HEIDENHAIN TNC 135 B User manual

HEIDENHAW
Mounting Instructions and
Interface Circuit Control-Machine
Control HEIDENHAIN TNC 135B

CONTENTS
1. Introduction
1.1 General remarks
4
6
2. Coding switches for measuring directions, ramp configuration and length
and displays (diagram) 7
3. Available Software versions ppp 8
4. Software versions: Common drive with swiizhed-over plosition loop
4.1 Common drive with backlash
4.2 Common drive backlash-free
9
9
12
5.
5.1
5.1 .l
5.1.2
5.2
Software version: Single axis drive with linear interpolation
Remarks
“Axis speed Code” for Kv-adjustment with position loop
having linear interpolation
Adjustment of trailing error (lag)
Linear interpolation with cut-out of positioning loop -
15
15
15
17
18
6.
6.1
6.2
6.3
6.4
6.5
6.6
6.7
Control-inpvtsp-.&---p22
External Q C. Voltage 22
Technical specifications of Relay Coils -
External buttons: “Start”,“Stop” and “rapid traverse” _
Feedback “Auxiliary function completed”
Feed rate-Release -
Limit switch-inputs
Inputs for EMERGENCY STOP-function check ~
22
23
24
25
26
28
7. Control -Relay Outputs
7.1 Technical specifications of relay outputs.. 29 29
7.2
7.3
7.4
7.5
0utput”EMERGENCY STOP”
Lock for “Spindle on” output
Output: TNC in “program run”-mode -
Output: Control in Auto/Manual mode _
29
30
31
31
8.
8.1
8.1.1
8.1.2
8.1.3
8.2
8.3
M-T-S-functions 32
M-functions (Auxiliary functions) 32
Coded of M-functions 32
output
Direct of M-functions 35
output
Special M-functions which affect program run 36
T-functions (Tool numbers) 37
S-functions (spindle speeds) 38
9. Fixed Program CJC& ~_______~ 41
10.2
10.3
41
41
Baud Rate entry 44
Operating procedure for data transfer - 44
2

11. Transducers ppp 46
11.1 Code switches for counting direction _ 46
11.2 Encoders for TNC 135 B 46
11.3 Encoders for TNC 135 RT. 47
12.
12.1
12.1.1
12.1.2
12.1.3
12.1.4
12.1.5
12.2
12.2.1
12.2.2
12.2.3
12.3
12.3.1
12.3.2
12.3.3
12.3.4
12.3.5
12.3.6
Starting procedure of a machine with a TNC 135 B control 48
Checks before switch-on 48
Voltage change-over check 48
Cooling the TNC unit 4%
Checking the transducer cable 48
Grounding of auxiliary voltage Y 52
Grounding of nominal value input at servo-amplifier 52
Switching on the interface cabinet (without TNC) _ 52
Checking the external D .C. voltage - 52
Checking the limit switches 52
Set-up of D. C. drive amplifiers (adjustment of rapid1 traverses) 52
TNC-Commissioning 53
Initial starting procedure 53
Checking measuring direction of transducer in “manual” operating mode 64
Checking of traversing direction in controlled operating mode 65
Matching of ramp length 65
Offset-adjustment 65
Trailing error (lag) adjustment 65
13. Initial starting procedure - check list _-- 66
14. Technical Specifications 69
15. Connections 72
15.1 Connections TNC 135 B 72
15.2 Connections TNC 135 RT 72
16. Layout of terminal clamps within TNC terminal box t 74
17.
17.1
17.2
17.3
Dimensions
-
Control unit
Visual display unit
Adapter cables
75
75
77
7%
3

1. Introduction _
The Control TNC 135 B is a 3-axis Manual Data Input (MDI) control. It has been
designed for direct programming on the machine by the machine operator. For this
reason, some of its details purposely deviate from established programming standards.
Special attention has been given to simple operation and a clear arrangement of the
control panel. For this reason, no attempt has been made to save on the number of
displays
The keys have been allocated to three groups and care has been taken that keys
do not have “double functions”.
Hardware variants
The following versions of TNC 135 are available.
TNC 135 B For connection of linear encoders with 20 pm grating period or
rotary encoders.
The earlier control types TNC 135 S and TNC 135 ST has a signal evaluation for
the connection of linear encoders with 40 pm grating period.
TNC 135 RT For the connection of linear encoders with 100 pm grating period
or for cables longer than 20 m (66 ft). The encoder inputs are
designed for square-wave signals.
For dialogue and program display, the TNC 135 B has a VDU (visual display unit)
instead of the plain dialogue display window.
The independent VDU is connected to the rear of the TNC 135 B control.
The VDU displays 8 lines each having 32 characters.
In order to obtain a clearer VDU-display, certain items of information are
displayed brighter or invertedly (brightne!ss adiustment with the right-hand
potentiometer on the front panel ; the basic brightness is adjusted with the
left-hand potentiometer).
4

