel with
the same orientation, it is the sole responsibility of the user to ensure that an
appropriate transformation of the compensation vector is carried out.

2.6 Programming
2.6.2 Closed-loop control gain (CLC_GAIN)
Syntax CLC_GAIN = Factor

Factor
– Format: Real
– Value range: 0.0
CLC_GAIN is an NC address and can therefore be written together with other
instructions in a part program block.
When a negative factor is programmed, the absolute value is used without an
alarm output.
Functionality The current closed-loop control gain for clearance control is produced by the
active characteristic specified via machine data:
S MD62510 CLC_SENSOR_VOLTAGE_TABLE1
S MD62511 CLC_SENSOR_VELO_TABLE1
or
S MD62512 CLC_SENSOR_VOLTAGE_TABLE2
S MD62513 CLC_SENSOR_VELO_TABLE2
CLC_GAIN can be used to multiply the closed-loop control gain of the charac-
teristic by a programmable factor.
Caution
! Increasing the gain (CLC_GAIN > 1.0) may lead to oscillation in the controlled
axes!
Instant of activation The modified closed-loop control gain is effective in the part program block in
which CLC_GAIN has been programmed or, if this block does not contain any
executable instructions, in the next part program block with executable instruc-
tions.
Response to The programmed factor remains active even when the gain characteristic is
characteristic changed over with CLC_SEL, i.e. it is immediately applied to the newly selected
changeover characteristic.
Response to If the closed-loop control gain for clearance control is deactivated with
CLC_GAIN=0.0 CLC_GAIN=0.0, the CLC position offset present at the instant of deactivation is
retained and is not changed. This can be used for example when laser-cutting
sheet steel to “skip over” sections of sheet that are not to be machined without
foundering.
If the tool orientation is changed when 3D clearance control is active and the
closed-loop control gain has been deactivated (CLC_GAIN=0.0), the CLC offset
vector is rotated simultaneously. This generally induces an offset in the CLC
operating point on the workpiece surface (see Fig. 2-12).

2.6 Programming
Changing the tool orientation CLC offset

CLC offset vector 1
when CLC_GAIN=0.0
vector 2
Offset in the operating point

on the workpiece surface
Path with active
clearance control
Workpiece surface act
CLC position
Programmed path offset
Fig. 2-12 Response of the CLC offset vector when CLC_GAIN=0.0
Reset Within a part program, a modified gain factor must be reset by means of explic-
itly programming CLC_GAIN=1.0.
RESET response CLC_GAIN=1.0 becomes effective after a POWER ON RESET, NC RESET or

end of program.
2.6.3 Limiting the control range (CLC_LIM)
Syntax CLC_LIM(lower limit, upper limit)

Lower limit, upper limit
Format and value range as machine data:
S MD62505 CLC_SENSOR_LOWER_LIMIT[n]
S MD62506 CLC_SENSOR_UPPER_LIMIT[n]
CLC_LIM(...) is a procedure call and must therefore be programmed in a dedi-
cated part program block.
Functionality The maximum control range for clearance control can be modified on a
block-specific basis using CLC_LIM. The maximum programmable lower/upper
limit is limited by the limit value preset in the relevant machine data:
S MD62505 CLC_SENSOR_LOWER_LIMIT[1]
S MD62506 CLC_SENSOR_UPPER_LIMIT[1]

2.6 Programming
Control range +
MD62506[1]
max. programmable upper limit
MD62506[0]
upper limit initial setting
Programmable range
Set position
MD62506[0]
lower limit initial setting
MD62506[1]
max. programmable lower limit
Control range –
Fig. 2-13 Value range limits for lower and upper limit
The control range limit is effective in relation to the current programmed setpoint
position of the axis. If the limits are changed so that the actual position is
located outside the limit, the clearance control automatically effects travel back
to the limit range.
Reset Within a part program, a modified control range limit can be reset by explicitly
programming CLC_LIM without a “CLC_LIM( )” argument. This reapplies the
limits from the machine data:
S MD62505 CLC_SENSOR_LOWER_LIMIT[0]
S MD62506 CLC_SENSOR_UPPER_LIMIT[0]
RESET response The default setting from the machine data becomes effective after POWER ON
RESET, NC RESET and end of program.
Error messages The following programming errors are displayed with an alarm:
– Programming more than 2 arguments
S CLC alarm “75005 Channel number Block number CLC_LIM: general

programming error”
– Programming arguments outside the permissible limits
S CLC alarm “750010 Channel number Block number CLC_LIM Value

greater than MD limit”
2.6.4 Direction-dependent traversing motion disable
Syntax $A_OUT[number] = enabling signal

Number
Number of the parameterized digital output (see below: Parameterization)
– Format: Integer
– Value range: 1, 2, . . . max. number of digital outputs

2.6 Programming
Enabling signal
Enabling signal, can be inverted (see below: Parameterization)
– Format: Integer
– Value range: 0, 1
System variable $A_OUT[n] can be set block-synchronously in the part program
or asynchronously via synchronized actions.
Functionality Parameterizable digital outputs (system variable $A_OUT) can be used for di-
rection-dependent disabling of the traversing motion (manipulated variable) in-
duced via clearance control. As long as e.g. the negative traversing direction is
disabled, the clearance-controlled axes will only travel in a positive direction due
to the sensor signal.
This can be used for example when laser-cutting sheet steel to “skip over” sec-
tions of sheet that are not to be machined without foundering.
Parameterization The following machine data is used to parameterize the digital outputs:
S MD62523: CLC_LOCK_DIR_ASSIGN_DIGOUT[n] “Assignment of digital

outputs to interlock CLC motion”
n = 0 –> Digital output for disabling the negative traversing direction
n = 1 –> Digital output for disabling the positive traversing direction
Example The following digital outputs are to be used:

– $A_OUT[3] to disable the negative traversing direction
– $A_OUT[4] to disable the positive traversing direction
Parameter settings in the machine data:
– MD62523: CLC_LOCK_DIR_ASSIGN_DIGOUT[0] = 3
Effect:
– $A_OUT[3] = 0 –> Negative traversing direction enabled
– $A_OUT[3] = 1 –> Negative traversing direction disabled
– $A_OUT[4] = 0 –> Positive traversing direction enabled
– $A_OUT[4] = 1 –> Positive traversing direction disabled
Inversion of the Enter the negative number of the digital output to evaluate the digital output sig-
evaluation nal with inversion:
Parameter settings in the machine data:
– MD62523: CLC_LOCK_DIR_ASSIGN_DIGOUT[0] = –3
Effect:
– $A_OUT[3] = 0 –> Negative traversing direction disabled
– $A_OUT[3] = 1 –> Negative traversing direction enabled
– $A_OUT[4] = 0 –> Positive traversing direction disabled
– $A_OUT[4] = 1 –> Positive traversing direction enabled

2.6 Programming
2.6.5 Voltage offset, can be set on a block-specific basis (CLC_VOFF)
Syntax CLC_VOFF = Voltage offset

Voltage offset
– Format: Real
– Unit: Volts
– Value range: No restrictions
CLC_VOFF is an NC address and can therefore be written together with other
instructions in a part program block.
Functionality CLC_VOFF can be used to preset a constant voltage offset for clearance
control, which is subtracted from the input voltage of the clearance sensor. The
programmed voltage offset therefore changes the setpoint distance between the
workpiece and the clearance sensor or offsets the operating point for clearance
control.
The quantitative effect of the voltage offset is dependent on the additional
parameters for clearance control and can therefore not be standardized in a
generally valid format.
Instant of activation The voltage offset is effective in the part program block in which CLC_VOFF
has been programmed or, if this block does not contain any executable instruc-
tions, in the next part program block with executable instructions.
Reset Within a part program, a voltage offset must be reset by means of explicitly pro-
gramming CLC_VOFF=0.0.
RESET response CLC_VOFF =0.0 becomes effective after a power on reset, NC RESET or end
of program.
2.6.6 Voltage offset definable by synchronized action
Syntax $A_OUTA[number] = Voltage offset

Number
Number of the parameterized analog output (see below: Parameterization)
– Format: Integer
– Value range: 1, 2, . . .max. number of analog outputs
Voltage offset
As voltage offset for CLC_VOFF (Subsection 2.6.5, page 3/TE1/2-31).
Functionality A parameterizable output (system variable $A_OUTA) can be used to apply a

voltage offset for clearance control, which, like CLC_OFF, is subtracted from the
input voltage of the clearance sensor.

2.6 Programming
The voltage offset can be modified in the interpolation cycle by programming the
analog output within a synchronized action.
Parameterization The following machine data is used to parameterize the analog output:
S MD62522: CLC_OFFSET_ASSIGN_ANAOUT “Modification of the setpoint

distance by means of sensor signal override”
Example An external voltage Uext is present at analog input $A_INA[3], which is to be

overlaid on the sensor voltage as a continuously variable voltage offset e.g. for
test or start-up purposes. $A_OUTA[2] is used as an analog output for the clear-
ance control voltage offset.
Parameter setting for the analog output for clearance control voltage offset:
– MD62522: CLC_OFFSET_ASSIGN_ANAOUT = 2
The analog input $A_INA[3] is assigned to the clearance control analog output
$A_OUTA[2] within a synchronized action:
ID=1 DO $A_OUTA[2] = $A_INA[3]
2.6.7 Selection of the active sensor characteristic (CLC_SEL)
Syntax CLC_SEL(characteristic number)

Characteristic number
– Format: Integer
– Value range: 1, 2
CLC_SEL(...) is a procedure call and must therefore be programmed in a dedi-
cated part program block.
Characteristic number = 2 selects characteristic 2. Any other value selects char-
acteristic 1 without alarm.
Functionality CLC_SEL can be used to switch between the sensor characteristics defined in
the machine data.
Characteristic 1:
S MD 62510: CLC_SENSOR_VOLTAGE_TABLE_1
S MD 62511: CLC_SENSOR_VELO_TABLE_1
Characteristic 2:
S MD 62512: CLC_SENSOR_VOLTAGE_TABLE_2
S MD 62513: CLC_SENSOR_VELO_TABLE_2
RESET response Characteristic 1 becomes effective after a power on reset, NC RESET or end of
program.

2.7 Function-specific display data

The “clearance control” technological function provides specific display data for
supporting start-up and for service purposes.
Application Application options for display data include for example:

options
– Determination of form variances and transient control errors via the vari-
ables for the maximum and minimum position offset/sensor voltage.
– Determination of the voltage noise detected by the A/D converter via the
variables for the maximum and minimum sensor input voltage. This re-
quires a constant clearance between the clearance sensor and the work-
piece surface and the deactivation of clearance control via
CLC_GAIN = 0.0.
The minimum and maximum values are detected in the position controller cycle.
Types of variable The display data are available both as channel-specific GUD (Global User Data)
and as OPI variables.
2.7.1 Channel-specific GUD variables

The “clearance control” technological function provides the following
channel-specific GUD variable for HMI applications:
– SINUMERIK HMI Advanced
– SINUMERIK HMI Embedded
as a display data:
Table 2-1 Channel-specific GUD variables
GUD variables Description Unit Access

CLC_DISTANCE[0] Current position offset mm read only
Absolute minimum of
CLC_DISTANCE[1] mm read/write
position offset
Absolute maximum of
CLC_DISTANCE[2] mm read/write
position offset
Current
CLC_VOLTAGE[0] V read only
sensor input voltage
Absolute minimum of
CLC_VOLTAGE[1] V read/write
Absolute maximum of
CLC_VOLTAGE[2] V read/write
Once the technological function has been started up successfully, the GUD
variables listed are not displayed automatically on the HMI interface.
HMI Advanced Proceed as follows to create and display the GUD variables in HMI Advanced.
1. Set password
Enter the password for protection level 1: (machine manufacturer).

2. Activate the “definitions” display.

Operating area switchover > Services > Data Selection
3. If no SGUD.DEF file is yet available:
Operating area switchover > Services > Data admin > New...
– Name: SGUD
– Type: Global data/system
Confirm with OK.
This opens the file in the editor.
4. Edit the GUD variable definitions
DEF CHAN REAL CLC_DISTANCE[3] ; Array of real, 3 elements
DEF CHAN REAL CLC_VOLTAGE[3] ; Array of real, 3 elements
M30
5. Save the file and close the editor.

6. Activate the SGUD.DEF file.
The GUD variables for clearance control are now displayed under:
Operating area switchover > Parameters > User data > Channel user data
HMI Embedded Proceed as follows to create and display the GUD variables in HMI Embedded.
1. Set password
Operating area switchover > Services > Data admin > Programs/Data:
Set cursor to definitions > New...
– Name: SGUD
– Type: DEF
Confirm with OK.
DEF CHAN REAL CLC_DISTANCE[3] ; Array of real, 3 elements
DEF CHAN REAL CLC_VOLTAGE[3] ; Array of real, 3 elements
M30
4. Save the file and close the editor.

5. Activate the SGUD.DEF file.
Operating area switchover > Parameters > User data > Channel-spec. user
data
SINUMERIK NCK The new GUD variables, which are already being displayed, will only be de-
tected by the RESU function and supplied with up-to-date values following an
NCK POWER ON RESET.

Note
Once the GUD variables have been created, an NCK POWER ON RESET
must be carried out in order for the clearance control function to update the
GUD variables.
2.7.2 OPI variable
The “clearance control” technological function provides the following

channel-specific OPI variables as display data for the HMI application:
as a display data:
Table 2-2 Channel-specific OPI variable
OPI variable Description Unit Access

CLC[0] Current position offset mm read only
Absolute minimum of
CLC[1] mm read/write
position offset
Absolute maximum of
CLC[2] mm read/write
position offset
Current
CLC[3] V read only
Absolute minimum of
CLC[4] V read/write
Absolute maximum of
CLC[5] V read/write
1. component of the standard-
CLC[6] ized – read only
tool orientation vector
Once the technological function has been started up successfully, the OPI
variable is not available automatically.
OPI variable Proceed as follows to define the OPI variables.

definition
1. Create the CLC-specific definition file: CLC.NSK
Note
We recommend that you create the file in the \OEM directory rather than in
the \MMC2 directory so that it is not overwritten when a new software ver-
sion is installed.
2. Define the CLC-specific OPI variables.
Add the following line to the CLC.NSK file:
LINK(“CLC” ,200, 2 1 1 1 1F# /NC 5 0 1”,100)
3. Create/expand the user-specific definition file: USER.NSK

See 1: Note

2.8 Function-specific alarm texts
4. In file USER.NSK, supplement the call of the CLC-specific definition file:

CLC.NSK. To do this, insert the following line:
CALL(CLC.NSK)
Using LinkItem In order to use the OPI variables in a DDE control, the “LinkItem” property of the
DDE control must be set in accordance with the following example:
label1.LinkItem = “CLC[u1,1,9](“ ”!d%15.4lf“ ”)”
The format string can be modified if necessary.

The following code lines provide an example of how the variables supplied by
means of NCDDE access can be distributed on a field of labels:
For i = 0 To 8
label2.Caption[ i ] = Trim$(Mid$(label1.Caption, 1 + 15 * i, 15) )
Next

The “clearance control” technological function supports the output of function-
specific language-dependent alarm texts. The corresponding alarm texts must
be created in language-specific alarm text files and declared to the HMI applica-
tion.
References A detailed description of how to incorporate new alarms appears in:

SINUMERIK HMI Embedded
/IAM/ IBN HMI/MMC
IM2 Installation and Start-Up HMI Embedded
Chapter: Alarm Texts and Help Files
SINUMERIK HMI Advanced
/IAM/ IBN HMI/MMC
IM4 Installation and Start-Up HMI Advanced
German alarm Recommended German alarm texts:

texts 075000 0 0 “Kanal %1 CLC: Incorrect MD configuration, error no: %2”
075005 0 0 “Kanal %1 Satz %2 CLC: general programming error”
075010 0 0 “Kanal %1 Satz %2 CLC_LIM Wert größer als MD-Grenze”
075015 0 0 “Kanal %1 Satz %2 CLC(0) bei aktiver WRK”
075016 0 0 “Kanal %1 Satz %2 CLC: Orientierung geändert bei TRAFOOF”
075020 0 0 “Kanal %1 CLC-Positionsversatz an unterer Begrenzung: %2”
075021 0 0 “Kanal %1 CLC-Positionsversatz an oberer Begrenzung: %2”
075025 0 0 “Kanal %1 CLC gestoppt wegen Sensorkopf berührt”

English alarm Recommended English alarm texts:

texts 075000 0 0 “Channel %1 CLC: machine data configuration error no: %2”
075005 0 0 “Channel %1 block %2 CLC general programming error”
075010 0 0 “Channel %1 block %2 CLC_LIM exceeds limit set in MD”
075015 0 0 “Channel %1 block %2 CLC(0) while CRC is active”
075016 0 0 “Channel %1 block %2 CLC: orientation changed during TRAFOOF”
075020 0 0 “Channel %1 CLC position offset at lower limit %2”
075021 0 0 “Channel %1 CLC position offset at upper limit %2”
075025 0 0 “Channel %1 CLC stopped since sensor tip touched”

Notes

3.1 I/O modules
3.1 I/O modules
For A/D conversion, the analog output current of the clearance sensor must be
connected to NC via an I/O module with analog input to the NC.
3.1.1 I/O modules (840D)
The analog I/O module (DMP compact module) is connected to the drive bus
via an NCU terminal block.
The maximum connection

restrictions are as follows:
2 NCU terminal blocks each with
8 DMP compact modules
Clearance sensor
output current
SIEMENS
I/RF NCU MSD FD
Fig. 3-1 Clearance sensor connection via analog DMP module
Suitable I/O As the A/D conversion time directly affects the deadtime of the clearance control
modules servo loop, only one I/O module may be used with low conversion time.
An I/O module suitable for clearance control is:
S DMP compact module 1I, NC analog

Conversion time: 75 ms
Order number (MRPD): 6FC5 211–0AA10–0AA0
I/O module A description of how the I/O modules are connected appears in:
connection
References: /PHD/ SINUMERIK 840D Configuration Manual (Hardware)
Chapter: Terminal Block
NCU Terminal Block 6FC5 211–0AA00–0AA0
DMP Compact Modules
DMP Compact Module 1E NC Analog 6FC5
211–0AA10–0AA0

3.1 I/O modules
3.1.2 I/O modules (840Di)
On the SINUMERIK 840Di, the analog I/O module is connected via PROFI-
BUS-DP.
SINUMERIK 840Di SIMATIC ET200 I/O
Clearance sensor
output current
PROFIBUS DP
Fig. 3-2 Clearance sensor connection via analog S7 I/O module
Suitable I/O As the A/D conversion time directly affects the deadtime of the clearance control
modules servo loop, only one I/O module may be used with low conversion time.
A SIMATIC S7 module suitable for clearance control is:
S Analog I/O module 2 AI, U, high-speed for ET 200S

Conversion time per channel (max. 2): 100 ms
Cycle time for both channels: 1 ms
Order number (MRPD): 6ES7 134-4FB50-0AB0
I/O module A description of how the I/O modules are connected appears in:
connection
Chapter: SIMATIC S7 I/O Devices
3.1.3 External smoothing filters

If an external filter is to be interconnected to smooth the output voltage of the
clearance sensor before the A/D conversion of the output voltage by the I/O
module, please ensure that the resulting time constant is small in relation to the
NC position controller cycle.
Note
It is better for the control if electromagnetic shielding is used to ensure a large
signal-noise ratio than if smoothing filters are used in the signal path.

3.2 Function-specific boundary conditions
NC stop from PLC If, in addition to the programmed path motion, the traversing movement of the
clearance-controlled axes is also to be stopped when the NC stops, the “NC
stop axes and spindles” interface signal must also be set in addition to the “NC
stop” interface signal:
S DB21, DBB7.3 “NC stop”
S DB21, DBB7.4 “NC Stop axes and spindles”
Follow-up If a clearance-controlled axis is to be switched as an alarm response or via the

corresponding interface signal from the PLC in “follow-up” mode, setpoint output
will cease for clearance control on this axis.
Travel without If the clearance-controlled axes are to travel without referencing (travel without
software limit software limit switches), values outside the traversing range used must be en-
switches tered in the corresponding machine data for the axis-specific software limit
switches:
S MD36100: POS_LIMIT_MINUS
S MD36110: POS_LIMIT_PLUS
S MD36120: POS_LIMIT_MINUS2
S MD36130: POS_LIMIT_PLUS2
Clearance control takes the machine data into account even if an axis is not
being referenced.
Disabling Neither the analog input for the input voltage of the clearance sensor nor the
digital/analog digital input used by the clearance control in the context of the “Lift fast with po-
inputs sition controller cycle” special function can be controlled (disabled) via the PLC
(DB10.DBB0/B10.DBB146).
See also the description of machine data:
S MD62508: CLC_SPECIAL_FEATURE_MASK, bits 4 and 5
Section 4.1, page 3/TE1/4-46 onwards.
Gantry axes Only one of the clearance-controlled axes may be configured as the master axis
of a gantry grouping, defined via machine data:
MD37100: GANTRY_AXIS_TYPE (gantry axis definition).
Following axes in a gantry grouping may not be used in the context of clearance
control.

Axis position The actual current axis position of a clearance-controlled axis as the sum of an
display interpolatory axis position and the current position offset of clearance control is
not displayed in the main machine screen on a SINUMERIK standard HMI:
On the above HMIs, the actual current axis position is displayed in the service
screen: Operating Area Switchover > Diagnosis > Service Displays > Axis/
Spindle as a “position actual value”:
NC channels The “clearance control” technological function is only available in the first NC
channel, even on controls with more than one NC channel.
– Only channel axes in the first NC channel may be used as clearance-
controlled axes.
– CLC part program commands may only be used in part programs pro-
cessed in the first NC channel.
Conflict with other Machine data 30132: $MA_IS_VIRTUAL_AX = 1 may not be used.
machine data
Note
The “clearance control” technological function is only available in the first NC
channel!
Computing time The additional computing time required for the “clearance control” technological
requirements function must be taken into account on control systems in which the cycle times
set for the interpolator and position controller cycle have been substantially opti-
mized in comparison with the default setting:
The additional computing time required comes into effect when clearance con-
trol is activated in the part program (CLC(x)). If the interpolation or position
controller cycle is exceeded, the following alarm appears:
S Alarm: “4240 Computing time overflow at IPO or position controller level, IP

point in part program”
and the processing of the part program is aborted.

4.1 Machine data for clearance control

62500 $MC_CLC_AXNO
MD number Axis assignment for clearance control
Default setting: 0 Minimum input limit: –2 Max. input limit:
Maximum number of axes in
channel
Changes effective after Protection level: 2 / 7 Unit: –
POWER ON
Data type: INT
Meaning: – 0: Deactivates the clearance control function
– x where x > 0:
Activates 1D clearance control for the channel axis with the axis
number entered under x.
This axis must not be a modulo rotary axis.
– x where x < 0: Activates 3D clearance control.
In order for 3D clearance control to be activated, at least one of the
two possible 5-axis transformations in the channel must be
configured.
– –1
x = –1 selects the first 5-axis transformation configured in the 1st
channel with $MC_TRAFO_TYPE_x (16 <=transtype <=149) for
clearance control.
– –2
x = –2 selects the second 5-axis transformation configured in the
1st channel.
The overlaid motion acts on the axes that are configured as linear
axes in the first three elements of $MC_TRAFO_AXES_IN_x of the
selected transformation.
It is permissible to configure 3-axis and 4-axis transformations
(2D clearance control).
Restriction:
– Only one of the linear axes involved in the clearance control
function may be configured as the master axis in a gantry group-
ing.
– No axis involved in the clearance control function may be config-
ured as the slave axis of a gantry grouping.
– Incorrectly parameterized configurations are rejected with CLC
alarm 75000 during POWER ON.

62502 $MC_CLC_ANALOG_IN
MD number Analog input for clearance control function
POWER ON
Data type: INT
Meaning: The machine data defines the number of the analog input that is used for
the clearance sensor.
In contrast to the functions (synchronized actions) implemented in the
interpolator, the clearance control input cannot be controlled via PLC
interface DB10.DBW148 onwards.
62504 $MC_CLC_SENSOR_TOUCHED_INPUT
MD number Input bit assignment for the sensor collision signal
POWER ON
Data type: INT
Meaning: The machine data defines the number of the digital input that is used for
collision monitoring.
Precondition:
The clearance sensor has a “sensor collision” signal.
The digital inputs are numbered in the same way as the corresponding
system variables: $A_IN[x], where x = number of digital input.
E.g.: 3. input on 2nd input byte:
$MC_CLC_SENSOR_TOUCHED_INPUT = 11 ;3+1*8
Setting negative values inverts the corresponding input signal internally

for processing (fail-safe method).
For more information about sensor collision monitoring, see Section 2.4,
page 3/TE1/2-14.

62505 $MC_CLC_SENSOR_LOWER_LIMIT
MD number Lower motion limit of clearance control
Default setting: –5.0, –10.0 Minimum input limit: – Maximum input limit: 0.0
Changes effective after Protection level: 2 / 7 Unit: mm/inch
RESET
Data type: REAL
Meaning: The machine data comprises 2 field elements:
– CLC_SENSOR_LOWER_LIMIT[0]
The first field element of this machine data sets the lower limit for the
deviation between the sensor-controlled machine position and the
programmed position.
When the limit is reached, the PLC signal
S DB21.DBB37.4
is set and CLC alarm 75020 is output.
– CLC_SENSOR_LOWER_LIMIT[1]
The second field element limits the value of the maximum
programmable lower limit.
62506 $MC_CLC_SENSOR_UPPER_LIMIT
MD number Upper motion limit of clearance control
Default setting: 10.0, 40.0 Minimum input limit: 0.0 Maximum input limit: –
RESET
Data type: REAL
– CLC_SENSOR_UPPER_LIMIT[0]
The first field element of this machine data sets the upper limit for the
deviation between the sensor-controlled machine position and the
programmed position.
When the limit is reached, the PLC signal
S DB21.DBB37.5
is set and CLC alarm 75021 is output.
– CLC_SENSOR_UPPER_LIMIT[1]
The second field element limits the value of the maximum
programmable upper limit.

62508 $MC_CLC_SPECIAL_FEATURE_MASK
MD number Special functions and operating modes of the clearance control
POWER ON
Data type: INT HEX format 840D: Applies as of SW: 5.3
Meaning: Bit 0 and bit 1
Alarm reaction when CLC motion limits are reached:
This machine data configures the alarm reaction when motion limits set
in MD 62505 and MD 62506 or programmed with CLC_LIM are reached.
Bit 0 = 0:
Alarm 75020 does not stop program processing. This alarm can be
acknowledged with the Cancel key.
Bit 0 = 1
Alarm 75020 stops program processing at the lower limit. The alarm
must be acknowledged with RESET.
Bit 1 = 0
Alarm 75021 does not stop program processing. This alarm can be
acknowledged with the Cancel key.
Bit 1 = 1
Alarm 75021 stops program processing at the upper limit. The alarm
must be acknowledged with RESET.
Meaning: Bit 4
Operation as online tool length compensation in direction of orientation
Bit 4 = 0
The clearance control function works normally.
Bit 4 = 1
Unlike as for clearance control, the analog input does not set a
velocity but directly applies an offset position.
In this case, the ordinate of the selected sensor characteristic
$MC_CLC_SENSOR_VELO_TABLE_x is interpreted in mm or
inches instead of in mm/min (inch/min).
This operating mode can be activated for test purposes and imple-
mentation of 3D tool length compensation. In this mode, the analog
value is read in the position controller cycle rather than in the interpo-
lator cycle. In this mode, analog values can be modified and/or speci-
fied via the PLC using DB10.DBW148 onwards. The input used must
be activated via the following machine data:
S MD10300: FASTIO_ANA_NUM_INPUTS

Meaning: Bit 5:
Mode for rapid retraction in position control cycle

Bit 5 = 0:
The clearance control function works normally.
Bit 5 = 1:
The analog input is irrelevant.
If the digital input configured with MD 62504: CLC_SEN-
SOR_TOUCHED_INPUT is activated (possibly inverted), a retracting
movement is started in the same position controller cycle correspond-
ing to an analog signal setting of +10V during operation as “online
tool length compensation” (see bit 4).
The digital input signal that initiates the retracting movement cannot
be controlled via the PLC. In addition to the reaction in the position
controller, the “sensor collision” input with subsequent stop of path
motion is processed in the interpolator. This signal branch can be
controlled by the PLC via standard signals DB10.DBB0 onwards.
Meaning: Bit 8:
Mode for alarm output if the lower movement limit has been reached
Bit 8 = 0:
Alarm 75020 is output.
Bit 8 = 1:
Alarm 75020 is not output if the alarm reaction when CLC motion
limits are reached (Bit 0) has been configured without stop of the pro-
gram execution: Bit 0 = 0
Meaning: Bit 9:
Mode for alarm output if the upper movement limit has been reached
Bit 9 = 0:
Alarm 75021 is output.
Bit 9 = 1:
Alarm 75021 is not output if the alarm reaction when CLC motion
limits are reached (Bit 0) has been configured without stop of the pro-
gram execution: Bit 1 = 0

Meaning: Bit 14:

Synchronization of the start position for single-axis clearance control.
Bit 14 = 0:
If the clearance control is only configured for one axis (MD 62500
$MC_CLC_AXNO), the current actual position is only synchronized
as the start position of the next part program block for this axis when
the clearance control is deactivated with CLC(0).
Bit 14 = 1:
If the clearance control is only configured for one axis (MD 62500
$MC_CLC_AXNO), the current actual positions are synchronized as
the start positions of the next part program block for all axes when
the clearance control is deactivated with CLC(0).
This setting is only required for those applications where single-axis
clearance control is used together with a 3/4/5-axis transformation
(e.g. pipe cutting with rotating workpiece) and for the first motion
block after CLC(0) in which an axis jump or alarm: “Channel %1 Axis
%2 System error 550010” occurs in the CLC axis.

62510 $MC_CLC_SENSOR_VOLTAGE_TABLE_1
MD number Coordinate voltage of interpolation points sensor characteristic 1
Default setting: Minimum input limit: –10.0 Maximum input limit: +10.0
–10.0, 10.0, 0.0, 0.0, 0.0, 0.0
Changes effective after Protection level: 2 / 7 Unit: Volts
RESET
Data type: REAL Also 840D with SW 5.3 and higher: Maximum 10 interpolation points
Meaning: This machine data is used to define the voltage values for sensor
characteristic 1.
The associated velocity value should be entered under the same index i
of machine data:
S DM62511: CLC_SENSOR_VELO_TABLE_1[i].
In the simplest case, it is sufficient to define the characteristic using two
interpolation points as a symmetrical straight line through zero:
Example:
– $MC_CLC_SENSOR_VOLTAGE_TABLE_1[ 0 ] = –10.0 ; V
– $MC_CLC_SENSOR_VOLTAGE_TABLE_1[ 1 ] = 10.0 ; V
– $MC_CLC_SENSOR_VELO_TABLE_1[ 0 ] = 500.0 ; mm/min
– $MC_CLC_SENSOR_VELO_TABLE_1[ 1 ] = –500.0 ; mm/min
All array elements of the machine data not used in the example must
be assigned the value 0.0.
If the defined sensor characteristic generates the incorrect control

direction, i.e. once clearance control has been activated, the sensor
“flees” from the workpiece, the control direction can be corrected either
by reversing the polarity of the sensor signal on the I/O module or by
changing the sign of the voltage values in the machine data.
Notes for defining the sensor characteristic:
– An interpolation point with velocity value 0 must not be positioned
at the end of the table.
– The characteristic must be monotone, i.e. the velocity over volt-
age values must either be exclusively ascending or exclusively
descending.
– The characteristic must not feature any jumps in the velocity wa-
veform, i.e. it is not permitted to define different velocities for the
same voltage value.
– The characteristic must have at least two interpolation points.
– No more than 5 interpolation points (3 on the 840D up to SW 5.3)
with positive or negative velocity may be entered.
– Characteristics in which the line does not pass exactly through
the zero point may affect the clearance standardization set in the
clearance sensor.

62511 $MC_CLC_SENSOR_VELO_TABLE_1
MD number Coordinate velocity of interpolation points sensor characteristic 1
Default setting: Minimum input limit: – Maximum input limit: –
2000.0, –2000.0, 0.0, 0.0,
0.0, 0.0
Changes effective after Protection level: 2 / 7 Unit: mm / min inch / min
RESET
Meaning: This machine data is used to define the velocity values for sensor
characteristic 1.
The associated voltage value should be entered under the same index i
of machine data:
S MD 62510: CLC_SENSOR_VOLTAGE_TABLE_1[i].
For more information about defining characteristics, see the description
of machine data MD62510 CLC_SENSOR_VOLTAGE_TABLE_1.
62512 $MC_CLC_SENSOR_VOLTAGE_TABLE_2
MD number Coordinate voltage of interpolation points sensor characteristic 2
Default setting: Minimum input limit: –10.0 Maximum input limit: +10.0
–10.0, 10.0, 0.0, 0.0, 0.0, 0.0
Changes effective after Protection level: 2 / 7 Unit: Volts
RESET
characteristic 2.
62513 $MC_CLC_SENSOR_VELO_TABLE_2
MD number Coordinate velocity of interpolation points sensor characteristic 2
2000.0, –2000.0, 0.0, 0.0,
0.0, 0.0
Changes effective after Protection level: 2 / 7 Unit: mm / min inch / min
RESET
characteristic 2.

62516 $MC_CLC_SENSOR_VELO_LIMIT
MD number Velocity of the distance control movement
Changes effective after Protection level: 2 / 7 Unit: Percent
RESET
Data type: REAL
Meaning: 1D clearance control
The machine data is used to define the maximum traversing velocity
of the overlaid control movement as a percentage of the maximum
residual axis velocity of the maximum value of the clearance-con-
trolled axis:
S MD32000: MAX_AX_VELO[x]2D/3D
2D/3D clearance control
With the 2D and 3D clearance control variants, the reference value
used is the maximum velocity of the slowest clearance-controlled
axis multiplied by √2 or √3 respectively.
62517 $MC_CLC_SENSOR_ACCEL_LIMIT
MD number Acceleration of clearance control motion
Default setting: 100.0 Input limit: 0.0 Maximum input limit: 100.0
Changes effective after Protection level: 2 / 7 Unit: Percent
RESET
Data type: REAL
The machine data is used to define the maximum acceleration of the
overlaid control movement as a percentage of the maximum residual
axis acceleration of the maximum value of the clearance-controlled
axis:
S MD32300: MAX_AX_ACCEL[x]
2D/3D clearance control
With the 2D and 3D clearance control variants, the reference value
used is the maximum acceleration of the slowest
clearance-controlled axis multiplied by √2 or √3 respectively.

62520 $MC_CLC_SENSOR_STOP_POS_TOL
MD number Positional tolerance for status message “Clearance control zero speed”
Default setting: 0.05 Input limit: 0.0 Maximum input limit: –
RESET
Data type: REAL
Meaning: When clearance control is active, in order to achieve the exact stop
condition (G601/G602), both the axes involved in the programmed
traversing movement and the clearance-controlled axes must have
achieved their exact stop conditions.
The exact stop condition for clearance control is defined via a position
window and a dwell time:
S MD62520: CLC_SENSOR_STOP_POS_TOL
S MD62521: CLC_SENSOR_STOP_DWELL_TIME
If the clearance control function and/or the clearance-controlled axes for
the parameterized dwell time are within the positional tolerance, the
exact stop condition for clearance control has been met.
Setting notes
If the clearance control function is unable to remain within the
parameterized position window during the corresponding dwell time, the
following alarm will appear under certain circumstances:
S Alarm “1011 Channel channel number system error 140002”
In order to avoid an alarm or if an alarm is triggered, proceed as follows:
1. Switch on the clearance control function with the typical distance
of the clearance sensor to a thin sheet metal.
2. Knock on the sheet such that the laser head performs visible com-
pensation movements. When the compensation movement is fin-
ished, the sheet should no longer be touched.
3. If the interface signal “flickers”:
IS: DB3x, DBB60.7 (position reached with exact stop fine)
after knocking or release of the process gas, modify the following
machine data:
S MD36010: STOP_LIMIT_FINE (increase)
S MD62520: CLC_SENSOR_STOP_POS_TOL (increase)
S MD62521: CLC_SENSOR_STOP_DWELL_TIME (reduce)
The changes to the machine data will not become effective until an NCK
Power on Reset has been performed. The clearance control may
therefore have to be activated again when the NC has powered up.

62521 $MC_CLC_SENSOR_STOP_DWELL_TIME
MD number Dwell time for status message “Clearance control zero speed”
Changes effective after Protection level: 2 / 7 Unit: s
RESET
Data type: REAL Measures for avoiding alarm 1011
Meaning: This machine data is used to define the dwell time for achieving the
exact stop condition for clearance control.
Enter the corresponding positional tolerance in machine data:
For more information about the exact stop condition for clearance
control, see the description of machine data MD62520:
CLC_SENSOR_STOP_POS_TOL.
Related to .... The dwell time set must not exceed the maximum waiting time set in
machine data MD36020 POSITIONING_TIME for achieving the exact
stop condition.
62522 $MC_CLC_OFFSET_ASSIGN_ANAOUT
MD number Modification of the setpoint distance by means of sensor signal override
POWER ON
Data type: INT
Meaning: The machine data defines the number of the analog output whose output
value is subtracted from the clearance sensor input voltage.
The analog inputs are numbered in the same way as the corresponding
system variables: $A_OUTA[x], where x = number of analog output.
The analog output can be used both block-synchronously from a part
program and synchronously via a synchronized action via variable
$A_OUTA[n].

62523 $MC_CLC_LOCK_DIR_ASSIGN_DIGOUT
MD number Assignment of the digital outputs for disabling the CLC movement
Default setting: 0.0 Minimum input limit: –40 Maximum input limit: 40
POWER ON
Data type: INT
– CLC_LOCK_DIR_ASSIGN_DIGOUT[0]
The first field element is used to define the digital output via which the
negative direction of movement for clearance control can be blocked.
– CLC_LOCK_DIR_ASSIGN_DIGOUT[1]
The second field element is used to define the digital output via which
the positive direction of movement for clearance control can be
blocked.
Enter a negated output number to invert evaluation of the switching
signal.
Example:
Digital output 1 ($A_OUT[1]) is to block negative direction of move-
ment, digital output 2 ($A_OUT[2]) is to block positive direction of
movement:
The corresponding system variables can be used block-synchro-
nously in the part program or asynchronously via synchronized ac-
tions to activate/deactivate the blocking of each direction of move-
ment:
– Blocking of negative direction of movement ON/OFF
$A_OUT[1] = 1 / 0
– Blocking of positive direction of movement ON/OFF
$A_OUT[2] = 1 / 0
Inversion of switching signal
– Blocking of negative direction of movement ON / OFF
$A_OUT[1] = 0 / 1

62524 $MC_CLC_ACTIVE_AFTER_RESET
MD number Clearance control remains active after RESET
Modification effective after Protection level: 2 / 7 Unit: –
NEW_CONF
Data type: BOOL
This machine data is used to parameterize the RESET characteristics
(end of program RESET or NC RESET) of 1D clearance control.
– CLC_ACTIVE_AFTER_RESET = 0
On RESET, clearance control is deactivated in the same way as the
part program command CLC(0).
– CLC_ACTIVE_AFTER_RESET = 1
Clearance control maintains its current state on RESET.
3D clearance control
The machine data is not effective for the 3D clearance control. In this
case, a RESET always deactivates clearance control.
62525 $MC_CLC_SENSOR_FILTER_TIME
MD number PT1 filtering time constant of sensor signal
Changes effective Protection level: 2 / 7 Unit: s
immediately
Data type: REAL
Meaning: This machine data is used to parameterize the time constant of the PT1
filter for clearance control (corresponds to an RC element).
The PT1 filter can be used to dampen the higher-frequency noise
components in the input signal of the clearance sensor.
The effect of the filter can be monitored via the function-specific display
data (see Section 2.7, page 3/TE1/2-33).
A setting of zero deactivates the filter completely.
Note
Each additional time constant in the servo loop reduces the maximum
possible servo loop dynamics.
62528 $MC_CLC_PROG_ORI_AX_MASK
MD number Axis mask of the direction axes
Default setting: 0 Minimum input limit: 0 Maximum input limit: 0C0000000H
Changes effective immediat. Protection level: 2 / 7 Unit: –
Data type: DWORD
Meaning: Each bit of the axis mask refers, by way of its bit index n, to the channel
axis [n+1]. 3 bits, and only 3 bits, can be set to correspond to the 3
direction axes of the compensation vector. The bits are evaluated in
ascending order.
The first channel axis configured in this way corresponds to the X
coordinate of the compensation vector. The second channel axis
corresponds to the Y coordinate, etc.

62529 $MC_CLC_PROG_ORI_MAX_ANGLE
MD number Limit angle
Changes effective Protection level: 2 / 7 Unit: Degrees
immediately
Data type: REAL
Meaning: Permissible limit angle between tool orientation and the CLC direction
62530 $MC_CLC_PROG_ORI_ANGLE_AC_PARAM
MD number Index of display variable for the current difference angle.
Default setting: –1 Minimum input limit: –1 Maximum input limit: 20000
Changes effective Protection level: 2 / 7 Unit: –
immediately
Data type: INT
Meaning: Index n of system variable $AC_PARAM[n] in which the current
difference angle between the tool orientation and CLC direction is output.

5.1 Signals to channel
5.1 Signals to channel
DB21, ...
DBB1.4 CLC stop
Edge evaluation: No Signal(s) updated: Cyclic Signal(s) valid: Also 840D
SW 3.6 and higher
Signal state 1 or signal Clearance control is deactivated in the same way as the part program command
transition 0 –––> 1 CLC_GAIN=0.0.
Signal state 0 or signal Clearance control is enabled.
DB21, ...
DBB1.5 CLC_Override
SW 3.6 and higher
Signal state 1 or signal The channel-specific override DB21.DBB4 is effective for clearance control.
Override settings < 100% reduces the velocity limit preset in machine data:
S MD62516: CLC_SENSOR_VELO_LIMIT
for the overlaid movement.
Override settings > 100% apply the limitation from the machine data.
Signal state 0 or signal The maximum velocity of the control motion is not dependent on the override setting
Application example The difference for the operator is particularly dependent on whether the sensor motion is
stopped or not with a 0 override.
Related to .... Channel-specific override setting DB21.DBB4 and DB21. DBB6.7

5.2 Signals from channel
DB21, ...
DBB37.3 CLC is active
SW 3.6 and higher
Signal state 1 or signal Clearance control is activated.
Signal state 0 or signal Clearance control is deactivated.
DB21, ...
DBB37.4–5 CLC motion has stopped
SW 3.6 and higher
Signal state 1 or signal The traversing movement of the clearance-controlled axes based on clearance control is at
transition 0 –––> 1 a standstill. The following conditions will set the signal:
– The standstill conditions set in the following machine data are met:
S MD62521: CLC_SENSOR_STOP_DWELL_TIME
– Programming of CLC_GAIN=0.0
– PLC interface signal: DB21.DBB1.4 “Stop CLC motion”
Note
The “CLC motion at standstill” signal is only set if bits 4 and 5 are set at the same time. If
only one of the two bits is set –> see below.
Signal state 0 or signal Clearance control generates traversing movements directly in the clearance-controlled
transition 1 –––> 0 axes.
While the axes are moving as a result of clearance control, axial interface signals
DB3x.DBB30.6/7 “Position reached exact stop coarse/fine” cannot be set.
Related to .... DB3x.DBB30.6/7 “Position reached, exact stop coarse/fine”
DB21, ...
DBB37.4 CLC motion at lower motion limit
SW 3.6 and higher
Signal state 1 or signal The traversing movement of the clearance-controlled axes based on clearance control has
transition 0 –––> 1 been stopped at the upper movement limit set in
S MD62505: CLC_SENSOR_LOWER_LIMIT
or programmed with CLC_LIM(..).
Note
If the DB21.DBB37.5 signal is set at the same time –> see above “CLC motion at standstill”
signal.
Signal state 0 or signal Clearance control has left the lower limitation.

DB21, ...
DBB37.5 CLC motion at upper motion limit
SW 3.6 and higher
Signal state 1 or signal The traversing movement of the clearance-controlled axes based on clearance control has
transition 0 –––> 1 been stopped at the upper movement limit set in
S MD62506: CLC_SENSOR_UPPER_LIMIT
or programmed with CLC_LIM(..).
Note
If the DB21.DBB37.4 signal is set at the same time –> see above “CLC motion at standstill”
signal.
Signal state 0 or signal Clearance control has left the upper limitation.

Notes

6
Examples
– No examples available –
J

Notes

7.1 Alarms

7.1 Alarms
12550 Channel %1 block %2 name %3 not defined or option not installed

Explanation Parameter:
S %1 = channel number
S %2 = block number, label
S %3 = source symbol; in this case: CLC
If the “clearance control” technological function is not available or not activated, the
function-specific part program commands are rejected as invalid syntax.
Reaction Interruption of part program interpretation, alarm signal in PLC interface

Remedy Install and activate compile cycle.
Delete criterion NC RESET

7.1 Alarms
75000 Channel %1 CLC: Incorrect MD configuration, error no: %2

S %2 = error number
Error number:
S –1
The interpolation points of one of the two sensor characteristics are not strictly
monotone ascending or descending.
S –2
One of the two sensor characteristics has less than 2 valid interpolation points.
S –3
One of the two sensor characteristics has more than three interpolation points with
negative velocity or more than three interpolation points with positive velocity.
S –4
The digital input set for sensor collision monitoring:
– MD 62504 $MC_CLC_SENSOR_TOUCHED_INPUT
is not activated on the control
– MD 10350 $MN_FASTIO_DIG_NUM_INPUTS
S –5
A fast input was not assigned to the special “lift fast with position controller cycle”
function:
– MD 62504 $MC_CLC_SENSOR_TOUCHED_INPUT
S –6
The axis selected for clearance control is not active in the channel:
– MD 62500 $MC_CLC_AXNO
S –7
The 5-axis transformation selected for clearance control:
– MD 62500 $MC_CLC_AXNO
is not configured in the channel:
– MD 24100 $MC_TRAFO_TYPE_x
S –8
More than one of the axes involved in the clearance control is a leading
axis in a gantry grouping MD 37100 $MA_GANTRY_AXIS_TYPE.
S –9
More than one of the axes involved in the clearance control is a following axis in a
gantry grouping:
– MD 37100 $MA_GANTRY_AXIS_TYPE
S –10
In the Export version, CLC can only be activated if the “number of interpolating
axes” option has been set to a value less than 4.
S –11
Either three axes or no axes may be configured for clearance control with program-
mable compensation vector CLC(3):
– MD 62528 $MC_CLC_PROG_ORI_AX_MASK
If three axes are configured, they must also be assigned to the channel:
– MD 20070 $MC_AXCONF_MACHAX_USED
Reaction Dropout of signal mode group ready, alarm signal in PLC interface
Remedy Correct the relevant machine data.
Delete criterion NCK POWER ON RESET

7.1 Alarms
75005 Channel %1 block %2 CLC: General programming error

Possible errors:
S The activation/deactivation command for clearance control “CLC(..)” accepts only

the values 2, 1, 0 and –1 as call parameters.
S The activation command CLC(2) with monitoring of sensor collision signal is
accepted only if a valid digital input is configured for the monitoring signal in
MD$MC_CLC_SENSOR_TOUCHED_INPUT.
Reaction Abortion of part program interpretation. Alarm signal in PLC interface.
Remedy Modify part program. Configure digital input for collision evaluation in MD if necessary.
75010 Channel %1 block %2 CLC_LIM value higher than MD limit

One of the limitations for the position offset of the clearance control programmed with
CLC_LIM( ...,... ) is greater than the value permitted in the corresponding machine data:
S MD62505 $MC_CLC_SENSOR_LOWER_LIMIT[ 1 ]
or
S MD62506 $MC_CLC_SENSOR_UPPER_LIMIT[ 1 ]

Remedy Modify part program. Raise limitation in appropriate machine data if necessary.
75015 Channel %1 block %2 CLC(0) with active TOC

3D clearance control has been switched off with CLC(0) while tool radius compensation
is still active (G41/G42). Since CLC(0) empties the internal block buffer and transfers the
current position offset of the clearance control as a “contour jump” to the interpreter, TRC
must be deactivated when this command is issued.
Remedy Modify part program:
S switch off active G41/G42 before CLC(0) OR
S do not switch off clearance control, but just “freeze” temporarily
(CLC_GAIN=0.0) OR
S cancel the position offset mechanically with CLC(–1).

7.1 Alarms
75016 Channel %1 block %2 CLC: Orientation changed with TRAFOOF

Possible cause:
S The 2D/3D clearance control has been switched off before the transformation. The
tool direction according to G17/G18/G19 has been applied as the control direction.
Switching on the transformation with rotary axis settings that define a different tool
orientation requires an orientation step change and is therefore rejected.
S The transformation has been switched off temporarily (TRAFOOF) while clearance
control is still active. When transformation is switched on again, the tool orientation
must be the same as when it was switched off, i.e. the rotary axes must not be
moved while the transformation is deactivated.
Remedy Modify part program:
S Do not switch on clearance control until transformation is already active or make

sure that the required conditions relating to orientation are observed.
75018 Channel %1 block %2 CLC in programmable direction, error ID: %3

S %3 = error number
Error cause:
S Error ID: 0
CLC(3) was programmed but
– the option bit is not enabled or
– the configuration of the direction axes contains an error
S Error ID: 1
The currently programmed compensation vector is antiparallel (in the opposite direc-
tion) to the last programmed compensation vector.
Remedy Correct the machine data (0) or the part program (1).

7.1 Alarms
75019 Channel %1, error ID: %2, angle %3

S %2 = error number
S %3 = angle between compensation vector and tool orientation
Error cause:
S Error ID: 1 and angle: 0.0
The CLC direction is [0, 0, 0]. A compensation vector cannot be generated.
S Error ID: 2 and angle: Angle
The angle between the current tool orientation and the compensation vector is
greater than the configured maximum angle:
– MD 62529 $MC_CLC_PROG_ORI_MAX_ANGLE
Reaction Abortion of part program execution. Alarm signal in PLC interface.
Remedy Increase the permissible limit angle or change the part program.
Delete criterion NC-RESET
75021 Channel %1 CLC position offset at upper limit %2

The position offset due to the overlaid movement has reached the limit set with the
machine data:
S MD62506 $MC_CLC_SENSOR_UPPER_LIMIT
or programmed with CLC_LIM(...,...).
Reaction Depending on setting in bit 1 of machine data:

S MD62508 $MC_CLC_SPECIAL_FEATURE_MASK
– Bit 0 = 0: Alarm display only, no internal reaction
– Bit 0 = 1: Stop programmed motion, NC start disable
Remedy Check position and form of the workpiece. If necessary, program further limits.
Delete criterion Depending on setting in bit 0 of machine data:
S MD62508 $MC_CLC_SPECIAL_FEATURE_MASK
– Bit 0 = 0: CANCEL
– Bit 0 = 1: NC RESET
75025 Channel %1 CLC stopped since sensor tip touched

Sensor head collision monitoring has responded.
Reaction A retraction motion to the upper limitation of the position offset
S MD62506 $MC_CLC_SENSOR_UPPER_LIMIT
starts. The maximum velocity and acceleration reserves available in the control direction
are used for this purpose. The velocity override setting has no effect on this retraction
motion. The path motion is stopped simultaneously.
Remedy Use NC START to continue the part program.

