6FC5255-0AB02-0AA0 - Siemens

Description of Functions 11/2002 Edition

Synchronized Actions

SINUMERIK 840D/840Di/810D

Valid for

Control Software version

SINUMERIK 840D 6

SINUMERIK 840DE (export version) 6

SINUMERIK 840D powerline 6

SINUMERIK 840DE powerline 6

SINUMERIK 840Di 2

SINUMERIK 840DiE (export version) 2

SINUMERIK 810D 3

SINUMERIK 810DE (export version) 3

SINUMERIK 810D powerline 6

SINUMERIK 810DE powerline 6

11.2002 Edition

SINUMERIK 840D/840Di/810D

Synchronized Actions

Description of Functions

Brief Description 1

Detailed Description 2

Supplementary Conditions 3

Data Descriptions 4

Signal Descriptions 5

Examples 6

Data Fields, Lists 7

References A

Index B

SINUMERIKrDocumentation

Printing history

Brief details of this edition and previous editions are listed below.

The status of each edition is shown by the code in the “Remarks” column.

Status code in the “Remarks” column:

ANew documentation......

BUnrevised reprint with new Order No......

CRevised edition with new status......If factual changes have been made on the page since the last edition,

this is indicated by a new edition coding in the header on that page

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

08.94 6FC5 297--0AC30--0BP1 C

02.95 6FC5 297--2AC30--0BP0 C

04.95 6FC5 297--2AC30--0BP1 C

09.95 6FC5 297--3AC30--0BP0 C

03.96 6FC5 297--3AC30--0BP1 C

08.97 6FC5 297--4AD40--0BP0 A1)

12.97 6FC5 297--4AD40--0BP1 C

12.98 6FC5 297--5AD40--0BP0 C

08.99 6FC5 297--5AD40--0BP1 C

04.00 6FC5 297--5AD40--0BP2 C

10.00 6FC5 297--6AD40--0BP0 C

09.01 6FC5 297--6AD40--0BP1 C

11.02 6FC5 297--6AD40--0BP2 C

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

Functions “Extended Functions” applying to lower software versions.

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

Edition Order No. Remarks

11.02 6FC5 298--6CA00--0BG3 C

Trademarks

SIMATICr, SIMATIC HMIr, SIMATIC NETr,SIROTECr, SINUMERIKrand SIMODRIVErare trademarks of

Siemens. The remaining names and designations may also be trademarks, the use of which by any third

parties for their own purposes may violate the rights of the copyright.

Further information is available under the following Internet address:

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

This publication was produced with Interleaf V7

The reproduction, transmission or use of this document or its

contents is not permitted without express written authority. Offenders

will be liable for damages. All rights, including rights created by patent

grant or registration of a utility model or design, are reserved.

Other functions not described in this documentation might be

executable in the control. This does not, however, represent an

obligation to supply such functions with a new control or when

servicing.

We have checked that the contents of this document correspond to

the hardware and software described. Nonetheless, differences might

still exist. 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.

Subject to technical changes without prior notice.

Siemens--Aktiengesellschaft

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

Printed in the Federal Re

ublic o

German

3ls

08.97 Synchronized Actions (FBSY)

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

Preface

The SINUMERIK documentation is organized on 3 levels:

SGeneral documentation

SUser documentation

SManufacturer/Service documentation

This manual is intended for the machine-tool manufacturer. It gives a detailed

description of the functions available in the SINUMERIK 840D/810D controls.

The Descriptions of Functions apply only to the software versions specified.

When a new software version is released, the Descriptions of Functions for that

version must be ordered. Old Descriptions of Functions are only partially appli-

cable to new software versions.

Please consult your local Siemens office for more detailed information about

other SINUMERIK 840D/840Di/810D as well as the publications that apply to all

SINUMERIK controls (e.g. Universal Interface, Measuring Cycles ...).

Notice

Other functions not described in this documentation might be executable in the

control. However, no claim can be made regarding the availability of these func-

tions when the equipment is first supplied or for service cases.

If you have questions about the control, please contact the hotline:

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

Fax: +49 (0) 180 5050--223

email: adsupport@siemens.com

Please send us any questions about the documentation (suggestions for impro-

vements, corrections) to the following fax number or email address:

Fax: +49 (0) 9131 98--2176

email: motioncontrol.docu@erlf.siemens.de

Fax form: see reply form at the end of the manual.

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

Structure of the

documentation

Hotline

Internet address

SINUMERIK

08.97

Synchronized Actions (FBSY)

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

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

and SINUMERIK 840DE powerline are available. For a list of available power-

line modules, please refer to the following Hardware Description:

References: /PHD/, Configuring Manual SINUMERIK 840D

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

and SINUMERIK 810DE powerline are available from. For a list of available

powerline modules, please refer to the following Hardware Description:

References: /PHC/, Configuring Manual SINUMERIK 810D

This document describes the Synchronized Actions function for SINUMERIK

840D SW 4 and later and for SINUMERIK 810D SW 2 and later. It replaces the

S5 function described for older software versions

in the “Extended Functions” Description of Functions.

The Descriptions of Functions provide the information required for configuration

and installation.

The information contained in the function descriptions is designed for:

SDesign engineers

SPLC programmers creating the PLC user program with the signals listed

SStart--up engineers once the system has been configured and set up

SMaintenance personnel inspecting and interpreting status signals and

alarms

!Important

This document is valid for the following controls:

DSINUMERIK 840D,

software version 6

DSINUMERIK 810D,

software version 6

DSINUMERIK 840Di

software version 2

SINUMERIK 840D

powerline

SINUMERIK 810D

powerline

Aims and

objectives

Target groups

09.01

08.97 Synchronized Actions (FBSY)

vii

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

The software versions indicated in this documentation relate to the SINUMERIK

840D control. The software version valid in parallel for the SINUMERIK 810D

control (if the function has been enabled, see /BU/, Catalog NC 60) is not indi-

cated specifically. Equivalents are as follows:

Table 1-1 Equivalent software version

SINUMERIK 840D SINUMERIK 810D SINUMERIK 810D

powerline SINUMERIK 840Di

6.3 (09.01) equivalent to -- 6.1 (12.01) 2.1 (07.01)

4.3 (04.00) equivalent to 2.3 (12.97) -- 1.1 (07.00)

3.7 (03.97) equivalent to 1.7 (03.97) -- --

The following warnings with varying levels of severity are used in this document:

!Danger

This symbol indicates that death, grievous injury or substantial property dam-

age will occur if the appropriate precautions are not taken.

!Warning

This symbol indicates that death, grievous injury or substantial property dam-

age may occur if the appropriate precautions are not taken.

!Caution

This symbol used with de safety alert symbol indicates a potentially hazardous

situation which, if not avoided, may result in minor or moderate injury.

Caution

This symbol used without de safety alert symbol indicates a potentially

hazardous situation which, if not avoided, may result in property damage.

Attention

This symbol used without de safety alert symbol indicates a potentially situation

which, if not avoided, may result in an undesirable result or state.

Software version

Warnings

10.00

08.97

Synchronized Actions (FBSY)

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

!Important

This symbol always appears in the documentation when important information

is being conveyed.

Notice

Additional facts are referred to.

10.00

08.97 Synchronized Actions (FBSY)

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

Contents

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

2 Detailed Description 2-15...............................................

2.1 Components of synchronized actions 2-15.........................

2.1.1 Definition of motion-synchronized actions 2-21.....................

2.1.2 Execution of synchronized actions 2-21...........................

2.1.3 List of possible actions 2-22.....................................

2.2 Real-time evaluations and calculations 2-23........................

2.3 Special real--time variables for synchronized actions 2-29............

2.3.1 Marker/counter variables 2-29....................................

2.3.2 Timers 2-30...................................................

2.3.3 Synchronized action parameters 2-31.............................

2.3.4 R parameters 2-32.............................................

2.3.5 Machine and setting data 2-32...................................

2.3.6 FIFO variables (circulating memory) 2-33..........................

2.3.7 System variables saved in SRAM (as of SW 6.3) 2-36...............

2.3.8 List of system variables relevant to synchronized actions 2-37........

2.4 Actions in synchronized actions 2-63..............................

2.4.1 Output of M, S and H auxiliary functions to PLC 2-65................

2.4.2 Setting (writing) and reading of real--time variables 2-67.............

2.4.3 Alteration of SW cam positions and times (setting data) 2-68.........

2.4.4 FCTDEF 2-69.................................................

2.4.5 Polynomial evaluation SYNFCT 2-71..............................

2.4.6 Overlaid movements $AA_OFF settable (as of SW 6) 2-76..........

2.4.7 Online tool offset FTOC 2-78....................................

2.4.8 RDISABLE 2-80................................................

2.4.9 STOPREOF 2-80..............................................

2.4.10 DELDTG 2-80.................................................

2.4.11 Disabling a programmed axis motion 2-82.........................

2.4.12 Starting command axes 2-82....................................

2.4.13 Axial feed from synchronized actions 2-85.........................

2.4.14 Starting/stopping axes from synchronized actions 2-86..............

2.4.15 Spindle motions from synchronized actions 2-86....................

2.4.16 Setting actual values from synchronized actions 2-90...............

2.4.17 Coupled axes and activation/deactivation couplings 2-91............

2.4.18 Measurements from synchronized actions 2-94.....................

2.4.19 Setting and deletion of wait markers for channel synchronization 2-98.

2.4.20 Setting alarm/error reactions 2-99................................

2.5 Call of technology cycles 2-100....................................

2.5.1 Coordination of synchronized actions, technology cycles,

parts program (and PLC) 2-103...................................

2.6 Control and protection of synchronized actions 2-105.................

2.6.1 Control via PLC 2-105...........................................

2.6.2 Protected synchronized actions 2-107..............................

2.7 Control system response for synchronized actions

in specific operational states 2-110................................

06.0109.0111.02

08.97

Synchronized Actions (FBSY)

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

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

2.7.2 RESET 2-110...................................................

2.7.3 NC STOP 2-111.................................................

2.7.4 Change in operating mode 2-111..................................

2.7.5 End of program 2-112............................................

2.7.6 Response of active synchronized actions to end of program and

change in operating mode 2-112..................................

2.7.7 Block search 2-113..............................................

2.7.8 Program interruption by ASUB 2-113...............................

2.7.9 REPOS 2-113..................................................

2.7.10 Response to alarms 2-114........................................

2.8 Configuring 2-115...............................................

2.8.1 Configurability 2-115.............................................

2.9 Diagnostics (with MMC 102/MMC 103 only) 2-117...................

2.9.1 Display status of synchronized actions 2-118........................

2.9.2 Display real-time variables 2-118..................................

2.9.3 Log real-time variables 2-119.....................................

3 Supplementary Conditions 3-121.........................................

4 Data Descriptions (MD, SD) 4-123.........................................

4.1 General machine data 4-123......................................

4.2 Channel-specific machine data 4-124..............................

4.3 Axis/spindle-specific machine data 4-128...........................

4.4 Setting data 4-130...............................................

5 Signal Descriptions 5-131................................................

6 Examples 6-133.........................................................

6.1 Examples of conditions in synchronized actions 6-133................

6.2 Reading and writing of SD/MD from synchronized actions 6-134.......

6.3 Examples of adaptive control 6-136................................

6.3.1 Clearance control with variable upper limit 6-136.....................

6.3.2 Feed control 6-137..............................................

6.3.3 Control velocity as a function of normalized path 6-139...............

6.4 Monitoring of a safety clearance between two axes 6-140.............

6.5 Store execution times in R parameters 6-140........................

6.6 “Centering” with continuous measurement 6-141.....................

6.7 Axis couplings via synchronized actions 6-144.......................

6.7.1 Coupling to master axis 6-144.....................................

6.7.2 Non-circular grinding via master value coupling 6-145................

6.7.3 On-the-fly parting 6-147..........................................

6.8 Technology cycles “Position spindle” 6-149..........................

6.9 Synchronized actions in the TCC/MC area 6-150....................

06.01

08.97 Synchronized Actions (FBSY)

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

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

7.1 Interface signals 7-155...........................................

7.2 Machine data 7-155.............................................

7.3 Alarms 7-156...................................................

A References A-157........................................................

B Index Index-169.............................................................

06.01

08.97

Synchronized Actions (FBSY)

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

06.01

Notes

08.97 Synchronized Actions (FBSY)

1-13

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

Brief Description

Motion-synchronous actions (or “Synchronized actions” for short) are instruc-

tions programmed by the user which are evaluated in the interpolation cycle of

the NCK in synchronism with parts program execution. If the condition

programmed in the synchronized action is fulfilled or if none is specified, then

actions assigned to the instruction are activated in synchronism with the remain-

der of the parts program run.

The following selection from the wide range of possible applications indicates

how actions programmed in synchronized actions can be usefully employed.

SOutput of auxiliary functions to PLC

SWriting and reading of real-time variables

SPositioning of axes and spindles

SActivation of synchronous procedures such as:

-- Read-in disable

-- Deletion of distance-to-go

-- End preprocessing stop

SActivation of technology cycles

SOnline calculation of function values

SOnline tool offsets

SActivation/deactivation of couplings/coupled motion

STake measurements

SEnabling/disabling of synchronized actions

All possible applications of this function are described in Section “Detailed

Description”.

Definition

of synchronized

actions

Applications

tion

08.97

Synchronized Actions (FBSY)

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

In NCK interpolation cycle:

Real-time events and

values:

-- Digital inputs/ signals

-- Values of

system variables

-- Measured values

-- Drive data

Gating logic

-- Evaluation of

conditions

Initiated actions:

-- Non-modal

-- Modal

-- Static modal (across

different operating modes)

Fig. 1-1 Schematic diagram of synchronized actions

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

References: /PGA/, Programming Guide Advanced

The following chapters describe:

-- Functional conditions for synchronized actions in Chapter 2,

-- The required machine data in Chapter 4,

-- Example applications in Chapter 6.

Notice

This Description of Functions applies to the functionality provided in SW 5. The

functions of synchronized actions in SW versions up to and including 3 are

described in:

References: /FB/, S5, “Synchronized Actions”

tion

12.98

08.97 Synchronized Actions (FBSY)

2.1 Components of synchronized actions

2-15

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

Detailed Description

2.1 Components of synchronized actions

Component: Validity,

identifica-

tion number

Frequency G code

for

cond. and

action

Condition Action

code

word

(fixed)

G code

for

action

Action or

technology

cycle See

2.5

Example: IDS=1 EVERY G70 $AAA_IM[B] > 15 DO G71 POS[X]=100

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

SValidity:

-- with identification number

-- without identification number

SFrequency

SG code for condition and action (SW 5 and later)

SCondition

SG code for actions (SW 5 and later)

SAction(s)/Technology cycle

are explained individually below.

There are three possible methods by which the scope of validity of a

synchronized action can be defined, i.e.:

SNo status

SID

SIDS

Structure of a

synchronized

action

Validity,

ID number

08.97

2.1 Components of synchronized actions

Synchronized Actions (FBSY)

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

Synchronized actions that have no specified validity have a non--modal action,

i.e. they apply only to the next block.

Non--modal synchronized actions are operative only in AUTOMATIC mode.

From SW 6.1, non--modally active synchronized actions are active modally for

all preprocessing stop blocks (incl. implicitly generated ones) and for implicitly

generated intermediate blocks.

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

quently programmed blocks. They are operative only in AUTOMATIC mode.

Limitation:

-- ID actions remain operative only until another synchronized action with

the same identification number is programmed or

-- until they are canceled with CANCEL(i), see Section 2.5.1.

Statically active synchronized actions that are programmed with vocabulary

word “IDS”areactivein all operating modes. They are also referred to as

static synchronized actions. Option.

Synchronized actions programmed with ID or IDS are deleted from the part

program.

For modal synchronized actions (ID, IDS) identification numbers between 1 and

255 are allocated. They are important for the functions of mutual coordination of

synchronized actions. See Section 2.5.1. Modal / static synchronized actions

with identification numbers between 1--64 can be disabled and enabled from the

PLC. See 2.6.1.

Unique identification numbers must be allocated in the channel.

Applications for static synchronized actions:

-- AC grinding (active in JOG mode as well)

-- Gating logic for Safety Integrated

-- Monitoring functions, reaction to machine states in all operating modes

-- Optimization of tool change

-- Cyclic machines

Examples:

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

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

Notice

The following actions are operative only in AUTOMATIC mode when the

program is running:

STOPREOF,

DELDTG

No specified validity

IDS

Identification

numbers

10.00

08.97 Synchronized Actions (FBSY)

2.1 Components of synchronized actions

2-17

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

Vocabulary words (see table) are programmed to indicate how often the

subsequently specified condition must be scanned and the associated action

executed if the condition is fulfilled. These vocabulary words are an integral

component of the synchronized action condition.

Table 2-1 Effect of frequency vocabulary words

Vocabulary word Scanning frequency

None If no scanning frequency is programmed, then the action is executed cyclically in every

interpolation cycle.

WHENEVER The associated action/technology cycle is executed cyclically in every interpolation cycle

provided that the condition is fulfilled.

FROM If the condition has been fulfilled once, the action/technology cycle is executed

cyclically in every interpolation cycle for as long as the synchronized action remains

active.

WHEN As soon as the condition has been fulfilled, the action/technology cycle is executed

once. Once the action has been executed a single time, the condition is no longer

checked.

EVERY The action/technology cycle is activated once if the condition if fulfilled. The action/tech-

nology cycle is executed every time the condition changes from the “FALSE” to the

“TRUE” state.

In contrast to vocabulary word WHEN, checking of the condition continues after

execution of the action/cycle until the synchronized action is deleted or disabled.

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

If an active synchronized action is deselected (deleted) with CANCEL from the

part program, the currently active action remains operative. Positioning motions

are completed as programmed. Command CANCEL can be programmed to

delete a modal or statically active synchronized action.

If a synchronized action is deleted while the positioning axis motion it has

initiated is still in progress, the positioning motion continues until properly

executed. A channel stop also cancels the positioning movement from

synchronized actions/technology cycles.

In SW 5 and later, G codes can be programmed in synchronized actions. This

allows defined settings to exist for the evaluation of the condition and the action/

technology cycle to be executed, independent of the current part program sta-

tus. It is necessary to separate the synchronized actions from the program envi-

ronment, because synchronized actions are required to execute their actions at

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

Applications:

Definition of the systems of measurement for condition evaluation and action

through G codes G70, G71, G700, G710.

Notice

In SW 5, the use of the G codes in synchronized actions is limited to these

4 G codes.

Frequency

Deletion

G code for

condition and

action

08.97

2.1 Components of synchronized actions

Synchronized Actions (FBSY)

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

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

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

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

condition.

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

tion (logical expression).

The condition is checked in the interpolation cycle. If no condition is pro-

grammed, the action is performed once in every IPO cycle.

With SW up to version 3, two conditions are permitted, i.e. the comparison of a

real--time variable with an expression calculated during preprocessing or the

comparison of two real--time variables.

Examples:

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

WHENEVER $AA_IM[X] > $$AA_IM[X1] DO ...

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

Boolean operations. Boolean operators in the NC language may be used for

this purpose: NOT, AND,OR,XOR, B_OR, B_AND, B_XOR, B_NOT.

Examples:

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

; while input 1 is applied or input 3 is not applied ...

Two or more real--time expressions may be compared with one another within

one condition.

Comparisons may be made between variables of the same type or between

partial expressions.

Example:

WHEN $AA_IM[X2] <= $AA_IM[X1] +.5 DO $AA_OVR[X1]=0

; Stop when safety clearance is exceeded

The options for applying real--time expressions are described in Section

“Calculations in real time”. When conditions are programmed, all the system

variables named in Section 2.3.8 can be addressed. In addition:

SMachine data, e.g. $$MN_..., $$MC_..., $$MA_...

SSetting data, e.g. $$SN_..., $$SC_..., $$SA_...

Notice

SGUD variables cannot be used

SR parameters are addressed with $R...

SSetting and machine data whose setting may vary during

machining must be programmed with $$S._... / $$M._...

Further examples of conditions can be found in Section 6.1.

Conditions

08.97 Synchronized Actions (FBSY)

2.1 Components of synchronized actions

2-19

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

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

the block and technology cycles. If technology cycles are contained in the

action part, the G code remains modally active for all actions after the end of the

technology cycle until the next G code.

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

Every synchronized action contains one or several programmed actions or one

technology cycle. These are executed when the appropriate condition is ful-

filled. If several actions are programmed in one synchronized action, they are

executed within the same interpolation cycle.

Example: WHEN $AA_IM[Y] >= 35.7 DO M135 $A_OUT[1]=1

If the actual value of the Y axis is greater or equal to 35.7,

then M135 is output to the PLC and

output 1 set at the same time.

A program (name) can also be specified as an action. This program may con-

tain any of the actions which can be programmed individually in synchronized

actions. Such programs are also referred to as technology cycles below. A

technology cycle is a sequence of actions that are processed sequentially in the

interpolation cycle. See Section 2.5.

Application: Single axis programs, cyclic machines.

The blocks of a part program are prepared at the program preprocessing stage,

stored and then executed sequentially on the interpolation level (main run).

Variables are accessed during block preparation. When real--time variables

(e.g. actual values) are used, block preparation is interrupted to allow current

real--time values up to the preceding block to be supplied.

Synchronized actions are transported in preprocessed form together with the

prepared block into the interpolator. Real--time variables used are evaluated in

the interpolation cycle. Block preparation is not interrupted.

G code for the

action

Actions

Program/

technology cycle

Processing

08.97

2.1 Components of synchronized actions

Synchronized Actions (FBSY)

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

Validity, ID,

IDS Fre-

quency Condition Action(s)

techn. cycles

Stored, preprocessed synchronized actions

Memory size: MD 28250: $MC_MM_NUM_SYNC_ELEMENTS

Part program

Program

preprocessing

Prepared

PP blocks

N5 block1

N10 block2

N15 ID=1

N20 block4

N25 block5

...

block1’

block2’

[-- ]

block4’

block5’

...

ID 1 WHENEVER $A_..< $A_.. M130

Main run

Movement of

axes, ...

Synchro-

nized

action

processing

Sequence of synchronized action interpretation

SetpointsActions,

technology cycles

Deletion

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

The check on synchronized actions to determine whether they contain actions

to be activated is carried out in the interpolation cycle.

Action(s) are executed in synchronism with path control if the preconditions pro-

grammed on the left of the action(s) are fulfilled.

Modally active synchronized action instructions are processed in order of their

ID number within an interpolation cycle (i.e. block with ID number 1 before block

with ID number 2..., etc.). After the modal synchronized action instructions have

been executed, non--modal action instructions are processed in the order in

which they are programmed.

Processing of

synchronized

actions

Processing

sequence

08.97 Synchronized Actions (FBSY)

2.1 Components of synchronized actions

2-21

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

2.1.1 Definition of motion-synchronized actions

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

SIn the part program

SStatic synchronized actions in an asynchronous subprogram

activated by the PLC

2.1.2 Execution of synchronized actions

The actions programmed in motion-synchronized actions are executed if

Sthe synchronized action exists and has not been deselected with

CANCEL(ID), see Section 2.5.1

Sthe synchronized action is not disabled, i.e. no LOCK(ID), see Section 2.5.1

Sevaluation of the action is due as a result of the programmed frequency

vocabulary word or

Sthe appropriate condition is fulfilled.

For further details, please refer to the following subsections.

Defining programs

Conditions for

execution

08.97

2.1 Components of synchronized actions

Synchronized Actions (FBSY)

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

2.1.3 List of possible actions

SOutput of M, S and H auxiliary functions to the PLC

SReal--time variables can be set (written) to obtain the following functionality:

-- Overlaid motion ($AA_OFF), option.

-- Feed control ($AC_OVR, $AA_OVR),

disabling of a programmed axis motion

-- etc .

SChanges to SW cam positions and times (setting data) and alteration of

other setting data

SModification of coefficients and limits from FCTDEF

SSYNFCT (polynomial evaluation)

SFTOC (online tool offsets)

SRDISABLE (read--in disable)

SSTOPREOF (preprocessing stop cancellation)

SDELDTG (delete distance--to--go)

SCalculation of curve table values

SAxial feed from synchronized actions

SAxial frames

SMoving/positioning axes from synchronized actions

SSpindle motions from synchronized actions

SActual--value setting from synchronized actions (Preset)

SActivation/deactivation of couplings and coupled motion

SMeasurements from synchronized actions

SSetting and deletion of wait markers for channel synchronization

SSet alarm/error reactions

STravel to fixed stop FXS (FXST, FXSW)

STravel with limited torque FOC (FOCON/FOCOF)

SExtended stop and retract (Description of Functions M3)

SReading and, if tagged accordingly, writing of system variables from the list

in Section 2.3.8.

These actions are described in detail in Section 2.4.

12.9712.9710.0012.9810.00

08.97 Synchronized Actions (FBSY)

2.2 Real-time evaluations and calculations

2-23

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

2.2 Real-time evaluations and calculations

Calculations carried out in real time represent a subset of those calculations that

can be performed in the NC language. It is restricted to data types REAL, INT,

CHAR and BOOL.

Implicit type conversions, such as in the part program, do not take place. See

data type below.

The term “Real--time expression” refers below to all calculations that can be

carried out in the interpolation cycle. Real--time expressions are used in condi-

tions and in assignments to NC addresses and variables.

All real--time variables are evaluated (read) at interpolation cycle and

canbewrittenaspartofanaction.

Real--time variables are all variables that begin with:

$A... (main run variable) or

$V... (servo values).

To identify these variables unambiguously, they can be programmed in syn-

chronized actions with

$$.

E.g. $AA_IM[X] or $$AA_IM[Y]: Actual value for X axis or Y axis in machine

coordinate system.

Notice

Setting and machine data whose setting may vary during machining must be

programmed with $$S._... / $$M._... .

Only real--time variables of the same data type may be linked by a logic opera-

tion within the same expression. In order to process various types of data

nevertheless, you can use the conversion routines provided for type matching

(SW 5.2, see conversion routines)In contrast to full expressions in the NC lan-

guage, calculations are performed in the data type of the real--time variables

involved.

... DO $R10 = $AC_PARAM[0] ; admissible: REAL, REAL

... DO $R10 = $AC_MARKER[0] ; not admissible: REAL, INT

The following examples of real--time evaluations were already available in SW

version 3.2 (they employ only real--time variables of this SW version):

On the left of the comparison, there is a comparison variable calculated in real

time and, on the right, an expression which is none of the permitted real--time

processing variables that begin with $$.

WHEN $AA_IM[X] > $A_INA[1] DO M120

Restriction

Scope of

application

Real--time

variables

Real--time variable

identifiers

Data type

Example 1 for SW 3.2

01.00

08.97

2.2 Real-time evaluations and calculations

Synchronized Actions (FBSY)

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

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

block if the X axis actual value exceeds the value applied at analog input 1.

With this programming, the actual value is reevaluated in every interpolation

cycle while the value at the analog input is generated at the instant of

interpretation.

On the left of the comparison, there is a comparison variable calculated in real

time and, on the right, an expression which is one of those permitted for the

synchronized action (beginning with $$).

WHEN $AA_IM[X] > $$A_INA[1] DO M120

The current actual value of the X axis is compared in the IPO cycle with analog

input 1 because an $$ variable is programmed on the right.

Both variables are compared to one another in the interpolation cycle.

$$ variables may also be programmed on the left of the comparison.

WHEN $$AA_IM[X] >$$A_INA[1] DO M120

Identical to example 2. The left--hand and right--hand sides are always com-

pared in real time.

The real--time variables available in synchronized actions are listed in

Section 2.3.8. New system variables which have been added in subsequent

software versions are indicated in the table.

SMachine and setting data

In the case of machine and setting data, $$S... or $$M... must be programmed

for online access. The access instruction to be evaluated during interpretation/

decoding must be preceded by a $ sign. Real--time variables that may legally

be accessed from synchronized actions are addressed preceded only by a $

sign.

There is not implicit type conversion from REAL to INT and vice versa for syn-

chronized actions. However, the user may explicitly call two conversion routi-

nes RTOI()andITOR()for type conversion. The functions can be called

Sin the part program and

Sfrom the synchronized action.

REAL ITOR( INT ) -- Converting Integer to Real

The function converts the integer value transferred to a real value and returns

this value. The transferred variable is not changed.

Example:

$AC_MARKER[1] = 561

ID=1 WHEN TRUE DO $AC_PARAM[1] = ITOR( $AC_MARKER[1] )

INT RTOI( REAL ) -- Converting from Real to Integer

Example 2 for SW 3.2

Example 3 for SW 3.2

Extensions

in SW 4

Conversion

routines (SW 5.2)

ITOR

RTOI

01.00

08.97 Synchronized Actions (FBSY)

2.2 Real-time evaluations and calculations

2-25

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

The function RTOI() converts the Real value presented to a rounded INT value

and returns this integer value. If the value transferred lies outside the range that

can be unambiguously represented as an integer value, alarm 20145 “Motion-

synchronous action: Arithmetic error” is output and no conversion is performed.

The transferred variable is not changed.

Notice

The function RTOI() does not produce an unambiguous result when inverted,

i.e. it is not possible to determine the original Real value from the value

returned as the decimal places are lost during conversion!

Example RTOI:

$AC_PARAM[1] = 561.4378

ID=1 WHEN TRUE DO $AC_MARKER[1] = RTOI( $AC_PARAM[1] )

; Result: 561

...

$AC_PARAM[1] = --63.867

ID=1 WHEN TRUE DO $AC_MARKER[1] = RTOI( $AC_PARAM[1] )

;Result:--64

...

$AC_MARKER[1]= 10

$AC_PARAM[1] = --6386798797.29

ID=1 WHEN TRUE DO $AC_MARKER[1] = RTOI( $AC_PARAM[1] )

;Result: Alarm 20145

;$AC_MARKER[1] = 10 (unchanged due to alarm)

In SW 6.4 and later, variables of various data types can be assigned to one an-

other in synchronized actions without having to call the RTOI or ITOR function,

e.g. REAL to INT and vice versa.

If values outside of the interval [INT_MIN, INT_MAX] would result from the con-

version from REAL to INTEGER, alarm 20145 ”Motion--synchronous action:

Arithmetic error” is output and no conversion is performed.

Examples:

Previously

$AC_MARKER[1] = 561

ID=1 WHEN TRUE DO $AC_PARAM[1] = ITOR( $AC_MARKER[1] )

SW 6.4 and later

$AC_MARKER[1] = 561

ID=1 WHEN TRUE DO $AC_PARAM[1] = $AC_MARKER[1]

Previously

$AC_PARAM[1] = 561.4378

ID=1 WHEN TRUE DO $AC_MARKER[1] = RTOI( $AC_PARAM[1] ) ; 561

SW 6.4 and later

$AC_PARAM[1] = 561.4378

ID=1 WHEN TRUE DO $AC_MARKER[1] = $AC_PARAM[1] : 561

Implicit type con-

version (SW 6.4)

01.0003.02

08.97

2.2 Real-time evaluations and calculations

Synchronized Actions (FBSY)

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

Real--time variables of the REAL and INT type can be linked logically by the

following arithmetic operations:

-- Addition

-- Subtraction

-- Multiplication

-- Division

-- Integer division

-- Modulo division

Only variables of the same type may be linked by these operations.

Expressions from basic arithmetic operations can be bracketed and nested.

See priorities for operators on the next page.

The following comparison operators may be used:

== equal to

<> not equal to

<less than

>greater than

<= less than or equal to

>= greater than or equal to

The following Boolean operators may be used:

NOT NOT,

AND AND,

OR OR,

XOR exclusive OR

The following bit operators may be used:

B_OR bit--serial OR

B_AND bit--serial AND

B_XOR bit--serial exclusive OR

B_NOT bit--serial negation

Operands are variables and constants of the INT type.

Basic arithmetic

operations

Expressions

Comparisons

Boolean

operators

Bit

operators

08.97 Synchronized Actions (FBSY)

2.2 Real-time evaluations and calculations

2-27

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

In order to produce the desired logical result in multiple expressions, the

following operator priorities should be observed in calculations and conditions:

1. NOT, B_NOT Negation, bit--serial negation

2. *, /, DIV, MOD Multiplication, division

3. +, -- Addition, subtraction

4. B_AND Bit--serial AND

5. B_XOR Bit--serial exclusive OR

6. B_OR Bit--serial OR

7. AND AND

8. XOR Exclusive OR

9. OR OR

10. Not used

11. Comparison operators

== equal to

<> not equal to

> greater than

< less than

>= greater than or equal to

<= less than or equal to

and parentheses should be used where necessary.

The logic operation result for a condition must be a BOOL data type.

Example of a multiple expression:

WHEN ($AA_IM[X] > VALUE) AND ($AA_IM[Y] > VALUE1) DO ...

A real--time variable of the REAL type can be used to create function values

sine, cosine, etc.

The following functions are possible:

SIN,COS,ABS,ASIN,ACOS,TAN,ATAN2,

TRUNC,ROUND, LN, EXP, ATAN, POT, SQRT,

CTAB, CTABINV

Example:

... DO $AC_PARAM[3]=COS($AA_IM[X])

For a description of how to operate these functions, please refer to:

References: /PG/, Programming Guide

/PGA/ Programming Guide Advanced

The index of a real--time field variable can in turn be a real--time variable.

Example:

WHEN ... DO $AC_PARAM[ $AC_MARKER[1] ]=3

The index $AC_MARKER[1] is evaluated currently in each interpolation cycle.

Priority of

operators

Functions

Indexing

08.97

2.2 Real-time evaluations and calculations

Synchronized Actions (FBSY)

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

Restrictions:

-- It is not permissible to nest indexes with real--time variables.

-- A real--time index cannot be generated by a variable that is not genera-

ted itself in real time. The following programming would lead to errors:

$AC_PARAM[1]=$P_EP[$AC_MARKER[0]]

08.97 Synchronized Actions (FBSY)

2.3 Special real--time variables for synchronized actions

2-29

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

2.3 Special real--time variables for synchronized actions

Acomplete list of system variables that may be addressed in synchronized

actions can be found in Section 2.3.8. The characteristics of a few special real--

time variables are described below:

SMarker/counter variables

-- Channel--specific markers

STimers

SSynchronized action parameters

SR parameters

SMachine and setting data

SFIFO variables (circulating memory)

Special real--time variables, i.e. timers, R parameters, machine and setting data

and FIFO variables are available from SW 4.

