Lenze ETC User Manual

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EDSTCXN

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Software manual

ETC Motion Control

ETCxCxxx

Operating System NC

I Tip!

Current documentation and software updates concerning Lenze products can be found on the Internet in the "Services & Downloads" area under

http://www.Lenze.com

© 2006 Lenze Drive Systems GmbH, Hans−Lenze−Straße 1, D−31855 Aerzen No part of this documentation may be reproduced or made accessible to third parties without written consent by Lenze Drive Systems GmbH. All information given in this documentation has been selected carefully and complies with the hardware and software described. Nevertheless, deviations cannot be ruled out. We do not take any responsibility or liability for damages which might possibly occur. Necessary corrections will be included in subsequent editions.

Contents i

1 Preface and general information 10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1 About this Manual 10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2 For which products is the manual valid? 11 . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3 Legal regulations 12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2 Getting started 13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1 System overview 13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1.1 Examples for an automation system 13 . . . . . . . . . . . . . . . . . . . . .

2.1.2 Layout example for an ETC island 15 . . . . . . . . . . . . . . . . . . . . . . . .

2.1.3 Connecting ETCHx and PC 16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2 Status display 17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3 Commissioning steps (overview) 20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4 Establishing the communication between PC and ETCHx 21 . . . . . . . . . . . .

2.4.1 Starting ETCHx 21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4.2 Starting the terminal program "HyperTerminal" and

activating the monitor interface 21 . . . . . . . . . . . . . . . . . . . . . . . . .

2.4.3 Setting the operating mode of the ETCHx 25 . . . . . . . . . . . . . . . . .

2.4.4 Assigning the IP address of the ETCHx 28 . . . . . . . . . . . . . . . . . . . .

2.5 Configuring ETC−MMI and ETC−MMI gateway 30 . . . . . . . . . . . . . . . . . . . . . .

2.6 Installing ETC−MMI 31 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.6.1 Building in and installing the ETCPx 31 . . . . . . . . . . . . . . . . . . . . . .

2.7 Starting ETC−MMI 32 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.7.1 Switching the language in the ETC−MMI 33 . . . . . . . . . . . . . . . . . .

2.7.2 Establishing a connection between ETC−MMI and ETC 34 . . . . . . .

2.8 Parameterising drives via machine constants 36 . . . . . . . . . . . . . . . . . . . . . .

2.8.1 Overview of the most important machine constants 36 . . . . . . . .

2.8.2 Machine constant file ETCxC.mk 39 . . . . . . . . . . . . . . . . . . . . . . . . .

2.8.3 Notes on loading the MK file into the control system 40 . . . . . . . .

2.8.4 Example for adapting a machine constant file 41 . . . . . . . . . . . . .

2.8.5 Adapting machine constants in the ETC−MMI 42 . . . . . . . . . . . . . .

2.8.6 Checking the parameters of the drives 43 . . . . . . . . . . . . . . . . . . . .

2.8.7 Testing the drives in inching mode 44 . . . . . . . . . . . . . . . . . . . . . . .

2.9 CNC programming according to DIN 66025 45 . . . . . . . . . . . . . . . . . . . . . . .

2.9.1 G−functions 45 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.9.2 M−functions 46 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.10 Creating a CNC sample program 47 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.10.1 Calling the text editor in the ETC−MMI 47 . . . . . . . . . . . . . . . . . . . .

2.10.2 Entering and saving a CNC program 48 . . . . . . . . . . . . . . . . . . . . . .

2.10.3 Loading the CNC program into the control system and

starting it 49 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.10.4 Extending the CNC program 50 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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2.11 ETC PLC programming with CoDeSys 51 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.11.1 Installing CoDeSys 51 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.11.2 Configuring the control system in the ETC−CoDeSys 51 . . . . . . . . .

2.12 Creating a PLC sample program 60 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.12.1 Required hardware 60 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.12.2 Starting and configuring the PLC sample program 61 . . . . . . . . . .

2.12.3 Loading the PLC sample program into the control system 68 . . . .

2.13 Testing CNC and PLC program 72 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.14 PLC keys in the ETC−MMI 75 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.14.1 Labelling of the PLC keys in the ETC−MMI 75 . . . . . . . . . . . . . . . . . .

2.14.2 Calling the signals in the PLC 76 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.14.3 Function of the keys 76 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.15 Operation via a Lenze−HMI 77 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.15.1 Settings for the connection of a Lenze−HMI H505 77 . . . . . . . . . . .

2.15.2 Functional description HMI505 operation 81 . . . . . . . . . . . . . . . . .

2.16 Updating the firmware of the ETCHx in the "Standalone"

operating mode 83 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.16.1 Calling the boot monitor in the control system 83 . . . . . . . . . . . . .

2.16.2 Querying the version of the firmware 84 . . . . . . . . . . . . . . . . . . . . .

2.16.3 Updating the firmware 84 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3 CNC programming 87 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1 Basics 87 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2 G functions 91 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.1 Overview of G functions 91 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.2 G functions individual descriptions 94 . . . . . . . . . . . . . . . . . . . . . .

3.3 Formula processor 172 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3.1 Arithmetic operations 172 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4 Block extensions 174 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4.1 Parameter assignment P 174 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4.2 H functions 175 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4.3 M functions 175 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4.4 Q functions 177 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4.5 S functions 178 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4.6 T functions 179 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5 Data fields 180 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5.1 P field 180 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5.2 Q field 189 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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4 Machine constants 190 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1 Basics 190 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2 Test settings 192 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.1 MK_TEST_OHNEMECHANIK 192 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.2 MK_SPS_DUMMY 192 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3 Software configuration 193 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3.1 MK_KUNDE 193 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3.2 MK_VOREINSTELLUNG 193 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3.3 MK_NCPROG_OHNE_KOMMENTARE 194 . . . . . . . . . . . . . . . . . . . . .

4.3.4 MK_NCPROG_NICHT_INS_EEPROM 194 . . . . . . . . . . . . . . . . . . . . . .

4.3.5 MK_METRISCH 194 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3.6 MK_CONST_REL_MM 195 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3.7 MK_CONST_REL_INCH 195 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3.8 MK_KONTURFEHLER 195 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3.9 MK_LAH_GRENZWINKEL 196 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3.10 MK_RADIUS_B_BEWERTUNG 196 . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3.11 MK_EPSILONMM 197 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3.12 MK_EPSILONGRAD 197 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3.13 MK_OVERRIDEMAX 197 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3.14 MK_FEHLERRESTART 197 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3.15 MK_S0T0_VERSATZ_ERLAUBT 198 . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3.16 MK_S_VERSATZSPERRE 198 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3.17 MK_CANOPEN_BAUDRATE 198 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3.18 MK_DELTAT 199 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4 Storage space reservation 200 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.1 MK_SPS_SPEICHERGROESSE 200 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.2 MK_SPS_DATENGROESSE 200 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.3 MK_SPV_SPEICHERGROESSE 200 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.4 MK_SPV_SYMBOLANZAHL 201 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.5 MK_HEADERANZAHL 201 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.6 MK_KANALANZAHL 201 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.7 MK_LAH_VORLAUFTIEFE 202 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.8 MK_LAH_RUECKLAUFGRENZE 202 . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.9 MK_PFELD_GROESSE 203 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5 Configuration of axes − Basics 204 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5.1 MK_CANDRIVES 204 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5.2 MK_APPLACHSIDX 205 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.6 Configuration of axes − Assignment and evaluation 207 . . . . . . . . . . . . . . . .

4.6.1 MK_CANDRIVES 207 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.6.2 MK_APPLACHSIDX 207 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.6.3 MK_ACHSENART 208 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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4.7 Configuration of axes − Resolution 209 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.7.1 MK_IMPULSE 209 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.7.2 MK_WEG 209 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.7.3 MK_MASSSTAB 209 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.8 Configuration of axes − Operating range 210 . . . . . . . . . . . . . . . . . . . . . . . . . .

4.8.1 MK_GRUNDOFFSET 210 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.8.2 MK_SW_ENDS_MINUS, MK_SW_ENDS_PLUS 210 . . . . . . . . . . . . .

4.8.3 MK_SW_ENDS_MIT_RAMPE 210 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.8.4 MK_SCHLEPPGENAUHALT 210 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.8.5 MK_GENAUHALTZEIT 210 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.9 Configuration of axes − Controller settings 211 . . . . . . . . . . . . . . . . . . . . . . . .

4.9.1 MK_T2 211 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.10 Configuration of axes − Referencing 212 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.10.1 MK_REF_RICHTUNG_UND_FOLGE 212 . . . . . . . . . . . . . . . . . . . . . . .

4.11 Configuration of axes − speed and acceleration 213 . . . . . . . . . . . . . . . . . . . .

4.11.1 MK_MODVMAX 213 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.11.2 MK_VMAX 213 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.11.3 MK_BESCHL, MK_BREMS 213 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.11.4 MK_T_BESCHL 213 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.11.5 MK_VBAHNMAX 214 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.11.6 MK_BAHNBESCHL, MK_BAHNBREMS 214 . . . . . . . . . . . . . . . . . . . . .

4.11.7 MK_T_BAHNBESCHL 214 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.12 Configuration of axes − Correction of axes 215 . . . . . . . . . . . . . . . . . . . . . . . . .

4.12.1 MK_SPINDELUMKEHRSPIEL 215 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.13 Configuration of axes − Handwheels 218 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.13.1 MK_CANDRIVES 218 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.13.2 MK_APPLACHSIDX 218 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.13.3 MK_ACHSENART 218 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.13.4 MK_IMPULSE 218 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.13.5 MK_WEG 218 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.13.6 MK_HANDRADZUORDNUNG 218 . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.13.7 MK_HANDRADFAKTOR 219 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.13.8 MK_HANDRADFILTER 219 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.14 Configuration of axes − Synchronous axes 220 . . . . . . . . . . . . . . . . . . . . . . . . .

4.14.1 MK_ACHSENART 220 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.14.2 MK_SYNCHRONABWEICHUNG 220 . . . . . . . . . . . . . . . . . . . . . . . . . .

4.14.3 MK_SYNCHRONOFFSET 220 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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4.15 Technology−specific settings 221 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.15.1 MK_MFKT_UPR_TABELLE 221 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.15.2 MK_TECHNOLOGIEDATEN1 ... MK_TECHNOLOGIEDATEN4 221 . . .

4.15.3 MK_MASCH_POLAR_KART 222 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.15.4 MK_KARTESISCH_ACHSNR 222 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.15.5 MK_POLAR_ACHSNR 223 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.15.6 MK_WLK_C_GRENZWINKEL 223 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.15.7 MK_WLK_C_OFFSET 223 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.15.8 MK_WLK_VERWEILZEIT 224 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.15.9 MK_X_WINKEL 224 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.15.10 MK_GEWINDE_VMAX 224 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.15.11 MK_DW224_255 225 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.16 List of machine constants 226 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5 Interface PLC <−> NC operating system 240 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1 Definitions 240 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.1 Data block 0 242 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.2 Data block 1 245 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.3 Data block 2 268 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2 Extended interface for MMI functions 270 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.1 Data blocks 8 ... 14 270 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.2 Data block 15 273 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6 ET −MMI gateway 276 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.1 Installing the ETC−MMI gateway 276 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.2 Starting the ETC−MMI gateway 277 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3 Configuring the ETC−MMI gateway 278 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3.1 Connection − Setting up connections 278 . . . . . . . . . . . . . . . . . . . . .

6.3.2 Trace – Error logbook 281 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3.3 About – Version information 282 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.4 Mmigtway.ini 283 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.4.1 Example of the file "mmigtway.ini" 284 . . . . . . . . . . . . . . . . . . . . . .

6.5 Communication values in the DPR area 285 . . . . . . . . . . . . . . . . . . . . . . . . . . .

EDSTCXN EN 2.0

l 7

Contentsi

7 ETC−MMI 286 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1 Installing ETC−MMI 286 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2 Starting ETC−MMI 288 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.3 Operating ETC−MMI 289 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.3.1 Display elements of the program interface 289 . . . . . . . . . . . . . . . .

7.3.2 Operational controls of the program interface 290 . . . . . . . . . . . . .

7.3.3 Help function 291 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.3.4 Configuration file 291 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.3.5 Language switch 291 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.3.6 Passwords 292 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.3.7 Notes, warnings, error messages 292 . . . . . . . . . . . . . . . . . . . . . . . .

7.4 "Setup" operating mode 293 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.5 "Automatic" operating mode 298 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.6 "Programming" operating mode 302 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.6.1 ASCI editor 305 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.6.2 File manager 308 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.6.3 Cycle programming 310 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.7 "Diagnostics" operating mode 312 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.8 Appendix 321 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8 PLC programming 336 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.1 ETC PLC programming with CoDeSys 336 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.2 CoDeSys installation 337 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.3 Connecting ETC and PC 338 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.8.1 Language file (SPRACHE.TXT) 321 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.8.2 Cycle programming 325 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.8.3 Configuration file (DELPHMMI.INI) 327 . . . . . . . . . . . . . . . . . . . . . . .

8.2.1 System requirements for CoDeSys V2.xx 337 . . . . . . . . . . . . . . . . . .

8.2.2 Installing software 337 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.3.1 V.24 Interface 338 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.3.2 Ethernet interface (only ETCHx, DIN rail design) 338 . . . . . . . . . . . .

8.3.3 DPR interface (only ETCPx, PCI insert card) 339 . . . . . . . . . . . . . . . . .

8.4 Project planning 340 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.4.1 Target system setup 340 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.4.2 Configuring PLC tasks of the ETCxM 340 . . . . . . . . . . . . . . . . . . . . . .

8.4.3 Configuring PLC tasks of the ETCxC 342 . . . . . . . . . . . . . . . . . . . . . .

8.4.4 Configuring I/O modules 343 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.4.5 Addressing 349 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.4.6 Remanent variables 350 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.4.7 Object directory (parameter manager) 350 . . . . . . . . . . . . . . . . . . . .

l 8

EDSTCXN EN 2.0

Contents i

8.5 Network variables 353 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.5.1 Settings in the target system 353 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.5.2 Settings in the global variable list 354 . . . . . . . . . . . . . . . . . . . . . . . .

8.6 Generate program 355 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.7 Interface to the ETC 356 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.7.1 Data blocks 356 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.7.2 System variables of the ETCxC 356 . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.7.3 System variables of the ETCxM 359 . . . . . . . . . . . . . . . . . . . . . . . . . .

8.7.4 Using machine constants in the ETCxC 359 . . . . . . . . . . . . . . . . . . .

8.7.5 Using machine constants in the ETCxM 359 . . . . . . . . . . . . . . . . . . .

8.7.6 Parameter field of the ETCxC 359 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.7.7 Operating data of the ETCxC 360 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.7.8 Reading error messages for the ETCxM 360 . . . . . . . . . . . . . . . . . . .

8.8 Library 361 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.8.1 General functions 361 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.8.2 V24 functions 377 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.8.3 FILE IO functions 383 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.8.4 Memory access functions 393 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.8.5 CANopen functions 398 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.8.6 CAN functions (only ETCxM) 410 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.8.7 MMI communication functions 414 . . . . . . . . . . . . . . . . . . . . . . . . . .