The overlaid movement reverts to the control clearance.
Delete criterion NC START or NC RESET

7.2 Machine data
7.2 Machine data
7.2.1 Drive-specific parameters (840Di)
Number Name/identifier Reference

Drive parameter (SIMODRIVE 611D; POSMO SI, CD, CA)
1502 SPEED_FILTER_1_TIME[n] / Time constant, setpoint speed filter 1
1503 SPEED_FILTER_2_TIME[n] / Time constant, setpoint speed filter 2
7.2.2 Drive-specific machine data (840D)

Drive machine data (SIMODRIVE 611D)
1502 SPEED_FILTER_1_TIME[n] / Time constant, setpoint speed filter 1 /DD2/
1503 SPEED_FILTER_2_TIME[n] / Time constant, setpoint speed filter 2 /DD2/

General ($MN_ ... )
10300 FASTIO_ANA_NUM_INPUTS / Number of active analog NCK inputs A2
10350 FASTIO_DIG_NUM_INPUTS / Number of active digital NCK input bytes A2
10362 HW_ASSIGN_ANA_FASTIN / Hardware assignment of external analog NCK inputs: 0...7 A2
10380 HW_UPDATE_RATE_FASTIO / Update cycle of synchronously clocked external NCK A2
input/output modules
10382 HW_LEAD_TIME_FASTIO / Pretrigger time of synchronously clocked external NCK A2
inputs/outputs Terminal block: 0...3
10384 HW_CLOCKED_MODULE_MASK / Synchronous processing of individual external A2
input/output modules Terminal block: 0...3
10712 NC_USER_CODE_CONF_NAME_TAB / List of renamed NC identifiers /PA/
Channel-specific ($MC_ ... )
28090 MM_NUM_CC_BLOCK_ELEMENTS / Number of compile cycle block elements (DRAM) S7
28100 MM_NUM_CC_BLOCK_USER_MEM / Memory space for compile cycle block elements S7
(DRAM) in KB
28254 MM_NUM_AC_PARAM / number of parameters for synchronized actions S7
Axis-specific ($MA_... )
32070 CORR_VELO / Axis velocity for handwheel, external zero offsets, SA clearance control H1, K2, W4
32410 AX_JERK_TIME / Time constant for axial jerk filter B2
32610 VELO_FFW_WEIGHT / Feedforward control factor for velocity feedforward control K3
36000 STOP_LIMIT_COARSE / Exact stop coarse B1
36010 STOP_LIMIT_FINE / Exact stop fine B1
36040 STANDSTILL_DELAY_TIME/Delay time zero speed monitoring A3
36060 STANDSTILL_VELO_TOL Max./velocity for axis/spindle stopped A2
36750 AA_OFF_MODE/Value calculation mode for axial position override S5
Channel-specific machine data for clearance control ($MC_ ... )
62500 CLC_AXNO/Axis assignment for clearance control

62502 CLC_ANALOG_IN /Analog input for clearance control

62504 CLC_SENSOR_TOUCHED_INPUT/Assignment of an input bit for the “sensor collision”
signal
62505 CLC_SENSOR_LOWER_LIMIT/Lower motion limit of clearance control CLC_LIM()
62506 CLC_SENSOR_UPPER_LIMIT/Upper motion limit of clearance control CLC_LIM()
62508 CLC_SPECIAL_FEATURE_MASK/Special functions and operating modes of clearance
control
62510 CLC_SENSOR_VOLTABE_TABLE_1/Coordinate voltage of interpolation points sensor CLCGAIN
characteristic 1
62511 CLC_SENSOR_VELO_TABLE_1/Coordinate velocity of interpolation points sensor
characteristic 1
62512 CLC_SENSOR_VOLTABE_TABLE_2/Coordinate voltage of interpolation points sensor
characteristic 2
62513 CLC_SENSOR_VELO_TABLE_2/Coordinate velocity of interpolation points sensor
characteristic 2
62516 CLC_SENSOR_VELO_LIMIT/Velocity of clearance control motion MAX_AX_
VELO
62516 CLC_SENSOR_ACCEL_LIMIT/Acceleration of clearance control motion MAX_AX_
ACCEL
62520 CLC_SENSOR_STOP_POS_TOL/Positional tolerance for status message “Clearance
control zero speed”
62521 CLC_SENSOR_STOP_DWELL_TIME/Wait time for status message “Clearance control
zero speed”
62522 CLC_OFFSET_ASSIGN_ANAOUT/Modification of the setpoint clearance via sensor signal
override (SW 5.3 and higher)
62523 CLC_LOCK_DIR_ASSIGN_DIGOUT/Assignment of the digital outputs for CLC movement
deactivation (SW 5.3 and higher)
62524 CLC_ACTIVE_AFTER_RESET/Clearance control remains active after RESET (SW 5.3
and higher)
62525 CLC_SENSOR_FILTER_TIME/Time constant of PT1 filter of sensor signal
62528 CLC_PROG_ORI_AX_MASK / Progr. orientation vector: Axis mask
62529 CLC_PROG_ORI_MAX_ANGLE / Progr. orientation vector: Maximum difference angle
62530 CLC_PROG_ORI_ / Progr. orientation vector: Index of the $AC_PARAM variables for the
output of the current difference angle

DB no. Bit, byte name Reference
Channel-specific
21 1.4 Stop CLC motion
21 1.5 Feedrate override acts on CLC
21 37.3 CLC is active
21 37.4–5 CLC motion has stopped
21 37.4 CLC motion at lower motion limit
21 37.5 CLC motion at upper motion limit

Notes

06.05

Analog Axis (TE2)

2.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE2/2-5
2.2 Hardware configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE2/2-7
2.3 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE2/2-8
2.4 Setpoint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE2/2-9
2.5 Actual value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE2/2-11
3.1 Effectiveness of machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE2/3-13
3.2 Displaying setpoints in NCK GUD . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE2/3-13
3.3 Creating alarm texts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE2/3-14
4.1 Machine data of standard system . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE2/4-15
4.2 Machine data for the analog axis function . . . . . . . . . . . . . . . . . . . . . 3/TE2/4-16
6 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE2/6-17
6.1 General start-up of a compile cycle function . . . . . . . . . . . . . . . . . . . 3/TE2/6-17
6.2 Start-up of analog axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE2/6-19
6.3 Example of how to configure an analog axis . . . . . . . . . . . . . . . . . . . 3/TE2/6-20
7.1 Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE2/7-23
7.2 Machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE2/7-24
J

06.05
Notes

06.05 Analog Axis (TE2)
1 Brief Description
Brief Description 1
840D The “analog axis” function was supplied as a compile cycle up to SW 6. This
function can now be implemented with the aid of the hydraulics module. It is
therefore no longer available as a compile cycle.
840Di On the 840Di, analog axis is implemented via an ADI4 board.

J

Analog Axis (TE2) 06.05
1 Brief Description
Notes

2.1 General
2.1 General
In SW 4.3, the “analog axis” function can be used to control up to 8 of the

available NC axes with an analog drive (e.g.: SIMODRIVE 611A ) via a +/– 10 V
speed interface. The function is designed for individual motors on a machine
that cannot be controlled by digital drive systems such as, for example, large
spindle motors or single motors for tool changers.
Number of analog The maximum number of analog axes depends on the maximum number of NC
axes axes available.
Axes controlled by analog drives are included in the maximum number of
available NC axes in the system and, when used for this purpose, reduce the
number of available digital axes.
NC axes Analog axes

NCU2 12 3
NCU3s 12 3
NCU3 31 8
Function As regards scope of applications, analog axes are not subject to any particular
restrictions that do not also apply to digital axes. There is no special
dependency on particular channels, i.e. analog axes can be programmed in
different channels. Axes can also be exchanged between channels. All
functions of normal NC axes/spindles such as those listed below are also
available for analog axes:
S Programming from part programs

S Traversal from PLC
S Manual traversal, etc.
Speed setpoint The speed setpoint of an analog axis is made available on a DMP module on
the NCU terminal block from where it is taken to the analog drive.
Actual position The actual position value of the axis is acquired by a signal generator. An
value unassigned measured-value input for the direct measuring system of an active
digital drive is used as the measurement input.

2.1 General
Caution
! You must observe the different dynamic responses of the drives in an
interpolation group that has analog and digital drives (following error, drift).

2.2 Hardware configuration
2.2 Hardware configuration
Fig. 1 shows the hardware configuration of an analog axis:
SINUMERIK 840D with SIMATIC S7-300 I/Os

SIMODRIVE 611D
Digital measurement input

MMC
NCK Analog Servo

I/Os output enable
Analog
drive
I/RF NCU MSD FD
amplifier
Signal generator
1PH6
1FT6/
1FK6
Motors for digital converter system
Fig. 2-1 Hardware configuration of an analog axis
Hardware requirements
All hardware components required are listed below:
S NCU terminal block (6FC5 211-0AA00-0AA0)

S DMP output module (6FC5 111-0CA05-0AA0) for each analog axis
S Cable for setpoint from DMP output module to analog drive.
S Analog drive amplifier e.g.: SIMODRIVE 611A
S Signal generator on motor
S Actual-value cable for direct measuring system (15-pin connector)
S Active SIMODRIVE 611D drive system with unassigned actual-value input
for direct measuring system (socket connector X422) and submodule for
direct measuring system

2.3 Configuration
2.3 Configuration
The following description explains how an NC axis can be configured via

machine data so that it can be controlled by means of an analog drive amplifier.
Declare axis as Every NC axis can be operated as an analog axis. The maximum number
analog axis depends on the number of NC axes.
Machine data MD 63530: ANALOG_AXIS is used to declare an NC axis as an
analog axis. The input value in this case is the modulo number of the DMP
module on the NCU terminal block (input setting can be 1 to 8). The analog axis
is deactivated when 0 is input.
Alarms in If more than the permissible number of analog axes are activated, then alarm
response to 75100 “Too many analog axes configured” is displayed after run-up.
configuring errors If the same DMP module is assigned to more than one analog axis, alarm
75101 “DMP module no.: %1 assigned more than once” is displayed.
The DMP modules must not be assigned to other control system
functions (e.g.: synchronized actions) as this would interfere with the servo
output. DMP modules are assigned by the interpolator via machine data
MD 10310: FASTIO_ANA_NUM_OUTPUTS. For this reason, the numbers of
DMP modules used for analog axes must be higher than the contents of
machine data 10310 or else alarm 75102 “DMP module no.: %1 assigned to
system functions” will be activated.
Machine data for The following system machine data are relevant in ensuring correct output of
configuring the the speed setpoint via the analog module:
analog module
S MD 10364: HW_ASSIGN_ANA_FASTOUT (for each analog module)
Specification of its physical address activates the analog module.
S MD 10384: HW_CLOCKED_MODULE_MASK (for each terminal block)

The terminal block into which the analog output module is inserted must be
set to clock-synchronous operation.
This is achieved by setting the bit corresponding to the module slot on the
terminal block (e.g.: 5. slot: 10 Hex)
S MD 10380: HW_UPDATE_RATE_FASTIO (for each terminal block)

Selection of clock cycle with which A/D converter is synchronized
2 = position control cycle for analog axis.

2.4 Setpoint
2.4 Setpoint
Setpoint in The speed setpoint of an analog axis is written to a digital/analog converter in

hardware every position controller cycle and is available there as a signal in the +/– 10V
range.
A digital/analog converter is required for each analog axis. It is inserted in the
NCU terminal block as a DMP output module. A maximum of 8 DMP modules
can be inserted in an NCU terminal block.
The setpoint is routed to the analog drive amplifier (e.g.: SIMODRIVE 611A),
which controls the motor.
Controller enable Other signals such as servo enable or NC Ready required by the analog drive
amplifier are not applied at the NCU terminal block, but must be derived from
the SIMATIC I/O devices.
Configure setpoint Analog axes do not transfer an internal setpoint to a digital drive. For this
reason, they must be configured as simulated axes with respect to setpoints.
Machine data 30100 – 30130 are used for this purpose.
MD 30100: CTRLOUT_SEGMENT_NR = 1 Bus segment 840D

MD 30110: CTRLOUT_MODULE _NR= The module number of an
unassigned module must be
entered here even through the
setpoint output is simulated.
This module need not actually
exist in the hardware.
MD 30120: CTRLOUT_NR = 1 Always 1 for 840D
MD 30130: CTRLOUT_TYPE = 0 Simulated setpoint
Normalize setpoint Axial machine data MD 32250: RATED_OUTVAL and

MD 32260: RATED_VELO are set to normalize and limit the output voltage. Bits
set to 1 in MD 32260: RATED_VELO. The percentage value in MD 32260:
RATED_VELO specifies the voltage at maximum motor speed with respect to
+/– 10 V. A setting of 80% means +/– 8 V on the DMP module at maximum
motor speed. The percentage value must be adjusted according to the analog
drive amplifier used.
Example:
Maximum motor speed 6000 rev/min MD 32260: RATED_VELO = 6000
8 V at motor speed of 6000 rev/min MD 32250: RATED_OUTVAL = 80
4 V are present on the DMP module at a motor speed of 3000 rev/min.
Note
Changes to machine data MD 32250: RATED_OUTVAL and MD 32260:
RATED_VELO are not activated by NewConfig, but only after a RESET. This is
applicable only in relation to the analog axis function.

2.4 Setpoint
Drift compensation A drift that needs to be compensated by the position controller occurs in every
analog drive. The “Analog axis” functions provides two different options for
compensating drift. One of these options involves a constant drift value that is
entered in machine data MD 36720: DRIFT_VALUE. This value is added to the
position controller setpoint in every position controller cycle and output.
The second method involves automatic drift compensation. This is activated
with machine data MD 36700: DRIFT_ENABLE = 1. Machine data MD 36710:
DRIFT_LIMIT. The drift is compensated as soon as the analog axis is operating
under closed-loop control, no setpoints are applied from the IPO and the axis is
stationary. As soon as the axis moves again, the last compensation value is
frozen and added to the setpoint in every position control cycle. If the
compensation value increases above the value set in machine data MD 36710:
DRIFT_LIMIT, alarm 75110 “Axis X1 has reached drift limit” is set and the drift
value is limited.
Important
! Changes to machine data MD 36700: DRIFT_ENABLE, MD 36710:
DRIFT_LIMIT, MD 36720: DRIFT_VALUE are not activated by NewConfig, but
by a RESET. This is applicable only in relation to the analog axis function.

2.5 Actual value
2.5 Actual value
Actual value in The actual position value of the analog axis is acquired by a signal generator.
hardware An unassigned measured-value input for the direct measuring system on an
active digital drive (SIMODRIVE 611D) is used as the measured-value input.
This is the lower 15-pin measured-value input with designation X422 on the
digital drive.
As an example, a machine has 3 digital and one analog axis. The actual value
of the analog axis can be taken to a direct measured-value input of one of the 3
digital drives. The selected digital drive must have a submodule for a direct
measuring system. In other words, an active digital drive is required for every
analog axis.
Configure actual The analog axis must be configured so that its actual value is applied to an
value unassigned measured-value input for the direct measuring system on an active
digital drive. Since the analog axis has only one position measuring system,
only one measuring system is activated in the machine data. Machine data
30200 – 30240 are used for this purpose.
MD 30200: NUM_ENCS = 1 Analog axis has one measuring

system
MD 30210: ENC_SEGMENT_NR = 1 Bus segment 840D
MD 30220: ENC_MODULE_NR = Module number of active digital drive
MD 30230: ENC_INPUT_NR[0] = 2 Direct measuring system
MD 30240: ENC_TYPE[0] = 1 Encoder type: Signal generator
The first measuring system is activated by the PLC-to-axis signal DB31-48,

DBX1.5. It is not possible to switch over to measuring system 2 and any attempt
to do so is ignored.
J

2.5 Actual value
Notes

3.2 Displaying setpoints in NCK GUD
NCU 572.2 The “analog axis” function can be utilized on NCU 572.2 hardware only on
condition that is has been specifically enabled for the customer.
SINUMERIK 840Di The operation of analog axes via the PROFIBUS DP of the SINUMERIK 840Di
is available soon.
The compile cycle function of the SINUMERIK 840D is, for the time being, only
available on request for the SINUMERIK 840Di.
3.1 Effectiveness of machine data
Changes to the following machine data do not take effect with NewConfig, but
only on RESET:
Caution
! MD 32250: RATED_OUTVAL
MD 32260: RATED_VELO
MD 36700: DRIFT_ENABLE
MD 36710: DRIFT_LIMIT
MD 36720: DRIFT_VALUE
This is applicable only in relation to the analog axis function.
3.2 Displaying setpoints in NCK GUD
To support the start-up process, it is possible to display the voltages of

individual analog axes in the “Parameters - User Data” display area on the
operator panel front.

3.3 Creating alarm texts
For this purpose, the appropriate GUDs must be set up. For a detailed
description of the procedure to be followed, please see Section “File and
Program Management” in the document “SINUMERIK 840D/810D
Programming Guide Advanced”.
Proceed as follows:
1. Create an INITIAL.INI back-up file
2. Write a text file containing the following lines on an external PC:
%_N_SGUD_DEF
;$PATH=/_N_DEF_DIR
DEF NCK REAL ANALOG_AXIS_VOLTAGE[n]
M30
n = Number of analog axes
3. Load this file to the NC

4. Load the INITIAL.INI backup file to the NC
After the next POWER ON, the voltages of the analog axes (maximum of 3) are
displayed in the GUD array standardized to a maximum of +/– 10V.
1. Add an entry for the alarm text files of the technology card in the [TextFiles]
section of the C:\MMC2\MBDDE.INI file:
CZYK=C:\DH\MB.DIR\TK1_
2. Set up language-specific text files TK1_GR.COM and TK1_UK.COM in
directory C:\DH\MB.DIR.
3. Enter the following alarm text:
in TK1_GR.COM:
075100 0 0 “Too many analog axes configured”
075101 0 0 “DMP module no. %1 assigned twice”
075102 0 0 “DMP module no. %1 assigned to other system functions”
075110 0 0 “Axis %1 drift compensation limit reached”

4.1 Machine data of standard system

The “Analog axis” function is implemented as a compile cycle application. In

addition to the function-specific machine data, the following option data must be
set.
Warning
! Failure to take appropriate precautions can have undesirable consequences.
The functions activated by the option data trigger the corresponding compile
cycles. The compile cycles can significantly change the behavior of the control
and can create hazardous situations via access to the NC.
Before a compile cycle is activated, appropriate safety precautions to prevent
potential damage to machinery and personal injury must be taken (you may
need to take action to safeguard against incorrect parameter settings or
programming in the compile cycles).

4.2 Machine data for the analog axis function
4.2 Machine data for the analog axis function
63530 $MA_ANALOG_AXIS
MD number Configuration of an analog axis

Default setting: Minimum input limit: 0 Maximum input limit: 8
0
POWER ON
Data type: INT
Meaning: An NC axis is declared as an analog axis in this machine data.
Input value = 0: Axis is a digital axis
Input value > 0: Axis is one of the 3 possible analog axes.
The value to be entered here is the number of the DMP module on the
NCU terminal block that must output an analog +/– 10 V speed setpoint
to the drive amplifier of the axis.
J

6.1 General start-up of a compile cycle function
No separate signals to the PLC are provided for the analog axis function.
Examples 6
Requirement
S The software version installed on the MMC must be 3.5 or higher.
S An NCK technology card with the “Analog axis” function must be available.
Saving SRAM As the first step in installing a compile cycle function, the original card inserted
contents in the NCU must be replaced by the technology card.
This step is identical to the procedure followed for a standard upgrade to a more
recent software version and likewise requires the static (battery-backed)
control system memory to be erased. To avoid the consequential loss of all data
in the SRAM, back up the SRAM before performing the operation. For a detailed
description, please see the Manufacturer/Service Documentation
“SINUMERIK 840D/SIMODRIVE 611D Installation and Start-Up Guide”:
1. Enter the machine manufacturer password.
2. Change to the “Services” operating area.
3. Press softkey “Series start-up”.
4. Select “NC” and “PLC” as the areas to be saved and enter a name of your
choice for the archive file to be created on the hard disk. Finish by pressing
the RETURN key.

5. If the control system contains machine-specific compensation data, these

must be saved in a separate archive file:
Press the “Data out” softkey and select the required data under “NC active
data”:
“Measuring system compensations”,
“Sag/angularity compensation” and
“Quadrant error compensation”.
Save this data by pressing the “Archive...” softkey and specifying a file name
for a second archive file.
Keep the archive files you have created in a safe place. They will allow you to
restore original settings in your system.
Insert the PC card

S Switch off control system
S Insert the PC card with the new firmware (technology card) in the PCMCIA
slot of the NCU.
S Then proceed as follows:

1. Turn switch S3 on the front panel of the NCU to 1.
2. Switch the control system back on again.
3. When the system powers up, the firmware is copied from the
PC card into the NCU memory.
4. Wait until number “6” is displayed on the NCU digital display
(after approximately one minute).
5. Turn switch S3 back to zero.
Note
If the number “6” does not appear, an error has occurred:
– Incorrect PC card (e.g. card for NCU2 in NCU3 hardware)
– Card hardware defective
Copy back SRAM To copy the saved data back into the control system, proceed as described in
contents Section 12.2 (series start-up). Please read all information provided by the
manufacturer about new software versions.
S Enter the machine manufacturer password.

S Select “Data in” and “Archive...”. Then load the archive with backup
compensation data (if applicable).

6.2 Start-up of analog axis
6.2 Start-up of analog axis
To start up the “analog axis” function, you next need to activate the compile
cycle.
Option data for

compile cycles
S Set the option for compile cycle application 2
S Reboot. Machine data 63530 should now appear at the end of the axial
machine data list (look for “ANALOG_AXIS” or “63530”):
Analog output Start up the DMP module for the analog setpoint with machine data 10362
$MN_HW_ASSIGN_NUM_INPUTS.
Alarms Enter the alarm texts in language-specific text files

TK1_GR.COM/TK1_UK.COM.
GUD Set up the “ANALOG_AXIS_VOLTAGE” GUD for monitoring the voltage output
if required.
Analog axis Declare axis as an analog axis with machine data

63530 $MA_ANALOG_AXIS and set axial machine data for the setpoint output
and actual value input for the analog axis.

6.3 Example of how to configure an analog axis
One of the axes on the following machine is to be controlled by an analog drive.
S Channel 1: Machine axes AX1, AX2, AX3

S Channel 2: Machine axes AX4, AX5
S Axes 1–4 are digital axes, drive 5 is the NCU terminal block.
S Axis AX5 must be operated as an analog axis. Analog value must be
available on DMP module 2. This module is inserted in slot 3 on the NCU
terminal block.
S The direct measuring system of digital drive 3 is to be used as the actual

value input.
S The maximum motor speed is 3000 rev/min.

S The maximum motor speed is reached at +/– 8 V.
The machine data for the DMP module, setpoint output and actual value input
need to be set as follows:
Axis-specific machine
data for axis 5:
63530 $MA_ANALOG_AXIS = 2 DMP module number
Setpoints:
30100 $MA_CTRLOUT_SEGMENT_NR = 1 Bus segment 840D
30110 $MA_CTRLOUT_MODULE _NR = 6 Free module (need not
actually exist in hardware)
30120 $MA_CTRLOUT_NR = 1 Always 1 for 840D
30130 $MA_CTRLOUT_TYPE = 0 Simulated setpoint
32250 $MA_RATED_OUTVAL = 80 80% rated voltage at max.
motor speed
32260 $MA_RATED_VELO = 3000 Max. motor speed
Actual values:
30200 $MA_NUM_ENCS = 1 Analog axis has one
measuring system
30210 $MA_ENC_SEGMENT_NR = 1 Bus segment 840D
30220 $MA_ENC_MODULE_NR = 3 Module number 3
30230 $MA_ENC_INPUT_NR[0] = 2 Direct measuring system
30240 $MA_ENC_TYPE[0] = 1 Encoder type: Signal
generator

Global machine data:

10310 $MN_FASTIO_ANA_NUM_INPUTS = 0 DMP modules assigned
or 1 to system functions
10364 $MN_HW_ASSIGN_ANA_FASTOUT[1]= Assign 2nd DMP
1090301 module slot 3 on NCU
terminal block, see also
A4
10383$MN_HW_CLOCKED_MODULE_MASK=8H Set DMP module for
clock-synchronous
operation (3rd slot)
10380$MN_HW_UPDATE_RATE_FASTIO = 2 Position control cycle
After power ON: Carry out drift compensation on the 5th axis by programming axial machine
data 36700–36720.
J

Notes

7.1 Alarms

7.1 Alarms

7.2 Machine data
7.2 Machine data
Number Identifier name Referen

ce
General ($MN_ ... )
10310 FASTIO_ANA_NUM_OUTPUTS A4
Number of active NCK outputs
10364 HW_ASSIGN_ANA_FASTOUT Hardware assignment A4
of external analog NCK outputs: 0...7
10380 HW_UPDATE_RATE_FASTIO Update cycle of A4
synchronously clocked external NCK input/output
modules
10384 HW_CLOCKED_MODULE_MASK A4
Synchronous processing of individual external
input/output modules. Terminal block: 0...3
Axis-specific ($MA_... )
30100 CTRLOUT_SEGMENT_NR G2
Setpoint assignment drive type
30110 CTRLOUT_MODULE G2
Setpoint assignment drive number
30120 CTRLOUT_NR Setpoint output on drive module G2
30130 CTRLOUT_TYPE Type of setpoint output G2
30200 NUMS_ENC Number of encoders G2
30210 ENC_SEGMENT_NR Actual value input drive type G2
30220 ENC_MODULE_NR Actual value input drive number G2
30230 ENC_INPUT_NR Actual value input on drive module G2
30240 ENC_TYPE Type of actual value acquisition G2
32250 RATED_OUTVAL Rated output voltage G2
32260 RATED_VELO Maximum motor speed G2
36700 DRIFT_ENABLE Automatic drift compensation K3
36710 DRIFT_LIMIT Drift limit value for aut. Drift compensation K3
36720 DRIFT_VALUE Drift basic value K3
63530 ANALOG_AXIS Configuration of an analog axis
J

06.05

Speed/Torque Coupling, Master-Slave (TE3)

2.1 Speed/torque coupling, master-slave (SW 6 and higher) . . . . . . . . 3/TE3/2-5
2.1.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE3/2-5
2.1.2 Coupling diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE3/2-6
2.1.3 Configuring a coupling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE3/2-7
2.1.4 Torque compensatory controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE3/2-9
2.1.5 Tension torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE3/2-10
2.1.6 Activating a coupling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE3/2-11
2.1.7 Response on activation/deactivation . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE3/2-12
2.1.8 Axial interface signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE3/2-15
2.1.9 Axial monitoring functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE3/2-15
2.1.10 Response in conjunction with other functions . . . . . . . . . . . . . . . . . . 3/TE3/2-16
2.1.11 Compatibility of SW 6.4 with earlier versions . . . . . . . . . . . . . . . . . . . 3/TE3/2-20
2.1.12 Supplementary conditions in SW 6.4 and higher . . . . . . . . . . . . . . . 3/TE3/2-21
2.2 Speed/torque coupling (up to SW 5.x) . . . . . . . . . . . . . . . . . . . . . . . . 3/TE3/2-22
2.2.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE3/2-22
2.2.2 Control structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE3/2-23
2.2.3 Configuring a coupling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE3/2-23
2.2.4 Torque controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE3/2-26
2.2.5 Presetting the drive machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE3/2-29
2.2.6 Activating and deactivating a coupling . . . . . . . . . . . . . . . . . . . . . . . . 3/TE3/2-29
2.2.7 System response when a coupling is active . . . . . . . . . . . . . . . . . . . 3/TE3/2-31
3.1 Speed/torque coupling (SW 6 and higher) . . . . . . . . . . . . . . . . . . . . 3/TE3/3-33
3.2 Speed/torque coupling (up to SW 5.x) . . . . . . . . . . . . . . . . . . . . . . . . 3/TE3/3-35
3.2.1 Axis replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE3/3-35
3.2.2 Modulo rotary axis, spindles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE3/3-35
3.2.3 Simultaneous operation of master/slave coupling and clearance
control function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE3/3-35
3.2.4 Displaying torque values and controller output in NCK GUD . . . . . 3/TE3/3-35
3.2.5 Servo Trace . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE3/3-37
3.2.6 Controller data to analog output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE3/3-38
3.2.7 Creating alarm texts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE3/3-39

06.05

4.1 Machine data for speed/torque coupling (SW 6 and higher) . . . . . . 3/TE3/4-41
4.2 Machine data of speed/torque coupling (up to SW 5.x) . . . . . . . . . . 3/TE3/4-45
5.1 Axisspecific signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE3/5-51
6 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE3/6-53
6.1 Speed/torque coupling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE3/6-53
6.1.1 Master-slave coupling between AX1=Master and AX2=Slave. . . . . 3/TE3/6-53
6.1.2 Close coupling via the PLC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE3/6-54
6.1.3 Close/separate coupling via part program . . . . . . . . . . . . . . . . . . . . . 3/TE3/6-55
6.1.4 Release the mechanical brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE3/6-56
7.2 NC machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE3/7-57
7.2.1 Speed/torque coupling (SW 6 and higher) . . . . . . . . . . . . . . . . . . . . . 3/TE3/7-57
7.2.2 Speed/torque coupling (up to SW 5.x) . . . . . . . . . . . . . . . . . . . . . . . . 3/TE3/7-58
7.3 Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE3/7-58
7.4 System variables (SW 6 and higher) . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE3/7-59
J

06.05 Speed/Torque Coupling, Master-Slave (TE3)
1 Brief Description
Brief Description 1
As of SW 6 The speed/torque coupling function (master-slave) is used for
mechanically-coupled axes that are driven by two separate motors. A further
application is the compensation of gears and backlash in the gear tooth flank
due to mutual tension in the drives.
Speed/torque coupling (master-slave) is a speed setpoint coupling between a
master and a slave axis, involving a torque compensatory controller for even
torque distribution.
Each slave axis has exactly one master axis.
Conversely, a master axis can also belong to several slaves; this is done by
configuring several master-slave relationships using the same master axis.
A configured slave axis must not be the master axis in one of the other
master-slave relationships.
Differences compared to previous solution (up to SW 5.x)
S If traversing is programmed for a slave axis that has already been linked, an
alarm is issued.
S The setpoint position of the coupled slave axis corresponds to the current
actual position.
S On request, the coupling is made or released independent of the channel

status the next time the axis stops. This allows the coupling status to be
changed even during part program processing.
S For brake control, the interface signal “Master-slave coupling status active”
should be used.
S If a master axis is simultaneously configured as the slave, an alarm is

issued. So cascading is not possible.
S If a coupling is requested and closed, the control activation signals are

derived directly from the master axis.
S If the coupling is closed, the slave axis is speed-controlled; status signal

DB3x.DBX61.5 “Position control active” is not set.
Please see Chapter 3 for more information about the differences.

Speed/Torque Coupling, Master-Slave (TE3) 06.05
1 Brief Description
As of SW 6.4 The function of the speed/torque coupling has been expanded to include the
following options:
S Coupling/decoupling of rotating, speed/controlled spindles

S Dynamic configuration of couplings
S A separate machine data has been provided for reversing the direction of
the slave axis in coupled state.
Up to SW 5.x The speed/torque coupling function (master-slave) is used for

mechanically-coupled axes that are driven by two separate motors.
This function was available up to SW 5 only via a technology card. It was not
included in the standard scope of functions.
J

2.1 Speed/torque coupling, master-slave (SW 6 and higher)
2.1.1 General
Speed/torque coupling (master-slave) is a speed setpoint coupling between a

master and a slave axis, involving a torque compensatory controller to ensure
even torque distribution.
This function is mainly used for boosting the power of mechanically-coupled
drives. Other application: Compensation of gears and backlash in the gear tooth
flank due to mutual tension in the drives.
Gear rack
Motor 2
Mechanical coupling
Motor 1
Fig. 2-1 Permanent mechanical coupling
Slide 2
Slide 1
Fig. 2-2 Slides (linear motor) for temporary coupling

Each slave axis has exactly one master axis.

Conversely, a master axis can also belong to several slaves; this is done by
configuring several master-slave relationships using the same master axis.
A configured slave axis must not be the master axis in one of the other
master-slave relationships.
Master
ÎÎÎÎ
ÎÎÎÎ
ÎÎÎÎ
ÎÎÎÎÎÎÎ
ÎÎÎÎÎÎÎ
ÎÎÎÎ
Slave1 Slave2 Slave3 Slave4
ÎÎÎÎ
ÎÎÎÎÎÎÎÎÎÎÎ
Fig. 2-3 Four coupling relationships with the same master axis
2.1.2 Coupling diagram
If the coupling is closed, the slave axis is traversed only with the load-side
setpoint speed of the master axis. It is therefore only speed-controlled, not
position-controlled.
No positional deviation control is implemented between master and slave axes.
A torque compensatory controller divides the torque evenly over the master and
slave axes.
An additional torque can be used to achieve a tension between the master and
slave axis.
If different motors are used, individual weighting factors can be used to adapt
the torque distribution.

ÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎ
Position
act MASTER n act
i act
Position nSet i Set
Set –
Inter- M1 I1
polator +
Position controller Speed controller Torque controller
Connection
Controller output
Weighting
Servo trace: Tension torque
Speed setpoint coupling –
Mechanical
Tension torque
+ coupling
PI controller + PT1 filter
Servo trace: Weighting
Torque compensatory
ÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎ
controller
Position controller Speed controller Torque controller
PositionSet + –
M2 I2
+ n i Set
set = 0
–
n act i act
SLAVE
Position
act
ÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎ Position controller Drive
Fig. 2-4 Control structure
2.1.3 Configuring a coupling
Static A master-slave coupling is configured only in the slave axis.

This must be assigned permanently to one of the channels. Each slave axis is
assigned one master axis for speed setpoint coupling and one for torque
compensatory control.
In the default setting, the same master axis is used for torque compensatory
control as for speed setpoint coupling.
The assigned made in MD 37252: MS_ASSIGN_MASTER_TORQUE_CTR and

MD 37250: MS_ASSIGN_MASTER_SPEED_CMD is automatically active in
each control start-up.

Dynamics The program commands MASLDEF and MASLDEL can be used to change the
SW 6.4 and higher assignment from the part program dynamically. This type of configuration can
change the static configuration but does not have any reverse effect on the
associated machine data.
The instruction
MASLDEF ( slv1, slv2, ..., master axis)
assigns one or more slave axes to a master axis,
MASLDEL ( slv1, slv2, ...)

cancels the assignment of the slave axes to the master axis and also
disconnects the current coupling (similar to MASLOF).
AX1 AX2 AX1 AX2 AX1 AX2
AX3 AX3 AX3
MASLDEF(AX3,AX1) MASLDEL(AX3) MASLDEF(AX3,AX2)
Fig. 2-5 Varying configuration of master axis
Changing the configuration has no effect in the coupled state. The change is not
accepted until the axes are next uncoupled.
Unlike static assignment, the master axis for torque compensatory control
always corresponds to the speed setpoint coupling.
A plausibility check is not carried out until the coupling is closed. In the event of
multiple assignment, Alarm 26031 is issued.
An assignment made with MASLDEF is retained after a mode change, reset or
end of part program.
Note
To implement a standard assignment in each reset, you can add the
corresponding MASLDEF and MASLDEL instructions to the
PROG_EVENT.SPF user application. The event-driven call is configured via
MD 20108: PROG_EVENT_MASK = 4.

2.1.4 Torque compensatory controller
A PI controller calculates a load-side additional speed setpoint from the torque

difference between the master and slave axes. This is applied as standard to
the command speed setpoint in the master and slave axes with different signs
in each case.
If one master and several slaves axes are used, this distribution can cause to
instabilities. The output of the torque compensatory controller should only be
applied in the slave MD 37254: MS_TORQUE_CTRL_MODE = 1.
The torque setpoints used for torque compensation control are smoothed in the
drive. The corner frequency of the PT1 filter is entered in
MD 1252: TORQUE_FILTER_FREQUENCY. The same value should be set in
the master and slave axes.
The gain factor MD 37256: MS_TORQUE_CTRL_P_GAIN corresponds to the
percentage ratio of the maximum axis velocity
MD 32000: MAX_AX_VELO to the drive torque = MD1725 / 8 of the slave axis.
The I component is disabled in the default setting.
The integration time MD 37258: MS_TORQUE_CTRL_I_TIME is entered in
seconds.
The output of the torque compensatory control is actively limited to
MD 37260: MS_MAX_CTRL_VELO.
Setting MD 37256: MS_TORQUE_CTRL_MODE = 3 or

MS_TORQUE_CTRL_P_GAIN = 0, deactivates torque compensatory control.
The torque distribution can be parameterized via the input variables of the
torque compensatory controller. The drive torque of the slave axis is weighted
with MD 37268: MS_TORQUE_WEIGHT_SLAVE, the drive torque of the master
axis with (100 – MS_TORQUE_WEIGHT_SLAVE).
If motors with different rated torque values are used, the 50% to 50% standard
distribution must be adapted to suit.
A mechanical coupling is absolutely necessary when the torque compensatory
controller is used. Otherwise, the drives involved could accelerate from
standstill.
Activation/deactiva The torque compensatory controller can be switched on and off directly via the
tion via the PLC PLC interface signal DB31, ... DBX24.4.
SW 6.4 and higher You must set MD 37255: MS_TORQUE_CTRL_ACTIVATION=1. The activated
status can be read back in DB31, ... DBX96.4. MD 37254:
MS_TORQUE_CTRL_MODE is then only used for configuring the torque
distribution.

2.1.5 Tension torque
By specifying an additional torque MD 37264: MS_TENSION_TORQUE, you

can achieve a tension between the master and slave axis when the torque
compensatory controller is active. The tension torque is entered as a
percentage of the rated torque and is active straight away.
The tension torque tension torque is applied via a PT1 filter. Specifying a filter
time constant MD 37266: MS_TENSION_TORQ_FILTER_TIME > 0 activates
the filter.
The tension torque chosen must be high enough to ensure that the resulting
torque does not drop below the minimum required tension even during
acceleration. To prevent unnecessary heating in the motor, you can reduce the
tension torque when the motor is at standstill.
Specifying a tension torque without a mechanical coupling produces axis
movement.
Motor torque Motor 1
Motor 2
MD 37266
Machine torque
Fig. 2-6 Resulting tension torque

2.1.6 Activating a coupling
The type of activation for a master-slave coupling is defined in MD 37262:

MS_COUPLING_ALWAYS_ACTIVE.
Depending on the machine configuration, a distinction is made between a
permanent and a temporary master-slave coupling.
Only one temporary master-slave coupling configured via a machine data
(MD 37262: MS_COUPLING_ALWAYS_ACTIVE = 0) can be closed and
disconnected with axial PLC interface signal “Master/slave on” (DB31, ...
DBX24.7) and within a part program using the commands
MASLON(slaveAxis1, slaveAxis2, ...) and
MASLOF(slaveAxis1, slaveAxis2, ...).
The setpoint status of the coupling always corresponds to the last specification
made.
The current coupling status can be read back in the slave axis via PLC interface
signal “Master/slave coupling active” (DB31, ... DBX96.7).
In the part program and from the synchronized actions, the current coupling
status can be output via the system variable of the slave axis
$AA_MASL_STAT.
SW 6.4 and higher The instruction MASLOFS(Slv1, Slv2, ...)

can be used too disconnect the coupling in the same way as MASLOF and
decelerate the slave spindle automatically.
Note
A permanent coupling
(MD 37262 MS_COUPLING_ALWAYS_ACTIVE=1)
does not require explicit activation.
For more information about how on a permanent master-slave coupling for the
slave axis, PresetOn can be used to synchronize the actual value to the same
value as the master axis, see
References: /PGA/, Chapter 13 “Master-Slave Grouping”
Example For an example of how to configure the master-slave coupling between

AX1=master and AX2=slave, please see:
Section 6.1. Speed/Torque Coupling (SW 6 and higher)
Control system The control system response on POWER ON, mode changes, RESET, block
response searches and Repos is as follows:
S A master-slave coupling activated via PLC or MASLON instruction is
retained after a mode change, RESET or end of part program.
S MASLON / MASLOF/ MASLOFS becomes effective on block search.
Changes in the positions of coupled slave axes and spindle speeds must be
computed separately by the user (see “Block search”, Subsection 2.1.10).

2.1.7 Response on activation/deactivation
Activating/ Activation/deactivation is not active until the axis next comes to a standstill. If
deactivating the specification is changed, the sequence is the same as for axis replacement.
during axis The coupling is closed when the axis comes to a standstill. The coupled axes
standstill must be in feedback control mode.
Master/slave on
DB31, ... DBX24.7
MASLON/M
ASLOF
Axis/spindle
stationary DB31, ...
DBX61.4
Master/slave active
DB31, ... DBX96.7
Fig. 2-7 Activation procedure
Block stepping is halted for MASLON until the coupling has actually been
closed. During this time, the associated channel operating message
“Master-slave switchover inactive” is displayed on the MMC/HMI.
Activation/ Activation/deactivation of the coupling in motion has been implemented only for
deactivation spindles in speed control mode. For axes and spindles in positioning mode,
during motion, switchover is still carried out when the axis is at a standstill.
SW 6.4 and higher
Activation during The coupling procedure at different speeds is divided into two phases.
motion
Phase 1 Closure of the coupling is requested with interface signal IS “Master/slave on”
(DB31, ... DBX24.7). The slave spindle accelerates or decelerates along the
ramp with the dynamic response available to it until it reaches the setpoint
speed of the master spindle.
When the setpoint speed is reached, the coupling is closed and the interface
signal “Coupling active” (DB31, ... DBX96.7) is set.
If the master spindle is accelerated during the coupling process, the first phase
is extended according to the existing difference in dynamics between the
master and slave spindles.
Phase 2 In the second phase, the actual difference speed between the master and slave
spindle(s) is used to generate the synchronism signals.
IS “Speed tolerance coarse” (DB31, ... DBX96.3) and
IS “Speed tolerance fine” (DB31, ... DBX96.2).

The associated limits are defined via the following machine data:
MD 37270: MS_VELO_TOL_COARSE (“Tolerance coarse”)
MD 37272: MS_VELO_TOL_FINE (“Tolerance fine”).
Note
The “Tolerance coarse” signal can be used to implement a PLC monitoring
function that checks a coupled group for loss of speed synchronism. The
“Tolerance fine” signal can be used to derive the time for mechanical closure of
the coupling and to activate the torque compensatory controller directly.
Setpoint
Spindle
speed Master spindle t1 t2 t3
2000
Setpoint Actual value
Slave spindle Slave spindle
1000
0 t
“Coupling on” DB31, ... DBX24.7
“Coupling active” DB31, ... DBX96.7
“Speed tolerance coarse” DB31, ... DBX96.3
“Speed tolerance fine” DB31, ... DBX96.2
Fig. 2-8 Coupling procedure between two spindles with different speeds

Deactivation An active coupling is disconnected using the MASLOF instruction.

during motion
This instruction is executed directly for spindles in speed control mode. The
slave spindles that are rotating at this point in time retain their last speed until a
new speed is programmed.
You can use the MASLOFS instruction to decelerate slave spindles
automatically when disconnecting the coupling. For axes and spindles in
positioning mode, the coupling is still only disconnected at standstill.
Note
The implicit preprocessor stop is omitted for MASLON and MASLOF. The
missing preprocessor stop means that the $P system variables of the slave
spindle do not supply updated values until reprogrammed.
Coupling For spindles in speed control mode, the coupling characteristics of the
characteristics MASLON, MASLOF, MASLOFS, MASLDEL instructions and the PLC with IS
(SW 6.5 and “Master/Slave ON” (DB31, ... DBX24.7) is defined explicitly via
higher) MD 37263: MS_SPIND_COUPLING_MODE.
MD 37263 = 0 Coupling and disconnection take place only at standstill.

The current coupling state is retained until all axes involved have actually come
to a standstill. The MASLOFS and MASLOF instructions are identical; the slave
spindle is not decelerated automatically.
MD 37263 = 1 Coupling and disconnection takes place immediately and therefore during
motion.
During coupling, the slave spindles are accelerated automatically to the current
speed of the master spindle.
On disconnection, the slave spindles rotating at this time retain their speeds
until next speed programming. However, a slave spindle disconnected with
MASLOFS decelerates automatically.

2.1.8 Axial interface signals
When a master/slave coupling is requested, the PLC axis enables “Servo

enable” (DB31, ... DBX2.1) and “Pulse enable” (DB31, ... DBX21.7) of the slave
axis are derived directly from the specifications of the master axis. The separate
PLC axis enable signals have no effect.
Cancellation of the servo enable in the master axis results in interpolative
braking of the slave axis within the time configured in MD 36610:
AX_EMERGENCY_STOP_TIME. The associated speed and current controller
enable signals for the individual axes are not canceled until MD 36620:
SERVO_DISABLE_DELAY_TIME has expired.
To ensure identical braking behavior, the time set in machine data MD 36620:
SERVO_DISABLE_DELAY_TIME should be identical for all coupled axes if
possible. The same applies to drive machine data MD1403:
PULSE_SUPPRESSION_SPEED and MD1404:
PULSE_SUPPRESSION_DELAY.
If the “Current controller active” (DB31, ... DBX61.7) or “Speed controller active”
(DB31, ... DBX61.6) drive status signals are missing in the master or slave axis,
the PLC interface signal “Master/slave active” (DB31, ... DBX96.7) is reset in the
slave axis at standstill. When the master and slave axes return to closed-loop
control mode, IS Master/Slave active (DB31, ... DBX96.7) is set on the slave
axis.
With IS (DB31, ... DBX24.4), the torque compensatory controller is activated by
the PLC. The status of the torque compensatory controller can be read from IS
“Master/slave comp. contr. active” (DB31, ... DBX96.4).
Note
If the coupling is closed, the slave axis operates in speed control mode;
status signal “Position controller active” (DB31, ... DBX61.5) is not enabled.
2.1.9 Axial monitoring functions
With the exception of speed setpoint and actual velocity monitoring, axial
monitoring functions such as contour and standstill monitoring are not active
due to the lack of a position controller.
Position control parameters such as gain factor, feedforward control and
balancing may therefore be set to different value in the master and slave axis
without triggering a response from the monitoring functions.
To achieve the same braking response for all coupled axes in the event of a
fault, the same alarm reaction is applied to the entire coupling grouping when
the coupling is active.
When correcting fault states, repositioning of slave axes on the interrupt point is
suppressed.

2.1.10 Response in conjunction with other functions
Function generator To calibrate the speed control circuit for a closed master-slave coupling,
MD 37268: MS_TORQUE_WEIGHT_SLAVE should be set to a low value in the
slave axis. Traversing of a coupled-motion slave axis is not prevented by the
torque compensatory controller in this case.
Reference point If the coupling is closed, only the master axis can be referenced. Referencing of
approach slaves axes is suppressed. The referencing requirement does not have to be
explicitly canceled for the slave axis in order to do this. The referencing status of
coupled slave axes remains unchanged. The slave axis position is generally not
the same as the master axis position. This difference in position is not
significant. If the coupling is not closed, each axis can be referenced separately
as usual.
Compensation Position offsets of the slave axis, such as spindle pitch errors, backlash,
temperature and sag offsets are computed but not active because there is no
position controller.
Correct calculation of the backlash compensation requires that the backlash of
the slave axis is always overtraveled by the motion of the master axis in
coupled mode. Disconnecting the coupling during an axis reversal error will
generate an incorrect actual value for the slave axis.
Dynamic stiffness The Kv factor of the master axis is copied to the slave axis for an existing
control coupling and is thus also active in the slave drive. This is an attempt to achieve
the same control response in the drive of the master and slave axis as far as
possible. MD 32640: STIFFNESS_CONTROL_ENABLE must be configured
identically in all coupled axes.
Speed/torque The feedforward control in the slave axis does not have to be activated
feedforward explicitly. The current settings of the master axis apply. The speed feedforward
control value of the master axis is already incorporated in the speed setpoint of the
slave axis. If torque feedforward control is active, the load-side torque
feedforward value of the master axis is also applied in the slave drive.
In coupled mode, the mechanical ratios change.
Settings applied axially must be modified accordingly. All coupled drives should
have the same speed control dynamics.
Gantry If one master-slave relationship is defined on each side of the gantry grouping
to increase the gain, only the leading axis or following axis may be operated as
master axis.

Travel to The travel to fixed stop function can be programmed only in the master axis
fixed stop when a coupling is active and has a different effect on the master and slave
axes. The programmed value is expressed
S as a percentage of the rated drive torque of the master axis. The master
axis detects when the fixed stop has been reached.
S The programmed value is also active on the slave axis, but refers to the
drive torque of the slave axis.
If the rated torque values of the master and slave axes are different, machine
data MD 37014: FIXED_STOP_TORQUE_FACTOR on the slave axis can be
set to compensate the difference. Specifying a factor < 1 reduces the
programmed clamping torque in the slave axis.
Please note the following boundary conditions:
S Torque distribution between the master and slave axes is not possible
during clamping as the torque compensatory controller is deactivated during
clamping operations.
S Status changes to the master-slave coupling have no effect during travel to
fixed stop. Specification of a new status is only accepted when the fixed
stop function has been completed.
Safety Integrated Since the slave axis is traversed via the speed setpoint of the master axis, the
axial setpoint limitation MD 36933: SAFE_DES_VELO_LIMIT in the coupled
slave axes is inoperative. All safety monitoring functions remain active in the
slave axes however.
Weight The additional torque for the electronic weight counterbalance MD 32460:
counterbalance TORQUE_OFFSET is computed in the slave axis irrespective of its coupling
status.
Gear stage change An automatic gear stage change in a coupled slave spindle is not possible and
with active can only be implemented indirectly using the master spindle. The point in time
master-slave at which the gear stage is changed is then derived from the master spindle. The
coupling oscillating motion of the coupled slave spindle is generated implicitly via the
oscillating motion of the master spindle.
Unlike the master spindle, the associated parameter set must be selected
explicitly in the coupled slave spindle.
In order to enable parameter sets to be specified, machine data
MD 35590: PARAMET_CHANGE_ENABLE must be set to the value 2.
In the event of a gear stage change for the master/slave spindle, the associated
parameter set index can be activated by the PLC via the VDI interface.
Note
For more information about gear stage change and parameter sets for changes
in spindle mode, see:
References: /FB1/, S1, “Spindles” Chapter 2
/FB1/, A2, “Various Interface Signals”
Interface signals from/to axis/spindle

Axis container If a coupled slave axis is configured in an axis container, alarm “4025 Switch
axis container %3 not permitted: Master-slave active channel %1 Axis %2” is
output. The axis container may not be advanced because the coupling is active.
SW 6.4 and higher In the event that masters change, dynamic configuration can be used to match
the relevant spindle the master spindle following a rotation of the axis container.
Both master and slave spindles can be container spindles.
For a coupling to be closed after container rotation using a different spindle in
each case, the old coupling must be disconnected before the rotation, the
configuration deleted and the new coupling closed after the rotation.
Example for a cyclic coupling sequence (Position=3/Container=CT1)
MASLDEF(AUX,SPI(3)) ; S3 Master for AUX

MASLON(AUX) ; Coupling ON for AUX
M3=3 S3=4000 ; Processing ...
MASLDEL(AUX) ; Delete configuration and
; disconnect coupling
AXCTSWE(CT1) ; Container rotation
S1 S2
Direction of AX1 AX2 Mechanical

rotation
Infeed
Container
S6 AX6 AX3 AUX
AX5 AX4
S5 S4
Fig. 2-9 Coupling between container spindle S3 and auxiliary motor AUX (prior to rotation)

Direction of rotation S1 S2
Container AX6 AX1
Mechanical
Infeed
S6 AX5 AX2 AUX
AX4 AX3
S5 S4
Fig. 2-10 Coupling between container spindle S3 and auxiliary motor AUX (after to rotation)
Hardware and Crossing of hardware and software limit switches is detected in coupled axes; in
software limit the coupled state, the software limit switch is generally crossed on slave axes.
switches The alarm is output on the slave axis, while braking is initiated via the master
axis.
The path traveled after detection of the slave software limit switch equals the
distance required by the master axis to brake the coupling.
The master axis controls the movement away from the limit switch, since the
coupling cannot be disconnected until the cause of the alarm has been
eliminated.
Block search The SERUPRO “block search with calculation” function can be used without
restriction in combination with a permanent master-slave coupling if MD 37262:
MS_COUPLING_ALWAYS_ACTIVE=1.
The following restrictions apply when the coupling is programmed using
MASLON and MASLOF commands:
S The coupled axes must be in the same channel when the block search is
executed. If they are not in the same channel, the block search is aborted
with alarm 15395.
S The coupled axes are operated on the same NCU.

S Once the block search has been completed, the associated axis positions
and speeds must be modified subsequently by the user via a system ASUB
(asynchronous subroutine) “PROGEVENT.SPF” of the coupling status.
System variables are available for this purpose:
$P_PROG_EVENT
This variable provides information about the event, which activated the
subroutine. A value of 5 stands for block search.
$P_SEARCH_MASLC[slave axis identifier]
The variable stands for alteration of the coupling status during a block search.

$P_SEARCH_MASLD[slave axis identifier]

This variable indicates the positional offset calculated in the block search
between the slave and master axes at the instant the coupling was closed.
$AA_MASL_STAT[slave axis identifier]
This variable indicates the current coupling status.
S The system ASUB “PROGEVENT.SPF” must be stored under

/_N_CMA_DIR/_N_PROG_EVENT_SPF so that it can be accessed by the
control system.
Example 1 for PROGEVENT.SPF:
N10 IF $P_PROG_EVENT==5 ; Block search active

N20 IF (($P_SEARCH_MASLC[Y]<>0) ; The coupling status changed
AND ($AA_MASL_STAT[Y]<>0)) ; during the block search and
; the current status is coupled.
N30 MASLOF(Y) ; Open coupling
N40 SUPA Y=$AA_IM[X]–$P_SEARCH_MASLD[Y]
; Cancel position offset
, on slave axis
N50 MASLON(Y) ; Close coupling
N60 ENDIF
N70 ENDIF
N80 REPOSA
Example 2 for PROGEVENT.SPF:
N10 IF $P_PROG_EVENT==5 ; Block search active

N20 IF (($P_SEARCH_MASLC[SPI(2)]<>0) ; The coupling status of the
AND ($AA_MASL_STAT[SPI(2)]==0)) ; 2nd spindle changed
; during the block search and
; the current status is open.
N30 M2=$P_SEARCH_SDIR[2] ; Update direction of rotation
N40 S2= $P_SEARCH_S[2] ; Update speed
N50 ENDIF
N60 ENDIF
N70 REPOSA
S In order that the PROGEVENT.SPF subroutine can start automatically, the

following machine data must be parameterized accordingly:
– MD 11450 SEARCH_RUN_MODE = H02
– MD 11602 ASUP_START_MASK = H03
– MD 11604 ASUP_START_PRIO_LEVEL = 100
For more application examples, see Chapter 6.
Note
For more information about event-driven program calls and block searches in
program test mode (SERUPRO), please see:
References: /FB/, K1, Mode Group, Channel, Program Operation
2.1.11 Compatibility of SW 6.4 with earlier versions
Implicit The implicit preprocessor stop is omitted for MASLON, MASLOF.

preprocessor stop

For spindles in speed control mode, the time at which the coupling is closed or
disconnected changes. The coupling is closed or disconnected immediately,
without waiting for standstill.
If activation/deactivation is to remain the same despite the new function, a
WAITS must be programmed explicitly before MASLOF as in the example on
the right. The coupling is not disconnected until all coupled spindles have come
to a standstill.
Up to SW 6.4 SW 6.4 and higher

MASLON(S3) MASLON(S3)
M2=3 S2=1000 M2=3 S2=1000
G4 F4 G4 F4
M2=5 M2=5
MASLOF(S3) WAITS(2); For compatibility reasons
MASLOF(S3)
Multiple The time at which configuration alarm 26031 is output changes from the time at
assignment which the control starts up to the time at which an attempt is made to close the
coupling. The alarm is acknowledged with a reset.
2.1.12 Supplementary conditions in SW 6.4 and higher
See Chapter 3. In addition:

The coupling for axes and spindles in positioning mode is still closed and
disconnected only at standstill.
In the coupled state, the acceleration of spindles at the current limit may not
provide an adequate adjustment reserve for the torque compensatory controller
in order to maintain the desired distribution of torque between master and slave.
Prior to gear change or a star/delta switchover, the master/slave coupling must
be deactivated.
The maximum chuck speed for the master spindle MD 35100:
SPIND_VELO_LIMIT must be configured less than or equal to that of the slave
spindles.
The axis velocity monitoring MD 36200: AX_VELO_LIMIT should be adapted to
the chuck speed.
For dynamic configuration, no distinction is made between the speed and
torque master. The response corresponds to that of the standard setting
MD 37252: MS_ASSIGN_MASTER_TORQUE_CTR = 0.