2.3.1 Marker/counter variables

Variable $AC_MARKER[n] serves as a marker or counter in data type

INTEGER.

n: Number of marker: 0--n

The number of markers per channel is set via machine data.

MD 28256: NUM_AC_MARKER

Markers exist once in each channel under the same name.

They are stored in the dynamic memory and reset to 0 on Power ON, NC Reset

and End of Program, ensuring identical start conditions for every program run.

Marker variables can be read and written in synchronized actions.

As of software release 6.3, it is possible to select the memory location for

$AC_MARKER[n] between DRAM and SRAM using

MD 28257: MM_BUFFERED_AC_MARKER.

0: dynamic memory DRAM, (default)

1: static memory SRAM

In MD 28256: NUM_AC_MARKER can take a maximum value of 20000. One

element requires 4 bytes. You must ensure that sufficient memory of the correct

type is available.

Flags saved in SRAM can be included in the data backup. See 2.3.7

SW 4

Channel--specific

markers

Also as of

SW 6.3

06.01

08.97

2.3 Special real--time variables for synchronized actions

Synchronized Actions (FBSY)

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

2.3.2 Timers

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

periods of delay. n: Number of time variable

Unit: Second

Data type: REAL

The number of available timer variables is programmed in machine data

MD 28258: MM_NUM_AC_TIMER

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

$AC_TIMER[n]=value

n: Number of timer variable

Value: Start value (normally 0)

Incrementation of a timer variable is stopped through the assignment of a nega-

tive value: $AC_TIMER[n]=--1

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

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

the current time value remains stored and can be read.

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

input:

WHEN $A_IN[1]==1 DO $AC_TIMER[1]=0 ;reset and start timer

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

Setting timer

Stopping timer

Reading timer

Example

08.97 Synchronized Actions (FBSY)

2.3 Special real--time variables for synchronized actions

2-31

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

2.3.3 Synchronized action parameters

Variables $AC_PARAM[n] serve as a buffer in synchronized actions.

Data type: REAL

n: Number of parameter 0 -- n

The number of available AC parameter variables in each channel is pro-

grammed via machine data

MD 28254: MM_NUM_AC_PARAM

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

$AC_PARAM parameters are stored in the dynamic memory and reset to 0 on

power ON, NC Reset and end of program, ensuring identical start conditions for

every part program run. $AC_PARAM variables can be read and written in syn-

chronized actions.

As of software release 6.3, it is possible to select the memory location for

$AC_PARAM[n] between DRAM and SRAM using

MD 28255: MM_BUFFERED_AC_PARAM.

0: dynamic memory DRAM, (default)

1: static memory SRAM

In MD 28255: NUM_AC_PARAM can take a maximum value of 20000. One

element requires 8 bytes. You must ensure that sufficient memory of the correct

type is available.

Synchronization parameters saved in SRAM can be included in the data

backup. See 2.3.7

Also as of

SW 6.3

06.0106.01

08.97

2.3 Special real--time variables for synchronized actions

Synchronized Actions (FBSY)

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

2.3.4 R parameters

R parameters are variables of the REAL time that are stored in battery--backed

memory.

For this reason, they retain their settings after end of program, RESET and

power ON.

By programming the $sign in front of R parameters, they can also be used in

synchronized actions.

Example:

WHEN $AC_MEA== 1 DO $R10= $AA_MM[Y]

; if valid measurement available, transfer measured value to R parameter

Notice

It is advisable to apply a given R variable either normally in the part program or

in synchronized actions. If an R variable that has been used in synchronized

actions must be later applied “normally” in the part program, then a STOPRE

instruction must be programmed to ensure synchronization. Example:

WHEN $A_IN[1] == 1 DO $R10 = $AA_IM[Y]

G1 X100 F150

STOPRE

IF R10 > 50 .... ; evaluation of R parameter

2.3.5 Machine and setting data

In SW version 4 and later it is possible to read and write machine and setting

data from synchronized actions. Access must be programmed according to the

following criteria:

SMD, SD that remain unchanged during machining and

SMD, SD, whose settings change during machining.

Machine and setting data whose settings do not vary are addressed from syn-

chronized actions in the same way as in normal part program commands. They

are preceded by a $sign.

Example:

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

$AA_OVR[X]=0

; Here, reversal range 2, which is assumed to remain static during

; operation, is addressed for oscillation

For a complete example of oscillation with infeed within the reversal range,

please refer to Section 6.2 and:

References: /FB/, P5, Oscillation

Definition

Application in

synchronized

actions

Reading invariable

MD, SD

05.98

08.97 Synchronized Actions (FBSY)

2.3 Special real--time variables for synchronized actions

2-33

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

Machine data and setting data whose values may change during machining are

addressed from a synchronized action preceded by the $$ sign.

Example:

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

$AA_OVR[X]=0

In this situation, it is assumed that the reversal position

can be changed at any time by an operator action.

Precondition:

The currently set access authorization level must allow write access. It is not

meaningful to change MD and SD from synchronized actions unless the change

takes immediate effect. The effectiveness of changes is stated individually for all

MD and setting data in:

References: /LIS/, Lists

Addressing:

Machine and setting data to be changed must be addressed preceded by the

$$ sign.

Example:

ID=1 WHEN $AA_IW[X]>10 DO $$SN_SW_CAM_PLUS_POS_TAB_1[0]= 20

$$SN_SW_CAM_MINUS_POS_TAB_1[0]= 30

; Alteration of switching positions of SW cams

2.3.6 FIFO variables (circulating memory)

Up to 10 FIFO variables are provided to allow storage of related data se-

quences: $AC_FIFO1[n] to $AC_FIFO10[n] .

Fig. 2-3 shows the memory structure of a FIFO variable.

The number of available AC FIFO variables is programmed in machine data

MD 28260: NUM_AC_FIFO

The number of values that can be stored in a FIFO variable is defined via

machine data MD 28264: LEN_AC_FIFO

All FIFO variables are equal in length.

Values in FIFO variables are of the REAL data type.

Reading variable

MD, SD

Writing MD, SD

Application

Structure

Number

Size

Data type

05.98

08.97

2.3 Special real--time variables for synchronized actions

Synchronized Actions (FBSY)

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

Index n:

Indices 0 to 5 have special meanings:

n= 0: When the variable is written with index 0, a new value

is stored in the FIFO.

When it is written with index 0, the oldest

element is read and deleted from the FIFO.

n=1: Access to oldest stored element

n=2: Access to latest stored element

n=3: Sum of all FIFO elements

MD 28266: MODE_AC_FIFO determines the mode of

summation:

Bit 0 = 1 Update sum every time new element

is stored

Bit 0 = 0 No summation

n=4: Number of elements available in FIFO.

Every element in the FIFO can be read and write-accessed.

FIFO variables are reset by resetting the number

of elements, e.g. for the first FIFO variable:

FIFO variable parameter: $AC_FIFO1[4]=0

n=5 Current write index relative to beginning of FIFO

n=6to6+nmax: Access to nth FIFO element:

Notice

FIFO access is a special form of R parameter access (see below).

FIFO values are stored in the R parameter area, i.e. in the static memory area.

They are not deleted by end of program, reset or power ON. FIFO values are

stored simultaneously when R parameters are archived.

Machine data MD 28262: START_AC_FIFO

defines the number of the R parameter which marks the beginning of FIFO

variable storage in the R parameter area.

The current number of R parameters in a channel is programmed in machine

data MD 28050: MM_NUM_R_PARAM

Meaning of index

08.97 Synchronized Actions (FBSY)

2.3 Special real--time variables for synchronized actions

2-35

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

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

parts on a belt that have been stored in FIFO variables.

Direction of belt travel

12.5 17.8500 17.8563 10.322

Length measurement

Light barrier

Fig. 2-2 Product lengths of sequence of parts on conveyor belt

Read out oldest

element: Writeinnew

element:

$AC_FIFO1[0]

$AC_FIFO1[1]

$AC_FIFO1[2]

$AC_FIFO1[3]

$AC_FIFO1[4]

$AC_FIFO1[5]

$AC_FIFO1[6]

$AC_FIFO1[7]

$AC_FIFO1[8]

$AC_FIFO1[9]

$AC_FIFO1[10]

$AC_FIFO1[11]

$AC_FIFO1[12]

Number: 4

Oldest element: 10.3

Current write index: 10

10.3

17.8563

17.8500

12.5

Latest element: 12.5

Sum: 58.5126

xxxxxx

$R1=$AC_FIFO1[0] $AC_FIFO1 $AC_FIFO1[0]=22

10.3

Latest element

Latest element: 22

Fig. 2-3 Example of FIFO variables

08.97

2.3 Special real--time variables for synchronized actions

Synchronized Actions (FBSY)

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

2.3.7 System variables saved in SRAM (as of SW 6.3)

System variables $AC_MARKER and $AC_PARAM saved in SRAM retain their

values after RESET and Power On.

Notice

In the case of part programs and synchronized actions that used system

variables saved in SRAM, you must make sure that the variables are not

initialized to 0 after RESET. This may require some adaptation if system

variables saved in DRAM have been used previously.

System variables $AC_MARKER and $AC_PARAM saved in SRAM can be

included in the data backup. The following backup modules are present for

each channel:

_N_CHi_ACM for $AC_MARKER values and

_N_CHi_ACP for $AC_PARAM values.

i denotes the relevant channel number.

The saved modules are entered in the full backup file

_N_INITIAL_INI according to R parameters.

References: /IAD/, Installation and Start--Up Guide

RESET response

Data backup

Order

06.01

08.97 Synchronized Actions (FBSY)

2.3 Special real--time variables for synchronized actions

2-37

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

2.3.8 List of system variables relevant to synchronized actions

The following table shows a list of all system variables (sorted according to

category) that can be read or write--accessed from synchronized actions. The

access options are specified.

Legend:

r Read

wWrite

R Read with implicit preprocessor stop

W Write with implicit preprocessor stop

PP Part program

SA Synchronized action

SW For SW version see note

Notice

Type specifies the software version (e.g. /4) in which the system variables were

introduced if they have not existed since SW 2.

SA access specifies the software version in which access to the system

variable from synchronized actions was introduced if this was not available

since the introduction of the system variables.

The name component “ACT” in system variables for synchronized actions

(e.g. $AA_VACTM) identifies setpoints which are calculated in the interpolator

and used as input variables for axis control.

The name prefix “$VA_...” identifies genuine actual values of a machine axis

which are reproduced by evaluating the encoder information.

User variables

Name Type

/SW Description/values Index PP

access SA

access

/SW

$AC_MARKER[n] INT Marker variable for motion-synchronous actions Counter R/W r/w

$AC_PARAM[n] DOUBLE Arithmetic variable for motion-synchronous

actions Counter R/W r/w

$AC_FIFOi[n] DOUBLE

/4 i: 1--10,

No. of FIFO variable

n: Parameter number, 0 -- max. FIFO element.

Meanings of n:

n=0: When the variable is written with index 0, a

new value is stored in the FIFO. When a

variable is read with index 0, the oldest element

is read and deleted from the FIFO.

n=1: Read access to oldest element

n=2: Read access to latest element

n=3: Total of all elements stored in the FIFO if

bit 0 is enabled in MD $MC_MM_MODE_FIFO.

n=4: Read access to the current number of

FIFO elements

n= 5 -- m: Read access to individual FIFO ele-

ments. 5 is the oldest element, 6 is the second

oldest, etc.

No. of

parameter R/w r/w

Overview

07.98

08.97

2.3 Special real--time variables for synchronized actions

Synchronized Actions (FBSY)

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

R parameters

Name Type

/SW Description/values Index PP

access SA

access

/SW

$R[n], Rn DOUBLE The max. number of R parameters is defined in

the machine data.

R parameters are addressed from synchronized

actions with $R or $R[i]. Otherwise ...Rn or R[n]

is used.

Counter r/w r/w

System data

Name Type

/SW Description/values Index PP

access SA

access

/SW

$AN_SETUP_TIME DOUBLE IF $AN_SETUP_TIME > 60000 GOTOF

MARK01

time since last control start--up with default data.

Minutes Rr/5

$AN_POWERON_TIME DOUBLE IF $AN_POWERON_TIME == 480 GOTOF

MARK02

time since last normal control start--up.

Minutes Rr/5

$AN_NCK_VERSION DOUBLE NCK version:

Only the part of the floating point number before

the decimal point is interpreted; the part after the

decimal point may contain IDs for intermediate

development releases. The part before the deci-

mal point contains the official ID of the software

release for the NCK:

For example, the value of the variable is

200000.0 for NCK Release 20.00.00.

NCK

version Rr/6

Tool data

Name Type

/SW Description/values Index PP

access SA

access

/SW

$A_TOOLMN[t] INT Magazine -- number of tool t T

number Rr/4

$A_TOOLMLN[t] INT Magazine -- number of tool t T

number Rr/4

$A_MONIFACT REAL Factor for tool life monitoring R/W r/4

$AC_MONMIN REAL Actual value to setpoint value ratio for tool

monitoring. Threshold for tool search strategy

”Only load tools with actual value greater than

threshold”

R/W r/5

$A_DNO[i] INT Read a D number specified by PLC via VDI

interface Index Rr/4

10.00

08.97 Synchronized Actions (FBSY)

2.3 Special real--time variables for synchronized actions

2-39

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

G groups

Name Type

/SW Description/values Index PP

access SA

access

/SW

$A_GG INT $A_GG[n]

Read current G function of a group from

synchronized action

n: number of G group

as for

PLC

interface

r/5

$P_ACTID[n] BOOL Modal synchronized action with ID n active, if

TRUE

n: 1 -- 16

Synchro-

nized

action

with ID

Rr/2

$P_GG[n] INT Read current G function of a group from parts

program

n: number of G group

as for

PLC

interface

R/2

Channel statuses

Name Type

/SW Description/values Index PP

access SA

access

/SW

$AC_STAT INT

/4 Channel status

--1: Invalid

0: Channel reset

1: Channel interrupted

2: Channel active

Rr/4

$AC_PROG INT

/4 Program status

--1: Invalid

0: Program reset

1: Program stopped

2: Program active

3: Program waiting

4: Program interrupted

Rr/4

$AC_SYNA_MEM INT

/4 Free memory for motion-synchronous actions

indicates how many elements of the memory

allocated with

$MC_MM_NUM_SYNC_ELEMENTS are still

free.

Rr/4

$AC_IPO_BUF INT

/4 Fill level of interpolation buffer Rr/4

$AC_IW_STAT INT

/5 Positional information for articulated joints

(transformation--specific) for Cart. PTP travel Rr/5

$AC_IW_TU INT

/5 Positional information for axes (MCS) for Cart.

PTP travel Rr/5

$A_PROBE[n] INT

/4 $A_PROBE[1]: Status of first probe

$A_PROBE[2]: Status of second probe

0: Not deflected

1: Deflected

No. of

probe R r

$AC_MEA[n] INT Probe activated if TRUE (1)

1 -- MAXNUM_PROBE No. of

probe Rr/4

$AC_TRAFO INT Code number of the active transformation with

reference to machine data

$MC_TRAFO_TYPE n

-- Rr/4

$AC_LIFTFAST INT Rapid lift:

0: No reverse stroke was active

1: Reverse stroke was active

-- R/W r/w

04.00

08.97

2.3 Special real--time variables for synchronized actions

Synchronized Actions (FBSY)

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

ASUBs

Name Type

/SW Description/values Index PP

access SA

access

/SW

$AC_ASUP INT

/4 See also: References: /FB/, K1,

(Mode Group, Channel, Program Operation Mo-

de)

Remarks:

Reasons for ASUB activation.

Act. cau.: Cause of activation

Act. by: Source of activation

Cont.: Option(s) for continuation

BIT 0:

Act. cau.: User interrupt “ASUB with Blsync”

(block synchronization),

Act. by: Vdi signal, dig./anal. interface,

Cont. : Either Reorg or Ret

BIT 1:

Act. cau.: User interrupt “ASUB”. (The position

after the block in which the stoppage took place

is stored for program continuation with Repos.)

Act. by: Vdi signal, dig./anal. interface

Cont.: Either Reorg or Ret

BIT 2:

Act. cau.: User interrupt “ASUB from Ready

channel status”,

Act. by: Vdi signal, dig./anal. interface

Cont.: Either Reorg or Ret

BIT 3:

Act. cau: User interrupt “ASUB in a manual

mode and channel status not READY ”

Act. by: Vdi signal, dig./anal. interface

Cont.: Either Reorg or Ret

BIT 4:

Act. cau: User interrupt “ASUB”. (The position at

the time of the interrupt is stored for program

continuation with Repos).

Act. by: Vdi signal, dig./anal. interface

Cont.: Either Reorg or Ret

BIT 5: Act. cau.: Cancellation of subprogram

repetition

Act. by: Vdi signal

Cont.: Use of the REPOS system ASUB

BIT 6:

Act. cau.: Activation of decoding single block

Act. by: Vdi signal (+OPI)

Cont.: Use of the REPOS system ASUB

BIT 7: Act. cau.: Activation of delete distance--

to--go; Act. by: Vdi signal

Cont.: Use of the Ret system ASUB

BIT 8:

Act. cau: Activation of axis synchronization

Act. by: Vdi signal

Cont.: Use of the REPOS system ASUB

BIT 9:

Act. cau.: Mode change

Act. by: Vdi signal

Cont.: Use of the REPOS or RET system ASUB

(see MD)

Rr/4

07.98

08.97 Synchronized Actions (FBSY)

2.3 Special real--time variables for synchronized actions

2-41

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

Name SA

access

/SW

access

IndexDescription/valuesType

/SW

$AC_ASUP ff. INT

/4 BIT 10: Act. cau.: Program continuation under

teach--in or after teach--in deactivation

Act. by: Vdi signal

Cont.: Use of the Ret system ASUB

BIT 11:

Act. cau.: Overstore selection

Act.by:PIservice

Cont.: Use of the REPOS system ASUB

BIT 12:

Act. cau.: Alarm with reaction correction block

with Repos

Act: by: Internal

Cont.: Use of the REPOS system ASUB

BIT 13: Act. cau.: Retraction movement with

G33 and Stop

Act. by: Internal

Cont.: Use of the Ret system ASUB

BIT 14:

Act. cau.: Activation of dry run feedrate;

Act. by: Vdi signal

Cont.: Use of the REPOS system ASUB

BIT 15:

Act. cau.: Deactivation of dry run feedrate;

Act. by: Vdi signal

Cont.: Use of the REPOS system ASUB

BIT 16:

Act. cau.: Activation of skip block;

Act. by: Vdi signal

Cont.: Use of the REPOS system ASUB

BIT 17:

Act. cau.: Deactivation of block skip ;

Act. by: Vdi signal

Cont.: Use of the REPOS system ASUB

BIT 18:

Act. cau: Activation of machine data

Act.by:PIservice

Cont.: Use of the REPOS system ASUB

Bit 19:

Act. cau: Set tool offset active

Act. by: PI service ”_N_SETUDT”

Cont.: Use of the REPOS system ASUB

Bit 20:

Act. cau: System ASUB after SERUPRO type

search run has reached the destination.

Act. by: Pi serv. ”_N_FINDBL” parameter == 5

Cont.: Use of the REPOS system ASUB

Rr/4

Commands to / from channel (diagnostics)

Name Type

/SW Description/values Index PP

access SA

access

/SW

$A_PROTO BOOL

/4 Activate/deactivate log function for first user

0: Deactivate

1: Activate

R/W r/w

$A_PROTOC BOOL

/4 Activate/deactivate log function for a user

0: Deactivate

1: Activate

R/W r/w

07.9810.00

08.97

2.3 Special real--time variables for synchronized actions

Synchronized Actions (FBSY)

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

Inputs/outputs

Name Type

/SW Description/values Index PP

access SA

access

/SW

$A_IN[n] BOOL Digital input of NC No. of

input R r

$A_OUT[n] BOOL Digital output of NC No. of

output R/w r/w

$A_INA[n] DOUBLE Analog input of NC No. of

input R r

$A_OUTA[n] DOUBLE Analog output of NC

After the write operation, the value does not be-

come active until the next interpolator cycle; it

can then be read back.

No. of

output R/w r/w

$A_INCO[n] BOOL Comparator input No. of

input R r

Read and write PLC variables

Name Type

/SW Description/values Index PP

access SA

access

/SW

$A_DBB[n] INT

/4 Read/write data byte (8 bits) from/to PLC Offset

in I/O

area

R/w r/w

$A_DBW[n] INT

/4 Read/write data word (16 bits) from/to PLC Offset

in I/O

area

R/w r/w

$A_DBD[n] INT

/4 Read/write double data word (32 bits) from/to

PLC Offset

in I/O

area

R/w r/w

$A_DBR[n] DOUBLE

/4 Read/write real data (32 bits) from/to PLC Offset

in I/O

area

R/w r/w

Link variables

Name Type

/SW Description/values Index PP

access SA

access

/SW

$A_DLB[n] INT

/5 Read/write data byte (8 bits) from/to NCU link Position

offset in

link

memory

R/w r/w

$A_DLW[n] INT

/5 Read/write data word (16 bits) from/to NCU link Position

offset in

link

memory

R/w r/w

$A_DLD[n] INT

/5 Read/write double data word (32 bits) from/to

NCU link Position

offset in

link

memory

R/w r/w

07.9810.0010.00

08.97 Synchronized Actions (FBSY)

2.3 Special real--time variables for synchronized actions

2-43

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

Name SA

access

/SW

access

IndexDescription/valuesType

/SW

$A_DLR[n] DOUBLE

/5 Read/write real data (32 bits) from/to NCU link Position

offset in

link

memory

R/w r/w

$A_LINK_TRANS

_RATE INT

/5 Number of bytes which can still be transferred

via the NCU link in the present interpolation

cycle.

-- r/ r/

Direct PLC_IO

Name Type

/SW Description/values Index PP

access SA

access

/SW

$A_PBB_IN[n] INT

/5 Read data byte (8 bits) directly from PLC I/O Position

offset in

PLC

input

area

R/ r/

$A_PBW_IN[n] INT

/5 Read data word (16 bits) directly from PLC I/O Position

offset in

PLC

input

area

R/ r/

$A_PBD_IN[n] INT

/5 Read double data word (32 bits) directly from

PLC I/O Position

offset in

PLC

input

area

R/ r/

$A_PBR_IN[n] DOUBL

Read real data (32 bits) directly to PLC I/O Position

offset in

PLC

input

area

R/w r/w

$A_PBB_OUT[n] INT

/5 Writedatabyte(8bits)directlytoPLCI/O Position

offset in

PLC

output

area

R/w r/w

$A_PBW_OUT[n] INT

/5 Write data word (16 bits) directly to PLC I/O Position

offset in

PLC

output

area

R/w r/w

10.0007.98

08.97

2.3 Special real--time variables for synchronized actions

Synchronized Actions (FBSY)

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

Name SA

access

/SW

access

IndexDescription/valuesType

/SW

$A_PBD_OUT[n] INT

/5 Write double data word (32 bits) directly to PLC

I/O Position

offset in

PLC

output

area

R/w r/w

$A_PBR_OUT[n] DOUBL

Write real data (32 bits) directly to PLC I/O Position

offset in

PLC

output

area

R/w r/w

Tool management

References: /FBW/, Tool Management

Name Type

/SW Description/values Index PP

access SA

access

/SW

$AC_TC_FCT INT

/5 Command number. This specifies the desired

operation. -- R/ r/

$AC_TC_STATUS INT

/5 Status of the command to be read with

$AC_TC_FCT. -- R/ r/

$AC_TC_THNO INT

/5 Number of the toolholder (spindle no.) in which

the new tool is to be loaded. -- R/ r/

$AC_TC_TNO INT

/5 NCK--internal T number of the new tool (to be

loaded).

0: There is no new tool.

-- R/ r/

$AC_TC_MFN INT

/5 Source magazine number of the new tool.

0: There is no new tool. -- R/ r/

$AC_TC_LFN INT

/5 Source location number of the new tool.

0: There is no new tool. -- R/ r/

$AC_TC_MTN INT

/5 Destination magazine number of the new tool.

0: There is no new tool. -- R/ r/

$AC_TC_LTN INT

/5 Destination location number of the new tool.

0: There is no new tool. -- R/ r/

$AC_TC_MFO INT

/5 Source magazine number of the old tool (to be

replaced).

0: There is no old tool.

-- R/ r/

$AC_TC_LFO INT

/5 Source location number of the old tool (to be

replaced).

0: There is no old tool.

-- R/ r/

$AC_TC_MTO INT

/5 Destination magazine number of the old tool (to

be replaced).

0: There is no old tool.

-- R/ r/

$AC_TC_LTO INT

/5 Destination location number of the old tool (to be

replaced).

0: There is no old tool.

-- R/ r/

10.0007.98

08.97 Synchronized Actions (FBSY)

2.3 Special real--time variables for synchronized actions

2-45

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

Timers

Name Type

/SW Description/values Index PP

access SA

access

/SW

$A_YEAR INT System time, year Rr/4

$A_MONTH INT System time, month Rr/4

$A_DAY INT System time, day Rr/4

$A_HOUR INT System time, hour Rr/4

$A_MINUTE INT System time, minute Rr/4

$A_SECOND INT System time, second Rr/4

$A_MSECOND INT System time, millisecond Rr/4

$AC_TIME DOUBLE Time from block start in seconds Rr/4

$AC_TIMEC DOUBLE Time from block start in interpolation cycles Rr/4

$AC_TIMER[n] DOUBLE

/4 Timer unit in seconds. The time is counted inter-

nally in multiples of the interpolation cycle. Incre-

mentation of a timer variable is started by

means of value assignment $AC_TI-

MER[n]=<start value>. Incrementation of a timer

variable is stopped through the assignment of a

negative value: $AC_TIMER[n]=--1

The current time value can be read whether the

timer variable is running or halted. After a timer

variable has been stopped through the assign-

ment of --1, the current time value remains

stored and can be read.

The value is defined in

MD 28258: MM_NUM_AC_TIMER

Counter R/W r/w

10.0007.98

08.97

2.3 Special real--time variables for synchronized actions

Synchronized Actions (FBSY)

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

Path motion

Name Type

/SW Description/values Index PP

access SA

access

/SW

$AC_PATHN DOUBLE Normalized path parameter, value between

0 = start of block and

1 = end of block

R r

$AC_DTBW DOUBLE Geometric distance from start of block in work-

piece coordinate system. The programmed posi-

tion alone determines the distance calculation. If

the axis is a coupled--motion axis, the position

component resulting from the axis coupling is

ignored.

R r

$AC_DTBB DOUBLE Geometric distance from start of block in basic

coordinate system. The programmed position

alone determines the distance calculation. If the

axis is a coupled--motion axis, the position com-

ponent resulting from the axis coupling is

ignored.

R r

$AC_DTEW DOUBLE Geometric distance from end of block in work-

piece coordinate system. The programmed posi-

tion alone determines the distance calculation. If

the axis is a coupled--motion axis, the position

component resulting from the axis coupling is

ignored.

R r

$AC_DTEB DOUBLE

/3 Geometric distance from end of block in basic

coordinate system. The programmed position

alone determines the distance calculation. If the

axis is a coupled--motion axis, the position com-

ponent resulting from the axis coupling is

ignored.

R r

$AC_PLTBB DOUBLE

/3 Path distance from start of block in basic co-

ordinate system.

The variable can only be accessed from syn-

chronized actions.

R r

$AC_PLTEB DOUBLE Path distance to end of block in basic coordinate

system.

The variable can only be accessed from syn-

chronized actions.

R r

$AC_DELT DOUBLE Path distance--to--go in workpiece coordinate

system after deletion of distance--to--go for

motion synchronized actions

R r

$P_APDV BOOL Returns TRUE if the positional values that can

be read with $P_APR[X] or $P_AEP[X] (start

point/contour point with smooth approach and

retraction) are valid.

Rr/4

10.0007.98

08.97 Synchronized Actions (FBSY)

2.3 Special real--time variables for synchronized actions

2-47

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

Velocities,

channel--specific

Name Type

/SW Description/values Index PP

access SA

access

/SW

$P_F DOUBLE Path feed last programmed R r

$AC_OVR DOUBLE Path override for synchronized actions: Multipli-

cative override component, acts in addition to

operator override, programmed override and

transformation override. The total factor is limi-

ted to 200%. It must be written again in every

interpolation cycle, otherwise the value 100%

applies. $AA_OVR[S1] changes the spindle

override. The override defined by the machine

data

MD 12100: OVR_FACTOR_LIMIT_BIN,

MD 12030: OVR_FACTOR_FEEDRATE[30],

MD 12010: OVR_FACTOR_AX_SPEED[30]

is not exceeded

R/W r/w

$AC_VC DOUBLE Additive path feedrate override for synchronized

actions The compensation value is not active

with G0, G33, G331, G332 or G63. The com-

pensation value must be written again in every

interpolator cycle, otherwise the value 0 applies.

An override of 0 cancels the compensation va-

lue; otherwise the override has no effect on the

compensation value. The total feedrate cannot

be negative as a result of the compensation va-

lue. The upper value is limited such that the ma-

ximum axis velocities and accelerations are not

exceeded. The calculation of other feedrate

components is not affected by $AC_VC. The

override values defined by the machine data

MD 12100: OVR_FACTOR_LIMIT_BIN,

MD 12030: OVR_FACTOR_FEEDRATE[30],

MD 12010: OVR_FACTOR_AX_SPEED[30],

MD 12070: OVR_FACTOR_SPIND_SPEED

are not exceeded. The additive feedrate overri-

de is limited such that the resulting feedrate

does not exceed the maximum override value of

the programmed feedrate.

R/W r/w

$AC_VACTB DOUBLE Path velocity in basic coordinate system R r

$AC_VACTW DOUBLE Path velocity in workpiece coordinate system R r

Spindle data

Name Type

/SW Description/values Index PP

access SA

access

/SW

$AA_S[n] DOUBLE

/4 Actual spindle speed

The sign identifies the direction of rotation

n: Spindle number, 0 ... max. spindle number

Spindle

no. RS r/4

$AC_CONSTCUT_S[n] DOUBLE

/6 Current constant cutting rate.

n: Spindle number, 0 ... max. spindle number Spindle

no. RS r/6

10.0007.9810.00

08.97

2.3 Special real--time variables for synchronized actions

Synchronized Actions (FBSY)

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

Name SA

access

/SW

access

IndexDescription/valuesType

/SW

$AC_SDIR[n] INT

/3 Spindle rotation currently active

3: Spindle rotation, clockwise,

4: Spindle rotation, counterclockwise,

5: Spindle stop

n: Spindle number, 0 ... max. spindle number

Spindle

no. RS r/3

$AC_SMODE[n] INT

/3 Spindle mode currently active:

0: No spindle present in channel

1: Speed control mode

2: Positioning mode

3: Synchronous mode

4: Axis mode

n: Spindle number, 0 ... max. spindle number

Spindle

no. RS r/3

$AC_SGEAR[n] INT

/5 Gear stage currently active

1: 1st gear stage is active

2: 2nd gear stage is active

3: 3rd gear stage is active

4: 4th gear stage is active

5: 5th gear stage is active

n: Spindle number, 0 ... max. spindle number

Spindle

no. RS r/5

$AC_MSNUM INT

/3 Returns the number of the active master

spindle:

0: No spindle present

1..n: Number of master spindle

RS r/3

$AC_MTHNUM INT

/5 Returns the number of the active

master toolholder:

0: No master toolholder present

1..n: Number of master toolholder

RS r/5

Polynomial values for synchronized actions

Name Type

/SW Description/values Index PP

access SA

access

/SW

$AC_FCTiLL,

$AC_FCTLL[j]

DOUBLE

Lower limit of polynomial for synchronized

actions (SYNFCT)

i: 1--3, evaluation function FCTDEF 1 -- 3

j: Polynomial number

R/W r/w

$AC_FCTiUL,

$AC_FCTUL[j]

DOUBLE

Upper limit of polynomial for synchronized

actions (SYNFCT)

i: 1--3, evaluation function FCTDEF 1 -- 3

j: Polynomial number

R/W r/w

$AC_FCTiC[n],

$AC_FCT0[n] DOUBLE

/(4) i: 1 -- 3, polynomials 1 to 3; coefficient n: 0 -- 3

a0coefficient for polynomial n R/W r/w

$AC_FCT1[n] DOUBLE

/(4) a1coefficient for polynomial n R/W r/w

$AC_FCT2[n] DOUBLE

/(4) a2coefficient for polynomial n R/W r/w

$AC_FCT3[n] DOUBLE

/(4) a3coefficient for polynomial n R/W r/w

10.00

08.97 Synchronized Actions (FBSY)

2.3 Special real--time variables for synchronized actions

2-49

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

Channel statuses

Name Type

/SW Description/values Index PP

access SA

access

/SW

$AC_ALARM_STAT INT

/5 (Selected) alarm reactions for synchronized

actions (SYNFCT)

Bit 2 = 1 NOREADY (active rapid deceleration

and cancellation of servo enable)

Bit 6 = 1 STOPBYALARM ( ramp stop of all

channel axes)

Bit 9 = 1 SETVDI (VDI interface signal alarm is

set )

Bit 13 = 1 FOLLOWUPBYALARM (follow--up)

-- Rr/5

$AN_ESR_TRIGGER BOOL

/5 $AN_ESR_TRIGGER = 1 triggering

of ”Extended stop and retract” -- R/W r/w

$AC_ESR_TRIGGER BOOL

/5 $AC_ESR_TRIGGER = 1

Triggering of “NC--driven ESR” -- R/W r/w

$AC_OPERATING_

TIME DOUBLE

/5 IF $AC_OPERATING_TIME < 12000 GOTOB

STARTMARK

Total operating time for NC programs in

AUTOMATIC mode (in seconds)

-- Rr/5

$AC_CYCLE_TIME DOUBLE

/5 IF $AC_CYCLE_TIME > 2400 GOTOF

ALARM01

Operating time of selected NC program (in

seconds)

-- Rr/5

$AC_CUTTING_TIME DOUBLE

/5 IF $AC_CUTTING_TIME > 6000 GOTOF

ACT_M06

Tool operation time (in seconds)

-- Rr/5

$AC_REQUIRED_

PARTS DOUBLE

/5 $AC_REQUIRED_PARTS = ACTUAL_LOS

Definition of number of required workpieces

(workpiece setpoint), e.g. for definition of a

batch size, day production ...

