HEIDENHAIN TNC 620 User Manual

Technical Manual

TNC 620

NC Software 340 56x-02

October 2010

2	HEIDENHAIN Technical Manual TNC 620

Contents

1	Update Information
1.1	General Information..........................................................................		19
1	Update Information No. 1
1.1	Overview............................................................................................		21
	1.1.1	Released Service Packs ......................................................	21
	1.1.2	Released NC Software........................................................	21
1.2	NC Software 340 560-01 ...................................................................		22
1.3	NC Software 340 551-04 / NC Software 340 560-02 ......................		23
	1.3.1 Important Notes on Updating Software ..............................		23
	1.3.2 Description of the New Functions.......................................		28
1.4	NC Software 340 554-xx (TNC 320 Programming Station) ...........		44
	1.4.1 Description of the New Functions.......................................		44
1.5	Hardware ...........................................................................................		45
	1.5.1 MC 6110 Computer Unit with ProfiBus Interface ...............		45
1	Update Information No. 2
1.1	Overview............................................................................................		47
	1.1.1	Released service packs .......................................................	47
1.2	Hardware ...........................................................................................		47
	1.2.1 MC 6110 main computer of the TNC 620 ...........................		47
1	Update Information No. 3
1.1	Overview............................................................................................		49
	1.1.1	Released service packs .......................................................	49
1.2	NC software 340 56x-02 Service Pack 8 ..........................................		49
	1.2.1 Description of important changes .......................................		49
1.3	Hardware ...........................................................................................		50
	1.3.1 UEC 11x controller unit with inverter and PLC I/O ..............		50

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2	Introduction
2.1	Meaning of the Symbols Used in this Manual ...............................		53
2.2	Proper Operation...............................................................................		53
2.3	Trained Personnel .............................................................................		53
2.4	General Information..........................................................................		54
	2.4.1	HSCI interface .....................................................................	57
2.5	Overview of Components ................................................................		58
	2.5.1	MC main computer, CFR memory card and SIK .................	58
	2.5.2	CC 6106 controller unit .......................................................	60

2.5.3UEC 11x controller unit with integrated inverter and

		PLC......................................................................................	61
	2.5.4	PLC input/output systems with HSCI interface ..................	63
	2.5.5	PSL 130 low-voltage power supply unit..............................	67
	2.5.6	MB 620 Machine Operating Panel ......................................	69
	2.5.7	Handwheels ........................................................................	70
	2.5.8	Key symbols........................................................................	73
	2.5.9	Touch probes ......................................................................	78
	2.5.10	Other accessories ...............................................................	80
	2.5.11	Documentation....................................................................	80
2.6	Brief Description................................................................................		81
2.7	Software	............................................................................................	93
	2.7.1	Designation of the software................................................	93
	2.7.2	PLC software ......................................................................	93
	2.7.3	Enabling additional axes or software options......................	94
	2.7.4	Upgrade functions (Feature Content Level) ........................	97
	2.7.5	NC software exchange on the TNC 620 .............................	98
	2.7.6	Installing a service pack ....................................................	103
	2.7.7	Reversing a software update ............................................	104
	2.7.8	Special features of the software .......................................	105
	2.7.9	Firmware update on HSCI devices....................................	106
	2.7.10	Monitoring hardware changes ..........................................	108
	2.7.11	Data backup ......................................................................	108
2.8	Software Releases ..........................................................................		109
	2.8.1	NC Software 340 560-xx ...................................................	109
	2.8.2	NC software 340 561-xx ...................................................	109

4	HEIDENHAIN Technical Manual TNC 620

3 Mounting and Electrical Installation

3.1 General Information........................................................................		111
3.1.1	Safety precautions.............................................................	111
3.1.2	Degrees of protection .......................................................	112
3.1.3	Electromagnetic compatibility ...........................................	112
3.1.4	ESD protection ..................................................................	113

3.2 Environmental Conditions .............................................................		115
3.2.1	Heat generation and cooling..............................................	115
3.2.2	Humidity ............................................................................	116
3.2.3	Installation elevation..........................................................	116
3.2.4	Mechanical vibration..........................................................	116
3.2.5	Mounting Attitude with MC 6110 .....................................	117

3.2.6Mounting Attitude of CC 61xx, UV xxx, UM xxx,

		UE 2xx B ............................................................................	118
3.3	Overview of Hardware....................................................................		119
3.4	HSCI	..................................................................................................	120
	3.4.1	Introduction .......................................................................	120
	3.4.2	Topology ............................................................................	121
	3.4.3	HSCI interface ...................................................................	122
3.5	Connection Overview for TNC 620 ...............................................		124
	3.5.1 ..................................................	MC 6110 main computer	124
	3.5.2 ........................................	CC 6106 modular controller unit	125

3.5.3UEC 11x: Compact Controller Unit with Inverter and

		PLC I/Os ............................................................................	126
	3.5.4	UEC 11x: Digital PLC inputs/outputs.................................	133
	3.5.5	PLB 62xx and PLB 61xx ....................................................	136
	3.5.6	Switching inputs and outputs 24 V– (PLC) ........................	140
	3.5.7	PLB 6xxx: Digital PLC Inputs/Outputs...............................	141
	3.5.8	PLB 6xxx: Analog PLC Inputs/Outputs..............................	143
	3.5.9	X121: PROFIBUS connection ............................................	145
	3.5.10	Configuring the PLC Inputs/Outputs with IOconfig...........	146
3.6	Power Supply for the TNC 620 ......................................................		147
	3.6.1	PSL 130 low-voltage power supply unit ............................	153
3.7	Power Supply for PLC Outputs......................................................		161
3.8	Power Supply for PLB 6xxx............................................................		162
3.9	Power Supply for Control-Is-Ready Signal ...................................		163
3.10	Drive Controller Enable ..................................................................		164
3.11	Buffer Battery ..................................................................................		165
3.12	Encoder Connections .....................................................................		166
	3.12.1	General information...........................................................	166
	3.12.2	Position Encoder Input .....................................................	167
	3.12.3	Input of speed encoder ...................................................	169