2.2 Speed/torque coupling (up to SW 5.x)
2.2.1 General
The speed/torque coupling (master-slave) function is required for configurations

in which two drives are mechanically coupled to one axis. With this type of axis,
a torque controller must ensure that each motor produces exactly the same
torque, otherwise the two motors would work in opposition.
Master-slave operation possible only with digital 611D drives.
One of the two drives, the “master”, is programmed, while the other drive, the
“slave”, is linked via the speed setpoint coupling.
This function essentially consists of:
S A speed setpoint coupling and

S A torque controller between the master and slave axes
A master-slave operation without permanent mechanical coupling does not
make sense because no torque distribution to the common mechanical
connection can take place in this case.
When you activate a master-slave coupling, the NC loses the position reference
of the slave axis. It is maintained on the real axis by way of a fixed mechanical
coupling.
The function is not implemented as a difference position control but only as a
coupling on the speed/torque plane. A difference position control would not
make sense as it would cause the controllers between the master and slave to
work in opposition.
This function allows each axis to be assigned to a master as a slave, which
means that several master-slave couplings can co-exist.
To achieve a tensioning between the master and slave, a configurable tension
torque can be applied to the torque controller via machine data.
The master and slave axes do not have to be programmed in the same
channel.
The speed setpoint is coupled in the position controller cycle.

2.2.2 Control structure
The control structure of a master-slave coupling is shown in Figure 2-11. For a

better overview, only one master/one slave coupling is illustrated.
pact MASTER n act
i act
p nSet i Set
Set –
Motor Encoder
IPO
Position controller
+
Connection
Controller output
Speed controller
Master
Current controller
Torque controller
MD 63570 MD 63555
Weighting
MD 63575
Master
Speed –
setpoint Mechanical
Tension torque
coupling + MD 63580 coupling
MD 63550 +
PI controller PT1 filter
MD 63560 MD 63585
MD 63565
Weighting
MD 63575
Position controller Speed controller Current controller
+ + –
Motor Encoder
p n Set i Set
Set
– iact
Kv = 0 SLAVE n act
pact
ÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎ 840D position controller 611D drive
Fig. 2-11 Control structure
2.2.3 Configuring a coupling
Defining a Each axis involved in a master-slave coupling must be assigned to a channel

coupling as an NC axis. Axis-specific
MD 63550: MS_ASSIGN_MASTER_SPEED_CMD and
MD 63555: ASSIGN_MASTER_TORQUE_CTRL are used to assign a master
axis for speed setpoint coupling and a master axis for torque control to each
potential slave axis.
In most cases, the same master is used for speed setpoint coupling and torque
control. If MD ASSIGN_MASTER_TORQUE_CTRL is set to 0, the master axis
for torque control is identical to that for speed setpoint coupling.

Several A master can be assigned to each slave axis to produce several couplings. In a
couplings simple case, the couplings are mutually independent, i.e. each axis is involved
in only one coupling. An example of this is a gantry axis with a master-slave
coupling on each side.
Master
Axis1
Coupling 1
Speed setpoint Torque
coupling controller
Slave
Axis2
Master
Axis3
Speed setpoint
Coupling 2
coupling Torque –
controller
Slave
Axis4
Fig. 2-12 Independent master-slave couplings
One master It is also possible to configure master-slave couplings where one axis is the
several slaves master axis for several couplings. In this example, axis 1 is the master axis for
coupling 1 and coupling 2. Please note:
Master
Axis1
Coupling 1 Coupling 2
Speed setpoint Torque
coupling controller
Slave Torque
Axis2 controller
Speed setpoint
coupling
Slave
Axis3
Fig. 2-13 One master, two slaves
The torque controller for coupling 1 attempts to maintain the same torque
between axis 1 and axis 2 by writing a speed setpoint to axis 1 and axis 2. The
torque controller for coupling 2 also tries to maintain the same torque between
axis 1 and axis 3. Both controllers would write speed setpoints to axis 1.

In order to ensure a stable system, both controllers must be parameterized so

that the controller output is added only to the slave axes (axis 2 and axis 3) but
not to the master axis (axis 1). This is achieved by setting MD 63570:
MS_TORQUE_CTRL_MODE = 1 (controller output only on slave axis) for both
couplings. Both torque controllers now try to match the torque of the slave axis
to the torque of the master axis, without adding speed setpoints to the master
axis.
Axis in the channel When the coupling is active, the motion of the slave axis is not displayed in the
automatic basic display and the actual value is frozen. If a coupling is always
active, i.e. the slave axis is never traversed individually, we recommend that this
axis is displayed as the last axis in the automatic basic display. This is achieved
by entering this axis as the last axis in the channel (MD 20070:
AXCONF_MACHAX_USED).
Several channels The master axis and slave axis do not have to be programmed in the same
channel. Multi-channel couplings are possible for several active channels.
Axis replacement Although provision can be made for replacing axes between channels
(MD 30550: AXCONF_ASSIGN_MASTER_CHAN), this is subject to
restrictions. These restrictions are described in Section 3.1.
Spindles A master-slave coupling can also include spindles. The slave axis must then
always operate in speed control mode and the position controller is deactivated.
(DB3x.DBB61.5 = 0).
The master axis can be operated in all spindle modes, open-loop control mode
with/without position controller, oscillation mode or positioning mode; even
changeover between spindle modes is possible. Restrictions relating to the
actual-value display are described in Section 3.1.
Rotary axes Master and slave axes can also be rotary axes. Please note the restrictions
outlined in Section 3.2.
Motors rotating If the motors have been mounted to run in opposite directions, the traversing
in opposite direction is inverted for one of the drives with MD 32100: MOTION_DIR. In this
directions case, the speed setpoint and the output of the torque controller are calculated
correctly; there is no need to set further machine data.
Different motor The master and slave axis can have different gear reduction ratios between the
speeds motors and the mechanical coupling. With these types of axes, the master and
slave rotate at different speeds. When the coupling is active, the same load
speed is standardized internally so that different motor speeds are possible for
the master and slave without having to set further machine data.
Speed feedforward If speed feedforward control is active in the master axis, speed feedforward
control control must also be activated in the slave axis. Non-active speed feedforward
control in the slave axis causes a “Contour monitoring” alarm in the slave axis.

Computing time Each master-slave coupling places a load on the position control level and the
load interpolation level. The table shows the computing time required depending on
the NCU hardware.
NCU Position control Interpolator level

572 1st coupling 0.120 ms 1st coupling 0.100 ms
each additional coupling + 0.050 ms each additional coupling + 0.020 ms
573 1st coupling 0.040 ms 1st coupling 0.030 ms
each additional coupling + 0.020 ms each additional coupling + 0.010 ms
Configuration During power ON of the control, the configuration machine data are checked
alarms and alarms set as necessary:
If the master and slave axes are identical for speed coupling, the alarm “75150
Slave axis AX1 and master axis are identical for speed setpoint coupling” is
present after POWER ON.
If the master axis and slave axis are identical for torque control, alarm “75151
Slave axis AX1 and master axis identical for torque controller” is present.
All axes of the mode group follow on; the alarms can only be reset with
POWER ON.
2.2.4 Torque controller
The torque controller between master and slave ensures even torque
distribution between the master and slave axis. The input variable of the
controller is the torque difference Mdiff between the master and slave axis; the
output is a setpoint speed nset, which is applied to the master and slave axes.
The controller consists of a P component and an I component. Both parts must
be parameterized separately.
The machine data of the slave axis is always relevant for the configuration of
the particular master-slave torque control.
P controller The P controller calculates a speed setpoint nset by multiplying the torque
difference Mdiff by a gain factor Kp. The resulting speed setpoint is added to the
master and slave axes.
nset = Mdiff * Kp
The P gain Kp of the torque compensatory controller has the dimension
[(mm/min)/Nm].
The reset time is entered in the axial MD 63560: MS_TORQUE_CTRL_P_GAIN
as a percentage value of the following ratio:
Maximum drive velocity [mm/min]/Rated torque [Nm].
The maximum drive velocity is the content of MD 32000: MAX_AX_VELO. The
rated torque is obtained from the product
of drive MD 1113: TORQUE_CURRENT_RATIO and
drive MD 1118: MOTOR_STANDSTILL_CURRENT.
Only the data of the slave axis are relevant for the torque controller.

Example:
Maximum drive velocity of the slave axis 30000 mm/min
Motor rated torque of the slave axis 10 Nm
MS_TORQUE_CTRL_P_GAIN 15 %
Kp: ( 30000/10 ) * 15% 450 (mm/min)/Nm
I controller The I controller calculates a speed setpoint nset by multiplying the torque
difference Mdiff by a gain factor Ki:
nset = Mdiff * Ki
The gain factor Ki of the I controller is parameterized via the reset time of the
torque compensatory controller I_TIME. Ki can only be calculated if the gain
factor of the P controller Kp 0 0. The I controller is not active unless the P
component is also activated.
Ki = 1/ position controller cycle * I_TIME * Kp
The reset time is entered in the axial MD 63565: MS_TORQUE_CTRL_I_TIME
in seconds.
The default setting 0 deactivates the I component if the P component already
ensures appropriate torque distribution.
Limiting the The MD 63600: MS_MAX_CTRL_VELO can be used to limit the output of the
controller output controller to a maximum value. The value is entered as a percentage value
relative to the maximum speed of the slave-axis. The default is 100%. The limit
works in both a positive and a negative direction.
Interconnecting You can use an additional MD 63570: MS_TORQUE_CTRL_MODE to connect

the torque the output of the torque controller freely to the master and slave axis. In most
controller output cases, the output value is applied to the master and slave. The user is
responsible for setting parameters meaningfully. The MD of the slave axis is the
important setting.
Meaning 0: Switch the controller output to master and slave

1: Switch the controller output to the slave only
2: Switch the controller output to the master only
3: The controller is deactivated; if the coupling is active,
only speed setpoint coupling applies.
Even if the controller output is not connected to an axis, the controller is

calculated.
Weighting MD 63575: MS_TORQUE_WEIGHT_SLAVE is used to apply a weighting to the

input variables of the torque compensatory controller in order to enable
parameterizable torque distribution over the two drives. If the motors are
identical and the same drive parameters are to be set for the motors to produce
the same torque, the standard parameterization 50% is recommended. The MD
refers to the torque of the slave axis and the torque of the master axis is
weighted with the difference between the MD and 100%.

Example:
The slave axis is to produce 30% of the overall torque.
70% is to be supplied by the master axis.
MS_TORQUE_WEIGHT_SLAVE = 30
Tension An axial MD 63580: MS_TENSION_TORQUE can be used to connect a

constant tension torque as an input to the torque controller. This tension torque
is injected continuously and ensures that both of the coupled drives are under
tension.
The slave axis MD is the important setting for the tensioning of a coupling.
The tension torque can be positive or negative. The value to be input is a
percentage value relative to the rated torque of the slave axis. The rated torque
is obtained from the product of drive MD 1113: TORQUE_CURRENT_RATIO
and drive MD 1118: MOTOR_STANDSTILL_CURRENT.
The tension torque is active immediately after a change. In this way, it is
possible to implement various tension torques to suit individual machining
situations.
Motor torque
MD 63580
Tension torque
Machine torque
Total torque
Motor 1
Motor 2
Fig. 2-14 Tension torque
PT1 filter The tension torque is supplied to the torque controller via a PT1 filter. The PT1
filter ensures a continuous increase or decrease of the tension torque when the
tension torque value is changed. Without the PT1 filter, changing the tension
torque causes a step change in the speed setpoint at the torque controller
output when the controller is operated without an I component. The PT1 filter is
configured using MD 63585: MS_TENSION_TORQ_FILTER_TIME. The time is
entered in seconds. Enter 0 to deactivate the PT1 filter.

Note
The function ensures distribution of the torque-producing currents (lq) and not
distribution of the torques.
This means that torque distribution is also assured on FSD synchronous
motors (no field weakening). In contrast, however, only current distribution is
assured on MSD asynchronous motors in the field-weakening range. Torque
distribution is assured only on motors of the same type operating
simultaneously at the same speed. If MSD motors are not operated in the
field-weakening range, torque distribution can also be assured for different
motor types operating at different speeds.
2.2.5 Presetting the drive machine data
P component in If axes are put into operation individually in a master-slave coupling, whereby
the speed the individual axis takes the full load, the P component in the speed controller
controller must then be halved in the two axes. This is the only way to ensure that
overshoot is avoided when traversing the axis with active coupling.
2.2.6 Activating and deactivating a coupling
Conditions A coupling is activated or deactivated only under the following conditions:

for activation and
deactivation
S Master and slave axes are operating in position control mode
(DB3x.DBB 61.5) or, in the case of spindles, in speed control mode.
S Master and slave axis are at standstill (DB3x.DBB 61.4).

S The channels of the master and slave axes are in the “RESET” state
(DB2x.DBB35.7). This condition can be activated/deactivated via a bit in
MD 63595: TRACE_MODE.
If the master axis and slave axis are in different channels, both channels must
be in the “RESET” state. In the event of axis replacement, the state of the
master channel is decisive.
(MD 30550: AXCONF_ASSIGN_MASTER_CHAN)
A channel is in the “RESET” state after the end of a program (M30) or after a
“RESET” from the operator panel.
Master-slave The MD 63590: MS_COUPLING_ALWAYS_ACTIVE defines a coupling as

coupling after always active. The coupling is activated as soon as the conditions for activation
POWER ON always of a coupling are satisfied after a POWER ON. It can no longer be deactivated,
active i.e. it is no longer possible to operate the drives separately.
The machine data of the slave axis are always relevant for a coupling.

If it is not possible to activate a coupling after POWER ON because, for

example, the axes are not in the position control state, alarm “75160 slave axis
AX1, master-slave coupling not active” is output. Further attempts are made to
close the coupling. Once all the conditions have been satisfied, the coupling is
closed and the alarm deleted.
Activating and A coupling is activated or deactivated via an axis-specific PLC signal “to axis”.
deactivating a Only the signal to the slave axis is relevant here. The signal resides in the
master-slave technologies area.
coupling
via PLC signal DB3x.DBB24.7 “Activate master-slave coupling”
1 = Activate master-slave coupling
0 = Deactivate master-slave coupling
If one of the conditions for activation or deactivation is not satisfied, the slave
axis does not react to the PLC signal, i.e. the status of the coupling remains
unchanged. No NC alarm is output.
Example:
S A part program is processed in channel 1, channel state: “active”.

S A master-slave coupling is active, master axis and slave axis are in
channel 1, PLC signal to slave axis DB3x.DBB24.7 = 1.
S The coupling is to be deactivated, PLC sets DB3x.DBB24.7 = 0.

S Since the channel is not in the “RESET” state, the coupling is not
deactivated.
S The coupling is not deactivated until the part program is terminated with M30
or RESET.
M30, reset
active
Channel status Reset
1
DB3x.DBB24.7 0
1
DB3x.DBB96.7
0
Requirement Coupling is deactivated

to deactivate
Fig. 2-15 Deactivating a coupling
PLC signal: The status of a master-slave coupling is displayed in an axis-specific VDI signal
State of a “from axis”. The machine data of the slave axis are always relevant for a
master-slave coupling. This signal is set irrespective of whether the coupling is always active
coupling (MD 63590) or has been activated via the PLC (DB3x.DBB24.7).

DB3x.DBB96.7 “State of master-slave coupling”

1 = Master-slave coupling active
0 = Master-slave coupling not active
2.2.7 System response when a coupling is active
PLC signal: If a slave axis is traversed via the master axis when the coupling is active, the
Traversing the following PLC signals are output depending on the travel state:
slave axis
DB3x.DBB60.6 “Exact stop fine”
DB3x.DBB60.7 “Exact stop coarse”
DB3x.DBB61.4 “Axis/spindle stationary”
Since the coupling is processed in the position controller cycle, the travel
command signals are not output:
DB3x.DBB64.7 “Travel command +/–”
All other signals show the current state of the axis.
Actual value In the automatic basic display, the motion of the slave axis is not displayed for
display an active coupling and the actual value is frozen. If the coupling is deactivated,
the actual-value display jumps to the current actual position. The next time the
NC starts up, the slave axis is synchronized with the NC so that the slave axis
can be traversed from this position.
The motion of the slave axis is always displayed in the “Dialog” menu, “Service
display” softkey (even in the coupling is active).
Traversing the A slave axis in an active coupling must not be traversed by the part program, by
slave axis the PLC or manually in JOG mode. If a coupled slave axis is traversed, this
produces the reset alarm
“75170 Axis AX1 overlaid motion not permissible”.
Reference point The status of the coupling determines the method of reference point approach.
approach This applies to referencing in JOG Ref mode, and referencing from within the
part program (G74).
If a master-slave coupling can be activated via a PLC signal (DB3x,DBB24.7),
the master and slave axes are referenced individually in the “not active”
coupling state.
If a master-slave coupling is always active after POWER ON (MD 63590 = 1),
only the master axis is referenced. In this case, the slave axis is never
referenced. Since the coupling is active, the slave axis follows when the master
axis is referenced.
MD 34110: REFP_CYCLE_NR of the slave axis must be set to –1 so the NC
can start up without having to reference the slave axis.

Response in the In the event of error conditions for alarms with alarm reaction “Follow-up in
event of an error master and/or slave”, each axis is decelerated to 0 speed. The master-slave
coupling is deactivated.
To prevent mechanical tension,
MD 36620: SERVO_DISABLE_DELAY_TIME and
MD 36610: AX_ENERGY_STOP_TIME
and the drive machine data
MD 1403: PULSE_SUPPRESSION_SPEED and
MD 1404: PULSE_SUPPRESSION_DELAY
must be set to the same values for the master and slave axes. This is the
responsibility of the user.
The master-slave coupling does not become active again until both axes have
returned to the “control active” state following a channel reset.
J

3.1 Speed/torque coupling (SW 6 and higher)
NCU 572.2 The Master/Slave for Drives function can be utilized on NCU 572.2 hardware
only on condition that is has been specifically enabled for the customer.
SINUMERIK 840Di The compile cycles function of the SINUMERIK 840D are currently available
only on request for the SINUMERIK 840Di.
“Virtual axis” In connection with “master-slave”, the use of the function: “Virtual axis”:
MD30132: $MA_IS_VIRTUAL_AX (axis is virtual axis)
is not permitted.
Option The speed/torque coupling function is an option and not available in every
control variant.
The master-slave function requires the master and slave axes to be operated
on the same NCU.
Further The master-slave function requires the master and slave axes to be operated
information on the same NCU.
S A coupled slave axis cannot be rotated around the axis container.

S Closing and separating the master-slave coupling is carried out when the
axis has stopped.
S Traversing a slave axis with the coupling closed is possible only via the
master axis.
S Axis replacement is not performed for coupled slave axes.

S When the coupling is closed via the slave axis, the master axis is braked
automatically (if defined in the same channel). This produces an
asymmetric response on closure and separation of the coupling. In contrast
to closing, there is no automatic braking on separation.

S Block search with calculation (SERUPRO) takes into account the

positional changes of coupled slave axes after a block search only if a
system ASUB (asynchronous subroutine) “PROGEVENT.SPF” has been
generated. This can be used to subsequently adjust the coupling state and
associated axis positions so as to update changes to the coupling state.
Differences
compared to
previous solution
S If a traversing movement is programmed for a slave axis that has already
been coupled, the alarm “14092 Channel %1 Block %2 Axis %3 has the
(up to SW 5.x) wrong type” appears.
S The setpoint position of the coupled slave axis corresponds to the current
actual position.
S On request, the coupling is made or released independent of the channel

status the next time the axis stops. This allows the coupling status to be
changed even during part program processing.
S PLC interface signal DB3x.DBX61.5 “Position control” is no longer

interpreted in the braking control logic of the slave axes. This is no longer
set for an active coupling. Instead, the interface signal “Master-slave
coupling status active” should be used.
S If a master axis is simultaneously configured as a slave axis, the alarm

“26031 Axis %1 Configuration error master-slave” appears. So cascading is
not possible.
S If a coupling is requested and closed, the control activation signals are

derived directly from the master axis.

3.2.1 Axis replacement

Axes can only be exchanged between channels subject to the following
restrictions:
In order to activate or deactivate a coupling, the slave and master axis channels
must be in the RESET state. The states of the default channels of the axes are
scanned prior to activation/deactivation. At the time of activation and
deactivation, the axes must be located in the default channel assigned by
MD30550. A change of axis is possible in between times, even if the coupling is
active.
3.2.2 Modulo rotary axis, spindles
Modulo rotary Master and slave axes can also be rotary axes. Please note:
axes On the slave axis, the actual value in the “Diagnosis” menu under the “Service”
softkey exceeds 360 degrees, even if MD 30310: ROT_IS_MODULO has been
set to select modulo operation for the axis. The automatic basic display and the
service display do not show the actual value modulo 360 until the coupling is
deactivated.
Spindles If a master-slave coupling is activated with spindles, the slave axis is in speed
control mode. In this case too, the actual value of the slave axis exceeds 360
degrees in the service display. No modulo calculation is active. However, the
value shown in the automatic basic display is modulo 360 degrees.
3.2.3 Simultaneous operation of master/slave coupling and clearance

control function
The “speed/torque coupling (master-slave)” and “clearance control” functions

can be operated simultaneously with the following restriction:
An axis that is traversed by the clearance control must be neither a master nor a
slave axis in the master-slave function.
3.2.4 Displaying torque values and controller output in NCK GUD
To support installation, the current axial torque values in [Nm] and the speed
setpoints in [mm/min] or [rpm] of the P controller and the I controller of a torque
controller can be displayed on the operator panel front in the “Parameter - user
data” area.
For this purpose, the appropriate GUDs must be set up. For a detailed
description of the procedure to be followed, please see Section “File and
Program Management” in the document “SINUMERIK 840D/810D/
Programming Guide Advanced”.

Proceed as follows:
Create SGUD:
– “Services” menu
– If the “Definitions” directory does not appear, select definitions using the
“Data selection” softkey
– Open the Definitions directory
– “Manage data” softkey
– “New” softkey
– Create file
Name: SGUD
File type: Select global data/system
– OK
– The file opens. Enter the following lines:
DEF NCK REAL MASTER_SLAVE_TORQUE[number of active axes]
DEF NCK REAL TORQUE_CTRL_P[number of active axes]
DEF NCK REAL TORQUE_CTRL_I[number of active axes]
M30
– Close file and load
File: Create “Initial.ini”:
– Menu: Services > “Manage data” softkey > “New” softkey
– Create new directory type “NC data backup” and in this create the file:
“Initial.ini”
Name: initial
Type: Initialization program
– OK
– The file is opened. Enter the following line:
M17
– Close file and load
The following axis data are then displayed:
MASTER_SLAVE_TORQUE[0] Current torque in [Nm]

TORQUE_CTRL_P[0] P component of an active torque control
in [mm/min] or [rpm]
TORQUE_CTRL_I[0] I component of an active torque control in
[mm/min] or [rpm]

3.2.5 Servo Trace
To support installation, the current torque values and the torque controller output
can be displayed on the MMC in the Servo Trace function.
Caution
! The existing Servo Trace function has been expanded for master and slave.
The operation of the “Servo Trace” is described in Chapter 10 of the Installation
Guide.
In order to be able to select the data of a master-slave coupling in the menu in

the servo trace, the following files must be created on the MMC. You can use
the DOS shell and the editor edit to do this.
File: \ oem \ ibsvt.ini
Content:
[OemSignalList]
Item0 = Type := Title, Signalindex := – 1, Unit := No
Item5 = Type := Signal, Signalindex := 200, Unit := Torque|Force
Item10 = Type := Signal, Signalindex := 201, Unit := Torque|Force
Item15 = Type := Signal, Signalindex := 202, Unit := NcSpeed
File: \ oem \ language \ Ibsvt_gr.ini
Content:
[OemComboBoxItemNames]
Item0 = “MASTER-SLAVE”
Item5 = “Master torque”
Item10 = “Slave torque”
Item15 = “Controller output”
This file is language-specific and must be created with the corresponding
language code (uk for English) for all available languages.
Following the next MMC POWER ON, you can use the selection menu to select
the following signals in the Servo Trace menu.
S Master torque
S Slave torque
S Controller output
Caution
! In order to increase the resolution of the signals, the data is displayed in the
following units:
Torques in [milli Nm]
Controller output in [internal increments/s]

No further machine data need be set to activate a measurement.

Up to 4 signals can be recorded in one measurement. The associated machine
axis is selected in the axis selection for the torque values; for the controller
output, the machine axis of the slave axis of this control is selected.
Example:
Master axis: X1
Slave axis: Y1
The following data is to be displayed:
Master torque Axis selection X1
Slave torque Axis selection Y1
Controller output Axis selection Y1
With 4 active couplings, it is possible to record all 4 torque values of the master
axes or 4 controller outputs.
With automatic scaling, the measured curves of a display are always overlaid.
In order to compare the values of the curves properly, the scaling must be set
the same for both curves (see graphic 2 in Figure 3-1). The scaling can still be
modified in the Scale menu after the measurement.
Graphic1 > Tr.1: Axis B1; Tr.2: Axis C1

Tr.1: Position setpoint
Tr.2: Controller output
Graphic2 > Tr.3: Axis B1; Tr.4: Axis C1

Tr.1: Master torque
Tr.2: Slave torque Marker Y:
Fig. 3-1 Example of a measurement with 4 measured values
3.2.6 Controller data to analog output
Machine data MD 63595 TRACE_MODE Bit0 can be used to activate the

output of controller data to an analog input.
The following data are output at the analog output on the terminal block:
S Torque of the master axis at analog converter 1

S Torque of the slave axis at analog converter 2
S Torque control output at analog converter 3

Referenced to the rated torque, the torques are normalized to 8 V; referenced

to the max. velocity of the slave axis, the torque controller output (in mm/min) is
normalized to 8 V.
MD 10364 HW_ASSIGN_ANA_FASTOUT is used to specify the slots used by

the analog converter on the terminal block.
3.2.7 Creating alarm texts
Add an entry for the alarm text files of the technology card in the [Text Files]
section of the C:\OEM\MBDDE.INI file:
CZYK=C:\OEM\TF_
Create language-specific text files TF_xx.COM in directory C:\OEM\. xx stands
for the language code, e.g. GR for German and UK for English.
Enter the following alarm texts: in TF_GR.COM:
075150 0 0 “Slave axis %1 and master axis for speed setpoint coupling are
identical”
075151 0 0 “Slave axis %1 and master axis for torque control are identical”
075160 0 0 “Slave axis %1, master-slave coupling is not active”
075170 0 0 “Axis %1 overlaid motion not permissible”

Notes

4.1 Machine data for speed/torque coupling

(SW 6 and higher)
37250 MS_ASSIGN_MASTER_SPEED_CMD
MD number Machine axis number of master axis for speed setpoint coupling
Changes effective after POWER ON Protection level: 2 Unit: –
Meaning: A master-slave speed setpoint coupling is configured by specifying the machine axis num-
ber of the master axis associated with this slave.
Related to .... MD 37252 MS_ASSIGN_MASTER_TORQUE_CTR
37252 MS_ASSIGN_MASTER_TORQUE_CTR
MD number Master axis number for torque control
Changes effective after POWER ON Protection level: 2 Unit: –
Meaning: A master-slave speed setpoint coupling is configured by specifying the machine axis num-
ber of the master axis associated with this slave. Uniform torque distribution is ensured by
the torque compensatory controller.
In the default setting = 0, the same master axis is used for torque distribution as for the
speed setpoint coupling MS_ASSIGN_MASTER_SPEED_CMD.
Related to .... MD 37250 MS_ASSIGN_MASTER_SPEED_CMD
MD 37254 MS_TORQUE_CTRL_MODE
MD 37256 MS_TORQUE_CTRL_P_GAIN
MD 37258 MS_TORQUE_CTRL_I_TIME
MD 37260 MS_TORQUE_WEIGHT_SLAVE

37254 MS_TORQUE_CTRL_MODE
MD number Connection of torque control output
Change effective: Immediately Protection level: 2 / 7 Unit: –
Meaning: The output of the torque compensatory controller is applied when torque distribution is ac-
tive:
0: Master and slave axes
1: Slave axis
2: Master axis
3: None of the axes
Special cases, errors, ... for
...
Related to .... MD 37250 MS_ASSIGN_MASTER_SPEED_CMD
MD 37252 MS_ASSIGN_MASTER_TORQUE_CTR
MD 37255 MS_TORQUE_CTRL_ACTIVATION
Additional references Tab. 2.2 Combination options for machine data
37255 MS_TORQUE_CTRL_ACTIVATION (SW 6.4 and higher)

MD number Activate torque compensatory control
Changes effective after NEW_CONF Protection level: 2 / 7 Unit: –
Meaning: The torque compensatory controller can be switched on and off either via MD 37254 or via
the PLC (DB31, ... DBX24.4).
In the case of activation/deactivation via the PLC, MD 37254 is used only to interconnect
the torque compensatory controller.
Value 0: Activation/deactivation via MD 37254
Value 1: Activation/deactivation via DB31, ... DBX24.4
Related to .... MD 37254: MS_TORQUE_CTRL_MODE
37256 MS_TORQUE_CTRL_P_GAIN
MD number Gain factor of torque compensatory controller
Meaning: Gain factor of the torque compensatory controller
The gain factor is entered as a percentage of the maximum load-side axis velocity of the
slave axis in relation to the rated torque.
The maximum axis velocity is derived from MD32000 and the maximum rated torque from
the product of drive machine data MD1113: TORQUE_CURRENT_RATIO and
MD 1118: MOTOR_STANDSTILL_CURRENT.
Related to .... MD 37254 MS_TORQUE_CTRL_MODE
MD 32000 MAX_AX_VELO
37258 MS_TORQUE_CTRL_I_TIME
MD number Reset time for torque compensatory controller
Changes effective after NEW_CONF Protection level: 2/7 Unit: s
Meaning: Reset time for torque compensatory control
The reset time does not become active until the P gain factor > 0.

37260 MS_MAX_CTRL_VELO
MD number Limitation of torque compensatory control
Meaning: Torque compensatory controller limitation
The speed setpoint calculated by the torque compensatory controller is limited.
The possible limitation (as a percentage) is referenced to MD 32000 MAX_AX_VELO of the
slave axis.
37262 MS_COUPLING_ALWAYS_ACTIVE
MD number Master/slave coupling active after power ON
Data type: Byte Applies as of SW: 6.1
Meaning: POWER ON response of a master-slave coupling.
0: Temporary coupling
The coupling is activated/deactivated via the PLC interface signals and
language commands.
1: Permanent coupling
The coupling is activated permanently via this machine data.
The PLC interface signals and language commands have no effect.
MD 37250 MS_ASSIGN_MASTER_SPEED_CMD
37263 MS_SPIND_COUPLING_MODE
MD number Coupling characteristics of a spindle
Data type: Byte Applies as of SW: 6.5
Meaning: Defining the coupling characteristics of speed-controlled spindles.
0: The coupling is only made/released at standstill.
1: The coupling is made/released immediately, i.e. even during motion.
This machine data MD 37263 acts on all coupling operations of speed-controlled spindles
made via PLC using IS “Master/slave on” (DB31, ... DBX24.7) or part program instructions
MASLON, MASLOF, MASLOFS and MASLDEL.
Related to .... –
37264 MS_TENSION_TORQUE
MD number Master-slave tension torque
Data type: PERCENT Applies as of SW: 6.1
Meaning: You can enter a constant tension torque between the master and slave axis as a percent-
age of the rated drive torque of the slave axis
MD 37266 MS_TENSION_TORQ_FILTER_TIME

37266 MS_TENSION_TORQ_FILTER_TIME
MD number Filter time constant master-slave tension torque
Changes effective IMMEDIATELY Protection level: 2/7 Unit: s
Meaning: The tension torque between the master and slave axes can be applied via a PT1 filter.
Any changes in MD 37264 are then executed with the filter time constant.
The filter is inactive by default and any torque changes take effect without filtering.
Related to .... MD 37264 MS_TENSION_TORQUE
37268 MS_TORQUE_WEIGHT_SLAVE
MD number Weighting of the torque value for the slave axis
Changes effective after NEW_CONF Protection level: 2/7 Unit: _
Data type: PERCENT Applies as of SW: 6.1
Meaning: You can use the weighting to configure the torque of the slave axis relative to the total
torque. This enables a different torque control to be implemented for the master and slave
axes. On motors with the same rated torque, 50/50 torque distribution is recommended.
The torque of the master axis is calculated implicitly as 100% – MD37268.
MD 37266 MS_TENSION_TORQ_FILTER_TIME
37270 MS_VELO_TOL_COARSE (from SW 6.4)

MD number Master-slave velocity tolerance “coarse”
Default setting: 10.0 Minimum input limit: Maximum input limit:
Meaning: Tolerance window “coarse” for the differential velocity between master and slave. The PLC
interface signal DB31, ... DBX96.3 is set for a velocity differential within the tolerance win-
dow. The machine data is specified as a percentage (%) of MD 32000: MAX_AX_VELO.
Related to .... MD 32000: MAX_AX_VELO
37272 MS_VELO_TOL_FINE (from SW 6.4)

MD number Master-slave velocity tolerance “fine”
Default setting: 10.0 Minimum input limit: Maximum input limit:
Meaning: Tolerance window “fine” for the differential velocity between master and slave. The PLC
interface signal DB31, ... DBX96.2 is set for a velocity differential within the tolerance win-
dow. The machine data is specified as a percentage (%) of MD 32000: MAX_AX_VELO.
Related to .... MD 32000: MAX_AX_VELO

4.2 Machine data of speed/torque coupling
37274 MS_MOTION_DIR_REVERSE (from SW 6.4)

MD number Invert master-slave direction of travel
Meaning: The direction of travel of the slave axis is to be inverted in coupled state.
1: Invert direction of travel
0: Direction of travel unchanged
Related to .... MD 32100: AX_MOTION_DIR

(up to SW 5.x)
The speed/torque coupling (master-slave) is implemented as a compile cycles

application. In addition to the function-specific machine data, the following
standard machine data must therefore be set:
S Option data
Warning
63550 $MA_MS_ASSIGN_MASTER_SPEED_CMD
MD number Configuration of a master/slave coupling

Default setting: 0 Minimum input limit: 0 Maximum input limit: number of axes
available
Changes effective after Protection level: 2 / 7 Unit: Machine axis number
POWER ON
Data type: INT
Meaning: This machine data is used to assign a master axis to a potential slave axis for
speed setpoint coupling. This configures a master-slave coupling.
Master and slave axis need not be programmed in the same channel.

63555 $MA_MS_ASSIGN_MASTER_TORQUE_CTRL
MD number Configuration of a master/slave coupling

Default setting: 0 Minimum input limit: 0 Maximum input limit: number of axes
available
Changes effective after Protection level: 2 / 7 Unit: Machine axis number
POWER ON
Data type: INT
Meaning: This machine data assigns a master axis to the slave axis for torque control. If the
value 0 is entered, the same master is used for the torque control as for the speed
setpoint coupling. This applies to most cases.
Master and slave axis need not be programmed in the same channel.
63560 $MA_MS_TORQUE_CTRL_P_GAIN
MD number P gain of the torque control

Default setting: 0,0 Minimum input limit: 0 Maximum input limit: 100,0
Changes effective after RESET Protection level: 2 / 7 Unit: %
Data type: DOUBLE
Meaning: The P controller calculates a speed setpoint nset by multiplying the torque
differential Mdiff by the P gain Kp.
nset = Mdiff * Kp
The dimension of the P gain is [(mm/min)/Nm].
A percentage value of the following ratio is entered:

Maximum drive velocity [mm/min]/Rated torque [Nm]
The data of the slave axis are relevant for a torque control.
63565 $MA_MS_TORQUE_CTRL_I_TIME
MD number Reset time I controller of the torque control

Default setting: 0,0 Minimum input limit: 0,0 Maximum input limit: 100,0
Changes effective after RESET Protection level: 2 / 7 Unit: s
Data type: DOUBLE
Meaning: The I controller calculates a speed setpoint by multiplying the sum of the torque
differential Mdiff by the I gain.
nset = Mdiff * Ki
The reset time of the torque control I_TIME is used to parameterize the gain factor
Ki of the I controller. Ki can only be calculated if the gain factor of the P controller
Kp <> 0, i.e. the I controller can only be active if the P component is also calculated.
Ki = 1/ position controller cycle * I_TIME * Kp
The reset time is input in seconds.

63570 $MA_MS_TORQUE_CTRL_MODE
MD number Connection of the torque control output

Modifications take immediate Protection level: 2 / 7 Unit: –
effect
Data type: INT
Meaning: This machine data enables the speed setpoint calculated in the torque control to be
freely connected to the master and slave axes. Even if the speed setpoint is not
applied to the axis, the torque control calculates a speed setpoint.
Meaning:
0: Switch controller output to master and slave
1: Switch controller output only to slave
2: Switch controller output only to master
3: Controller is deactivated, only the speed setpoint coupling is active
63575 $MA_MS_ASSIGN_MASTER_SPEED_CMD
MD number Weighting of the current torque values

Data type: DOUBLE
Meaning: This machine data performs a weighting of the input variables of the torque
compensator to enable a parameterizable torque distribution over both drives. If the
motors are identical and the same drive parameters are to be set for the motors to
produce the same torque, the standard parameterization 50% is recommended.
The MD refers to the torque of the slave axis, the torque of the master axis is
weighted by a factor of MD minus 100%.
Example:
30% of the total torque should be assigned to the slave axis. 70% is supplied to the
master axis.
$MA_MS_TORQUE_WEIGHT_SLAVE = 30
63580 $MA_MS_TENSION_TORQUE
MD number Tension torque

Default setting: 0,0 Minimum input limit: –100,0 Maximum input limit: 1000,0
Modifications take immediate Protection level: 2 / 7 Unit: %
effect
Data type: Double
Meaning: This machine data can be used to apply a constant tension torque as input to the
torque control. This tension torque is applied continuously and produces a mutual
tensioning of the coupled drives. The MD of the slave axis is relevant for the
tension of a coupling. The tension torque can be positive or negative.
The value to be input is a percentage of the rated torque of the slave axis.
The MD is active immediately after a change. This enables a different tension

torque to be implemented as appropriate to the machining situation. A STOPRE
must be programmed to achieve block-synchronous activation of a change in
tension torque from the part program.

63585 $MA_MS_TENSION_TORQ_FILTER_TIME
MD number Time constant of the PT1 filter for tension torque

Modifications take immediate Protection level: 2 / 7 Unit: s
effect
Data type: DOUBLE
Meaning: The tension torque is applied to the torque control via a PT1 filter. This machine
data is used to parameterize the PT1 filter. The time constant is measured in
seconds.
If the tension torque changes, the torque continues to build up.
Entering zero completely deactivates the filter.
63590 $MA_MS_COUPLING_ALWAYS_ACTIVE
MD number Master-slave coupling active after POWER ON

POWER ON
Data type: INT
Meaning: This machine data specifies the status of a coupling after POWER ON.
Value 1:
As soon as the conditions for activation of a coupling are met following a POWER
ON, the coupling is activated. It can no longer be released, i.e. it is no longer
possible to operate the drives separately. Modifying the PLC signal at axis
DB3x.DBB24.7 has no effect.
Value 0:
The coupling can be activated via the PLC signal at axis DB3x.DBB24.7.
63595 $MA_TRACE_MODE
MD number Activate/deactivate master-slave trace

Data type: INT
Meaning: This machine data activates a trace for start-up of a master-slave
coupling
Bit 0: 0: No trace active

1: Analog trace active: From this coupling, the torque of the
master axis, slave axis and controller output is output to analog
outputs on the terminal block.
Bit 1: 0: Open and close coupling only in RESET channel state.

1: Open and close coupling without RESET channel state.
Bit 2: 0: Open coupling if master or slave axis are in follow-up mode

and the “axis stationary” signal = 1.
1: Open coupling if master or slave axis are not in closed-loop control mode
and “axis stationary” signal = 1.

63600 $MA_MS_MAX_CTRL_VELO
MD number Limit value for controller output

Data type: DOUBLE
Meaning: This machine data limits the controller output of a master-slave coupling to a
maximum value. The value is entered as a percentage value relative to the
maximum speed of the slave-axis. The controller output is limited by this value in
the positive and negative direction.
The default setting is 100%.

Notes

5.1 Axisspecific signals
DB31 – DB61 Activate torque compensatory controller

DBX24.4
Signal(s) from axis/spindle (PLC –> NCK)
Data block
Edge evaluation: Yes Signal(s) updated: Cyclic
Signal state 1 or Torque compensatory controller is to be activated
edge change 0 –> 1
The following conditions must be met for activation:
– Difference “fine” reached (DB3x.DBX96.2)
Signal state 0 or Torque compensatory controller is to be deactivated.
edge change 1–> 0
DB31 – DB61 Activate master-slave coupling

DBX24.7
Signal(s) from axis/spindle (PLC –> NCK)
Data block
Edge evaluation: Yes Signal(s) updated: Cyclic
Signal state 1 or Torque compensatory controller is to be activated
Signal state 0 or Master-slave coupling is to be deactivated.
edge change 1–> 0 The following conditions must be met for activation and deactivation:
– Master and slave axis in position control (DB3x.DBB61.7)
– Master and slave axis at standstill (DB3x.DBB61.4)
– The channels of the master and slave axis are in the “RESET” state
(DB2x.DBB35.7)
If one condition is not met, the coupling is not activated or deactivated.
No alarm appears and the status of the coupling remains the same.
If all the conditions are met at a later point in time, the coupling will be
activated or deactivated depending on the state of the signal.
The signal at the slave axis of a coupling is relevant.

06.05
DB31 – DB61 Differential speed “Fine”

DBX96.2
Signal(s) from axis spindle (NCK –> PLC)
Data block
Edge evaluation: No Signal(s) updated: Cyclic
Signal state 1 or The differential speed lies in the range defined by MD 37272:
edge change 0 –> 1 MS_VELO_TOL_FINE.
Signal state 0 or The differential speed has not reached the range defined in MD 37272:
edge change 1–> 0 MS_VELO_TOL_FINE.
DB31 – DB61 Differential speed “Coarse”

DBX96.3
Data block
Signal state 1 or The differential speed lies in the range defined by
edge change 0 –> 1 MD 37270: MS_VELO_TOL_FINE.
Signal state 0 or The differential speed has not reached the range defined in MD 37270:
edge change 1–> 0 MS_VELO_TOL_COARSE.
DB31 – DB61 Status of the torque compensatory control

DBX96.4
Data block
Signal state 1 or Torque compensatory control is active.
Signal state 0 or Torque compensatory controller is not active.
edge change 1–> 0 The signal at the slave axis of a coupling is relevant.
DB31 – DB61 Status of the master-slave coupling

DBX96.7
Data block
Signal state 1 or Master-slave coupling is active.
Signal state 0 or Master-slave coupling is not active.
edge change 1–> 0 The signal at the slave axis of a coupling is relevant.

6.1 Speed/torque coupling
Examples 6
6.1.1 Master-slave coupling between AX1=Master and AX2=Slave.
Configuration Master-slave coupling between AX1=Master and AX2=Slave.

1. Machine axis number of master axis with speed setpoint coupling
MD 37250: MS_ASSIGN_MASTER_SPEED_CMD[AX2] = 1
2. Master axis with torque distribution identical to master axis with speed
setpoint coupling
MD 37252: MS_ASSIGN_MASTER_TORQUE_CTR[AX2] = 0
3. Permanent coupling
MD 37262: MS_COUPLING_ALWAYS_ACTIVE[AX2] = 1
4. Torque is injected in both the master and slave axes
MD 37254: MS_TORQUE_CTRL_MODE[AX2] = 0
5. Torque distribution between the master and slave axes is 50% to 50%
MD 37268: MS_TORQUE_WEIGHT_SLAVE[AX2] = 50
6. Parameters of torque compensatory controller
MD 37256: MS_TORQUE_CTRL_P_GAIN[AX2] = 0.5
MD 37258: MS_TORQUE_CTRL_I_TIME[AX2] = 5.0

6.1.2 Close coupling via the PLC
This application allows you to close or separate a master-slave coupling

between the machine axes AX1=Master axis and AX2=Slave axis during
operation.
Preconditions
S A configured master axis
MD 37250: MS_ASSIGN_MASTER_SPEED_CMD00
S Activation of a master-slave coupling via

MD 37262: MS_COUPLING_ALWAYS_ACTIVE=0
S The coupling is open.
Typical sequence
of operations Action Effect/comment
1. Approach coupling Each axis moves to the coupling position.
position
2. Close coupling Both axes are mechanically coupled to one
mechanically another.
3. Request to close PLC interface signal “Master/slave on” DB32, ...
the coupling DBX24.7 is set.
4. Read back When the axis is at a standstill, the coupled
coupling state slave axis sets PLC interface signal
“Master/slave active” DB32, ... DBX96.7 and
clears “Position controller active” DB32, ...
DBX61.5.
Wait for checkback signal.
5. Move master-slave The master axis is moved.
grouping

6.1.3 Close/separate coupling via part program
This application allows you to close or separate a master-slave coupling

between the machine axes AX1=Master axis and AX2=Slave via the part
program.
Preconditions
S A configured master axis MD 37250 0 0.
S Activation of a master-slave coupling via MD 37262 = 0.
S The coupling is open.
Part program N10 G0 AX1=0 AX2=0; Approach coupling position. Each of the axes
moves to the coupling position.
N20 MASLON (AX2); Close the coupling mechanically. Both axes
are mechanically coupled to one another.
N30 AX1=100; Move master-slave grouping.
The master axis is moved.
The slave follows the master coupled
via the speed setpoint.
N40 MASLOF (AX2); Open coupling. The axes are mechanically
separated from one another.
N50 AX1=200 AX2=200;Move master axis and slave axis.
The master axis is moved, decoupled from the
slave axis.
N60 M30

6.1.4 Release the mechanical brake
This application allows implementation of a brake control for machine axes

AX1=Master axis and AX2=Slave axis in a master-slave coupling.
Preconditions
S Master-slave coupling is configured.
S Axes are stationary.
S No servo enable signals.
Typical sequence
of operations Action Effect/comment
1. Request to close PLC interface signal “Master/slave on” DB32, ...
the coupling DBX24.7 is set.
2. Set servo enable PLC interface signal “Servo enable” DB31, ...
DBX2.1 is set for both axes.
3. Evaluate checkbacks Connect the PLC interface signals of the master
axis with AND:
– DB31, ... DBX61.7 “Current controller active”
– DB31, ... DBX61.6 “Speed controller active”
– DB31, ... DBX61.5 “Position controller active”
Connect the PLC interface signals of the slave
axis with AND:
– DB32, ... DBX61.7 “Current controller active”
– DB32, ... DBX61.6 “Speed controller active”
– DB32, ... DBX96.7 “Master/slave active”
4. Release brakes If the result of the AND operations on the master
and slave axes is 0 0, the brake may be re-
leased.

7.2 NC machine data

DB number Bit, byte Name Reference

Axis/spindle-specific
DB3x. DBX24.4 “Activate torque compensatory controller” (SW 6.4 and higher)
DB3x. DBX24.7 “Activate master-slave coupling”
DB3x. DBX96.2 “Differential speed Fine” (SW 6.4 and higher)
DB3x. DBX96.3 “Differential speed Coarse” (SW 6.4 and higher)
DB3x. DBX96.4 “State of torque compensatory controller” (SW 6.4 and higher)
DB3x. DBX96.7 “State of master-slave coupling”
7.2 NC machine data

7.2.1 Speed/torque coupling (SW 6 and higher)
Number Identifier Name Reference

37250 MS_ASSIGN_MASTER_SPEED_CMD Machine axis number of master axis for
speed setpoint coupling
37252 MS_ASSIGN_MASTER_TORQUE_CTR Master axis for torque control
37254 MS_TORQUE_CTRL_MODE Connection of torque control output
37255 MS_TORQUE_CTRL_ACTIVATION Activating the torque compensatory control
(from SW 6.4)
37256 MS_TORQUE_CTRL_P_GAIN Gain factor of torque compensatory control-
ler
37258 MS_TORQUE_CTRL_I_TIME Reset time for torque compensatory control-
ler
37260 MS_MAX_CTRL_VELO Limitation of torque compensatory control
37262 MS_COUPLING_ALWAYS_ACTIVE Master/slave coupling active after power ON
37263 MS_SPIND_COUPLING_MODE Coupling characteristics of a spindle,
SW 6.5 and higher
37264 MS_TENSION_TORQUE Master-slave tension torque
37268 MS_TORQUE_WEIGHT_SLAVE Weighting of the torque value for the slave
axis
37270 MS_VELO_TOL_COARSE Master-slave velocity tolerance “coarse”
(SW 6.4 and higher)
37272 MS_VELO_TOL_FINE Master-slave velocity tolerance “fine”
(SW 6.4 and higher)
37274 MS_MOTION_DIR_REVERSE Invert master-slave traversing direction
(from SW 6.4)

7.3 Alarms
7.2.2 Speed/torque coupling (up to SW 5.x)

34110 REFP_CYC_NR NC start without referencing the axis R1
36620 SERVO_DISABLE_DELAY_TIME Cutout delay servo enable A2
36610 AX_ENERGY_STOP_TIME Duration of braking slope A3
63550 MS_ASSIGN_MASTER_SPEED_CMD Master axis for speed setpoint coupling

63555 MS_ASSIGN_MASTER_TORQUE_CTRL Master axis for torque control
63560 MS_TORQUE_CTRL_P_GAIN P gain of the torque control
63565 MS_TORQUE_CTRL_I_TIME I component of the torque control
63570 MS_TORQUE_CTRL_MODE Connection of torque control output
63575 MS_TORQUE_WEIGHT_SLAVE Weighting of the torque values
63580 MS_TENSION_TORQUE Tension torque
63585 MS_TENSION_TORQ_FILTER_TIME Time constant for PT1 filter tension
torque
63590 MS_COUPLING_ALWAYS_ACTIVE Master/slave coupling active after power
ON
63595 MS_TRACE_MODE Trace setting
63600 MS_MS_MAX_CTRL_VELO Control output limit
7.3 Alarms

7.4 System variables (SW 6 and higher)
After a block search, the coupling status and associated axis positions can be
adjusted subsequently by means of a system ASUB (asynchronous subroutine)
“PROGEVENT.SPF”. System variables $P_SEARCH_MASL_C,
$P_SEARCH_MASL_D and $AA_MASL_STAT are available for this purpose;
they can be used to alter the positional offset between the coupled axes and the
coupling status:
Identifier Meaning Refer-

ence
$P_SEARCH_MASLC[slave axis identifier] This variable registers a change in the coupling sta- PGA1
tus during the SERUPRO block search in SW 6.2
and higher.
$P_SEARCH_MASLD[slave axis identifier] This variable indicates the positional offset between PGA1
the slave and master axes at the instant the coupling
was closed in SW 6.2 and higher.
$AA_MASL_STAT[slave axis identifier] This variable outputs the current coupling status in PGA1/
SW 6 and higher. A value ≠ 0 “Master-slave coupling FBSY
active”. In this case, it contains the current machine
number of the master axis and, if the NCU link is
active (several operating panel fronts and NCUs),
also the NCU No. at the hundreds position. Exam-
ple: 201 for Axis 1 on NCU2.

