siemens 802D User Manual
Description of Functions 11.2003 Edition
sinumerik
SINUMERIK 802D
SINUMERIK 802D base line
SINUMERIK 802D
Description of Functions
Preface, Table of Contents
EMERGENCY STOP (N2)
Axis Monitoring (A3)
Velocities, Setpoint/Actual -Value
Systems, Closed-Loop Control
(G2)
Acceleration (B2)
Spindle (S1)
Rotary Axes (R2)
Transverse Axes (P1)
Reference Point Approach (R1)
1
2
3
4
5
6
7
8
Manual Traversing and Handwheel Traversing (H1)
Operating Modes, Program Mode
(K1)
Feed (V1)
Continous Path Mode, Exact Stop
and LookAhead (B1)
Output of Auxiliary Functions to
the PLC (H2)
Tool Compensation (W1)
Measuring (M5)
Compensation (K3)
Traversing to Fixed Stop (F1)
9
10
11
12
13
14
15
16
17
11.03 Edition
18
Kinematic Transformations (M1)
19
Various Interface Signals (A2)
20
PLC User Interface
21
Various Machine Data
Glossary, Index
3ls
SINUMERIKDocumentation
Printing history
Brief details of this edition and previous edition are listed below.
The status of each edition is shown by the code in the “Remarks” column.
Status code in the “Remarks” column:
A New documentation.. . . . .
B Unrevised reprint with new Order No.. . . . .
C Revised edition with new status. . . . . .
If actual changes have been made on the page since the last edition, this is indicated by
a new edition coding in the header on that page.
Edition Order No. Remarks
11.00 6FC5 697-2AA10-0BP0 A
10.02 6FC5 697-2AA10-0BP1 C
11.03 6FC5 697-2AA10-0BP2 C
This Manual is included on the documentation on CD ROM (DOCONCD)
E
Trademarks
SIMATIC, SIMATIC HMI, SIMATIC NET, SIROTEC, SINUMERIK and SIMODRIVE are registered
trademarks of Siemens. Third parties using for their own purpose any other names in this document which
refer to trademarks might infringe upon the rights of trademark owners.
This publication was produced with Interleaf V 7.
The reproduction, transmission or use of this document or its
contents is not permitted without express written authority.Offenders
will be made liable for damages. All rights, including rights created by
patent grant or registration of utility model or design, are reserved.
Siemens AG 2003. All rights reserved.
Printed in the Federal Republic of Germany
Other functions not described in this documentation might be
executable in the control. This does not, however, represent an
obligation to supply such functions with a new control or when
servicing.
We have checked that the contents of this document correspond to
the hardware and software described. Nonetheless, differences might
exist and therefore we cannot guarantee that they are completely
identical. The information contained in this document is, however,
reviewed regularly and any necessary changes will be included in the
next edition. We welcome suggestions for improvement.
Subject to change without prior notice.
Siemens - AktiengesellschaftOrder No.: 6FC5 697-2AA10 -0BP2
Preface
Notes for the reader
The descriptions of functions are only valid for or up to the specified software release. When
new software releases are issued, the relevant descriptions of functions must be requested.
Old descriptions of functions can only partially be used for new software releases.
Note
Other functions not described in this documentation might be executable in the control. This
does not, however, represent an obligation to supply such functions with a new control or
when servicing.
Technical notes
Notations
The following notations and abbreviations are used in this Documentation:
PLC interface signals -> IS ”Signal name” (signal data)
Example: IS ”Feed override“ (VB380x 0000)
The variable byte is in the range “at axis“, “x” stands for the axis: 0 axis 1
Machine data -> MD MD_NR: MD_NAME
Setting data -> SD SD_NR: SD_NAME
The headlines of the individual chapters/sections are added by a code designation in brak-
kets (e.g. Chapter 1: EMERGENCY STOP (N2)). This code designation is used in references to individual Chapters/Sections.
Explanation of the code designations
In the chapters/sections of each Description of Functions, the data and/or signals are explained which are important for the function discussed. Within these explanations provided in the
form of tables, some terms and abbreviations are used, which are explained here.
Default value:
This is the default value of the machine/setting data when loading the standard machine data.
Range of values (minimum/maximum values):
specifies the input limits. If no range of values is specified, the data type defines the input limits, and the field is marked with ”***”.
1 aixs 2
n axis n+1.
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v
Preface
Activation of changes:
Changes in machine data, setting data or the like come not immediately into effect in the control system. The conditions for activation are therefore always specified. The possibilities used
are listed below by their priority:
POWER ON (po) Turning off/turning on the power supply
or softkey “StartUp/Normal” on HMI
NEW_CONF (cf) ”RESET” key on the control unit
RESET (re) ”RESET” key on the control unit
immediately (im) after input of a value
Protection level:
There are the protection levels 0 to 7 whereby the interlock for protection levels 1 to 3 can be
canceled by setting a password and the interlock for protection levels 4 to 7 via the IS “Protection level” (e.g.: keyswitch position). Protection level 0 cannot be accessed (see Chapter “Various Interface Signals”).
The operator has only access to information that corresponds to this particular protection level
and the lower protection levels. The machine data are assigned different protection levels by
default and are marked by a Write/Read value (e.g. 4/7).
Note: In this document, the machine and setting data of protection levels 2 to 7 are documented. Notes on machine data of protection level 1 are only provided in special cases (expert
mode).
Unit:
The unit refers to the default setting (see Section “Velocities, Setpoint/Actual Value System,
Closed-Loop Control“).
If the MD has no physical unit as the basis, the field is marked with ”-”.
