Siemens SINUMERIK 828D Turning Parts list manual

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Synchronized actions
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SINUMERIK
SINUMERIK 840D sl / 828D
Synchronized actions
Function Manual
Valid for
Controls
SINUMERIK 840D sl / 840DE sl
SINUMERIK 828D
Software Version
CNC software 4.5 SP1
07/2012
6FC5397-5BP40-3BA0
Preface
Brief description
1
Detailed description
2
Examples
3
Data lists
4
Appendix
A

Legal information
Legal information
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DANGER
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WARNING
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CAUTION
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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 relevant information is not taken into account.
If more than one degree of danger is present, the warning notice representing the highest degree of danger will
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Disclaimer of Liability
We have reviewed the contents of this publication to ensure consistency with the hardware and software
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Order number: 6FC5397-5BP40-3BA0
Ⓟ 08/2012 Technical data subject to change
Copyright © Siemens AG 2012.
All rights reserved

Synchronized actions
Function Manual, 07/2012, 6FC5397-5BP40-3BA0 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:
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Please send any questions about the technical documentation (e.g. suggestions for
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You can find Frequently Asked Questions in the Service&Support pages under Product
Support. http://support.automation.siemens.com

Preface
Synchronized actions
4 Function Manual, 07/2012, 6FC5397-5BP40-3BA0
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

Synchronized actions
Function Manual, 07/2012, 6FC5397-5BP40-3BA0 5
Contents
Preface ...................................................................................................................................................... 3
1 Brief description......................................................................................................................................... 9
2 Detailed description ................................................................................................................................. 11
2.1 Definition of a synchronized action ..............................................................................................11
2.2 Components of synchronized actions..........................................................................................12
2.2.1 Validity, identification number (ID, IDS) .......................................................................................12
2.2.2 Frequency (WHENEVER, FROM, WHEN, EVERY)....................................................................13
2.2.3 G function (condition)...................................................................................................................14
2.2.4 Condition......................................................................................................................................15
2.2.5 G function (action)........................................................................................................................16
2.2.6 Action (DO) ..................................................................................................................................16
2.3 System variables for synchronized actions..................................................................................17
2.3.1 Reading and writing .....................................................................................................................17
2.3.2 Operators and arithmetic functions..............................................................................................19
2.3.3 Type conversions.........................................................................................................................22
2.3.4 Marker/counter ($AC_MARKER) .................................................................................................24
2.3.5 Parameters ($AC_PARAM) .........................................................................................................25
2.3.6 R parameters ($R) .......................................................................................................................26
2.3.7 Machine and setting data ($$M, $$S)..........................................................................................27
2.3.8 Timer ($AC_TIMER) ....................................................................................................................28
2.3.9 FIFO variables ($AC_FIFO) .........................................................................................................30
2.3.10 Path tangent angle ($AC_TANEB)...............................................................................................34
2.3.11 Override ($A...OVR).....................................................................................................................34
2.3.12 Capacity evaluation ($AN_IPO ... , $AN/AC_SYNC ... , $AN_SERVO).......................................37
2.3.13 Working-area limitation ($SA_WORKAREA_ ... ) ........................................................................39
2.3.14 SW cam positions and times ($$SN_SW_CAM_ ...)....................................................................40
2.3.15 Path length evaluation / machine maintenance ($AA_TRAVEL ... , $AA_JERK ... )...................41
2.3.16 Polynomial coefficients, parameters ($AC_FCT ...).....................................................................42
2.3.17 Overlaid movements ($AA_OFF).................................................................................................45
2.3.18 Online tool length compensation ($AA_TOFF) ............................................................................48
2.3.19 Current block in the interpolator ($AC_BLOCKTYPE, $AC_BLOCKTYPEINFO,
$AC_SPLITBLOCK).....................................................................................................................53
2.3.20 Initialization of array variables (SET, REP)..................................................................................56
2.4 User-defined variables for synchronized actions .........................................................................57
2.5 Language elements for synchronized actions and technology cycles.........................................59
2.6 Language elements for technology cycles only...........................................................................66
2.7 Actions in synchronized actions...................................................................................................67
2.7.1 Output of M, S and H auxiliary functions to the PLC ...................................................................67
2.7.2 Reading and writing of system variables .....................................................................................68
2.7.3 Polynomial evaluation (SYNFCT) ................................................................................................69
2.7.4 Online tool offset (FTOC).............................................................................................................76
2.7.5 Programmed read-in disable (RDISABLE) ..................................................................................78