Notes

06.05

Handling Transformation Package (TE4)

2.1 Kinematic transformation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE4/2-5
2.2 Definition of terms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE4/2-6
2.2.1 Units and directions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE4/2-6
2.2.2 Definition of positions and orientations using frames . . . . . . . . . . . . 3/TE4/2-6
2.2.3 Definition of a joint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE4/2-8
2.3 Configuration of a kinematic transformation . . . . . . . . . . . . . . . . . . . 3/TE4/2-9
2.3.1 General machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE4/2-9
2.3.2 Parameterization using geometry data . . . . . . . . . . . . . . . . . . . . . . . . 3/TE4/2-10
2.4 Descriptions of kinematics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE4/2-21
2.4.1 3-axis kinematics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE4/2-21
2.4.5 Special kinematics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE4/2-38
2.5 Tool orientation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE4/2-43
2.5.1 Programming orientation for 4-axis kinematics . . . . . . . . . . . . . . . . . 3/TE4/2-46
2.5.2 Programming orientation for 5-axis kinematics . . . . . . . . . . . . . . . . . 3/TE4/2-47
2.6 Singular positions and how they are handled . . . . . . . . . . . . . . . . . . 3/TE4/2-48
2.7 Call and application of the transformation . . . . . . . . . . . . . . . . . . . . . 3/TE4/2-49
2.8 Actual-value display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE4/2-50
2.9 Tool programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE4/2-51
2.10 Cartesian PTP travel with handling transformation package . . . . . . 3/TE4/2-52
3.1 Creating alarm texts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE4/3-53
3.2 Functional restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE4/3-53
4 Data Description (MD, SD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE4/4-55
4.1 Machine data of standard system . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE4/4-55
4.1.1 Channel-specific machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE4/4-55

06.05
4.2 Machine data in the transformation standard set . . . . . . . . . . . . . . . 3/TE4/4-56

4.2.1 Channelspecific machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE4/4-56
5.1 Channelspecific signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE4/5-67
6 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE4/6-69
6.1 General information about start-up . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE4/6-69
6.2 Starting up a kinematic transformation . . . . . . . . . . . . . . . . . . . . . . . . 3/TE4/6-72
7.3 Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE4/7-74
J

Handling Transformation Package (TE4)
1 Brief Description
Brief Description 1
Functionality The handling transformation package has been designed for use on
manipulators and robots. The package is a type of modular system, which
enables the customer to configure the transformation for his machine by setting
machine data (provided that the relevant kinematics are included in the handling
transformation package).
Structure of Chapter 2 (Detailed Description) deals with the following topics:

Chapter 2
S Section 2.1 describes the environment for kinematic transformation.
S Section 2.2. provides an explanation of basic terms.
S Section 2.3 explains the machine data required to configure transformations.
S Section 2.4 uses configuring examples to illustrate the most commonly used
2-axis to 5-axis kinematics that can be configured with the handling
transformation package.
S Sections 2.5 to 2.9 deal with the subject of programming, describing

orientation programming, the entry of tool parameters and transformation
calls.
Abbreviations FL Flange coordinate system

HP Wrist point coordinate system
IRO Internal robot coordinate system
p3, q3, r3 Coordinates of last basic axis
RO Robot/Base center point coordinate system
WS Workpiece coordinate system
WZ Tool coordinate system
x3, y3, z3 Coordinates of first wrist axis
J

Handling Transformation Package (TE4) 06.05
1 Brief Description
Notes

06.05 Handling Transformation Package (TE4)
2.1 Kinematic transformation
2.1 Kinematic transformation
Task of a The purpose of a transformation is to transform movements in the tool tip, which
transformation are programmed in a Cartesian coordinate system, into machine axis positions.
Application The handling transformation package described here has been designed to
cover the largest possible number of kinematic transformations implemented
solely via parameter settings in machine data. The current package offers
kinematics, which include between 2 and 5 axes in the transformation,
corresponding to up to five spatial degrees of freedom. In this case, a maximum
of 3 degrees are available for translation and 2 degrees for orientation, allowing
a tool (milling cutter, laser beam) on a 5-axis machine to be oriented in any
desired relation to the workpiece in the machining space.
The workpiece is always programmed in the rectangular workpiece coordinate
system; any programmed or set frames rotate and shift this system in relation to
the basic system. The kinematic transformation then converts this information
into motion instructions for the real machine axes. The kinematic transformation
requires information about the design (kinematics) of the machine, which are
stored in machine data.
Kinematic The handling transformation package is divided into two categories of

categories kinematics, which can be selected via MD 62600: TRAFO6_KINCLASS.
S STANDARD: This category includes the most commonly used kinematics.

S SPECIAL: Special kinematics

2.2 Definition of terms
2.2.1 Units and directions
Lengths and In the transformation machine data, all lengths are specified in millimeters or
angles inches and, unless otherwise stated, all angles in degrees at intervals of
[ –180°, 180° ].
Direction of In the case of angles, arrows in the drawings always indicate the mathemati-
rotation cally positive direction of rotation.
2.2.2 Definition of positions and orientations using frames
In order to make a clear distinction from the term “frame” as it is used in the NC
language, the following description explains the meaning of the term “frame” in
relation to the handling transformation package.
Frame A frame can be used to translate one coordinate system into another. In this
respect, a distinction must be made between translation and rotation.
Translation only effects an offset between the coordinate system and the
reference system, while rotation actually rotates the coordinate system in
relation to the reference.
Translation Coordinates X, Y and Z are used to describe the translation. They are defined
to produce a right-handed coordinate system.
Translation is always entered with reference to the coordinate directions of the
initial system. These directions are assigned to machine data as follows:
– X direction: ..._POS[0]
– Y direction: ..._POS[1]
– Z direction: ..._POS[2]

Rotation The rotation is described by the RPY angles A, B and C (RPY stands for Roll
Pitch Yaw). The positive direction of rotation is defined by the right hand rule, i.e.
if the thumb on the right hand is pointing in the direction of the axis of rotation,
then the fingers are pointing in the positive angular direction. In this respect, it
must be noted that A and C are defined at intervals [–180; +180] and B at
intervals [–90; +90].
The definitions of the RPY angles are as follows:
– Angle A: 1. rotation about the Z axis of the initial system
– Angle B: 2. rotation about the rotated Y axis
– Angle C: 3. rotation about the twice rotated X axis
The RPY angles are assigned to machine data as follows:
– Angle A: ..._RPY[0]
– Angle B: ..._RPY[1]
– Angle C: ..._RPY[2]
Fig. 2–1 shows an example of rotation about the RPY angles. In this example,
the initial coordinate system X1, Y1, Z1 is first rotated through angle A about
axis Z1, then through angle B about axis Y2 and finally through angle C about
axis X3.
A = –90 B = 90 C = –90
z1 z2
y1 y4
x1 y2 y3 z4
x2 z3
x3 x4
Fig. 2-1 Example of rotation through RPY angles

2.2.3 Definition of a joint
A joint is a linear or rotary axis.

The basic axis identifiers are defined on the basis of the arrangement and
sequence of the individual joints. These are described by identifying letters (S,
C, R, N), which are explained below.
S Sliding joint
C Sliding joint II Rotary joint
R Rotary joint II Rotary joint

Rotary joint ă Sliding joint
N Rotary joint ă Rotary joint
FL Flange for mounting tool
WZ Tool
Positive axis direction
Positive axis direction into drawing
Fig. 2-2 Joint identifying letters

2.3 Configuration of a kinematic transformation
In order to ensure that the kinematic transformation can convert the

programmed values into axis motions, it must have access to some information
about the mechanical construction of the machine. This information is stored in
machine data:
S Axis assignments
S Geometry information
2.3.1 General machine data
MD 24100 The value 4099 must be entered in this data for the handling transformation
TRAFO_TYPE_1 package.
MD 24110 The axis assignment at the transformation input defines which transformation
TRAFO_AXES_IN_1 axis is mapped internally onto a channel axis. It is specified in MD 24110:
TRAFO_AXES_IN_1.
There is a predetermined axis sequence for the handling transformation
package, i.e. the first n channel axes must be assigned to the n transformation
axes in ascending sequence:
S MD 24110: TRAFO_AXES_IN_1[0] = 1
MD 24120 The MD 24120: TRAFO_GEOAX_ASSIGN_TAB_1 defines how many

TRAFO_GEOAX_ translational degrees of freedom are available for the transformation. The 3
ASSIGN_TAB_1 geometry axes normally correspond to Cartesian axis directions X, Y and Z.
S MD 24120: TRAFO_GEO_AX_ASSIGN_TAB_1[0] = 1

2.3.2 Parameterization using geometry data
Modular principle
The machine geometry is parameterized according to a type of modular
principle. With this method, the machine is successively configured in geometry
parameters from its base center point to the tool tip, thereby producing a closed
kinematic loop. Frames (see Subsection 2.2.2) are used to describe the
machine geometry. While the control is powering up, the configuration machine
data are checked and alarms generated when necessary.
All axes in the mode group are made to follow, the alarms can only be reset by
a power ON operation.
As shown in Fig. 2–3, the kinematic transformation effects a conversion of the
tool operating point (tool coordinate system): XWZ, YWZ, ZWZ), that is specified
in relation to the basic coordinate system (BCS = robot coordinate system: XRO,
YRO, ZRO), into machine axis values (MCS positions: A1, A2, A3, ..). The
operating point (XWZ, YWZ, ZWZ) is specified in the part program in relation to
the workpiece to be machined (workpiece coordinate system WCS: XWS, YWS,
ZWS). The programmable frames make it possible to create an offset between
the workpiece coordinate system WCS and the basic coordinate system BCS.
z IRO x FL
y IRO
yFL xWZ
x IRO zFL
yWZ
zWZ
Kinematic
transformation
Programmed
zWS
zRO position
yWS
y RO
x RO Programmable FRAMES xWS
Fig. 2-3 Closed kinematic loop illustrated by the example of a robot
Note
For more detailed information about coordinate systems, please see:
References: /PA/, “Programming Guide Fundamentals”
The following machine data are available for configuring kinematic

transformations:

MD 62612 The frame T_IRO_RO links the base center point of the machine (BCS = RO)
TRAFO6_TIRORO_ with the first internal coordinate system (IRO) determined by the transformation.
POS
MD 62613
TRAFO6_TIRORO_
RPY
MD 62603 MD 62603: TRAFO6_MAIN_AXES defines the type of basic axis arrangement.

TRAFO6_MAIN_AXES The basic axes are generally the first 3 axes to be included in the
transformation.
MD 62607 MD 62607: TRAFO6_MAIN_LENGTH_AB specifies the basic axis lengths A

TRAFO6_MAIN_ and B. As Fig. 2–4 illustrates, these are specially defined for each type of basic
LENGTH_AB axis.
MD 62606 MD 62606: TRAFO6_A4PAR specifies whether the 4th axis is mounted parallel,
TRAFO6_A4PAR anti-parallel or perpendicular to the last rotary basic axis.
MD 62608 Frame T_X3_P3 links the last coordinate system of the basic axes with the first
TRAFO6_TX3P3_POS hand coordinate system.
MD 62609
TRAFO6_TX3P3_RPY
MD 62604 ... These parameters describe the hand geometry.

MD 62616
TRAFO6_DHPAR4_5..
MD 62604 MD 62604: TRAFO6_WRIST_AXES specifies the hand type. The term wrist
TRAFO6_WRIST_ axes generally refers to axes four to six.
AXES
MD 62610 The frame T_FL_WP links the last hand coordinate system with the first flange
TRAFO6_TFLWP_POS coordinate system.
MD 62611
TRAFO6_TFLWP_RPY
These data are described in more detail in subsequent sections.

Basic axes included in every transformation
MD 62603 The first 3 axes included in the transformation are generally referred to as the
TRAFO6_MAIN_AXES “basic axes”. They must always be mutually parallel or perpendicular. Each of
the following basic axis arrangements has its own special identifier (see
Subsection 2.2.3). The MD 62603: TRAFO6_MAIN_AXES is used to enter the
basic axis identifier.
r3 q
2 3
p3
3
1
SS
z IRO y
IRO
x IRO
r3
q3
p3
z IRO
y IRO
x IRO 2
z IRO r3 IRO r3
y IRO q3 y IRO q3
x IRO p3 x IRO p3
2 3
q3
z r3
IRO
y IRO q3 p3
r3 3
x IRO 3 p3
2 2
1 y IRO
z IRO 1 x IRO
Fig. 2-4 Overview of basic axis configurations

The handling transformation package contains the following basic axis

kinematics:
S SS: Gantry (3 linear axes, rectangular)

S CC: SCARA (1 linear axis, 2 rotary axes (in parallel))
S SC: SCARA (2 linear axes, 1 rotary axis (swivel axis))
S CS: SCARA (2 linear axes, 1 rotary axis (axis of rotation))
S NR: Articulated arm (3 rotary axes (2 axes in parallel))
S NN: Articulated arm (3 rotary axes)
S RR: Articulated arm (1 linear axis, 2 rotary axes (perpendicular))
Wrist axes included in every transformation
MD 62604 The fourth axis and all further axes are generally referred to as “wrist axes”. The
TRAFO6_WRIST_ handling transformation package can only identify hands with rotary axes. The
AXES wrist axis identifier for three-axis hands is entered in MD 62603:
TRAFO6_MAIN_AXES. In the case of hands with fewer than three axes, the
identifier for a beveled hand with elbow or a central hand is entered in
MD 62603: TRAFO6_MAIN_AXES. The current software supports only wrist
axis types beveled hand with elbow or central hand.
Beveled hand
Central hand with ellbow
Fig. 2-5 Overview of wrist axis configurations
Parameterization of wrist axes
MD 62614 ... Hands are parameterized via machine data MD 62614: TRAFO6_DHPAR4_5A,
MD 62616 MD 62615: TRAFO6_DHPAR4_5D and MD 62616:
TRAFO6_DHPAR4_5.. TRAFO6_DHPAR4_5ALPHA. These data are special types of frame which
describe the relative positions of the coordinate systems in the hand. In this
case, TRAFO6_DHPAR4_5A corresponds to .._POS[0] (x component),
TRAFO6_DHPAR4_5D to .._POS[2] (z component) and
TRAFO6_DHPAR4_5ALPHA to .._RPY[2] (C angle) of a frame (see
Subsection 2.2.2). The other components of the frame are then zero.

Central hand (CH) On a central hand, all wrist axes intersect at one point. All parameters must be
set as shown in Table 2-1.
CH (5-axis)
zHP
z3
x 3 = x 5 = x HP
Fig. 2-6 Central hand
Table 2-1 Configuring data for a central hand
Machine data Value

MD 62604: TRAFO6_WRIST_AXES 2
MD 62614: TRAFO6_DHPAR4_5A [0.0, 0.0]
MD 62615: TRAFO6_DHPAR4_5D [0.0, 0.0]
MD 62616: TRAFO6_DHPAR4_5ALPHA [–90.0, 90.0]
Beveled hand with The beveled hand with elbow differs from the central hand in two respects, i.e.
elbow (BHE) the axes do not intersect nor are they mutually perpendicular. Parameters a4,
d5, und a4 are available for this type of hand, as shown in Table 2–1.
BHE (5-axis)
z5 = zHP
x 5 = x HP
MD 62615:
MD 62614: TRAFO6_DHPAR4_5D[1]
TRAFO6_DHPAR4_5A[0] MD 62616:
TRAFO6_DHPAR4_5ALPHA[0]
x3
z3
Fig. 2-7 Beveled hand with elbow (5-axis)

Table 2-2 Configuring data for a beveled hand with elbow (5-axis)
Machine data Value

MD 62614: TRAFO6_DHPAR4_5A [a4, 0.0]
MD 62615: TRAFO6_DHPAR4_5D [0.0, d5]
MD 62616: TRAFO6_DHPAR4_5ALPHA [a4, 0.0]
Link frames
T_X3_P3 T_FL_WP
z IRO r3 y3 x HP
y IRO q3 zHP xFL
x IRO p3 x3 yHP yFL
z3 zFL
T_IRO_RO
zRO y RO
x RO
Fig. 2-8 Link frames
T_IRO_RO Frame T_IRO_RO provides the link between the base center point coordinate
system (RO) defined by the user and the internal robot coordinate system
(IRO). The internal robot coordinate system is predefined in the handling
transformation package for each basic axis type and included in the kinematic
diagrams for the basic axis arrangements. The base center point system is in
the Cartesian zero point of the machine, corresponding to the basic coordinate
system. If no FRAMES are programmed, the basic coordinate system equals
the workpiece coordinate system.
Note
For more detailed information about FRAMES, please see:
References: /PA/, “Programming Guide Fundamentals”
Frame T_IRO_RO is not subject to any restrictions for 5-axis kinematics.

The following restrictions apply in relation to 4-axis kinematics:
S The first rotary axis must always be parallel/anti-parallel to one of the

coordinate axes of the base center point coordinate system (RO).
S No further restrictions apply to type SS basic axes.

S In the case of type CC, CS or SC basic axes, no further restrictions apply
provided that the 4th axis is parallel to the last rotary basic axis.
S With respect to all other basic axes, and basic axes of type CC, CS or SC if
the 4th axis is perpendicular to the last rotary basic axis, the Z axis of RO
must be parallel to the Z axis of IRO.
T_X3_P3 Frame T_X3_P3 describes the method used to attach the hand to the basic
axes. Frame T_X3_P3 is used to link the coordinate system of the last basic
axis (p3_q3_r3 coordinate system) with the coordinate system of the first wrist
axis (x3_y3_z3 coordinate system). The p3_q3_r3 coordinate system is
included in the kinematic diagrams for the basic axis arrangements.
The z3 axis is always on the 4th axis.
Depending on the number of axes to be included in the transformation, frame
T_X3_P3 is subject to certain restrictions relating to the hand and basic axes:
S For 5-axis kinematics, frame T_X3_P3 can be freely selected in the

following cases:
– If the basic axes are of the SS type.
– If the basic axes are of the CC, CS or SC type, the transformation must
either include a central hand (ZEH) or the 4th axis must be positioned in
parallel to the last rotary basic axis.
– If the basic axes are of the NR or RR type, the transformation must either
include a central hand (ZEH) or the 4th axis must be positioned in
parallel to the last basic rotary axis and an X flange must intersect the
5th axis.
– If the basic axes are of the NN type, the transformation must include a
central hand.
S With 4-axis kinematics, the z3 axis must always be parallel/anti-parallel or

perpendicular to the last basic axis.
T_FL_WP Frame T_FL_WP links the flange with the last internal coordinate system
predefined with the handling transformation package (hand-point coordinate
system).
For kinematics with fewer than 6 axes, this frame is subject to certain
restrictions, which are explained with the relevant kinematics.

Other configuring data
Number of MD 62605 TRAFO6_NUM_AXES

transformed axes MD 62605: TRAFO6_NUM_AXES is set to define how many axes must be
included in the transformation. With the current software, the machine data can
be set to between 2 and 5 transformed axes.
Changing the axis MD 62620 TRAFO6_AXIS_SEQ

sequence
Important
! With certain types of kinematics, it is possible to transpose axes without
changing the behavior of the kinematic transformation. MD 62620:
TRAFO6_AXIS_SEQ is used for the purpose of kinematic conversion. The
axes on the machine are numbered consecutively from 1 to 5 and must be
entered in the internal sequence in MD 62620: TRAFO6_AXIS_SEQ[0] ...[4].
All other axis-specific machine data refer to the sequence of axes on the
machine.
Table 2-3 Changing the axis sequence
Basic axis kinematics Options for changing axis sequence

SS, CC Any
SC 1 and 2
CS 2 and 3
Example 1 This example involves two kinematics such as those illustrated in Fig. 2-9.
Kinematic 1 is directly included in the handling transformation package. It
corresponds to a CC kinematic with a wrist axis parallel to the last rotary basic
axis.
Kinematic 2 is equivalent to kinematic 1 since, as regards the final motion of the
robot, it is irrelevant whether the translational axis is axis 1 or axis 4. In this
instance, the data for kinematic 2 must be entered as follows in MD 62620:
TRAFO6_AXIS_SEQ:
MD 62620: TRAFO6_AXIS_SEQ[ 0 ] = 4

1 2 3 4 1 2 3 4
Kinematics 1 Kinematics 2
Fig. 2-9 Rearrangement of axes (example 1)
Example 2 This example involves a SCARA kinematic transformation as illustrated in

Fig. 2–10, in which the axes can be freely transposed. Kinematic 1 is directly
included in the handling transformation package. It corresponds to a CC
kinematic. As regards the transposition of axes, it is irrelevant how many wrist
axes are involved in the transformation.
Kinematics 1: Kinematics 2: Kinematics 3:

Axis sequence 1 2 3 Axis sequence 2 1 3 Axis sequence 2 3 1
Fig. 2-10 Rearrangement of axes (example 2)
Changing the MD 62618 TRAFO6_AXES_DIR

directions of axes A rotational or offset direction is preset for each axis in the handling
transformation package. This direction is not necessarily the same as the
corresponding direction on the machine. In order to match the directions,
MD62618: TRAFO6_AXES_DIR[ ] must be set to –1 for the relevant axis if the
direction is to be inverted, or otherwise to +1.

Adapting the zero MD 62617 TRAFO6_MAMES

points of the axes The mathematical zero points of axes are preset in the handling transformation
package. However, the mathematical zero point does not always correspond to
the mechanical zero point (calibration point) of axes. In order to match the zero
points, the deviation between the mathematical zero point and the adjustment
point must be entered in MD 62617: TRAFO6_MAMES[ ] for each axis. The
deviation to be entered corresponds to the difference between the mechanical
zero point and the mathematically positive direction of rotation of the axis.
Example The example (Fig. 2-11) shows an articulated arm kinematic. The mathematical
zero point for axis 2 is 90º. This value must be entered in MD 62617:
TRAFO6_MAMES[1] for axis 2. Axis 3 is counted relative to axis 2 and therefore
has a value of –90º as a mathematical zero point.
MD 62617: TRAFO6_MAMES[2] = -90
MD 62617: TRAFO6_MAMES[1] = 90
a) Mechanical zero position b) Mathematical zero position

(adjustment position)
Fig. 2-11 Matching mathematical and mechanical zero points
Axis types MD 62601 TRAFO6_AXES_TYPE

The relevant axis type is defined in MD 62601: TRAFO6_AXES_TYPE. The
transformation package distinguishes between the following axis types:
S Linear axis
S Rotary axis
Velocities and Separate velocities are introduced for the Cartesian motion components for
acceleration rates traversing the axes with G00 and active transformation.
For traversal with G01 or G02, the path velocity is specified using path
feedrate F.

MD 62629 MD 62629: TRAFO6_VELCP[i] can be set to define the velocities for individual
TRAFO6_VELCP translational motion directions for axis traversal with G00.
Index i = 0: X component of basic system
Index i = 1: Y component of basic system
Index i = 2: Z component of basic system
MD 62630 MD 62630: TRAFO6_ACCCP[i] can be set to define the acceleration rates for
TRAFO6_ACCCP individual translational motion directions for axis traversal with G00.
Index i = 0: X component of basic system
Index i = 1: Y component of basic system
Index i = 2: Z component of basic system
MD 62631 MD 62631: TRAFO6_VELORI[i] can be set to define the velocities for individual
TRAFO6_VELORI directions of orientation for axis traversal with G00.
Index i = 0: A angle
Index i = 1: B angle
Index i = 2: C angle
MD 62632 MD 62632: TRAFO6_ACCORI[i] can be set to define the acceleration rates for
TRAFO6_ACCORI individual directions of orientation for axis traversal with G00.
Index i = 0: A angle
Index i = 1: B angle
Index i = 2: C angle

2.4 Descriptions of kinematics
The following descriptions of kinematics for transformations involving 2 to 5

axes explain the general configuring procedure first before describing how the
machine data need to be configured, using a configuring example for each
kinematic type. These examples do not include all possible lengths and offsets.
The direction data refer to the positive directions of traversal and rotation for the
transformation. The axis positions correspond to their zero position for the
relevant transformation.
2.4.1 3-axis kinematics
3-axis kinematics normally possess 3 translational degrees of freedom, but do

not have a degree of freedom for orientation. In other words, they only include
basic axes.
Configuring The procedure for configuring a 3-axis kinematic is as follows:

1. Enter “Standard” kinematic category in MD 62600: TRAFO6_KINCLASS.
2. Set the number of axes for transformation in MD 62605:
TRAFO6_NUM_AXES = 3.
3. Compare the basic axes with the basic axes contained in the handling
transformation package. –> Enter the basic axis identifier in MD 62603:
TRAFO6_MAIN_AXES.
4. If the axis sequence is not the same as the normal axis sequence, it must
be corrected in MD 62620: TRAFO6_AXIS_SEQ.
5. MD 62604: TRAFO6_WRIST_AXES = 1 must be set as the wrist axis
identifier (i.e. no hand in this case).
6. Enter the axis types for the transformation in MD 62601:
TRAFO6_AXES_TYPE.
7. Compare the directions of rotation of axes with the directions defined in the
handling transformation package and correct in MD 62618:
TRAFO6_AXES_DIR.
8. Enter the mechanical zero offset in MD 62617: TRAFO6_MAMES.
9. Enter the basic axis lengths in MD 62607: TRAFO6_MAIN_LENGTH_AB.
10. Define frame T_IRO_RO and enter the offset in
MD 62612: TRAFO6_TIRORO_POS and the rotation in
MD 62613: TRAFO6_TIRORO_RPY.
11. Determine the flange coordinate system. For this purpose, the p3_q3_r3
coordinate system must be regarded as the initial system. The offset is
stored in MD 62610: TRAFO6_TFLWP_POS and the rotation in MD 62611:
TRAFO6_TFLWP_RPY.

SCARA kinematics
SCARA kinematics are characterized by the fact that they possess both
translational and rotary axes. The basic axes are divided into 3 categories
depending on how they are mutually positioned.
S CC types
S CS types
S SC types (cf. Fig. 2–4).
3-axis
CC kinematics MD 62607: MD 62610:
TRAFO6_MAIN_LENGTH_AB[1] TRAFO6_TFLWP_POS[0]
z FL
q3 y FL
xFL
p3 zWZ
r3 yWZ
2
x WZ
y IRO
1
z IRO x IRO
z RO y RO
MD 62612:
TRAFO6_TIRORO_POS[2]
x RO
Fig. 2-12 3-axis CC kinematics
Table 2-4 Configuration data for 3-axis CC kinematics
Machine data Value

MD 62600: TRAFO6_KINCLASS 1
MD 62605: TRAFO6_NUM_AXES 3
MD 62603: TRAFO6_MAIN_AXES 2
MD 62601: TRAFO6_AXES_TYPE [3, 1, 3, ...]
MD 62620: TRAFO6_AXIS_SEQ [2, 1, 3, 4, 5, 6]
MD 62618: TRAFO6_AXES_DIR [1, 1, 1, 1, 1, 1]
MD 62617: TRAFO6_MAMES [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
MD 62607: TRAFO6_MAIN_LENGTH_AB [0.0, 300.0]
MD 62612: TRAFO6_TIRORO_POS [0.0, 0.0, 500.0]

Machine data Value

MD 62613: TRAFO6_TIRORO_RPY [0.0, 0.0, 90.0]
MD 62608: TRAFO6_TX3P3_POS [0.0, 0.0, 0.0]
MD 62609: TRAFO6_TX3P3_RPY [0.0, 0.0, 0.0]
MD 62610: TRAFO6_TFLWP_POS [200.0, 0.0, 0.0]
MD 62611: TRAFO6_TFLWP_RPY [0.0, 0.0, –90.0]
3-axis
SC kinematics
zIRO r3 z
yIRO 2 q3 FL yFL
x IRO p3 x FL
3
zWZ yWZ
MD 62612:
TRAFO6_TIRORO_ z IRO y IRO
POS[2]
1 xWZ
x IRO
MD 62607: MD 62610:
Fig. 2-13 3-axis SC kinematics
Table 2-5 Configuration data for 3-axis SC kinematics
Machine data Value

MD 62620: TRAFO6_AXIS_SEQ [1, 2, 3, 4, 5, 6]
MD 62618: TRAFO6_AXES_DIR [1, 1, 1, 1, 1, 1]
MD 62617: TRAFO6_MAMES [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
MD 62608: TRAFO6_TX3P3_POS [0.0, 0.0, 0.0]
MD 62609: TRAFO6_TX3P3_RPY [0.0, 0.0, 0.0]
MD 62611: TRAFO6_TFLWP_RPY [0.0, 0.0, 0.0]

3-axis
CS kinematics
r3 z FL
q3 y FL
3
p3 x FL
zWZ y WZ
z IRO
y IRO x WZ
2
xIRO
MD 62612:
TRAFO6_TIRORO_ 1
POS[2]
zRO
yRO
xRO
MD 62607: MD 62610:
Fig. 2-14 3-axis CS kinematic
Table 2-6 Configuration data for 3-axis CS kinematics
Machine data Value

MD 62620: TRAFO6_AXIS_SEQ [1, 2, 3, 4, 5, 6]
MD 62618: TRAFO6_AXES_DIR [1, 1, 1, 1, 1, 1]
MD 62617: TRAFO6_MAMES [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
MD 62608: TRAFO6_TX3P3_POS [0.0, 0.0, 0.0]
MD 62609: TRAFO6_TX3P3_RPY [0.0, 0.0, 0.0]

Articulated-arm kinematics
3-axis
NR kinematic
MD 62607:
TRAFO6_MAIN_LENGTH_AB[0]
z IRO r3 zFL
yIRO q3 yFL
xIRO p3 xFL
2 3 yWZ
zWZ
MD 62612: 1 xWZ
TRAFO6_
TIRORO_
POS[2] zRO y RO MD 62610:
TRAFO6_TFLWP_POS[0]
MD 62607:
x RO TRAFO6_MAIN_LENGTH_AB[1]
Fig. 2-15 3-axis NR kinematics
Table 2-7 Configuration data 3-axis NR kinematic
Machine data Value

MD 62620: TRAFO6_AXIS_SEQ [1, 2, 3, 4, 5, 6]
MD 62618: TRAFO6_AXES_DIR [1, 1, 1, 1, 1, 1]
MD 62617: TRAFO6_MAMES [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
MD 62608: TRAFO6_TX3P3_POS [0.0, 0.0, 0.0]
MD 62609: TRAFO6_TX3P3_RPY [0.0, 0.0, 0.0]

3-axis
RR kinematics
MD 62607: MD 62610:
z IRO r3 zFL
yIRO q3 yFL
RR x FL
x IRO 3 p3
2 zWZ yWZ
1
x WZ
zRO yRO
x RO
Fig. 2-16 3-axis RR kinematics
Table 2-8 Configuration data for 3-axis RR kinematics
Machine data Value

MD 62620: TRAFO6_AXIS_SEQ [1, 2, 3, 4, 5, 6]
MD 62618: TRAFO6_AXES_DIR [1, 1, 1, 1, 1, 1]
MD 62617: TRAFO6_MAMES [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
MD 62608: TRAFO6_TX3P3_POS [0.0, 0.0, 0.0]
MD 62609: TRAFO6_TX3P3_RPY [0.0, 0.0, 0.0]

3-axis
NN kinematics
MD 62607: MD 62610:
q3 z FL
yFL
x FL
p3
r3 3 z WZ yWZ
MD 62607:
TRAFO6_MAIN_ 2 x WZ
LENGTH_AB[1]
y IRO
z IRO 1
x IRO
MD 62612:
TRAFO6_TIRORO_
POS[2]
zRO y RO
x RO
Fig. 2-17 3-axis NN kinematics
Table 2-9 Configuration data for 3-axis NN kinematics
Machine data Value

MD 62620: TRAFO6_AXIS_SEQ [1, 2, 3, 4, 5, 6]
MD 62618: TRAFO6_AXES_DIR [1, 1, 1, 1, 1, 1]
MD 62617: TRAFO6_MAMES [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
MD 62608: TRAFO6_TX3P3_POS [0.0, 0.0, 0.0]
MD 62609: TRAFO6_TX3P3_RPY [0.0, 0.0, 0.0]
MD 62611: TRAFO6_TFLWP_RPY [0.0, 0.0, –90.0]

4-axis kinematics usually imply 3 translational degrees of freedom and one

degree of freedom for orientation.
Restrictions The following restrictions apply to 4-axis kinematics:

The frame T_FL_WP is subject to the following condition:
– MD 62611: TRAFO6_TFLWP_RPY = [ 0.0, 90.0, 0.0 ].
– X flange and X tool must be parallel to the 4th axis.
– Two successive basic axes must be parallel or orthogonal.
– The 4th axis must only be mounted in a parallel or orthogonal way to the
last basic axis.

–> Enter the basic axis identifier in MD 62603: TRAFO6_MAIN_AXES.
5. MD 62604: TRAFO6_WRIST_AXES = 1 must be set as the wrist axis
identifier (i.e. no hand in this case).
6. Enter in MD 62606: TRAFO6_A4PAR whether axis 4 runs parallel/
anti-parallel to the last rotary basic axis.
TRAFO6_AXES_TYPE.
TRAFO6_AXES_DIR.
11. Define frame T_IRO_RO and enter the offset in MD 62612:
TRAFO6_TIRORO_POS and the rotation in MD 62613:
TRAFO6_TIRORO_RPY.
12. Specification of frame T_X3_P3 to attach hand. For this purpose, the
p3_q3_r3 coordinate system must be regarded as the initial system. The
offset is stored in MD 62608: TRAFO6_TX3P3_POS and the rotation in
MD 62609: TRAFO6_TX3P3_RPY.

13. Determine the flange coordinate system. For this purpose, the hand-point
coordinate system must be regarded as the initial system. The offset is
stored in MD 62610: TRAFO6_TFLWP_POS and the rotation in MD 62611:
TRAFO6_TFLWP_RPY.
SCARA kinematics
4-axis
CC kinematics
MD 62607: MD 62608:
TRAFO6_MAIN_LENGTH_AB[1] TRAFO6_TX3P3_POS[0]
q3
p3
r3 MD 62608:
xHP TRAFO6_TX3P3_POS[1]
2 3
4 yHP
zHP MD 62610:
TRAFO6_TFLWP_POS[2]
yFL
yIRO zFL
xFL
1 yWZ
zIRO x IRO
zWZ
zRO y RO
MD 62612:
xWZ
x RO
Machine data Value

MD 62606: TRAFO6_A4PAR 1
MD 62601: TRAFO6_AXES_TYPE [3, 1, 3, 3, ...]
MD 62620: TRAFO6_AXIS_SEQ [2, 1, 3, 4, 5, 6]
MD 62618: TRAFO6_AXES_DIR [1, 1, 1, 1, 1, 1]
MD 62617: TRAFO6_MAMES [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

Machine data Value

MD 62608: TRAFO6_TX3P3_POS [300.0, 0.0, –200.0]
MD 62609: TRAFO6_TX3P3_RPY [–90.0, 90.0, 0.0]
MD 62611: TRAFO6_TFLWP_RPY [0.0, –90.0, 0.0]
4-axis
SC kinematics
z IRO r3 y FL
y IRO 2 q 4
z3 x FL
3
p3 x3 z FL
x IRO 3
y WZ x WZ
MD 62612:
z RO y3
TRAFO6_TIRORO_POS[2] y RO z WZ
1
x RO
MD 62607: MD 62608: MD 62610:

TRAFO6_MAIN_LENGTH_AB[0] TRAFO6_TX3P3_POS[0] TRAFO6_TFLWP_POS[0]
Fig. 2-19 4-axis SC kinematics
Machine data Value

MD 62620: TRAFO6_AXIS_SEQ [1, 2, 3, 4, 5, 6]
MD 62618: TRAFO6_AXES_DIR [1, 1, 1, 1, 1, 1]
MD 62617: TRAFO6_MAMES [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
MD 62608: TRAFO6_TX3P3_POS [200.0, 0.0, 0.0]

Machine data Value

MD 62609: TRAFO6_TX3P3_RPY [0.0, 0.0, –90.0]
4-axis
CS kinematics
r3
q3
3
p3
MD 62608:
z IRO x HP TRAFO6_TX3P3_POS[2]
y IRO 4
y
2
zHP HP
MD 62610:
xIRO y
TRAFO6_TFLWP_POS[2]
z FL FL
MD 62612:
1 xFL
y
zRO WZ
yRO z
WZ
x WZ
xRO
MD 62607: MD 62608:
Fig. 2-20 4-axis CS kinematic
Machine data Value

MD 62620: TRAFO6_AXIS_SEQ [1, 2, 3, 4, 5, 6]
MD 62618: TRAFO6_AXES_DIR [1, 1, 1, 1, 1, 1]
MD 62617: TRAFO6_MAMES [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

Machine data Value

MD 62608: TRAFO6_TX3P3_POS [500.0, 0.0, –200.0]
MD 62609: TRAFO6_TX3P3_RPY [90.0, 0.0, 180.0]
Articulated-arm kinematics
4-axis
NR kinematic
MD 62607: MD 62608:
z IRO r3
yIRO q3 zHP y FL x
FL
zFL
xIRO 2 3
p3 4 xHP
yHP y WZ xWZ
MD 62612: 1 zWZ
zRO yRO MD 62607: MD 62610:

x RO
Machine data Value

MD 62620: TRAFO6_AXIS_SEQ [1, 2, 3, 4, 5, 6]
MD 62618: TRAFO6_AXES_DIR [1, 1, 1, 1, 1, 1]
MD 62617: TRAFO6_MAMES [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

Machine data Value

MD 62608: TRAFO6_TX3P3_POS [300.0, 0.0, 0.0]
MD 62609: TRAFO6_TX3P3_RPY [0.0, 0.0, –90.0]

5-axis kinematics usually imply 3 translational degrees of freedom and

2 degrees of freedom for orientation.
Restrictions The following restrictions apply to 5-axis kinematics:

1. There are restrictions for the flange coordinate system because the X flange
axis must intersect the 5th axis, nevertheless, it must not be parallel to it.
2. The frame T_FL_WP is subject to the following condition as far as 5-axis
articulated-arm kinematics are concerned:
– MD 62610: TRAFO6_TFLWP_POS = [0.0, 0.0, Z]
– MD 62611: TRAFO6_TFLWP_RPY = [A, 0.0, 0.0]
3. There are restrictions for the tool as far as 5-axis articulated-arm kinematics
are concerned:
– 4. Axis parallel to the 3rd axis: 2-dimensional tool is possible
[X, 0.0, Z]
– 4. Axis perpendicular to the 3rd axis: Only 1-dimensional tool is possible
[X, 0.0, 0.0]
4. There are restrictions for the tool as far as 5-axis Scara kinematics are
concerned:
– 4. Axis perpendicular to the 3rd axis: 1-dimensional tool is possible [X,
0.0, 0.0]
5. Two successive basic axes must be parallel or orthogonal.
6. The 4th axis must only be mounted in a parallel or orthogonal way to the last
basic axis.

–> Enter the basic axis identifier in MD 62603: TRAFO6_MAIN_AXES.
5. ID specification for the wrist axes. If axis 4 and 5 intersect, a central hand
(ZEH) is present. In all other case, the ID for beveled hand with elbow (BHE)
must be entered in MD 62604: TRAFO6_WRIST_AXES.
6. Enter in MD 62606: TRAFO6_A4PAR whether axis 4 runs parallel/
anti-parallel to the last rotary basic axis.
TRAFO6_AXES_TYPE.

TRAFO6_AXES_DIR.
11. Define frame T_IRO_RO and enter the offset in MD 62612:
TRAFO6_TIRORO_POS and the rotation in MD 62613:
TRAFO6_TIRORO_RPY.
12. Specification of frame T_X3_P3 to attach hand. The offset is stored in
MD 62608: TRAFO6_TX3P3_POS and the rotation in MD 62609:
TRAFO6_TX3P3_RPY.
13. Specification of wrist axes parameters. For this purpose, only the
parameters for axis 4 must be entered in MD 62614:
TRAFO6_DHPAR4_5A[0] and MD 62616: TRAFO6_DHPAR4_5ALPHA[0].
All other parameters must be set to 0.0.
14. Determine the flange coordinate system. For this purpose, the hand-point
coordinate system must be regard as the initial system. The offset is stored
in MD 62610: TRAFO6_TFLWP_POS and the rotation in MD 62611:
TRAFO6_TFLWP_RPY.

SCARA kinematics
5-axis
CC kinematics MD 62614:
TRAFO6_DHPAR4_5A[0]
MD 62607: MD 62608: MD 62610:
TRAFO6_MAIN_LENGTH_AB[1] TRAFO6_TX3P3_POS[0] TRAFO6_TFLWP_POS[0]
q3 z3 y z HP z FL
3
x FL
p3 x3 x z WZ
r3 HP
y
2 3 4 5
HP y FL
x WZ
yWZ
y IRO
1
zIRO x IRO
MD 62612:
z RO y RO TRAFO6_TIRORO_POS[2]
x RO
Machine data Value

MD 62601: TRAFO6_AXES_TYPE [3, 1, 3, 3, 3, ...]
MD 62620: TRAFO6_AXIS_SEQ [2, 1, 3, 4, 5, 6]
MD 62618: TRAFO6_AXES_DIR [1, 1, 1, 1, 1, 1]
MD 62617: TRAFO6_MAMES [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
MD 62608: TRAFO6_TX3P3_POS [300.0, 0.0, –200.0]
MD 62609: TRAFO6_TX3P3_RPY [0.0, 0.0, –90.0]
MD 62614: TRAFO6_DHPAR4_5A [200.0, 0.0]
MD 62615: TRAFO6_DHPAR4_5D [0.0, 0.0]

5-axis
NR kinematic
MD 62607: MD 62608:
z IRO r3
yIRO q3 zHP zFL
yHP zWZ
xIRO 2 3
p3 5 xFL xWZ
4
xHP yFL yWZ
MD 62612: 1
zRO yRO MD 62607: MD 62610:

x RO
Machine data Value

MD 62601: TRAFO6_AXES_TYPE [3, 3, 3, 3, 3, ...]
MD 62620: TRAFO6_AXIS_SEQ [1, 2, 3, 4, 5, 6]
MD 62618: TRAFO6_AXES_DIR [1, 1, 1, 1, 1, 1]
MD 62617: TRAFO6_MAMES [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
MD 62608: TRAFO6_TX3P3_POS [500.0, 0.0, 0.0]
MD 62609: TRAFO6_TX3P3_RPY [0.0, 90.0, 0.0]
MD 62610: TRAFO6_TFLWP_POS [0.0, –300.0, 0.0]
MD 62611: TRAFO6_TFLWP_RPY [–90.0, 0.0, 0.0]
MD 62614: TRAFO6_DHPAR4_5A [0.0, 0.0]
MD 62615: TRAFO6_DHPAR4_5D [0.0, 0.0]

For SW 4.3, 6-axis kinematics have not yet been available.
2.4.5 Special kinematics
MD 62602 Special kinematics are kinematics that are not directly included in the building
TRAFO6_SPECIAL_ block system of the Handling transformation package. They are frequently
KIN missing a degree of freedom or are characterized by mechanical links between
the axes or with the tool. MD 62600: TRAFO6_KINCLASS = 2 must be set for
these kinematics. MD 62602: TRAFO6_SPECIAL_KIN specifies the type of
special kinematic.

Special 2-axis This special kinematic is characterized by the fact that the tool is always
SC kinematics maintained in the same orientation via a mechanical linkage. It implies two
Cartesian degrees of protection. The identifier for this kinematic is
MD 62602: TRAFO6_SPECIAL_KIN = 3.
xWZ z WZ
xFL zFL yWZ
yFL
MD 62607:
MD 62607:
TRAFO6_MAIN_LENGTH_AB[0] xIRO z IRO
yIRO
xRO z RO MD 62612:
yRO
Fig. 2-24 Special 2-axis SC kinematic
Table 2-16 Configuring data for a special 2-axis SC kinematic
Machine data Value

MD 62602: TRAFO6_SPECIAL_KIN 3
MD 62620: TRAFO6_AXIS_SEQ [1, 2, 3, 4, 5, 6]
MD 62618: TRAFO6_AXES_DIR [1, 1, 1, 1, 1, 1]
MD 62617: TRAFO6_MAMES [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
MD 62608: TRAFO6_TX3P3_POS [0.0, 0.0, 0.0]
MD 62609: TRAFO6_TX3P3_RPY [0.0, 0.0, 0.0]

Special 3-axis The special kinematic has 2 Cartesian degrees of freedom and one degree of
SC kinematics freedom for orientation. The identifier for this kinematic is MD 62602:
TRAFO6_SPECIAL_KIN = 4.
MD 62610:
MD 62608: TRAFO6_TFLWP_POS[0] y WZ xWZ
TRAFO6_TX3P3_POS[0]
z IRO y FL zWZ
yIRO z3 x FL
A2 x IRO A3 x z FL
3
y
3
MD 62612:
z RO
TRAFO6_TIRORO_
POS[2]
yRO
A1 x RO
Machine data Value

MD 62620: TRAFO6_AXIS_SEQ [1, 2, 3, 4, 5, 6]
MD 62618: TRAFO6_AXES_DIR [1, 1, 1, 1, 1, 1]
MD 62617: TRAFO6_MAMES [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
MD 62608: TRAFO6_TX3P3_POS [0.0, 0.0, 0.0]
MD 62609: TRAFO6_TX3P3_RPY [0.0, 0.0, 0.0]

Special 4-axis This special kinematic is characterized by the fact that axis 1 and axis 2 are
SC kinematics mechanically coupled. This coupling ensures that axis 2 is maintained at a
constant angle when axis 1 is swiveled. This kinematic also guarantees that
axes 3 and 4 always remain perpendicular, irrespective of the positions of axes
1 and 2. The identifier for this kinematic is MD 62602: TRAFO6_SPECIAL_KIN
= 7.
MD 62608: MD 62607:
TRAFO6_TX3P3_POS[0] TRAFO6_MAIN_LENGTH_AB[0]
z IRO r3
yIRO q3 z3
y3
1 xIRO 2 p3 x3
3
MD 62607:
TRAFO6_MAIN_LENGTH_AB[1] MD 62610:
TRAFO6_TFLWP_
POS[2]
4
yFL
zFL y WZ
z RO xFL
y RO zWZ
xWZ
x RO
Machine data Value

MD 62620: TRAFO6_AXIS_SEQ [1, 2, 3, 4, 5, 6]
MD 62618: TRAFO6_AXES_DIR [1, 1, 1, 1, 1, 1]
MD 62617: TRAFO6_MAMES [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
MD 62608: TRAFO6_TX3P3_POS [300.0, 0.0, 0.0]
MD 62609: TRAFO6_TX3P3_RPY [0.0, 0.0, 0.0]
MD 62610: TRAFO6_TFLWP_POS [0.0, 0.0, –600.0]

Special 2-axis This special kinematic is characterized by the fact that axis 1 and axis 2 are
NR kinematic mechanically coupled. Another special feature is the tool. With this kinematic, it
maintains its orientation in space irrespective of the positions of the other axes.
Its identifier is MD 62602: TRAFO6_SPECIAL_KIN = 5.
MD 62608: MD 62607:
TRAFO6_TX3P3_POS[0] TRAFO6_MAIN_LENGTH_AB[0]
zIRO r3
yIRO q3 z y 3 zFL
3 yFL
1 xIRO 2 p3 x3 xFL z
WZ
yWZ
MD 62607: x WZ
MD 62612:
MD 62612: TRAFO6_TIRORO_POS[0]
y RO
x RO
z RO
Fig. 2-27 Special 2-axis NR kinematics
Table 2-19 Configuration data for special 2-axis NR kinematics
Machine data Value

MD 62601: TRAFO6_AXES_TYPE [3, 3, ...]
MD 62620: TRAFO6_AXIS_SEQ [1, 2, 3, 4, 5, 6]
MD 62618: TRAFO6_AXES_DIR [1, 1, 1, 1, 1, 1]
MD 62617: TRAFO6_MAMES [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
MD 62613: TRAFO6_TIRORO_RPY [0.0, 0.0, –90.0]
MD 62608: TRAFO6_TX3P3_POS [400.0, 0.0, 0.0]
MD 62609: TRAFO6_TX3P3_RPY [0.0, 0.0, 0.0]

2.5 Tool orientation
Tool axis
Circumferential
milling
Fig. 2-28 Machining of workpieces with 5-axis transformation
Programming Three possible methods can be used to program the orientation of the tool:
S Directly as “orientation axes” A, B and C in degrees

S Via Euler or RPY angles in degrees with A2, B2, C2
S Using direction vectors A3, B3, C3.
The identifiers for Euler angles and direction vectors can be set in machine
data:
Euler angles in MD 10620: EULER_ANGLE_NAME_TAB
Direction vector in MD10640: DIR_VECTOR_NAME_TAB
The tool orientation can be located in any block. Above all, it can be
programmed alone in a block, resulting in a change of orientation in relation to
the tool tip which is fixed in its relationship to the workpiece.
Euler or RPY The MD 21100: ORIENTATION_IS_EULER can be used to switch between

Euler and RPY entry.

Important
! It is not possible to program using Euler angles, RPY angles or direction
vectors for kinematics involving fewer than 5 axes. In such cases, only one
degree of freedom is available for orientation. This orientation angle can only
be programmed with “Orientation axis angle” “A”.
Orientation A tool orientation at the start of a block can be transferred to the block end in the
reference workpiece coordinate system only using the ORIWKS command.
ORIWKS command The tool orientation is programmed in the workpiece coordinate system (WCS)
and is thus not dependent on the machine kinematics. In the case of a change
in orientation with the tool tip at a fixed point in space, the tool moves along a
large arc on the plane stretching from the start vector to the end vector.
ORIMKS command The tool orientation is programmed in the machine coordinate system and is
thus dependent on the machine kinematics. In the case of a change in
orientation of a tool tip at a fixed point in space, linear interpolation takes place
between the rotary axis positions.
Important
! Transferring an orientation using ORIMKS is not allowed in the handling
transformation package. With an active transformation, it is not the machine
axis angles that are programmed and traversed, but “orientation angles” (RPY
angles according to robotics definition, see Subsection 2.2.2).
The orientation is selected via the NC language commands ORIWKS and

ORIMKS.
ORIMKS is the initial setting (SW version 2 and higher). The MD 20150:
GCODE_RESET_VALUES can be used to change the initial setting:
GCODE_RESET_VALUES [24] = 1 ⇒ ORIWKS is the initial setting
GCODE_RESET_VALUES [24] = 2 ⇒ ORIMKS is the initial setting
GCODE_RESET_VALUES [24] = 3 ⇒ ORIPATH
When ORIPATH is active, the orientation is calculated from the lead and side
angles relative to the path tangent and surface normal vector.

Improper tool If the tool orientation is programmed in conjunction with the following functions:
orientation
S G04 Dwell time
S G33 Thread cutting with constant lead
S G74 Approach reference point
S G75 Approach fixed point
S REPOSL Repositioning
S REPOSQ Repositioning
S REPOSH Repositioning
Alarm 12130 “Illegal tool orientation” is output when Euler angles and direction
vectors are selected. The NC program then stops (this alarm can also occur in
connection with G331, G332 and G63). Alarm 17630 or 17620 is output for G74
and G75 if a transformation is active and the axes are involved in the
transformation. This applies irrespective of orientation programming.
If the start and end vectors are anti-parallel when ORIWKS is active, no unique
plane is defined for the orientation programming, resulting in the output of alarm
14120.
Alarm 14400 is output if the transformation is switched on or off when a tool
offset is active.
In the reverse situation, i.e. a tool offset is selected or deselected when a
transformation is active, no alarm message is output.
Multiple input of According to DIN 66025, only one tool orientation may be entered in a block,
tool orientation e.g. with direction vectors:
N50 A3=1 B3=0 C3=0
If the tool orientation is input several times, e.g. with direction vectors and Euler
angles:
N60 A3=1 B3=1 C3=1 A2=0 B2=1 C2=3
error message 12240 “Channel X block Y tool orientation xx defined more than
once” is displayed and the NC part program stops.

2.5.1 Programming orientation for 4-axis kinematics
Tool orientation 4-axis kinematics possess only one degree of freedom for orientation. When the
for 4-axis orientation is programmed using RPY angles, Euler angles or direction vectors,
kinematic it is not generally possible to guarantee that the specified orientation can be
approached. If used at all, this type of orientation programming is only suitable
for certain types of kinematic, i.e. those which feature an invariance in
orientation angles relative to the basic axes. This is the case for example for
SCARA kinematics.
This is why, for kinematics with 4 axes, the orientation may only be programmed
via “orientation angle” A. This angle corresponds to the RPY angle C according
to the robotics definition, i.e. one rotation about the Z-RO axis, as illustrated in
Fig. 2-29.
x HP
A4
y
z HP
HP
y FL
z RO
z FL
xFL
yRO
z WZ
y
WZ
x RO
x WZ
Fig. 2-29 Orientation angle for 4-axis kinematic

2.5.2 Programming orientation for 5-axis kinematics
Tool orientation For 5-axis kinematics, when programming via orientation vector, it is assumed
for 5-axis that the orientation vector corresponds to the x component of the tool.
kinematics When programming via orientation angle (RPY angle according to robotics
definition), the x component of the tool is considered as the initial point for
rotations.
For this purpose, the vector in the x tool direction, as shown in Fig. 2-30, is first
rotated around the Z axis by the angle A and then around the rotated Y axis by
the angle B. The rotation by the angle C is not possible for 5-axis kinematics
because of the restricted degrees of freedom for the orientation.
z WZ
z FL
yFL
z RO y
WZ
xFL
yRO
x RO x WZ
Fig. 2-30 Orientation angle for 5-axis kinematic
In SW 5.3 and higher, it is possible to define orientation axes for the handling
Important
! For more information, see the Description of Functions, Special Functions F2
(Part 3), Section 2.6 Orientation Axes and the “Programming Guide Advanced”,
Subsection 7.1.4, “Orientation Axes”.

