Siemens Sinumerik 840d Parts list manual

Axes and spindles

Function Manual

06/2019

A5E47437747B AA

Preface

Fundamental safety

instructions 1

G2: Velocities, setpoint /

actual value systems, closed-

loop control 2

F1: Travel to fixed stop 3

P1: Transverse axes 4

V1: Feedrates 5

P2: Positioning axes 6

R2: Rotary axes 7

T1: Indexing axes 8

G1: Gantry axes 9

R1: Referencing 10

S9: Setpoint switchover 11

B2: Acceleration and jerk 12

N3: Software cams, position

switching signals 13

M3: Coupled axes 14

P5: Oscillation 15

R3: Extended stop and retract 16

H1: Manual traversing 17

S1: Spindles 18

S3: Synchronous spindle 19

Appendix A

Valid for:

Control system

SINUMERIK MC

Software

CNC software version 1.12

SINUMERIK

SINUMERIK MC

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.

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

indicates that minor personal injury can result if proper precautions are not taken.

NOTICE

indicates that property damage can result if proper precautions are not taken.

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, 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:

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 complied with. The information in the relevant documentation must be observed.

Trademarks

All names identified by ® are registered trademarks of 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.

Siemens AG

Digital Industries

Postfach 48 48

90026 NÜRNBERG

GERMANY

Document order number: A5E47437747B AA

Ⓟ 06/2019 Subject to change

Preface

SINUMERIK documentation

The SINUMERIK documentation is organized into the following categories:

● General documentation/catalogs

● User documentation

● Manufacturer/service documentation

Additional information

You can find information on the following topics at the following address (https://

support.industry.siemens.com/cs/de/en/view/108464614):

● Ordering documentation/overview of documentation

● Additional links to download documents

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

If you have any questions regarding the technical documentation (e.g. suggestions,

corrections), please send an e-mail to the following address

(mailto:[email protected]).

mySupport/Documentation

At the following address (https://support.industry.siemens.com/My/ww/en/documentation),

you can find information on how to create your own individual documentation based on

Siemens' content, and adapt it for your own machine documentation.

Training

At the following address (http://www.siemens.com/sitrain), you can find information about

SITRAIN (Siemens training on products, systems and solutions for automation and drives).

FAQs

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

Support (https://support.industry.siemens.com/cs/de/en/ps/faq).

SINUMERIK

You can find information about SINUMERIK at the following address (http://www.siemens.com/

sinumerik).

Axes and spindles

Function Manual, 06/2019, A5E47437747B AA 3

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.

Note regarding the General Data Protection Regulation

Siemens observes standard data protection principles, in particular the principle of privacy by

design. That means that

this product does not process / store any personal data, only technical functional data (e.g. time

stamps). If a user links this data with other data (e.g. a shift schedule) or stores personal data

on the same storage medium (e.g. hard drive) and thus establishes a link to a person or

persons, then the user is responsible for ensuring compliance with the relevant data protection

regulations.

Technical Support

Country-specific telephone numbers for technical support are provided in the Internet at the

following address (https://support.industry.siemens.com/sc/ww/en/sc/2090) in the "Contact"

area.

Preface

Axes and spindles

4Function Manual, 06/2019, A5E47437747B AA

Information on the structure and contents

Structure

This Function Manual is structured as follows:

● 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.)

● Appendix with:

– List of abbreviations

– Documentation overview

● Index of terms

Note

For detailed descriptions of data and alarms see:

● For machine and setting data:

Detailed machine data description

● For NC/PLC interface signals:

NC Variables and Interface Signals List Manual

● For alarms:

Diagnostics Manual

Notation of system data

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

Signal/Data Notation Example

NC/PLC interface

signals

... NC/PLC interface signal:

<signal address> (<signal name>)

When the new gear stage 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 Des‐

ignator> (<Meaning>)

Master spindle is the spindle stored in the machine data:

MD20090 $MC_SPIND_DEF_MASTER_SPIND (position of de‐

letion of the master spindle in the channel)

Setting data ... setting data:

<Type><Number> <Complete Des‐

ignator> (<Meaning>)

The logical master spindle is contained in the setting data:

SD42800 $SC_SPIND_ASSIGN_TAB[0] (spindle number con‐

verter)

Preface

Axes and spindles

Function Manual, 06/2019, A5E47437747B AA 5

Quantity structure

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

the following components:

● Mode groups (DB11)

● Channels (DB21, etc.)

● Axes/spindles (DB31, etc.)

Data types

The control provides the following data types that can be used for programming in part

programs:

Type Meaning Range of values

INT Signed integers -2.147.483.648 ... +2.147.483.647

REAL Numbers with decimal point ≈ ±5.0*10-324 … ≈ ±1.7*10+308

BOOL Boolean values TRUE (≠0) , FALSE (0)

CHAR ASCII characters and bytes 0 ... 255 or -128 ... 127

STRING Character string, null-terminated Maximum of 400 characters + /0

(no special characters)

AXIS Axis names All axis names available in the control

system

FRAME Geometrical parameters for moving, rotating, scaling, and

mirroring

---

Arrays

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

possible.

Example: DEF INT ARRAY[2, 3, 4]

Number systems

The following number systems are available:

● Decimal: DEF INT number = 1234 or DEF REAL number = 1234.56

● Hexadecimal: DEF INT number = 'H123ABC'

● Binary: DEF INT number = 'B10001010010'

Querying REAL variables

We recommend that querying REAL or DOUBLE variables in NC programs and synchronized

actions is programmed as limit value evaluation.