-- R/W r/w

$AC_TOTAL_PARTS DOUBLE

/5 IF $AC_TOTAL_PARTS > SERVICE_COUNT

GOTOF MARK_END

Total time for all manufactured workpieces

-- R/W r/w

$AC_ACTUAL_PARTS DOUBLE

/5 IF $AC_ACTUAL_PARTS == 0 GOTOF

NEW_RUN

Number of workpieces actually produced (actual

workpiece value). With $AC_ACTUAL_PARTS

== $AC_REQUIRED_PARTS is automatically

$AC_ACTUAL_PARTS = 0.

-- R/W r/w

$AC_SPECIAL_PARTS DOUBLE

/5 $AC_SPECIAL_PARTS = R20

Number of workpieces counted acc. to user

strategy. Without internal control.

-- R/W r/w

$AC_G0MODE INT

/6 Interpolation behavior with G0 mode

0: G0 active

1: G0 and linear interpolation active

2: G0 and non--linear interpolation active

With G0 the behavior of the path axis is in ac-

cordance with machine data MD 20730:

G0_LINEAR_MODE (Siemens mode) or

machine data MD 20732:

EXTERN_G0_LINEAR_MODE (ISO mode).

With linear interpolation the path axes are tra-

versed together.

With non--linear interpolation the path axes are

traversed as positioning axes.

-- Rr/6.1

$AC_MEAS_LATCH DOUBLE

/6 $AC_MEAS_LATCH[0] = 1

1. Write actual value to measuring point.

0: corresponds to 1st measuring point, .. , 3: 4th

measuring point

Measu-

ring

point

R/W r/w

/6.1

10.0004.0010.00

08.97

2.3 Special real--time variables for synchronized actions

Synchronized Actions (FBSY)

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

Positions

Name Type

/SW Description/values Index PP

access SA

access

/SW

$AA_IW[X] DOUBLE Actual value in workpiece coordinate system

(WCS) Axis R r

$AA_IEN[X] DOUBLE

/5 Actual value in settable zero coordinate system

(SZS) Axis Rr/5

$AA_IBN[X] DOUBLE

/5 Actual value in basic zero coordinate system

(BCS). Rr/5

$AA_IB[X] DOUBLE Actual value in basic coordinate system (BCS) Axis R r

$AA_IM[X] DOUBLE Actual value in machine coordinate system

(MCS) Axis R r

Indexing axes

Name Type

/SW Description/values Index PP

access SA

access

/SW

$AA_ACT_INDEX_AX_

POS_NO[X] INT

/5 0: No indexing axis, therefore no indexing

position available.

> 0: Number of last indexing position to be

reached or overtraveled

Rr/5

$AA_PROG_INDEX_AX

_POS_NO[X] INT

/5 0: No indexing axis, therefore no indexing

position available or

the indexing axis is not currently approaching an

indexing position

> 0: Number of the indexing position

programmed

Rr/5

Encoder limit frequency

Name Type

/SW Description/values Index PP

access SA

access

/SW

$AA_ENC_ACTIVE[X] BOOL

/4 Active measuring system is operating below

encoder limit frequency (valid values) Axis Rr/4

$AA_ENCi_ACTIVE[X] BOOL

/4 i: 1 -- 2 encoder number;

Measuring system i is operating below encoder

limit frequency (valid values)

Axis Rr/4

10.00

08.97 Synchronized Actions (FBSY)

2.3 Special real--time variables for synchronized actions

2-51

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

Encoder values

Name Type

/SW Description/values In-

dex PP

access SA

access

/SW

$VA_IM[X] DOUBLE

/4 Encoder actual value in machine coordinate

system (measured by active measuring sys-

tem), actual value compensations are corrected

(leadscrew error compensation, backlash com-

pensation, quadrant error compensation). No

modulo conversion is performed.

Axis Rr/4

$VA_IM[X] DOUBLE

/4 Actual value in machine coordinate system

(measured by encoder 1), compensations are

corrected

Axis Rr/4

$VA_IM[X] DOUBLE

/4 Actual value in machine coordinate system

(measured by encoder 2), compensations are

corrected

Axis Rr/4

$AA_MW[X] DOUBLE Measured value in workpiece coordinate system Axis R/W r/w

$AA_MM[X] DOUBLE Measured value in machine coordinate system Axis R/W r/w

$AA_MWi[X] DOUBLE

/4 Measurement result of axial measurement

i: 1--4 for trigger events 1--4 Axis R/W r/w

Axial measurement

Name Type

/SW Description/values In-

dex PP

access SA

access

/SW

$AA_MMi[X] DOUBLE

/4 Measurement result of axial measurement

i: 1--4 for trigger events 1--4 Axis R/W r/w

$AA_MEAACT[X] BOOL

/4 Value is TRUE (1) if axial measurement is active

for axis X Axis Rr/4

10.00

08.97

2.3 Special real--time variables for synchronized actions

Synchronized Actions (FBSY)

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

Offsets

Name Type

/SW Description/values In-

dex PP

access SA

access

/SW

$AC_DRF[X] DOUBLE DRF offset Axis R r

$AC_PRESET[X] DOUBLE Last Preset value Axis R r

$AA_MEAS_P1_

VALID[X] INT

/6 $AA_MEAS_P1_VALID[X] = 1

Write actual value to 1st measuring point Axis R/W r/w

/6.1

$AA_MEAS_P2_

VALID[X] INT

/6 $AA_MEAS_P2_VALID[X] = 1

Write actual value to 2nd measuring point Axis R/W r/w

/6.1

$AA_MEAS_P3_

VALID[X] INT

/6 $AA_MEAS_P3_VALID[X] = 1

Write actual value to 3rd measuring point Axis R/W r/w

/6.1

$AA_MEAS_P4_

VALID[X] INT

/6 $AA_MEAS_P4_VALID[X] = 1

Write actual value to 4th measuring point Axis R/W r/w

/6.1

$AA_OFF[X] DOUBLE Overlaid motion for programmed axis Axis R/W r/w

$AA_OFF_LIMIT[X] INT

/4 Limit value for axial compensation $AA_OFF[X]

0: Limit value not reached

1: Limit value reached in positive axis direction

--1: Limit value reached in negative axis

direction

Axis R r

$AA_OFF_VAL[X] DOUBLE $AA_OFF_VAL[X]

Integrated value of overlaid motion for one axis.

An overlaid motion can be canceled using a

negative value for this variable, e.g.

$AA_OFF[axis] = --$AA_OFF_VAL[axis]

Axis Rr/5

$AC_RETPOINT[X] DOUBLE Return point on contour for repositioning Axis Rr/4

$AA_SOFTENDP[X] DOUBLE Software limit position, positive direction Axis Rr/4

$AA_SOFTENDN[X] DOUBLE Software limit position, negative direction Axis Rr/4

10.00

08.97 Synchronized Actions (FBSY)

2.3 Special real--time variables for synchronized actions

2-53

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

Axial paths

Name Type

/SW Description/values Index PP

access SA

access

/SW

$AA_DTBW[X] DOUBLE Axial path from start of block in workpiece coor-

dinate system for positioning and synchronized

axes during motion-synchronous actions. The

programmed position alone determines the path

calculation. If the axis is a coupled--motion axis,

the position component resulting from the axis

coupling is ignored.

Axis R r

$AA_DTBB DOUBLE Axial path from start of block in basic coordinate

system for positioning and synchronized axes

during motion-synchronous actions. The pro-

grammed position alone determines the path

calculation. If the axis is a coupled--motion axis,

the position component resulting from the axis

coupling is ignored.

Axis R r

$AA_DTEW DOUBLE Axial path to end of block in workpiece coordina-

te system for positioning and synchronized axes

during motion-synchronous actions. The pro-

grammed position alone determines the path

calculation. If the axis is a coupled--motion axis,

the position component resulting from the axis

coupling is ignored.

Axis R r

$AA_DTEB DOUBLE Axial path to end of block in basic coordinate

system for positioning and synchronized axes

during motion-synchronous actions. The pro-

grammed position alone determines the path

calculation. If the axis is a coupled--motion axis,

the position component resulting from the axis

coupling is ignored.

Axis R r

Oscillation

Name Type

/SW Description/values Index PP

access SA

access

/SW

$AA_DTEPW DOUBLE Axial distance--to--go for infeed oscillation in

workpiece coordinate system Axis R r

$AA_DTEPB DOUBLE Axial distance--to--go for infeed oscillation in

basic coordinate system Axis R r

$AA_OSCILL_REVER-

SE_POS1[X] DOUBLE Current reversal position 1 for oscillation

In synchronized actions, the value of setting

data $SA_OSCILL_REVERSE_POS1 is evalua-

ted online.

Axis R r

$AA_OSCILL_REVER-

SE_POS2[X] DOUBLE Current reversal position 2 for oscillation

In synchronized actions, the value of setting

data $SA_OSCILL_REVERSE_POS2 is evalua-

ted online.

Axis R r

$AA_DELT DOUBLE Axial distance--to--go in workpiece coordinate

system after axial deletion of distance--to--go for

motion-synchronous actions

Axis R r

07.98

08.97

2.3 Special real--time variables for synchronized actions

Synchronized Actions (FBSY)

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

Velocities,

axis--specific

Name Type

/SW Description/values Index PP

access SA

access

/SW

$AA_OVR[X] DOUBLE Axial override for motion-synchronous actions.

Multiplicative override component, acts in addi-

tion to operator override, programmed override

and transformation override, the total factor is

limited to 200%. It must be written again in every

interpolation cycle, otherwise the value 100%

applies. $AA_OVR[S1] changes the spindle

override. The override defined by the machine

data

MD 12100: OVR_FACTOR_LIMIT_BIN,

MD 12030: OVR_FACTOR_FEEDRATE[30],

MD 12010: OVR_FACTOR_AX_[30],

$AA_OVR_FACTOR_SPIND_SPEED

is not exceeded.

Axis R/W r/w

$AA_VC[X] DOUBLE Additive axial feedrate override for motion-syn-

chronous actions. The compensation value

must be written again in every interpolator cycle,

otherwise the value 0 applies. An override of 0

cancels the compensation value; otherwise the

override has no effect on the compensation

value. The total feedrate cannot be negative as

a result of the compensation value. The upper

value is limited such that the maximum axis

velocities and accelerations are not exceeded.

The calculation of other feedrate components is

not affected by $AA_VC. The override values

defined by the machine data

MD 12100: OVR_FACTOR_LIMIT_BIN,

MD 12030: OVR_FACTOR_FEEDRATE[30],

MD 12010: OVR_FACTOR_AX_SPEED[30],

MD 12070: OVR_FACTOR_SPIND_SPEED

are not exceeded. The additive feedrate over-

ride is limited such that the resulting feedrate

does not exceed the maximum override value of

the programmed feedrate.

Axis R/W r/w

$AA_VACTB[X] DOUBLE Axis speed in basic coordinate system.

The variable can only be accessed from syn-

chronized actions.

Axis R r

$AA_VACTW[X] DOUBLE Axis speed in workpiece coordinate system.

The variable can only be accessed from syn-

chronized actions.

Axis R r

$AA_VACTM[X] DOUBLE Axis velocity setpoint in machine coordinate

system Can also be read by replacement/PLC

axes

The variable can only be accessed from syn-

chronized actions.

Axis Rr/4

$VA_VACTM[X] DOUBLE Axis velocity actual value in machine coordina-

te system. The variable returns an undefined

value if the encoder limit frequency is exceeded.

Axis Rr/4

07.98

08.97 Synchronized Actions (FBSY)

2.3 Special real--time variables for synchronized actions

2-55

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

Drive data

Name Type

/SW Description/values Index PP

access SA

access

/SW

$AA_LOAD[X] DOUBLE Drive load in % (for 611D only) Axis R r

$VA_LOAD[X] DOUBLE Drive load in % (for 611D only) Axis Rr/5

$AA_TORQUE[X] DOUBLE Drive torque setpoint in Nm (with 611D only)

Actual force in N (with 611D HLA only) Axis R r

$VA_TORQUE[X] DOUBLE Drive torque setpoint in Nm (with 611D only)

Actual force in N (with 611D HLA only) Axis Rr/5

$AA_POWER[X] DOUBLE Active drive power in W (for 611D only) Axis R r

$VA_POWER[X] DOUBLE Active drive power in W (for 611D only) Axis Rr/5

$AA_CURR[X] DOUBLE Actual current value for axis or spindle

(for 611D only) Axis R r

$VA_CURR[X] DOUBLE Actual current value for axis or spindle

(for 611D only) Axis Rr/5

$VA_VAVELIFT[X] DOUBLE Actualvalvestrokeinmm

(with 611D hydraulic system only) Axis Rr/5

$VA_PRESSURE_A[X] DOUBLE Pressure on drive end of cylinder in bar

(with 611D hydraulic system only) Axis Rr/5

$VA_PRESSURE_B[X] DOUBLE Pressure on non--drive end of cylinder in bar

(with 611D hydraulic system only) Axis Rr/5

Axis states

Name Type

/SW Description/values Index PP

access SA

access

/SW

$AA_STAT[X] INT

/4 Axis status:

0: No axis status available

1: Traversing movement active

2: Axis has reached end of interpolation, only for

axes of channel

3: Axis in position (exact stop coarse) for all

axes

4: Axis in position (exact stop fine) for all axes

Axis Rr/4

$AA_REF[X] INT

/5 Axis status:

0: Axis is not referenced

1: Axis is referenced

Rr/5

$AA_TYP[X] INT

/4 Axis type:

0: Axis in another channel

1: Channel axis of the same channel

2: Neutral axis

3: PLC axis

4: Oscillating axis

5: Neutral axis currently traversing in JOG mode

6: Master value--coupled following axis

7: Coupled--motion following axis

8: Command axis

9: Compile cycle axis

Axis Rr/4

$AA_MASL_STAT[X] INT

6Current status if a master--slave coupling

$AA_MASL_STAT set to

= 0: Axis is not a slave axis or no

coupling is active.

> 0: Coupling active supplies the associated

machine axis number of the master axis.

Slave

axis Rr/6

10.00

08.97

2.3 Special real--time variables for synchronized actions

Synchronized Actions (FBSY)

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

Name SA

access

/SW

access

IndexDescription/valuesType

/SW

$AA_FXS[X] INT

5Status “travel to fixed stop”

0: Axis not at stop

1: Stop approached successfully

2: Fixed stop approach unsuccessful

3: Selection of travel to fixed stop active

4: Fixed stop was detected

5: Deselection of travel to fixed stop active

Axis R/W r/5

$VA_TORQUE_AT_

LIMIT[X] INT

5Status ”Effective torque corresponds to the spe-

cified torque limit”

0: Torque limit not yet reached

1: Torque limit reached

In digital 611D systems the drive returns a sta-

tus, indicating whether the programmed

torque limit has been reached.

Axis Rr/5

$AA_FOC[X] INT

5Status of ”ForceControl” (FOC) function

0: FOC not active

1: FOC modally active

2: FOC non--modally active

Axis R/W r/5

$AA_COUP_

ACT[SPI(2)] INT

/4 Current coupling status of following spindle/axis

0: Axis/sp. not coupled with a LS/LA

3: Axis is tangentially corrected

4: Synchronous spindle coupling

8: Coupled--motion following axis

16: Master value--coupled following axis

The respective values are applicable for one

coupling. If the following axis has more active

couplings, they are indicated by the sum of the

respective numerical values.

Follow-

ing

spindle/

axis

Rr/5

Electronic gear 1

Name Type

/SW Description/values Index PP

access SA

access

/SW

$AA_EG_SYNFA[a] DOUBLE

/5 Synchronized position of following axis

a: Following axis Fol-

lowing

axis

Rr/5

$AA_EG_NUM_LA[a] INT

/5 Number of leading axes specified with EGDEF

a: Following axis Fol-

lowing

axis

Rr/5

$AA_EG_SYNCDIFF[a] DOUBLE

/5 Synchronization difference

a: Following axis Fol-

lowing

axis

Rr/5

$AA_EG_AX[n,a] AXIS

/5 Identifier for the nth leading axis

n: Index for leading axis

a: Following axis

Fol-

lowing

axis

Rr/5

10.0010.0010.00

08.97 Synchronized Actions (FBSY)

2.3 Special real--time variables for synchronized actions

2-57

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

Master value coupling

Name Type

/SW Description/values Index PP

access SA

access

/SW

$AA_LEAD_SP[MV] DOUBLE

/4 Simulated master value -- position Master

value R/W r/w

$AA_LEAD_SV[MV] DOUBLE

/4 Simulated master value -- velocity Master

value R/W r/w

$AA_LEAD_P_

TURN[MV] DOUBLE

/4 Current master value -- position component lost

as a result of modulo reduction. The actual ma-

ster value position (used for internal calculations

by the controller) is $AA_LEAD_P[MV] +

$AA_LEAD_P_TURN[MV]. If MV is a modulo

axis, $AA_LEAD_P_TURN is a whole multiple

of $MA_MODULO_RANGE. If MV is not a

modulo axis, $AA_LEAD_P_TURN is always 0.

Example 1:

$MA_MODULO_RANGE[MV] = 360

$AA_LEAD_P[MV] = 290

$AA_LEAD_P_TURN[MV] = 720

The actual master value position (used for inter-

nal calculations by the controller) is 1010.

Example 2:

$MA_MODULO_RANGE[MV] =360

$AA_LEAD_P[MV] = 290

$AA_LEAD_P_TURN[MV] =--360

The actual master value position (used for inter-

nal calculations by the controller) is --70.

Master

value Rr/4

$AA_LEAD_P[MV] DOUBLE

/4 Current master value -- position (modulo re-

duced)

If master value (MV) is a modulo axis, the fol-

lowing is always true:

0 <= $AA_LEAD_P[MV] <= $MA_MODU-

LO_RANGE[MV]

Master

value Rr/4

$AA_LEAD_V[MV] DOUBLE

/4 Actual master value -- velocity Master

value Rr/4

$AA_SYNC[FA] INT

/4 Coupling status of following axis in master value

coupling

0: No synchronism

1: Coarse synchronism

2: Fine synchronism

3: Coarse and fine

Fol-

lowing

axis

Rr/4

Synchronous spindle

Name Type

/SW Description/values Index PP

access SA

access

/SW

$P_COUP_OFFS[S2] DOUBLE Programmed offset of the synchronous spindle Fol-

lowing

spindle

Rr/6

$AA_COUP_OFFS[S2

]DOUBLE

/2 Position offset for synchronous spindle

(setpoint) Fol-

lowing

spindle

Rr/4

$VA_COUP_

OFFS[SPI(2)] DOUBLE

/2 Position offset for synchronous spindle (actual

value) Fol-

lowing

spindle

Rr/4

10.0006.01

08.97

2.3 Special real--time variables for synchronized actions

Synchronized Actions (FBSY)

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

Safety Integrated 1

Name Type

/SW Description/values Index PP

access SA

access

/SW

$VA_IS[X] DOUBLE

/3 Safe actual position (SISITEC) Axis Rr/4

$AA_SCTRACE[X] BOOL

/4 $AA_SCTRACE[X] = 1

Write:

Activate IPO trigger for servo trace.

0: No action

1: Activate trigger

Read: Always value 0, as the self--clearing trig-

ger bit is read back from the interface.

0: Current value (no status)

Axis R/W r/4

$VA_DPE[X1] BOOL

/5 Status performance release of a machine axis

(611D and 611D hydraulic system)

FALSE: No performance release

TRUE: Performance release

Ma-

chine

axis

R/ r/5

$AA_ACC DOUBLE

/5 Current acceleration value of axis for single--

axis interpolation.

$AA_ACC = $MA_MAX_AX_ACCEL * progr.

acceleration override

Axis R/ r/5

$AA_MOTEND INT

/5 Current end of movement condition for single--

axis interpolation.

1: End of movement on exact stop FINE

2: End of movement on exact stop COARSE

3: End of movement on exact stop interpolator

stop

4: Block change in braking ramp of axis motion

Axis R/ r/5

r/6

$AA_SCPAR INT

/5 Read current servo parameter set Axis R/ r/5

Extended stop and retract

Name Type

/SW Description/values Index PP

access SA

access

/SW

$AA_ESR_STAT[X] INT

/5 Status of “Extended stop and retract”,

bit--coded:

BIT0: Generator mode is triggered

BIT1: Retraction is triggered

BIT2: Ext. stop is triggered

BIT3: DC link undervoltage

BIT4: Generator minimum speed

R/ r/

$AA_ESR_ENABLE[X] BOOL

/5 $AA_ESR_ENABLE[X] = 1

Enable “Extended stop and retract” R/W r/w

10.00

08.97 Synchronized Actions (FBSY)

2.3 Special real--time variables for synchronized actions

2-59

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

Axis container rotation

Name Type

/SW Description/values Index PP

access SA

access

/SW

$AN_AXCTSWA[n] BOOL

/5 Axis container rotation active

1: An axis container rotation is currently being

performed on axis container name n

0: No axis container rotation is currently active

Axis

container r/ r/

$AN_AXCTAS[n] INT

/5 Axis container rotation, current degree of rotation.

This specifies for the axis container name n

how many slots the axis container has advanced.

The value range is from 0 to the maximum

number of assigned slots in the axis container --1

Axis

container r/ r/

$AC_AXCTSWA[n] BOOL

/5 Enable axis container rotation

1: The channel has enabled axis container

rotation for axis container name n and the rotation

is still in progress.

0: The axis container rotation has finished.

Axis

container r/ r/

Electronic gear 2

Name Type

/SW Description/values Index PP

access SA

access

/SW

$AA_EG_TYPE INT

/5 $AA_EG_TYPE[a,b]

a: Following axis

b: Leading axis

Type of coupling for leading axis b

0: Actual value coupling

1: Setpoint value coupling

Axis Rr/5

$AA_EG_NUMERA DOUBL

$AA_EG_NUMERA[a,b]

a: Following axis

b: Leading axis

Numerator for coupling factor for leading axis b

Axis Rr/5

$AA_EG_DENOM DOUBL

$AA_EG_DENOM[a,b]

a: Following axis

b: Leading axis

Denominator for coupling factor for leading axis b

Axis Rr/5

$AA_EG_SYN DOUBL

$AA_EG_SYN[a,b]

a: Following axis

b: Leading axis

Synchronized position of leading axis b

Axis Rr/5

$AA_EG_ACTIVE BOOL

/5 $AA_EG_ACTIVE[a,b]

a: Following axis

b: Leading axis

Coupling for leading axis b is active, i.e. switched

Axis Rr/5

10.00

08.97

2.3 Special real--time variables for synchronized actions

Synchronized Actions (FBSY)

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

Safety Integrated (S. I. )

Name Type

/SW Description/values Index PP

access SA

access

/SW

$A_INSE[n] BOOL

/4 Image of a safety input signal

(ext. NCK interface) No. of

input R r

$A_INSED[n] INT

/5 Image of safety input signals

(ext. NCK interface) Number of

input word

1 -- ...

R/ r/

$A_INSEP[n] BOOL

/5 Image of a safety input signal

(ext. PLC interface) Number of

input 1 -- ... R/ r/

$A_INSEPD[n] INT

/5 Image of safety input signals

(ext. PLC interface) Number of

input word

0 -- ...

R/ r/

$A_OUTSE[n] BOOL

/5 Image of a safety output signal

(ext. NCK interface) Number of

output 1 -- ... R/W r/w

$A_OUTSED[n] INT

/5 Image of safety output signals

(ext. NCK interface) Number of

output word

1 -- ...

R/W r/w

$A_OUTSEP[n] BOOL

/4 Image of a safety output signal

(ext. PLC interface) Number of

output 1 -- ... Rr/

$A_OUTSEPD[n] INT

/5 Image of safety output signals

(ext. PLC interface) Number of

output word

0 -- ...

Rr/

S. I. : Servo interpolator interface

Name Type

/SW Description/values Index PP

access SA

access

/SW

$A_INSI[n] BOOL

/4 Image of a safety input signal

(int. NCK interface) Number of

input 1 -- ... Rr/

$A_INSID[n] INT

/5 Image of safety input signals

(int. NCK interface) Number of

input word

1 -- ...

Rr/

$A_INSIP[n] BOOL

/4 Image of a safety input signal

(int. PLC interface) Number of

input word

1 -- ...

Rr/

07.98

08.97 Synchronized Actions (FBSY)

2.3 Special real--time variables for synchronized actions

2-61

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

Name SA

access

/SW

access

IndexDescription/valuesType

/SW

$A_INSIPD[n] INT

/5 Image of safety input signals

(int. PLC interface) Number of

input word

1 -- ...

Rr/

$A_OUTSI[n] BOOL

/4 Image of a safety output signal

(int. NCK interface) Number of

output 1 -- ... R/W r/w

$A_OUTSID[n] INT

/5 Image of safety output signals

(int. NCK interface) Number of

output word

1 -- ...

R/W r/w

$A_OUTSIP[n] BOOL

/4 Image of a safety output signal

(int. PLC interface) Number of

output 1 -- ... Rr/

$A_OUTSIPD[n] INT

/5 Image of safety output signals

(int. PLC interface) Number of

output word

1 -- ...

Rr/

Safety markers and timers

Name Type

/SW Description/values Index PP

access SA

access

/SW

$A_MARKERSI[n] BOOL

/4 Markers for Safety Integrated programming No. of

marker 1 ... R/W r/w

$A_MARKER-

SID[n] INT

/5 Flag word (32--bit) for safety programming No.offlag

word 1 ... R/W r/w

$A_MARKER-

SIP[n] BOOL

/4 Image of PLC Safety Integrated markers No. of

marker 1 ... Rr/

$A_MARKER-

SIPD[n] INT

/5 Image of PLC Safety Integrated flag words No.offlag

word 1 ... Rr/

$A_TIMERSI[n] DOUBLE

/4 Safety timer unit in seconds.

The time is counted internally in multiples of the

interpolation cycle.

Incrementation of the timer variable is started by

assigning

$A_TIMERSI[n]=<start value>.

Incrementation is stopped by assigning a nega-

tive value: $A_TIMERSI[n]=--1.

The current time value can be read whether the

timer variable is running or halted. After a timer

variable has been stopped through the assign-

ment of --1, the current time value remains

stored and can be read.

No.oftimer

1 ... R/W r/w

07.98

08.97

2.3 Special real--time variables for synchronized actions

Synchronized Actions (FBSY)

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

Safety cross--checking control and state variable

Name Type

/SW Description/values Index PP

access SA

access

/SW

$A_STATSID INT

/5 Safety: Status of cross--checking between NCK

and PLC.

If the value is not equal to zero, an error has

occurred during cross--checking

-- R/ r/

$A_CMDSI[n] BOOL

/5 Safety: Control word for cross--checking bet-

ween NCK and PLC.

Array index n = 1: Increase time for signal

change monitoring to 10 s

Number

control

signal

R/W r/w

$A_LEVELSID INT

/5 Safety: Displays level of signal change

monitoring. Specifies the number of signals

currently tagged for cross--checking.

-- Rr/

07.98

08.97 Synchronized Actions (FBSY)

2.4 Actions in synchronized actions

2-63

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

2.4 Actions in synchronized actions

After action code DO ..., each synchronized action contains

-- one or several (max. 16) actions or a technology cycle

(these two components are referred to generally as actions in the

following description).

These are executed when the appropriate condition is fulfilled.

Several actions contained in a synchronized action are activated in the same

interpolation cycle if the appropriate condition is fulfilled.

The following actions can be programmed in the “Action” section of

synchronized actions:

Table 2-2 Actions in synchronized actions

... DO ... Meaning Reference

Mxx

Sxx

Hxx

Output of auxiliary functions to PLC 2.4.1

SETAL(nr) Set alarm, error reactions 2.4.20

$A...= ... $V... = ...

$AA_OFF =

$AC_OVR =

$AA_OVR =

$AC_VC =

$AA_VC =

$$SN_SW_CAM_ ...

$AC_FCT...

Write real--time variables:

-- Overlaid motion

-- Velocity control:

Path velocity

Axis velocity

Add. path feedrate override

Add. axis compensation value

Alter SW cam positions

(setting data) and all other SD

Overwrite FCTDEF parameters

2.4.2

2.4.3

2.4.4

RDISABLE

STOPREOF

DELDTG

FTOC

SYNFCT

ZYKL_T1 (e.g.)

synchronized action procedures:

Activate read--in disable

End feed stop

Delete distance--to--go

Online tool offset

Polynomial evaluation

Call of technology cycles

2.4.8

2.4.9

2.4.10

2.4.7

2.4.5

2.5

$AA_OVR[x]= 0

AXIS_X (e.g.)

POS[u]= ...

FA[u]= ...

MOV[u]= >0

MOV[u] = <0

MOV[u] = =0

Control positioning axes:

Disable an axis motion

Call an axis program

Position

Define axis feedrate

Move command axes continuously:

-- forwards

-- backwards

-- s t op

2.4.11

2.4.12

2.4.13

2.4.14

“

SPOS

M3, M4, M5, S =

$AA_OVR[S1]= 0

Spindles:

Position

Direction of rotation, stop, speed

Disable spindle motion

2.4.15

PRESETON( , ) Set actual values 2.4.16

Actions

Several actions

List of possible

actions

08.97

2.4 Actions in synchronized actions

Synchronized Actions (FBSY)

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

Table 2-2 Actions in synchronized actions

... DO ... ReferenceMeaning

LEADON

LEADOF

TRAILON

TRAILOF

Activate/deactivate couplings:

Couple slave axis to master axis

Cancel coupling

Asynchr. coupled motion ON

Asynchr. coupled motion OFF

2.4.17

MEAWA,

MEAC Measurement without deletion of

distance--to--go

Cyclical measurement

2.4.18

SETM

CLEARM

Channel synchronization:

Set a wait marker

Clear a wait marker

2.4.19

LOCK

UNLOCK

RESET

Coordination of synchronized actions:

-- Disable synchronized action/technology

cycle

-- Enable synchronized action/technology

cycle

-- Reset technology cycle

2.5.1

08.97 Synchronized Actions (FBSY)

2.4 Actions in synchronized actions

2-65

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

2.4.1 Output of M, S and H auxiliary functions to PLC

For general information about auxiliary function outputs, please refer to:

References: /FB/, H2, “Output of Auxiliary Functions to PLC”

The advantage of implementing auxiliary function outputs in synchronized

actions is illustrated by the following example: Switch on coolant at a specific

position

Solution without synchronized action: 3 blocks

N10 G1 X10 F150

N20 M07

N30 X20

10 20

Machining sequence

M07

Solution with synchronized action: 1 block

N10 WHEN $AA_IM[X] >= 10 DO M07

N20 G1 X20 F150

10 20

Machining sequenceM07

Examples

08.97

2.4 Actions in synchronized actions

Synchronized Actions (FBSY)

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

M, S or H auxiliary functions can be output to the PLC as a synchronized action.

The output takes place immediately (like an interrupt on the PLC) in the

interpolation cycle if the condition is fulfilled.

The timing that might be programmed in

MD 11110: AUXFU_GROUP_SPEC (auxiliary function group

specification) or

AUXFU_M_SYNC_TYPE (output timing of M functions)/

AUXFU_S_SYNC_TYPE (output timing of S functions)/

AUXFU_H_SYNC_TYPE (output timing of H functions)/

has no effect with respect to synchronized actions.

Auxiliary functions may be programmed with frequency vocabulary words

WHEN or EVERY only in synchronized actions.

WHEN $AA_IM[X] > 50 DO H15 S3000 M03

; if actual value of X axis is greater than 50, then output H15, set new spindle

speed, new direction of rotation

No more than 10 auxiliary functions may be output simultaneously (i.e. in an

OB 40 cycle of the PLC).

The total number of auxiliary function outputs from part programs and

synchronized actions must never exceed 10 at any point in time.

Maximum number of auxiliary functions per synchronized action block or

technology cycle block:

-- 5 M functions

-- 3 S functions

-- 3 H functions

Predefined M functions cannot be programmed by means of synchronized

actions. They will be rejected by an alarm.

WHEN ... DO M0 ; Alarm

However, spindle M functions M3, M4, M5 and M17 may be programmed as the

end of a technology cycle.

Technology cycle blocks (see Section 2.5) containing auxiliary function outputs

are not completely processed until all auxiliary functions in the block have been

acknowledged by the PLC. The next block in the technology cycle is not pro-

cessed until all auxiliary functions in the preceding block have been acknowl-

edged by the PLC.

Further methods of acknowledgment have been introduced for SW 5 and later:

-- Auxiliary function output without block change delay

High--speed auxiliary functions (QUICK) first, as a parallel process in the

PLC, then auxiliary function output with anticipated acknowledgment.

The user can choose between INT and REAL as the data type for H auxiliary

functions. The PLC user program must interpret the values in accordance with

the definition. The INT value range for H auxiliary functions has been increased

to: --2 147 483 648 to 2 147 483 647.

References: /FB/, H2, Output of Auxiliary Functions to PLC for SW 5

Output of auxiliary

functions to PLC

Programming

Example

Restriction

Acknowledgment

SW 5

08.97 Synchronized Actions (FBSY)

2.4 Actions in synchronized actions

2-67

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

2.4.2 Setting (writing) and reading of real--time variables

The real--time variables marked with a + sign for access “Write from synchro-

nized actions” in the list in Section 2.3.8 can be written in actions contained in

synchronized actions.

SMachine and setting data, e.g. $$MN_..., $$MC_..., $$MA_...

or $$SN_..., $$SC_..., $$SA_...