2.6 Singular positions and how they are handled
2.6 Singular positions and how they are handled
The calculation of the machine axes to a preset position, i.e. position with
orientation, is not always clear. Depending on the machine kinematic, there may
be positions with an infinite number of solutions. These positions are called
“singular”.
Singular positions
S A singular position is, for example, characterized by the fact that the fifth
axis is positioned at 0°. In this case, the singular position does not depend
on a specified orientation. In this position, the fourth axis is not specified, i.e.
the fourth axis has no influence on the position or orientation.
S A singular position also exists for articulated arm and Scara kinematics if the
third axis is positioned at 0° or 180°. These positions are called
leveling/diffraction singularity.
S Another singular position exists for articulated arm kinematics if the hand
point is above the rotary axis of axis 1. This position is called overhead
singularity.
Extreme velocity If the path runs in the proximity of a pole (singularity), one axis or several axes
increase may traverse at a very high velocity. In this case, alarm 10910 “Extreme axis
velocity increase” is triggered.
Behavior at pole The unwanted behavior of fast compensating movements can be improved by
reducing the velocity in the proximity of a pole. Traveling through the pole with
active transformation is usually not possible.

2.7 Call and application of the transformation
2.7 Call and application of the transformation
Activation The transformation is activated by means of the TRAORI(1) command.

If the TRAORI(1) command has been executed and the transformation has
been activated, the IS “Transformation active” (DB21–28, DBX33.6) is set to “1”.
If the machine data have not been defined for an activated transformation
grouping, the NC program stops and the control displays the alarm 14100
“Orientation transformation does not exist”.
For more information, see
Chapter “5-Axis Machining”
Deactivation The currently active transformation is deactivated by means of TRAFOOF or

TRAFOOF().
Important
! When deactivating the “handling transformation package” transformation, a
preprocessing stop and a preprocessing synchronization are implicitly
executed with the main run if MD 24100:TRAFO_TYPE_1 is set to 4099. If
MD 24100: TRAFO_TYPE_1 is set to 4100, there is no implicit preprocessing
stop.
RESET/EOP The control behavior in terms of transformation following run-up, end of program
or RESET depends on MD 20110: RESET_MODE_MASK
Bit 7: Reset behavior of “Active kinematic transformation”
Bit 7 = 0 Defines the initial setting for the active transformation following
end of part program or RESET in accordance with the value set in
MD 20140: TRAFO_RESET_VALUE with the following
meaning:
0: After RESET no transformation is active.
1 to 8: The transformation preset in MD 24100:
TRAFO_TYPE_1 to MD 24460: TRAFO_TYPE_8
is active.
Bit 7=1: The current setting for the active transformation remains
unchanged after a RESET or end of part program.

2.8 Actual-value display
2.8 Actual-value display
MCS machine The machine axes are displayed in mm/inch and/or degrees in MCS display
coordinate system mode.
WCS workpiece If the transformation is active, the tool tip (TCP) is specified in mm/inch and the
coordinate system orientation by the RPY angles A, B and C in WCS display mode. The tool
direction results from the fact that one vector is first rotated by A in Z direction
around the Z axis, then by B around the new Y axis and, finally, by C around the
new X axis.
If the transformation is not active, the axes are displayed with the channel axis
identifiers. If not, the geo axis identifiers are displayed.

2.9 Tool programming
2.9 Tool programming
The tool lengths are specified in relation to the flange coordinate system. Only
3-dimensional tool compensations are possible. Depending on the kinematic
type, there are additional tool restrictions for 5-axis and 4-axis kinematics. For a
kinematic as illustrated in Fig. 2–23, only a 1-dimensional tool with length in the
x direction is permitted.
The direction of the tool depends on the initial setting of the machine, which is
specified with G codes G17, G18 and G19. The tool lengths refer to the zero
position specified by G17. This zero position should not be modified in the
program.
Example An example of a 2-dimensional tool mounted on a 5-axis Scara is described

below (see Fig. 2.22). Type 100 (cutting tool) is specified as the tool identifier.
The tool lengths result from the specifications shown in Fig. 2–31. X-TOOL must
be entered as tool length x and Y-TOOL must be entered as tool length y in the
tool parameters.
$TC_DP1[1,1 ] = 100 ; Type cutting tool
$TC_DP3[1,1 ] = 0.0 ; (z) Length compensation vector
$TC_DP4[1,1 ] = Y-TOOL ; (y) Length compensation vector
$TC_DP5[1,1 ] = X-TOOL ; (x) Length compensation vector
X-TOOL
z HP z FL
xFL
x zWZ
HP
Y-TOOL
yHP
A4 A5
yFL
x WZ
y WZ
Fig. 2-31 Tool length programming

2.10 Cartesian PTP travel with handling transformation package
2.10 Cartesian PTP travel with handling transformation

package
As from software package 5.3 it is possible to use the function Cartesian PTP
travel with the handling transformation package. For this purpose, MD 24100:
TRAFO_TYPE_1 must be set to 4100.
Important
! For more information, see the Description of Functions Special Functions F2
(Part 3) Section 2.7 “Cartesian PTP Travel” and the “Programming Guide
Advanced”, Subsection 7.1.5, Cartesian PTP Travel.

3.2 Functional restrictions
Add an entry for the alarm text files for the function described in the [TextFiles]
section of the C:\OEM\MBDDE.INI file:
CZYK=C:\OEM\TF_
If file C:\OEM\MBDDE.INI does not exist, it must be set up, although only
section [Text Files] is required.
Create language-specific text files
TF_xx.COM in directory
C:\OEM\
xx stands for the language code, e.g. GR for German and UK for English.
Enter the following alarm texts there:
in TF_GR.COM
075200 0 0 “Channel %1 incorrect MD configuration, error: %2”
075210 0 0 “Channel %1 axis number/assignment inconsistent”
075250 0 0 “Channel %1 tool parameter error”
075255 0 0 “Channel %1 working space error”
075260 0 0 “Channel %1 block %2 tool parameter error”
075265 0 0 “Channel %1 block %2 working space error”
075270 0 0 “Channel %1 tool parameter error”
075275 0 0 “Channel %1 block %2 working space error”
NCU 572.2 The handling transformation package can be utilized on NCU 572.2 hardware
only on condition that is has been specifically enabled for the customer.
Clearance control The handling transformation package cannot be operated together with the
technology function: “clearance control”, as generally the three basic axes are
not arranged perpendicular to one another.

Travel to fixed stop The handling transformation package cannot be operated in conjunction with
the “travel to fixed stop” function.
Several The handling transformation package can only be activated once per channel.
transformations
Tool programming Tools can only be parameterized by specifying tool lengths. It is not possible to
program an orientation for the tool.
Programming of The programming possibilities of the orientation depend on the number of axes
the orientation available on the machine:
Number < 5:
S Orientation axis angle
Number 5:
S Orientation axis angle
S Orientation vector
Singularities A pole cannot be crossed when a transformation is active. Singular positions

can cause axis overloads. The feedrate is not automatically adjusted. The user
must reduce the feedrate appropriately at the relevant points.
J

Data Description (MD, SD) 4

4.1.1 Channel-specific machine data
S MD 21100: ORIENTATION_IS_EULER
Definition of angle for programming of orientation
S MD 24100: TRAFO_TYPE_1
Definition of transformation
S MD 24110: TRAFO_AXES_IN_1[n]
Axis assignment for transformation 1 [axis index]: 0 ... 5
S MD 24120: TRAFO_GEOAX_ASSIGN_TAB_1[n]
Assignment between geometry axes and channel axes for transformation 1
[geometry axis number]: 0 ... 2.
S MD 24520: TRAFO5_ROT_SIGN_IS_PLUS_1[n]
Sign of rotary axes 1/2 for 5–axis transformation 1 [axis no.]: 0 ... 1
(not evaluated, see MD 62618: TRAFO6_AXES_DIR)

4.2 Machine data in the transformation standard set
4.2.1 Channelspecific machine data
62600 TRAFO6_KINCLASS
MD number Kinematic category

POWER ON
Data type: DWORD
Meaning: The following kinematic categories can be specified:
• Standard transformation: 1
• Special transformation: 2
Restriction: See Section 2.1
62601 TRAFO6_AXES_TYPE[n]
MD number Axis type for transformation [axis no.]: 0...5

1, 1, 1, 3, 3, 3
POWER ON
Data type: DWORD
Meaning: This machine data defines the type of axis used in the transformation.
The following types of axis can be specified:
• Linear axis: 1
• Rotary axis: 3 (4)
Restriction: See Subsection 2.3.2
62602 TRAFO6_SPECIAL_KIN
MD number Special kinematic type

POWER ON
Data type: DOUBLE
Meaning: This machine data defines the type of special kinematics.
The following types of special kinematics are available:
• 5-axis articulated arm with coupling between axis 2 and axis 3: 1
• 2-axis SCARA with mechanical coupling to tool: 3
• 3-axis SCARA with degrees of freedom X, Y, A: 4
• 2-axis articulated arm with coupling between axis 1 and axis 2: 5
• 4-axis SCARA with coupling between axis 1 and axis 2: 7
Figure See Subsection 2.4.7

62603 TRAFO6_MAIN_AXES
MD number Basic axis identifier

POWER ON
Data type: DWORD
Meaning: This machine data defines the type of basic axis arrangement. The basic axes are
generally the first 3 axes.
The following basic axis arrangements are provided:
• SS (Portal): 1
• CC (SCARA): 2
• NR (articulated arm): 3
• SC (SCARA): 4
• RR (articulated arm): 5
• CS (SCARA): 6
• NN (articulated arm): 7
62604 TRAFO6_WRIST_AXES
MD number Wrist axis identifier

POWER ON
Data type: DWORD
Meaning: This machine data defines the type of robot hand. The term “robot hand” normally
refers to axes 4 to 6.
The following types of hand are provided:
• No hand: 1
• Central hand: 2
• Beveled hand with elbow: 6
62605 TRAFO6_NUM_AXES
MD number Number of transformed axes

POWER ON
Data type: DWORD
Meaning: This machine data defines the number of axes included in the transformation.
Packages 2.3 (810D) and 4.3 (840D) support kinematics with a maximum of 5
axes.

62606 TRAFO6_A4PAR
MD number Axis 4 is parallel/anti-parallel to last basic axis

POWER ON
Data type: DWORD
Meaning: This machine data defines whether the 4th axis is parallel/anti-parallel to the last
rotary basic axis.
This machine data is only relevant for kinematics with more than 3 axes.
• Axis 4 is parallel/anti-parallel: 1
• Axis 4 is not parallel: 0
62607 TRAFO6_MAIN_LENGTH_AB[n]
MD number Basic axis lengths A and B, n = 0...1

Default setting: 0.0, 0.0 Minimum input limit: – Maximum input limit: –
Changes effective after Protection level: 2 / 7 Unit: mm/inches
POWER ON
Data type: DOUBLE
Meaning: This machine data defines the basic axis lengths A and B. These lengths are de-
fined specifically for each basic axis type.
• n = 0: Basic axis length A
• n = 1: Basic axis length B
62608 TRAFO6_TX3P3_POS[n]
MD number Attachment of hand [position component], n = 0...2

Default value: Minimum input limit: – Maximum input limit: –
0.0, 0.0, 0.0
POWER ON
Data type: DOUBLE
Meaning: This machine data defines the position component of frame TX3P3, which provides
the link between the basic axes and the hand.
• Index 0: x component
• Index 1: y component
• Index 2: z component

62609 TRAFO6_TX3P3_RPY[n]
MD number Attachment of hand [rotation component], n = 0...2

0.0, 0.0, 0.0
Changes effective after Protection level: 2 / 7 Unit: Degrees
POWER ON
Data type: DOUBLE
Meaning: This machine data defines the orientation component of frame TX3P3, which pro-
vides the link between the basic axes and the hand.
• Index 0: Rotation through RPY angle A
• Index 1: Rotation through RPY angle B
• Index 2: Rotation through RPY angle C
62610 TRAFO6_TFLWP_POS[n]
MD number Frame between wrist point and flange coordinate system (position component),
n = 0...2
0.0, 0.0, 0.0
POWER ON
Data type: DOUBLE
Meaning: This machine data defines the position component of frame TFLWP, which links:
62611 TRAFO6_TFLWP_RPY[n]
MD number Frame between wrist point and flange coordinate system (rotation component),
n = 0...2
0.0, 0.0, 0.0
POWER ON
Data type: DOUBLE
Meaning: This machine data defines the orientation component of frame TFLWP, which links:

62612 TRAFO6_TIRORO_POS[n]
MD number Frame between base center point and internal coordinate system (position
component),
n = 0...2
0.0, 0.0, 0.0
Changes effective after Protection level: 2 / 7 Unit: mm
POWER ON
Data type: DOUBLE
Meaning: This machine data defines the position component of frame TIRORO, which links:
62613 TRAFO6_TIRORO_RPY[n]
MD number Frame between base center point and internal coordinate system (rotation
component),
n = 0...2
0.0, 0.0, 0.0
POWER ON
Data type: DOUBLE
Meaning: This machine data defines the orientation component of frame TIRORO, which
links:
62614 TRAFO6_DHPAR4_5A[n]
MD number Parameter A for configuring the hand, n = 0...1

POWER ON
Data type: DOUBLE
Meaning: This machine data defines the length a.
• n = 0: Transition from axis 4 to 5

62615 TRAFO6_DHPAR4_5D[n]
MD number Parameter D for configuring the hand, n = 0...1

Changes effective after Protection level: 2 / 7 Unit: mm
POWER ON
Data type: DOUBLE
Meaning: This machine data defines the length d.
62616 TRAFO6_DHPAR4_4ALPHA[n]
MD number Parameter ALPHA for configuring the hand, n = 0...1

–90.0, 90.0
POWER ON
Data type: DOUBLE
Meaning: This machine data defines the angle a.
62617 TRAFO6_MAMES[n]
MD number Offset between mathematical and mechanical zero point [axis no.]: 0...5
0.0, 0.0, 0.0, 0.0, 0.0, 0.0
POWER ON
Data type: DOUBLE
Meaning: An offset can be entered in this machine data in order to match the mechanical
zero point of a rotary axis and the mathematical zero point defined by the trans-
formation.

62618 TRAFO6_AXES_DIR[n]
MD number Matching of physical and mathematical direction of rotation [axis no.]: 0...5
Default setting: Minimum input limit: –1 Maximum input limit: 1
1, 1, 1, 1, 1, 1
POWER ON
Data type: DWORD
Meaning: This machine data is set to match the mathematical and physical directions of rota-
tion of the axes.
• +1: Direction of rotation is identical
• –1: Direction of rotation is different
Figure
62619 TRAFO6_DIS_WRP
MD number Mean distance between wrist point and singularity

POWER ON
Data type: DOUBLE
Meaning: A limit value for the distance between the wrist point and a singularity
can be entered in this machine data.
Not functional!
Restriction:
Figure
62620 TRAFO6_AXIS_SEQ
MD number Rearrangement of axes

1, 2, 3, 4, 5, 6
POWER ON
Data type: DOUBLE
Meaning: This machine data can be set to change the positions of axes in the axis sequence
in order to convert a kinematic to a standard kinematic.

62621 TRAFO6_SPIN_ON
MD number Configuration includes triangular or trapezoidal spindles

POWER ON
Data type: DWORD
Meaning: This machine data defines whether the configuration includes
triangular spindles or trapezoidal connections.
• 0: Not included
• 1: Included
This function is currently not supported.
$MC_TRAFO6_SPIN_ON must be set to 0.

Machine data 62622 to 62628 are therefore not functional!
Restriction:
Figure
62622 TRAFO6_SPIND_AXIS[n]
MD number Axis controlled by triangular spindle, n = 0...2

POWER ON
Data type: DWORD
Meaning: This machine data defines which axis is controlled by a triangular spindle. The con-
figuration can include a maximum of 3 triangular spindles.
• n = 0: 1. triangular spindle
Restriction:
Figure
62623 TRAFO6_SPINDLE_RAD_G[n]
MD number Radius G for triangular spindle, n = 0...2

0.0, 0.0, 0.0
POWER ON
Data type: DOUBLE
Meaning: This machine data defines the radius G for the nth triangular spindle.
Restriction:
Figure

62624 TRAFO6_SPINDLE_RAD_H[n]
MD number Radius H for triangular spindle, n = 0...2

Default value: Minimum input limit: Maximum input limit:
0.0, 0.0, 0.0
POWER ON
Data type: DOUBLE
Meaning: This machine data defines the radius H for the nth triangular spindle.
Restriction:
Figure
62625 TRAFO6_SPINDLE_SIGN[n]
MD number Sign for triangular spindle, n = 0...2

Default setting: 1, 1, 1 Minimum input limit: –1 Maximum input limit: 1
POWER ON
Data type: DWORD
Meaning: This machine data defines the sign for adapting the direction of rotation for the nth
triangular spindle.
Restriction:
Figure
62626 TRAFO6_SPINDLE_BETA[n]
MD number Angular offset for triangular spindle, n = 0...2

0.0, 0.0, 0.0
POWER ON
Data type: DOUBLE
Meaning: This machine data defines offset angle b for adapting the zero point for the nth trian-
gular spindle.
Restriction:
Figure
62627 TRAFO6_TRP_SPIND_AXIS[n]
MD number Axes driven via trapezoidal spindle, n = 0...1

Default setting: 0, 0 Minimum input limit: 0 Maximum input limit: 5
POWER ON
Data type: DWORD
Meaning: This machine data defines which axes are driven via a trapezoidal connection.
• n = 0: Axes driven via trapezoidal
• n = 1: Coupling axis
Restriction:
Figure

62628 TRAFO6_TRP_SPIND_LEN[n]
MD number Trapezoid lengths, n = 0...3

0.0, 0.0, 0.0, 0.0
POWER ON
Data type: DOUBLE
Meaning: This machine data defines the lengths of the trapezoidal connection.
62629 TRAFO6_VELCP[n]
MD number Cartesian velocity [no.]: 0...2

10000.0, 10000.0, 10000.0
Changes effective immediately Protection level: 2 / 7 Unit: mm/min, inch/min
Data type: DOUBLE
Meaning: This machine data can be set to specify a velocity for Cartesian directions for tra-
versing blocks containing G0.
• n = 0: Velocity in x direction
• n = 1: Velocity in y direction
• n = 2: Velocity in z direction
62630 TRAFO6_ACCCP[n]
MD number Cartesian acceleration [no.]: 0...2

2.0, 2.0, 2.0
Changes effective immediately Protection level: 2 / 7 Unit: m/s2
Data type: DOUBLE
Meaning: This machine data can be set to specify an acceleration rate for Cartesian direc-
tions for traversing blocks containing G0.
• n = 0: Acceleration in x direction
• n = 1: Acceleration in y direction
• n = 2: Acceleration in z direction

62631 TRAFO6_VELORI[n]
MD number Orientation angle velocities [no.]: 0...2

10.0, 10.0, 10.0
Changes effective immediately Protection level: 2 / 7 Unit: rpm
Data type: DOUBLE
Meaning: This machine data can be set to specify a velocity for orientation angles for travers-
ing blocks containing G0.
• n = 0: Velocity angle A
• n = 1: Velocity angle B
• n = 2: Velocity angle C
62632 TRAFO6_ACCORI[n]
MD number Orientation angle acceleration rates [no.]: 0...2

1.0, 1.0, 1.0
Changes effective immediately Protection level: 2 / 7 Unit: Degree/s2
Data type: DOUBLE
Meaning: This machine data can be set to specify an acceleration rate for orientation angles
for traversing blocks containing G0.
• n = 0: Acceleration angle A
• n = 1: Acceleration angle B
• n = 2: Acceleration angle C
62633 TRAFO6_REDVELJOG[n]
MD number Reduction factor for Cartesian velocities in JOG [no.]: 0...2

Changes effective immediately Protection level: 2 / 7 Unit: %
Data type: DOUBLE
Meaning: Not functional!

5.1 Channelspecific signals
DB21-DB28 Number of active G function of G function group 25 (tool orientation reference)

DBB232

Edge evaluation: Signal(s) updated:
Meaning 1 ORIWKS: The tool orientation is defined in the workpiece coordinate system (WCS)
and is thus not dependent on the machine kinematics.
Meaning 2 ORIMKS: The tool orientation is defined in the machine coordinate system and is
thus dependent on the machine kinematics. This is the default setting in SW2.1 and
higher.
Meaning 3 ORIPATH: The tool orientation is implemented with the programmed lead and side
angles relative to the path tangent and surface normal vector.
DB21-DB28 PTP traversal active

DBX317.6

Signal state 1 PTP traversal active
Signal state 0 CP traversal active
DB21-DB28 Transformation active

DBX33.6

Signal state 1 Active transformation
Signal state 0 Transformation not (no longer) active
Signal irrelevant for ... No transformation used

DB21-DB28 Activate PTP traversal

DBX29.4

Signal state 1 Activate PTP traversal
Signal state 0 Activate CP traversal

6.1 General information about start-up
Examples 6
Note
In SW 6.4 and higher, the compile cycles are supplied as loadable modules.
The general procedure for installing such compile cycles can be found in TE0.
The specific installation measures for this compile cycle can be found from
Section 6.2 onwards.
MMC SW 3.5 or higher is required.

For the 810D, an NCK Jeida card supporting “handling transformation package”
kinematic transformation P2.3 and higher) must be available and for the 840D,
an NCK-OEM Jeida card (technology card 2 or higher).
The following measures need only be taken for 840D controls, since the
“handling transformation package” is integrated as a standard feature in the
810D.

1. Back up As the first step in installing a compile cycle function on the 840D, the original
SRAM (840D only) card inserted in the NCU must be replaced by the technology card.
recent software version and likewise requires the static (battery-backed) control
system memory to be erased. To avoid the consequential loss of all data in the
SRAM, back up the SRAM before performing the operation. For a detailed
description, please see the Manufacturer/Service Documentation “SINUMERIK
840D/SIMODRIVE 611D Installation and Start-Up Guide”:
2. Switch to the “Services” operating area.
3. Press the “Series start-up” softkey.
4. Select “NC” and “PLC” as the areas to be saved and enter a name of your
the RETURN key.
5. If the control system contains machine-specific compensation data, these
must be saved in a separate archive file:
Press the “Data out” softkey and select the required data under “NC active
data”:
“Measuring system compensations”,
“Sag/angularity compensation” and
“Quadrant error compensation”.
Save this data by pressing the “Archive...” softkey and specifying a file name
for a second archive file.
Keep the archive files you have created in a safe place. They will allow you to
restore original settings in your system.
2. Insert the PC
card (840D only)
S Deactivate the control.
slot of the NCU.

1. Turn switch S3 on the front panel of the NCU to 1.
3. During run-up, the firmware is copied from the PC card to the NCU memory.
4. Wait until number “6” is displayed on the NCU digital display
(after approximately one minute).
Caution
! If the number “6” does not appear, an error has occurred:

3. Copy back In order to copy the SRAM contents back into the control, please proceed as
SRAM (840D only) described in Section “Data backup” (series start-up) in /IAD/, SINUMERIK 840D
Installation and Start-Up Guide. Please read all information provided by the

S Select “Data in” and “Archive...”. Then load the archive with backup
compensation data (if applicable).

6.2 Starting up a kinematic transformation
6.2 Starting up a kinematic transformation
The next step necessary to start up the kinematic transformation is to activate

the handling transformation package (option).
Set the option data for handling transformation package.
Alarms Enter the alarm texts in language-specific MMC text files ALC_GR.COM and
ALC_UK.COM.
Set option data for transformation.
Configure the
transformation 1. Enter the transformation type 4099 or 4100 (if PTP traversal is active) in MD
24100:TRAFO_TYPE_1.
2. Enter the assignment of the channel axes involved in the transformation in
MD 24110: TRAFO_AXES_IN_1[0 to 5].
Axis numbers start at 1.
3. Enter the geometry axes corresponding to the Cartesian degrees of freedom
of the machine in MD 24120: TRAFO_GEOAX_ASSIGN_TAB_1[0 to 2].
4. Enter the kinematic identifier in MD 62600: TRAFO6_KINCLASS.
5. Enter the identifier for special kinematics in MD 62602:
TRAFO6_SPECIAL_KIN if you have used a special kinematic.
6. Enter the number of axes in MD 62605: TRAFO6_NUM_AXES.
7. Change the default setting in MD 62618: $MC_TRAFO6_AXES_DIR[ ] if the
traversing directions of the axes involved are not the same as the directions
defined in the transformation package.
8. Enter the data which define the basic axes:
– Basic axis identifier in MD 62603: TRAFO6_MAIN_AXES
– Basic axis lengths in MD 62607: TRAFO6_MAIN_LENGTH_AB
9. Enter any changes to the axis sequence in MD 62620:
TRAFO6_AXIS_SEQ.
10. Enter the data which define the hand:
– Wrist axis identifier in MD 62604: TRAFO6_WRIST_AXES
– Parameters for hand in MD 62614: TRAFO6_DHPAR4_5A, MD 62615:
TRAFO6_DHPAR4_5D and 62616: TRAFO6_DHPAR4_5ALPHA
– MD 62606: TRAFO6_A4PAR
11. Enter the geometry parameters:
– Frame T_IRO_RO
– Frame T_X3_P3
– Frame T_FL_WP
12. Enter the position in relation to the calibration point in MD 62617:
TRAFO6_MAMES.
13. Enter the Cartesian velocities and acceleration rates.
J

7.2 NC machine data

ence
Channel-specific
21–28 33.6 Transformation active K1
21–28 232 Number of active G function of G function group 25 (ORIWKS,
ORIMKS, ORIPATH)
21–28 317.6 PTP traversal active F2
21–28 29.4 Activate PTP traversal F2
7.2 NC machine data

ence
General ($MN_ ... )
10620 EULER_ANGLE_NAME_TAB[n] Name of Euler angle R1
19410 TRAFO_TYPE_MASK, bit 4 Option data for OEM transformation A2
21100 ORIENTATION_IS_EULER Angle definition for orientation programming F2
21110 X_AXIS_IN_OLD_X_Z_PLANE Coord. system for automatic FRAME def. F2
24100 TRAFO_TYPE_1 Definition of transformation F2
24110 TRAFO_AXES_IN_1 Axis assignment for transformation 1 F2
24120 TRAFO_GEOAX_ASSIGN_TAB_1 Assignm. of geometry axes to channel axes F2
62600 TRAFO6_KINCLASS Kinematic category Sect. 2.1

62601 TRAFO6_AXES_TYPE Axis type for transformation Subs.
2.3.2
62602 TRAFO6_SPECIAL_KIN Special kinematic type Subs.
2.4.7
62603 TRAFO6_MAIN_AXES Basic axis identifier Subs.
2.3.2
62604 TRAFO6_WRIST_AXES Wrist axis identifier Subs.
2.3.2
62605 TRAFO6_NUM_AXES Number of transformed axes Subs.
2.3.2
62606 TRAFO6_A4PAR Axis 4 is parallel/anti-parallel to last basic Subs.
axis 2.3.2
62607 TRAFO6_MAIN_LENGTH_AB Basic axis lengths A and B Subs.
2.3.2
62608 TRAFO6_TX3P3_POS Attachment of hand (position component) Subs.
2.3.2
62609 TRAFO6_TX3P3_RPY Attachment of hand (rotation component) Subs.
2.3.2
62610 TRAFO6_TFLWP_POS Frame between wrist point and flange (posi- Subs.
tion component) 2.3.2
62611 TRAFO6_TFLWP_RPY Frame between wrist point and flange (rota- Subs.
tion component) 2.3.2
62612 TRAFO6_TIRORO_POS Frame between base center point and inter- Subs.
nal system (position component) 2.3.2
62613 TRAFO6_TIRORO_RPY Frame between base center point and inter- Subs.
nal system (rotation component) 2.3.2

7.3 Alarms
62614 TRAFO6_DHPAR4_5A Parameter A for configuring the hand Subs.

2.3.2
62615 TRAFO6_DHPAR4_5D Parameter D for configuring the hand Subs.
2.3.2
62616 TRAFO6_DHPAR4_5ALPHA Parameter ALPHA for configuring the hand Subs.
2.3.2
62617 TRAFO6_MAMES Offset between mathematical and mechani- Subs.
cal zero points 2.3.2
62618 TRAFO6_AXES_DIR Matching of physical and mathematical di- Subs.
rections of rotation 2.3.2
62619 TRAFO6_DIS_WRP Mean distance between wrist point and sin-
gularity
62620 TRAFO6_AXIS_SEQ Rearrangement of axes Subs.
2.3.2
62621 TRAFO6_SPIN_ON Configuration includes triangular or trapezoi-
dal spindles
62622 TRAFO6_SPIND_AXIS Axis that is controlled by triangular spindle
62623 TRAFO6_SPINDLE_RAD_G Radius G for triangular spindle
62624 TRAFO6_SPINDLE_RAD_H Radius H for triangular spindle
62625 TRAFO6_SPINDLE_SIGN Sign for triangular spindle
62626 TRAFO6_SPINDLE_BETA Angular offset for triangular spindle
62627 TRAFO6_TRP_SPIND_AXIS Axes driven via trapezoidal connection
62628 TRAFO6_TRP_SPIND_LEN Trapezoid lengths
62629 TRAFO6_VELCP Cartesian velocities Subs.
2.3.2
62630 TRAFO6_ACCCP Cartesian acceleration rates Subs.
2.3.2
62631 TRAFO6_VELORI Orientation angle velocities Subs.
2.3.2
62632 TRAFO6_ACCORI Orientation angle acceleration rates Subs.
2.3.2
62633 TRAFO6_REDVELJOG Reduction factor for Cartesian velocities in
JOG
7.3 Alarms
J

06.05

MCS Coupling (TE6)

2.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE6/2-5
2.2 Description of MCS coupling functions . . . . . . . . . . . . . . . . . . . . . . . . 3/TE6/2-6
2.2.1 Defining coupling pairs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE6/2-6
2.2.2 Switching the coupling ON/OFF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE6/2-6
2.2.3 Tolerance window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE6/2-7
2.3 Description of collision protection functions . . . . . . . . . . . . . . . . . . . . 3/TE6/2-8
2.3.1 Defining protection pairs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE6/2-8
2.3.2 Switching the collision protection ON/OFF . . . . . . . . . . . . . . . . . . . . . 3/TE6/2-8
2.3.3 Configuring example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE6/2-9
2.4 User-specific configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE6/2-10
2.5 Special operating states . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE6/2-11
4.1 General machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE6/4-15
4.2 Channel-specific machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE6/4-16
4.3 Axis-specific OEM machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE6/4-17
5.1 Axis-specific VDI OUT signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE6/5-21
5.2 Axis-specific VDI IN signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE6/5-22
6 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE6/6-23
6.1 General start-up of a compile cycle function . . . . . . . . . . . . . . . . . . . 3/TE6/6-23
6.2 Update of NCKOEM_CC_0013_01.02.00 . . . . . . . . . . . . . . . . . . . . . 3/TE6/6-24
7.1 Machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE6/7-25
7.2 Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE6/7-25
J

06.05
Notes

06.05 MCS Coupling (TE6)
1 Brief Description
Brief Description 1
MCS coupling A 1:1 coupling in the machine coordinate system (MCS coupling) has been
introduced in the compile cycle application.
The axes involved in the coupling are defined in an axial machine data. The
machine data is updated by RESET to allow new axis pairs to be defined in
operation.
CC_Master There are CC_Master and CC_Slave axes. A CC_Master axis can have several
CC_Slave CC_Slave axes, but a CC_Slave axis cannot be a CC_Master axis (error
message).
The coupling between these pairs is activated and deactivated by means of an
OEM-specific language command and can thus be active in all operating
modes. If a CC_Slave axis is programmed in a part program, either an alarm is
output or a ”GET” operation initiated
(depending on MD30552: AUTO_GET_TYPE).
The following restrictions apply to CC-Slave axes
S It cannot be made into a PLC axis

S It cannot be made into a command axis
S It cannot be operated separately from its CC_Master axis in JOG mode.
A tolerance window between the CC_Master and CC_Slave axes is specified
via an axial machine data. When an MCS coupling is active, the actual values of
the two axes must not leave this window.
Collision To protect machining heads against collision in decoupled operation or in

protection mirrored coupling mode, a collision protection can be set in a machine data.
This is then activated either via a machine data or via the VDI-IN interface. The
assignment of the protected pairs is not related to the CC_Master and
CC_Slave pairs.
J

MCS Coupling (TE6) 06.05
1 Brief Description
Notes

2.1 General
2.1 General
If a machine tool has 2 or more mutually independent traversing machining
heads (in this case K1 (Y/ Z/ C/ A/ W or K2 (Y2/ Z2/ C2/ A2/ W2)), and if a
transformation needs to be activated for the machining operation, the orientation
axes cannot be coupled by means of the standard coupling functions (COPON,
TRAILON). The only coupling function currently available in the machine
coordinate system (MCS) is the GANTRY function. However, this cannot be
activated in a part program and only permits 1:1 couplings.
Fig. 2-1
The compile cycle function “MCS coupling” allows a 1:1 or 1:–1 coupling in
the machine coordinate system to be switched ON and OFF by part program
commands.

2.2 Description of MCS coupling functions
2.2.1 Defining coupling pairs
A CC_Master axis is assigned to a CC_slave axis by means of axial machine

data MD 63540: CC_MASTER_AXIS. Axis assignments to a coupling can only
be altered when the coupling is deactivated.
A CC_Slave axis is displayed in axial VDI-Out byte DB3x DBB97 bit0.
Prerequisite
S The CC_Master and CC_Slave axes must be either both rotary axes or both
linear axes
S Spindles cannot be coupled by this function

S Neither the CC_Master nor CC_Slave axis may be an exchange axis
($MA_MASTER_CHAN[AXn]=0)
2.2.2 Switching the coupling ON/OFF
CC_COPON() CC_COPON([A1][A2][A3][A4][A5])
Switch on the 1:1 coupling.
Tolerance window monitoring is active.
CC_COPONM() CC_COPON([A1][A2][A3][A4][A5])
Switch on the 1:–1 coupling (mirror).
Tolerance window monitoring is not active.
A1–A5 are axis names. These can be used to program either the machine axis
names, channel axis names or geometry axis names of the axis assigned to a
coupling. In other words, either the CC_Master axes or the CC_Slave axes or
both can be programmed at the same time. An alarm is output if an axis not
involved in a coupling is programmed in A1–A5. All defined couplings are
switched on with CC_COPON() or CC_COPONM(). An active coupling is
displayed in axial VDI-Out byte DB3x DBB97 bit1 for the CC-Slave axis. If
mirroring is active, it is displayed additionally in DB3xDBB97 bit2.
The coupling can be suppressed in axial VDI-In byte DB3x DBB24 bit2 for the
CC_Slave axis. This does not generate an alarm.
CC_COPOFF() CC_COPOFF([A1][A2][A3][A4][A5])

As CC_COPON or CC_COPONM() except for the fact that no alarm is

generated if A1–A5 is used to program an axis that is not involved in a coupling.
An existing coupling can also be switched off via the axial VDI-In bit on the
CC-Slave axis.
The coupling can be switched ON or OFF only if all axes involved are
stationary.
2.2.3 Tolerance window
An axial machine data MD 63541: CC_POSITION_TOL is used to define a

monitoring window. The absolute difference between the actual values of
CC_Slave axis and CC_Master axis must never be greater than this value.
Alarm 70010 is output if the tolerance window is violated.
The monitoring function is not active:
S If the machine data is set to 0.

S If the coupling is switched off.
S If axis/spindle inhibit is set for one of the axes.
S If an axis is in follow-up mode.
S For the 1:–1 coupling.
If the offset stored at the instant of coupling activation changes when 1:1
coupling is active, the change is indicated by NC => PLC VDI-SS DB3x DBB97
Bit 3.
Note
The offset might change:
S If the SW limit monitor was active for one axis during the main run.
S If one axis has been switched to follow-up mode.
S If collision protection was active for one axis.

2.3 Description of collision protection functions
2.3.1 Defining protection pairs
A ProtecMaster (PMaster) is assigned to a ProtecSlave axis (PSlave) by means

of axial machine data MD 63542: CC_PROTECT_MASTER. The protection
pairs can thus be defined independently of the coupling pairs.
A PSlave axis may act as the PMaster axis for another axis.
The axes must be either both rotary axes or both linear axes.
2.3.2 Switching the collision protection ON/OFF
Axial machine data MD 63544: CC_COLLISION_WIN on the PSlave axis is

used to indicate the minimum clearance between PSlave and PMaster. No
collision protection is implemented if the value entered here is less than 0. The
offset of the 0 position between PSlave and PMaster is entered in axial machine
data MD 63545 CC_OFFSET_MASTER (PSlave axis).
The monitoring function for each individual axis must be enabled in machine
data MD 63543: CC_PROTECT_OPTIONS before collision protection is
switched on. In the same machine data for the PSlave axis, a setting is entered
to specify whether the collision protection must be active continuously or
whether it is activated via VDI interface signal (PLC => NC) DB3x DBB24 bit3.
If collision protection is active, the setpoint positions of the PSlave and PMaster
in the next IPO cycle are extrapolated and monitored in the IPO clock cycle
using the current setpoint position and current velocity.
If the axes violate the minimum clearance, they are braked at the configured
maximum acceleration rate (MD 32300: MAX_AX_ACCEL) or at a 20% faster
acceleration rate (defined in MD 63543: CC_PROTECT_OPTIONS). An alarm
is output as soon as the axes reach zero speed.
Warning
! If the axes are forced to brake, the positions displayed in the workpiece
coordinate system are incorrect!
These are not re-synchronized again until a system RESET.
If the axes are already violating the minimum clearance when collision
protection is activated, they can only be traversed in one direction (retraction
direction). The retraction direction is stored in MD 63543:
CC_PROTECT_OPTIONS.

The collision protection status is optionally displayed in axial VDI-Out byte

DB3x DBB66 bit0 of the PSlave.
S DB3x DBB66 Bit0=1 => collision protection activated

S DB3x DBB66 Bit0=0 => collision protection deactivated
The output is activated via bit7 in MD 63543: CC_PROTECT_OPTIONS of the
PSlave axis.
2.3.3 Configuring example
CC_COLLISION_WIN[PSlave]
CC_PROTECT_OPTIONS[PMaster] bit0=0
PMaster
PSlave
CC_PROTECT_OPTIONS[PSlave] bit0 = 1
CC_OFFSET_MASTER[PSlave]
Fig. 2-2 Configuring example
Note
Since the collision protection function extrapolates the target positions
from the “current velocity + maximum acceleration (or +20%)”,
the monitoring alarm may be activated unexpectedly at reduced acceleration
rates:
Example:
PMaster = X, PSlave = X2, $MA_CC_COLLISION_WIN = 10 mm
Starting point in part program: X=0.0 X2=20.0
N50 G0 X100 X2=90 ; the monitoring alarm is activated
because X and X2 are interpolating together: For this reason,
the acceleration rate of X2 < maximum acceleration.
Remedy:
S N50 G0 POS[X]=100 POS[X2]=90 or
S switch the monitoring function off

2.4 User-specific configurations
2.4 User-specific configurations
Parking the In this context, “parking” means that the relevant machining head is not involved
machining head in workpiece machining. All axes are operating under position control and
positioned at exact stop.
Even if a machining head is being used in production, coupling should be
active! This is essential primarily if only the second head (Y2....) is being used.
“Axis/spindle inhibit” must then be set axially (PLC –> NCK) for the “parked”
head.
Note
When an axis/spindle inhibit is active, a part program can be executed if this
axis is not operating under position control.
Spindle Since an MCS coupling cannot be activated for spindles, other types of solution
functionalities should be configured for these.
S Position spindle (SPOS= .....)

A cycle is called instead of SPOS.
SPOS is called for all active spindles in this cycle.
S Speed input
Speed and direction of rotation inputs can be detected via synchronized
actions or PLC and passed on to all other active spindles.
S Synchronous spindle function

2.5 Special operating states
Reset The couplings can remain active after a RESET.
Reorg No non-standard functionalities.
Block search During a block search, the last block containing an OEM-specific language
command is always stored and then output with the last action block. This
feature is illustrated in the following examples.
The output positions of the axes are always 0.
Example 1:
N01 M3 S1000
N02 G01 F1000 X10 Y10
N03 CC_COPON( X, Y)
TARGET:
If this program is started normally, axes X and Z traverse to X10 Z10 in the
decoupled state. After block search to TARGET: Axes X and Y traverse to this
position in the coupled state!
Example 2:
N01 M3 S1000
N02 CC_COPON( X)
N03 G01 F1000 X100 Y50
N04 CC_COPOFF( X)
N05 CC_COPON( Y)
N06 Y100
N10 CC_COPOFF()
TARGET:
After block search to TARGET: The axes traverse to X100 Y100 in the
decoupled state.

Example 3:
N01 CC_COPON( X, Y, Z)
N02 ...
...
N10 CC_COPOFF( Z)
TARGET:
After block search to TARGET: If no coupling is active!
Single block There are no nonstandard functionalities.

J

Supplementary Conditions
3
Validity The function is configured only for the first channel.
NCU 572.2 The MCS Coupling function can be utilized on NCU 572.2 hardware only on
condition that is has been specifically enabled for the customer.
Braking behavior Braking behavior of path axes at SW limit

The programmable acceleration factor ACC for deceleration at the SW limit
refers to path axes.
The axes in an MCS coupling are principal axes that are referred to as
geometry axes due to their geometric arrangement.
Braking geometry axes using synchronized actions
The faster deceleration capacity as required for path axes can be implemented
for geometry axes as follows using a synchronized action.
ACC[x2] = 190
J

Notes


The MCS coupling function is implemented as a compile cycle application. In
addition to the function-specific machine data, the following option data must be
set.
Warning
Note
The machine data, which contain the parameters for the coupling, can only be
modified when the coupling is not active.

28090 NUM_CC_BLOCK_ELEMENTS
MD number Number of block elements for compile cycles.
Default setting: 0 Minimum input limit: 0 Maximum input limit:
POWER ON
Data type: DWORD
Meaning: Number of block elements for compile cycles.
Dynamic memory is reserved.
MN_NUM_CC_BLOCK_ELEMENTS = 1 (or higher)
28100 NUM_CC_BLOCK_USER_MEM
MD number Total size of usable block memory for compile cycles
POWER ON
Data type: DWORD
Meaning: Total size of block memory for compile cycles available to user in KB.
Dynamic memory is reserved.
The memory is allocated in blocks of 128 bytes.

4.3 Axis-specific OEM machine data
63540 CC_MASTER_AXIS
MD number Specifies the CC_Master axis assigned to a CC_Slave axis
RESET
Data type: INT
Meaning: With a value (n) of higher than 0, the axis is a CC_Slave axis. This ma-
chine data specifies the associated CC_Master axis.
The machine axis number is entered here.
The channel-specific machine data
20070 MC_AXCONF_MACHAX_USED[ n–1 ] and
20080 MC_CHANAX_NAME_TAB[n–1]
can be used to determine the machine axis and axis name.
Notice:
CC_Master and CC_Slave must be of the same axis type

(i.e. both linear or both rotary).
CC_Master and CC_Slave must not be a spindle.

CC_Master and CC_Slave must not be exchange axes.
If the two axes have different dynamic responses, it is advisable to make

the weaker of the two the CC_Master axis.
The machine data may be altered only when the coupling is switched off.
63541 CC_POSITION_TOL
MD number Monitoring window (valid only for CC_Slave axes)
Default setting: 0 Minimum input limit: 0 Maximum input limit: ∞
RESET
Data type: DOUBLE
Meaning: Monitoring window (valid only for CC_Slave axes)
The difference between the actual values of CC_Slave axis and

CC_Master axis must never leave the monitoring window, otherwise an
alarm will be generated.
The following applies:
d = | act [CC_Master ]– (act[CC_Slave] + Offset) | d <= MD63541
Offset = Difference in position between CC_Master and CC_Slave

when coupling is activated.
A setting of 0 deactivates the monitoring function.

63542 CC_PROTEC_MASTER
MD number Specifies the PMaster axis assigned to a PSlave axis
RESET
Data type: INT
Meaning: If the value (n) is greater than 0, the axis is a PSlave axis.
The machine data specifies the associated PMaster axis.
The channel-specific machine data
MD 20070: MC_AXCONF_MACHAX_USED[ n–1 ] and MD 20080:
MC_CHANAX_NAME_TAB[n–1] can be used to define the machine axis
and the axis name.
Notice:
PMaster and PSlave must be of the same axis type
(i.e. both linear or both rotary).
63543 CC_PROTEC_OPTIONS
MD number
RESET
Data type: INT
Meaning:
Bit0 – Bit3 for PMaster and PSlave
Bit0 = 1 Retract in PLUS
Bit1 = 1 Factor 1.2 for maximum braking acceleration rate
Bit2 = 1 Monitoring can be activated even if axis is
not referenced.
Bit3 = 1 Reverse retraction direction if axis is master axis
Bit4 – Bit7 for PSlave only
Bit4 = 1 Monitoring continuously active.
(otherwise switch ON/OFF by PLC)
Bit5 Not used
Bit6 Not used
Bit7 Display active protection in DBx DBX66.0.
63544 CC_COLLISION_WIN
MD number Collision protection window
RESET
Data type: DOUBLE
Meaning: Minimum clearance between this (PSlave) axis and the programmed
PMaster axis. The monitoring function cannot be activated if setting
value is 0. Only the value set for the PSlave is applied.

63545 CC_OFFSET_MASTER
MD number
RESET
Data type: INT
Meaning: Zero point offset between PSlave and PMaster.
Only the value for the PSlave axis is used.

Notes

5.1 Axis-specific VDI OUT signals
5.1 Axis-specific VDI OUT signals
DB31 - 61
DBX66.0 Activate monitor
Data Block
Edge evaluation: No Signal(s) updated: Signal(s) valid from SW: 5.1
Signal state 1 Monitoring is active.
This display must be activated in MD 65543: CC_PROTECT_OPTIONS for the
PSlave axis.
Note: Conflicts may occur in connection with customer-specific
compile cycles.
Signal state 0 Monitor is not active.
DB31 - 61
DBX97.0 Axis is a slave axis
Data Block
Signal state 1 Axis is a CC_Slave axis.
The associated CC_Master axis can be found in the machine data.
Signal state 0 Axis is not a CC_Slave axis.
DB31 - 61
DBX97.1 Activate coupling
Data Block
Signal state 1 Coupling active
Signal state 0 Coupling not active
Signal irrelevant for ......
Application example Displayed only for the CC_Slave axis.
DB31 - 61
DBX97.2 Activate mirroring
Data Block
Signal state 1 Mirroring active (1:–1)
Signal state 0 1:1 coupling active
Signal irrelevant for ...... Relevant only if coupling is active (DBB97.1 = 1)

5.2 Axis-specific VDI IN signals
DB31 - 61
DBX97.3 Offset after point of activation
Data Block
Edge evaluation: Yes Signal(s) updated: Signal(s) valid from SW: 5.1
Signal state 1 New offset following activation
This bit is set to 1 if a particular event (SW/HW limit switch on CC_Slave axis)
causes a change in the offset between CC_Master and CC_Slave stored when
the coupling was activated.
Signal state 0 No new offset since activation
Signal irrelevant for ...... The bit is not set in the RESET phase.
Additional references
5.2 Axis-specific VDI IN signals
DB31 - 61
DBX24.2 Deactivate or disable coupling
Data Block
Signal state 1 An active coupling is not deactivated until the relevant axes are stationary. If
CC_COPON is programmed for this axis, no error message is generated.
Signal state 0 Coupling may be activated
Signal irrelevant for ......
Application example Evaluated only on the CC_Slave axis.
DB31 - 61
DBX24.3 Switch on collision protection
Data Block
Edge evaluation: Yes Signal(s) updated: Signal(s) valid from SW: 5.1
Signal state 1 Collision protection ON
Signal state 0 Collision protection OFF
Signal irrelevant for ...... This signal is processed only if collision protection is not activated in a machine
data (MD 65543: CC_PROTECT_OPTIONS).
Application example Evaluated only on the PSlave axis.

Examples 6
Note
In SW 6.4 and higher, the compile cycles are supplied as loadable modules.
The general procedure for installing such compile cycles can be found in TE0.
You will find the specific extensions of this compile cycle from Section 6.2
onwards.
Saving SRAM As the first step in installing a compile cycle function, the original card inserted
contents in the NCU must be replaced by the technology card.
recent software version and likewise requires the static (battery-backed) control
system memory to be erased. To avoid the consequential loss of all data in the
SRAM, back up the SRAM before performing the operation.
Please proceed as follows:
2. Switch to the ”Services” operating area.
3. Press the ”Series start-up” softkey.
4. Select ”NC” and ”PLC” as the areas to be saved and enter a name of your
the RETURN key.
5. If the control system contains machine-specific compensation data, then
these must be saved in a separate archive file:
S Press the ”Data out” softkey
S Select from the ”NC active data” menu:

– ”Measuring system compensations”
– ”Sag/angularity comp.”
– ”Quadrant error compensation”.
S Save these data by selecting softkey ”Archive...”.
S Enter another file name for a second archive file.
These archive files will enable you to restore the original status if required.
References: For a detailed description, please see the Manufacturer/Service
Documentation ”SINUMERIK 840D/SIMODRIVE 611D Installation and Start-Up
Guide”.

6.2 Update of NCKOEM_CC_0013_01.02.00
Insert the PC card

S Switch off control system.
slot of the NCU.

1. Turn switch S3 on the front panel of the NCU to 1
3. When the system powers up, the firmware is copied from the
PC card into the NCU memory.
4. Wait until number ”6” appears on the NCU digital display
(after approximately 1 minute).
Note
If the number ”6” does not appear, one of the following errors may have
occurred:
Copy back To copy the saved data back into the control system, proceed as described in
SRAM contents Section 12.2 (series start-up). Please read all information provided by the

S Select ”Data in” and ”Archive...”.
S Load the archive with the backed up compensation data (if applicable).
6.2 Update of NCKOEM_CC_0013_01.02.00
S Extended functionality CC_COPONM and collision protection.

S Relocated machine data numbers, alarm numbers, VDI bytes and bits and
new compile cycle no. (function can also be supplied on a technology card).
J

7.2 Alarms

7.1 Machine data

ence
28090 NUM_CC_BLOCK_ELEMENTS Number of block elements for compile cycles
28100 NUM_CC_BLOCK_USER_MEM Total size of usable block memory for compile
cycles
63540 CC_MASTER_AXIS Specifies the CC_Master axis assigned to a
CC_Slave axis
63541 CC_POSITION_TOL Monitoring window
63542 CC_PROTEC_MASTER Specifies the PMaster axis assigned to a PSlave
axis
63543 CC_PROTEC_OPTIONS
63544 CC_COLLISION_WIN Collision protection window
63545 CC_OFFSET_MASTER Zero point offset between PSlave and PMaster
7.2 Alarms
File: MBDDE.INI If file: “C:\OEM\MBDDE.INI” does not exist, please create it. Open the file in the
editor and insert the section: [Text Files].
In file: “C:\OEM\MBDDE.INI”, in section: [Text Files], add an entry for the alarm
text files of the function:
S CZYK=C:\OEM\TF_
Alarm text files Create the language-specific alarm text files:
S C:\OEM\TF_xx.COM
xx = GR for German, UK for English
Alarm text file: Enter the following alarm texts in the German alarm text file:
TF_GR.COM
075050 0 0 “Channel %1, incorrect MD configuration. Error no. %2”
075051 0 0 “Channel %1 block %2 CC_COPON CC_COPOFF error no. %3”
075060 0 0 “Channel %1 tolerance window exceeded on axis %2”
075061 0 0 “Channel %1 coupling active on axis %2”
075062 0 0 “Channel %1 axes not at standstill axis %2”

7.2 Alarms
075070 0 0 “Channel %1 incorrect machine data for collision protection %2”

075071 0 0 “Channel %1 collision monitoring axis %2”
Alarm descriptions A detailed description of the individual alarms is given below:
75050 Channel %1 incorrect MD configuration. Error no. %2

Explanation Incorrect configuration in MD $MA_CC_MASTER_AXIS
Error no. %2 is displayed as a decimal value of the bit-coded error mask:
21 = 2: This or the CC_Master axis is a spindle.
22 = 4: No coupling between rotary and linear axes.
23 = 8: Axes must not be exchange axes.
Reaction
Remedy Check machine data.
Delete criterion RESET
75051 Channel %1 block %2 CC_COPON CC_COPOFF error code %3

Explanation Error in the interpretation of CC_COPON or CC_COPOFF
%3 = 1 Wrong argument programmed
%3 = 10 An axis for which a coupling has not been defined
has been programmed in CC_COPON(x).
%3 = 20 Too many arguments
%3 = 100 Internal error
%3 = 200 Internal error
Reaction Interpreter stop
Remedy Correct part program.
75060 Channel %1 tolerance window exceeded axis %2

Explanation The actual value difference between the CC_Slave axis %2 and its CC_Master
axis is outside the configured tolerance window.
Reaction Axes brake along braking ramp.
Remedy Check configured tolerance window.
Compare the dynamic settings of the axes involved.
Check the mechanics of the axes.
75061 Channel %1 coupling active axis %2

Explanation Machine data MD 63000: CC_MASTER_AXIS has been changed when the
coupling was active.
Reaction Axes brake along braking ramp.

