Beckhoff TF5200 User manual

Manual | EN
TF5200 | TwinCAT 3 CNC
Clamp position offsets
7/8/2021 | Version: 1.13

Notes on the documentation
TF5200 | TwinCAT 3 CNC
Clamp position offsets
3Version: 1.13
Notes on the documentation
This description is only intended for the use of trained specialists in control and automation engineering who
are familiar with the applicable national standards.
It is essential that the documentation and the following notes and explanations are followed when installing
and commissioning the components.
It is the duty of the technical personnel to use the documentation published at the respective time of each
installation and commissioning.
The responsible staff must ensure that the application or use of the products described satisfy all the
requirements for safety, including all the relevant laws, regulations, guidelines and standards.
Disclaimer
The documentation has been prepared with care. The products described are, however, constantly under
development.
We reserve the right to revise and change the documentation at any time and without prior announcement.
No claims for the modification of products that have already been supplied may be made on the basis of the
data, diagrams and descriptions in this documentation.
Trademarks
Beckhoff®, TwinCAT®, TwinCAT/BSD®, TC/BSD®, EtherCAT®, EtherCAT G®, EtherCAT G10®, EtherCAT P®,
Safety over EtherCAT®, TwinSAFE®, XFC®, XTS® and XPlanar® are registered trademarks of and licensed by
Beckhoff Automation GmbH.
Other designations used in this publication may be trademarks whose use by third parties for their own
purposes could violate the rights of the owners.
Patent Pending
The EtherCAT technology is patent protected, in particular by the following applications and patents:
EP1590927, EP1789857, EP1456722, EP2137893, DE102015105702
with corresponding applications or registrations in various other countries.
EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH,
Germany
Copyright
© Beckhoff Automation GmbH & Co. KG, Germany.
The reproduction, distribution and utilisation of this document as well as the communication of its contents to
others without express authorisation are prohibited.
Offenders will be held liable for the payment of damages. All rights reserved in the event of the grant of a
patent, utility model or design.

General and safety instructions
TF5200 | TwinCAT 3 CNC
Clamp position offsets
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General and safety instructions
Icons used and their meanings
This documentation uses the following icons next to the safety instruction and the associated text. Please
read the (safety) instructions carefully and comply with them at all times.
Icons in explanatory text
1. Indicates an action.
ðIndicates an action statement.
DANGER
Acute danger to life!
If you fail to comply with the safety instruction next to this icon, there is immediate danger to human life and
health.
CAUTION
Personal injury and damage to machines!
If you fail to comply with the safety instruction next to this icon, it may result in personal injury or damage to
machines.
NOTE
Restriction or error
This icon describes restrictions or warns of errors.
Tips and other notes
This icon indicates information to assist in general understanding or to provide additional informa-
tion.
General example
Example that clarifies the text.
NC programming example
Programming example (complete NC program or program sequence) of the described function or NC com-
mand.
Specific version information
Optional or restricted function. The availability of this function depends on the configuration and the
scope of the version.

Table of contents
TF5200 | TwinCAT 3 CNC
Clamp position offsets
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Table of contents
Notes on the documentation ....................................................................................................................3
General and safety instructions...............................................................................................................4
Overview of clamp position offset parameter.........................................................................................7
1 General description...................................................................................................................................8
1.1 Links to other documents ..................................................................................................................8
1.2 Classification of clamp position offset data........................................................................................8
1.3 Syntax and interpretation of ASCII list file .........................................................................................8
1.4 Comments in the ASCII list file ..........................................................................................................9
2 Description of elements..........................................................................................................................10
2.1 Clamp position offset group (pzv_grp[i].*) .......................................................................................10
2.1.1 Axis assignment of data in the clamp position offset group (pzv_grp[i].achse[j.*]) .......... 10
3 Example of assigning clamp position offset data ("pzv_d.lis") ..........................................................11
4 Support and Service................................................................................................................................12
Index .........................................................................................................................................................13

Table of contents
TF5200 | TwinCAT 3 CNC
Clamp position offsets
6 Version: 1.13

Overview of clamp position offset parameter
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Clamp position offsets
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Overview of clamp position offset parameter
The clamp position offset data is sorted into a 4-column table.
• Column 1 contains the unambiguous identifier of the axis parameter called the “ID” which consists of
the prefix “P-CLMP” and a unique 5-digit number,
e.g. P-CLMP-00001.
• Column 2 represents the data structure which defines the parameter,
e.g. pzv_grp[i].achse[j].
The structure is a categorisation aid and is described in the following section.
• Column 3 contains the “parameter” with its exact description,
e.g. offset.
The important thing is that “structure”+”parameter” always belong together and must therefore be
configured in exactly the same way in the axis parameter list,
e.g. pzv_grp[i].achse[j].versatz
• Column 4 contains the “functionality” in a summarised term/short description,
e.g. Axis-specific clamp position offset.
ID Structure Parameter Functionality/short
description
P-CLMP-00001 [}10] pzv_grp[i].achse[j]. offset Axis-specific clamp position
offset