Data type:
The following data types are used in the control system:
DOUBLE
Floating point value (64-bit value )
Input limits from +/-4.19*10
-307
to +/-1.67*10
308
DWORD
Integer values (32-bit value)
Input limits from -2 147 483 648 to +2 147 483 648 (decimal),
as a hexadecimal value: 0000 to FFFF
BYTE
Integer values (8-bit value)
Input limits from -128 to +127 (decimal), as a hexadecimal value: 00 to FF
BOOLEAN
Boolean value: TRUE (1) or FALSE (0)
STRING
consisting of a maximum of 16 ASCII characters (uppercase letters, digits and underscore)
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6FC5 697-2AA10-0BP2 (11.03) (DF)
Example machine data
36210 CTRLOUT_LIMIT[0]
MD number Maximum speed setpoint
Default: 110.0 Min. input limit: 0.0 Max. input limit: 200.0
Change valid after NEW_CONF Protection level: 2/7 Unit: %
Data type: DOUBLE Valid from SW release:
Meaning:
Alarms
For detailed explanations on occurring alarms, please refer to:
References: ”Diagnostics Guide“.
Preface
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Contents
Contents
1 EMERGENCY STOP (N2) 1-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1 Brief description 1-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2 EMERGENCY STOP sequence 1-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3 EMERGENCY STOP acknowlededgement 1-19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.4 Data descriptions (MD, SD) 1-20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5 Signal descriptions 1-21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.6 Data fields, lists 1-22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.6.1 Interface signals 1-22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.6.2 Machine data 1-22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2 Axis Monitoring (A3) 2-23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1 Overview of monitoring functions 2-23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2 Motion monitoring functions 2-24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.1 Contour monitoring 2-24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.2 Positioning monitoring 2-25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.3 Zero speed monitoring 2-27. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.4 Clamping monitoring 2-27. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.5 Speed setpoint monitoring 2-28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.6 Actual velocity monitoring 2-30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3 Encoder monitoring functions 2-31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.1 Encoder limit frequency monitoring 2-31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.2 Zero mark monitoring 2-32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4 Monitoring of static limitations 2-33. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4.1 Limit switch monitoring 2-33. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4.2 Working area limitation 2-35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5 Boundary conditions 2-37. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.6 Data descriptions (MD, SD) 2-38. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.6.1 Channel-specific machine data 2-38. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.6.2 Axis/spindle- specific machine data 2-38. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.6.3 Axis/spindle-specific setting data 2-44. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.7 Signal description 2-45. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.7.1 Axis/spindle- specific signals 2-45. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.8 Data fields, lists 2-47. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.8.1 Axis/spindle- specific interface signals 2-47. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.8.2 Axis/spindle- specific machine data 2-47. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.8.3 Channel-specific machine data 2-48. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.8.4 Axis/spindle-specific setting data 2-48. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3 Velocities, Setpoint/Actual -Value Systems, Closed- Loop Control (G2) 3-49. . . . . . . . . .
3.1 Velocities, traversing ranges, accuracies 3-49. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1.1 Velocities 3-49. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1.2 Traversing ranges 3-50. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1.3 Input/display resolution, computational resolution 3-51. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1.4 Standardization of physical quantities of machine and setting data 3-52. . . . . . . . . . . . . . . . . . .
3.2 Metric/inch scaling system 3-53. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.1 Conversion of the scaling system using the part program 3-53. . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.2 Switching over the scaling system manually 3-55. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3 Setpoint/actual-value system 3-57. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.1 General 3-57. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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Contents
3.3.2 Drives connected to Profibus DP 3-58. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.3 Speed setpoint and actual- value assignment 3-59. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.4 Speed setpoint output 3-62. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.5 Actual- value processing 3-63. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4 Closed-loop control 3-65. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5 Data description (MD, SD) 3-68. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.1 General machine data 3-68. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.2 Channel-specific machine data 3-70. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.3 Axis-specific machine data 3-71. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.6 Signal descriptions 3-76. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.7 Data fields, data lists 3-77. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.7.1 Interface signals 3-77. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.7.2 Machine data 3-77. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4 Acceleration (B2) 4-79. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1 Acceleration profiles 4-79. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2 Jerk limitation on interpolator level 4-80. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3 Jerk limitation in JOG mode 4-81. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4 Percentage acceleration correction, ACC 4-82. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5 Data descriptions (MD, SD) 4-83. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6 Data fields, lists 4-84. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5 Spindle (S1) 5-85. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1 Brief description 5-85. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2 Spindle modes 5-86. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.1 Spindle mode: Control mode 5-87. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.2 Spindle mode: Oscillation mode 5-88. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.3 Spindle mode: Positioning mode 5-90. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.4 Spindle mode: Axis mode 5-94. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3 Synchronizing 5-95. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4 Gear stage change 5-96. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5 Programming 5-101. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6 Spindle monitoring functions 5-102. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6.1 Axis/spindle stopped 5-102. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6.2 Spindle in set range 5-103. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6.3 Max. spindle speed 5-103. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6.4 Min./max. speed of the gear stage 5-103. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6.5 Max. encoder limit frequency 5-104. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6.6 Target position monitoring 5-105. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.7 2nd spindle / master spindle 5-106. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.8 Analog spindle 5-107. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.9 Data descriptions (MD, SD) 5-108. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.9.1 Channel-specific machine data 5-108. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.9.2 Axis/spindle- specific machine data 5-108. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.9.3 Spindle-specific setting data 5-116. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.10 Signal descriptions 5-118. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.10.1 Axis/spindle-specific signals 5-118. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.11 Data fields, lists 5-127. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.11.1 Interface signals 5-127. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.11.2 Machine data 5-128. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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5.11.3 Setting data 5-129. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6 Rotary Axes (R2) 6-131. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1 General 6-131. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2 Modulo 360 degrees 6-133. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3 Programming rotary axes 6-134. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3.1 Rotary axis with active modulo conversion 6-134. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3.2 Rotary axis without modulo conversion 6-135. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.4 Data descriptions (MD, SD) 6-136. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.4.1 Axis/spindle- specific machine data 6-136. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.5 Data fields, lists 6-138. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.5.1 Machine data 6-138. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.5.2 Setting data 6-138. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7 Transverse Axes (P1) 7-139. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1 Defining a transverse axis 7-139. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2 Diameter programming 7-139. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3 Constant cutting rate: G96 7-140. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8 Reference Point Approach (R1) 8-141. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1 Fundamentals 8-141. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.2 Referencing using incremental measuring systems 8-143. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.3 Referencing using absolute encoders 8-146. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.3.1 General 8-146. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.3.2 Operator- sssisted adjustment 8-146. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.4 Supplementary conditions for absolute encoders 8-148. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.4.1 Adjusting the absolute encoder 8-148. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.5 Data descriptions (MD, SD) 8-149. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.5.1 Channel-specific machine data 8-149. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.5.2 Axis/spindle- specific machine data 8-149. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.6 Signal descriptions 8-157. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.6.1 Channel-specific signals 8-157. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.6.2 Axis/spindle- specific signals 8-158. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.7 Data fields, lists 8-159. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.7.1 Interface signals 8-159. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.7.2 Machine data 8-159. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9 Manual Traversing and Handwheel Traversing (H1) 9-161. . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1 General features when traversing in JOG mode 9-161. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.2 Continuous traversing 9-165. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3 Incremental traversing (INC) 9-166. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.4 Handwheel traversing in JOG mode 9-167. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.5 Data descriptions (MD, SD) 9-170. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.5.1 General machine data 9-170. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.5.2 Axis/spindle- specific machine data 9-171. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.5.3 General setting data 9-172. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.6 Signal descriptions 9-174. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.6.1 Signals from HMI to PLC 9-174. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.6.2 NCK signals and signals in the operating mode area 9-175. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.6.3 Channel-specific signals 9-176. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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9.6.4 Axis/spindle- specific signals 9-180. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.7 Data fields, lists 9-183. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.7.1 Interface signals 9-183. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.7.2 Machine data 9-184. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.7.3 Setting data 9-184. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10 Operating Modes, Program Mode (K1) 10-185. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.1 Brief description 10-185. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.2 Operating modes 10-186. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.2.1 Mode change 10-187. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.2.2 Possible functions in the individual operating modes 10-188. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.2.3 Monitoring functions in the individual operating modes 10-189. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.2.4 Interlocks in the individual operating modes 10-190. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.3 Execution of a part program 10-191. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.3.1 Program mode and part program selection 10-191. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.3.2 Starting the part program or part program block 10-191. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.3.3 Part program interruption 10-192. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.3.4 RESET command 10-193. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.3.5 Program control 10-194. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.3.6 Program status 10-194. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.3.7 Channel status 10-195. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.3.8 Reactions to operator or program actions 10-196. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.3.9 Example of time diagram for a program sequence 10-197. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.4 Program test 10-198. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.4.1 General remarks on program test 10-198. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.4.2 Program execution without axis movements (PRT) 10-198. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.4.3 Program execution in single block mode 10-199. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.4.4 Program execution with Dry Run Feed (DRY) 10-200. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.4.5 Block search: Execution of certain program sections 10-201. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.4.6 Skipping part program blocks (SKP) 10-203. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.4.7 Graphical simulation 10-204. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.5 Timer for program runtime 10-205. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.6 Workpiece counter 10-206. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.7 Data descriptions (MD, SD) 10-208. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.7.1 Display machine data 10-208. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.7.2 Channel-specific machine data 10-211. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.7.3 Channel-specific setting data 10-213. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.8 Signal descriptions 10-215. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.8.1 Mode signals 10-215. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.8.2 Channel-specific signals 10-217. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.9 Data fields, lists 10-228. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.9.1 Channel machine data 10-228. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.9.2 Channel-specific setting data 10-229. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.9.3 Interface signals 10-229. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11 Feed (V1) 11-233. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.1 Feedrate F 11-233. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.1.1 Feed with G33 (thread cutting) 11-234. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.1.2 Feed with G63 (tapping with compensating chuck) 11-235. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.1.3 Feed with G331, G332 (rigid tapping = tapping without compensating chuck) 11-235. . . . . . . . . .
11.2 Rapid traverse G0 11-236. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.3 Feed override 11-237. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.3.1 Overview 11-237. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.3.2 Feed disable and feed/spindle stop 11-237. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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11.3.3 Feed override from the machine control panel 11-238. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.4 Data descriptions (MD, SD) 11-240. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.5 Signal descriptions 11-241. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.5.1 Channel-specific signals 11-241. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.5.2 Axis/spindle-specific signals 11-245. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.6 Data fields, lists 11-248. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.6.1 Interface signals 11-248. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.6.2 Machine data/setting data 11-248. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12 Continuous -Path Mode, Exact Stop and LookAhead (B1) 12-249. . . . . . . . . . . . . . . . . . . . . .