Example: Querying the actual value of an axis for a specific value

Program code Comment

DEF REAL AXPOS = 123.456

IF ($VA_IM[<axis>] - 1ex-6) <= AXPOS <= ($VA_IM[<axis>] + 1ex-6) ; actual position

... == AXPOS

Preface

Axes and spindles

6Function Manual, 06/2019, A5E47437747B AA

Program code Comment

ELSE

... <> AXPOS

ENDIF

Preface

Axes and spindles

Function Manual, 06/2019, A5E47437747B AA 7

Preface

Axes and spindles

8Function Manual, 06/2019, A5E47437747B AA

Table of contents

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

1 Fundamental safety instructions.................................................................................................................27

1.1 General safety instructions.....................................................................................................27

1.2 Warranty and liability for application examples ......................................................................27

1.3 Industrial security ...................................................................................................................28

2 G2: Velocities, setpoint / actual value systems, closed-loop control ..........................................................31

2.1 Brief description .....................................................................................................................31

2.2 Velocities, traversing ranges, accuracies...............................................................................31

2.2.1 Velocities................................................................................................................................31

2.2.2 Traversing ranges ..................................................................................................................33

2.2.3 Positioning accuracy of the control system ...........................................................................34

2.2.4 Input/display resolution, computational resolution .................................................................34

2.2.5 Scaling of physical quantities of machine and setting data....................................................36

2.3 System of units, metric/inch ...................................................................................................39

2.3.1 Function .................................................................................................................................39

2.3.1.1 Parameterized and programmed system of units ..................................................................39

2.3.1.2 Extended system of units functionality ...................................................................................40

2.3.1.3 Extended system of units functionality ...................................................................................40

2.3.2 Commissioning.......................................................................................................................41

2.3.3 Programming..........................................................................................................................45

2.3.3.1 Switching over the system of units (G70/G71/G700/G710) ...................................................45

2.4 Setpoint/actual-value system .................................................................................................49

2.4.1 General information................................................................................................................49

2.4.2 Setpoint and encoder assignment..........................................................................................51

2.4.3 Adapting the motor/load ratios ...............................................................................................55

2.4.4 Speed setpoint output ............................................................................................................57

2.4.5 Machine data of the actual value system ...............................................................................59

2.4.6 Actual-value resolution...........................................................................................................60

2.4.6.1 Machine data of the actual value resolution...........................................................................60

2.4.6.2 Example: Linear axis with linear scale ...................................................................................63

2.4.6.3 Example: Linear axis with rotary encoder on motor ...............................................................64

2.4.6.4 Example: Linear axis with rotary encoder on the machine.....................................................65

2.4.6.5 Example: Rotary axis with rotary encoder on motor ..............................................................66

2.4.6.6 Example: Rotary axis with rotary encoder on the machine ....................................................67

2.4.6.7 Example: Intermediate gear with encoder on the tool............................................................68

2.5 Closed-loop control ................................................................................................................69

2.5.1 General information................................................................................................................69

2.5.2 Switchable position setpoint filter circuits...............................................................................72

2.5.3 Commissioning.......................................................................................................................74

2.5.4 Parameter sets of the position controller................................................................................75

2.5.5 Relevant system data.............................................................................................................76

Axes and spindles

Function Manual, 06/2019, A5E47437747B AA 9

2.6 Optimization of the control .....................................................................................................77

2.6.1 Position controller, position setpoint filter: Balancing filter .....................................................77

2.6.2 Position controller, position setpoint filter: Phase filter...........................................................81

2.6.3 Position controller: injection of positional deviation................................................................83

2.6.4 Position control with proportional-plus-integral-action controller............................................84

2.7 Data lists ................................................................................................................................87

2.7.1 Machine data..........................................................................................................................87

2.7.1.1 Displaying machine data ........................................................................................................87

2.7.1.2 NC-specific machine data ......................................................................................................87

2.7.1.3 Channelspecific machine data ...............................................................................................87

2.7.1.4 Axis/spindlespecific machine data .........................................................................................88

3 F1: Travel to fixed stop ...............................................................................................................................91

3.1 Brief description .....................................................................................................................91

3.2 Detailed description................................................................................................................92

3.2.1 Programming..........................................................................................................................92

3.2.2 Functional sequence ..............................................................................................................94

3.2.2.1 Selection ................................................................................................................................94

3.2.2.2 Fixed stop is reached .............................................................................................................95

3.2.2.3 Fixed stop is not reached .......................................................................................................97

3.2.2.4 Deselection ............................................................................................................................98

3.2.3 Behavior during block search...............................................................................................101

3.2.4 Behavior for reset and function abort ...................................................................................104

3.2.5 Behavior with regard to other functions................................................................................104

3.2.6 Setting data ..........................................................................................................................105

3.2.7 System variables..................................................................................................................107

3.2.8 Alarms ..................................................................................................................................108

3.2.9 Travel with limited torque/force FOC....................................................................................109

3.3 Examples .............................................................................................................................112

3.4 Data lists ..............................................................................................................................113

3.4.1 Machine data........................................................................................................................113

3.4.1.1 Axis/spindlespecific machine data .......................................................................................113

3.4.2 Setting data ..........................................................................................................................114

3.4.2.1 Axis/spindle-specific setting data .........................................................................................114

4 P1: Transverse axes.................................................................................................................................115

4.1 Function ...............................................................................................................................115

4.2 Parameterization ..................................................................................................................118

4.3 Programming........................................................................................................................121

4.4 Supplementary conditions....................................................................................................122

4.5 Examples .............................................................................................................................123

4.6 Data lists ..............................................................................................................................124

4.6.1 Machine data........................................................................................................................124

4.6.1.1 Channelspecific machine data .............................................................................................124

4.6.1.2 Axis/spindlespecific machine data .......................................................................................124

Table of contents

Axes and spindles

10 Function Manual, 06/2019, A5E47437747B AA

5 V1: Feedrates ...........................................................................................................................................125