Contents
Synchronized actions
6 Function Manual, 07/2012, 6FC5397-5BP40-3BA0
2.7.6 Cancel preprocessing stop (STOPREOF) .................................................................................. 80
2.7.7 Delete distance-to-go (DELDTG)................................................................................................ 81
2.7.8 Traversing command axes (POS)............................................................................................... 83
2.7.9 Setting the measuring system (G70, G71, G700, G710)............................................................ 87
2.7.10 Position in specified reference range (POSRANGE).................................................................. 89
2.7.11 Starting/stopping axes (MOV)..................................................................................................... 90
2.7.12 Axial feedrate (FA) ...................................................................................................................... 91
2.7.13 Axis replacement (GET, RELEASE, AXTOCHAN)..................................................................... 92
2.7.14 Traversing spindles (M, S, SPOS) .............................................................................................. 98
2.7.15 Withdrawing the enable for the axis container rotation (AXCTSWEC)..................................... 100
2.7.16 Set actual value (PRESETON) ................................................................................................. 103
2.7.17 Couplings (CP..., LEAD..., TRAIL..., CTAB...) .......................................................................... 105
2.7.18 Measurement (MEAWA, MEAC)...............................................................................................110
2.7.19 Travel to fixed stop (FXS, FXST, FXSW, FOCON, FOCOF, FOC) .......................................... 114
2.7.20 Channel synchronization (SETM, CLEARM) ............................................................................ 117
2.7.21 User-specific error reactions (SETAL) ...................................................................................... 118
2.8 Technology cycles..................................................................................................................... 119
2.8.1 General...................................................................................................................................... 119
2.8.2 Processing mode (ICYCON, ICYCOF) ..................................................................................... 121
2.8.3 Definitions (DEF, DEFINE)........................................................................................................ 122
2.8.4 Parameter transfer .................................................................................................................... 122
2.8.5 Context variable ($P_TECCYCLE) ...........................................................................................123
2.9 Protected synchronized actions ................................................................................................ 124
2.10 Coordination via part program and synchronized action (LOCK, UNLOCK, RESET,
CANCEL)................................................................................................................................... 126
2.11 Coordination via PLC ................................................................................................................ 127
2.12 Configuration............................................................................................................................. 128
2.13 Control behavior in specific operating states ............................................................................ 130
2.13.1 Power On .................................................................................................................................. 130
2.13.2 NC reset .................................................................................................................................... 130
2.13.3 NC stop ..................................................................................................................................... 131
2.13.4 Operating mode change............................................................................................................ 131
2.13.5 End of program ......................................................................................................................... 132
2.13.6 Block search.............................................................................................................................. 132
2.13.7 Program interruption by ASUB.................................................................................................. 133
2.13.8 REPOS...................................................................................................................................... 133
2.13.9 Response to alarms .................................................................................................................. 134
2.14 Diagnostics (HMI Advanced only)............................................................................................. 135
2.14.1 Displaying the status of synchronized actions .......................................................................... 136
2.14.2 Displaying main run variables ................................................................................................... 137
2.14.3 Logging main run variables....................................................................................................... 138
3 Examples............................................................................................................................................... 141
3.1 Examples of conditions in synchronized actions....................................................................... 141
3.2 Reading and writing of SD/MD from synchronized actions....................................................... 142
3.3 Examples of adaptive control.................................................................................................... 144
3.3.1 Clearance control with variable upper limit ............................................................................... 144
3.3.2 Feedrate control ........................................................................................................................ 146

Contents
Synchronized actions
Function Manual, 07/2012, 6FC5397-5BP40-3BA0 7
3.3.3 Control velocity as a function of normalized path ......................................................................147
3.4 Monitoring a safety clearance between two axes......................................................................149
3.5 Store execution times in R parameters......................................................................................150
3.6 "Centering" with continuous measurement................................................................................151
3.7 Axis couplings via synchronized actions....................................................................................155
3.7.1 Coupling to leading axis.............................................................................................................155
3.7.2 Non-circular grinding via master value coupling........................................................................156
3.7.3 On-the-fly parting .......................................................................................................................160
3.8 Technology cycles position spindle............................................................................................162
3.9 Synchronized actions in the TC/MC area ..................................................................................164
4 Data lists................................................................................................................................................ 169
4.1 Machine data..............................................................................................................................169
4.1.1 General machine data................................................................................................................169
4.1.2 Channelspecific machine data...................................................................................................169
4.1.3 Axis-specific machine data ........................................................................................................170
4.2 Setting data................................................................................................................................171
4.2.1 Axis/spindle-specific setting data...............................................................................................171
4.3 Signals .......................................................................................................................................172
4.3.1 Signals to channel......................................................................................................................172
4.3.2 Signals from channel .................................................................................................................172
A Appendix................................................................................................................................................ 173
A.1 Overview ....................................................................................................................................173
Index...................................................................................................................................................... 175