12.1 Brief description 12-249. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.2 General 12-250. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3 Exact Stop 12-251. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.4 Continuous path mode 12-252. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.4.1 General 12-252. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.4.2 Velocity reduction according to the overload factor 12-253. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.4.3 Velocity reduction for jerk limitation on the path 12-254. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.4.4 Machine axis-specific jerk limitation 12-255. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.5 LookAhead 12-256. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.6 Data descriptions (MD, SD) 12-258. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.6.1 Channel-specific machine data 12-258. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.6.2 Axis-specific machine data 12-258. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.7 Signal descriptions 12-259. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.7.1 Channel-specific signals 12-259. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.7.2 Axis-specific signals 12-259. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.8 Data fields, lists 12-260. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.8.1 Interface signals 12-260. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.8.2 Machine data 12-260. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13 Output of Auxiliary Functions to the PLC (H2) 13-261. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.1 Brief description 13-261. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2 Programming of auxiliary functions 13-262. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.3 Transfer of values and signals to the PLC interface 13-263. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.4 Division of auxiliary functions into groups 13-264. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.5 Behavior on block search 13-265. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.6 Description of the auxiliary functions 13-266. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.6.1 M function 13-266. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.6.2 T function 13-266. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.6.3 D function 13-266. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.6.4 H function 13-267. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.6.5 S function 13-267. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.7 Data descriptions (MD, SD) 13-268. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.7.1 General machine data 13-268. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.7.2 Channel-specific machine data 13-268. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.8 Signal descriptions 13-270. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.9 Data fields, lists 13-272. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.9.1 Interface signals 13-272. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.9.2 Machine data 13-273. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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SINUMERIK 802D, 802D base line
6FC5 697-2AA10-0BP2 (11.03) (DF)
Contents
14 Tool: Compensation and Monitoring (W1) 14-275. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.1 Overview: Tool and tool compensation 14-275. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.2 Tool 14-276. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.3 Tool compensation 14-277. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.4 Tool monitoring 14-278. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.4.1 Overview: Tool monitoring 14-278. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.4.2 Tool life monitoring 14-280. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.4.3 Workpiece count monitoring 14-281. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.4.4 Examples for tool life monitoring 14-282. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.5 Special cases of tool compensations 14-284. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.6 Data descriptions (MD, SD) 14-287. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.7 Signal descriptions 14-289. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.8 Data fields, lists 14-290. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.8.1 Interface signals 14-290. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.8.2 Machine data 14-290. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15 Measuring (M5) 15-291. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15.1 Brief description 15-291. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15.2 Hardware requirements 15-292. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15.2.1 Probes that can be used 15-292. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15.2.2 Connecting the probe 15-293. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15.3 Channel-specific measuring 15-295. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15.3.1 Measuring mode 15-295. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15.3.2 Measurement results 15-295. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15.4 Measuring accuracy and testing 15-296. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15.4.1 Measuring accuracy 15-296. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15.4.2 Sensing probe function test 15-296. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15.5 Tool gauging in JOG 15-298. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15.6 Supplementary conditions 15-301. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15.7 Data descriptions (MD, SD) 15-302. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15.8 Signal descriptions 15-303. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15.9 Data fields, lists 15-305. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15.9.1 Interface signals 15-305. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15.9.2 Machine data 15-305. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16 Compensation (K3) 16-307. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16.1 Brief description 16-307. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16.2 Backlash compensation 16-308. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16.3 Interpolatory compensation 16-309. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16.3.1 General 16-309. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16.3.2 Leadscrew error compensation (LEC) 16-310. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16.3.3 Special features of interpolatory compensation 16-313. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16.4 Following error compensation (feedforward control) 16-314. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16.4.1 General 16-314. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16.4.2 Speed feedforward control 16-315. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16.5 Data descriptions (MD, SD) 16-316. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16.6 Data fields, lists 16-318. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16.6.1 Interface signals 16-318. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16.6.2 Machine data 16-318. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SINUMERIK 802D, 802D base line
6FC5 697-2AA10-0BP2 (11.03) (DF)
xiii
Contents
17 Traversing to Fixed Stop (F1) 17-319. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
17.1 Brief description 17-319. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
17.2 Functionality 17-320. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
17.3 Behavior in case of RESET and cancellation of the function 17-326. . . . . . . . . . . . . . . . . . . . . . . . .
17.4 Behavior in the case of block search 17-327. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
17.5 Miscellaneous 17-328. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
17.6 Data descriptions (MD, SD) 17-330. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
17.7 Signal descriptions 17-334. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
17.8 Data fields, lists 17-336. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
17.8.1 Interface signals 17-336. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
17.8.2 Machine data/setting data 17-336. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18 Kinematic Transformations (M1) 18-337. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18.1 Brief description 18-337. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18.2 TRANSMIT 18-338. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18.2.1 Overview 18-338. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18.2.2 Configuring TRANSMIT 18-339. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18.3 TRACYL 18-343. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18.3.1 Overview 18-343. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18.3.2 Configuring TRACYL 18-346. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18.3.3 Programming example for TRACYL 18-349. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18.4 Special features with TRANSMIT and TRACYL 18-352. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18.5 Data descriptions (MD, SD) 18-353. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18.6 Signal descriptions 18-357. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18.7 Data fields, lists 18-358. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18.7.1 Interface signals 18-358. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18.7.2 Machine data/setting data 18-358. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
19 Various Interface Signals (A2) 19-359. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
19.1 Brief description 19-359. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
19.2 Signals from PLC to NCK 19-360. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
19.3 Signals from NCK to PLC 19-364. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
19.4 Signals from PLC to HMI 19-368. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
19.5 Signals from HMI to PLC 19-370. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20 PLC User Interface 20-371. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20.1 Address ranges 20-371. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20.2 User data 20-373. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20.2.1 User data 1 20-373. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20.2.2 User Data 2 20-373. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20.2.3 Retentive data area 20-373. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20.3 User alarm 20-374. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20.3.1 User alarm: Enabling 20-374. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20.3.2 Variable for alarm 20-374. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20.3.3 Active alarm reaction 20-375. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20.4 Signals from/to HMI 20-375. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20.4.1 Program control signals from HMI (retentive area) 20-375. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20.4.2 General selection/status signals from MMC (retentive area) 20-377. . . . . . . . . . . . . . . . . . . . . . . . .
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Contents
20.4.3 General selection/status signals to MMC (retentive area) 20-377. . . . . . . . . . . . . . . . . . . . . . . . . . . .
20.5 Auxiliary function transfer from NC channel 20-378. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20.5.1 Decoded M signals (M0 - M99) 20-378. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20.5.2 T functions transferred 20-379. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20.5.3 M functions transferred 20-379. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20.5.4 S functions transferred 20-380. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20.5.5 D functions transferred 20-380. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20.5.6 H functions transferred 20-380. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20.6 NCK signals 20-381. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20.7 Channel signals 20-383. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20.7.1 Signals to NC channel 20-383. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20.7.2 Signals from NC channel 20-385. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20.8 Axis/spindle signals 20-387. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20.8.1 Transferred M/S functions, axis-specific 20-387. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20.8.2 Signals to axis/spindle 20-387. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20.8.3 Signals from axis/spindle 20-389. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20.9 PLC machine data 20-391. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20.9.1 INT values (MD 14510 USER_DATA_INT) 20-391. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20.9.2 HEX values (MD 14512 USER_DATA_HEX) 20-391. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20.9.3 FLOAT values (MD 14514 USER_DATA_FLOAT) 20-391. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20.9.4 User alarm: Configuration (MD 14516 USER_DATA_PLC_ALARM) 20-392. . . . . . . . . . . . . . . . . .