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3.13	Adapters for Encoder Signals ........................................................		174
3.14	Connecting the Motor Power Stages (Only CC 61xx) .................		178
3.15	Touch Probe Systems.....................................................................		179
3.16	Data Interfaces ................................................................................		182
	3.16.1	USB Interface....................................................................	185
3.17	MB 620 Machine Operating Panel .................................................		186
3.18	Handwheel Input.............................................................................		190
	3.18.1 HR 410 portable handwheel..............................................		190
	3.18.2 HR 130 panel-mounted handwheel...................................		192
	3.18.3	HRA 110 handwheel adapter ............................................	193
3.19	Cable Specifications........................................................................		195
3.20	Dimensions ......................................................................................		196
	3.20.1	MC 6110 ...........................................................................	197
	3.20.2	MB 620 .............................................................................	198
	3.20.3	CC 6106 ............................................................................	199
	3.20.4	UEC 11x ............................................................................	200
	3.20.5	PL 6xxx..............................................................................	201
	3.20.6	PSL 130.............................................................................	201
	3.20.7	Adapter block for the data interface..................................	202
	3.20.8	USB hub ............................................................................	203
	3.20.9	Line-drop compensator .....................................................	204
	3.20.10	Handwheels ......................................................................	204
	3.20.11	Touch probes ....................................................................	208
3.21	HSCI Connection Overview of the TNC 620 with CC 61xx..........		215
3.22	HSCI Connection Overview of the TNC 620 with UEC 11xx .......		216
3.23	Grounding diagram for TNC 620 with Modular
	HEIDENHAIN Inverter System .......................................................		217
3.24	Basic Circuit Diagram for TNC 620 ................................................		218
3.25	Cable Overview for TNC 620 with CC 6106 ..................................		219
3.26	Cable Overview for TNC 620 with UEC 11x..................................		220
3.27	Cable Overview for TNC 620—Accessories ..................................		221

6	HEIDENHAIN Technical Manual TNC 620

4	Machine Parameters
4.1	General Information........................................................................		223
4.2	The “Machine Parameter” Mode of Operation ............................		225
	4.2.1	Calling the configuration editor..........................................	225
	4.2.2	Entering and Changing Machine Parameters ....................	227
	4.2.3	Accessing Machine Parameters via MP Numbers ............	238
	4.2.4	Managing configuration files .............................................	241
	4.2.5	Sort File Content ...............................................................	241
	4.2.6	Attribute Information.........................................................	242
	4.2.7	Access Protection / Options..............................................	244
	4.2.8	Update rules ......................................................................	245
	4.2.9	Remove Syntax Error ........................................................	255
	4.2.10	Resets the update version ................................................	255
	4.2.11	Backup of Parameters .......................................................	256
4.3	User Parameters..............................................................................		257
	4.3.1	Configuration of the user parameters ...............................	258
	4.3.2	Example:............................................................................	260
	4.3.3	XML commands for creating the layout files ....................	262
4.4	The KeySynonym function.............................................................		265
4.5	Allocation of Configuration Data ..................................................		267
4.6	Structure of a Parameter File.........................................................		269
4.7	Machine-Parameter Subfiles..........................................................		272
	4.7.1	Syntax of Machine-Parameter Subfile ...............................	272
	4.7.2	Activating the Machine-Parameter Subfile ........................	272

4.7.3Displaying/Editing Data Records in the Configuration

		Editor .................................................................................	275
4.8	Read or Change Machine Parameters via a PLC Module ............		277
4.9	Overview of Machine Parameters .................................................		283
	4.9.1	“System” Group ...............................................................	283
	4.9.2	“Channels” Group.............................................................	292
	4.9.3	“Axes” group ....................................................................	295
	4.9.4	“KeySynonym” group .......................................................	300
4.10	Parameter Overview Sorted by MP Numbers..............................		301
	4.10.1	System configuration and miscellaneous..........................	302
	4.10.2	Channel-specific parameters .............................................	322
	4.10.3	Axis-specific parameters ...................................................	327
	4.10.4	Parameters for configuring the parameter sets ................	329
4.11	Overview: iTNC 530 MP Numbers <–> TNC 620 MP
	Numbers	..........................................................................................	336
	4.11.1	Measuring systems and machine axes .............................	337
	4.11.2	Positioning and regulation .................................................	339
	4.11.3	PWM interface (DSP) ........................................................	341
	4.11.4	Spindle control (1st spindle) ..............................................	344
	4.11.5	Integrated PLC ..................................................................	345
	4.11.6	Serial interface...................................................................	346
	4.11.7	Touch probe ......................................................................	346
	4.11.8	Tool touch probe for tool measurement............................	347
	4.11.9	Tapping..............................................................................	347
	4.11.10	Display and programming..................................................	348
	4.11.11 Machining and Program Run .............................................		349
	4.11.12	Hardware...........................................................................	350

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5	Modules and PLC Operands
5.1	Overview of Modules......................................................................		351
5.2	Overview of the PLC Operands......................................................		357
	5.2.1	PLC Operands of the “General Data” Group ....................	357
	5.2.2	PLC Operands of the “Operating Mode Group”
		Group ................................................................................	359
	5.2.3	PLC Operands of the “Machining Channels” Group ........	360
	5.2.4	PLC Operands of the “Axis” Group ..................................	362
	5.2.5	PLC Operands of the “Spindle” Group .............................	364

6	Configuring the Axes and Spindle
6.1	Machine Structure ..........................................................................		365
	6.1.1	Adapting the control to the machine.................................	365
	6.1.2	Definition of axes ..............................................................	366
6.2 Configuration of Machining Channels ..........................................			368
	6.2.1	Configuring a machining channel ......................................	368
	6.2.2	Traversing the reference marks ........................................	373
	6.2.3	Returning to the contour/block scan .................................	374
6.3	Configuration of Axes.....................................................................		378
	6.3.1	Axis designations and coordinates....................................	380
	6.3.2	Programmable axes ..........................................................	383
	6.3.3	Physical axes.....................................................................	386
	6.3.4	Display of axes on the screen ...........................................	394
	6.3.5	Hirth coupling ....................................................................	398
	6.3.6	Kinematics properties of axes...........................................	400
	6.3.7	Manual axis (counter axis).................................................	402
	6.3.8	Introducing a new NC axis into the system ......................	404
6.4	Encoders	..........................................................................................	415
	6.4.1	Type of the position encoder ............................................	415
	6.4.2	Signal period of encoders..................................................	418
	6.4.3	Distance-coded reference marks ......................................	422

6.4.4Connecting the encoders, PWM output on the

	CC 61xx.............................................................................	424
6.4.5	Connecting the encoders to the UEC 11x.........................	429
6.4.6	Defining the traverse direction..........................................	431
6.4.7	Encoder monitoring...........................................................	433
6.4.8	Linear and torque motors..................................................	437
6.5 Reading and Writing Axis Information .........................................		439
6.5.1	Reading axis information...................................................	439