7.2 Alarms
Remedy Reset machine data to its old value, switch off the coupling and then enter the
new value.
75062 Channel %1 axes not in standstill axis %2

Explanation The CC_Master and/or CC_Slave axis(es) were not at standstill when the
coupling was switched on.
%2 = 1 No valid master axis has been parameterized.
%2 = 2 When the coupling was activated, the CC_Master and/or
CC_Slave axis was not stationary.
%2 = 3 When the coupling was activated, one axis was not
active in this channel.
Reaction Coupling cannot be activated.
Remedy Input G601 for path axes or enter a STOPRE before the CC_COPON
command.
75070 Channel %1 incorrect machine data for collision protection %2

Explanation Incorrect machine data for collision protection.
Reaction Interpreter stop
Remedy Correct the machine data.
Both axes must be either rotary axes or linear axes!
75071 Channel %1 collision monitoring axis %2

Explanation Collision monitor has responded.
Reaction Axes brake at maximum acceleration or at a 20% higher acceleration rate.
Remedy
Detailed explanations of all further alarms, which may occur, appear in

J

7.2 Alarms
Notes

06.05

Retrace Support (TE7)

2.1.1 Definition of terms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE7/2-6
2.1.2 Functional sequence (principle) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE7/2-7
2.1.3 Retraceable contour area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE7/2-9
2.2 Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE7/2-10
2.2.2 Memory configuration: Block memory . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE7/2-10
2.2.3 Memory configuration: Heap memory . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE7/2-11
2.2.4 RESU main program memory area . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE7/2-12
2.2.5 RESU subroutines archive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE7/2-13
2.2.6 ASUB enable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE7/2-13
2.2.7 PLC user program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE7/2-14
2.2.8 Function-specific alarm texts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE7/2-14
2.3 Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE7/2-15
2.3.1 RESU start/stop/Reset (CC_PREPRE) . . . . . . . . . . . . . . . . . . . . . . . 3/TE7/2-15
2.4 RESU-specific part programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE7/2-17
2.4.1 Main program (CC_RESU.MPF) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE7/2-17
2.4.2 INI program (CC_RESU_INI.SPF) . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE7/2-18
2.4.3 END program (CC_RESU_END.SPF) . . . . . . . . . . . . . . . . . . . . . . . . 3/TE7/2-20
2.4.4 Retrace support ASUB (CC_RESU_BS_ASUP.SPF) . . . . . . . . . . . 3/TE7/2-20
2.4.5 RESU-ASUP (CC_RESU_ASUP.SPF) . . . . . . . . . . . . . . . . . . . . . . . . 3/TE7/2-21
2.5 Retrace support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE7/2-22
2.5.1 Block search with calculation on contour . . . . . . . . . . . . . . . . . . . . . . 3/TE7/2-22
2.5.2 Repositioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE7/2-23
2.5.3 Temporal conditions affecting NC START . . . . . . . . . . . . . . . . . . . . . 3/TE7/2-23
2.5.4 Block search from last main block . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE7/2-24
2.6 Function-specific display data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE7/2-25
2.6.1 Channel-specific GUD variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE7/2-25

06.05
3.1.1 Within subroutines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE7/3-29

3.1.2 Within program loops . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE7/3-29
3.1.3 Full circles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE7/3-30
3.1.4 Automatically generated contour elements . . . . . . . . . . . . . . . . . . . . 3/TE7/3-30
3.2 Supplementary conditions for standard functions . . . . . . . . . . . . . . . 3/TE7/3-31
3.2.1 Axis replacement, 1st and 2nd geometry axis . . . . . . . . . . . . . . . . . . 3/TE7/3-31
3.2.2 Channel axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE7/3-31
3.2.3 Block numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE7/3-31
3.2.4 Block search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE7/3-31
3.2.5 Transformations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE7/3-32
3.2.6 Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE7/3-32
3.2.7 Frames . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE7/3-32
3.2.8 Tool offsets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE7/3-33
4 Data Description (MD, SD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE7/4-35
4.1 RESU-specific machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE7/4-35
5.1.1 Signals to channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE7/5-37
5.1.2 Signals from channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE7/5-38
6 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE7/6-39
7.1 Machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE7/7-41
7.2 Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE7/7-42
7.2.1 System alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE7/7-42
7.2.2 RESU-specific alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE7/7-42
J

06.05 Retrace Support (TE7)
1 Brief Description
1
Brief Description
Function The “continue machining - retrace support” technological function (“RESU” in
the remainder of this document) supports the retracing of uncompleted 2-dimen-
sional machining processes such as laser cutting, water jet cutting, etc.
In the event of a fault during the machining process, e.g. loss of the laser, RESU
can be used even by machine operators who do not have specific knowledge of
the active part program to interrupt machining and travel back along the contour
from the interruption point to a program continuation point necessary for ma-
chining purposes.
The machine operator initiates the retrace at the program continuation point. As
part of the retrace process, an implicit block search takes place along the con-
tour with calculation followed by repositioning on the contour and automatic re-
tracing of the part program machining process.
The retrace option is selected and deselected in advance using part program
commands within the machining program. The program continuation point can
be selected at any position within the contour ranges specified in this way.
Program continuation
point
2. Geometry axis
N 30 Retraceable area
N 20
N 15 CC_PREPRE(1)
(RESU start) N 40
Interruption
point
N 10 N 50
N 60
N 65 CC_PREPRE(0)
N 70 (RESU stop)
1. Geometry axis
Fig. 1-1 Programmed contour with program continuation and interruption points
Precise retracing of contours is possible on all programmed contours compris-

ing straight and circular elements. During retracing, other programmed contour
elements such as splines or automatically inserted non-linear contour elements
(circle, parable, etc. e.g. through tool radius compensation) are mapped as
straight lines through the start and end points of the corresponding contour ele-
ment, thereby preventing precise retracing of contours.

Retrace Support (TE7) 06.05
1 Brief Description
Function code The code for the “retrace support” technological function for function-specific
identifiers of program commands, machine data, etc. is:
S RESU= REtrace SUpport
Restrictions The “retrace support” technological function is subject to the following restric-
tions:
S The technological function is only available in the 1st channel of the NC.
Note
The technological function is only available in the 1st channel of the NC.
Compile cycle The “retrace support” technological function is a compile cycle.

described in:


J

In order to be able to resume interrupted machining at a specific point in a part
program, a block search can be carried out using the “Block search with cal-
culation on contour” standard function. However, this requires detailed knowl-
edge of the part program in order to be able to enter the block number of the
part program block required for the block search (i.e. the number of the block
the search needs to locate).
The “Continue machining - Retrace Support” technological function (referred to
as RESU below) supports the continuation of the machining operation by
means of an implicit block search with calculation on the contour without the
machine operator requiring knowledge of the part program block required.
Continue machining might be required for example in a laser cutting application
if the laser is lost during the machining operation and machining needs to re-
sume at the point at which it was interrupted.
RESU provides the following automatic subfunctions to support program contin-
uation:
– Function-specific reverse travel along the contour to the required pro-
gram continuation point
– Automatic identification of the part program block associated with the
program continuation point
– Block search with calculation on the contour for the part program block
identified
– Repositioning on the contour at the program continuation point
– Continuation of part program machining
In order to be able to approach the required program continuation point exactly,
it is possible to switch several times between reverse and forward travel along
the contour during the continue machining process.
RESU is activated by programming the function-specific part program command
CC_PREPRE(1). In the context of RESU, only the contour range between the
RESU start CC_PREPRE(1) and the interruption point (NC STOP) can be re-
traced.
Once RESU has been launched, all part program blocks in which traversing
movements are programmed are logged by RESU for possible subsequent re-
verse travel. Contour ranges for which continue machining is irrelevant can be
removed from the log using RESU stop CC_PREPRE(0).
Contour ranges not logged are bridged by straight lines between the starting
and end point during reverse/forward travel.

Retraceable contour area
2. Geometry axis
N 30 N 35 CC_PREPRE(0)
N 20
N 15 CC_PREPRE(1)
N 40
N 45 CC_PREPRE(1)
N 10 N 50
N 60
N 65 CC_PREPRE(0)
N 70
1. Geometry axis
Fig. 2-1 Retraceable contour areas
Restrictions RESU is subject to the following application restrictions:

1. Program continuation/reverse travel is only possible for part program blocks,
which contain contour areas of the 1st and 2nd geometry axes.
2. RESU can only be used in the 1st NC channel.
2.1.1 Definition of terms
Interruption point The interruption point is the point of the contour at which the traversing move-
ment comes to a standstill following an NC STOP and reverse travel is acti-
vated.
Program The program continuation point is the point of the contour at which reverse
continuation point travel terminates and program continuation is activated.
Retraceable Retraceable contour areas comprise motion blocks from the 1st and 2nd geom-
contour area etry axes, which are programmed in the part program between the RESU start
CC_PREPRE(1) and RESU stop CC_PREPRE(0) commands. See Fig. 2-1,
page 3/TE7/2-6.

2.1.2 Functional sequence (principle)
Functional The principle sequence of the RESU function between the interruption point,
sequence program continuation point and continuation of part program processing is de-
scribed below:
1. Prerequisites
A part program with motion blocks in the 1st and 2nd geometry axis as well
as the part program command for the RESU start has been started in the 1st
channel.
2. Interrupt part program processing

Part program processing/traversing movement may be interrupted any num-
ber of motion blocks after RESU start by NC STOP.
3. Select reverse travel

Reverse travel is selected using a PLC interface signal.
Interface signal: DB21, DBX0.1 = 1
4. Reverse travel
NC START generates reverse travel along the contour in the first two geom-
etry axes of the channel. Instead of the current machining program, RESU
selects the automatically generated RESU main program. For more informa-
tion about RESU programs, see Section 2.4, page 3/TE7/2-17.
5. End reverse travel

Once the required program continuation point on the contour has been
reached, reverse travel is ended using NC STOP.
6. Select forward travel (optional)

Use the PLC interface signal to deselect reverse travel and activate forward
travel.
Interface signal: DB21, DBX0.1 = 0
7. Forward travel (optional)

NC START generates forward travel along the contour in the first two geom-
etry axes of the channel.
8. End forward travel (optional)

Once the required program continuation point on the contour has been
reached, forward travel is ended using NC STOP.
9. Retrace support
Retrace support is activated using the PLC interface signal.
Interface signal: DB21, DBX0.2 = 1. For retrace support, RESU automati-
cally selects the original machining program and launches a block search
with calculation as far as the program continuation point.
10. Continue part program processing

Part program processing continues at the program continuation point in ac-
cordance with the “Block search with calculation” standard function when
two NC START commands are set one after the other.
The first NC START command processes the action blocks. Once the last
action block has been reached (DB21, DBX32.7 = 1), the continuation
ASUB: CC_RESU_BS_ASUP.SPF is activated.
For more information about the ASUB, see Section 2.4, page 3/TE7/2-17.
The second NC START command processes the approach block before
part program processing is resumed.

Note
Points 3. to 8. can be repeated as often as required.
Following retrace support, a new reverse travel is possible up to a maximum of
the last program continuation point. See Subsection 2.1.3, page 3/TE7/2-9.
Signal chart for The principle sequence of the RESU function is illustrated in Fig. 2-2 as a signal
interface signals chart of the interface signals involved:
Interface signals
1 2 3 4 5 6 7 8
to NC channel (PLC–>NCK)
FWD/REV .... .... ....
DB21.DBX0.1
Start retrace support
DB21.DBX0.2
from NC channel (NCK–>PLC)

Retrace mode active
DB21.DBX32.1
Retrace support active
DB21.DBX32.2
Block search active
DB21.DBX33.4
Action block active
DB21.DBX32.3
Last action block active
DB21.DBX32.6
ASUB stopped
DB21.DBX318.0
Approach block active
DB21.DBX32.4
NC START
DB21.DBX7.1
NC STOP
ÉÉÉ
ÉÉÉ ÉÉÉ
DB21.DBX7.2/3
ÉÉÉ
NC START rejected
with alarm.
Fig. 2-2 Signal chart
Legend
1 Reverse travel is initiated
2 Forward travel is initiated (optional)
3 Retrace support is initiated (block search)
4 Search target (target block) located
5 1st NC START –> Action blocks are output
6 Last action block is active
When the last action block is activated, the RESU ASUB

CC_RESU_BS_ASUP.SPF is launched
7 2nd NC START –> Return travel to approach block for program continuation point
8 Part program processing (target block) resumed

2.1.3 Retraceable contour area

In the event of multiple retrace support operations within a single contour range,
reverse travel along the contour is only ever possible up to the last program
continuation point. On the first reverse travel following RESU start, travel as far
back as the start of the contour range is possible. (See Fig. 2-3. For the purpose
of simplicity, the interruption point (U) is identical in both cases.)
1. Reverse travel
Before the first reverse travel, travel as far back as the start of the first con-
tour element (N20) is possible following RESU start (N15) (W1max). If for
example reverse travel goes as far back as program continuation point W1,
W1 will define the maximum RESU range for any further reverse travel follo-
wing retrace support and forward travel.
2. Reverse travel
The 2nd reverse travel can now only travel as far back as the last program
continuation point W2max = W1. If for example reverse travel goes as far
back as program continuation point W2, the maximum RESU range is re-
stricted further.
W = Program continuation point

U = Interruption point
U1 = U2
2. Geometry axis
W1max W1
1st reverse travel: Maximum RESU range

N 15 CC_PREPRE(1)
W2max W2
2nd reverse travel: Max. RESU range
N 20 G01 X100 F1000

N 10 G0 X10 Y10
1. Geometry axis
Fig. 2-3 Maximum retraceable contour area

2.2 Startup
2.2 Startup


S MD60900+x: CC_ACTIVE_IN_CHAN_RESU[0], Bit 0 = 1
Note
2.2.2 Memory configuration: Block memory
Memory RESU requires additional data in the NCK-internal block memory. The following
configuration memory-configuring channel-specific machine data must be parameterized:


1) See Note.
Note
value x.

2.2 Startup
2.2.3 Memory configuration: Heap memory
Memory RESU requires compile cycles heap memory for the following function-specific
requirements buffers:
1. Block buffer
The larger the block buffer (see Fig. 2-5, page 3/TE7/2-17), the more part
program blocks can be traversed in reverse. 32 bytes are required per part
program block. The block buffer can be parameterized directly.
2. Block search buffer
The block search buffer contains the information required for processing
subroutine searches in the context of RESU. 180 bytes are required for
each subroutine. The block search buffer requires at least 2160 bytes (12
subroutine calls with 180 bytes each). The block search buffer cannot be
parameterized directly. The size of the block search buffer is displayed via a
function-specific GUD variable.
For information about how to create the GUD variable, see Subsec-
tion 2.6.1, page 3/TE7/2-25.
RESU_RING_BUFFER_SIZE
RESU_SHARE_OF_CC_HEAP_MEM
MM_NUM_CC_HEAP_MEM
Block
buffer
MD62571:
MD62572:
MD28105:
MD28105 * MD62572
Block search buffer – MD62571
100
Heap memory for

additional compile
cycles
Fig. 2-4 Compile cycles heap memory allocation
Memory By default, RESU requires the following compile cycles heap memory:
configuration
S MD28105: MM_NUM_CC_HEAP_MEM (heap memory in KB for compile
cycles (DRAM) ) = x + 50
Note: The values indicated must be entered in addition to the existing
machine data value x.
S MD62571: RESU_RING_BUFFER_SIZE (size of block buffer/ring buffer in

part program blocks) = 1000
S MD62572: RESU_SHARE_OF_CC_HEAP_MEM (RESU share of total heap

memory) = 100

2.2 Startup
Error messages The block search buffer requires at least 2160 bytes (corresponding to 12 sub-
routine calls with 180 bytes each). Otherwise, the following alarm will be gener-
ated during NC run-up:
S Alarm “75600 Channel 1 retrace support: Incorrect MD configuration, error

no. 5”
If the block search buffer is not big enough during operation, the following alarm
appears:
S Alarm “75606 Channel 1 retraceable contour shortened”
2.2.4 RESU main program memory area
The following machine data can be used to set the archive for the RESU main
progam CC_RESU.MPF (see Subsection 2.4.1, page 3/TE7/2-17):
S MD62574: RESU_SPECIAL_FEATURE_MASK, Bit 1 = 0

Archive = Dynamic memory area of NC (DRAM)
(default)
S MD62574: RESU_SPECIAL_FEATURE_MASK, Bit 1 = 1

Archive = Static memory area of NC (SRAM)
RESU creates the RESU main program: CC_RESU.MPF (see Subsec-
tion 2.4.1, page 3/TE7/2-17) in the dynamic memory area of the NC (DRAM).
DRAM memory If the RESU main program is created in the dynamic memory area of the NC,
configuration the available dynamic memory area of the NC must be enlarged:
S MD18351: MM_DRAM_FILE_MEM_SIZE = x + 100

machine data value x.
Error messages If the RESU main program is created in the dynamic memory area of the NC
(DRAM) but no DRAM memory is requested:
– MD18351: MM_DRAM_FILE_MEM_SIZE = 0
the following alarm will be generated during NC run-up:
S Alarm “75604 Channel 1 reverse travel not possible, error no. 2”
SRAM memory If the RESU main program is created in the dynamic memory area of the NC, it
configuration is retained even after a POWER OFF. However, as RESU regenerates the
RESU main program every time the retrace support function is used, this para-
meter setting is not recommended.

2.2 Startup
2.2.5 RESU subroutines archive
The RESU-specific subroutines:

– INI program: CC_RESU_INI.SPF
– END program CC_RESU_END.SPF
– Retrace support ASUB CC_RESU_BS_ASUP.SPF
– RESU ASUB CC_RESU_BS_ASUP.SPF
can be archived as user or manufacturer cycles.
User cycles The machine data default:
S MD62574: RESU_SPECIAL_FEATURE_MASK, bit 2 = 0

archives the RESU-specific subroutines by default as user cycles.
Manufacturer Set machine data:

cycles
to archive the RESU-specific subroutines as manufacturer cycles.
Series startup The first time the NC starts up after the technological function has been acti-
vated, the RESU-specific subroutines are archived with their default content as
user cycles due to the default setting in machine data MD62574: RESU_SPE-
CIAL_FEATURE_MASK, bit 2 = 0.
If the setting is then changed to specify that the RESU-specific subroutines
must be archived as manufacturer cycles, the RESU-specific subroutines al-
ready created as user cycles are retained even after a new run-up and must be
deleted.
Machine data:

can be set to support series start-up so that RESU-specific subroutines avail-
able as user cycles are deleted during NC run-up without prompting.
2.2.6 ASUB enable
The following machine data must be set for the start enable for the RESU-spe-
cific ASUB CC_RESU_ASUP.SPF while the channel is in the NC STOP state:
S MD11602: ASUP_START_MASK, bit 1 = 1

machine data value x (x logically ORed with ’H01’).
S MD11604: ASUP_START_PRIO_LEVEL = 1

2.2 Startup
Error messages If an ASUB enable is not parameterized during NC STOP, the following alarm
will appear during NC run-up:
S Alarm “75600 Channel 1 retrace support: Incorrect MD configuration, error

no. 6”
2.2.7 PLC user program
The following functionality is necessary for the sequential coordination of the

RESU function in the PLC user program:
– IF DB21, DBX32.2 “Retrace support active” == 1
THEN DB21, DBX0.1 “Forward/Reverse” = 0
DB21, DBX0.2 “Start retrace support” = 0
– IF DB11, DBX0.7 “Mode group RESET” == 1
OR DB21, DBX7.7 “RESET” == 1
DB21, DBX0.2 “Start retrace support” = 0
The following signals should be reset for safety reasons:
– IF DB21, DBX0.2 “Start retrace support” == 1
– IF DB21, DBX0.1 “Forward/Reverse” == 1
THEN DB21, DBX0.2 “Start retrace support” = 0
Programming The following program extract implements the changes described above:
example
U DB21.DBX32.2 // IF Retrace support active” == 1
R DB21, DBX0.1 // THEN “Forward/Reverse” = 0
R DB21, DBX0.2 // “Start retrace support” = 0
O DB11, DBX0.7 // IF Mode group RESET” == 1
O DB21, DBX7.7 // OR “Reset” == 1
R DB21, DBX0.2 // “Start retrace support” = 0
U DB21, DBX0.2 // IF “Start retrace support” == 1
U DB21, DBX0.1 // IF “Forward/Reverse” == 1
R DB21, DBX0.2 // THEN “Start retrace support” = 0
2.2.8 Function-specific alarm texts
Function-specific alarm texts must first be integrated into the appropriate HMI
data management before they can be displayed. A description of how to do this
appears in Section 2.7, page 3/TE7/2-27.

2.3 Programming
2.3 Programming
2.3.1 RESU start/stop/Reset (CC_PREPRE)
Syntax CC_PREPRE(Mode)
Mode
– Format: Integer
– Value range: –1, 0, 1
CC_PREPRE(...) (Prepare Retrace) is a procedure call and must therefore be
programmed in a separate part program block.
Functionality The following modes are available for starting/stopping/resetting the RESU
function:
S CC_PREPRE(1)
Starts the logging of the motion blocks.
The information required for reverse travel is logged on a block-specific ba-
sis in a RESU-internal block buffer. The traversing information refers to the
1st and 2nd geometry axes of the channel:
S MD20050: AXCONF_GEOAX_ASSIGN_TAB[x]; where x = 0 and 1

Or, if transformation is active:
S MD24120: TRAFO_GEOAX_ASSIGN_TAB[x]; where x = 0 and 1

S CC_PREPRE(0)
Stops the logging of the motion blocks.
Can also be used to remove contour ranges that are not relevant from the
log.
Contour ranges removed in this way are bridged by a straight line between
the starting and end point during reverse travel.
S CC_PREPRE(–1)
Deactivates logging of the motion blocks and deletes the function-internal
block buffer. Contour ranges located before the instant of deactivation of the
part program are therefore no longer available for RESU.
RESET response In the event of one of the following types of RESET:

– NCK POWER ON RESET (warm start)
– NC-RESET
– End of program (M30)
CC_PREPRE(–1) is executed implicitly.

2.3 Programming
Error messages The following programming errors are detected and displayed with alarms:
– Invalid mode programmed:
S RESU alarm “75601 Channel number Block number Invalid parameter
for CC_PREPRE( )”
– More than one parameter programmed:
S Alarm “12340 Channel number Block number Too many parameters”
– RESU technological function not available
The technological function is not available. The compile cycle may not have
been loaded or has not been activated:
S Alarm “12340 Channel number Block number Name CC_PREPRE not
defined or option not available”

2.4 RESU-specific part programs

RESU uses the following automatically generated part programs described in
Subsection 2.1.2, page 3/TE7/2-7, which can be modified to some extent:
– Main program: CC_RESU.MPF
– INI program: CC_RESU_INI.SPF
– END program CC_RESU_END.SPF
– Retrace support ASUB CC_RESU_BS_ASUP.SPF
– RESU ASUB CC_RESU_BS_ASUP.SPF
Fig. 2-5 provides an overview of the internal structure of the technological func-
tion and the relationship between the various part programs.
RESU-internal
block buffer
RESU main program RESU INI program
ÉÉÉÉÉÉ
Part program N60 . . . . CC_RESU.MPF CC_RESU_INI.SPF
:
ÉÉÉÉÉÉ
N10 . . . . : CC_RESU_INI.SPF
: Can be
N150 . . . .
ÉÉÉÉÉÉ
: changed
N150 . . .
N50 CC_PREPRE(1) .
ÉÉÉÉÉÉ
N60 1. Retraceable Cannot be
motion block
: changed RESU END program
ÉÉÉÉÉÉ
: : CC_RESU_END.SPF
: N60 . . . .
N150 Interrupted CC_RESU_END.SPF
Can be
motion block
changed
:
:
N200 Last retraceable
motion block
N210 CC_PREPRE(0)
:
ÉÉÉÉÉÉ
: RESU-ASUB RESU retrace support ASUB
N300 M30 CC_RESU_ASUP.SPF CC_RESU_BS_ASUP.SPF
ÉÉÉÉÉÉ
ÉÉÉÉÉÉ
Cannot be
changed
Can be
changed
Fig. 2-5 RESU program structure
2.4.1 Main program (CC_RESU.MPF)

In addition to the calls for the RESU-specific subroutines, the RESU main pro-
gram CC_RESU.MPF contains the motion blocks generated from the motion
blocks logged in the block buffer for reverse/forward travel along the contour.
The program is always regenerated by the RESU function if, once the part pro-
gram has been interrupted, the status of the interface signal:
– DB21, DBX0.1 “Reverse/Forward”
changes.
Note
CC_RESU.MPF may not be changed. User-specific modifications must be
made in the corresponding RESU-specific subroutine.

Error message By default, RESU generates motion blocks for the entire retraceable contour
range logged in the block buffer. If there is not enough memory space for all
motion blocks to be generated in the parameterized memory area of the RESU
main program (see Subsection 2.2.4, page 3/TE7/2-12), RESU reduces the
number of motion blocks generated.
The missing memory and/or reduction in the number of motion blocks gener-
ated is indicated by an alarm:
S RESU alarm “75608 Channel number NC memory limit reached, RAM type
type”
RESU main If the RESU main program is created in the part program memory (SRAM), the
program in SRAM following system alarm appears at the same time as the RESU alarm:
S Alarm “6500 NC memory limit reached”
Note
If the number of motion blocks generated is reduced due to insufficient memory,
the entire retraceable contour can still be retraced for retrace support. To do
this, proceed as follows:
1. Travel back to the end of the RESU main program.
2. Two-time change of the interface signal:
– DB21, DBX0.1 “Reverse/Forward”
Using the current position as a new interruption point, this enables RESU to
generate a new RESU main program.
Subsequently, travel is possible as far as the end of the retraceable contour
range or, if the limits have changed, as far as the starting point of the last
motion block that can be generated. The procedure described can be repeated
as many times as required both for reverse and forward travel.
2.4.2 INI program (CC_RESU_INI.SPF)

The RESU-specific subroutine CC_RESU_INI.SPF contains the default settings
required for reverse travel:
– Metric input system: G71
– Absolute dimensions: G90
– Deactivation of the configurable zero offsets/frames: G500
See supplementary conditions Subsection 3.2.7, page 3/TE7/3-32
– Deactivation of the active tool offsets: T0
See supplementary conditions Subsection 3.2.8, page 3/TE7/3-33
– Deactivation of the tool radius compensation G40
– Traversing velocity: F200

CC_RESU_INI.SPF has the following content by default:
PROC CC_RESU_INI
G71 G90 G500 T0 G40 F200
;Existing system frames are deactivated
;Actual value and scratching

if $MC_MM_SYSTEM_FRAME_MASK B_AND ’H01’
$P_SETFRAME = ctrans()
endif
;External work offset

$P_EXTFRAME = ctrans()
endif
;Toolholder
PAROTOF
endif

TOROTOF
endif
;Tool reference points

$P_WPFRAME = ctrans()
endif
;Cycles
$P_CYCFRAME = ctrans()
endif
;Transformations
$P_TRAFRAME = ctrans()
endif
; Bit mask for global basic frames

$P_NCBFRMASK = 0
;Bit mask for channel-specific basic frames

$P_CHBFRMASK = 0
;Programmable frame
$P_PFRAME = ctrans()
M17
Note
CC_RESU_INI.SPF may not be changed.
CC_RESU_INI.SPF may not contain any RESU part program commands
CC_PREPRE(x).

Caution
! In changing the content of the RESU-specific subroutine CC_RESU_INI.SPF,
the user (machine manufacturer) accepts responsibility for the correct
sequence of the technological function.
2.4.3 END program (CC_RESU_END.SPF)

The RESU-specific subroutine CC_RESU_END.SPF must stop reverse travel
once the end of the retraceable contour is reached. If the RESU function is
parameterized appropriately, this scenario will not arise under normal circum-
stances.
CC_RESU_END.SPF has the following content by default:
PROC CC_RESU_END
M0
M17
Note
CC_RESU_END.SPF may not be changed.
CC_RESU_END.SPF may not contain any RESU part program
commands CC_PREPRE(x).
Caution
! In changing the content of the RESU-specific subroutine CC_RESU_END.SPF,
the user (machine manufacturer) accepts responsibility for the correct
sequence of the technological function.
2.4.4 Retrace support ASUB (CC_RESU_BS_ASUP.SPF)

The RESU-specific ASUB CC_RESU_BS_ASUP.SPF causes the NC to travel
to the current path point when retrace support is activated:
– Reapproach next point on path: RMN
– Approach along line on all axes: REPOSA
CC_RESU_BS_ASUP.SPF has the following content by default:
PROC CC_RESU_BS_ASUP SAVE

RMN
REPOSA
M17
Note
CC_RESU_BS_ASUP.SPF may be changed.
User-specific modifications must be inserted before the part program block
RMN.

Caution
! In changing the content of the RESU-specific subroutine
CC_RESU_BS_ASUP.SPF, the user (machine manufacturer) accepts
responsibility for the correct sequence of the technological function.
2.4.5 RESU-ASUP (CC_RESU_ASUP.SPF)

The RESU-specific ASUB CC_RESU_ASUP.SPF is required internally by the
function. The ASUB is launched if the RESU interface signal: DB21, DBX0.1
(Forward/Reverse) is inverted in the NC STOP state.
CC_RESU_ASUP.SPF has the following content:
PROC CC_RESU_ASUP
; siemens system asub – do not change
G4 F0.001
M0
REPOSA
M17
Note
CC_RESU_ASUP.SPF may not be changed.

2.5 Retrace support
2.5 Retrace support

Retrace support describes the entire operation, from the point at which retrace
support is launched via:
– interface signal “Start retrace support” DB21, DBX0.2 = 1
to the continuation of part program processing on the programmed contour.
Requirement In order for retrace support to function, the retrace mode, launched by means of
the request for reverse travel, must be active in the channel:
– Interface signal “Retrace mode active” DB21, DBX32.1 == 1
See Fig. 2-2, page 3/TE7/2-8. Signal charts between points 1 and 3.
Subfunctions The two essential subfunctions of retrace support are the standard NC func-
tions:
– Block search with calculation on contour
– Repositioning on contour via shortest route (REPOS RMN)
2.5.1 Block search with calculation on contour

The block search with calculation on contour launched implicitly by the RESU
function as part of retrace support serves the following purposes:
– Sets the program pointer to the part program block of the part program
for repositioning using reverse/forward travel
– Calculates the axis positions on the basis of the programmed motion
blocks from the start of the part program to the target block
– Collates the instructions programmed from the start of the part program
to the target block, which are executed in the action block. These in-
clude:
– Auxiliary functions
– Tool change
– Spindle functions
– Feedrate programming
All part program instructions, which are not executed in the action block but are
required for retrace support in the part program, must be entered manually in
the RESU-specific retrace support ASUB CC_RESU_BS_ASUP.SPF, e.g.:
– Synchronized actions
– M functions
References A complete description of the “Block search” function appears in:

/FB1/ Description of Functions Basic Machine
Mode Group, Channel, Program Operation (K1)
Program Test

2.5 Retrace support
2.5.2 Repositioning
Following the end of the last action block (last motion block before reposition-
ing), NC START launches the output of the approach block for repositioning all
channel axes programmed in the part program as far as the target block.
Geometry axes In the approach block, the 1st and 2nd geometry axes in the channel take the
shortest route along the contour to the program continuation point.
2. Geometry axis N 30 (e.g. spline block)
Program continuation
point
N 20
N 15 CC_PREPRE(1) REPOS starting

point
Interruption
N 10 Path sections traversed: point
1) Part program processing
2) Reverse travel
N 40
1. Geometry axis
Fig. 2-6 Retraceable contour ranges and REPOS
Other channel All other channel axes programmed in the part program travel to the relevant
axes position calculated in the block search.
2.5.3 Temporal conditions affecting NC START

NC START must be initiated twice by the machine manufacturer as part of re-
trace support. The following conditions must be met:
1. NC START for output of action blocks
The block search must be completed
–> Interface signal: DB21.DBX33.4 == 0
2. NC START for output of approach block
The RESU ASUB CC_RESU_BS_ASUP must be completed
–> Interface signal: DB21.DBX318.0 == 1
For more information, see the signal chart for “NC START rejected with alarm” in
Fig. 2-2, page 3/TE7/2-8.

2.5 Retrace support
2.5.4 Block search from last main block
As mentioned above, a block search with calculation on contour is carried out

as part of retrace support. Even if the most powerful NCUs are used, this can
lead to computing times of several minutes for very large part programs until the
target block is reached. This delay time can be significantly reduced by using
the block search from last main block.
Functionality For retrace support with block search from last main block, the search for the
target block takes place in 2 stages:
1. Block search without calculation from start of machining program to last
main block before target block. Subroutines are ignored during this search,
i.e. it takes place exclusively in the main program.
2. Block search with calculation on contour from main block to target block.
This block search does not ignore subroutines.
Requirement In order that a search from last main block can be used for retrace support, at
least one main block must be programmed after the RESU start CC_PRE-
PRE(1).
Main block All instructions required for processing the subsequent section of the part
program must be programmed in one main block.
A main block number comprising the character “:” and a positive integer number
(block number) must be used to identify main blocks.
A complete description of how to use main blocks appears in:
References: /PG/ Programming Guide Fundamentals
NC Programming Fundamentals
Language Elements of Programming Language
Activation The following RESU-specific machine data is used to activate the block search
from last main block:
S MD62575: RESU_SPECIAL_FEATURE_MASK_2, bit 0

– Bit 0 = 0: Retrace support with block search with
calculation on contour
– Bit 0 = 1: Retrace support with block search from
last main block
Supplementary In order that a new retrace support operation can take place following a retrace
conditions support operation with block search from last main block, the RESU start
CC_PREPRE(1) must be programmed in the retrace support ASUB
CC_RESU_BS_ASUP.SPF:
Example:
PROC CC_RESU_BS_ASUP SAVE

;(synchronized actions, M functions, etc. required for retrace support)
CC_PREPRE(1)
RMN
REPOSA
M17

2.6.1 Channel-specific GUD variables

RESU provides the following channel-specific GUD variable for HMI
applications:
as a display data:
Table 2-1 Channel-specific GUD variables
GUD variables Description Unit Access

Size of block search
CLC_RESU_LENGTH_BS_BUFFER Byte read only
buffer
Once the technological function has been started up successfully, the GUD
variables listed are not displayed automatically on the HMI interface.
HMI Advanced Proceed as follows to create and display the GUD variables in HMI Advanced.
1. Set password
2. Activate the “definitions” display
Operating area switchover > Services > Data Selection
Operating area switchover > Services > Data admin > New...
– Name: SGUD
– Type: Global data/system
Confirm with OK.
DEF CHAN REAL CLC_RESU_LENGTH_BS_BUFFER
M30
5. Save the file and close the editor

6. Activate the SGUD.DEF file
Operating area switchover > Parameters > User data > Channel user data
HMI Embedded Proceed as follows to create and display the GUD variables in HMI Embedded.
1. Set password


Operating area switchover > Program > Definit.data > New
– Name: SGUD
– Type: DEF
Confirm with OK.
DEF CHAN REAL CLC_RESU_LENGTH_BS_BUFFER
M30
4. Save the file and close the editor

5. Activate the SGUD.DEF file
Operating area switchover > Parameters > User data > Channel-spec. user
data
SINUMERIK NCK The new GUD variable, which is already being displayed, will only be detected
by the RESU function and supplied with an up-to-date value following an NCK
POWER ON RESET.
Note
Once the GUD variables have been created, an NCK POWER ON RESET
must be carried out in order for the RESU function to update the GUD
variables.


The RESU function supports the output of function-specific language-depen-
dent alarm texts. The corresponding alarm texts must be created in language-
specific alarm text files and declared to the HMI application.
References A description of how to incorporate new alarms appears in:

/IAM/ IBN HMI/MMC
/IAM/ IBN HMI/MMC

texts 075600 0 0 “Kanal %1 Retrace Support: falsche MD-Konfiguration, Fehler-Nr. %2”
075601 0 0 “Kanal %1 Satz %2 Ungültiger Parameter bei CC_PREPRE( )”
075604 0 0 “Kanal %1 Rückwärtsfahren nicht möglich, Fehler-Nr. %2”
075605 0 0 “Kanal %1 Retrace Support: interner Fehler, Fehler-Nr. %2”
075606 0 0 “Kanal %1 retrace fähige Kontur wurde verkürzt”
075607 0 0 “Kanal %1 Wiederaufsetzen nicht möglich”
075608 0 0 “Kanal %1 NC-Speichergrenze erreicht, RAM-Typ %2”
075609 0 0 “Kanal %1 RESU-Achse, falsche Achskonfig., Achs-Typ %2, Satz %3”
075610 0 0 “Kanal %1 RESU, NC-START nicht möglich”

texts 075600 0 0 “Channel %1 retrace support: Invalid MD configuration, error no. %2”
075601 0 0 “Channel %1 block %2 invalid argument of CC_PREPRE( )”
075604 0 0 “Channel %1 retracing not possible, error no. %2”
075605 0 0 “Channel %1 retrace support: Internal error, error no. %2”
075606 0 0 “Channel %1 retraceable contour was shortened”
075607 0 0 “Channel %1 program continuation not possible”
075608 0 0 “Channel %1 NC memory is full, RAM type %2”
075609 0 0 “Channel %1 RESU axis, wrong axis config., axis type %2, block %3”
075610 0 0 “Channel %1 RESU, NC-START not possible”

Notes

3.1.1 Within subroutines

Clear retrace support within subroutines depends on whether the subroutine call
is made outside or inside a program loop.
Outside Clear retrace support is possible if a subroutine is called outside a program

loop.
Inside Clear retrace support may not be possible if a subroutine is called inside a pro-
gram loop.
See Subsection 3.1.2, page 3/TE7/3-29.
Number of passes Subroutine repetitions using number of passes P are taken into account for
P retrace support. This means that retrace support is performed in the part pro-
gram with the correct reference to the part program block and number of passes
P to the program continuation point of the contour.
3.1.2 Within program loops
NC high-level In NC high-level language, program loops can be programmed using:

language – LOOP ENDLOOP
– FOR ENDFOR
– WHILE ENDWHILE
– REPEAT UNTIL
– CASE/IF-ELSE-ENDIF in conjunction with GOTOB
If retrace support is performed within program loops, the retrace support is al-
ways effective in the first loop run.
If the program continuation point on the programmed contour is the result of a
loop run that is not equal to the first loop run, this may under certain circum-
stances result in significant contour deviations during subsequent machining
processes.

Warning
! If the program continuation on the programmed contour is the result of a loop
run that is not equal to the first loop run, this may under certain circumstances
result in significant contour deviations during subsequent machining processes,
posing a risk of personal injury and damage to the machine.
3.1.3 Full circles

In full circles, the block starts and ends at the same contour point. As in such
cases it is impossible to make a clear distinction, retrace support on a contour
point of this type is always based on the point at which the block starts. The first
part program block following retrace support is then the circular block.
In order to avoid the circular block being traversed following retrace support, a
contour point shortly before the end of the circular block should be selected as
the program continuation point.
3.1.4 Automatically generated contour elements

The automatic generation of non-linear/circular contour elements by the NC
takes place e.g. during programming of the following NC functions in the part
program:
– RND
– G641/G642
– Tool radius compensation
For reverse/forward travel as part of RESU, these contour elements can be re-
placed by straight lines between the start and end of the block.

3.2 Supplementary conditions for standard functions
3.2.1 Axis replacement, 1st and 2nd geometry axis

As long as RESU is active, the first two geometry axes in the channel may not
be transferred to another channel via axis replacement (RELEASE(x)/GET(x)).
RESU is active:
– Start: Part program command CC_PREPRE(1)
– End: Program end or part program command CC_PREPRE(–1)
3.2.2 Channel axes

Channel axes other than the 1st and 2nd geometry axes on the channel are not
affected by RESU.
If traversing movements in other channel axes are required for retrace support
and/or reverse travel, these can either be set manually by the machine operator
or programmed as a traversing block in the RESU-specific subroutine
CC_RESU_INI.SPF.
Warning
! Throughout the continue machining operation in the context of the RESU
technological function, the machine operator must ensure that the associated
traversing movements remain free of collisions.
3.2.3 Block numbers

– CC_RESU_INI.SPF
– CC_RESU_END.SPF
and their subroutines must not contain any block numbers.
The following alarm appears in the event of an error:
S Channel “75604 reverse travel not possible, error no. number”
3.2.4 Block search
Block search with RESU is subject to the following supplementary conditions in the context of the
calculation block search with calculation (on contour/at end of block) standard function:
– The last CC_PREPRE(x) RESU part program command run during the
block search is effective in the target block.
– The retraceable contour range starts with the REPOS approach block.
Block search CC_PREPRE(x) RESU part program commands are not effective during block
without calculation searches without calculation.

3.2.5 Transformations
RESU can also be used for active kinematic transformation (e.g. 5-axis trans-
formation) subject to restrictions, as the traversing movements of the first two
geometry axes on the channel are recorded in the basic coordinate system
(BCS) and therefore before the transformation.
Transformation While RESU is active, no transformation changes must take place and trans-
change formation must not be activated/deactivated.
RESU is active:
– Start: Part program command CC_PREPRE(1)
– End: Program end or part program command CC_PREPRE(–1)
References You will find a complete description of the transformations in:

Kinematic Transformation M1
/FB3/ Description of Functions Special Functions
Handling Transformation Package TE4
3.2.6 Compensation
RESU can be used in conjunction with compensations as the traversing move-

ments of the first two geometry axes on the channel are recorded in the basic
coordinate system (BCS) and therefore before the compensation.
References You will find a complete description of the compensations in:

Compensations K3
3.2.7 Frames
RESU can be used in conjunction with frames.

However, as the traversing movements of the first two geometry axes on the
channel are recorded in the basic coordinate system (BCS) and therefore after
the frames have been taken into account, the frame offsets must be deactivated
during retrace support (reverse/forward travel).
The frame offsets are deactivated during retrace support via the standard de-
fault settings of the RESU-specific subroutine. See Subsection 2.4.2,
page 3/TE7/2-18.
References You will find a complete description of the frames in:

Axes, Coordinate System, Frames,
Actual-Value System for Workpiece K2

3.2.8 Tool offsets
RESU can be used in conjunction with tool offsets.

However, as the traversing movements of the first two geometry axes on the
channel are recorded in the basic coordinate system (BCS) and therefore after
the frames have been taken into account, the tool offsets must be deactivated
during retrace support (reverse/forward travel).
The tool offsets are deactivated during retrace support via the standard default
settings of the RESU-specific subroutine CC_RESU_INI.SPF. See Subsec-
tion 2.4.2, page 3/TE7/2-18.
Contour deviations Specific instances of tool radius compensation, e.g. compensation on outside
corners G450 DISC=x, may generate contour deviations between the contour
traversed during retrace support and the contour programmed in the machining
program.
Contour deviations are always generated if tool radius compensation produces
contour elements that are non-linear or circular. For example, G450 DISC=x,
where x > 0 produces parabolic or hyperbolic contour elements.
References You will find a complete description of tool offsets in:

Tool Offset W1
J

Notes

4.1 RESU-specific machine data
Data Description (MD, SD) 4

62571 $MC_RESU_RING_BUFFER_SIZE
MD number Size of circular buffer (block buffer)
Data type: DWORD Applies as of SW:
Meaning: The block buffer contains the geometric information for the part program. The value entered
in the machine data corresponds to the number of recordable part program blocks (32 by-
tes/part program block). The size of the block buffer corresponds to the number of retrace-
able blocks.
62572 $MC_RESU_SHARE_OF_CC_HEAP_MEM
MD number RESU share of parameterizable heap memory
Data type: DOUBLE Applies as of SW:
Meaning: The size of the heap memory, which is available to all active compile cycles, is parameter-
ized using the following general machine data:
S MD28105: MM_NUM_CC_HEAP_MEM
The RESU machine data can be used to limit the maximum heap memory share available
for RESU.
62573 $MC_RESU_INFO_SA_VAR_INDEX[1]
MD number Indices of the synchronized action variables
Default setting: –1 Minimum input limit: –1 Maximum input limit: 10000
Data type: DWORD (840D) Applies from SW: 6.4
Meaning: Not used. The machine data may not be used.

62574 $MC_RESU_SPECIAL_FEATURE_MASK
MD number Additional RESU features
Default setting: 0 Minimum input limit: 0 Maximum input limit: 0F (hex)
Meaning: Bit 0
Not used. May not be used.
Meaning: Bit 1
Bit 1 = 0: (default setting) (recommended setting)
The RESU main program CC_RESU.MPF is stored in the dynamic memory area of the
NC (DRAM).
Bit 1 = 1:
The RESU main program CC_RESU.MPF is stored in the battery-backed part program
memory (SRAM).
Meaning: Bit 2
Bit 2 = 0: (default)
– CC_RESU_INI.SPF
– CC_RESU_END.SPF
– CC_RESU_BS_ASUP.SPF
– CC_RESU_ASUP.SPF
are stored as user cycles.
Bit 2 = 1: (recommended setting)
The RESU-specific subroutines (see above) are created as manufacturer cycles.
Meaning: Bit 3
Bit 3 = 0: (default)
No effects (see below Bit 3 = 1).
Bit 3 = 1: (recommended setting if bit 2 = 1)
If the RESU-specific subroutines (see above) have been created as manufacturer
cycles but RESU-specific subroutines are available as user cycles during NC run-up,
these are deleted without a prompt for the user.
62575 $MC_RESU_SPECIAL_FEATURE_MASK_2
MD number Additional RESU features
Default setting: 0 Minimum input limit: 0 Maximum input limit: 01 (hex)
Meaning: Bit 0
Bit 0 = 0: (default setting) (recommended setting)
For the purpose of retrace support, a block search with calculation is used on the con-
tour, starting at the beginning of the part program.
Bit 0 = 1:
2 different types of block search are used in order to accelerate retrace support:
– From the start of the part program to the last main block:
Block search without calculation
– From the last main block to the current part program block:
Block search with calculation on the contour

5.1.1 Signals to channel
DB21, ...
DBX0.1 Reverse/Forward
Data Block Signal(s) to channel (PLC –> NCK)
Edge evaluation: Yes Signal(s) updated: Also (840D) valid in:
SW 5.3 and higher
Signal state 1 or signal Activate reverse travel.
transition 0 –> 1 The RESU main program CC_RESU.MPF is generated from the traversing blocks re-
corded in the RESU-internal block buffer in order to initiate travel back along the contour on
the next NC START.
Signal transition 1 –> 0 Activate forward travel.
The RESU main program CC_RESU.MPF is generated from the traversing blocks re-
corded in the RESU-internal block buffer in order to initiate travel forwards along the con-
tour on the next NC START.
Signal state 0 No meaning
Signal irrelevant for ..... RESU technological function not loaded or not activated.
DB21, ...
DBX0.2 Start retrace support
Data Block Signal(s) to channel (PLC –> NCK)
Edge evaluation: No Signal(s) updated: Also (840D) valid in:
SW 5.3 and higher
Signal state 1 Start retrace support:
The original machining program is reselected and a block search is carried out to locate the
program continuation point.
Signal state 0 No meaning
Signal irrelevant for ..... The NC is not in Retrace mode or RESU is not active.

5.1.2 Signals from channel
DB21, ...
DBX32.1 Retrace mode active
Data Block Signal(s) from channel (NCK–>PLC)
SW 5.3 and higher
Signal state 1 The “Retrace mode active” signal is active as long as the control is in Retrace mode. This
is the case from initial activation of the “reverse/forward” signal until activation of the “start
retrace support” signal.
Signal state 0 The machining program is executed.
Signal irrelevant for ..... RESU technological function not active.
DB21, ...
DBX32.2 Retrace support active
Data Block Signal(s) from channel (NCK–>PLC)
SW 5.3 and higher
Signal state 1 The “retrace support active” signal is set as soon as signal state 1 is detected for the “start
retrace support” signal. The “retrace support active” signal is reset at the end of retrace
support once the last action block has been completed.
Signal state 0 Retrace support not active
Signal irrelevant for ..... RESU technological function not active.

Examples 6
J

Notes

7.1 Machine data

7.1 Machine data
General ($MN_ ... )
11602 ASUP_START_MASK Ignore stop reasons if an ASUB is running
11604 ASUP_START_PRIO_LEVEL Indicates the ASUB from which
ASUB_START_MASK is operative.
18351 MM_DRAM_FILE_MEM_SIZE Size of the memory for files in the DRAM of
the passive file system (in KB)

Channel-specific ($MC_ ... )
20050 AXCONF_GEOAX_ASSIGN_TAB Assignment geometry - channel axis
24120 TRAFO_GEOAX_ASSIGN_TAB_1 GEO/channel axis assignment of Trans-
formation 1
28090 MM_NUM_CC_BLOCK_ELEMENTS Number of block elements for CC
28100 MM_NUM_CC_BLOCK_USER_MEM Size of block memory for CC in KB
28105 MM_NUM_CC_HEAP_MEM Heap memory in KB for compile cycle ap-
plications (DRAM)
62571 RESU_RING_BUFFER_SIZE Size of ring buffer (RESU-internal block
buffer)
62572 RESU_SHARE_OF_CC_HEAP_MEM Share of total CC_HEAP_MEM
62573 RESU_INFO_SA_VAR_INDEX Indices of the synchronized action variables
62574 RESU_SPECIAL_FEATURE_MASK Additional RESU features
62575 RESU_SPECIAL_FEATURE_MASK_2 Additional RESU features

7.2 Alarms
7.2 Alarms
7.2.1 System alarms

7.2.2 RESU-specific alarms
75600 Channel %1 retrace support: Incorrect MD configuration, error code %2

Explanation Errors were detected in the RESU-specific machine data during NC start-up:
Error no. = 4
The following machine data must be modified/increased:
– $MC_MM_NUM_CC_BLOCK_ELEMENTS
– $MC_MM_NUM_CC_BLOCK_USER_MEM
Error no. = 5
Too little compile cycle heap memory is available.
The following machine data must be modified:
– $MC_RESU_RING_BUFFER_SIZE
– $MC_RESU_SHARE_OF_CC_HEAP_MEM
– $MC_MM_NUM_CC_HEAP_MEM
Error no. = 6
The following machine data must be modified:
– $MN_ASUP_START_MASK
– $MN_ASUP_START_PRIO_LEVEL
Error no. = 11
The following machine data have not been parameterized:
– $MC_AXCONF_GEOAX_NAME_TAB[n]
– $MN_INTERMEDIATE_POINT_NAME_TAB[n]
– $MN_IPO_PARAM_NAME_TAB[n]
Error no. = 13
Bit 2 = 0 of MD $MC_RESU_SPECIAL_FEATURE_MASK specifies that the reverse
travel program cc_resu.mpf is to be stored in the DRAM NC program memory. However,
no DRAM NC program memory was requested via MD
$MN_MM_DRAM_FILE_MEM_SIZE.
Reaction Alarm display, mode group not ready, motion stop, no NC START possible, alarm signal
at PLC interface
Remedy Error no. = 4, 5, 6, 11
Correct the machine data or assign values.
Error no. = 13
Either set MD $MN_MM_DRAM_FILE_MEM_SIZE to a value not equal to zero or set bit
2 of MD $MC_RESU_SPECIAL_FEATURE_MASK equal to one.
Program continuation Switch the control OFF - ON.

7.2 Alarms
75601 Channel %1 block %2 invalid argument for CC_PREPRE()

Explanation Only values –1, 0, 1 are valid for the parameter.
Reaction Alarm display, interpreter stop, alarm signal at PLC interface
Remedy Correct part program
Program continuation Clear the alarm with the RESET key. Restart part program.
75604 Channel %1 reverse travel not possible, error no. %2

Explanation Reverse travel is not possible because the following error was detected:
Error no. = 1
The current part program block contains a block number. No block numbers may be
programmed in the RESU-specific subroutines CC_RESU_INI.SPF and
CC_RESU_END.SPF as these are relevant internally.
Error no. = 2
cc_resu.mpf cannot be generated as no DRAM is available
Error no. = 4
The selected retrace support block contains a block number. No block numbers may be
programmed in the RESU-specific subroutines CC_RESU_INI.SPF and
CC_RESU_END.SPF as these are relevant internally.
Reaction Alarm display, alarm signal at PLC interface, no NC START possible
Remedy Error no. = 1
Remove all block numbers from subroutines cc_resu_ini.spf and cc_resu_end.spf and
their subprogams.
Error no. = 2
Assign the desired value to machine data $MN_MM_DRAM_FILE_MEM_SIZE.
Error no. = 4
Remove all block numbers from subroutines cc_resu_ini.spf and cc_resu_end.spf and
their subprogams.
75605 Channel %1 retrace support: Internal error, error code %2

Explanation RESU-internal error states are displayed with this alarm. An error number is also speci-
fied to provide further details about the cause and location of the error.
Reaction Alarm display, no NC START possible, alarm signal at PLC interface
Remedy If this alarm should occur, please note the error number and contact the SINUMERIK
hotline at SIEMENS AG.
75606 Channel %1 retraceable contour shortened

Explanation The block search buffer is full. This reduces the length of the retraceable contour.
Reaction Alarm display
Remedy The alarm has no effect on the current part program machining operation. However, if
the alarm occurs more frequently, you should increase the size of the memory enabled
for the NC. Machine data:
– $MC_RESU_RING_BUFFER_SIZE
– $MC_RESU_SHARE_OF_CC_HEAP_MEM
– $MC_MM_NUM_CC_HEAP_MEM
Program continuation Clear the alarm with the cancel key. No further operator action required.