Contents
Synchronized actions
8 Function Manual, 07/2012, 6FC5397-5BP40-3BA0

Synchronized actions
Function Manual, 07/2012, 6FC5397-5BP40-3BA0 9
Brief description 1
General
A synchronized action consists of a series of related statements within a part program that is
called cyclically in the interpolation cycle synchronously to the machining blocks.
A synchronized action is essentially divided into two parts, the optional condition and the
obligatory action part. The time at which the actions are executed can be made dependent
on a specific system state using the condition part. The conditions are evaluated cyclically in
the interpolation cycle. The actions are then a reaction to user-definable system states. Their
execution is not bound to block limits.
Furthermore, the validity of the synchronized action (non-modal, modal or static) and the
frequency of the execution of the actions (once, repeatedly) can be defined.
Examples of permissible actions
● Output of auxiliary functions to PLC
● Writing and reading of main run variables
● Traversing of positioning axes
● Activation of synchronous procedures, such as:
– Read-in disable
– Delete distance-to-go
– End preprocessing stop
● Activation of technology cycles
● Calculation of function values
● Tool offsets
● Activating/deactivating couplings
● Measuring
● Enabling/disabling of synchronized actions

Brief description
Synchronized actions
10 Function Manual, 07/2012, 6FC5397-5BP40-3BA0
Examples of non-permissible actions
● Traversing of path axes
Schematic diagram of synchronized actions
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Synchronized actions
Function Manual, 07/2012, 6FC5397-5BP40-3BA0 11
Detailed description 2
2.1 Definition of a synchronized action
A synchronized action is defined in a block of a part program. Any further commands that are
not part of the synchronized action, must not be programmed within this block.
Components of a synchronized action
A synchronized action consists of the following components:
Condition part
Optional
Action part
Optional
Validity, ID
no.
(Page 12)
Frequency
(Page 13)
Optional
G function
(Page 14)
Condition (Page 15) Keyword Optional:
G function
(Page 16)
Actions (Page 16)
--- 1) --- 1)
ID=<no.> WHENEVER
FROM
WHEN
IDS=<no.>
EVERY
G... Logical
expression DO G... Action 1 ...
Action n
1) Not programmed
Syntax
Examples:
1. DO <action 1...n>
2. <frequency> [<G function>] <condition> DO <action 1...n>
3. ID=<no.> <frequency> [<G function>] <condition> DO <action 1...n>
4. IDS=<no.> <frequency> [<G function>] <condition> DO <action 1...n>

Detailed description
2.2 Components of synchronized actions
Synchronized actions
12 Function Manual, 07/2012, 6FC5397-5BP40-3BA0
2.2 Components of synchronized actions
2.2.1 Validity, identification number (ID, IDS)
Validity
The validity defines when and where the synchronized action will be processed:
Validity Meaning
"No specification" Non-modal synchronized action
A non-modal synchronized action applies:
•As long as the main run block following the synchronized action is active
•Only in the AUTOMATIC mode
Example:
N10 WHEN $A_IN[1]==TRUE DO $A_OUTA[1]=10
ID=<ID number> Modal synchronized action
A modal synchronized action applies:
•Until the part program has been completed
•Only in the AUTOMATIC mode
Range of values: 1 ... 255
Example:
N20 ID=1 EVERY $A_IN[1]==TRUE DO $A_OUTA[1]=10
IDS=<ID number> Static synchronized action
A static synchronized action applies:
•In all operating modes for an unlimited period of time
Range of values: 1 ... 255
Example:
N30 IDS=1 EVERY $A_IN[1]==TRUE DO $A_OUTA[1]=10
Note
Static synchronized actions
Static synchronized actions (IDS) can be defined in an ASUB and activated at any time by
activation of the ASUB via the PLC user program.