5.1 Brief description ...................................................................................................................125

5.2 Path feedrate F ....................................................................................................................126

5.2.1 Feedrate type G93, G94, G95..............................................................................................128

5.2.2 Type of feedrate G96, G961, G962, G97, G971 ..................................................................131

5.2.3 Feedrate for thread cutting (G33, G34, G35, G335, G336) ................................................135

5.2.3.1 Feedrate with G33................................................................................................................135

5.2.3.2 Linear increasing/decreasing thread pitch change with G34 and G35 ................................136

5.2.3.3 Acceleration behavior of the axis for G33, G34 and G35 ....................................................138

5.2.3.4 Programmed run-in and run-out path for G33, G34 and G35 (DITS, DITE) ........................140

5.2.3.5 Fast retraction during thread cutting ....................................................................................142

5.2.3.6 Convex thread (G335, G336)...............................................................................................146

5.2.4 Feedrate for tapping without compensating chuck (G331, G332)........................................151

5.2.5 Feedrate for tapping with compensating chuck (G63) .........................................................153

5.2.6 FGROUP and FGREF..........................................................................................................153

5.3 Feedrate for positioning axes (FA).......................................................................................156

5.4 Feedrate control ...................................................................................................................157

5.4.1 Feedrate disable and feedrate/spindle stop .........................................................................157

5.4.2 Feedrate override via machine control panel .......................................................................159

5.4.3 Programmable feedrate override .........................................................................................163

5.4.4 Dry run feedrate ...................................................................................................................163

5.4.5 Multiple feedrate values in one block ...................................................................................165

5.4.6 Fixed feedrate values ..........................................................................................................170

5.4.7 Programmable feedrate characteristics ...............................................................................172

5.4.8 Feedrate for chamfer/rounding FRC, FRCM........................................................................173

5.4.9 Non-modal feedrate FB........................................................................................................175

5.4.10 Influencing the single axis dynamic response .....................................................................176

5.5 Boundary conditions.............................................................................................................181

5.6 Data lists ..............................................................................................................................182

5.6.1 Machine data........................................................................................................................182

5.6.1.1 NC-specific machine data ....................................................................................................182

5.6.1.2 Channel-specific machine data ............................................................................................182

5.6.1.3 Axis/Spindle-specific machine data......................................................................................183

5.6.2 Setting data ..........................................................................................................................183

5.6.2.1 Channel-specific setting data ...............................................................................................183

5.6.2.2 Axis/spindle-specific setting data .........................................................................................184

6 P2: Positioning axes .................................................................................................................................185

6.1 Brief description ...................................................................................................................185

6.2 Own channel, positioning axis or concurrent positioning axis..............................................187

6.2.1 Own channel ........................................................................................................................188

6.2.2 Positioning axis ....................................................................................................................188

6.2.3 Concurrent positioning axis..................................................................................................191

6.3 Motion behavior and interpolation functions.........................................................................192

6.3.1 Path interpolator and axis interpolator .................................................................................192

6.3.2 Autonomous singleaxis operations ......................................................................................193

6.3.3 Autonomous single-axis functions with NC-controlled ESR.................................................197

Table of contents

Axes and spindles

Function Manual, 06/2019, A5E47437747B AA 11

6.4 Positioning axis dynamic response ......................................................................................199

6.5 Programming........................................................................................................................201

6.5.1 General ................................................................................................................................201

6.5.2 Revolutional feed rate in external programming ..................................................................203

6.6 Block change........................................................................................................................204

6.6.1 Settable block change time ..................................................................................................206

6.6.2 End of motion criterion with block search.............................................................................211

6.7 Control by the PLC...............................................................................................................212

6.7.1 Starting concurrent positioning axes from the PLC..............................................................214

6.7.2 PLC-controlled axes.............................................................................................................214

6.7.3 Control response of PLC-controlled axes ............................................................................216

6.8 Response with special functions ..........................................................................................217

6.8.1 Dry run (DRY RUN)..............................................................................................................217

6.8.2 Single block..........................................................................................................................217

6.9 Examples .............................................................................................................................217

6.9.1 Motion behavior and interpolation functions.........................................................................217

6.10 Data lists ..............................................................................................................................218

6.10.1 Machine data........................................................................................................................218

6.10.1.1 NC-specific machine data ....................................................................................................218

6.10.1.2 Channelspecific machine data .............................................................................................219

6.10.1.3 Axis/spindlespecific machine data .......................................................................................219

6.10.2 Setting data ..........................................................................................................................219

6.10.2.1 Axis/spindle-specific setting data .........................................................................................219

7 R2: Rotary axes........................................................................................................................................221

7.1 Brief description ...................................................................................................................221

7.2 Modulo 360 degrees ............................................................................................................223

7.3 Programming of rotary axes.................................................................................................228

7.3.1 General information..............................................................................................................228

7.3.2 Rotary axis with modulo conversion (continuously-turning rotary axis). ..............................229

7.3.3 Rotary axis without modulo conversion................................................................................232

7.3.4 Other programming features relating to rotary axes ............................................................234

7.4 Activating rotary axes...........................................................................................................234

7.5 Special features of rotary axes.............................................................................................236

7.6 Examples .............................................................................................................................237

7.7 Data lists ..............................................................................................................................237

7.7.1 Machine data........................................................................................................................237

7.7.1.1 General machine data..........................................................................................................237

7.7.1.2 Axis/spindlespecific machine data .......................................................................................237

7.7.2 Setting data ..........................................................................................................................238

7.7.2.1 General setting data.............................................................................................................238

7.7.2.2 Axis/spindle-specific setting data .........................................................................................238

8 T1: Indexing axes .....................................................................................................................................239