6.5.2Writing axis information – activating and deactivating

		axes...................................................................................	445
6.6	Traverse Ranges..............................................................................		454
	6.6.1	Overwrite software limit switches....................................	455
6.7	Lubrication Pulse.............................................................................		456
6.8	Controlling Axes by PLC (PLC Axes) .............................................		458

8	HEIDENHAIN Technical Manual TNC 620

6.9 Axis Error Compensation ...............................................................		468
6.9.1	Backlash compensation.....................................................	470
6.9.2	Linear axis error compensation .........................................	474
6.9.3	Nonlinear axis error compensation....................................	476
6.9.4	Compensation of thermal expansion.................................	483
6.9.5	Compensation of static friction .........................................	485
6.9.6	Compensation of sliding friction........................................	486

6.10	Machine Kinematics........................................................................		488
	6.10.1	Configuring the machine kinematics .................................	491
	6.10.2	Find/activate kinematics through the PLC.........................	511
6.11	Tilting Axes......................................................................................		513

6.11.1“Tilting the working plane” function

		(software option 1) ............................................................	513
6.12	Parallel Axes ....................................................................................		518
6.13	Synchronized Axes (Option 24) .....................................................		520
	6.13.1	Gantry axes .......................................................................	520
	6.13.2	Master-slave torque control ..............................................	530
6.14	Reference Marks..............................................................................		541
	6.14.1	Definition...........................................................................	541
	6.14.2 Traversing the reference marks ........................................		542

6.14.3Defining the process of traversing the reference

	marks.................................................................................	545
6.14.4	“Pass Over Reference Point” operating mode .................	552
6.15 The Control Loop ............................................................................		556
6.15.1	Block diagram of control loop............................................	556

6.15.2Relation between jerk, acceleration, velocity and

	distance.............................................................................	557
6.15.3	Geometry filter ..................................................................	559
6.15.4	Look-ahead........................................................................	561
6.15.5	Interpolator........................................................................	571
6.15.6 Nominal position value filter ..............................................		572
6.15.7 Feed-rate smoothing (software option 2) ..........................		583
6.15.8	Position controller..............................................................	585
6.15.9 Activating and deactivating position control loops ............		594
6.15.10	Feed-rate enable................................................................	597
6.15.11	Speed controller ................................................................	599

6.15.12Filters in the speed controller and position controller

when using the CC 61xx and CC 424................................

603

6.15.13CC 61xx/CC 424: filter order for separate low-pass

filter in the speed controller ..............................................

607

6.15.14CC 61xx/CC424: peculiarities in weakened-field

	operation ...........................................................................	608
6.15.15 Active damping of low-frequency oscillations ...................		610
6.15.16	Acceleration feedforward control ......................................	612
6.15.17	IPC, holding torque, following error in the jerk phase .......	615

6.15.18HSCI: switching drives on and off, enabling the drive

controller ...........................................................................	620
6.15.19 Current controller ..............................................................	630

6.15.20Braking the drives for an EMERGENCY STOP and a

	power fail...........................................................................	635
6.15.21 Power and torque limiting .................................................		638
6.15.22	Controller parameters for manual traverse........................	645
6.15.23	Switching parameter sets .................................................	646

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6.15.24 Synchronous motors in field weakening range .................		659
6.15.25	Motor with wye/delta switchover .....................................	661
6.15.26 Speed-dependent switching of the PWM frequency........		663
6.15.27 TRC – torque ripple compensation....................................		666
6.15.28	Torsion compensation.......................................................	669
6.16 Monitoring Functions .....................................................................		671
6.16.1	Monitoring the drives ........................................................	671
6.16.2	Position monitoring ...........................................................	673
6.16.3	Movement monitoring ......................................................	677
6.16.4	Standstill monitoring .........................................................	679
6.16.5	Positioning window...........................................................	680
6.16.6	Monitoring of the power supply unit ................................	684
6.16.7	Temperature monitoring ...................................................	687
6.16.8	I2t monitoring ....................................................................	691
6.16.9	Momentary utilization of drive motors ..............................	702
6.16.10	Status of HEIDENHAIN hardware and software ...............	704
6.16.11	Motor brake.......................................................................	708
6.16.12	Emergency stop monitoring..............................................	709

6.16.13Monitoring functions when using the CC 61xx and

	CC 424 ..............................................................................	714
6.17 Spindles	...........................................................................................	716
6.17.1	Configuring spindles ..........................................................	716
6.17.2 .........................................Position encoder of the spindle		717
6.17.3 ......................................................	Spindle speed encoder	718
6.17.4 ........................................Filtering the acceleration values		720
6.17.5 ......................................................	Controlling the spindle	721
6.17.6 ........................Oriented spindle stop (spindle point stop)		732

6.17.7Tapping with floating tap holder and coded

	spindle-speed output.........................................................	736
6.17.8	Switching the modes of operation ....................................	738
6.17.9	Stop spindle at trip dog position........................................	740
6.17.10	Spindle of the kinematics model.......................................	743
6.17.11	Gear shifting......................................................................	744
6.17.12	Tapping..............................................................................	744
6.17.13	Operating a second spindle...............................................	744
6.17.14	C-axis operation.................................................................	746
6.17.15	Volts-per-hertz control mode.............................................	748
6.18 Configuring the Controller Unit and Drive Motors ......................		749

6.18.1Structure of the CC 61xx and UEC 11x controller

units ..................................................................................

749

6.18.2CC61xx: single-speed and double-speed (software

option #49) ........................................................................	751
6.18.3 PWM frequencies with the CC 61xx.................................	755

6.18.4PWM frequency with INDRAMAT “POWER DRIVE”

inverters ...........................................................................

757

6.18.5PWM frequency with SIEMENS “SIMODRIVE”

inverters ............................................................................

757

6.18.6Comparison of the CC 61xx and CC 424 controller

	units ..................................................................................	760
6.18.7	Configuring the servo motor .............................................	763
6.18.8	Field orientation – fundamentals .......................................	766

6.18.9Ascertaining the field angle with the CC 61xx or

CC 424 ..............................................................................