Notice

Machine and setting data that must be written online in the main run must be

programmed with $$.._... .

Machine data written from synchronized actions must be coded for IMMEDIATE

effectiveness. The modified value will not otherwise be available for the remain-

der of the processing run. Details about the effectiveness of new machine data

values after modification can be found in:

References: /LIS/, Lists

Examples:

... DO $$MN_MD_FILE_STYLE = 3 ; set machine data

... DO $$SA_OSCILL_REVERSE_POS1 = 10 ; set setting data

... DO $A_OUT[1]=1 ; set digital output

... DO $A_OUTA[1]= 25 ; set analog value

The variables in synchronized actions can be read--accessed for assignments

to real--time variables, as input quantities for functions and for the purpose of

formulating conditions. These variables are indicated by the letter rfor access

“Read from synchronized actions” in the list in Section 2.3.8.

SMachine data, setting data, e.g. $$SN_..., $$SC_..., $$SA_...

Notice

Machine and setting data whose quantities could change during processing

must be programmed with $$.._... if they need to be addressed online in the

main run. In the case of variables whose quantities remain unchanged, it is

sufficienttotypea$signinfrontoftheidentifier.

Examples:

WHEN $AC_DTEB < 5 DO ... ; read distance from block end in

condition

DO $R5= $A_INA[2] ; read value of analog input 2 and

assign arithmetic variable

Writing

Effectiveness

Reading

08.97

2.4 Actions in synchronized actions

Synchronized Actions (FBSY)

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

2.4.3 Alteration of SW cam positions and times (setting data)

The “Software cams” function allows position--dependent cam signals to be out-

put to the PLC or NCK I/Os.

References: /FB/, N3, Software Cams, Position Switching Signals

Synchronized actions can be programmed to alter cam positions at which signal

outputs are set. Existing setting data are written to change these positions. The

following setting data can be modified via synchronized actions:

$$SN_SW_CAM_MINUS_POS_TAB_1[0..7] ; Positions of minus cams

$$SN_SW_CAM_MINUS_POS_TAB_2[0..7] ; Positions of minus cams

$$SN_SW_CAM_PLUS_POS_TAB_1[0..7] ; Positions of plus cams

$$SN_SW_CAM_PLUS_POS_TAB_2[0..7] ; Positions of plus cams

Alteration of a cam position:

ID=1 WHEN $AA_IW[x] > 0

DO $$SN_SW_CAM_MINUS_POS_TAB_1[0] = 50.0

Lead or delay times can be changed via the following setting data:

$$SN_SW_CAM_MINUS_TIME_TAB_1[0..7] ; Lead or delay time

on minus cams

$$SN_SW_CAM_MINUS_TIME_TAB_2[0..7] ; Lead or delay time

on minus cams

$$SN_SW_CAM_PLUS_TIME_TAB_1[0..7] ; Lead or delay time

on plus cams

$$SN_SW_CAM_PLUS_TIME_TAB_2[0..7] ; Lead or delay time

on plus cams

Alteration of a lead/delay time:

ID=1 WHEN $AA_IW[x] > 0

DO $$SN_SW_CAM_MINUS_TIME_TAB_1[0] = 1.0

Notice

Software cams must not be set as a function of velocity via synchronized

actions immediately in front of a cam. At least 2--3 interpolation cycles must be

available between the setting and the relevant cam position.

Introduction

Function

Example 1

Example 2

08.97 Synchronized Actions (FBSY)

2.4 Actions in synchronized actions

2-69

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

2.4.4 FCTDEF

The actions “Online tool offset FTOC” and “Polynomial evaluation SYNFCT” that

are described in the following subsections require an interrelationship

between an input quantity and an output quantity to be defined in the form of a

polynomial. FCTDEF defines polynomials of this type.

For special examples of polynomial application for online dressing of a grinding

wheel, please refer to Section 2.4.7. For examples of load--dependent feeds

and clearance control via polynomials, please refer to Section 2.4.5.

Polynomials defined by means of FCTDEF have the following characteristics:

SThey are generated through an FCTDEF call in the part program.

SThe parameters of defined polynomials are real--time variables.

SIndividual polynomial parameters can be overwritten by the same method

used to write real--time variables. Permissible generally in part program and

in action section of synchronized actions. See Section 2.4.2.

Notice

In SW 4 and later, it is possible to alter validity limits and coefficients of existing

polynomials from synchronized actions.

Example: WHEN ... DO $AC_FCT1[1]= 0.5

In SW 4 and later, the number of polynomials that can be simultaneously

defined can be specified in

MD 28252 : $MC_MM_NUM_FCTDEF_ELEMENTS.

Application

Characteristics of

polynomials

Number of

polynomials

08.97

2.4 Actions in synchronized actions

Synchronized Actions (FBSY)

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

FCTDEF(Polynomial no.,

Lower limit,

Upper limit,

a0,

a1,

a2,

a3)

The relationship between output quantity y and input quantity x is as follows:

y= a0+a

1x+ a2x2+a3x3

Parameters specified in this function are stored in the following system

variables:

$AC_FCTLL[n]: Lower limit, n: Polynomial number

$AC_FCTUL[n]: Upper limit, n: Polynomial number

$AC_FCT0[n]: a0 coefficient, n: Polynomial number

$AC_FCT1[n]: a1 coefficient, n: Polynomial number

$AC_FCT2[n]: a2 coefficient, n: Polynomial number

$AC_FCT3[n]: a3 coefficient, n: Polynomial number

On the basis of this relationship, it is also possible to write or modify polynomials

directly via the relevant system variables. The validity range of a polynomial is

defined via limits $AC_FCTLL[n] and $AC_FCTUL[n].

Stored polynomials can be used in conjunction with the following functions:

-- Online tool offset, FTOC()

-- Polynomial evaluation, SYNFCT().

References: /PG/, Programming Guide Fundamentals

/PGA/, Programming Guide Advanced

/FB/, W4 “Grinding”

Block--syn-

chronous

polynomial

definition

Call of

polynomial

evaluation

08.97 Synchronized Actions (FBSY)

2.4 Actions in synchronized actions

2-71

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

2.4.5 Polynomial evaluation SYNFCT

By applying an evaluation function in the action section of a synchronized

action, it is possible to read a variable, evaluate it with a polynomial and write

the result to another variable in synchronism with the machining process. This

functionality can be used, for example, to perform the following tasks:

-- Feed as a function of drive load

-- Position as a function of a sensor signal

-- Laser power as a function of path velocity

...

The function has the following parameters:

SYNFCT( Polynomial number,

real--time variable output,

real--time variable input)

For definition of a polynomial, please refer to Section 2.4.4.

The polynomial identified by the “Polynomial number” is evaluated with the

value of the “Real--time variable input”. The result is then limited by maximum

and minimum limits and assigned to the “Real--time variable output”.

Example:

FCTDEF(1,0,100,0,0.8,0,0) ; Polynomial 1 is already defined

...

Synchronized action:

ID=1 DO SYNFCT(1,$AA_VC[U1], $A_INA[2])

; the additive compensation value of axis U1 is calculated from analog input

value 2 on the basis of polynomial 1 in every interpolation cycle

For the “Real--time variable output”, it is possible to select variables that are

integrated

Sas an additive control factor (e.g. feedrate),

Sas a multiplicative control factor (e.g. override),

Sas a position offset or

Sdirectly

into the machining process.

In the case of additive control, the programmed value (F word with respect to

Adaptive Control) is compensated by an additive factor.

Factive =F

programmed +FAC

The following are examples of “Real--time variable output” settings:

$AC_VC Additive path feed override,

$AA_VC[axis] Additive axial feedrate override

Application

SYNFCT() evalua-

tion function

Operating

principle of

SYNFCT

Additive feedrate

control

08.97

2.4 Actions in synchronized actions

Synchronized Actions (FBSY)

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

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

control by the (positive) X axis current (e.g. infeed torque). The operating point

is set to 5 A. The feedrate may be altered by 100 mm/min. The magnitude of

the axial current deviation may be 1A.

I[A]

[mm/min]

+ 100

-- 100

456

500

a0Upper limit

Lower limit ($AA_LOAD[X])

Drive load in %

Fig. 2-4 Example of additive control

For definition of coefficients, see also Section 2.4.4:

y=f(x)=a

0+a

1x+a

2x2+a

3x3

a1=-- 100 mm

1min¡A

a1= --100 % control constant

a0= --(--100) ¡5 = 500

a2= 0 (not a square component)

a3= 0 (not a cubic component)

Upper limit = 100

Lower limit = --100

The polynomial to be defined (no. 1) is thus as follows:

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

The example given in Fig. 2-4 is fully defined with this function.

The Adaptive Control function is activated with the following synchronized

action:

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

; the additive compensation value for the feedrate of axis x is calculated from

the percentage drive load value via polynomial 1 in each interpolation cycle

In the case of multiplicative control, the F word is multiplied by a factor (over-

ride in the case of an Adaptive Control). Factive =F

programmed ¡factorAC

Variable $AC_OVR that acts as a multiplicative factor on the machining pro-

cess is used as the real-time variable output.

Example of

additive

control of path

feedrate

Multiplicative

control

08.97 Synchronized Actions (FBSY)

2.4 Actions in synchronized actions

2-73

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

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

cative control as a function of drive load. The operating point is set to 100 % at

30 % drive load. The axis(axes) must stop at 80 % drive load. An excessive

velocity corresponding to the programmed value +20 % is permissible.

Load [%]

Upper limit

Base value

Operating point

OVR [%]

100 %

30 %

⁄

120 %

80 %

(100)

(50)

160 %

Fig. 2-5 Example of multiplicative control

For definition of coefficients, see also Section 2.4.4:

y=f(x)=a

0+a

1x+a

2x2+a

3x3

100 %

(80 -- 30) %

a1=--

a0= 100 + (2 ¡30) = 160

a2= 0 (not a square component)

a3= 0 (not a cubic component)

Upper limit = 120

Lower limit = 0

=--2

The polynomial (no. 2) can therefore be defined as follows:

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

The example given in Fig. 2-5 is fully defined with this function.

The associated synchronized action can be programmed as follows:

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

; the path override is calculated from the percentage drive load for the

x axis via polynomial 2 in every interpolation cycle.

Example of

multiplicative

control

08.97

2.4 Actions in synchronized actions

Synchronized Actions (FBSY)

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

System variable $AA_OFF controls an axis-specific override that takes imme-

diate effect (basic coordinate system). The mode of override is defined in

MD 36750: $MA_AA_OFF_MODE.

0: Proportional evaluation

1: Integral evaluation

In SW 4 and later, it is possible to limit the value to be compensated absolutely

(real-time variable output) to the value stored in setting data

SD 43350 : $SA_AA_OFF_LIMIT.

Axis-specific system variable

$AA_OFF_LIMIT[axis] can be evaluated in another synchro-

nized action to establish whether the limitation has been reached.

Value --1: Limit of compensation value has been reached in a negative

direction.

Value 1: Limit of compensation value has been reached in a positive

direction.

Value 0: The compensation value is not within the limit range.

Application:

Function SYNFCT can be used in conjunction with system variable $AA_OFF to

implement a clearance control in laser machining operations. See below.

Task:

Clearance control as a function of a sensor signal in laser machining operation

The compensation value is limited in the negative Z direction so that the laser

head is reliably retracted from finished metal blanks. User reactions such as

“Stop axis” (by means of 0 override, see Section 2.4.11) or “Set alarm”, see

Subsection 2.4.20 can be activated when the limit value is reached.

Supplementary conditions:

Integral evaluation of the input quantity of sensor $A_INA[3].

The compensation value is applied in the basic coordinate system, i.e. prior to

kinematic transformation. A programmed frame (TOFRAME) has no effect,

i.e. the function cannot be used for 3D clearance control in the direction of

orientation. The “clearance control” function can be used to implement a

clearance control system with high dynamic response or a 3D clearance control

system. See

References: /FB/, TE1, “Clearance Control”

References: /PG/, “Programming Guide Fundamentals”

The interdependency between input quantity and output quantity is assured

through the relationship illustrated in the following diagram.

Please refer to Section 6.3.1 for an example illustrating dynamic adaptation of a

polynomial limit in conjunction with Adaptive Control (clearance control). Please

refer to Section 6.3.2 for an example of Adaptive Control applied to path

feedrate.

Position offset

with limitation

Example

Further examples

08.97 Synchronized Actions (FBSY)

2.4 Actions in synchronized actions

2-75

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

The clearance value is applied integrally via MD 36750: AA_OFF_MODE[V]=1.

It works in the basic coordinate system, i.e. before transformation. This means

that it can be used as a clearance control in the orientation direction (after frame

selection with TOFRAME).

Lower limit (LOWER)

Upper limit (UPPER)

Clearance

sensor

0.2...0.5 mm

e.g. sheet metal

ZOne-dimensional clearance control

0.5

0.2

0.35

+10V

--10V

Override

Fig. 2-6 Clearance control

%_N_AON_SPF

PROC AON ; Subprogram for clearance control ON

FCTDEF(1, 0.2, 0.5, 0.35, 1.5 EX-5) ; Polynomial definition: Compensation is

; applied in the range 0.2 to 0.5

ID=1 DO SYNFCT(1,$AA_OFF[Z], $A_INA[3]) ; Clearance control active

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

; Disable when limit range x is exceeded

RET

ENDPROC

%_N_AOFF_SPF

PROC AOFF ; Subprogram for clearance control OFF

CANCEL(1) ; Cancel synchronized action for clearance

control

CANCEL(2) ; Cancel limit range check

RET

ENDPROC

%_N_MAIN_MPF; main program ; MD 36750 has been set to 1 for integral

; evaluation before power ON

$SA_AA_OFF_LIMIT[Z]= 1 ; Limit value for compensation

AON ; Clearance control ON

...

G1 X100 F1000

AOFF ; Clearance control OFF

M30

Clearance control

08.97

2.4 Actions in synchronized actions

Synchronized Actions (FBSY)

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

2.4.6 Overlaid movements $AA_OFF settable (as of SW 6)

Whatever the current tool and processing level, an overlaid movement is possi-

ble for each axis of the channel via the system variable $AA_OFF. The offset is

retracted immediately, whether the axis is programmed or not. This allows a

clearance control to be implemented.

With axial MD 36750: AA_OFF_MODE, the type of application is defined as

follows:

Bit0 = 0: proportional application (absolute value)

Bit0 = 1: integral application (incremental value)

$AC_VACTB and $AC_VACTW as input variable for synchronized actions and

output are disabled via the options bit (”Feed rate dependent analog value con-

trol” laser power control)!

$AA_OFF, position offset as output variable for synchronized actions for clear-

ance control is disabled via the options bit!

Speed limitation with MD 32070: CORR_VELO.

After reset, the position offset can still be retained

Previously, during a reset the position offset of $AA_OFF was deselected. As, in

the case of static synchronized actions IDS = <number> DO $AA_OFF =

<value> this response leads to an immediate renewed overlaid motion with the

interpolation of a position offset, machine data MD 36750: AA_OFF_MODE can

be used to set the reset response.

Bit1 = 0: $AA_OFF is deselected in the case of a reset

Bit1 = 1: $AA_OFF is retained beyond the reset

In JOG mode , an overlaid movement can take place

Also in JOG mode, if there is a change of $AA_OFF, an interpolation of the

position offset can be set as an overlaid movement via machine data MD

36750: AA_OFF_MODE.

Bit2 = 0: no overlaid movement on the basis of $AA_OFF

Bit2 = 1: an overlaid movement on the basis of $AA_OFF

If a position offset is interpolated on the basis of $AA_OFF, a mode change can

only occur after JOG when interpolation of the position offset is ended.

Otherwise alarm 16907 is signaled.

The programmed conditions of the current motion--synchronized actions are

recorded in interpolation time, until the conditions are met or the end of the

subsequent block is reached with machine function.

As of software version 3.2, the introduction of an $$ main variable approved for

synchronized actions results in a comparison of the synchronization conditions

in interpolation time in the main run.

Overlaid

movements up to

SW 5.3

Response of

$AA_OFF

as of SW 6

Activation/

Deactivation

10.0010.00

08.97 Synchronized Actions (FBSY)

2.4 Actions in synchronized actions

2-77

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

SInterrupt routines/asynchronous subroutines

When an interrupt routine is activated, modal motion--synchronized actions

are retained and are also effective in the asynchronous subroutine. If the

subroutine return is not made with REPOS, the modal synchronized actions

changed in the asynchronous subroutine continue to work in the main pro-

gram.

SREPOS

In the remainder of the block, the synchronized actions are treated in the

same way as in an interruption block. Modifications to modal synchronized

actions in the asynchronous subprogram are not effective in the interrupted

program. Polynomial coefficients programmed with FCTDEF are not affected

by ASUB and REPOS.

The coefficients from the call program are applied in the asynchronous sub-

program. The coefficients from the asynchronous subprogram continue to

be applied in the call program.

SEnd of program

Polynomial coefficients programmed with FCTDEF remain active after the

end of program.

SBlock search

During block search with calculation, these polynomial coefficients are

gathered up, i.e. written to the setting data.

SThe part program command CORROF with DROF is also gathered up

during a block search and output in an action block. In the last block

handled by the search run with CORROF or DROF, all the deselected DRF

offsets are gathered up for reasons of compatibility.

A CORROF with AA_OFF is not gathered up during a block search and is

lost. If a user wishes to continue to use this search run, this is possible by

means of block search via ”SERUPRO” program testing. More details of

these block searches are given in:

References: /FB1/, K1 ”Mode Group, Channel, Program Operation Mode”,

Program Testing

SAxis--specific deselection of DRF offsets with CORROF

With CORROF, DRF offsets for the individual axes are only possible from

the part program.

SPosition offset deselection during active synchronized actions

If, when deselecting the position offset by means of the part program com-

mand COROFF(axis,”AA_OFF”) a synchronized action is active, alarm

21660 is signaled. At the same time, $AA_OFF is deselected and not set

again. If the synchronized action is active later in the block after CORROF,

$AA_OFF stays set and a position offset is interpolated.

References: /PG/, “Programming Guide Fundamentals”

Notice

The coordinate system (BCS or WCS) in which a real--time variable is defined

determines whether frames will or will not be included.

Distances are always calculated in the set basic system (metric or inch).

A change with G70 or G71 has no effect.

DRF offsets, zero offsets external, etc., are only taken into consideration in the

case of real--time variables that are defined in the machine coordinate system.

Supplementary

conditions

CORROF SW 6 and

later

10.00

08.97

2.4 Actions in synchronized actions

Synchronized Actions (FBSY)

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

2.4.7 Online tool offset FTOC

Machining of the workpiece and dressing of the grinding wheel for grinding

applications can be implemented either in the same or in different channels

(machining and dressing channel).

Dressing roller

Length 1

Grinding wheel

Dressing amount

Workpiece

Fig. 2-7 Dressing during machining using a dressing roller

References: /FB/, W4 “Grinding”

Synchronized action FTOC is available from SW 3.2 and later.

An online offset allows an overlaid motion to be implemented for a geometry

axis according to a polynomial programmed with FCTDEF (see Section 2.4.4)

as a function of a reference value (e.g. actual value of an axis).

The online offset is specified as follows:

FTOC( Polynomial no.,

Read_real_main_variable, ;reference value

length 1_2_3,

channel number,

spindle number)

Polynomial no.: Number of function programmed beforehand

with FCTDEF.

Read_real_main_variable: All main variables listed in Section 2.3.8 of the

REAL type may be used.

Length 1_2_3: Wear parameter to which offset value

is added.

Online tool

offset

Supplementary

conditions

Programming of

FTOC

Parameters

08.97 Synchronized Actions (FBSY)

2.4 Actions in synchronized actions

2-79

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

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

Simultaneous dressing from a parallel channel is

thus possible. If no channel number is specified,

the offset is applied in the active channel. Online

offset with FTOCON must be activated in the offset

target channel.

Spindle number: The spindle number is programmed in cases where

an inactive grinding wheel needs to be dressed.

Precondition is that “Constant grinding wheel

peripheral speed” or “Tool monitoring” is active. If

no spindle number is programmed, then the active

tool is compensated.

Compensate length of an active grinding wheel

%_N_DRESS_MPF

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

ID=1 DO FTOC(1,$AA_IW[V],3,1) ; select online tool offset:

; derived from the motion of the V axis,

; length 3 of the active grinding wheel

; is compensated in channel 1.

WAITM (1,1,2) ; synchronization with machining channel

G1 V--0.05 F0.01, G91

G1 V --....

...

CANCEL(1) ; deselect online offset

...

Notice

No frequency vocabulary word nor any condition is programmed in the

synchronized action. The FTOC action is therefore active in every interpolation

cycle with no dependencies other than $AA_IW[V].

Example

08.97

2.4 Actions in synchronized actions

Synchronized Actions (FBSY)

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

2.4.8 RDISABLE

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

stopped if the relevant condition is fulfilled. Processing of programmed motion

synchronized actions still continues. The read-in disable is canceled again as

soon as the condition for the RDISABLE is no longer fulfilled.

An exact stop is initiated at the end of the block containing RDISABLE

irrespective of whether or not the read-in disable is still active.

Application: This method can be used, for example, to start the program in the

interpolation cycle as a function of external inputs.

Programmed read-in disable

WHENEVER $A_INA[2]<7000 DO RDISABLE

...

N10 G01 X10 ; RDISABLE takes effect at the end of N10 if the condition

is fulfilled while N10 is being processed.

N20 Y20

Program processing is halted if the voltage at input 2 drops to below 7 V

(assuming that the value 1000 corresponds to 1 V).

Example application of this method: Read-in disable until obstruction is

removed from path.

2.4.9 STOPREOF

A motion-synchronized action containing an STOPREOF command cancels the

existing preprocessing stop if the condition is fulfilled.

STOPREOF must always be programmed with vocabulary word ‘WHEN’ and as

a non-modal command.

Application: Fast program branch at end of block.

Program branches

WHEN $AC_DTEB<5 DO STOPREOF

G01 X100

IF $A_INA[7]>5000 GOTOF Label 1

If the distance to block end is less than 5 mm, end preprocessing stop. If the

voltage at input drops below 5V, jump forwards to label 1 (assuming that the

value 1000 corresponds to 1 V).

2.4.10 DELDTG

Synchronized actions can be used to activate deletion of distance-to-go for the

path and for specified axes as a function of a condition.

SHigh-speed prepared deletion of distance-to-go

Programmed

read-in disable

RDISABLE

Example of RDISABLE

End of prepro-

cessing stop

with STOPREOF

Example of

STOPREOF

Deletion of

distance-to-go

04.00

08.97 Synchronized Actions (FBSY)

2.4 Actions in synchronized actions

2-81

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

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

tions, i.e.

-- if the time between deletion of distance-to-go and start of next block

needs to be very short or

-- if there is a high probability that deletion of distance-to-go will be

activated.

Deletion of distance-to-go is programmed with synchronized action DELDTG.

After the distance-to-go has been deleted, the remaining path distance is stored

in $AC_DELT. Continuous-path mode is thus interrupted at the end of the block

with high-speed deletion of distance-to-go.

Restrictions:

Deletion of distance-to-go for the path may only be programmed as a non-mo-

dal synchronized action.

If tool radius compensation is active, fast deletion of distance to go cannot be

used.

Commands: MOVE=1:works for indexing axes with and without Hirth serration

MOV=0: Same function for both: approaches the next position. Com-

mand:DELDTG. In the case of indexing axes without Hirth tooth system: Axis

stops immediately. In the case of indexing axes with Hirth tooth system: Axis tra-

verses to next position.

... DO DELDTG

N100 G01 X100 Y100 F1000

N110 G01 X...

IF $AC_DELT > 50

...

High-speed, prepared deletion of distance-to-go for axes must be programmed

as a non-modal action.

Application:

A positioning motion programmed in the part program is halted by means of

axial deletion of distance-to-go. Several axes can be stopped simultaneously

with one command.

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

WHEN $A_INA[2]>8000 DO DELDTG(X1)

; if the voltage at input 2 drops

; below 8 V, deletion of distance-to-go

; for axis X1

POS[X1] = 100 ; next position

R10 = $AA_DELT[X 1] ; transfer axial distance-to-go to R10

After the distance-to-go has been deleted, the axial distance-to-go is stored in

variable $AA_DELT[axis].

(Assumption: the value 1000 corresponds to 1 V).

High-speed,

prepared DDTG for

path

DELDTG

Example

DELDTG

High-speed,

prepared DDTG for

axes

Examples of

DELDTG(axis)

04.00

08.97

Synchronized Actions (FBSY)

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

2.4.11 Disabling a programmed axis motion

The axis is programmed within a machining routine and, in particular circum-

stances, must be not started at the beginning of a block.

Asynchronizedactionisusedtomaintaina0overrideuntilitistimefortheaxis

to be started.

Example:

WHENEVER $A_IN[1]==0 DO $AA_OVR[W]=0

G01 X10 Y25 F750 POS[W]=1500 FA[W]=1000

; the positioning axis is started

; asynchronously to path machining;

; the enable signal is set via a digital input

Notice

Axis motion disable can also be programmed for PLC axes

(e.g. magazine axis).

2.4.12 Starting command axes

Axes can be positioned, started and stopped completely asynchronously to the

part program from synchronized actions. This type of programming is recom-

mended for cyclical operations or for operations that are predominantly event-

controlled. Axes started from synchronized actions are called command axes.

Autonomous individual axis operations (as of SW 6.3)

A command axis interpolated from the main run (started by static synchronized

actions) reacts independently of the NC program in the event of NC Stop, alarm

handling, end of program, program control and reset, when control of the com-

mand axis has been taken over from the PLC.

Control via the command axis occurs via the axial VDI interface (PLCNCK)

with the ”PLC controls axis” interface (DB31, ... DBX28.7) == 1

For more information about the precise sequence of operations of the various

steps for transferring control of the command axis to the PLC, please refer to:

References: /FB/, P2, ”Positioning Axes”

An axis cannot be moved from the part program and from synchronized actions

simultaneously, but may be moved from these two sources successively.

Delays may occur if an axis has been moved first from a synchronized action

and then programmed again in the part program.

Task

Solution

Introduction

Control from the

PLC

Supplementary

condition

2.4 Action

nch

oni

ction

12.9806.01

08.97 Synchronized Actions (FBSY)

2-83

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

Notice

MD 30450: IS_CONCURRENT_POS_AX indicates whether the axis is

primarily intended as a command axis or for programming by the part program:

0: not a competing axis

1: competing axis (command axis)

...

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

...

An axis motion can be initiated in the form of a technology cycle

(see Section 2.5)

Main program:

...

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

...

Axis program:

AXIS_X: M100

POS[X]=100

M17

Positioning axis motions are programmed in synchronized actions as they are

from the part program:

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

The programmed position is evaluated in inches or in the metric system depen-

ding on whether setting G70 or G71 is active in the current part program block.

G70/G71 and G700/G710 can also be programmed directly in synchronized

actions with SW 5.

This allows the inch/metric evaluation of a command axis movement to be

defined independent of programming in the part program.

ID = 1 WHENEVER $A_OUT[1] ==1 DO G710 POS[X]=10

ID = 2 EVERY G710 $AA_IM[Z] >100 DO G700 POS[Z2]=10

Notice

Only G70, G71, G700, G710 can be programmed in synchronized actions!

See Section 2.1.

G functions which are programmed in the synchronized action block are only

effective for the synchronized action or within the technology cycle. They have

no effect on subsequent blocks in the part program.

References: /PG/ Chapter 3 “Positional Parameters”

Example 1

Example 2

Programming

2.4 Action

nch

oni

ction

12.98

08.97

Synchronized Actions (FBSY)

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

The end position can be programmed either absolutely or incrementally. The

position is approached absolutely or incrementally depending on whether G90

or G91 is active in the main program block currently being processed.

It is possible to explicitly program whether the value must be interpreted as an

absolute or incremental setting:

IC: Incremental

AC: Absolute

DC: Direct, i.e. position rotary axis via shortest route

ACN: Position modulo rotary axis absolutely in negative direction of motion

ACP: Position modulo rotary axis absolutely in positive direction of motion

CAC: Traverse axis to coded position absolutely

CIC: Traverse axis to coded position incrementally

CDC: Traverse rotary axis to coded position via shortest route

CACN: Traverse modulo rotary axis to coded position in negative direction

CACP: Traverse modulo rotary axis to coded position in positive direction

Coded positions are settings stored in machine data.

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

; if event occurs, advance U axis by 10

The traversing path is generated in real time from a real-time variable:

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

The following text explains the response of synchronized actions and axial

frames:

When positioning motions are executed from synchronized actions, the axial

offsets, scaling and mirroring functions of the programmable and settable

frames (G54 etc.) as well as tool length compensations are all operative.

Whichever frame is operative in the current block takes effect. If a rotation is

active in the current block, then an alarm is output to reject a positioning motion

initiated from a positioning motion.

TRANS X20

IDS= 1 EVERY $A_IN==1 DO POS[X]=40

G1 Y100 ; if the input is set, X is positioned at 60

...

TRANS X-10

G1 Y10 ; if the input is set, X is positioned at 30

The effect of frames and tool lengths can be suppressed by means of

MD 32074: FRAME_OR_CORRPOS_NOTALLOWED

Absolute/

incremental end

position

Example 1

Fixed value

Example 2

Current value

Axial frames

Effect

Example:

Suppression

2.4 Action

nch

oni

ction

08.97 Synchronized Actions (FBSY)

2-85

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

Axial frames that travel incrementally to indexing positions have no effect on a

command axis. Therefore, bit 9 = 1 is set and the command axis is positioned

using JOG in

MD 32074: FRAME_OR_CORRPOS_NOTALLOWED[AX4].

Example:

RANS A=0,001

POS[A]=CAC(2) ; Axis travels to position 180.001 degrees

; The axial frame has no effect on the command axis

; MD 32074: FRAME_OR_CORRPOS_NOTALLOWED[AX4] = ’H0020’

WHEN TRUE DO POS[A]=CIC(--1) ; Axis travels to position 180.000 degrees.

Notice

If a command axis travels to indexing positions incrementally, axial frames

usually have no effect on this command axis.

2.4.13 Axial feed from synchronized actions

An axial feedrate can be programmed in addition to the end position:

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

The axial feedrate for command axes has a modal action. It is programmed

under address FA. The default is set via axial machine data

MD 32060: POS_AX_VELO

The feedrate value is either preset to a fixed quantity or generated in real time

from real-time variables:

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

The feedrate value is programmed either as a linear or a rotational feed:

The feed type is determined by setting data:

SD 43300: $SA_ASSIGN_FEED_PER_REV_SOURCE.

This data can be altered by an operator input, from the PLC or from the part

program. In synchronism with the part program context, the feed type can be

switched over by means of commands FPRAON, FPRAOF. See also:

References: /FB/, V1 “Feeds”

Notice

The axial feedrate from motion synchronous actions is not output as an

auxiliary function to the PLC. Parallel axial technology cycles would otherwise

block one another.

Suppressing

axial frames

Feedrates

Example of

calculated feedrate

2.4 Action

nch

oni

ction

09.01

08.97

Synchronized Actions (FBSY)

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

2.4.14 Starting/stopping axes from synchronized actions

Command axes can be stopped from synchronized actions even when no end

position has been specified. In this case, the axis is traversed in the

programmed direction until another motion is set by means of a new motion or

positioning command or until the axis is halted by a stop command. This

method can be used, for example, to program an endlessly turning rotary axis.

Starting and stopping are programmed by the same method as positioning

motions. MOV[axis]=value

Data type of value is INT.

The value sign determines the direction of motion:

> 0: Axis motion in positive direction

<0: Axis motion in negative direction

==0: Stop axis motion

If a moving indexing axis is halted by command MOV[axis]=0, then the next

indexing position is approached in the same way as in JOG mode.

The feedrate for the motion can be programmed with FA[axis]=value (see

above). If no axial feedrate is programmed, the feed value is derived from an

axis motion that may already be activated from synchronized actions or from the

axis velocity set via MD 32060: POS_AX_VELO.

... DO MOV[u]=0 ; stop axis motion as soon as condition has been fulfilled

2.4.15 Spindle motions from synchronized actions

Analogously to positioning axes, it is also possible to start, position and stop

spindles from synchronized actions. Spindle movements can be started at

defined points in time by blocking a spindle motion programmed in the part pro-

gram or by controlling the axis motion from synchronized actions.

The use of these functions is recommended for cyclical operations or for opera-

tions that are predominantly event-controlled.

Application:

A spindle is programmed within a machining routine, but must not be started at

the beginning of the block in particular circumstances. A synchronized action is

usedtomaintaina0overrideuntilthespindleistostart.

Example:

ID=1 WHENEVER $A_IN[1]==0 DO $AA_OVR[S1]=0

G01 X100 F1000 M3 S1=1000

; the spindle is started asynchronously to path machining;

; the start command is set via a digital input

Starting/stopping

Examples

General

Starting/stopping

Stop until

event occurs

2.4 Action

nch

oni

ction

08.97 Synchronized Actions (FBSY)

2-87

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

These functions are programmed in the action section of the synchronized

action by exactly the same method as used in the part program.

Commands: S= ..., M3, M4, M5, SPOS= ...

Example:

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

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

When no numeric extension is specified, the commands apply to the master

spindle. By specifying a numeric extension, it is possible to activate each

spindle individually:

ID = 1 EVERY $A_IN[1]==1 DO M1=3 S1=1000 SPOS[2]=90

With regard to programming the positioning method, the same rules apply as for

positioning axes (see above).

If concurrent commands are input via simultaneously active synchronized

actions for an axis/spindle, then the commands are applied in the chrono-

logical sequence in which they are programmed.

Example:

ID=1 EVERY $A_IN[1]==1 DO M3 S300 ; rotational direction and speed

ID = 2 EVERY $A_IN[2]==1 DO M4 S500; rotational direction and speed

ID=3 EVERY $A_IN[3]==1 DO S1000 ; new speed setting

; for active spindle rotation

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

; position spindle

The feedrate for “Position spindles” can be programmed from a synchronized

action with command:

FA[Sn]= ...