Line
1
Displayed information Display image
Dialogue line (Dialogue for programming,
error/fauI t indication)
Program block display (N-l )
Current program block (N) and c:ursor function
Editing Iine
Program block display (N+l)
Program block display (N+2)
Cycle display: call up via s:
Ll
Display: last selected tool
green background
normal
bright
green background
normal
normal
bright
bright
Display for
position values
Display for
entrv values
Keyboard for entry
values and
axis selection
- Programming and
operating keys
- Operating
mode keys
- Feedrate override
5

The programming procedure is “dialogue-gui’ded” i.e. thfe necessary data
required for program entry is asked for by the TNC 135 B - in the correct
sequence - via the plain language display.
The TNC 135 B has the following facilities:
mm/inch instant conversion
. Tool compensation (radius and Ieng th)
. Programming of feed rates, rapid traverse, spindle speeds in mm/min
(or 0.1 in./min or rpm)
. Subprograms, program part repeats, ,‘ixed program cycles and M-, S- and
T-functions.
TNC 135 B - Programming can be performed in the following ways:
. with stationary machine in accordanize with a workpiece drawing or
program sheet,
. by “keying in” mlues prior to automatic machinling of the first workpiece of
a batch or series,
. by transferring actual machine position data during the automatic or conventional
machining of a workpiece blank cplayback”).
. external programming via the V,24 input/output,,
This input/output enables the connection of a magnetic tape storage unit,
or a punched tape unit, or telex, or printer or any other compatible
peripheral equipment,
After program entry into the
after the other.
Please note:
TNC 135 B operation is explai ned in the TNC 135 B “Operating Manual”.
TNC-memory, workpieces can be machined one
1.1 Gen,eral remarks
Caution ! All inputs and outputs of the ‘TNC control should be connected
to electric circuits which generate voltages in accordance with
VDE 0100/5,73 8 (G erman standard, protective low voltage).
Do not engage or disengage any plug connections whilst unit is under power !
NC machines also require the necessary safety devices as used on manually
operated machines (e.g. limit switches, ;Emergency STOP” buttons etc.).
The proper functioning of the devices should be checked before commencing
operation !

2. Coding switches for rneasuringdirections
ramp configuration and length and displays
(d i a g r a m)
The code switch with 8 channels is located within the terminal box at the rear
of the TNC. ’
The setting of the channels is mentioned in the appropriate sections,
Please note:
In future a toggle switch might be used in place of the slide switch.
The switch positions (switch open or closed) for both types are indicated in the
following diagram.
closed-
open op'en
In this manual only the slide switch is referred to, Setting of the toggle switch is
carried ous correspondingly O
7

3. Available Software versions1
Four basic software versions are available which were (designed for various
operating modes.
The TNC 135 t3 are suitable for:
4
Common drive with switched-over position loops - without backlash
b)
Common drive with switched-over position loops - with backlash
4
Single-axis drives with linear ini*erpolation - position loops switched off
(simultaneous positioning in two axes possible)
4
Single-axis drives with linear interpolation - permanently closed
position loops (simultaneous positioning in two axes possible)
Moreover, the controls are available with the following dialogue languages:
English
German
French
Italian
Portugnese
Russian
Technical details of each software version are dealt with in items 4 and 5.
The descriptions in the remaining items are valid for all TNC-versions.
8