8.1 Brief description ...................................................................................................................239

Table of contents

Axes and spindles

12 Function Manual, 06/2019, A5E47437747B AA

8.2 Detailed description..............................................................................................................239

8.2.1 Traversing of indexing axes in the AUTOMATIC mode .......................................................239

8.2.2 Traversing of indexing axes in the JOG mode .....................................................................239

8.2.3 Traversing of indexing axes by PLC ....................................................................................241

8.3 Commissioning.....................................................................................................................242

8.3.1 Machine data for indexing axes ...........................................................................................242

8.3.2 Machine data for equidistant indexing intervals ...................................................................245

8.3.2.1 Features ...............................................................................................................................245

8.3.2.2 Hirth axis ..............................................................................................................................247

8.3.3 Axis-specific system variables .............................................................................................247

8.3.4 NC/PLC interface signals .....................................................................................................248

8.4 Programming........................................................................................................................248

8.5 Supplementary conditions....................................................................................................250

8.6 Examples .............................................................................................................................253

8.6.1 Example 1: Rotary axis as indexing axis..............................................................................253

8.6.2 Example 2: Indexing axis as linear axis ...............................................................................254

8.6.3 Example 3: Rotary modulo axis as equidistant indexing axis ..............................................254

8.6.4 Example 4: Rotary axes as equidistant indexing axis with restricted traversing range........255

8.6.5 Example 5: Linear axis as equidistant indexing axis............................................................255

8.6.6 Example 6: "Hirth axis".........................................................................................................256

8.7 Data lists ..............................................................................................................................257

8.7.1 Machine data........................................................................................................................257

8.7.1.1 General machine data..........................................................................................................257

8.7.1.2 Axis/spindlespecific machine data .......................................................................................257

8.7.2 Setting data ..........................................................................................................................257

8.7.2.1 General setting data.............................................................................................................257

8.7.3 System variables..................................................................................................................258

9 G1: Gantry axes .......................................................................................................................................259

9.1 Brief description ...................................................................................................................259

9.2 "Gantry axes" function..........................................................................................................260

9.2.1 Definition of a gantry grouping .............................................................................................260

9.2.2 Monitoring the synchronism difference ................................................................................261

9.2.3 Extended monitoring of the synchronism difference ............................................................262

9.2.4 Referencing and synchronization of gantry axes .................................................................262

9.2.5 Control dynamics .................................................................................................................263

9.2.6 Opening the gantry grouping................................................................................................263

9.3 Referencing and synchronization of gantry axes .................................................................264

9.3.1 Introduction ..........................................................................................................................264

9.3.2 Automatic synchronization ...................................................................................................270

9.3.3 Points to note .......................................................................................................................271

9.4 Start-up of gantry axes.........................................................................................................274

9.5 Parameter assignment: Response to faults .........................................................................278

9.6 PLC interface signals for gantry axes ..................................................................................279

9.7 Miscellaneous points regarding gantry axes ........................................................................281

9.8 Examples .............................................................................................................................283

Table of contents

Axes and spindles

Function Manual, 06/2019, A5E47437747B AA 13

9.8.1 Creating a gantry grouping...................................................................................................283

9.8.2 Setting the NC-PLC interface...............................................................................................285

9.8.3 Commencing start-up...........................................................................................................285

9.8.4 Setting warning and trip limits ..............................................................................................287

9.9 Data lists ..............................................................................................................................288

9.9.1 Machine data........................................................................................................................288

9.9.1.1 Axis/spindlespecific machine data .......................................................................................288

10 R1: Referencing........................................................................................................................................291

10.1 Brief Description...................................................................................................................291

10.2 Axisspecific referencing .......................................................................................................292

10.3 Channelspecific referencing.................................................................................................294

10.4 Reference point appraoch from part program (G74)............................................................295

10.5 Referencing with incremental measurement systems..........................................................296

10.5.1 Hardware signals .................................................................................................................296

10.5.2 Zero mark selection..............................................................................................................298

10.5.3 Time sequence.....................................................................................................................299

10.5.4 Phase 1: Traversing to the reference cam ...........................................................................300

10.5.5 Phase 2: Synchronization with the zero mark ......................................................................302

10.5.6 Phase 3: Traversing to the reference point ..........................................................................307

10.6 Referencing with distance-coded reference marks ..............................................................309

10.6.1 General overview .................................................................................................................309

10.6.2 Basic parameter assignment................................................................................................310

10.6.3 Time sequence.....................................................................................................................312

10.6.4 Phase 1: Travel across the reference marks with synchronization ......................................312

10.6.5 Phase 2: Traversing to the target point ................................................................................314

10.7 Referencing by means of actual value adjustment ..............................................................316

10.7.1 Actual value adjustment to the referencing measurement system.......................................316

10.7.2 Actual value adjustment for measuring systems with distance-coded reference marks ......317

10.8 Referencing in follow-up mode.............................................................................................318

10.9 Referencing with absolute encoders ....................................................................................321

10.9.1 Information about the adjustment.........................................................................................321

10.9.2 Calibration by entering a reference point offset ...................................................................322

10.9.3 Adjustment by entering a reference point value...................................................................323

10.9.4 Automatic calibration with probe ..........................................................................................325

10.9.5 Adjustment with BERO.........................................................................................................327

10.9.6 Reference point approach with absolute encoders ..............................................................328

10.9.7 Reference point approach for rotary absolute encoders with equivalent zero mark ............328

10.9.8 Enabling the measurement system......................................................................................330

10.9.9 Referencing variants not supported .....................................................................................332

10.10 Automatic restoration of the machine reference ..................................................................332

10.10.1 Overview ..............................................................................................................................332

10.10.2 Automatic referencing ..........................................................................................................333