8.8.8 Realtime clock (only ETCxM) 417 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.9 Library ServerSDO.lib 418 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.9.1 InitServerSdo 418 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9 Index 419 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

EDSTCXN EN 2.0

l 9

1.1

Preface and general information

About this Manual

1 Preface and general information

1.1 About this Manual

Target group

Contents

Further information

This manual is intended for persons who program and commission the ETC Motion Control System under the "NC" operating system.

The software manual "NC Operating System" contains information on the following topics:

ƒ Getting started ˘ a chronological description of the commissioning

steps

ƒ CNC programming ˘ working with G functions, formula processor,

block extensions and data fields

ƒ Machine constants ˘ parameterisation of drives

ƒ PLC−ETC interface ˘ data blocks and their functions

ƒ ETC−MMI gateway ˘ communication between Windows applications

and the ETC

ƒ ETC−MMI ˘ integrated development environment for the creation of

CNC programs

ƒ CoDeSys ˘ integrated development environment for the creation of PLC

programs

The ETC Hardware Manual contains information on the following topics:

ƒ Technical data

ƒ Structure and function of the system components including interface

description

ƒ Mounting, connecting and maintaining system components

EDSTCXN EN 2.0

Preface and general information

For which products is the manual valid?

1.2 For which products is the manual valid?

1.2

Standard device



ETC xx 0 xx 1A 10

Product

Version HC = DIN rail, CNC core PC = PCI plug−in card, CNC core

ETCHC0xx

Number of axes 02 = 2 axes 04 = 4 axes 08 = 8 axes 12 = 12 axes

Hardware version

Modules

Software version ETCPC0xx



ETCH xxxx 1A 10

Product

N003 = power supply unit T000 = bus termination module I008 = 8 dig. inputs I016 = 16 dig. inputs U008 = 8 dig. outputs U016 = 16 dig. outputs A022 = 2 analogue inputs and outputs each

ETCHxxxx

Hardware version

Software version

EDSTCXN EN 2.0

1.3

1.3 Legal regulations

Preface and general information

Legal regulations

Marking

Manufacturer

CE conformity

Application as intended

The components of the ETC Motion Control System are clearly marked by the contents of the nameplate.

Lenze Drive Systems GmbH, Postfach 101352, D−31763 Hameln

Compliant with EC Directive "Electromagnetic compatibility"

Components of the ETC Motion Control System

ƒ must only be operated under the operating conditions described in the

ETC Hardware Manual.

ƒ are not approved for the use in explosive environments.

ƒ comply with the protection requirements of the EC Directive "Low

voltage".

ƒ are no machines in the sense of the EC Directive "Machines".

ƒ are no household appliances, as components they are intended for

industrial use only.

The downstream user is responsible for ensuring that the EC Directives are complied with in machine use.

Any other use shall be deemed inappropriate!

Liability

Warranty

The information, data and notes in this manual were up to date at the time of printing. No claims for the modification of systems and components that have already been supplied may be made on the basis of the specifications, illustrations and descriptions in this manual.

No liability is accepted by Lenze as to the suitability of any of the procedures or circuit recommendations included here.

The information in this manual describe the properties of the products without guaranteeing them. No liability will be accepted for damage or disturbance caused by:

ƒ ignoring this manual

ƒ unauthorised alterations to the components of the ETC Motion Control

System

ƒ operating errors and incorrect working on or with the ETC Motion

Control System

See terms of sales and delivery of Lenze Drive Systems GmbH.

Report any claims under warranty to Lenze immediately on discovery of the defect or fault. The warranty is void in all cases where liability cannot be established.

EDSTCXN EN 2.0

2 Getting started

This chapter explains the basics of the ETC system and describes the procedure for realising an automation task.

2.1 System overview

2.1.1 Examples for an automation system

Ethernet

ETCHx

CAN1

Getting started

System overview

Examples for an automation system

ETCHN003

ETC-System Components

2.1

2.1.1

ETCHT000

ETCHx / ETCPx

IPC with ETCPx

ECS/MCS-System Drives HMI I/O-System IP20

CAN2

CAN-I/O

ETCM001

The core of the automation system is the ETC control in the top hat rail design (ETCHx) or as PCI insert card (ETCPx).

The top hat rail design ETCHx is normally used in a so−called ETC island (¶ 15); it communicates via Ethernet with the applications on the IPC (or standard PC).

The ETCPC is inserted into the IPC (or standard PC) and communicates with the applications via the PCI bus.

Both designs have two separate CAN busses:

EDSTCXN EN 2.0

ƒ At CAN1 bus (or also ME bus) the I/O modules and any operating

components are connected. Third party devices must comply with teh DS401 profile of the CANopen specification.

ƒ The drives (e.g. the ECS compact servo) are connected to the connection

for the Motion CAN bus (CAN2) at the front plate. External drives must comply with the profile DS402 of the CANopen specification and in particular support the "Interpolated Position Mode".

2.1

2.1.1

Getting started

System overview Examples for an automation system

To carry out its allocated control function the ETC control needs various programs which are transferred from the IPC (or standard PC):

ƒ Operating system or firmware of the control (e.g. ETCHC.rsc)

ƒ PLC programs (e.g. SPSDummy.prg)

ƒ CNC programs; i.e. cycle and DIN programs (e.g. 9000.zyk or

Nikolaus.din)

IPC

The ETC control is operated and maintained via the IPC (or standard PC). The following applications might run on it:

ƒ Windows 2000 or XPoperating system

ƒ Terminal program (e.g. HyperTerminal) for establishing the Ethernet

connection between IPC and ETCHx control and for the configuration of the ETCHx control via the monitor interface (e.g. firmware update). This is not required for the ETCPx.

ƒ ETC−MMI gateway as communications program between Windows

applications and the ETC control.

ƒ Lenze ETC−MMI for the configuration, operation and monitoring of the

ETC control and for creating CNC programs.

ƒ CoDeSys development environment for the creation and testing of PLC

programs.

) Note!

An external keyboard is required at the IPC for commissioning. It is not required for normal operation.

EDSTCXN EN 2.0

Getting started

System overview

Layout example for an ETC island

2.1

2.1.2

2.1.2 Layout example for an ETC island

ETCHN003

ETCHx004

ETCHI016

ETCHI008

ETCHT000

2345

ETCM002

0 Serial interface (RS232) 1 Watchdog (e.g. for emergency stop chain) 2 Ethernet 3 Motion CAN bus (CAN2) 4 24 V supply 5 ME bus (CAN1)

ETCHN003: Power supply unit for the supply of the ETC island and ME bus connection

ETCHx004: ETC Motion Control for 4 axes (control)

ETCHIxxx: Input module with 16 or 8 digital inputs

ETCHT000: ME bus terminator module

) Note!

To terminate the ME bus DIP switch 1 must be set to ON at both the power supply unit ETCHN003 and the bus terminator module ETCHT000.

EDSTCXN EN 2.0

2.1

2.1.3

Getting started

System overview Connecting ETCHx and PC

2.1.3 Connecting ETCHx and PC

Three types of connections are possible between the ETCHx and a PC.

Connection type Cable version Description

Serial connection System cable type EWL 0068

Local connection via Ethernet (pear−to−pear connection)

Network connection Ethernet patch cable STP Cat5

or a comparable RS232 cable with double−sided 9−pin SUB−D socket (for the pin assignment see ETC Hardware Manual)

System cable type EWL 0065, EWL 0066 or EWL 0067 (double−sided RJ45)

(double−sided RJ45)

This connection is only required for commissioning! A free COM port at the PC is connected with the RS232 interface of the ETCHx. The PC communicates via a terminal program with the monitor interface of the ETCHx.

A network card in the PC is connected with the Ethernet connection of the ETCHx via a cross−over cable. Communication takes place via the TCP/IP protocol.

The ETCHx is connected to a separate or existing network (e.g. Intranet) via an Ethernet connection. Communication takes place via the TCP/IP protocol.

0 Connection via serial interface 1 Local TCP/IP connection 2 Network TCP/IP connection

ETCM004

EDSTCXN EN 2.0

2.2 Status display

Getting started

Status display

LEDs on the front plate of the ETC report the actual system state. The meanings of the signals differ in the start−up phase and during operation.

2.2

Watchdog (GN)

0 LED on 1 LED off 2 LED any 3 LED flashes

reserved (YE) Error (RD)

1 4

3 6

ETC042

EDSTCXN EN 2.0

2.2

Getting started

Status display

Start−up phase

During start−up a RAM test is carried out. After an error−free RAM test the LEDs 1 ... 6 produce a running indication. Any errors during the boot sequence will be signalled by the following pattern of flashing and indications.

Checksum error in the internal FLASH−PROM. 3 times fast consecutive flashing. The boot loader is then burned afresh into the internal FLASH−PROM. Occurs always after a boot loader update.

Error in the last 32 kByte of RAM memory (after an update and writing of the boot loader to the Flash).

Error in the first 32 kByte ofRAM memory.

Error when extracting the boot loader.

Error during the burning of the boot loader into the FLASH−PROM.

Errors in the RAM memory.

Error in the last 32 kByte ofRAM memory.

No firmware loaded or checksum error in the firmware. After 5 times flashing the boot monitor is activated.

Error when loading the firmware from the FLASH−PROM. After 5 times flashing the boot monitor is activated.

Error when starting the firmware.

EDSTCXN EN 2.0

Getting started

Status display

2.2

Operation

When the control enters the operating mode after start−up, the following pattern of flashing and indications applies.

LED Meaning

Watchdog Watchdog, must always illuminate when running.

Reserved Without function

ERROR Flashes after an exception (violation of the control program protection during

runtime, exceeding the permitted variable range, division by zero etc.).

LED 1 Flashes at the clock pulse of the coarse interpolator

LED 2 Flashes at the clock pulse of the interpreter

LED 3 Flashes at the clock pulse of the central control

LED 4 Flashes at the clock pulse of the fine interpolator

LED 5 Flashes with each RS232 interrupt or CAN interrupt

LED 6 Flashes at the clock pulse of the PLC cycle time

) Note!

The "flashing" frequency can be so low with short programs, that the LEDs appear dark.

EDSTCXN EN 2.0

2.3

Getting started

Commissioning steps (overview)

2.3 Commissioning steps (overview)

( Stop!

) Note!

Step ETCHC ETCPC Description See

1X− Connect ETCHC via RS232 cable with PC and start ETCHC. ^ 21

2 X − Start terminal program on the PC (if required, configure in

3 X − If the ETCHC is to be operated in the "with MMI"

4 X − Assign the IP address of the ETCHC. ^ 28

5 X X If required, install ETC−MMI and ETC−MMI Gateway. ^ 31

6 − X Install ETCPC in the PC and install the driver. ^ 31

7 X X Start ETC−MMI and ETC−MMI Gateway. ^ 32

8 X X Establish connection between ETC−MMI and ETCxC. ^ 34

9 X X Parameterise drives via machine constants. ^ 36

10 X X Check parameters of the drives. ^ 43

11 X X Test drives in inching mode. ^ 44

12 X X Create CNC program in the ETC−MMI. ^ 47

13 X X Load CNC program into ETCxC, start and test CNC

14 X X If required, install CoDeSys. ^ 51

15 X X Start and configure CoDeSys. ^ 51

16 X X Create PLC program. ^ 60

17 X X Load PLC program into ETCxC, start and test PLC program. ^ 68

18 X X Test CNC and PLC program. ^ 72

Observe the notes in the chapter "Initital switch−on" of the ETC Hardware Manual before commissioning the system.

Only build in and install the PCI control variant ETCPx in step 6.

^ 21

advance) and activate monitor interface of the ETCHC.

^ 25 operating mode, replace the firmware file on the ETC by the file "NetBoot.rsc".

^ 49 program.

EDSTCXN EN 2.0

Establishing the communication between PC and ETCHx

2.4 Establishing the communication between PC and ETCHx

) Note!

The steps described in this chapter only apply to the ETCHx variant (DIN rail variant); they are not required for the ETCPx variant (PCI card).

2.4.1 Starting ETCHx

1. Connect the serial interfaces of PC and ETCHx. For this purpose, use the system cable of type EWL 0068 or a comparable

RS232 cable with double−sided 9−pin D−Sub socket (for the pin assignment see ETC Hardware Manual).

2. Start the PC.

3. Start the ETCHx by mains connection or initialise the ETCHx by a reset (press the Reset key on the front panel).

As soon as the ETC firmware has been loaded, the green watchdog LED lights up at the ETCHx .

Getting started

Starting ETCHx

2.4

2.4.1

2.4.2 Starting the terminal program "HyperTerminal" and activating the monitor interface

For the communication between PC and ETCHx, you require a terminal program. The terminal program "HyperTerminal" is available in every standard Windows installation.

1. If you have already established a connection with an ETC (i.e. if a connection is already configured), start the connection via <Start> Programs W Accessories W Communication W HyperTerminal W ConnectionName.ht. See next section.

If no connection has been configured yet, start the HyperTerminal via <Start>

The program queries different settings of the telephone connection because it is also designed for a modem connection. These settings are not significant in this context.

2. After you have been prompted, enter a name for the connection (for example "ETC") and click OK.

W Programs W Accessories W Communication W HyperTerminal.

EDSTCXN EN 2.0

2.4

2.4.2

Getting started

Establishing the communication between PC and ETCHx Starting the terminal program "HyperTerminal" and activating the monitor interface

3. In the "Connect to" dialogue, select the PC interface via which you want to establish the connection (for example "COM1").

ETCM006

4. Click OK.

5. In the "COMx Properties " dialogue, enter the following data:

ETCM007

6. Click OK.

ETCM008

EDSTCXN EN 2.0

Getting started

Establishing the communication between PC and ETCHx

Starting the terminal program "HyperTerminal" and activating the monitor interface

As soon as a connection has been established between the PC and ETC, the LEDs 1 ... 6 at the ETCHx start to flash circulatingly. The message "Wait Boot Loader" appears and the following window is displayed:

2.4

2.4.2

ETCM009

7. Press the <?> key until the prompt ">" appears.

The monitor interface has been started. You can now send commands to the ETC via the keyboard.

ETCM010

EDSTCXN EN 2.0

2.4

2.4.2

Getting started

Establishing the communication between PC and ETCHx Starting the terminal program "HyperTerminal" and activating the monitor interface

Important commands of the monitor program

Fault elimination

Command Meaning

dir [dr:][pattern] Shows the contents of the specified drive. The flashdisk (sd:) is preset, other

possible drives are program storage (ps:), Ram disk (rd:) and floppy disk (fd:), if existing. As pattern, the usual MS−DOS patterns can be used, e.g.: *.din

del [dr:][pattern] Deletes the specified files on the specified drive. The flash disk (sd:) is

preset.

cd [dr:] Changes to or shows the currently selected drive. The flash disk (sd:) is

preset.

format dr: Formats the current disk and thus deletes all files on this disk. A disk name

must be specified.

reboot Resets the control system. To activate the boot monitor, the "!" key must be

pressed afterwards until the boot monitor responds (this may take 3−4 seconds).

help Displays the help page with commands of the monitor program.

ver Displays version string

ipconf Configures network parameters for Ethernet interface

hwconf Displays hardware configuration of the control system (CPU type, memory

etc.)