20.10 Reading and writing of PLC variables 20-392. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20.11 Tool management functions provided by the NC channel 20-393. . . . . . . . . . . . . . . . . . . . . . . . . . . .
20.12 Axis actual values and distances to go 20-394. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
21 Various Machine Data 21-395. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
21.1 Display machine data 21-395. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
21.2 General machine data 21-396. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
21.3 Channel-specific machine data 21-398. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
21.4 Axis-specific machine data 21-401. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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Contents
notice
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SINUMERIK 802D, 802D base line
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EMERGENCY STOP (N2)
1.1 Brief description
Important
We would like to draw the machine manufacturer’s attention to his duty to observe the relevant international and national standards (see notes on standards further below in the text).
The SINUMERIK 802D supports the machine manufacturer in implementing the EMERGENCY STOP function according to the specifications in this Description of Functions. The
EMERGENCY STOP function (tripping, sequence and acknowledgement) is the sole and only
responsibility of the machine manufacturer.
Note
The following standards are relevant for the EMERGENCY STOP function:
EN 292 Part 1
EN 292 Part 2
EN 418
EN 60204 Part 1:1992 Section 10.7
1
The VDE 0113 Part 1 is only valid for a transition period and is replaced by EN 60204.
EMERGENCY STOP in the control system
The following arrangements are provided in the control system to support the machine manufacturer in implementing the EMERGENCY STOP function:
Initiation of the EMERGENCY STOP sequence in the NC via the PLC input.
The EMERGENCY STOP sequence in the NC will decelerate all axes and spindles in the
NC as fast as possible.
The EMERGENCY STOP status cannot be canceled by unlocking the EMERGENCY
STOP button. Resetting the control device will not result in a restart.
After the EMERGENCY STOP status has been canceled, it is not necessary to reference
axes or synchronize spindles (the positions are corrected).
EMERGENCY STOP button
A mushroom button (with one normally closed and normally open contact each), further referred to as EMERGENCY STOP button, is installed in the Siemens machine control panel
(MCP) for the 802D.
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1-17
EMERGENCY STOP (N2)
1.2 EMERGENCY STOP sequence
1.2 EMERGENCY STOP sequence
Prerequisite
The actuation of the EMERGENCY STOP button or a signal directly derived from it must be
carried to the control (PLC) as a PLC input. In the PLC user program, this PLC input must be
passed on to the NC to the IS ”EMERGENCY STOP“ (V2600 0000.1).
Resetting of the EMERGENCY STOP button or a signal directly derived from it must be carried to the control (PLC) as a PLC input. In the PLC user program, this PLC input must be
passed on the NC to the IS “Acknowledge EMERGENCY STOP” (V2600 0000.2).
Sequence in the NC
In the control system, the predetermined sequence (as per EN 418) of internal functions for
the EMERGENCY STOP status is as follows:
1. The part program execution is interrupted. All axes and spindles are stopped along defined
braking ramps according to MD 36610: AX_EMERGENCY_STOP_TIME.
2. The IS ”802-READY” (V3100 0000.3) is reset.
3. The IS ”EMERGENCY STOP active” (V2700 0000.1) is set.
4. Alarm 3000 is set.
5. The servo enable is disabled after an axis/spindle-specific time that can be set in MD
36620: SERVO_DISABLE_DELAY_TIME (servo enable cutout delay) has been elapsed.
In this context, make sure that 36620: SERVO_DISABLE_DELAY_TIME must be specified
at least as large as MD 36610: AX_EMERGENCY_STOP_TIME.
Sequence on the machine
The EMERGENCY STOP sequence on the machine is exclusively defined by the machine
manufacturer. The following must be observed in conjunction with the sequence in the NC:
The sequence in the NC is started using the IS ”EMERGENCY STOP“ (V2600 0000.1).
After the axes and spindles have been stopped, the power supply must be interrupted acc.
to EN418.
The sequence in the NC has no influence on the PLC I/Os (digital outputs). If you wish
individual outputs to have a certain status in case of EMERGENCY STOP, the machine
manufacturer must implement the appropriate functions in the PLC program.
Important
To interrupt the power supply, is the sole and only responsibility of the machine manufacturer.
1-18
If you wish the sequence in the NC in case of EMERGENCY STOP not to be carried out as
defined, the IS “EMERGENCY STOP” (V2600 0000.1) may not be set until an EMERGENCY
STOP status defined by the machine manufacturer in the PLC user program is reached. Until
the IS “EMERGENCY STOP” is not yet set and no other alarm is pending, all IS are active in
the NC. Thus, any manufacturer-specific EMERGENCY STOP status is possible.
SINUMERIK 802D, 802D base line
6FC5 697-2AA10-0BP2 (11.03) (DF)
EMERGENCY STOP (N2)
1.3 EMERGENCY STOP acknowlededgement
1.3 EMERGENCY STOP acknowlededgement
Acknowledging EMERGENCY STOP
The EMERGENCY STOP status will only be reset if first the IS “Acknowledge EMERGENCY
STOP” (V2600 0000.2) and then the IS “Reset” (V3000 0000.7) is set. When doing so, make
sure that the IS ”Acknowledge EMERGENCY STOP” and the IS ”Reset” must be set together
at least as long as the IS “EMERGENCY STOP active” (V2700 0000.1) has been reset (see
Fig. 1-1).
IS ”EMERGENCY STOP”
V2600 0000.1
IS ”Acknoweledge
EMERGENCY STOP“
V2600 0000.2
IS ”EMERGENCY STOP
active“
V2700 0000.1
1
2
PLC I/Os
IS ”RESET”
V3000 0000.7
1
The IS ”Acknowledge EMERGENCY STOP” has no effect.