4. Software version: C 0 ni m 0 n drive with
switched-over position I 0 0 p
With this design, the control can be used with a common drive and three
electrically-activated axis clutches or wi’th three single axis drives with a
common servo amp1 ifier .
With common drive, the axis release relays activate the axis clutches and the
servo-amplifier simultaneously. With single axis drives with common servo-amplifier,
the motor and tacho-generator of each axis is switched to the servo-amplifier.
Only when this procedure is completely ended may the servo-amplifier relebse be
activated (e.g. external time delay < 200 ms).
After reaching the nominal position , the cut-out procedure takes place in reverse
order:
Inactivation of servo-amp1 ifier release, then cut-out of drive and tacho-generator
from servo-amp1 ifier.
Caution :
The tacho-generators should not (if possibile) be switched via the relay contacts,
Due to the tacho-generator only supplying one signal,, it is recommended that a
combined circuit should be formed from the three tacho-signals.
Please note:
The requirements of the servo-amplifier manufacturer Imust be observed,
Two software versions are available for oFleration with switched-over position
loop:
. for drive spindles with backlash
. for backlash-free drive spindles (bal l-screw spindles with direct coupling to
axis drives)
4.1 Common drive with b a c k I a s h
TNC: 135 B
--
Software: Dialogue German 214 367
English 214 368
French 214 369
Italian 214 370
Portugnese 214 379
Russian 214 383
Suitable servo-amplifiers:
4-quadrant units,
2 and l-quadrant units (Polarity of drive trnd tacho-generator are determined by the
relay output “positioning direction”)
Switch-over from 4-quadrant to 1-quadran!, or 2-quadrant operation with the code
switch of the third channel.
3 3
channel I
drive type : 1 or ri!-quadr. 4-quadr .
3 servo-amp1 . servo-amp1 .
9

Multiooint-Connector Layout
TNC
I
Machine
Multipoint
Connector
J 1
+/-
O V _
1 Analogue output X, Y, Z
4>
l!/fisz
-x
-Y
Release
-z
- + 24 V - supply
I
Mul tipoin t
Connector
J3
Positil2ning direction (only with common
- + 24 \&upply drives with backlash)
Owing to the backlash-prone drive spindle the positioninlg direction is determined
before the positioning procedure and held constant for thle positioning period.
With the “Override’‘-potentiometer no machine standstill can be achieved with this
positioning loop (offset-v01 tage).
Time sequence of a positioning procedure wi\;hout auxiliary function output
After start (manual or automatic) the corresponding axis release relay becomes
active without time delay, 300 ms later, the velocity-nominal value increases
(analogue output X, Y, Z) according .to a ramp function until the voltage level of
the programmed feedrate has been reached. ‘Nhen nearing the position value, the
velocity-nominal value is decreased according to a ramp function.
When the position value has been reached, ‘the position lloop is-opened (axis
relay breaks, the nominal value output remains at OV). A new start is inhibited
for a period of 100 ms.

Switch-over of ramp length and ramp configuration of nominal value voltage
for switched-over position loop (with backlash) -
The length of the acceleration and deceleration ramps of the nominal value can be
switched over by means of the switching channels 1 and 2, The length of the ramp
is principally dependent on the operating software, the proportional band can be
shortened to l/2, l/4 or l/8 of the length L by means of the switches in order to
optimally match it to the machine.
Nominal voltage
Traversing
distance *
L is defined by the operating software. The ramp length for acceleration and
deceleration is identical in all 3 axes.
With channels 1 and 2, the length of the “ramping-down” range is switched over,,
In addition, the configuration of the ramp can be altered with channels 4 and 5,
Ramp configuration
3 gradients
JCT- @It
2 gradients
jc till
1 gradient
j&c llm
Ramp length (mm)
1/8L 1 l/LL 1 1/2L
4,72
2,48
1‘28 2,56 5,12 lo,24
l/IL
1 2
t@lt
37,76
19,84
With this software version there is no positioning range (= The difference actual value
- nominal value which is recognized by the control as “position reached”). The position
loop is cut out when the nominal value has been reached or traversed over0
11