If you cannot establish a connection to the ETCHx by means of the described procedure, proceed as follows:

1. Check the cabling between PC and ETCHx.

2. Check the connection parameters of the terminal program.

A first test of the cable connection can be performed by means of a bridge between the pins 2 and 3 at the socket of the cable (control system side):

ƒ Afterwards, the terminal program is called as usual and any letters can

be entered via the keyboard.

ƒ If the entered characters of the keyboard are correctly displayed in the

mask of the terminal program (the characters are sent back by the bridge as echo), the cable must be checked for exchanged pins (pin2/3), for short circuit and the connection must be checked for correct parameter setting.

EDSTCXN EN 2.0

Getting started

Establishing the communication between PC and ETCHx

Setting the operating mode of the ETCHx

2.4

2.4.3

2.4.3 Setting the operating mode of the ETCHx

The ETCHx can be operated in two operating modes:

ƒ Variant "Standalone" (delivery variant)

– Directly after the voltage has been applied, the control system loads

the firmware.

– The control system executes a fixed program.

ƒ Variant "with MMI"

– After the voltage has been applied, the control system waits until the

firmware is loaded by a PC via any MMI program (e.g. ETC−MMI).

– Variable user programs can be executed.

Comparison of the operating modes

Use The control system operates a

User program A fixed program runs in the

Installed firmware on the control system

Installation of the firmware The firmware is loaded and

Behaviour of the control system after the voltage has been applied

LED display after the voltage has been applied

Starting the firmware Before the start, the firmware

Standalone (delivery) With MMI

machine without further coupling to a PC.

control system.

Boot loader firmware

installed in the EEPROM by the boot loader.

After the voltage has been applied, the control system automatically starts with its firmware.

After the firmware has been started successfully, the green watchdog LED lights up.

is loaded from the EEPROM of the control system into the RAM and started.

The control system operates a machine with coupling to a user interface, which is used for loading programs and operating the control system.

Variable user programs can be loaded into the control system.

Boot loader loader

The Loader is loaded and installed in the EEPROM by the boot loader.

After the voltage has been applied, the control system waits until the firmware is loaded via the PC.

The successful start of the loader is indicated by circulating LEDs (1 ... 6).

The firmware is located on the PC and is loaded into the RAM of the control system and started when the MMI user interface is started. After the firmware has been started successfully, the green watchdog LED lights up.

Set the "Standalone" operating mode

EDSTCXN EN 2.0

The "Standalone" operating mode is factory−set.

) Note!

If the ETCHx has already been operated in the "with MMI" operating mode and is to be reset to the "Standalone" operating mode, the file "NetBoot.rsc" (loader) must be deleted in the control system and the firmware file ETCHC_A.rsc (ETCHC) or ETCPC.rsc (ETCPC) is to be transferred instead. For this purpose, proceed as described in the following section; the files that are to be exchanged are the only difference.

2.4

2.4.3

Getting started

Establishing the communication between PC and ETCHx Setting the operating mode of the ETCHx

Set the "With MMI" operating mode

For the "With MMI" operating mode, the firmware file must be replaced by the file "NetBoot.rsc" (Loader) on the ETCHx.

1. To delete the firmware, enter the following in the HyperTerminal: del sd: etc*.rsc. Afterwards, press the <Enter> key.

2. To transfer the Loader to the ETC, activate the menu item Transfer

Send File in the HyperTerminal.

ETCM021

3. Specify the path to the file "NetBoot.rsc" and select the protocol "Zmodem with Crach Recovery".

ETCM022

4. Click on Send. While the file is being loaded into the control system, the following figure

is displayed. On the ETC front plate, the LEDs 1 ... 6 flash circulatingly.

ETCM023

EDSTCXN EN 2.0

Getting started

Establishing the communication between PC and ETCHx

Setting the operating mode of the ETCHx

After loading is complete, the following figure is displayed:

2.4

2.4.3

The control system waits until the firmware is loaded from the PC; on the ETC front plate, the LEDs 1 ... 6 flash circulatingly.

5. In the HyperTerminal window, enter quit and confirm the command with <Enter> .

The firmware starts. On the ETC front plate, the green watchdog LED lights up.

ETCN007

EDSTCXN EN 2.0

2.4

2.4.4

Getting started

Establishing the communication between PC and ETCHx Assigning the IP address of the ETCHx

2.4.4 Assigning the IP address of the ETCHx

For communication via a network or a local Ethernet cable, the ETCHx requires a unambiguous IP address (with subnet mask) that matches the other nodes. When the control system is delivered, it has a specific, but random IP address.

The IP address of the ETCHx is assigned via the monitor interface (as described in the following). This IP address is requested when connections are established in the ETC−MMI Gateway (¶ 34).

Specify the IP address according to the following general rules for IP addresses:

Separate (local) network segment

If the control system and PC are connected with a local network segment or via a direct Ethernet connection (without Internet/Intranet connection), assign IP addresses of class B or class C to the two network stations.

ƒ Addresses of class B are in the range from 128.0.0.0 to

191.255.255.255. The corresponding subnet mask is 255.255.0.0 (default).

ƒ Addresses of class C are in the range from 192.0.0.0 to

223.255.255.255. The corresponding subnet mask is 255.255.255.0 (default).

Existing network segment

The gateway address is not relevant here. You can enter a free IP address of the subnetwork (not 0.0.0.0).

Example IP address Subnet

This address must be assigned to the ETCHC and specified as connection parameter in the ETC−MMI Gateway ^ 34:

This address must be specified in the network connection of the PC (TCP/IP settings):

181.16.1.10

181.16.1.11 255.255.0.0 181.16.1.1

mask

255.255.0.0 181.16.1.1

Gateway

address

) Note!

Do not use any leading zeros in the IP addresses. Otherwise, the IP address will be interpreted as octa decimal number.

If ETCHx and PC are to be connected with an existing network segment, the addresses and the subnet mask must be assigned by the network administrator.

) Note!

If the Ethernet adapter supports 100Base−T technology, "Auto Select" or "10Base−T" must be set for the "Media Type" property.

EDSTCXN EN 2.0

Getting started

Establishing the communication between PC and ETCHx

Assigning the IP address of the ETCHx

2.4

2.4.4

MAC address

Assigning an IP address

Like any other device with Ethernet controller, the ETCHx receives an unchangeable and worldwide unique physical Ethernet address, also called MAC ID (Media Access Control Identity), from the manufacturer. It can be used for addressing on the hardware level. The address has a fixed length of 6 bytes (48 bits) and contains an address type, an identification of the manufacturer and a serial number.

MAC−ID of the ETC: 00:05:7e:xx:xx:xx (with xx:xx:xx = serial number).

The IP address of the ETCHx is specified via the monitor interface.

1. In the HyperTerminal, enter the command ipconf and confirm the command with <Enter>.

The MAC−ID and the current address setting of the ETCHx are displayed.

ETCM011

2. Press the <Y> key and change the settings. Follow the instructions of the monitor interface.

Select an IP address according to the rules specified at the beginning of the section.

The HyperTerminal program can now be quit.

) Note!

Note down the IP address because it must be specified when creating connections in the ETC−MMI Gateway (¶ 34).

EDSTCXN EN 2.0

2.5

2.5 Configuring ETC−MMI and ETC−MMI gateway

Getting started

Configuring ETC−MMI and ETC−MMI gateway

The program "ETC−MMI" is used for the following tasks:

ƒ Configuring the control system

ƒ Operating and monitoring the control system

ƒ Maintenance of the control system and error diagnosis

The MMI gateway is the communications program between Windows applications and ETC control systems. Different applications such as MMIs, configuration tools or OPC servers can establish connections to one or more control systems at the same time.

The gateway implements all required mechanisms for access control, error handling and diagnostics and supports control−specific hardware drivers and communication protocols. By means of the configuration tools, new connections can be added and existing connections can be edited.

The ETC−MMI Gateway is installed during the installation of the Lenze ETC−MMIs. It can also be installed as a separate application. In this case, it is available as communication channel for other applications.

, For further information, please refer to the chapters "ETC−MMI

Gateway" (¶ 276) and "ETC−MMI" (¶ 286).

EDSTCXN EN 2.0

2.6 Installing ETC−MMI

( Stop!

) Note!

1. In Windows File Explorer, open the program "setup.exe" on the

2. Follow the instructions of the installation program. The following will

Getting started

Installing ETC−MMI

Building in and installing the ETCPx

Only install the PCI control variant ETCPx after installing the ETC−MMI and before starting the ETC−MMIs.

The ETC−MMI Gateway is installed during the installation of the Lenze ETC−MMIs

ETC−MMI installation CD.

be requested: – Demo or standard installation – Control type (ETCHC or ETCPC) – IP address of the ETCHC (¶ 28) or index of the ETCPC (indexes of the

PCI cards are in the range 0 ... 9 and are automatically assigned by the driver. The first ETCPx has the index 0).

In the start bar, the entry "Lenze ETC−MMI" is created. It can be used to start the application.

2.6

2.6.1

3. For an ETCHC: Check that the TCP/IP protocols are installed in the network properties (Start

For an ETCPC: Install the ETCPC plug−in card in the PC. Observe the notes in the ETC Hardware Manual.

2.6.1 Building in and installing the ETCPx

1. If you use an ETCPx plug−in card as control system, install it in the PC now. Please observe the notes in the ETC Hardware Manual.

2. Start the PC and open the BIOS settings. For Phoenix BIOS: set Advanced\Plug & Play O/S to [NO]. For other BIOS, check the corresponding entry, e.g. PNP OS on [NO]. After the start of the operating system, the hardware wizard detects the

new hardware and queries the driver.

3. Install the ETCPx driver from the ETC−MMI CD (...\wdm2000\ETCPC.inf)

4. Restart the PC.

W Settings W Control Panel W Network).

EDSTCXN EN 2.0

2.7

2.7 Starting ETC−MMI

Getting started

Starting ETC−MMI

1. Start the ETC−MMI via <Start>

The ETC−MMI Gateway is automatically started. The application can be seen on the task bar:

W Programs W Lenze W ETC

ETCN011

ETCN001

) Note!

It can be defined which operating mode is displayed when the user interface is started. (¶ 327).

For a detailed description of the MMIs, refer to chapter "ETC−MMI" (¶ 286).

For a detailed description of the MMI gateways, refer to chapter "ETC−MMI Gateway" (¶ 276).

EDSTCXN EN 2.0

Switching the language in the ETC−MMI

2.7.1 Switching the language in the ETC−MMI

1. In the ETC MMI window, press <F12> (diagnostics). The MMI window opens in the "Diagnostics" operating mode.

2. In the ETC−MMI diagnostics window, press <F8> (MMI−config.). The window "delphmmi.ini" opens (¶ 283).

Getting started

Starting ETC−MMI

2.7

2.7.1

3. Specify the language in the line Language: German: "Lenze" English: "Lenze_gb"

4. Close the window with <Enter>.

5. Quit and restart the ETC−MMI.

EETCN095

EDSTCXN EN 2.0

2.7

2.7.2

Getting started

Starting ETC−MMI Establishing a connection between ETC−MMI and ETC

2.7.2 Establishing a connection between ETC−MMI and ETC

1. On the task bar, click on the ETC−MMI Gateway icon.

A menu opens.

Settings: Start configuration interface. About: Display version and manufacturer information. Exit: Close gateway (if there are active connections to an application, a

warning is displayed).

ETCN001

ETCN002

2. Click on Settings.

ETCN003

Connections: List of the already configured connections. A green LED next to the connection name indicates an active connection, via which the messages and/or cyclic data are transferred. Via the Settings button, you can edit the communication parameters of the selected connection (¶ 278).

Trace: In the case of faults in the communication, you can activate trace logs on this tab (¶ 281).

About: Display version and manufacturer information.

EDSTCXN EN 2.0

Getting started

Starting ETC−MMI

Establishing a connection between ETC−MMI and ETC

3. To create a new connection, click on Add on the "Connection" tab.

4. Specify a name for the connection. To enable an application to communicate with a control system via the

ETC−MMI Gateway, each connection must be assigned an unambiguous name. You can choose any name. Assign e.g. consistent names "ETC0", "ETC1" ... or application−specific names "ramp", "laser control" etc. A name can contain up to 31 ASCII characters ("A ... Z", "a ... z" , "0 ... 9").

2.7

2.7.2

ETCN004

5. Select a connection type:

ƒ UDP connection for ETCHx control systems

Ethernet communication via DPR/UDP/IP protocol.

ƒ PCI connection for ETCPx control systems

DPR communication via a WDM driver (ETCPC.sys, in the scope of supply of the ETCPC).

6. Enter a communication parameter in the "IP address" field:

ƒ ETCHC = IP address (¶ 28)

ƒ ETCPC = Index of the PCI cards (indexes of the PCI cards are in the range

0 ... 9 and are automatically assigned by the driver. The first ETCPx has the index 0).

7. Close the dialogue via OK. Your entries are saved in the file "mmigtway.ini" (¶ 283). If a connection

with the same parameters already exists, the error "Gateway cannot change the parameter" is reported.

EDSTCXN EN 2.0

2.8

2.8.1

Getting started

Parameterising drives via machine constants Overview of the most important machine constants

2.8 Parameterising drives via machine constants

The properties of the drives must be parameterised both in the drive itself and in the control system.

In the control system, the properties are assigned via machine constants (MCs). A machine constant consists of a keyword and the corresponding values; for example "MK_VMAX 20".

The machine constants are saved on the PC in a text file with the extension .mk (e.g. ETCHC.mk for the ETCHC) and are loaded into the control system via the ETC−MMI. The machine constants can be changed after loading via a dialogue in the ETC−MMI.

2.8.1 Overview of the most important machine constants

The machine constants listed in the following are mandatory for the operation of the drive. In relation to the drives, they are only a subset of the required parameterisation. For a detailed description of all machine constants, refer to chapter "Machine constants" (¶ 190).

Test setting

( Stop!

The control system only initialises the drives via its machine constants and determines path−related parameters. The control−related parameters, the safety functions of the drives and the parameters of the reference run must be parameterised in the drive itself by means of the GDC (Global Drive Control).

MC keyword No. of

values

MK_TEST_OHNEMECHANIK 1 0, 1 0: "Achsrechner" ("Axis computer") of

MK_SPS_DUMMY 1 0, 1, −1 0: with integrated PLC function

Values Meaning

the NC firmware works and considers the actual position counter of the drive. 1: "Achsrechner" ("Axis computer") of the NC firmware works, but simulates the actual position counter of the drive (actual position = desired position for the test of the NC function without mechanics).