Detailed description
2.2 Components of synchronized actions
Synchronized actions
Function Manual, 07/2012, 6FC5397-5BP40-3BA0 13
Identification numbers
If several synchronized actions are to be active in parallel in a channel, their identification
numbers ID/IDS must be different. Synchronized actions with the same identification number
replace each other within a channel.
Sequence of execution
Modal and static synchronized actions are executed in the order of their identification
numbers ID/IDS.
Non-modal synchronized actions are executed after execution of the modal synchronized
actions in the order of their programming.
Coordination via part programs and synchronized actions
Synchronized actions can be coordinated via part programs and synchronized actions based
on the identification numbers ID/IDS (see Section "Coordination via part program and
synchronized action (LOCK, UNLOCK, RESET, CANCEL) (Page 126)").
Coordination via PLC
Synchronized actions with identification numbers ID/IDS in the range from 1 to 64 can be
coordinated via the NC/PLC interface from the PLC user program (see Section "Coordination
via PLC (Page 127)").
2.2.2 Frequency (WHENEVER, FROM, WHEN, EVERY)
The frequency specifies how often the condition is queried and, when the condition is
fulfilled, how often the action should be executed. The frequency is part of the condition.
Frequency Meaning
"No specification" If no frequency is specified, the action is executed cyclically in every interpolation cycle.
WHENEVER If the condition is fulfilled, the action is executed cyclically in every interpolation cycle.
FROM After the condition has been fulfilled once, the action is executed cyclically in every interpolation clock
cycle for as long as the synchronized action is active.
WHEN If the condition is fulfilled, the action is executed once and then the condition is no longer checked.
EVERY At every state change of the condition from FALSE to TRUE (rising edge), the action is executed
once.
See also
Technology cycles (Page 119)

Detailed description
2.2 Components of synchronized actions
Synchronized actions
14 Function Manual, 07/2012, 6FC5397-5BP40-3BA0
2.2.3 G function (condition)
Defined initial state
With regard to the part program sequence, synchronized actions can be executed at any
time depending on fulfillment of the condition. It is therefore recommended that the
measuring system (inch or metric) be defined in a synchronized action before the condition
and/or in the action part. This generates a defined initial position for the evaluation of the
condition and the execution of the action, irrespective of the current part program state.
G functions
The following G functions are permitted:
● G70 (Inch dimensions for geometric specifications (lengths))
● G71 (Metric dimensions for geometric specifications (lengths))
● G700 (Inch dimensions for geometric and technological specifications (lengths, feedrate))
● G710 (Metric dimensions for geometric and technological specifications (lengths,
feedrate))
Note
No other G functions are permitted in synchronized actions except G70, G71, G700 and
G710.
Validity
A G function programmed in the condition part also applies for the action part even if no G
function has been programmed in the action part itself.
A G function programmed in the action part only applies within the action part.

Detailed description
2.2 Components of synchronized actions
Synchronized actions
Function Manual, 07/2012, 6FC5397-5BP40-3BA0 15
2.2.4 Condition
Execution of the action can be made dependent on the fulfillment of a condition. As long as
the synchronized action is active, the condition is checked cyclically in the interpolation
cycle. If no condition is specified, the action is executed cyclically in every interpolation cycle.
All operations that return a truth value (TRUE/FALSE) as the result can be programmed as a
condition:
● Comparisons of system variables with constants
● Comparisons of system variables with system variables
● Comparisons of system variables with results of arithmetic operations
● Linking of comparisons through Boolean expressions
Examples
Comparisons
Program code
ID=1 WHENEVER $AA_IM[X] > $$AA_IM[Y] DO ...
ID=2 WHENEVER $AA_IM[X] > (10.5 * SIN(45)) DO ...
Boolean operations
Program code
ID=1 WHENEVER ($A_IN[1]==1) OR ($A_IN[3]==0) DO ...
See also
Reading and writing (Page 17)
Examples of conditions in synchronized actions (Page 141)
System variables for synchronized actions (Page 17)

