Siemens Sinumerik 840d sl Parts list manual



SINUMERIK

SINUMERIK 840D sl

Special Functions

Function Manual

Validfor

Control

SINUMERIK840Dsl/840DEsl

Software Version

CNCsoftware 4.4

09/2011

6FC5397-2BP40-2BA0

Preface

F2: Multi-axis transformations 1

G1: Gantry axes 2

G3: Cycle times 3

K6: Contour tunnel monitoring 4

M3: Coupled axes 5

R3: Extended stop and retract 6

S9: Setpoint switchover 7

T3: Tangential control 8

TE01: Installation and activation

of loadable compile cycles 9

TE02: Simulation of compile

cycles 10

TE1: Clearance control 11

TE3: Speed/torque coupling,

master-slave 12

TE4: Transformation package

handling 13

TE6: MCS coupling 14

TE7: Continue machining -

retrace support 15

TE8: Cycle-independent path-

synchronous switching signal output 16

TE9: Axis pair collision

protection 17

V2: Preprocessing 18

W5: 3D tool radius

compensation 19

W6: Path length evaluation 20

Z3: NC/PLC interface signals 21

Appendix A

Legal information

Warning notice system

This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent

damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert

symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are

graded according to the degree of danger.

If more than one degree of danger is present, the warning notice representing the highest degree of danger will

be used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to

property damage.

Qualified Personnel

The product/system described in this documentation may be operated only by personnel qualified for the specific

task in accordance with the relevant documentation for the specific task, in particular its warning notices and

safety instructions. Qualified personnel are those who, based on their training and experience, are capable of

identifying risks and avoiding potential hazards when working with these products/systems.

Proper use of Siemens products

Note the following:

Trademarks

All names identified by ® are registered trademarks of the SiemensAG. The remaining trademarks in this

publication may be trademarks whose use by third parties for their own purposes could violate the rights of the

owner.

Disclaimer of Liability

We have reviewed the contents of this publication to ensure consistency with the hardware and software

described. Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the

information in this publication is reviewed regularly and any necessary corrections are included in subsequent

editions.

DANGER

indicates that death or severe personal injury will result if proper precautions are not taken.

WARNING

indicates that death or severe personal injury may result if proper precautions are not taken.

CAUTION

with a safety alert symbol, indicates that minor personal injury can result if proper precautions are not taken.

CAUTION

without a safety alert symbol, indicates that property damage can result if proper precautions are not taken.

NOTICE

indicates that an unintended result or situation can occur if the corresponding information is not taken into

account.

WARNING

Siemens products may only be used for the applications described in the catalog and in the relevant technical

documentation. If products and components from other manufacturers are used, these must be recommended

or approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and

maintenance are required to ensure that the products operate safely and without any problems. The permissible

ambient conditions must be adhered to. The information in the relevant documentation must be observed.

Siemens AG

Industry Sector

Postfach 48 48

90026 NÜRNBERG

GERMANY

order number:6FC5397-2BP40-2BA0

Ⓟ 02.2011

Technical data subject to change

Special Functions

Function Manual 09/2011, 6FC5397-2BP40-2BA0 3

Preface

SINUMERIK documentation

The SINUMERIK documentation is organized in the following categories:

• General documentation

• User documentation

• Manufacturer/service documentation

Additional information

You can find information on the following topics at www.siemens.com/motioncontrol/docu:

• Ordering documentation/overview of documentation

• Additional links to download documents

• Using documentation online (find and search in manuals/information)

Please send any questions about the technical documentation (e.g. suggestions for

improvement, corrections) to the following address:

docu.motioncontrol@siemens.com

My Documentation Manager (MDM)

Under the following link you will find information to individually compile OEM-specific machine

documentation based on the Siemens content:

www.siemens.com/mdm

Training

For information about the range of training courses, refer under:

• www.siemens.com/sitrain

SITRAIN - Siemens training for products, systems and solutions in automation technology

• www.siemens.com/sinutrain

SinuTrain - training software for SINUMERIK

FAQs

You can find Frequently Asked Questions in the Service&Support pages under Product

Support. http://support.automation.siemens.com

Preface

Special Functions

4Function Manual, 09/2011, 6FC5397-2BP40-2BA0

SINUMERIK

You can find information on SINUMERIK under the following link:

www.siemens.com/sinumerik

Target group

This publication is intended for:

• Project engineers

• Technologists (from machine manufacturers)

• System startup engineers (Systems/Machines)

• Programmers

Benefits

The function manual describes the functions so that the target group knows them and can

select them. It provides the target group with the information required to implement the

functions.

Standard version

This documentation only describes the functionality of the standard version. Extensions or

changes made by the machine tool manufacturer are documented by the machine tool

manufacturer.

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.

Further, for the sake of simplicity, this documentation does not contain all detailed information

about all types of the product and cannot cover every conceivable case of installation,

operation or maintenance.

Technical Support

You will find telephone numbers for other countries for technical support in the Internet under

http://www.siemens.com/automation/service&support

Information on structure and contents

Installation

Structure of this Function Manual:

• Inner title (page 3) with the title of the Function Manual, the SINUMERIK controls as well

as the software and the version for which this version of the Function Manual is applicable

and the overview of the individual functional descriptions.

• Description of the functions in alphabetical order (e.g. A2, A3, B1 etc.)

Preface

Special Functions

Function Manual, 09/2011, 6FC5397-2BP40-2BA0 5

• Appendix with:

- List of abbreviations

- Overview

• Index of terms

Notation of system data

The following notation is applicable for system data in this documentation:

Quantity structure

Explanations concerning the NC/PLC interface are based on the absolute maximum number

of sequential components:

• Mode groups (DB11)

• Channels (DB21, etc.)

• Axes/spindles (DB31, etc.)

Note

For detailed descriptions of data and alarm see:

• machine and setting data:

Detailed description of machine data (only electronically on DOConCD or DOConWEB)

• NC/PLC interface signals:

Function Manual Basic Functions; NC/PLC Interface Signals (Z1)

Function Manual Basic Functions; NC/PLC Interface Signals (Z2)

Function Manual Special Functions; NC/PLC Interface Signals (Z3)

•alarms:

Diagnostics Manual

Signal/Data Notation Example

NC/PLC interface

signals

... NC/PLC interface signal:

<signal address> (<signal name>)

When the new gear step is engaged, the following NC/PLC

interface signals are set by the PLC program:

DB31, ... DBX16.0-2 (actual gear stage A to C)

DB31, ... DBX16.3 (gear is changed)

Machine data ... machine data:

<Type><Number> <Complete

Designator> (<Meaning>)

Master spindle is the spindle stored in the machine data:

MD20090 $MC_SPIND_DEF_MASTER_SPIND (Position of

deletion of the master spindle in the channel).