1: without integrated PLC function

−1: without integrated PLC function,

releases are reset

EDSTCXN EN 2.0

Getting started

Parameterising drives via machine constants

Overview of the most important machine constants

2.8

2.8.1

Hardware configuration

MC keyword No. of

values

MK_CANDRIVES 12 −1, 0 ... 11 Assignment of the axis number 0 ... 11 to

MK_APPLACHSIDX 18 −1, 0 ... 11 Assignment of the axis number 0 ... 11 to

MK_ACHSENART 12

Values Meaning

the CAN node address in the order of the CAN node address 1 ... 12

−1: No axis number is assigned to the node address 0 ... 11: An axis number is assigned to the node address

the axis description in the order of the axis description X ,Y, Z, C, U, V, W, A, B, u, v, w, x, y, z, a, b, c

−1: No axis number is assigned to the axis description 0 ... 11: An axis number is assigned to the axis description

Assignment of the axis type to the axis number in the order of the axis number 0 ... 11

Bit 0 Axis type

xxxxxxx0 Linear axis

xxxxxxx1

xxxxxx0x Observe HW limit switch

xxxxxx1x

xxxx00xx Normal axis

xxxx01xx

xxxx10xx Measurement axis

xxxx11xx

xx00xxxx Rotation axis with absolute

xx01xxxx

xx11xxxx Modulo 360° axis − shortest distance

x0xxxxxx Normal axis

x1xxxxxx

0xxxxxxx Normal axis

1xxxxxxx

Rotation axis

Bit 1 Limit switch

Ignore HW limit switch

Bit 3/2 Axis type

Spindle

Spindle and measurement axis

Bit 5/4 Only for xxxxxxx1, rotation axis

positioning

Modulo 360° axis − sign indicates the direction

is travelled (ETCHC only)

Bit 6 Gantry axis

Gantry axis (synchronous axis with mechanical coupling)

Bit 7 Handwheel

Handwheel

Software configuration

EDSTCXN EN 2.0

MC keyword No. of

values

MK_CANOPEN_BAUDRATE 2 0,

MK_DELTAT 1 Rough interpolation cycle in [ms]

Values Meaning

1st parameter for CAN1

10... 1000

2nd parameter for CAN1

0: no device connected >0: baud rate for CAN−Open in kB

2.8

2.8.1

Getting started

Parameterising drives via machine constants Overview of the most important machine constants

Setting of the axes

Axis−related limit values

Path−related limit values

MC keyword No. of

values

MK_IMPULSE 12 Number of impulses per [MK_WEG]

MK_WEG 12 Distance in [mm] or [degree] which

MC keyword No. of

values

MK_MODVMAX 12 Modal axis speed (manual traversing)

MK_VMAX 12 Max. axis speed [m/min] or [U/min] in

MK_BESCHL 12 Acceleration ramp [m/s2] or [U/s2] in

MK_BREMS 12 Deceleration ramp [m/sec2] or [U/s2] in

MK_T_BESCHL 12 Damping time constant for acceleration

MC keyword No. of

values

MK_VBAHNMAX 1 Max. material speed [m/min]

MK_BAHNBESCHL 1 Acceleration ramp [m/s2]

MK_BAHNBREMS 1 Deceleration ramp [m/s2]

MK_T_BAHNBESCHL 1 Dampening time constant for

Values Meaning

(after the quadruplication!) in the order of the axis number 0 ... 11

corresponds to the value of [MK_IMPULSE] in the axis computer in the order of the axis number 0 ... 11

Values Meaning

[m/min] or [U/min] in the order of the axis number 0 ... 11

the order of the axis number 0 ... 11

order of the axis number 0 ... 11

the order of the axis number 0 ... 11

and deceleration ramps [ms] in the order of the axis number 0 ... 11

Values Meaning

deceleration and acceleration ramps [ms]

EDSTCXN EN 2.0

2.8.2 Machine constant file ETCxC.mk

In the control variant "With MMI", the file ETCxC.mk is loaded into the control system ETCxC when the ETC−MMI is started. In the "Standalone" variant, it is detected that the machine constants have already been loaded.

The following example of machine constants is an excerpt from the file ETCxC.mk with preset machine constants, which must be adapted for the specific application.

Getting started

Parameterising drives via machine constants

Machine constant file ETCxC.mk

2.8

2.8.2

Test setting

Hardware configuration

Software configuration

Setting of the axes

Axis−related limit values

MC keyword No. of

values

MK_TEST_OHNEMECHANIK 1 0

MK_SPS_DUMMY 1 0

MC keyword No. of

values

MK_CANDRIVES 12 0, 1, 2, 3, −1, −1, −1, −1, −1, −1, −1, −1

MK_APPLACHSIDX 18 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 13, 14, 15, 16, 17

MK_ACHSENART 12 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0

MC keyword No. of

values

MK_CANOPEN_BAUDRATE 2 500, 1000

MK_DELTAT 1 2

MC keyword No. of

values

MK_IMPULSE 12 65536, 65536, 65536, 65536, 65536, 65536,

MK_WEG 12 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10

MC keyword No. of

values

MK_MODVMAX 12 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10

MK_VMAX 12 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20

MK_BESCHL 12 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2

MK_BREMS 12 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2

MK_T_BESCHL 12 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0

Values

65536, 65536, 65536, 65536, 65536, 65536

Values

Path−related limit values

EDSTCXN EN 2.0

MC keyword No. of

values

MK_VBAHNMAX 1 20

MK_BAHNBESCHL 1 2

MK_BAHNBREMS 1 2

MK_T_BAHNBESCHL 1 0

Values

2.8

2.8.3

2.8.3 Notes on loading the MK file into the control system

Getting started

Parameterising drives via machine constants Notes on loading the MK file into the control system

Make sure that the number of parameters in the file of machine constants corresponds to the number of axes (12) in the operating system of the control system.

When the machine constant file is loaded into the control system, 3 cases are possible:

ƒ The number of parameters in the file equals the maximum number in

the operating system. The parameters overwrite the saved machine constants in the control

system.

ƒ The number of parameters in the file is greater than the maximum

number in the operating system. The parameters overwrite the saved machine constants in the control

system up to the maximum number. An error message is generated for each parameter of the file that is not adopted.

ƒ The number of parameters in the file is smaller than the maximum

number in the operating system. The parameters overwrite the saved machine constants in the control

systems. The missing machine constants up to the maximum number are completed by the entries that already exist in the control system.

) Note!

If the control system is in an error status (display in the ETC−MMI in the SETUP operating mode: "NCR: ERROR"), the loaded machine constants are not adopted in the control system.

The machine constants have only been adopted correctly when the control state "Idle" (display in the ETC−MMI in the SETUP operating mode: "NCR: STEHT" ("NCR: STANDS")) is reached.

EDSTCXN EN 2.0

Parameterising drives via machine constants

Example for adapting a machine constant file

2.8.4 Example for adapting a machine constant file

The drive configuration has 3 drives with the following properties:

Axis number 0 1 1

CAN node address 8 7 3

CAN baud rate 500 kB

Axis description c X (X’)

Axis type Rotation axis Linear axis with

Resolution pulses 65536 65536 like drive 2

The machine constant file must look as follows:

Getting started

Drive 1 Drive 2 Drive 3

handwheel

Gantry axis for

drive 2 with the

same properties

2.8

2.8.4

Test setting

Hardware configuration

Software configuration

Setting of the axes

Explanation

MC keyword No. of

values

MK_TEST_OHNEMECHANIK 1 0

MK_SPS_DUMMY 1 0

MC keyword No.of

values

MK_CANDRIVES 12 −1, −1, 1, −1, −1, −1, 1, 0, −1, −1, −1, −1

MK_APPLACHSIDX 18 1, −1, −1, 0, −1, −1, −1, −1, −1, −1, −1, −1, −1, −1, −1, −1, −1,

MK_ACHSENART 12 1, 192, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0

MC keyword No. of

values

MK_CANOPEN_BAUDRATE 2 500, 1000

MC keyword No. of

values

MK_IMPULSE 12 65536, 65536, 65536, 65536, 65536, 65536,

Values

−1

Values

65536, 65536, 65536, 65536, 65536, 65536

To define a synchronous axes, the same axis number is entered at 2 CAN note addresses in MK_CANDRIVES. This creates a forced coupling of the axes of the two CAN node addresses. The CAN axis with the lower node address automatically is the master axis, the axis with the higher node address and the same axis number is the slave axis (synchronous axis).

EDSTCXN EN 2.0

The gantry axis (X’, in MK_ACHSENART) is a special case of the synchronous axes. It is a mechanical forced coupling of 2 axes. Thus, the gantry axis is not entered as an axis of its own in MK_CANDRIVES, but as a reference to the X axis.

2.8

2.8.5

2.8.5 Adapting machine constants in the ETC−MMI

Getting started

Parameterising drives via machine constants Adapting machine constants in the ETC−MMI

1. In the ETC MMI window, press <F12> (diagnostics). The MMI window opens in the "Diagnostics" operating mode.

2. Press <F6> (machine const.).

3. Press F6 (Change current MCs) again. The current machine constants are loaded.

0: Available machine constants 1: Date and version of the NC firmware 2: Value of the selected machine constant 3: Accept changed value 4: Short description of the selected machine constant

EETCN095

4. In the field of the available machine constants 0, select the machine constant that you want to adapt.

5. To change the value of the selected machine constant, press the <Space bar> and enter the new value in the field 2.

6. To accept the value, press the key 3.

7. After you have made all changes, press <Enter>. The changes are transferred to the ETC and updated in the MK file.

EDSTCXN EN 2.0

Test setting

Getting started

Parameterising drives via machine constants

Checking the parameters of the drives

2.8

2.8.6

) Note!

Basically, the operation of the CNC program is also possible:

ƒ without connected mechanics and drives.

This is achieved by setting the machine constant MK_TEST_OHNEMECHANIK=1.

ƒ without a PLC program.

This is achieved by setting the machine constant MK_SPS_DUMMY=1.

For the following tests with mechanics, the above−mentioned machine constants must be set as follows:

MC keyword No. of

MK_TEST_OHNEMECHANIK 1 0

MK_SPS_DUMMY 1 1

2.8.6 Checking the parameters of the drives

After the machine constants have been adapted, the connected drives can be checked via their tolerance margin in the diagnostics.

1. In the ETC MMI window, press <F12> (diagnostics). The MMI window opens in the "Diagnostics" operating mode.

values

Values

EDSTCXN EN 2.0

ETCN012

Correctly parameterised drives show an alternating tolerance margin around the zero point.

2.8

2.8.7

2.8.7 Testing the drives in inching mode

Getting started

Parameterising drives via machine constants Testing the drives in inching mode

After the machine constants have been adapted, the drives must be tested in inching mode. Check whether the configured drives behave according to the specifications.

1. In the ETC MMI window, press <F9> (setup). The MMI window opens in the "Setup" operating mode.

2. Press <F2> (Manual travel).

3. In the submenu, press <F1> (Modal travel). An individual drive is selected. The selected drive is indicated by the

setpoint with a green background.

ETCN011

4. In the submenu, alternately press <S3> (Travel +) and <S4>(Travel −). In inching mode, the selected drive rotates in positive or negative

direction.

5. To change the speed of the drive, press <S6> (Override +) or <S7> (Override −).

6. To select the next axis for traversing, press <S5> (axis). The green setpoint display switches.

EDSTCXN EN 2.0

CNC programming according to DIN 66025

2.9 CNC programming according to DIN 66025

The following description of functions according to DIN 66025 is an excerpt from the chapter "CNC programming" (¶ 87).

2.9.1 G−functions

G−functions define geometric preparatory functions for the operation of the axes. On principle, a DIN block with a G−function has the following structure:

The letter "G" follows the number of the G−function. This is followed by the parameters, which consist of a letter and the corresponding value.

G (number) [parameter (value)] [parameter (value)] ...

The following shows some examples of G−functions:

Getting started

G−functions

2.9

2.9.1

g Meaning Parameter Example with parameter and

00 Linear interpolation, high

rate

01 Linear interpolation

02 Circular interpolation,

clockwise

03 Circular interpolation,

counterclockwise

17 Plane selection XY for

circular interpolation

18 Plane selection XZ for

circular interpolation

19 Plane selection YZ for

circular interpolation

AXES R D F E L G1 X0 Z10 C0 F2

AXES D I J K R F E L G3 X40 Y40 R100 D−60 K2

−− G17

−− G18

−− G19

values

EDSTCXN EN 2.0

ETCN010 ETCN009

2.9

2.9.2

Getting started

CNC programming according to DIN 66025 M−functions

Parameter for G00, G01

Parameter for G02, G03

Parameter Meaning

AXES Target point coordinates of the linear axes X, Y, Z, A, B, C, U, V, W, x, y, z, a, b, c,

u, v, w Note: In a G−function, only the axes X, Y, Z, A, B, C, U, V, W or axes x, y, z, a, b, c, u, v, w may be used.

d Max. path deviation in the target point for grinding corners with the following

linear interpolation.

R Radius, with which the following linear interpolation (G0, G1) should be

connected.

f High rate speed (G00) or feed speed (G01) on the path (G31) or each axis (G30),

also for all following linear interpolations.

E, L Selection of feed speed via speed (E) and increment (L). F=E*L.

Parameter Meaning

AXES Target point coordinates of the three linear principal axes (default X,Y,Z), as

well as start or target point coordinates of the three rotative secondary axes (default A,B,C).

d Radius change on reaching the target point

I Center coordinates of the first principal axis (X) or number of additional full

circles

J Center coordinates of the second principal axis (Y) or number of additional full

circles

K Center coordinates of the third principal axis (Z) or number of additional full

circles

R Interpolation radius

f Path speed

E, L Selection of feed speed via speed (E) and increment (L). F=E*L.

2.9.2 M−functions

M−functions define machine commands. They are edited in the CNC and also sent to the PLC. In the PLC, they are evaluated and trigger the programmed function in cooperation with the CNC.

M−functions do not have any parameters. The coordination between the PLC and the CNC takes place via the interface signals PLC−NC (¶ 240).

The following shows some examples of fixed M−functions. All other M−functions are available to the programmer.

Parameter Meaning

14 Start of the profile, switches the summation of the path length in the

parameter field P551 on. When M14 is used in an online program (program with reloading of program parts), the design of the program is blocked until the end of the profile (M15/M16/M21) is in the memory.

15 End of profile, switches the summation of the path length in P551 off (begin of

idle travel).

30 Program end

EDSTCXN EN 2.0

2.10 Creating a CNC sample program

2.10.1 Calling the text editor in the ETC−MMI

Getting started

Creating a CNC sample program

Calling the text editor in the ETC−MMI

2.10

2.10.1

1. If required, start the ETC−MMI via <Start> The ETC−MMI window opens.

2. In the ETC−MMI window, press <F11> (program). The MMI window opens in the "Programming" operating mode. It shows

the text editor for entering the CNC program.

3. Press <F8> (Graphics) and afterwards <F7>(Graphics on/off). The window is split. The text editor is displayed on the left, the display

field for the graph (graphic area) on the right. In the top left of the text editor, the cursor flashes.

W Programs W Lenze W ETC.

ETCN011

EDSTCXN EN 2.0

ETCN014

2.10

2.10.2

Getting started

Creating a CNC sample program Entering and saving a CNC program

2.10.2 Entering and saving a CNC program

We create a program for a profile with rounded reference points.

Starting point: The cursor flashes in the top right of the text editor and the graphic area is displayed.