7.2 Alarms
75607 Channel %1 Machining cannot be continued

Explanation The block search has been terminated with an error.
Possible causes:
– Incorrect operating mode –> JOG-AUTO instead of AUTO
Reaction Alarm display, alarm signal at PLC interface
Remedy Switch control to AUTO mode.
Program continuation Clear the alarm with the cancel key. Start Continue Machining again.
75608 Channel %1 NC memory limit reached, RAM type %2

Explanation Insufficient memory for complete generation of RESU main program CC_RESU.MPF.
RAM type = 1:
The part program memory on the NC (SRAM) is full.
RAM type = 2:
The enabled DRAM memory on the NC is full.
Reaction Alarm display
The RESU main program CC_RESU.MPF is filled and correctly terminated, i.e. a sub-
routine call CC_RESU_END is inserted with part program terminator M30 at the end, as
long as there is sufficient memory available. The RESU main program does not com-
prise the entire retraceable contour.
Remedy This alarm has no effect on current machining operations.
However, the cause should be remedied if the alarm occurs frequently:
RAM type = 1:
Adjust the size of the buffer memory ($MN_MM_USER_MEM_BUFFERED) or increase
the available space in the buffer memory, e.g. by unloading part programs that are no
longer needed, or reduce the size of the ring buffer.
RAM type = 2:
Modify the size of the DRAM part program memory or reduce the size of the ring buffer.
Program continuation Clear the alarm with the cancel key. No further operator action required.

7.2 Alarms
75609 Channel %1 RESU axis, incorrect axis config., axis type %2, block %3
Explanation The 1st or 2nd geometry axis is not being traversed as a geometry axis in the part pro-
gram block displayed. For example, the following program settings were made: N20
POS[X] = 10
Axis type: Value not relevant
Reaction Alarm display, interpreter stop, no NC START possible, motion stop, alarm signal at PLC
interface
Remedy Correct part program, e.g.:
1. Do not traverse the geometry axis as a positioning axis:
N20 X = 10
2. Deactivate RESU temporarily:
N19 CC_PREPRE(0)
N20 POS[X] = 10 ; The X axis is to be traversed as a POS
; axis, therefore do not record this block.
N21 CC_PREPRE(1)
N22 G1 X200
If the alarm continues to be displayed and/or a part program block is indicated in the
alarm in which the axis concerned is not actually programmed, “positioning axis” may
still be saved as the axis type. Remedy:
N30 X=IC(0)
Programming the incremental distance as 0 mm ensures that axis X reverts to
a geometry axis.
75610 Channel %1 RESU, NC START not possible.

Explanation While RESU is active, NC START is not permitted in certain cases:
S Retrace support started (DB21, DBX0.2) and block search still active ((DB21,
DBX33.4)
S Following the 1st “official” NC START at the end of the block search, before the last
action block has been completed.
Reaction Alarm display, alarm signal at PLC interface

Remedy Press NC START again.
Program continuation Wait briefly, then cancel the alarm with NC START and continue machining.

7.2 Alarms
Notes

06.05

Cycle-Clock-Independent Path-Synchronous
Signal Output (TE8)

2.2 Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE8/2-8
2.2.2 Configuring the memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE8/2-8
2.2.3 Parameterizing the digital on-board outputs . . . . . . . . . . . . . . . . . . . 3/TE8/2-8
2.2.4 Parameterizing the switching signal . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE8/2-9
2.3 Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE8/2-10
2.3.1 Activation (CC_FASTON) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE8/2-10
2.3.2 Deactivation (CC_FASTOFF) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE8/2-11
3.1.1 Geometry axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE8/3-13
3.2 Supplementary conditions for standard functions . . . . . . . . . . . . . . . 3/TE8/3-13
3.2.1 Block search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE8/3-13
3.2.2 Transformations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE8/3-14
3.2.3 Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE8/3-14
3.2.4 Tool radius compensation (TRC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE8/3-15
3.2.5 Continuous-path mode (ADIS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE8/3-15
3.2.6 Software cam . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE8/3-15
4.1 Function-specific machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE8/4-17
6 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE8/6-21
7.1.1 General machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE8/7-23

06.05
7.1.2 Function-specific machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE8/7-23

7.2 Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE8/7-24
7.2.1 System alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE8/7-24
7.2.2 Function-specific alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/TE8/7-24
J

06.05 Cycle-Clock-Independent Path-Synchronous Signal Output (TE8)
1 Brief Description
Brief Description 1
Function The “cycle-independent path-synchronous switching signal output” technologi-
cal function is used to output a digital signal dependent on the following states
within the 1st channel on the NC:
1. Rapid traverse G00: active/inactive
2. Programmed feedrate threshold: undershot/exceeded
The activation/selection of which of the two options should control the output of
the signal can be programmed via a part program command.
Function code The code for the “cycle-independent path-synchronous switching signal output”
technological function for function-specific identifiers of program commands,
machine data, etc. is:
S HSLC = High Speed Laser Cutting
I/Os The on-board I/O of the relevant NC module can be used as the digital I/O via
which the switching signal is output.
(840D) The switching signal can only be output via one of the 4 on-board digital outputs
on the NCU module.
(840Di) The switching signal can only be output via one of the 4 on-board digital outputs
on the MCI board extension module (option).
Availability The “cycle-independent path-synchronous switching signal output” technologi-

cal function is available for the following systems:
S SINUMERIK 840D
S SINUMERIK 840Di
Restrictions The “cycle-independent path-synchronous switching signal output” technologi-

cal function is subject to the following restrictions:
S The technological function is only available in the 1st channel of the NC.
Note

Cycle-Clock-Independent Path-Synchronous Signal Output (TE8) 06.05
1 Brief Description
Compile cycle The “cycle-independent path-synchronous switching signal output” technologi-

cal function is a compile cycle.
described in:


J

The description of the how the technological function works is based on the
example of HSLC (High-Speed Laser Cutting).
Calculating the During high-speed laser cutting, e.g. as used to manufacture perforated sheets,
switching it is absolutely essential to switch the laser beam on/off exactly at the pro-
positions grammed setpoint positions during the machining process. In order to minimize
programming overheads, the switching positions are calculated by the techno-
logical function using the velocity of the geometry axes programmed in the part
program block.
The following criteria define the setpoint position programmed in the part pro-
gram block (end of block position) as a switching position:
1. A GO edge change
2. Overshoot/undershoot of a freely programmable velocity threshold
G0 edge change If G0 (rapid traverse) is active in a part program block (programmed or modal),
the switching signal is deactivated. Conversely, if G0 (rapid traverse) is not ac-
tive in a part program block, the switching signal is activated. The G0 edge
change marks the programmed end of block position of the previous block as
the switching position.
See the examples of positions X30 on G0 edge change from N10 to N20 and
X100 on G0 edge change from N30 to N40 in Fig. 2-1.
Part program N10 N20 N30 N40 N50

block G0 X30 G1 F100 X70 X100 G0 X130 X...
ON
G0
OFF
ON
Switching
signal
OFF
Fig. 2-1 Switching signal states and G0 edge change
Freely progr. A freely programmable velocity threshold value is used to define the setpoint
threshold value velocity programmed in the part program block at and above which the switch-
ing signal is activated/deactivated.

If the setpoint velocity programmed in the part program is higher than the pro-
grammed threshold value, the switching signal is deactivated. If the setpoint
velocity is at/below the threshold value, the switching signal is activated. The
edge change marks the programmed end of block position of the previous block
as the switching position.
See the examples of positions X30 on edge change from N10 to N20 and X70
on edge change from N20 to N30 in Fig. 2-1.
Part program N30 N40

N10 N20 F1000 F750 N50
block G0 X30 G1 F200 X70 G0 X...
X100 X130
ON
Threshold value
Set velocity
OFF
ON
Switching
signal
OFF
Fig. 2-2 Switching signal states with freely progr. threshold value
Note
G0 always deactivates the switching signal, regardless of the threshold value.
Calculating In order for the switching to be as precise as possible at the switching positions
switching instants calculated, the control calculates the positional difference between the actual
position of the geometry axes involved and the switching difference in every
position controller cycle.
If the positional difference is less than 1.5 position controller cycles, it is con-
verted into a temporal difference taking into account the current path velocity
and acceleration rate of the geometry axes.
With the temporal difference specified, a hardware timer is started, which trig-
gers the switching signal at exactly the instant calculated in advance regardless
of the position controller cycle.
Approached If a switching position is not reached exactly, e.g. in continuous-path mode and
switching position travel in more than one geometry axis, switching takes place at the instant at
which the positional difference between the actual position of the geometry axes
involved and the programmed switching position increases again.
N20 G1 G64 F200 X100
Travel direction Actual Programmed

switching switching
position position
Fig. 2-3 Switching position offset for continuous-path mode

Switching position A positional offset of the switching position can be programmed for both switch-
offset ing operations:
S Negative offset distance = Lead

A negative offset distance offsets the switching position before the setpoint
position programmed in the part program block.
If an excessively large negative offset distance is programmed, i.e. the set-
point has already been exceeded by the time the edge is detected, the sig-
nal is switched immediately.
S Positive offset distance = Follow-up

A positive offset distance offsets the switching position after the setpoint
position programmed in the part program block.
Switching position X100

Direction of motion
without offset
N20 G0 X100 N30 G1 F1000 X250
Negative Positive
offset distance offset distance
(lead) (follow-up)
Fig. 2-4 Switching position offset
Path reference The offset distance is a positional data, which refers to the programmed path.
For the purpose of simplicity, linear motion is assumed. Curves in the path are
not ignored.
Behavior with single Due to the internal motion logic, negative offset distances (lead) have no effect
block and G60 when used with the following standard functions:
S Single block
S Exact stop at block end (G60)
Note
Negative offset distances (lead) have no effect when used with the “single
block” and “exact stop at block end (G60)” standard functions.
Behavior in the Following an interruption in the part program (NC-STOP) and subsequent
event of an change to JOG mode, the technological function is deactivated and/or switching
interruption in the signals cease to be output.
part program The technological function is only restarted and/or switching signals output once
the system has reverted to AUTOMATIC mode and the part program has been
resumed (NC START).

2.2 Startup
2.2 Startup
(840D) References: /FB3/Description of Functions Special Functions

(840Di) References: /HBI/SINUMERIK 840Di Manual

S MD60900+x: CC_ACTIVE_IN_CHAN_HSLC[0], Bit 0 = 1
Note
2.2.2 Configuring the memory
Memory The technological function requires additional data in the NCK-internal block
configuration memory. The following memory-configuring channel-specific machine data must
be parameterized:


1) See Note.
Note
value x.
2.2.3 Parameterizing the digital on-board outputs
Digital output A digital output from the local I/O is required for the switching signal. The follo-
wing machine data must be used to parameterize at least one digital output
byte:
S MD10360: FASTIO_DIG_NUM_OUTPUTS (Number of active digital output
bytes) 1

2.2 Startup
(840D) A complete description of how to parameterize a digital output on a SINUMERIK

840Di appears in:
NC Installation and Start-Up with HMI Advanced,
Digital and Analog I/Os
(840D) and (840Di) A complete description of the digital outputs appears in:
References: /FB2/ Description of Functions Extended Functions
2.2.4 Parameterizing the switching signal
Output number of Once the compile cycle has started up, the following function-specific machine
switching signal data appears in the channel-specific machine data:
S MD62560: $MC_FASTON_NUM_DIG_OUTPUT
Number of digital output of switching signal
The number of the digital output n (where n = 1, 2, ... 4) via which the switching
signal is to be output must be entered in the machine data.
Features of the In the context of the general features of digital output signals, the switching sig-
switching signal nal features are as follows:
S The number of the digital output can be changed from within the part pro-
gram.
S The digital output can be disabled from within the PLC user program.
S The number of the digital output cannot be changed from within the PLC
user program.
Deactivating the Entering the number of the digital output n = 0 deactivates the function. No mes-
switching signal sage or alarm is output.
Effect on other The hardware-timer-controlled output of the switching signal at the parameter-
output signals ized output delays the signal output for the other digital on-board outputs, e.g.
due to synchronized actions, by 2 IPO cycles.
Note
The output of the switching signal delays the signal output of the other digital
on-board outputs by 2 IPO cycles.

2.3 Programming
2.3 Programming
2.3.1 Activation (CC_FASTON)
Syntax CC_FASTON( <Parameter 1>, <Parameter 2> [, <Parameter 3>] )

CC_FASTON( ) is a procedure call and must therefore be programmed in a
dedicated part program block.
Functionality The parameters for the CC_FASTON( ) procedure have the following meaning:
S Parameter 1
Length of the offset distance for activation of the switching signal. The para-
meter unit corresponds to the setting preset via machine data:
S MD10240: $MN_SCALING_SYSTEM_IS_METRIC
S Parameter 2
Length of the offset distance for deactivation of the switching signal. The
parameter unit corresponds to the setting preset via machine data:
S MD10240: $MN_SCALING_SYSTEM_IS_METRIC
S Parameter 3
This parameter is optional.
– If the parameter is not indicated in the procedure call, the G0 edge
change is used as the switching criterion.
– If the parameter is indicated in the procedure call, it contains as a switch-
ing criterion the velocity setpoint value, which, when undershot or ex-
ceeded, activates/deactivates the switching signal.
Programming DEF REAL DIFFON = –0.08

example DEF REAL DIFFOFF = 0.08
DEF REAL FEEDTOSWITCH = 20000
CC_FASTON( DIFFON, DIFFOFF, FEEDTOSWITCH )
Changing The parameters for the CC_FASTON( ) procedure can be modified at any time
parameters during the execution of the part program. To do this, enter the procedure call
again with the new parameter values. The switching criterion (G0 edge change/
velocity threshold value) may also be changed.
Reset response A RESET (NC RESET or end of program) deactivates the function.
Supplementary The following supplementary condition must be observed:

conditions

Continuous-path Although the CC_FASTON( ) procedure call must be programmed in a dedi-

mode cated part program block, this will not lead to a drop in velocity while continu-
ous-path mode is active (G64, G641,...).
2.3.2 Deactivation (CC_FASTOFF)
Syntax CC_FASTOFF( )
CC_FASTOFF( ) is a procedure call and must therefore be programmed in a
dedicated part program block.
Functionality The CC_FASTOFF( ) procedure call is used to deactivate the function.
Supplementary The following supplementary condition must be observed:

conditions
Continuous-path Although the CC_FASTON( ) procedure call must be programmed in a dedi-
mode cated part program block, this will not lead to a drop in velocity while continu-
ous-path mode is active (G64, G641,...).

The function supports the output of function-specific language-dependent alarm
texts. The corresponding alarm texts must be created in language-specific
alarm text files and declared to the HMI application.
References A description of how to incorporate new alarms appears in:

/IAM/ IBN HMI/MMC
/IAM/ IBN HMI/MMC

texts 075500 0 0 “Kanal %1 falsche Konfiguration der Funktion: Clock-indepen-
dent switching signal output”

texts 075500 0 0 “Channel %1 Clock-independent switching signal output func-
tion incorrectly configured”
J

Notes

3.1.1 Geometry axes
The switching positions can only be determined via the programmed traversing
movements of the geometry axes in the 1st channel. The following alarm ap-
pears if there are no geometry axes in the 1st channel:
S Alarm: “75500 channel channel number, incorrect function configuration:

Clock-independent switching signal output”
3.2.1 Block search
If a block search is carried out for a part program block designed to activate the
technological function following a CC_FASTON( ) procedure call, the switching
signal is activated with the next traversing movement. One of the specific con-
sequences of this is to initiate travel along the contour from the start position of
the geometry axes back to the program continuation point with an activated
switching signal.
Example
S Standard sequence
If part program machining is executed as standard, the switching signal is
activated for the first time at the beginning of part program block N60.
Part program
N10 G0 X0 Y0 Y
N20 G1 F1000 X10 Y10 N60
Start position
N30 G0 X50
N40 CC_FASTON(–0.4, 0.4) Switching signal: ON
N50 Y50 N50
N60 G1 X100 Y100 N10
N30
N40
N20
Fig. 3-1 Switching signal for part program machining operation

S Sequence following block search

If a block search is executed for the block end point of part program block
N60, the switching signal is activated on reaching the start position of the
geometry axes.
Part program Start position =

Switching signal:
N10 G0 X0 Y0 Y ON
N20 G1 F1000 X10 Y10 N60
N30 G0 X50
N40 CC_FASTON(–0.4, 0.4)
N50 Y50 N50
N60 G1 X100 Y100 N10
N30
N40
N20
Fig. 3-2 Switching signal after block search
Switching signal The user (machine manufacturer) must take appropriate measures, e.g. disable
output in REPOS the switching signal, in order to suppress the activation of the switching signal in
block the REPOS block in the constellation described above.
Note
It is part of the general responsibility of the user (machine manufacturer) to
suppress the output of the switching signal during repositioning, e.g. after a
block search.
References You will find a complete description of the block search in:
Mode Group, Channels, Program Operation K1
Program Test
3.2.2 Transformations
The function will only run correctly with deactivated transformation. There is no
monitoring function.
References You will find a complete description of the transformations in:

Kinematic Transformation M1
/FB3/ Description of Functions Special Functions
Handling Transformation Package TE4
3.2.3 Compensation
All compensations are taken into account.
References You will find a complete description of the compensations in:


Compensations K3
3.2.4 Tool radius compensation (TRC)
As part of tool radius compensation, control-internal part program blocks (com-

pensation blocks) are inserted into the part program. Referenced to the switch-
ing signal output, a compensation block is always added to the next pro-
grammed part program block.
References You will find a complete description of tool radius compensation in:
Tool Radius Compensation W1
Tool Radius Compensation
3.2.5 Continuous-path mode (ADIS)
A part program block inserted into the part program internally by the control sys-
tem in continuous-path mode with programmable smoothing characteristics
(G641 ADIS) is added to the previous part program block with reference to the
original switching position. This causes the switching signal not to be switched
until the start of the new part program block.
References You will find a complete description of continuous-path mode with program-
mable smoothing characteristics (ADIS) in:
Continuous-Path Mode, Exact Stop and LookAhead B1
3.2.6 Software cam

As the hardware timer is also used for the “software cams” function, it cannot be
used at the same time as the “clock-independent switching signal output with
software cams” function.
The following alarm appears in the event of an error:
S Alarm: “75500 channel channel number, incorrect function configuration:

Clock-independent switching signal output”
References You will find a complete description of the software cams in:
Software Cams, Position Switching Signals N3
J

Notes

4.1 Function-specific machine data

62560 $MC_FASTON_NUM_DIG_OUTPUT
MD number Configuration of the switching signal output
Changes effective after Protection level: 2/7 Unit: –
POWER ON
Data type: Byte
Meaning: The number of the digital on-board output (1...4) assigned to the switch-
ing signal is specified via machine data.
0 deactivates the output of the switching signal.
J

Notes

– No signal descriptions available –
J

Notes

6 Examples
Examples 6
J

6 Examples
Notes

7.1 NC machine data

7.1 NC machine data
Number MD identifier Name Reference

General ($MN_ ...)
10360 FASTO_NUM_DIG_OUTPUTS Number of digital output bytes A4
Channel-specific ($MC_...)
28090 MM_NUM_CC_BLOCK_ELEMENTS Number of block elements for CC
28100 MM_NUM_CC_BLOCK_USER_MEM Size of block memory for CC
7.1.2 Function-specific machine data
Number MD identifier Name Reference

Channel-specific ($MC_...)
62560 FASTON_NUM_DIG_OUTPUT Number of on-board digital output for
switching signal

7.2 Alarms
7.2 Alarms
7.2.1 System alarms

7.2.2 Function-specific alarms

75500 Channel % 1 incorrect function configuration: Clock-independent switching signal
output
Explanation %1 = channel number
The following configurations generate this alarm:
S No geometry axes defined in the 1st NC channel
S Option: Software cam set.
Reaction The function cannot be activated.
Remedy Change the configuration.
Program continuation Trigger NC reset.

06.05

Preprocessing (V2)
1 Brief Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/V2/1-3

2 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/V2/2-5
2.1 General functionality . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/V2/2-5
2.2 Program handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/V2/2-7
2.3 Program call . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/V2/2-10
2.4 Supplementary conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/V2/2-13
3 Supplementary Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/V2/4-15
4 Data Descriptions (MD, SD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/V2/4-15
4.1 Description of machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/V2/4-15
4.1.1 General machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/V2/4-15
4.1.2 Channelspecific machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/V2/4-17
5 Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/V2/5-19
6 Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/V2/6-21
6.1 Preprocessing individual files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/V2/6-21
6.2 Preprocessing in the DRAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/V2/6-22
7 Data Fields, Lists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/V2/7-23
7.1 Machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/V2/7-23
7.2 Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/V2/7-23
J

SINUMERIK 840D sl/840D/840Di/810D Descrip. of Functions Special Functions (FB3) – 06.05 Edition 3/V2/i
06.05
Notes

3/V2/ii SINUMERIK 840D sl/840D/840Di/810D Descrip. of Functions Special Functions (FB3) – 06.05 Edition
06.05 Preprocessing (V2)
1 Brief Description
Brief Description 1
Preprocessing The programs stored in the directories for standard and user cycles can be pre-
processed to reduce runtimes.
Preprocessing is activated via machine data.
Standard and user cycles are preprocessed when the power is switched on, i.e.
as an internal control function, the part program is translated (compiled) into a
binary intermediate code optimized for processing purposes.
All program errors that can be corrected by means of a compensation block are
detected during preprocessing. In addition, when the program includes
branches and check structures, a check is made to ensure that the branch des-
tinations are present and that check structures are nested correctly.
The full scope of control functionality is available:
S Override control
S Reactions to data and signals that are input by the PLC or the operator
S Current block display
S The programs can be processed in single block mode (SBL1 and SBL2).
Block searches can be executed. The compilation cannot be archived; it is
concealed from the user and regenerated every time the power is switched
on.
Preprocessing can be used:
S To optimize the runtimes of part programs with high-level language

components (branches, check structures, motion-synchronous actions)
S CPU time intensive part programs (e.g. stock removal cycles)

S Faster processing of time-critical sections (e.g. program continuation after
preprocessing stop during rapid deletion of distance to go, or return stroke,
or in the tool change cycle).
J

SINUMERIK 840D sl/840D/840Di/810D Descrip. of Functions Special Functions (FB3) – 06.05 Edition 3/V2/1-3
Preprocessing (V2) 06.05
1 Brief Description
Notes

3/V2/1-4 SINUMERIK 840D sl/840D/840Di/810D Descrip. of Functions Special Functions (FB3) – 06.05 Edition
2.1 General functionality
General
information
S SW 3.2 and higher
Standard and user cycles can be preprocessed.
The processing time of part programs can then be reduced without restrict-
ing the control functionality.
If machine data MD 10700: PREPROCESSING_LEVEL is set accordingly,
standard and user cycles are preprocessed.
Preprocessing is program-specific. Preprocessed part programs and pro-
grams interpreted in ASCII format can be mixed.
Preprocessing reduces idle times.
S SW 3.5 and higher

Memory is required for preprocessing cycles. You can optimize your
memory in two ways:
– The program to be executed can be reduced with the command DIS-
PLOF (display off).
– MD 10700: PREPROCESSING_LEVEL.
These bits can be set to select cycle preprocessing specifically for indi-
vidual directories (e.g. user cycles).
S SW 5 and higher
Bit 5 added to MD 10700: PREPROCESSING_LEVEL. This allows you to
select preprocessing for user cycles from the _N_CMA_DIR directory.
S SW 6.4 and higher

Bit 5 added to MD 10700: PREPROCESSING_LEVEL. This allows selective
preprocessing of the specific individual user cycles that have the command
PREPRO after the PROC instruction.
S SW 7.1 and higher

Precompiled cycles are stored by default in the DRAM.
Bit 6 added to MD 10700: PREPROCESSING_LEVEL. This can
be used to specify that compiled programs currently stored in the DRAM,
which no longer have sufficient space in the DRAM, may be stored in the
SRAM.
Functionality The programs stored in the directories for standard and user cycles are prepro-
cessed when the power is switched on, i.e. the part program is translated (com-
piled) into an intermediate binary code optimized for processing purposes. The
compilation is processed when called.

Runtime The preprocessing function is primarily suited for optimizing the runtimes of part
optimization programs with high-level language components (branches, check structures,
motion-synchronous actions).
While branches and check structures are invalidated by a search through all
blocks (block start) when part programs are interpreted in ASCII format (active
as default), a branch is made directly to the destination block in a preprocessed
part program.
The runtime differences between branches and check structures are thus elimi-
nated.
Preprocessing runtime example:
Runtime reduced by 30% on active compressor:
DEF INT COUNTER
Destination: G1 G91 COMPON
G1 X0.001 Y0.001 Z0.001 F100000
COUNTER=COUNTER +1
COUNTER=COUNTER –1
COUNTER=COUNTER +1
IF COUNTER<= 100000 GOTOB TARGET
CPU time intensive programs and programs with symbolic names are pro-
cessed faster.
Runtime-critical sections (e.g. continuation of processing after deletion of dis-
tance to go or preprocessing stop in cycles) can be processed faster.
If the interrupt routine is available as a preprocessed cycle, processing can be
continued more rapidly after the program interrupt.

2.2 Program handling
Activation/ Cycles are preprocessed on POWER ON if machine data MD 10700: PRE-

deactivation PROCESSING_LEVEL, bit 1 is set.
0: No preprocessing
Bit 0=0: Call description of cycles is not known as standard.
Cycles must be declared as external before the cycle call
like normal subroutines.
This setting is useful if no cycles with
call parameters are being used.
Bit 0=1: The cycle call description is generated during control
POWER ON.
All user cycles (_N_CUS_DIR directory) and Siemens cycles
(_N_CST_DIR directory) with transfer parameters can be called
without external declaration.
Changes to the cycle call interface only take effect on
POWER ON.
The following machine data must be set:
$MN_MM_NUM_MAX_FUNC_NAMES
$MN_MM_NUM_MAX_FUNC_PARAM
Bit 1=1: All cycles are preprocessed in a compilation
optimized for processing during control POWER ON.
All user cycles (_N_CUS_DIR directory) and standard cycles
(_N_CST_DIR directory) are executed at high speed.
Changes to the cycle programs do not take effect until the next
POWER ON.
As of SW 3.5
Bit 2=1: During control run-up the standard cycles in
directory _N_CST_DIR are preprocessed in a
compilation optimized for processing.
Bit 3=1: During control run-up the user cycles in
directory _N_CUS_DIR are preprocessed in a
compilation optimized for processing.
Bit 4 = 1: Preprocessing of user cycles from the directory _N_CMA_DIR
Bit 5 = 1: Preprocessing of user cycles with the command PREPRO in the
PROC instruction line. Files in directories that are not marked
by bits 1 – 4 are not preprocessed
(SW 6.4 and higher)
If the bit is Bit 0, preprocessing is controlled exclusively according to
Bits 0–4.
As of SW 7.1
Bit 6 = 0:
The compilation is stored in the DRAM if sufficient memory is available.
If sufficient memory is not available, preprocessing
is aborted. Dimensioning of the DRAM with
MD 18351: MM_DRAM_FILE_MEM_SIZE.

Bit 6 = 1:
The compilation for programs for which there is not sufficient space
in the DRAM is stored in the SRAM. Error messages are output
for programs for which there is not sufficient compilation space
in the SRAM.
The areas occupied by the compilation in the DRAM are visible to the user.
Bit combinations are permissible.
Compilation Subroutines located in the directories for standard cycles: _N_CST_DIR,

_N_CMA_DIR and user cycles: _N_CUS_DIR (extension _SPF) and, if applica-
ble, subroutines marked with PREPRO, are compiled. The name of the compila-
tion corresponds to the original cycle with extension _CYC.
Note
Program changes to precompiled programs do not take effect until the next
power ON!
Access The preprocessed program can only be executed, but not read or written. The
authorization compilation cannot be modified or archived. The original cycles _SPF files are
not deleted.
The compilation is not changed when the ASCII cycle is altered, i.e. changes do
not take effect until after the next power ON.
Memory The memory requirement for compiled cycles is approximately factor 2 in addi-
requirements tion to ASCII part programs.
The memory requirements for variables defined in the part programs are de-
fined via the following machine data:
MD 28020 $MC_MM_NUM_LUD_NAMES_TOTAL
MD 28010 $MC_MM_NUM_REORG_LUD_MODULES
MD 28040 $MC_MM_LUD_VALUES_MEM
MD 18242 $MC_MM_MAX_SIZE_OF_LUD_VALUE
References: /FB/, S7, “Memory Configuration”
While preprocessing is in progress, the amount of memory required is the same
as if the preprocessed program were called on the first subroutine level.
When programs are preprocessed after POWER ON, a name is counted for
each branch destination/label as if it were a variable. These names must be
taken into account in machine data
MD 28020: MM_NUM_LUD_NAMES_TOTAL.
Example:

PROC NAMES ; 1 name

DEF INT VARIABLE, FIELD[2] ; 2 names
START: ; 1 name, only for preprocessing
FOR VARIABLE = 1 TO 9 ; 1 name, only for preprocessing
G1 F10 X=VARIABLE*10–56/86EX4+4*SIN(VARIABLE/3)
ENDFOR ; 1 name, only for preprocessing
M17
In order to execute this program normally, machine data
$MC_MM_NUM_LUD_NAMES_TOTAL must specify at least 3 names.
6 names are required to compile this program after POWER ON.
SW 7.1 and higher Preprocessed programs/cycles are stored in the DRAM. The space required for
each program must be flashed over unmodified as outlined above. Tailoring to
the assignment of locations in the SRAM is only required if bit 6 in MD 10700:
PREPROCESSING_LEVEL Bit 6 has been set to 1. In this case, the program
compilations for which there is insufficient space in the DRAM are stored in the
SRAM.
Examples of appropriate machine data settings appear in Section 6.2.

2.3 Program call
2.3 Program call
Overview
Main programs User cycles Standard cycles
/_N_MPF_DIR /_N_CUS_DIR /_N_CST_DIR
Main program
Call-up
CYCLE_SPF ASCII
without preprocessing cycle
CYCLE _N_CYCLE_SPF
Preprocessing
CYCLE_CYC
_N_MAIN_SPF Call-up Pre-

with preprocessing processed
cycle
_N_CYCLE_CYC
Fig. 2-1 Generation and call of preprocessed cycles without parameter
Main programs User cycles Standard cycles
/_N_MPF_DIR /_N_CUS_DIR /_N_CST_DIR
Main program ASCII

Call-up
without preprocessing cycle
PROC CYCLE95
(REAL FFW1, ...)
CYCLE95 (10...) _N_CYCLE95_SPF
Preprocessing
Call-up Pre-
with preprocessing processed
cycle
_N_CYCLE_CYC
Fig. 2-2 Generation and call of preprocessed cycles with parameter

2.3 Program call
Call
S Compiled cycle:
A compiled cycle is called in exactly the same way as a normal subroutine.
Example: CYCLE
S Preprocessing is activated:
The compiled cycle is called instead of the ASCII cycle.
– If the subroutine is called explicitly with extension _SPF, then the ASCII
cycle is called even if a compilation is available.
Example: CYCLE_SPF ;ASCII cycle call
– If the subroutine is called explicitly with extension _CYC, then the pre-
processed cycle is called if available. An error message is output if no
compilation is available.
Example: CYCLE_CYC ;Preprocessed cycle call
– If Bit 5 is set and a file that is not marked with PREPRO called explicitly
with the extension _CYC, an error message is issued with Alarm 14011.
S If a subroutine is called without explicit extension, an attempt is first made to

load the program. If this is not possible (not marked with PREPRO), an at-
tempt is made to load the SPF program.
S The change to an external language mode with G291 is rejected and an

alarm issued. When the pre-compiled cycle is called, an explicit change is
made to the Siemens language mode.
S When the subroutine is called, it is checked whether the compiled file is

older than the cycle. If so, the compile file is deleted and an alarm issued.
The user must pre/compile the cycles again.
Note
Only cycles without parameters may be called with the extension _SPF or
_CYC (see Fig. 2-1).
Do not use PUDs in cycles that are preprocessed. The PUDs are created in the
calling main program. At the time of compilation after power-on, these data are
not known to the cycles.
The current program display shows whether the current ASCII cycle or the com-
pilation has been called (extension _SPF or _CYC).
Call condition All cycles in the cycle directories must be compiled before preprocessing is acti-
vated. Non-compiled cycles in _N_CUS_DIR and _N_CST_DIR which were
only loaded, for example, after power ON, can only be called through explicit
specification of extension _SPF.
If preprocessing is active and bit 5 is set, all programs that do not start with the
PREPRO PROC instruction are not precompiled.

2.3 Program call
Syntax check All program errors that can be corrected by means of a compensation block are
detected during preprocessing. In addition, when the program includes
branches and check structures, a check is made to ensure that the branch des-
tinations are present and that check structures are nested correctly.
Branch destinations/labels must be unique in the program.
After the errors detected during preprocessing have been corrected, preproces-
sing must be started again by means of an NCK power ON.

2.4 Supplementary conditions
Vocabulary The full vocabulary of the NC language is available in the part program.
There are no restrictions on the calculation of measured process variables and
in the reaction to signals from the process and other channels (override, dele-
tion of distance to go, motion-synchronous actions, channel coordination, inter-
rupt processing, etc.).
Axis identifiers Part programs are compiled independently of channels. For this reason, the
geometry and channel identifiers set via
MD $MC_AX CONF_GEOAX_NAME_TAB and
$MC_AXCONF_CHANAX_NAME_TAB must be identical in all channels if they
are used directly in the precompiled cycles.
Generally speaking, axis identifiers are not used directly in machining cycles
since cycles are written
S Independently of channels and

S Independently of the axis identifiers defined on the machine.
The axes to be traversed are addressed indirectly via machine data or trans-
ferred as parameters:
S Indirect axis programming:
– IF $AA_IM[AXNAME($MC_AXCONF_CHANAX_NAME_TAB[4])] > 5
; This branch is executed if the actual value of the 5th channel axis
; referred to the machine coordinate system is greater than 5.
– G1 AX[AXNAME($MC-AXCONF-GEOAX-NAME-TAB[0])] = 10
F1000 G90
; Traverse 1st geometry axis to the value 10.
ENDIF
S Transfer of axis to be traversed from the main program:
– Cycles definition
PROC BOHRE(AXIS DRILLING AXIS)
WHILE $AA_IW[DRILLING AXIS] > –10
G1 G91 F250 AX[DRILLING AXIS] = –1
ENDWHILE
– Call from main program
DRILL(Z)
J

Notes

4.1 Description of machine data
Availability of the The function is an option and is available for
“pre-processing”
function
S SINUMERIK 840D, SW 3 and higher
J

Preprocessing of cycles can be activated from SW 3.2 and SW 3.5 or prede-

fined in more detail at file level (SW 6.4 and higher) with the following existing
machine data:

10700 PREPROCESSING_LEVEL
MD number Program preprocessing level
Meaning: Preprocessing describes the compilation of cycles/programs. Once they have been prepro-
cessed, programs/cycles can be used in the part program without an additional EXTERN
declaration.
A number of different preprocessing levels are possible:

Bit 0= 0: No preprocessing
Bit 0= 1: The cycle call description is generated during control run-up, i.e. all
the programs in directories _N_CUS_DIR and _N_CST_DIR can be called in the
part program without an EXTERN declaration.
Any changes made to the parameter interface of a cycle in the control do not
take effect until the next POWER ON.
Bit 1= 1: During control run-up, all cycles are preprocessed into a compilation
optimized for processing. All user cycles (_N_CUS_DIR directory) and
standard cycles (_N_CST_DIR directory) are processed at high speed.
Program changes to cycle programs do not take effect until
the next POWER ON.
Bit 2= 1: During control run-up, the Siemens cycles in the

_N_CST_DIR directory are preprocessed in a compilation optimized for
processing (SW 3.5 and higher).
Bit 3= 1: During control run-up, the user cycles in the

_N_CUS_DIR directory are preprocessed in a compilation optimized for
processing (SW 3.5 and higher).
Bit 4 =1: Preprocessing of user cycles from directory _N_CMA_DIR

(SW 5 and higher).
Bit 5 =1: Preprocessing of user cycles only by marking with

PREPRO in the PROC instruction (SW 6.4 and higher).
Bit 6 =1: (SW 7.1 and higher).
Precompiled programs are stored in the DRAM.
Compilations for which there is insufficient space in the DRAM are
transferred to the SRAM if this bit is set.
Memory is required for preprocessing cycles. Memory usage can be optimized by means of
selective preprocessing (directories/PREPRO):
– Runtime-critical cycles are grouped in a single directory.
– The remaining cycles are located in a different directory.
– Use bit 5 to mark only critical cycles.
– SW 7.1 and higher: The precompiled cycles are in the DRAM.
Additional references /PA/, “Programming Guide Fundamentals” (EXTERN Declaration)

4.1.2 Channelspecific machine data
Memory The memory space required for variables defined in the part programs is de-
requirements fined via the following machine data:
S MD 28010: MM_NUM_REORG_LUD_MODULES
S MD 28020: MM_NUM_LUD_NAMES_TOTAL
S MD 28040: MM_LUD_VALUES_MEM
While preprocessing is in progress, the amount of memory required is the same
as if the preprocessed program were called on the first subroutine level.
References: /FB/, S7, “Memory Configuration”
The memory configuration set via machine data
MD 28010: MM_NUM_REORG_LUD_MODULES,
MD 28040: MM_LUD_VALUES_MEM and
MD 18242: MM_MAX_SIZE_OF_LUD_VALUE is relevant at the time when the
subroutine is called and remains unchanged compared to the ASCII interpreta-
tion of the subroutines.
Name When programs are preprocessed after POWER ON, a name is counted for
each branch destination/label as if it were a variable. These names must be
taken into account in the following machine data:
S MD 28020: MM_NUM_LUD_NAMES_TOTAL
J

Notes

None
J

Notes

6.1 Preprocessing individual files
Example 6
6.1 Preprocessing individual files
PROC PART1 PREPRO ; Preprocessing if bit 5 = 1
; in PREPROCESSING_LEVEL
N1000 DEF INT COUNTER
N1010 DESTINATION: G1 G91 COMPON
N1020 G1 X0.001 Y0.001 Z0.001 F100000
N1030 COUNTER=COUNTER+1
N1040 COUNTER=COUNTER–1
N1050 COUNTER=COUNTER+1
N1060 IF COUNTER <=10 GOTOB DESTINATION
N1070 M30
PROC PART2
N2000 DEF INT VARIABLE, FIELD[2]
N2010 IF $AN_NCK_Version < 3.4
N2020 SETAL(61000)
N2030 ENDIF
N2040 START:
N2050 FOR VARIABLE = 1 TO 5
N2060 G1 F1000 X=VARIABLE*10–56/86EX4+4*SIN(VARIABLE/3)
N2070 ENDFOR
N2080 M17
PROC MAIN
N10 G0 X0 Y0 Z0
N20 PART1
N30 G0 X10 Y10 Z10
N40 PART2
N50 G0 X100 Y100
N60 PART3
N70 G0 X10 Y10
N80 M30
Example constellations:
a) Bit 5 = 1
$MN_PREPROCESSING_LEVEL=45 ; Bit 0, 2, 3,5
PART1 subroutine is precompiled, the call description is generated.

PART2 subroutine is not precompiled but the call description is generated.

6.2 Preprocessing in the DRAM
b) Bit 5 = 0
$MN_PREPROCESSING_LEVEL=13 ; Bit 0, 2, 3,
Both subroutines are precompiled, the call description is generated.
c)
Example for an invalid subroutine, active compilation:
PROC SUB1 PREPRO
G291 ; <––– Alarm during com-

pilation, G291 not possible
G0 X0 Y0 Z0
M17
6.2 Preprocessing in the DRAM

Machine data for preprocessing only in the DRAM with selective selection:
; Bit 5 = 1 Selective program selection
; Bit6 = 0 No diversion to SRAM if
DRAM full
N30 $MN_MM_DRAM_FILE_MEM_SIZE = 800 ; Reserve space
N40 $MN_PREPROCESSING_LEVEL = 63 ; Bit 0–5 = 1
M17
Machine data for preprocessing in the DRAM, with option to use the SRAM and
with selective selection:
; Bit 5 = 1 Selective program selection
; Bit6 = 1 Diversion to SRAM if DRAM full
N30 $MN_MM_DRAM_FILE_MEM_SIZE = 800 ; Reserve space
N40 $MN_PREPROCESSING_LEVEL = 127 ; Bit 0–6 = 1
M17

7.2 Alarms

7.1 Machine data

ence
General ($MN_ ... )
10700 PREPROCESSING_LEVEL Program preprocessing level
18242 MM_MAX_SIZE_OF_LUD_VALUE Maximum field size of LUD variables S7
28010 MM_NUM_REORG_LUD_MODULES Number of modules for local user variables with S7
REORG (DRAM)
28020 MM_NUM_LUD_NAMES_PER_PROG Number of local user variables (DRAM) S7
28040 MM_LUD_VALUES_MEM Memory size for local user variables (DRAM) S7
7.2 Alarms
J

7.2 Alarms
Notes

06.05

3D Tool Radius Compensation (W5)
1 Brief Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/W5/1-3

1.1 Machining modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/W5/1-5
2 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/W5/2-7
2.1 Peripheral milling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/W5/2-8
2.1.1 Corners for peripheral milling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/W5/2-9
2.1.2 Behavior at outside corners . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/W5/2-10
2.1.3 Behavior at inside corners . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/W5/2-14
2.2 Face milling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/W5/2-18
2.2.1 Cutter shapes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/W5/2-18
2.2.2 Orientation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/W5/2-20
2.2.3 Compensation on path . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/W5/2-21
2.2.4 Corners for face milling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/W5/2-23
2.2.5 Behavior at outside corners . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/W5/2-24
2.2.6 Behavior at inside corners . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/W5/2-25
2.2.7 Monitoring of path curvature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/W5/2-27
2.3 Selection/deselection of 3D TRC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/W5/2-28
2.3.1 Selection of 3D TRC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/W5/2-28
2.3.2 Deselection of 3D TRC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/W5/2-29
3 Supplementary Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/W5/4-31
4 Data Descriptions (MD, SD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/W5/4-31
4.1 Channelspecific machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/W5/4-31
5 Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/W5/6-33
6 Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/W5/6-33
7 Data Fields, Lists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/W5/7-35
7.1 Machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/W5/7-35
7.2 Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3/W5/7-36
J

SINUMERIK 840D sl/840D/840Di/810D Descrip. of Functions Special Functions (FB3) – 06.05 Edition 3/W5/i
06.05
Notes

3/W5/ii SINUMERIK 840D sl/840D/840Di/810D Descrip. of Functions Special Functions (FB3) – 06.05 Edition
06.05 3D Tool Radius Compensation (W5)
1 Brief Description
Brief Description 1
Why 3D TRC? 3D tool radius compensation is used to machine contours with tools that can be
controlled in their orientation independently of the tool path and shape.
Note
This description is based on the specifications for 2D tool radius compensation.
References: /FB/, W1, “Tool Compensation”
How 21/2 D - 3D S With 21/2D TRC, it is assumed that the tool is always space-bound. Tools
TRC differ with constant orientation (cylindrical tools) are used for circumferential
milling operations.
While the orientation of the machining surface is not constant when other
tools are used, it is determined by the contour and cannot thus be controlled
independently of it.
S With 3D TRC, surfaces with variable orientation are generated.

The prerequisite for peripheral milling is that the tool orientation can be
changed, i.e. in addition to the 3 degrees of freedom needed to position the
tool (normally 3 linear axes), a further two degrees of freedom (2 rotary
axes) are required to set the tool orientation (5-axis machining).
End faces can be milled with 3 or 5 degrees of freedom.

SINUMERIK 840D sl/840D/840Di/810D Descrip. of Functions Special Functions (FB3) – 06.05 Edition 3/W5/1-3
3D Tool Radius Compensation (W5) 06.05
1 Brief Description
Peripheral milling, The following diagram (Fig. 1-1) shows the differences between 21/2 D TRC and
face milling 3D TRC with respect to peripheral milling operations.
21/2D TRC
Tool
Workpiece
contour
Path of the
tool center point
at equal distance
ÉÉ
to the contour
3D TRC
ÉÉ
ÉÉÉÉÉÉÉÉ
ISD = InSertion Depth R
L
ISD
ÉÉÉÉÉÉÉÉ
ÉÉÉÉÉÉÉÉ
ÉÉÉÉÉÉÉÉ
ÉÉÉÉÉÉÉÉ
ÉÉÉÉÉÉÉÉ
Fig. 1-1 21/2 D, 3D tool radius compensation
The parameters for the operation shown in Fig. 1-2 “Face milling” are described
in detail in Section 2.2.
ÉÉ
ÉÉ
w
FS
ËËËËËË ÉÉ
d
e d
ËËËËËË
ËËËËËË
nF
r
ËËËËËË
FE
ËËËËËË
Fig. 1-2 Face milling
Orientation With 3D TRC, a distinction must be drawn between
S Tools with space-bound orientation

S Tools with variable orientation

3/W5/1-4 SINUMERIK 840D sl/840D/840Di/810D Descrip. of Functions Special Functions (FB3) – 06.05 Edition
1.1 Machining modes
1.1 Machining modes

There are two modes for milling spatial contours:
S Peripheral milling
S Face milling
Peripheral milling mode is provided for machining so-called ruled surfaces (e.g.
taper, cylinder, etc.) while face milling is used to machine curved (sculptured)
surfaces.
Peripheral milling Tools with
S Space-bound orientation (21/2D TRC) and

S Variable orientation (3D TRC)
are used for peripheral milling.
3D TRC can therefore be applied in peripheral milling only if the tool orientation
is variable.
Intermediate blocks that are required from non-tangential transitions for mathe-
matical reasons can be avoided using the intersection procedure. In these
cases, the two curves in question are extended; the intersection of both ex-
tended curves is approached.
Face milling Tools of both types, i.e. with constant or variable orientation, can be used for
face milling operations.
Tools with variable orientation offer the following advantages:
S Better approximation of end contour

S Greater cutting capability
S Wider selection of tool shapes
S Wider range of surfaces can be machined (relief cuts).
J

1.1 Machining modes
Notes

2 Detailed Description
The following section provides a detailed function description of 3D tool radius
compensation with respect to
S Peripheral milling and

S Face milling
item.
Tool orientation The term “tool orientation” describes the geometric alignment of the tool in
space. The tool orientation on a 5-axis machine tool can be set by means of
program commands.
References: /PA/, Programming Guide

2.1 Peripheral milling
Peripheral milling The variant of peripheral milling used here is implemented through the definition
of a path (directrix) and the associated orientation. In this machining mode, the
tool shape is irrelevant on the path and at the outside corners. The only decisive
factor is the radius at the tool contact point.
ÉÉÉÉ
A Tool axis
B
ÉÉÉÉ
Peripheral milling
Z
Y
X
Fig. 2-1 Peripheral milling
Insertion depth The ISD (InSertion Depth) program command is used to program the tool inser-
(ISD) tion depth for peripheral milling operations. This makes it possible to change the
position of the machining point on the peripheral surface of the tool.
ISD defines the distance between cutter tip FS and cutter construction point FH.
Point FH is obtained by projecting the programmed machining point onto the
tool axis. ISD is evaluated only when 3D TRC is active.
ÉÉ
ÉÉ
FH
ISD
FS
Fig. 2-2 Insertion depth

2.1.1 Corners for peripheral milling
Outside corners/ Outside corners and inside corners must be treated separately. The terms in-
inside corners side corner and outside corner are dependent on the tool orientation. When the
orientation changes at a corner, for example, the corner type may change while
machining is in progress. Whenever this occurs, the machining operation is
aborted with an error message.
ÉÉÉÉÉÉÉÉÉ
ÉÉÉÉÉÉÉÉÉ ÉÉÉÉÉÉÉÉ
ÉÉÉÉÉÉÉÉ
ÉÉÉÉÉÉÉÉÉ
ÉÉÉÉÉÉÉÉÉ
G41
ÉÉÉÉÉÉÉÉ
G42
ÉÉÉÉÉÉÉÉ
Inside corner Outside corner
ÉÉÉÉÉÉÉÉÉ
ÉÉÉÉÉÉÉÉ
ÉÉÉÉÉÉÉÉÉ
ÉÉÉÉÉÉÉÉ
Fig. 2-3 Corner type
ÉÉÉÉÉ
ÉÉÉÉÉ
ÉÉÉÉÉ
ÉÉÉÉ
ÉÉÉÉ
ÉÉÉÉ
ÉÉÉÉ
Machining direction
Fig. 2-4 Change of corner type during machining

2.1.2 Behavior at outside corners
Similar to the procedure for 21/2D tool radius compensation, a circle is inserted
at outside corners (G450) or the point of intersection of the offset curves is ap-
proached (G451).
For transitions that are almost tangential, the procedure is identical whether
G450 or G451 is active (limit angle can be set via MD). Conversely, if G451 is
active, a circle is also inserted (procedure as for G450) if there is no intersection
or if the corner angle exceeds a specific value (MD).
If there is a change in orientation between the two traversing blocks, a circle is
always inserted.
G450 Outside corners are treated as if they were circles with a 0 radius. The tool ra-
dius compensation acts on these circles in the same way as on any other pro-
grammed path.
The circle plane extends from the final tangent of the first block to the start tan-
gent of the second block.
The orientation can be changed during block transition.
A change in orientation between two programmed blocks is executed either
before the circle block or in parallel to it. Circles are always inserted. The DISC
command is not evaluated.
Programming S ORIC Change in orientation and path motion in parallel

(ORIentation Change Continuously)
S ORID Change in orientation and path motion in succession

(ORIentation Change Discontinuously)
The ORIC and ORID program commands are used to determine whether
changes in orientation programmed between two blocks are executed before
the inserted circle block is processed or at the same time.
When the orientation needs to be changed at outside corners, the change can
be implemented in parallel to interpolation or separately from the path motion.
When ORID is programmed, the inserted blocks are executed first without a
path motion (blocks with changes in orientation, auxiliary function outputs, etc.).
The circle block is inserted immediately in front of the second of the two travers-
ing blocks which form the corner.
ORIC If ORIC is active and there are two or more blocks with changes in orientation
(e.g. A2= B2= C2=) programmed between the traversing blocks, then the in-
serted circle block is distributed among these intermediate blocks according to
the absolute changes in angle.
Change in The method by which the orientation is changed at an outside corner is deter-
orientation mined by the program command that is active in the first traversing block of an
outside corner.

Outside corner with

constant
orientation (inserted block,
not programmed)
60
N100
N110 Tool at inclined angle
N90
N70
N60 N80
10
Outside corner with overlaid
5 change in orientation
10 60
Tool in vertical position
Fig. 2-5 ORIC Change in orientation and path motion in parallel
Example:
N10 A0 B0 X0 Y0 Z0 F5000
N20 T1 D1 ;Radius=5
N30 TRAORI(1) ;Selection of transformation
N40 CUT3DC ;Selection of 3D TRC
N50 ORIC
N60 G42 X10 Y10 ;Selection of TRC
N70 X60
N80 A3=1 B3=0 C3=1 ;Change in orientation at the outside corner
formed by N70 and N90 Y60 ;N90
N100 X10
N110 G40 X0 Y0
N120 M30
The circular motion and change in orientation are executed in parallel in block
N80 (ORIC active).
Exception Intermediate blocks without traversing and orientation motions are executed at
the programmed positions, e.g. auxiliary functions.
Example:
...
N70 X60
N75 M20 ;Auxiliary function call
N90 Y60 ;formed by N70 and N90
...
Blocks N75 and N80 are executed after N70. The circle block is then executed
with the current orientation.

ORID If ORID is active, then all blocks between the two traversing blocks are exe-
cuted at the end of the first traversing block. The circle block with constant ori-
entation is executed immediately before the second traversing block.
Outside corner with

constant
orientation (inserted block,
not programmed)
60
Tool at inclined angle
N100
N110
Tool at beginning of
N90
N90
Tool at end
of N80. The orientation
N70 N80 is changed so that the
N60 tool is constantly in
10 contact with the end
5 point of N70.
10 60
Tool in vertical Tool at end

position of N70
Fig. 2-6 ORID, change in orientation and path motion as successive actions
Example:
N10 A0 B0 X0 Y0 Z0 F5000
N20 T1 D1 ;Radius=5
N50 ORID
N70 X60
N90 Y60 ;formed by N70 and N90
N100 X10
N110 G40 X0 Y0
N120 M30
Note
The DISC command is not evaluated.

G451 The intersection is determined by extending the offset curves of the two partici-
(SW 5 and higher) pating blocks and defining the intersection of the two blocks at the corner in the
plane perpendicular to the tool orientation. If no such intersection is available, a
circle is inserted.
If an intersection is found in the plane perpendicular to the tool, this does not
mean that the curves also intersect in space. Rather the curves in the direction
of the tool longitudinal axis are considered, which are generally a certain dis-
tance apart. The positional offset is eliminated over the entire block length in
direction of the tool.
The way this offset is processed in tool direction at outside corners is the same
as for inside corners.
No intersection The intersection procedure is not used when at least one block containing a
procedure change to the tool orientation was inserted between the traversing blocks in
question.
In this case a circle is always inserted at the corner.
Blocks without Blocks without relevant traversing information (neither tool orientation nor posi-
traversing tion of geometry axes are changed) are permissible. The intersection procedure
information is applied to the adjacent blocks as if these intermediate blocks did not exist. In
the same manner, tool direction motions in the tool direction may also be pro-
grammed in intermediate blocks.