Notice

Only a modal data item is available for the feed rate of synchronized actions for

spindle mode and axis mode. FA[S] and FA[C] are supplied in the same way.

The restrictions imposed by SW limit switches and working area limitations also

apply to axis/spindle movements activated from synchronized actions.

Working area limitations programmed by G25/G26 are taken into account as a

function of setting data:

SD 43400: $SA_WORKAREA_PLUS_ENABLE.

Activation and deactivation of working area limitations by G functions WALIMON

/WALIMOFin the part program does not affect command axes.

Auxiliary

functions,

speed, position

Feedrate

SW limit switches,

working area

limitations

Influence of

limitations on

movements from

synchronized

actions

2.4 Action

nch

oni

ction

09.01

08.97

Synchronized Actions (FBSY)

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

If a positioning command (POS, MOV) is started from synchronized actions for

an axis that is already operating as a path or PLC axis, then processing is

aborted with an alarm.

In typical cases, an axis is either moved from the part program (PP) in motion

blocks or as a positioning axis from a synchronized action (SA). However, if the

same axis must be traversed alternately from the part program as a path axis or

positioning axis and from synchronized actions, then a coordinated transfer

takes place between both axis motions.

; traverse X axis alternately from part program and from synchronized

actions

N10 G01 X100 Y200 F1000 ; X axis programmed in part program

...

N20 ID=1 WHEN $A_IN[1]==1 DO POS[X]=100 FA[X]=200

; start positioning from synchronized action

; if digital input is applied

...

CANCEL(1) ; select synchronized action

...

N100 G01 X100 Y200 F1000 ; X: path axis

;delay prior to motion if digital

; input was at 1 so that X was

; positioned from synchronized action

Transitions can be made between command axes and spindles.

Since several synchronized actions can be active simultaneously, the situation

may arise where an axis motion is started when the axis is already active.

In this case, the most recently activated motion is applicable. POS and

MOV motions can be activated alternately.

When a reversal in the direction of motion is forced in this manner, the axis is

first decelerated and then positioned in the opposite direction.

Examples:

ID=1 EVERY $AC_TIMER[1] >= 5 DO POS[V]=100 FA[V]=560

ID=2 EVERY $AC_TIMER[1] >= 7 DO POS[V]=$AA_IM[V] + 2 FA[V]=790

; due to the programming of $AC_TIMER[1], the synchronized action with ID=2

is the most recently activated action. Its commands are applied in place of the

commands in ID=1 ... .

End position and feedrate for a command axis can therefore be adjusted while

the axis is in motion.

ID=1 EVERY $A_IN[1]==1 DO POS[U]=$AA_IM[U]+$AA_IM[V]*.5

FA[U]=$AA_VACTM[U]+10

Axis coordination

Axis movement by

PP and SA

alternately

Example

On-the-fly

transitions

Initial situation

Response

Example: Acti-

vation by signal

2.4 Action

nch

oni

ction

08.97 Synchronized Actions (FBSY)

2-89

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

Transitions marked with x are legal:

in #to !POS MOV=1

MOV= -- 1 MOV=0 SPOS M3

M4 M5 LEADON TRAIL-

Axis stationary

Axis mode x x x x x x x x

Position-controlled

spindle x x x x x x

Speed-controlled

spindle xxx

Axis in motion

Axis mode x x x x x

Position-controlled

spindle

Speed-controlled

spindle xxx

Transitions not marked with an x are rejected with an alarm.

Example: Legal transition

N10 WHEN $AA_IM[Y] >= 5 DO MOV[Y]=--1 ; start axis in negative

; direction at position

;+5

N20 WHEN TRUE DO POS[Y]=20 FA[Y]=500 ; start Y axis when

; block is reached

Positioning axis motions and movements resulting from axis couplings

programmed via synchronized actions can be activated alternately.

-- See Section 2.4.17 and

References: /M3/, Coupled Axes and Master Value Couplings

Legal transitions in master value couplings are marked by LEADON in the

above table. Legal transitions in coupled axis motions are marked by TRAILON.

Legal transitions

On-the-fly

transitions for axis

couplings

2.4 Action

nch

oni

ction

08.97

Synchronized Actions (FBSY)

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

2.4.16 Setting actual values from synchronized actions

The PRESETON function can be used to redefine the control zero in the

machine coordinate system.

When Preset is applied, the axis is not moved. A new position value is merely

entered for the current axis position.

The value for one axis can be programmed in each synchronized action.

E.g.: WHEN $AA_IM[a] >= 89.5 DO PRESETON(a, 10.5)

with PRESETON(axis, value)

Axis: Axis whose control zero must be altered

Value: Amount by which control zero must be altered.

PRESETON from synchronized actions can be programmed for

Smodulo rotary axes that have been started from the part program and

Sall command axes that have been started from a synchronized action.

PRESETON cannot be programmed for axes which are involved in a

transformation.

Please refer to Section 6.7.3 for an example of how to use PRESETON in

conjunction with an “On-the-fly parting” application.

Notice

The “PRESETON” preset actual value memory must not be programmed using

“WHEN” or “EVERY” vocabulary word.

Application

Function

Programming

Permissible

applications

Restriction

Example

2.4 Action

nch

oni

ction

08.97 Synchronized Actions (FBSY)

2-91

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

2.4.17 Coupled axes and activation/deactivation couplings

The following functions are described in detail in:

References: /FB/, M3, Coupled Axes

The following functions are described in detail:

SCoupled axes

Slave axis(axes) is(are) linked to a master axis via a coupling factor.

SCurve tables

Curve tables represent a (complex) relationship between the master and

slave values. The following may be applied as master values:

-- Setpoints generated by the control

-- Actual values measured by encoders

-- Externally specified quantities

Situations where a slave axis is linked to a master axis by means of a

curve table are particularly relevant with respect to synchronized actions.

SMaster value coupling

The following master value couplings may be implemented for part

programs.

-- axis master value coupling and

-- path master value coupling,

Only the axis master value couplings are available for utilization in syn-

chronized actions.

From a synchronized action it is possible to define and simultaneously activate

the assignment between a slave axis and a master axis using a coupling factor:

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

where:

FA Slave axis

LA Master axis

Kf Coupling factor

The commands for separating the coupled axis grouping are as follows:

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

where:

FA Slave axis

LA Master axis

LA2 Master axis2, optional

The relationship between a master quantity and slave quantity that is stored in

curve tables can be utilized in synchronized actions in the same way as other

REAL functions (e.g. SIN, COS):

Introduction

Coupled axes

Curve tables

2.4 Action

nch

oni

ction

08.97

Synchronized Actions (FBSY)

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

The slave value calculated from a master value on the basis of curve table n

must be assigned to an arithmetic variable.

Example:

... DO $R17=CTAB(LW, n, deg)

where:

LW Master value

n Number of curve table

grad Pitch parameters, result

(2 further option. parameters for scaling:

-- S lav e ax is

-- Master axis)

Example:

DEF REAL GRADIENT

...

WHEN $A_IN[1] == 1 DO $R17 = CTAB(75.0, 2, GRADIENT)

From a synchronized action it is possible to calculate a concrete master value

for a slave value on the basis of a curve table.

Example:

... DO $R18=CTABINV(FW, aprLW, deg)

where:

FW Master value

aprLW Approximated master value which will allow

an unambiguous master value to be determined when the

curve table inverse function is ambiguous

n Number of curve table

grad Pitch parameters, result

(2 further option. parameters for scaling:

-- S lav e ax is

-- Master axis)

Functions CTAB and CTABINV can be programmed in both conditions and in

the action section of synchronized actions.

The coupling between following axis FA and leading axis LA based on the

stored curve table with number NR is called in the action section of synchro-

nized actions as follows:

... DO LEADON(FA; LA, NR)

where:

FA Slave axis

LA Master axis

NR Number of curve table

If the axis master value coupling must be canceled again on the fulfillment of

another condition, the action must be programmed as follows:

... DO LEADOF(FA, LA)

Calculate

slave value

Calculate

master value

Axis master value

coupling

Deactivate axis

coupling from syn-

chronized action

2.4 Action

nch

oni

ction

08.97 Synchronized Actions (FBSY)

2-93

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

The system variables of the master value coupling as specified in the list of

system variables can be read/written from the part program and synchronized

actions.

See 2.3.8.

System variable $AA_SYNC[ax] can be read from the part program and syn-

chronized action and indicates whether and in what manner following axis FA is

synchronized:

0: Not synchronized

1: Coarse synchronism (acc. to MD 37200:

COUPLE_POS_TOL_COARSE)

2: Fine synchronism (acc. to MD 37210:

COUPLE_POS_TOL_FINE)

Couplings directly activated in the part program are activated at block limits.

With the additional option of activating couplings from synchronized actions, it is

possible to implement event-controlled, differential activation, e.g.

-- from block beginning for particular axis path,

-- up to block end for particular distance-to-go,

-- appearance of digital input signals or

-- combinations of all these.

Section 2.1, Conditions

For further information about programming of coupling functions and curve

tables, please refer to

References: /PGA/, Programming Guide Advanced

Notice

Axes which might be in any given motional state at the instant they are coupled

via synchronized actions are synchronized by the control system. For further

details, please refer to Description of Functions M3.

Please refer to Section 6.7.3 for an example illustrating an axis coupling imple-

mented by means of a curve table.

System variables

Detection of

synchronism

Definition of

application

Examples

2.4 Action

nch

oni

ction

08.97

Synchronized Actions (FBSY)

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

2.4.18 Measurements from synchronized actions

There are the following measuring functions provided for part programs:

MEAS, MEAW, MEASA, MEAWA, MEAC

References: /PGA/, Programming Guide Advanced

/FB/, M5, “Measurements”

Only the following may be used in synchronized actions:

SMEAWA Axial measurement without deletion of distance-to-go

SMEAC Axial, continuous measurement

While measuring functions are limited to one block at a time in part program

motion blocks, they can be activated and deactivated any number of times from

synchronized actions:

Notice

With static synchronized actions, measurements are also available in

JOG mode.

MEAWA[axis]=(mode, trigger_event_1, trigger_event_2,

trigger_event_3, trigger_event_4)

; activate axial measurement without deletion of

distance-to-go

MEAC[axis]=(mode, meas._memory, trigger_event_1, trigger_event_2,

trigger_event_3, trigger_event_4)

; activate axial, continuous measurement

Axis: Axis for which measurement is taken

Table 2-3 Mode meanings:

Tens decade Units decade Meaning

0Abort measuring job

1Up to 4 trigger events can be activated

simultaneously

2Up to 4 trigger events can be activated

successively

3Up to 4 trigger events can be activated

successively, but with no monitoring of trigger

event 1 on START

0Active measuring system

11st measuring system

22nd measuring system

3Both measuring systems

Introduction

Programming

2.4 Action

nch

oni

ction

12.97

08.97 Synchronized Actions (FBSY)

2-95

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

Trigger_event_1 to trigger_event_4:

1: Rising edge probe 1

--1: Falling edge probe 1 optional

2: Rising edge probe 2 optional

--2: Falling edge probe 2 optional

Measurement memory: Number of a FIFO variable

Measured values are supplied exclusively for the machine coordinate system.

... DO MEAWA[axis]=( , , , , ) ;axial measurement without deletion of

distance-to-go

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

see Section 2.4.10 and example below.

GEO axes and axes involved in transformations can be programmed

individually.

Programming:

The programming method is identical to that used in the part program

Notice

System variable $AC_MEA does not supply any useful information about the

validity of a measurement called from a synchronized action.

Only one measuring job at a time may be active for an axis.

System variables:

$AA_MEAACT[axis] supplies the instantaneous measuring status of an axis.

1 Measurement active

0 Measurement not active

$A_PROBE[probe] supplies the instantaneous status of the

measuring probe.

1 Probe switched, high signal

0 Probe not switched, low signal

Measured values in machine coordinate system with 2 probes (encoders):

$AA_MM1[axis] Trigger event 1, encoder 1

$AA_MM2[axis] Trigger event 1, encoder 2

$AA_MM3[axis] Trigger event 2, encoder 1

$AA_MM4[axis] Trigger event 2, encoder 2

... DO MEAC[axis]=(mode, No_FIFO, trigger events)

Variables $AC_FIFO (see 2.3.6) are provided for the purpose of storing

measured values from cyclic measuring processes. See above for mode and

trigger events.

MEAWA

MEAC

2.4 Action

nch

oni

ction

08.97

Synchronized Actions (FBSY)

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

Examples:

Two FIFOs have been set up in machine data for the following examples.

MD 28050: MM_NUM_R_PARAM = 300

MD 28258: MM_NUM_AC_TIMER = 1

MD 28260: NUM_AC_FIFO = 2 ; 2 FIFOs

MD 28262: START_AC_FIFO = 100 ; first FIFO starts at R100

MD 28264: LEN_AC_FIFO = 22 ; each FIFO can store 22 values

MD 28266: MODE_AC_FIFO = 0 ; no summation

Example 1.

All rising edges of probe 1 must be recorded on a path between X0 and X100. It

is assumed that no more than 22 edges will occur.

DEF INT NUMBER

DEF INT INDEX_R

N0 G0 X0

N1 MEAC[X]=( 1, 1, 1) POS[X]=100 ; mode = 1, simultaneous

; no. FIFO = 1

; trigger event 1= rising edge, probe 1

N2 STOPRE ; stop preprocessing

N3 MEAC[X]=( 0) ; abort continuous measurement

N4 NUMBER= $AC_FIFO1[4] ; number of measured values transferred to FIFO variables

N5 NUMBER= NUMBER -- 1

N6 FOR INDEX_R= 0 TO NUMBER

N7 R[INDEX_R]= $AC_FIFO1[0] ; enter FIFO contents in R0 -- ...

N8 ENDFOR ; FIFO variable is empty after read-out

Example 2.

All rising and falling edges of probe 1 on a path between X0 and X100 must be

recorded. The number of trigger events which may occur is unknown. For this

reason, the measured values must be fetched and stored in ascending order in

R1 as a parallel operation in one synchronized action. The number of stored

measured values is entered in R0.

N0 G0 X0 ; rapid traverse to starting point

N1 $AC_MARKER[1]=1 ; marker 1 as index for arithmetic variable R[..]

N2 ID=1 WHENEVER $AC_FIFO1[4]>=1

DO $R[$AC_MARKER[1]]= $AC_FIFO1[0] $AC_MARKER[1]=$AC_MARKER[1]+1

; synchronized action as check:

; if 1 or more measured values are stored in FIFO variable,

; read oldest value out of FIFO and stored in current R[ ..],

; increment index for R by 1

Machine data

Program 1:

Program 2:

2.4 Action

nch

oni

ction

08.97 Synchronized Actions (FBSY)

2-97

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

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

; towards X = 100

; mode = 1, simultaneous

; no_FIFO = 1

; trigger event 1= 1, rising edge probe 1

; trigger event 2= --1, falling edge probe 1

N4 MEAC[X]=(0) ; deselect measurement

N5 STOPRE ; stop preprocessing

N6 R0= $AC_MARKER[1] ; number of recorded values in R0

Example 3:

Continuous measurement with explicit deletion of distance-to-go after

10 measurements

N1 WHEN $AC_FIFO1[4]>=10

DO MEAC[X]=(0) DELDTG(X) ; end condition as synchronized action:

; if 10 or more measured values are stored in FIFO

; variable,

; deselect

; continuous measurement and delete

; distance-to-go

N2 MEAC[X]=( 1,1,1,--1) G01 X100 F500 ; continuous measurement active from part program.

; mode = 1, simultaneous

; No_FIFO = 1, FIFO variable 1

; trigger event 1= 1, rising edge probe 1

; trigger event 2= --1, falling edge probe 1

N3 MEAC[X]=( 0) ; deselect continuous measurement

N4 R0= $AC_FIFO1[4] ; actual number of measured values

Only one measuring job can be active for an axis at any given time.

If a measuring job for the same axis is started, the trigger events are re-

activated and the measurement results reset.

The system does not react in any special way if “Deactivate measuring job”

(mode 0) is programmed when no measuring job has been activated before-

hand.

Measuring jobs started from the part program cannot be influenced from syn-

chronized actions.

An alarm is generated if a measuring job is started for an axis from a syn-

chronized action when a measuring job from the part program is already active

for the same axis.

If a measuring job is already in progress from a synchronized action, a

measuring job from the part program cannot be started at the same time.

When a measuring job has been executed from a synchronized action, the

control system responds in the following way:

Status Response

Operating mode

switchover A measuring job activated by means of a modal synchronized

action is not affected by a change in operating mode. It remains

active beyond block limits.

RESET Measuring job is aborted

Program 3:

Priority with more

than one

measurement

Measuring jobs

and

status changes

2.4 Action

nch

oni

ction

08.97

Synchronized Actions (FBSY)

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

Status Response

Block search Measuring jobs are collected, but not activated until the

programmed condition is fulfilled.

REPOS Activated measuring jobs are not affected.

End of program Measuring jobs started from static synchronized actions remain

active.

2.4.19 Setting and deletion of wait markers for channel synchronization

Coordination of operational sequences in channels is described in

References: /FB/, K1, Mode Group, Channel, Program Operation Mode

The following of the functions described in this document, may be legally used

in synchronized actions:

Command SETM (marker number) can be programmed in the part program and

the action section of a synchronized action. It sets the marker (marker number)

for the channel in which the command is applied (own channel).

Command CLEARM (marker number) can be programmed in the part program

and the action section of a synchronized action. It deletes the marker (marker

number) for the channel in which the command is applied (own channel).

Introduction

Set wait marker

Delete wait

marker

2.4 Action

nch

oni

ction

08.97 Synchronized Actions (FBSY)

2-99

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

2.4.20 Setting alarm/error reactions

“Set alarm” is one way of reacting to error states.

Application:

The SETAL command can be programmed to set cycle alarms from syn-

chronized actions.

The following reactions can also be programmed as a response to errors:

SStop axis See Section 2.4.11

SSet output See Section 2.4.2

SOther actions described in Section 2.4

ID=67 WHENEVER $AA_IM[X1] -- $AA_IM[X2] < 4.567 DO SETAL(61000)

; set alarm if distance (actual value of axis X1 -- actual value of axis X2)

; drops below critical value of 4.567.

For information about cycles and cycle alarms, please refer to

References: /PGC/, Programming Guide Cycles

Error situations

Example

Set alarm

Cycles and

cycle alarms

2.4 Action

nch

oni

ction

08.97

2.5 Call of technology cycles

Synchronized Actions (FBSY)

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

2.5 Call of technology cycles

A technology cycle is a sequence of actions that are executed sequentially in

the interpolation cycle. The actions described in Section 2.4 can be combined to

form programs. From the user’s point of view, these programs are subprograms

without parameters.

Several technology cycles or actions can be processed simultaneously in the

same channel. These cycles and actions are processed in parallel in the

channel in one interpolation cycle.

With respect to processing sequence, the user must select the most suitable

method from the following options:

SSeveral actions in one synchronized action:

All actions are executed simultaneously in the interpolation cycle in which

the condition is fulfilled.

SActions are joined to form a technology cycle:

The actions in the technology cycle are processed sequentially in the inter-

polation cycle. One block is processed in each interpolation cycle. A distinc-

tion must be made between single-cycle and multi-cycle actions. A techno-

logy cycle is ended when its last action has been executed (generally after

several interpolation cycles have passed).

Commands such as variable assignments in technology cycles are processed

in one interpolation cycle. Other commands (e.g. movement of command axis,

see Section 2.4.12) take several interpolation cycles to complete. If the function

is complete (e.g. exact stop on positioning of axis), the next block is executed in

the following interpolation cycle.

Each block requires at least one interpolation cycle. If a block contains several

single-cycle actions, then these are all processed in one interpolation cycle.

Fig. 2-8 gives examples to indicate which actions are single-cycle and which

are multi-cycle.

One possible application of technology cycles is to move each axis using a

separate axis program.

A technology cycle can be activated as a function of a condition in a modal/

static synchronized action.

End of program is programmed with M02 / M17 / M30 / RET.

The call search path is the same as for subprograms and cycles.

Example:

...

ID=1 EVERY $AA_IM[Y]>=10 DO AX_X ; AX_X subprogram

; name for axis program for X axis

Definition

Parallel

processing

in channel

Processing

sequence

Application

Programming

Search path

08.97 Synchronized Actions (FBSY)

2.5 Call of technology cycles

2-101

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

AX_X: ; axis program

POS[X]=$R[7] FA[X]=377

$A_OUT[1]=1

POS[X]=R10

POS[X]=--90

M30

Notice

If the condition is fulfilled again while the technology cycle is being processed,

the cycle is not started again. If a technology cycle has been activated from a

synchronized action of the WHENEVER type and the relevant condition is still

fulfilled at the end of the cycle, then it will be started again.

Action_11

Single-cycle

Action_12

Single-cycle

Action_13

Multi-cycle

Condition

$AA_OVR[X]=0

Single-cycle

Multi-cycle

Technology cycle 2

Action_11

Single-cycle

Action_13

Multi-cycle

$AA_OVR[Y]=0

Single-cycle

M100

Single-cycle

POS[X]=100

Multi-cycle

POS[Y]=10

POS[Y]=--10

Multi-cycle

Action_11

Single-cycle

$AA_OVR[Y]=0

Single-cycle

Synchronized actions

Condition Condition Condition

Multi-cycle

M17

Single-cycle

M17

Single-cycle

M17

Single-cycle

Multi-cycle

POS[Z]=90

POS[Z]=--90

Axis Y

Technology cycle 1

Axis X Technology cycle 3

Axis Z

Fig. 2-8 Several technology cycles

08.97

2.5 Call of technology cycles

Synchronized Actions (FBSY)

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

Example (2) for coordinated axis motions:

Different axis programs can be started by setting digital NC inputs.

Main program:

...

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

ID=2 WHEN $A_IN[2]==1 DO AXIS_Y

ID=3 WHEN $A_IN[3]==1 DO AA_OVR[Y]=0

ID=4 WHEN $A_IN[4]==1 DO AXIS_Z

M30

Axis programs:

AXIS_X:

$AA_OVR[Y]=0

M100

POS[X]=100

M17

AXIS_Y:

POS[Y]=10

POS[Y]=--10

M17

AXIS_Z:

$AA_OVR[X]=0

POS[Z]=90

POS[Z]=--90

M17

08.97 Synchronized Actions (FBSY)

2.5 Call of technology cycles

2-103

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

2.5.1 Coordination of synchronized actions,

technology cycles, part program (and PLC)

Technology cycles / synchronized actions are controlled via the identification

number of the synchronized action in which they are programmed as an action:

Keyword Meaning PP SA

Call legal in part program

Call legal in synchr. action / technology cycle ++

LOCK(ID) Disable technology cycle.

An active action is interrupted. +

UNLOCK(ID) UNLOCK continues the technology cycle at the point of

interruption. An interrupted positioning operation is

continued.

RESET(ID) Abort technology cycle. Active positioning operations are

aborted. If the technology cycle is restarted, then it is

processed from the 1st block in the cycle.

Depending on the type of synchronized action, actions

are executed once more when the condition is fulfilled

again. Completed synchronized actions of the WHEN

type are not processed again after RESET.

CANCEL(ID) Synchronized action is deleted. +

SLOCK(ID), UNLOCK(ID) by PLC see Section 2.6.1

Notice

A synchronized action contains a technology cycle call. No further actions may

be programmed in the same block in order to ensure that the assignment

between ID number and relevant technology cycle is unambiguous.

Control of

technology cycles

Means of

coordination

08.97

2.5 Call of technology cycles

Synchronized Actions (FBSY)

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

Define/

activate

Part program:

; Define/activate synchronized actions

ID=1 WHENEVER $A_IN[1]==1 DO M130

ID=2 WHENEVER $A_IN[2]==1 DO LOCK(1)

...

CANCEL(2)

...

ID=1 ....

...

; Delete

Define/

activate

Synchronized action:

ID=2

WHENEVER

$A_IN[2]==1

DO LOCK(1)

Block ID1

/unblock (UNLOCK (1))

; Overwrite

existing

synchronized action

Synchronized action:

ID=1

WHENEVER

$A_IN[1]==1

DO M130

PLC

Fig. 2-9 Setting up / locking modal synchronized actions / deleting

08.97 Synchronized Actions (FBSY)

2.6 Control and protection of synchronized actions

2-105

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

2.6 Control and protection of synchronized actions

2.6.1 Control via PLC

Modal synchronized actions (ID, IDS) can be locked or enabled from the PLC.

SDisabling of all modal synchronized actions

SSelective disabling of individual synchronized actions

The PLC can control the first 64 modal synchronized actions by locking (ID,

IDS 1--64). The synchronized actions which are lockable by the PLC are stored

in a 64-bit array of the interface:

DB21--30, DBB308--315

and are tagged with a “1” by the NC. Protected synchronized actions are never

tagged as lockable. See Section 2.6.2.

The PLC application program can set DB 21--30, DBB1 bit 2 to disable (lock

against activation) all modal synchronized actions that are already defined in

the NC and stored against activation. In this case, protected synchronized

actions are an exception. Please see Section 2.6.2.

Setting DB 21--30, DBB1 bit 2 to 0 cancels the general lock by the PLC again.

One bit is reserved for each of the 64 IDs (1--64) in the PLC interface

(DB 21--30, DBB 300 bit 0 to DB21--30 DBB 307 bit 7).

The default setting for these functions is “enabled” (bits = 0). When the allocated

bit is set, evaluation of the condition and execution of the associated function

are disabled in the NCK.

Setting the bits corresponding to the ID, IDS number to 0 in

DB 21--30, DBB 300, bit 0 to DB 21--30, DBB 307 bit 7

causes the PLC to enable a previously disabled synchronized action.

If the PLC user program has made changes in the range DB 21--30, DBB 300

bit 0 to DB 21--30, DBB 307 bit 7, the changes must be activated with DB 21--30

DBX280.1.

If selective disabling was activated by the NCK, as status signal is set in

DB 21--30 DBX.281.1.

References: /LIS/, Lists, Interface Signals

Function

Control scope

Disable all syn-

chronized actions

Application

of selective

disabling

Cancellation of

selective disabling

Updating the

selective disabling

Selective disabling

status signal

07.98

08.97

2.6 Control and protection of synchronized actions

Synchronized Actions (FBSY)

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

Part program:

Path motion,

selection of technology cycles

Subprogram 1 Subprogram n

...

Axis program 1/

technology cycle 1 Axis program n/

technology cycle n

PLC:

Parameter transfer

Initiation of axis functions

Control bit in

PLC interface

When ID=1 When ID=n

Fig. 2-10 Axis programs/technology cycles

In SW version 4 and later, PLC data can be read and written from the part

program by transferring parameters between the NCK and PLC via the

VDI interface.

This is an option: PLC variables

References: /FB/, P3, “Basic PLC Program”

Parameters can also be accessed from synchronized actions, thus allowing

PLC data to be transferred to the NCK for parameterization before an axis

function is initiated. The system variables to be addressed can be found in

Subsection 2.3.8.

Reading/writing of

PLC data

08.97 Synchronized Actions (FBSY)

2.6 Control and protection of synchronized actions

2-107

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

2.6.2 Protected synchronized actions

Global protection

Machine data MD 11500:

PREVENT_SYNACT_LOCK

canbeprogrammedtodefineanareaofprotectedsynchronizedactions.Syn-

chronized actions with ID numbers within the protected area can no longer be:

-- overwritten

-- deleted (CANCEL) or

-- disabled (LOCK)

if they have been defined once. Protected synchronized actions cannot be

disabled by the PLC either. They are indicated to the PLC as non-lockable in

the interface. See Section 2.6.1.

Notice

The functionality is also used for Safety Integrated systems.

The end customer must be prevented from modifying reactions to certain states

defined by the machine manufacturer.

To allow the definition and testing of gating logic, synchronized actions are not

yet protected when the system is started up by the machine manufacturer.

However, the manufacturer declares the range of synchronized actions he has

used as protected before the system is delivered to the end customer, thus pre-

venting the end customer from defining his own synchronized actions within this

protected area.

$MN_PREVENT_SYNACT_LOCK[0]= i ; i number of the first disable ID

$MN_PREVENT_SYNACT_LOCK[1]= j ; j number of the last disable ID

i and j can also be inverted.

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

Function

Applications

Notation of

MD 11500

08.02

08.97

2.6 Control and protection of synchronized actions

Synchronized Actions (FBSY)

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

Channel--specific protection

The channel--specific machine data

MD 21240: PREVENT_SYNACT_LOCK_CHAN

can be programmed to define an area of protected synchronized actions for the

channel. Synchronized actions with ID numbers within the protected area can

no longer be:

-- overwritten

-- deleted (CANCEL) or

-- disabled (LOCK)

if they have been defined once. Protected synchronized actions cannot be

disabled by the PLC either. They are indicated to the PLC as non-lockable in

the interface. See Section 2.6.1.

See above

CHANDATA(C) ; where C channel number

$MC_PREVENT_SYNACT_LOCK_CHAN[0]= k

; k number of the first disable ID for the channel

$MC_PREVENT_SYNACT_LOCK_CHAN[1]= l

; l number of the last disable ID for the channel

k and l can also be inverted.

If k = 0 and l = 0, no synchronized actions are protected.

k = --1 and l = --1 indicates that the global area of protected synchronized

actions programmed with

MD 11500 : PREVENT_SYNACT_LOCK should apply to the channel.

Notice

Protection for synchronized actions must be canceled while protected static

synchronized actions are being defined, otherwise power ON will have to be

executed for every alteration to allow redefinition of the logic.

The effect of the disable is identical, whether it is programmed as:

a global disable or

a channel--specific disable

Function

Application

Notation of

MD 21240

08.02

08.97 Synchronized Actions (FBSY)

2.6 Control and protection of synchronized actions

2-109

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

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

follows:

In the first channel, IDs 20 to 30 should be protected and

in the second channel, IDs 25 to 35 should be protected. Global and channel--

specific protection may be mixed.

$MN_PREVENT_SYNACT_LOCK[0] = 25 ; global protection

$MN_PREVENT_SYNACT_LOCK[1] = 35 ; global protection

CHANDATA(1)

$MC_PREVENT_SYNACT_LOCK_CHAN[0] = 20

; in the first channel, only the channel--specific MD (first ID number to be

protected) is effective

$MC_PREVENT_SYNACT_LOCK_CHAN1] = 30

; in the first channel, only the channel--specific MD (last ID number to be

protected) is effective

CHANDATA(2)

$MC_PREVENT_SYNACT_LOCK_CHAN[0] = --1

; in the second channel, global machine data

; $MN_PREVENT_SYNACT_LOCK is effective

$MC_PREVENT_SYNACT_LOCK_CHAN[1] = --1

...

Example

08.02

08.97

2.7 Control system response for synchronized actions in specific operational states

Synchronized Actions (FBSY)

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

2.7 Control system response for synchronized actions in

specific operational states

2.7.1 Power On

No synchronized actions are active during power ON. Static synchronized

actions that are required to be active immediately after power ON must be

activated within an ASUB started by the PLC.

References: /FB/, P3, Basic PLC Program

/FB/, K1, Mode Group, Channel, Program Operation Mode

This arrangement can be used only on condition that SW 4 with “ASUBs in all

operating modes” functionality is installed.

Examples:

-- Adaptive Control

-- Safety Integrated, gating logic formulated by means of synchronized

actions

2.7.2 RESET

All positioning motions initiated from synchronized actions are aborted on

NC reset. Active technology cycles are reset.

Synchronized actions programmed locally (i.e. with ID=...) are deselected on

NC reset.

Static synchronized actions (programmed with IDS = ...) remain active after

NC reset. Motions can be restarted from static actions after NC reset.

Positioning axis

motions

IDS

08.97 Synchronized Actions (FBSY)

2.7 Control system response for synchronized actions in specific operational states

2-111

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

RESET continued

Synchronized action/

technology cycle Modal and non-modal

Active action is aborted, synchronized

actions are canceled

Static (IDS)

Active action is aborted, technology

cycle is reset

Axis/

positioning spindle Motion is aborted Motion is aborted

Speed-controlled spindle $MA_SPIND_ACTIVE_AFTER_RE-

SET== TRUE:

Spindle remains active

$MA_SPIND_ACTIVE_AFTER_RE-

SET==FALSE:

Spindle stops

$MA_SPIND_ACTIVE_AFTER_RE-

SET== TRUE:

Spindle remains active

$MA_SPIND_ACTIVE_AFTER_RE-

SET==FALSE:

Spindle stops

Master value coupling $MC_RESET_MODE_MASK, bit13

== 1:

Master value coupling remains active

$MC_RESET_MODE_MASK, bit13

== 0:

Master value coupling is canceled

$MC_RESET_MODE_MASK, bit13

== 1:

Master value coupling remains active

$MC_RESET_MODE_MASK, bit13

== 0:

Master value coupling is canceled

Measuring operations Measuring operations started from

synchronized actions are aborted Measuring operations started from

static synchronized actions are

aborted

2.7.3 NC STOP

Motions that have been started from static synchronized actions remain active

in spite of an NC STOP.

Axis motions started from modal and non-modal actions are interrupted and

then restarted by NC START. Speed-controlled spindles remain active.

Synchronized actions programmed in the current block remain active.

Example:

Set output: ... DO $A_OUT[1] = 1

2.7.4 Change in operating mode

The response differs depending on whether the relevant synchronized action is

static or programmed locally.

Synchronized actions activated by vocabulary word IDS remain active after a

change in operating mode. All other synchronized actions are deactivated in

response to an operating mode change and reactivated on switchover to

AUTO mode for repositioning.

Example:

N10 WHEN $A_IN[1] == 1 DO DELDTG

N20 G1 X10 Y 200 F150 POS[U]=350

Other reactions,

dependent on

actions

08.97

2.7 Control system response for synchronized actions in specific operational states

Synchronized Actions (FBSY)

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

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

JOG. If deletion of distance-to-go was not active prior to the interruption, then

the synchronized action programmed in block N10 is reactivated when

AUTO mode is selected again and the program continued.