1. Enter the CNC program in the text editor according to the following table:

Line Input in the text editor Meaning Display in the graphic area

1%1 Determine program number

2 G1 F10000 Determine travelling speed

3 G17 Determine plane

4 G0 X10 Y10 Travel to starting point at

5 G2 X20 Y20 R10 Execute a section of the

6 G1 X30 adds a straight line

7 G2 X40 Y10 R10 adds a quarter circle

8 G1 Y0 adds a straight line

9 G2 X30 Y−10 R10 adds a quarter circle

10 G1 X20 adds a straight line

11 G2 X10 Y0 R10 adds a quarter circle

12 G1 Y10 adds a straight line to a

13 G0 X0 Y0 Travel to zero point at high

14 M30 End of program

high rate

square profile

rate

creates a straight line from the zero point to the starting point

creates a quarter circle

closed square profile

2. Press <F4> (Save as).

3. As program name, enter e.g. test.din.

4. Press <Enter>.

ETCN015

EDSTCXN EN 2.0

Getting started

Creating a CNC sample program

Loading the CNC program into the control system and starting it

2.10.3 Loading the CNC program into the control system and starting it

2.10

2.10.3

Load program into the control system

Start program in the control system

Starting point: PLC program is displayed in the editor.

1. Press <F7> (Program to NC).

2. Select the program; e.g. test.din.

3. Press <Enter>. The program is transferred to the control system ETCxC.

Starting point: The cursor flashes in the top right of the text editor and the graphic area is displayed. In the control system, the program (e.g. test.din.) is loaded.

) Note!

On principle, operation of the CNC program is possible without connected mechanics and drives and also without a PLC program. For this purpose, the following machine constants must be set:

ƒ MK_TEST_OHNEMECHANIK=1 ƒ MK_SPS_DUMMY=1

1. Press <S1> (Start). The drives start and the profiles of the rectangle are executed (if the

graphic is not switched on, the numbers of the set and actual positions change). The individual commands are shown in the lower part of the window.

EDSTCXN EN 2.0

The drawn straight line from the zero point (0/0) to the starting point (10/10) is now executed when the drive is also in the zero point. Otherwise, the control system traverses the drives on a straight line from the current point to the starting point.

2. To change the material speed, press <S6>/<S7> (Override +/−).

3. To stop the drives, press <S2> (Stop).

ETCN016

2.10

2.10.4

Getting started

Creating a CNC sample program Extending the CNC program

2.10.4 Extending the CNC program

The sample program ("test.din") executes a circular profile. The actual target of a CNC program is to switch on a tool while executing a program. Thus, the sample program is extended by the corresponding M−functions M14 and M15, which lift or lower the tool when the profile is executed. The M−functions are programmed in a separate PLC program.

M−function Target function Programming of a separate PLC program

M14 Lower tool An output for lowering the tool is to be set. Switchover to

M15 Lift tool An output for lifting the tool is to be set. Switchover to the

Starting point: The cursor flashes in the top right of the text editor and the graphic area is displayed. In the control system, the program (e.g. test.din.) is loaded.

the next command only after one of the lower limit switches has been activated.

next command only after one of the upper limit switches has been activated.

1. Press <F2> (Open program).

2. Select the program (e.g. test.din) and press <Enter>

3. Press <F7> (Accept).

4. Add the M−functions according to the following table.

Input in the text editor Meaning

G1 F10000

G17

M15 Lift tool

G0 X10 Y10

M14 Lower tool

G2 X20 Y20 R10

G1 X30

G2 X40 Y10 R10

G1 Y0

G2 X30 Y−10 R10

G1 X20

G2 X10 Y0 R10

G1 Y10

M15 Lift tool

G0 X0 Y0

M30

Exit ETC−MMI

5. Press <F3> (Save program).

1. Press <F9> (Setup).

2. Press <F8> (Exit program).

EDSTCXN EN 2.0

2.11 ETC PLC programming with CoDeSys

The tool ETC−CoDeSys is a complete integrated development environment for creating and testing PLC programs for the ETC.

It is based on the commonly used program package CoDeSys with the special extensions for ETC control systems.

) Note!

For further information, refer to the chapter "PLC programming" (¶ 336).

2.11.1 Installing CoDeSys

1. Place the CoDeSys setup CD into your CD−ROM drive. If the autostart feature for the CD−ROM drive has been enabled in

Windows, setup will start automatically.

Getting started

ETC PLC programming with CoDeSys

Installing CoDeSys

2.11

2.11.1

2. If setup does not start automatically: – Select the menu item "Run" from the start menu. – Enter the drive letter of your CD−ROM drive followed by "setup.exe"

(e.g. "d:\setup.exe") into the command line and confirm with "OK".

3. When selecting the target directory please create a new directory "CoDeSys" under "c:\program files\Lenze\ETC".

4. Follow the instructions of the setup program.

5. Change the installation path to "c:\program files\lenze\etc\CoDeSys2".

( Stop!

The file "codesys.ini" in the installation directory may be write−protected after installation from CD. The write−protection must be cancelled, otherwise the CoDeSys settings will not be saved.

2.11.2 Configuring the control system in the ETC−CoDeSys

This chapter describes the general procedure for control configuration as a precondition for creating a program with the ETC−CoDeSys. An ETCHC is used as an example.

EDSTCXN EN 2.0

This chapter can be skipped if the sample program (¶ 60) is called because it already contains the described settings.

2.11

2.11.2

Getting started

ETC PLC programming with CoDeSys Configuring the control system in the ETC−CoDeSys

Start ETC−CoDeSys and create new project

1. Start the ETC−CoDeSys via <Start> W Programs W Lenze W CoDeSys.

2. If required, you can change the language in the CoDeSys: – Projekt – Project

3. Create a new project via File

W Optionen W Arbeitsbereich W Sprache = englisch

W Options W Desktop W Language = german

W New.

4. In the "Target system settings" dialogue, select the respective control system.

5. Accept the default setting. A dialogue for the first block is displayed. The name can be freely selected

(e.g. PLC_PRG). As a first block, a program in the language ST (structured text) is created in the default setting.

6. Press <OK>

7. Save the new file via File

ETCM019

W Save.

ETCM020

EDSTCXN EN 2.0

Getting started

ETC PLC programming with CoDeSys

Configuring the control system in the ETC−CoDeSys

2.11

2.11.2

Select control configuration in the CoDeSys

1. In the left lower window area, click the "Resources" tab.

2. Select "PLC Configuration".

3. In the right window area, open the control configuration. The entry "ETCPC [Slot]" is displayed.

4. Right−click "ETCPC [Slot]".

5. In the context menu, select the menu item Replace element

W ETHC.

Configure control system (CAN master)

ETCN018

1. Open the entry ETCHC [Slot] by clicking "+".

2. Right−click on CAN−Master (Fix).

3. In the context menu, select the entry Append Subelements. In the submenu, select the module you want to add.

EDSTCXN EN 2.0

2.11

2.11.2

Getting started

ETC PLC programming with CoDeSys Configuring the control system in the ETC−CoDeSys

ETCN019

4. Repeat the last step for all modules that you want to add in the order of their position on the DIN rail.

After the modules have been installed, the configuration looks as follows:

ETCN020

EDSTCXN EN 2.0

Configuring the control system in the ETC−CoDeSys

) Note!

New modules are added at the end of the list. To insert a new module before an existing one, select the existing module and add it via the right mouse button with Element einfügen (Insert Element).

A module can be removed from the list via the right mouse button and Delete.

Getting started

ETC PLC programming with CoDeSys

2.11

2.11.2

Description of the module in the EDS file

Each module that is configured in the control system requires an EDS file. The EDS file belonging to the module must be located in the target directory of the selected control system (in this case Lenze).

An EDS file contains entries of keywords that describe the property of the module with the respective values.

In the case of modules from third−party manufacturers, the corresponding EDS files must be copied into the target directory of the control system.

EDSTCXN EN 2.0

2.11

2.11.2

Getting started

ETC PLC programming with CoDeSys Configuring the control system in the ETC−CoDeSys

Parameterise modules

After you have clicked the individual modules, the display looks as follows:

ETCN021

The program must know at which addresses of the memory area the input and output data of the modules are located. The default setting in the program contains byte addresses (%IB, %QB), which must be changed into word addresses (%IW, %QW) because the process image of the ETC is organised according to words. The address range starts at word 64. Proceed as follows to change the addresses into word addresses:

ƒ Starting with the first module in the list (in this case ETCHI008) in the

order of the modules (in this case ETCHU008), change the type of the variables %IB, %QB to %IW, %QW. The first module receives the address word 64, the following modules receive the word address word 64 plus the byte address minus 128.

Module Displayed

input

address

ETCHI008 %IB128 %QB128

ETCHU008 %IB129 %QB128

Next module %IB129 %QB130

Displayed

output

address

Input input

address

%IW64 %QW64 unchanged

%IW65 %QW64

%IW65 %QW66

It is not necessary to change the diagnostics address.

) Note!

The described address allocation method prevents the addresses of the individual modules from overlapping. However, the allocation is not optimum in terms of space.

For an optimum assignment of the addresses of the following modules, they must be calculated. For simplification reasons, this is not done here.

Input

output

address

Diagnostics

address

EDSTCXN EN 2.0

Getting started

ETC PLC programming with CoDeSys

Configuring the control system in the ETC−CoDeSys

2.11

2.11.2

Addresses automatically

In the control configuration, the "Automatic calculation of adresses" checkmark should not be set. Otherwise, the CoDeSys will newly assign the addresses when the control configuration is changed.

ETCN022

EDSTCXN EN 2.0

2.11

2.11.2

Getting started

ETC PLC programming with CoDeSys Configuring the control system in the ETC−CoDeSys

Enter CAN address

Each module has its own CAN address (node ID). An address consists of the type−specific basic address and the individually set address at the hex switch on the front side.

ETCM029

If the HEX switch is set to zero (arrow points to the left) for the fieldbus modules used, the following resulting node IDs must be entered for the individual modules:

Module CAN

basic address

ETCHI0xx 80

ETCHU0xx 16

ETCHA022 48

dez

Set

at the hex switch

0 80

0 16

0 48

Resulting

node ID

dez

ETCN023

EDSTCXN EN 2.0

Getting started

ETC PLC programming with CoDeSys

Configuring the control system in the ETC−CoDeSys

2.11

2.11.2

Nodeguarding

Task configuration

If the Nodeguarding option is activated, a message is sent to the module at the interval specified in milliseconds under Guard Time. If the module does not respond and the number of attempts (Life Time Factor) has been reached, the module is regarded as not NOK (defect or not existing).

The status of the module is saved in the system variable of the control system DB1_NC2SPS_COPMODUL_VORHANDEN_AW (¶ 240).

For all modules, the standard setting is Guard Time = 500 and Life Time Factor = 3. This setting means that a failure is detected after 500 ms x 3 =

1.5 s. If no Guard Time and no Life Time Factor are specified (= 0), the module

is not monitored.

Further settings are not required.

A task configuration is only required if system variables of data block_0 are used (¶ 342).

ETCN024

EDSTCXN EN 2.0

2.12

2.12.1

Getting started

Creating a PLC sample program Required hardware

2.12 Creating a PLC sample program

This chapter describes the creation of a PLC program using an ETCHx system as example. Please note the differences in the case of an ETCPx system.

2.12.1 Required hardware

I_ToolUp

I_ToolDown

O_ToolDown

24V0V

ETCN003

Ethernet

ETCHM004

ETCHI008

I_NoEStop

24V0V

ETCHU008

ETCHT000

ETCM015

ƒ The 24 V voltage is connected to the modules ETCHN003 (power supply

unit) and ETCHU008 (output module).

ƒ A switch Tool down (I_ToolDown) is connected at the input IN3 of the

ETCHI008.

ƒ A switch Tool up (I_ToolUp) is connected at the input IN4 of the

ETCHI008.

ƒ A switch Emergency stop (I_NoEStop) is connected at the input IN8 of

the ETCHI008.

ƒ A relay Tool down (O_ToolDown) is connected at the output OUT1 of

the ETCHU008.

EDSTCXN EN 2.0

Creating a PLC sample program

Starting and configuring the PLC sample program

2.12.2 Starting and configuring the PLC sample program

The sample program "Training1" contains

ƒ all settings of the control system,

ƒ the parameterisation,

ƒ the calls for adding the required PLC functions for the M−functions to

the described CNC program.

Getting started

2.12

2.12.2

Start sample program

1. In Windows File Explorer, double−click on the file "Training1.pro". CoDeSys starts and the sample program is loaded. It consists of a

sequence control (AS) with the steps "Init" and "Main".

ETCN028

EDSTCXN EN 2.0

2.12

2.12.2

Getting started

Creating a PLC sample program Starting and configuring the PLC sample program

Add libraries

The sample program requires the libraries "standard.lib" and "sysetcxc.lib.lib" (...\CoDeSys V2.3\Targets\Lenze\ETCxC).

2. If the libraries do not yet exist, add them via Resources Manager".

W Library

ETCN025

EDSTCXN EN 2.0

Getting started

Creating a PLC sample program

Starting and configuring the PLC sample program

2.12

2.12.2

System variables and data blocks

The communication between the CNC control system and the PLC program takes place via variables of the data block 1, the communication between the ETC−MMI and the PLC program via variables of the data block 2. The required system variables are summarised in the following table (the system variables are listed in German and English):

System variable Flag word Required for

db1_sps2nc_notaus_bit DB1_X0_0_plc2nc_emergency_bit

db1_sps2nc_vorschubfreigabe_w DB1_W1_plc2nc_feed_release_axes_w

db1_sps2nc_verfahrtastenfreigabe_plus_w DB1_W3_plc2nc_release_jog_keys_plus_w

db1_sps2nc_verfahrtastenfreigabe_minus_w DB1_W4_plc2nc_release_jog_keys_minus_w

db1_sps2nc_reglerfreigabe_w DB1_W5_plc2nc_regulator_release_w

db1_sps2nc_einlesefreigabe_bit DB1_X7_0_plc2nc_read_in_release_bit

db1_sps2nc_programmstart_b DB1_B9_0_plc2nc_program_start_b

db1_sps2nc_programmstop_b DB1_B12_0_plc2nc_stop_program_b

db1_nc2sps_betriebsbereit_2_bit DB1_X128_0_nc2plc_NC_ready_1_bit

db1_nc2sps_programmstart_b DB1_B137_0_nc2plc_program_start_b

db1_nc2sps_programmstop_b DB1_B142_0_nc2plc_stop_program_b

%MX1.0.0 Release of CNC

%MW1.1 Release of CNC

%MW1.3 Manual travel of keys,

e.g. Lenze−HMI, coded bit by bit for 12 drives

%MW1.4 Manual travel of keys,

e.g. Lenze−HMI, coded bit by bit for 12 drives

%MW1.5 Release of CNC

%MX1.7.0 Release of CNC

%MB1.9.0 ETC−MMI

%MB1.12.0 ETC−MMI

%MX1.128.1 Monitoring CNC

%MB1.137.0 ETC−MMI

%MB1.142.0 ETC−MMI

EDSTCXN EN 2.0

) Note!