Optimization of ramping down (Position approach)
In order to improve ramping down, the analogue output voltage can be superimposed
with a fixed voltage (zero-displacement) with this software version. The required
voltage can be entered in the initial dialogue of the initial starting procedure
(refer to item 12.3).
Depending on the TNC 135 B version, this machine parameter is requested for either
in plain language:
RAMP DOWN MINIMUM STEP
or in coded form:
MACHINE PARAMETER 08
The voltage can now be entered in stages from 0 . . . 20 whereby each step corresponds
to 2.5 mV.
4.2 Common drive backlash - free
TNC 135 B
Software: Dialogue in German 214 355
English 214 356
French 214 357
Italian 214 358
Portugnese 214 380
Russian 214 384
Only a 4-quadrant servo-amplifier is permitted for this position loop.
Contrary to the positioning loop for backlash-prone drive spindles, random change of
traverse direction during a positioning procedure is possible.
With this, the machine can be brought to a standstill with the aid of the override
potentiometer (O-setting) (reciprocating movement 5 pm). The ramp oan be made so steep
(see 6.4) that a slight overshoot of the nominal position {lakes place.
(Shorter approaching time).
This is however, only possible when overshoot of the axes does not interfere (e.g. with
boring mills).
Caution:
The code switch of the third channel (switch-over from 4-quadrant to 1 or 2 quadrant
operation) does not function with this software version.
12

Mul tipoint connector Layout
TNC IMachine
Mul tipoint
Connector
J 1
Mul tipoint
Connector
52
1
2
B
3
4
Mul tipoin t
Connector
J3
Please note:
Anal ogue output x, y, z
- return I ine
/- +’ 24 V Signal input: keep position loop closed.
(Only for common drive backlash-free)
-x
-Y 1
*zJ ) Release
- + 24 V supply
The relay output “positioning direction” (rnultipoint connector J3, Pin6) is non-
functional with the software version for dri!res without ~backlash.
Signal input: for keeping positioning loop closed
On machines where a long duration exists until clamping is activated, this input
can be used. The control maintains the position loop so long until Pin 10 of
connector 52 is without voltage,

Time sequence of a positioning procedure (without auxiliary function output )
After start, the corresponding axis release relay becomes, active without time delay.
200 ms later the velocity - nominal value increases (analogue output X, Y, Z)
according to a ramp function until the voltage level of the programmed feedrate
has been reached. When nearing the position value, the velocity - nominal value
is decreased according to a ramp function.
The axis release relay breaks 50 ms after reaching the nominal position.
The position loop remains for a further 150 ms provided that the feedback “keep
position loop closed” is inactive. A new start is possible without delay.
Switch-over of ramp length and ramp characteristics of nominal value voltage for
switched-over position loop (without backlash)
The ramp length of the acceleration and deceleration ralmp of the nominal value
can be switched over by means of the chanrels 1 and 2. The length of the ramp
is principally dependent on the operating software, the Iproportional band can be
shortened to l/2, l/4 or l/8 of the length L by means of the switch in order to
optimally match it to the machine.
Nominal voltage
L is defined by the operating software. The ramp length for acceleration and
deceleration is identical in all 3 axes.
1A

With channels 1 and 2, the length of the ramping-down range is switched over.
In addition, the configuration of the ramp can be altered with channels 4 and 5,
Ramp configuration
3 gradients
2 gradients 2,48 4,96
1 gradient
Jr_ lilflt
Ramp length (mm)
1/8L l/&L
: 2
IIBII ttil m
4,72 9,44
--
2,56
1/2L
1 2
Jim
18,88 37,76
9,92 19,84
5,12 lo,24
l/IL
1 2
tlm
The positioning range (nominal value - actual value) is 0 + 5 pm for all ramp lengths,
5, Software version: S i t-1 g I e axis drive w i t h
linear interpolation
5,l Remarks
The use of a control with linear interpolation is only possible on a machine with
three complete drives (i .e, 3 drives, 3 servo-amplifiers for 4-quadrant operation) as
well as backlash-free spindles,
5,l .l “A x i s speed C o d e” for Kv- UI d i u s t m e n t with
position loop having I i 0 e at r interpolation
For linear interpolation, the adjustment of all three axes for the same Kv-value is
necessary. The Kv-value is determined as follows:
Kv = Traversing speed at 9 V
[ 1
m/min
Ramp length mm
With different axis translations of the maNchine, there are different Kv-values,
An axis translation of 1 : 2 can be compensated for by shortening the ramp length
(s) with the aid of the “axis speed code” which is asked for by the dialogue
during the initial starting procedure,
Depending on the TNC 131/135 version, this machine parameter is requested for either
in plain language or in coded form. With bDth TNC ver:sions this parameter has different
functions.
15