2
The IS ”RESET” has no effect.
The IS ”Acknowledge EMERGENCY STOP” and ”RESET” will reset ”EMERGENCY STOP active.
3
Fig. 1-1 Resetting EMERGENCY STOP
3
Resetting the EMERGENCY STOP status:
resets the IS ”EMERGENCY STOP active”;
connect servo enable;
set the IS ”Position control active“;
set the IS ”802-READY”;
clear alarm 3000;
cancel the part program execution.
The PLC I/Os must be brought again by the PLC user program to the appropriate status required to operate the machine.
Reset
It is not possible to reset the EMERGENCY STOP status with the IS ”Reset” (V3000 0000.7)
alone (see diagram above).
SINUMERIK 802D, 802D base line
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1-19
EMERGENCY STOP (N2)
1.4 Data descriptions (MD, SD)
Power ON
Power ON (turning off/turning off the power supply) will clear the EMERGENCY STOP status,
except the IS ”EMERGENCY STOP” (V2600 0000.1), which remains set.
1.4 Data descriptions (MD, SD)
Axis-specific machine data
36620 SERVO_DISABLE_DELAY_TIME
MD number Servo enable cutout delay
Default: 0.1 Min. input limit: 0.02 Max. input limit: ***
Change valid after NEW_CONF Protection level: 2/2 Unit: s
Data type: DOUBLE Valid from SW release:
Meaning: Maximum time delay for cancellation of “Servo enable” after faults.
Application example(s) The speed control of the drive should be maintained for this time to make sure that the axis/spindle
Special cases, errors, ...... CAUTION: If the servo enable cutout delay is set too small, the “Servo enable” is already canceled
Related to .... IS ”Servo enable” (V380x 0002.1)
The speed enable (servo enable) of the drive is canceled internally in the control system at the
latest after a set delay time if the axis / spindle is moving.
The entered delay time acts due to the following events:
in case of errors resulting in immediate axis stop
if the IS “Servo enable” is canceled from the PLC.
Once the actual speed reaches the zero speed range (MD 36060: STANDSTILL_VELO_ TOL),
“Servo enable” is disabled for the drive.
The time should be set as large as the axis / spindle needs to come to a standstill from maximum
traversing velocity or speed.
If the axis / spindle is already at a standstill, “Servo enable” is disabled for the drive immediately.
can come to a standstill from maximum traversing velocity or speed. For this time, the cancellation
of “Servo enable” should be delayed for an axis/spindle moving.
even if the axis/spindle is still traversing. In this case, it is suddenly stopped with setpoint 0.
The time set in this MD should therefore be greater than the time of the braking ramp in case of
error statuses (MD 36610: AX_EMERGENCY_STOP_TIME).
MD 36610: AX_EMERGENCY_STOP_TIME (time of braking ramp in case of error statuses)
1-20
SINUMERIK 802D, 802D base line
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EMERGENCY STOP (N2)
1.5 Signal descriptions
1.5 Signal descriptions
General signals
V2600 0000.1 EMERGENCY STOP
Interface signal Signal(s) to NC (PLC - - -> NC)
Edge evaluation: no Signal(s) updated: cyclically Signal(s) valid from SW release:
Signal state 1 or edge
change 0 - - >1
Signal state 0 or edge
change 1 - - >0
Related to .... IS ”Acknowledge EMERGENCY STOP” (V2600 0000.2)
V2600 0000.2 Acknowledge EMERGENCY STOP
Interface signal Signal(s) to NC (PLC - - -> NC)
Edge evaluation: no Signal(s) updated: cyclically Signal(s) valid from SW release:
Signal state 1 or edge
change 0 - - >1
Related to .... IS ”EMERGENCY STOP” (V2600 0000.1)
The NC is set to the EMERGENCY STOP status and the EMERGENCY STOP sequence in the
NC is started.
The NC is not in the EMERGENCY STOP status.
The EMERGENCY STOP status is (still) active, but can be reset using the IS ”Acknowledge
EMERGENCY STOP” and IS ”Reset”.
IS ”EMERGENCY STOP active” (V2700 0000.1)
The EMERGENCY STOP status will only be reset if first the IS ”Acknowledge EMERGENCY
STOP“ and then the IS ”Reset” (V3000 0000.7) are set. When doing so, make sure that the IS
“Acknowledge EMERGENCY STOP” and the IS ”Reset” must be set together at least as long
as the IS ”EMERGENCY STOP active” (V2600 0000.1) has been reset.
Resetting the EMERGENCY STOP status:
resets the IS ”EMERGENCY STOP active”;
connects “Servo enable”;
sets the IS ”Position control”;
sets the IS ”802-Ready”;
lcears alarm 3000;
aborts the part program execution.
IS ”EMERGENCY STOP active” (V2700 0000.1)
IS ”Reset” (V3000 0000.7)
V2700 0000.1 EMERGENCY STOP active
Interface signal Signal(s) to NC (PLC - - -> NC)
Edge evaluation: no Signal(s) updated: cyclically Signal(s) valid from SW release:
Signal state 1 or edge
change 0 - - >1
Related to .... IS ”EMERGENCY STOP” (V2600 0000.1)
SINUMERIK 802D, 802D base line
6FC5 697-2AA10-0BP2 (11.03) (DF)
The NC is in the EMERGENCY STOP status.
IS ”Acknowledge EMERGENCY STOP” (V2600 0000.2)
1-21
EMERGENCY STOP (N2)
1.6 Data fields, lists
1.6 Data fields, lists
1.6.1 Interface signals
Number .Bit Name Ref.
General
V2600 0000 .1 EMERGENCY STOP
V2600 0000 .2 Acknowledge EMERGENCY STOP
V2700 0000 .1 EMERGENCY STOP active
Mode signal range
V3000 0000 .7 Reset K1
1.6.2 Machine data
Number Identifier Name Ref.