10.10.3 Restoration of the actual position.........................................................................................334

10.11 Supplementary conditions....................................................................................................336

10.11.1 Large traverse range............................................................................................................336

Table of contents

Axes and spindles

14 Function Manual, 06/2019, A5E47437747B AA

10.12 Data lists ..............................................................................................................................337

10.12.1 Machine data........................................................................................................................337

10.12.1.1 NC-specific machine data ....................................................................................................337

10.12.1.2 Channelspecific machine data .............................................................................................337

10.12.1.3 Axis/spindlespecific machine data .......................................................................................337

11 S9: Setpoint switchover ............................................................................................................................339

11.1 Brief description ...................................................................................................................339

11.2 Startup..................................................................................................................................341

11.3 Flow diagram........................................................................................................................344

11.4 Boundary conditions.............................................................................................................345

11.5 Data lists ..............................................................................................................................346

11.5.1 Machine data........................................................................................................................346

11.5.1.1 Axis/spindlespecific machine data .......................................................................................346

12 B2: Acceleration and jerk..........................................................................................................................347

12.1 Brief description ...................................................................................................................347

12.1.1 General information..............................................................................................................347

12.1.2 Features ...............................................................................................................................347

12.2 Functions..............................................................................................................................349

12.2.1 Acceleration without jerk limitation (BRISK/BRISKA) (channel/axis-specific) ......................349

12.2.1.1 General Information .............................................................................................................349

12.2.1.2 Parameterization ..................................................................................................................350

12.2.1.3 Programming........................................................................................................................351

12.2.2 Constant traversing time (channel-specific) .........................................................................352

12.2.2.1 General Information .............................................................................................................352

12.2.2.2 Parameterization ..................................................................................................................353

12.2.3 Acceleration adaptation (ACC) (axis-specific)......................................................................354

12.2.3.1 General Information .............................................................................................................354

12.2.3.2 Programming........................................................................................................................354

12.2.4 Acceleration reserve (channel-specific) ...............................................................................355

12.2.4.1 General Information .............................................................................................................355

12.2.4.2 Parameterization ..................................................................................................................355

12.2.5 Limiting the path acceleration (channel-specific) .................................................................355

12.2.5.1 General Information .............................................................................................................355

12.2.5.2 Parameterization ..................................................................................................................356

12.2.5.3 Programming........................................................................................................................356

12.2.6 Path acceleration for real-time events (channel-specific) ....................................................357

12.2.6.1 General Information .............................................................................................................357

12.2.6.2 Programming........................................................................................................................358

12.2.7 Acceleration with programmed rapid traverse (G00) (axis-specific) ....................................359

12.2.7.1 General Information .............................................................................................................359

12.2.7.2 Parameterization ..................................................................................................................359

12.2.8 Acceleration with active jerk limitation (SOFT/SOFTA) (axis-specific).................................360

12.2.8.1 General Information .............................................................................................................360

12.2.8.2 Parameterization ..................................................................................................................360

12.2.9 Exceeding the acceleration with non-tangential block transitions (axis-specific) .................360

12.2.9.1 General Information .............................................................................................................360

12.2.9.2 Parameterization ..................................................................................................................361

Table of contents

Axes and spindles

Function Manual, 06/2019, A5E47437747B AA 15

12.2.10 Acceleration reserve for the radial acceleration (channel-specific)......................................361

12.2.10.1 General Information .............................................................................................................361

12.2.10.2 Parameterization ..................................................................................................................362

12.2.11 Jerk limitation with path interpolation (SOFT) (channel-specific) .........................................363

12.2.11.1 General Information .............................................................................................................363

12.2.11.2 Parameterization ..................................................................................................................365

12.2.11.3 Programming........................................................................................................................365

12.2.12 Jerk limitation with single-axis interpolation (SOFTA) (axis-specific)...................................366

12.2.12.1 Parameterization ..................................................................................................................366

12.2.12.2 Programming........................................................................................................................367

12.2.13 Limiting the path jerking (channel-specific) ..........................................................................367

12.2.13.1 General Information .............................................................................................................367

12.2.13.2 Parameterization ..................................................................................................................368

12.2.13.3 Programming........................................................................................................................368

12.2.14 Path jerk for real-time events (channel-specific) ..................................................................369

12.2.14.1 General Information .............................................................................................................369

12.2.14.2 Programming........................................................................................................................370

12.2.15 Jerk during programmed rapid traverse (G00) (axis-specific)..............................................371

12.2.15.1 General Information .............................................................................................................371

12.2.15.2 Parameterization ..................................................................................................................371

12.2.16 Excessive jerk for block transitions without constant curvature (axis-specific) ....................371

12.2.16.1 General Information .............................................................................................................371

12.2.16.2 Parameterization ..................................................................................................................372

12.2.17 Velocity-dependent jerk adaptation (axis-specific)...............................................................372

12.2.18 Jerk filter (position setpoint filter, axis-specific)....................................................................374

12.2.18.1 General Information .............................................................................................................374

12.2.18.2 Parameterization ..................................................................................................................377

12.2.19 Knee-shaped acceleration characteristic .............................................................................379

12.2.19.1 Function: Adaptation to the motor characteristic curve ........................................................379

12.2.19.2 Function: Effects on the path acceleration ...........................................................................379

12.2.19.3 Function: Substitute curve....................................................................................................380

12.2.19.4 Parameterization ..................................................................................................................383

12.2.19.5 Programming: Channel-specific activation (DRIVE) ............................................................386

12.2.19.6 Programming: Axis-specific activation (DRIVEA).................................................................386

12.2.19.7 Boundary conditions.............................................................................................................387

12.2.20 Acceleration and jerk for JOG motions ................................................................................388

12.2.20.1 Parameterization ..................................................................................................................388