768

10	HEIDENHAIN Technical Manual TNC 620

6.19	Current Controller Adjustment......................................................		776
6.20	Integrated Oscilloscope..................................................................		778
	6.20.1	Fundamentals....................................................................	778
	6.20.2	Prepare recording..............................................................	780
	6.20.3	Record signals ...................................................................	784
	6.20.4	Analyze recording..............................................................	786
	6.20.5 Saving and loading recordings...........................................		789

6.20.6Circular interpolation test with the integrated

		oscilloscope.......................................................................	790
	6.20.7	Configure the colors of the oscilloscope display ...............	791
7	Machine Integration
7.1	Display and Operation ....................................................................		795
	7.1.1	Position and status display ................................................	795
	7.1.2	Unit of measurement for display and operation ................	803
	7.1.3	Conversational language ...................................................	804
	7.1.4	Format of NC programs and cycle display.........................	809
	7.1.5	Settings for the programming mode of operation.............	811
	7.1.6	Binary file management ....................................................	817
	7.1.7	Access rights to drives and directories .............................	819
	7.1.8	Code numbers...................................................................	821
	7.1.9	Programming station mode...............................................	822

7.1.10Operating modes / control operation in the operating

	mode group.......................................................................	825
7.1.11	Control operation in the machining channel ......................	829
7.1.12	Error messages and log files .............................................	846

7.1.13TNCguide – context-sensitive help system (user

		documentation) .................................................................	871
	7.1.14	Table editor........................................................................	882
	7.1.15	Machine datum .................................................................	885
	7.1.16	Cycles................................................................................	888
	7.1.17	Window manager (XFCE) ..................................................	892
7.2	Small PLC window..........................................................................		896
7.3	PLC Soft Keys ..................................................................................		900
7.4	Switching the Control On/Off........................................................		901
	7.4.1	Powering up the control....................................................	901
	7.4.2	Shutting down the control.................................................	904
7.5	Keystroke Simulation .....................................................................		911
	7.5.1	Control keyboard ...............................................................	911
	7.5.2	Machine operating panel...................................................	918
7.6	Electronic Handwheel.....................................................................		920
	7.6.1	Serial handwheel...............................................................	920
	7.6.2	Handwheel at position encoder input................................	925
	7.6.3	Traverse per handwheel revolution...................................	930
	7.6.4	Assigning a handwheel to an axis .....................................	931
	7.6.5	HR 410 portable handwheel..............................................	935

7.6.6HR 150 panel-mounted handwheels with HRA 110

handwheel adapter............................................................

937

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7.7 Override	...........................................................................................	939
7.7.1	Override devices ...............................................................	939
7.7.2	Compensation for potentiometers ....................................	941
7.7.3 .............................................................	Override functions	942

7.8	PLC Inputs/Outputs ........................................................................		946
	7.8.1	Diagnosis of the external PL .............................................	946
	7.8.2	24 V– switching input/outputs ..........................................	950
	7.8.3	Analog inputs ....................................................................	954
	7.8.4	Analog outputs ..................................................................	957
7.9	Incremental Jog Positioning ..........................................................		959
7.10	Operating Times and System Times.............................................		961
	7.10.1	Measuring operating times ...............................................	961
	7.10.2	System time......................................................................	967
7.11	Tool Changer ...................................................................................		969
	7.11.1	Tool and pocket number ...................................................	969
	7.11.2	Automatic Tool Recognition ............................................	1000
	7.11.3	Controlling the Tool Changer...........................................	1001
7.12	Touch Probe...................................................................................		1007
	7.12.1	Using the Touch Probes..................................................	1010
	7.12.2	Touch Probe Cycles ........................................................	1015
	7.12.3	Tool measurement ..........................................................	1022
7.13	Commissioning .............................................................................		1035
	7.13.1	Power Module Table and Motor Table............................	1035
	7.13.2	Preparation ......................................................................	1044
	7.13.3	Commissioning of Digital Axes .......................................	1047
	7.13.4	Commissioning the Spindle ............................................	1064
7.14	Diagnosis with the Online Monitor (OLM) .................................		1068
	7.14.1	Introduction .....................................................................	1068
	7.14.2	Using the OLM................................................................	1069
	7.14.3	Screen Layout .................................................................	1071
	7.14.4	Group of NC Axes ...........................................................	1074
	7.14.5	Group of Spindle Commands ..........................................	1094
	7.14.6	Group of NC Channels ....................................................	1096
	7.14.7	Hardware Group..............................................................	1101
	7.14.8	Group of Drive Commands .............................................	1114
	7.14.9	Auxiliary Group ................................................................	1115
	7.14.10	PLC Group.......................................................................	1121
	7.14.11	Queue-Trace....................................................................	1124
	7.14.12 Frequent Causes of Error ................................................		1126

12	HEIDENHAIN Technical Manual TNC 620

8	PLC Programming
8.1	PLC functions.................................................................................		1127
	8.1.1	The API 3.0 symbolic memory interface .........................	1128
	8.1.2	HEIDENHAIN PLC basic program ...................................	1134
	8.1.3	Selecting the plc programming mode of operation .........	1135
	8.1.4	PLC main menu...............................................................	1136
	8.1.5	File management.............................................................	1138
	8.1.6	The API DATA function ...................................................	1139
	8.1.7	The WATCH LIST function ..............................................	1141
	8.1.8	The TABLE function ........................................................	1143
	8.1.9	The TRACE function ........................................................	1145
	8.1.10	The COMPILE function ...................................................	1147
	8.1.11	The EDIT function............................................................	1148
	8.1.12	Diagnostic functions........................................................	1151
	8.1.13	BUS diagnostics ..............................................................	1171
8.2 Configure PLC input/output systems .........................................			1176
8.3	Operands........................................................................................		1178
	8.3.1	Overview of operands.....................................................	1178
	8.3.2	Operand addressing (byte, word, double word) ..............	1181
	8.3.3	Timers and counters .......................................................	1182
	8.3.4	Fast PLC inputs ...............................................................	1192
8.4	Data Organization .........................................................................		1194
	8.4.1	Data organization on the CFR memory card....................	1194
	8.4.2	Compressing graphic files...............................................	1196