General description
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Clamp position offsets
8 Version: 1.13
1 General description
1.1 Links to other documents
For the sake of clarity, links to other documents and parameters are abbreviated, e.g. [PROG] for the
Programming Manual or P-AXIS-00001 for an axis parameter.
For technical reasons these links only function in the Online Help (HTML5, CHM) but not in pdf files since
pdfs do not support cross-linking.
1.2 Classification of clamp position offset data
Clamp position offsets can be defined in different groups in the clamp position offset data list. The required
clamp position offset group can be loaded by selecting the clamp position offset index before program start-
up. Each clamp position offset group contains the clamp position offset data for all path axes and is generally
referred to below as clamp position offset.
The clamp position offset data is included in the coordinates of all path axes at program start-up. The axis
index corresponds to the channel-internal axis index. The initial axis configuration of the NC channel is
defines in the channel parameters
[CHAN// Section: Configuration of path axes].
Value ranges of parameters may also be defined by stating a limit resulting from data width, e.g.
MAX(UNS32), etc.
1.3 Syntax and interpretation of ASCII list file
An interpreter copies the entries in the ASCII list file into identical internal structures which are then checked
for plausibility. To ensure reliable controller start-up every time, any defective entries found by the plausibility
check are replaced by default values.
Unknown entries are not taken over. These irregularities are displayed by warning messages. We advise you
to investigate the cause for these warning messages and remove defective entries from the ASCII list file.
The following agreement applies to BOOLEAN data:
Value Meaning
0 Definition of FALSE
1 Definition of TRUE

General description
TF5200 | TwinCAT 3 CNC
Clamp position offsets
9Version: 1.13
1.4 Comments in the ASCII list file
Comments can be in an entire line or can be added at the end of a line.
With a comment spanning an entire line, the comment character "'#" must be placed at the start of the line
and followed by a blank.
If a comment is to be inserted at the end of a line, only a blank is required before the comment. However, if a
string was defined in the line, the comment must be preceded by the comment character "(".
Blank lines are also possible.
Comments in the ASCII list file
# ************************************************************************
# Data
# ************************************************************************
#
# Listing
dummy[1] 1 Comment
dummy[2] 1 # Comment
dummy[3] 1 ( Comment
dummy[4] 1 /* Comment
...
...
beispiel[0].bezeichnung STRING_2 (Comment: comment brackets required here!)

Description of elements
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Clamp position offsets
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2 Description of elements
2.1 Clamp position offset group (pzv_grp[i].*)
Each clamp position offset group "pzv_grp[i]" contains the clamp position offsets for all path axes. Before
program start-up, a clamp position offset group can be selected from the operating menu.
Structure name Index
pzv_grp[i] i = 0 ... 149 (maximum number of clamp position offset groups: 150, application-
specific)
2.1.1 Axis assignment of data in the clamp position offset group
(pzv_grp[i].achse[j.*])
This structure element assigns clamp position offsets to path axes. The axis index corresponds to the
channel-internal axis index.
Structure name Index
achse[j] j = 0 ... 31 (maximum number of axes per channel: 32, application-specific)
2.1.1.1 Axis-specific clamp position offset (P-CLMP-00001)
P-CLMP-00001 Axis-specific clamp position offset
Description An offset parameter is reserved for each axis in each clamp position offset group.
Parameter pzv_grp[i].achse[j].versatz
Data type SGN32
Data range MIN(SGN32) ≤ versatz ≤ MAX(SGN32)
Dimension 0.1µm or 0.0001°
Default value 0
Remarks

Example of assigning clamp position offset data ("pzv_d.lis")
TF5200 | TwinCAT 3 CNC
Clamp position offsets
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3 Example of assigning clamp position offset data
("pzv_d.lis")
Configuration with 3 axes:
# ****************************************************************************
# Clamp position offset data
# ****************************************************************************
# Important note : Behind the comment character ´#´
# a blank (space) must be added
# CAUTION: Clamp position offset is expected in the unit 0.1 ìm.
# ****************************************************************************
#
# ============================================================================
# 1st clamp position offset group
# ============================================================================
pzv_grp[0].achse[0].versatz100000# Offset by 10 mm
pzv_grp[0].achse[1].versatz 200000 # Offset by 20 mm
pzv_grp[0].achse[2].versatz 300000 # Offset by 30 mm
#
# ============================================================================
# 2nd clamp position offset group
# ============================================================================
pzv_grp[1].achse[0].versatz-100000# Offset by -10 mm
pzv_grp[1].achse[1].versatz 200000 # Offset by 20 mm
pzv_grp[1].achse[2].versatz 400000 # Offset by 40 mm
#
# ============================================================================
# 3rd clamp position offset group
# ============================================================================
pzv_grp[2].achse[0].versatz 40000 # Offset by 4 mm
pzv_grp[2].achse[1].versatz 50000 # Offset by 5 mm
pzv_grp[2].achse[2].versatz 60000 # Offset by 6 mm

Support and Service
TF5200 | TwinCAT 3 CNC
Clamp position offsets
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4 Support and Service
Beckhoff and their partners around the world offer comprehensive support and service, making available fast
and competent assistance with all questions related to Beckhoff products and system solutions.
Beckhoff's branch offices and representatives
Please contact your Beckhoff branch office or representative for local support and service on Beckhoff
products!
The addresses of Beckhoff's branch offices and representatives round the world can be found on her internet
pages: https://www.beckhoff.com
You will also find further documentation for Beckhoff components there.
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Index
TF5200 | TwinCAT 3 CNC
Clamp position offsets
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Index
P
P-CLMP-00001 10

Beckhoff Automation GmbH & Co. KG
Hülshorstweg 20
33415 Verl
Germany
Phone: [phone]
[email protected]
www.beckhoff.com
More information:
www.beckhoff.com/TF5200