Setting Data ... Setting data:

<Type><Number> <Complete

Designator> (<Meaning>)

The logical master spindle is contained in the setting data:

SD42800 $SC_SPIND_ASSIGN_TAB[0] (Spindle number

converter)

Preface

Special Functions

6Function Manual, 09/2011, 6FC5397-2BP40-2BA0

Data types

The following elementary data types are used in the control system:

Type Meaning Range of values

INT Signed integers -2147483648 ... +2147483647

REAL Figures with decimal point acc. to IEEE ±(2,2*10-308 … 1,8*10+308)

BOOL Truth values TRUE (1) and FALSE (0) 1, 0

CHAR ASCII characters Corresponding to code 0 to 255

STRING Character string, number of characters in [...] Maximum of 200 characters (no special

characters)

AXIS Axis names only All axis identifiers in the channel

FRAME Geometrical parameters for moving, rotating, scaling, and

mirroring

Arrays can only be formed from similar elementary data types. Up to 3-dimensional arrays are possible.

Special Functions

Function Manual 09/2011, 6FC5397-2BP40-2BA0 7

Table of contents

Preface.........................................................................................................................................................3

1 F2: Multi-axis transformations ...................................................................................................................23

1.1 Brief description......................................................................................................................... 23

1.1.1 5-axis Transformation ................................................................................................................ 23

1.1.2 3-axis and 4-axis transformation ............................................................................................... 25

1.1.3 Orientation transformation with a swivelling linear axis. ............................................................ 26

1.1.4 Universal milling head ............................................................................................................... 28

1.1.5 Orientation axes ........................................................................................................................ 29

1.1.6 Cartesian manual travel ............................................................................................................. 30

1.1.7 Cartesian PTP travel ................................................................................................................. 30

1.1.8 Generic 5-axis transformation ................................................................................................... 30

1.1.9 Online tool length offset ............................................................................................................. 31

1.1.10 Activation via parts/program/softkey .......................................................................................... 31

1.1.11 Orientation compression ............................................................................................................ 31

1.2 5-axis transformation ................................................................................................................. 32

1.2.1 Kinematic transformation ........................................................................................................... 32

1.2.2 Machine types for 5-axis transformation .................................................................................... 32

1.2.3 Configuration of a machine for 5-axis transformation ................................................................ 34

1.2.4 Tool orientation .......................................................................................................................... 38

1.2.5 Singular positions and handling ................................................................................................. 43

1.3 3-axis and 4-axis transformations.............................................................................................. 46

1.4 Transformation with swivelled linear axis .................................................................................. 48

1.5 Universal milling head ............................................................................................................... 54

1.5.1 Fundamentals of universal milling head .................................................................................... 54

1.5.2 Parameterization ....................................................................................................................... 56

1.5.3 Traverse of universal milling head in JOG mode ....................................................................... 58

1.6 Activation and application of 3-axis to 5-axis transformation..................................................... 59

1.7 Generic 5-axis transformation and variants............................................................................... 61

1.7.1 Functionality .............................................................................................................................. 61

1.7.2 Description of machine kinematics ............................................................................................ 62

1.7.3 Generic orientation transformation variants ............................................................................... 63

1.7.4 Parameterization of orientable tool holder data ......................................................................... 65

1.7.5 Extension of the generic transformation to 6 axes .................................................................... 69

1.7.6 Extension of the generic transformation to 7 axes .................................................................... 72

1.7.7 Cartesian manual travel with generic transformation ................................................................ 77

1.8 Restrictions for kinematics and interpolation ............................................................................. 80

1.8.1 Singularities of orientation ......................................................................................................... 80

1.9 Orientation ................................................................................................................................. 83

1.9.1 Basic orientation ........................................................................................................................ 83

1.9.2 Orientation movements with axis limits ..................................................................................... 85

1.9.3 Orientation compression ............................................................................................................ 86

1.9.4 Smoothing of orientation characteristic ..................................................................................... 90

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Function Manual, 09/2011, 6FC5397-2BP40-2BA0

1.9.5 Orientation relative to the path ................................................................................................... 92

1.9.6 Programming of orientation polynominals ................................................................................. 96

1.9.7 Tool orientation with 3-/4-/5-axis transformations ...................................................................... 99

1.9.8 orientation vectors with 6-axis transformation ...........................................................................99

1.10 Orientation axes....................................................................................................................... 101

1.10.1 JOG mode ............................................................................................................................... 102

1.10.2 Programming for orientation transformation ............................................................................ 103

1.10.3 Programmable offset for orientation axes ................................................................................106

1.10.4 Orientation transformation and orientable tool holders ............................................................ 107

1.10.5 Modulo display of orientation axes .......................................................................................... 107

1.11 Orientation vectors................................................................................................................... 109

1.11.1 Polynomial interpolation of orientation vectors ........................................................................ 109

1.11.2 Rotations of orientation vector ................................................................................................. 113

1.11.3 Extended interpolation of orientation axes ............................................................................... 117

1.12 Online tool length offset........................................................................................................... 122

1.13 Examples................................................................................................................................. 126

1.13.1 Example of a 5-axis transformation ......................................................................................... 126

1.13.2 Example of a 3-axis and 4-axis transformation ........................................................................ 128

1.13.2.1 Example of a 3-axis transformation ......................................................................................... 128

1.13.2.2 Example of a 4-axis transformation ......................................................................................... 129

1.13.3 Example of a universal milling head ........................................................................................ 129

1.13.4 Example for orientation axes ................................................................................................... 130

1.13.5 Examples for orientation vectors ............................................................................................. 132

1.13.5.1 Example for polynomial interpretation of orientation vectors ................................................... 132

1.13.5.2 Example of rotations of orientation vector ............................................................................... 133

1.13.6 Examples for generic axis transformations .............................................................................. 134

1.13.6.1 Example of a generic 6-axis transformation ............................................................................135

1.13.6.2 Example of a generic 7-axis transformation ............................................................................136

1.13.6.3 Example for the modification of rotary axis motion .................................................................. 137

1.13.7 Example: Compression of an orientation ................................................................................. 137