8.4.3Configuring the displayed drives and directories in

		the file manager ..............................................................	1197
	8.4.4	PLC system files ...........................................................	1199
8.5	M Functions (M Strobe)................................................................		1207
	8.5.1	Assigning M functions to the machining channels..........	1207
	8.5.2	Configuration of M functions...........................................	1208
	8.5.3	Overview of M functions of the TNC ..............................	1216
8.6	S Function (S Strobe) ...................................................................		1222
	8.6.1	Assigning S functions to the machining channels...........	1222
	8.6.2	Configuration of S function..............................................	1223
8.7	T Functions (T Strobe) ..................................................................		1233
	8.7.1	Assigning T functions to the machining channels ...........	1233
	8.7.2	Configuration of T functions ............................................	1234
8.8	Alias Functions (Alias Strobe).....................................................		1241

8.8.1Assigning alias functions to the machining

	channels ..........................................................................	1241
8.8.2	Configuration of alias functions .......................................	1242
8.9 Options for the PLC Run-Time System .......................................		1244

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13

8.10 Tables .............................................................................................		1247
8.10.1	Creating a new table type ...............................................	1248
8.10.2	Defining a table prototype...............................................	1259
8.10.3	Creating a new table with the file manager ....................	1260
8.10.4	Inserting additional columns in an existing table.............	1261
8.10.5	Deleting columns from an existing table.........................	1262
8.10.6	Removing column names and column descriptions .......	1263
8.10.7	Defining the path for OEM tables ...................................	1264
8.10.8	Symbolic names for tables..............................................	1264
8.10.9	Editing tables via the PLC ..............................................	1266
8.10.10 Access to tables via SQL commands..............................		1277
8.10.11	PLC modules for the SQL statements ............................	1290

8.11 Data Transfer NC => PLC, PLC => NC ..........................................		1309
8.11.1	Introduction .....................................................................	1309
8.11.2 Data transfer NC program => PLC ("FN19: PLC =" or
	"FN29: PLC =").................................................................	1310
8.11.3	Q parameters ..................................................................	1312
8.11.4 Data transfer NC program => NC (FN17:
	SYSWRITE) .....................................................................	1314
8.11.5 Data transfer NC => NC program (FN18: SYSREAD).......		1326
8.11.6 Data transfer machine parameters => PLC ....................		1339
8.11.7 Interrogate PLC operands in the NC program (FN20:
	WAIT FOR) ......................................................................	1341

8.12 Program Creation..........................................................................		1342
8.12.1	ASCII editor .....................................................................	1342
8.12.2	Program format ...............................................................	1342
8.12.3	Program structure ...........................................................	1343

8.13 Command Set................................................................................		1344
8.13.1	Overview.........................................................................	1344
8.13.2	LOAD (L) .........................................................................	1347
8.13.3	LOAD NOT (LN) ..............................................................	1349
8.13.4	LOAD TWO’S COMPLEMENT (L–).................................	1351
8.13.5	LOAD BYTE (LB) .............................................................	1352
8.13.6	LOAD WORD (LW) .........................................................	1352
8.13.7	LOAD DOUBLE WORD (LD)...........................................	1353
8.13.8	ASSIGN (=)......................................................................	1353
8.13.9	ASSIGN BYTE (B=)..........................................................	1354
8.13.10	ASSIGN WORD (W=)......................................................	1355
8.13.11	ASSIGN DOUBLE WORD (D=) .......................................	1355
8.13.12	ASSIGN NOT (=N)...........................................................	1356
8.13.13	ASSIGN TWO’S COMPLEMENT (=–) .............................	1356
8.13.14	SET (S).............................................................................	1357
8.13.15	RESET (R)........................................................................	1358
8.13.16	SET NOT (SN)..................................................................	1359
8.13.17	RESET NOT (RN).............................................................	1360
8.13.18	AND (A) ...........................................................................	1361
8.13.19	AND NOT (AN) ................................................................	1363
8.13.20	OR (O) .............................................................................	1365
8.13.21	OR NOT (ON) ..................................................................	1367
8.13.22	EXCLUSIVE OR (XO) .......................................................	1369
8.13.23	EXCLUSIVE OR NOT (XON) ............................................	1371
8.13.24	ADDITION (+)..................................................................	1373
8.13.25	SUBTRACTION (–)...........................................................	1374
8.13.26	MULTIPLICATION (X)......................................................	1375
8.13.27	DIVISION (/).....................................................................	1376
14	HEIDENHAIN Technical Manual TNC 620

8.13.28	REMAINDER (MOD) .......................................................	1377
8.13.29	INCREMENT (INC)...........................................................	1377
8.13.30	DECREMENT (DEC) ........................................................	1378
8.13.31	EQUAL TO (==)...............................................................	1378
8.13.32	LESS THAN (<)................................................................	1379
8.13.33	GREATER THAN (>) ........................................................	1380
8.13.34 LESS THAN OR EQUAL TO (<=) ....................................		1381
8.13.35 GREATER THAN OR EQUAL TO (>=).............................		1382
8.13.36	NOT EQUAL (<>) ............................................................	1383
8.13.37 AND [ ] (A[ ]) ....................................................................		1384
8.13.38 AND NOT [ ] (AN[ ]) .........................................................		1385
8.13.39 OR [ ] (O[ ]) ......................................................................		1385
8.13.40 OR NOT [ ] (ON[ ]) ...........................................................		1386
8.13.41 EXCLUSIVE OR [ ] (XO[ ]) ................................................		1386
8.13.42 EXCLUSIVE OR NOT [ ] (XON[ ]) .....................................		1386
8.13.43 ADDITION [ ] (+[ ]) ...........................................................		1386
8.13.44 SUBTRACT [ ] (–[ ]) ..........................................................		1387
8.13.45 MULTIPLY [ ] (x[ ]) ...........................................................		1387
8.13.46 DIVIDE [ ] (/[ ])..................................................................		1388
8.13.47 REMAINDER [ ] (MOD[ ]) ................................................		1388
8.13.48 EQUAL TO [ ] (==[ ])........................................................		1388
8.13.49 LESS THAN [ ] (<[ ]).........................................................		1389
8.13.50 GREATER THAN [ ] (>[ ]) .................................................		1390
8.13.51 LESS THAN OR EQUAL TO [ ] (<=[ ]) .............................		1390
8.13.52 GREATER THAN OR EQUAL TO [ ] (>=[ ])......................		1390
8.13.53 NOT EQUAL [ ] (<>[ ]) .....................................................		1390
8.13.54	SHIFT LEFT (<<)..............................................................	1391
8.13.55	SHIFT RIGHT (>>) ...........................................................	1392
8.13.56	BIT SET (BS)....................................................................	1393
8.13.57	BIT CLEAR (BC)...............................................................	1394
8.13.58	BIT TEST (BT) ..................................................................	1395
8.13.59 PUSH DATA ONTO THE DATA STACK (PS) ...................		1396
8.13.60 PULL DATA FROM THE DATA STACK (PL) ....................		1397

8.13.61PUSH LOGIC ACCUMULATOR ONTO THE DATA

STACK (PSL)....................................................................