12.2.20.2 Supplementary conditions....................................................................................................389

12.3 Examples .............................................................................................................................390

12.3.1 Acceleration .........................................................................................................................390

12.3.1.1 Path velocity characteristic...................................................................................................390

12.3.2 Jerk ......................................................................................................................................392

12.3.2.1 Path velocity characteristic...................................................................................................392

12.3.3 Acceleration and jerk............................................................................................................393

12.3.4 Knee-shaped acceleration characteristic .............................................................................395

12.3.4.1 Activation..............................................................................................................................395

12.4 Data lists ..............................................................................................................................396

12.4.1 Machine data........................................................................................................................396

12.4.1.1 NC-specific machine data ....................................................................................................396

12.4.1.2 Channel-specific machine data ............................................................................................396

12.4.1.3 Axis/spindlespecific machine data .......................................................................................396

Table of contents

Axes and spindles

16 Function Manual, 06/2019, A5E47437747B AA

12.4.2 Setting data ..........................................................................................................................397

12.4.2.1 Channelspecific setting data ................................................................................................397

12.4.3 System variables..................................................................................................................397

13 N3: Software cams, position switching signals.........................................................................................399

13.1 Brief description ...................................................................................................................399

13.2 Cam signals and cam positions ...........................................................................................400

13.2.1 Generation of cam signals for separate output ....................................................................400

13.2.2 Generation of cam signals with gated output .......................................................................404

13.2.3 Cam positions ......................................................................................................................408

13.2.4 Lead/delay times (dynamic cam) .........................................................................................410

13.3 Output of cam signals ..........................................................................................................411

13.3.1 Activating..............................................................................................................................411

13.3.2 Output of cam signals to PLC ..............................................................................................411

13.3.3 Output of cam signals to NCK I/Os in position control cycle ................................................412

13.3.4 Timer-controlled cam signal output ......................................................................................413

13.3.5 Independent, timer-controlled output of cam signals ...........................................................415

13.4 Position-time cams...............................................................................................................416

13.5 Boundary conditions.............................................................................................................417

13.6 Data lists ..............................................................................................................................417

13.6.1 Machine data........................................................................................................................417

13.6.1.1 General machine data..........................................................................................................417

13.6.2 Setting data ..........................................................................................................................418

13.6.2.1 General setting data.............................................................................................................418

14 M3: Coupled axes.....................................................................................................................................419

14.1 Coupled motion ....................................................................................................................419

14.1.1 Brief description ...................................................................................................................419

14.1.1.1 Function ...............................................................................................................................419

14.1.1.2 Preconditions .......................................................................................................................419

14.1.2 General functionality ............................................................................................................420

14.1.3 Programming........................................................................................................................424

14.1.3.1 Definition and switch on of a coupled axis grouping (TRAILON) .........................................424

14.1.3.2 Switch off (TRAILOF) ...........................................................................................................424

14.1.4 Effectiveness of PLC interface signals.................................................................................425

14.1.5 Status of coupling.................................................................................................................426

14.1.6 Dynamics limit ......................................................................................................................427

14.1.7 Supplementary conditions....................................................................................................428

14.1.8 Examples .............................................................................................................................428

14.2 Curve tables .........................................................................................................................429

14.2.1 Product brief.........................................................................................................................429

14.2.1.1 Function ...............................................................................................................................429

14.2.1.2 Preconditions .......................................................................................................................430

14.2.2 General functionality ............................................................................................................430

14.2.3 Memory organization............................................................................................................431

14.2.4 Commissioning.....................................................................................................................433

14.2.4.1 Memory configuration...........................................................................................................433

14.2.4.2 Tool radius compensation ....................................................................................................434

14.2.4.3 Specification of memory type ...............................................................................................434

Table of contents

Axes and spindles

Function Manual, 06/2019, A5E47437747B AA 17

14.2.5 Programming........................................................................................................................435

14.2.6 Access to table positions and table segments .....................................................................441

14.2.7 Activation/deactivation .........................................................................................................445

14.2.8 Modulo-leading axis special case ........................................................................................446

14.2.9 Behavior in AUTOMATIC, MDA and JOG modes................................................................446

14.2.10 Effectiveness of PLC interface signals.................................................................................447

14.2.11 Diagnosing and optimizing utilization of resources ..............................................................447

14.2.12 Supplementary conditions....................................................................................................451

14.2.13 Examples .............................................................................................................................451

14.3 Master value coupling ..........................................................................................................453

14.3.1 Product brief.........................................................................................................................453

14.3.1.1 Function ...............................................................................................................................453

14.3.1.2 Preconditions .......................................................................................................................453

14.3.2 General functionality ............................................................................................................453

14.3.3 Programming........................................................................................................................457

14.3.4 Behavior in AUTOMATIC, MDA and JOG modes................................................................461

14.3.5 Effectiveness of PLC interface signals.................................................................................463

14.3.6 Special characteristics of the axis master value coupling function ......................................463

14.3.7 Supplementary conditions....................................................................................................464

14.4 Electronic gear (EG).............................................................................................................464

14.4.1 Product brief.........................................................................................................................464

14.4.1.1 Function ...............................................................................................................................464

14.4.1.2 Preconditions .......................................................................................................................465

14.4.2 Electronic gear (EG).............................................................................................................465

14.4.3 Definition of an EG axis group .............................................................................................473

14.4.4 Activating an EG axis group.................................................................................................474

14.4.5 Deactivating an EG axis group.............................................................................................478

14.4.6 Deleting an EG axis group ...................................................................................................479

14.4.7 Interaction between rotation feedrate (G95) and electronic gearbox ...................................479

14.4.8 Response to POWER ON, RESET, operating mode change, block search ........................480

14.4.9 System variables for electronic gearbox ..............................................................................481