1.14 Data lists.................................................................................................................................. 139

1.14.1 Machine data ........................................................................................................................... 139

1.14.1.1 General machine data ............................................................................................................. 139

1.14.1.2 Channelspecific machine data ................................................................................................ 139

1.14.2 Setting data ............................................................................................................................. 143

1.14.2.1 General setting data ................................................................................................................ 143

1.14.2.2 Channelspecific setting data ................................................................................................... 143

1.14.3 Signals ..................................................................................................................................... 143

1.14.3.1 Signals from channel ............................................................................................................... 143

2 G1: Gantry axes ......................................................................................................................................145

2.1 Brief description....................................................................................................................... 145

2.2 "Gantry axes" function ............................................................................................................. 146

2.3 Referencing and synchronization of gantry axes..................................................................... 151

2.3.1 Introduction .............................................................................................................................. 151

2.3.2 Automatic synchronization ....................................................................................................... 157

2.3.3 Points to note ........................................................................................................................... 158

2.4 Start-up of gantry axes ............................................................................................................ 161

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Function Manual, 09/2011, 6FC5397-2BP40-2BA0 9

Table of contents

2.5 PLC interface signals for gantry axes...................................................................................... 167

2.6 Miscellaneous points regarding gantry axes ........................................................................... 169

2.7 Examples................................................................................................................................. 172

2.7.1 Creating a gantry grouping ...................................................................................................... 172

2.7.2 Setting of NCK PLC interface .................................................................................................. 173

2.7.3 Commencing start-up .............................................................................................................. 174

2.7.4 Setting warning and trip limits .................................................................................................. 176

2.8 Data lists.................................................................................................................................. 179

2.8.1 Machine data ........................................................................................................................... 179

2.8.1.1 Axis/spindlespecific machine data .......................................................................................... 179

2.8.2 Signals ..................................................................................................................................... 180

2.8.2.1 Signals from mode group ........................................................................................................ 180

2.8.2.2 Signals from channel ............................................................................................................... 180

2.8.2.3 Signals to axis/spindle ............................................................................................................. 180

2.8.2.4 Signals from axis/spindle ......................................................................................................... 180

3 G3: Cycle times .......................................................................................................................................181

3.1 Brief description....................................................................................................................... 181

3.2 Startup ..................................................................................................................................... 182

3.3 SINUMERIK 840D ................................................................................................................... 183

3.4 SINUMERIK 840Di with PROFIBUS DP ................................................................................. 185

3.4.1 Description of a DP cycle ........................................................................................................ 185

3.4.2 Clock cycles and position-control cycle offset ......................................................................... 187

3.5 Data lists.................................................................................................................................. 191

3.5.1 Machine data ........................................................................................................................... 191

3.5.1.1 General machine data ............................................................................................................. 191

3.5.1.2 Axis/spindlespecific machine data .......................................................................................... 191

4 K6: Contour tunnel monitoring ................................................................................................................193

4.1 Brief description....................................................................................................................... 193

4.1.1 Contour tunnel monitoring ....................................................................................................... 193

4.1.2 Programmable contour accuracy ............................................................................................. 194

4.2 Contour tunnel monitoring ....................................................................................................... 195

4.3 Programmable contour accuracy............................................................................................. 197

4.4 Constraints .............................................................................................................................. 199

4.5 Examples................................................................................................................................. 200

4.5.1 Programmable contour accuracy ............................................................................................. 200

4.6 Data lists.................................................................................................................................. 201

4.6.1 Machine data ........................................................................................................................... 201

4.6.1.1 Channelspecific machine data ............................................................................................... 201

4.6.1.2 Axis/spindlespecific machine data .......................................................................................... 201

4.6.2 Setting data ............................................................................................................................. 201

4.6.2.1 Channelspecific setting data .................................................................................................. 201

5 M3: Coupled axes ...................................................................................................................................203

5.1 Coupled motion ....................................................................................................................... 203

Table of contents

Special Functions

Function Manual, 09/2011, 6FC5397-2BP40-2BA0

5.1.1 Product brief ............................................................................................................................ 203

5.1.1.1 Function ................................................................................................................................... 203

5.1.1.2 Preconditions ........................................................................................................................... 203

5.1.2 General functionality ................................................................................................................ 204

5.1.3 Programming ........................................................................................................................... 208

5.1.3.1 Definition and switch on of a coupled axis grouping (TRAILON) ............................................. 208

5.1.3.2 Switch off (TRAILOF) ............................................................................................................... 209

5.1.4 Effectiveness of PLC interface signals .................................................................................... 209

5.1.5 Status of coupling .................................................................................................................... 211

5.1.6 Dynamics limit .......................................................................................................................... 211

5.2 Curve tables............................................................................................................................. 212

5.2.1 Product brief ............................................................................................................................ 212

5.2.1.1 Function ................................................................................................................................... 212

5.2.1.2 Preconditions ........................................................................................................................... 212

5.2.2 General functionality ................................................................................................................ 213

5.2.3 Memory organization ............................................................................................................... 214

5.2.4 Commissioning ........................................................................................................................ 216

5.2.4.1 Memory configuration .............................................................................................................. 216

5.2.4.2 Tool radius compensation ........................................................................................................ 216

5.2.4.3 Specification of memory type ................................................................................................... 217

5.2.5 Programming ........................................................................................................................... 217

5.2.6 Access to table positions and table segments ......................................................................... 224

5.2.7 Activation/deactivation ............................................................................................................. 228

5.2.8 Modulo-leading axis special case ............................................................................................ 229

5.2.9 Behavior in AUTOMATIC, MDA and JOG modes ................................................................... 230

5.2.10 Effectiveness of PLC interface signals .................................................................................... 230

5.2.11 Diagnosing and optimizing utilization of resources .................................................................. 231

5.3 Master value coupling.............................................................................................................. 235

5.3.1 Product brief ............................................................................................................................ 235

5.3.1.1 Function ................................................................................................................................... 235

5.3.1.2 Preconditions ........................................................................................................................... 235

5.3.2 General functionality ................................................................................................................ 235

5.3.3 Programming ........................................................................................................................... 239

5.3.4 Behavior in AUTOMATIC, MDA and JOG modes ................................................................... 243

5.3.5 Effectiveness of PLC interface signals .................................................................................... 245

5.3.6 Special characteristics of the axis master value coupling function .......................................... 245

5.4 Electronic gearbox (EG) .......................................................................................................... 247