2.7.5 End of program

Static synchronized actions remain active after the end of program.

Modal and non-modal synchronized actions are aborted.

Static and modal synchronized actions programmed in M30 blocks remain

active.They can be aborted with CANCEL before the M30 block. Polynomial

coefficients programmed with FCTDEF remain active after the end of program.

2.7.6 Response of active synchronized actions to end of program and

change in operating mode

See Sections 2.7.4 and 2.7.5.

Synchronized action/

technology cycle Modal and non-modal actions

are aborted Static actions (IDS)

remain active

Axis/

positioning spindle M30 is delayed until the axis / spindle

is stationary. Motion continues

Speed-controlled spindle End of program:

$MA_SPIND_ACTIVE_AFTER_RE-

SET== TRUE:

Spindle remains active

$MA_SPIND_ACTIVE_AFTER_RE-

SET==FALSE:

Spindle stops

Spindle remains active on mode chan-

Spindle remains active

Master value coupling $MC_RESET_MODE_MASK, bit13

== 1:

Master value coupling remains active

$MC_RESET_MODE_MASK, bit13

== 0:

Master value coupling is canceled

A coupling started from a static

synchronized action remains active

Measuring operations Measuring operations started from

synchronized actions are aborted Measuring operations started from

static synchronized actions remain

active

08.97 Synchronized Actions (FBSY)

2.7 Control system response for synchronized actions in specific operational states

2-113

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

2.7.7 Block search

Synchronized actions in the program which have been interpreted during the

block search are collected, but their conditions are not evaluated. No actions

are executed. Processing of synchronized actions does not commence until

NC Start.

Synchronized actions that are programmed with vocabulary word IDS and

already active remain operative during the block search.

Polynomial coefficients programmed with FCTDEF are collected with calcula-

tion during a block search, i.e. they are written to system variables.

2.7.8 Program interruption by ASUB

Modal and static motion synchronous actions remain active and are also opera-

tive in the asynchronous subprogram (ASUB).

If the asynchronous subprogram is not continued with REPOS, then modal and

static motion synchronous actions modified in the subprogram remain operative

in the main program.

Positioning motions started from synchronized actions respond in the same way

as to operating mode switchover:

Motions started from non-modal and modal actions are stopped and continued

with REPOS (if programmed). Motions started from static synchronized actions

continue uninterrupted.

2.7.9 REPOS

In the remainder of the block, the synchronized actions are treated in the same

way as in an interruption block.

Modifications to modal synchronized actions in the asynchronous subprogram

are not effective in the interrupted program.

Polynomial coefficients programmed with FCTDEF are not affected by ASUB

and REPOS.

The coefficients from the call program are applied in the asynchronous subpro-

gram. The coefficients from the asynchronous subprogram continue to be

applied in the call program.

If positioning motions started from synchronized actions are interrupted by the

operating mode switchover or start of the interrupt routine, then they are

continued in response to REPOS.

General

IDS

Polynomial

coefficients

ASUB start

ASUB end

08.97

2.7 Control system response for synchronized actions in specific operational states

Synchronized Actions (FBSY)

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

2.7.10 Response to alarms

Axis and spindle motions started by means of synchronized actions are decele-

rated in response to an alarm involving a motion stop instruction. All other

actions (such as “Set output”) continue to be executed.

If an alarm is activated by a synchronized action, then the action is no longer

processed in the next interpolation cycle, i.e. the alarm is output only once.

Alarms that respond with an interpreter stop only take effect once the precoded

blocks have been processed.

Processing of all other actions continues as normal.

If a technology cycle generates an alarm with motion stop, then processing of

the relevant cycle ceases.

08.97 Synchronized Actions (FBSY)

2.8 Configuring

2-115

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

2.8 Configuring

2.8.1 Configurability

The number of programmable synchronized action blocks depends entirely on

the configurable number of synchronized action elements. The number of

storage elements for motion synchronous actions (synchronized action

elements) is defined in machine data

MD 28250: MM_NUM_SYNC_ELEMENTS.

This data can be set irrespective of the number of blocks available in the control

system, thus enabling the complexity of expressions evaluated in real time as

well as the number of actions to be set flexibly.

One synchronized action element is required for each of the following:

-- A comparison expression in a condition

-- An elementary action

-- The synchronized action block

Example:

A total of four elements is needed for the synchronized action block below.

WHENEVER ($AA_IM[x] > 10.5) OR ($A_IN[1]==1) DO

|________| |________________| |_______________|

Element 1 Element 2 Element 3

$AC_PARAM[0]=$AA_in[y]+1

|_________________________|

Element 4

The default setting of MD 28250: $MC_MM_NUM_SYNC_ELEMENTS is

selected such that it is possible to activate the maximum presetting for SW 3

and earlier of 16 synchronized actions.

Notice

If the user does not wish to program any synchronized actions, then he can

reset the value in MD 28250: MM_NUM_SYNC_ELEMENTS to 0 so as to save

approximately 16 KB of DRAM memory.

The status display for synchronized actions (see Section 2.9) indicates how

much of the memory provided for synchronized actions is still available. This

status can also be read from synchronized actions in variable

$AC_NUM_SYNC_ELEM.

An alarm is generated if all available elements are used up during program

execution.The user can respond by increasing the number of synchronized

action elements or by modifying his program accordingly.

Number of

synchronized

action elements

Use of

elements

Display

Alarm

08.97

2.8 Configuring

Synchronized Actions (FBSY)

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

The number of programmable FCTDEF functions for each block can be

configured via machine data

MD 28252: MM_NUM_FCTDEF_ELEMENTS.

The default setting for all control types is 3.

For control-specific maximum values, please refer to

References: /LIS/, Lists.

The time required on the interpolation level increases with the number of syn-

chronized actions programmed. It may be necessary for the start-up engineer to

lengthen the interpolation cycle accordingly.

As a guide, individual times required to perform operations within synchronized

actions (measured on an 840D with NCU 573.x) are given below:

Times may be different for other control types.

NC language Time required

Total Text in bold print

Basic load for a synchronized action

if condition is not fulfilled: 10 μs~10 μs

WHENEVER FALSE DO $AC_MARKER[0]=0

Read variable: 11 μs~1 μs

WHENEVER $AA_IM[Y]>10 DO $AC_MARKER[0]=1

Write variable: 11--12 μs~1--2 μs

DO $R2=1

Read/write setting data: 24 μs~14 μs

DO $$SN_SW_CAM_MINUS_POS_TAB_1[0]=20

Basic arithmetic operations, e.g. multiplication: 22 μs~12 μs

DO $R2=$R2*2

Trigonometric functions (e.g. cos): 23 μs~13 μs

DO $R2=COS($R2)

Start positioning axis motion: 83 μs~73 μs

WHEN TRUE DO POS[z]=10

Number of

FCTDEF functions

Interpolation cycle

Guide values for

lengthening inter-

polation cycle

08.97 Synchronized Actions (FBSY)

2.9 Diagnostics (with MMC 102/MMC 103 only)

2-117

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

2.9 Diagnostics (with MMC 102/MMC 103 only)

The following special test tools are provided for diagnosing synchronized

actions:

SStatus display

SThe current values of all synchronized action variables can be displayed.

(display real-time variables)

SCharacteristics of variables can be recorded in the interpolation cycle grid.

(log real-time variables)

This functionality is structured in the operator interface in the following way:

Display real-time variables Log real-time

variables

Definition of views:

-- Scope (which variables)

-- Representation mode

Management of views

Display real-time variables

of a view

Definition of logs:

-- Compile list of values

to be logged

-- Define sampling cycle

-- Define log file size

Start log

Management of logs

Display log

Display values

graphically as time

characteristics

Display status of synchronized actions

Fig. 2-11 Functionality of test tools for synchronized actions

For a description of how to operate these functions, please refer to:

References: /BA/, Operator’s Guide

Diagnostic

functionality

08.97

2.9 Diagnostics (with MMC 102/MMC 103 only)

Synchronized Actions (FBSY)

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

2.9.1 Display status of synchronized actions

The status display contains the following information:

SCurrent extract of selected program

All programmed synchronized actions according to:

SLine number

SCode denoting synchronized action type

SID number of synchronized action (for modal actions)

SStatus

Synchronized actions are categorized as follows:

-- ID Modal synchronized action

-- IDS Static modal synchronized action

-- Non-modal synchronized action for next executable block

(in AUTOMATIC mode only)

The following status conditions might be displayed:

SNo status: The condition is checked in the interpolation cycle

SDisabled LOCK has been set for the synchronized action

SActive Execution of action currently in progress. If the action

consists of a technology cycle, the current line number

in the cycle is also displayed.

A search function can be used to display the originally programmed line in

NC language for each displayed synchronized action.

2.9.2 Display real-time variables

System variables can be monitored for the purpose of monitoring synchronized

actions. Variables which may be used in this way are listed for selection by the

user.

A complete list of individual system variables with ID code W for write access

and R for read access for synchronized actions can be found in:

References: /PGA/, Programming Guide Advanced, Appendix

“Views” are provided to allow the user to define the values which are relevant for

a specific machining situation and to determine how (in lines and columns, with

what text) these values must be displayed. Several views can be arranged in

groups and stored in correspondingly named files.

Status display

Synchronized

action type

Status

Complete synchro-

nized actions

Views

08.9708.97

08.97 Synchronized Actions (FBSY)

2.9 Diagnostics (with MMC 102/MMC 103 only)

2-119

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

A view defined by the user can be stored under a name of his choice and then

called again. Variables included in a view can still be modified (Edit View).

The values assigned to a view are displayed by calling the corresponding user-

defined view.

2.9.3 Log real-time variables

To be able to trace events in synchronized actions, it is necessary to monitor the

action status in the interpolation cycle.

The values selected in a log definition are written to a log file of defined size in

the specified cycle. Special functions for displaying the contents of log files are

provided.

NCK

MMC

Value

Signal

Interpolation cycle

Log definition

Log file

3--50 KB Circular buffer

Logging ON

Logging OFF,

transfer to MMC

Value

Signal

IPO cycle

Values/signals

Fig. 2-12 Schematic representation of “Log real-time variables” process

For information about operating the logging function, please refer to:

References: /BA/, Operator’s Guide

Managing views

Displaying real-

time variables of

aview

Initial situation

Method

Operation

08.97

2.9 Diagnostics (with MMC 102/MMC 103 only)

Synchronized Actions (FBSY)

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

The log definition can contain up to 6 specified variables. The values of these

variables are written to the log file in the specified cycle. A list of variables which

may be selected for logging purposes is displayed. The cycle can be selected in

multiples of the interpolation cycle. The file size can be selected in KB. A log

definition must be initialized before it can be activated on the NCK for the

purpose of acquiring the necessary values.

Values ranging between 3 KB (minimum) and 50 KB (maximum) can be

selected as the logging file size.

When the effective log file size has been exceeded, the oldest entries are over-

written, i.e. the file works on the circular buffer principle.

Logging according to one of the initialized log definitions is started by

-- an operator input or

-- setting of system variable $A_PROTO=1 from the part program

The starting instant must be selected such that the variables to be logged are

not altered until operations on the machine have been activated. The start point

refers to the last log definition to be initialized.

This function terminates the acquisition of log data in the NCK. The file con-

taining the logged data is made available on the MMC for storage and evalua-

tion (graphic log). Logging can be stopped by

-- an operator input or

-- setting of system variable $A_PROTO=0 from the part program

The measured values (up to 6) of a log are represented graphically as a func-

tion of the sampling time. The names of variables are specified in descending

sequence according to the characteristics of their values. The screen display is

arranged automatically. Selected areas of the graphic can be zoomed.

Notice

Graphic log representations are also available as text files on the MMC 102. An

editor can be used to read the exact values of a sampling instant (values with

identical count index) numerically.

Several log definitions can be stored under names of the user’s choice. They

can be called later for initialization and start of recording or for modification and

deletion.

Log definition

Log file size

Storage method

Starting logging

Stopping logging

“Graphic log”

function

Management of

logs

08.97 Synchronized Actions (FBSY)

3-121

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

Supplementary Conditions

The scope of performance provided by the “Synchronized actions” function

package depends on the following:

SThe type of SINUMERIK control system

-- HW

-- SW (export / standard versions)

SThe availability of functions that can be initiated by “Actions”:

-- Standard functions

-- Functions that are available as options

The performance of control systems and their variants as well as functions

supplied as options are described in catalogs specific to the SW version:

References: /BU/, Ordering Information, Catalog NC60.1 and in

/LIS/, Lists

The functions associated with synchronized actions are also dependent on

Sthe list of system variables that can be read/written from synchronized

actions including machine and setting data.

-- The number of available system variables depends on the SW version

installed.

System variables that may be used in conjunction with specific SW versions are

described in:

References: /PGA/, Programming Guide Advanced, Appendix

(for the relevant SW version)

The following extensions have been introduced with SW 4:

SDiagnostic facilities for synchronized actions

SAvailability of additional real-time variables

SComplex conditions in synchronized actions

-- Basic arithmetic operations

-- Functions

-- Indexing with real-time variables

-- Access to setting and machine data

-- Logic operators

SConfigurability

-- Number of simultaneously active synchronized actions

-- Number of special variables for synchronized actions

SActivate command axes/axis programs/technology cycles from syn-

chronized actions

Availability/

scope of

performance

Extensions in

SW 4

ement

Con

.96

08.97

Synchronized Actions (FBSY)

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

SPRESET from synchronized actions

SCouplings and coupled axes from synchronized actions

-- Activation

-- Deactivation

-- Parameterization

SUse of measuring functions from synchronized actions

SSW cams

-- Redefinition of position

-- Redefinition of lead times

SDeletion of distance-to-go without preprocessing stop

SStatic synchronized actions (modes other than AUTO possible)

SSynchronized actions:

-- Protection against overwriting and deletion

-- Stopping, continuing, deleting

-- Resetting technology cycles

-- Parameterizing, enabling and disabling from PLC

SOverlaid motion/optimized clearance control

SCoordinating channels from synchronized actions

SStarting ASUBs from synchronized actions

SNon-modal auxiliary function outputs

SAll necessary functions for Safety Integrated for formulation of requisite

safety-oriented logic operations, protected against changes.

S16 Synchronized actions are included in the basic version

The following extensions have been introduced with SW 5:

SSynchronized actions which can be tagged for the PLC

SAvailability of additional real-time variables

SAccess to PLC I/O (option)

S255 parallel synchronized actions per channel are possible with the option

“Synchronized actions step 2”.

SStatic synchronized actions IDS that are active beyond the program end

and are effective in all operating mode are possible using the option “Inter-

mode group actions, ASUBs and synchronized actions”.

Extensions in

SW 5

ement

Con

05.99

08.97 Synchronized Actions (FBSY)

4.1 General machine data

4-123

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

Data Descriptions (MD, SD)

4.1 General machine data

11500 PREVENT_SYNACT_LOCK

MD number Protected synchronized actions

Default setting: 0, 0 Min. input limit: 0 Max. input limit: 255

Changes effective after power ON Protection level: 2 / 7 Unit: --

Data type: DWORD Applies from SW version: 4.1

Significance: First and last ID of a protected synchronized action area.

Synchronized actions with IDs within this area cannot be overwritten or disabled in the

program (NC: CANCEL, LOCK). Neither can protected synchronized actions be disabled

(LOCK) by the PLC.

Typical application: The machine manufacturer defines safety logic in an asynchronous

subprogram. This logic is started by the PLC during power ON. The range of IDs used is

locked out via this machine data, thus preventing the end customer from modifying or

deactivating the safety logic integrated by the machine manufacturer.

Note: Protection for synchronized actions must be canceled while actions to be protected

are being defined or else power ON will have to be executed for every alteration to allow

redefinition of the logic.

A setting of 0.0 means that no synchronized actions are protected, i.e. the function is not

switched on. The values are read as absolute values. Upper and lower values can be

specified in any sequence.

The configuring can be changed if necessary using the channel--specific

MD 21240: PREVENT_SYNACT_LOCK_CHAN.

Relatedto.... MD 21240: PREVENT_SYNACT_LOCK_CHAN

08.02

08.97

4.2 Channel-specific machine data

Synchronized Actions (FBSY)

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

4.2 Channel-specific machine data

21240 PREVENT_SYNACT_LOCK_CHAN

MD number Protected synchronized actions for channel

Default setting: --1, --1 Min. input limit: --1 Max. input limit: 255

Changes effective after power ON Protection level: 2 / 7 Unit: --

Data type: DWORD Applies from SW version: 6.4

Significance: First and last ID of a protected synchronized action area.

Synchronized actions with IDs within this area cannot be overwritten or disabled in the

program (NC: CANCEL, LOCK). Neither can protected synchronized actions be disabled

(LOCK) by the PLC.

The range of IDs used is locked out via this machine data, thus preventing the end custo-

mer from modifying or deactivating the safety logic integrated by the machine manufactu-

rer.

Note: Protection for synchronized actions must be canceled while actions to be protected

are being defined or else power ON will have to be executed for every alteration to allow

redefinition of the logic.

A setting of 0.0 means that no synchronized actions are protected, i.e. the function is not

switched on. The values are read as absolute values. Upper and lower values can be

specified in any sequence.

--1, --1 indicates that the ID numbers programmed for the channel with

MD 11500: PREVENT_SYNACT_LOCK shall apply.

Relatedto.... MD 11500: PREVENT_SYNACT_LOCK

28250 MM_NUM_SYNC_ELEMENTS

MD number Number of elements for expressions in synchronized actions

Default setting: 159 Min. input limit: 0 Max. input limit: 2000

Changes effective after power ON Protection level: 2 / 7 Unit: --

Data type: DWORD Applies from SW version: 4.1

Significance: The components of synchronized actions are stored in elements for storage in the control

system. An action requires a minimum of 4 elements. Elements required by components

are as follows:

-- Each operand in the condition 1 element

-- Each action >= 1 element

-- Each assignment 2 elements

-- Every further operand in complex

expressions 1 element.

One element uses approximately 64 bytes of memory.

Further references Programming Guide Advanced

08.02

08.97 Synchronized Actions (FBSY)

4.2 Channel-specific machine data

4-125

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

28252 MM_NUM_FCTDEF_ELEMENTS

MD number Number of FCTDEF elements

Default setting: 3 Min. input limit: 0 Max. input limit: 100

Changes effective after power ON Protection level: 2 / 7 Unit: --

Data type: DWORD Applies from SW version: 4.1

Significance: Storage elements are required to store functions in the control system for use by synchro-

nized actions. This MD determines the number of these elements.

28254 MM_NUM_AC_PARAM

MD number Number of $AC_PARAM parameters

Default setting: 50 Min. input limit: 0 Max. input limit: 10000,

As of SW 6.3: 20000

Changes effective after power ON Protection level: 2 / 7 Unit: --

Data type: DWORD Applies from SW version: 4.1

Significance: Number of channel-specific $AC_PARAM parameters for synchronized actions

28255 MM_BUFFERED_AC_PARAM

MD number Storage location for $AC_PARAM

Default setting: 0 Min. input limit: 0 Max. input limit: 1

Changes effective after power ON Protection level: 2 / 7 Unit: --

Data type: DWORD Applies from SW version: 6.3

Significance: The $AC_PARAM system variables can be saved either:

0: in dynamic (default)

1: in static SRAM

System variables saved in SRAM retain their current values after RESET and Power On.

They can be included in the data backup.

Relatedto.... MM_NUM_AC_PARAM

Further references /IAD/, Installation and Start--Up Guide

28256 MM_NUM_AC_MARKER

MD number Number of $AC_MARKER markers

Default setting: 8 Min. input limit: 0 Max. input limit: 10000,

As of SW 6.3: 20000

Changes effective after power ON Protection level: 2 / 7 Unit: --

Data type: DWORD Applies from SW version: 4.1

Significance: Number of channel-specific $AC_MARKER markers for synchronized actions

28257 MM_BUFFERED_AC_MARKER

MD number Storage location for $AC_MARKER

Default setting: 0 Min. input limit: 0 Max. input limit: 1

Changes effective after power ON Protection level: 2 / 7 Unit: --

Data type: Applies from SW version: 6.3

Significance: You can save the system variables $AC_MARKER either:

0: in dynamic DRAM (default)

1: in static SRAM

System variables saved in SRAM retain their current values after RESET and Power On.

They can be included in the data backup.

Relatedto.... MM_NUM_MARKER

Further references /IAD/, Installation and Start--Up Guide

06.0106.01

08.97

4.2 Channel-specific machine data

Synchronized Actions (FBSY)

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

28258 MM_NUM_AC_TIMER

MD number Number of $AC_TIMER time variables

Default setting: 0 Min. input limit: 0 Max. input limit: 10000

Changes effective after power ON Protection level: 2 / 7 Unit: --

Data type: DWORD Applies from SW version: 4.1

Significance: Number of channel-specific $AC_TIMER time variables for synchronized actions

28260 NUM_AC_FIFO

MD number Number of $AC_FIFO1, $AC_FIFO2, ... variables

Default setting: 0 Min. input limit: 0 Max. input limit: 10

Changes effective after power ON Protection level: 2 / / Unit: --

Data type: DWORD Applies from SW version: 4.1

Significance: Number of FIFO variables, $AC_FIFO1 to $AC_FIFO10, for synchronized actions.

Application example(s) FIFO variables can be used, for example, to track products: Information (e.g. product

length) can be buffered for each part on a conveyor belt in a separate FIFO variable.

Relatedto.... MD 28262: START_AC_FIFO

28262 START_AC_FIFO

MD number Store FIFO variables from R parameter

Default setting: 0 Min. input limit: 0 Max. input limit: 10000

Changes effective after power ON Protection level: 2 / 7 Unit: --

Data type: DWORD Applies from SW version: 4.1

Significance: Number of R parameter at start of FIFO variable storage area.

All R parameters with low numbers can be used as required in the part program.

R parameters above the FIFO range cannot be written from the part program.

The number of R parameters must be set in machine data

MD 28050: $MC_MM_NUM_R_PARAM such that there is space to store

all FIFO variables from the R parameter at the start of the FIFO area:

$MC_MM_NUM_R_PARAM=$MC_START_FIFO + $MC_NUM_AC_FI-

FO*($MC_LEN_AC_FIFO+6)

The FIFO variable names are $AC_FIFO1 to $AC_FIFOn.

They have been set up as fields.

Indices 0 -- 5 have special meanings:

n= 0: When a variable is written with index 0, a new value is stored in the

FIFO. When a variable is read with index 0, the oldest element is deleted

from the FIFO.

n=1: Access to first element to be read in

n=2: Access to last element to be read in

n=3: Sum of all FIFO elements

n=4: Number of elements available in FIFO

n=5: Current write index relative to beginning of FIFO

Relatedto.... MD 28260: NUM_AC_FIFO

28264 LEN_AC_FIFO

MD number Length of $AC_FIFO ... FIFO variables

Default setting: 0 Min. input limit: 0 Max. input limit: 10000

Changes effective after power ON Protection level: 2 / 7 Unit: --

Data type: DWORD Applies from SW version: 4.1

Significance: Length of FIFO variables $AC_FIFO1 to $AC_FIFO10.

All FIFO variables in one channel are of the same length.

Relatedto.... MD 28262, MD 28260

08.97 Synchronized Actions (FBSY)

4.2 Channel-specific machine data

4-127

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

28266 MODE_AC_FIFO

MD number FIFO processing mode

Default setting: 0 Min. input limit: 0 Max. input limit: ***

Changes effective after power ON Protection level: 2 / 7 Unit: --

Data type: BYTE Applies from SW version: 4.1

Significance: FIFO processing mode:

Bit 0 = 1: The sum of all FIFO contents is generated on every write access

operation.

Bit 0 = 0: No summation

Relatedto.... MD 28260: NUM_AC_FIFO

08.97

4.3 Axis/spindle-specific machine data

Synchronized Actions (FBSY)

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

4.3 Axis/spindle-specific machine data

30450 IS_CONCURRENT_POS_AX

MD number Competing positioning axis

Default setting: 0 Min. input limit: 0 Max. input limit: 1

Changes effective after power ON Protection level: 2 / 7 Unit: 1

Data type: Boolean Applies from SW version: 1

Significance: This axis is a competing positioning axis.

From SW4.3 (not FM--NC):

If FALSE: At RESET a neutral axis becomes channel axis again.

If TRUE: At RESET a neutral axis remains in the neutral axis state, and a channel axis

becomes neutral axis.

Further references Starting the command axes see Section 2.4.12

32070 CORR_VELO

MD number Axis speed for handwheel, ext. ZO, cont. dressing, clearance control

Default setting: 100 Min. input limit: 0 Max. input limit: Plus

Changes effective after power ON Protection level: 2 / 7 Unit: %

Data type: DWORD Applies from SW version: 3.2

Significance: Limitation of axis velocity for handwheel override, external zero offset, continuous dres-

sing, clearance control $AA_OFF via synchronized actions referred to JOG velocity

MD: JOG_VELO, MD: JOG_VELO_RAPID,

MD: JOG_REV_VELO, MD: JOG_REV_VELO_RAPID.

The maximum permissible velocity corresponds to the maximum velocity setting in

MD: MAX_AX_VELO. The limitation is applied at this value. An alarm is generated if this

maximum setting is exceeded.

Conversion to linear or rotary axis velocity is carried out in accordance with

MD: IS_ROT_AX.

Application example(s) Limitation of velocity for traversal of overlaid motions.

12.97

08.97 Synchronized Actions (FBSY)

4.3 Axis/spindle-specific machine data

4-129

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

32074 FRAME_OR_CORRPOS_NOTALLOWED

MD number Effectiveness of frames and tool length compensation

Default setting: 0 Min. input limit: 0 Max. input limit: 0xFF

Changes effective after power ON Protection level: 2 / 7 Unit: --

Data type: DWORD Applies from SW version: 4.2

Significance: The effectiveness of frames and tool length compensations with respect to indexing axes,

PLC axes and command axes started from synchronized actions is programmed in this

machine data.

Bit == 0: Frame or compensation values are permitted

Bit assignment:

Bit 0 == 1: Programmed zero offset (TRANS) is not permitted with respect to

indexing axis.

Bit 1 == 1: Scale modification (SCALE) not permitted for indexing axis.

Bit 2 == 1: Direction reversal (MIRROR) not permitted for indexing axis

Bit 3 == 1: DRF offset not permitted for axis

Bit 4 == 1: External zero offset not permitted for axis

Bit 5 == 1: Online tool offset not permitted for axis

Bit 6 == 1: Synchronized action offset not permitted for axis

Bit 7 == 1: Compile cycle offset not permitted for axis

Bit 8 == 1: Axial frames are operative with respect to PLC axes

Bit 8 == 0: Axial frames are NOT operative with respect

to PLC axes

(bit evaluation is such for reasons of compatibility)

Bit 9 == 1: Axial frames are not operative with respect to

command axes

Bit 9 == 0: Axial frames are not operative with respect to

command axes

32920 AC_FILTER_TIME

MD number Filter smoothing constant for Adaptive Control

Default setting: 0.0 Min. input limit: 0.0 Max. input limit: Plus

Changes effective after power ON Protection level: 2/7 Unit: s

Data type: DOUBLE Applies from SW version: 2.1

Significance: The following actual drive values can be acquired by means of main run variables

$AA_LOAD, $AA_POWER, $AA_TORQUE and $AA_CURR:

-- Drive load

-- Active drive power

-- Drive torque setpoint

-- Actual current value of axis or spindle

Measured values can be smoothed via a PT1 filter in order to eliminated peaks. The filter

time constant is defined in MD: AC_FILTER_TIME (filter smoothing time constant for

Adaptive Control).

The PT1 filter acts in addition to the filters integrated in the 611-D with respect to the drive

torque setpoint or actual current value. The two filters are connected in series if both

heavily and weakly smoothed values are required in the system.

An input of a 0 second smoothing time deactivates the filter.

MD irrelevant for ...... FM-NC with 611A

Application example(s) Smoothing of actual current value for AC Control.

08.97

4.4 Setting data

Synchronized Actions (FBSY)

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

36750 AA_OFF_MODE

MD number Effect of value assignment for axial override with synchronized actions

Default setting: 0 Min. input limit: 0 Max. input limit: 7

Changes effective after power ON Protection level: 2/7 Unit: --

Data type: BYTE Applies from SW version: 3.2 (As of SW 6 bits 1

and 2)

Significance: Main run variable $AA_OFF allows an overlaid motion for the programmed axis to be

implemented within a synchronized action.

The mode of calculation is defined in axial MD: AA_OFF_MODE, the type of application is

defined as follows:

Bit0: effect of tool assignment within a synchronized variable: As of SW 3.2:

Bit0 = 0: absolute value

Bit0 = 1: incremental value (integrator)

Bit1: response of $AA_OFF in the case of a reset

Bit1 = 0: $AA_OFF is deselected in the case of a reset

Bit1 = 1: $AA_OFF is retained beyond the reset (as of SW 6)

Bit2: $AA_OFF in JOG mode

Bit2 = 0: no overlaid movement on the basis of $AA_OFF

Bit2 = 1: overlaid movement is interpolated on the basis of $AA_OFF (as of SW 6)

Application example(s) SClearance control for laser machining (integral)

SJoystick-controlled axis traversal (proportional)

4.4 Setting data

43350 AA_OFF_LIMIT

MD number Upper limit of compensation value for $AA_OFF clearance control

Default setting: 1.0 Ex+8 Min. input limit: 0 Max. input limit: ***

Changes effective immediately Protection level: 2 / 7 Unit: mm/degrees

Data type: DOUBLE Applies from SW version: 4.2

Significance: Upper limit of compensation value that can be preset from synchronized actions by

means of variable $AA_OFF.

The limit value is applied to the effective absolute amount of compensation.

Application for clearance control in laser machining operations: The compensation value

is limited to prevent the laser head from becoming trapped in metal blanks.

System variable $AA_OFF_LIMIT can be scanned to determine whether the compensa-

tion value is within the limit range.

04.0012.9710.00

08.97 Synchronized Actions (FBSY)

5-131

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

Signal Descriptions

Channel 1

Channel 2

Channel 3

M, S, H fct.

modification

M fcts. 1--5 not included in list

M fcts. 1--5

Extended addr. M fcts. 1--5

Dynamic

M functions: M0-M99

S fcts. 1--3

Extended addr. S fcts. 1--3

H fcts. 1--3

Extended addr. H fcts. 1--3

F fcts. 1--6

Extended addr. F fcts. 1--6

Synchronized actions

Signals from

NCK channel

Fig. 5-1 PLC interface signals for synchronized actions

The signals generated by auxiliary function outputs from synchronized actions

correspond to those described in

References: /FB/, H2, Output of Auxiliary Functions to PLC.

08.97

Synchronized Actions (FBSY)

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

The PLC application program uses signals

DB 21--30 DBB 300 bit 0 to

DB 21--30 DBB 307 bit 7

to request disabling of the assigned synchronized actions. In this case,

DBB 300 bit 0 corresponds to the first modal synchronized action (ID=1/IDS=1)

and

DBB 307 bit 7 to the 64th modal synchronized action (ID=64/IDS=64).

Notice

Only the instance (NCK or PLC) which initiated a disable can cancel the

disable again.

The channel uses signals

DB 21--30 DBB 308 bit 0 to

DB 21--30 DBB 315 bit 7

to indicate to the PLC user program which synchronized actions can be dis-

abled by the PLC. In this case,DBB 308 bit 0 corresponds to the first modal

synchronized action (ID=1/IDS=1) and

DBB 315 bit 7 to the 64th modal synchronized action (ID=64/IDS=64).

Global signal

DB21--30 DBB1 bit 2

disables all modal/static synchronized actions as long as they are not

protected.

DB 21 -- 30 DBX280.1

From the synchronized actions that are marked as possible to disable in DB 21

-- 30 DBB 308 bit 0 to DB 21 -- 30 DBB 315 bit 7, disable the ones in

DB 21 -- 30 DBB 300 bit 0 to DB 21 -- 30 DBB 307 bit 7 that have been marked

to be disabled by means of the set bit.

DB 21 -- 30 DBX281.1

The NCK confirms that the requested synchronized actions have been

disabled.

Signals to channel

Signals from

channel

Disable all syn-

chronized actions

Disable selected

synchronized

actions

Synchronized

actions disabled

12.98

08.97 Synchronized Actions (FBSY)

6.1 Examples of conditions in synchronized actions

6-133

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

Examples

6.1 Examples of conditions in synchronized actions

Axial distance from block end: 10 mm or less (workpiece coordinate system):

... WHEN $AC_DTEW <= 10 DO ...

G1 X10 Y20

... WHEN $AA_DTEW[X]<= 10 DO ...

POS[X]= 10

Path 20 mm or more after start of block in basic coordinate system:

...WHEN $AC_PLTBB >= 20 DO ...

Actual value for axis Y in MCS greater than 10 x sine of value in R10:

... WHEN $AA_IM[y] > 10*SIN(R10) DO ...

Every time input 1 is set, the axis position is advanced by one step. The input

must be reset again to allow cold restarting of the system.

G91

EVERY $A_IN[1]==1 DO POS[X]= 10

In order to selectively disable a path motion until a programmed signal arrives,

$AC_OVR must be set to zero in every interpolation cycle (keyword

WHENEVER).

WHENEVER $A_IN[1]==0 DO $AC_OVR= 0

The list of system variables that can be read in synchronized actions contained

References: /PGA/, Programming Guide Advanced and in

Section 2.3.8.

describes the full range of quantities that can be evaluated in the conditions of

synchronized actions.

Path distance from

end of block

Axis distance from

end of path

Path distance from

start of block

Condition with

function in

comparison

Step-by-step

positioning

OVR in every inter-

polation cycle

Other system

variables

08.97

6.2 Reading and writing of SD/MD from synchronized actions

Synchronized Actions (FBSY)

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

6.2 Reading and writing of SD/MD from synchronized

actions

Setting data whose values remain unchanged during machining are addressed

in the part program by their usual names.