14.4.10 Examples .............................................................................................................................482

14.4.10.1 Example using linear couplings............................................................................................482

14.4.10.2 Extended example with non-linear components ..................................................................486

14.5 Generic coupling ..................................................................................................................492

14.5.1 Brief description ...................................................................................................................492

14.5.1.1 Function ...............................................................................................................................492

14.5.1.2 Requirements.......................................................................................................................492

14.5.2 Fundamentals ......................................................................................................................495

14.5.2.1 Coupling module ..................................................................................................................495

14.5.2.2 Keywords and coupling characteristics ................................................................................497

14.5.2.3 System variables..................................................................................................................499

14.5.3 Creating/deleting coupling modules .....................................................................................500

14.5.3.1 Creating a coupling module (CPDEF)..................................................................................500

14.5.3.2 Delete coupling module (CPDEL) ........................................................................................501

14.5.3.3 Defining leading axes (CPLDEF or CPDEF+CPLA) ............................................................502

14.5.3.4 Delete leading axes (CPLDEL or CPDEL+CPLA)................................................................503

14.5.4 Switching coupling on/off .....................................................................................................504

14.5.4.1 Switching on a coupling module (CPON).............................................................................504

14.5.4.2 Switch off coupling module (CPOF) .....................................................................................505

14.5.4.3 Switching on leading axes of a coupling module (CPLON)..................................................506

Table of contents

Axes and spindles

18 Function Manual, 06/2019, A5E47437747B AA

14.5.4.4 Switching off leading axes of a coupling module (CPLOF) ..................................................507

14.5.4.5 Implicit creation and deletion of coupling modules...............................................................507

14.5.5 Programming coupling characteristics .................................................................................508

14.5.5.1 Coupling rule (CPLNUM, CPLDEN, CPLCTID) ...................................................................508

14.5.5.2 Coupling relationship (CPLSETVAL) ...................................................................................510

14.5.5.3 Co-ordinate reference (CPFRS):..........................................................................................511

14.5.5.4 Block change behavior (CPBC) ...........................................................................................512

14.5.5.5 Synchronized position of the following axis when switching on (CPFPOS+CPON).............514

14.5.5.6 Synchronized position of the leading axis when switching on (CPLPOS)............................515

14.5.5.7 Synchronization mode (CPFMSON) ....................................................................................516

14.5.5.8 Behavior of the following axis at switch-on (CPFMON) .......................................................518

14.5.5.9 Behavior of the following axis at switch-off (CPFMOF)........................................................519

14.5.5.10 Position of the following axis when switching off (CPFPOS+CPOF) ...................................519

14.5.5.11 Condition at RESET (CPMRESET)......................................................................................520

14.5.5.12 Condition at parts program start (CPMSTART) ...................................................................521

14.5.5.13 Status during part program start in search run via program test (CPMPRT) .......................523

14.5.5.14 Offset / scaling (CPLINTR, CPLINSC, CPLOUTTR, CPLOUTSC) ......................................524

14.5.5.15 Synchronism monitoring stage 1 (CPSYNCOP, CPSYNFIP, CPSYNCOV, CPSYNFIV) ....527

14.5.5.16 Synchronous operation monitoring stage 2 (CPSYNCOP2, CPSYNFIP2) ..........................531

14.5.5.17 Reaction to stop signals and commands (CPMBRAKE)......................................................535

14.5.5.18 Response to certain NC/PLC interface signals (CPMVDI) ..................................................536

14.5.5.19 Alarm suppression (CPMALARM)........................................................................................540

14.5.6 Coupling cascading..............................................................................................................541

14.5.7 Compatibility.........................................................................................................................542

14.5.7.1 Adaptive cycles ....................................................................................................................542

14.5.7.2 Coupling types (CPSETTYPE).............................................................................................543

14.5.7.3 Projected coupling (CPRES)................................................................................................548

14.5.8 Cross-channel coupling, axis replacement ..........................................................................549

14.5.9 Behavior with rotary axes.....................................................................................................550

14.5.10 Behavior during POWER ON, ... ..........................................................................................551

14.5.11 CP SW limit monitoring ........................................................................................................552

14.5.11.1 Function ...............................................................................................................................552

14.5.11.2 Parameterization ..................................................................................................................554

14.5.11.3 Programming........................................................................................................................555

14.5.11.4 Boundary conditions.............................................................................................................555

14.5.11.5 Examples .............................................................................................................................556

14.5.12 Disturbance characteristic....................................................................................................557

14.5.12.1 Rapid stop ............................................................................................................................557

14.5.13 Tracking the deviation from synchronism.............................................................................558

14.5.13.1 Fundamentals ......................................................................................................................558

14.5.13.2 Measuring the deviation from synchronism..........................................................................559

14.5.13.3 Entering the deviation from synchronism directly.................................................................562

14.5.13.4 Synchronism correction........................................................................................................562

14.5.13.5 Diagnostics for synchronism correction ...............................................................................563

14.5.13.6 Resetting synchronism correction ........................................................................................564

14.5.13.7 Limitations and constraints...................................................................................................565

14.5.14 Examples .............................................................................................................................567

14.5.14.1 Programming examples .......................................................................................................567

14.5.14.2 Adapt adaptive cycle ............................................................................................................568

14.6 Dynamic response of following axis .....................................................................................569

14.6.1 Parameterized dynamic limits ..............................................................................................569

14.6.2 Programmed dynamic limits.................................................................................................570

Table of contents

Axes and spindles

Function Manual, 06/2019, A5E47437747B AA 19

14.6.2.1 Programming (VELOLIMA, ACCLIMA) ................................................................................570

14.6.2.2 Examples .............................................................................................................................572