4
The following code has been defined for cases where the parameter is requested
for with dialogue: “SPEED CODE FOR AXES 0 o,,. 7 ?‘I
Entry Normal iramp Half ramp
length in length in
0
1
XYZ
YZ X
2
3
x z
Z
Y
XY
Z
x z
4
5
XYY
X YZ
XYZ
6
7.
b) The following code has been defined for cases where the parameter is requested for
with dialogue: ” MACHINE PARAMETER 09 ”
Normal ramp Half ramp Tool -tc -workpiece approach
length in length in in minus direction
Entry
0
.1
2
3
4
5
6
.7
8
9
10
11
12
13
14
15
X
YfS
Yes
XYZ
YZ
x z
Z
Y
XY Yes Yes
XYY Z
x z
Yes
Yes
Yes
Yes
No
No
X YZ
x YZ
XYZ
YZ X
I( z Y No
Z XY NO
Z No
x z No
I(Y Y
I( YZ No
XYZ No
16

5.1.2 Adj ustment of trailing error 0 a 9)
The Kv-value gives the magnitude of the trailing error (lag) in an axis in (tim)
with relation to a speed of 1 m/min an’d is therfore influenced by the amplification
in the velocity loop.
In order to carry out the adjustment the pcsition displa:ys of the TNC 135 B with
linear interpolation can be switched over to trailing error display.
Channel
3, 4, 5
34s
Display type
Ilm
Actual value
The trailing error (lag) adjustment is performed as fa’llows:
3L5
mean trailing
error (lag)
. Adjustment of the rapid traverse sF#eeds of the three axes with 9 volts at the
input of the servo-amplifier (battery box).
. Entry of axis speed code in axis tr~~nslations should differ.
. Switch on trailing error display.
. Define “DIAGONAL PATH” cycle for X and Y, finally for Y and Z each with
rapid traverse for a 45’ diagonal.
. Determine the axis with the greatest trailing error and adjust the remaining axes
via the velocity adjustment of the servo-amplifier with the aid of the
“DIAGONAL PATH” cycle.
. After adjustment set TNC to display mode: position value,
Please note:
If the coding switch is switched over to trailing errolr display, the monitoring
systems for spindle, temperature, transducers and traversing direction are no longer
active.
Two software versions are available:
l
Position loop closed only during thfz duration of positioning in the axes to be
positioned.
. Position loop permanently closed in all 3 axes (holding of last approached
position in all axes).
17

5.2 L i nl e a r interpolation with cut -out of
positioning I oop
TNC 135 B
--
Software: Dialogue in German 214 330
English 214 359
French 214 340
Italian 214 361
Portugnese 214 38’1
Russian 214 385
This software version is used when the reciprocating mlovement (0 & 5 pm) of the
permanently closed position loop interferes (e.g. paraxial milling). In addition to
the ramp length, the width of the position range is also varied. The nominal
position range is the actual position range which is accepted by the control as the
nominal position,
Time sequence of a positioning procedure i:without auxiliary function output)
After start, the corresponding axis release relay becomes active without time delay.
200 ms later the velocity - nominal value increases (analogue output X, Y, Z)
according to a ramp function until the voltage level of the programmed feedrate
has been reached. When nearing the positi’on value, tlhe velocity - nominal value
is decreased according to a ramp function.
When the position has been reached the axis must remain in the positioning range
for 200 ms. Only when this condition is satisfied, is the axis release and the
position loop cut out.
Switch over of nominal value-ramp length with linear interpolation and
positioning loop cut-out
L
Nominal voltage
Traversing
distance *
L is defined by the operating software. The ramp length for acceleration and
deceleration is identical in all 3 axes.
18

1 Channel
12 I 12 I 12 12
INI
4
+
2,5 mm
Switch setting
IlOmm 15mm
Ramp length
Ot20pm ~ O+lOpm 0+5pmPositioning range
(Position value -
Nominal value)
0+5pm
Mul tiDoint-Connector Layout
I Machine
1
2
E
3
4
5
-I/-
0 v )
-I-/-
0 v >
-+
0 v 1
Anal ogue output x
output Y
output z
“I
Ana Iogue
Anal ogue
1 6
Mul tipoint
Connector
J 1
7
1
Release
Mul tipoin t
Connector
J3

L
Notes
-I