Axis-specific
36610 AX_EMERGENCY_STOP_TIME Duration of braking ramp in case of error statuses A3
36620 SERVO_DISABLE_DELAY_TIME Servo enable cutout delay
1-22
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Axis Monitoring (A3)
2.1 Overview of monitoring functions
Motion monitoring functions
- Contour monitoring
- Positioning monitoring
- Zero speed monitoring
- Clamping position monitoring
- Speed setpoint monitoring
- Actual velocity monitoring
- Encoder monitoring functions
Monitoring of static limitations
- Limit switch monitoring
- Work area monitoring
2
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2-23
Axis Monitoring (A3)
2.2 Motion monitoring functions
2.2 Motion monitoring functions
2.2.1 Contour monitoring
Function
The principle of functioning of the contour monitoring is based on the permanent comparison
of measured actual position value and the actual position value calculated from the NC position setpoint. To calculate the following error in advance, a model is used which simulates the
dynamic properties of the position control including feedforward control.
To make sure that the monitoring system does not respond already in the case of slight
speed variations (caused by load changes), a tolerance band is permitted for the maximum
contour deviation.
If the permissible actual value deviation entered in MD 36400: CONTOUR_TOL (contour monitoring tolerance band) is exceeded, an alarm is output, and the axes are stopped.
Activation
Effect
Remedy
The contour monitoring is active for axes and a position-controlled spindle.
If the contour error is too large, the following will occur:
Alarm 25050 ”Contour monitoring” is output.
The axis/spindle concerned is stopped with rapid stop (with open position feedback loop)
via a speed setpoint ramp.
The duration of the braking ramp is defined in the MD 36610: AX_EMERGENCY_STOP_TIME (duration of braking ramp in case of error statuses).
If the axis/spindle interpolates with other axes/spindles, these are stopped by rapid stop
with reduction of the following error (position setpoint = constant).
Increase tolerance band of monitoring function in MD 36400.
The real servo gain factor must correspond to the desired servo gain factor set in
MD 32200: POSCTRL_GAIN (servo gain factor).
With an analog spindle, check
MD 32260: RATED_VELO (rated motor speed) and
MD 32250: RATED_OUTVAL (rated output voltage).
2-24
Check optimization of speed controller.
Check smooth running of axes.
Check machine data for traversing movements (feedoverride, acceleration, max. veloci-
ties, ... )
SINUMERIK 802D, 802D base line
6FC5 697-2AA10-0BP2 (11.03) (DF)
2.2.2 Positioning monitoring
Function
To make sure that an axis is positioned within a specified time, the time configured in MD
36020: POSITIONING_TIME (exact stop fine time delay) is started after a motion block has
been ended (set point has reached the target), and after this time has elapsed, it is checked
whether the axis has reached its set position within the tolerance of MD 36010: STOP_LIMIT_FINE (exact stop fine).
”Exact stop coarse and fine“ see:
References: Chapter ”Continuous -Path Mode, Exact Stop and LookAhead”
Axis Monitoring (A3)
2.2 Motion monitoring functions
V or s
active tolerance in case of zero
speed or clamping monitoring
Actual value
Setpoint
MD:
STANDSTILL_
DELAY_TIME
MD: POSITIONING_TIME
Fig. 2-1 Interrelation between positioning, zero speed and clamping monitoring
Interface signal
”Clamping process
running“ (V380x
0002.3)
MD: CLAMP_POS_TOL
MD:
STANDSTILL_POS_T
OL
MD: STOP_LIMIT_COARSE
MD: STOP_LIMIT_FINE
“Exact stop fine” - interface signal
“Exact stop coarse“ - interface signal
t
Enabling
The positioning monitoring is always enabled after a “setpoint-dependent” completion of motion blocks (setpoint has reached the target).
The positioning monitoring is active for axes and a position-controlled spindle.
Disabling
The positioning monitoring is disabled after the specified ”Exact stop limit fine” has been reached or after output of a new setpoint position (e.g. when positioning to ”Exact stop coarse“
followed by a block change).
SINUMERIK 802D, 802D base line
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2-25
Axis Monitoring (A3)
2.2 Motion monitoring functions
Effect
If the limit value for “Exact stop fine” has not yet been reached after the positioning monitoring time has elapsed, the following action is carried out:
Alarm 25080 ”Positioning monitoring” is output.
The axis/spindle concverned is stopped with rapid stop (with open position control loop)
via a speed setpoint ramp.
The duration of the braking ramp is defined in MD 36610: AX_EMERGENCY_STOP_TIME (duration of braking ramp in case of error statuses).
If the axis/spindle interpolates with other axes/spindles, these will be stopped by rapid
stop with reduction of the following error (specification of partial position setpoint = 0).
Error cause/error elimination
Too small position controller gain - -> change machine data for position control gain
MD 32200: POSCTRL_GAIN(servo gain factor)
Positioning window (exact stop fine), positioning monitoring time and position control gain
are not matched another to one - -> change machine data:
MD 36010: STOP_LIMIT_FINE (exact stop fine),
MD 36020: POSITIONING_TIME (exact stop fine delay time),
MD 32200: POSCTRL_GAIN (servo gain factor)
General rule
Large positioning window - -> a relative short max. positioning monitoring time can be
selected
Small positioning window - -> a relatively long positioning monitoring time must be selec-
ted
Small position control gain - -> a relatively long max. positioning monitoring time must
be selected
High position control gain - -> a relatively short max. positioning monitoring time can be
selected
Note
The size of the positioning window will influence the block change time. The smaller these tolerances are chosen, the longer will last the positioning process and the longer it will last until the next
command can be executed.
2-26
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2.2.3 Zero speed monitoring
Function
After a motion block has been completed (position setpoint has reached target), it is monitored whether the axis is no more away from its setpoint position than specified in MD 36060:
STANDSTILL_POS_TOL (standstill tolerance) after the delay time that can be parameterized
in MD 36040: STANDSTILL_DELAY_TIME (standstill monitoring delay time) has elapsed.
Otherwise, an alarm is generated.