5.4.1 Product brief ............................................................................................................................ 247

5.4.1.1 Function ................................................................................................................................... 247

5.4.1.2 Preconditions ........................................................................................................................... 248

5.4.2 Performance Overview of EG (Summary) ............................................................................... 255

5.4.3 Definition of an EG axis group ................................................................................................. 258

5.4.4 Activating an EG axis group .................................................................................................... 259

5.4.5 Deactivating an EG axis group ................................................................................................ 264

5.4.6 Deleting an EG axis group ....................................................................................................... 264

5.4.7 Interaction between rotation feedrate (G95) and electronic gearbox ....................................... 265

5.4.8 Response to POWER ON, RESET, operating mode change, block search ............................ 265

5.4.9 System variables for electronic gearbox ..................................................................................266

5.5 Generic coupling...................................................................................................................... 268

5.5.1 Product brief ............................................................................................................................ 268

Special Functions

Function Manual, 09/2011, 6FC5397-2BP40-2BA0 11

Table of contents

5.5.1.1 Function ................................................................................................................................... 268

5.5.1.2 Preconditions ........................................................................................................................... 268

5.5.2 Basics ...................................................................................................................................... 272

5.5.2.1 Coupling module ...................................................................................................................... 272

5.5.2.2 Keywords and coupling characteristics ................................................................................... 273

5.5.2.3 System variables ..................................................................................................................... 276

5.5.3 Creating/deleting coupling modules ........................................................................................ 276

5.5.3.1 Creating a coupling module (CPDEF) .....................................................................................276

5.5.3.2 Delete coupling module (CPDEL) ............................................................................................ 277

5.5.3.3 Defining leading axes (CPLDEF or CPDEF+CPLA) ................................................................ 278

5.5.3.4 Delete leading axes (CPLDEL or CPDEL+CPLA) ................................................................... 279

5.5.4 Switching coupling on/off ......................................................................................................... 281

5.5.4.1 Switching on a coupling module (CPON) ................................................................................ 281

5.5.4.2 Switch off coupling module (CPOF) ........................................................................................ 282

5.5.4.3 Switching on leading axes of a coupling module (CPLON) ..................................................... 283

5.5.4.4 Switching off leading axes of a coupling module (CPLOF) ..................................................... 283

5.5.4.5 Implicit creation and deletion of coupling modules .................................................................. 284

5.5.5 Programming coupling characteristics .....................................................................................285

5.5.5.1 Coupling rule (CPLNUM, CPLDEN, CPLCTID) ....................................................................... 285

5.5.5.2 Coupling relationship (CPLSETVAL) ....................................................................................... 287

5.5.5.3 Co-ordinate reference (CPFRS): ............................................................................................. 288

5.5.5.4 Block change behavior (CPBC) ............................................................................................... 289

5.5.5.5 Synchronized position of the following axis when switching on (CPFPOS+CPON) ................ 291

5.5.5.6 Synchronized position of the leading axis when switching on (CPLPOS) ............................... 293

5.5.5.7 Synchronization mode (CPFMSON) ........................................................................................ 294

5.5.5.8 Behavior of the following axis at switch-on (CPFMON) ........................................................... 295

5.5.5.9 Behavior of the following axis at switch-off (CPFMOF) ........................................................... 297

5.5.5.10 Position of the following axis when switching off (CPFPOS+CPOF) ....................................... 298

5.5.5.11 Condition at RESET (CPMRESET) .........................................................................................298

5.5.5.12 Condition at parts program start (CPMSTART) ....................................................................... 300

5.5.5.13 Status during part program start in search run via program test (CPMPRT) ........................... 301

5.5.5.14 Offset / scaling (CPLINTR, CPLINSC, CPLOUTTR, CPLOUTSC) ......................................... 303

5.5.5.15 Synchronism monitoring (CPSYNCOP, CPSYNFIP, CPSYNCOV, CPSYNFIV) .................... 305

5.5.5.16 Reaction to stop signals and commands (CPMBRAKE) ......................................................... 309

5.5.5.17 Response to certain NC/PLC interface signals (CPMVDI) ...................................................... 310

5.5.6 Coupling cascading ................................................................................................................. 315

5.5.7 Compatibility ............................................................................................................................ 315

5.5.7.1 Adaptive cycles ........................................................................................................................ 315

5.5.7.2 Coupling types (CPSETTYPE) ................................................................................................ 317

5.5.7.3 Projected coupling (CPRES) ................................................................................................... 321

5.5.8 Cross-channel coupling, axis replacement .............................................................................. 322

5.5.9 Behavior with rotary axes ........................................................................................................ 323

5.5.10 Behavior during POWER ON, ... ............................................................................................. 325

5.5.11 Disturbance characteristic ....................................................................................................... 325

5.5.11.1 Rapid stop ............................................................................................................................... 325

5.5.12 Tracking the deviation from synchronism ................................................................................ 326

5.5.12.1 Fundamentals .......................................................................................................................... 326

5.5.12.2 Measuring the deviation from synchronism ............................................................................. 328

5.5.12.3 Entering the deviation from synchronism directly .................................................................... 330

5.5.12.4 Synchronism correction ........................................................................................................... 330

5.5.12.5 Diagnostics for synchronism correction ................................................................................... 331

5.5.12.6 Resetting synchronism correction ........................................................................................... 332

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Function Manual, 09/2011, 6FC5397-2BP40-2BA0

5.5.12.7 Limitations and constraints ...................................................................................................... 333

5.6 Dynamic response of following axis......................................................................................... 335

5.6.1 Parameterized dynamic limits .................................................................................................. 335

5.6.2 Programmed dynamic limits .................................................................................................... 335

5.6.2.1 Programming (VELOLIMA, ACCLIMA) .................................................................................... 335

5.6.2.2 Examples ................................................................................................................................. 337

5.6.2.3 System variables ..................................................................................................................... 338

5.7 Boundary conditions ................................................................................................................ 339

5.7.1 General boundary conditions ................................................................................................... 339

5.7.2 Coupled motion ........................................................................................................................ 339

5.7.3 Curve tables ............................................................................................................................. 339

5.8 Examples................................................................................................................................. 341

5.8.1 Coupled motion ........................................................................................................................ 341

5.8.2 Curve tables ............................................................................................................................. 342

5.8.3 Electronic gear for gear hobbing .............................................................................................. 344

5.8.3.1 Example using linear couplings ............................................................................................... 344

5.8.3.2 Extended example with non-linear components ...................................................................... 348