1397

8.13.62PUSH WORD ACCUMULATOR ONTO THE DATA

STACK (PSW) ..................................................................

1398

8.13.63PULL LOGIC ACCUMULATOR FROM THE DATA

STACK (PLL)....................................................................

1398

8.13.64PULL WORD ACCUMULATOR FROM THE DATA

	STACK (PLW) ..................................................................	1399
8.13.65	UNCONDITIONAL JUMP (JP) .........................................	1399
8.13.66 JUMP IF LOGIC ACCUMULATOR = 1 (JPT)...................		1400
8.13.67 JUMP IF LOGIC ACCUMULATOR = 0 (JPF)...................		1401
8.13.68	CALL MODULE (CM) ......................................................	1401

8.13.69CALL MODULE IF LOGIC ACCUMULATOR = 1

(CMT)...............................................................................

1401

8.13.70CALL MODULE IF LOGIC ACCUMULATOR = 0

(CMF)...............................................................................	1402
8.13.71 END OF MODULE, END OF PROGRAM (EM)................	1403

8.13.72END OF MODULE IF LOGIC ACCUMULATOR = 1

(EMT)...............................................................................

1403

8.13.73END OF MODULE IF LOGIC ACCUMULATOR = 0

(EMF)...............................................................................	1403
8.13.74 LABEL (LBL)....................................................................	1403

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15

8.14	INDEX Register (X Register).........................................................			1404
8.15	Commands for String Processing................................................			1406
8.16	LOAD STRING (L) ..........................................................................			1408
8.17	ADD STRING (+) ............................................................................			1408
8.18	STORE STRING (=) ........................................................................			1408
8.19	OVERWRITE STRING (OVWR) .....................................................			1409
8.20	EQUAL TO Command for String Processing (==) ......................			1410
8.21	LESS THAN Command for String Processing (<).......................			1410
8.22	GREATER THAN Command for String Processing (>)...............			1410
8.23	LESS THAN OR EQUAL TO Command for String
	Processing (<=) ..............................................................................			1411
8.24	GREATER THAN OR EQUAL TO Command for String
	Processing (>=) ..............................................................................			1411
8.25	NOT EQUAL Command for String Processing (<>)....................			1412
8.26	Modules for String Processing ....................................................			1413
8.27	Submit programs ..........................................................................			1416
8.28	Calling the Submit Program (SUBM) ..........................................			1417
8.29	Interrogating the Status of a Submit Program (RPLY)..............			1417
8.30	Canceling a Submit Program (CAN)............................................			1418
8.31	Cooperative Multitasking.............................................................			1420
	8.31.1 Starting a Parallel Process (SPAWN)...............................			1420
	8.31.2	Control of events.............................................................		1421
8.32	Constants Field (KF)......................................................................			1427
8.33	Program Structures		......................................................................	1428
	8.33.1	IF ... ELSE ...	ENDI structure...........................................	1429
	8.33.2	REPEAT ...	UNTIL Structure............................................	1429
	8.33.3	WHILE ... ENDW structure .............................................		1430
8.34	CASE branch..................................................................................			1430
8.35	Linking Files...................................................................................			1432
8.36	USES STATEMENT (USES) ..........................................................			1432
8.37	GLOBAL Statement (GLOBAL) ....................................................			1434
8.38	EXTERN STATEMENT (EXTERN).................................................			1434
8.39	PLC Modules..................................................................................			1435
	8.39.1 Markers, Bytes, Words, and Double Words ...................			1435
	8.39.2	Number conversion.........................................................		1438

16	HEIDENHAIN Technical Manual TNC 620

9	Data Interfaces
9.1	Introduction ...................................................................................		1443
9.2	The Ethernet Interface ..................................................................		1444
9.3	Connecting the Control to the Network .....................................		1445
	9.3.1	Configuring the control’s network address .....................	1445

9.3.2Configuring network access to other devices

		(mount)............................................................................	1447
	9.3.3	Overview of functions for configuring the network ........	1449
9.4	HSCI Interface................................................................................		1451
9.5	The USB Interface of the Control (USB 1.1) ...............................		1453
9.6	The Serial Interface of the Control ..............................................		1456
	9.6.1	RS-232-C/V.24 interface ..................................................	1456
9.7	Configuring the Serial Interface...................................................		1459
	9.7.1	Control characters ...........................................................	1459
	9.7.2	Configuration of interfaces ..............................................	1460
9.8	Data Transmission Protocols .......................................................		1472
	9.8.1	Standard communications protocol.................................	1472

9.8.2Communications protocol with block check

		character..........................................................................	1474
	9.8.3	LSV2 transmission protocol.............................................	1477
9.9	Saving and Loading Files .............................................................		1478
9.10	Configuring the Control for TeleService 2.0 ...............................		1479
9.11	Data Transfer by PLC ....................................................................		1482
	9.11.1	PLC modules...................................................................	1482
10	Index

October 2010

17

18	HEIDENHAIN Technical Manual TNC 620

1 Update Information

1.1 General Information

Update Information for the TNC 620 appears at irregular intervals, often as part of a new software version. This is preliminary information in PDF format, containing brief descriptions of new software functions as well as new hardware components. After the Update Information has been published, the new items are included in the TNC 620 Technical Manual.

Each Update Information is saved in the HEIDENHAIN FileBase on the Internet, where registered users can access it under http:// filebase.heidenhain.de.

Registered users of the HEIDENHAIN FileBase on the Internet receive an e-mail notification when a new Update Information appears.

November 2009

1.1 General Information

19

20			HEIDENHAIN Technical Manual TNC 620

1 Update Information No. 1

1.1 Overview

1.1.1 Released Service Packs

The following service packs have been released for NC software 340 56x-01:

Service pack 1: 340 56x-01 SP1	First release: September 2008
Service pack 2: 340 56x-01 SP2	October 2008
Service pack 3: 340 56x-01 SP3	December 2008

1.1.2 Released NC Software

The following NC software has been released:

NC software 340 560-02

NC software 340 561-02

NC software 340 564-02

November 2009

1.1 Overview

21

1.2 NC Software 340 560-01

Service packs

Warning

When needed, HEIDENHAIN prepares service packs for the various versions of the NC software. Registered customers can download these service packs from the HEIDENHAIN FileBase on the Internet. Installation of a service pack in addition to the already installed NC software implements important error fixes. Please ensure that the NC software always contains the latest service pack before you ship the machine. Perform all tests required of the machine or the NC software again after having installed the service pack.