The complete list of the system variables can be displayed in the programming window of the ETC−CoDeSys via <F2>.

ETCN026

2.12

2.12.2

Getting started

Creating a PLC sample program Starting and configuring the PLC sample program

Task for M14 and M15

Sequence control

In a PLC program, the two functions M14 and M15 are to be programmed as follows:

M−function Target function Programming in the PLC program

M15 Lift tool Output "tool down" (O_ToolDown) = 0

Wait for "tool up" (I_ToolUp) = 1

M14 Lower tool Output "tool down" (O_ToolDown) = 1

Wait for "tool up" (I_ToolDown) = 1

M30 Program end −−

A program in the language "sequence control" consists of the basic elements "step", "transition" and "branch". In the sequential function chart, elements can be added via the right mouse button.

The program "Training1" consists of an initialisation block with two steps and one transition.

Element Name Contents Comment

Step Init Initialisation of the system

variables

Transition True Switchover tot he next step

Step Main Block START_STOP Evaluation of the system

Block M_FUNCTIONS Processing of the M−functions

Block RELEASE_SIGNAL_HANDLER

Block PLC_KEYS Execution of the PLC keys of

Transition False No switchover to the next step

Initialisation program

"Main".

variables for Start and Stop.

Release of the system variables, evaluation of the input "emergency stop" (I_NoEStop).

the ETC−MMI and the M−functions M14 and M15.

due to FALSE. The program remains in step "Main".

After you have double−clicked on a step, a window opens where the corresponding action of the step is entered.

ETCN029

EDSTCXN EN 2.0

Getting started

Creating a PLC sample program

Starting and configuring the PLC sample program

2.12

2.12.2

Define inputs/outputs

Function START_STOP

1. In the CoDeSys, select Resources W Global Variables W Ein_Ausgaenge.

2. Define the inputs and outputs as bit in the corresponding words of the process image.

ETCN030

This function evaluates the following system variables, which control start and stop of the PLC program in the ETC−MMI:

ƒ db1_sps2nc_programmstart_b

ƒ db1_sps2nc_programmstop_b

ƒ db1_nc2sps_programmstart_b

Function RELEASE_SIGNAL_HANDLER

ƒ db1_nc2sps_programmstop_b

ƒ (DB1_B9_0_plc2nc_program_start_b,

DB1_B137_0_nc2plc_program_start_b; DB1_B12_0_plc2nc_stop_program_b, DB1_B142_0_nc2plc_stop_program_b )

This function evaluates the following system variables, which set the release and monitoring signals in the control system:

ƒ db1_sps2nc_vorschubfreigabe_w

ƒ db1_sps2nc_reglerfreigabe_w

ƒ db1_nc2sps_betriebsbereit_2_bit

ƒ DB1_W1_plc2nc_feed_release_axes_w

ƒ DB1_W5_plc2nc_regulator_release_w

ƒ DB1_X128_1_nc2plc_NC_ready_2_bit

EDSTCXN EN 2.0

2.12

2.12.2

Getting started

Creating a PLC sample program Starting and configuring the PLC sample program

Function M_FUNCTIONS

The function block M_FUNCTIONS evaluates the M−functions coming from the NC. By means of the two following system variables, the block detects whether a new M−function has been requested:

ƒ DB1_NC2SPS_MFKT_STROBE_BIT, DB1_SPS2NC_MFKT_QUITT_BIT

ƒ (DB1_X150_0_nc2plc_M_function_strobe_bit,

DB1_X32_0_plc2nc_acknowledgement_for_M_function_bit)

Via the following system variable, the block detects which M−function has been requested:

ƒ DB1_NC2SPS_MFKT_W (DB1_W151_nc2plc_M_function_w )

As long as an M−function is active, a window opens in the ETC−MMI via the bit DB2_HINT_OPTIONALLYSTOP_ACTIVE_BIT in the system variable DB2_SPS2HMI_HINWEIS_AW.

M14

ETCN031

After it has been detected that the new M−function is M14 or M15, the M−function is processed in the program PLC_KEYS.

The output O_ToolDown is set and a timer of 5 s is started. If the input I_ToolDown is set within the next 5 s, the function is switched, otherwise an error message is displayed. The error message is realised via the function SPSERROR, which opens an error window in the ETC−MMI via an error number (F_TOOL_UP_KI).

ETCN032

EDSTCXN EN 2.0

Getting started

Creating a PLC sample program

Starting and configuring the PLC sample program

2.12

2.12.2

M15

The output O_ToolDown is reset and a timer of 5 s is started. If the input I_ToolUp is set within the next 5<s, the function is switched, otherwise an

error message is displayed.

ETCN033

If no I/O modules are connected to the control system, the visualisation can be used.

ETCN034

"DRIVES ON/OFF" switches the drives on and off. "Tool_up" and "Tool_down" are the switches that are to be activated.

EDSTCXN EN 2.0

2.12

2.12.3

Getting started

Creating a PLC sample program Loading the PLC sample program into the control system

2.12.3 Loading the PLC sample program into the control system

) Note!

The steps described in this chapter only apply to the ETCHx variant (DIN rail variant); they are not required for the ETCPx variant (PCI card).

Via the ETC−CoDeSys, the connection from the PC to the control system can be set, optionally via a serial connection (RS232 interface) or via the network.

Serial connection

1. Connect the PC and ETC via the serial interface.

2. Select Online

3. Click on New.

W Communication Parameters.

ETCM036

4. Enter a connection name (e.g. local_) and select the serial driver "Serial RS232".

ETCM037

5. Click OK.

6. Specify the parameters of the interface (e.g. COM1 with baud rate, parity and stop bit). For this purpose, double−click the corresponding field.

EDSTCXN EN 2.0

Getting started

Creating a PLC sample program

Loading the PLC sample program into the control system

7. As the control system contains a Motorola processor, the field "Motorola byteorder" must be set to "Yes". If required, correct this setting.

2.12

2.12.3

ETCM038

Connection via network

8. Close the window with OK.

1. Select Online

W Communication parameters.

2. Click on New.

3. Specify a name (e.g. network) and select the TCP/IP protocol as parameter. Click OK.

ETCM036

EDSTCXN EN 2.0

ETCM040

2.12

2.12.3

Getting started

Creating a PLC sample program Loading the PLC sample program into the control system

4. Double−click the "Address" field and specify the correct IP address. (¶ 28).

ETCM041

) Note!

Do not use any leading zeros in the IP addresses. Otherwise, the IP address will be interpreted as octa decimal number.

5. As the control system contains a Motorola processor, the field "Motorola byteorder" must be set to "Yes". If required, correct this setting by double−clicking several times.

) Note!

The left window area shows the connection options, in this case the two connections "local_" and "network".

The current setting is the setting that is displayed in the right window before you click OK, it is used for log in.

6. Close the window with OK.

EDSTCXN EN 2.0

Getting started

Creating a PLC sample program

Loading the PLC sample program into the control system

2.12

2.12.3

Load and start program

1. Select Online W Log in. The program is loaded into the control system.

2. Select Online

W Start.

The program starts. After a successful start, the "RUNNING" field in the status line changes its colour from grey to black.

The status line shows the current connection (in this case: "local_"). In the right part of the window, the program displays the current values of the variables.

ETCM042

Operate program

ETCNC097

After you have logged in to the control system via Online W Log in, the following functions can be used:

ƒ Stop program: Online

ƒ Reset data memory to starting values: Online

ƒ Create boot project: Online

W Stop

W Reset

W Create boot project

The program is saved as "default.prg" in the flash of the control system. When the control system is started, it looks for a program "default.prg". This program is automatically started as boot project.

ƒ Delete boot project: Online

ƒ Stop communication with the control system: Online

W Reset

W Log out

The program in the control system remains in the status that was selected last.

EDSTCXN EN 2.0

2.13

2.13 Testing CNC and PLC program

Getting started

Testing CNC and PLC program

) Note!

Basically, the operation of the CNC program is possible:

ƒ without connected mechanics and drives.

This is achieved by setting the machine constant MK_TEST_OHNEMECHANIK=1.

ƒ without a PLC program.

This is achieved by setting the machine constant MK_SPS_DUMMY=1.

For the following tests with program and mechanics, the machine constants must be set as follows:

Test setting

Connecting the hardware

Start PLC program

MC keyword Numbe

values

MK_TEST_OHNEMECHANIK 1 0

MK_SPS_DUMMY 1 0

1. Connect the hardware according to the requirements (¶ 60). – The inputs "Tool down" and "Tool up" must be set according to the

progress of the program (M14, M15). Thus, 24 V must be continuously applied to the inputs or the inputs must be switched in time.

1. Start the PLC sample program in the CoDeSys. For this purpose, double−click on the file "Training1.pro" in Windows File Explorer (¶ 61).

CoDeSys starts and the sample program is loaded.

2. Load the PLC program into the control system via Online (¶ 68).

3. Start the PLC program via Online

Values

r of

W Log in

W Start (¶ 68).

EDSTCXN EN 2.0

Getting started

Testing CNC and PLC program

2.13

Start CNC program

1. Start the ETC−MMI via <Start> W Programs W Lenze W ETC In the ETC−MMI window, press <F11> (program). The MMI window opens in the "Programming" operating mode. It shows

the text editor for the CNC program.

2. Press <F8> (Graphics) and afterwards <F7>(Graphics on/off). The window is split. The text editor is displayed on the left, the display

field for the graph (graphic area) on the right.

3. Press <F2> (Open program).

4. Select the CNC program (e.g. test.din) and press <Enter>

5. Press <F7> (Program to NC).

6. Select the CNC program (e.g. test.din) and press <Enter> The CNC program is transferred to the control system (¶ 49).

7. Press <S1> (Start). The drives start and the profile of the rectangle are executed (¶ 49). The drawn straight line from the zero point (0/0) to the starting point

(10/10) is now executed when the drive is also in the zero point. Otherwise, the control system traverses the drives on a straight line from the current point to the starting point.

8. Change the material speed to a small value (e.g. 1 %). For this purpose, click <S7>(Override −).

When the PLC and CNC programs are loaded correctly, a marker follows the circular profile. The output "Tool down" is set and reset according to the called M−function.

ETCN035

9. To stop the drives, press <S2> (Stop).

EDSTCXN EN 2.0

2.13

Getting started

Testing CNC and PLC program

Error messages of the CNC program

If 24 V is not applied to one of the two inputs in time, the program stops and the following error message appears in a red box.

ETCN036

This error message is generated via the SPSERROR function in the PLC_KEYS module after a timer of 5 s has elapsed. The text belonging to the error number is contained in the file "sps_fehl.db" (English version: "sps_erro.db"). This file is located in the directory "cfg" of the ETC−MMI.

The figure shows an error from the control system (2) of the PLC program module (10) with the error number 400 (F_TOOL_UP_KI). For a correct error message, an error number 2.10.400 with the corresponding text must be entered in the file "sps_fehl.db".

EDSTCXN EN 2.0

Labelling of the PLC keys in the ETC−MMI

2.14 PLC keys in the ETC−MMI

In the "PLC KEYS" operating mode, it is possible to start manual functions in the PLC from the ETC−MMI. For this purpose, 6 menu levels are available. This corresponds to 42 function keys.

In this example, the following assignments are to be made to three PLC keys:

F1: System on/off

F4: Lower tool

F5: Lift tool

2.14.1 Labelling of the PLC keys in the ETC−MMI

The labelling of the PLC KEYS is realised in the language−dependent file

lenze.txt.

Getting started

PLC keys in the ETC−MMI

2.14

2.14.1

ETCN037

These texts are then assigned to the keys by the configuration file delphmmi.ini :

ETCN038

EDSTCXN EN 2.0

2.14

2.14.2

Getting started

PLC keys in the ETC−MMI Calling the signals in the PLC

Key 00: Texts 2800 and 2801 from the file lenze.txt are used for the first PLC key.

2 texts for one key automatically contain a toggle function. This means that the system is switched on when F1 is pressed and switched off when F1 is pressed again. The output value in the PLC is switched over every time the key is pressed.

Key 03: Text 2805 (Lower tool) of the file "lenze.txt" applies.

Key 04: Text 2806 (Lift tool) of the file "lenze.txt" applies.

Representation in the ETC−MMI:

ETCN039

2.14.2 Calling the signals in the PLC

In the example, an absolute assignment is made to the word variable:

MMI_PLC_key_DRIVES_ON DW212 in the DB1.

Access to the symbolic system variable is also possible:

DB1_AW212_mmi2plc_jog_key_aw [0].0

DB2_MMI2SPS_TASTEN_AW [0].0

ETCN040

W %MX1.121.0 (X=bit) accesses bit 0 of the

2.14.3 Function of the keys

The keys in the ETC−MMI have the same function as the M−functions M14 and M15; i.e.they can be used to lower and lift the tool. The input or the signal of the visualisation must be applied within 5 s. Otherwise, an error message appears.

EDSTCXN EN 2.0

2.15 Operation via a Lenze−HMI

In addition to operation via the ETC−MMI (with PC), operation via a Lenze−HMI is also possible.

The HIM, which is connected via the CAN1 bus, can be used as additional or main operating control.

If the HMI is used for the complete machine control, the control system must be parameterised and programmed by means of a PC first.

In this example, the HMI505 is used as additional operating control in addition to the ETC−MMI.

In addition to the manual travel function, the NC program %1 can be started from the HMI505. This function is explained on the basis of a simple HMI project.

The HMI505 project is located on the ETC−CODeSys CD in the HMI designer file Training1_HMI505_V1.VTS .

Getting started

Operation via a Lenze−HMI

Settings for the connection of a Lenze−HMI H505

2.15

2.15.1

2.15.1 Settings for the connection of a Lenze−HMI H505

Integrate libraries

Activation of the communication function in the initialisation step:

To use this function, the library "ServerSDO.lib" must be integrated. In the process, other libraries are also integrated. These libraries provide the interface functions from the ETC to the HMI:

ETCN041

EDSTCXN EN 2.0

ETCN042

2.15

2.15.1

Getting started

Operation via a Lenze−HMI Settings for the connection of a Lenze−HMI H505

Settings in the PLC program (target system)

To inform the control system that communication to an HMI is desired, change the system setting as follows:

ETCN043

In the system settings, activate the object directory and the network variables on the "Network functions" tab.

The object directory provides the declared variables with the corresponding indexes to the HMI (Lenze code = index with CANopen).

The desired number of indexes can be set in the index area. The CAN network acts as network interface to the HMI.

After these settings have been made, the CoDeSys provides the object directory:

ETCN044

EDSTCXN EN 2.0

Getting started

Operation via a Lenze−HMI

Settings for the connection of a Lenze−HMI H505

2.15

2.15.1

CoDeSys object directory

The object directory is the interface between the codes in the HMI H505 and the HEX indexes in the ETC. According to the Lenze standard, the following relationship exists:

INDEX =DEZ_TO_HEX(24575 code)

To facilitate this conversion, an Excel table is available (Umrechnung Objektverzeichnis Schulung.xls). It is located on the ETC−CODeSys CD in the directory "Systemhandbuch". In this file, the declaration and the distribution of the HMI variables to the codes can be made.