5.8.4 Generic coupling ...................................................................................................................... 354

5.8.4.1 Programming examples ........................................................................................................... 354

5.8.4.2 Adapt adaptive cycle ................................................................................................................ 356

5.9 Data lists.................................................................................................................................. 357

5.9.1 Machine data ........................................................................................................................... 357

5.9.1.1 NC-specific machine data ........................................................................................................ 357

5.9.1.2 Channelspecific machine data ................................................................................................ 357

5.9.1.3 Axis/spindlespecific machine data .......................................................................................... 358

5.9.2 Setting data ............................................................................................................................. 358

5.9.2.1 Axis/spindle-specific setting data ............................................................................................. 358

5.9.3 System variables ..................................................................................................................... 358

5.9.4 Signals ..................................................................................................................................... 361

5.9.4.1 Signals to axis/spindle ............................................................................................................. 361

5.9.4.2 Signals from axis/spindle ......................................................................................................... 362

6 R3: Extended stop and retract ................................................................................................................363

6.1 Brief description....................................................................................................................... 363

6.2 Control-managed ESR............................................................................................................. 364

6.2.1 Extended stop and retract (ESR) ............................................................................................. 364

6.2.2 Drive-independent reactions .................................................................................................... 365

6.2.3 Power failure detection and bridging ....................................................................................... 366

6.2.4 NC-controlled extended stop ................................................................................................... 367

6.2.5 NC-controlled retraction ........................................................................................................... 369

6.2.6 Possible trigger sources .......................................................................................................... 374

6.2.7 Logic gating functions: Source and reaction linking ................................................................. 375

6.2.8 Activating ................................................................................................................................. 376

6.2.9 Configuring aids for ESR ......................................................................................................... 376

6.2.10 Control system response ......................................................................................................... 379

6.2.10.1 Axis behavior depending on the enable signals ...................................................................... 379

6.2.10.2 POWER OFF/POWER ON ...................................................................................................... 381

6.2.10.3 Operating mode change, NC Stop, reset .................................................................................381

6.2.10.4 Part program start, NC start ..................................................................................................... 382

6.2.10.5 Alarm behavior ......................................................................................................................... 382

Special Functions

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Table of contents

6.2.10.6 Block search, REPOS ............................................................................................................. 382

6.3 ESR executed autonomously in the drive................................................................................ 383

6.3.1 Fundamentals .......................................................................................................................... 383

6.3.2 Configuring stopping in the drive ............................................................................................. 384

6.3.3 Configuring retraction in the drive ............................................................................................ 385

6.3.4 Configuring generator operation in the drive ........................................................................... 387

6.3.5 ESR is enabled via system variable ........................................................................................ 388

6.3.6 Triggering ESR via system variable ........................................................................................ 388

6.3.7 Feedback of the ESR status .................................................................................................... 389

6.3.8 Acknowledge ESR reactions ................................................................................................... 390

6.3.9 Configuring ESR in the part program ......................................................................................391

6.3.10 Configuring the ESR via the PLC user program ...................................................................... 395

6.3.11 ESR and Safety Integrated (840D sl) ...................................................................................... 395

6.3.12 ESR and Safety Integrated (828D) .......................................................................................... 397

6.4 Boundary conditions ................................................................................................................ 398

6.5 Examples................................................................................................................................. 399

6.5.1 NC-controlled reactions ........................................................................................................... 399

6.5.2 Retraction while thread cutting ................................................................................................ 400

6.5.3 Rapid lift using ASUB and fast input ........................................................................................ 400

6.5.4 Rapid lift, absolute and incremental ........................................................................................ 401

6.5.5 Lift fast with linear relation of axes .......................................................................................... 401

6.6 Data lists.................................................................................................................................. 403

6.6.1 Machine data ........................................................................................................................... 403

6.6.1.1 Channelspecific machine data ............................................................................................... 403

6.6.1.2 Axis/spindlespecific machine data .......................................................................................... 403

6.6.2 System variables ..................................................................................................................... 403

6.6.3 Signals ..................................................................................................................................... 403

6.6.3.1 Signals to channel ................................................................................................................... 403

6.6.3.2 Signals to axis/spindle ............................................................................................................. 404

6.6.3.3 Signals from axis/spindle ......................................................................................................... 404

7 S9: Setpoint switchover ..........................................................................................................................405

7.1 Brief description....................................................................................................................... 405

7.2 Startup ..................................................................................................................................... 406

7.3 Interface signals ...................................................................................................................... 409

7.4 Interrupts ................................................................................................................................. 411

7.5 Position control loop ................................................................................................................ 412

7.6 Reference points ..................................................................................................................... 413

7.7 Constraints .............................................................................................................................. 414

7.8 Data lists.................................................................................................................................. 415

7.8.1 Machine data ........................................................................................................................... 415

7.8.1.1 Axis/spindlespecific machine data .......................................................................................... 415

8 T3: Tangential control .............................................................................................................................417

8.1 Brief description....................................................................................................................... 417

8.2 Characteristics of tangential follow-up control ......................................................................... 419

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Special Functions

Function Manual, 09/2011, 6FC5397-2BP40-2BA0

8.3 Using tangential follow-up control............................................................................................ 421

8.3.1 Assignment between leading axes and following axis ............................................................. 422

8.3.2 Activation of follow-up control .................................................................................................. 422

8.3.3 Switching on corner response ................................................................................................. 423

8.3.4 Termination of follow-up control ............................................................................................... 424

8.3.5 Switching off intermediate block generation ............................................................................ 424

8.3.6 Canceling the definition of a follow-up axis assignment. ......................................................... 425

8.4 Limit angle ............................................................................................................................... 427

8.5 Supplementary conditions ....................................................................................................... 428

8.6 Examples................................................................................................................................. 429

8.7 Data lists.................................................................................................................................. 431

8.7.1 Machine data ........................................................................................................................... 431

8.7.1.1 Axis/spindlespecific machine data .......................................................................................... 431

8.7.2 System variables ..................................................................................................................... 431

9 TE01: Installation and activation of loadable compile cycles ..................................................................433

9.1 Loading compile cycles............................................................................................................ 435

9.1.1 Loading a compile cycle with HMI sl ........................................................................................ 435

9.1.2 Loading a compile cycle with HMI Advanced .......................................................................... 436

9.1.3 Loading a compile cycle from an external computer with WinSCP3 ....................................... 436

9.2 Interface version compatibility ................................................................................................. 438