The following service packs have been released for NC software 340 560-01:

Service pack 1	NC software	Release
340 560-01 SP1	340 560-01	First release in
		September 2008
Service pack 2	NC software	Release
340 560-01 SP2	340 560-01	October 2008
Service pack 3	NC software	Release
340 560-01 SP3	340 560-01	December 2008

22	HEIDENHAIN Technical Manual TNC 620

1.3 NC Software 340 551-04 / NC Software 340 560-02

1.3.1 Important Notes on Updating Software

Please remember the following important information when updating the software versions listed below:

TNC 320: 340 551-03 to 340 551-04 or

TNC 620: 340 560-01 to 340 560-02

Note

If you are using linear encoders with EnDat interface or motor encoders with EnDat interface for position measurement on your machine, you must carry out the following step.

Move the EnDat axes to known positions before the update:

A function for monitoring the SRAM contents for consistency will be introduced with new NC software. After the software update, all EnDat axes will therefore display the error message S-RAM contents of axis are invalid. At the same time, the control will display a dialog box for confirmation, in which the current (the displayed) position of the axis is compared with the physical (switch-off) position.

Move the axes to known positions before the update.

Write down the switch-off positions.

After the control has booted with the new software for the first time, confirm the positions of the EnDat axes.

Note

HEIDENHAIN recommends:

Making a backup of the control (e.g. with TNCbackup), before updating the

NC software.

Saving your current machine configuration. The configuration editor (DATA

BACKUP soft key) can be used for this purpose.

If you later want to undo the software update and return to the previous software version, you need the saved configuration data of the old version!

Note

Please perform the update of the NC software as described in the Technical

Manual in Chapter 2 "NC Software Exchange".

Note

Be sure to remember the important information about the software update, which is provided on the following pages.

November 2009

1.3 NC Software 340 551-04 / NC Software 340 560-02

23

Checking and saving new machine parameters:

After having installed the new NC software and rebooted the control, you must check and confirm the new machine parameters. The MOD dialog box appears on the screen:

Enter the MP code number 95148 and confirm your entry with the ENT key.

Press the MORE FUNCTIONS soft key.

Press the UPDATE RULES soft key.

Check the listed update rules. Each entry in the list stands for a new parameter that was added to the system by the update.

Exit the UPDATE RULES with the END soft key.

Press the CONFIG DATA soft key.

Before the configuration editor opens, an informational window is displayed, reporting the removal of the CfgRestorePosition machine parameter. Press the NEXT soft key.

All new machine parameters are marked with a red exclamation point in the configuration editor. The control indicates if certain machine parameters are faulty. Please ignore these messages for the time being.

Important step: Press the SAVE soft key.

The Configuration data changed dialog box opens. Press the SAVE soft key again. The new machine parameters are now automatically saved in the *.cfg files.

Press the END soft key and exit the Machine Parameter Programming operating mode by pressing the END soft key again.

The control then continues booting.

Warning

When the control has booted up for the first time after the software update, the internal firmware of HSCI components must be updated.The control displays the error message Firmware update required.

After you have acknowledged the displayed error message, the control will start the update process automatically.

Never shut down the control while the firmware is being updated – otherwise the control will need servicing!

After the update is finished, the control displays another message on the screen. After you have acknowledged the message, the control will shut down automatically. Switch off the machines and restart the control.

24	HEIDENHAIN Technical Manual TNC 620

Note

Due to a software update regarding the evaluation of parameter MP_signCorrNominalVal (400002), you must check whether the spindle turns in the correct direction:

Check the direction of spindle rotation, and correct it if required:

After the booting process, the control displays the error message Check the parameter for the direction of spindle rotation!.

Acknowledge the error message.

It is essential that you check now whether the spindle turns in the correct direction. Program a function, such as M3 or M19, and observe the direction of spindle rotation.

If required, use parameter MP_signCorrNominalVal (400002) or MP_signCorrActualVal (400001) to define the direction of spindle rotation correctly, see „Defining the Traverse Direction“ on page 419.

Note

In the first TOOL CALL after the software update, the control may display the warning Pocket table might be inconsistent. In this case, please note the following information:

Check the pocket table and correct it if required:

Up to now, the control allowed you to enter „0“ for zero tool T0 in the spindle pocket. This entry is no longer permissible with the new NC software. The control issues the warning mentioned above. The column location for the zero tool in the spindle pocket must now be empty. Proceed as follows to correct the pocket table:

Open the pocket table and press the EDITING ON soft key.

Delete the entry "0" for zero tool T0.

November 2009

1.3 NC Software 340 551-04 / NC Software 340 560-02

25

Note

The definition file of the symbolic programming interface API 3.0 has been expanded. You must perform the step described below in order for the PLC program to be compiled successfully after the update.

Replace the apimarker.def file:

During the update of the NC software, a new version of the apimarker.def file was automatically copied to the PLC partition of the control. Proceed as follows:

Switch to the Programming mode of operation.

Enter the MOD code number 807667 to switch to the PLC Programming mode of operation.

Open the File Manager with the PGM MGT key.

Switch to the PLC:\proto\plc directory.

Copy the apimarker.def file to the program directory of your PLC program. Overwrite the existing apimarker.def file:

Note

Please also copy the apimarker.def file to your PC as well, and add it to the PLCdesignNT project. Otherwise, during the next transfer of PLC project files to the control, the file might be overwritten by the old version.

26	HEIDENHAIN Technical Manual TNC 620

Note

Please observe the following note if you

are using the HEIDENHAIN PLC Basic Program.

It is essential that you check and modify the PLC program:

The behavior of the symbolic API marker NN_ChnProgCancel (NC program cancellation) has been changed: NN_ChnProgCancel will now be set every time the NC program is canceled. For a normal end of program,

NN_ChnProgEnd will be set. The NN_ChnProgCancel marker remains set during the complete Cancel cycle and beyond the program end until the next NC program is started.