Example: Oscillation from synchronized actions

NC language Remarks

N610 ID=1 WHENEVER $AA_IM[Z]>$SA_OSCILL_REVERSE_POS1[Z]

DO $AC_MARKER[1]=0

;Whenever the current position of the reciprocating

;axis

;in the machine coordinate system is

;less than the start of reversal area 2,

;then set the axial override of the

; infeed axis to 0

N620 ID=2 WHENEVER $AA_IM[Z]<$SA_OSCILL_REVERSE_POS2[Z]-- 6

DO $AA_OVR[X]=0 $AC_MARKER[0]=0

;Whenever the current position of the reciprocating

;axis in the machine coordinate system

;is equal to reverse position 1,

;then set the axial override of the

; reciprocating axis to 0

;and set the axial override of the

; infeed axis to 100% (this cancels the

; previous synchronized

; action!)

N630 ID=3 WHENEVER $AA_IM[Z]==$SA_OSCILL_REVERSE_POS1[Z]

DO $AA_OVR[Z]=0 $AA_OVR[X]=100

;Whenever the distance to go of the partial infeed

;is equal to 0,

;then set the axial override of the reciprocating

; axis to 100% (this cancels the

; previous synchronized action!)

N640 ID=4 WHENEVER $AA_DTEPW[X]==0

DO $AA_OVR[Z]=100 $AC_MARKER[0]=1 $AC_MARKER[1]=1

N650 ID=5 WHENEVER $AC_MARKER[0]==1 DO $AA_OVR[X]=0

N660 ID=6 WHENEVER $AC_MARKER[1]==1 DO $AA_OVR[X]=0

;Whenever the current position of the reciprocating

;axis in the workpiece coordinate system

;is equal to reverse position 1,

;then set the axial override of the

; reciprocating axis to 100%

;and set the axial override of the

; infeed axis to 0 (this cancels the

; second synchronized

; action!)

Infeed and oscilla-

tion for grinding

operations

05.98

08.97 Synchronized Actions (FBSY)

6.2 Reading and writing of SD/MD from synchronized actions

6-135

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

N670 ID=7 WHEN $AA_IM[Z]==$SA_OSCILL_REVERSE_POS1[Z]

DO $AA_OVR[Z]=100 $AA_OVR[X]=0

Setting data whose value may change during machining (e.g. through an opera-

tor input or synchronized action) must be programmed with $$S... :

Example: Oscillation from synchronized actions with alteration of oscillation

position via operator interface

N610 ID=1 WHENEVER $AA_IM[Z]>$$SA_OSCILL_REVERSE_POS1[Z] DO $AC_MARKER[1]=0

;Whenever the current position of the reciprocating

;axis in the machine coordinate system

;is less than the start of reversal area 2,

;then set the axial override of the

; infeed axis to 0

N620 ID=2 WHENEVER $AA_IM[Z]<$$SA_OSCILL_REVERSE_POS2[Z]-- 6

DO $AA_OVR[X]=0 $AC_MARKER[0]=0

;Whenever the current position of the reciprocating

;axis in the machine coordinate system

;is equal to reverse position 1,

;then set the axial override of the

; reciprocating axis to 0

;and set the axial override of the

; infeed axis to 100% (this cancels the

; previous synchronized

; action!)

N630 ID=3 WHENEVER $AA_IM[Z]==$$SA_OSCILL_REVERSE_POS1[Z]

DO $AA_OVR[Z]=0 $AA_OVR[X]=100

;Whenever the distance to go of the partial infeed

;is equal to 0,

;then set the axial override of the

; reciprocating axis to 100% (this cancels

; previous synchronized

; action!)

N640 ID=4 WHENEVER $AA_DTEPW[X]==0

DO $AA_OVR[Z]=100 $AC_MARKER[0]=1 $AC_MARKER[1]=1

N650 ID=5 WHENEVER $AC_MARKER[0]==1 DO $AA_OVR[X]=0

N660 ID=6 WHENEVER $AC_MARKER[1]==1 DO $AA_OVR[X]=0

;Whenever the current position of the reciprocating axis in the

;workpiece coordinate system

;is equal to reverse position 1,

;then set the axial override of the

; reciprocating axis to 100%

;and set the axial override of the

; infeed axis to 0 (this cancels the

; second synchronized

; action!)

N670 ID=7 WHEN $AA_IM[Z]==$$SA_OSCILL_REVERSE_POS1[Z]

DO $AA_OVR[Z]=100 $AA_OVR[X]=0

05.98

08.97

6.3 Examples of adaptive control

Synchronized Actions (FBSY)

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

6.3 Examples of adaptive control

The following examples use the polynomial evaluation function SYNFCT().

1. Representation of relationship between input value and output value (real-

time variables in each case)

2. Definition of this relationship as polynomial with limitations

3. With position offset: Setting of MD and SD

-- MD 36750: $AA_OFF_MODE

-- SA 43350: $SA_AA_OFF_LIMIT (optional)

4. Activation of the control in a synchronized action

6.3.1 Clearance control with variable upper limit

For the purpose of clearance control, the upper limit of the output ($AA_OFF,

override value in axis V) is varied as a function of the spindle override (analog

input 1). The upper limit for polynomial 1 is varied dynamically as a function of

analog input 2.

Polynomial 1 is defined directly via system variables:

0.2

0.35

0.5 $AC_FCTUL[1]

$AC_FCT0[1]

1$AC_FCT1[1]

$A_INA[1]

$AA_OFF[V] Adaptation range of

upper limit

Fig. 6-1 Clearance control with variable upper limit

General procedure

Example of poly-

nomial with dyn.

upper limit

08.97 Synchronized Actions (FBSY)

6.3 Examples of adaptive control

6-137

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

$AC_FCTLL[1]=0.2 ; lower limit

$AC_FCTUL[1]=0.5 ; start value for upper limit

$AC_FCT0[1]=0.35 ; zero crossover a0

$AC_FCT1[1]=1.5 EX--5 ; pitch a1

STOPRE ; see following note

...

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

; limit dynamically via

; analog input 2, no condition

ID=2 DO SYNFCT(1, $AA_OFF[V], $A_INA[1])

; clearance control by means of override

; no condition

...

Notice

When system variables are applied in the part program, STOPRE must be

programmed to ensure block-synchronous writing. The following is an

equivalent notation for polynomial definition:

FCTDEF(1, 0.2, 0.5, 0.35, 1.5EX--5).

6.3.2 Feed control

A process quantity (measured via $A_INA[1] ) must be regulated to 2 V through

an additive control factor implemented by a path (or axial) feed override.

Feedrate override shall be performed within the range of 100 [mm/min].

Path and axial

feedrate override

$AC_VC

$AA_VC[AX]

Unit

e.g. mm/min

+ 100

1V Analog input

$A_INA[1]

Unit: V

ULIMIT

-- 100

2V 3V

LLIMIT

+ 200

Fig. 6-2 Diagram illustrating Adaptive Control

Determination of coefficients:

Example of

Adaptive Control

with an analog

input voltage

08.97

6.3 Examples of adaptive control

Synchronized Actions (FBSY)

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

y=f(x)=a

0+a

1x+a

2x2+a

3x3

a1=--100 mm

1min¡1V

a1= --100 % control constant, lead

a0= --(--100) ¡2 = 200

a2= 0 (not a square component)

a3= 0 (not a cubic component)

Upper limit = 100

Lower limit = --100

FCTDEF( polynomial no.,

LLIMIT,

ULIMIT,

a0, ;yforx=0

a1,;pitch

a2, ; square component

a3) ; cubic component

With the values determined above, the polynomial is defined as follows:

FCTDEF(1, --100, 100, 200, --100, 0, 0)

The following synchronized actions can be used to activate the Adaptive Con-

trol functionfor the axis feedrate:

ID = 1 DO SYNFCT(1, $AA_VC[X], $A_INA[1])

or for the path feedrate:

ID = 2 DO SYNFCT(1, $AC_VC, $A_INA[1])

08.97 Synchronized Actions (FBSY)

6.3 Examples of adaptive control

6-139

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

6.3.3 Control velocity as a function of normalized path

The normalized path is applied as an input quantity: $AC_PATHN.

0: At block beginning

1: At block end

Variation quantity $AC_OVR must be controlled as a function of $AC_PATHN

according to a 3rd-degree polynomial. The override must be reduced from 100

to 1% during the motion.

Path parameter

$AC_PATHN

Override

$AC_OVR

100

0.2 0.4 0.6 0.8

Upper limit 100

Lower limit 1

Fig. 6-3 Regulate velocity continuously

Polynomial 2:

Lower limit: 1

Upper limit: 100

a0: 100

a1: --100

a2: --100

a3: Not used

With these values, the polynomial definition is as follows:

FCTDEF(2, 1, 100, 100, --100, --100)

; activation of variable override as a function of path:

ID= 1 DO SYNFCT(2, $AC_OVR, $AC_PATHN)

G01 X100 Y100 F1000

Multiplicative

adaptation

08.97

6.4 Monitoring of a safety clearance between two axes

Synchronized Actions (FBSY)

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

6.4 Monitoring of a safety clearance between two axes

Axes X1 and X2 operate two independently controlled transport devices used to

load and unload workpieces.

To prevent the axes from colliding, a safety clearance must be maintained

between them.

If the safety clearance is violated, then axis X2 is decelerated. This interlock is

applied until axis X1 leaves the safety clearance area again.

If axis X1 continues to move towards axis X2, thereby crossing a closer safety

barrier, then it is traversed into a safe position.

NC language Remarks

ID=1 WHENEVER $AA_IM[X2] -- $AA_IM[X1] < 30 DO $AA_OVR[X2]=0 ; safety barrier

ID=2 EVERY $AA_IM[X2] -- $AA_IM[X1] < 15 DO POS[X1]=0 ; safe position

6.5 Store execution times in R parameters

Store the execution time for part program blocks starting at R parameter 10.

Program Remarks

; The example is as follows without symbolic programming:

IDS=1 EVERY $AC_TIMEC==0 DO $AC_MARKER[0] = $AC_MARKER[0] + 1

; advance R parameter pointer on block change

IDS=2 DO $R[10+$AC_MARKER[0]] = $AC_TIME

; write current time from block start in each case

; to R parameter

; The example is as follows with symbolic programming:

DEFINE INDEX AS $AC_MARKER[0] ; declarations for symbolic programming

IDS=1 EVERY $AC_TIMEC==0 DO INDEX = INDEX + 1 ; advance R parameter pointer on block change

IDS=2 DO $R[10+INDEX] = $AC_TIME

; write current time from block start in each case

; to R parameter

Task

08.97 Synchronized Actions (FBSY)

6.6 “Centering” with continuous measurement

6-141

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

6.6 “Centering” with continuous measurement

The gaps between gear teeth are measured sequentially. The gap dimension is

calculated from the sum of all gaps and the number of teeth. The center posi-

tion sought for continuation of machining is the position of the first measuring

point plus 1/2 the average gap size. The speed for measurement is selected

such that one measured value can be reliably acquired in each interpolation

cycle.

Probe 2 1 Falling edge, beginning of gap

2 Rising edge, end of gap

Fig. 6-4 Diagrammatic representation of measurement of gaps between gear teeth

%_N_MEAC_MITTEN_MPF

;measure using rotary axis B (BACH) with display of difference between measured values

;****** Define local user variables ***

N1 DEF INT NO.TEETH ; input no. of gear wheel teeth

N5 DEF REAL HYS_POS_EDGE ; hysteresis positive edge probe

N6 DEF REAL HYS_NEG_EDGE ; hysteresis negative edge probe

;********** Define code name for synchronization marker ***********

define M_TEETH as $AC_MARKER[1] ; ID marker for calculation: neg/pos edge per tooth

define Z_MW as $AC_MARKER[2] ; read out ID counter MW FIFO

define Z_RW as $AC_MARKER[3] ; ID counter MW calculation tooth gaps

Introduction

08.97

6.6 “Centering” with continuous measurement

Synchronized Actions (FBSY)

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

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

N50 NO.TEETH=26 ; input no. of gear wheel teeth to be measured

N70 HYS_POS_EDGE = 0.160 ; hysteresis positive edge probe

N80 HYS_NEG_EDGE = 0.140 ; hysteresis negative edge probe

Start: ;******* assign variables ************************

R1=0 ; ID2 result of computation gap dimension

R2=0 ; ID2 result of computation addition of all gaps

R3=0 ; content of first element read in

R4=0 ; R4 corresponds to distance between teeth

R5=0 ; gap position calculated, end result

R6=1 ; activate ID 3 BACH with MOV

R7=1 ; activate ID 5 MEAC

M_TEETH=NO.TEETH*2 ; calculate ID neg./pos. edge per tooth

Z_MW=0 ; read out ID counter MW FIFO until no. of teeth

Z_RW=2 ; ID counter calculate difference in tooth gaps

R13=HYS_POS_EDGE ; hysteresis in calc. register

R14=HYS_NEG_EDGE ; hysteresis in calc. register

;******* Traverse axis, measure, calculate **********

N100 MEAC[BACH]=(0) ; reset measuring job

;reset FIFO1[4] variables and ensure a defined measurement trace

N105 $AC_FIFO1[4]=0 ; reset FIFO1

STOPRE

; ******* Read out FIFO until no. of teeth reached *****

; if FIFO1 is not yet empty and not all teeth have been measured, relocate measured value from FIFO variable

; to synchronized action parameter and increase measured value counter

ID=1 WHENEVER ($AC_FIFO1[4]>=1) AND (Z_MW<M_TEETH)

DO $AC_PARAM[0+Z_MW]=$AC_FIFO1[0] Z_MW=Z_MW+1

; if 2 measured values are available, start to calculate. Calculate gap dimension ONLY and total gap

; increment calculated value counter by 2

ID=2 WHENEVER (Z_MW>=Z_RW) AND (Z_RW<M_TEETH)

DO $R1=($AC_PARAM[--1+Z_RW]--$R13)--($AC_PARAM[--2+Z_RW]--$R14) Z_RW=Z_RW+2 $R2=$R2+$R1

; ****** Activate axis BACH as endlessly turning rotary axis with MOV *********

WAITP(BACH)

ID=3 EVERY $R6==1 DO MOV[BACH]=1 FA[BACH]=1000 ; activate

ID=4 EVERY $R6==0 and ($AA_STAT[BACH]==1) DO MOV[BACH]=0 ; deactivate

; measure in succession, store in FIFO 1, MT2 neg, MT2 pos edge

; the distance between 2 teeth falling edge ... rising edge, probe 2, is measured

N310 ID=5 WHEN $R7==1 DO MEAC[BACH]=(2, 1, --2, 2)

N320 ID=6 WHEN (Z_MW>=M_TEETH) DO MEAC[BACH]=(0) ; abort measurement

M00

STOPRE

; ******* Fetch FIFO values and store ***

N400 R3=$AC_PARAM[0] ; content of first element to be read in

; reset FIFO1[4] variable and ensure

; a defined measurement trace for next measurement job

N500 $AC_FIFO1[4]=0

; ******* Calculate difference between individual teeth

N510 R4=R2/(NO.TEETH)/1000 ; R4 corresponds to an average distance between teeth

; “/1000” division is omitted in later SW versions

08.97 Synchronized Actions (FBSY)

6.6 “Centering” with continuous measurement

6-143

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

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

N520 R3=R3/1000 ; first measurement position converted to degrees

N530 R3=R3 MOD 360 ; first measurement point modulo

N540 R5=(R3--R14)+(R4/2) ; calculate gap position

M00

stopre

R6=0 ; deactivate rotation of BACH axis

gotob start

M30

08.97

6.7 Axis couplings via synchronized actions

Synchronized Actions (FBSY)

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

6.7 Axis couplings via synchronized actions

6.7.1 Coupling to master axis

A cyclic curve table is defined by means of polynomial segments. Controlled by

means of arithmetic variables, the movement of the master axis and the

coupling process between master and slave axes is activated/deactivated.

%_N_KOP_SINUS_MPF

N5 R1=1 ; ID 1, 2 activate/deactivate coupling: LEADON (CACB, BACH)

N6 R2=1 ; ID 3, 4 master axis movement on/off: MOV BACH

N7 R5=36000 ; BACH feed/min

N8 STOPRE

; **** Define periodic table no. 4 by means of polynomial segments ****

N10 CTABDEF (YGEO,XGEO,4,1)

N16 G1 F1200 XGEO=0.000 YGEO=0.000 ; approach initial positions

N17 POLY PO[XGEO]=(79.944,3.420,0.210) PO[YGEO]=(24.634,0.871,--9.670)

N18 PO[XGEO]=(116.059,0.749,--0.656) PO[YGEO]=(22.429,--5.201,0.345)

N19 PO[XGEO]=(243.941,--17.234,11.489) PO[YGEO]=(--22.429,--58.844,39.229)

N20 PO[XGEO]=(280.056,1.220,--0.656) PO[YGEO]=(--24.634,4.165,0.345)

N21 PO[XGEO]=(360.000,--4.050,0.210) PO[YGEO]=(0.000,28.139,--9.670)

N22 CTABEND ; **** End of table definition*****

; Traverse master axis and coupled axis in rapid mode to basic setting

N80 G0 BACH=0 CACH=0 ; Channel axis names

N50 LEADOF(CACH,BACH) ; existing coupling OFF

N235 ; ******* Activation of coupled motion for axis CACH *******

N240 WAITP(CACH) ; synchronize axis with channel

N245 ID=1 EVERY $R1==1 DO LEADON(CACH, BACH, 4) ; couple by means of table 4

N250 ID=2 EVERY $R1==0 DO LEADOF(CACH, BACH) ; deactivate coupling

N265 WAITP(BACH)

N270 ID=3 EVERY $R2==1 DO MOV[BACH]=1 FA[BACH]=R5 ; turn master axis endlessly at feedrate in R5

N275 ID=4 EVERY $R2==0 DO MOV[BACH]=0 ; stop master axis

N280 M00

N285 STOPRE

N290 R1=0 ; deactivate coupling condition

N295 R2=0 ; deactivate condition for master axis rotation

N300 R5=180 ; new feedrate for BACH

N305 M30

Task assignment

08.97 Synchronized Actions (FBSY)

6.7 Axis couplings via synchronized actions

6-145

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

6.7.2 Non-circular grinding via master value coupling

A non-circular workpiece that is rotating on axis CACH must be machined by

grinding. The distance between the grinding wheel and workpiece is controlled

by axis XACH and depends on the angle of rotation of the workpiece. The inter-

relationship between angles of rotation and assigned movements is defined in

curve table 2. The workpiece must move at velocities that are determined by

the workpiece contour defined in curve table 1.

CACH is designated as the master axis in a coupling. It controls

-- the compensatory motion of axis XACH via table 2 and

-- “software axis” CASW via table 1.

The axis override of axis CACH is determined by the actual values of axis

CASW, thus providing the required contour-dependent velocity of axis CACH.

XACH

CACH

Grinding wheel

workpiece contour

(Section of)

Fig. 6-5 Diagrammatic representation of non-circular contour grinding

%_N_CURV_TABS_SPF

PROC CURV_TABS

N160 ; *************** Table 1 Define override ******

N165 CTABDEF(CASW,CACH,1,1) ; Periodic Table 1

N170 CACH=0 CASW=10

N175 CACH=90 CASW=10

N180 CACH=180 CASW=100

N185 CACH=350 CASW=10

N190 CACH=359.999 CASW=10

N195 CTABEND

Task assignment

Solution

10.00

08.97

6.7 Axis couplings via synchronized actions

Synchronized Actions (FBSY)

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

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

CTABDEF(YGEO,XGEO,2,1) ; Periodic Table 2

N16 XGEO=0.000 YGEO=0.000

N16 XGEO=0.001 YGEO=0.000

N17 POLY PO[XGEO]=(116.000,0.024,0.012) PO[YGEO]=(4.251,0.067,--0.828)

N18 PO[XGEO]=(244.000,0.072,--0.048) PO[YGEO]=(4.251,--2.937)

N19 PO[XGEO]=(359.999,--0.060,0.012) PO[YGEO]=(0.000,--2.415,0.828)

N16 XGEO=360.000 YGEO=0.000

N20 CTABEND

M17

%_N_NONCIRC_MPF

; Coupled axis grouping for non-circular machining

; XACH is the infeed axis of the grinding wheel

; CACH is the workpiece axis as a rotary axis and master axis

; Application: Grind non-circular contour

; Table 1 mirrors the override for axis CACH as a function of the position of CACH

; Override of XGEO axis with handwheel infeed for scratching

N100 DRFOF ; deselect handwheel override

N200 MSG(“select DRF, (handwheel 1 active) and select INCREMENT.== handwheel override ACTIVE”)

N300 M00

N500 MSG() ; reset message

N600 R2=1 ; LEADON Table 2, activate with ID=3/4 CACH to XACH

N700 R3=1 ; LEADON Table 1, activate with ID=5/6 CACH to CASW, override

N800 R4=1 ; endlessly turning rotary axis CACH, start with ID=7/8

N900 R5=36000 ; FA[CACH] speed of endlessly turning rotary axis

N1100 STOPRE

N1200 ; ********* Set axes and master axis to following axis *******

; Traverse master and following axes to initial positions

N1300 G0 XGEO=0 CASW=10 CACH=0

N1400 LEADOF(XACH,CACH) ; coupling OFF XACH compensatory movement

N1500 LEADOF(CASW,CACH) ; coupling OFF CASW override table

N1600 CURV_TABS ; subprogram with definition of tables

N1700 ; ******* activate LEADON compensatory motion XACH *******

N1800 WAITP(XGEO) ; synchronize axis with channel

N1900 ID=3 EVERY $R2==1 DO LEADON(XACH,CACH,2)

N2000 ID=4 EVERY $R2==0 DO LEADOF(XACH,CACH)

N2100 ; ************ activate LEADON CASW override table ****

N2200 WAITP(CASW)

N2300 ID=5 EVERY $R3==1 DO LEADON(CASW,CACH,1) ; CTAB coupling ON master axis CACH

N2400 ID=6 EVERY $R3==0 DO LEADOF(CASW,CACH) ; CTAB coupling OFF master axis CACH

N2500 ; ** control CASH override from position CASW with ID 10 *

N2700 ID=11 DO $$AA_OVR[CACH]=$AA_IM[CASW] ; assign “axis position” CASW to OVR CACH

N2900 WAITP(CACH)

N3000 ID=7 EVERY $R4==1 DO MOV[CACH]=1 FA[CACH]=R5 ; start as endlessly turning rotary axis

N3100 ID=8 EVERY $R4==0 DO MOV[CACH]=0 ; stop as endlessly turning rotary axis

N3200 STOPRE

N3300 R90=$AA_COUP_ACT[CASW] ; status of coupling for CASW for checking

N3400 MSG(“activate CASW override table with LEADON ”<<R90<<“, go to END with NC START”)

10.00

08.97 Synchronized Actions (FBSY)

6.7 Axis couplings via synchronized actions

6-147

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

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

N3600 MSG()

N3700 STOPRE ; preprocessing stop

N3800 R1=0 ; stop with ID=2 CASW axis as endlessly turning rotary axis

N3900 R2=0 ; LEADOF with ID=6 FA XACH and master axis CACH

N4000 R3=0 ; LEADOF TAB1 CASW with ID=7/8 CACH to CASW override table

N4100 R4=0 ; stop axis as endlessly turning rotary axis, ID=4 CACH

N4200 M30

The example above can be expanded by the following components:

-- Introduction of a Z axis to move the grinding wheel or workpiece from

one non-circular operation to the next on the same shaft

(cam shaft).

-- Switchover between tables if the cams have different contours, e.g. for

inlet and outlet.

ID = ... <condition> DO LEADOF(XACH, CACH) LEADON(XACH,

CACH, <new table number>)

-- Dressing of grinding wheel by means of online tool offset acc. to

Section 2.4.7.

6.7.3 On-the-fly parting

An extruded material which passes continuously through the operating area of

a cutting tool must be cut into parts of equal length.

X axis: Axis in which the extruded material moves. WCS

X1 axis: Machine axis of extruded material, MCS

Y axis: Axis in which cutting tool “tracks” the extruded material

For the purpose of this example, it is assumed that the cutting tool infeed is

controlled via the PLC. The signals at the PLC interface can be evaluated to

determine whether the extruded material and cutting tool are synchronized.

Activate coupling, LEADON

Deactivate coupling, LEADOF

Set actual values, PRESETON

Expansion options

Task assignment

Actions

10.00

08.97

6.7 Axis couplings via synchronized actions

Synchronized Actions (FBSY)

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

NC program Remarks

%_N_SCHERE1_MPF

; $PATH=/_N_WKS_DIR/_N_DEMOFBE_WPD

N100 R3=1500 ; length of a part to be cut off

N200 R2=100000 R13=R2/300

N300 R4=100000

N400 R6=30 ; start position Y axis

N500 R1=1 ; start condition for belt axis

N600 LEADOF(Y,X) ; delete any existing coupling

N700 CTABDEF(Y,X,1,0) ; table definition

N800 X=30 Y=30 ; value pairs

N900 X=R13 Y=R13

N1000 X=2*R13 Y=30

N1100 CTABEND ; end of table definition

N1200 PRESETON(X1,0) ; PRESET at beginning

N1300 Y=R6 G0 ; Start pos. Y axis

; axis is linear

N1400 ID=1 EVERY $AA_IW[X]>$R3 DO PRESETON(X1,0) ; PRESET after length R3, PRESTON only permitted with

; WHEN and EVERY

; new start after material parting

N1500 WAITP(Y)

N1800 ID=6 EVERY $AA_IM[X]<10 DO LEADON(Y,X,1) ; couple Y to X via Table 1 when X < 10

N1900 ID=10 EVERY $AA_IM[X]>$R3--30 DO LEADOF(Y,X) ; decouple when X > 30 from start of cutting length

N2000 WAITP(X)

N2100 ID=7 WHEN $R1==1 DO MOV[X]=1 FA[X]=$R4 ; set extruded material axis continuously in motion

N2200 M30

10.00

08.97 Synchronized Actions (FBSY)

6.8 Technology cycles “Position spindle”

6-149

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

6.8 Technology cycles “Position spindle”

Interacting with the PLC program, the spindle which initiates a tool change must

-- traversed to an initial position or

-- positioned at a specific point at which the tool to be inserted is also

located.

Compare Sections 2.4.12, 2.6.1.

The PLC and NCK are coordinated by means of the common data that are pro-

vided in SW version 4 and later (see Section 2.3.8)

-- $A_DBB[0] 1 traverse to initial position

-- $A_DBB[1] 1 traverse to target position

-- $A_DBW[1] Position value + / -- , PLC calculates the

shortest route.

%_N_MAIN_MPF

...

IDS=1 EVERY $A_DBB[0]==1 DO NULL_POS ; if $A_DBB[0] is set by PLC, traverse to initial position

IDS=2 EVERY $A_DBB[1]==1 DO ZIEL_POS ; if $A_DBB[1] is set by PLC, traverse spindle to

;positionstoredin$A_DBW[1]

...

%_N_NULL_POS_SPF

PROC NULL_POS

SPOS=0 ; move drive for tool change into initial position

$A_DBB[0]=0 ; initial position executed in NCK

%_N_ZIEL_POS_SPF

PROC TARGET_POS

SPOS=IC($A_DBW[1]) ; traverse spindle to position value that has been stored in

$A_DBW[1] ; by the PLC, incremental dimension

$A_DBB[1]=0 ; target position executed in NCK

Application

Coordination

Synchronized

actions

Technology cycle

NULL_POS

Technology cycle

ZIEL_POS

08.97

6.9 Synchronized actions in the TCC/MC area

Synchronized Actions (FBSY)

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

6.9 Synchronized actions in the TCC/MC area

The following figure shows the schematic structure of a tool-changing cycle.

“Return tool” “Fetch TOOL”

VPY

VPX

VPY

VPX

ZP1Y

ZP1X

WPY

WPX WPX

WPY

“Position magazine”

Level tool pockets

“Intermediate point”

(can be rounded)

“Starting point”

(Z clamped) “Starting point”

(Z released)

“Z released”

“Z clamped”

Fig. 6-6 Schematic sequence for tool-changing cycle

Introduction

12.97

08.97 Synchronized Actions (FBSY)

6.9 Synchronized actions in the TCC/MC area

6-151

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

Block search active?

(If $P_SEARCH GOTOF ..)

Spindle positioning beyond block limit

(SPOSA= or SPOSA[n]= )

Read preset T number

(GETSELT[] or GETSELT[..., n])

Read T number from spindle

(ToolSpindle=$TC_MPP6[9998,m])

Change tool

(’M06’ <== MD 22560)

Preselected tool in SP?

(If ToolSpindle==Toolcode

GOTOF ..)

Start

Yes

Preselected T No. = 0?

(If Toolcode==0 GOTOF ..)

Yes

No tool in spindle?

(If ToolSpindle==0 GOTOF ..)

Yes

Return 1st tool / Fetch 2nd tool

(’D1’: activate tool offset)

End

Return tool

(’D0’: deactivate tool offset)

Fetch tool

(’D1’: activate tool offset)

’D1’: activate tool offset

Yes

Tool change ’M06’

(’D1’: activate tool offset)

Tool change cycle in %MPF

Fig. 6-7 Flowchart for tool-changing cycle

Flowchart

12.97

08.97

6.9 Synchronized actions in the TCC/MC area

Synchronized Actions (FBSY)

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

NC program Remarks

%_N_WZW_SPF

;$PATH=/_N_SPF_DIR

N10 DEF INT toolcode, ToolSpindle

N15 WHEN $AC_PATHN<10 DO $AC_MARKER[0]=0 $AC_MARKER[1]=0 $AC_MARKER[2]=0

N20 ID=3 WHENEVER $A_IN[9]==TRUE DO $AC_MARKER[1]=1 ; marker to = 1 when MagAxis traversed

N25 ID=4 WHENEVER $A_IN[10]==TRUE DO $AC_MARKER[2]=1 ; marker to = 1 when MagAxis traversed

N30 IF $P_SEARCH GOTOF tcc_preprocessing ; block search active ? -->

N35 SPOSA=0 D0

N40 GETSELT(toolcode) ; read preselected T No.

N45 ToolSpindle=$TC_MPP6[9998,1] ; read tool in spindle

N50 M06

N55 IF ToolSpindle==ToolCode GOTOF tool_in_spindle IF ToolCode==0 GOTOF return1 IF ToolSpindle==0 GOTOF

fetch1

;*****Fetch and return tool*****

return1fetch1:

N65 WHENEVER $AA_VACTM[C2]<>0 DO $AC_MARKER[1]=1 ; if MagAxis traverses marker = 1

N70 G01 G40 G53 G64 G90 X=magazine1VPX Y=magazine1VPY Z=magazine1Zclamped F70000 M=QU(120)

M=QU(123) M=QU(9)

N75 WHENEVER $AA_STAT[S1]<>4 DO $AC_OVR=0 ; spindle in position

N80 WHENEVER $AA_VACTM[C2]<>0 DO $AC_MARKER[1]=1 ; magAxis traversing request

N85 WHENEVER $AC_MARKER[1]==0 DO $AC_OVR=0 ; override=0 if axis not traversed

N90 WHENEVER $AA_STAT[C2]<>4 DO $AC_OVR=0 ; override=0 if MagAxis not in pos. fine

N95 WHENEVER $AA_DTEB[C2]>0 DO $AC_OVR=0 ; override=0 if distance-to-go MagAxis > 0

N100 G53 G64 X=magazine1ZP1X Y=magazine1ZP1Y F60000

N105 G53 G64 X=magazine1WPX Y=magazine1WPY F60000

N110 M20 ; release tool

N115 G53 G64 Z=MR_magazine1Zreleased F40000

N120 WHENEVER $AA_VACTM[C2]<>0 DO $AC_MARKER[2]=1;

N125 WHENEVER $AC_MARKER[2]==0 DO $AC_OVR=0

N130 WHENEVER $AA_STAT[C2]<>4 DO $AC_OVR=0

N135 WHENEVER $AA_DTEB[C2]>0 DO $AC_OVR=0

N140 G53 G64 Z=magazine1Zclamped F40000

N145 M18 ; clamp tool

N150 WHEN $AC_PATHN<10 DO M=QU(150) M=QU(121) ; condition always satisfied

N155 G53 G64 X=magazine1VPX Y=magazine1VPY F60000 D1 M17

;*****Return tool*****

return1:

N160 WHENEVER $AA_VACTM[C2]<>0 DO $AC_MARKER[1]=1

N165 G01 G40 G53 G64 G90 X=magazine1VPX Y=magazine1VPY Z=magazine1Zclamped F70000 M=QU(120)

M=QU(123) M=QU(9)

N170 WHENEVER $AA_STAT[S1]<>4 DO $AC_OVR=0

N175 WHENEVER $AA_VACTM[C2]<>0 DO $AC_MARKER[1]=1

N180 WHENEVER $AC_MARKER[1]==0 DO $AC_OVR=0

N185 WHENEVER $AA_STAT[C2]<>4 DO $AC_OVR=0

N190 WHENEVER $AA_DTEB[C2]>0 DO $AC_OVR=0

N195 G53 G64 X=magazine1ZP1X Y=magazine1ZP1Y F60000

N200 G53 G64 X=magazine1WPX Y=magazine1WPY F60000

N205 M20 ; release tool

N210 G53 G64 Z=magazine1Zreleased F40000

N215 G53 G64 X=magazine1VPX Y=magazine1VPY F60000 M=QU(150) M=QU(121) D0 M17

;*****Fetch tool*****

fetch1:

N220 WHENEVER $AA_VACTM[C2]<>0 DO $AC_MARKER[2]=1

N225 G01 G40 G53 G64 G90 X=magazine1VPX Y=magazine1VPY Z=magazine1Zreleased F70000 M=QU(120)

M=QU(123) M=QU(9)

N230 G53 G64 X=magazine1WPX Y=magazine1WPY F60000

N235 WHENEVER $AA_STAT[S1]<>4 DO $AC_OVR=0

N240 WHENEVER $AA_VACTM[C2]<>0 DO $AC_MARKER[2]=1

N245 WHENEVER $AC_MARKER[2]==0 DO $AC_OVR=0

N250 WHENEVER $AA_STAT[C2]<>4 DO $AC_OVR=0

12.97

08.97 Synchronized Actions (FBSY)

6.9 Synchronized actions in the TCC/MC area

6-153

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

N255 WHENEVER $AA_DTEB[C2]>0 DO $AC_OVR=0

N260 G53 G64 Z=magazine1Zclamped F40000

N265 M18 ; clamp tool

N270 G53 G64 X=magazine1VPX Y=magazine1VPY F60000 M=QU(150) M=QU(121) D1 M17

;*****Tool in spindle *****

tool_in_spindle:

N275 M=QU(121) D1 M17

;*****Block search*****

tc_block search:

N280 STOPRE

N285 D0

N290 M06

N295 D1 M17

12.97

08.97

6.9 Synchronized actions in the TCC/MC area

Synchronized Actions (FBSY)

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

Notes

04.00

08.97 Synchronized Actions (FBSY)

7.1 Interface signals

7-155

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

Data Fields, Lists

7.1 Interface signals

DB number Bit, byte Name Refe-

rence

Channel-specific

21--30 280.1 Disable modal synchronized actions acc. to DBX 300.0--307.7

21--30 300.0 -- Disable modal synchronized actions acc. to DBX 300.0--307.7, acknowledgment

from NCK

21--30 300.0 -- Modal synchronized actions ID or IDS 1 --

21--30 307.7 Disable 64. Request to NCK channel

21--30 308.0 -- Modal synchronized actions ID or IDS 1 --

21--30 315.7 64 can be disabled. Message from NCK.