9.3 Software version of a compile cycle ........................................................................................ 441

9.4 Activating the technological functions in the NCK ................................................................... 442

9.5 Function-specific startup.......................................................................................................... 443

9.6 Creating alarm texts................................................................................................................. 444

9.6.1 Creating alarm texts with HMI sl .............................................................................................. 444

9.6.2 Creating alarm texts with HMI Advanced ................................................................................. 445

9.6.3 Creating alarm texts with HMI Embedded ............................................................................... 446

9.7 Upgrading a compile cycle....................................................................................................... 447

9.8 Deleting a compile cycle.......................................................................................................... 448

9.9 Data lists.................................................................................................................................. 449

9.9.1 Machine data ........................................................................................................................... 449

9.9.1.1 NC-specific machine data ........................................................................................................ 449

10 TE02: Simulation of compile cycles ........................................................................................................451

10.1 Brief description....................................................................................................................... 451

10.1.1 Function ................................................................................................................................... 451

10.1.2 Requirements .......................................................................................................................... 451

10.2 OEM transformations............................................................................................................... 452

11 TE1: Clearance control ...........................................................................................................................455

11.1 Brief description....................................................................................................................... 455

11.1.1 General information ................................................................................................................. 455

11.1.2 Function description ................................................................................................................. 455

11.2 Clearance control..................................................................................................................... 458

Special Functions

Function Manual, 09/2011, 6FC5397-2BP40-2BA0 15

Table of contents

11.2.1 Control dynamics ..................................................................................................................... 458

11.2.2 Velocity feedforward control .................................................................................................... 460

11.2.3 Control loop structure .............................................................................................................. 462

11.2.4 Compensation vector ............................................................................................................... 463

11.3 Technological features of clearance control ............................................................................ 467

11.4 Sensor collision monitoring...................................................................................................... 469

11.5 Startup ..................................................................................................................................... 470

11.5.1 Activating the technological function ....................................................................................... 470

11.5.2 Configuring the memory .......................................................................................................... 470

11.5.3 Parameter settings for input signals (840D) ............................................................................ 471

11.5.4 Parameter settings for input signals (840Di) ........................................................................... 472

11.5.5 Parameters of the programmable compensation vector .......................................................... 473

11.5.6 Parameter settings for clearance control ................................................................................. 474

11.5.7 Starting up clearance control ................................................................................................... 476

11.6 Programming ........................................................................................................................... 479

11.6.1 Activating and deactivating clearance control (CLC) ............................................................... 479

11.6.2 Closed-loop control gain (CLC_GAIN) .....................................................................................484

11.6.3 Limiting the control range (CLC_LIM) ...................................................................................... 486

11.6.4 Direction-dependent traversing motion disable ....................................................................... 488

11.6.5 Voltage offset, can be set on a block-specific basis (CLC_VOFF) .......................................... 490

11.6.6 Voltage offset definable by synchronized action ..................................................................... 491

11.6.7 Selection of the active sensor characteristic (CLC_SEL) ........................................................ 492

11.7 Function-specific display data ................................................................................................. 493

11.7.1 Channel-specific GUD variables .............................................................................................. 493

11.7.2 OPI variable ............................................................................................................................. 495

11.8 Function-specific alarm texts ................................................................................................... 497

11.9 Boundary conditions ................................................................................................................ 498

11.9.1 I/O modules ............................................................................................................................. 498

11.9.1.1 I/O modules (840D) ................................................................................................................. 498

11.9.1.2 I/O modules (840Di) ................................................................................................................ 499

11.9.1.3 External smoothing filters ........................................................................................................ 499

11.9.2 Function-specific boundary conditions .................................................................................... 500

11.10 Data lists.................................................................................................................................. 503

11.10.1 Machine data ........................................................................................................................... 503

11.10.1.1Drive-specific machine data (840D) ........................................................................................ 503

11.10.1.2Drive-specific machine data (840Di) ........................................................................................ 503

11.10.1.3NC-specific machine data ........................................................................................................ 503

11.10.1.4Channelspecific machine data ............................................................................................... 503

11.10.1.5Axis/spindlespecific machine data .......................................................................................... 504

11.10.2 Signals ..................................................................................................................................... 505

11.10.2.1Signals to channel ................................................................................................................... 505

11.10.2.2Signals from channel ............................................................................................................... 505

12 TE3: Speed/torque coupling, master-slave .............................................................................................507

12.1 Brief description....................................................................................................................... 507

12.2 Coupling diagram .................................................................................................................... 508

12.3 Configuring a coupling............................................................................................................. 509

Table of contents

Special Functions

Function Manual, 09/2011, 6FC5397-2BP40-2BA0

12.4 Torque compensatory controller.............................................................................................. 512

12.5 Tension torque......................................................................................................................... 515

12.6 Activating a coupling................................................................................................................ 519

12.7 Response on activation/deactivation ....................................................................................... 521

12.8 Constraints............................................................................................................................... 524

12.8.1 Speed/torque coupling (SW 6 and higher) ............................................................................... 524

12.8.2 Axial NC/PLC interface signals ................................................................................................ 525

12.8.3 Interaction with other functions ................................................................................................ 526

12.9 Examples................................................................................................................................. 532

12.9.1 Master-slave coupling between AX1=Master and AX2=Slave. ............................................... 532

12.9.2 Close coupling via the PLC ...................................................................................................... 532

12.9.3 Close/separate coupling via part program ............................................................................... 533

12.9.4 Release the mechanical brake ................................................................................................ 533

12.10 Data lists.................................................................................................................................. 535

12.10.1 Machine data ........................................................................................................................... 535

12.10.1.1Axis/spindlespecific machine data .......................................................................................... 535

12.10.2 System variables ..................................................................................................................... 535

12.10.3 Signals ..................................................................................................................................... 536

12.10.3.1Signals to axis/spindle ............................................................................................................. 536

12.10.3.2Signals from axis/spindle ......................................................................................................... 536

13 TE4: Transformation package handling ..................................................................................................537

13.1 Brief description....................................................................................................................... 537

13.2 Kinematic transformation ......................................................................................................... 538

13.3 Definition of terms.................................................................................................................... 539

13.3.1 Units and directions ................................................................................................................. 539

13.3.2 Definition of positions and orientations using frames .............................................................. 539

13.3.3 Definition of a joint ................................................................................................................... 540

13.4 Configuration of a kinematic transformation ............................................................................ 542