See Fig. 2-1
Activation
The zero speed monitoring is always active after the “Standstill monitoring delay time” has
elapsed, provided that no new traversing command is active.
The standstill monitoring is active for axes and a position-controlled spindle.
Axis Monitoring (A3)
2.2 Motion monitoring functions
Effect
The response of the monitoring function has the following effect:
Alarm 25040 ”Standstill monitoring” is output.
The axis/spindle concerned is stopped with rapid stop (with open position control loop) via
a speed setpoint ramp. The duration of the braking ramp is defined in MD
36610: AX_EMERGENCY_STOP_TIME (duration of braking ramp in case of error statuses).
If the axis interpolates with other axes/spindles, these will be stopped by rapid stop with
reduction of the following error (specification of partial position setpoint = 0).
Error cause/error elimination
Position control gain too large (vibrations of servo loop) - ->change machine data for con-
troller gain MD 32200: POSCTRL_GAIN (servo gain factor)
Standstill window too small - -> change machine data
MD 36030: STANDSTILL_POS_TOL (standstill tolerance)
Axis is mechanically pushed off position - -> eliminate cause
2.2.4 Clamping monitoring
Function
If you wish the axis to be clamped at the end of the positioning process, the clamping monitoring can be activated using the IS “Clamping monitoring running” (V380x 0002.3).
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2-27
Axis Monitoring (A3)
2.2 Motion monitoring functions
This can be necessary because it is possible that during the clamping process the axis has
been pushed off its setpoint position farther than permitted by the standstill tolerance. The
amount by which the setpoint position can be left is specified in MD 36050:
CLAMP_POS_TOL (clamping position tolerance at interface signal “Clamping running“).
See Fig. 2-1
Activation
The clamping position monitoring is activated by the interface signal ”Clamping process running”. It replaces the standstill monitoring during the clamping process.
The clamping position monitoring is active for axes and a position-controlled spindle.
Effect
If during the clamping process the axis is pushed off its position farther than permitted by the
clamping position tolerance, the following will occur:
Alarm 26000 ”Clamping position monitoring” is output.
The axis/spindle concerned is stopped with rapid stop (with open position control loop) via
a speed setpoint ramp. The duration of the braking ramp is defined in
MD 36610: AX_EMERGENCY_STOP_TIME (duration of braking ramp in case of error
statuses).
If the axis/spindle interpolates with other axes/spindles, these will also be stopped by ra-
pid stop with reduction of the following error (specification of partial position setpoint = 0).
2.2.5 Speed setpoint monitoring
Function
The speed setpoint monitoring checks whether the setpoint specification does not exceed the
maximum permissible speed for the drives specified in MD 36210: CTRLOUT_LIMIT (maximum speed setpoint). If necessary, it is limited to this value, and the axis/spindle is stopped
and an alarm is output.
For the axes, the maximum speed setpoint (as a percentage) is above the speed at which the
velocity defined in MD 3200: MAX_AX_VELO is reached (100%). This also defines the control margin.
With an analog spindle, the maximum output speed cannot be greater than the speed reached at a maximum setpoint output voltage of 10V (100%).
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The speed setpoint consists of the speed setpoint of the position controller and the feedforward control value (if feedforward control is active).
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Feedforward control value
Axis Monitoring (A3)
2.2 Motion monitoring functions
Activation
Effect
Following
error
Fig. 2-2 Speed setpoint monitoring
KV
Position controller
+
Speed setpoint
monitoring
to speed
controller
The speed setpoint monitoring is always active for axes and for a spindle.
The following will occur if the maximum speed setpoint is exceeded:
Alarm 25060 ”Speed setpoint limitation” is output.
The axis/spindle concerned is stopped with rapid stop (with open position control loop) via
a speed setpoint ramp.
The duration of the braking ramp is defined in MD 36610: AX_EMERGENCY_STOP_TIME (duration of braking ramp in case of error statuses).
If the axis interpolates with other axes/spindles, these will be stopped by rapid stop with
reduction of the following error (specification of partial position setpoint = 0).
Error causes
Note: At the access level “Expert mode” (protection level 1), a delay time can be set in
MD 36220: CTRLOUT_LIMIT_TIME, after which the alarm is generated, stopping the axes.
This time is zero by default.
The beginning limitation of the speed setpoint makes this servo loop non-linear. Generally,
this results in path deviations when an axis dwells in a speed setpoint limitation. Therefore, a
control margin must be set (see Section 3.3.4 “Speed setpoint output”).
A measuring error circuit or a drive error exists in the measuring circuit.
Too high setpoints specified (accelerations, velocities, reduction factors)
Obstacle in working area (e.g. coming into contact with the work table)
Tachogenerator adjustment with analog spindle has not been carried out correctly or a
measuring circuit or drive error exists.
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2-29
Axis Monitoring (A3)
2.2 Motion monitoring functions
2.2.6 Actual velocity monitoring
Function
The actual velocity is monitored for exceeding of a permissible limit value entered in MD
36200: AX_VELO_LIMIT (threshold value for velocity monitoring).
Activation
The actual velocity monitoring is always active if the active measuring circuit that has been
activated via the iS “Position measuring system 1” (V380x 0001.5) provides actual values, i.e.
is still below the imit frequency.
The actual velocity momnitoring is active for axes and for a spindle.
Effect
The following will occur if the “Threshold value for velocity monitoring” is exceeded:
Alarm 25030 ”Actual velocity alarm limit”
The axis/spindle concerned is stopped with rapid stop (with open position control loop) via
a speed setpoint ramp.
The duration of the brake ramp is defined in MD 36610: AX_EMERGENCY_STOP_TIME
(duration of braking ramp in case of error statuses).
If the axis/spindle interpolates with other axes/spindles, these will also be stopped by ra-
pid stop with reduction of the following error (specification of partial setpoint = 0).
Notes for fault finding
Check actual values.
Check position control direction.
Check MD 36200: AX_VELO_LIMIT (threshold value for velocity monitoring).
In the case of an analog spindle, check speed setpoint cable.
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