ETCN045

The part highlighted in yellow can be copied completely to the object directory of CoDeSys by means of <Ctrl>+<C>.

Object directory (Variable tab):

ETCN046

Please pay special attention to the dot before the variable.

EDSTCXN EN 2.0

2.15

2.15.1

Getting started

Operation via a Lenze−HMI Settings for the connection of a Lenze−HMI H505

The declared variables must be created as global variables:

ETCN047

If the HMI accesses variables that have not been created in the CoDeSys, a communication error occurs.

EDSTCXN EN 2.0

Functional description HMI505 operation

2.15.2 Functional description HMI505 operation

In the following, the functional description of the project "ETC−Schulung des HMI" ("ETC training of the HMI") will be briefly explained.

Getting started

Operation via a Lenze−HMI

2.15

2.15.2

Start page

Manual operating mode

ƒ Selection of the Hand (Manual) and Auto operating modes

ƒ Switching the drives on and off

ƒ Error reset

ƒ Activation of the download page

ƒ Setting the override for manually traversing the axes

ƒ Traversing the X and Y axes in both directions

ƒ Error reset

ƒ Return to start page

ETCN048

ƒ Display of the axis positions

ETCN049

EDSTCXN EN 2.0

2.15

2.15.2

Getting started

Operation via a Lenze−HMI Functional description HMI505 operation

Auto operating mode

Download page

ƒ Error reset

ƒ Return to start page

ƒ Display of the axis positions

ƒ Start of the NC program %1

ƒ Stop of the running NC program

ETCN056

ETCN057

Project name: Schulung1_HMI505_V1.VTS

EDSTCXN EN 2.0

Getting started

Updating the firmware of the ETCHx in the "Standalone" operating mode

Calling the boot monitor in the control system

2.16 Updating the firmware of the ETCHx in the "Standalone" operating mode

) Note!

The steps described in this chapter only apply to the ETCHx variant (DIN rail variant); they are not required for the ETCPx variant (PCI card).

2.16.1 Calling the boot monitor in the control system

Initial state: The communication between PC and ETCHx has been established and the monitor interface activated (¶ 21)

1. In the terminal program, enter the command reboot.

2. During the running reboot process, press and hold the <Shift> + <!> keys.

2.16

2.16.1

When the prompt ">" appears, the input in the boot monitor of the control system is active. On the control system, the LEDs 1 ... 6 flash circulatingly.

) Note!

When the firmware is running, the control system can also be reset by switching the control system on/off or by pressing the reset key.

ETCM012

EDSTCXN EN 2.0

2.16

2.16.2

Getting started

Updating the firmware of the ETCHx in the "Standalone" operating mode Querying the version of the firmware

2.16.2 Querying the version of the firmware

1. When the prompt ">" of the boot monitor is displayed, enter the command ver.

The version of the firmware is queried and displayed.

Variant "with ETC−MMI"

Variant "Standalone"

ETCN005

2.16.3 Updating the firmware

ETCN006

Initial state: The communication between PC and ETC has been established and the monitor interface has been activated (¶ 21).

1. To transfer the current firmware to the ETC, activate the menu item Transfer

W Send File in the HyperTerminal.

ETCM021

2. Specify the path to the firmware file and select the protocol "Zmodem mit Wiederherstellung" ("Zmodem with Crash Recovery").

EDSTCXN EN 2.0

Getting started

Updating the firmware of the ETCHx in the "Standalone" operating mode

Updating the firmware

Firmware file names: ETCHC_A.rsc (ETCHC with 4 MB) or ETCPC.rsc (ETCPC)

3. Click on Send. While the file is being loaded into the control system, the following figure

is displayed. On the ETC front plate, the LEDs 1 ... 6 flash circulatingly.

2.16

2.16.3

ETCN098

After loading is complete, the following figure is displayed:

The control system waits until the firmware is loaded; on the ETC front plate, the LEDs 1 ... 6 light up circulatingly.

4. In the HyperTerminal window, enter quit . The firmware starts. On the ETC front plate, the green watchdog LED

lights up.

ETCN099

ETCN100

EDSTCXN EN 2.0

2.16

2.16.3

Getting started

Updating the firmware of the ETCHx in the "Standalone" operating mode Updating the firmware

Important commands of the boot monitor

Command Meaning

ver Shows the versions of the boot loader and the currently loaded firmware.

sz [file name] Sends the currently loaded firmware under the specified name to the PC via

Z modem.

rz When "Dateien senden" ("Transmit files") is selected, this command is sent

implicitly by the connected terminal program to the control system. It is used for the transmission of firmware or boot loader to the control system.

For the transmission, the "ZMODEM" protocol must be selected. quit Quits the boot monitor and starts the loaded firmware.

reset Resets the control system.

help Shows the commands of the boot monitor.

EDSTCXN EN 2.0

3 CNC programming

This chapter describes the functions of the ETCxC control, with which the programs for processing workpieces are created. The way ETCxC is programmed is based on DIN 66025. Compared to the DIN, the instruction set is provided with a number of additional, better performing functions.

In the following, first the some basic conditions for the creation of a program are described. Then all the functions are described in detail.

3.1 Basics

CNC programming

Basics

3.1

Program creation variants

Program transfer

The programs can be created either on the control itself (¶ 47) or externally, using any ASCII Editor, in accordance with the following rules.

If the control is connected to an ETC−MMI via Ethernet interface, the programs are directly transferred from the hard disk of the PC to the control when the control is started.

If no ETC−MMI is used as a console, the programs can be transferred via the monitor interface (serial interface) of the control by means of modem. Programs which are saved in the control can then also be read out via the monitor interface.

To transfer programs via the monitor interface or a disk to the control, these must have a number consisting of up to 4 digits and the extension .DIN as the name. The number is automatically used as the program number and inserted with a preceding % sign at the start of the program. The programs are automatically saved in the EEPROM of the control if the machine constant is MK_NCPROG_NICHT_INS_EEPROM = 0.

If an ETC−MMI is used, it is also possible to process online programs. Programs of this kind can have any length and are processed during the transfer. Online programs must be created sequentially and must not contain any jumps or other branches. Subprogram calls with G22 Lxxx" are allowed.

Program components

EDSTCXN EN 2.0

A program consists of a program number (program start), a number of blocks and the program end. It must consist of at least the program start and the program end. A program can contain any number of blocks. The only limit is placed by the available total memory. The number of programs is limited to an adjustable value (¶ 200).

No control characters must be used in a program.

3.1

CNC programming

Basics

Program start

Block

Generally, a program starts with a "%" sign, followed by the program number (1 ... 9999).

When a program is loaded via the monitor interface, this program number is automatically created from the file name and inserted at the start of the program (123.DIN −> %123).

Every program can be directly started or called as a subprogram by other programs. Note that, in individual cases, the relevant parameters must be provided.

No distinction is made between main programs and subprograms by means of the program number.

Generally, program numbers ³ 8000 are considered separately. Normally, cycle programs are stored in this range.

A block consists of a statement, optionally preceded by a block number, (see below). A statement consists of the following elements:

ƒ "G" preparatory function

ƒ "M", "S", "T" auxiliary functions

ƒ "Q" fast outputs

ƒ Parameter assignments

Program loop and branch

Program end

ƒ Computer statement

ƒ Comment

All elements must only be programmed once in a block. Exceptions are "Fast outputs" and "Parameter assignment". These may be specified more than once in a block.

Computer statements are preceded by a colon. They must occur alone in a block and may only be combined with comments. A block may have a maximum length of 256 characters.

For program loops or branches, a statement can be preceded by block numbers. These must be assigned within the program in ascending order.

The program end is indicated by an M function or a G function:

ƒ M30 = main program end

ƒ G99 = subprogram end

EDSTCXN EN 2.0

CNC programming

Basics

3.1

Comments

G preparatory function

Comments are limited by round or curly brackets and read over at runtime.

A comment can occur at the end of the block or alone in a block. The line length of 256 characters must also not be exceeded with a comment. If a comment is opened with a bracket, the line end is automatically seen as the comment end.

When using the curly brackets for comments, it is possible to suppress them during importation via the monitor interface into the control. This is defined by the machine constant MK_NCPROG_OHNE_KOMMENTARE. The comments are then not saved in the control.

When using computer statements, comments must generally be placed in curly brackets.

Example:

G17 (plane selection XY plane) {This is also a comment}

The preparatory function G is either only valid in its block (non−modal function) or replaces another function which was valid previously (modal function).

Modal G functions are combined in groups, in which only one function is valid at a time.

Modal functions

Modal functions remain valid until they are replaced by a new modal function of the same group. These functions are divided into the following groups:

Group Function

a Interpolation type

b Change−over between path and route operation

c Plane selection

d Dimensions

e Tool correction

f Coordinate shift

g Speed agreement

h Functions, which do not mutually deactivate each other, but rather which are

deactivated by themselves or a special deactivation function

When a subprogram is called, the valid modal states of the function groups a ... d are saved. In the subprogram it is then possible to activate new modal functions. The subprogram return then sets the modal functions to the saved state. This applies to all eight possible subprogram levels.

An exception is a program termination, which is either triggered by pressing the <STOP> key or by an error. During this process, the control is switched back to the path control operation and into the reference dimension system.

EDSTCXN EN 2.0

These and additional modal functions can be defined at the end of the program or after a program termination with the aid of the machine constant MK_VOREINSTELLUNG.

3.1

CNC programming

Basics

Block preprocessing and time synchronization

When a CNC program is processed, a distinction is made between program interpretation and program execution. Generally, a DIN block is not executed at the same time as its interpretation. Rather, for many functions it is important that the blocks are interpreted in advance. For example, the "Look Ahead" function (G60 X0) determines an optimum speed profile via the interpreted interpolation blocks, which is only possible if a sufficient quantity of blocks are interpreted in advance.

Program execution and interpretation take place, in principle, in parallel and are only coupled via a prebuffer (FIFO memory), into which interpolation and other orders for execution are entered. This decoupling is first required before the program can be processed quickly. Therefore, the maximum number of blocks in this FIFO plays an important role on the speed at which a NC program can be processed. This number can be set using the machine constant MK_LAH_VORLAUFTIEFE to up to 1024 blocks. However, for most applications 16 blocks is more than adequate. For more demanding applications 256 or more blocks may also be useful.

It may be necessary at critical program points to stop this block preprocessing in order to synchronize the interpretation with the execution of the preceding blocks. Such a time synchronization is carried out automatically if an access is made to a time−synchronized parameter in the parameter field or a time−synchronized G function is programmed.

Even when "Look Ahead" is activated, a time synchronization always means that the axes on the path come to a short−term stillstand as a consequence, because no subsequent speed can be determined without a successor block.

In the table containing the G functions, the time−synchronized G functions are indicated by the index "s" (¶ 91).

In addition to these functions there are also commands, which do not have an executing function, but rather merely affect the sequential program flow or only affect the interpretation of the program in another way. These functions are already completely executed during the interpretation, but are not placed in the prebuffer and, therefore, do not result in the path motion being interrupted.

These commands include:

ƒ Parameter field assignments (P2000=100)

ƒ Formula (P2001=P2000+50)

ƒ Some G functions (e.g. G20, G22)

All the G functions concerned are indicated in the table containing the G functions by an index (¶ 91).

EDSTCXN EN 2.0

3.2 G functions

CNC programming

G functions

Overview of G functions

3.2

3.2.1

Syntax

Example

A DIN block with a G function always has the following structure: the letter "G" is followed by the number of the G function. This is then followed by the parameters, which are each formed by their address letters and the corresponding value.

G(number) [address identification(address value)] ...

Possible address identifications are

ƒ X ,Y ,Z ,A ,B, C, U, V, W, x, y, z, a, b, c, u, v, w as designations for axes,

referred to as AXES in the following.

ƒ D, F, H, I, J, K, L, R as G function−specific flow point parameters

ƒ E, O as G function−specific integral parameters

As address values, any flow point numbers alternatively with exponent (e.g.

−23.475e

−3

) are valid for axis addresses and flow point parameters. For all the

others, integers in the range of −32767 to +32767 are allowed.

As an alternative to direct input, all the above−mentioned addresses can also be programmed indirectly. This is displayed by the specification of "P". The programming takes place via the P field. Instead of the numerical value, the index on the P field is then assigned to the address letter.

G0 X=P1000 For X, the value contained in the P field in the index 1000 is then valid.

G0 X=PP1100 For X, the value, whose index is contained P field in the index 1100 is valid

(indicated twice).

A DIN block does not necessarily have to contain a G function. Some of the functions have a modal effect and do not need to be repeated. The above specifications are then valid for the rest of the block.

3.2.1 Overview of G functions

i Function is a pure interpreter function (^ 90)

s Function is time synchronized (^ 90)

Function is deactivated at the end of the program or in the event of a program termination and with modal branches

Function is deactivated at the end of the program or in the event of a program termination

Function is deactivated in the event of a program termination

Function is deactivated in the event of a program termination and with modal branches

No. Meaning Group Attribute

00 Point−to−point positioning, high rate a

01 Linear interpolation a

02 Circular interpolation, clockwise a

03 Circular interpolation, counterclockwise a

04 Dwell time

05 Spline interpolation via the programmed grid points h

06 Polynomial interpolation with coefficient programming h

10 Definition of an error recovery item after an error

EDSTCXN EN 2.0

3.2

3.2.1

CNC programming

G functions Overview of G functions

16 Definition of the principal axes of the current NC channel h s

17 Plane selection (XY) c i

18 Plane selection (XZ) c i

19 Plane selection (YX) c i

20 Block jump, optionally with condition check I

21 Synchronous parameter field assignment

22 Subprogram call, optionally with condition check and start of a

new NC channel

24 Define negative traversing range limit h

25 Define positive traversing range limit h

26 Activate/deactivate traversing range limits h

27 Block jump with repetition counter i

30 Route operation b s

31 Path operation b s

33 Coupling between path and rotation axes "on" h

34 Path coupling "off" h

36 Modal oscillation "on" h

37 Modal oscillation "off" h s

40 Correction module "off" e i

41 Correction module / left "on" e

42 Correction module / right "off" e

53 Deactivate temporary coordinate shift f i

54 Temporary zero shift of the current tool coordinate system f

60 Exact positioning on/off h

61 Stop block preprocessing s

74 Home position approach s

75 Change scaling factor for input units h

76 Change scaling factor for pulse evaluation h

88 Basic rotation h s

89 Profile rotation h

90 Absolute dimensions (reference dimension) d i

91 Incremental dimensions d i

92 Relative zero shift of the current coordinate system f i

93 Absolute zero shift of the current coordinate system

96 Programming of spindle circumferential speed g

97 Programming of spindle speed

99 Subprogram return i

100 Polar coordinates: linear interpolation, high rate a

101 Polar coordinates: linear interpolation a

102 Polar coordinates: circular interpolation, clockwise a

103 Polar coordinates: circular interpolation, counterclockwise a

110 Polar coordinates: accept center

110 Polar coordinates: accept center i

112 Tangential correction "on" h i

113 Tangential correction "off" h i

114 6 axes transformation (X,Y,Z,A,B,C) h

115 Sheath transformation h

116 Rotation axis transformation (B,C) −> (A,B‘) h

AttributeGroupMeaningNo.