13.4.1 General machine data ............................................................................................................. 542

13.4.2 Parameterization using geometry data ....................................................................................543

13.5 Descriptions of kinematics....................................................................................................... 555

13.5.1 3-axis kinematics ..................................................................................................................... 555

13.5.2 4-axis kinematics ..................................................................................................................... 563

13.5.3 5-axis kinematics ..................................................................................................................... 569

13.5.4 6-axis kinematics ..................................................................................................................... 573

13.5.5 Special kinematics ................................................................................................................... 573

13.6 Tool orientation........................................................................................................................ 578

13.6.1 Tool orientation ........................................................................................................................ 578

13.6.2 Orientation programming for 4-axis kinematics ....................................................................... 581

13.6.3 Orientation programming for 5-axis kinematics ....................................................................... 581

13.7 Singular positions and how they are handled.......................................................................... 583

13.8 Call and application of the transformation ............................................................................... 584

13.9 Actual value display................................................................................................................. 586

13.10 Tool programming.................................................................................................................... 587

Special Functions

Function Manual, 09/2011, 6FC5397-2BP40-2BA0 17

Table of contents

13.11 Cartesian PTP travel with handling transformation package................................................... 588

13.12 Function-specific alarm texts ................................................................................................... 589

13.13 Boundary conditions ................................................................................................................ 590

13.13.1 Function-specific boundary conditions .................................................................................... 590

13.13.2 Interaction with other functions ................................................................................................ 591

13.14 Examples................................................................................................................................. 592

13.14.1 General information about start-up .......................................................................................... 592

13.14.2 Starting up a kinematic transformation .................................................................................... 593

13.15 Data lists.................................................................................................................................. 596

13.15.1 Machine data ........................................................................................................................... 596

13.15.1.1General machine data ............................................................................................................. 596

13.15.1.2Channelspecific machine data ............................................................................................... 596

13.15.1.3Channel-specific machine data for compile cycles .................................................................. 596

13.15.2 Signals ..................................................................................................................................... 597

13.15.2.1Signals from channel ............................................................................................................... 597

14 TE6: MCS coupling .................................................................................................................................599

14.1 Brief description....................................................................................................................... 599

14.2 Description of MCS coupling functions.................................................................................... 601

14.2.1 Defining coupling pairs ............................................................................................................ 601

14.2.2 Switching the coupling ON/OFF .............................................................................................. 601

14.2.3 Tolerance window .................................................................................................................... 602

14.3 Description of collision protection ............................................................................................ 603

14.3.1 Defining protection pairs .......................................................................................................... 603

14.3.2 Switching collision protection ON / OFF .................................................................................. 603

14.3.3 Configuring example ................................................................................................................ 604

14.4 User-specific configurations .................................................................................................... 605

14.5 Special operating states .......................................................................................................... 606

14.6 Boundary conditions ................................................................................................................ 608

14.7 Data lists.................................................................................................................................. 609

14.7.1 Machine data ........................................................................................................................... 609

14.7.1.1 Channelspecific machine data ............................................................................................... 609

14.7.1.2 Axis/spindlespecific machine data .......................................................................................... 609

15 TE7: Continue machining - retrace support ............................................................................................611

15.1 Brief description....................................................................................................................... 611

15.2 Functional description.............................................................................................................. 613

15.2.1 Function ................................................................................................................................... 613

15.2.2 Definition of terms .................................................................................................................... 614

15.2.3 Functional sequence (principle) ............................................................................................... 614

15.2.4 Maximum retraceable contour area ......................................................................................... 618

15.3 Startup ..................................................................................................................................... 619

15.3.1 Activation ................................................................................................................................. 619

15.3.2 Definition of the RESU working plane ..................................................................................... 619

15.3.3 Memory configuration: Block memory ..................................................................................... 619

15.3.4 Memory configuration: Heap memory ..................................................................................... 621

Table of contents

Special Functions

Function Manual, 09/2011, 6FC5397-2BP40-2BA0

15.3.5 RESU main program memory area ......................................................................................... 622

15.3.6 Storage of the RESU subroutines ............................................................................................ 623

15.3.7 ASUB enable ........................................................................................................................... 624

15.3.8 PLC user program ................................................................................................................... 624

15.4 Programming ........................................................................................................................... 626

15.4.1 RESU Start/Stop/Reset (CC_PREPRE) .................................................................................. 626

15.5 RESU-specific part programs .................................................................................................. 628

15.5.1 Overview .................................................................................................................................. 628

15.5.2 Main program (CC_RESU.MPF) ..............................................................................................629

15.5.3 INI program (CC_RESU_INI.SPF) ...........................................................................................630

15.5.4 END program (CC_RESU_END.SPF) ..................................................................................... 632

15.5.5 Retrace support ASUB (CC_RESU_BS_ASUP.SPF) .............................................................. 632

15.5.6 RESU ASUB (CC_RESU_ASUP.SPF) .................................................................................... 633

15.6 Retrace support ....................................................................................................................... 634

15.6.1 General .................................................................................................................................... 634

15.6.2 Block search with calculation on contour ................................................................................. 634

15.6.3 Reposition ................................................................................................................................ 635

15.6.4 Temporal conditions concerning NC start ................................................................................ 636

15.6.5 Block search from last main block ........................................................................................... 636

15.7 Function-specific display data.................................................................................................. 638

15.7.1 Channel-specific GUD variables .............................................................................................. 638

15.8 Function-specific alarm texts ................................................................................................... 639

15.9 Boundary conditions ................................................................................................................ 640

15.9.1 Function-specific boundary conditions ..................................................................................... 640

15.9.1.1 Continue machining within subroutines ................................................................................... 640

15.9.1.2 Continue machining within program loops ...............................................................................640

15.9.1.3 Machining continuation on full circles ...................................................................................... 641

15.9.1.4 Automatically generated contour elements ..............................................................................641

15.9.2 Boundary conditions for standard functions ............................................................................. 641

15.9.2.1 Axis replacement ..................................................................................................................... 641

15.9.2.2 Traversing movements of the channel axes ............................................................................ 642

15.9.2.3 Block numbers ......................................................................................................................... 642

15.9.2.4 Block search ............................................................................................................................ 642

15.9.2.5 Transformations ....................................................................................................................... 642

15.9.2.6 Compensation .......................................................................................................................... 643

15.9.2.7 Frames ..................................................................................................................................... 643

15.9.2.8 Tool offsets .............................................................................................................................. 644