7.2 Machine data

Number Identifier Name Refe-

rence

General ($MN_ ... )

11110 AUXFU_GROUP_SPEC Auxiliary function group specification H2

11500 PREVENT_SYNACT_LOCK Protected synchronized actions

Channel-specific ($MC_ ... )

21240 PREVENT_SYNACT_LOCK_CHAN Protected synchronized actions for channel

28250 MM_NUM_SYNC_ELEMENTS Number of elements for expressions in synchro-

nized actions

28252 MM_NUM_FCTDEF_ELEMENTS Number of FCTDEF elements

28254 MM_NUM_AC_PARAM Number of $AC_PARAM parameters

28255 MM_BUFFERED_AC_PARAM Storage location for $AC_PARAM (as of SW 6.3)

28256 MM_NUM_AC_MARKER Number of $AC_MARKER markers

28257 MM_BUFFERED_AC_MARKER Storage location for $AC_MARKER (as of SW 6.3)

28258 MM_NUM_AC_TIMER Number of $AC_TIMER time variables

28260 NUM_AC_FIFO Number of $AC_FIFO1, $AC_FIFO2, ... variables

28262 START_AC_FIFO Store FIFO variables from R parameter

28264 LEN_AC_FIFO Length of $AC_FIFO ... FIFO variables

28266 MODE_AC_FIFO FIFO processing mode

.96

04.97

08.02

08.97

7.3 Alarms

Synchronized Actions (FBSY)

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

Axis-specific ($MA_ ... )

30450 IS_CONCURRENT_POS_AX Competing positioning axis P2

32060 POS_AX_VELO Initial setting for positioning axis velocity P2

32070 CORR_VELO Axis velocity for handwheel, ext. ZO, cont. dressing,

clearance control (SW 3 and later) H1

32074 FRAME_OR_CORRPOS_NOTALLOWED Effectiveness of frames and tool length compensa-

tion

32920 AC_FILTER_TIME Filter smoothing time constant for Adaptive Control

(SW2 and later)

36750 AA_OFF_MODE Effect of value assignment for axial override for syn-

chronized actions (SW3 and later)

37200 COUPLE_POS_TOL_COARSE Threshold value for “Coarse synchronism” S3

37210 COUPLE_POS_TOL_FINE Threshold value for “Fine synchronism” S3

Setting data ($SA_ ... )

43300 ASSIGN_FEED_PER_REV_SOURCE Rotational feedrate for positioning axes/spindles V1

43350 AA_OFF_LIMIT Upper limit of offset value for $AA_OFF clearance

control

43400 WORKAREA_PLUS_ENABLE Working area limitation in pos. direction A3

7.3 Alarms

Detailed explanations of alarms which may occur can be found in

References: /DA/, “Diagnostics Guide”

or in the online help on systems with MMC 101/102.

.96

12.97

A-157

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

References

General Documentation

SINUMERIK 840D/840Di/810D/802S, C, D

Ordering Information

Catalog NC 60

Order No.: E86060-K4460-A101-A9-7600

Catalog IK PI 2000

Industrial Communication and Field Devices

Order No. of bound edition: E86060--K6710-A101-A9-7600

Order No. of single-sheet edition: E86060-K6710-A100-A9-7600

SIMATIC

SIMATIC S7 Programmable Logic Controllers

Catalog ST 70

Order No.: E86 060-K4670-A111-A3-7600

SINUMERIK, SIROTEC, SIMODRIVE

Accessories and Equipment for Special-Purpose Machines

Catalog NC Z

Order No.: E86060-K4490-A001-A8-7600

Electronic Documentation

The SINUMERIK System (11.02 Edition)

DOCONCD

(includes all SINUMERIK 840D/840Di/810D/802 and SIMODRIVE publications)

Order No.: 6FC5 298-6CA00-0BG3

/BU/

/IKPI/

/ST7/

/Z/

/CD1/

08.97

Synchronized Actions (FBSY)

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

User Documentation

SINUMERIK 840D/810D

Short Guide AutoTurn Operation (09.99 Edition)

Order No.: 6FC5 298-4AA30-0BP2

SINUMERIK 840D/810D

AutoTurn Graphic Programming System (02.02 Edition)

Programming/Setup

Order No.: 6FC5 298-4AA40-0BP3

SINUMERIK 840D/810D

Operator’s Guide MMC (10.00 Edition)

Order No.: 6FC5 298-6AA00-0BP0

SINUMERIK 840D/840Di/810D

Operator’s Guide HMI Advanced (11.02 Edition)

Order No.: 6FC5 298-6AF00-0BP2

SINUMERIK 840D/810D

Operator’s Guide HMI Embedded (11.02 Edition)

Order No.: 6FC5 298-6AC00-0BP2

SINUMERIK 840D/840Di/810D

Operator’s Guide HT 6 (06.02 Edition)

Order No.: 6FC5 298-0AD60-0BP2

SINUMERIK 840D/840Di/810D

Short Guide Operation (02.01 Edition)

Order No.: 6FC5 298-6AA10-0BP0

SINUMERIK 840D/810D

Operation/Programming ManualTurn (08.02 Edition)

Order No.: 6FC5 298-6AD00-0BP0

SINUMERIK 840D/810D

Operation/Programming ShopMill (11.02 Edition)

Order No.: 6FC5 298-6AD10-0BP1

SINUMERIK 840D/810D

Operation/Programming ShopTurn (03.03 Edition)

Order No.: 6FC5 298-6AD50-0BP2

/AUK/

/AUP/

/BA/

/BAD/

/BEM/

/BAH/

/BAK/

/BAM/

/BAS/

/BAT/

ence

11.02

08.97 Synchronized Actions (FBSY)

A-159

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

SINUMERIK 840D/840Di/810D

User’s Guide Measuring Cycles (11.02 Edition)

Order No.: 6FC5 298-6AA70-0BP2

SINUMERIK 840D/840Di/810D

Operator’s Guide CAD Reader (03.02 Edition)

Order No.: (included in online help)

SINUMERIK 840D/840Di/810D

Diagnostics Guide (11.02 Edition)

Order No.: 6FC5 298-6AA20-0BP3

SINUMERIK 840D/810D

Short Guide ManualTurn (04.01 Edition)

Order No.: 6FC5 298-5AD40-0BP0

SINUMERIK 840D/810D

Short Guide ShopMill (04.01 Edition)

Order No.: 6FC5 298-5AD30-0BP0

SINUMERIK 840D/810D

Short Guide ShopTurn (07.01 Edition)

Order No.: 6FC5 298-6AF20-0BP0

SINUMERIK 840D/840Di/810D

Programming Guide Fundamentals (11.02 Edition)

Order No.: 6FC5 298-6AB00-0BP2

SINUMERIK 840D/840Di/810D

Programming Guide Advanced (11.02 Edition)

Order No.: 6FC5 298-6AB10-0BP2

SINUMERIK 840D/840Di/810D

Short Guide Programming (02.01 Edition)

Order No.: 6FC5 298-6AB30-0BP1

SINUMERIK 840D/840Di/810D

Programming Guide ISO Milling (11.02 Edition)

Order No.: 6FC5 298-6AC20-0BP2

SINUMERIK 840D/840Di/810D

Programming Guide ISO Turning (11.02 Edition)

Order No.: 6FC5 298-6AC10-0BP2

/BNM/

/CAD/

/DA/

/KAM/

/KAS/

/KAT/

/PG/

/PGA/

/PGK/

/PGM/

/PGT/

ence

11.02

08.97

Synchronized Actions (FBSY)

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

SINUMERIK 840D/840Di/810D

Programming Guide Cycles (11.02 Edition)

Order No.: 6FC5 298-6AB40-0BP2

PCIN 4.4

Software for Data Transfer to/from MMC Module

Order No.: 6FX2 060 4AA00-4XB0 (English, French, German)

Order from: WK Fürth

SINUMERIK 840Di

System Overview (02.01 Edition)

Order No.: 6FC5 298-6AE40-0BP0

Manufacturer/Service Documentation

SINUMERIK 840D/840Di/810D

SIMODRIVE 611D

Lists (11.02 Edition)

Order No.: 6FC5 297-6AB70-0BP3

SINUMERIK 840D/840Di/810D

Operator Components Manual (HW) (11.02 Edition)

Order No.: 6FC5 297-6AA50-0BP2

SIMODRIVE Sensor

Absolute Position Sensor with PROFIBUS DP

User’s Guide (HW) (02.99 Edition)

Order No.: 6SN1197-0AB10-0YP1

SINUMERIK, SIROTEC, SIMODRIVE

EMC Installation Guide

Planning Guide (HW) (06.99 Edition)

Order No.: 6FC5 297-0AD30-0BP1

ADI4 -- Analog Drive Interface for 4 Axes

Manual (09.02 Edition)

Order No.: 6FC5 297-0BA01-0BP0

/PGZ/

/PI/

/SYI/

a) Lists

/LIS/

b) Hardware

/BH/

/BHA/

/EMV/

/GHA/

ence

11.02

08.97 Synchronized Actions (FBSY)

A-161

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

SINUMERIK 810D

Configuring Manual (HW) (03.02 Edition)

Order No.: 6FC5 297-6AD10-0BP0

SINUMERIK 840D

Configuring Manual NCU 561.2-573.4 (HW) (10.02 Edition)

Order No.: 6FC5 297-6AC10-0BP2

SIMODRIVE Sensor

Hollow-Shaft Measuring System SIMAG H

Configuring/Installation Guide (HW) (07.02 Edition)

Order No.: 6SN1197-0AB30-0BP1

SINUMERIK 840D/840Di/810D

Description of Functions, Basic Machine (Part 1) (11.02 Edition)

(the various sections are listed below)

Order No.: 6FC5 297-6AC20-0BP2

A2 Various Interface Signals

A3 Axis Monitoring,Protection Zones

B1 Continuous Path Mode, Exact Stop and LookAhead

B2 Acceleration

D1 Diagnostic Tools

D2 Interactive Programming

F1 Travel to Fixed Stop

G2 Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control

H2 Output of Auxiliary Functions to PLC

K1 Mode Group, Channel, Program Operation Mode

K2 Axes, Coordinate Systems, Frames,

Actual-Value System for Workpiece, Work Offset External

K4 Communication

N2 EMERGENCY STOP

P1 Transverse Axes

P3 Basic PLC Program

R1 Reference Point Approach

S1 Spindles

V1 Feeds

W1 Tool Offset

SINUMERIK 840D/840Di/810D(CCU2)

Description of Functions, Extended Functions (Part 2) (11.02 Edition)

including FM-NC: Turning, Stepper Motor

(the various sections are listed below)

Order No.: 6FC5 297-6AC30-0BP2

A4 Digital and Analog NCK I/Os

B3 Several Operator Panels and NCUs

B4 Operation via PG/PC

F3 Remote Diagnostics

H1 JOG with/without Handwheel

K3 Compensations

/PHC/

/PHD/

/PMH/

c) Software

/FB1/

/FB2/

ence

11.02

08.97

Synchronized Actions (FBSY)

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

K5 Mode Groups, Channels, Axis Replacement

L1 FM-NC Local Bus

M1 Kinematic Transformation

M5 Measurement

N3 Software Cams, Position Switching Signals

N4 Punching and Nibbling

P2 Positioning Axes

P5 Oscillation

R2 Rotary Axes

S3 Synchronous Spindles

S5 Synchronized Actions (up to and including SW 3)

S6 Stepper Motor Control

S7 Memory Configuration

T1 Indexing Axes

W3 Tool Change

W4 Grinding

SINUMERIK 840D/840Di/810D(CCU2)

Description of Functions, Special Functions (Part 3) (11.02 Edition)

(the various sections are listed below)

Order No.: 6FC5 297-6AC80-0BP2

F2 3-Axis to 5-Axis Transformation

G1 Gantry Axes

G3 Cycle Times

K6 Contour Tunnel Monitoring

M3 Coupled Motion and Leading Value Coupling

S8 Constant Workpiece Speed for Centerless Grinding

T3 Tangential Control

TE0 Installation and Activation of Compile Cycles

TE1 Clearance Control

TE2 Analog Axis

TE3 Master-Slave for Drives

TE4 Transformation Package Handling

TE5 Setpoint Exchange

TE6 MCS Coupling

TE7 Retrace Support

TE8 Path-Synchronous Switch Signal

V2 Preprocessing

W5 3D Tool Radius Compensation

SIMODRIVE 611D/SINUMERIK 840D/810D

Description of Functions Drive Functions (11.02 Edition)

(the various sections are listed below)

Order No.: 6SN1 197-0AA80-0BP9

DB1 Operational Messages/Alarm Reactions

DD1 Diagnostic Functions

DD2 Speed Control Loop

DE1 Extended Drive Functions

DF1 Enable Commands

DG1 Encoder Parameterization

DL1 Linear Motor MD

DM1 Calculation of Motor/Power Section Parameters and

Controller Data

DS1 Current Control Loop

DÜ1 Monitors/Limitations

/FB3/

/FBA/

ence

11.02

08.97 Synchronized Actions (FBSY)

A-163

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

SINUMERIK 840D/SIMODRIVE 611 digital

Description of Functions

ANA MODULE (02.00 Edition)

Order No.: 6SN1 197-0AB80-0BP0

SINUMERIK 840D

Description of Functions Digitizing (07.99 Edition)

Order No.: 6FC5 297-4AC50-0BP0

DI1 Start-up

DI2 Scanning with Tactile Sensors (scancad scan)

DI3 Scanning with Lasers (scancad laser)

DI4 Milling Program Generation (scancad mill)

IT Solutions

System for NC Data Management and Data

Distribution (DNC NT-2000) (01.02 Edition)

Description of Functions

Order No.: 6FC5 297-5AE50-0BP2

SINUMERIK 840D/810D

IT Solutions

SinDNC NC Data Transfer via Network (09.02 Edition)

Description of Functions

Order No.: 6FC5 297-5AE70-0BP0

SINUMERIK 840D/840Di/810D

Description of Functions

ISO Dialects for SINUMERIK (11.02 Edition)

Order No.: 6FC5 297-6AE10-0BP2

SINUMERIK 840D/840Di/810D

Description of Functions Remote Diagnosis (11.02 Edition)

Order No.: 6FC5 297-0AF00-0BP2

SINUMERIK 840D/840Di/810D

HMI Configuring Package (11.02 Edition)

Order No.: (supplied with the software)

Part 1 User’s Guide

Part 2 Description of Functions

SINUMERIK 840D/SIMODRIVE 611 digital

Description of Functions HLA Module (04.00 Edition)

Order No.: 6SN1 197-0AB60-0BP2

SINUMERIK 840D/810D

Description of Functions ManualTurn (08.02 Edition)

Order No.: 6FC5 297-6AD50-0BP0

/FBAN/

/FBD/

/FBDN/

/FBDT/

/FBFA/

/FBFE/

/FBH/

/FBHLA/

/FBMA/

ence

11.02

08.97

Synchronized Actions (FBSY)

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

SINUMERIK 840D/810D

Configuring OP 030 Operator Interface (09.01 Edition)

Description of Functions

Order No.: 6FC5 297-6AC40-0BP0

BA Operator’s Guide

EU Development Environment (Configuring Package)

PS Online only: Configuring Syntax (Configuring Package)

PSE Introduction to Configuring of Operator Interface

IK Screen Kit: Software Update and Configuration

SINUMERIK 840D

Description of Functions C-PLC Programming (03.96 Edition)

Order No.: 6FC5 297-3AB60-0BP0

SINUMERIK 840D/810D

IT Solutions

Description of Functions Computer Link (SinCOM) (09.01 Edition)

Order No.: 6FC5 297-6AD60-0BP0

NFL Host Computer Interface

NPL PLC/NCK Interface

SINUMERIK 840D / SIMODRIVE 611 digital (09.02 Edition)

Description of Functions SINUMERIK Safety Integrated

Order No.: 6FC5 297-6AB80-0BP1

SINUMERIK 840D/810D

Description of Functions ShopMill (11.02 Edition)

Order No.: 6FC5 297-6AD80-0BP1

SIMATIC (01.01 Edition)

Description of Functions FM STEPDRIVE/SIMOSTEP

Order No.: 6SN1 197-0AA70-0YP4

SINUMERIK 840D/840Di/810D

Description of Functions Synchronized Actions (10.02 Edition)

Order No.: 6FC5 297-6AD40-0BP2

SINUMERIK 840D/810D

Description of Functions ShopTurn (03.03 Edition)

Order No.: 6FC5 297-6AD70-0BP2

SINUMERIK 840D/810D

IT Solutions

SINUMERIK Tool Data Communication SinTDC (01.02 Edition)

Description of Functions

Order No.: 6FC5 297-5AF30-0BP0

/FBO/

/FBP/

/FBR/

/FBSI/

/FBSP/

/FBST/

/FBSY/

/FBT/

/FBTC/

ence

11.02

08.97 Synchronized Actions (FBSY)

A-165

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

SINUMERIK 840D/810D

IT Solutions

Tool Information System (SinTDI) with Online Help

Description of Functions (02.01 Edition)

Order No.: 6FC5 297-6AE00-0BP0

SIMODRIVE 611 universal/universal E

Closed-Loop Control Component for Speed Control and Positioning

Description of Functions (02.02 Edition)

Order No.: 6SN1 197-0AB20-0BP5

SINUMERIK 840D/840Di/810D

Description of Functions Tool Management (10.02 Edition)

Order No.: 6FC5 297-6AC60-0BP1

SINUMERIK 840D/840Di/810D

Description of Functions WinTPM (02.02 Edition)

Order No.: The document is an integral part of the software

SINUMERIK 840D/840Di/810D

Manual @Event (03.02 Edition)

Order No.: 6AU1900-0CL20-0AA0

SINUMERIK 840Di

Manual (09.02 Edition)

Order No.: 6FC5 297-6AE60-0BP1

SINUMERIK 840D/840Di/810D

Commissioning Tool SINUMERIK SinuCOM NC (02.02 Edition)

System Description

Order No.: (an integral part of the online help for the start-up tool)

/PAP/ SIMODRIVE Sensor

Absolute Encoder with PROFIBUS DP

User’s Guide (02.99 Edition)

Order No.: 6SN1197--0AB10--0YP1

SIMODRIVE

Planning Guide 1FT5, 1FT6, 1FK6 Motors (12.01 Edition)

AC servo motors for feed and main spindle drives

Order No.: 6SN1 197-0AC20-0BP0

/FBTD/

/FBU/

/FBW/

/FBWI/

/HBA/

/HBI/

/INC/

/PFK/

ence

11.02

08.97

Synchronized Actions (FBSY)

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

SINUMERIK 840D/810D

Configuring Package HMI Embedded (08.01 Edition)

Description of Functions: Software Update, Configuration Installation

Order No.: 6FC5 297-6EA10-0BP0

(the document PS Configuring Syntax is supplied with the software

and available as a pdf file)

SIMODRIVE

Planning Guide 1FE1 Built-In Synchronous Motors

Three-Phase AC Motors for Main Spindle Drives (09.01 Edition)

Order No.: 6SN1 197-0AC00-0BP1

SIMODRIVE

Planning Guide 1FN1, 1FN3 Linear Motors (11.01 Edition)

ALL General Information about Linear Motors

1FN1 1FN1 Three-Phase AC Linear Motor

1FN3 1FN3 Three-Phase AC Linear Motor

CON Connections

Order No.: 6SN1 197-0AB70-0BP2

SIMODRIVE

Planning Guide Motors (11.00 Edition)

Three-Phase AC Motors for Feed and Main Spindle Drives

Order No.: 6SN1 197-0AA20-0BP5

SIMODRIVE

Planning Guide Integrated Torque Motors 1FW6 (08.02 Edition)

Order No.: 6SN1 197--0AD00--0BP0

SIMODRIVE 611

Planning Guide Inverters (05.01 Edition)

Order No.: 6SN1 197-0AA00-0BP5

SIMODRIVE (04.02 Edition)

Planning Guide ECO Motor Spindle for Main Spindle Drives

Order No.: 6SN1 197-0AD04-0BP0

SIMODRIVE POSMO A (08.02 Edition)

Distributed Positioning Motor on PROFIBUS DP, User’s Guide

Order No.: 6SN2197-0AA00-0BP3

SIMODRIVE POSMO A

Installation Instructions (enclosed with POSMO A)

SIMODRIVE POSMO SI/CD/CA (08.02 Edition)

Distributed Servo Drive Systems, User’s Guide

Order No.: 6SN2197-0AA20-0BP3

/PJE/

/PJFE/

/PJLM/

/PJM/

/PJTM/

/PJU/

/PMS/

/POS1/

/POS2/

/POS3/

ence

11.02

08.97 Synchronized Actions (FBSY)

A-167

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

SIMODRIVE

Planning Guide Motors 1PH2, 1PH4, 1PH7 (12.01 Edition)

AC Induction Motors for Main Spindle Drives

Order No.: 6SN1 197-0AC60-0BP0

SIMODRIVE

Planning Guide Hollow-Shaft Motors (10.01 Edition)

for 1PM4 and 1PM6 Main Spindle Drives

Order No.: 6SN1 197-0AD03-0BP0

SIMATIC S7--300 (2002 Edition)

-- Manual: CPU Data (Hardware)

-- Reference Manual: Module Data

-- Manual: Technological Functions

-- Installation Manual

Order No.: 6ES7 398-8FA10-8BA0

SIMATIC S7--300 (03.97 Edition)

Manual STEP7, Fundamentals, V. 3.1

Order No.: 6ES7 810-4CA02-8BA0

SIMATIC S7--300 (03.97 Edition)

Manual STEP7, Reference Manuals, V. 3.1

Order No.: 6ES7 810-4CA02-8BR0

SIMATIC S7--300 (04.97 Edition)

FM 353 Positioning Module for Stepper Drive

Order together with configuring package

SIMATIC S7--300 (04.97 Edition)

FM 354 Positioning Module for Servo Drive

Order together with configuring package

SIMATIC S7--300 (01.01 Edition)

FM 357.2 Multimodule for Servo and Stepper Drives

Order together with configuring package

SIMODRIVE 611--A/611--D,

SimoPro 3.1

Program for Configuring Machine-Tool Drives

Order No.: 6SC6 111-6PC00-0AAj,Order from: WK Fürth

/PPH/

/PPM/

/S7H/

/S7HT/

/S7HR/

/S7S/

/S7L/

/S7M/

/SP/

ence

11.02

08.97

Synchronized Actions (FBSY)

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

SIMODRIVE 611A

Installation and Start-Up Guide (10.00 Edition)

Order No.: 6SN 1197-0AA60-0BP6

SINUMERIK 810D

Installation and Start-Up Guide (03.02 Edition)

(incl. description of SIMODRIVE 611D start-up software)

Order No.: 6FC5 297-6AD20-0BP0

SINUMERIK 840D/SIMODRIVE 611D

Installation and Start-Up Guide (11.02 Edition)

(incl. description of SIMODRIVE 611D start-up software)

Order No.: 6FC5 297-6AB10-0BP2

SINUMERIK 840D/840Di/810D

HMI/MMC Installation and Start-Up Guide (11.02 Edition)

Order No.: 6FC5 297-6AE20-0BP2

AE1 Updates/Supplements

BE1 Expanding the Operator Interface

HE1 Online Help

IM2 Starting up HMI Embedded

IM4 Starting up HMI Advanced

TX1 Creating Foreign Language Texts

d) Installation and

Start-Up

/IAA/

/IAC/

/IAD/

/IAM/

ence

11.02

08.97 Synchronized Actions (FBSY)

Index-169

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

Index

Symbols

$AA_OFF, 1-76

AA_OFF_LIMIT, MD 43350, 4-130

AC_FILTER_TIME, MD 32920, 4-129

Adaptive Control, 6-136

Additive control, 2-71

Example, 6-137

Multiplicative control, 2-72

Axial feed, 2-85

Block search, 2-113

Calculate master value, 2-92

Calculate slave value, 2-92

Change in operating mode, 2-111

Command axes, 2-82

Configurability, 2-115

Configuring, 2-115

Control system response, 2-110

Coordination, 2-103

CORR_VELO, MD 32070, 4-128

CORROF, 1-77

Coupled axes, 2-91

Couplings, 2-91

Detection of synchronism, 2-93

Diagnostics, 2-117

End of program, 2-112

Extensions in SW 5, 3-122

FCTDEF, 2-69

FIFO variables, 2-33

FRAME_OR_CORRPOS_NOTALLOWED,

MD 32074, 4-129

FTOC, Online tool offset, 2-78

General machine data, 4-123

ID number, 2-15

Identification number, 2-16

IS_CONCURRENT_POS_AX, MD 30450, 4-128

LEN_AC_FIFO, MD 28264, 4-126

Measurements from synchronized actions, 2-94

MM_NUM_AC_MARKER, MD 28256, 4-125

MM_NUM_AC_PARAM, MD 28254, 4-125

MM_NUM_AC_TIMER, MD 28258, 4-126

MM_NUM_FCTDEF_ELEMENTS,

MD 28252, 4-125

MM_NUM_SYNC_ELEMENTS, MD 28250, 4-124

MODE_AC_FIFO, MD 28266, 4-127

Motion synchronous actions,

Detailed description, 2-15

09.0111.02

08.97

Synchronized Actions (FBSY)

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

NC STOP, 2-111

NUM_AC_FIFO, MD 28260, 4-126

Online tool offset, 2-78

Output of M, S and H auxiliary functions, 2-65

Overlaid movements, 2-76

Overlaid movements up to SW 5.3, 2-76

Polynomial evaluation, 2-71

Polynomials, 2-69

Power On, 2-110

PREVENT_SYNACT_LOCK, MD 11500, 4-123

PREVENT_SYNACT_LOCK_CHAN,

MD 21240, 4-124

Program interruption by ASUB, 2-113

Protected synchronized actions, 2-107

Real--time variables, 2-23

Reading, 2-67

Writing, 2-67

Real-time variables

Display, 2-118

Log, 2-119

Regulate velocity continuously, 6-139

REPOS, 2-113

RESET, 2-110

Response to alarms, 2-114

Setting actual values, 2-90

Setting alarm, 2-99

Special real--time variables, 2-29

Spindle motions, 2-86

START_AC_FIFO, MD 28262, 4-126

Status of synchronized actions, 2-118

Supplementary conditions, 3-121

Synchronization procedure, DELDTG, 2-80

Synchronized action parameters, 2-31

Synchronized actions

Actions, 2-19, 2-22, 2-63

Additive adjustment via SYNFCT, 2-71

Alter setting data, 2-68

Availability, 3-121

Components, 2-15

Conditions, 2-18

Control, 2-105

Control via PLC, 2-105

Definition, 2-21

Deletion, 2-17

Detailed description, 2-15

Disable axis, 2-82

Example: AC control, 6-136

Example: Conditions, 6-133

Example: Control via dyn. override, 6-139

Example: Feed control, 6-137

Example: Presses, coupled axes, 6-144

Examples: SD / MD, 6-134

Execution of synchronized actions, 2-21

Extensions in SW 4, 3-121

FIFO variables, 2-33

Introduction, 1-13

Machine and setting data, 2-32

Marker and counter variables, 2-29

Multiplicative control via SYNFCT, 2-72

Processing, 2-19

Processing sequence, 2-20

R parameters, 2-32

Real--time calculations, 2-23

Scanning frequency, 2-17

Scope of performance, 3-121

Scope of validity, 2-15

Short Description of Functions, 1-13

Timers, 2-30

Synchronous procedure

RDISABLE, 2-80

STOPREOF, 2-80

SYNFCT

Examples, 6-136

Polynomial evaluation, 2-71

System variables SW version 4,

Synchronized actions, 2-37

09.01

08.97 Synchronized Actions (FBSY)

Index-171

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

Technology cycle, 2-100

Technology cycles, 2-100

Call, 2-100

Wait markers

Deletion, 2-98

Setting, 2-98

09.01

08.97

Synchronized Actions (FBSY)

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

09.01

Notes

From

Name

Company/Dept.

Address

Phone: /

Suggestions

Corrections

For publication/manual:

SINUMERIK 840D/840Di/810D

Description of Functions

Synchronized Actions

Manufacturer/Service Documentation

Description of Functions

Order No.: 6FC5 297--6AD40--0BP2

Edition: 11.02

Should you come across any printing errors

when reading this publication, please notify us

on this sheet.

Suggestions forimprovementarealsowelcome.

SIEMENS AG

A&D MC BMS

P.O. Box 3180

D--91050 Erlangen, Germany

(Tel. +49 (0) 180 5050 -- 222 [hotline]

Fax +49 (0) 9131 98 -- 2176 [documentation]

E--mail: motioncontrol.docu@erlf.siemens.de)

Fax: /

Suggestions and/or corrections

User Documentation

SINUMERIK

840D/810D SINUMERIK

Overview of SINUMERIK 840D/840Di/810D Documentation (11.02)

Brochure Catalog

Ordering Info.

NC 60 *)

Description of

Functions

Drive Functions *)

Description of

Functions

-- Basic Machine *)

-- Extended Functions

-- Special Functions

611D

840D/810D

SINUMERIK

840D/840Di/

810D

Accessories

Catalog

Accessories

NC-Z

SINUMERIK

SIROTEC

SIMODRIVE

840D/840Di

810D

Lists *)

Installation &

Start-up Guide *)

-- 810D

-- 840D/611D

-- HM I

SINUMERIK

840D

Description of

Functions

Digitizing

611D

SINUMERIK

840D/810D

Configuring Kit

HMI Embedded

SINUMERIK

840D/840Di/

810D

SINUMERIK

840D/840Di/

810D

Description of

Functions

SINUMERIK

Safety Integrated

SINUMERIK

SIMODRIVE

SINUMERIK

840D/840Di/

810D

611, Motors

SIMODRIVE

DOCONCD*)

The SINUMERIK System

General Documentation

Electronic Documentation

Manufacturer/Service Documentation

SINUMERIK

840D/810D/

FM-NC

SINUMERIK

840D/840Di/

810D

User Documentation

Diagnostics

Guide *)

Operator’s Guide

-- H T 6

AutoTurn

-- Short Guide

-- Programming (1)

-- S et u p ( 2)

SINUMERIK

840D/840Di/

810D

Program. Guide

-- Short Guide

-- Fundamentals *)

-- Advanced *)

-- Cycles

-- Measuring Cycles

-- ISO Turning/Milling

Operator

Components

(HW) *)

Description of

Functions

Synchronized

Actions

840D/810D

SINUMERIK

Operator’s Guide

-- ManualTurn

-- Short Guide ManualTurn

-- ShopMill

-- Short Guide ShopMill

-- ShopTurn

-- Short Guide ShopTurn

840D/810D

Manufacturer/Service Documentation

*) These documents are a minimum requirement

Operator’s Guide *)

-- Short Guide

-- HMI Embedded

-- HMI Advanced

SINUMERIK

840D/840Di/

810D

Configuring

(HW) *)

-- 810D

-- 840D

SINUMERIK

840D/840Di/

810D

SINUMERIK

840D/810D

Description of

Functions

Operator Interface

OP 030

Description of

Functions

Tool

Management

SINUMERIK

SIMODRIVE SINUMERIK

SIMODRIVE

SINUMERIK

SIMODRIVE

SINUMERIK

SIMODRIVE SINUMERIK

SIMODRIVE

840D

611D 840D

611D

Description of

Functions

Linear Motor

Description of

Functions

-- Hydraulics

Module

-- Analog Module

SINUMERIK

SIMODRIVE

SIROTEC

EMC

Guidelines

Manufacturer/Service Documentation

SINUMERIK

Description of

Functions

ISO Dialects for

SINUMERIK

840D/840Di/

810D

SINUMERIK

Manual

(HW + Installation

and Start-up)

840Di

SINUMERIK

System Overview

840Di

840D/840Di/

810D/

SINUMERIK

Description of

Functions

Remote Diagnosis

840D/810D

SINUMERIK

IT Solutions

-- Computer Link

-- Tool Data Information System

-- NC Data Management

-- NC Data Transfer

SINUMERIK

Description of

Functions

-- ManualTurn

-- ShopMill

-- ShopTurn

840D/840Di/

810D

840D/840Di/

810D

Siemens AG

Automation and Drives

Motion Control Systems

Postfach 3180, D – 91050 Erlangen

Fed. Rep. of Germany

www.ad.siemens.de

ESiemens AG 2002

Subject to changes without prior notice

Ref.: 6FC5297--6AD40--0BP2

Printed in the Fed. Rep. of Germany