EDSTCXN EN 2.0

CNC programming

G functions

Overview of G functions

AttributeGroupMeaningNo.

117 Reserved

118 Reserved

120 Coordinate shift via modal offset s

121 Programming of the modal offset s

122 Configuration of the effect of the traverse keys h

125 Non−modal comparative operation i

130 Modal comparative operation h

131 Export modal comparative operation h s

132 Inhibit modal program branching h

133 Enable modal program branching h s

134 Non−modal waiting function, parameter field comparison i

140 Noncircular grinding "off" E s

141 Noncircular grinding with neg. direction of rotation "on" e

142 Noncircular grinding with pos. direction of rotation "on" e

143 Parameter setting of noncircular grinding phases i

144 Configuration of a correction table for noncircular grinding h s

145 Definition of the correction values in the correction table h i

150 Modal program branching to an external event h

151 Program branching to an external event s

152 Non−modal waiting function, Q−Bit comparison i

153 Wait for the scheduling of a NC channel

158 Intermittent operation "on" h

159 Intermittent operation "off" h

161 Actual position acceptance s

162 Define axis group

175 Axis replacement h s

180 Modal travel "on" h

181 Modal travel "off" h s

187 Handwheel coupling "on"/"off" h

193 Absolute zero point determination in the current coordinate

system

194 Basic offset shift f s

195 Shift all tool coordinate systems except for S0 f

200 Geometry filter "on"/"off" h i

201 Change the acceleration and deceleration ramps h

209 Set the geometry counter i

211 Transformation for two−axis articulated robot kinematics h s

222 Activate customer−specific output signal handler h

226 Reconfigure effect of the hardware limit switch h

231 Separation control system in the axis computer h s

232 Reserved for online cutter correction h s

233 3D axis correction h s

234 Direction−dependent height correction h s

250 Recording of axis positions or speeds h

251 Accept step response of an axis s

252 Value input via the display device s

253 Text display function, optional with error handling s

f i

3.2

3.2.1

EDSTCXN EN 2.0

3.2

3.2.2

3.2.2 G functions individual descriptions

CNC programming

G functions G functions individual descriptions

Every G function is described in detail in the following. The functions are sorted numerically in ascending order.

) Note!

For the preparatory functions, the code letters for the individual axes are explicitly specified. These refer to a configuration with a maximum of four axes. Other axis letters can also be used in another configuration. These must then be used accordingly in the preparatory functions. The used axes with the corresponding code letters are defined in the machine constants.

3.2.2.1 G00 Point−to−point positioning, high rate

The preparatory function G00 is used to program a high rate point−to−point positioning.

Syntax

Meaning of the addresses

Explanation

In contrast to DIN66025, route operation or path operation can be used. This is preselected by G30 / G31.

G0 AXES R D E L

AXES Target point coordinates of the axes

R Radius, with which the following linear interpolation (G0, G1) should be

connected.

D Max. path deviation in the target point for grinding corners with the

following linear interpolation.

F High rate speed on the path (G31) or every axis (G30).

E, L Selection of feed speed via speed (E) and increment (L). F=E*L.

G00 can be programmed in path operation (G31) and in route operation (G30).

Path operation: All axes reach the programmed target point at the same time. Two directly successive G0/G1 functions can be connected with a tangential arc with the radius R. For this, parameter "R" must be specified in the first block. The programmed radius is corrected to smaller radii by the control if the distance between the line−circle intersection point and the peak exceeds the length of one of the two lines or an R is also programmed in the following block. In the latter case, the available path length for the circle adjustment is shortened by half.

EDSTCXN EN 2.0

CNC programming

G functions

G functions individual descriptions

As an alternative to R, D can be used to program the maximum path deviation in the target point in order to define the grinding of the corner which is created between two G0/G1 blocks. The two blocks must also be programmed in direct succession here, otherwise the D is ignored. In contrast to the corner cut with R, no plane must be selected during the grinding of corners, since a polynomial (G6), and not a circle, is inserted between the two blocks. The interpolation takes place in the space.

The high rate speed programmed for F has a modal effect for G0. It does not have any affect on the speed for G1, G2 or G3. The value from MK_VBAHNMAX is preset.

The values programmed for E and L have a modal effect and do not have any affect on the high rate speed, but rather only on G1, G2 and G3. However, the resulting feed speed is only considered if a value not equal to zero was programmed for L. The value programmed for E is also stored time synchronously in P561 and can be used e.g. as the spindle speed.

The speed is limited in such a way that neither the max. path speed (MK_VBAHNMAX) nor the max. axis speeds (MK_VMAX) are exceeded. The acceleration and deceleration ramps on the path are limited in such a way that the max. ramps (MK_BESCHL, MK_BREMS) of the participating axes are not exceeded.

3.2

3.2.2

Route operation: All axes reach their target point independently from each

other. The following block is only executed when all axes have reached their target point.

The high rate speed programmed for F has a modal effect for G0 and all programmed axes. It does not have any affect on the speed for G1, G2 or G3. The values from MK_VMAX are preset.

The speeds of the participating axes are limited to the respective max. axis speeds (MK_VMAX) in the machine constants. The maximum values (MK_BESCHL, MK_BREMS) configured in the machine constants are used as the acceleration and deceleration ramps, if smaller values were not selected with G201.

General: The preparatory function G00 has modal effect.

The end position of the axes can be programmed either in the reference dimension system (G90) or in the incremental dimension system (G91), under the addresses of the positioning axes.

The unit F is dependent on the axes which are programmed. If only linear axes are involved, input units/min (default: mm/min) is programmed in F. If only rotation axes are involved, 1/min is programmed in F. If both are involved, the unit F is dependent on whether the guide axes are linear or rotation axes (see G16).

EDSTCXN EN 2.0

3.2

3.2.2

CNC programming

G functions G functions individual descriptions

Example

N60

N50

Startpunkt

N10 G90

N20 G0 X20 Z200

N50 G0 X10 Y10 Select modal G function and

N60 Y30 R10

N70 X30

Change over to the reference dimension system and traverse the X axis to the position +20 mm and the Z axis to the position +200 mm.

approach the starting position.

The blocks N60 and N70 are connected with a tangential arc with a radius of 10 mm instead of with a 90° angle.

EDSTCXN EN 2.0

3.2.2.2 G01 Linear interpolation

In the case of linear interpolation, the tool moves between the starting point, i.e. the current actual position, and the programmed end point (desired position) on a line. The programmed end point is reached by all axes at the same time.

CNC programming

G functions

G functions individual descriptions

3.2

3.2.2

Syntax

Meaning of the addresses

Explanation

G1 AXES R D F E L

AXES Target point coordinates of the axes.

R Radius, with which the following linear interpolation (G0, G1) should be

connected.

D Max. path deviation in the target point for grinding corners with the

following linear interpolation.

F Feed speed on the path (G31) or every axis (G30).

E,L Selection of feed speed via speed (E) and increment (L). F=E*L.

G01 can be programmed in path operation (G31) and in route operation (G30).

Path operation: All axes reach the programmed target point at the same time.

Two directly successive G0/G1 functions can be connected by a tangential arc with the radius R. For this, parameter R must be specified in the first block. The programmed radius is corrected to smaller radii by the control system if the distance between the line−circle intersection point and the peak exceeds the length of one of the two lines or an R is also programmed in the following block. In the latter case, the available path length for the circle adjustment is shortened by half.

As an alternative to R, D can be used to program the maximum path deviation in the target point in order to define the grinding of the corner created between two G0/G1 blocks. The two blocks must also be programmed in direct succession here, otherwise the D is ignored. In contrast to the corner cut with R, no plane must be selected during the grinding of corners, since a polynomial (G6), and not a circle, is inserted between the two blocks. The interpolation takes place in the space.

EDSTCXN EN 2.0

The feed speed programmed for F has a modal effect. The value 0 is preset.

The values programmed for E and L have a modal effect. However, the resulting feed speed is only considered if a value not equal to zero was programmed for L. The value programmed for E is also stored time synchronously in P561 and can be used e.g. as the spindle speed.

3.2

3.2.2

CNC programming

G functions G functions individual descriptions

Route operation: All axes travel with the programmed speed and reach their target point independently of each other according to the traverse route and the speed. The following block is only executed when all axes have reached their target point. The feed speed programmed for F has a modal effect for all programmed axes. The value 0 is preset for all axes. The speeds of the participating axes are limited to the respective max. axis speeds (MK_VMAX) in the machine constants. The maximum values configured in the machine constants (MK_BESCHL, MK_BREMS) are used as the acceleration and deceleration ramps, if smaller values were not selected with G201.

General: The preparatory function G01 has a modal effect.

The end position of the axes can be programmed either in the reference dimension system (G90) or in the incremental dimension system (G91), under the addresses of the positioning axes. The unit F is dependent on which axes are programmed. If only linear axes are involved, input units/min (default: mm/min) is programmed in F. If only rotation axes are involved, 1/min is programmed in F. If both are involved, the unit F is dependent on whether the guide axes are linear or rotation axes (see G16).

Example

N60

N50

Startpunkt

N10 G31 Path operation "on"

N20 G1 X0 Z10 C0 F2 Position X axis to 0 mm and

N30 G1 C360 F60 C axis moves to position 360

N50 G1 X10 Y10 Select modal G function and

N60 Y30 R10 N70 X30

Z axis to +10 mm with 2 mm/min, the C axis is also positioned to 0° at the same time.

degrees with the speed 60 revolutions per minute.

approach the starting position.

The blocks N60 and N70 are connected with a tangential arc with a radius of 10 mm, instead of with a 90° angle.

EDSTCXN EN 2.0

CNC programming

G functions

G functions individual descriptions

3.2.2.3 G02 Circular interpolation, clockwise, G03 Circular interpolation, counterclockwise

Definition of a circle or segment of a circle, clockwise or counterclockwise, with linear positioning of a linear axis (helix) or expanding radius (spiral) with additional positioning of a linear axis (conical helix).

) Note!

When correction modules are used (e.g. TRC) only the normal arc can be programmed. The additional functions are not allowed!

3.2

3.2.2

Syntax

Meaning of the addresses

Explanation

G02 AXES D I J K R F E L

G03 AXES D I J K R F E L

AXES Target point coordinates of the three linear principal axes (default X,Y,Z), as

well as start or target point coordinates of the three rotative secondary

axes (default A,B,C).

D Radius change on reaching the target point

I Center coordinates of the first principal axis (X) or number of additional full

circles

J Center coordinates of the second principal axis (Y) or number of additional

full circles

K Center coordinates of the third principal axis (Z) or number of additional

full circles

R Interpolation radius

F Path speed

E, L Selection of feed speed via speed (E) and increment (L). F=E*L.

With G02/G03, the interpolation on a circular path is programmed in the selected plane (G17, G18 or G19) (G02 clockwise, G03 counterclockwise).

) Note!

It is always necessary to select a plane; there is no standard default setting!

EDSTCXN EN 2.0

To determine an arc, you need to specify three points. These are always the arc start point and arc end point, as well as either a center or a radius. This results in the following mandatory DIN address combinations for the determination of an arc, depending on the plane

G17: "XY IJ" or "XY R" G18: "ZX KI" or "ZX R" G19: "YZ JK" or "YZ R"

The target values can be specified both in absolute dimensions and in incremental dimensions.

3.2

3.2.2

CNC programming

G functions G functions individual descriptions

If target values are missing, the corresponding circle start values are used. The specification of a center is always interpreted as a relative specification to the circle start point. Since there is always more than one circle center for the radius programming from a mathematical point of view, it is not possible to program a full circle in this circle determination mode. From the two possible centers, a negative radius selects the one which results in the larger arc. The combination of the DIN addresses of G2/G3, which are beyond the necessary specifications, results in the following geometries:

a) Helix with cylinder surface

The linear axis which is positioned vertically to the selected plane must be programmed. This specification results in a simultaneous linear interpolation of the axis between the circle start point and the circle target point. If an additional optional DIN address is not specified, then the helix

covers a maximum of 360°.

G17: Z G18: Y G19: X

By specifying the number (n) of additional full circles, the helix can be

extended to a maximum of (n+1)*360°.

G17: ZK G18: YI G19: XJ

b) Helix with cone surface

All the specifications under a) also apply here. However, a delta radius (D) must also be programmed. The cone radius then opens (D>0) or closes (D<0) evenly from the circle start point through to the circle target point.

G17: ZKD G18: YID G19: XJD

c) Spiral in the plane

All the specifications under b) are also needed here, however, without the linear positioning.

G17: KD G18: ID G19: JD

When the preparatory function G112 has been executed previously, the tangential correction of the rotation axis is possible, which is assigned to the selected plane (default: G17: C, G18: B, G19: A). If G112 was programmed with " Schlagzustellung der Rotationsachse " (Abrupt positioning of the rotation axis), the start angle of the rotation axis can be specified under the corresponding DIN addresses (A,B,C) for G2/G3. If the tangential correction is not switched on, the target angle of the rotation axis can be programmed. The rotation axis is then positioned linearly between the start and target angle on the circular path.

100

EDSTCXN EN 2.0

Lenze ETC User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Contents i

1 Preface and general information

1.1 About this Manual

1.2 For which products is the manual valid?

1.3 Legal regulations

2 Getting started

2.1 System overview

2.1.1 Examples for an automation system

2.1.2 Layout example for an ETC island

2.1.3 Connecting ETCHx and PC

2.2 Status display

2.3 Commissioning steps (overview)

2.4 Establishing the communication between PC and ETCHx

2.4.1 Starting ETCHx

2.4.2 Starting the terminal program "HyperTerminal" and activating the monitor interface

2.4.3 Setting the operating mode of the ETCHx

2.4.4 Assigning the IP address of the ETCHx

2.6.1 Building in and installing the ETCPx

2.8 Parameterising drives via machine constants

2.8.1 Overview of the most important machine constants

2.8.2 Machine constant file ETCxC.mk

2.8.3 Notes on loading the MK file into the control system

2.8.4 Example for adapting a machine constant file

2.8.6 Checking the parameters of the drives

2.8.7 Testing the drives in inching mode

2.9 CNC programming according to DIN 66025

2.10 Creating a CNC sample program

2.10.2 Entering and saving a CNC program

2.10.3 Loading the CNC program into the control system and starting it

2.10.4 Extending the CNC program

2.11 ETC PLC programming with CoDeSys

2.11.1 Installing CoDeSys

2.12 Creating a PLC sample program

2.12.1 Required hardware

2.12.2 Starting and configuring the PLC sample program

2.12.3 Loading the PLC sample program into the control system

2.13 Testing CNC and PLC program

2.14.2 Calling the signals in the PLC

2.14.3 Function of the keys

2.15.2 Functional description HMI505 operation

2.16 Updating the firmware of the ETCHx in the "Standalone" operating mode

2.16.1 Calling the boot monitor in the control system

2.16.2 Querying the version of the firmware

2.16.3 Updating the firmware

3 CNC programming

3.1 Basics

3.2 G functions

3.2.1 Overview of G functions

3.2.2 G functions individual descriptions