14.6.2.3 System variables..................................................................................................................573

14.7 General supplementary conditions.......................................................................................573

14.8 Data lists ..............................................................................................................................574

14.8.1 Machine data........................................................................................................................574

14.8.1.1 NC-specific machine data ....................................................................................................574

14.8.1.2 Channelspecific machine data .............................................................................................574

14.8.1.3 Axis/spindlespecific machine data .......................................................................................575

14.8.2 Setting data ..........................................................................................................................575

14.8.2.1 Axis/spindle-specific setting data .........................................................................................575

14.8.3 System variables..................................................................................................................575

15 P5: Oscillation...........................................................................................................................................579

15.1 Brief description ...................................................................................................................579

15.2 Asynchronous oscillation......................................................................................................580

15.2.1 Asynchronous oscillation......................................................................................................580

15.2.2 Influences on asynchronous oscillation................................................................................581

15.2.3 Asynchronous oscillation under PLC control........................................................................587

15.2.4 Special reactions during asynchronous oscillation...............................................................587

15.3 Oscillation controlled by synchronized actions.....................................................................590

15.3.1 Infeed at reversal point 1 or 2 ..............................................................................................593

15.3.2 Infeed in reversal point range...............................................................................................594

15.3.3 Infeed at both reversal points...............................................................................................595

15.3.4 Stop oscillation movement at the reversal point...................................................................596

15.3.5 Oscillation movement restarting...........................................................................................597

15.3.6 Do not start partial infeed too early ......................................................................................598

15.3.7 Assignment of oscillation and infeed axes OSCILL .............................................................599

15.3.8 Definition of infeeds POSP...................................................................................................599

15.3.9 External oscillation reversal .................................................................................................600

15.4 Marginal conditions ..............................................................................................................601

15.5 Examples .............................................................................................................................601

15.5.1 Example of asynchronous oscillation ...................................................................................601

15.5.2 Example 1 of oscillation with synchronized actions .............................................................602

15.5.3 Example 2 of oscillation with synchronized actions .............................................................605

15.5.4 Examples for starting position ..............................................................................................607

15.5.4.1 Define starting position via language command ..................................................................607

15.5.4.2 Start oscillation via setting data............................................................................................608

15.5.4.3 Non-modal oscillation (starting position = reversal point 1)..................................................608

15.5.5 Example of external oscillation reversal...............................................................................611

15.5.5.1 Change reversal position via synchronized action with "external oscillation reversal".........611

15.6 Data lists ..............................................................................................................................611

15.6.1 Machine data........................................................................................................................611

15.6.1.1 General machine data..........................................................................................................611

15.6.2 Setting data ..........................................................................................................................612

15.6.2.1 Axis/spindle-specific setting data .........................................................................................612

15.6.3 System variables..................................................................................................................612

15.6.3.1 Main run variables for motion-synchronous actions.............................................................612

Table of contents

Axes and spindles

20 Function Manual, 06/2019, A5E47437747B AA

Other manuals for SINUMERIK 840D

This manual suits for next models

Table of contents

Other Siemens Control System manuals

Siemens

Siemens SIMATIC PCS 7 User manual

Siemens

Siemens SINUMERIK ONE MCP 2200 Technical Document

Siemens

Siemens SIPLUS HCS4300 PROFINET Administrator guide

Siemens

Siemens SINUMERIK 828D Turning User manual

Siemens

Siemens SINUMERIK 808D User manual

Siemens

Siemens SIMATIC HMI ITC1500 V3 PRO User manual

Siemens

Siemens SICAM RTU User manual

Siemens

Siemens SINUMERIK 840D sl Quick start guide

Siemens

Siemens SIMATIC S7-1200 User manual

Siemens

Siemens SIMATIC S5 CPU Direct Driver User manual

Siemens

Siemens SINAUT ST7 User guide

Siemens

Siemens SIMATIC PCS 7 Parts list manual

Siemens

Siemens SIMOTION Parts list manual

Siemens

Siemens Sinumerik 801 User manual

Siemens

Siemens Climatix Series Technical manual

Siemens

Siemens SINAUT ST7 User guide

Siemens

Siemens SiPass Entro User manual

Siemens

Siemens SINUMERIK 808D User manual

Siemens

Siemens SINUMERIK ONE MCP 2200c Technical Document

Siemens

Siemens SIMATIC C7-626 Guide

Siemens

Siemens PCS 7 User manual

Siemens

Siemens SIMATIC PCS 7 User manual

Siemens

Siemens SINUMERIK 808D User manual

Siemens

Siemens LMV 5 Series User manual

Popular Control System manuals by other brands

PAW

PAW HeatBloC K33 Installation and operation instruction

Tekmar

Tekmar Universal Reset Control 363 Data brochure

Kentek

Kentek Entry-Guard Operation manual

Cleveland

Cleveland HA-DE-CC Specifications

Velleman

Velleman CAMSET24 user manual

NexAIoT

NexAIoT CE-CL user manual

SALUPO

SALUPO MULTIPLUS 1 SA684 Series Instruction and installation manual

Fly Sky

Fly Sky FS-GT2F instruction manual

BTR

BTR DG-Mini manual

HEIDENHAIN

HEIDENHAIN TNC 150 B Mounting instructions

Cattron

Cattron DYNAGEN ES52 user manual

DoorKing

DoorKing 1620 Series installation manual

GFL

GFL 10 Series operating instructions

eqss

eqss OverWatch 6253 installation manual

NICOR

NICOR NLC Commissioning Guide

LELY

LELY CRS M3 Operator's manual

Waterway

Waterway NEO 1100 instruction manual

Actility

Actility MiniHub quick start guide

Siemens SINUMERIK 840D Parts list manual

Popular Control System manuals by other brands