15.10 Data lists.................................................................................................................................. 645

15.10.1 Machine data ........................................................................................................................... 645

15.10.1.1General machine data ............................................................................................................. 645

15.10.1.2Channelspecific machine data ................................................................................................ 645

16 TE8: Cycle-independent path-synchronous switching signal output .......................................................647

16.1 Brief description....................................................................................................................... 647

16.2 Functional description.............................................................................................................. 649

16.2.1 General .................................................................................................................................... 649

16.2.2 Calculating the switching positions .......................................................................................... 649

16.2.2.1 Block-related switching signal output ....................................................................................... 649

Special Functions

Function Manual, 09/2011, 6FC5397-2BP40-2BA0 19

Table of contents

16.2.2.2 Path length-related switching signal output ............................................................................. 651

16.2.3 Calculating the switching instants ............................................................................................ 652

16.2.4 Switching frequency and switching position distance .............................................................. 652

16.2.5 Approaching switching position ............................................................................................... 653

16.2.6 Programmed switching position offset ..................................................................................... 654

16.2.7 Response to part program interruption .................................................................................... 655

16.3 Start-up.................................................................................................................................... 656

16.3.1 Activation ................................................................................................................................. 656

16.3.2 Memory configuration .............................................................................................................. 656

16.3.3 Parameterizing the digital on-board outputs ............................................................................ 657

16.3.4 Parameterizing the switching signal ........................................................................................ 657

16.3.5 Parameterization of the geometry axes ...................................................................................658

16.4 Programming ........................................................................................................................... 659

16.4.1 Activating the block-related switching signal output (CC_FASTON) ....................................... 659

16.4.2 Activating the path length-related switching signal output (CC_FASTON_CONT) .................. 660

16.4.3 Deactivation (CC_FASTOFF) .................................................................................................. 661

16.5 Function-specific alarm texts ................................................................................................... 662

16.6 Boundary conditions ................................................................................................................ 663

16.6.1 Block search ............................................................................................................................ 663

16.6.2 Transformations ....................................................................................................................... 664

16.6.3 Compensation ......................................................................................................................... 665

16.6.4 Tool radius compensation (TRC) ............................................................................................. 665

16.6.5 Continuous-path mode ............................................................................................................ 665

16.6.6 Software cams ......................................................................................................................... 666

16.7 Data lists.................................................................................................................................. 667

16.7.1 Machine data ........................................................................................................................... 667

16.7.1.1 General machine data ............................................................................................................. 667

16.7.1.2 Channelspecific machine data ............................................................................................... 667

17 TE9: Axis pair collision protection ...........................................................................................................669

17.1 Brief description....................................................................................................................... 669

17.1.1 Brief description ....................................................................................................................... 669

17.2 Functional description.............................................................................................................. 670

17.3 Startup ..................................................................................................................................... 671

17.3.1 Enabling the technology function (option) ...............................................................................671

17.3.2 Activating the technology function ........................................................................................... 671

17.3.3 Definition of an axis pair .......................................................................................................... 671

17.3.4 Retraction direction .................................................................................................................. 672

17.3.5 Offset for the machine coordinate systems ............................................................................. 672

17.3.6 Protection window ................................................................................................................... 673

17.3.7 Orientation ............................................................................................................................... 673

17.3.8 Protection window extension ................................................................................................... 673

17.3.9 Activating the protection function ............................................................................................. 674

17.3.10 Axis-specific acceleration ........................................................................................................ 674

17.3.11 Monitoring status (GUD) .......................................................................................................... 674

17.4 Limitations and constraints ...................................................................................................... 675

17.4.1 Precedence of function-specific acceleration .......................................................................... 675

17.4.2 Axis container .......................................................................................................................... 675

Table of contents

Special Functions

Function Manual, 09/2011, 6FC5397-2BP40-2BA0

17.5 Examples................................................................................................................................. 677

17.5.1 Collision protection .................................................................................................................. 677

17.5.2 Collision protection and distance limiter .................................................................................. 678

17.6 Data lists.................................................................................................................................. 680

17.6.1 Option data .............................................................................................................................. 680

17.6.2 Machine data ........................................................................................................................... 680

17.6.2.1 NC-specific machine data ........................................................................................................ 680

17.6.2.2 Axis/Spindle-specific machine data ......................................................................................... 680

17.6.3 User data ................................................................................................................................. 680

17.6.3.1 Global user data (GUD) ........................................................................................................... 680

18 V2: Preprocessing ...................................................................................................................................681

18.1 Brief description....................................................................................................................... 681

18.2 Program handling .................................................................................................................... 684

18.3 Program call............................................................................................................................. 687

18.4 Constraints............................................................................................................................... 690

18.5 Examples................................................................................................................................. 692

18.5.1 Preprocessing individual files .................................................................................................. 692

18.5.2 Preprocessing in the dynamic NC memory ............................................................................. 693

18.6 Data lists.................................................................................................................................. 694

18.6.1 Machine data ........................................................................................................................... 694

18.6.1.1 General machine data ............................................................................................................. 694

18.6.1.2 Channelspecific machine data ................................................................................................ 694

19 W5: 3D tool radius compensation ...........................................................................................................695

19.1 Brief description....................................................................................................................... 695

19.1.1 General .................................................................................................................................... 695

19.1.2 Machining modes ..................................................................................................................... 697

19.2 Circumferential milling ............................................................................................................. 698

19.2.1 Corners for circumferential milling ........................................................................................... 699

19.2.2 Behavior at outer corners ........................................................................................................ 700

19.2.3 Behavior at inside corners ....................................................................................................... 704

19.3 Face milling.............................................................................................................................. 709

19.3.1 Cutter shapes .......................................................................................................................... 709

19.3.2 Orientation ............................................................................................................................... 711

19.3.3 Compensation on path ............................................................................................................. 712

19.3.4 Corners for face milling ............................................................................................................ 714

19.3.5 Behavior at outer corners ........................................................................................................ 715

19.3.6 Behavior at inside corners ....................................................................................................... 716

19.3.7 Monitoring of path curvature .................................................................................................... 717

19.4 Selection/deselection of 3D TRC............................................................................................. 718

19.4.1 Selection of 3D TRC ................................................................................................................ 718

19.4.2 Deselection of 3D TRC ............................................................................................................ 719

19.5 Constraints............................................................................................................................... 720

19.6 Examples................................................................................................................................. 721

19.7 Data lists.................................................................................................................................. 723

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