When a program is canceled, the NN_ChnProgEnd marker will not be set. The end of program run, including the execution of a Cancel cycle, has been reached when NN_ChnControlInOperation is reset. NN_ChnProgCancel and NN_ChnProgEnd will be reset when NN_ChnControlInOperation is set again.

If both NN_ChnProgCancel and NN_ChnControlInOperation are set, this indicates that the Cancel cycle is being executed.

Module 9429 or 9320 can be used to inquire the reason for the program cancellation.

Please check the PLC basic program and make the following changes if necessary:

German: Biblioth.src

;External/Internal STOP

L	ApiChn.NN_ChnProgCancel
AN	ML_Internal_STOP

=MG_Impuls_Internal_STOP

L ApiChn.NN_ChnProgCancel

=ML_Internal_STOP

English: Library.src

;External/Internal STOP

L	ApiChn.NN_ChnProgCancel
AN	ML_Internal_STOP

=MG_pulse_internal_stop

L ApiChn.NN_ChnProgCancel

=ML_Internal_STOP

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1.3 NC Software 340 551-04 / NC Software 340 560-02

27

	1.3.2 Description of the New Functions
	New software	You can enable the following new software options by entering a code
	options	number. HEIDENHAIN can give you the code number after having been
		informed of the SIK number:
		Option	Description	ID
		#24	Gantry Axes	670 455-01
			In gantry axes, two servo-controlled axes are coupled
			so that they can only move simultaneously. The
			gantry axes behave like a single drive. The main axis
			is referred to as the master, and the tracking axis as
			the slave.
		#41	Additional Language
			Enabling of additional conversational languages. The
			languages listed below can be ordered. Please
			contact HEIDENHAIN if you required additional
			conversational languages.
			Slovenian	530 184-01
			Slovak	530 184-02
			Latvian	530 184-03
			Norwegian	530 184-04
			Korean	530 184-06
			Estonian	530 184-07
			Turkish	530 184-08
			Romanian	530 184-09
			Lithuanian	530 184-10
		#46	Python OEM Process	579 650-01
			Possibility of running Python processes on the
			control.
		Enhanced software option:
		Option	Description	ID
		#9	Software Option 2 (only TNC 620):	617 921-01
			If there are especially high requirements on the
			surface quality, a filter for smoothing the feed rate
			(MP_filterFeedTime) and two new axis-specific jerk
			parameters (MP_axPathJerk and MP_axPathJerkHi)
			are available.

28	HEIDENHAIN Technical Manual TNC 620

Overview of the	A summary of the improvements in NC software 340 551-04 and 340 560-02
improvements	is given below. For more detailed information, please refer to the Technical
	Manual sections indicated in the brief descriptions given below.
Machine	New: Search for the iTNC MP number in the configuration editor
Configuration		For numerous machine parameters, the compatible iTNC MP number is
		stored in the help text in the configuration editor. Up to now, it has not been
		possible to search the configuration for these numbers. The search function
		of the configuration editor now enables you to search for the iTNC MP
		number (selection: MP number). See “Finding / Replacing” on page 236.
	New: Separate parameter numbers for OEM parameters
		In order for the OEM to group the parameters in the configuration editor
		according to his own needs, or to make them easier to find, there is now a
		separate number range for the OEM. Numbers 900000 to 999999 are
		reserved for the OEM. For those parameters for which an OEM number is
		defined, this number is shown instead of the HEIDENHAIN number. The
		numbers are to be defined in the
		%OEM%\config\layout\PlcUniqueNumbers.xml file. If the file is missing or
		empty, no OEM numbers will be displayed. For more information, see „User
		Parameters“ on page 257
	Expanded: OEM motor table (only digital control, TNC 620)
		Until now, if the OEM-specific motor table (path:
		PLC:\table\motor_oem.mot) was missing, a warning was issued and the
		user had to create the table himself. Now no warning will be issued. The
		control itself creates a new blank table as soon as the MP_motName
		(401301) parameter is edited. If the OEM motor table exists but columns are
		missing, then the columns that exist in the SYS motor table will be added
		when copying. The control indicates which columns were not copied.
	Expanded: Saving update rules
		If the user tries to exit the configuration editor without saving the changes
		made by the update rules, a dialog window appears prompting the user to
		save the data. The configuration editor cannot be exited until the data are
		saved, see "Update rules" on page 245.
		Note
		The first restart of the control after the update cannot be continued without
		saving the configuration changes made by the update rules.

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29

		Machine
		parameters	Expanded/changed machine parameters
		new/expanded/
		changed
		MP number	Config object	Parameter	Description of change
		100201	CfgMachineSimul	MP_simMode	When the new value Delivery is
					set, during startup of the control all
					axes are set to the test mode, and a
					switch-on of the axes is prevented.
					The user should then be able to
					start the control, even with an
					incomplete or faulty axis
					configuration in order to put the
					axes into operation. After the
					configuration of all axes has been
					completed, the control can be
					switched to full operation
					(FullOperation).
					If Delivery, CcAndExt or CcOnly is
					set, the control now no longer
					outputs any analog nominal values.
		102902	CfgFileType	MP_standardEditor	"TEXT-EDITOR“ can now be selected
					in order to assign the ASCII editor of
					the control to a file type.
		103502	CfgPlcTimer	MP_value	The input range of the parameter was
					expanded from 1 000 to 1 000 000
					seconds (corresponds to approx. 11.5
					days).
		104300	CfgPlcOverrideDev	–	The reaction of the parameters under
		104400	CfgPlcOverrideS		CfgPlcOverrideDev, CfgPlcOverrideS,
					CfgPlcOverrideF and
					CfgPlcOverrideR was changed from
					NOTHING to RESET. The control
					must now be rebooted after a
					parameter change.
		105201	CfgSystemTime	MP_offsetToUTC	Values with decimal places can now
					be entered for time differences to
					universal time (GMT). This is
					necessary for parts of Australia (+8.5
					and +9.5 hours) and Kazakhstan (+3.5
					hours), for example. Also, the
					maximum value was extended from
					+13 to +14 [hours].
		114103	CfgTool	MP_probingDirRadial	The parameter defines the probing
			Measurement		direction for tool radius
					measurement. Z_Positive and
					Z_Negative can now also be selected,
					because the control now also
					supports mounting the TT tool touch
					probe in these axis directions, see
					page 1024.
		201203	CfgRotWorkPlane	MP_planeCalcMode	Parameter removed – obsolete

30	HEIDENHAIN Technical Manual TNC 620