Detailed description
2.2 Components of synchronized actions
Synchronized actions
16 Function Manual, 07/2012, 6FC5397-5BP40-3BA0
2.2.5 G function (action)
Defined initial state
With regard to the part program sequence, synchronized actions can be executed at any
time depending on fulfillment of the condition. Therefore, it is advisable to define the required
measuring system (inch or metric) in the action part in a synchronized action. This generates
a defined initial position for the execution of the action, irrespective of the current part
program state.
G functions
The following G functions are permitted:
● G70 (Inch dimensions for geometric specifications (lengths))
● G71 (Metric dimensions for geometric specifications (lengths))
● G700 (Inch dimensions for geometric and technological specifications (lengths, feedrate))
● G710 (Metric dimensions for geometric and technological specifications (lengths,
feedrate))
Validity
A G function programmed in the condition part also applies for the action part even if no G
function has been programmed in the action part itself.
A G function programmed in the action part only applies within the action part.
2.2.6 Action (DO)
The action part of a synchronized action is initiated with the keyword DO.
One or more actions can be programmed in the action part. These are executed when the
appropriate condition is fulfilled. If several actions are programmed in one synchronized
action, they are all executed in the same interpolation cycle.
Example:
If the actual value of the Y axis is greater than or equal to 35.7, the auxiliary function M135 is
output on the PLC and, at the same time, digital output 1 = 1 is set.
Program code
WHEN $AA_IM[Y] >= 35.7 DO M135 $A_OUT[1]=1
Technology cycle
A technology cycle can be called as an action. See Section "Technology cycles (Page 119)".

Detailed description
2.3 System variables for synchronized actions
Synchronized actions
Function Manual, 07/2012, 6FC5397-5BP40-3BA0 17
2.3 System variables for synchronized actions
The system variables of the NCK are listed in the "System Variables" Parameter Manual with
their respective properties. System variables that can be read or written in synchronized
actions, are marked with an "X" in the corresponding line (Read or Write) of the "SA"
(synchronized action) column.
Note
System variables used in synchronized actions are implicitly read and written synchronous to
the main run.
References
A comprehensive description of the system variables listed in this function manual can be
found in:
● System Variables Parameter Manual
2.3.1 Reading and writing
The reading and writing of variables is performed in the main run in synchronized actions
with a few exceptions. Exceptions are:
● User-defined variables: LUD, GUD
● Machine data: $M...
● Setting data: $S...
● R parameters: R<number> or R[<index>]
These variables are already read and written during the preprocessing.

Detailed description
2.3 System variables for synchronized actions
Synchronized actions
18 Function Manual, 07/2012, 6FC5397-5BP40-3BA0
System variables
Generally, all system variables that can be used in synchronized actions are read/written in
the main run. These system variables are marked with an "X" in the "Read" and/or "Write"
line of the "SA" (synchronized action) column in the "System Variables" Parameter Manual.
References:
System Variables Parameter Manual
System of the identifiers
The identifiers of the system variables that are read/written in the main run have the
following system:
$A... Current main run data
$V... Servo data
$R... R parameters to be read/written in the main run
$$M... Machine data to be read/written in the main run
$$S... Setting data to be read/written in the main run

Detailed description
2.3 System variables for synchronized actions
Synchronized actions
Function Manual, 07/2012, 6FC5397-5BP40-3BA0 19
2.3.2 Operators and arithmetic functions
Operators
Arithmetic operators
System variables of the REAL and INT type can be linked by the following operators:
Operator Meaning
+ Addition
- Subtraction
* Multiplication
/ Division, caution: INT/INT = REAL
DIV Integer division, caution: INT/INT = INT
MOD Modulo division (only for type INT) supplies remainder of an INT division
Example: 3 MOD 4 = 3
Note
Only variables of the same type may be linked by these operations.
Relational operators
Operator Meaning
== Equal to
> Not equal to
< Less than
> Greater than
<= Less than or equal to
>= Greater than or equal to

Detailed description
2.3 System variables for synchronized actions
Synchronized actions
20 Function Manual, 07/2012, 6FC5397-5BP40-3BA0
Boolean operators
Operator Meaning
NOT NOT
AND AND
OR OR
XOR Exclusive OR
Bit logic operators
Operator Meaning
B_OR Bit-by-bit OR
B_AND Bit-by-bit AND
B_XOR Bit-by-bit exclusive OR
B_NOT Bit-by-bit negation
Priority of the operators
The operators have the following priorities for execution in the synchronized action (highest
priority: 1):
Prio. Operators Meaning
1 NOT, B_NOT Negation, bit-by-bit negation
2 *, /, DIV, MOD Multiplication, division
3 +, - Addition, subtraction
4 B_AND Bit-by-bit AND
5 B_XOR Bit-by-bit exclusive OR
6 B_OR Bit-by-bit OR
7 AND AND
8 XOR Exclusive OR
9 OR OR
10 << Concatenation of strings, result type STRING
11 ==, <>, <, >, >=, <= Relational operators
Note
It is strongly recommended that the individual operators are clearly prioritized by setting
parentheses "( … )" when several operators are used in an expression.