2.1.3 Behavior at inside corners
Collision With the 3D compensation function, only adjacent traversing blocks are taken
monitoring into account in the calculation of intersections.
Path segments must be long enough to ensure that the contact points of the
tool do not cross the block limits into other blocks when the orientation changes
at an inside corner.
ÇÇÇÇÇÇÇÇÇÇÇ
N80 Change in orientation
N90
N70
N80
Fig. 2-7
The contact points of the tool must not cross the limits of block N70 or N90 as
a result of the change in orientation in block N80
Example:
N10 A0 B0 X0 Y0 Z0 F5000
N20 T1 D1 ;Radius=5
N50 ORID
N70 X60
N80 A3=1 B3=0 C3=1 ;Change in orientation at the inside corner
;formed by N70 and N90
N90 X10
N100 G40 X0 Y0
N120 M30

Without change in If the orientation is not changed at the block limit, then the contour need only be
orientation considered in the plane vertical to the tool axis. In this case, the tool cross-sec-
tion is a circle which touches the two contours. The geometric relations in this
plane are identical to those for 21/2D compensation.
With change in If the orientation changes on a block transition, the tool moves in the inside cor-
orientation ner so that it is constantly in contact with the two blocks forming the corner.
When the orientation changes in a block that is one of the two blocks forming
the inside corner, then it is no longer possible to adhere to the programmed
relationship between path position and associated orientation. This is because
the orientation must reach its end value even though the path end position is
not reached. This response is identical to the response of synchronized axes
with 21/2 D tool radius compensation.
ÉÉÉÉÉÉÉÉÉÉÉÉÉ
Programmed
position
Fig. 2-8 Path end position and change in orientation at inside corners

Change in Generally speaking, the contour elements that form an inside corner are not
insertion depth positioned on the plane perpendicular to the tool. This means that the contact
points between the two blocks and the tool are at different distances from the
tool tip.
This means: the insertion depth (ISD) changes abruptly from the 1st to the 2nd
block at an inside corner.
To ensure that this difference in depth is not an abrupt step change, it is distrib-
uted continuously among the blocks involved during interpolation. The depth-
compensating motion is executed in the current tool direction.
This solution prevents the contour from being violated by cylindrical tools
if the length of the tool prevents the cutter contact point on the lateral surface of
the cutter leaving the range in which machining is possible.
ÉÉÉÉ
ÉÉÉÉ
ÉÉÉÉÉÉÉÉÉÉÉÉ
Old ISD
New ISD
FS
2. Block
1. Block
Fig. 2-9 Change in insertion depth

Example
of inside corners
ÉÉÉÉ
ÉÉÉ
ÉÉÉ
ÉÉÉÉ
ÉÉÉ
ÉÉÉ
ÉÉÉÉ
ÉÉÉ
ÉÉÉ
ÉÉÉÉ
ÉÉÉ
ÉÉÉ
ÉÉÉ
ÉÉÉ
ÉÉÉ
N90
N60
TRC
Fig. 2-10 Change in orientation at an inside corner
Example:
N10 A0 B0 X0 Y0 Z0 F5000
N20 T1 D1 ;Radius=5
N30 TRAORI(1) ;Transformation selection
N40 CUT3DC ;3D TRC selection
N50 ORID
N60 G42 X10 Y10 G451 ;TRC selection
N70 Y60
N80 A3=1 B3=0 C3=1 ;Change in orientation at the inside corner
;formed by N70 and N90 X60 Y90
N100 G40 X... Y...
...
N190 CDOF
N200 M30

2.2 Face milling
2.2 Face milling

The face milling function allows surfaces with any degree or form of curvature to
be machined. In this case, the longitudinal axis of the tool and the surface nor-
mal vector are more or less parallel. In contrast, the longitudinal axis and the
surface normal vector of the surface to be machined in a peripheral milling op-
eration are at right angles to one another.
Information about the surfaces to be machined is absolutely essential for face
milling operations, i.e. a description of the linear path in space is not sufficient.
The tool shape must also be known in order to implement the tool offset (the
term “Tool radius compensation” is not appropriate in this case).
The relations in face milling are shown in Fig. 2-11.
FS
w ÉÉ
ÉÉ
ËËËËËË nF
e ÉÉ
d
d
ËËËËËË
ËËËËËË
r
ËËËËËË
FE
Fig. 2-11 Face milling with a torus
2.2.1 Cutter shapes
The following table lists the possible tool shapes that may be used for face mill-
ing. They are shown in Fig. 2-11 with their dimensions.
Table 2-1 Tool shapes for face milling
Tool
Cutter type d r a
No.
Ball end mill (cylindrical die sinker) 110 >0 X X
Ball end mill (tapered die sinker) 111 >0 >d X
End milling cutter without corner rounding 120, >0 X X
130
End mill with corner rounding (torus) 121, >r >0 X
131
Bevel cutter without corner rounding 155 >0 X >0
Bevel cutter with corner rounding 156 >r >0 >0
If a tool number other than any of those specified in the table above is used in
the NC program, then the tool type is assumed to be a ball end mill (tool
type 110). Tool parameters marked with an X in the tool table are not evaluated.
A value other than zero is meaningless for the tool offset for face milling.

2.2 Face milling
An alarm is output if tool data are programmed that violate the limits specified in
the table above.
The shaft characteristics are not taken into account on any of the tool types. For
this reason, the two tool types 120 (end mill) and 155 (bevel cutter), for exam-
ple, have an identical machining action since only the section at the tool tip is
taken into account. The only difference between these tools is that the tool
shape is represented differently (dimensions).
d
d d
Cylindr. die sinker Taper. die sinker End mill

(Type 110) (Type 111) (Type 120, 130)
a a
d
d d
r r
End mill with Bevel cutter with
corner rounding Bevel cutter corner rounding
(Type 121, 131) (Type 155) (Type 156)
Fig. 2-12 Tool types for face milling
The tool data are stored under the following tool parameter numbers:
Table 2-2 Tool parameter numbers for tool data
Tool data Geometry Wear

d $TC_DP6 $TC_DP15
r $TC_DP7 $TC_DP16
a $TC_DP11 $TC_DP20
Note
The geometry and wear values of a tool data are added.
The reference point for tool length compensation (also referred to as tool tip or
tool center point (TCP)) on all tool types is the point at which the longitudinal
axis of the tool penetrates the surface.
A new tool with different dimensions may be programmed only when the tool
compensation is activated for the first time (i.e. on transition from G40 to G41 or
G42) or, if the compensation is already active, only when G41 or G42 are repro-
grammed.

2.2 Face milling
In contrast to peripheral milling, therefore, there are no variable tool dimensions

in one block.
This restriction applies only to the tool shape (tool type, dimensions d, r and a).
A change in tool involving only a change in other tool data (e.g. tool length) is
permitted provided that no other restrictions apply. An alarm is output if a tool is
changed illegally.
2.2.2 Orientation
The options for programming the orientation have been extended for 3D face
milling.
The tool offset for face milling cannot be calculated simply by specifying the
path (e.g. a line in space). The surface to be machined must also be known.
The control is supplied with the information it requires about this surface by the
surface normal vector.
The surface normal vector at the block beginning is programmed with A4, B4
and C4 and the vector at the block end with A5, B5 and C5. Components of the
surface normal vector that are not programmed are set to zero. The length of a
vector programmed in this way is irrelevant. A vector of zero length (all three
components are zero) is ignored, i.e. the direction programmed beforehand re-
mains valid, no alarm is generated.
If only the start vector is programmed (A4, B4, C4) in a block, then the pro-
grammed surface normal vector remains constant over the entire block. If only
the end vector is programmed (A5, B5, C5), then large-circle interpolation is
used to interpolate between the end value of the preceding block and the pro-
grammed end value. If both the start and end vectors are programmed, then
interpolation takes place between both directions using the large-circle inter-
polation method. The fact that the start vector may be reprogrammed in a block
means that the direction of the surface normal vector can change irregularly on
a block transition. Irregular transitions of the surface normal vector always occur
in cases where there is no tangential transition between the surfaces (planes)
involved, i.e. if they form an edge.
Once a surface normal vector has been programmed, it remains valid until
another vector is programmed. In the basic setting, the surface normal vector is
set to the same values as the vector in the z direction. This basic setting direc-
tion is independent of the active plane (G17-G19). If ORIWKS is active, surface
normal vectors refer to the active frame, i.e. when the frame is rotated, the vec-
tors rotate simultaneously. This applies both to programmed orientations as well
as to those derived from the active plane. If ORIWKS is active, the surface nor-
mal vectors are adjusted when a new frame becomes active. An orientation
modified as the result of frame rotations is not returned to its original state on
switchover from ORIWKS to ORIMKS.

2.2 Face milling
It must be noted that the programmed surface normal vectors may not neces-
sarily be the same as those used internally. This always applies when the pro-
grammed surface normal vector is not perpendicular to the path tangent. A new
surface normal vector is then generated which is positioned in the plane extend-
ing from the path tangent to the programmed surface normal vector, but which is
at right angles to the path tangent vector. This orthogonalization is necessary
because the path tangent vector and surface normal vector for a real surface
must always be perpendicular to one another. However, since the two values
can be programmed independently, they may contain mutually contradictory
information. Orthogonalization ensures that the information contained in the
path tangent vector has priority over the data in the surface normal vector. An
alarm is output if the angle between the path tangent vector and the pro-
grammed surface normal vector is smaller than the limit value programmed in
machine data MC_CUTCOM_PLANENORMAL_PATH_LIMIT.
If a block is shortened (inside corner), then the interpolation range of the surface
normal vector is reduced accordingly, i.e. the end value of the surface normal
vector is not reached as it would be with other interpolation quantities such as,
for example, the position of an additional synchronized axis.
In addition to the usual methods of programming orientation, it is also possible
to refer the tool orientation to the surface normal vector and path tangent vector
using the addresses LEAD (lead or camber angle) and TILT (side angle). The
lead angle is the angle between the tool orientation and the surface normal vec-
tor. The side angle is the angle between the path tangent and the projection of
the tool vector into the surface to be machined. Specification of the angle rela-
tive to the surface normal is merely an additional option for programming tool
orientation at the block end. It does not imply that the lead and side angles
reach their programmed values before the path end point is reached.
The final tool orientation is calculated from the path tangent, surface normal
vector, lead angle and side angle at the block end. This orientation is always
implemented by the end of the block, particularly in cases where the block is
shortened (at an inside corner). If the omitted path section is not a straight line
in a plane, the lead and side angles generally deviate from their programmed
values at the path end point. This is because the orientation has changed rela-
tive to the surface normal vector or path tangent vector when the absolute orien-
tation of the tool is the same as at the original path end point.
2.2.3 Compensation on path
Tool longitudinal A special case must be examined with respect to face milling operations, i.e.
axis parallel to that the machining point on the tool surface moves around. This may be the
surface normal case on a torus cutter whenever surface normal vector nF and tool vector w
become collinear (i.e. the tool is at exact right angles to the surface) since it is
not a single point on the tool that corresponds to this direction, but the entire
circular surface on the tool end face. The contact point is not, therefore, defined
with this type of orientation. A path point in which tool longitudinal axis and sur-
face normal are parallel is therefore referred to below as a singular point or a
singularity.

2.2 Face milling
The above case is also meaningful in practical terms, e.g. in cases where a
convex surface, which may have a vertical surface normal (e.g. hemisphere),
must be machined with a perpendicular tool (e.g. face milling with constant ori-
entation). The machining point on the contour remains fixed, but the machine
must be moved to bring the machining point from one side of the tool to the
other.
The problem described is only a borderline case (lead angle and side
angle = 0). If the lead angle = 0 and the side angle has a low value, then
the tool must be moved very rapidly (in borderline case in steps) to keep the
machining point resulting from the milling conditions close to the arc-line forming
the end face, see Fig. 2-13.
ÉÉÉÉÉÉÉÉÉ
ÉÉÉÉÉÉÉÉÉ
ÉÉÉÉÉÉÉÉÉ
ÉÉÉÉÉÉÉÉÉSingular point
ÉÉÉÉÉÉÉÉÉ
Fig. 2-13 Change in the machining point on the tool surface close to a point in which
surface normal vector and tool orientation are parallel.
The problem is basically solved as follows: If the angle between the surface
normal vector nF and tool orientation “w is smaller than a limit value (machine
data) min, then the side angle on tools with a flat end face (e.g. torus cutter or
cylindrical mill) must be 0. This restriction does not apply to tool types with a
spherical end face (e.g. ball end mill, die sinker) since angular changes close to
the singular point do not lead to abrupt changes in the machining point on the
surface of such tools. If now becomes 0, i.e. the sign of lead angle changes,
the machining point moves from its current position to the opposite side of the
tool. This movement is executed in an inserted linear block.
The machining operation is aborted with an alarm if an attempt is made to ma-
chine within the illegal angular range for the side angle (i.e. min and
, 0).
The insertion of linear blocks makes it necessary to split the original blocks at
the singular points. The partial blocks created in this way are treated as if they
were original, which means, for example, that a concave path containing a sin-
gularity is treated like an inside corner, i.e. there is no contour violation. Each
new partial block must contain at least one tool contact point since this is al-
ways calculated on the basis of adjacent traversing blocks.

2.2 Face milling
Singularities do not just occur at isolated points, but along whole curves. This is
the case, for example, if the curve to be interpolated is a plane curve (i.e. a
curve with a constant osculating plane) and the tool is constantly aligned in par-
allel to the binormal vector, i.e. perpendicular to the osculating plane. A simple
example is a circular arc in the x-y plane that is machined by a tool aligned in
parallel to the z axis. On paths of this type, the tool offset is reduced to a tool
length compensation, i.e. the tool is moved so that its tip FS is positioned on the
programmed path.
On transition between singular and non-singular curves, linear blocks must be
inserted in the same way as for isolated singular points so that the machining
point on the tool can move from the tool tip FS to the periphery (on outside cor-
ners and convex surfaces) or the paths must be shortened to avoid contour
violations (on inside corners and concave surfaces).
2.2.4 Corners for face milling
Two surfaces which do not merge tangentially form an edge. The paths defined
on the surfaces make a corner. This corner is a point on the edge.
The corner type (inside or outside corner) is determined by the surface normal
of the surfaces involved and by the paths defined on them.
The surface normals of the two surfaces forming the edge may point in opposite
directions of the overall surface (the front edge of one surface is continued on
the rear edge of the second surface), see also Fig. 2-14. Such transitions are
not permissible and are rejected with an alarm.
The scalar product of the surface normal vector and (possibly variable) tool ori-
entation on one corner/path must be positive at each point, i.e. it is not permissi-
ble to machine from the rear face of the surface. Failure to observe this rule
results in an alarm. The permissible ranges of validity of tool orientation for in-
side and outside corners are illustrated in Fig. 2-14. These ranges are further
restricted by the condition that the angle between the surfaces to be machined
and the “steepest” surface line of the tool surface must not be lower than a par-
ticular machine data setting. The “steepest” surface line is a line at angle a to
the tool longitudinal axis (this line is in the same direction as the tool longitudinal
axis on cylindrical tools). This restriction must be imposed to ensure that the
contact point on the tool does not leave the permissible range.

2.2 Face milling
Range of validity of tool orientation
n1 n n1 n2
n1 2
n2
Illegal surface transition Inside corner Outside corner
Fig. 2-14 Corners for face milling
It is possible to insert blocks that contain no motion commands (e.g. auxiliary

function outputs) and/or that include motions of axes not involved in the path
between two blocks which contain a path definition. Changes in orientation can
also be programmed in such intermediate blocks. The only exception applies to
the activation and deactivation of the 3D tool radius compensation function, i.e.
intermediate blocks with changes in orientation may not be inserted between
the activation block and the first corrected block or between the last corrected
block and the deactivation block. Other intermediate blocks are, however, per-
mitted.
2.2.5 Behavior at outside corners
Outside corners are treated as if they were circles with a 0 radius. The tool ra-
dius compensation acts on these circles in the same way as on any other pro-
grammed path.
The circle plane extends from the final tangent of the first block to the start tan-
gent of the second block.
The orientation can be changed during block transition.
A circle block is always inserted at an outside corner.
A change in orientation between two programmed blocks is executed either
before the circle block or in parallel to it.
Programming S ORIC Change in orientation and path motion in parallel

(ORIentation Change Continuously)
S ORID Change in orientation and path motion in succession

(ORIentation Change Discontinuously)
The ORIC and ORID program commands are used to determine whether
changes in orientation programmed between two blocks are executed before
the inserted circle block is processed or at the same time.
When the orientation needs to be changed at outside corners, the change can
be implemented in parallel to interpolation or separately from the path motion.
When ORID is programmed, the inserted blocks are executed first without a
path motion (blocks with changes in orientation, auxiliary function outputs, etc.).
The circle block is inserted immediately in front of the second of the two travers-
ing blocks which form the corner.

2.2 Face milling
ORIC If ORIC is active and there are two or more blocks with changes in orientation
(e.g. A2= B2= C2=) programmed between the traversing blocks, then the in-
serted circle block is distributed among these intermediate blocks according to
the absolute changes in angle.
Change in The method by which the orientation is changed at an outside corner is deter-
orientation mined by the program command that is active in the first traversing block of an
outside corner.
If the tool orientation at an outside corner is not constant, then the change in
orientation is implemented in exactly the same way as described in Subsec-
tion 2.1.2 for peripheral milling operations.
2.2.6 Behavior at inside corners

The position of the tool in which it is in contact with the two surfaces forming the
corner must be determined at an inside corner. The contact points must be on
the paths defined on both surfaces. It is not usually possible to solve this prob-
lem exactly since, when the tool is moved along the path on the first surface, it
normally touches a point on the second surface which is not on the path.
For this reason, the tool is not moved along the path on the first surface, but
deviates from the path in such a way as to ensure that the distance between the
contact points and the relevant contours in the position in which the tool con-
tacts both surfaces is minimal, see also Fig. 2-15.
Contact points,
tool surface
Path offset p Path

offset p
Tool
Cut edges of
both surfaces Path on surface 2
Path on surface 1
Fig. 2-15 Inside corner with face milling (view in direction of longitudinal axis of tool)
Note
The amount by which the contact points deviate from the programmed contour
will generally be small since the explanatory example shown in Fig. 2-15 in
which the machining point “changes” the cutter side at an inside corner (the
value of the angular difference about the tool longitudinal axis between the
two contact points on the tool surface is approximately °) is more likely to be
the exception (see also Fig. 2-16 on the right). The angle will normally stay
almost constant so that the distance between the contact points on the tool
surface will be relatively small (see also Fig. 2-16 on the left).

2.2 Face milling
ÇÇÇÇÇÇÇÇ
ÇÇÇÇÇÇÇÇ
ÇÇÇÇÇÇÇÇ
ÇÇÇÇÇÇÇÇ
ÇÇÇÇÇÇÇÇ
ÇÇÇÇÇÇÇÇ
Fig. 2-16 Machining at inside corners
The difference between the programmed point on the path and the point actu-
ally to be approached (path offset p) is eliminated linearly over the entire block
length. Differences resulting from inside corners at the block start and block end
are overlaid. The current difference in a path point is always perpendicular to
the path and in the surface defined by the surface normal vector.
If the tool orientation at an inside corner is not constant, the change in orienta-
tion is implemented in the same way as described in Subsection 2.1.3 for 3D
peripheral milling, i.e. the tool is moved in the corner so that it contacts the two
adjacent surfaces at the block start, block end and at two points 1/3 and 2/3 of
the change in orientation. A 3rd-degree polynomial is used to interpolate be-
tween these 4 points.
A variable tool orientation in a block that is shortened owing to an inside corner
is also treated in the same way as described in Subsection 2.1.3 for 3D milling,
i.e. the entire change in orientation is executed in the shortened block. Conse-
quently, the functional relationship between path tangent, surface normal and
tool orientation also changes. This results in new, previously nonexistent singu-
larities or impermissible side angles (at points which are virtually singular) oc-
curring in the shortened block. If this type of situation is detected during proc-
essing of an inside corner, the machining operation is aborted with an alarm. No
block division takes place at the singular points since the compensatory mo-
tions this would involve frequently cause contour violations and the change in
machining side on the tool is not generally intended or even foreseen by the
user. The alarm is also output during examination of an inside corner if the sin-
gularity occurs in the second of the two blocks without the transition to the next
block being considered. The system does not therefore detect that a block of
this type will form an inside corner in conjunction with the following block and
that the singularity would be eliminated again by the second block reduction.
The surface normal vector nF is not affected by the reduction of a block. This
means that in contrast to the tool orientation, the change in orientation that may
need to be executed for this vector will not be imaged onto the reduced travers-
ing interval. This is necessary because a surface other than that programmed
would be machined. Unlike the tool orientation, no problems arise as the result
of an abrupt change in the surface normal vector at a block transition since it
does not reflect any axis motions.

2.2 Face milling
Analogously to 3D peripheral milling, (see Subsection 2.1.3), the two traversing

blocks that form an inside corner must contain contact points. There is no evalu-
ation of several traversing blocks (i.e. no bottleneck detection), CDON/CDOF
are not evaluated. If no contact point can be found, the machining operation is
aborted with an alarm (risk of collision).
2.2.7 Monitoring of path curvature
The path curvature is not monitored, i.e. the system does not usually detect any
attempt to machine a concave surface that is curved to such a degree that the
tool currently in use is not capable of performing the machining operation. A
possible exception are blocks that are split owing to a singularity. The transition
between the two partial blocks created after the split is then treated like an in-
side corner. Except for such special cases, the user is responsible for ensuring
that only tools that can machine along the entire contour without violating it are
used.

2.3 Selection/deselection of 3D TRC

The following commands are used to select/deselect 3D tool radius compensa-
tion for peripheral milling or face milling
S CUT3DC (peripheral milling)

S CUT3DFS (face milling)
S CUT3DFF (face milling)
S CUT3DF (face milling)
2.3.1 Selection of 3D TRC
CUT3DC 3D radius compensation for peripheral milling (only when 5-axis transformation
is active).
CUT3DFS 3D tool offset for face milling with constant orientation. The tool orientation is
defined by G17-G19 and is not affected by frames.
CUT3DFF 3D tool offset for face milling with constant orientation. The tool orientation is the
direction defined by G17-G19 and, in some case, rotated by a frame.
CUT3DF This programming command selects the 3D tool offset for face milling with
change in orientation (only when 5-axis transformation is active).
TRC selection The program commands used to select 3D TRC are the same as those for 2D
TRC. G41/G42 specify the compensation on the left or right in the direction of
motion (the response on selection of G41 and G42 for 3D face milling is identi-
cal). Tool radius compensation is deactivated with G40. The approach behavior
is always NORM. Activation must take place in a linear block.
Example:
N10 A0 B0 X0 Y0 Z0 F5000
N20 T1 D1 ;Radius=5
N40 CUT3DC ;Selection of 3D TRC (peripheral milling)
N60 X60
N70 ....
Intermediate Intermediate blocks are permitted when 3D TRC is active. The specifications for
blocks 2D TRC apply equally to 3D TRC.

2.3.2 Deselection of 3D TRC
Deselection The 3D tool radius compensation function is deselected in a linear block G0/G1
with geometry axes by means of
G40
Example:
N10 A0 B0 X0 Y0 Z0 F5000
N20 T1 D1 ;Radius=5
N60 X60
N70 G40 X100 Y0 Z20 ;Deselection of 3D TRC
N80 ...
Note
If D0 is programmed when tool radius compensation is active, there is no
deselection.
If no geometry axis for the current plane is programmed in the block with the
deselection, no deselection takes place.

Notes

Availability of the The function is an option and is available for
“3D tool radius
compensation”
S SINUMERIK 840D with NCU 572/573,
function SW 3.1 (peripheral milling) and
SW 3.2 (face milling) and higher
J

21080 CUTCOM_PARALLEL_ORI_LIMIT
MD number Limit angle between path tangent and tool orientation for 3D tool radius compensation
Default setting: 3 Minimum input limit: 1.0 Maximum input limit: 89
Changes effective after RESET Protection level: 2/7 Unit: Degrees
Meaning: With 3D tool radius compensation, the angle between the path tangent and the tool orienta-
tion may not drop below a certain limit angle. This machine data specifies this angle (in
degrees).
Generally speaking, the lower the value entered in this machine data, the greater the com-
puting capacity required to check that the above conditions have been met.
Linear blocks with constant orientation are an exception.

21082 CUTCOM_PLANE_ORI_LIMIT
MD number Minimum angle between surface normal and tool orientation with side angle not equal to 0.
Default setting: 3 Minimum input limit: 1.0 Maximum input limit: 89.0
Meaning: This machine data applies to 3D face milling operations and specifies the minimum angle
that must exist between the surface normal vector and the tool orientation on every point of
the path if the applied side angle is not equal to zero and the tool is not a ball mill. Other-
wise, if this value is undershot, machining is interrupted by an alarm.
puting capacity required to check that the above condition has been met.
The machine data has no effect on linear blocks with constant orientation. The angle be-
tween the surface normal vector and tool orientation may be as small as desired in such
cases, even if the side angle is not equal to zero.
21084 CUTCOM_PLANE_PATH_LIMIT
MD number Minimum angle between surface normal vector and path tangent vector, for 3D face milling
Default setting: 3 Minimum input limit: 1.0 Maximum input limit: 89.0
Meaning: This machine data applies to 3D face milling operations and specifies the minimum angle
that must exist between the surface normal vector and the path tangent vector on every
point of the path. Otherwise, if this value is undershot, machining is interrupted by an alarm.
puting capacity required to check that the above condition has been met.

6 Example
None
Example 6
Example program for 3D peripheral milling:
; Definition of tool D1
$TC_DP1[1,1]=120 ; Type (end mill)
$TC_DP3[1,1]= 20. ; Length compensation vector
$TC_DP6[1,1]= 8. ; Radius
N10 X0 Y0 Z0 T1 D1 F12000 ; Selection of tool

N20 TRAORI(1) ; Activation of transformation
N30 G42 ORIC ISD=10 CUT3DC G64 X30 ; Activation of 3D peripheral mill
; ing, changes in orientation at out
; side corners constant, insertion
; depth 10mm N40
ORIWKS A30 B15 ; Change in orientation at one corner
N50 Y20 A3=1 C3=1 ; Traversing by specifying axis positions
; block with change in orientation
; Specify orientation with direction
; vector
N60 X50 Y30 ; Traversing block with constant
; orientation
N70 Y50 A3=0.5 B3=1 C3=5 ; Traversing block with change in
; orientation
N80 M63 ; Block without traversing data
N90 X0 ISD=20 ; Traversing block with change in
; insertion depth
N100 G40 Y0 ; Deactivation of tool radius compensation
N110 M30
Example program for 3D face milling:

N10 ; Definition of tool d1
N20 $TC_DP1[1,1]=121 ; Tool type (torus cutter)
N30 $TC_DP3[1,1]=20. ; Length compensation
N40 $TC_DP6[1,1]=5. ; Radius
N50 $TC_DP7[1,1]=3. ; Rounding radius
N60
N70
N80 X0 Y0 Z0 A0 B0 C0 G17 T1 D1 F12000 ; Selection of tool

6 Example
N90 TRAORI(1)
N100 B4=–1 C4=1 ; Definition of plane
N110 G41 ORID CUT3DF G64 X10 Y0 Z0 ; Activate tool compensation
N120 X30
N130 Y20 A4=1 C4=1 ; Outside corner, redefine plane
N140 B3=1 C3=5 ; Change in orientation with ORID
N150 B3=1 C3=1 ; Change in orientation with ORID
N160 X–10 A5=1 C5=2 ORIC
N170 A3=–2 C3=1 ; Change in orientation with ORIC
N180 A3=–1 C3=1 ; Change in orientation with ORIC
N190 Y–10 A4=–1 C4=3 ; Redefinition of plane
N200 X–20 Y–20 Z10 ; Inside corner with previous block
N210 X–30 Y10 A4=1 C4=1 ; Inside corner, redefinition of plane
N220 A3=1 B3=0.5 C3=1.7 ; Change in orientation with ORIC
N230 X–20 Y30 A4=1 B4=–2 C4=3 ORID
N240 A3 = 0.5 B3=–0.5 C3=1 ; Change in orientation
N250 X0 Y30 C4=1 ; Path motion, new level, orientation
; with relative programming
N260 BSPLINE X20 Z15 ; Start of spline, relative programming
N270 X30 Y25 Z18 ; of orientation remains active
N280 X40 Y20 Z13 ; during spline.
N290 X45 Y0 PW=2 Z8
N300 Y–20
N310 G2 ORIMKS A30 B45 i–20 X25 Y–40 Z0 ; Helix, orientation with axis progr.
N320 G1 X0 A3=–0.123 B3=0.456 C3 =2.789 B4=–1 C4=5 B5=–1 C5=2 ; Path motion,
; orientation, plane not constant
N330 X–20 G40 ; Deactivation of tool compensation
N340 M30
J

7.1 Machine data

7.1 Machine data

General ($MN_ ... )
18094 MM_NUM_CC_TDA_PARAM Number of TDA data /FBW/
/S7/
18096 MM_NUM_CC_TOA_PARAM Number of TOA data, which can be set up /FBW/
per tool and evaluated by the CC /S7/
18100 MM_NUM_CUTTING_EDGES_IN_TOA Tool offsets per TOA module S7
18110 MM_NUM_TOA_MODULES Number of TOA modules S7
20110 RESET_MODE_MASK Definition of control basic setting after pow- K2
erup and RESET / part program end
20120 TOOL_RESET_VALUE Definition of tool for which tool length com- K2
pensation is selected during powerup or on
reset or parts program end as a function of
MD 20110
20130 CUTTING_EDGE_RESET_VALUE Definition of tool cutting edge for which tool K2
length compensation is selected during pow-
erup or on reset or parts program end as a
function of MD 20110
20140 TRAFO_RESET_VALUE Definition of transformation block which is K2
selected during powerup and or RESET or
parts program end as a function of
MD 20110
20210 CUTCOM_CORNER_LIMIT Max. angle for intersection calculation with W1
tool radius compensation
20220 CUTCOM_MAX_DISC Maximum value for tool radius compensation W1
20230 CUTCOM_CURVE_INSERT_LIMIT Minimum value for intersection calculation W1
with tool radius compensation
20240 CUTCOM_MAXNUM_CHECK_BLOCKS Blocks for predictive contour calculation with W1
tool radius compensation
20250 CUTCOM_MAXNUM_DUMMY_BLOCKS Max. no. of dummy blocks with no traversing W1
movements
20270 CUTTING_EDGE_DEFAULT Selected cutting edge after tool change W1
20610 ADD_MOVE_ACCEL_RESERVE Acceleration reserve for overlaid movements K1
21080 CUTCOM_PARALLEL_ORI_LIMIT Limit angle between path tangent and tool
orientation with 3D tool radius compensation

7.2 Alarms

21082 CUTCOM_PLANE_ORI_LIMIT Minimum angle between surface normal and
tool orientation with side angle not equal to 0.
21084 CUTCOM_PLANE_PATH_LIMIT Minimum angle between surface normal vec-
tor and path tangent vector, for 3D face mill-
ing
22550 TOOL_CHANGE_MODE New tool offsets with M function W1
22560 TOOL_CHANGE_M_CODE M function for tool change W1
7.2 Alarms
J

06.05
Index
Cross-reference? Indicates the following

Part of Description of Functions / Manual / Section / Subsection / Page
Numbers A
10670, 3/F2/4-93 Acceleration, 3/TE4/2-19
10672, 3/F2/4-93 Acceleration time constant, 3/G3/2-7
3-axis and 4-axis transformation, 3/F2/1-7 Acceleration warning threshold, 3/M3/5-102
3-axis and 4-axis transformation| Axis assign- Access authorization, 3/V2/2-8
ments, 12104,12105, 3/F2/2-29 Activating the rotation, 3/F2/2-81
3-axis and 4-axis transformation| Detailed De- Activation, 3/F2/2-42, 3/K6/2-7
scription, 12104,12105, 3/F2/2-29 Activation/Deactivation, 3/V2/2-7
3-axis and 4-axis transformations, 3/F2/2-29 Active feedforward control, 3/K6/2-9
3-axis and 4-axis transformations| Zero position, Active following axis overlay, 3/M3/5-101
12104,12105, 3/F2/2-29 Analog axis: Alarms, 3/TE2/7-23, 3/TE3/7-58
3-axis CC kinematics, 3/TE4/2-22 Analog axis: Brief description, 3/TE2/1-3,
3-axis CS kinematic, 3/TE4/2-24 3/TE3/1-3
3-axis kinematics, 3/TE4/2-21 Analog axis: Detailed description, 3/TE2/2-5,
Articulated-arm kinematics, 3/TE4/2-25 3/TE3/2-5
SCARA kinematic, 3/TE4/2-22 Analog axis: Hardware setup, 3/TE2/2-7,
3-axis NR kinematics, 3/TE4/2-25, 3/TE4/2-26, 3/TE4/2-6
3/TE4/2-27 Analog axis: Machine data, 3/TE2/7-24,
3-axis SC kinematics, 3/TE4/2-23 3/TE3/7-57
3-axis to 5-axis transformation, Call and applica- Analog axis: Supplementary conditions,
tion, 3/F2/2-41 3/TE2/3-13, 3/TE3/3-33
4-axis CC kinematics, 3/TE4/2-29 Analysis output, 3/K6/2-8
4-axis CS kinematic, 3/TE4/2-31 Axial sources, 3/M3/2-75
4-axis kinematics, 3/TE4/2-28 Axis accelerated, 3/M3/5-101
Articulated-arm kinematics, 3/TE4/2-32 Axis direction, Change, 3/TE4/2-18
SCARA kinematics, 3/TE4/2-29 Axis identifier, 3/V2/2-13
4-axis NR kinematics, 3/TE4/2-32 Axis sequence, Change, 3/TE4/2-17
4-axis SC kinematics, 3/TE4/2-30 Axis types, 3/TE4/2-19
5-axis CC kinematics, 3/TE4/2-36 Axis zero points, Adaptation, 3/TE4/2-19
5-axis kinematics, 3/TE4/2-34
SCARA kinematics, 3/TE4/2-36
5-axis NR kinematics, 3/TE4/2-37
B
Channel-spec. signals, 3/F2/5-117 Basic axis configuration, 3/TE4/2-12
Configuration of a machine, 3/F2/2-18 Basic orientation, 3/F2/2-56
Data descriptions (MD, SD), 3/F2/4-91 Behavior at inside corners, 3/W5/2-25
Geometry of the machine, 3/F2/2-19 Behavior at outside corners, 3/W5/2-24
Interface signals, 3/F2/7-135 Behavior at pole, 3/F2/2-27
Machine data, 3/F2/7-136 Beveled hand with elbow, 3/TE4/2-14
Machine types, 3/F2/2-16 Block cycle time, 3/G3/2-7
Singular positions, 3/F2/2-27
Tool orientation, 3/F2/2-23

SINUMERIK 840D sl/840D/840Di/810D Descrip. of Functions Special Functions (FB3) – 06.05 Edition Index-1
06.05
C Cycles without parameter, 3/V2/2-10
Call condition, 3/V2/2-11

Call-up, 3/V2/2-11
Central hand, 3/TE4/2-14 D
Change in orientation, 3/W5/2-10, 3/W5/2-25 Data exchange time, 3/G3/2-10
Change insertion depth, 3/W5/2-16 DC Link
Channel-specific machine data, 3/V2/4-17 Backup, 3/M3/2-83
Clearance control Energy balance, 3/M3/2-84
Collision monitoring, 3/TE1/2-14 DC link backup, 3/M3/2-79
Compensation vector, 3/TE1/2-11 Deceleration methods, 3/K6/1-3, 3/K6/2-7
Control dynamics, 3/TE1/2-7 Definition, EG axis grouping, 3/M3/2-52
Control loop structure, 3/TE1/2-10 Definition of a joint, 3/TE4/2-8
Detailed description, 3/TE1/2-5 Descriptions of kinematics, 3/TE4/2-21
Programming, 3/TE1/2-22 DP cycle, 3/G3/2-9
Startup, 3/TE1/2-15 DP cycle time, 3/G3/2-10
Technological features, 3/TE1/2-13 Drive-independent generator operation,
Velocity feedforward control, 3/TE1/2-9 3/M3/2-67, 3/M3/2-68
Clearance control alarms, 3/TE1/7-63, 3/TE6/7-25 Drive-independent retraction, 3/M3/2-67,
Clearance control brief description, 3/TE1/1-3 3/M3/2-81
Clearance control detailed description, Drive-independent stopping, 3/M3/2-68,
3/TE01/2-5, 3/TE02/2-5, 3/TE6/2-5 3/M3/2-80
Clearance control machine data, 3/TE1/7-68 Dx, 3/G3/2-10
Clearance control signal descriptions, 3/TE1/5-57,
3/TE6/5-21, 3/TE7/5-37
Clearance control signals, 3/TE1/7-69
Clearance control supplementary conditions, E
3/TE1/3-39 EG, Electronic gear, 3/M3/2-43
Closed kinematic loop, 3/TE4/2-10 EG axis grouping
Compilation, 3/V2/2-8 Deactivating, 3/M3/2-57
Compile cycle Deleting, 3/M3/2-57
Copying into the FFS, 3/TE01/2-5 Activating, 3/M3/2-53
ddetest.exe, 3/TE01/2-6 Defining, 3/M3/2-52
Loading into the NC, 3/TE01/2-6 EG axis groupings, 3/M3/2-44
SINUCOPY FFS, 3/TE01/2-6 Electronic gear, 3/M3/1-6, 3/M3/2-43
SW version, 3/TE01/2-7 System variables, 3/M3/2-59
Contour tunnel monitoring, 3/K6/2-7 Encoder switchover, 3/K6/2-7
Corner, 3/T3/1-3 ESR, 3/M3/2-65
Corner in area, 3/T3/6-20 Activation, 3/M3/2-76
Coupled motion Gating logic, 3/M3/2-75
Axis types, 3/M3/2-9 Trigger sources, 3/M3/2-74
Interface signals, 3/M3/2-13 ESR_DELAY_TIME1, MD 21380, 3/M3/4-95
Programming, 3/M3/2-12 ESR_DELAY_TIME2, MD 21381, 3/M3/4-95
Curve tables ESR_REACTION, MD 37500, 3/M3/4-97
Axis types, 3/M3/2-16 Euler, 3/TE4/2-43
Behavior in operating modes, 3/M3/2-30 Euler angles, 3/F2/2-23
Interface signals, 3/M3/2-31 Example: Clearance control, 3/TE1/6-61,
Programming, 3/M3/2-18 3/TE6/6-23
CUT3DC, 3/W5/2-28 Example: Tangential control, 3/T3/6-19,
CUT3DF, 3/W5/2-28 3/TE2/6-17, 3/TE3/6-53
CUT3DFF, 3/W5/2-28 Extended stop and retract, 3/M3/2-65
CUT3DFS, 3/W5/2-28
Cutter shapes, 3/W5/2-18
Cycle times|Default values, 3/G3/2-6
Cycle times|Example, 3/G3/2-6
F
Cycle-independent path-synchronous switching Face milling, 3/W5/2-18
signal output, brief description, 3/TE8/1-3 Frame, 3/TE4/2-6
Cycles with parameter, 3/V2/2-10 Functionality, 3/V2/2-5

Index-2 SINUMERIK 840D sl/840D/840Di/810D Descrip. of Functions Special Functions (FB3) – 06.05 Edition
06.05
G Intersection procedure for 3D compensation,

3/W5/2-13
G450, 3/W5/2-10 IPO cycle, 3/G3/2-8
G451, 3/W5/2-13 ISD, 3/W5/2-8
G91 extension, Work offset, 3/F2/2-75
Gantry axes, 3/G1/1-3
Differences in comparison with coupled mo-
tion, 3/G1/2-28 K
Referencing and synchronization, 3/G1/2-11 Kinematic categories, 3/TE4/2-5
Start up, 3/G1/2-19 Kinematic transformation, 3/F2/2-15, 3/TE4/2-5
Terminology, 3/G1/2-5 Configuration, 3/TE4/2-9
GC, 3/G3/2-10 Startup, 3/TE4/6-72
General, 3/V2/2-5 Kinematics, swiveling linear axis, 3/F2/1-9
General machine data, 3/V2/4-15 Kinematics of machines, 3/F2/2-16
General sources, 3/M3/2-75
Generator operation, 3/M3/2-79, 3/M3/2-85
Generic 5-axis transformation and variants,
3/F2/2-42 L
Global control message frame, 3/G3/2-10 Laser cutting: Clearance control, 3/TE1/2-5
Leading axis, 3/G1/2-5
Limit angle for the fifth axis, 3/F2/2-27
H Link frames, 3/TE4/2-15
Handling transformation package

Alarms, 3/TE4/7-74
Brief description, 3/TE4/1-3 M
Channel-spec. machine data of standard sy- Machine data, 3/V2/7-23
stem, 3/TE4/4-55 Machine data in the transformation standard set,
Channel-specific signals, 3/TE4/5-67 channel-specific, 3/TE4/4-56
Configuration data, 3/TE4/2-17 Machine kinematics, 3/F2/2-42
Creating alarm texts, 3/TE4/3-53 Machine types, 3/F2/2-16, 3/F2/2-18, 3/F2/2-45
Data description, 3/TE4/4-55 5-axis transformation, 3/F2/2-43
Data fields, lists, 3/TE4/7-73 6-axis transformation, 3/F2/2-48
Detailed description, 3/TE4/2-5 Master application cycle, 3/G3/2-10
Example, 3/TE4/6-69 Master time, 3/G3/2-10
Functional restrictions, 3/TE4/3-53 Master value coupling
General machine data, 3/TE4/2-9 Axis types, 3/M3/2-35
Interface signals, 3/TE4/7-73 Behavior in operating modes, 3/M3/2-41
NC machine data, 3/TE4/7-73 Interface signals, 3/M3/2-42
Signal descriptions, 3/TE4/5-67 Programming, 3/M3/2-38
Startup, 3/TE4/6-69 MCS coupling: Brief description, 3/TE6/1-3
Supplementary conditions, 3/TE4/3-53 MCS coupling: Supplementary conditions,
3/TE6/3-13
MD 37500, ESR_REACTION, 3/M3/4-97
I Memory requirements, 3/V2/2-8
MM_NUM_CURVE_SEG_LIN, MD 18403,
Identification of axis sequence, 3/F2/2-18 3/M3/4-92, 3/M3/4-93
Input time, 3/G3/2-10
Insertion depth (ISD), 3/W5/2-8
Interface version, 3/TE01/2-6
Interface versions, Dependencies, 3/TE01/2-7 N
Intermediate block, 3/T3/1-3 NC-controlled extended stop, 3/M3/2-69
Intermediate blocks, 3/W5/2-28 NC-controlled retraction, 3/M3/2-71
Internet address, v
Interpolation cycle, 840Di, 3/G3/2-10
Interpolation of the angle of rotation, 3/F2/2-80
Interpolation of the rotation vector, 3/F2/2-80
O
Interpolator cycle, 3/G3/2-7 ORIC, 3/W5/2-10, 3/W5/2-25

06.05
ORID, 3/W5/2-12 Runtime optimization, 3/V2/2-6

Orientation, 3/F2/2-56
Orientation axes, 3/F2/1-11, 3/F2/1-12, 3/F2/2-69
Definition, 3/F2/1-11
S
Introduction, 3/F2/1-11, 3/F2/1-12
Orientation compression, 3/F2/2-59 Selection of type of interpolation, 3/F2/2-76
Orientation direction, 3/F2/2-79 Selection/deselection, 3/W5/2-28
Orientation direction and rotation, 3/F2/2-79 Single-axis rotary table, 3/F2/2-17
Orientation in TCS and MCS, 3/F2/2-23 Single-axis swivel head, 3/F2/2-17
Orientation path in pole vicinity, 3/F2/2-28 Singular positions, 3/F2/2-27, 3/TE4/2-48
Orientation programming, 3/F2/2-23 Singularities, 3/F2/2-54
Orientation relative to the path, 3/F2/2-62 SINUCOPY FFS, 3/TE01/2-6
Orientation transformation, 3/F2/2-15 SINUMERIK 840D powerline, v
Programming, 3/F2/2-71 Special 2-axis NR kinematics, 3/TE4/2-42
Orientation transformation and orientable tool- Special 2-axis SC kinematic, 3/TE4/2-39
holders, 3/F2/2-74 Special 3-axis SC kinematic, 3/TE4/2-40
Orientation vectors, 3/F2/2-76 Special 4-axis SC kinematic, 3/TE4/2-41
ORIMKS, 3/F2/2-24, 3/TE4/2-44 Special kinematics, 3/TE4/2-38
ORIWKS, 3/F2/2-24, 3/TE4/2-44 Stop, 3/K6/2-7, 3/M3/1-7
Output time, 3/G3/2-10 Stop and retract, 3/M3/2-65
Outside corners/inside corners, 3/W5/2-9 SW version, 3/TE01/2-7
Swiveled linear axis
Application, 3/F2/2-31
Kinematics variants, 3/F2/2-31
P Machine type, 3/F2/2-36
Parameterization of machine geometry, Parameterization, 3/F2/2-31
3/TE4/2-10 Pole, 3/F2/2-31
Path-synchronous switch signal output, Brief De- Swiveling linear axis, 3/F2/1-9
scription, 3/TE8/1-3 Channel-specific MD, 3/F2/4-103
Peripheral milling, 3/W5/2-8 Zero position, 3/F2/2-34
PO_SYSCLOCK_TIME_RATIO, 3/G3/2-17 Synchronization difference, 3/M3/2-47
Pole, 3/F2/2-27 Scanning, 3/M3/2-49
Polynomial interpolation, 3/F2/2-76 Synchronized axis, 3/G1/2-5
Polynomial, 5th degree, 3/F2/2-80 Syntax check, 3/V2/2-12
POSCTRL_SYSCLOCK_TIME_RATIO, SYSCLOCK_SAMPL_TIME_RATIO, 3/G3/2-18
3/G3/2-16 System basic cycle, 3/G3/2-5
Position control cycle, 3/G3/2-7 840Di, 3/G3/2-10
840Di, 3/G3/2-10
Position control cycle offset, 840Di, 3/G3/2-11
Position of the orientation coordinate system, Ge-
T
neric transformation with 6 axes, 3/F2/2-50
Power failure detection, 3/M3/2-76 T_FL_WP, 3/TE4/2-16
Preprocessing, machine data, 3/V2/4-15 T_IRO_RO, 3/TE4/2-15
PROFIBUS shutdown handling, 3/G3/2-19 T_X3_P3, 3/TE4/2-16
PROFIBUS_SHUTDOWN_TYPE, 3/G3/2-19 Tangential control, 3/T3/1-3
Programmable axis couplings, 3/M3/2-61 Activation of follow-up control, 3/T3/2-8
Programmable contour accuracy, 3/K6/1-5, Applications, 3/T3/1-4
3/K6/2-9 Following axis, 3/T3/2-8
Application, 3/K6/2-9 Leading axis, 3/T3/2-8
Limit angle, 3/T3/2-13
Termination of follow-up control, 3/T3/2-10
TANGON, 3/T3/2-9
R TDP, 3/G3/2-10
Retract, 3/M3/1-7 TDX, 3/G3/2-10
Retract and stop, 3/M3/2-65 Technology functions, Activate, 3/TE01/2-8
Rotation, 3/TE4/2-7 TI, 3/G3/2-10
Rotation of the orientation vector, 3/F2/2-78, TM, 3/G3/2-10
3/F2/2-79 TMAPC, 3/G3/2-10
RPY, 3/F2/2-23, 3/TE4/2-43 TO, 3/G3/2-10

06.05
Tool orientation, 3/F2/1-11, 3/TE4/2-43, 3/W5/2-7 U

5-axis kinematics, 3/TE4/2-47 Universal milling head, 3/F2/1-11, 3/F2/2-37
Tool orientation using orientation vectors, Applications, 3/F2/2-37
3/F2/2-26 Features, 3/F2/1-11
Tool programming, 3/TE4/2-51, 3/TE4/2-52 JOG, 3/F2/2-40
Tool radius compensation, 3/M3/2-16, 3/W5/1-3 Parameterization, 3/F2/2-39
Tool tip at a fixed point in space, 3/F2/2-24
Toolholder, with orientation capability, Program-
ming, 3/F2/2-53 V
Transformation
Velocity, 3/TE4/2-19
Activate, 3/TE4/2-49
Velocity increase, 3/TE4/2-48
Actual value display, 3/TE4/2-50
Velocity warning threshold, 3/M3/5-101
Deactivate, 3/TE4/2-49
Vocabulary, 3/V2/2-13
End of program, 3/TE4/2-49
Transformation active, 3/F2/2-41
Transformation group, 3/F2/2-41
Transformation types, 3/F2/2-22 W
Transformed axes, Number, 3/TE4/2-17
Wrist axes
Translation, 3/TE4/2-6
Configuration, 3/TE4/2-13
Tunnel size, 3/K6/2-7
Parameterization, 3/TE4/2-13
Two-axis rotary table, 3/F2/2-17
Two-axis swivel head, 3/F2/2-16
J

06.05
Notes

To Suggestions
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Overview of SINUMERIK 840D sl Documentation (08/2005)
General Documentation
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840D sl S120
Brochure Catalog NC 61 *) Catalog

D21.2 Servo Control *)
User Documentation
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840D sl 840D sl 840D sl 840D sl 840D sl
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810D 810D 810D 810D
Operator’s Guide Operator’s Guide Programming Guide Programming Guide Diagnostics Guide *)
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Equipment Manual Equipment Manual Start-up Guide CNC *) List Manual *

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– Part 3 ShopMill
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Description of Description of Description of Description of EMC Guidlines

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Overview of SINUMERIK 840D/840Di/810D Documentation (08/2005)
General Documentation User Documentation
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Programming Guide Operator ’s Guide System Overview Configuring Operator Description of Func-
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SIMODRIVE SINUMERIK SIMODRIVE SIMODRIVE SIMODRIVE SIMODRIVE SYSTEMS
840D 840D/840Di 840D 840D
810D 611D 611D
611D
Description of Description of Installation & Start-Up – Lists *) Description of Description of Functions EMC
Functions Functions Guide *) Functions – Hydraulics Module Guidelines
SINUMERIK Digitizing – 810D Linear Motor – Analog Module
Safety Integrated – 840D/611D
– HMI
Electronic Documentation
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SIMODRIVE 840Di
840D/840Di/ 840D/810D 840D/840Di/
840D/840Di/ 810D 810D
810D
611, Motors
DOC ON CD *) Description of Manual Description of Manual

The SINUMERIK System Functions Functions
(HW + Installation @ Event
ISO Dialects for Remote Diagnosis
and Start-Up)
SINUMERIK
*) These documents are a minimum requirement

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3-Axis to 5-Axis

Contour Tunnel Monitoring K6

Axis Couplings and ESR M3

Clearance Control TE1

Analog Axis TE2

MCS Coupling TE6

Retrace Support TE7

Status code in the “Remarks” column:

Edition Order No. Comments

We have checked that the contents of this document correspond to

Copyright © Siemens AG 2005 Subject to change without prior notice.

Order No. 6FC5 397-2BP10-0BA0 Siemens Aktiengesellschaft

SINUMERIK The SINUMERIK documentation is subdivided into parts:

A&D Technical Support Phone: +49 (180) 5050-222

Internet address http://www.siemens.com/motioncontrol

Copyright © Siemens AG, 2005.

Structure of the This Function Manual is structured as follows:

S Appendix with keyword index

The following information is provided on each page:

Chapters 4 and 5 of each Description of Functions contain definitions for “Ac-

Copyright © Siemens AG, 2005.

Please note the following:

Copyright © Siemens AG, 2005.

Ordering Data Option

S PLC interface signals –> IS “signal name” (signal data)

S Machine data –> MD: MD_NAME (German name)

S RESET (re) “RESET” key on control unit or

S Immediately (im) after the value has been entered

Copyright © Siemens AG, 2005.

S Mode groups (associated signals stored in DB11)

Copyright © Siemens AG, 2005.

Copyright © Siemens AG, 2005.

SINUMERIK 840D sl/840D/840Di/810D

3-Axis to 5-Axis Transformation (F2)

Copyright © Siemens AG, 2005.

2.7 Restrictions for kinematics and interpolation . . . . . . . . . . . . . . . . . . 3/F2/2-53

Copyright © Siemens AG, 2005.

Copyright © Siemens AG, 2005.

Copyright © Siemens AG, 2005.

Orientation of tool with two-axis swivel head (machine type 1)

Copyright © Siemens AG, 2005.

Tool The tool orientation can be specified in two ways:

Machine-related The machine-related orientation is dependent on the machine kinematics.

Workpiece-related The workpiece-related orientation is not dependent on the machine kinematics.

End orientation of block (run-in value)

Further The transformations described in the following sections are to be regarded as

3-axis and 4-axis transformations

Swiveling linear axis

Universal milling head

Copyright © Siemens AG, 2005.

1.2 3-axis and 4-axis transformation

Fig. 1-1 Schematic diagram of 3-axis transformation

Copyright © Siemens AG, 2005.

Fig. 1-2 Schematic diagram of 4-axis transformation with movable workpiece

A detailed description of the possible kinematics for 3-axis and 4-axis

Copyright © Siemens AG, 2005.

1.3 Orientation transformation with swiveling linear axis

Copyright © Siemens AG, 2005.

Fig. 1-3 Schematic diagram of a machine with swivelinglinear axis

Copyright © Siemens AG, 2005.